Multi-degree of freedom device and cleaning robot

Abstract

The application relates to the technical field of cleaning robots, and 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, the guide rail is arranged along a vertical direction; the worm and gear assembly comprises a worm gear and a worm gear matched with each other, the worm gear 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, the other end of the connecting rod is rotatably connected with the sliding block, and the sliding block is slidably connected with the guide rail; the adjusting assembly is rotatably connected with the sliding block, the adjusting assembly is used for being rotatably connected with a cleaning assembly and adjusting the height and ground pressure of the cleaning assembly. The height and ground pressure of the cleaning assembly are adjusted through the transmission assembly and the adjusting assembly, the distance between the cleaning assembly of the conventional cleaning robot and the ground is fixed, and the problem that the cleaning assembly cannot be flexibly adjusted according to the actual condition of the ground is solved.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and more particularly to a multi-degree-of-freedom device and a cleaning robot. Background Technology

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

[0003] However, the distance between the cleaning components of conventional cleaning robots and the ground is fixed. When facing a slope or height difference on the ground, this fixed distance cannot be flexibly adjusted according to the actual ground conditions. This not only causes the cleaning robot to fail to achieve the desired cleaning effect in some areas, but may also cause the cleaning components to exert excessive force, resulting in wasted power, thus affecting the overall cleaning efficiency and user experience. Summary of the Invention

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

[0005] In a first aspect, this application provides a multi-degree-of-freedom device for use in a cleaning robot, comprising:

[0006] roof;

[0007] A guide rail, which is connected to the top plate, is arranged in a vertical direction;

[0008] A worm gear assembly, comprising a mating worm wheel and a worm, wherein the worm is rotatably mounted on the top plate and is capable of driving the worm wheel to rotate;

[0009] A transmission assembly includes a rocker arm, a connecting rod, and a slider. The rocker arm is connected to the worm gear. One end of the connecting rod is rotatably connected to the rocker arm, and the other end of the connecting rod is rotatably connected to the slider. The slider is slidably connected to the guide rail.

[0010] An adjusting assembly is rotatably connected with the slider, and is used to be rotatably connected with the cleaning assembly and adjust the height and ground pressure of the cleaning assembly.

[0011] Optionally, the adjusting assembly comprises two shock absorbers, two ends of the two shock absorbers are rotatably connected with the slider and the cleaning assembly respectively, and the two shock absorbers are arranged on opposite sides of the slider and are spaced along the length direction of the cleaning assembly.

[0012] Optionally, the axes of the two shock absorbers are arranged at an angle.

[0013] Optionally, an elastic member is sleeved on the outer periphery of each shock absorber, and two ends of the elastic member are elastically abutted with the slider and the cleaning assembly respectively.

[0014] Optionally, the multi-degree-of-freedom device is further provided with a guiding assembly, the guiding assembly comprises a guiding rod and a guiding support frame, the guiding rod is slidably connected with the guiding support frame, one end of the guiding rod away from the guiding support frame is connected with the top plate, and the guiding support frame is rotatably connected with the cleaning assembly.

[0015] Optionally, the guiding assembly is provided with a bushing seat, the bushing seat is connected with the cleaning assembly, and the guiding support frame is rotatably connected with the bushing seat.

[0016] Optionally, one end of the bushing seat away from the cleaning assembly is provided with a rotating fitting part, and the rotating fitting part is a circular arc surface.

[0017] Optionally, one end of the guiding support frame close to the cleaning assembly is provided with a limiting member, and the limiting member is connected with the guiding support frame.

[0018] 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 with the top plate, and the zero-point switch is used to calibrate the zero position of the driving member.

[0019] In the second aspect, the application provides a cleaning robot comprising the multi-degree-of-freedom device provided in the first aspect.

