Cleaning robot

Abstract

The utility model provides a cleaning robot, and relates to the technical field of cleaning equipment. The side brush assembly comprises a driving mechanism, a swing arm and a cleaning piece; the swing arm is rotatably connected with the machine body around a first rotating axis, and the cleaning piece is arranged on the swing arm and suitable for cleaning operation; the driving mechanism is suitable for driving the swing arm to rotate around the first rotating axis, so that the swing arm moves between an outward swing position and an inward contraction position relative to the machine body, and when the swing arm is located at the outward swing position, the cleaning piece is farther away from the machine body when the swing arm is located at the inward contraction position; when the swing arm is located at the outward swing position, the cleaning piece can clean the included angle between the edge path and the preset obstacle. According to the cleaning robot, the cleaning part can move between the outward swinging position and the inward retracting position along with the swing arm, the cleaning range of the cleaning part is enlarged, the problem that cleaning dead corners exist is solved, the cleaning robot can cope with more complex cleaning working conditions, and the use experience of a user is improved.

Description

[0001] This application claims the priority of the Chinese patent application with application number 202323371141.8 and application name “Cleaning Robot” filed with the China Patent Office on December 11, 2023, the Chinese patent application with application number 202410050718.5 and application name “Control Method, Device, Equipment, Medium and Product of Cleaning Equipment” filed with the China Patent Office on January 13, 2024, the PCT international application with international application number PCT / CN2023 / 100210 and application name “Cleaning Equipment” filed with the China Patent Office on June 14, 2023, and the PCT international application with international application number PCT / CN2023 / 100199 and application name “Control Method, Cleaning Equipment and Storage Medium of Cleaning Equipment” filed with the China Patent Office on June 14, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

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

[0003] With the development of science and technology and the improvement of living standards, household cleaning robots have become increasingly popular, reducing the burden of human housework.

[0004] In the related art, a side brush assembly is usually provided at the bottom of the cleaning robot. The side brush assembly includes cleaning parts such as a roller brush and a side brush. The side brush is usually provided at the front edge of the cleaning robot body. When the cleaning robot is running, the side brush can rotate around its own axis to gather the garbage on the ground to the inner side of the cleaning robot, thereby sucking the garbage into the cleaning robot cavity through the roller brush and the suction port on the cleaning robot body to clean the ground.

[0005] However, in the related art, the cleaning robot has a technical problem of limited cleaning range for areas that are difficult to clean, such as corners. Utility Model Content

[0006] In view of the above problems, an embodiment of the present application provides a cleaning robot that can improve the coverage of areas that are difficult to clean, such as corners, thereby increasing the cleaning range of the cleaning robot.

[0007] In order to achieve the above objectives, the present application provides the following technical solutions:

[0008] An embodiment of the present application provides a cleaning robot, comprising: a body; a side brush assembly, comprising a driving mechanism, a swing arm and a cleaning piece; the swing arm is rotatably connected to the body around a first rotation axis, and the cleaning piece is arranged on the swing arm and is suitable for performing cleaning operations; the driving mechanism is suitable for driving the swing arm to rotate around the first rotation axis, so that the swing arm moves between an outward swing position and a retracted position relative to the body, and when the swing arm is in the outward swing position, the cleaning piece is further away from the body than when the swing arm is in the retracted position; when the swing arm is in the outward swing position, the cleaning piece can clean the angle between the edge path and a preset obstacle.

[0009] According to the cleaning robot of the present application, the swing arm of the side brush assembly is rotatably connected to the body, the driving mechanism drives the swing arm to move between the outward swing position and the inward retracted position relative to the body, and the cleaning member is arranged on the swing arm to follow the movement of the swing arm, so that the swing arm drives the cleaning member to move between the outward swing position and the inward retracted position, and when the swing arm is in the outward swing position, the cleaning member can clean the angle between the edge path and the preset obstacle. In this way, the cleaning range of the cleaning member is increased, the problem of cleaning dead corners is avoided, and the cleaning robot can cope with more complex cleaning conditions, improving the user experience.

[0010] In some embodiments, the cleaning member includes a side brush, and when the swing arm is in the retracted position, the cleaning robot performs edge cleaning along the edge path; when the swing arm is in the outward swing position, the side brush contacts the angle and deforms, so that the side brush penetrates into the angle between the edge path and the preset obstacle for cleaning.

[0011] When the cleaning robot is cleaning along the edges, the side brush assembly at least partially extends beyond the edge of the body, so that the side brush assembly can perform edge cleaning when in the retracted position, avoiding frequent outward swinging of the side brush assembly and reducing the life of the side brush assembly; when there is a preset obstacle on the edge cleaning path of the cleaning robot, an angle is formed between the edge path and the preset obstacle. Since the side brush is a flexibly deformable structure, when it is deformed by contact with the angle, the side brush has already reached the depth of the angle, so that it can clean deep into the angle, that is, it is easier to clean the narrow angle area, thereby improving the cleaning effect at the angle.

[0012] In some embodiments, the driving mechanism includes a driving member, which is rotatably arranged relative to the body around a second rotation axis. The driving member is used to drive the swing arm to move between the outward swing position and the inward retracted position, and the first rotation axis and the second rotation axis are parallel to each other.

[0013] In this way, the swing arm is driven to rotate by the rotation of the driving member, so that the movement of the swing arm and the driving member is relatively simple and easy to implement. In addition, the side brush assembly follows the swing arm to rotate around the second rotation axis to reach the outward swing position. The outward swinging method is conducive to obtaining a larger outward swing range while occupying less space in the machine body.

[0014] In some embodiments, the driving mechanism includes: a first driving mechanism, at least the driving force of the first driving mechanism drives the swing arm to move around the first rotation axis so that the swing arm moves toward one of the outward swing position and the retracted position; a second driving mechanism, at least the driving force of the second driving mechanism drives the swing arm to move toward the other of the outward swing position and the retracted position.

[0015] In this way, different power sources can be provided for the two movement processes of the swing arm from the outward swing position to the inward retracted position and from the inward retracted position to the outward swing position, respectively, which can simplify the movement form of the second drive mechanism and reduce costs.

[0016] In some embodiments, the first drive mechanism is configured to at least partially drive the swing arm to move from the retracted position to the outward swing position; the second drive mechanism is configured to at least partially overcome the force of the first drive mechanism to drive the swing arm from the outward swing position to the retracted position.

[0017] In this way, the swing arm moves between the outward swing position and the inward retracted position under the driving action of the second driving mechanism and the first driving mechanism respectively, so as to meet the cleaning needs of different scenes, increase the cleaning range, avoid cleaning dead corners, and enhance the user experience.

