Cleaning robot

Abstract

The invention provides a cleaning robot, and belongs to the technical field of cleaning equipment. The cleaning robot comprises a moving main machine and a cleaning part. The mobile host is provided with a connecting frame; the cleaning piece is connected with the connecting frame, and the cleaning piece is used for cleaning the ground under the automatic control of the mobile host; the connecting frame is movably connected with the mobile host so as to drive the cleaning piece to move; the driving assembly is arranged on the mobile host and is in transmission connection with the connecting frame, and the driving assembly is configured to drive the connecting frame to move relative to the mobile host; the driving assembly comprises a driving structure and a transmission structure; the driving structure is in transmission connection with the connecting frame through the transmission structure, and a first limiting piece is fixedly arranged on the moving main machine and is configured to limit movement of the connecting frame so as to limit the extending and retracting direction or stroke of the cleaning piece. The cleaning robot provided by the invention can clean wall corners, table corners or wall edges when the cleaning part is in the extending state, so that the cleaning quality is improved.

Description

[0001] This application claims priority to the Chinese patent application No. 202421817871.8, filed on July 29, 2024, entitled "A cleaning robot", the contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning equipment, in particular to a cleaning robot. BACKGROUND

[0003] The existing cleaning robot with a roller structure can only be retracted in the mobile host to mop the ground, which causes the cleaning robot to be difficult to clean when it is near a wall or a corner of a cabinet, thereby affecting the user experience. SUMMARY

[0004] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art and provide a cleaning robot.

[0005] The present application provides a cleaning robot, comprising: a mobile host provided with a connecting frame; a cleaning member connected with the connecting frame, the cleaning member being configured to clean the ground under the automatic control of the mobile host; the connecting frame is movably connected with the mobile host to drive the cleaning member to move; a driving assembly arranged on the mobile host and in transmission connection with the connecting frame, the driving assembly being configured to drive the connecting frame to move relative to the mobile host, so that the cleaning member can be switched between a retracted state and an extended state; the driving assembly comprises a driving structure and a transmission structure; the driving structure is in transmission connection with the connecting frame through the transmission structure, and a first limiting member is fixedly arranged on the mobile host, the first limiting member being configured to limit the movement of the connecting frame, thereby limiting the extension, retraction direction or stroke of the cleaning member.

[0006] In some embodiments, at least one of a scraping strip, a sewage tank and a water storage box is further connected to the connecting frame, and the cleaning member is a roller structure; the scraping strip is configured to scrape off the liquid or stains adsorbed by the roller structure; the sewage tank is configured to recover the sewage scraped off from the roller structure by the scraping strip; the water storage box is configured to provide cleaning liquid or clean water for the roller structure.

[0007] In some embodiments, the driving structure comprises a driving motor, a driving gear, a driven gear and a transmission belt. The output shaft of the driving motor drives the driving gear to rotate, the driving gear is in driving connection with the driven gear through the transmission belt, and the transmission belt drives the transmission structure to drive the connecting frame to move relative to the mobile host.

[0008] In some embodiments, one end of the transmission structure is connected with the transmission belt, and the other end of the transmission structure is connected with the connecting frame.

[0009] In some embodiments, the other end of the transmission structure is connected with the connecting frame through a first elastic member, so that when the transmission structure is driven by the transmission belt to move in a first direction, the connecting frame and the cleaning member are driven by the first elastic member to move outward relative to the mobile host, and when the connecting frame and / or the cleaning member collide with an obstacle, the connecting frame and / or the cleaning member are retracted inward relative to the mobile host under the elastic action of the first elastic member.

[0010] In some embodiments, the connecting frame is provided with a first pushing part, and the side of the transmission structure facing the connecting frame is provided with a second pushing part. When the transmission structure is driven by the transmission belt to move in a second direction opposite to the first direction, the second pushing part can push the first pushing part to retract the connecting frame and the cleaning member inward relative to the mobile host.

[0011] In some embodiments, a guide rod is fixed on the mobile host, the transmission structure comprises a first rod body and a guide member arranged on the first rod body, and the guide member is slidably sleeved on the guide rod. One end of the first rod body is provided with a first connecting part, and the other end of the first rod body is provided with a second connecting part, the first connecting part is connected with the connecting frame through the first elastic member, and the second connecting part is connected with the transmission belt.

[0012] In some embodiments, one of the first limiting member and the connecting frame is provided with at least one first strip-shaped hole, and the other is provided with at least one first protrusion, the first protrusion is arranged in the first strip-shaped hole and can move relative to the first strip-shaped hole, so that the first limiting member is configured to limit the movement of the connecting frame to limit the extension, contraction direction or stroke of the cleaning member.

[0013] In some embodiments, the side of the connecting frame facing the first limiting member is provided with a second protrusion, the first limiting member is provided with a second strip-shaped hole, the second protrusion is arranged in the second strip-shaped hole, and the second protrusion is connected with the other end of the transmission structure through the first elastic member.

[0014] In some embodiments, the cleaning member is a roller structure, the roller structure comprising a first motor, a movable member and a roller; The first motor is arranged in the roller, and a wiping member is connected to the outer periphery of the roller; An output end of the first motor is arranged through the end of the roller and connected to the movable member to drive the movable member to rotate; The first motor is configured to drive the movable member to rotate, so as to drive the roller to switch from a cleaning position to a lifted position.

[0015] In some embodiments, the cleaning member is a roller structure, the roller structure comprising a first motor, a movable member and a roller; The elastic connection structure is configured to, when the roller structure is lifted, the other end of the elastic connection structure moves upward along the abutting surface and is stretched, so that the roller structure moves upward against the elastic force of the elastic connection structure; when the roller structure falls, the other end of the elastic connection structure moves downward along the abutting surface and reduces the degree of stretching, to assist the downward movement of the roller structure under the elastic force of the elastic connection structure.

[0016] The embodiments of the present application have the following advantages: the driving assembly drives the connecting frame to move relative to the mobile host, so that the cleaning member can be switched between the retracted state and the extended state, when the cleaning member is in the extended state, the cleaning robot can clean the corners of the wall, the corners of the table or the edge of the wall, and when the cleaning member is in the retracted state, the cleaning robot can clean the flat ground, so as to improve the cleaning efficiency and cleaning quality of the ground.

