External expansion module, cleaning robot and external expansion method of cleaning robot

Abstract

The invention provides an external expansion module, a cleaning robot and an external expansion method of the cleaning robot, and belongs to the technical field of cleaning equipment.The external expansion module comprises a rag disc, a first rotating center and a second rotating center, the first rotating center coincides with the geometric center of the rag disc, and the second rotating center deviates from the geometric center of the rag disc; the driving assembly is in transmission connection with the cleaning cloth disc and used for driving the cleaning cloth disc to rotate; and the switching assembly is connected to the driving assembly and used for switching the rotating center of the cleaning cloth disc between the first rotating center and the second rotating center. According to the invention, a larger cleaning coverage area can be obtained.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, and in particular to an expansion module, a cleaning robot, and a method for expanding a cleaning robot. Background Technology

[0002] With the increasing popularity of cleaning robots in homes, improving cleaning capabilities under low furniture within a limited size has become a key research focus. Existing robotic vacuum cleaners typically have a mop module installed at the bottom of the machine, which, along with water refills, enables mopping.

[0003] To improve the coverage of the cleaning cloth module in areas such as edges or under furniture, existing technologies propose setting a channel at the bottom of the machine body, allowing the cleaning cloth module to move outward along the channel direction, thereby achieving a certain outward extension stroke. However, due to the limitations of the machine's overall dimensions, the channel length is usually constrained by the machine's size, causing the cleaning cloth module to typically only extend a small distance outward. Therefore, there are obvious blind spots when cleaning low spaces such as under sofas, beds, and cabinets, making it impossible to achieve thorough cleaning. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this specification provides an expansion module, a cleaning robot, and a method for expanding the cleaning robot, which can achieve a larger cleaning coverage area.

[0005] According to a first aspect of this disclosure, an expansion module for a cleaning robot is provided, comprising: The wiping cloth tray has a first rotation center and a second rotation center. The first rotation center coincides with the geometric center of the wiping cloth tray, and the second rotation center is offset from the geometric center of the wiping cloth tray. The drive assembly, connected to the cloth tray drive, is used to drive the cloth tray to rotate; The switching component, connected to the drive component, is used to switch the rotation center of the cloth tray between a first rotation center and a second rotation center.

[0006] The extended module provided in this disclosure features a wiping disc with a first rotation center and a second rotation center. The first rotation center coincides with the geometric center of the wiping disc, while the second rotation center is offset from the geometric center, forming a dual-rotation-center wiping disc capable of switching between a central position and an off-center position. This structure maintains the traditional cleaning mode when the wiping disc is in the geometric center position; however, when switched to the off-center position, the rotation path of the wiping disc has a larger rotation radius, resulting in a larger swing range and significantly expanding the effective cleaning range of the wiping disc.

[0007] This invention achieves a larger cleaning coverage area without increasing the size of components such as the mop tray, improving the cleaning ability of edge areas, corners and low areas, while balancing the cleaning range with structural compactness, thus improving overall cleaning efficiency.

[0008] In some exemplary embodiments of this disclosure, the cloth tray is provided with a switching channel, and the first rotation center and the second rotation center are connected through the switching channel; The switching component is used to drive the drive component to move along the switching channel, so that the rotation center of the cloth tray switches between the first rotation center and the second rotation center.

[0009] In this type of embodiment, by setting a switching channel on the cloth tray, the first rotation center and the second rotation center are structurally connected by a channel, forming a clear center switching path. This switching channel defines the direction and range of movement of the cloth tray's rotation center, ensuring the stability of the switching between the first and second rotation centers.

[0010] This solution enables the switching of the wiping disc's rotation center to have high precision and repeatability, thereby ensuring the accuracy and smoothness of the cleaning trajectory.

[0011] In some exemplary embodiments disclosed herein, the expansion module further includes: The positioning component is located between the cloth tray and the drive component, and is used to position the relative positions of the cloth tray and the drive component.

[0012] In this type of embodiment, a positioning component is provided between the wiping tray and the drive assembly, enabling them to form a clear positioning relationship under certain conditions, such as when the rotation center of the wiping tray is at a first rotation center or a second rotation center. This structure avoids the rotation center of the wiping tray from shifting or shaking due to inertial forces or friction during rotation, thereby ensuring that the position of the rotation center of the wiping tray remains stable before or after switching.

[0013] With the addition of positioning components, the mop tray can obtain stable mechanical support at both the first and second rotation centers, ensuring stable operation of the mop tray and improving the cleaning uniformity and reliability of the mop tray.

[0014] In some exemplary embodiments of this disclosure, the positioning component includes: The first positioning component is fixed to the cloth tray; The second positioning element is adapted to the first positioning element and is fixed to the drive assembly; The first positioning component includes a first sub-positioning component and a second sub-positioning component. When the second positioning component cooperates with the first sub-positioning component, the rotation center of the wiping cloth tray is the first rotation center; when the first positioning component cooperates with the second sub-positioning component, the rotation center of the wiping cloth tray is the second rotation center.

[0015] In this type of embodiment, by further defining the positioning component as including a first positioning member fixed to the cloth tray and a second positioning member fixed to the drive component, and setting a first sub-positioning member and a second sub-positioning member in the first positioning member, the first sub-positioning member and the second sub-positioning member constitute a "multi-level positioning structure", which can realize the positioning of the drive component and different areas of the cloth tray through the cooperation between the second positioning member and the different sub-positioning members, and complete the fixing of the rotation center of the cloth tray at the first rotation center or the second rotation center, ensuring that the rotation center is always in the preset position before and after switching.

[0016] In some exemplary embodiments of this disclosure, the switching component includes: Drive motor; The transmission component is connected to the output end of the drive motor, and the transmission component is connected to the drive component; When the drive motor rotates, it drives the drive component to move along the switching channel through the transmission component.

[0017] In this type of embodiment, the switching component is specifically defined as including a drive motor and a transmission component connected thereto. The driving force of the drive motor is transmitted to the drive component through the transmission component, enabling the drive component to move along the switching channel, thereby achieving consistent and repeatable switching actions. Simultaneously, the addition of the drive motor gives the external module automation capabilities, improving the overall intelligence and ease of use.

[0018] In some exemplary embodiments of this disclosure, the transmission assembly includes: The first gear is coaxially mounted with the output shaft of the drive motor. The second gear meshes with the first gear. Lead screw; coaxially arranged with the second gear and threadedly connected to the drive assembly.

[0019] In this type of embodiment, by defining the transmission assembly as a first gear, a second gear, and a lead screw coaxial with the second gear, the rotational motion of the drive motor is transmitted to the lead screw, and the drive assembly is driven by the threaded connection between the lead screw and the drive assembly. The threaded connection between the lead screw and the drive assembly provides good self-locking performance, preventing the cloth disc from shaking due to external forces when switching rotation centers, thereby maintaining the positioning stability of the first and second rotation centers.

[0020] According to a second aspect of this disclosure, a cleaning robot is provided, capable of moving on a travel surface, comprising: Organism; As in the first aspect, the expansion module is disposed on the machine body; the wiping cloth tray is disposed at the bottom of the machine body, and the bottom wall of the machine body has an expansion through hole, the expansion through hole having an expansion end near the outer edge of the machine body and an inward contraction end away from the outer edge of the machine body; the switching component is fixed to the machine body, and the output end of the switching component is connected to the driving component, the driving component being at least partially located within the expansion through hole; the switching component is also used to drive the driving component to move the wiping cloth tray along the expansion through hole, so that the driving component switches between the expansion end and the inward contraction end; The cloth tray can move relative to the machine body between a first position, a second position, and a third position; when the cloth tray is in the first position, the drive component is located at the retracted end, and the rotation center of the cloth tray is the first rotation center. When the cloth tray is in the second or third position, the orthographic projection of the cloth tray on the travel surface is at least partially located outside the orthographic projection of the body on the travel surface; When the cloth tray is in the third position, the drive component is located at the outer end and the rotation center of the cloth tray is the second rotation center; When the wiping cloth tray moves from the first position to the second position, the moving distance of the wiping cloth tray relative to the machine body is S2. When the wiping cloth tray moves from the first position to the third position, the moving distance of the wiping cloth tray relative to the machine body is S3, where S2 < S3.

[0021] The cleaning robot disclosed herein integrates an external expansion module into the robot's body, enabling the mop tray to move between a first position, a second position, and a third position relative to the body, thereby completing the cleaning of different areas to be cleaned.

