Multi-degree-of-freedom device and cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to a multi-degree-of-freedom device and a cleaning robot. The multi-degree-of-freedom device comprises a top plate, a guide rail, a worm and gear assembly, a transmission assembly and an adjusting assembly, wherein the guide rail is arranged in the vertical direction; the worm gear and worm assembly comprises a worm gear and a worm which are matched with each other, and the worm is rotatably arranged on the top plate and can drive the worm gear to rotate; the transmission assembly comprises a swing rod, a connecting rod and a sliding block, the swing rod is connected with the worm gear, one end of the connecting rod is rotatably connected with the swing rod, and the other end of the connecting rod is rotatably connected with the sliding block which is slidably connected with the guide rail. The adjusting assembly is rotationally connected with the sliding block and used for being rotationally connected with the cleaning assembly and adjusting the height and the ground pressure of the cleaning assembly. By arranging the transmission assembly and the adjusting assembly, adjustment of the height of the cleaning assembly and the ground pressure is achieved, and the problem that the distance between the cleaning assembly of a conventional cleaning robot and the ground is fixed and cannot be flexibly adjusted according to the actual condition of the ground is solved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular to a multi-degree-of-freedom device and a cleaning robot. Background Art

[0002] With the rapid development of technology, cleaning robots, as highly intelligent cleaning devices, have been widely and deeply applied in various fields, including homes, businesses, and industries. In the home environment, cleaning robots, with their advanced technology, can efficiently and accurately complete a range of cleaning tasks, such as floor sweeping. They use autonomous navigation systems to accurately locate themselves and skillfully avoid obstacles. Using intelligent path planning technology, they rationally arrange cleaning routes, minimizing human intervention. This intelligent cleaning method not only greatly improves cleaning efficiency but also brings unprecedented convenience to users, freeing people from tedious household chores and allowing them to enjoy a more relaxed and comfortable life.

[0003] However, conventional cleaning robots have a fixed distance between their cleaning components and the ground. This fixed distance cannot be flexibly adjusted to the actual ground conditions when the ground is sloped or at different heights. This not only results in the robot failing to achieve the desired cleaning effect in certain areas, but can also cause the cleaning components to exert excessive force, resulting in wasted energy and impacting overall cleaning efficiency and user experience. Summary of the Invention

[0004] The present application provides a multi-degree-of-freedom device and a cleaning robot to solve the problem that the distance between the cleaning components of a conventional cleaning robot and the ground is fixed. When there is a slope or height difference on the ground, this fixed distance cannot be flexibly adjusted according to the actual conditions of the ground.

[0005] In a first aspect, the present application provides a multi-degree-of-freedom device for use in a cleaning robot, comprising: roof; A guide rail, the guide rail is connected to the top plate and is arranged in a vertical direction; A worm gear assembly, comprising a worm wheel and a worm that cooperate with each other, wherein the worm is rotatably disposed on the top plate and can drive the worm wheel to rotate; a transmission assembly comprising a rocker arm, a connecting rod, and a slider, wherein the rocker arm is connected to the worm gear, one end of the connecting rod is rotatably connected to the rocker arm, the other end of the connecting rod is rotatably connected to the slider, and the slider is slidably connected to the guide rail; An adjusting component is rotatably connected to the slider, and is used to rotatably connect to the cleaning component and adjust the height and ground pressure of the cleaning component.

[0006] Optionally, the adjustment assembly includes two shock absorbers, both ends of which are rotatably connected to the slider and the cleaning assembly respectively, and the two shock absorbers are located on opposite sides of the slider and are spaced apart along the length direction of the cleaning assembly.

[0007] Optionally, the axial directions of the two shock absorbers are arranged at an angle.

[0008] Optionally, an elastic member is sleeved on the outer periphery of each shock absorber, and two ends of the elastic member are elastically abutted against the sliding block and the cleaning assembly respectively.