[0020] Compared with the prior art, the above technical scheme provided in the embodiments of the application has the following advantages:

[0021] The multi-degree-of-freedom device of the present application realizes flexible adjustment of the height and ground pressure of the cleaning assembly through specific mechanical structure design. Specifically, the worm in the worm and gear assembly is installed on the top plate, and the worm is driven to rotate by the motor, thereby driving the worm gear to rotate. The worm gear is connected with the swing rod, and the swing rod is connected with the sliding block through the connecting rod. The sliding block slides up and down in the guide rail. When the worm gear rotates, the swing rod rotates synchronously, and the sliding block moves up and down along the guide rail through the connecting rod. The adjusting assembly is connected with the sliding block, is used for installing the cleaning assembly, and adjusts the distance between the cleaning assembly and the ground through the movement of the sliding block, so as to realize the adjustment of the height of the cleaning assembly. When the cleaning robot encounters a ground slope, the adjusting assembly can absorb or buffer the resistance from the obstacle, so that the cleaning assembly rises or falls, and ensures that the cleaning assembly maintains appropriate pressure with the ground. The multi-degree-of-freedom device of the present application significantly improves the adaptability and cleaning effect of the cleaning robot in complex ground environment. Through the synergistic effect of the worm and gear assembly and the transmission assembly, the height of the cleaning assembly can be flexibly adjusted, avoiding the cleaning dead angle caused by too large distance or the waste of power caused by too small distance. For example, when the cleaning robot transitions from a hard ground to a carpet, the device can automatically adjust the height of the cleaning assembly to ensure that it closely fits the surface of the carpet, thereby improving the cleaning efficiency. At the same time, the adjusting assembly can also control the pressure of the cleaning assembly on the ground, avoiding excessive pressure from damaging the ground material. This dual adjustment function of height and pressure not only improves the cleaning quality, but also prolongs the service life of the cleaning assembly and the ground, providing users with a more intelligent and personalized cleaning experience. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the present application.

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced here. Obviously, for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0024] One or more embodiments are exemplarily illustrated by the pictures in the drawings corresponding thereto, and these exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified. The drawings in the drawings do not constitute a proportional limitation.

[0025] Figure 1 A structure diagram of a multi-degree-of-freedom device provided for the embodiments of the present application Figure 1 ;

[0026] Figure 2A structure diagram of a multi-degree-of-freedom device provided for an embodiment of the present application Figure 2 ;

[0027] Figure 3 A structure diagram of a multi-degree-of-freedom device provided for an embodiment of the present application Figure 3 ;

[0028] Figure 4 A structure diagram of a transmission assembly provided for an embodiment of the present application

[0029] Figure 5 A structure diagram of an adjusting assembly provided for an embodiment of the present application

[0030] Figure 6 A structure diagram of a guiding assembly provided for an embodiment of the present application

[0031] Figure 7 A structure diagram of a bushing seat provided for an embodiment of the present application

[0032] Figure 8 A structure diagram of a cleaning robot provided for an embodiment of the present application

[0033] Explanation of reference signs:

[0034] 1, top plate; 10, cleaning assembly

[0035] 2, guide rail

[0036] 3, worm gear assembly; 31, worm wheel; 32, worm

[0037] 4, transmission assembly; 41, swing rod; 42, connecting rod; 43, sliding block

[0038] 5, adjusting assembly; 51, shock absorber; 52, elastic member

[0039] 6, guiding assembly; 61, guiding rod; 62, guiding support frame; 63, bushing seat; 631, rotating fitting part; 64, limiting member

[0040] 7, driving member

[0041] 8, zero point switch DETAILED DESCRIPTION

[0042] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0043] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For the purpose of simplicity, the elements and settings of the particular examples in the following description are depicted in the drawings. It should be noted, however, that these are merely examples and are not intended to limit the present application. In addition, the present application can refer to a reference numeral and / or letter in different examples. Such repetition is for the purpose of simplicity and clarity and does not indicate a relationship between the various embodiments and / or settings discussed.

[0044] For the purpose of description, spatial relative terms can be used in the description to describe the relative position relationship or movement of one element or feature with respect to another element or feature as shown in the drawings, such as "internal", "external", "inboard", "outboard", "under", "below", "on", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawings is flipped over or the posture is changed or the movement state is changed, the directional indications will also change accordingly, for example: the element described as "under" or "below" another element or feature will be oriented as "above" or "above" another element or feature. Therefore, the example term "below" can include both up and down positions. The device can be additionally oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used in the description are interpreted accordingly.