[0022] By creating an outwardly expanding hole in the bottom wall of the machine body, and designing the hole to have an outwardly expanding end near the outer edge of the machine body and an inwardly contracting end away from the outer edge, the drive component can move within the trajectory space defined by the bottom of the machine body, thereby enabling the overall movement of the mop tray relative to the machine body. The outwardly expanding hole not only provides movement space but also constrains the movement path of the drive component and the mop tray, preventing deviation or tilting that could lead to unstable operation.

[0023] Meanwhile, the switching component is fixed to the machine body and connected to the drive component through the output end. This allows the switching component to drive the wiping cloth tray rotation center to switch while also driving the entire wiping cloth tray to move along the outward expansion hole, so that the "wiping cloth tray rotation center switching" and the "wiping cloth tray overall position switching" are synchronized.

[0024] By setting S2 and S3 to progressively increasing travel distances, the outward expansion trajectory of the mop tray exhibits a graded variation from slight outward expansion to deep outward expansion, with different expansion distances catering to different cleaning scenario requirements. For example, S2 can be used for general outward expansion cleaning outside the edges, while S3 can be used for deeper outward expansion cleaning, reaching the bottom of obstacles or narrow crevices. This segmented outward expansion design allows the cleaning robot to automatically adjust the outward expansion range according to the environment, improving cleaning coverage.

[0025] In some exemplary embodiments of this disclosure, the wiping cloth tray is provided with a switching channel, and the first rotation center and the second rotation center are connected through the switching channel; the driving component is at least partially located in the outer through hole, and the switching component is also used to drive the driving component to move along the switching channel, so that the rotation center of the wiping cloth tray switches between the first rotation center and the second rotation center.

[0026] In this type of embodiment, by simultaneously defining the rotation center switching path (switching channel) and the overall position switching path (outer expansion through hole), the cloth tray can achieve stable switching between the first position, the second position and the third position at the bottom of the machine body, avoiding shaking and misalignment during switching.

[0027] In some exemplary embodiments of this disclosure, when the cloth tray is in the second position, the drive component is located at the extended end, and the rotation center of the cloth tray is the first rotation center.

[0028] In this type of embodiment, by corresponding the states of the wiping tray in the second and third positions with the positions of the driving component (outer expansion end) and the rotation center position of the wiping tray (first rotation center or second rotation center), a clear one-to-one correspondence between the "overall outer expansion position of the wiping tray and the rotation center position of the wiping tray" is established.

[0029] When the wiping cloth tray is in the second position, the drive component is located at the outward expansion end, and the rotation center of the wiping cloth tray is the first rotation center. That is, the wiping cloth tray maintains its geometric center rotation while expanding outward, which is suitable for ordinary outward expansion cleaning.

[0030] When the mop tray is in the third position, the drive component is still located at the outward expansion end, but the rotation center of the mop tray switches to the second rotation center, so that the rotation trajectory of the mop tray at the outward expansion boundary has a larger rotation trajectory radius, effectively expanding the cleaning coverage area, and is suitable for deeper outward expansion cleaning to the bottom of obstacles or narrow gap areas.

[0031] In some exemplary embodiments disclosed herein, the cleaning robot further includes: A locking component, located on the main body, is used to lock or unlock the position of the mop tray relative to the main body; When the cloth tray is locked relative to the body, the extension direction of the switching channel is consistent with the extension direction of the external expansion hole; and the orthographic projection of the switching channel on the travel surface and the orthographic projection of the external expansion hole on the travel surface at least partially overlap.

[0032] In this type of embodiment, by providing a locking component on the machine body, the mop tray can be temporarily fixed to the machine body during the rotation center switching process, forming a mechanical locking structure. This locking structure can effectively prevent unintentional displacement of the mop tray due to ground resistance, machine vibration, or inertial forces when the mop tray is about to switch rotation centers, thereby ensuring that the switching action is completed under stable conditions.

[0033] When the mop tray is locked, the extension direction of the switching channel is aligned with the extension direction of the outward-expanding through-hole, and they at least partially overlap on the projection of the travel surface, ensuring that the rotation center switching action and the overall outward expansion action move in the same direction on the plane. This directional alignment design makes it possible to synchronize the "mop tray rotation center switching" with the "mop tray overall position switching," thereby helping the mop tray to achieve deeper outward expansion cleaning.

[0034] In some exemplary embodiments disclosed herein, the cleaning robot further includes: The detection assembly includes a first detection component and a second detection component, wherein the first detection component is fixed to the machine body and the second detection component is fixed to the cloth tray; When the first detection element detects the second detection element, the extension direction of the switching channel is consistent with the extension direction of the external expansion hole; and the orthographic projection of the switching channel on the travel surface and the orthographic projection of the external expansion hole on the travel surface at least partially overlap.

[0035] In this type of embodiment, by setting up a detection component (including a first detection element fixed to the machine body and a second detection element fixed to the cloth tray), the system can determine whether the extension direction of the switching channel and the outward expansion hole are consistent based on the detection results of the detection component, thereby determining whether the cloth tray can be switched at its rotation center. This detection structure can provide position feedback, enabling the control system to perform the cloth tray rotation center switching only when the cloth tray is in the accurate position, avoiding structural interference or abnormal actions caused by positional deviations.

[0036] According to a third aspect of this disclosure, a method for expanding a cleaning robot is provided. The cleaning robot includes a body, a mop tray, a drive assembly, and a switching assembly. The mop tray is disposed at the bottom of the body. The mop tray has a first rotation center and a second rotation center. The first rotation center coincides with the geometric center of the mop tray, and the second rotation center is offset from the geometric center of the mop tray. The drive assembly is connected to the mop tray for driving the mop tray to rotate. The switching assembly is connected to the drive assembly for switching the rotation center of the mop tray between the first rotation center and the second rotation center. External expansion methods include: Obtain the positional relationship of the cloth tray relative to the machine body; In response to the positional relationship satisfying the preset positional relationship, the control switching component drives the drive component to move, so that the rotation center of the cloth tray moves from the first rotation center to the second rotation center.

[0037] The outward expansion method disclosed herein detects the position of the cloth tray relative to the machine body, and performs an outward expansion action when the detected position meets a preset positional relationship, causing the rotation center of the cloth tray to move from a first rotation center to a second rotation center. This preset positional relationship ensures that the outward expansion action is triggered at an appropriate time, avoiding structural interference or abnormal actions caused by switching when the cloth tray's posture is unstable or its orientation is not calibrated.

[0038] By controlling the switching component to drive the drive component to move, the rotation center of the mop tray is moved from the first rotation center (geometric center) to the second rotation center (eccentric position), thus realizing the switch from the regular cleaning mode to the deep expansion mode.

[0039] This technical solution obtains the positional relationship between the mop tray and the robot body, ensuring that the outward expansion action is performed while meeting the preset positional relationship. This guarantees that the cleaning robot performs outward cleaning in suitable areas. Because the mop tray is at the second rotation center, the rotation center is off-center from the geometric center. At this time, the rotation path of the mop tray has a larger rotation trajectory radius, giving the mop tray a larger swing range. This significantly expands the effective cleaning range of the mop tray, improves the ability to extend the cleaning boundary, and allows the mop tray to cover areas that traditional cleaning modes cannot reach, improving the cleaning effect on hard-to-reach areas such as corners, furniture bottoms, and narrow crevices.

[0040] In some exemplary embodiments of this disclosure, the cleaning device further includes a locking assembly, which includes a drive member and a locking member, wherein the drive member is fixed to the body and the locking member is connected to the output end of the drive member; The driving component is used to drive the locking component to move, so as to lock or unlock the cloth tray and the machine body; when the locking component locks the cloth tray and the machine body, the movement of the cloth tray relative to the machine body is restricted; when the locking component unlocks the cloth tray and the machine body, the cloth tray can move relative to the machine body. The expansion methods also include, In response to the positional relationship satisfying the preset positional relationship, the control drive component drives the locking component to move, thereby locking the cloth tray and the machine body.

[0041] In this type of embodiment, by incorporating a locking component into the cleaning robot, the locking component is controlled to lock the mop tray to the robot body, ensuring that the mop tray is in a stable and controlled state before performing the rotation center switching. This structure effectively prevents the mop tray from slipping, shifting, or shaking due to ground resistance, robot body swaying, or the mop tray itself when the outward expansion action is about to be performed, thereby ensuring that the rotation center switching action can be completed under stable conditions.

