Cleaning robot

Abstract

A cleaning robot relates to the technical field of intelligent cleaning equipment and comprises a machine body, a cleaning turntable provided with a cavity and traveling wheels arranged in the cavity, the traveling wheels are connected with the cleaning turntable through a transmission structure, and the transmission structure comprises a power output gear connected with a power source; the inner gear ring and the power output gear are coaxially arranged, and the inner gear ring is fixedly arranged at an opening in the top end of the cavity of the cleaning turntable; the cleaning turntable transmission assembly is used for transmitting power between the power output gear and the inner gear ring so as to drive the cleaning turntable to rotate; the bevel gear assembly is used for transmitting power between the power output gear and the walking wheel so as to drive the walking wheel to rotate. Decoupling of the walking wheel and the cleaning rotating disc is achieved, the problem that the walking speed of the walking wheel fluctuates due to the rotating speed change of the cleaning rotating disc is solved, and the walking stability is improved.

Description

Technical Field

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

[0002] Chinese patent document CN117484524A discloses a cleaning robot. In the above document, the transmission between the running wheel and the cleaning turntable adopts a series transmission link. The motor first drives the ring gear to rotate, and the cleaning turntable fixedly connected to the ring gear then drives the running wheel to rotate through the bevel gear set. Specifically, the motor output shaft first drives the cleaning turntable provided with the ring gear to rotate at a relatively low speed through the reduction gear set, and then the cleaning turntable transmits power to the running wheel through the acceleration gear set (the bevel gear set mentioned above). This transmission method of first decelerating and then accelerating increases the energy loss in the power transmission process and reduces the mechanical efficiency. In addition, since the running wheel is driven by the cleaning turntable, when the speed of the cleaning turntable changes, the speed of the running wheel will follow the change. When the amount of water accumulated in different areas of the glass surface is different, the friction resistance of the cleaning turntable in different areas will change significantly. The change in friction resistance during operation may cause the speed of the cleaning turntable to change, which in turn causes the walking speed of the running wheel to fluctuate, affecting the walking stability and making the walking control of the cleaning robot complicated. Summary of the Invention

[0003] The object of the present invention is to provide a cleaning robot, which improves the transmission efficiency and the walking stability of the cleaning robot by improving the transmission structure of the walking wheels and the cleaning turntable.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The cleaning robot comprises a body, a cleaning turntable and a running wheel. The cleaning turntable is provided with a chamber, the running wheel is provided in the chamber, and the running wheel is connected to the cleaning turntable via a transmission structure. The transmission structure comprises:

[0006] A power output gear connected to a power source;

[0007] The inner gear ring is coaxially arranged with the power output gear and fixedly arranged at the top opening of the chamber of the cleaning turntable;

[0008] A cleaning turntable transmission assembly, used for transmitting power between the power output gear and the inner gear ring to drive the cleaning turntable to rotate;

[0009] The bevel gear assembly is used to transmit power between the power output gear and the travel wheel to drive the travel wheel to rotate.

[0010] Furthermore, the bevel gear assembly includes:

[0011] The first bevel gear is coaxially and fixedly connected to the travel wheel;

[0012] a second bevel gear, coaxially disposed with the power output gear and configured to rotate synchronously with the power output gear;

[0013] The first bevel gear and the second bevel gear are meshed with each other to transmit the rotational motion of the second bevel gear to the travel wheel, thereby driving the travel wheel to rotate.

[0014] Furthermore, the bevel gear assembly includes:

[0015] The transmission shaft is coaxially fixedly connected between the power output gear and the second bevel gear; the transmission shaft passes through the central area of ​​the inner gear ring and maintains a clearance fit with the inner gear ring.

[0016] Furthermore, the cleaning turntable transmission assembly includes:

[0017] a connecting gear, coaxially arranged with the power output gear and configured to rotate synchronously with the power output gear;

[0018] an intermediate gear rotatably disposed outside the connecting gear and meshing with the connecting gear;

[0019] The outer side of the intermediate gear meshes with the inner teeth of the inner gear ring to transmit the rotational motion of the connecting gear to the inner gear ring, thereby driving the cleaning rotary disc to rotate.

[0020] Furthermore, the connecting gear is coaxially and fixedly connected to the power output gear.

[0021] Furthermore, the traveling wheel is coaxially fixedly connected to a connecting shaft, an auxiliary wheel is rotatably mounted on the connecting shaft or an auxiliary wheel is fixedly mounted on the connecting shaft, and the outer diameter of the auxiliary wheel is equivalent to the outer diameter of the traveling wheel.

[0022] Furthermore, the running wheels and / or auxiliary wheels include:

[0023] The wheel body forms the main supporting structure of the running wheel and / or auxiliary wheel, and has an annular mounting groove on its outer periphery;

[0024] The elastic tire part is embedded in the annular installation groove and contacts and cooperates with the surface to be cleaned;

[0025] The cross-sectional dimension of the annular mounting groove is larger than the cross-sectional dimension of the elastic tire portion, so as to reserve a movable gap for the elastic tire portion to be compressed and deformed.

[0026] Furthermore, the transmission structure further includes:

[0027] The support bracket is arranged between the walking wheel and the cleaning turntable, and includes:

[0028] A body connecting portion, used for fixedly connecting the body;

[0029] A running wheel support portion, used for rotatably supporting the running wheel;

[0030] The turntable support portion is used to rotatably support the cleaning turntable.

[0031] Furthermore, the machine body is provided with a fan and an installation cavity, the fan is accommodated in the installation cavity, the installation cavity is connected to the cavity of the cleaning turntable, and the air in the cavity is extracted by the fan to form a negative pressure, so that the cleaning turntable is adsorbed on the surface to be cleaned;

[0032] The fan is mounted on the machine body via a fan support structure. An elastic vibration damping unit is provided between the fan and the fan support structure and / or between the fan support structure and the machine body, and a flexible connection between the fan and the machine body is achieved via the elastic vibration damping unit.

[0033] Furthermore, the elastic vibration damping unit is installed between the fan and the fan support structure for vibration reduction. The elastic vibration damping unit includes a plurality of elastic connection units arranged at intervals. The elastic connection unit includes a fixed end connected to the fan support structure and a clamping portion provided at an end away from the fan support structure. A mounting base is provided at the bottom of the fan, and a mating portion is provided on the mounting base. The mating portion and the clamping portion are connected by mutually cooperating concave and convex structures and are interference fit at the connection.

[0034] Furthermore, the concave-convex structure includes an annular groove arranged around the clamping portion and a mounting hole arranged on the matching portion, and the edge of the mounting hole is clamped into the corresponding annular groove to achieve flexible fixation.

[0035] Furthermore, the elastic vibration damping unit is installed between the fan support structure and the body for vibration reduction. The elastic vibration damping unit includes multiple groups of vibration damping elements. Each group of vibration damping elements has a different radial distance from the fan axis in the horizontal plane (in a gradient difference) to gradedly absorb the vibration generated when the fan is running.

[0036] Furthermore, the vibration damping element includes a first vibration damping element and a second vibration damping element, the fan support structure includes an outer mounting seat and an inner mounting seat, the fan is installed on the inner mounting seat, the central area of ​​the outer mounting seat is opened to form a hollow portion, the inner mounting seat is installed in the hollow portion through the first vibration damping element, and the outer mounting seat is installed on the machine body through the second vibration damping element.

[0037] Furthermore, the outer edges of the outer mounting seat and the inner mounting seat are both provided with protrusions, the first vibration-damping element and the second vibration-damping element are both provided with grooves corresponding to the protrusions, and the protrusions are installed in the corresponding grooves.

[0038] Furthermore, the cleaning turntable includes:

[0039] Rotating chuck;

[0040] A rag mounting seat is mounted below the rotating chuck via a hook structure and is configured to float upward relative to the rotating chuck;

[0041] The rag is in the shape of a bag and is mounted on the outside of the rag mounting base. The open end of the top of the rag is clamped between the rotating chuck and the rag mounting base and is configured so that the clamped portion can be compressed and deformed when the rag mounting base floats upward relative to the rotating chuck. A gap is provided at the bottom of the rag for the walking wheel to pass through and contact the surface to be cleaned.

[0042] Furthermore, the open end of the rag is provided with a first anti-slip structure (such as an anti-slip protrusion) for preventing the rag from falling off when it is clamped between the rotating chuck and the rag mounting seat.

[0043] Furthermore, the rag mounting seat is an annular structure, and its inner side wall is provided with a plurality of second protrusions protruding radially inward;

[0044] An axially extending mating portion is provided at the lower middle end of the rotary chuck, and an axially extending sliding groove is provided on the outer peripheral surface of the mating portion. The sliding groove is fitted with the second protrusion gap to enable the rag mounting seat to float axially relative to the rotary chuck.