[0018] In some embodiments, the first driving mechanism includes an elastic member, one end of which is connected to the swing arm, and the other end of which is fixed relative to the body; the elastic member drives the swing arm from the retracted position to the outward swing position through its own elastic force.

[0019] In this way, the elastic force of the elastic member itself can drive the swing arm to move from the retracted position to the outward swing position, which has a simple structure, does not require additional power members, and has low cost. In addition, when the side brush assembly is in the outward swing position and contacts an obstacle, the elastic member causes the side brush assembly to tend to move to the retracted position, thereby avoiding rigid collision and damage to the side brush assembly.

[0020] In some embodiments, the elastic member is one of a torsion spring, a compression spring, and a tension spring.

[0021] In this way, the swing arm can be driven to move from the retracted position to the outward swing position by the elastic force of the elastic member itself. The structure is simple, no other power members need to be additionally provided, and the cost is low.

[0022] In some embodiments, the second driving mechanism includes the driving member, which is constructed to rotate along a first direction and a second direction relative to the body, and when the driving member rotates around the first direction, it at least partially overcomes the elastic force of the elastic member to push the swing arm from the outward swing position to the retracted position; when the driving member rotates around the second direction, the elastic member drives the swing arm from the retracted position to the outward swing position by its own elastic force; wherein, the first direction and the second direction are opposite.

[0023] In this way, by adjusting the rotation direction of the driving member and cooperating with the elastic member, the swing arm can be switched between the retracted position and the outward swing position. The overall implementation method is relatively simple and easy to implement.

[0024] In some embodiments, the second driving mechanism includes an epicyclic motor and an epicyclic gear set, the epicyclic gear set includes a planetary gear, the epicyclic gear set is at least partially arranged below the driving member, the rotation axis of the epicyclic motor and the orbital axis of the planetary gear are coaxial, so that the rotation axis of the epicyclic motor and the rotation axis of the driving member are coaxial.

[0025] In this way, by setting up an outer swing gear set and setting the outer swing gear set in the form of a planetary gear, the driving member of the second driving mechanism has a plurality of output modes to better drive the swinging action of the swing arm. In addition, setting the planetary gear on the lower side of the driving member is conducive to saving space. The side brush assembly mainly occupies the dimension of the body in the height direction, realizing stacking in the height direction, thereby reducing the space occupied by the side brush assembly on the body.

[0026] In some embodiments, the second driving mechanism includes an outward swing motor and an outward swing gear set, the outward swing gear set includes parallel gears, at least one rotating shaft of the parallel gears is parallel to the rotating shaft of the outward swing motor, and at least another rotating shaft of the parallel gears is coaxial with the rotating shaft of the driving member.

[0027] In this way, by setting the outer swing gear set and setting the outer swing gear set in the form of parallel gears, it is convenient to adjust the transmission ratio of the parallel gears as needed, thereby adjusting the speed of the driving member to better drive the swinging action of the swing arm. At this time, the parallel gears are arranged on the side of the outer swing motor, and the spatial layout is reasonable, which is conducive to reducing costs.

[0028] In some embodiments, the driving member includes a driving body and a driving portion, the driving portion is connected to the driving body and is eccentrically arranged relative to the second rotation axis of the driving member, the swing arm has an abutment surface matching the driving portion, and when the driving member rotates along the first direction around the second rotation axis, the driving portion is suitable for pushing the abutment surface to make the swing arm move from the outward swing position to the inward retracted position.

[0029] In this way, the driving body can provide mounting support for the driving part, and the driving part can drive the swing arm to move, and the structure of the driving part is relatively simple and easy to manufacture. It can ensure that the driving part can stably apply thrust to the swing arm, and the matching mode of the swing arm and the driving part is simple and reliable.

[0030] In some embodiments, one of the driving member and the swing arm further includes a mating portion, and the other has a mating notch that mating with the mating portion; when the swing arm is located in the outward swing position, the mating portion and the mating notch are separated from each other; and when the swing arm is located in the inward retracted position, the mating portion and the mating notch are matingly connected with each other.

[0031] In this way, the locking of the swing arm in the retracted position can be achieved through the cooperation between the matching portion and the matching notch.

[0032] In some embodiments, when the swing arm is in the retracted position, the swing arm applies a force to the mating part under the drive of the first driving mechanism, and the direction of the force applied by the swing arm to the mating part points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

[0033] In this way, since the length of the force arm is zero, the swing arm has no reaction force to push the driving member to rotate. At this time, the driving member can be locked in the retracted position. The structure is relatively simple to implement, and the side brush assembly can be locked in the retracted position without adding new parts.

[0034] In some embodiments, the driving portion has a first cam surface, the abutting surface is a second cam surface that matches the first cam surface, and the rotation axis of the second cam surface is colinear with the first rotation axis.

[0035] In this way, when the driving member rotates, the first cam surface will interfere with the second cam surface, causing the first cam surface to push the second cam surface to rotate the swing arm. In addition, since the first cam surface and the second cam surface are both arc-shaped cam surfaces, the smoothness of the relative movement between the first cam surface and the second cam surface can be improved to avoid the swing arm from getting stuck when rotating, thereby improving the user experience.

[0036] In some embodiments, when the swing arm is in the retracted position, the swing arm applies a force to the driving part through the abutment surface under the drive of the first driving mechanism, and the direction of the force applied by the abutment surface points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

[0037] In this way, the swing arm can be stably locked in the retracted position with high reliability.

[0038] In some embodiments, when the swing arm is located at the retracted position, the force applied by the second cam surface to the first cam surface is directed toward the rotation axis of the driving member.

[0039] In this way, the swing arm can be stably locked in the retracted position with high reliability.

[0040] In some embodiments, when the swing arm is located at the retracted position, the direction of the reaction force of the swing arm on the driving member points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

[0041] In some embodiments, a side wall of at least one side of the swing arm in the rotation direction is further provided with a buffer member, and the buffer member is used to buffer the collision between the swing arm and the body.

[0042] In this way, the buffer member can be used to buffer the collision between the swing arm and the body, thereby preventing the swing arm from being damaged by the collision and avoiding collision noise.

[0043] In some embodiments, the swing arm includes an outer side surface of the swing arm and an inner side surface of the swing arm, and the buffer includes a first buffer component and a second buffer component. The first buffer component is arranged on the outer side surface of the swing arm to buffer the collision between the swing arm and the body when the swing arm moves from the retracted position to the outward swing position. The second buffer component is arranged on the inner side surface of the swing arm to buffer the collision between the swing arm and the mounting seat of the drive mechanism when the swing arm moves from the outward swing position to the retracted position.