[0009] Optionally, the multi-degree-of-freedom device is further provided with a guide assembly, which includes a guide rod and a guide support frame, the guide rod is slidingly connected to the guide support frame, the end of the guide rod away from the guide support frame is connected to the top plate, and the guide support frame is rotatably connected to the cleaning assembly.

[0010] Optionally, the guide assembly has a bushing seat, the bushing seat is connected to the cleaning assembly, and the guide support frame is rotatably connected to the bushing seat.

[0011] Optionally, the end of the bushing seat away from the cleaning assembly has a rotational fitting portion, and the rotational fitting portion is an arc surface.

[0012] Optionally, a limiting member is provided at one end of the guide support frame close to the cleaning assembly, and the limiting member is connected to the guide support frame.

[0013] Optionally, the multi-degree-of-freedom device is provided with a driving member and a zero point switch, the driving member is used to drive the worm to rotate, the zero point switch is connected to the top plate, and the zero point switch is used to calibrate the zero position of the driving member.

[0014] In a second aspect, the present application provides a cleaning robot comprising the multi-degree-of-freedom device provided in the first aspect of the present application.

[0015] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art: The multi-degree-of-freedom device of this application achieves flexible adjustment of the height and ground pressure of the cleaning assembly through a specific mechanical structural design. Specifically, the worm in the worm gear assembly is mounted on the top plate. A motor drives the worm to rotate, which in turn drives the worm gear. The worm gear is connected to a rocker arm, which is connected to a slider via a connecting rod. The slider slides up and down within a guide rail. When the worm gear rotates, the rocker arm rotates synchronously, pushing the slider up and down along the guide rail via the connecting rod. The adjustment assembly is connected to the slider, used to mount the cleaning assembly. The adjustment assembly adjusts the distance between the cleaning assembly and the ground by moving the slider, thereby adjusting the height of the cleaning assembly. When the cleaning robot encounters a slope, the adjustment assembly absorbs or buffers the resistance from obstacles, allowing the cleaning assembly to rise or fall, ensuring that the cleaning assembly maintains the appropriate pressure against the ground. The multi-degree-of-freedom device of this application significantly improves the adaptability and cleaning performance of the cleaning robot in complex ground environments. Through the synergistic effect of the worm gear assembly and the transmission assembly, the height of the cleaning assembly can be flexibly adjusted, avoiding blind spots caused by fixed distances that are too large or wasted energy caused by too small a distance. For example, when the robot cleaner transitions from a hard surface to a carpet, the device automatically adjusts the height of the cleaning component to ensure a close contact with the carpet surface, improving cleaning efficiency. Simultaneously, the adjustment component controls the pressure of the cleaning component on the floor, preventing excessive pressure from damaging the floor material. This dual height and pressure adjustment function not only improves cleaning quality but also extends the life of the cleaning component and the floor, providing users with a more intelligent and user-friendly cleaning experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0019] Figure 1 A schematic diagram of the structure of a multi-degree-of-freedom device provided in an embodiment of the present application Figure 1 ; Figure 2 A schematic diagram of the structure of a multi-degree-of-freedom device provided in an embodiment of the present application Figure 2 ; Figure 3 A schematic diagram of the structure of a multi-degree-of-freedom device provided in an embodiment of the present application Figure 3 ; Figure 4 A schematic structural diagram of a transmission assembly provided in an embodiment of the present application; Figure 5 A schematic structural diagram of an adjustment component provided in an embodiment of the present application; Figure 6 A schematic structural diagram of a guide assembly provided in an embodiment of the present application; Figure 7 A schematic structural diagram of a bushing seat provided in an embodiment of the present application; Figure 8 A schematic structural diagram of a cleaning robot provided in an embodiment of the present application.