[0017] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are referred to for a detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0019] Figure 1 Fig. 1 shows a structure schematic diagram of a first embodiment of a cleaning robot according to some embodiments of the present application from one perspective; Figure 2 This application provides a schematic diagram of the structure of a cleaning robot in a first embodiment, showing the combination of a drive assembly, a connecting frame, and a cleaning component from one perspective. Figure 3 It shows Figure 2 Enlarged view of section A in the middle; Figure 4 This application provides a schematic diagram showing another perspective of the combination of a drive component and a mobile host in a first embodiment of a cleaning robot. Figure 5 This application provides a schematic diagram of the structure of a roller structure in a first embodiment of a cleaning robot, showing a perspective view. Figure 6 It shows Figure 5 Sectional view of the middle BB section; Figure 7 This application shows a schematic diagram of the drive structure of a cleaning robot in a first embodiment, provided by some embodiments of the present application, from another perspective. Figure 8 The following are schematic diagrams showing structural features from other perspectives of a first embodiment of a cleaning robot provided by some embodiments of this application; Figure 9 It shows Figure 8 A sectional view of the central CC section; Figure 10 This application provides a schematic diagram of the structure from another perspective of the combination of the drive assembly, connecting frame, and cleaning component in a first embodiment of a cleaning robot. Figure 11 This application provides a schematic diagram of the structure of a second embodiment of a cleaning robot from one perspective. Figure 12 This application provides a schematic diagram of the structure of a second embodiment of a cleaning robot, showing a cleaning component combined with a connecting frame from one perspective. Figure 13 This application provides a second embodiment of a cleaning robot, showing a structural schematic diagram from another perspective of the combination of the cleaning component and the connecting frame. Figure 14 This illustration shows a structural schematic diagram from another perspective of the combination of the cleaning component and the connecting frame in a second embodiment of a cleaning robot provided by some embodiments of this application.

[0020] Explanation of key component symbols: 100 - mobile host; 110 - connecting frame; 111 - first pushing part; 112 - first protrusion; 113 - second protrusion; 114 - limiting channel; 120 - abutting surface; 130 - first limiting member; 131 - first strip-shaped hole; 132 - second strip-shaped hole; 140 - guide rod; 150 - mounting shell; 151 - first space; 160 - limiting cavity; 200 - cleaning member; 210 - roller structure; 211 - first motor; 212 - movable member; 2121 - driving arm; 21211 - free end; 2122 - winding member; 213 - roller; 2131 - first connecting cylinder; 2132 - second connecting cylinder; 2133 - third connecting cylinder; 214 - wiping member; 215 - roller cover; 2151 - first limiting part; 2152 - second limiting part; 300 - driving assembly; 310 - driving structure; 311 - driving motor; 312 - driving gear; 3121 - first gear; 3122 - transmission gear; 313 - driven gear; 314 - transmission belt; 320 - transmission structure; 321 - second pushing part; 322 - first rod body; 3221 - first connecting part; 3222 - second connecting part; 323 - guide member; 400 - scraping strip; 500 - worm gear mechanism; 600 - first elastic member; 700 - second motor; 800 - connecting line; 900 - second connecting member; 1000 - first connecting member; 1100 - swinging arm; 1200 - elastic connecting structure; 1210 - third connecting member; 1211 - guide groove; 1212 - arc surface; 1220 - second elastic member, 2111 - limiting groove. DETAILED DESCRIPTION

[0021] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein like or similar elements are denoted by the same or similar reference symbols throughout the drawings. The embodiments described below are examples for explaining the present application and should not be understood as limiting the present application.

[0022] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical", "horizontal", "left", "right", and the like as used herein are used for explanation purposes only.

[0023] In this application, unless specifically defined otherwise, the terms "mounting", "connected", "connection", "fixed", and the like should be construed broadly and do not necessarily imply that two elements are directly connected to each other. It will be apparent to those skilled in the art that these terms of connection can refer to mechanical or electrical connection, or indirect connection through an intermediate medium, or the internal communication between two elements, or the interaction between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0024] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically defined.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used in the specification of the template are only for the purpose of describing the specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] As Figures 1 to 10 The first embodiment of the present application provides a cleaning robot, mainly applied to cleaning equipment, to improve the convenience and efficiency of cleaning.

[0027] The cleaning robot comprises a mobile host 100 and a cleaning piece 200.

[0028] The mobile host 100 can move on the ground according to a preset route, and can identify and bypass obstacles during movement. The cleaning piece 200 can be a side sweeping mechanism, a mop structure, or a roller structure.

[0029] The mobile host 100 is provided with a connecting frame 110, which can be connected to the mobile host 100 through any one of the following connection methods: sliding connection, clamping, bolt connection, bonding, magnetic attraction or integral molding. The cleaning piece 200 is connected to the connecting frame 110, and the cleaning piece 200 is used to clean the ground under the automatic control of the mobile host 100. The connection between the cleaning piece 200 and the connecting frame 110 can be achieved by any one of the following connection methods: pivoting, clamping, bolt connection, bonding, magnetic attraction or integral molding.

[0030] In the embodiment, the connecting frame 110 is movably connected with the mobile host 100 to drive the cleaning member 200 to move. It should be noted that the moving direction of the connecting frame 110 relative to the mobile host 100 can be horizontal direction, arc direction or oblique up-down direction or vertical direction.

[0031] For example, in one embodiment, the connecting frame 110 is capable of moving along the horizontal direction relative to the mobile host 100, so that the cleaning member 200 is driven by the connecting frame 110 to move synchronously along the horizontal direction, and the cleaning member 200 is driven by the connecting frame 110 to move outside the mobile host 100, at this time, the wall corner, table corner, corner or wall edge can be cleaned by the cleaning member 200, so as to improve the cleaning range of the cleaning robot, and improve the cleaning quality and cleaning efficiency.

[0032] For example, in another embodiment, the connecting frame 110 is capable of moving along the vertical direction or the up-down direction with an arc relative to the mobile host 100, so that the cleaning member 200 is driven by the connecting frame 110 to move synchronously along the vertical direction or the up-down direction with an arc. It can be understood that when the cleaning robot cleans the ground, the cleaning member 200 is driven by the connecting frame 110 to move along the vertical direction or the up-down direction with an arc, and the cleaning member 200 is abutted to the surface to be cleaned, so as to clean the surface to be cleaned; after cleaning is completed, the cleaning member 200 is driven by the connecting frame 110 to move synchronously along the vertical direction or the up-down direction with an arc, so that the cleaning member 200 is spaced from the ground, so as to prevent the cleaning member 200 from contacting the ground and polluting the ground during the movement of the cleaning robot; in addition, when the cleaning robot passes through the carpet, the cleaning member 200 is driven by the connecting frame 110 to move along the vertical direction, so that the cleaning member 200 can be prevented from contacting the surface of the carpet.

[0033] For example, in another embodiment, the connecting frame 110 is capable of moving along the vertical direction and the horizontal direction relative to the mobile host 100, so as to improve the cleaning efficiency of the cleaning robot, and prevent the ground and the carpet from being polluted.

[0034] As shown in Figure 2 In the embodiment, the cleaning robot comprises a driving assembly 300. The driving assembly 300 is arranged on the mobile host 100, and the driving assembly 300 is drivingly connected with the connecting frame 110, so that the connecting frame 110 is driven by the driving assembly 300 to move relative to the mobile host 100, so that the cleaning member 200 can be switched between the retracted state and the extended state.

[0035] It can be understood that the driving assembly 300 is configured to drive the connecting frame 110 to move relative to the mobile host 100, so that the cleaning member 200 can be switched between the retracted state and the extended state.