[0045] Furthermore, the hook structure includes a limiting flange provided at the lower end of the matching portion, and the limiting flange extends radially outward from the matching portion to form a blocking portion for limiting the second protrusion from disengaging downward from the sliding groove.

[0046] Furthermore, the mating portion includes a plurality of mating blocks spaced apart along the circumferential direction, the slide grooves are provided on the mating blocks, and discontinuous spaces are formed between adjacent mating blocks;

[0047] Some of the second protrusions on the inner side wall of the rag mounting seat are arranged corresponding to the positions of the discontinuous spaces to form limiting protrusions;

[0048] The hook structure includes an axially extending extension portion provided at the lower end of the rotary chuck and corresponding to each discontinuous space position. The outer side surface of the extension portion is provided with a radially outwardly protruding anti-slip boss, and the anti-slip boss forms an axial limiting fit with the limiting boss.

[0049] Furthermore, the cleaning robot also includes a boundary detection device, which includes a detection component, a trigger component and a sensor. The detection component is configured so that at least when the cleaning robot is adsorbed on the surface to be cleaned, its outer end is located outside the body of the cleaning robot and against the surface to be cleaned, and when it moves to the outside of the surface to be cleaned, it can swing downward and when it is squeezed by the outside, it can swing downward and move upward as a whole, so as to drive the trigger component to move to a preset sensing position and trigger the sensor to generate a sensing signal.

[0050] Furthermore, the trigger component is configured to:

[0051] When the detection component only swings downward, the trigger component swings upward to a preset sensing position and triggers the sensor to generate a sensing signal;

[0052] When the detection component swings downward and moves upward as a whole, the trigger component swings upward and moves upward to a preset sensing position, and triggers the sensor to generate a sensing signal.

[0053] Furthermore, an elastic soft rubber sleeve is provided on the outer side of the detection component, and the elastic soft rubber sleeve is fixed to the body and the bottom end of the elastic soft rubber sleeve extends to the surface to be cleaned;

[0054] The elastic soft rubber sleeve is configured as follows:

[0055] When the cleaning robot moves, its bottom end acts as a scraper to clean the corners of the surface to be cleaned;

[0056] When subjected to external impact, the elastic soft rubber sleeve deforms laterally and presses the outer end of the detection component, causing the detection component to swing downward and move upward as a whole.

[0057] Furthermore, the sensor is a reflective sensor or an interruption sensor, and before the detection component drives the trigger component to move, the trigger component is located on the lower side of the signal transmission path of the sensor;

[0058] When the detection component swings downward, the trigger component is driven by it to swing upward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering the sensing signal;

[0059] When the detection component swings downward and moves upward as a whole, the trigger component is driven by it to swing and move upward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering the sensing signal.

[0060] Furthermore, the boundary detection device further comprises a U-shaped mounting base provided on the body, wherein the U-shaped mounting base comprises two side walls arranged opposite to each other and a top wall or a bottom wall connecting the two side walls;

[0061] The sensor is fixedly mounted on the inner surface of at least one side wall;

[0062] The trigger component is configured to be driven by the detection component to move into the sensing area between the two side walls when the detection component is squeezed by the outside and when the detection component moves to the outside of the surface to be cleaned, thereby triggering the sensor to generate a sensing signal.

[0063] Furthermore, the boundary detection device further includes a support plate fixedly connected to the body, the detection component is laterally fixedly connected to a movable block with a second groove, the second groove is provided at the lower end of the movable block, the support plate is inserted into the second groove and forms a sliding fit with the inner wall of the second groove, and a movable gap is reserved between the side close to the outer end of the detection component and the side wall of the second groove;

[0064] A compressible elastic member is provided at the upper end of the movable block, one end of the elastic member is fixed to a position of the movable block close to the outer end of the detection component and deviated from the center of the support plate, and the other end is fixed to the machine body or a supporting structure provided on the machine body. The elastic member is configured to drive the movable block through a pre-tightening force so that the outer end of the detection component abuts against the surface to be cleaned.

[0065] The present invention adopts a parallel transmission structure, and the power is divided into two transmission paths after the power output gear: one path drives the walking wheel to roll on the glass surface through the bevel gear assembly; the other path drives the inner gear ring through the cleaning turntable transmission assembly, and then drives the cleaning turntable to rotate relative to the glass surface. This design realizes the decoupling of the walking wheel and the cleaning turntable, so that the walking wheel and the cleaning turntable are in independent transmission paths, avoiding the problem of fluctuations in the walking speed of the walking wheel due to changes in the rotation speed of the cleaning turntable (changes in the friction resistance of the glass surface cause changes in the rotation speed of the cleaning turntable), which is conducive to simplifying the walking control of the cleaning robot and improving the walking stability. In addition, since the present invention directly drives the walking wheel through the bevel gear pair via the power output gear, it avoids the transmission process of first decelerating and then accelerating, shortens the transmission path, and also reduces the power loss in the transmission process to a certain extent, and the mechanical efficiency of the entire transmission mechanism is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 Three-dimensional cleaning robot Figure 1 ;

[0067] Figure 2 Three-dimensional cleaning robot Figure 2 ;

[0068] Figure 3 It is a three-dimensional diagram of the travel wheel, cleaning turntable and their transmission structure;

[0069] Figure 4It is a cross-sectional view of the travel wheel, the cleaning turntable and their transmission structure;

[0070] Figure 5 Decomposition of the travel wheel, cleaning turntable and its transmission structure Figure 1 ;

[0071] Figure 6 Decomposition of the travel wheel, cleaning turntable and its transmission structure Figure 2 ;

[0072] Figure 7 This is an exploded view of the body connection part, connecting gear and intermediate gear;

[0073] Figure 8 Disassembly of cleaning robot Figure 1 ;

[0074] Figure 9 Disassembly of cleaning robot Figure 2 ;

[0075] Figure 10 This is a cross-sectional view of the fan vibration reduction installation structure;

[0076] Figure 11 This is a structural diagram of the fan being installed on the top shell through the fan vibration reduction mounting structure;

[0077] Figure 12 This is an exploded view of the fan vibration reduction mounting structure, top shell, and fan;

[0078] Figure 13 Disassembly of the turntable for cleaning Figure 1 ;

[0079] Figure 14 Disassembly of the turntable for cleaning Figure 2 ;

[0080] Figure 15 A cross-sectional view of the cleaning turntable;

[0081] Figure 16 is a cross-sectional view of the machine body and the boundary detection device;

[0082] Figure 17 Stereoscopic boundary detection device Figure 1 ;

[0083] Figure 18 Stereoscopic boundary detection device Figure 2 .

[0084] In the picture:

[0085] 1 - body 1a - bottom shell 1b - top shell

[0086] 1c——Hood 2——Cleaning turntable 2a——Rotating chuck

[0087] 2a1——pressing part 2a2——matching part 2a2a——matching block

[0088] 2a2a1——slide groove 2a3——extension part 2a3a——anti-slip boss

[0089] 2b——rag mounting seat 2b1——second protrusion 2b1a——limiting protrusion

[0090] 2c - rag 2c1 - anti-drop protrusion 2d - chamber

[0091] 3——Travel wheel 3a——Travel wheel body 3a1——First annular mounting groove

[0092] 3b - elastic tire of the traveling wheel 4 - power output gear

[0093] 5 - Transmission shaft 6 - Internal gear ring 7a - First bevel gear

[0094] 7b - second bevel gear 8a - connecting gear 8b - intermediate gear

[0095] 9——Connecting shaft 10——Auxiliary wheel 10a——Auxiliary wheel body

[0096] 10a1——Second annular mounting groove 10b——Elastic tire part of auxiliary wheel

[0097] 11——Support bracket 11a——Body connection part

[0098] 11b——Travel wheel support 11c——Turntable support 12——Motor

[0099] 13——Worm 14——Planar bearing 15——Bearing

[0100] 16 - Fan 17 - Installation cavity 18 - Elastic connection unit

[0101] 18a——annular groove 19——mounting base plate 19a——mounting hole

[0102] 20——Installation support 21——Outer rubber strip

[0103] 22 - First damping element 23 - Second damping element

[0104] 24 - outer mounting seat 24a - hollow portion 25 - inner mounting seat

[0105] 26a - first protrusion 26b - first groove 27 - exhaust channel

[0106] 28 - Accommodation cavity 29 - Fixing plate 30 - Detection component

[0107] 31——Trigger component 32——Sensor 33——Elastic soft rubber sleeve

[0108] 34——U-shaped mounting seat 35——support plate 36——movable block

[0109] 36a - second groove 36b - fixing column 37 - elastic member

[0110] 38——Mounting plate 39——Fixed seat 39a——Limiting groove

[0111] 39b – Fixed rod. DETAILED DESCRIPTION

[0112] In order to help those skilled in the art to more clearly understand the concept of the present invention, it is further described below with reference to embodiments and drawings.

