Cleaning robot

Abstract

The invention provides a cleaning robot. The cleaning robot comprises a main machine body, a cleaning assembly and a pressurizing assembly. The cleaning assembly is arranged below the main machine body, the cleaning assembly comprises a rack and a rolling cleaning part, the rolling cleaning part is arranged on the rack, and the rack is connected with the main machine body and can move in the height direction relative to the main machine body; the pressurizing assembly is arranged on the main machine body or the cleaning assembly, the pressurizing assembly comprises a driving part and a pressurizing part, the driving part drives the pressurizing part to be switched between a pressurizing state and an avoiding state, and in the pressurizing state, the pressurizing assembly applies pressure to the cleaning assembly; and in the avoiding state, the pressurizing part allows the cleaning assembly to float up and down relative to the main machine body. According to the cleaning robot, in the pressurized state, the cleaning capacity of the cleaning robot is improved, and stubborn stains can be effectively removed; and in the avoiding state, the working energy consumption of the cleaning robot is reduced, and the trafficability is improved.

Description

Technical Field

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

[0002] In related technologies, cleaning robots move on a support surface, such as a floor, using their loaded cleaning components to contact and clean the support surface, alleviating the workload of humans. However, cleaning robots are ineffective when stubborn stains, such as dirt or dried juice, are present on the support surface. Summary of the Invention

[0003] In view of this, an embodiment of the present application hopes to provide a cleaning robot that can increase the pressure of the cleaning component on the supporting surface to improve the cleaning effect.

[0004] An embodiment of the present application provides a cleaning robot, comprising: a main body;

[0005] a cleaning assembly disposed below the main body, the cleaning assembly comprising a frame and a rolling cleaning member, the rolling cleaning member being disposed on the frame, the frame being connected to the main body and being movable in a height direction relative to the main body; and

[0006] A pressurizing component is arranged on the main body or the cleaning component. The pressurizing component includes a driving part and a pressurizing part. The driving part drives the pressurizing part to switch between a pressurizing state and an avoidance state. In the pressurizing state, the pressurizing component applies pressure to the cleaning component, and the pressure has at least a downward component; in the avoidance state, the pressurizing part allows the cleaning component to float up and down relative to the main body.

[0007] In some embodiments, the pressurizing component is arranged on the main body, the driving part is used to drive the pressurizing part to rotate, the pressurizing part has a pressurizing surface, and the pressurizing part can adjust the height of the pressurizing surface during the rotation process; wherein, in the pressurizing state, the pressurizing surface abuts against the cleaning component to apply the pressure; in the avoidance state, the pressurizing surface is separated from the cleaning component.

[0008] In some embodiments, the rotation axis of the pressurizing portion is perpendicular to the height direction of the cleaning robot.

[0009] In some embodiments, the pressurizing portion includes a cam, and an outer peripheral surface of the cam defines the pressurizing surface.

[0010] In some embodiments, the pressurizing portion includes a crankshaft including a main journal and a connecting rod journal. The axis of the main journal and the rotation axis of the pressurizing portion are located in a straight line, and the side surface of the connecting rod journal defines the pressurizing surface.

[0011] In some embodiments, the cleaning component includes a lifting frame arranged on the frame, the connecting rod neck is passed through the bottom of the lifting frame, and the driving part can drive the pressure part to rotate to a first preset angle position and lift the lifting frame upward to drive the cleaning component to rise.

[0012] In some embodiments, the main body has a first trigger switch, and the frame has a first trigger part, and the first trigger part is used to: when the frame rises to a first preset position, the first trigger part triggers the first trigger switch; and / or, the main body has a second trigger switch, and the frame has a second trigger part, and the second trigger part is used to: when the frame descends to a second preset position, the second trigger part triggers the second trigger switch.

[0013] In some embodiments, the cleaning assembly further includes an elastic member and a lining, wherein the elastic member is disposed on the frame, the lining is connected to the elastic member, and the pressurizing portion is configured to abut against the lining and transmit the force to the frame through the elastic member.