[0036] It should be noted that in the present embodiment, the retracted state and the extended state refer to the retraction or extension of the cleaning member 200 relative to the mobile host 100 in the horizontal direction. That is, when the cleaning member 200 is in the extended state, the cleaning robot can clean the corner of a wall, the corner of a table, or the edge of a wall. When the cleaning member 200 is in the retracted state, the cleaning robot can clean a flat ground.

[0037] In some embodiments of the present application, the connecting frame 110 is further connected with at least one of the squeegee 400, the sewage tank, and the water storage box, and the cleaning member 200 is a roller structure 210.

[0038] It can be understood that the connecting frame 110 is further connected with any one of the squeegee 400, the sewage tank, and the water storage box. Or the connecting frame 110 is further connected with any two of the squeegee 400, the sewage tank, and the water storage box. Or the connecting frame 110 is further connected with the squeegee 400, the sewage tank, and the water storage box. The specific setting can be made according to the actual situation.

[0039] By connecting the squeegee 400, the sewage tank, and the water storage box with the connecting frame 110 respectively, the squeegee 400, the sewage tank, and the water storage box can be driven to move synchronously by the connecting frame 110 during the movement of the connecting frame 110 relative to the mobile host 100, so as to ensure that the cleaning efficiency of the cleaning member 200 in the retracted state and the extended state is consistent, and further improve the cleaning quality and cleaning efficiency of the cleaning robot.

[0040] It should be noted that the squeegee 400 is configured to scrape off the liquid or stain adsorbed by the roller structure 210, so as to prevent the sewage from remaining on the roller structure 210, to ensure the cleanliness of the surface of the roller structure 210, and to improve the cleaning quality and cleaning efficiency of the roller structure 210 on the ground.

[0041] The sewage tank is configured to recover the sewage scraped off from the roller structure 210 by the squeegee 400, to prevent the liquid and stain adsorbed by the roller structure 210 from falling onto the ground, and to improve the cleaning efficiency.

[0042] In addition, the water storage box is configured to provide cleaning liquid or clean water for the roller structure 210. It can be understood that the water storage box can store cleaning liquid or clean water, and can inject the cleaning liquid or clean water into the roller structure 210, and clean the ground by the roller structure 210.

[0043] As shown in Figure 2 and Figure 4 In some embodiments of the present application, the driving assembly 300 includes a driving structure 310 and a transmission structure 320.

[0044] The driving structure 310 is in transmission connection with the connecting frame 110 through the transmission structure 320. Specifically, the output end of the driving structure 310 is connected with one end of the transmission structure 320, and the other end of the transmission structure 320 is connected with the connecting frame 110. The driving structure 310 controls the rotation of the transmission structure 320, and the transmission structure 320 drives the roller structure 210 to switch between the retracted state and the extended state.

[0045] In addition, the first limiting piece 130 is fixed on the mobile host 100, and is configured to limit the movement of the connecting frame 110, so as to limit the extension, retraction direction or stroke of the cleaning piece 200. It can be understood that the first limiting piece 130 can guide and limit the movement of the connecting frame 110, so as to ensure the smoothness and stability of the connecting frame 110 switching between the retracted state and the extended state. At the same time, the first limiting piece 130 can also limit the stroke of the connecting frame 110, so as to ensure the consistency of the stroke of the connecting frame 110 during the extension or retraction process, thereby ensuring the consistency of the cleaning range of the cleaning robot, and avoiding the connecting frame 110 from falling off the mobile host 100.

[0046] As shown in Figure 4 and Figure 7 In some embodiments of the present application, the driving structure 310 includes a driving motor 311, a driving gear 312, a driven gear 313 and a transmission belt 314. The two ends of the transmission belt 314 are respectively sleeved on the driving gear 312 and the driven gear 313, for example, can be frictionally connected, and the side corresponding to the connecting frame 110 can be moved in the same direction or opposite direction when the driving gear 312 rotates in the same direction or opposite direction, so as to drive the connecting frame 110 to move relative to the mobile host 100.

[0047] Specifically, the output shaft of the driving motor 311 drives the driving gear 312 to rotate, and the driving gear 312 is in transmission connection with the driven gear 313 through the transmission belt 314, that is, the output shaft of the driving motor 311 drives the driving gear 312 to rotate, and the driving gear 312 drives the driven gear 313 to rotate synchronously with the driving gear 312 through the transmission belt 314.

[0048] The transmission structure 320 is connected with the transmission belt 314, so that the transmission belt 314 can drive the transmission structure 320 to move while moving, so as to drive the connecting frame 110 to move relative to the mobile host 100 through the transmission structure 320, and drive the cleaning piece 200 to switch between the retracted state and the extended state through the connecting frame 110.

[0049] As shown in Figure 7As shown in the drawings, in the embodiment, the driving gear 312 comprises a first gear 3121 and a transmission gear 3122 coaxially connected, and the first gear 3121 and the transmission gear 3122 are coaxially connected to form the driving gear 312.

[0050] In addition, the output shaft of the driving motor 311 is engaged with the first gear 3121, so that the first gear 3121 is driven to rotate by the output shaft of the driving motor 311, and the transmission gear 3122 is synchronously driven to rotate by the first gear 3121, so that the transmission gear 3122 can drive the driven gear 313 to synchronously rotate through the conveyor belt 314 in the process of rotating.

[0051] As shown in the drawings, Figure 3 , Figure 4 and Figure 7 In some embodiments of the application, the cleaning member 200 is a drum structure 210, and the output shaft of the driving motor 311 is engaged with the first gear 3121 through the worm gear mechanism 500, so that the output shaft of the driving motor 311 is driven to rotate while rotating through the worm gear mechanism 500.

[0052] Among them, the output shaft of the driving motor 311 extends along the horizontal direction, the gear shafts of the driving gear 312 and the transmission gear 3122 both extend along the vertical direction, and the extension direction of the line between the driving gear 312 and the transmission gear 3122 is parallel or identical to the moving direction of the drum structure 210.

[0053] It can be understood that the conveyor belt 314 located between the driving gear 312 and the driven gear 313 extends along the horizontal direction and is parallel to the extension direction of the line between the driving gear 312 and the driven gear 313, that is, the moving direction of the conveyor belt 314, the moving direction of the transmission structure 320, the moving direction of the connecting frame 110 and the moving direction of the drum structure 210 are parallel or identical, so as to ensure the fluency and stability of the drum structure 210 switching between the retracted state and the extended state.

[0054] As shown in the drawings, Figure 3 and Figure 4 In some embodiments of the application, the moving host 100 is fixed with a guide rod 140. Among them, the number of guide rods 140 can be one, two or any number of values, which can be set according to actual conditions.

[0055] In the embodiment, the number of guide rods 140 is three, the three guide rods 140 are arranged at intervals, the axes of the three guide rods 140 are parallel to each other, and the extension direction of the guide rod 140 is parallel or identical to the moving direction of the drum structure 210.