[0042] The locking assembly mechanically locks the cloth tray to the machine body, keeping the cloth tray relatively stationary before and during the switching action, thus preventing inaccurate switching trajectories due to posture deviation. This structure improves the positioning accuracy of the rotation center switching, making the process of switching the cloth tray from the first rotation center to the second rotation center smoother and more reliable.

[0043] In some exemplary embodiments disclosed herein, the bottom wall of the body is provided with an outwardly expanding through hole, the outwardly expanding through hole having an outwardly expanding end near the outer edge of the body and an inwardly contracting end away from the outer edge of the body; The switching component is fixed to the body, and the output end of the switching component is connected to the drive component, with the drive component located at least partially inside the external expansion hole; In response to the positional relationship satisfying the preset positional relationship, the control switching component drives the drive component to move, so that the rotation center of the cloth tray moves from the first rotation center to the second rotation center, while the control drive component moves from the inner end to the outer end.

[0044] In this type of embodiment, by providing an outwardly expanding through hole with an outwardly expanding end and an inwardly contracting end on the bottom wall of the body, the drive component obtains a clear motion path and motion space constraint at the bottom of the body.

[0045] The control switching component drives the drive component to move, causing the rotation center of the cleaning cloth tray to shift from the first rotation center to the second rotation center. Simultaneously, the control component moves from the inward-retracting end to the outward-expanding end, ensuring that the "dispensing cloth tray rotation center offset" and the "overall outward expansion of the cleaning cloth tray" occur synchronously. This synchronized linkage ensures that the cleaning cloth tray rotates around the second rotation center when in the outward-expanding position, thereby maximizing the cleaning coverage of the expanded cleaning cloth tray, achieving stronger crevices cleaning ability and deeper boundary coverage, significantly improving cleaning results.

[0046] In some exemplary embodiments of this disclosure, the cleaning robot is capable of moving on a travel surface, and the mop tray is provided with a switching channel, through which the first rotation center and the second rotation center are connected; The positional relationship satisfies the preset positional relationship by the following method: in response to the extension direction of the switching channel being consistent with the extension direction of the outward expansion through hole, the positional relationship is determined to satisfy the preset positional relationship.

[0047] In this type of embodiment, a safety triggering mechanism based on mechanical position detection is established by detecting whether the extension direction of the switching channel is consistent with the extension direction of the outward expansion hole to determine whether the wiping cloth tray is in a position where the outward expansion action can be performed.

[0048] When the switching channel is detected to be aligned with the direction of the expanding through-hole, it means that the switching of the wiping cloth tray's rotation center is completely aligned with the overall movement direction of the wiping cloth tray. At this time, the wiping cloth tray's rotation center switching action and the overall movement of the wiping cloth tray can be performed in the same path. This positioning provides a structural basis for the simultaneous execution of the wiping cloth tray's rotation center switching action and the overall expansion action of the wiping cloth tray, thereby realizing the deep expansion of the wiping cloth tray and improving the efficiency of the wiping cloth tray's expansion action.

[0049] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0051] Figure 1 This is a schematic diagram of the structure of the external expansion module in an exemplary embodiment of this disclosure.

[0052] Figure 2 This is a schematic diagram of the structure of the external expansion module disposed on the body in an exemplary embodiment of this disclosure.

[0053] Figure 3 This is an exploded view of the external expansion module and the main body in an exemplary embodiment of this disclosure.

[0054] Figure 4 This is an exploded view of the dishcloth tray in an exemplary embodiment of this disclosure.

[0055] Figure 5 This is a schematic diagram of the structure of the driving component in an exemplary embodiment of this disclosure.

[0056] Figure 6 This is a schematic diagram of the structure of the locking component in an exemplary embodiment of this disclosure.

[0057] Figure 7 yes Figure 4 Enlarged view of part A in the middle.

[0058] Figure 8 yes Figure 5 Enlarged view of section B.

[0059] Figure 9 This is a top view of the tray holder of the dishcloth tray in an exemplary embodiment of this disclosure.

[0060] Figure 10 This is a schematic diagram of a structure in which the rotation center of the wiping cloth tray is the first rotation center in an exemplary embodiment of this disclosure.

[0061] Figure 11 This is a schematic diagram of a structure in which the rotation center of the wiping cloth tray is the second rotation center in an exemplary embodiment of this disclosure.

[0062] Figure 12 This is a schematic diagram of the structure of the cloth tray in the first position in an exemplary embodiment of this disclosure.

[0063] Figure 13 This is a schematic diagram of the structure of the cleaning cloth tray in the first or second position in an exemplary embodiment of this disclosure.

[0064] Figure 14 This is a schematic diagram of the structure of the cloth tray in the first or third position in an exemplary embodiment of this disclosure.

[0065] Figure 15 This is a flowchart illustrating the expansion method in an exemplary embodiment of this disclosure.

[0066] Figure 16 This is a flowchart illustrating the expansion method in another exemplary embodiment of this disclosure.

[0067] Explanation of reference numerals in the attached figures 100-Cloth tray; 110-Pattern frame; 111-Switching channel; 112-Locking hole; 120-Cloth; O1-First rotation center; O2-Second rotation center; 200-Drive assembly; 210-Connecting part; 300-Switching assembly; 310-Drive motor; 320-Transmission assembly; 321-First gear; 322-Second gear; 323-Lead screw; 400-Positioning assembly; 410-First positioning component; 411-First sub-positioning component; 412-Second sub-positioning component; 420-Second positioning component; 500-Main body; 510-Outer through hole; 600-Locking assembly; 610-Drive component; 620-Locking component; 700-Detection assembly; 710-First detection component; 720-Second detection component. Detailed Implementation

[0068] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore detailed descriptions of them will be omitted. Furthermore, the drawings are merely illustrative of this disclosure and are not necessarily drawn to scale.

[0069] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0070] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0071] In this disclosure, terms such as "perpendicular" and "equal" refer to perpendicularity and equality within the range of process error, not absolute perpendicularity and equality. Process error can be within ±10% or ±5%. For example, if the first direction and the second direction are perpendicular, it can be understood that the angle between the first direction and the second direction can be 90° ± 5°.

[0072] like Figure 1 , Figures 9 to 11 As shown, this disclosure provides an expansion module for a cleaning robot, including a mop tray 100, a drive assembly 200, and a switching assembly 300. The mop tray 100 has a first rotation center O1 and a second rotation center O2. The first rotation center O1 coincides with the geometric center of the mop tray 100, and the second rotation center O2 is offset from the geometric center of the mop tray 100. The drive assembly 200 is drivenly connected to the mop tray 100 and is used to drive the mop tray 100 to rotate. The switching assembly 300 is connected to the drive assembly 200 and is used to switch the rotation center of the mop tray 100 between the first rotation center O1 and the second rotation center O2.

[0073] The expansion module provided in this disclosure features a wiping tray 100 with a first rotation center O1 and a second rotation center O2. The first rotation center O1 coincides with the geometric center of the wiping tray 100, while the second rotation center O2 deviates from the geometric center, forming a dual-rotation-center wiping tray 100 capable of switching between a central position and an off-center position. This structure maintains the traditional cleaning mode when the wiping tray 100 is in the geometric center position. When switching to the off-center position, the rotation path of the wiping tray 100 has a larger radius, resulting in a larger swing range and significantly expanding the effective cleaning range of the wiping tray 100.

[0074] This disclosure achieves a larger cleaning coverage area without increasing the size of components such as the mop tray 100, improving the cleaning ability for edge areas, corners and low areas, while balancing cleaning range with structural compactness, thus improving overall cleaning efficiency.

[0075] The various parts of the external expansion module provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings: like Figure 1 and Figure 2 , Figures 9 to 11 As shown, the expansion module provided in this disclosure can be applied to various types of cleaning robots, such as sweeping robots, mopping robots, or cleaning robots with sweeping and mopping functions. A cleaning robot typically includes a body 500, a walking assembly, and a control module. The body 500 can be circular, polygonal, or other shapes suitable for indoor movement; the bottom of the body 500 is typically equipped with casters, drive wheels, or tracks to enable the cleaning robot to move freely on its path.

[0076] In this type of cleaning robot, an expansion module is installed on the body 500. The expansion module includes a mop tray 100, a drive assembly 200, and a switching assembly 300. The mop tray 100 can be circular or nearly circular in structure, with a mop 120 mounted on its bottom for contacting the ground to perform wet mopping, wiping, or deep cleaning tasks. Through the cooperation between the drive assembly 200, the switching assembly 300, and the mop tray 100, the expansion module allows the rotation center of the mop tray 100 to switch between a first rotation center O1 and a second rotation center O2.