[0020] Description of reference numerals: 1. Top plate; 10. Cleaning components; 2. Guide rails; 3. Worm gear assembly; 31. Worm wheel; 32. Worm; 4. Transmission assembly; 41. Rocker; 42. Connecting rod; 43. Slider; 5. Adjustment assembly; 51. Shock absorber; 52. Elastic member; 6. Guide assembly; 61. Guide rod; 62. Guide support frame; 63. Bushing seat; 631. Rotational mating portion; 64. Limiting member; 7. Driving parts; 8. Zero point switch. DETAILED DESCRIPTION

[0021] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0023] For ease of description, spatially relative terms may be used herein to describe the relative position or movement of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inside," "outside," "below," "beneath," "above," "above," "front," "back," and the like. Such spatially relative terms are intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures undergoes a positional flip or a change in posture or a change in motion, then these directional indications will also change accordingly. For example, an element described as "below" or "below" another element or feature will subsequently be oriented as "above" or "above" another element or feature. Thus, the example term "below" can include both above and below orientations. The device may be oriented otherwise (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein will be interpreted accordingly.

[0024] In order to solve the problem that the distance between the cleaning component 10 of a conventional cleaning robot and the ground is fixed, and when there is a slope or height difference in the ground, this fixed distance cannot be flexibly adjusted according to the actual conditions of the ground, the present application provides a multi-degree-of-freedom device and a cleaning robot, which realizes the preliminary height adjustment of the cleaning component 10 by setting a transmission component 4, and sets an adjustment component 5 between the transmission component 4 and the cleaning component 10, and realizes the fine adjustment of the height of the cleaning component 10 and the adjustment of the pressure on the ground through the adjustment component 5.

[0025] See also Figures 1 to 4 A multi-degree-of-freedom device provided in an embodiment of the present application includes a top plate 1, a guide rail 2, a worm gear assembly 3, a transmission assembly 4 and an adjustment assembly 5. The guide rail 2 is connected to the top plate 1, and the guide rail 2 is arranged in the vertical direction; the worm gear assembly 3 includes a matching worm wheel 31 and a worm 32, and the worm 32 is rotatably provided on the top plate 1 and can drive the worm wheel 31 to rotate; the transmission assembly 4 includes a rocker arm 41, a connecting rod 42 and a slider 43, the rocker arm 41 is connected to the worm wheel 31, one end of the connecting rod 42 is rotatably connected to the rocker arm 41, and the other end of the connecting rod 42 is rotatably connected to the slider 43, and the slider 43 is slidably connected to the guide rail 2; the adjustment assembly 5 is rotatably connected to the slider 43, and the adjustment assembly 5 is used to be rotatably connected to the cleaning assembly 10 and adjust the height and ground pressure of the cleaning assembly 10.

[0026] In this embodiment, the multi-degree-of-freedom device achieves flexible adjustment of the height and ground pressure of the cleaning assembly 10 through a specific mechanical structural design. Specifically, the worm 32 in the worm gear assembly 3 is mounted on the top plate 1. The motor drives the worm 32 to rotate, thereby driving the worm wheel 31 to rotate. The worm wheel 31 and worm 32 can be installed using a specific mounting base, which, in conjunction with bearings and other structures, ensures more reliable rotation of the worm wheel 31 and worm 32. The central shaft of the worm wheel 31 is connected to the rocker arm 41 by bolts or welding. The rocker arm 41 is connected to the slider 43 via a connecting rod 42, and the slider 43 slides up and down within the guide rail 2. When the worm wheel 31 rotates, the rocker arm 41 rotates synchronously, pushing the slider 43 up and down along the guide rail 2 via the connecting rod 42. One end of the adjustment assembly 5 is connected to the slider 43, and the other end is used to mount the cleaning assembly 10. The movement of the slider 43 adjusts the distance between the cleaning assembly 10 and the ground, thereby achieving height adjustment of the cleaning assembly 10. When the cleaning robot encounters a slope on the ground, the adjustment component 5 can absorb or buffer the resistance from the obstacle, causing the cleaning component 10 to rise or fall, ensuring that the cleaning component 10 maintains an appropriate pressure with the ground.