[0056] Specifically, the transmission structure 320 is slidingly connected with the at least one guide rod 140, so as to provide the guide rod 140 with a guiding and limiting effect on the transmission structure 320, thereby further improving the stability and smoothness of the transmission structure 320 during movement.

[0057] As shown in Figure 3 , Figure 4 and Figure 12 , in some embodiments of the present application, the mobile host 100 is connected with a mounting housing 150. The mounting housing 150 defines a first space 151, and the guide rod 140 is arranged in the first space 151 and connected with the mounting housing 150, so as to ensure the stability of the guide rod 140 on the mobile host 100 and provide protection and fixation for the guide rod 140 through the mounting housing 150.

[0058] In addition, the transmission structure 320 is at least partially accommodated in the first space 151, so as to provide the transmission structure 320 with a space for movement through the first space 151, thereby ensuring the smoothness of the transmission structure 320 during movement along the extension direction of the guide rod 140.

[0059] As shown in Figure 2 and Figure 4 , in the present embodiment, one end of the transmission structure 320 is connected with the conveyor belt 314, so that the conveyor belt 314 can drive the transmission structure 320 to move synchronously along the axis direction of the guide rod 140 during movement. The other end of the transmission structure 320 is connected with the connecting frame 110, so that the transmission structure 320 can drive the connecting frame 110 to move during movement, thereby driving the cleaning member 200 to move synchronously through the connecting frame 110, so as to realize the switching between the retracted state and the extended state.

[0060] As shown in Figure 2 , in the present embodiment, the other end of the transmission structure 320 is connected with the connecting frame 110 through a first elastic member 600, which is used to drive the connecting frame 110 and the cleaning member 200 to move outward relative to the mobile host 100 (i.e., the roller structure 210 is switched from the retracted state to the extended state) through the first elastic member 600 when the transmission structure 320 is driven by the conveyor belt 314 to move in the first direction. The end of the first elastic member 600 connected with the conveyor belt 314 is arranged close to the extended position of the roller structure 210 relative to the end connected with the connecting frame 110, i.e., close to the gap on the mobile host 100 for the extension of the roller structure 210. In this case, the first elastic member 600 is always or mostly in a stretched state. Of course, in other embodiments, the connection mode can be reversed, so that the first elastic member 600 is always or mostly in a compressed state.

[0061] When the drum structure 210 is in the extended state during cleaning, the connecting frame 110 and / or the cleaning member 200 encounters an obstacle, and is retracted inward relative to the mobile host 100 under the elastic action of the first elastic member 600, that is, the connecting frame 110 and / or the cleaning member 200 is elastically moved from the extended state to the direction of the retracted state under the resistance of the obstacle, so that the connecting frame 110 and / or the cleaning member 200 avoids the obstacle, avoids rigid collision between the cleaning member 200 and the obstacle, thereby achieving the protection effect of the cleaning member 200, avoiding damage to the cleaning member 200, improving the service life and the convenience of ground cleaning.

[0062] As shown in Figure 3 and Figure 4 In some embodiments of the present application, the connecting frame 110 is provided with a first pushing part 111, and the transmission structure 320 is provided with a second pushing part 321 on one side thereof facing the connecting frame 110.

[0063] When the transmission structure 320 moves in the second direction opposite to the first direction under the driving of the transmission belt 314, the second pushing part 321 can push the first pushing part 111 to retract the connecting frame 110 and the cleaning member 200 inward relative to the mobile host 100.

[0064] In the embodiment, the first direction is parallel to the second direction, the first direction is opposite to the second direction, and the first direction and the second direction can both be horizontal directions.

[0065] It can be understood that, when the cleaning member 200 is switched from the extended state to the retracted state, the transmission structure 320 drives the second pushing part 321 to move synchronously in the process of moving, the second pushing part 321 pushes the first pushing part 111, and the connecting frame 110 and the cleaning member 200 are pushed to move inward, so that the cleaning member 200 is switched from the extended state to the retracted state.

[0066] In some specific embodiments, the first elastic member 600 can be a hard spring, and the first elastic member 600 is slightly stretched when the drum structure 210 is extended outward or retracted inward, the connecting frame 110 is slightly retracted inward to pull the first elastic member 600 when the connecting frame 110 and / or the cleaning member 200 encounters an obstacle, so that the first elastic member 600 is further stretched; when the obstacle passes by, the connecting frame 110 drives the drum structure 210 to extend again under the restoring force of the first elastic member 600.

[0067] As shown in Figure 2 and Figure 4 In some embodiments, a guide rod 140 is fixed on the mobile host 100.

[0068] The transmission structure 320 includes a first rod 322 and a guide member 323 disposed on the first rod 322. The guide member 323 is located on the side of the first rod 322 near the drive structure 310 and is fixedly connected to the first rod 322. By sliding the guide member 323 onto the guide rod 140, the guide member 323 can slide along the axial direction of the guide rod 140, thereby driving the first rod 322 to slide synchronously along the axial direction of the guide rod 140. It should be noted that the axial direction of the guide rod 140 is parallel to the first and second directions of movement of the transmission structure 320.

[0069] Among them, such as Figures 2 to 4 As shown, one end of the first rod 322 is provided with a first connecting part 3221, and the other end of the first rod 322 is provided with a second connecting part 3222. The first connecting part 3221 is connected to the connecting frame 110 through a first elastic member 600, and the second connecting part 3222 is connected to the conveyor belt 314 so that the conveyor belt 314 can drive the first rod 322 to move along the first direction. Since the first elastic member 600 is a hard spring, the first connecting frame 110 can be moved outward by pulling the first elastic member 600 through the first rod 322, thereby driving the cleaning part 200 to extend out of the mobile host 100 through the connecting frame 110. When the conveyor belt 314 drives the first rod 322 to move along the second direction, the first rod 322 drives the second pushing part 321 on the first rod 322 to move synchronously during the movement. The second pushing part 321 pushes the first pushing part 111 of the connecting frame 110, thereby pushing the connecting frame 110 and the cleaning component 200 to move inward, so that the cleaning component 200 retracts from the mobile host 100.

[0070] like Figure 2 and Figure 4 As shown, in some embodiments of this application, one of the first limiting member 130 and the connecting frame 110 is provided with at least one first strip-shaped channel 131, and the other of the two is provided with at least one first protrusion 112.

[0071] Understandably, in one embodiment, the first limiting member 130 is provided with at least one first strip-shaped channel 131, and the connecting frame 110 is provided with at least one first protrusion 112. In another embodiment, the connecting frame 110 is provided with at least one first strip-shaped channel 131, and the first limiting member 130 is provided with at least one first protrusion 112. It should be noted that the number of first strip-shaped channels 131 is equal to the number of first protrusions 112, and one first protrusion 112 is provided in one first strip-shaped channel 131 and can move relative to the first strip-shaped channel 131, so that the first limiting member 130 is configured to limit the movement of the connecting frame 110, thereby limiting the extension, retraction direction or stroke of the cleaning member 200.