[0045] In order to solve the problem that the distance between the cleaning assembly 10 of the conventional cleaning robot and the ground is fixed, and when facing a slope or height difference on the ground, the fixed distance cannot be flexibly adjusted according to the actual situation of the ground, the present application provides a multi-degree-of-freedom device and a cleaning robot, the preliminary height adjustment of the cleaning assembly 10 is realized by arranging the transmission assembly 4, the adjusting assembly 5 is arranged between the transmission assembly 4 and the cleaning assembly 10, and the height fine adjustment of the cleaning assembly 10 and the adjustment of the ground pressure are realized by the adjusting assembly 5.

[0046] Please refer to Figures 1 to 4The multi-degree-of-freedom device provided by the embodiment of the application comprises a top plate 1, a guide rail 2, a worm and gear assembly 3, a transmission assembly 4 and an adjusting assembly 5. The guide rail 2 is connected with the top plate 1 and is arranged along a vertical direction. The worm and gear assembly 3 comprises a worm gear 31 and a worm 32 which are matched with each other. The worm 32 is rotatably arranged on the top plate 1 and can drive the worm gear 31 to rotate. The transmission assembly 4 comprises a swing rod 41, a connecting rod 42 and a sliding block 43. The swing rod 41 is connected with the worm gear 31. One end of the connecting rod 42 is rotatably connected with the swing rod 41, and the other end of the connecting rod 42 is rotatably connected with the sliding block 43. The sliding block 43 is slidably connected with the guide rail 2. The adjusting assembly 5 is rotatably connected with the sliding block 43. The adjusting assembly 5 is used to be rotatably connected with a cleaning assembly 10 and adjust the height and ground pressure of the cleaning assembly 10.

[0047] In the embodiment, the multi-degree-of-freedom device realizes flexible adjustment of the height and ground pressure of the cleaning assembly 10 through specific mechanical structure design. Specifically, the worm 32 in the worm and gear assembly 3 is installed on the top plate 1. The worm 32 is driven to rotate by a motor, and then the worm gear 31 is driven to rotate. The installation of the worm gear 31 and the worm 32 can be realized through specific mounting seats, and bearings and other structures are matched to make the rotation of the worm gear 31 and the worm 32 more reliable. The rotating shaft in the middle of the worm gear 31 is connected with the swing rod 41 through bolts or welding. The swing rod 41 is connected with the sliding block 43 through the connecting rod 42. The sliding block 43 slides up and down in the guide rail 2. When the worm gear 31 rotates, the swing rod 41 rotates synchronously, and the sliding block 43 is pushed to move up and down along the guide rail 2 through the connecting rod 42. One end of the adjusting assembly 5 is connected with the sliding block 43, and the other end is used to install the cleaning assembly 10. The distance between the cleaning assembly 10 and the ground is adjusted through the movement of the sliding block 43, so that the height of the cleaning assembly 10 is adjusted. When the cleaning robot encounters a ground slope, the adjusting assembly 5 can absorb or buffer the resistance from the obstacle, so that the cleaning assembly 10 rises or falls, and the cleaning assembly 10 can keep appropriate pressure with the ground.

[0048] The multi-degree-of-freedom device of the present application significantly improves the adaptability and cleaning effect of the cleaning robot in complex ground environments. Through the synergistic action of the worm gear assembly 3 and the transmission assembly 4, the height of the cleaning assembly 10 can be flexibly adjusted, avoiding cleaning dead angles caused by excessive distance or excessive power consumption caused by too small distance. Due to the self-locking characteristics of the worm gear 31 and the worm 32 structure, the direct falling of the cleaning assembly 10 in the event of sudden power failure of the cleaning robot can be prevented; at the same time, the stability of the cleaning assembly 10 during operation can also be ensured. For example, when the cleaning robot transitions from a hard surface to a carpet, the device can automatically adjust the height of the cleaning assembly 10 to ensure that it closely fits the surface of the carpet, improving cleaning efficiency. At the same time, the adjusting assembly 5 can also control the pressure of the cleaning assembly 10 on the ground to avoid excessive pressure on the ground material. This dual adjustment function of height and pressure not only improves cleaning quality, but also prolongs the service life of the cleaning assembly 10 and the ground, providing users with a more intelligent and user-friendly cleaning experience.