[0113] like Figure 1-18 As shown, this embodiment provides a cleaning robot that integrates a new transmission structure of a running wheel and a cleaning turntable, a fan vibration reduction mounting structure, an improved cleaning turntable and a new boundary detection device, and maintains the basic functional architecture of a traditional cleaning robot. Specifically, the cleaning robot includes a body 1, and components such as a cleaning turntable 2, a running wheel 3, a suction module, a boundary detection device and a controller arranged on the body 1. The cleaning turntable 2 is located at the bottom of the body 1 and is provided with a chamber 2d (the chamber 2d is usually located in the center of the cleaning turntable 2, and the top and bottom ends of the chamber 2a are both provided with openings), and the running wheel 3 is provided in the chamber 2d. The suction module includes a fan 16 arranged on the body 1, and a mounting chamber 17 is provided on the body 1. The fan 16 is accommodated in the mounting chamber 17, and the mounting chamber 17 is connected to the chamber 2d of the cleaning turntable 2. The air in the chamber 2d is extracted by the fan 16 to form a negative pressure, so that the cleaning turntable 2 is adsorbed on the surface to be cleaned. In addition, the cleaning turntable 2 adopts a floating structure and can float up and down relative to the machine body 1, so that while the cleaning turntable 2 is attached to the surface to be cleaned, the running wheel 3 can also be pressed tightly against the surface to be cleaned. The outer shape of the machine body 1 is rectangular, and a boundary detection device is provided at each of its four corners to realize the boundary detection of framed and frameless glass. The controller is used to connect various electrical components to control the machine to realize various functions. The aforementioned surface to be cleaned includes but is not limited to the surface of a plate (such as a floor, glass window, glass curtain wall, etc.).

[0114] Regarding the transmission structure of the above-mentioned walking wheel and cleaning turntable, its specific implementation is as follows, see Figure 2-7 .

[0115] In order to address the problem of unsatisfactory transmission efficiency due to the presence of too many intermediate transmission components between the walking wheels and the power source in existing cleaning robots, this embodiment improves the transmission structure of the walking wheels 3 and the cleaning turntable 2. By eliminating the ring gear-gear transition transmission link in the existing technology and instead using a bevel gear pair to directly drive the walking wheels 3, the transmission path is optimized and the transmission efficiency from the power source to the walking wheels 3 is improved.

[0116] like Figure 2-7 As shown, the transmission structure of the walking wheel 3 and the cleaning turntable 2 mainly includes the following components: a power output gear 4, an inner ring gear 6, a cleaning turntable transmission assembly and a bevel gear assembly. Among them, the power output gear 4 and the inner ring gear 6 are coaxially arranged. The power output gear 4 is connected to the power source and is responsible for receiving the driving force and rotating. The inner ring gear 6 is fixedly arranged at the top opening of the chamber 2d of the cleaning turntable 2. The cleaning turntable transmission assembly is used to transmit power between the power output gear 4 and the inner ring gear 6 to drive the cleaning turntable 2 to rotate. The bevel gear assembly is used to transmit power between the power output gear 4 and the walking wheel 3 to drive the walking wheel 3 to rotate.

[0117] As for the power source, it is preferred to use a motor 12 or a reduction motor with a reduction function. The motor 12 is fixedly mounted on the body 1, and a worm 13 is mounted on the output shaft of the motor 12, and the power output gear 4 is configured as a worm gear meshing with the worm 13.

[0118] The bevel gear assembly is mainly composed of the following parts (see Figure 4-6 ): The first bevel gear 7a is coaxially fixedly connected to the traveling wheel 3; the second bevel gear 7b is coaxially arranged with the power output gear 4 and rotates synchronously with the power output gear 4. Through the mutual engagement between the first bevel gear 7a and the second bevel gear 7b, the rotational motion of the second bevel gear 7b can be transmitted to the traveling wheel 3, thereby driving the traveling wheel 3 to rotate. Among them, the first bevel gear 7a and the traveling wheel 3 can be coaxially fixedly connected in any of the following ways: (1) the first bevel gear 7a is directly fixedly mounted on the end face of the traveling wheel 3; (2) the first bevel gear 7a and the traveling wheel 3 are fixedly mounted on the same connecting shaft. The second bevel gear 7b and the power output gear 4 are coaxially fixedly connected, including but not limited to mechanical connection methods such as one-piece molding, welding, key connection, pin connection, or indirect fixed connection through a transmission shaft to achieve synchronous rotation. In this embodiment, the second bevel gear 7b and the power output gear 4 achieve coaxial synchronous rotation through the transmission shaft 5, wherein the connection method between the transmission shaft 5 and the two includes: a fixed connection method, such as welding or interference fit; or a detachable limiting structure connection method, such as a keyway fit or a pin connection.

[0119] The cleaning turntable transmission assembly mainly consists of the following parts (see Figure 4-6): A connecting gear 8a is coaxially arranged with the power output gear 4 and rotates synchronously with the power output gear 4; an intermediate gear 8b is rotatably arranged on the outside of the connecting gear 8a and meshes with the connecting gear 8a. Through the mutual meshing between the outer side of the intermediate gear 8b and the inner side of the inner ring gear 6, the rotational motion of the connecting gear 8a can be transmitted to the inner ring gear 6, thereby driving the cleaning turntable 2 to rotate. Among them, the inner ring gear 6 is an annular gear structure or a cup-shaped gear structure, and a plurality of teeth are distributed circumferentially on its inner side, and a plurality of teeth are distributed circumferentially on the outer side of the intermediate gear 8b, and the two are meshed. The connecting gear 8a and the power output gear 4 adopt a coaxial fixed connection method, including but not limited to one-piece molding, welding, key connection, pin connection or indirect fixed connection through a transmission shaft to achieve synchronous rotation. Mechanical connection methods. In this embodiment, the connecting gear 8a and the power output gear 4 are an integrally molded structure.

[0120] In this embodiment, a connecting gear 8a and a second bevel gear 7b are coaxially mounted on the transmission shaft 5. These two gears are arranged vertically along the axis of the transmission shaft 5. The second bevel gear 7b is fixedly connected to the transmission shaft 5. Because the connecting gear 8a is integrally connected to the power output gear 4, the connecting gear 8a and the transmission shaft 5 are also coaxially and fixedly connected. The transmission shaft 5 passes through the center of the inner ring gear 6 and maintains a clearance fit with the inner ring gear 6. Specifically, if the inner ring gear 6 is a ring gear, a through-hole is formed in its center, through which the transmission shaft 5 passes. If the inner ring gear 6 is a cup gear, a clearance hole is formed in its bottom center, through which the transmission shaft 5 passes. There is only a mechanical clearance relationship between the transmission shaft 5 and the inner ring gear 6, with no power transmission. Of course, the connecting gear 8a can be located above the center of the inner ring gear 6 or, like the transmission shaft 5, pass through the center of the inner ring gear 6 (e.g., through a through-hole or clearance hole).

[0121] The working principle of the above transmission structure is as follows:

[0122] The motor 12 drives the worm 13 to rotate, and the worm 13 drives the worm wheel (i.e., the power output gear 4) to rotate. The worm wheel is fixedly connected to the connecting gear 8a and the transmission shaft 5, thereby driving the connecting gear 8a and the transmission shaft 5 to rotate. The power transmission path is divided into two branches:

[0123] 1. Cleaning turntable transmission chain: The connecting gear 8a engages the inner gear ring 6 through the intermediate gear 8b, driving the inner gear ring 6 to rotate, thereby causing the cleaning turntable 2 to rotate accordingly.

[0124] 2. Travel wheel transmission chain: The transmission shaft 5 engages the first bevel gear 7a through the second bevel gear 7b, thereby driving the travel wheel 3 to rotate.

[0125] This transmission structure uses a single motor to drive the cleaning turntable 2 and the running wheels 3, achieving synchronous operation through a branched transmission chain. Compared with the traditional structure (which relies on the cleaning turntable to drive the running wheels), this improved transmission structure decouples the running wheels 3 from the cleaning turntable 2, placing the running wheels 3 and the cleaning turntable 2 in independent transmission paths. This avoids the problem of running wheel 3 speed fluctuations caused by changes in the speed of the cleaning turntable 2 (changes in the friction resistance of the glass surface cause changes in the speed of the cleaning turntable 2), which helps simplify the walking control of the cleaning robot and improves walking stability.