[0044] In some embodiments, when the swing arm moves from the outward swing position to the inward retracted position, the rotation angle of the swing arm relative to the body is between 50° and 70°.

[0045] In this way, while ensuring that the swing arm can effectively transfer the cleaning parts to the outside of the body, it can prevent the swing arm from having too large a stroke, which would cause the space occupied by the movement to be too large. For example, when the rotation angle is greater than 70°, the swing arm needs to occupy a larger installation space of the body, and the position of the swing arm is too close to the front side of the body. In the width direction of the body, the cleaning range is relatively reduced. When the rotation angle is less than 50 degrees, the rotation angle of the swing arm is too small, so the side brush assembly is not close enough to the front side of the body, and the side brush assembly can be swung outwards in a small range, resulting in poor cleaning effect at the included angle.

[0046] In some embodiments, when the side brush is in the retracted position, there is a gap between the side brush and the angle; when the side brush is in the outward swing position, the side brush contacts the angle and deforms to perform cleaning; the edge path is the first wall edge, and the preset obstacle is an obstacle that the cleaning robot needs to turn to avoid when cleaning along the first wall edge.

[0047] In this way, when the side brush cannot clean the gap between the side brush and the angle in the retracted position, the swing arm can be controlled to rotate to the outward swing position, so that the side brush is in the outward swing position, and the side brush contacts the angle to produce deformation. The deformed side brush can be extended into the narrow gap at the angle for cleaning, thereby providing a cleaning effect and improving the user experience.

[0048] In some embodiments, when the cleaning robot identifies a target obstacle, the side brush is in the outward swing position for cleaning, and the target obstacle has a cavity that can be reached by the side brush in the outward swing position, and the target obstacle is concave inward toward the side away from the body at least at the height of the side brush to form the cavity.

[0049] In this way, when the body itself cannot approach the concave cavity of the target obstacle, the side brush can be extended to clean the cavity, so as to better clean the inside of the cavity, improve the cleaning effect, and increase the ability of the cleaning robot to adapt to more complex cleaning conditions.

[0050] In some embodiments, the side brush enters the cavity to a greater depth in the swung-out position than in the retracted position.

[0051] In this way, it can be ensured that the side brush can effectively clean the inside of the cavity.

[0052] In some embodiments, when the side brush assembly of the cleaning robot is in an outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or the wet stains, the driving mechanism drives the side brush assembly to switch from the outward swing position to the retracted position so that the side brush avoids the linear obstacles and / or the wet stains.

[0053] In this way, the side brush can be retracted to the retracted position before it reaches the linear obstacle and / or wet stain, thereby preventing the side brush from getting hooked on the linear obstacle and causing the side brush to fall off or be deformed and damaged. It can also prevent the side brush from being stained with wet stains, causing itself to be contaminated and its cleaning ability to be weakened.

[0054] In some embodiments, the side brush assembly further comprises a controller adapted to control the swing arm to move between the swing-out position and the retracted position.

[0055] In this way, it is easy to control the movement of the swing arm and can improve the degree of automation of the swing arm movement.

[0056] In some embodiments, the cleaning member is rotatably connected to the swing arm, and the side brush assembly further includes a third driving mechanism, wherein the third driving mechanism is configured to drive the cleaning member to be rotatably connected to the swing arm.

[0057] In this way, the third driving mechanism can provide driving force for the rotation of the cleaning member, so that the cleaning member can clean the surface to be cleaned.

[0058] In some embodiments, the third driving mechanism and the second driving mechanism share an outward swing motor; the second driving mechanism further includes a clutch, and the outward swing motor drives at least one of the swing arm and the cleaning member to rotate via the clutch.

[0059] In this way, by setting up the clutch, a set of driving devices can be used to drive the swing arm and the cleaning member to rotate respectively, thereby improving the integration of the third driving mechanism and the second driving mechanism, which is beneficial to reducing the space occupied by the side brush assembly.

[0060] In some embodiments, when the side brush assembly is in the retracted position, the clutch member is used to enable the outward swing motor to drive the cleaning member to rotate and the swing arm to stop rotating, so that the swing arm is locked in the retracted position.

[0061] In this way, when the side brush assembly is in the retracted position to clean the surface to be cleaned, it can keep its position fixed, thereby ensuring the smooth progress of the cleaning work and helping to improve the cleaning efficiency.

[0062] In some embodiments, the cleaning robot further includes an electrical connection assembly, wherein the electrical connection assembly includes an electrical connector, the electrical connector is electrically connected to the body, and at least a portion of the electrical connector is coaxially arranged with the first rotation axis.

[0063] In this way, when the swing arm rotates relative to the body, the electrical connector will move synchronously with the swing arm around the first rotation axis, thus reducing the relative movement between the electrical connector and the swing arm, thereby reducing the wear on the electrical connector and extending the service life of the electrical connector.

[0064] In some embodiments, a wire passing hole is provided on the swing arm, the wire passing hole is coaxially arranged with the first rotation axis, and the wire passing hole is configured to guide at least a portion of the extension direction of the electrical connector.

[0065] In this way, the wire-passing hole can guide and limit the extension of part of the electrical connector, so that the electrical connector can be coaxially arranged with the first rotation axis, thereby improving the reliability of the coaxial arrangement of the electrical connector with the first rotation axis.

[0066] In some embodiments, the third driving mechanism is disposed on the swing arm and is electrically connected to the electrical connector.

[0067] In this way, the external dimensions of the side brush assembly can be reduced, thereby improving the structural compactness of the side brush assembly; in addition, the third driving mechanism is electrically connected to the electrical connector, and the electrical connector is used to energize the third driving mechanism.

[0068] In some embodiments, the third driving mechanism includes a second driving motor, which is electrically connected to the electrical connector; the second driving motor is configured to drive the cleaning member to rotate around a second rotation axis.

[0069] In this way, the cleaning element can be driven.

[0070] In some embodiments, the electrical connection assembly further includes a circuit board, the circuit board is disposed in the body, and the electrical connector is electrically connected to the circuit board.

[0071] In some embodiments, when the swing arm is in the outward swing position, the swing arm extends outward relative to the body; when the swing arm is in the retracted position, the swing arm is close to the body, and the body has a accommodating gap. When the swing arm is in the retracted position, the swing arm is accommodated in the accommodating gap.

[0072] In this way, when the swing arm does not need to be extended, the swing arm can be better accommodated to prevent the swing arm from colliding and reduce the risk of damage. In addition, it can also improve the appearance of the cleaning robot.