[0027] The multi-degree-of-freedom device of this application significantly improves the adaptability and cleaning effectiveness of a cleaning robot in complex floor environments. Through the coordinated action of the worm gear assembly 3 and the transmission assembly 4, the height of the cleaning assembly 10 can be flexibly adjusted, avoiding blind spots caused by excessively fixed distances or wasted energy due to too small a distance. The self-locking nature of the worm gear 31 and worm 32 prevents the cleaning assembly 10 from falling directly in the event of an emergency such as a power outage. This self-locking feature also ensures the stability of the cleaning assembly 10 during operation. For example, when the cleaning robot transitions from a hard surface to a carpet, the device automatically adjusts the height of the cleaning assembly 10 to ensure a close fit with the carpet surface, improving cleaning efficiency. Furthermore, the adjustment assembly 5 controls the pressure of the cleaning assembly 10 on the floor, preventing damage to the floor material caused by excessive pressure. This dual height and pressure adjustment function not only improves cleaning quality but also extends the service life of the cleaning assembly 10 and the floor, providing users with a more intelligent and user-friendly cleaning experience.

[0028] See also Figures 1 to 3 In order to ensure that the cleaning robot can effectively adjust the height of the cleaning component 10 and the pressure on the opposite side when encountering a slope or height difference on the ground; the adjustment component 5 includes two shock absorbers 51, and the two ends of the two shock absorbers 51 are rotatably connected to the slider 43 and the cleaning component 10 respectively. The two shock absorbers 51 are located on opposite sides of the slider 43 and are spaced apart along the length direction of the cleaning component 10.

[0029] In one embodiment, this structural design allows the elastic deformation of the shock absorber 51 to absorb and cushion ground resistance during the vertical movement of the cleaning assembly 10, thereby maintaining stable contact between the cleaning assembly 10 and the ground. When the cleaning robot encounters a slope or height difference, the shock absorber 51 automatically adjusts the height of the cleaning assembly 10 to ensure that it maintains appropriate pressure against the ground. Furthermore, the elastic properties of the shock absorber 51 can reduce vibration caused by uneven ground during operation, thereby improving cleaning effectiveness and service life.

[0030] It should be noted that, in this application, through the elastic support of the shock absorber 51, the cleaning component 10 can flexibly adjust the distance from the ground according to the actual conditions of the ground, so that the ideal cleaning effect can be maintained under different ground conditions. For example, on a hard ground, the shock absorber 51 can be appropriately compressed so that the cleaning component 10 fits tightly against the ground, thereby improving cleaning efficiency; on a soft ground, the shock absorber 51 can provide a certain amount of cushioning to prevent the cleaning component 10 from excessively pressing on the ground and protecting the ground material. Secondly, the damping characteristics of the shock absorber 51 can also effectively reduce the vibration of the cleaning component 10 caused by the uneven ground during operation, reduce noise, and improve the overall performance and service life of the cleaning robot.

[0031] See also Figures 1 to 3 In order to enable the adjustment component 5 to better adapt to the height difference of the ground or achieve a better cleaning effect with less noise, and at the same time, to ensure that the entire adjustment component 5 can better bear the weight of the cleaning component 10, the axial directions of the two shock absorbers 51 are set at an angle.

[0032] In this embodiment, two shock absorbers 51 are mounted on opposite sides of the slider 43 and spaced apart along the length of the cleaning assembly 10. One end of each shock absorber 51 is rotatably connected to the slider 43 via a hinge or axle-engagement, and the other end is rotatably connected to the cleaning assembly 10 via a hinge or axle-engagement. The axes of the two shock absorbers 51 are arranged at an angle, generally ranging from 60° to 120°. This structural design allows the shock absorbers 51 to better bear the weight of the cleaning assembly 10. At the same time, during operation, they can automatically adjust their tilt angle according to the undulations and unevenness of the ground, thereby better adapting to changes in the ground surface. For example, if the heights of the left and right sides of the cleaning robot are inconsistent, the tilt angle of the shock absorber 51 can automatically adjust to ensure that the cleaning assembly 10 maintains uniform contact with the ground, avoiding excessive or insufficient local pressure. In addition, the angled arrangement of the axis of the shock absorber 51 can also improve its lateral stability and reduce the impact of lateral forces caused by uneven ground on the cleaning assembly 10.