[0077] In specific application scenarios, when the rotation center of the cloth tray 100 is at the first rotation center O1 position (geometric center), such as Figure 10 and Figure 12 , Figure 13As shown, the wiping cloth tray 100 has a small radius of rotation, making it suitable for daily cleaning of large areas such as regular tiles and wooden floors, or cleaning along edges such as bed edges and baseboards, or cleaning shallow areas such as the bottom of cabinets and sofas. When the rotation center of the wiping cloth tray 100 is at the second rotation center O2 position (offset from the geometric center), as... Figure 11 and Figure 14 As shown, in Figure 14 In the middle, the rotation center of the right-side wiping cloth tray 100 is located at the second rotation center O2. The rotation trajectory radius of the wiping cloth tray 100 is relatively large, which is suitable for cleaning deeper areas such as the bottom of cabinets and sofas.

[0078] like Figure 1 , Figure 2 and Figure 9 As shown, in some embodiments, the cloth tray 100 is provided with a switching channel 111, and the first rotation center O1 and the second rotation center O2 are connected through the switching channel 111. The switching component 300 is used to drive the driving component 200 to move along the switching channel 111, so that the rotation center of the cloth tray 100 switches between the first rotation center O1 and the second rotation center O2.

[0079] The switching channel 111 can be configured in different forms according to structural layout requirements. For example, the switching channel 111 can be a straight elongated groove extending radially along the cloth tray 100, allowing the drive assembly 200 to slide radially between the first rotation center O1 and the second rotation center O2. Alternatively, the switching channel 111 can also be a curved or arc-shaped groove connecting the first rotation center O1 and the second rotation center O2. In other embodiments, the switching channel 111 can also be composed of multiple turning segments, allowing the drive assembly 200 to move step-by-step along a stepped path.

[0080] Optionally, such as Figure 2 and Figure 4 As shown, the cleaning tray 100 includes a tray frame 110 for supporting various structures and a cleaning cloth 120 connected below the tray frame 110. The tray frame 110 can be made of plastic, reinforced plastic, glass fiber reinforced material, or other materials suitable for the high-frequency working environment of the cleaning robot. A switching channel 111 is provided on the tray frame 110, and the tray frame 110 can form the switching channel 111 by directly opening through slots or blind slots on its body.

[0081] To prevent the cleaning cloth 120 from covering the switching channel 111 and obstructing the normal movement of the drive assembly 200, the cleaning cloth 120 is provided with an opening or slit corresponding to the switching channel 111. The position of this opening or slit can precisely correspond to the position of the switching channel 111 on the tray frame 110, so that even after the cleaning cloth 120 is attached to the tray frame 110, it still provides the necessary clearance space for the drive assembly 200 to move along the switching channel 111. The specific form of the opening or slit can be implemented in various ways. For example, it can be a long strip-shaped slot extending radially to completely avoid the entire length of the switching channel 111. It can also be a segmented opening structure, so that the cleaning cloth 120 maintains its overall integrity while providing the necessary space only in the area where the drive assembly 200 moves. In this way, the drive assembly 200 can move smoothly along the switching channel 111 without obstruction. Meanwhile, the openings or slits on the cloth 120 can prevent the cloth 120 from pulling, squeezing or blocking the movement of the drive assembly 200, thereby ensuring the reliability and stability of the rotation center switching process, and further ensuring that the switching action of the cloth disc 100 between the first rotation center O1 and the second rotation center O2 is performed smoothly.

[0082] Through the above structural design, the first rotation center O1 and the second rotation center O2 are structurally connected by a channel, forming a clear center switching path. The switching channel 111 defines the direction and range of rotation center movement, ensuring the stability of the rotation center switching between the first rotation center O1 and the second rotation center O2. This scheme enables the switching of the rotation center to have high precision and strong repeatability, thereby ensuring the accuracy and stability of the cleaning trajectory of the mop tray 100.

[0083] In some embodiments, such as Figures 2 to 4 , Figure 5 , Figure 7 and Figure 8 As shown, the expansion module also includes a positioning component 400, which is disposed between the wiping tray 100 and the drive component 200. The positioning component 400 is used to position the relative positions of the wiping tray 100 and the drive component 200, ensuring a stable and repeatable positioning effect when the wiping tray 100 switches between different rotation center positions. The positioning component 400 can be installed laterally between the tray frame 110 and the drive component 200 to form an effective mechanical constraint between the wiping tray 100 and the drive component 200.

[0084] Specifically, the positioning component 400 can be implemented in various ways. For example, the positioning component 400 can be a snap-fit ​​structure, with a first snap-fit ​​portion disposed on the cloth tray 100 and a second snap-fit ​​portion disposed on the drive component 200, forming a corresponding positioning state when the two are engaged. Alternatively, the positioning component 400 can also employ a boss-groove mating method, allowing the groove on the drive component 200 to engage with the boss on the cloth tray 100 when it slides to a specific position, thereby achieving precise mechanical positioning. In other embodiments, the positioning component 400 can be an elastic positioning element, such as a spring ball, an elastic pin, or a structure with an elastic inclined surface, causing the drive component 200 to engage when it slides to a preset position, thereby providing a stable positioning force.

[0085] Optionally, the positioning component 400 can be configured as a multi-level positioning structure, including two different positioning points corresponding to the first rotation center O1 and the second rotation center O2, so that the drive component 200 can obtain a clear positioning state when it reaches either positioning point. By setting different positioning points, the cloth tray 100 can obtain accurate mechanical limit when it is at both the first rotation center O1 and the second rotation center O2, avoiding deviation caused by ground friction, cloth 120 resistance, or robot shaking.

[0086] This embodiment, by setting a positioning component 400 between the wiping tray 100 and the drive assembly 200, enables the two to form a clear positioning relationship under certain conditions, such as when the rotation center of the wiping tray 100 is at the first rotation center O1 or the second rotation center O2. This structure avoids the rotation center of the wiping tray 100 from shifting or shaking due to inertial forces or friction during rotation, thereby ensuring that the position of the wiping tray 100 remains stable before or after switching. With the addition of the positioning component 400, the wiping tray 100 can obtain stable mechanical support at both the first rotation center O1 and the second rotation center O2, keeping the operation of the wiping tray 100 stable and improving the cleaning uniformity and reliability of the wiping tray 100.

[0087] like Figure 2 , Figure 4 , Figure 5 , Figure 7 and Figure 8As shown, in some embodiments, the positioning component 400 includes a first positioning element 410 and a second positioning element 420. The first positioning element 410 is fixed to the cloth tray 100, and the second positioning element 420 is adapted to the first positioning element 410 and fixed to the drive component 200. The first positioning element 410 can be disposed on the upper surface, lower surface, or side of the tray frame 110 to provide a reliable positioning reference for the drive component 200 without affecting the rotation structure of the cloth tray 100. The second positioning element 420 is installed on the drive component 200 so that it can cooperate with different sub-positioning structures of the first positioning element 410 when the drive component 200 moves along the switching channel 111.

[0088] In terms of structural design, the first positioning member 410 includes a first sub-positioning member 411 and a second sub-positioning member 412, which are spaced apart and positioned at different locations on the tray frame 110, corresponding respectively to the first rotation center O1 and the second rotation center O2 of the wiping cloth tray 100. When the second positioning member 420 cooperates with the first sub-positioning member 411, the rotation center of the wiping cloth tray 100 is the first rotation center O1; when the first positioning member 410 cooperates with the second sub-positioning member 412, the rotation center of the wiping cloth tray 100 is the second rotation center O2.

[0089] The first sub-positioning member 411 can be a boss, a positioning post, a locking groove, or a triangular wedge structure, used to cooperate with the second positioning member 420 to position the wiping cloth tray 100 at the first rotation center O1. The second sub-positioning member 412 can be another set of bosses, positioning posts, locking grooves, or triangular wedge structures, used to cooperate with the second positioning member 420 to position the wiping cloth tray 100 at the second rotation center O2. Specifically, in one embodiment, the first sub-positioning member 411 and the second sub-positioning member 412 are ball-head plungers, and the second positioning member 420 is a groove.

[0090] In this embodiment, the positioning component 400 is further defined as including a first positioning member 410 fixed to the wiping tray 100 and a second positioning member 420 fixed to the driving component 200. A first sub-positioning member 411 and a second sub-positioning member 412 are provided in the first positioning member 410. The first sub-positioning member 411 and the second sub-positioning member 412 constitute a "multi-level positioning structure". The second positioning member 420 can cooperate with the different sub-positioning members to realize the positioning of the driving component 200 and the wiping tray 100 in different areas, and complete the fixing of the rotation center of the wiping tray 100 at the first rotation center O1 or the second rotation center O2, so as to ensure that the rotation center is always in the preset position before and after switching.