[0073] In some embodiments, the shape of the swing arm and the shape of the accommodating notch match each other, and when the swing arm is in the retracted position, the outer side surface of the swing arm constitutes a part of the body contour.

[0074] In this way, the appearance consistency of the cleaning robot can be improved and become more beautiful.

[0075] In some embodiments, the side brush assembly further comprises a housing that forms a portion of the body contour when the swing arm is in the retracted position.

[0076] In some embodiments, the shell is fixed to the swing arm; or, the shell is movably connected to the outer side wall of the body, and when the swing arm is in the retracted position, the shell blocks the accommodating gap.

[0077] In this way, the appearance consistency of the cleaning robot can be improved and become more beautiful.

[0078] In some embodiments, the cleaning member includes: a rubber strip, a first end of which is connected to the third driving mechanism; and bristles, which are arranged on the second end of the rubber strip.

[0079] Thus, the structure of the cleaning element is relatively simple.

[0080] In some embodiments, the swing arm is covered with a flexible material layer, the side brush is connected to the distal end of the swing arm relative to the body, the flexible material layer circumferentially covers the outer side of at least part of the distal end of the swing arm, and / or the flexible material layer covers at least part of the side wall of the swing arm.

[0081] In this way, when the swing arm collides with the body or an obstacle during movement, the flexible material layer can provide a certain degree of cushioning to protect the swing arm and the component structure inside the swing arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0083] Figure 1 A schematic diagram of a partial structure of a side brush assembly in an outward swing position in a cleaning robot provided by an embodiment of the present application;

[0084] Figure 2 A schematic diagram of a state of a partial structure of a side brush assembly in a retracted position in a cleaning robot provided by an embodiment of the present application;

[0085] Figure 3 An exploded schematic diagram of a partial structure of a cleaning robot provided in an embodiment of the present application;

[0086] Figure 4 An exploded schematic diagram of a side brush assembly and a circuit board in a cleaning robot provided in an embodiment of the present application;

[0087] Figure 5 A schematic diagram of a portion of the structure of a side brush assembly in a cleaning robot provided in an embodiment of the present application;

[0088] Figure 6 An exploded schematic diagram of a partial structure of a side brush assembly provided in an embodiment of the present application;

[0089] Figure 7 A schematic diagram of the state of the side brush assembly provided in an embodiment of the present application when in an outward swing position;

[0090] Figure 8 A schematic diagram of the state of the side brush assembly provided in an embodiment of the present application when in a retracted position;

[0091] Fig. 9 A partial structural schematic diagram of a side brush assembly provided in an embodiment of the present application from another perspective;

[0092] Fig.10 A partial structural schematic diagram of another structure of a side brush assembly provided in an embodiment of the present application;

[0093] Fig.11 A schematic diagram of a partial structure of a side brush assembly provided in an embodiment of the present application at one angle;

[0094] Fig.12 A schematic diagram of a portion of the structure of the side brush assembly provided in an embodiment of the present application from another angle;

[0095] Fig.13 A partial structural schematic diagram of a side brush assembly provided in an embodiment of the present application from another angle;

[0096] Fig.14 A schematic diagram of a portion of the structure of a driving mechanism of a side brush assembly provided in an embodiment of the present application;

[0097] Fig.15 A schematic structural diagram of a driving member of a side brush assembly provided in an embodiment of the present application at an angle;

[0098] Fig.16 A schematic structural diagram of a driving member of the side brush assembly provided in an embodiment of the present application from another angle.

[0099] Description of reference numerals:

[0100] 100-Cleaning robot;

[0101] 110-body;

[0102] 120-side brush assembly;

[0103] 121-swing arm; 1211-protrusion;

[0104] 1212-wire hole; 1214-first rotation axis;

[0105] 1215-abutting surface; 1216-matching notch;

[0106] 122-cleaning member; 1221-second rotation axis;

[0107] 123- first drive motor;

[0108] 124-driving member; 1241-driving body; 1242-block; 1243-first cam surface; 1244-driving part; 1245-roller; 1246-matching part;

[0109] 125-mounting seat; 1251-first limiting portion; 1252-second limiting portion;

[0110] 126-second drive motor; 127-speed reducer; 128-conductor rack; 1281-guide groove;

[0111] 129-elastic member; 130-electrical connection assembly; 131-circuit board; 132-electrical connection member;

[0112] 140 - abutment member; 141 - second cam surface. DETAILED DESCRIPTION

[0113] With the development of science and technology and the improvement of living standards, household cleaning robots have become more and more popular, reducing the burden of human housework. The bottom of the cleaning robot is usually provided with a side brush assembly, which includes a roller brush, a side brush, a mopping piece and other cleaning parts. The side brush is usually arranged at the front edge of the cleaning robot body. When the cleaning robot is running, the side brush can rotate around its own axis to gather the garbage on the ground to the inside of the cleaning robot, so that the garbage is sucked into the cleaning robot cavity through the roller brush and the suction port on the cleaning robot body to clean the ground; the mopping piece can usually perform wet cleaning or dry cleaning on the surface to be cleaned, and the mopping piece is used to mop the surface to be cleaned to remove dirt, thereby further improving the cleaning power of the cleaning robot. However, when the position of the cleaning part relative to the cleaning robot is fixed, when cleaning areas that are difficult to clean, such as right-angled edges or corners with deep concave edges, the cleaning range of the cleaning robot is limited, and there is a technical problem of cleaning dead corners.

[0114] In order to solve the above problems, an embodiment of the present application provides a cleaning robot, in which a side brush assembly is movably connected to a body. The side brush assembly includes a swing arm, a cleaning member and a driving mechanism. The driving mechanism drives the swing arm to move between an outward swing position and an inward retracted position relative to the body. The cleaning member is arranged on the swing arm to follow the movement of the swing arm, so that the swing arm drives the cleaning member to move between the outward swing position and the inward retracted position. In this way, the cleaning range of the cleaning member is increased, the problem of cleaning dead corners is avoided, and the user experience is improved.