[0126] Each chamber 2d of the cleaning turntable 2 can be equipped with only a single running wheel 3 or with an auxiliary wheel 10. Specifically, the running wheel 3 is fixedly connected to a coaxial connecting shaft 9, on which the coaxial auxiliary wheel 10 is mounted. The outer diameter of the auxiliary wheel 10 is comparable to (or the same as) that of the running wheel 3. The auxiliary wheel 10 can be installed in one of the following two configurations according to actual needs:

[0127] 1. Free rotation mode (the auxiliary wheel 10 is rotatably mounted on the connecting shaft 9):

[0128] When the cleaning robot is horizontally wiping glass, if the running wheels 3 slip on water, the robot may move downward. In this situation, the auxiliary wheels 10 are free, passively rotating solely due to the friction of the surface being cleaned. If the running wheels 3 slip, the auxiliary wheels 10 form static friction contact with the glass surface, mitigating the problem of the robot falling sideways due to slipping.

[0129] 2. Synchronous rotation mode (auxiliary wheel 10 is fixedly mounted on the connecting shaft 9):

[0130] The auxiliary wheels 10 rotate synchronously with the running wheels 3, and together with the running wheels 3 drive the robot to move, thereby enhancing walking stability, and are suitable for scenarios with high requirements for stability.

[0131] Unlike conventional designs, the running wheels 3 and / or auxiliary wheels 10 of this embodiment utilize a novel structural design. They consist of a wheel body and an elastic tire. An annular mounting groove is defined on the outer periphery of the wheel body, into which the elastic tire is mounted. The cross-sectional dimensions of the annular mounting groove are larger than those of the elastic tire, allowing clearance for the elastic tire to deform under pressure.

[0132] The following is a further explanation by taking the example of both the running wheel 3 and the auxiliary wheel 10 adopting the above-mentioned novel structural design.

[0133] Specifically, the running wheel 3 is composed of a running wheel body 3a and a running wheel elastic tire portion 3b. Figure 4As shown, the running wheel body 3a is installed on the connecting shaft 9 and serves as the main supporting structure. Its outer periphery is provided with a first annular mounting groove 3a1, and the running wheel elastic tire portion 3b is embedded in the groove, directly contacting the surface to be cleaned (such as glass), providing friction and buffering effect. The cross-sectional dimensions of the first annular mounting groove 3a1 are larger than the cross-sectional dimensions of the running wheel elastic tire portion 3b, reserving a deformation gap so that the running wheel elastic tire portion 3b has a deformable space when under pressure so that the running wheel elastic tire portion 3b can produce appropriate deformation when under pressure. This can reduce the required pressing force and reduce the reaction force on the entire machine. At the same time, elastic deformation can enhance the fit between the running wheel 3 and the glass surface, improve adsorption stability, and ensure that the cleaning operation is more stable and efficient. In addition, the first bevel gear 7a can be connected to the running wheel body 3a as a whole.

[0134] The auxiliary wheel 10 adopts the same structural design as the running wheel 3. The auxiliary wheel 10 is composed of an auxiliary wheel body 10a and an auxiliary wheel elastic tire portion 10b. Figure 4 As shown, the auxiliary wheel body 10a is mounted on the connecting shaft 9, forming the main support structure of the auxiliary wheel 10. A second annular mounting groove 10a1 is provided on its outer periphery, and the auxiliary wheel elastic tire portion 10b is embedded in this groove, directly contacting the surface to be cleaned (such as glass), providing friction and a cushioning effect. The cross-sectional dimensions of the second annular mounting groove 10a1 are larger than the cross-sectional dimensions of the auxiliary wheel elastic tire portion 10b, leaving a deformation gap so that the auxiliary wheel elastic tire portion 10b has room to deform when under pressure, allowing the auxiliary wheel elastic tire portion 10b to deform appropriately when under pressure. This can reduce the required pressing force and lower the reaction force on the entire machine. At the same time, elastic deformation can enhance the fit of the auxiliary wheel 10 to the glass surface, improve adsorption stability, and ensure a smoother and more efficient cleaning operation.

[0135] In addition, the transmission structure of this embodiment further includes a support bracket 11, which is arranged between the walking wheel 3 and the cleaning turntable 2 to provide structural support and connection. Figure 4-6 As shown, the support bracket 11 includes three parts: a body connection part 11a, a walking wheel support part 11b and a turntable support part 11c, which can be connected and fixed by fasteners such as screws. The body connection part 11a is used to fix the support bracket 11 to the body 1; the walking wheel support part 11b is used to support the walking wheel 3 and allow it to rotate; the turntable support part 11c is used to support the cleaning turntable 2 and also enable it to rotate. Among them, the lower wall of the upper end of the chamber 2d of the cleaning turntable 2 is connected to the upper end of the turntable support part 11c through a plane bearing 14. When the robot is adsorbed on the surface to be cleaned, the cleaning turntable 2 will press the plane bearing 14. This not only ensures the stable support of the cleaning turntable 2, but also ensures that it can rotate freely. The plane bearing 14 not only withstands axial pressure but also provides rotational freedom.

[0136] In this embodiment, if Figure 7 As shown, the intermediate gear 8b is rotatably mounted on the body connecting portion 11a via a shaft, and there are three intermediate gears 8b in total. These three gears are evenly spaced along the circumferential direction to ensure uniform distribution of transmission force and improve transmission stability. The connecting shaft 9 of the walking wheel 3 can be mounted on the walking wheel support portion 11b via a bearing 15. The power output gear 4 and the connecting gear 8a adopt an integrated structure, and a coaxial mounting hole is provided between the two gears. The transmission shaft 5 passes through the mounting hole and is fixed by a limiting structure. The first bevel gear 7a is fixedly mounted on the bottom end of the transmission shaft 5. The above-mentioned components (power output gear 4, connecting gear 8a, transmission shaft 5, first bevel gear 7a) form a rigidly connected overall structure, and each component maintains synchronous rotation during operation.

[0137] The transmission structure of the walking wheel 3 and the cleaning turntable 2 of this embodiment adopts a parallel transmission architecture. The power is divided into two transmission paths after the power output gear 4: one path drives the walking wheel 3 to roll on the glass surface through the bevel gear assembly; the other path drives the inner gear ring 6 through the cleaning turntable transmission assembly, and then drives the cleaning turntable 2 to rotate relative to the glass surface. This design realizes the decoupling of the walking wheel 3 and the cleaning turntable 2, so that the walking wheel 3 and the cleaning turntable 2 are in independent transmission paths, avoiding the problem of fluctuations in the walking speed of the walking wheel 3 due to changes in the rotation speed of the cleaning turntable 2 (changes in the friction resistance of the glass surface cause changes in the rotation speed of the cleaning turntable 2), which is conducive to simplifying the walking control of the cleaning robot and improving the walking stability. In addition, since the embodiment directly drives the walking wheel 3 through the bevel gear pair, it avoids the transmission process of first decelerating and then accelerating, shortens the transmission path, and reduces the power loss in the transmission process to a certain extent, and the mechanical efficiency of the entire transmission mechanism is higher.

[0138] Regarding the above-mentioned fan vibration reduction installation structure, its specific implementation is as follows, see Figure 8-12 .

[0139] In this embodiment, the fan 16 is mounted on the housing 1 via a fan vibration-damping mounting structure. This structure includes a fan support structure for mounting the fan 16 to the housing 1. An elastic vibration-damping unit is provided between the fan 16 and the fan support structure and / or between the fan support structure and the housing 1. This elastic vibration-damping unit provides a flexible connection between the fan 16 and the housing 1. This flexible connection fundamentally changes the vibration transmission path. When the fan 16 generates vibration during operation, the elastic vibration-damping unit absorbs and buffers the vibration energy, preventing the vibration from being directly transmitted to the housing 1.

[0140] Take the example of installing an elastic vibration reduction unit between the fan and the fan support structure to reduce vibration.