[0091] In some embodiments, such as Figure 2 , Figure 3 and Figure 5As shown, the switching component 300 includes a drive motor 310 and a transmission component 320. The transmission component 320 is connected to the output end of the drive motor 310 and is also connected to the drive component 200. When the drive motor 310 rotates, it drives the drive component 200 to move along the switching channel 111 via the transmission component 320.

[0092] The drive motor 310 can be a DC motor, a brushless motor, a geared motor, or a custom flat motor suitable for small cleaning robots. The transmission assembly 320 is connected to the output of the drive motor 310, enabling the rotational power of the drive motor 310 to be transmitted to the drive assembly 200 to control the movement of the drive assembly 200 along the switching channel 111. Structurally, the transmission assembly 320 can be a gear transmission structure, a lead screw transmission structure, a push rod mechanism, a chain drive assembly 320, or a slide rail mechanism with a slider structure. For example, in a gear transmission structure, the drive motor 310 can output power to the drive assembly 200 through multiple gears; in a push rod structure, the transmission assembly 320 can include a slider and a guide rail, allowing the rotational speed of the drive motor 310 to be converted into linear thrust through an eccentric wheel or rocker arm structure.

[0093] In one specific embodiment, the switching channel 111 is a straight elongated groove. During use, when the drive motor 310 starts, the transmission component 320 converts the rotational power into linear movement along the switching channel 111, causing the drive component 200 to move along the switching channel 111, thereby realizing the switching of the rotation center of the cloth tray 100.

[0094] By specifically defining the switching component 300 as including a drive motor 310 and a transmission component 320 connected thereto, the driving force of the drive motor 310 is transmitted to the drive component 200 through the transmission component 320, enabling the drive component 200 to move along the switching channel 111, thereby achieving consistent and repeatable switching actions. Simultaneously, the addition of the drive motor 310 automates the expansion module, improving its overall intelligence and ease of use.

[0095] In one specific embodiment, the transmission assembly 320 includes a first gear 321, a second gear 322, and a lead screw 323. The first gear 321 is coaxially arranged with the output shaft of the drive motor 310. The second gear 322 meshes with the first gear 321. The lead screw 323 is coaxially arranged with the second gear 322 and is threadedly connected to the drive assembly 200. Optionally, the drive assembly 200 may include a connecting portion 210, which has a threaded hole and is threadedly connected to the lead screw 323, thereby converting the rotational motion of the lead screw 323 into the linear displacement of the drive assembly 200. Through this rotation-linear motion conversion mechanism, the drive assembly 200 can be smoothly advanced along the switching channel 111 on the tray frame 110, thereby driving the rotation center of the cloth tray 100 to switch.

[0096] Optionally, the lead screw 323 may also be equipped with anti-loosening structures, such as spring washers, adhesive fasteners, or self-locking thread designs, to enhance the positioning safety of the switching path.

[0097] This embodiment defines the transmission assembly 320 as a first gear 321, a second gear 322, and a lead screw 323 coaxial with the second gear 322, enabling efficient transmission of the rotational motion of the drive motor 310 to the lead screw 323. The drive assembly 200 is then driven by the threaded connection between the lead screw 323 and the drive assembly 200. The threaded connection between the lead screw 323 and the drive assembly 200 provides excellent self-locking performance, preventing the cloth disc 100 from shaking due to external forces when switching rotation centers, thereby maintaining the positioning stability of the first rotation center O1 and the second rotation center O2.

[0098] like Figure 2 , Figures 12 to 14 As shown, this disclosure also provides a cleaning robot, which includes a body 500 and an expansion module disposed on the body 500, enabling the mop tray 100 to move between multiple positions relative to the body 500 to adapt to the needs of different cleaning scenarios. The body 500 is typically circular, D-shaped, or polygonal in structure.

[0099] like Figure 2 and Figure 3 As shown, the cloth tray 100 is located at the bottom of the body 500. The bottom wall of the body 500 has an outwardly expanding hole 510, which has an outwardly expanding end near the outer edge of the body 500 and an inwardly contracted end away from the outer edge. A switching component 300 is fixed to the body 500, and its output end is connected to the drive component 200. The drive component 200 is at least partially located within the outwardly expanding hole 510. The switching component 300 also drives the drive component 200 to move the cloth tray 100 along the outwardly expanding hole 510, allowing the drive component 200 to switch between the outwardly expanding end and the inwardly contracted end. The cleaning cloth tray 100 can move outward from the bottom of the machine body 500 under the linkage of the drive component 200 and the switching component 300, so that the cleaning cloth tray 100 can switch between inside and outside the projection range of the machine body 500. In some embodiments, the cleaning cloth tray 100 can move between a first position, a second position, and a third position. The cleaning cloth tray 100 is in the first position ( Figure 12 When the cloth tray 100 is in the second position, most of its orthographic projection on the travel surface lies within the orthographic projection of the body 500 on the travel surface, such as more than 80% of the area lying within the orthographic projection of the body 500 on the travel surface. Figure 13 Right side dish tray 100) and / or third position ( Figure 14When the right-side cloth tray 100 is in motion, the orthographic projection of the cloth tray 100 on the travel surface is at least partially outside the orthographic projection of the body 500 on the travel surface.

[0100] When the wiping cloth tray 100 is in the third position, it is located at the outer end of the outer expansion hole 510, and the rotation center of the wiping cloth tray 100 is the second rotation center O2. For example... Figure 13 As shown, when the wiping cloth tray 100 moves from the first position to the second position, the left wiping cloth tray 100 is in the first position and the right wiping cloth tray 100 is in the second position. The moving distance of the wiping cloth tray 100 relative to the machine body 500 is S2. Figure 14 As shown, when the wiping cloth tray 100 moves from the first position to the third position, the left wiping cloth tray 100 is in the first position and the right wiping cloth tray 100 is in the third position. The moving distance of the wiping cloth tray 100 relative to the machine body 500 is S3, where S2 < S3.

[0101] The cleaning robot disclosed herein integrates an external expansion module into the body 500 of the cleaning robot, enabling the mop tray 100 to move between a first position, a second position, and a third position relative to the body 500, thereby completing the cleaning of different areas to be cleaned.

[0102] By setting S2 and S3 to progressively increasing travel distances, the outward expansion trajectory of the mop tray 100 exhibits a graded variation from slight outward expansion to deep outward expansion. Different outward expansion distances can correspond to different cleaning scenario requirements. For example, S2 can be used for ordinary outward expansion cleaning outside the edges, while S3 can be used for deeper outward expansion cleaning to reach the bottom of obstacles or narrow crevices. This segmented outward expansion design allows the cleaning robot to automatically adjust the outward expansion range according to the environment, improving cleaning coverage.

[0103] Optionally, the wiping tray 100 can also be in a fourth position. The fourth position can be located between the first and second positions, or between the first and third positions. Specifically, when the wiping tray 100 moves from the first position to the fourth position, the moving distance of the wiping tray 100 relative to the machine body 500 is S1, where S1 < S2 < S3. The fourth position can be used for edge cleaning by the wiping tray 100, such as cleaning the edge area near the baseboard.

[0104] In some embodiments, such as Figures 9 to 11As shown, the cloth tray 100 is provided with a switching channel 111, through which the first rotation center O1 and the second rotation center O2 are connected. The switching component 300 is used to drive the driving component 200 to move along the switching channel 111, so that the rotation center of the cloth tray 100 switches between the first rotation center O1 and the second rotation center O2. Optionally, the shape of the outwardly expanding through hole 510 may be the same as the shape of the switching channel 111. Exemplarily, the outwardly expanding through hole 510 may be a racetrack-shaped groove or an arc-shaped groove, and correspondingly, the switching channel 111 may also be a racetrack-shaped groove or an arc-shaped groove, but is not limited thereto.

[0105] In this type of embodiment, by opening an outwardly expanding through-hole 510 on the bottom wall of the body 500, and configuring the outwardly expanding through-hole 510 to have an outwardly expanding end near the outer edge of the body 500 and an inwardly contracting end away from the outer edge of the body 500, the drive assembly 200 can move within the trajectory space defined by the bottom of the body 500, thereby realizing the movement of the entire mop tray 100 relative to the body 500. The outwardly expanding through-hole 510 not only provides movement space, but also constrains the movement path of the drive assembly 200 and the mop tray 100, preventing deviation or tilting that could lead to unstable operation.