[0072] The first protrusion 112 is arranged in the first strip-shaped channel 131 and moves along the first strip-shaped channel 131, so that the hole wall of the first strip-shaped channel 131 provides limiting and guiding effects on the first protrusion 112, thereby ensuring the stability and smoothness of the first protrusion 112 during movement along the extension direction of the first strip-shaped channel 131. In this embodiment, the extension direction of the first strip-shaped channel 131 is parallel to the first direction and the second direction.

[0073] In addition, by controlling the length of the first strip-shaped channel 131, the movement distance of the first protrusion 112 in the first strip-shaped channel 131 can be controlled, so that the length of the connecting frame 110 and / or the cleaning member 200 located outside the moving host 100 in the extended state can be controlled, thereby adjusting the cleaning range of the cleaning member 200 of the cleaning robot.

[0074] As shown in Figure 2 and Figure 4 In some embodiments of the present application, the connecting frame 110 is provided with a second protrusion 113 on the side facing the first limiting member 130, the first limiting member 130 is provided with a second strip-shaped channel 132, the second protrusion 113 is arranged in the second strip-shaped channel 132, and the second protrusion 113 is connected to the other end of the transmission structure 320 through the first elastic member 600, so that the transmission structure 320 can drive the first elastic member 600 to elongate or contract during movement, thereby driving the connecting frame 110 and the cleaning member 200 to switch between the extended state and the contracted state under the action of the first elastic member 600.

[0075] It should be noted that the extension direction of the first strip-shaped channel 131 is parallel to the extension direction of the second strip-shaped channel 132.

[0076] In this embodiment, the connecting frame 110 is arranged on the side of the first limiting member 130 facing the drum structure 210, and the connecting frame 110 is in sliding connection with the first limiting member 130.

[0077] Since the cleaning member 200 is always in contact with the ground during cleaning, if the cleaning member 200 is in a wet state or has stains when there is a carpet, the carpet is likely to be contaminated.

[0078] As shown in Figure 5 and Figure 6 In this embodiment, the cleaning member 200 is a drum structure 210, and the drum structure 210 includes a first motor 211, a movable member 212, and a drum 213.

[0079] In some embodiments, the first motor 211 is arranged in the drum 213, and a wiping member 214 is connected to the outer periphery of the drum 213, so as to clean the ground through the wiping member 214.

[0080] Specifically, the output end of the first motor 211 is arranged in the end of the roller 213 and connected with the movable piece 212 to drive the movable piece 212 to rotate, the axis of the output end of the first motor 211 is parallel to or coincides with the axis of the roller 213, and the output end of the first motor 211 can be a structure connected on the output shaft of the motor.

[0081] In the embodiment, the first motor 211 is configured to drive the movable piece 212 to rotate, so that the roller 213 is switched from the cleaning position to the lifting position by the movable piece 212 in the process of rotation. It can be understood that the roller 213 is in the cleaning position, and the wiping piece 214 abuts against the ground to facilitate cleaning of the ground; when the roller 213 is in the lifting position, the wiping piece 214 has a spacing from the ground, i.e., the roller structure 210 has a spacing from the ground to form an avoiding space, so that the mobile host 100 can avoid the carpet on the ground in the process of movement, and the wiping piece 214 avoids contacting the carpet. In some embodiments, the first motor 211 can also be arranged outside the roller 213 and can drive the movable piece 212 to rotate, so that the roller 213 is switched from the cleaning position to the lifting position by the movable piece 212 in the process of rotation.

[0082] When the roller 213 is switched from the lifting position to the cleaning position, the roller 213 can be driven by the first motor 211 or can be driven by its own gravity.

[0083] As shown in Figure 10 In the embodiment, the movable piece 212 includes a driving arm 2121, and the roller structure 210 is pivoted to the connecting frame 110, and the roller structure 210 can rotate along the up-down direction relative to the connecting frame 110.

[0084] The end of the driving arm 2121 away from the output end of the first motor 211 is a free end 21211, and the driving arm 2121 can rotate under the drive of the first motor 211 to make the free end 21211 abut against the connecting frame 110 in the process of rotation, and the connecting frame 110 forms a support in the rotation direction of the free end 21211, so that the driving arm 2121 drives the roller 213 to switch from the cleaning position to the lifting position under the action of the torque of the output end of the first motor 211. When the first motor 211 stops running, the roller 213 remains in the current lifting position to avoid the wiping piece 214 contacting the ground or contacting the carpet, and prevent the wiping piece 214 from polluting the ground or the carpet.

[0085] In some embodiments, the first motor 211 has two, and the driving arm 2121 has two, and the output ends of the two first motors 211 are respectively arranged in the two ends of the roller 213 and connected with the two driving arms 2121 respectively to drive the driving arms 2121 to rotate.

[0086] It is understood that both first motors 211 are housed inside the drum 213 to save space. The output shafts of the two first motors 211 are arranged in opposite directions, their axes coincide, and they move synchronously. This drives the two drive arms 2121 to rotate synchronously in the same direction, ensuring that both ends of the drum 213 can be raised synchronously, preventing the drum 213 from tilting during raising or lowering. In some other embodiments, both first motors 211 may be housed outside the drum 213.

[0087] By setting up two first motors 211 and two drive arms 2121, the stability and smoothness of the roller 213 during the switching process between the cleaning position and the lifting position are improved.

[0088] like Figure 6 , Figure 10 As shown, in this embodiment, the roller structure 210 also includes a roller cover 215. The mopping component 214 on the outer periphery of the roller 213 can rotate relative to the roller cover 215 to mop the ground. It is understood that there is a gap between the roller cover 215 and the mopping component 214 to avoid friction between the mopping component 214 and the roller cover 215 during the rotation process, so as to ensure the stability and smoothness of the mopping component 214 during the rotation process.

[0089] The roller cover 215 is pivotally connected to the connecting frame 110 so that the roller cover 215 can move relative to the connecting frame 110.

[0090] like Figure 6 As shown, in this embodiment, the roller 213 includes a first connecting cylinder 2131, a second connecting cylinder 2132, and a third connecting cylinder 2133. Both the first connecting cylinder 2131 and the second connecting cylinder 2132 are located inside the third connecting cylinder 2133. The first connecting cylinder 2131 may be located at its end, and the second connecting cylinder 2132 may be located in its middle. A wiping member 214 is connected to the outer periphery of the third connecting cylinder 2133. The axes of the first connecting cylinder 2131, the second connecting cylinder 2132, and the third connecting cylinder 2133 are parallel or coincident with each other.