[0049] Please refer to Figures 1 to 3 In order to ensure that the height and pressure of the cleaning assembly 10 can be effectively adjusted when the cleaning robot encounters ground slope or height difference; the adjusting assembly 5 includes two shock absorbers 51, the two ends of the two shock absorbers 51 are respectively rotatably connected with the sliding block 43 and the cleaning assembly 10, and the two shock absorbers 51 are located on opposite sides of the sliding block 43 and are spaced apart along the length direction of the cleaning assembly 10.

[0050] In an embodiment, this structural design enables the cleaning assembly 10 to absorb and buffer the resistance from the ground through the elastic deformation of the shock absorber 51 during the up and down movement, thereby maintaining stable contact between the cleaning assembly 10 and the ground. When the cleaning robot encounters ground slope or height difference, the shock absorber 51 can automatically adjust the height of the cleaning assembly 10 to ensure that it maintains appropriate pressure with the ground. At the same time, the elastic properties of the shock absorber 51 can also reduce the vibration of the cleaning assembly 10 during operation due to uneven ground, improving cleaning efficiency and service life.

[0051] It should be noted that through the elastic support of the shock absorber 51, the cleaning assembly 10 can flexibly adjust the distance from the ground according to the actual conditions of the ground, thereby maintaining ideal cleaning effect under different ground conditions. For example, on a hard surface, the shock absorber 51 can be appropriately compressed to make the cleaning assembly 10 closely fit the ground, improving cleaning efficiency; while on a soft surface, the shock absorber 51 can provide certain buffer to prevent the cleaning assembly 10 from excessively pressing the ground, protecting the ground material. Secondly, the damping properties of the shock absorber 51 can also effectively reduce the vibration of the cleaning assembly 10 during operation due to uneven ground, reduce noise, and improve the overall performance and service life of the cleaning robot.

[0052] Please refer to Figures 1 to 3 In order to better adapt to the height difference of the ground or achieve better cleaning effect with less noise, while ensuring that the entire adjustment assembly 5 can better bear the self-weight of the cleaning assembly 10, the axes of the two shock absorbers 51 are arranged at an angle.

[0053] In this embodiment, the two shock absorbers 51 are respectively installed on the opposite sides of the sliding block 43 and are arranged at intervals along the length direction of the cleaning assembly 10. One end of each shock absorber 51 is rotationally connected with the sliding block 43 through hinge or hole shaft cooperation, and the other end is rotationally connected with the cleaning assembly 10 through hinge or hole shaft cooperation. The axes of the two shock absorbers 51 are arranged at an angle, generally with an included angle ranging from 60° to 120°. This structural design enables the shock absorber 51 to better bear the self-weight of the cleaning assembly 10, and at the same time, in the working process, it can automatically adjust its inclination angle according to the ups and downs and unevenness of the ground, thereby better adapting to the changes of the ground. For example, when the heights of the left and right sides of the cleaning robot are inconsistent, the inclination angle of the shock absorber 51 can be automatically adjusted, so that the cleaning assembly 10 maintains uniform contact with the ground, avoiding excessive or insufficient local pressure. In addition, the angle arrangement of the axes of the shock absorber 51 can also improve its lateral stability and reduce the impact of lateral force caused by uneven ground on the cleaning assembly 10.

[0054] Due to the angle arrangement of the axes of the shock absorber 51, when the cleaning assembly 10 encounters ground slope or height difference, it can always maintain uniform contact with the ground through the automatic adjustment of the shock absorber 51, thereby improving the cleaning effect. This design can also improve the lateral stability of the shock absorber 51. During cleaning, the unevenness of the ground will cause the cleaning assembly 10 to be subjected to lateral force, and the inclination angle arrangement of the shock absorber 51 can effectively disperse these lateral forces, reducing the impact on the cleaning assembly 10 and prolonging its service life. This design can also reduce noise and vibration. The inclination angle arrangement 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 the working process and improving the user's experience.

