Cleaning robot

Abstract

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

Description

Technical Field

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

[0002] In the related art, the cleaning robot moves on a support surface, such as the floor, and uses the cleaning components loaded on it to contact the support surface to clean the support surface, thereby reducing the labor burden of people. However, when there are stubborn stains on the support surface, such as mud marks and dried juice stains, the cleaning effect is not good. Utility Model Content

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

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

[0005] A cleaning assembly is disposed below the main body, the cleaning assembly comprises a frame and a rolling cleaning member, the rolling cleaning member is disposed on the frame, the frame is connected to the main body, and can move relative to the main body in a height direction; and

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0020] Figure 4 for Figure 3 A magnified schematic diagram of the structure at M;

[0021] Figure 5 for Figure 2 Schematic diagram of the cross section of the structure at BB;

[0022] Figure 6 for Figure 5 A magnified schematic diagram of the structure at N;

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

[0024] Figure 8 for Figure 2 Schematic diagram of the cross section of the structure at DD;

[0025] Fig. 9 is a cross-sectional schematic diagram of a cleaning robot in one embodiment of the present application;

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

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

[0028] Description of Reference Numerals

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

[0030] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

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

[0032] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

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

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

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

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

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

[0038] The rolling cleaning member 22 is rollably arranged on the frame 21, that is, the frame 21 provides an installation space for the rolling cleaning member 22. The rolling cleaning member 22 is used to contact the support surface and clean the support surface. Exemplarily, when the rolling cleaning member 22 is working, the flannel on it wipes the floor to remove stains on the floor.

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

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

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

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

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

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

[0045] The downward force component is the force component of the pressure along the height direction of the cleaning robot, directed to the support surface. In one embodiment, the pressurizing component 30 is disposed on the main body 10, and the pressurizing component 30 applies pressure to the cleaning component 20 by squeezing it; in another embodiment, the pressurizing component 30 is disposed on the cleaning component 20, and the pressurizing component 30 squeezes the main body 10, at which time the cleaning component 20 provides support force to the pressurizing component 30 and is subjected to the reaction force of the pressurizing component 30, that is, the pressurizing component 30 applies pressure to the cleaning component 20.

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

[0047] In the avoidance state, the pressurizing part 32 allows the cleaning assembly 20 to float up and down relative to the main body 10. That is, the height position of the cleaning assembly 20 can change. In the avoidance state, the weight of the cleaning assembly 20 causes the rolling cleaning member 22 to contact the support surface, and the contact pressure is smaller than that in the pressurized state. The friction resistance of the cleaning assembly 20 during the movement of the cleaning robot is smaller, which is conducive to reducing the energy consumption of the cleaning robot and extending the battery life.

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

[0049] It is understandable that when encountering stubborn stains, the driving unit 31 drives the pressurizing unit 32 to switch to the pressurizing state to enhance the cleaning effect of the cleaning robot. When leaving the stubborn stains, the driving unit 31 drives the pressurizing unit 32 to switch to the avoidance state to reduce the working energy consumption of the cleaning robot. Exemplarily, the main body 10 is equipped with a control module and a perception module. The perception module collects the surrounding environment information, and the control module obtains the information collected by the perception module to confirm whether it encounters stubborn stains to control the driving unit 31.

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

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

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

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

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

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

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

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

[0058] In other embodiments, the pressurizing portion 32 includes a cam, and the outer peripheral surface of the cam defines a pressurizing surface 32a. The distances from at least some points on the pressurizing surface 32a to the cam axis are different. When the cam rotates, the distance from the pressurizing surface 32a to the cleaning component 20 changes until the pressurizing surface 32a abuts against the cleaning component 20, and the pressurizing portion 32 switches to a pressurizing state. The cam has a simple structure and is easy to process and assemble.

[0059] In other embodiments, the pressurizing portion 32 includes an eccentric wheel, and the outer peripheral surface of the eccentric wheel defines a pressurizing surface 32a. The centroid of the eccentric wheel is displaced from its rotation axis by a certain distance. When the eccentric wheel rotates, the distance between the pressurizing surface 32a and the cleaning component 20 changes until the pressurizing surface 32a abuts against the cleaning component 20, and the pressurizing portion 32 switches to a pressurizing state. The eccentric wheel has a simple structure and is easy to process and assemble.

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

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

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

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

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

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

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

[0067] In another embodiment, after the pressurizing portion 32 causes the cleaning component 20 to pass the highest point, the pressurizing portion 32 rotates in the opposite direction, the position of the cleaning component 20 drops, and starting from the first preset angle position, the pressurizing portion 32 separates from the lifting frame 23, and the cleaning component 20 can move downward under the action of its own weight.

[0068] When the cleaning robot is working on the support surface, in order to keep the rolling cleaning member 22 in contact with the support surface, the cleaning assembly 20 can float up and down. When the cleaning robot needs to cross obstacles, such as thresholds, carpets, etc., the cleaning assembly 20 can be raised by the pressurizing part 32 to reduce the risk of the cleaning assembly 20 being hit by obstacles. For another example, when the cleaning robot moves from a tile floor to a wooden floor, the pressurizing part 32 can be rotated to drive the lifting frame 23 to rise, thereby raising the cleaning assembly 20 to lift the wet rolling cleaning member 22 and reduce the impact on the wooden floor.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0087] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

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

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

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

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

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

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

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

8. The cleaning robot according to claim 1, characterized in that: The cleaning assembly further comprises an elastic member and a lining, wherein the elastic member is arranged on the frame, the lining is connected to the elastic member, and the pressurizing portion is used for abutting against the lining and transmitting the force to the frame through the elastic member.

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

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

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