[0106] The switching component 300 is fixed to the machine body 500 and connected to the drive component 200 through its output end. This allows the switching component 300 to simultaneously drive the rotation center of the cloth tray 100 to switch, and also to drive the entire cloth tray 100 to move along the outer expansion hole 510, thus synchronizing the "rotation center switching of the cloth tray 100" with the "overall position switching of the cloth tray 100." By simultaneously defining the rotation center switching path (switching channel 111) and the overall position switching path (outer expansion hole 510), the cloth tray 100 can stably switch between the first, second, and third positions at the bottom of the machine body 500, avoiding shaking and misalignment during switching.

[0107] Specifically, such as Figure 13 As shown in the right-hand side of the dishcloth tray 100, when the dishcloth tray 100 is in the second position, the drive assembly 200 is located at the outward expansion end, and the rotation center of the dishcloth tray 100 is the first rotation center O1. Figure 14 As shown in the right-hand wiping cloth tray 100, when the wiping cloth tray 100 is in the third position, the drive component 200 is located at the outer expansion end, and the rotation center of the wiping cloth tray 100 is the second rotation center O2.

[0108] In this type of embodiment, by corresponding the states of the wiping cloth tray 100 in the second and third positions with the positions of the drive component 200 (outer expansion end) and the rotation center position of the wiping cloth tray 100 (first rotation center O1 or second rotation center O2), a clear one-to-one correspondence between the "overall outer expansion position of the wiping cloth tray 100 and the rotation center position of the wiping cloth tray 100" is established.

[0109] When the wiping cloth tray 100 is in the second position, the drive component 200 is located at the outward expansion end, and the rotation center of the wiping cloth tray 100 is the first rotation center O1. That is, the wiping cloth tray 100 maintains its geometric center rotation while expanding outward, which is suitable for ordinary outward expansion cleaning.

[0110] When the mop tray 100 is in the third position, the drive assembly 200 is still located at the outward expansion end, but the rotation center of the mop tray 100 is switched to the second rotation center O2, so that the rotation trajectory of the mop tray 100 at the outward expansion boundary has a larger rotation trajectory radius, effectively expanding the cleaning coverage area, and is suitable for deeper outward expansion cleaning that goes deep into the bottom of obstacles or narrow gaps.

[0111] like Figure 2 , Figure 3 , Figure 6 As shown, in some embodiments, the cleaning robot also includes a locking component 600 disposed on the body 500 for locking or unlocking the position of the mop tray 100 relative to the body 500. When the mop tray 100 is locked relative to the body 500, the extending direction of the switching channel 111 is consistent with the extending direction of the externally expanded through hole 510; and the orthographic projection of the switching channel 111 on the travel surface at least partially overlaps with the orthographic projection of the externally expanded through hole 510 on the travel surface.

[0112] Specifically, the locking component 600 can adopt various structural forms, such as a locking pin structure driven by a linear electromagnet. In one specific embodiment, the locking component 600 includes a driving member 610 and a locking member 620, with the driving member 610 fixed to the body 500. The locking member 620 is connected to the output end of the driving member 610. The driving member 610 drives the locking member 620 to move, thereby locking or unlocking the mop tray 100 and the body 500. When the locking member 620 locks the mop tray 100 and the body 500, the movement of the mop tray 100 relative to the body 500 is restricted. When the locking member 620 unlocks the mop tray 100 and the body 500, the mop tray 100 can move relative to the body 500.

[0113] The driving component 610 can be a motor plus gear structure, and the locking component 620 can be a rack and pinion plus locking block structure. When the motor rotates, the gear rotates, thereby driving the rack to move, and the rack's movement in turn drives the locking block to move. A locking hole 112 can be provided on the cloth tray 100. Figure 4 The locking member 620 is inserted into the locking hole 112, specifically, a locking block can be inserted. When the locking member 620 is inserted into the locking hole 112, the position of the wiping cloth tray 100 relative to the machine body 500 is locked. When the locking member 620 is disengaged from the locking hole 112, the wiping cloth tray 100 is movable relative to the machine body 500.

[0114] In this type of embodiment, by providing a locking component 600 on the machine body 500, the mop tray 100 can be temporarily fixed to the machine body 500 during the rotation center switching process, forming a mechanical locking structure. This locking structure can effectively prevent the mop tray 100 from unintentionally displacing due to ground resistance, machine body 500 vibration, or inertial force when the rotation center of the mop tray 100 is about to switch, thereby ensuring that the switching action is completed under stable conditions.

[0115] When the mop tray 100 is locked, the extension direction of the switching channel 111 is aligned with the extension direction of the outward expansion through hole 510, and they at least partially overlap on the projection of the travel surface, so that the rotation center switching action and the overall outward expansion action are completely aligned in the direction of movement on the plane. This directional alignment design makes it possible to synchronize the "rotation center switching of the mop tray 100" and the "overall position switching of the mop tray 100", thereby helping the mop tray 100 to achieve a deeper level of outward expansion cleaning.

[0116] like Figures 2 to 4 As shown, in some embodiments, the cleaning robot further includes a detection component 700, which includes a first detection element 710 and a second detection element 720. The first detection element 710 is fixed to the body 500, and the second detection element 720 is fixed to the mop tray 100. When the first detection element 710 detects the second detection element 720, the extending direction of the switching channel 111 is consistent with the extending direction of the externally expanded through hole 510; and the orthographic projection of the switching channel 111 on the traveling surface at least partially overlaps with the orthographic projection of the externally expanded through hole 510 on the traveling surface.

[0117] The first detection element 710 may be a photoelectric sensor, Hall sensor, infrared photocell, magnetic induction switch, miniature proximity sensor or other non-contact position detection element; the second detection element 720 may be a light shield, magnet, reflector, metal sheet or other component that can form a detectable state change with the first detection element 710.

[0118] In some embodiments, the photoelectric sensor can serve as the first detection element 710, with a fixed optical path structure formed between its transmitting and receiving ends; the second detection element 720 can be a light-shielding plate. When the cloth tray 100 moves to a specific position, the light-shielding plate enters the optical path and causes a change in the optical signal, thereby triggering a position detection event. In another structure, the first detection element 710 can be a Hall sensor, and the second detection element 720 can be a permanent magnet. When the cloth tray 100 reaches a predetermined position, the second detection element 720 approaches the Hall sensor, causing the sensor to output an electrical signal that changes, thereby identifying whether the cloth tray 100 is in a position where switching can be performed.

[0119] Optionally, the detection component 700 can also communicate with the main control unit of the cleaning robot, enabling the main control unit to confirm the position and status of the mop tray 100 in real time, and decide whether to execute the next action based on the detection results, including locking the locking component 600, moving the drive component 200, and switching the component 300.

[0120] In this type of embodiment, by setting a detection component 700 (including a first detection element 710 fixed to the body 500 and a second detection element 720 fixed to the cloth tray 100), the system can determine whether the extension directions of the switching channel 111 and the outward expansion hole 510 are consistent based on the detection results of the detection component 700, thereby determining whether the cloth tray 100 can be rotated. This detection component can provide position feedback, enabling the control system to perform the rotation center switching of the cloth tray 100 only when the cloth tray 100 is in the accurate position, avoiding structural interference or abnormal actions caused by positional deviations.

[0121] This disclosure also provides a method for expanding the scope of a cleaning robot, such as... Figure 1 and Figure 2 , Figure 14 As shown, the cleaning robot includes a body 500, a cloth tray 100, a drive assembly 200, and a switching assembly 300. The cloth tray 100 is located at the bottom of the body 500 and has a first rotation center O1 and a second rotation center O2. The first rotation center O1 coincides with the geometric center of the cloth tray 100, while the second rotation center O2 is offset from the geometric center of the cloth tray 100. The drive assembly 200 is connected to the cloth tray 100 and drives it to rotate. The switching assembly 300 is connected to the drive assembly 200 and switches the rotation center of the cloth tray 100 between the first rotation center O1 and the second rotation center O2.

[0122] like Figure 15 As shown, the expansion method includes: Step S100: Obtain the positional relationship between the cloth tray 100 and the machine body 500.

[0123] In step S200, in response to the positional relationship satisfying the preset positional relationship, the switching component 300 is controlled to drive the driving component 200 to move, so that the rotation center of the cloth tray 100 moves from the first rotation center O1 to the second rotation center O2. Figure 14 (The right-side dishcloth tray 100).