[0115] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0116] Figure 1 A schematic diagram of a partial structure of a side brush assembly in an outward swing position in a cleaning robot provided by an embodiment of the present application; Figure 2 A schematic diagram of a state of a partial structure of a side brush assembly in a retracted position in a cleaning robot provided by an embodiment of the present application; Figure 3 An exploded schematic diagram of a partial structure of a cleaning robot provided in an embodiment of the present application; Figure 4 An exploded schematic diagram of a side brush assembly and a circuit board in a cleaning robot provided in an embodiment of the present application; Figure 5 A schematic diagram of a portion of the structure of a side brush assembly in a cleaning robot provided in an embodiment of the present application; Figure 6 An exploded schematic diagram of a partial structure of a side brush assembly provided in an embodiment of the present application; Figure 7 A schematic diagram of the state of the side brush assembly provided in an embodiment of the present application when in an outward swing position; Figure 8 A schematic diagram of the state of the side brush assembly provided in an embodiment of the present application when in a retracted position; Fig. 9 A partial structural schematic diagram of a side brush assembly provided in an embodiment of the present application from another perspective; Fig.10 A partial structural schematic diagram of another structure of a side brush assembly provided in an embodiment of the present application; Fig.11 A schematic diagram of a partial structure of a side brush assembly provided in an embodiment of the present application at one angle; Fig.12 A schematic diagram of a portion of the structure of the side brush assembly provided in an embodiment of the present application from another angle; Fig.13 A partial structural schematic diagram of a side brush assembly provided in an embodiment of the present application from another angle; Fig.14 A schematic diagram of a portion of the structure of a driving mechanism of a side brush assembly provided in an embodiment of the present application; Fig.15 A schematic structural diagram of a driving member of a side brush assembly provided in an embodiment of the present application at an angle; Fig.16 A schematic structural diagram of a driving member of the side brush assembly provided in an embodiment of the present application from another angle.

[0117] Combine the following Figure 1-Figure 16 The cleaning robot 100 according to the embodiment of the present application is described.

[0118] The cleaning robot 100 of this embodiment may be a wet and dry dual-purpose cleaning robot 100. The cleaning robot 100 may be a sweeping robot or a sweeping and mopping robot. The cleaning robot 100 includes: a body 110 and a side brush assembly 120.

[0119] Among them, the body 110 is suitable for walking along the ground, desktop, carpet and other surfaces to be cleaned. A walking system is provided on the body 10 for driving the body 10 to realize the self-moving walking function on the surface to be cleaned. The walking system generally includes a driver and a walking part, and the driver drives the walking part to move. There can generally be two walking parts, and the two walking parts are symmetrically arranged on the body 10. The walking parts can be, but are not limited to, driving wheels, track wheels or steering wheels with adjustable steering. For example: the steering wheel is a Mecanum wheel. In addition, the walking system can be swingably arranged on the body 10 so that the cleaning robot 100 has an obstacle crossing function during walking. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of objects such as the ground, desktop, glass, and wall. For ease of description, the surface to be cleaned below is described using the ground as an example.

[0120] The side brush assembly 120 may include a driving mechanism, a swing arm 121 and a cleaning member 122. The swing arm 121 is rotatably connected to the body 110 around a first rotation axis 1214, and the cleaning member 122 is disposed on the swing arm 121, so that the cleaning member 122 can rotate relative to the body 110 along with the swing arm 121. The cleaning member 122 is suitable for performing cleaning operations, for example, the cleaning member 122 may be a side brush assembly.

[0121] The driving mechanism is suitable for driving the swing arm 121 to rotate around the first rotation axis so that the swing arm 121 moves between an outward swing position and a retracted position relative to the body 10, wherein the retracted position corresponds to a state in which the side brush assembly 120 is retracted relative to the body 110. At this time, the side brush assembly 120 (for example, including the swing arm 121) is in the retracted position, and correspondingly, the cleaning member 122 is in the retracted position; the outward swing position corresponds to a state in which the side brush assembly 120 is extended relative to the body 110. At this time, the side brush assembly 120 (for example, including the swing arm 121) is in the outward swing position, and correspondingly, the cleaning member 122 is in the outward swing position, that is, the side brush assembly 120 at least partially extends out of the body 110, so that areas other than the body 110 that can move can be cleaned, for example, areas with right-angled edges or deep concave areas can be cleaned, and areas that are difficult to clean, such as corners, can be covered, thereby increasing the cleaning range, avoiding the existence of cleaning dead corners, and improving the user experience.

[0122] It can be understood that when the swing arm 121 is in the outward swing position, the cleaning member 122 is further away from the machine body 10 than when the swing arm 121 is in the retracted position. That is, when the swing arm 121 is in the outward swing position, the cleaning member 122 can clean an area farther from the machine body 10. When the swing arm 121 is in the outward swing position, the cleaning member 122 can clean the angle between the edge path and the preset obstacle. In this way, the side brush assembly 120 in the outward swing position can better clean the corner area, thereby improving the user experience.

[0123] For example, in Figure 1 In the embodiment, the swing arm 121 is in a retracted state relative to the body 110 (corresponding to the retracted position); Figure 2 In the figure, the swing arm 121 is in an extended state relative to the body 110 (corresponding to the outward swing position). In this way, when the floor to be cleaned has a right-angled or concave area, the swing arm 121 can move from a retracted state to an extended state relative to the body 110, and clean the cleaning area through the cleaning member 122, thereby increasing the cleaning range of the cleaning robot 100.

[0124] Exemplarily, in the first case, when the swing arm 121 is in the outward swing position, the swing arm 121 is outside the outline of the body 110, and at this time, the cleaning member 122 at least partially exceeds the outline of the body 110; when the swing arm 121 is in the outward swing position, the swing arm 121 at least partially extends outside the outline of the body 110 to clean the corner area, and at this time, the cleaning member 122 at least partially exceeds the outline of the body 110, or the cleaning member 122 is located outside the outline of the body 110; or, in the second case, when the swing arm 121 is in the outward swing position, part of the structure of the swing arm 121 is outside the outline of the body 110, and when the swing arm 121 is in the retracted position, the distance that the swing arm 121 exceeds the outline of the body 110 is greater than the distance that the swing arm 121 exceeds the outline of the body 110 when the swing arm 121 is in the outward swing position.

[0125] Among them, the body 110 is usually formed in a circular, D-shaped, rectangular or other shapes, and the outline of the body 110 refers to the circular outline, D-shaped outline or rectangular outline of the body 110. For example, the range of the outline of the body 110 can be determined based on the projection of the body 110 shell on the horizontal plane.

[0126] For example, the cleaning member 122 may be a side brush, a mopping member, etc. The side brush may be a rubber strip or a brush, and the mopping member may be a disc-shaped cleaning cloth, so that the cleaning member 122 cleans or wipes the floor during rotation. Alternatively, the cleaning member 122 may be a flexibly deformable structure, so that when the cleaning member 122 contacts an external obstacle, it has good flexibly deformable performance, avoiding rigid collision to ensure the passability of the cleaning robot 100.

[0127] Exemplarily, the cleaning member 122 is rotatably disposed on the swing arm 121 , so that when the cleaning member 122 rotates relative to the swing arm 121 , the cleaning member 122 can clean the floor by sweeping or wiping.