[0014] In some embodiments, the main body has a limiting hole, the cleaning component includes a limiting sleeve arranged on the frame, the outer peripheral side of the limiting sleeve has a flange, the limiting sleeve is slidably passed through the limiting hole along the height direction of the cleaning robot, and the flange can abut against the upper edge of the limiting hole.

[0015] In some embodiments, the cleaning robot further comprises a four-bar linkage, wherein the connecting lines connecting the four hinge points of the four-bar linkage in sequence form a parallelogram, the four-bar linkage is mounted on the main body at two adjacent hinge points of the four hinge points, and the four-bar linkage is mounted on the frame at the other two adjacent hinge points of the four hinge points, and the connecting rod of the four-bar linkage spanning the main body and the frame is a first connecting rod, which is rotatably connected to the main body and the frame respectively.

[0016] The cleaning robot provided in the embodiment of the present application switches the pressurizing part between a pressurized state and an avoidance state through a driving part. In the pressurized state, the cleaning ability of the cleaning robot is improved and stubborn stains can be effectively removed; in the avoidance state, the working energy consumption of the cleaning robot is reduced and the passability is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a cleaning robot in one embodiment of the present application;

[0018] Figure 2 for Figure 1 Schematic diagram of some structures in;

[0019] Figure 3 for Figure 2 Schematic diagram of the cross section of the structure at AA;

[0020] Figure 4 for Figure 2 A magnified schematic diagram of the structure at position M;

[0021] Figure 5 for Figure 2 Schematic cross-sectional view of the structure at BB;

[0022] Figure 6 for Figure 2 A magnified schematic diagram of the structure at N;

[0023] Figure 7 for Figure 2 Schematic cross-sectional view of the structure at CC;

[0024] Figure 8 for Figure 2 Schematic cross-sectional view of the structure at DD;

[0025] Figure 9 This is a schematic cross-sectional view of a cleaning robot in one embodiment of the present application;

[0026] Figure 10 This is a partial structural diagram of a rack in one embodiment of the present application;

[0027] Figure 11 This is a schematic structural diagram of a rolling cleaning element in one embodiment of the present application.

[0028] Description of Reference Numerals

[0029] Main body 10; first trigger switch 11; second trigger switch 12; limiting hole 10a; cleaning assembly 20; frame 21; first trigger part 211; second trigger part 212; mounting column 213; rolling cleaning member 22; rotating shaft 221; lifting frame 23; elastic member 24; lining 25; limiting sleeve 26; flange 261; spring seat 27; threaded hole seat 28; support 29; pressurizing assembly 30; driving part 31; pressurizing part 32; pressurizing surface 32a; crankshaft 34; main journal 341; connecting rod journal 342; crankshaft sleeve 35; four-bar linkage 40; first connecting rod 401; second connecting rod 402; driving wheel 410; roller brush 501. DETAILED DESCRIPTION

[0030] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0031] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0033] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0035] This application embodiment provides a cleaning robot, please refer to Figure 2 and Figure 3 The cleaning robot includes a main body 10, a cleaning component 20 and a pressurizing component 30.

[0036] The main body 10 is the main structure of the cleaning robot, and is used to support the main components of the cleaning robot. Figure 1The main body 10 is provided with a driving wheel 410 or a roller brush 501, and the axes of at least two driving wheels 410 are collinear, which can drive the cleaning robot to move along a direction perpendicular to the axis of the driving wheel 410 and on a supporting surface such as a floor. The roller brush 501 rolls continuously when working, sweeping and collecting dust or garbage on the cleaning robot's travel route.

[0037] The cleaning assembly 20 is arranged below the main body 10. The cleaning assembly 20 includes a frame 21 and a rolling cleaning member 22. The rolling cleaning member 22 is arranged on the frame 21. The frame 21 is connected to the main body 10 and can move in the height direction relative to the main body 10.

[0038] The rolling cleaning member 22 is rollably mounted on the frame 21. In other words, the frame 21 provides mounting space for the rolling cleaning member 22. The rolling cleaning member 22 is configured to contact and clean a supporting surface. For example, when the rolling cleaning member 22 is in operation, the flannel on the rolling cleaning member 22 wipes the floor to remove stains and the like.