[0033] Because the axial direction of the shock absorber 51 is set at an angle, when the cleaning component 10 encounters a slope or height difference on the ground, it can automatically adjust the shock absorber 51 to always maintain uniform contact with the ground, thereby improving the cleaning effect. This design can also improve the lateral stability of the shock absorber 51. During the cleaning process, the unevenness of the ground will cause the cleaning component 10 to be affected by lateral forces, and the inclination angle setting of the shock absorber 51 can effectively disperse these lateral forces, reduce the impact on the cleaning component 10, and extend its service life. This design can also reduce noise and vibration. The inclination angle setting of the shock absorber 51 can better absorb and buffer the vibration of the ground, thereby reducing the noise and vibration of the cleaning robot during work and improving the user experience.

[0034] See also Figure 1 and Figure 5 Since the pressure between the cleaning assembly 10 and the ground cannot be accurately adjusted by the buffering of the shock absorber 51 alone, an elastic member 52 is sleeved on the outer periphery of each shock absorber 51, and the two ends of the elastic member 52 are elastically abutted against the slider 43 and the cleaning assembly 10 respectively.

[0035] In one embodiment, to further precisely adjust the pressure between the cleaning assembly 10 and the ground, an elastic member 52 is mounted around the outer periphery of each shock absorber 51. The two ends of the elastic member 52 elastically abut the slider 43 and the cleaning assembly 10, respectively. Specifically, the elastic member 52 can be made of a spring or other elastic material, with one end fixed to the slider 43 and the other end elastically contacting the top of the cleaning assembly 10. When the shock absorber 51 encounters ground resistance during operation, the elastic member 52 can provide additional cushioning and adjustment. For example, when the cleaning robot encounters a slope or height difference in the ground, the shock absorber 51 will first provide initial cushioning. Then, the elastic member 52 will further adjust the distance between the cleaning assembly 10 and the ground based on the actual pressure, ensuring that the cleaning assembly 10 maintains the appropriate pressure against the ground. During operation, the cleaning robot can adjust the height between the cleaning assembly 10 and the ground to match the tension generated by the elastic member 52 on the cleaning assembly 10, so that the pressure between the cleaning assembly 10 and the ground is zero, thereby ensuring that the ground is not abraded or scratched during the cleaning process.

[0036] The elastic member 52 can provide additional buffering and adjustment functions, making up for the shortcomings of relying solely on the shock absorber 51 for buffering, and ensuring that the cleaning component 10 can maintain uniform and appropriate pressure on the ground under different ground conditions. For example, on hard ground, the elastic member 52 can provide more stable support to prevent the cleaning component 10 from excessively pressing the ground; on soft ground, the elastic member 52 can provide a softer buffer to prevent the cleaning component 10 from causing damage to the ground. The elastic properties of the elastic member 52 can be adjusted according to actual needs, so that the cleaning robot can better adapt to floors of different materials and types of stains, and improve cleaning efficiency and quality. This design can also extend the service life of the shock absorber 51 and the cleaning component 10, reduce mechanical impact caused by uneven ground, reduce maintenance costs, and provide users with a more reliable and efficient cleaning experience.

[0037] See also Figure 1 and Figure 6 Since the cleaning component 10 in the aforementioned multi-degree-of-freedom device may have a large swing amplitude at both ends when moving in the vertical direction along the guide rail 2, which may affect the normal operation of the cleaning component 10, the multi-degree-of-freedom device is also provided with a guide component 6, which includes a guide rod 61 and a guide support frame 62. The guide rod 61 is slidably connected to the guide support frame 62, and the end of the guide rod 61 away from the guide support frame 62 is connected to the top plate 1, and the guide support frame 62 is rotatably connected to the cleaning component 10.