[0124] The expansion method disclosed herein detects the position of the wiping cloth tray 100 relative to the machine body 500, and performs an expansion action when the detected position meets a preset positional relationship, causing the rotation center of the wiping cloth tray 100 to move from the first rotation center O1 to the second rotation center O2. This preset positional relationship ensures that the expansion action is triggered at a reasonable time, avoiding structural interference or abnormal actions caused by switching when the wiping cloth tray 100's attitude is unstable or its orientation is not calibrated.

[0125] By controlling the switching component 300 to drive the driving component 200 to move, the rotation center of the mop tray 100 is moved from the first rotation center O1 (geometric center) to the second rotation center O2 (eccentric position), thereby achieving the switching from the regular cleaning mode to the deep expansion mode.

[0126] This technical solution obtains the positional relationship between the mop tray 100 and the body 500, ensuring that the outward expansion action is performed while satisfying the preset positional relationship. This guarantees that the cleaning robot performs outward cleaning in suitable areas. Since the mop tray 100's rotation center deviates from the geometric center at the second rotation center O2, its rotation path has a larger radius, resulting in a larger swing range. This significantly expands the effective cleaning range of the mop tray 100, improves its ability to extend the cleaning boundary, and enables the mop tray 100 to cover areas inaccessible by traditional cleaning methods, enhancing the cleaning effect on hard-to-reach areas such as corners, furniture bottoms, and narrow crevices.

[0127] The specific structures of the drive component 200 and the switching component 300 can be referred to in the above embodiments, and will not be described in detail here.

[0128] In some exemplary embodiments of this disclosure, such as Figure 2 , Figure 3 and Figure 6 As shown, the cleaning equipment also includes a locking assembly 600. The locking assembly 600 includes a drive member 610 and a locking member 620. The drive member 610 is fixed to the body 500; the locking member 620 is connected to the output end of the drive member 610. The drive member 610 drives the locking member 620 to move, thereby locking or unlocking the mop tray 100 and the body 500. When the locking member 620 locks the mop tray 100 and the body 500, the movement of the mop tray 100 relative to the body 500 is restricted; when the locking member 620 unlocks the mop tray 100 and the body 500, the mop tray 100 can move relative to the body 500.

[0129] like Figure 16 As shown, the expansion method also includes: In step S110, in response to the positional relationship satisfying the preset positional relationship, the drive member 610 is controlled to drive the locking member 620 to move, so as to lock the cloth tray 100 and the machine body 500.

[0130] For example, such as Figure 2 , Figure 3 and Figure 6 As shown, the driving component 610 can be a motor plus gear structure, and the locking component 620 can be a rack and pinion plus locking block structure. A locking hole 112 can be provided on the cloth tray 100 for the locking component 620 to be inserted. In actual use, when the position of the cloth tray 100 relative to the machine body 500 meets the preset positional relationship, it means that the outward expansion action can be performed. In this case, the motor in the locking assembly 600 is controlled to rotate, and the motor driving force is transmitted to the rack through the gear. Under the drive of the gear, the rack moves the locking block, causing the locking component 620 to be inserted into the locking hole 112, thereby completing the locking of the cloth tray 100 and the machine body 500. After the cloth tray 100 and the machine body 500 are locked, subsequent actions can be performed.

[0131] By incorporating a locking component 600 into the cleaning robot, the locking component 600 locks the mop tray 100 to the body 500, ensuring that the mop tray 100 is in a stable and controlled state before the rotation center switching is performed. This structure effectively prevents the mop tray 100 from slipping, shifting, or shaking due to ground resistance, body 500 swaying, or the mop tray 100 itself when the depth expansion action is about to be performed, thus ensuring that the rotation center switching action can be completed under stable conditions.

[0132] The locking component 600 mechanically locks the cloth tray 100 to the machine body 500, keeping the cloth tray 100 relatively stationary before and during the switching action, thus preventing inaccurate switching trajectories due to posture deviation. This structure improves the positioning accuracy of the rotation center switching, making the process of switching the cloth tray 100 from the first rotation center O1 to the second rotation center O2 smoother and more reliable.

[0133] Optionally, such as Figure 2 and Figure 3 , Figure 14 As shown, the bottom wall of the body 500 has an outwardly expanding through hole 510, which has an outwardly expanding end near the outer edge of the body 500 and an inwardly contracting end away from the outer edge of the body 500. The switching component 300 is fixed to the body 500, and the output end of the switching component 300 is connected to the drive component 200, which is at least partially located within the outwardly expanding through hole 510.

[0134] In step S100, in response to the positional relationship satisfying the preset positional relationship, the switching component 300 is controlled to drive the driving component 200 to move, so that the rotation center of the wiping cloth tray 100 moves from the first rotation center O1 to the second rotation center O2, while the driving component 200 moves from the inner end to the outer end.

[0135] In this type of embodiment, by providing an outwardly expanding through-hole 510 with an outwardly expanding end and an inwardly contracting end on the bottom wall of the body 500, the drive assembly 200 obtains a clear movement path and movement space constraint at the bottom of the body 500. The control switching assembly 300 drives the drive assembly 200 to move, causing the rotation center of the wiping cloth tray 100 to move from the first rotation center O1 to the second rotation center O2, and controls the drive assembly 200 to move from the inwardly contracting end to the outwardly expanding end, so that the "rotation center offset of the wiping cloth tray 100" and the "overall outward expansion of the wiping cloth tray 100 position" can be synchronized. This synchronous linkage can ensure that when the wiping cloth tray 100 is in the outwardly expanding end position, it rotates in the state of the second rotation center O2, thereby maximizing the cleaning coverage of the outwardly expanding wiping cloth tray 100, achieving stronger crevic cleaning ability and deeper boundary coverage, and significantly improving the cleaning effect.

[0136] In some exemplary embodiments of this disclosure, the cleaning robot is capable of moving on a travel surface, and the cloth tray 100 is provided with a switching channel 111, through which the first rotation center O1 and the second rotation center O2 are connected.

[0137] The positional relationship satisfies the preset positional relationship by the following method: in response to the extension direction of the switching channel 111 being consistent with the extension direction of the external expansion through hole 510, the positional relationship is determined to satisfy the preset positional relationship.

[0138] In this step, such as Figures 2 to 4 As shown, the relative positional relationship between the cloth tray 100 and the machine body 500 can be detected by setting the detection component 700, thereby detecting the extension direction of the switching channel 111 and the outward expansion hole 510. Specifically, the detection component 700 includes a first detection element 710 and a second detection element 720. The first detection element 710 is fixed to the machine body 500, and the second detection element 720 is fixed to the cloth tray 100. When the first detection element 710 detects the second detection element 720, the extension direction of the switching channel 111 is consistent with the extension direction of the outward expansion hole 510, and the orthographic projection of the switching channel 111 on the travel surface at least partially overlaps with the orthographic projection of the outward expansion hole 510 on the travel surface.

[0139] The first detection element 710 may be a photoelectric sensor, Hall sensor, infrared photocell, magnetic induction switch, miniature proximity sensor or other non-contact position detection element; the second detection element 720 may be a light shield, magnet, reflector, metal sheet or other component that can form a detectable state change with the first detection element 710.

[0140] In some embodiments, the photoelectric sensor can serve as the first detection element 710, with a fixed optical path structure formed between its transmitting and receiving ends; the second detection element 720 can be a light-shielding plate. When the cloth tray 100 moves to a specific position, the light-shielding plate enters the optical path and causes a change in the optical signal, thereby triggering a position detection event. In another structure, the first detection element 710 can be a Hall sensor, and the second detection element 720 can be a permanent magnet. When the cloth tray 100 reaches a predetermined position, the second detection element 720 approaches the Hall sensor, causing the sensor to output an electrical signal that changes, thereby identifying whether the cloth tray 100 is in a position where switching can be performed.

[0141] Optionally, the detection component 700 can communicate with the main control unit of the cleaning robot, enabling the main control unit to confirm the position and status of the mop tray 100 in real time, and decide whether to execute the next action based on the detection results, including locking the locking component 600, moving the drive component 200, and switching the component 300.

[0142] In this type of embodiment, a safety triggering mechanism based on mechanical position detection is established by detecting whether the extension direction of the switching channel 111 is consistent with the extension direction of the outward expansion hole 510 to determine whether the wiping cloth tray 100 is in a position where the outward expansion action can be performed.