[0091] The first motor 211 is fixed inside the first connecting cylinder 2131. The output end of the first motor 211 passes through the first connecting cylinder 2131 and the third connecting cylinder 2133, and is connected to the drive arm 2121, thereby driving the drive arm 2121 to rotate. The second connecting cylinder 2132 is fixedly connected to the first connecting cylinder 2131. A second motor 700 is fixed inside the second connecting cylinder 2132. The output end of the second motor 700 faces the side of the second connecting cylinder 2132 away from the first connecting cylinder 2131. The output end of the second motor 700 is connected to the third connecting cylinder 2133, so that the third connecting cylinder 2133 can rotate relative to the first connecting cylinder 2131 and the second connecting cylinder 2132. This, in turn, drives the mopping component 214 to rotate, thus cleaning the floor during rotation.

[0092] In this embodiment, by fixing the first connecting cylinder 2131 to the roller cover 215, the first connecting cylinder 2131 and the second connecting cylinder 2132 can be fixed relative to the roller cover 215 during the rotation of the third connecting cylinder 2133 relative to the first connecting cylinder 2131 and the second connecting cylinder 2132, so as to ensure the stability of the connection between the first connecting cylinder 2131, the second connecting cylinder 2132 and the third connecting cylinder 2133. Furthermore, since the roller cover 215 is pivotally connected to the connecting frame 110, and the first connecting cylinder 2131 is fixedly connected to the roller cover 215, when the drive arm 2121 rotates under the drive of the first motor 211, the free end 21211 abuts against the connecting frame 110 during the rotation process. The connecting frame 110 forms support in the rotation direction of the free end 21211, so that the first motor 211 fixed to the first connecting cylinder 2131 rises with the pivot shaft of the roller cover 215 pivotally connected to the connecting frame 110 as the rotation axis, thereby driving the roller 213 to switch from the cleaning position to the lifting position through the first connecting cylinder 2131.

[0093] like Figures 11 to 14 As shown in the second embodiment of the cleaning robot of this application, the movable part 212 includes a winding part 2122, which is disposed at one end of the roller 213 along the axial direction, and the connecting frame 110 is provided with a limiting channel 114 extending along the axial direction of the roller 213.

[0094] The connecting frame 110 is equipped with a connecting line 800. One end of the connecting line 800 passes through the limiting channel 114, extends downward and is wound around the winding member 2122. The other end of the connecting line 800 passes through the limiting channel 114, extends downward and is used to pull the other end of the roller 213. The connecting line 800 is always in a taut state (unless the cleaning robot flips over, the connecting line 800 may loosen).

[0095] It should be noted that the first motor 211 rotates to drive the winding member 2122 to rotate, so that the winding member 2122 is arranged around the connecting line 800, so as to drive the roller 213 to switch from the cleaning position to the lifting position.

[0096] Specifically, when the roller 213 is switched from the cleaning position to the lifting position, the end of the connecting line 800 close to the winding member 2122 is gradually wound in the winding member 2122, so that the lengths of the connecting line 800 at both ends of the axis direction of the roller 213 gradually decrease synchronously, and in the process of the length of the connecting line 800 decreasing, the roller 213 is pulled from the cleaning position to the lifting position, so as to realize the switching of the roller 213 from the cleaning position to the lifting position. Since the two ends of the connecting line 800 are connected to the two ends of the roller 213 respectively, in the process of the length of the connecting line 800 decreasing, the lengths of the connecting line 800 at both ends of the roller 213 can decrease synchronously, so that the two ends of the roller 213 are pulled synchronously by the connecting line 800 to lift, so as to ensure the stability of the roller 213 in the lifting process, and the situation of tilting or deviation can be effectively avoided.

[0097] In addition, when the roller 213 moves from the lifting position to the cleaning position under the action of the gravity of the roller 213 or the first motor 211, the connecting line 800 wound in the winding member 2122 is gradually unwound from the winding member 2122, so that the lengths of the connecting line 800 at both ends of the axis direction of the roller 213 gradually increase synchronously, so as to ensure the stable downward movement of the roller 213.

[0098] As shown in Figure 12 and Figure 13 In some embodiments of the present application, a second connecting member 900 corresponding to the position of the other end of the roller 213 is pivoted between the roller structure 210 and the connecting frame 110, so that the roller structure 210 can move relative to the connecting frame 110.

[0099] In the process of the length of the connecting line 800 increasing or decreasing, the second connecting member 900 can be rotated relative to the connecting frame 110, so that the roller structure 210 is rotated and lifted relative to the connecting frame 110 through the second connecting member 900.

[0100] It can be understood that by arranging the second connecting member 900 at the end of the roller structure 210 away from the winding member 2122 and pivoting the roller structure 210 and the connecting frame 110 through the second connecting member 900, the fluency and stability of the roller 213 in the switching process between the cleaning position and the lifting position can be further improved.

[0101] As shown in Figures 12 to 14As shown, in some embodiments of the present application, the roller structure 210 further comprises a roller cover 215, and the roller 213 is provided with a first connecting piece 1000 at one end close to the winding piece 2122, and the first connecting piece 1000 is rotationally connected to the connecting frame 110 at an end away from the first motor 211, so that the roller 213 can rotate relative to the connecting frame 110.

[0102] Wherein, one end of the second connecting piece 900 is pivotally connected to the roller cover 215, and the other end of the second connecting piece 900 is pivotally connected to the connecting frame 110, so that the first motor 211 can drive the roller cover 215 to rise synchronously in the process of driving the roller 213 to switch from the cleaning position to the lifting position by the winding piece 2122. In addition, the first motor 211 can drive the roller cover 215 to descend synchronously in the process of driving the roller 213 to switch from the lifting position to the cleaning position by the winding piece 2122.

[0103] It should be noted that there is a gap between the first connecting piece 1000 and the roller cover 215, so as to avoid friction between the roller cover 215 and the first connecting piece 1000 in the process of rotating the roller 213, thereby ensuring the smoothness of the roller 213 in the process of rotating.

[0104] In the second embodiment, the roller 213 comprises a first connecting cylinder 2131, a second connecting cylinder 2132 and a third connecting cylinder 2133, the first connecting cylinder 2131 and the second connecting cylinder 2132 are both arranged in the third connecting cylinder 2133, the third connecting cylinder 2133 is connected with the wiping piece 214 at the outer periphery, the first motor 211 is fixedly arranged in the first connecting cylinder 2131, and the second motor 700 is fixedly arranged in the second connecting cylinder 2132, but the first connecting cylinder 2131 is not fixedly connected with the roller cover 215, and the roller cover 215 can be flipped relative to the roller 213.

[0105] When the cleaning robot passes through the thick carpet from the flat ground, even if the roller 213 is switched from the cleaning position to the lifting position, the end of the roller 213 facing the ground is easy to abut against the surface of the carpet, resulting in pollution of the carpet. Therefore, when the roller 213 is in the lifting position, the end of the roller 213 facing the ground needs to be separated from the carpet to prevent pollution of the carpet.

[0106] Therefore, in some embodiments, as shown, Figures 12-14 As shown, the roller structure 210 further comprises a roller cover 215, and at least a part of the roller cover 215 is flipped downward around the rotation shaft of the roller 213 when the roller 213 is switched from the cleaning position to the lifting position, so that the end of the roller 213 facing the ground is covered by the roller cover 215, and the wiping piece 214 is covered by the roller cover 215, thereby enabling the cleaning robot to move on the carpet, avoiding contact between the wiping piece 214 and the carpet, and preventing pollution of the carpet.