[0055] Please refer to Figure 1 and Figure 5 Since the buffer of the shock absorber 51 alone cannot accurately adjust the pressure between the cleaning assembly 10 and the ground, 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 respectively in elastic abutment with the sliding block 43 and the cleaning assembly 10.

[0056] In an embodiment, to further precisely adjust the pressure between the cleaning assembly 10 and the ground, 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 in elastic abutment with the sliding block 43 and the cleaning assembly 10, respectively. Specifically, the elastic member 52 can be made of a spring or other elastic material, one end of which is fixed on the sliding block 43, and the other end is in elastic contact with the top of the cleaning assembly 10. When the shock absorber 51 is subjected to ground resistance during operation, the elastic member 52 can provide additional buffering and adjustment. For example, when the cleaning robot encounters a ground slope or height difference, the shock absorber 51 will first perform preliminary buffering, and then the elastic member 52 will further adjust the distance between the cleaning assembly 10 and the ground according to the actual pressure condition, ensuring that the cleaning assembly 10 maintains appropriate pressure with the ground. During the operation of the cleaning robot, the tension generated by the elastic member 52 on the cleaning assembly 10 can be adjusted by adjusting the height between the cleaning assembly 10 and the ground, so that the pressure between the cleaning assembly 10 and the ground is zero, thereby ensuring that the ground is not worn or scratched during cleaning.

[0057] 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, ensuring that the cleaning assembly 10 can maintain uniform and appropriate pressure with the ground under different ground conditions. For example, on hard ground, the elastic member 52 can provide more stable support to prevent the cleaning assembly 10 from pressing the ground too hard; on soft ground, the elastic member 52 can provide softer buffering to avoid damage to the ground by the cleaning assembly 10. The elastic properties of the elastic member 52 can be adjusted according to actual needs, so that the cleaning robot can better adapt to different materials and types of ground, improving cleaning efficiency and quality. This design can also prolong the service life of the shock absorber 51 and the cleaning assembly 10, reduce mechanical impact caused by uneven ground, and reduce maintenance costs, providing users with a more reliable and efficient cleaning experience.

[0058] Please refer to Figure 1 and Figure 6 Since the cleaning assembly 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, affecting the normal operation of the cleaning assembly 10, the multi-degree-of-freedom device is also provided with a guide assembly 6, which includes a guide rod 61 and a guide support frame 62. The guide rod 61 is in sliding connection with the guide support frame 62, one end of the guide rod 61 away from the guide support frame 62 is connected with the top plate 1, and the guide support frame 62 is in rotational connection with the cleaning assembly 10.

[0059] In this embodiment, the guide rod 61 can be made of high-strength stainless steel or aluminum alloy, etc., to ensure its reliability in supporting and guiding functions. The guide support frame 62 is designed to be in sliding fit 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 closely fits with the outer wall of the guide rod 61 to achieve smooth sliding. When the cleaning assembly 10 is vertically moved along the guide rail 2 under the drive of the sliding block 43, the guide support frame 62 slides up and down along the guide rod 61, limiting the lateral swing of the cleaning assembly 10, ensuring the linearity and stability of its movement, to achieve better cleaning effect. The sliding fit of the guide assembly 6 through the guide rod 61 and the guide support frame 62 can effectively limit the lateral swing of the cleaning assembly 10, ensuring that it always maintains linear motion during up and down movement, avoiding uneven contact of the cleaning assembly 10 with the ground due to excessive swing, thereby improving the uniformity and consistency of the cleaning effect. This design can reduce mechanical wear caused by the swing of the cleaning assembly 10, prolong the service life of the cleaning assembly 10 and related components, and reduce maintenance cost.

[0060] Please refer to Figure 1 and Figure 6 During the cleaning process of the uneven bottom surface by the cleaning assembly 10, the cleaning assembly 10 will swing left and right, causing the squeegee and other structures in the cleaning assembly 10 to not uniformly adhere to the ground, resulting in incomplete cleaning of the cleaning robot; the guide assembly 6 has a bushing seat 63 connected with the cleaning assembly 10, and the guide support frame 62 is rotationally connected with the bushing seat 63.