[0141] Specifically, if Figure 11-12 As shown, the elastic vibration damping unit includes multiple elastic connection units 18 arranged at intervals (for example, three, evenly distributed around the circumference). The elastic connection unit 18 includes a fixed end and a clamping portion. The fixed end is connected to the fan support structure, and the clamping portion is located at one end away from the fan support structure. The bottom of the fan 16 is provided with a mounting base 19, and the mounting base 19 is provided with a mating portion 2a2. The mating portion 2a2 and the clamping portion are connected by a mutually cooperating concave-convex structure and have an interference fit at the connection. The concave-convex structure includes an annular groove 18a arranged around the clamping portion and a mounting hole 19a provided in the mating portion 2a2. The edge of the mounting hole 19a (such as the side wall of the mounting hole 19a or a flange provided around the mounting hole 19a) is snapped into the corresponding annular groove 18a to achieve flexible fixation. The mating portion 2a2 is usually integrally connected to the fan support structure, that is, the mounting hole 19a is directly provided on the fan support structure. The elastic connection unit 18 can be made of an elastomer, such as a silicone column. The lower end of the silicone column (i.e. the fixed end) is fixedly mounted on the fan support structure, and the upper end of the silicone column (i.e. the clamping portion) is flexibly connected to the mounting base plate 19. The elastic deformation capacity of each silicone column is usually the same. The mounting base plate 19 is clamped by the upper and lower walls of the annular groove 18a on the silicone column to achieve flexible fixation, so that when the vibration generated by the fan 16 is transmitted to the silicone column via the mounting base plate 19, the vibration energy can be absorbed by the elastic deformation of the silicone column, reducing the vibration energy transmitted to the fan support structure and the body 1, thereby ensuring the operational stability of the cleaning robot. This type of circumferentially distributed multi-point elastic support structure, combined with the interference fit local deformation design, can hinder the transmission of the fan 16 vibration to a certain extent, and utilize the damping characteristics of the elastomer (such as silicone) to absorb broadband vibration energy. Compared with traditional large-area vibration damping pads, it has better performance in suppressing high-frequency vibrations and preventing resonance, and has a simple structure.

[0142] The fan support structure can be a mounting support 20, and the mounting hole 19a is provided on the mounting support 20. The mounting support 20 can also be connected to the body 1 through an elastic vibration reduction unit (such as an elastic body such as an outer rubber strip 21) to further enhance the vibration reduction effect. The mounting support 20 can adopt an integrated structure or a split combination structure. Taking the split combination structure as an example, the mounting support 20 includes an inner mounting seat and an outer mounting seat, and the fan 16 is mounted on the inner mounting seat (such as the mounting base plate 19 is mounted on the inner mounting seat through a silicone column), and the inner mounting seat and the outer mounting seat are connected through an elastic vibration reduction unit (such as an elastomer), and the outer mounting seat is connected to the body 1 through another elastic vibration reduction unit (such as an elastomer). In this way, multi-stage vibration reduction can be achieved, further enhancing the vibration reduction effect.

[0143] Take the example of installing an elastic vibration reduction unit between the fan support structure and the fan body to reduce vibration.

[0144] Specifically, if Figure 8-10 As shown, the elastic vibration damping unit includes multiple groups of vibration damping elements arranged around the fan 16. These vibration damping elements have varying radial distances from the center of the fan 16, thereby achieving graded absorption of the fan 16's vibrations and enhancing the vibration damping effect. The fan 16 is mounted on the machine body 1 via a fan support structure. Multiple groups of vibration damping elements are disposed on the fan support structure, distributed around the fan 16. Each group of vibration damping elements has a gradient radial distance from the center (axis) of the fan 16 in the horizontal plane. Vibration damping elements closer to the center of the fan 16 absorb high-frequency vibrations and small displacements, while vibration damping elements farther from the center of the fan 16 absorb low-frequency vibrations and large displacements. This graded arrangement allows vibration energy to be partially absorbed by the inner vibration damping elements first, while the remaining energy is significantly attenuated by the time it is transferred to the outer vibration damping elements, thereby achieving efficient dissipation of vibration energy.

[0145] The number of vibration-damping elements can be two, three, or more groups, depending on the needs. For ease of explanation, the following detailed description uses two groups of vibration-damping elements as an example. For ease of description, these two groups of vibration-damping elements are referred to as the first vibration-damping element 22 and the second vibration-damping element 23, respectively, with one first vibration-damping element 22 and one second vibration-damping element 23. The fan support structure includes an outer mounting base 24 and an inner mounting base 25. The fan 16 is mounted on the inner mounting base 25, which is connected to the outer mounting base 24 via the first vibration-damping element 22. A central area of ​​the outer mounting base 24 is provided with a hollow portion 24a. The inner mounting base 25 is located within this hollow portion 24a and is fixedly connected to the outer mounting base 24 via the first vibration-damping element 22. The outer mounting base 24 is connected to the engine body 1 via the second vibration-damping element 23, thereby securely mounting the entire fan 16 and its fan support structure to the engine body 1. The progressive vibration reduction effect created by the two-stage vibration-damping elements absorbs and cushions the vibrations generated by the fan 16 during operation, thereby reducing the noise generated by the fan vibration and improving the smooth operation of the equipment. It should be noted that the connection between the fan 16 and the inner mounting base 25 can be rigid, or a flexible connection can be achieved using the solution described above (a vibration-damping structure including an elastic connection unit) to further enhance the vibration reduction effect.

[0146] In order to ensure the firmness and stability of the connection between the vibration-damping element and the mounting seat, a protrusion and groove interlocking structure can be used to achieve the connection between the two. Specifically, a first protrusion 26a is provided on the outer edge of the outer mounting seat 24 and the inner mounting seat 25, respectively, and a first groove 26b that matches the first protrusion 26a is correspondingly provided on the first vibration-damping element 22 and the second vibration-damping element 23. By snapping the first protrusion 26a into the corresponding first groove 26b, the vibration-damping element can be firmly mounted on the mounting seat. Those skilled in the art should understand that the fit between the first protrusion 26a and the first groove 26b should satisfy the situation that it is not loosened or displaced due to the vibration of the fan 16, and the vibration-damping element should be configured as a structure that can absorb vibration energy through its own deformation. For example, the vibration-damping element can be a vibration-damping ring or vibration-damping strip made of an elastic material (silicone, TPU, etc.).

[0147] In this embodiment, a second vibration-damping element 23, specifically an elastic rubber strip, is mounted on the outer edge of the outer mounting seat 24. A first vibration-damping element 22, specifically an elastic rubber ring, is mounted on the outer edge of the inner mounting seat 25. The elastic deformation capabilities of the first and second vibration-damping elements 22, 23 can be identical, or they can be configured differently based on actual needs.

[0148] This embodiment, by arranging multiple groups of elastic vibration damping elements at varying radial distances around fan 16, achieves a multi-stage vibration damping mechanism and graded dissipation of vibration energy, thereby more effectively suppressing vibrations generated during fan 16 operation. First, by arranging multiple groups of vibration damping elements at varying distances from the center of fan 16, the inner vibration damping elements near the center of fan 16 preferentially absorb high-frequency vibrations and small displacements, while the outer vibration damping elements farther from the center primarily buffer low-frequency vibrations and large displacements, thereby achieving a multi-stage vibration damping mechanism. Second, during fan 16 operation, the inner vibration damping elements first absorb a portion of the kinetic energy of vibration. The remaining energy is significantly attenuated by the time it is transferred to the outer vibration damping elements. This synergistic effect of multi-stage vibration damping enables efficient dissipation of vibration energy. Furthermore, when intense vibration causes the outer vibration damping elements to reach their maximum buffering capacity, the inner vibration damping elements can still maintain their effective vibration damping function, thus ensuring system reliability under extreme operating conditions.

[0149] In this embodiment, the housing 1 is provided with a mounting cavity 17, and the fan 16 is installed in the mounting cavity 17 (i.e., the fan 16 is accommodated within the mounting cavity 17). The housing 1 is provided with an exhaust duct 27 connected to the mounting cavity 17. The exhaust duct 27 leads to the bottom of the housing 1, and its exhaust outlet faces the front of the housing 1. Designing the exhaust outlet at the bottom of the machine and facing the front of the machine 1 allows the exhaust airflow to initially remove some dust from the glass surface. Then, as the machine moves forward, the cleaning cloth can wipe the area swept by the exhaust air, which helps reduce dust accumulation on the cleaning cloth and improves the cleaning effect to a certain extent.

[0150] The exhaust passage 27 has at least one curved section. As air flows through the curved section, its velocity decreases due to the altered shape of the passage. This reduced velocity helps reduce the impact of the airflow on the bottom of the housing 1, thereby reducing vibration and noise that may be caused by the impact of the airflow. The curved section increases the airflow path length and resistance, causing the airflow's energy to gradually decay during the exhaust process, further reducing the airflow velocity and impact.