[0143] When the switching channel 111 is detected to be aligned with the direction of the expanding through hole 510, it means that the switching of the rotation center of the wiping cloth tray 100 is completely aligned with the overall movement direction of the wiping cloth tray 100. At this time, the rotation center switching action of the wiping cloth tray 100 and the overall movement action of the wiping cloth tray 100 can be performed in the same path. This positioning provides a structural basis for the simultaneous execution of the rotation center switching action of the wiping cloth tray 100 and the overall expansion action of the wiping cloth tray 100, thereby realizing the deep expansion of the wiping cloth tray 100 and improving the efficiency of the wiping cloth tray 100 in performing the expansion action.

[0144] In some embodiments of this disclosure, when the rotation center of the wiping cloth tray 100 is the second rotation center O2, the driving component 200 can also be located at the inner end of the outer expansion through hole 510. At this time, the wiping cloth tray 100 also has a certain outward expansion cleaning capability. This state can be achieved in the following way: when the rotation center of the wiping cloth tray 100 is the second rotation center O2, and the driving component 200 is located at the outer expansion end of the outer expansion through hole 510, the control switching component 300 drives the driving component 200 to move the entire wiping cloth tray 100 relative to the machine body 500, so that the driving component 200 moves the wiping cloth tray 100 from the outer expansion end of the outer expansion through hole 510 to the inner expansion end.

[0145] It should be noted that although the steps of the method for forming the structure in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0146] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. An extension module for a cleaning robot, characterized in that, include: The wiping cloth tray has a first rotation center and a second rotation center, the first rotation center coincides with the geometric center of the wiping cloth tray, and the second rotation center is offset from the geometric center of the wiping cloth tray; A drive component, which is connected to the cloth tray in a transmission manner, is used to drive the cloth tray to rotate; A switching component, connected to the drive component, is used to switch the rotation center of the cloth tray between the first rotation center and the second rotation center.

2. The expansion module of claim 1, wherein The cloth tray is provided with a switching channel, and the first rotation center and the second rotation center are connected through the switching channel; The switching component is used to drive the driving component to move along the switching channel, so that the rotation center of the cloth tray switches between the first rotation center and the second rotation center.

3. The expansion module of claim 1, wherein The expansion module also includes: A positioning component is disposed between the cloth tray and the driving component, and is used to position the relative positions of the cloth tray and the driving component.

4. The expansion module of claim 3, wherein, The positioning component includes: The first positioning element is fixed to the cloth tray; The second positioning element is adapted to the first positioning element and is fixed to the drive assembly; The first positioning component includes a first sub-positioning component and a second sub-positioning component. When the second positioning component cooperates with the first sub-positioning component, the rotation center of the wiping cloth tray is the first rotation center; when the first positioning component cooperates with the second sub-positioning component, the rotation center of the wiping cloth tray is the second rotation center.

5. The expansion module of claim 2, wherein, The switching component includes: Drive motor; A transmission assembly is connected to the output end of the drive motor, and the transmission assembly is connected to the drive assembly; When the drive motor rotates, it drives the drive component to move along the switching channel through the transmission component.

6. The expansion module of claim 5, wherein, The transmission assembly includes: The first gear is coaxially arranged with the output shaft of the drive motor. The second gear meshes with the first gear. A lead screw; coaxially arranged with the second gear and threadedly connected to the drive assembly.

7. A cleaning robot capable of moving on a travel surface, characterized in that, include: Organism; The expansion module as described in any one of claims 1 to 6 is disposed on the machine body; the wiping cloth tray is disposed at the bottom of the machine body, and the bottom wall of the machine body has an expansion through hole, the expansion through hole having an expansion end near the outer edge of the machine body and an inwardly contracted end away from the outer edge of the machine body; the switching component is fixed to the machine body, and the output end of the switching component is connected to the driving component, the driving component being at least partially located within the expansion through hole; the switching component is further used to drive the driving component to move the wiping cloth tray along the expansion through hole, so that the driving component switches between the expansion end and the inwardly contracted end; The cloth tray is movable relative to the machine body between a first position, a second position, and a third position; when the cloth tray is in the first position, the drive component is located at the retracted end, and the rotation center of the cloth tray is the first rotation center. When the wiping cloth tray is in the second position or the third position, the orthographic projection of the wiping cloth tray on the travel surface is at least partially located outside the orthographic projection of the machine body on the travel surface; The driving assembly is located at the outwardly expanded end when the wiping cloth tray is in the third position, and the rotation center of the wiping cloth tray is the second rotation center; The wiping cloth tray moves relative to the machine body by a distance S2 from the first position to the second position, and by a distance S3 from the first position to the third position, and S2 < S3.

8. The cleaning robot according to claim 7, wherein, The wiping cloth tray is provided with a switching channel, and the first rotation center and the second rotation center are communicated through the switching channel; the switching assembly is further used for driving the driving assembly to move along the switching channel, so that the rotation center of the wiping cloth tray is switched between the first rotation center and the second rotation center. 9.The cleaning robot according to claim 8, wherein, The driving assembly is located at the outwardly expanded end when the wiping cloth tray is in the second position, and the rotation center of the wiping cloth tray is the first rotation center.

10. The cleaning robot according to claim 8, wherein, The cleaning robot further comprises: A locking assembly is arranged on the machine body and is used for locking or unlocking the position of the wiping cloth tray relative to the machine body; When the wiping cloth tray is locked relative to the machine body, the extension direction of the switching channel is consistent with the extension direction of the outwardly expanded through hole, and the orthogonal projection of the switching channel on the running surface at least partially overlaps the orthogonal projection of the outwardly expanded through hole on the running surface. 11.The cleaning robot according to claim 8, wherein, The cleaning robot further comprises: A detection assembly comprises a first detection member and a second detection member, the first detection member is fixed to the machine body, and the second detection member is fixed to the wiping cloth tray; When the first detection member detects the second detection member, the extension direction of the switching channel is consistent with the extension direction of the outwardly expanded through hole, and the orthogonal projection of the switching channel on the running surface at least partially overlaps the orthogonal projection of the outwardly expanded through hole on the running surface.

12. A method of expanding the outside of a cleaning robot, characterized by, The cleaning robot comprises a machine body, a wiping cloth tray, a driving assembly and a switching assembly, the wiping cloth tray is arranged at the bottom of the machine body; the wiping cloth tray has a first rotation center and a second rotation center; the first rotation center coincides with the geometric center of the wiping cloth tray, and the second rotation center deviates from the geometric center of the wiping cloth tray; the driving assembly is in transmission connection with the wiping cloth tray and is used for driving the wiping cloth tray to rotate; the switching assembly is connected to the driving assembly and is used for switching the rotation center of the wiping cloth tray between the first rotation center and the second rotation center; The outwardly expanding method comprises: Obtaining the positional relationship of the wiping cloth tray relative to the machine body; In response to the positional relationship satisfying a preset positional relationship, the switching assembly is controlled to drive the driving assembly to move, so that the rotation center of the wiping cloth tray moves from the first rotation center to the second rotation center.

13. The method of claim 12, wherein, The cleaning device further comprises a locking assembly, the locking assembly comprises a driving member and a locking member, the driving member is fixed to the machine body; the locking member is connected to the output end of the driving member; The driving member is configured to drive the locking member to move to lock or unlock the dish and the machine body; when the locking member locks the dish and the machine body, movement of the dish relative to the machine body is limited; when the locking member unlocks the dish and the machine body, the dish can move relative to the machine body; The method further comprises, In response to the position relationship satisfying a preset position relationship, the driving member is controlled to drive the locking member to move to lock the dish and the machine body.

14. The method of claim 13, wherein, The bottom wall of the machine body is provided with an expansion through hole, the expansion through hole has an expansion end close to the outer edge of the machine body and a retraction end away from the outer edge of the machine body; The switching assembly is fixed to the machine body, and an output end of the switching assembly is connected with the driving assembly, the driving assembly is at least partially located in the expansion through hole; In response to the position relationship satisfying a preset position relationship, the switching assembly is controlled to drive the driving assembly to move, so that the center of rotation of the dish moves from the first center of rotation to the second center of rotation, and the driving assembly moves from the retraction end to the expansion end.

15. The method of claim 14, wherein, The cleaning robot can move on a travel surface, the dish is provided with a switching channel, and the first center of rotation and the second center of rotation are communicated through the switching channel; The position relationship satisfying the preset position relationship is determined by the following method: in response to the extension direction of the switching channel being consistent with the extension direction of the expansion through hole, it is determined that the position relationship satisfies the preset position relationship.

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