[0038] In this embodiment, the guide rod 61 can be made of materials such as high-strength stainless steel or aluminum alloy to ensure its reliability in supporting and guiding functions. The guide support frame 62 is designed to be a structure that slides with the guide rod 61. For example, a sliding sleeve is provided on the guide support frame 62, and the inner wall of the sleeve is tightly fitted with the outer wall of the guide rod 61 to achieve smooth sliding. When the cleaning component 10 moves vertically along the guide rail 2 under the drive of the slider 43, the guide support frame 62 slides up and down along the guide rod 61, limiting the lateral swing of the cleaning component 10, ensuring the linearity and stability of its movement, and achieving better cleaning effect. The guide component 6 can effectively limit the lateral swing of the cleaning component 10 through the sliding cooperation between the guide rod 61 and the guide support frame 62, ensuring that it always maintains linear motion during the up and down movement process, avoiding uneven contact between the cleaning component 10 and the ground due to excessive swing amplitude, thereby improving the uniformity and consistency of the cleaning effect. This design can reduce the mechanical wear caused by the swing of the cleaning component 10, extend the service life of the cleaning component 10 and related components, and reduce maintenance costs.

[0039] See also Figure 1 and Figure 6When the cleaning component 10 cleans the uneven bottom surface, the cleaning component 10 will swing left and right, causing the scraper and other structures in the cleaning component 10 to not be evenly attached to the ground, thereby causing the cleaning robot to not clean properly; the guide component 6 has a bushing seat 63, the bushing seat 63 is connected to the cleaning component 10, and the guide support frame 62 is rotatably connected to the bushing seat 63.

[0040] In one embodiment, a bushing seat 63 is installed at the top center of the cleaning component 10, and a bearing or other low-friction rotating component is provided inside the bushing seat 63 to enable the cleaning component 10 to swing slightly in the horizontal direction. The guide support frame 62 is connected to the cleaning component 10 through the bushing seat 63. When the guide support frame 62 slides up and down along the guide rod 61, the bushing seat 63 allows the cleaning component 10 to swing left and right according to the ups and downs of the ground. For example, when the cleaning robot is cleaning a ground with a slope or height difference, the cleaning component 10 can automatically adjust the contact angle of the scraping strip and other structures with the ground through the rotation function of the bushing seat 63 to ensure that the scraping strip is always evenly attached to the ground. This design not only improves the flexibility of the cleaning component 10, but also enhances its adaptability to complex ground surfaces.

[0041] See also Figure 1 、 Figure 6 and Figure 7 Since the guide bracket and the bushing seat 63 are connected in a rotating manner, in order to ensure that the bushing seat 63 can rotate more smoothly on the guide bracket, the bushing seat 63 has a rotating fitting portion 631 at one end away from the cleaning component 10, and the rotating fitting portion 631 is an arc surface.

[0042] It should be noted that the bushing seat 63 and the guide bracket are in contact and rotationally matched through the arc surface. This design enables the bushing seat 63 to reduce frictional resistance when rotating, achieving smoother movement. When the cleaning robot cleans uneven ground, the cleaning component 10 needs to swing left and right according to the ups and downs of the ground. The arc surface rotation matching part 631 of the bushing seat 63 can ensure that it rotates smoothly on the guide bracket, thereby ensuring that the scraper and other structures of the cleaning component 10 always maintain uniform contact with the ground. In addition, the arc surface design can also improve the wear resistance and service life of the bushing seat 63, reducing wear problems caused by long-term use.

[0043] See also Figure 1 and Figure 6 In order to limit the amplitude of the left and right swing of the cleaning component 10, a limiting member 64 is provided at one end of the guide support frame 62 close to the cleaning component 10, and the limiting member 64 is connected to the guide support frame 62.