[0151] The inner wall of the exhaust channel 27 is lined with sound-absorbing cotton. This cotton effectively absorbs the noise generated by the airflow within the channel, reducing the whistling and high-frequency noise produced by the airflow, thereby lowering the overall noise level of the cleaning robot during operation. Furthermore, the sound-absorbing cotton not only absorbs sound but also reduces the transmission of airflow vibrations to the body 1, further enhancing the operational stability of the cleaning robot.

[0152] The body 1 of this embodiment includes a bottom shell 1a, a top shell 1b installed at the upper end of the bottom shell 1a, and a cover body 1c for covering and fixing the fan 16. Components such as the cleaning turntable 2, the running wheels 3 and the drive source are installed on the bottom shell 1a, while the suction module is installed on the top shell 1b. An installation cavity 17 is formed on the bottom shell 1a, and the installation cavity 17 is connected to the chamber 2d of the cleaning turntable 2. A sinking portion is provided on the top shell 1b, and the sinking portion sinks into the installation cavity 17 of the bottom shell 1a. The upper end of the sinking portion is recessed to form an accommodating cavity 28 for accommodating the fan 16. The cover body 1c is installed at the upper end of the accommodating cavity 28 to cover and fix the fan 16. An opening is provided at the lower end of the accommodating cavity 28, and the opening is connected to the installation cavity 17 to achieve airflow communication between the fan 16 and the chamber 2d of the cleaning turntable 2. The second vibration damping element 23 is mounted on a step at the upper edge of the accommodating chamber 28 and is held in place by the cover 1c. The first vibration damping element 22 is mounted on a step at the upper edge of the hollowed portion 24a of the outer mounting base 24 and is held in place by a fixing plate 29. The fixing plate 29 is securely connected to the outer mounting base 24 via a snap-fit ​​mechanism.

[0153] Regarding the cleaning turntable of the floating structure, its specific implementation is as follows, see Figure 13-15 .

[0154] like Figure 13-15As shown, the floating structure cleaning turntable 2 of this embodiment mainly includes a rotating chuck 2a, a rag mounting seat 2b and a rag 2c. The rotating chuck 2a serves as the main support structure of the cleaning turntable 2; the rag mounting seat 2b is installed below the rotating chuck 2a through a hook structure, and can float upward relative to the rotating chuck 2a; the rag 2c is in the shape of a bag (also called a "rag bag" or "rag ring"), which is mounted on the outside of the rag mounting seat 2b. The top of the rag 1c is open (i.e., an open end), and the bottom of the rag 1c is provided with a notch, which allows the walking wheel 3 to pass through and contact the surface to be cleaned. The rag mounting seat 2b achieves axial floating through its matching structure with the rotating chuck 2a. The open end (upper end) of the rag 2c is clamped between the rotating chuck 2a and the rag mounting seat 2b, and is configured so that when the rag mounting seat 2b floats upward relative to the rotating chuck 2a, the clamped part thereof can be compressed and deformed. The cleaning turntable 2 is arranged at the bottom of the body 1, and the body 1 includes a casing, a rotating chuck 2a and a rag mounting seat 2b, both of which are located outside the casing. In this embodiment, a floating connection structure is adopted between the rotating chuck 2a and the rag mounting seat 2b outside the casing. During the cleaning operation, the rag mounting seat 2b is moved upward by the reaction force of the surface to be cleaned, and the clamped portion of the rag 2c is compressed and deformed, thereby realizing a floating function. Since the rag 2c is a consumable during the use of the cleaning robot, the user's use cycle of the rag 2c is relatively short (generally replaced once a month), and the problem of the cleaning turntable 2 and the surface to be cleaned being deteriorated due to aging of the elastic member (lack of elasticity) usually does not occur. Even if the cleaning turntable 2 and the surface to be cleaned are deteriorated in fit, the user only needs to replace the rag 2c located outside the casing to solve the problem, which is very convenient to operate.

[0155] To prevent the rag 2c from falling out of the gripper between the rotating chuck 2a and the rag mounting seat 2b during cleaning, this embodiment provides a first anti-slip structure at the open end of the rag 2c. This first anti-slip structure includes, but is not limited to, an anti-slip protrusion 2c1 provided at the open end of the rag 2c, as well as other equivalent anti-slip features (such as anti-slip grooves, anti-slip ribs, etc.). The first anti-slip structure, in conjunction with the rotating chuck 2a and the rag mounting seat 2b, resists external forces during the cleaning process and prevents the rag 2c from accidentally falling out of its mounting position.

[0156] In this embodiment, the lower end of the rotary chuck 2a is provided with multiple concentrically spaced annular holding portions 2a1. These holding portions 2a1 cooperate with the rag mount 2b to form a clamping space for securing the open end of the rag 2c. When pressure is applied during cleaning operations, the annular holding portions 2a1 and the rag mount 2b work together to securely clamp the rag 2c, preventing it from shifting or becoming loose.

[0157] In this embodiment, the rag mount 2b is an annular structure, and its inner side wall is provided with a plurality of second protrusions 2b1 protruding radially inward. The lower end of the middle portion of the rotating chuck 2a is provided with an axially extending mating portion 2a2, and the outer peripheral surface of the mating portion 2a2 is provided with an axially extending chute 2a2a1. The second protrusion 2b1 and the chute 2a2a1 are clearance-fitted, so that the rag mount 2b can float axially relative to the rotating chuck 2a. In addition, a second anti-slip structure (i.e., the aforementioned hook structure) is provided between the rag mount 2b and the rotating chuck 2a, which is used to limit the second protrusion 2b1 from axially downwardly disengaging from the chute 2a2a1, thereby avoiding separation of the two during the floating process. Through the clearance fit between the second protrusion 2b1 and the chute 2a2a1, the axial floating function of the rag mount 2b relative to the rotating chuck 2a is realized, so that the cleaning turntable 2 (rag mount 2b) can adaptively adhere to the cleaning surface, while ensuring that the walking wheel 3 can also stably press the cleaning surface. At the same time, the second anti-slip structure (hook structure) can prevent the second protrusion 2b1 from escaping from the slide groove 2a2a1 during the floating process, ensuring the connection stability between the rag mounting seat 2b and the rotating chuck 2a, and enhancing the reliability and durability of the entire cleaning turntable 2.

[0158] The second anti-slip structure (hook structure) can be implemented in any of the following ways:

[0159] Method 1: A radially outward-extending (protruding) stopper flange is provided at the lower end of the mating portion 2a2 to form a blocking portion. The annular blocking surface of the stopper flange restricts the downward movement of the second protrusion 2b1, preventing it from escaping the chute 2a2a1. The blocking portion can be a continuous annular structure or a discontinuous arc-shaped structure.

[0160] Method 2: The mating portion 2a2 is decomposed into multiple circumferentially spaced mating blocks 2a2a. Slideways 2a2a1 are provided on the mating blocks 2a2a, forming intermittent spaces between adjacent mating blocks 2a2a. Some second protrusions 2b1 on the inner sidewall of the rag mounting seat 2b correspond to the positions of the intermittent spaces, forming stopper protrusions 2b1a. The remaining second protrusions 2b1 form mating protrusions that provide a clearance fit with the slideways 2a2a1. An axially extending extension 2a3 is provided at the lower end of the rotary chuck 2a, corresponding to the positions of the intermittent spaces. The outer side of the extension 2a3 is provided with a radially outwardly projecting anti-slip boss 2a3a. The anti-slip boss 2a3a forms an axially limited fit with the stopper protrusion 2b1a. When the second protrusion 2b1 (matching protrusion) slides into the sliding groove 2a2a1 on the matching block 2a2a, the anti-slip boss 2a3a can block the limiting protrusion 2b1a from below, restricting the second protrusion 2b1 (matching protrusion) from disengaging from the sliding groove 2a2a1 downward.

[0161] This embodiment uses the second anti-slip structure (hook structure) of method 2. The second protrusions 2b1 (including the limiting protrusion 2b1a and the mating protrusion) provided on the inner sidewall of the rag mount 2b can be arranged to be evenly spaced along the circumference, with each second protrusion 2b1 arranged at equal angles in the circumferential direction. This allows the rag mount 2b to be assembled with the rotary chuck 2a at multiple installation phase angles, reducing the difficulty of assembly and alignment.

[0162] Regarding the above-mentioned boundary detection device, its specific implementation is as follows, see Figure 1-2 and Figure 16-18 .

[0163] The boundary detection device used in this embodiment mainly includes: a detection component 30, a trigger component 31 and a sensor 32. The detection component 30 is configured so that at least when the cleaning robot is adsorbed on the surface to be cleaned, its outer end is located on the outside of the body 1 and against the surface to be cleaned, and when it moves to the outside of the surface to be cleaned, it can swing downward (i.e., deflect downward) and when it is squeezed by the outside, it can swing downward and move upward as a whole, so as to drive the trigger component 31 to move to the preset sensing position and trigger the sensor 32 to generate a sensing signal.