[0128] According to the cleaning robot 100 of the embodiment of the present application, the swing arm 121 of the side brush assembly 120 is rotatably connected to the body 110, and the driving mechanism drives the swing arm 121 to move between the outward swing position and the inward retracted position relative to the body 110. The cleaning member 122 is arranged on the swing arm 121 to follow the movement of the swing arm 121, so that the swing arm 121 drives the cleaning member 122 to move between the outward swing position and the inward retracted position. When the swing arm 121 is in the outward swing position, the cleaning member 122 can clean the angle between the edge path and the preset obstacle. In this way, the cleaning range of the cleaning member 122 is increased, and the problem of cleaning dead corners is avoided, so that the cleaning robot 100 can cope with more complex cleaning conditions and improve the user experience.

[0129] In some embodiments, Figure 1 and Figure 2 As shown, the side brush assembly 120 can be set at a position near the edge of the bottom of the body 110. For example, the side brush assembly 120 is set at the bottom of the body 110 near the front edge. In this way, when the cleaning robot 100 is moving, the cleaning member 122 rotates relative to the swing arm 121 to gather dust and foreign particles on the ground to the inner side of the body 110 of the cleaning robot 100.

[0130] In addition, a dust suction chamber (not shown in the figure) is provided in the body 110, and a dust suction port (not shown in the figure) and a roller brush (not shown in the figure) connected to the dust suction chamber are provided at the bottom of the body 110. A negative pressure generating device such as rotating blades can be provided in the dust suction chamber (not shown in the figure). In this way, negative pressure suction can be generated in the dust suction chamber through, for example, the rotation of the blades. When the side brush rotates to gather dust and foreign particles on the ground to the inner side of the cleaning robot 100, the dust and foreign particles can be sucked into the dust suction chamber of the body 110 through the roller brush and the dust suction port.

[0131] In some embodiments, the cleaning member 122 includes a side brush. When the swing arm 121 is in the retracted position, the cleaning robot 100 performs edge cleaning along the edge path; when the swing arm 121 is in the outward swing position, the side brush contacts the angle and deforms, so that the side brush penetrates into the angle between the edge path and the preset obstacle for cleaning.

[0132] When the swing arm is in the retracted position, the side brush exceeds the edge of the body. When the cleaning robot cleans along the edge, the side brush can clean the garbage near the edge, so that the swing arm can be kept in the retracted position for cleaning along the edge, reducing the frequency of the side brush assembly swinging outward, thereby extending the service life of the side brush assembly; when an angle is formed between the edge cleaning and the preset obstacle, since the side brush is a flexibly deformable structure, when the swing arm is in the swing-out position, the side brush can go deep into the angle for cleaning, especially when it is deformed by contact with the angle, the side brush can reach deep into the angle for cleaning, that is, it is easier to clean the narrow angle area, thereby improving the cleaning effect at the angle. The angle formed between the edge path and the preset obstacle is difficult for other cleaning components that are not easily deformed to go deep into the angle for cleaning. For example, the mop assembly is usually formed as a circular or rectangular cleaning component, and the mop is installed on the mop mounting plate. The mop mounting plate is usually a rigid structure and it is difficult to go deep into the angle for deep cleaning.

[0133] In some embodiments, please refer to Figure 4 The driving mechanism may include a driving member 124, which is rotatably arranged relative to the body 110 around a second rotation axis 1221, so as to drive the swing arm 121 to move between an outward swing position and an inward retracted position relative to the body 110. The first rotation axis 1214 and the second rotation axis 1221 are parallel to each other, wherein the first rotation axis 1214 is an axis fixed relative to the body 110, and the second rotation axis 1221 may also be an axis fixed relative to the body 110. In this way, the swing arm 121 is driven to rotate by rotating the driving member 124, so that the movement form of the swing arm 121 and the driving member 124 is relatively simple and easy to implement. In some other possible embodiments, the first rotation axis 1214 and the second rotation axis 1221 may also have a certain angle; they may be in the same plane or in different planes.

[0134] In some embodiments, when the swing arm 121 is in the retracted position, the direction of the reaction force of the swing arm 121 on the driving member 124 is directed to the rotation axis of the driving member 124, so that the driving member 124 is locked in the retracted position. In this way, the driving member 124 can be locked, thereby locking the swing arm 121 in the retracted position, and the position of the cleaning member 122 is stable when performing cleaning work in the retracted position, thereby ensuring the smooth progress of the cleaning work.

[0135] In some embodiments, reference Figure 4 The first rotation axis 1214 and the second rotation axis 1221 are parallel to each other, so that the movement form of the swing arm 121 and the driving member 124 is simpler and the space occupied by the cleaning structure can be reduced.

[0136] In some embodiments, the driving mechanism may include: a first driving mechanism and a second driving mechanism. Among them, at least the driving force of the first driving mechanism drives the swing arm 121 to move around the second rotation axis, so that the swing arm 121 moves toward one of the outward swing position and the retracted position, and at least the driving force of the second driving mechanism drives the swing arm 121 to move toward the other of the outward swing position and the retracted position. For example, only the driving force of the first driving mechanism can drive the swing arm 121 to move around the second rotation axis from the retracted position to the outward swing position, and only the driving force of the second driving mechanism can drive the swing arm 121 to move from the outward swing position to the retracted position; or, at least one of the processes of the swing arm 121 moving from the outward swing position to the retracted position and from the retracted position to the outward swing position can be achieved by the cooperation of the first driving mechanism and the second driving mechanism. In this way, different power sources can be provided for the two movement processes of the swing arm 121 from the outward swing position to the retracted position and from the retracted position to the outward swing position, respectively, which can simplify the movement form of the second driving mechanism and reduce costs.

[0137] In some embodiments, the first driving mechanism is configured to at least partially drive the swing arm 121 to move from the retracted position to the outward swing position, and the second driving mechanism is configured to at least partially overcome the force of the first driving mechanism to drive the swing arm 121 to move from the outward swing position to the retracted position. In this way, the swing arm 121 moves between the outward swing position and the retracted position under the driving action of the second driving mechanism and the first driving mechanism, respectively, to meet the cleaning needs of different scenes, increase the cleaning range, avoid cleaning dead corners, and improve the user experience.

[0138] In some embodiments, reference Fig.11 and Fig.12 The first driving mechanism may include an elastic member 129, one end of the elastic member 129 is connected to the swing arm 121, and the other end of the elastic member 129 is relatively fixed to the body 110. The elastic member 129 can drive the swing arm 121 to move from the retracted position to the outward swing position through its own elastic force. It can be understood that the swing arm 121 can be driven from the retracted position to the outward swing position through the elastic force of the elastic member 129 itself. The structure is simple, no other power parts need to be additionally set, and the cost is low.