[0061] In an embodiment, the bushing seat 63 is installed at the top center position of the cleaning assembly 10, and has a bearing or other low-friction rotating component inside to achieve small-amplitude swing of the cleaning assembly 10 in the horizontal direction. The guide support frame 62 is connected with the cleaning assembly 10 through the bushing seat 63, and when the guide support frame 62 slides up and down along the guide rod 61, the bushing seat 63 allows the cleaning assembly 10 to swing left and right according to the ups and downs of the ground. For example, when the cleaning robot cleans the ground with slope or height difference, the cleaning assembly 10 can automatically adjust the contact angle of the squeegee and other structures with the ground through the rotating function of the bushing seat 63, to ensure that the squeegee always uniformly adheres to the ground. This design not only improves the flexibility of the cleaning assembly 10, but also enhances its adaptability to complex ground.

[0062] Please refer to Figure 1 , Figure 6 and Figure 7 Since the guide support frame is rotationally connected with the bushing seat 63, in order to ensure that the rotation of the bushing seat 63 on the guide support frame is more smooth, the end of the bushing seat 63 away from the cleaning assembly 10 has a rotating fitting part 631 which is a circular arc surface.

[0063] It should be noted that the bushing seat 63 and the guide support are in contact and rotary connection through the circular arc surface. This design can reduce the friction resistance when the bushing seat 63 rotates, and realize smoother movement. When the cleaning robot cleans the uneven ground, the cleaning assembly 10 needs to swing left and right according to the ups and downs of the ground. The circular arc rotary connection part 631 of the bushing seat 63 can ensure its smooth rotation on the guide support, so as to ensure that the wiper strip and other structures of the cleaning assembly 10 always maintain uniform contact with the ground. In addition, the design of the circular arc surface can also improve the wear resistance and service life of the bushing seat 63, and reduce the wear problem caused by long-term use.

[0064] Please refer to Figure 1 and Figure 6 In order to limit the swing range of the cleaning assembly 10 left and right, the guide support 62 is provided with a limiting piece 64 close to one end of the cleaning assembly 10, and the limiting piece 64 is connected with the guide support 62.

[0065] In this embodiment, the limiting piece 64 is fixedly connected with the guide support 62 through a connecting piece (such as a screw, glue, etc.). Specifically, the limiting piece 64 can be designed as a rubber boss or a rubber-coated screw structure, and its position and shape are adjusted according to the maximum allowable swing range of the cleaning assembly 10. When the cleaning assembly 10 swings left and right, the limiting piece 64 can contact the top of the left and right ends of the cleaning assembly 10, thereby preventing it from continuing to swing and limiting the swing range. This design can effectively avoid the situation that the cleaning assembly 10 deviates from the cleaning path or causes uneven cleaning of the ground due to excessive swing. By reasonably setting the position and shape of the limiting piece 64, the swing range of the cleaning assembly 10 can be accurately controlled, and different cleaning scenes and ground conditions can be adapted.

[0066] Please refer to Figures 1 to 3 In order to ensure that the cleaning assembly 10 can be quickly zeroed, the multi-degree-of-freedom device is provided with a driving piece 7 and a zero point switch 8. The driving piece 7 is used to drive the worm 32 to rotate, and the zero point switch 8 is connected with the top plate 1. The zero point switch 8 is used to calibrate the zero position of the driving piece 7.

[0067] To ensure that the cleaning assembly 10 can quickly and accurately return to the initial position, a driving member 7 and a zero point switch 8 are provided in the multi-degree-of-freedom device. The driving member 7 (such as a motor) is used to drive the worm 32 to rotate, thereby driving the entire transmission system to operate through the worm and gear assembly 3, achieving the lifting and position adjustment of the cleaning assembly 10. The zero point switch 8 is installed on the top plate 1 and connected to the control system of the driving member 7 (motor). When zero setting operation is needed for the cleaning assembly 10, the zero point switch 8 will send a signal, and the driving member 7 will rotate the worm 32 to the preset zero position according to the signal, so that the cleaning assembly 10 returns to the initial position. For example, when the cleaning robot starts or switches the cleaning mode, the zero point switch 8 can trigger the zero setting operation, ensuring that the cleaning assembly 10 starts working from a known and accurate initial position, avoiding poor cleaning effect or mechanical failure caused by position deviation. The design of setting the driving member 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 ensure that the cleaning assembly 10 can quickly and accurately return 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 in different modes.