[0164] The boundary detection device of the above structure performs boundary detection in the following manner: when the cleaning robot is cleaning frameless window glass, when the cleaning robot moves to the edge of the glass, due to the absence of the frame, the outer end of the detection component 30 will not be squeezed and moved upward as a whole. Instead, when the outer end of the detection component 30 moves to the outside of the glass and is suspended in the air (i.e., when the outer end of the detection component 30 is separated from the glass surface), due to the loss of support from the glass, it will deflect downward relative to the body 1, thereby causing the trigger component 31 to move (deflect upward) from its original non-trigger position to the trigger position (preset sensing position), and trigger the sensor 32 to generate a sensing signal. When the cleaning robot is cleaning framed window glass, when the cleaning robot moves to the edge of the glass, the outer end of the detection component 30 is squeezed and moved upward by the frame, causing the trigger component 31 to swing upward relative to the body 1 and move upward as a whole, causing the trigger component 31 to move (swing upward and move upward) from its original non-trigger position to the trigger position (preset sensing position), and thereby triggering the sensor 32 to generate a sensing signal. When performing frameless boundary detection and framed boundary detection, the trigger position (preset sensing position) of the trigger component 31 is the same.

[0165] The boundary detection device of this embodiment utilizes a detection component 30, a trigger component 31, and a sensor 32 to detect the boundaries of both framed and frameless window glass. This simple and efficient detection method and structure can improve factory production and assembly efficiency to a certain extent and reduce the manufacturing cost of the detection device. The detection component 30 is designed to maintain the same downward swinging motion in two situations: when the cleaning robot moves outside the surface to be cleaned, and when the body 1 is subjected to an external impact. This design eliminates the need for a switching mechanism and can simultaneously address two different detection requirements. This design improves the simplicity and reliability of the detection device. By maintaining the same downward swinging motion, the detection component 30 triggers the same sensing mechanism in two different situations (when the cleaning robot moves outside the surface to be cleaned and when the body 1 is subjected to an external impact), eliminating the need for a complex switching mechanism or additional sensors to distinguish between the two situations. This not only simplifies the device structure and reduces manufacturing costs, but also improves its stability and reliability, reducing the risk of failure caused by complex structures. This design also improves detection efficiency because there is no need to switch between different detection modes, enabling rapid response and accurate boundary detection, ensuring the normal operation and safety of the cleaning robot. Furthermore, the detection component 30 also has the function of moving upward as a whole when the body 1 is subjected to an external impact. This design offsets the overturning moment caused by the downward swing, thereby maintaining the adsorption stability of the body 1. This dual function not only simplifies the detection method and structure, but also improves the stability and reliability of the device during long-term operation.

[0166] The specific structure of a single boundary detection device can be found in Figure 17 、 18 , which mainly includes a detection component 30, a trigger component 31 and a sensor 32 installed on the body 1. In this embodiment, the sensor 32 adopts an interruption sensor, but other types of sensors can also be selected, such as a reflective sensor, as long as the sensor can trigger the sensing signal due to the position movement of the trigger component 31. The way in which the trigger component 31 triggers the sensing signal can be a contact trigger or a non-contact trigger. For example, non-contact triggering can be achieved by blocking or changing the original signal transmission path of the sensor. In this embodiment, the trigger component 31 is located below the sensor 32 in the non-trigger state. When the trigger component 31 moves upward (including upward deflection and upward movement) from the non-trigger position to the trigger position, it can block the original signal transmission path of the sensor 32, thereby triggering the sensor 32 to generate a sensing signal.

[0167] Unlike existing detection devices, the detection device of this embodiment integrates corner cleaning and boundary detection functions. Specifically, an elastic soft rubber sleeve 33 is provided on the outside of the detection component 30. The elastic soft rubber sleeve 33 is fixed to the body 1 of the cleaning robot and its bottom end extends to the surface to be cleaned. When the cleaning robot moves, the bottom end of the elastic soft rubber sleeve 33 can act as a scraper to clean the corners of the surface to be cleaned. When the body 1 is squeezed by the outside, the elastic soft rubber sleeve 33 can deform laterally, pressing the outer end of the detection component 30, causing the detection component 30 to swing downward and move upward as a whole, achieving boundary detection. In this way, it can achieve corner cleaning while realizing the boundary detection function, improving the cleaning effect. Among them, when the cleaning robot is not attached to the surface to be cleaned, the outer end of the detection component 30 is located outside the body 1, and the bottom end generally protrudes from the bottom end of the elastic soft rubber sleeve 33. When the robot is attached to the surface to be cleaned, the detection component 30 is pressed upward, so that its bottom end is flush with the bottom end of the elastic soft rubber sleeve 33, and the two together press the surface to be cleaned.

[0168] To better clean the corners of the surface being cleaned, the lateral contact surface of the elastic soft rubber sleeve 33 can be provided with a sharp angle structure (e.g., a right-angle structure) protruding in the cleaning direction. This sharp angle structure can simultaneously fit the adjacent sides of the corner when contacting the corner, thereby reducing blind spots. In addition, to maintain the secure connection of the elastic soft rubber sleeve 33, it can be clamped to the body 1 using a mounting plate 38. Typically, the upper end of the elastic soft rubber sleeve 33 is clamped and fixed, while the lower end is movable.

[0169] Among them, Figure 16 As shown, a support plate 35 is fixedly mounted on the body 1, and the support plate 35 is usually integrally formed with the body 1. A movable block 36 is fixedly mounted on the side of the detection component 30, and the movable block 36 can be designed in a cylindrical shape. The lower end of the movable block 36 is provided with a second groove 36a. The support plate 35 is inserted into the second groove 36a and forms a sliding fit with the inner wall of the second groove 36a. A movable gap is reserved between the side of the support plate 35 near the outer end of the detection component 30 and the side wall of the second groove 36a, allowing the movable block 36 to swing on the support plate 35, thereby driving the detection component 30 and the trigger component 31 to swing. At the same time, the depth of the support plate 35 extending into the second groove 36a is deep enough to allow the movable block 36 to move upward along the support plate 35, thereby driving the detection component 30 and the trigger component 31 to move upward as a whole. Among them, the detection component 30, the trigger component 31 and the movable block 36 can be configured as an integrally formed structure, and the movable block 36 is located between the detection component 30 and the trigger component 31. In order to facilitate the movable block 36 to swing better on the support plate 35, the upper end of the support plate 35 and the second groove 36a can be configured as a curved surface structure.

[0170] In order to make the outer end of the detection component 30 abut against the surface to be cleaned when the cleaning robot is in operation, a driving mechanism can be provided on the body 1 or a supporting structure provided on the body 1. The driving mechanism can apply a force to the detection component 30 to force its outer end against the surface to be cleaned, and can also cause the detection component 30 to deflect downward when the detection component 30 moves away from the surface to be cleaned. The driving mechanism can be an elastic component, or other component other than the elastic component that can cause the detection component 30 to move as described above.

[0171] The following example illustrates the driving mechanism as an elastic component. Specifically, the elastic component is a compressible elastic member 37 (such as a compression spring) disposed at the upper end of the movable block 36. One end (such as the lower end) of the elastic member 37 is fixed to the movable block 36 near the outer end of the detection component 30 and offset from the center of the support plate 35 (i.e., eccentrically disposed), while the other end (such as the upper end) is fixed to the machine body 1 or a support structure disposed on the machine body 1. The elastic member 37 can drive the movable block 36 through a preload force, causing the outer end of the detection component 30 to abut against the surface to be cleaned. In this embodiment, the support structure is a fixed base 39 fixedly mounted on the machine body 1. The fixing method of the compression spring (elastic member 37) includes but is not limited to: a fixed column 36b (which can be designed to be conical) is provided at the upper end of the movable block 36; a limiting groove 39a is provided at the lower end of the fixed seat 39, a fixing rod 39b is installed inside the limiting groove 39a, and an annular groove is formed between the fixing rod 39b and the inner wall of the limiting groove 39a; the upper end of the compression spring is installed in the annular groove, and the lower end is sleeved on the fixed column 36b of the movable block 36. In addition, the compression spring is usually arranged at one end of the movable block 36 close to the detection component 30, and the fixed seat 39 can be provided with a limiting pressure block at a position corresponding to the other end of the movable block 36. The limiting pressure block is installed above the movable block 36 and maintains a certain distance from the movable block 36. This setting can limit the range of movement of the movable block 36 on the support plate 35, which can prevent the movable block 36 from moving upward excessively and prevent it from slipping off the support plate 35.