[0139] Exemplary, reference Fig.11 and Fig.12 The elastic member 129 can be one of a torsion spring, a compression spring or a tension spring, as long as it can drive the swing arm 121 from the retracted position to the outward swing position by its own elastic force. For example, the elastic member 129 drives the swing arm 121 by its own elastic force, so that the swing arm 121 moves from a retracted position relative to the body 110 to a protruding position relative to the body 110, so that the cleaning robot 100 can clean areas with deeper recesses, thereby increasing the cleaning range.

[0140] Exemplarily, when the elastic member 129 is a torsion spring, one end of the torsion spring is connected to the swing arm 121, and the other end of the torsion spring is fixedly connected to the body 110, and the axis of the torsion spring is coaxially arranged with the first rotation axis 1214. For example, the swing arm 121 rotates around a rotating shaft fixed relative to the body 110, and the central axis of the rotating shaft is the first rotation axis 1214. The torsion spring can be directly sleeved on the rotating shaft. In this way, no other structure is required to limit and fix the torsion spring, and the structure is simple and easy to install. Thereafter, one end of the torsion spring is connected to the swing arm 121, and the other end of the torsion spring is fixed relative to the body 110. When the swing arm 121 is in the outward swing position, the torsion spring has a certain elastic torque force. When there is no corresponding structure blocking the movement of the swing arm 121 on the movement path from the retracted position to the outward swing position, the swing arm 121 can move from the retracted position to the outward swing position under the action of the elastic torque force of the torsion spring, so that the swing arm 121 extends relative to the body 110.

[0141] When the driving member 124 rotates in a first direction, it at least partially overcomes the elastic force of the elastic member 129 to push the swing arm 121 from the outward swing position to the retracted position; and when the driving member 124 rotates in a second direction, the elastic member 129 drives the swing arm 121 from the retracted position to the outward swing position by its own elastic force, wherein the first direction and the second direction are opposite.

[0142] It should be noted that the driving member 124 has not only the function of driving the swing arm 121 to move, but also the function of limiting the swing arm 121 .

[0143] In a specific implementation, when the swing arm 121 is located at the retracted position and the driving member 124 is stationary relative to the body 110, the driving member 124 locks the swing arm 121 so that the swing arm 121 stops at the retracted position. When the swing arm 121 needs to move from the retracted position to the outward swing position, the driving member 124 rotates, for example, about the second direction. In this way, as the driving member 124 rotates, the interference between the driving member 124 and the swing arm 121 is released, so that the swing arm 121 can gradually move from the retracted position to the outward swing position under the action of the elastic force of the elastic member 129. When the driving member 124 stops rotating, the driving member 124 continues to block the swing arm 121 from continuing to move. The swing arm 121 moves in a direction corresponding to the driving member 124, so that the swing arm 121 can stop at any position of the retracted position and the outward swing position. That is, in the stopped state, the swing arm 121 is mainly limited and locked by the driving member 124. When the swing arm 121 needs to continue to move, it is only necessary to make the driving member 124 continue to rotate around the second direction so that the driving member 124 releases the locking force on the swing arm 121. The swing arm 121 continues to move toward the outward swing position under the elastic force of the elastic member 129 until the driving member 124 rotates to the extreme position in the second direction. At this time, the swing arm 121 can move to the outward swing position (such as Fig.11), i.e., the maximum outward swing position of the swing arm 121; and when the swing arm 121 needs to move from the outward swing position to the retracted position, the driving member 124 rotates around the first direction, and the driving member 124 at least partially overcomes the elastic force of the elastic member 129 to push the swing arm 121, so that the swing arm 121 moves from the outward swing position to the retracted position; in this way, the swing arm 121 is driven by the driving member 124 and the elastic member 129 to move between the retracted position and the outward swing position respectively, so that the cleaning member 122 can clean corners and other locations that are not easy to clean, thereby increasing the cleaning range and improving the user experience. In addition, in the embodiment of the present application, through the cooperation between the driving member 124, the elastic member 129 and the driving member 124 and the swing arm 121, the swing arm 121 can be moved between the retracted position and the outward swing position. For example, when the elastic member 129 drives the swing arm 121 to move from the retracted position to the outward swing position, the elastic member 129 can drive the swing arm 121 to move through its own elastic force by releasing the lock and / or interference between the driving member 124 and the swing arm 121. The structure is simple, the operation is convenient and the cost is low.

[0144] In some embodiments, the second drive mechanism further includes a first drive motor 123, and the first drive motor 123 is suitable for driving the driving member 124 to rotate, that is, the first drive motor 123 can drive the driving member 124 to rotate around the second rotation axis 1221, so that the first drive motor 123 can provide power for the rotation of the driving member 124, and the power device of the second drive mechanism is relatively simple and low in cost. Optionally, the first drive motor 123 can be directly connected to the driving member 124, or it can be connected to the driving member 124 through an intermediate transmission mechanism, and the transmission form of the first drive motor 123 and the driving member 124 can be reasonably selected according to actual needs.

[0145] In some embodiments, the first drive motor 123 may be located inside the edge of the body 110. In this way, the first drive motor 123 may be prevented from occupying the space outside the body 110, making the overall structure compact, improving the appearance, and better protecting the first drive motor 123.

[0146] In some embodiments, reference Fig.11 and Fig.12The second driving mechanism includes a driving member 124, and the driving member 124 is suitable for rotating in a first direction and a second direction, wherein when the driving member 124 rotates around the first direction, the swing arm 121 is pushed from the outer swing position to the inner retracted position by at least partially overcoming the elastic force of the elastic member 129, and when the driving member 124 rotates around the second direction, the swing arm 121 is driven by the first driving mechanism to move from the inner retracted position to the outer swing position, that is, the elastic member 129 drives the swing arm 121 from the inner retracted position to the outer swing position by its own elastic force. The first direction and the second direction are opposite. For example, the first direction may be a counterclockwise direction, and the second direction may be a clockwise direction, that is, when the driving member 124 rotates in the counterclockwise direction, the swing arm 121 may be pushed from the outer swing position to the inner retracted position, and when the driving member 124 rotates in the clockwise direction, the swing arm 121 is driven by the first driving mechanism to move from the inner retracted position to the outer swing position. It can be understood that when the driving member 124 rotates in the second direction, it can be separated from the swing arm 121 to avoid pushing the swing arm 121, thereby facilitating the operation of the first driving mechanism. In this way, by adjusting the rotation direction of the driving member 124 and cooperating with the elastic member 129, the swing arm 121 can be switched between the retracted position and the outward swing position, and the overall implementation method is relatively simple and easy to implement.