[0068] In a second aspect, referring to 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.

[0069] In this 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 ground pressure of the cleaning assembly 10 under different ground conditions. Specifically, the cleaning robot uses the motor-driven worm and gear assembly 3 to achieve the lifting and pressure adjustment of the cleaning assembly 10 through the 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 assembly 10 on uneven ground, while the limiting member 64 limits the swing amplitude of the cleaning assembly 10 to avoid excessive swing. In addition, the addition of the driving member 7 and the zero point switch 8 enables the cleaning assembly 10 to quickly and accurately return to the initial position, further improving the intelligent level of the robot. For example, when the cleaning robot transitions from hard ground to carpet, the multi-degree-of-freedom device can automatically adjust the height and pressure of the cleaning assembly 10 to ensure the uniformity and consistency of the cleaning effect, while quickly zeroing during mode switching to ensure dust collection efficiency.

[0070] The multi-degree-of-freedom device enables the cleaning assembly 10 to dynamically adjust the pressure on the ground according to the ground material and the type of stains, avoiding poor cleaning effect or ground damage caused by insufficient or excessive pressure. The design of the guide assembly 6 and the bushing seat 63 ensures the stability and uniform contact of the cleaning assembly 10 on uneven ground, improving the cleaning efficiency and quality. The addition of the limiting piece 64 and the zero switch 8 further enhances the reliability and intelligent level of the robot, allowing it to quickly return to the initial position when switching between different modes or starting, reducing mechanical wear and extending the 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 user-friendly cleaning experience, meeting the high requirements of modern families and commercial environments for cleaning equipment.

[0071] It should be understood that the terms used herein are for the purpose of describing particular example embodiments and are not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," and "including" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order in which they are described, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps can be employed.

[0072] Although the terms first, second, third, and the like can be used herein to describe various 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 be only used to distinguish one 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 when used herein do not imply a sequence or order unless the context clearly indicates otherwise. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0073] The above description is merely illustrative of the application and not restrictive. Various modifications can be made to these embodiments by those skilled in the art without departing from the spirit of the application, and the general principles defined herein can be implemented in other embodiments. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-degree-of-freedom device applied to a cleaning robot, characterized in that, include: Top plate (1); Guide rail (2), 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 worm wheel (31) and a worm (32) that cooperate with each other. The worm (32) is rotatably disposed 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 gear (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). The slider (43) is slidably connected to the guide rail (2). Adjustment component (5), which is rotatably connected to the slider (43), is used to rotatably connect to the cleaning component (10) and adjust the height and ground pressure of the cleaning component (10).

2. The multi-degree of freedom device of claim 1, wherein, The adjustment component (5) includes two shock absorbers (51), the two ends of which 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 of the cleaning component (10).

3. The multi-degree of freedom device of claim 2, wherein, The axes of the two shock absorbers (51) are set at an angle.

4. The multi-degree of freedom device of claim 3, wherein, Each shock absorber (51) is fitted with an elastic element (52) on its outer periphery, and the two ends of the elastic element (52) are elastically abutting against the slider (43) and the cleaning component (10) respectively.

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

6. The multi-degree of freedom device of claim 5, wherein, The guide assembly (6) has a bushing seat (63) 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 of claim 6, wherein, The bushing seat (63) has a rotating engagement portion (631) at one end away from the cleaning component (10), and the rotating engagement portion (631) is an arc surface.

8. The multi-degree of freedom device of claim 5, wherein, The guide support frame (62) has a limiting member (64) at one end near the cleaning component (10), and the limiting member (64) is connected to the guide support frame (62).

9. The multi-degree-of-freedom device of any of claims 1-4, wherein, The multi-degree-of-freedom device is provided with a drive unit (7) and a zero-point switch (8). The drive unit (7) is used to drive the worm gear (32) to rotate. The zero-point switch (8) is connected to the top plate (1) and is used to calibrate the zero position of the drive unit (7).

10. A cleaning robot, characterized in that, Includes a multi-degree-of-freedom device as described in any one of claims 1-9.

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