[0039] The form of the rolling cleaning member 22 is not limited. For example, see Figure 7 , the rolling cleaning member 22 is cylindrical, and its cross section is circular; for example, see Figure 11 The rolling cleaning member 22 is in the shape of a flat cylinder, and drives the crawler-type flannel cloth to rotate through the rotating shaft 221 inside it. The axis of the rolling cleaning member 22 is the axis of the rotating shaft 221 (shown as a dotted line in the figure).

[0040] It will be appreciated that the frame 21 can be connected to the main body 10 in a floating manner. When the frame 21 floats, the rolling cleaning member 22 floats with it. The floating connection between the frame 21 and the main body 10 is not limited. For example, the frame 21 can be connected to the main body 10 via a slider disposed on a vertical guide rod, and the frame 21 can move up and down relative to the main body 10 along the guide rod.

[0041] For some examples, see Figure 8 The cleaning robot also includes a four-bar linkage 40. The lines connecting the four hinge points of the four-bar linkage 40 in sequence form a parallelogram. The four-bar linkage 40 is installed on the main body 10 at two adjacent hinge points of the four hinge points. The four-bar linkage 40 is installed on the frame 21 at the other two adjacent hinge points of the four hinge points. The connecting rod of the four-bar linkage 40 that spans the main body 10 and the frame 21 is the first connecting rod 401, and the first connecting rod 401 is rotatably connected to the main body 10 and the frame 21 respectively.

[0042] The four-bar linkage 40 not only allows the cleaning component 20 to be floatingly connected to the main body 10, but also can withstand the traction force of the main body 10 on the cleaning component 20 during the movement of the cleaning robot. This traction force has a component parallel to the support surface, allowing the cleaning component 20 to withstand greater friction resistance from the support surface.

[0043] Exemplarily, the frame 21 has a mounting column 213, and another link of the four-bar linkage 40 that spans the main body 10 and the frame 21 is the second link 402. The same end of the first link 401 and the second link 402 are both rotatably connected to the mounting column 213. The mounting column 213 plays a guiding role, so that the height direction of the cleaning component 20 remains along the normal of the support surface.

[0044] See also Figure 3 The pressurizing component 30 is arranged on the main body 10 or the cleaning component 20. The pressurizing component 30 includes a driving part 31 and a pressurizing part 32. The driving part 31 drives the pressurizing part 32 to switch between a pressurizing state and an avoidance state. In the pressurizing state, the pressurizing component 30 applies pressure to the cleaning component 20, and the pressure has at least a downward component.

[0045] The downward force component is the component of pressure directed toward the support surface along the height direction of the cleaning robot. In one embodiment, the pressurizing assembly 30 is disposed on the main body 10 and applies pressure to the cleaning assembly 20 by squeezing it. In another embodiment, the pressurizing assembly 30 is disposed on the cleaning assembly 20 and squeezes the main body 10. In this case, the cleaning assembly 20 provides support to the pressurizing assembly 30 and is subject to a reaction force from the pressurizing assembly 30, i.e., the pressurizing assembly 30 applies pressure to the cleaning assembly 20.

[0046] In the pressurized state, the pressure between the rolling cleaning member 22 and the support surface increases. As the rolling cleaning member 22 rolls, stubborn stains on the support surface can be cleaned, thereby enhancing the cleaning effect and reducing the number of times the cleaning robot repeatedly wipes the stubborn stain area.

[0047] In the evasive state, the pressurizing portion 32 allows the cleaning assembly 20 to float up and down relative to the main body 10. This means that the height position of the cleaning assembly 20 can change. In this evasive state, the weight of the cleaning assembly 20 causes the rolling cleaning element 22 to contact the support surface. This contact pressure is lower than in the pressurized state, resulting in less frictional resistance as the cleaning assembly 20 moves with the robot. This helps reduce the robot's energy consumption and extend its battery life.

[0048] In addition, in the avoidance state, when there are obstacles on the support surface, such as slightly larger garbage or sockets installed on the floor, the cleaning component 20 can rise upward under the action of the obstacle to improve the robot's passability.