[0044] In this embodiment, the limiter 64 is fixedly connected to the guide support frame 62 by a connecting member (such as a screw, adhesive, etc.). Specifically, the limiter 64 can be designed as a rubber boss or a rubber-coated screw and the like, and its position and shape are adjusted according to the maximum allowable swing amplitude of the cleaning component 10. When the cleaning component 10 swings left and right, the limiter 64 can contact the top of the left and right ends of the cleaning component 10, thereby preventing it from continuing to swing and limiting the swing amplitude. This design can effectively prevent the cleaning component 10 from deviating from the cleaning path or causing uneven cleaning of the ground due to excessive swinging. By reasonably setting the position and shape of the limiter 64, the swing range of the cleaning component 10 can be accurately controlled to adapt to different cleaning scenarios and ground conditions.

[0045] See also Figures 1 to 3 In order to ensure that the cleaning component 10 can be quickly reset to zero, the multi-degree-of-freedom device is provided with a driving member 7 and a zero point switch 8. The driving member 7 is used to drive the worm 32 to rotate. The zero point switch 8 is connected to the top plate 1. The zero point switch 8 is used to calibrate the zero position of the driving member 7.

[0046] To ensure that the cleaning assembly 10 can quickly and accurately return to its initial position, the multi-degree-of-freedom device is equipped with a drive 7 and a zero-point switch 8. The drive 7 (e.g., a motor) is used to drive the worm 32 to rotate, thereby driving the entire transmission system through the worm gear assembly 3 to achieve the lifting and position adjustment of the cleaning assembly 10. The zero-point switch 8 is mounted on the top plate 1 and connected to the control system of the drive 7 (motor). When the cleaning assembly 10 needs to be zeroed, the zero-point switch 8 sends a signal, and the drive 7 rotates the worm 32 to a preset zero position based on this signal, thereby returning the cleaning assembly 10 to its initial position. For example, when the cleaning robot is started or switches to a cleaning mode, the zero-point switch 8 can trigger the zeroing operation, ensuring that the cleaning assembly 10 starts from a known, accurate initial position, avoiding poor cleaning results or mechanical failures caused by position deviations. The design of the drive 7 and the zero-point switch 8 significantly improves the position control accuracy of the cleaning assembly 10 and the reliability of the system. By calibrating the zero position of the driving member 7 through the zero point switch 8, it can be ensured that the cleaning component 10 can be quickly and accurately restored to the initial position every time, thereby improving the working efficiency and consistency of the cleaning effect of the cleaning robot when switching or starting different modes.

[0047] Second, see Figures 1 to 8 The present application provides a cleaning robot, comprising the multi-degree-of-freedom device provided in the first aspect of the present application.

[0048] In the present embodiment, this multi-degree-of-freedom device, through its unique mechanical structure design, gives the cleaning robot the ability to flexibly adjust the height and pressure of the cleaning component 10 under different ground conditions. Specifically, the cleaning robot uses a worm gear assembly 3 driven by a motor to achieve the lifting and pressure adjustment of the cleaning component 10 through a transmission system. At the same time, the design of the guide assembly 6 and the bushing seat 63 ensures the stability and adaptability of the cleaning component 10 on uneven ground, while the limiter 64 limits the swing amplitude of the cleaning component 10 to avoid excessive swinging. In addition, the addition of the drive member 7 and the zero point switch 8 enables the cleaning component 10 to quickly and accurately return to its initial position, further improving the intelligence level of the robot. For example, when the cleaning robot transitions from a hard surface to a carpet, the multi-degree-of-freedom device can automatically adjust the height and pressure of the cleaning component 10 to ensure the uniformity and consistency of the cleaning effect, and quickly reset to zero when switching modes to ensure vacuuming efficiency.