[0107] When the roller 213 switches from the lifted position to the cleaning position, at least a portion of the roller cover 215 flips upward about the rotation axis of the roller 213 so that the end of the roller 213 facing the ground is exposed outside the roller cover 215, so that the mopping member 214 can come into contact with the surface to be cleaned, thereby cleaning the ground by the mopping member 214.

[0108] The roller cover 215 may be a single roller cover that rotates relative to the roller 213 about the axis of rotation of the roller 213, or there may be at least two roller covers, one of which is always located above or diagonally above the roller 213 and cannot rotate relative to the roller 213, and the other roller cover can rotate relative to the roller 213 about the axis of rotation of the roller 213.

[0109] like Figure 11 As shown, in some embodiments of this application, the output end of the first motor 211 passes through the end of the roller 213 and is connected to a swing arm 1100. The roller cover 215 near the end of the swing arm 1100 is provided with a first limiting part 2151 and a second limiting part 2152 distributed circumferentially. There is a gap between the first limiting part 2151 and the second limiting part 2152. One end of the swing arm 1100 away from the output end of the first motor 211 is disposed at the first limiting part 2151 and the second limiting part 2152. Between the two limiting portions 2152, the side of the first limiting portion 2151 facing the second limiting portion 2152 is spaced apart from, in contact with, or abuts against one side of the swing arm 1100, and the side of the second limiting portion 2152 facing the first limiting portion 2151 is spaced apart from, in contact with, or abuts against the other side of the swing arm 1100. The first limiting portion 2151 and the second limiting portion 2152 form a limiting groove 2111, and the end of the swing arm 1100 facing away from the output end of the first motor 211 is disposed in the limiting groove 2111. The swing arm 1100 and the winding component 2122 can be integrally formed and jointly connected to the output end of the first motor 211, or the swing arm 1100 and the winding component 2122 can be separate parts, each connected to the output end of the first motor 211.

[0110] In this embodiment, the first motor 211, in addition to controlling the winding component 2122, is also configured to drive the swing arm 1100 to rotate. When the swing arm 1100 rotates and abuts against the first limiting part 2151, the swing arm 1100 causes at least a portion of the roller cover 215 to rotate downward around the axis of rotation of the roller 213, so that the end of the roller 213 facing the ground is covered by the roller cover 215 to prevent the mopping component 214 on the roller 213 from contaminating the ground or coming into contact with the carpet.

[0111] When the swing arm 1100 rotates and abuts against the second limiting portion 2152, the swing arm 1100 drives at least a part of the drum cover 215 to rotate upward around the rotation shaft of the drum 213, so as to expose the end of the drum 213 toward the ground outside the drum cover 215, so that the side of the mop 214 toward the ground is exposed, thereby enabling the mop 214 to clean the ground.

[0112] As shown in FIGS. Figure 2 , Figure 9 In the first embodiment, the cleaning member 200 is a drum structure 210, and the elastic connection structure 1200 cooperating with the mobile host 100 is connected to the drum structure 210.

[0113] It can be understood that the elastic connection structure 1200 can be one, two, or any number of more than two, which can be specifically set according to actual conditions, and the position can be set above or obliquely above the drum structure 210.

[0114] Specifically, one end of the elastic connection structure 1200 is pivotally connected to the drum structure 210, so that the elastic connection structure 1200 can rotate relative to the drum structure 210. In addition, the mobile host 100 has an abutting surface 120 limiting the movement range of the other end of the elastic connection structure 1200, so as to limit the stroke of the elastic connection structure 1200 through the abutting surface 120, to ensure the stability of the stroke of the elastic connection structure 1200.

[0115] It should be noted that the elastic connection structure 1200 is configured to move upward along the abutting surface 120 when the drum structure 210 is lifted, the elastic member of the elastic connection structure 1200 tends to be horizontal and is stretched, so that the drum structure 210 overcomes the elastic force of the elastic connection structure 1200 and moves upward.

[0116] When the drum structure 210 falls, the other end of the elastic connection structure 1200 moves downward along the abutting surface 120, and the extension direction of the elastic member of the elastic connection structure 1200 restores to tend to be vertical and the degree of stretching of the elastic member is reduced, to help the drum structure 210 move downward under the elastic force of the elastic connection structure 1200.

[0117] Since the drum structure 210 falls, the elastic connection structure 1200 reduces the degree of stretching of the elastic member to exert a downward force on the drum structure 210, so that the drum structure 210 can conveniently descend under the action of its own gravity or the first motor 211.

[0118] As shown in FIGS. Figure 2 , Figure 9 and Figure 10As shown, in some embodiments of the present application, the elastic connection structure 1200 comprises a third connecting piece 1210 and a second elastic piece 1220, the third connecting piece 1210 defines a guide groove 1211, and the second elastic piece 1220 is at least partially accommodated in the guide groove 1211 to provide a guiding and limiting effect on the second elastic piece 1220 through the guide groove 1211, so that the second elastic piece 1220 can be elongated or contracted along the extension direction of the guide groove 1211, thereby ensuring the stability of the second elastic piece 1220 during elongation or contraction.

[0119] Wherein, one end of the third connecting piece 1210 is pivotally connected to the upper end of the roller structure 210, that is, the third connecting piece 1210 can rotate relative to the roller structure 210, and the other end of the third connecting piece 1210 is used to abut against the abutting surface 120 to provide a resistance and limiting effect on the third connecting piece 1210 through the abutting surface 120.

[0120] In some specific embodiments, the roller structure 210 comprises a roller cover 215, one end of the third connecting piece 1210 is pivotally connected to the upper end of the roller cover 215, and the first connecting cylinder 2131 of the roller 213 is fixedly connected to the roller cover 215, so that the third connecting piece 1210 can rotate relative to the roller structure 210.

[0121] In addition, as shown, Figure 10 One end of the second elastic piece 1220 is connected to the roller structure 210, and the other end of the second elastic piece 1220 is connected to the end of the third connecting piece 1210 away from the roller structure 210, and it should be noted that the second elastic piece 1220 is in a stretched state when the roller structure 210 is in the raised position and the cleaning position.

[0122] It should be noted that the acute angle formed by the second elastic piece 1220 and the horizontal direction is less than 60 degrees.

[0123] Specifically, when the roller structure 210 is in the raised position, the acute angle formed by the second elastic piece 1220 and the horizontal direction is the smallest, and the second elastic piece 1220 is in the maximum stretched state, but the length of the second elastic piece 1220 at this time is the longest, that is, the elastic potential energy stored by the second elastic piece 1220 is the largest, and when the first motor 211 drives the roller structure 210 or the roller structure 210 switches from the raised position to the cleaning position under the action of its own gravity, the acute angle formed by the second elastic piece 1220 and the horizontal direction is the largest, and the second elastic piece 1220 provides a force to the roller structure 210 through the elastic potential energy to assist the downward movement of the roller structure 210 under the elastic force of the second elastic piece 1220.