[0049] It is understood that when encountering stubborn stains, the driving unit 31 drives the pressurizing unit 32 to switch to a pressurized state, enhancing the cleaning effect of the cleaning robot. When leaving the stubborn stains, the driving unit 31 drives the pressurizing unit 32 to switch to an avoidance state, reducing the operating energy consumption of the cleaning robot. For example, the main body 10 is equipped with a control module and a sensing module. The sensing module collects information about the surrounding environment, and the control module obtains the information collected by the sensing module, confirms whether it encounters stubborn stains, and controls the driving unit 31.

[0050] The cleaning robot provided in the embodiment of the present application switches the pressurizing part between a pressurized state and an avoidance state through a driving part. In the pressurized state, the cleaning ability of the cleaning robot is improved and stubborn stains can be effectively removed. In the avoidance state, the working energy consumption of the cleaning robot is reduced and the passability is improved.

[0051] For some examples, see Figure 3 The pressurizing component 30 is arranged on the main body 10, which reduces the gravity of the cleaning component 20 on the pressurizing component 30, and can reduce the pressure of the rolling cleaning member 22 contacting the supporting surface in the avoidance state, further reducing the working energy consumption of the cleaning robot.

[0052] In this embodiment, please refer to Figure 4 The driving unit 31 is used to drive the pressurizing unit 32 to rotate. The pressurizing unit 32 has a pressurizing surface 32a. The height of the pressurizing surface 32a can be adjusted during the rotation of the pressurizing unit 32. In the pressurizing state, the pressurizing surface 32a abuts against the cleaning assembly 20 to apply pressure; in the avoidance state, the pressurizing surface 32a is separated from the cleaning assembly 20.

[0053] The driving part 31 is a power mechanism that can generate rotational power. For example, the driving part 31 includes a motor, and the output shaft of the motor is connected to the pressurizing part 32 to drive it to rotate; for another example, the driving part 31 includes a motor and a transmission structure, and the power of the motor is transmitted to the pressurizing part 32 through the transmission mechanism to meet the spatial layout requirements inside the cleaning robot.

[0054] This embodiment is beneficial for the cleaning robot to actively control the power output of the driving part 31 to adjust the height of the pressurizing surface 32a, so that the pressurizing part 32 switches between the pressurizing state and the avoidance state.

[0055] The direction of the rotation axis of the pressurizing portion 32 is not limited. For example, it can be along the height direction of the cleaning robot.

[0056] In some embodiments, the rotation axis of the pressurizing portion 32 is perpendicular to the height of the cleaning robot, that is, the rotation axis of the pressurizing portion 32 extends substantially in a horizontal plane. This helps reduce the height of the cleaning robot, allowing the cleaning robot to clean under more furniture, such as sofas and coffee tables.

[0057] The form of the pressurizing part 32 is not limited. For example, the pressurizing part 32 includes a nut and a screw. One end of the screw defines a pressurizing surface 32a. The nut is fixed to the main body 10. The screw can descend during rotation, so that the pressurizing surface 32a is downwardly abutted against the cleaning component 20, and the pressurizing part 32 switches to a pressurized state.

[0058] In other embodiments, the pressurizing portion 32 comprises a cam, the outer circumferential surface of which defines a pressurizing surface 32a. At least some points on the pressurizing surface 32a have varying distances from the cam axis. As the cam rotates, the distance between the pressurizing surface 32a and the cleaning assembly 20 changes until the pressurizing surface 32a abuts the cleaning assembly 20, at which point the pressurizing portion 32 switches to a pressurizing state. The cam structure is simple, facilitating processing and assembly.

[0059] In other embodiments, the pressurizing portion 32 includes an eccentric wheel, the outer peripheral surface of which defines a pressurizing surface 32a. The centroid of the eccentric wheel is offset from its rotational axis. As the eccentric wheel rotates, the distance between the pressurizing surface 32a and the cleaning assembly 20 changes until the pressurizing surface 32a abuts the cleaning assembly 20, at which point the pressurizing portion 32 switches to a pressurizing state. The eccentric wheel has a simple structure, facilitating processing and assembly.