[0172] Among them, Figure 17 As shown, the body 1 is also provided with a U-shaped mounting base 34, which includes two oppositely arranged side walls and a top wall or bottom wall connecting the two side walls. The sensor 32 is fixedly mounted on the inner surface of at least one side wall. The trigger component 31 is configured such that: when the detection component 30 is subjected to external impact, it can be driven by the detection component 30 to move into the sensing area between the two side walls, thereby triggering the sensor 32 to generate a sensing signal; when the detection component 30 moves to the outside of the surface to be cleaned, it can be driven by the detection component 30 to move into the sensing area between the two side walls, thereby triggering the sensor 32 to generate a sensing signal.

[0173] Figure 17The figure shows the relative positional relationship between the trigger component 31 and the sensor 32 when the trigger component 31 is in the non-trigger position. As can be seen from the figure, when the trigger component 31 is in the non-trigger position, it is located below the signal transmission path of the sensor 32. During operation, when the cleaning robot moves to the edge of a framed window, the detection component 30 collides with the frame of the glass. Since the detection component 30 can swing downward and move upward relative to the body 1 (support plate 35) when it collides with the frame of the glass, the detection component 30 drives the trigger component 31 to swing upward and move upward. When the trigger component 31 moves upward to the point where it interferes with the original signal transmission path of the sensor 32 (when the trigger component 31 is in the trigger position), the original signal transmission path is blocked, thereby triggering the sensing signal. When the cleaning robot moves to the edge of a frameless window, since the detection component 30 is not pushed by the frame, it will not move upward relative to the body 1 (support plate 35). Instead, the detection component 30 will move to the outside of the glass and remain suspended in the air. After losing the support of the glass, the detection component 30 drives the trigger component 31 to swing upward relative to the body 1 (support plate 35) until it interferes with the original signal transmission path of the sensor 32 (at this time the trigger component 31 is in the trigger position), and the original signal transmission path is blocked, thereby triggering the sensing signal.

[0174] The above embodiments are preferred implementation schemes of the present invention. Any obvious replacements without departing from the concept of the present technical solution are within the protection scope of the present invention.

Claims

1. A cleaning robot comprising a body (1), a cleaning turntable (2) and a running wheel (3), wherein a chamber (2d) is provided in the cleaning turntable (2), and the running wheel (3) is provided in the chamber (2d), and wherein the cleaning robot comprises: The travel wheel (3) is connected to the cleaning turntable (2) via a transmission structure, and the transmission structure comprises: A power output gear (4) connected to a power source; An inner gear ring (6) is coaxially arranged with the power output gear (4) and fixedly arranged at the top opening of the chamber (2d) of the cleaning turntable (2); A cleaning turntable transmission assembly, used for transmitting power between the power output gear (4) and the inner gear ring (6) to drive the cleaning turntable (2) to rotate; The bevel gear assembly is used to transmit power between the power output gear (4) and the travel wheel (3) to drive the travel wheel (3) to rotate.

2. The cleaning robot according to claim 1, characterized in that: The bevel gear assembly comprises: A first bevel gear (7a) is coaxially and fixedly connected to the travel wheel (3); A second bevel gear (7b) is coaxially arranged with the power output gear (4) and is configured to rotate synchronously with the power output gear (4); The first bevel gear (7a) and the second bevel gear (7b) are meshed with each other to transmit the rotational motion of the second bevel gear (7b) to the traveling wheel (3).

3. The cleaning robot according to claim 1, characterized in that: The cleaning turntable transmission assembly includes: A connecting gear (8a) is coaxially arranged with the power output gear (4) and is configured to rotate synchronously with the power output gear (4); An intermediate gear (8b) is rotatably disposed outside the connecting gear (8a) and meshes with the connecting gear (8a); The outer side of the intermediate gear (8b) meshes with the inner teeth of the inner gear ring (6) to transmit the rotational motion of the connecting gear (8a) to the inner gear ring (6), thereby driving the cleaning turntable (2) to rotate.

4. The cleaning robot according to claim 1, characterized in that: The traveling wheel (3) is coaxially fixedly connected to a connecting shaft (9), an auxiliary wheel (10) is rotatably mounted on the connecting shaft (9) or an auxiliary wheel (10) is fixedly mounted on the connecting shaft (9), and the outer diameter of the auxiliary wheel (10) is equivalent to the outer diameter of the traveling wheel (3).

5. The cleaning robot according to claim 4, characterized in that: The running wheel (3) and / or the auxiliary wheel (10) comprises: A wheel body, constituting the main supporting structure of the running wheel (3) and / or the auxiliary wheel (10), and having an annular mounting groove provided on its outer periphery; The elastic tire part is embedded in the annular installation groove and contacts and cooperates with the surface to be cleaned; The cross-sectional dimension of the annular mounting groove is larger than the cross-sectional dimension of the elastic tire portion, so as to reserve a movable gap for the elastic tire portion to be compressed and deformed.

6. The cleaning robot according to claim 1, characterized in that: The machine body (1) is provided with a fan (16) and an installation cavity (17), wherein the fan (16) is accommodated in the installation cavity (17), and the installation cavity (17) is connected to the chamber (2d) of the cleaning turntable (2). The fan (16) extracts air from the chamber (2d) to form a negative pressure, so that the cleaning turntable (2) is adsorbed on the surface to be cleaned; The fan (16) is mounted on the body (1) via a fan support structure, and an elastic vibration damping unit is installed between the fan (1) and the fan support structure, the elastic vibration damping unit comprising a plurality of elastic connection units (18) arranged at intervals, the elastic connection unit (18) comprising a fixed end connected to the fan support structure and a clamping portion provided at an end away from the fan support structure, a mounting base (19) is provided at the bottom of the fan (16), a matching portion is provided on the mounting base (19), the matching portion and the clamping portion are connected via mutually matching concave and convex structures and are interference fit at the connection.

7. The cleaning robot according to claim 1, characterized in that: The machine body (1) is provided with a fan (16) and an installation cavity (17), wherein the fan (16) is accommodated in the installation cavity (17), and the installation cavity (17) is connected to the chamber (2d) of the cleaning turntable (2). The fan (16) extracts air from the chamber (2d) to form a negative pressure, so that the cleaning turntable (2) is adsorbed on the surface to be cleaned; The fan (16) is mounted on the machine body (1) via a fan support structure, and an elastic vibration damping unit is installed between the fan support structure and the machine body (9). The elastic vibration damping unit includes multiple groups of vibration damping elements, and each group of vibration damping elements has a different radial distance from the axis of the fan (16) in the horizontal plane to absorb vibrations generated by the fan (16) during operation in a graded manner.

8. The cleaning robot according to claim 1, characterized in that: The cleaning turntable (2) comprises: Rotating chuck (2a); A rag mounting seat (2b) is mounted below the rotating chuck (2a) via a hook structure and is configured to float upward relative to the rotating chuck (2a); The rag (2c) is in the shape of a bag as a whole and is mounted on the outside of the rag mounting seat (2b). The open end of the top of the rag (2c) is clamped between the rotating chuck (2a) and the rag mounting seat (2b) and is configured so that the clamped portion thereof can be compressed and deformed when the rag mounting seat (2b) floats upward relative to the rotating chuck (2a). The bottom of the rag (2c) is provided with a notch for the traveling wheel (3) to pass through and contact the surface to be cleaned.

9. The cleaning robot according to claim 1, characterized in that: The invention also includes a boundary detection device, which includes a detection component (30), a trigger component (31) and a sensor (32). The detection component (30) is configured so that at least when the cleaning robot is adsorbed on the surface to be cleaned, its outer end is located outside the body (1) of the cleaning robot and abuts against the surface to be cleaned, and when it moves to the outside of the surface to be cleaned, it can swing downward and when it is squeezed by the outside, it can swing downward and move upward as a whole, so as to drive the trigger component (31) to move to a preset sensing position and trigger the sensor (32) to generate a sensing signal.

10. The cleaning robot according to claim 9, characterized in that: The outer side of the detection component (30) is provided with an elastic soft rubber sleeve (33), and the elastic soft rubber sleeve (33) is fixed to the machine body (1) and the bottom end thereof extends to the surface to be cleaned; The elastic soft rubber sleeve (33) is configured as follows: When the cleaning robot moves, its bottom end acts as a scraper to clean the corners of the surface to be cleaned; When subjected to external impact, the elastic soft rubber sleeve (33) deforms laterally and presses the outer end of the detection component (30), causing the detection component (30) to swing downward and move upward as a whole.

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