[0049] The multi-degree-of-freedom device enables the cleaning component 10 to dynamically adjust the pressure on the ground according to the ground material and the type of stain, avoiding poor cleaning results or ground damage caused by insufficient or excessive pressure. The design of the guide component 6 and the bushing seat 63 ensures the stability and uniform contact of the cleaning component 10 on uneven ground, improving cleaning efficiency and quality. The addition of the limiter 64 and the zero-point switch 8 further enhances the reliability and intelligence level of the robot, allowing it to quickly return to its initial position when switching between different modes or starting, reducing mechanical wear and extending its service life. This integrated design not only improves the overall performance of the cleaning robot, but also provides users with a more efficient, intelligent and humane cleaning experience, meeting the high requirements for cleaning equipment in modern homes and commercial environments.

[0050] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0051] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0052] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A multi-degree-of-freedom device, applied to a cleaning robot, characterized in that: include: Top plate (1); A guide rail (2), the guide rail (2) being connected to the top plate (1), and the guide rail (2) being arranged in a vertical direction; A worm gear assembly (3), the worm gear assembly (3) comprising a worm wheel (31) and a worm (32) that cooperate with each other, the worm (32) being rotatably disposed on the top plate (1) and capable of driving the worm wheel (31) to rotate; A transmission assembly (4), the transmission assembly (4) comprising a rocker (41), a connecting rod (42) and a slider (43), the rocker (41) being connected to the worm gear (31), one end of the connecting rod (42) being rotationally connected to the rocker (41), the other end of the connecting rod (42) being rotationally connected to the slider (43), and the slider (43) being slidingly connected to the guide rail (2); An adjusting component (5) is rotatably connected to the slider (43), and the adjusting component (5) is used to be rotatably connected to the cleaning component (10) and to adjust the height and ground pressure of the cleaning component (10).

2. The multi-degree-of-freedom device according to claim 1, wherein: The adjustment assembly (5) comprises two shock absorbers (51), the two ends of the two shock absorbers (51) being rotatably connected to the slider (43) and the cleaning assembly (10), respectively. The two shock absorbers (51) are located on opposite sides of the slider (43) and are spaced apart along the length direction of the cleaning assembly (10).

3. The multi-degree-of-freedom device according to claim 2, characterized in that The axial directions of the two shock absorbers (51) are arranged at an angle.

4. The multi-degree-of-freedom device according to claim 3, characterized in that An elastic member (52) is sleeved on the outer periphery of each shock absorber (51), and two ends of the elastic member (52) are elastically in contact with the slider (43) and the cleaning assembly (10) respectively.

5. The multi-degree-of-freedom device according to any one of claims 1 to 4, characterized in that: The multi-degree-of-freedom device is further provided with a guide assembly (6), the guide assembly (6) comprising a guide rod (61) and a guide support frame (62), the guide rod (61) being slidably connected to the guide support frame (62), the end of the guide rod (61) away from the guide support frame (62) being connected to the top plate (1), and the guide support frame (62) being rotatably connected to the cleaning assembly (10).

6. The multi-degree-of-freedom device according to claim 5, characterized in that: The guide assembly (6) has a bushing seat (63), the bushing seat (63) is connected to the cleaning assembly (10), and the guide support frame (62) is rotatably connected to the bushing seat (63).

7. The multi-degree-of-freedom device according to claim 6, characterized in that: The end of the bushing seat (63) away from the cleaning assembly (10) has a rotational fitting portion (631), and the rotational fitting portion (631) is an arc surface.

8. The multi-degree-of-freedom device according to claim 5, wherein: A limiting member (64) is provided at one end of the guide support frame (62) close to the cleaning assembly (10), and the limiting member (64) is connected to the guide support frame (62).

9. The multi-degree-of-freedom device according to any one of claims 1 to 4, characterized in that: The multi-degree-of-freedom device is provided with a driving member (7) and a zero point switch (8), wherein the driving member (7) is used to drive the worm (32) to rotate, the zero point switch (8) is connected to the top plate (1), and the zero point switch (8) is used to calibrate the zero position of the driving member (7).

10. A cleaning robot, characterized in that: The device comprises a multi-degree-of-freedom device as claimed in any one of claims 1 to 9.

Images