[0060] In other embodiments, please refer to Figure 4 The pressurizing portion 32 includes a crankshaft 34 , which includes a main journal 341 and a connecting rod journal 342 . The axis of the main journal 341 and the rotation axis of the pressurizing portion 32 are located in the same straight line, and the side surface of the connecting rod journal 342 defines a pressurizing surface 32 a.

[0061] It should be noted that the axis of the connecting rod neck 342 of the crankshaft 34 is parallel to the axis of the main journal 341 and is spaced apart so that during the rotation of the crankshaft 34, the connecting rod neck 342 rotates around the axis of the main journal 341, and the distance from the connecting rod neck 342 to the cleaning assembly 20 changes until the connecting rod neck 342 contacts the cleaning assembly 20 and the pressurizing part 32 switches to the pressurized state.

[0062] The crankshaft 34 has a good load-bearing capacity, which is beneficial for increasing the pressure that can be applied to the cleaning assembly 20 in the pressurized state. Figure 4 The crankshaft 34 has two main journals 341 , which are respectively disposed on two crankshaft sleeves 35 , and a connecting rod journal 342 is disposed between the two main journals 341 . Thus, the crankshaft 34 can withstand a larger bending moment.

[0063] Illustratively, the axial direction of the connecting rod neck 342 of the crankshaft 34 is parallel to that of the main journal 341 and is at a certain distance away. In this way, in the avoidance state, by rotating the pressurizing portion 32, the distance from the pressurizing surface 32a to the cleaning component 20 is larger, and the floating space of the cleaning component 20 in the up and down directions is larger to adapt to different supporting surface terrains. For example, if the floor is slightly uneven, the rolling cleaning member 22 can always maintain contact with the floor.

[0064] For some examples, see Figure 9 The cleaning component 20 includes a lifting frame 23 arranged on the frame 21, and the connecting rod neck 342 is passed through the bottom of the lifting frame 23. The driving part 31 can drive the pressurizing part 32 to rotate to a first preset angle position and lift the lifting frame upward to drive the cleaning component 20 to rise.

[0065] That is to say, starting from the first preset angle position, the pressure part 32 is connected to the lifting frame 23, and the lifting frame 23 rises under the drive of the pressure part 32, thereby driving the cleaning component 20 to rise. The pressure part 32 continues to rotate, and the cleaning component 20 continues to rise until it reaches the highest point.

[0066] It can be understood that in another embodiment, there is a second preset angle position. After the pressure-applying part 32 causes the cleaning component 20 to pass the highest point, it continues to rotate, and the position of the cleaning component 20 drops. Starting from the second preset angle position, the pressure-applying part 32 is separated from the lifting frame 23, and the cleaning component 20 can move downward under the action of its own weight.

[0067] In another embodiment, after the pressure-applying portion 32 causes the cleaning assembly 20 to pass the highest point, the pressure-applying portion 32 rotates in the opposite direction, the position of the cleaning assembly 20 is lowered, and starting from the first preset angle position, the pressure-applying portion 32 is separated from the lifting frame 23, and the cleaning assembly 20 can move downward under the action of its own weight.

[0068] When the cleaning robot is operating on a support surface, the cleaning assembly 20 can float up and down to maintain contact between the rolling cleaning element 22 and the support surface. When the cleaning robot needs to cross an obstacle, such as a door threshold or carpet, the pressure portion 32 can be used to raise the cleaning assembly 20, reducing the risk of the cleaning assembly 20 being struck by the obstacle. For another example, when the cleaning robot moves from a tiled floor to a wooden floor, the pressure portion 32 can rotate to drive the lifting frame 23 to rise, thereby raising the cleaning assembly 20 and lifting the wet rolling cleaning element 22, reducing the impact on the wooden floor.

[0069] In this way, the setting of the pressurizing component 30 and the lifting frame 23 can realize both the active pressurization of the cleaning component 20 and the active lifting of the cleaning component 20, making full use of the various angular positions of the pressurizing component 30 during the rotation process, reducing complicated parts, and improving the working stability and maintainability of the cleaning robot.