[0124] When the drum structure 210 is in the cleaning position, due to the setting that the acute angle formed by the second elastic member 1220 and the horizontal direction is less than 60 degrees, so that when the drum structure 210 is lifted, the elastic force received by the drum structure 210 in the vertical direction is in a preset range, thereby reducing the torque difference of the first motor 211 in the process of driving the drum structure 210 to lift, so that the operating power of the first motor 211 is in a preset range in the process of switching the drum structure 210 from the cleaning position to the lifting position, thereby reducing the energy consumption of the first motor 211, thereby reducing the use cost, and the volume of the first motor 211 is reduced, thereby saving the motor setting space.

[0125] That is, in the process of switching the drum structure 210 from the cleaning position to the lifting position, the pulling force of the second elastic member 1220 on the drum structure 210 in the vertical direction is kept in a preset range, so that the power of the first motor 211 can be kept in a relatively stable state during operation.

[0126] As shown in the drawings, Figure 9 In this embodiment, the mobile host 100 has a limiting cavity 160 near the drum structure 210, so as to provide installation space for the drum structure 210 through the limiting cavity 160, so as to ensure the stability and aesthetics of the connection between the drum structure 210 and the mobile host 100.

[0127] It should be noted that the abutment surface 120 is the cavity wall surface of the limiting cavity 160, and the abutment surface 120 is inclined relative to the horizontal direction.

[0128] As shown in the drawings, Figure 9 , Figure 10 The end of the third connecting member 1210 near the abutment surface 120 has an arc surface 1212, and different positions of the arc surface 1212 abut against the abutment surface 120 during the upward or downward movement of the elastic connecting structure 1200, so as to provide a limiting effect for the third connecting member 1210 through the abutment surface 120.

[0129] In this embodiment, the elastic connecting structure 1200 has at least two, and the two elastic connecting structures 1200 are respectively arranged at both ends of the drum structure 210 in the axial direction, so as to improve the stability of the drum structure 210 during lifting or lowering.

[0130] In all the examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus other examples of the example embodiments can have different values.

[0131] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0132] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that, The utility model relates to a cleaning device for mobile host, including: Mobile host, be equipped with connecting frame; Cleaning piece, with connecting frame connection, the cleaning piece is used for under the automatic control of mobile host clean ground; The connecting frame with mobile host movable connection thus drive cleaning piece moves; Drive assembly, set up on mobile host with connecting frame transmission connection, drive assembly is configured as drive connecting frame moves relative to mobile host, to make cleaning piece can switch between retraction state and extension state; The drive assembly includes drive structure and transmission structure; The drive structure is transmission connection with the connecting frame through the transmission structure, the first limit piece is fixedly arranged on the mobile host, and the first limit piece is configured to limit the movement of the connecting frame to limit the extension, retraction direction or stroke of the cleaning piece.

2. The cleaning robot according to claim 1, wherein, The connecting frame is further connected with at least one of the scraping strip, the sewage tank and the water storage box, and the cleaning piece is a roller structure; The scraping strip is configured to scrape off the liquid or stains adsorbed by the roller structure; The sewage tank is configured to recover the sewage scraped off from the roller structure by the scraping strip; The water storage box is configured to provide cleaning liquid or clean water for the roller structure.

3. The cleaning robot according to claim 1, wherein, The drive structure includes a drive motor, a driving gear, a driven gear and a conveyor belt; The output shaft of the drive motor drives the driving gear to rotate, the driving gear is transmission connection with the driven gear through the conveyor belt, and the conveyor belt drives the transmission structure to drive the connecting frame to move relative to the mobile host.

4. The cleaning robot according to claim 3, wherein, One end of the transmission structure is connected with the conveyor belt, and the other end of the transmission structure is connected with the connecting frame.

5. The cleaning robot according to claim 4, wherein, The other end of the transmission structure is connected with the connecting frame through a first elastic member, so that when the transmission structure moves in a first direction under the drive of the conveyor belt, the connecting frame and the cleaning piece are driven to move outward relative to the mobile host through the first elastic member, and when the connecting frame and / or the cleaning piece encounters an obstacle, it is retracted inward relative to the mobile host under the elastic action of the first elastic member.

6. The cleaning robot according to claim 5, wherein, The connecting frame is provided with a first pushing part, and the side of the transmission structure facing the connecting frame is provided with a second pushing part; When the transmission structure moves in a second direction opposite to the first direction under the drive of the conveyor belt, the second pushing part can push the first pushing part to retract the connecting frame and the cleaning piece inward relative to the mobile host.

7. The cleaning robot according to claim 5, wherein, A guide rod is fixedly arranged on the mobile host, the transmission structure includes a first rod body and a guide member arranged on the first rod body, and the guide member is slidably sleeved on the guide rod; One end of the first rod body is provided with a first connecting part, and the other end of the first rod body is provided with a second connecting part, the first connecting part is connected with the connecting frame through the first elastic member, and the second connecting part is connected with the conveyor belt.

8. The cleaning robot according to claim 1, wherein, One of the first limiting member and the connecting frame is provided with at least one first linear hole, and the other is provided with at least one first protrusion, the first protrusion is arranged in the first linear hole and can move relative to the first linear hole, so that the first limiting member is configured to limit the movement of the connecting frame, thereby limiting the extension, contraction direction or stroke of the cleaning member.

9. The cleaning robot according to claim 5, wherein, The side of the connecting frame towards the first limiting member is provided with a second protrusion, the first limiting member is provided with a second linear hole, the second protrusion is arranged in the second linear hole, and the second protrusion is connected with the other end of the transmission structure through the first elastic member. 10.The cleaning robot according to any one of claims 1 to 9, wherein The cleaning member is a roller structure, and the roller structure comprises a first motor, a movable member and a roller. The first motor is arranged in the roller, and a wiping member is connected to the outer periphery of the roller. The output end of the first motor is arranged in the end of the roller and connected with the movable member, thereby driving the movable member to rotate. The first motor is configured to drive the movable member to rotate, so as to drive the roller to switch from a cleaning position to a lifting position. 11.The cleaning robot according to any one of claims 1 to 9, wherein The cleaning member is a roller structure, and the roller structure is connected with an elastic connecting structure matched with the mobile host; one end of the elastic connecting structure is pivotally connected with the roller structure, and the mobile host has an abutting surface limiting the movement range of the other end of the elastic connecting structure. The elastic connecting structure is configured to, when the roller structure is lifted, the other end of the elastic connecting structure moves upward along the abutting surface and is stretched, so that the roller structure moves upward against the elastic force of the elastic connecting structure; when the roller structure falls, the other end of the elastic connecting structure moves downward along the abutting surface and reduces the stretching degree, so as to assist the roller structure to move downward under the elastic force of the elastic connecting structure.

Images