[0070] For example, see Figure 9 and Figure 10 The frame 21 has a support 29, and the two ends of the lifting frame 23 are respectively arranged on the two supports 29. The connecting line of the two supports 29 is perpendicular to the axis of the crankshaft 34, and the structure is compact.

[0071] For some examples, see Figure 3 and Figure 10 The main body 10 has a first trigger switch 11, and the frame 21 has a first trigger portion 211. The first trigger portion 211 is used to: when the frame 21 rises to a first preset position, the first trigger portion 211 triggers the first trigger switch 11.

[0072] The above-mentioned first preset position means that the cleaning component 20 has risen to the preset highest point. In order to reduce the risk of collision caused by the cleaning component 20 continuing to rise, when the first trigger switch 11 is triggered, the pressure part 32 stops rotating, the cleaning component 20 stops rising, and remains in this position.

[0073] For some examples, see Figure 5 and Figure 10 The main body 10 has a second trigger switch 12, and the frame 21 has a second trigger portion 212. The second trigger portion 212 is used to: when the frame 21 descends to the second preset position, the second trigger portion 212 triggers the second trigger switch 12.

[0074] The second preset position means that the cleaning assembly 20 has been lowered to the preset position, the rolling cleaning member 22 begins to contact the support surface, and the pressurizing portion 32 is in the avoidance state. When the second trigger switch 12 is triggered, the pressurizing portion 32 can stop rotating or continue rotating until it switches to the pressurizing state.

[0075] In this way, the cleaning robot can determine the current state of the cleaning component 20, control the driving part 31 more accurately, and adjust the cleaning component 20 in time according to the working environment.

[0076] It should be noted that the first trigger switch is not limited in form. For example, it can be a mechanical limit switch or an optocoupler switch using photoelectric input. The second trigger switch is not limited in form. For example, it can be a mechanical limit switch or an optocoupler switch using photoelectric input.

[0077] For some examples, see Figure 7 The cleaning assembly 20 also includes an elastic member 24 and a lining 25 . The elastic member 24 is arranged on the frame 21 . The lining 25 is connected to the elastic member 24 . The pressurizing portion 32 is used to abut against the lining 25 and transmit the force to the frame 21 through the elastic member 24 .

[0078] The form of the elastic member 24 is not limited. For example, it can be a compression spring or a rubber pad.

[0079] In this embodiment, in the pressurized state, the height of the pressurizing surface 32a changes with the rotation of the pressurizing part 32, causing the elastic member 24 to deform to varying degrees, thereby facilitating the adjustment of the pressure applied by the pressurizing part 32 to the cleaning assembly 20 through the rotation of the pressurizing part 32, thereby adjusting the cleaning effect of the cleaning robot.

[0080] The material of the lining 25 is not limited. For example, it can be heat-treated 45# steel or polyoxymethylene (POM). Preferably, a wear-resistant material is used to extend the service life of the lining 25.

[0081] Further, see Figure 10 The frame 21 has a spring seat 27 , in which the elastic member 24 is embedded. The spring seat 27 guides the lining 25 so that it can only slide along the height direction of the spring seat 27 .

[0082] For some examples, see Figure 5 and Figure 6 The main body 10 has a limiting hole 10a, and the cleaning component 20 includes a limiting sleeve 26 arranged on the frame 21. The outer peripheral side of the limiting sleeve 26 has a flange 261. The limiting sleeve 26 is slidably inserted into the limiting hole 10a along the height direction of the cleaning robot, and the flange 261 can abut against the upper edge of the limiting hole 10a.

[0083] It should be noted that the outer edge size of the flange 261 is larger than the aperture of the limiting hole 10a, and the structural size below the flange 261 is less than or equal to the aperture of the limiting hole 10a. Therefore, the limiting sleeve 26 can be slidably passed through the limiting hole 10a and hung on the main body 10 through the flange 261, so that the cleaning component 20 has the lowest position in the height direction relative to the main body 10.

[0084] The cooperation between the limiting sleeve 26 and the limiting hole 10a prevents the cleaning component 20 from falling off the main body 10. In some cases, such as when the cleaning robot is suspended in the air or the pressurizing part 32 excessively lowers the cleaning component 20, the cleaning component 20 remains connected to the main body 10, reducing the risk of damage to components.

[0085] For example, a threaded hole seat 28 is provided on the frame 21, and the limiting sleeve 26 is connected to the threaded hole seat 28 by screws to be fixed to the frame 21. There can be one or more limiting sleeves 26, and multiple limiting sleeves 26 can be arranged at intervals along the axis direction of the rolling cleaning member 22 to maintain the force balance of the cleaning assembly 20.

[0086] The various embodiments / implementations provided in this application can be combined with each other without causing any contradiction.

[0087] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that: include: Main body; a cleaning assembly disposed below the main body, the cleaning assembly comprising a frame and a rolling cleaning member, the rolling cleaning member being disposed on the frame, the frame being connected to the main body and being movable in a height direction relative to the main body; as well as A pressurizing component is arranged on the main body or the cleaning component. The pressurizing component includes a driving part and a pressurizing part. The driving part drives the pressurizing part to switch between a pressurizing state and an avoidance state. In the pressurizing state, the pressurizing component applies pressure to the cleaning component, and the pressure has at least a downward component; in the avoidance state, the pressurizing part allows the cleaning component to float up and down relative to the main body.

2. The cleaning robot according to claim 1, characterized in that: The pressurizing component is arranged on the main body, and the driving part is used to drive the pressurizing part to rotate. The pressurizing part has a pressurizing surface, and the pressurizing part can adjust the height of the pressurizing surface during the rotation process; wherein, in the pressurizing state, the pressurizing surface abuts against the cleaning component to apply the pressure; in the avoidance state, the pressurizing surface is separated from the cleaning component.

3. The cleaning robot according to claim 2, characterized in that: The rotation axis of the pressurizing portion is perpendicular to the height direction of the cleaning robot.

4. The cleaning robot according to claim 3, characterized in that: The pressing portion includes a cam, and an outer peripheral surface of the cam defines the pressing surface.

5. The cleaning robot according to claim 2, characterized in that: The pressurizing portion includes a crankshaft including a main journal and a connecting rod journal. The axis of the main journal and the rotation axis of the pressurizing portion are located in a straight line. The side surface of the connecting rod journal defines the pressurizing surface.

6. The cleaning robot according to claim 5, characterized in that: The cleaning assembly includes a lifting frame arranged on the frame, the connecting rod neck is passed through the bottom of the lifting frame, and the driving part can drive the pressure part to rotate to a first preset angle position and lift the lifting frame upward to drive the cleaning assembly to rise.

7. The cleaning robot according to claim 6, characterized in that: The main body has a first trigger switch, and the frame has a first trigger part, and the first trigger part is used to: when the frame rises to a first preset position, the first trigger part triggers the first trigger switch; And / or, the main body has a second trigger switch, the frame has a second trigger part, and the second trigger part is used to: when the frame descends to a second preset position, the second trigger part triggers the second trigger switch.

8. The cleaning robot according to claim 1, characterized in that: The cleaning assembly further includes an elastic member and a lining. The elastic member is disposed on the frame. The lining is connected to the elastic member. The pressurizing portion is configured to abut against the lining and transmit the force to the frame through the elastic member.

9. The cleaning robot according to claim 1, characterized in that: The main body has a limiting hole, and the cleaning component includes a limiting sleeve arranged on the frame. The outer peripheral side of the limiting sleeve has a flange. The limiting sleeve is slidably inserted into the limiting hole along the height direction of the cleaning robot, and the flange can abut against the upper edge of the limiting hole.

10. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes a four-bar linkage, wherein the lines connecting the four hinge points of the four-bar linkage in sequence form a parallelogram, the four-bar linkage is installed on the main body at two adjacent hinge points of the four hinge points, and the four-bar linkage is installed on the frame at the other two adjacent hinge points of the four hinge points. The connecting rod of the four-bar linkage that spans the main body and the frame is the first connecting rod, and the first connecting rod is rotatably connected to the main body and the frame respectively.

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