[0147] In some embodiments, the second driving mechanism includes an outer swing motor (i.e., the first driving motor 123 described above) and an outer swing gear set, the outer swing gear set may include a planetary gear, the outer swing gear set is at least partially disposed below the driving member, and the outer swing gear set may serve as a transmission mechanism between the outer swing motor and the driving member 124. Among them, the rotation axis of the outer swing motor and the revolution axis of the planetary gear are coaxial, so that the rotation axis of the outer swing motor and the rotation axis of the driving member are coaxial. In this way, by providing the outer swing gear set, and arranging the outer swing gear set in the form of a planetary gear, the driving member 124 of the second driving mechanism has a variety of output modes, so as to better drive the swinging action of the swing arm 121. In addition, the planetary gear is arranged on the lower side of the driving member 124, which is conducive to saving space.

[0148] In addition to the above-mentioned configuration of the outer pendulum gear set in the form of a planetary gear, in other embodiments, the second driving mechanism includes an outer pendulum motor and an outer pendulum gear set, the outer pendulum gear set includes parallel gears, at least one rotating shaft of the parallel gear is parallel to the rotating shaft of the outer pendulum motor, that is, the outer pendulum motor is located on one side of the parallel gear, and at least another rotating shaft of the parallel gear is coaxial with the rotating shaft of the driving member. In this way, by setting the outer pendulum gear set and setting the outer pendulum gear set in the form of parallel gears, it is convenient to adjust the transmission ratio of the parallel gears as needed, thereby adjusting the rotation speed of the driving member 124 to better drive the swinging action of the swing arm 121. At this time, the parallel gears are arranged on the side of the outer pendulum motor, and the spatial layout is reasonable, which is conducive to reducing costs.

[0149] In some embodiments, in combination Figure 11-Figure 16 , the driving member 124 may include a driving body 1241 and a driving part 1244. The driving body 1241 can provide mounting support for the driving part 1244. The shape of the driving body 1241 can be reasonably selected according to actual needs. For example, the driving body 1241 can be roughly formed into a cam or a groove wheel structure, or other structures. The driving body 1241 can be connected to the body 110, and the driving part 1244 is connected to the driving body 1241, and is eccentrically arranged relative to the second rotation axis 1221 of the driving member 124, that is, the driving part 1244 is spaced apart from the second rotation axis 1221. In this way, when the driving member 124 rotates around its own axis (that is, the second rotation axis 1221), the driving part 1244 has a certain arc-shaped motion stroke, and based on the force of the driving part on the swing arm, the swing arm 121 is pushed to move from the outward swing position to the inward retracted position. In this way, the driving member 124 can drive the swing arm 121 to move, and the structure of the driving member 124 is relatively simple and easy to manufacture.

[0150] In some embodiments, reference Fig.12 The swing arm 121 has a contact surface 1215, and the contact surface 1215 cooperates with the driving part 1244. When the driving member 124 rotates along the first direction around the second rotation axis 1221, the driving part 1244 is suitable for pushing the contact surface 1215 to move the swing arm 121 from the outward swing position to the inward retracted position. Optionally, the driving part 1244 and the contact surface 1215 can be in surface contact or line contact to ensure that the driving part 1244 can stably apply thrust to the swing arm 121. The cooperation between the swing arm 121 and the driving member 124 is simple and reliable.

[0151] Optional, reference Fig.11 and Fig.12 , a driving groove is provided on the swing arm 121, and a notch is provided on the side of the driving groove facing the driving member 124, and the groove wall of the driving groove can constitute an abutting surface 1215, and the abutting surface 1215 can be formed into an arcuate surface, and the driving portion 1244 can be cylindrical, and the driving portion 1244 can be arranged on the outer periphery of the upper surface of the driving body 1241, and staggered with the second rotation axis 1221, and the driving portion 1244 can enter the driving groove from the notch to push and cooperate with the abutting surface 1215, and the arcuate surface is conducive to stable abutment and position locking when the swing arm is in the retracted position. Of course, in some other embodiments, the abutting surface 1215 can also be a plane or other shapes, and the driving portion 1244 can be formed into other shapes suitable for pushing against the abutting surface 1215.

[0152] Optionally, in order to reduce the friction between the driving part 1244 and the abutting surface 1215 , a roller 1245 may be provided on the outer side of the driving part 1244 . During the rotation of the driving member 124 , the roller 1245 rolls along the abutting surface 1215 , thereby improving the smoothness of the movement of the swing arm 121 .

[0153] Optional, such as Fig.16 As shown, the driving portion 1244 can be arranged at the edge of the driving body 1241 and located at the position on the driving body 1241 that is the largest distance away from the second rotation axis 1221. In this way, when the driving portion 1244 contacts the abutment surface 1215, the power required by the driving member 124 can be minimized and the stroke of the swing arm 121 can be large enough.

[0154] In some embodiments, reference Figure 11-Figure 16 , one of the driving member 124 and the swing arm 121 may further include a matching portion 1246, and the other has a matching notch 1216 that matches the matching portion 1246. For example, the matching portion 1246 may be formed on the driving member 124, and the matching notch 1216 may be formed on the swing arm 121; or, the matching portion 1246 is formed on the swing arm 121, and the matching notch 1216 is formed on the driving member 124. Take the matching portion 1246 formed on the driving member 124 and the matching notch 1216 formed on the swing arm 121 as an example: when the swing arm 121 is in the outward swing position, the matching portion 1246 and the matching notch 1216 are separated from each other, and when the swing arm 121 is in the retracted position, the matching portion 1246 and the matching notch 1216 are matched and connected with each other. At this time, the matching between the driving member 124 and the swing arm 121 is a grooved wheel mechanism. At this time, the surrounding wall of the matching portion 1246 constitutes the locking surface of the driving member 124, and the inner wall of the matching notch 1216 constitutes the locking matching surface of the swing arm 121. In this way, through the cooperation between the matching portion 1246 and the matching notch 1216, the swing arm 121 can be locked in the retracted position.

[0155] In some embodiments, the side wall shape of the matching portion 1246 and the edge shape of the matching notch 1216 match each other, so that when the swing arm 121 is in the retracted position, the matching portion 1246 and the matching notch 1216 fit together. In this way, when the matching portion 1246 and the matching notch 1216 fit together, the swing arm 121 cannot rotate relative to the driving member 124, so that the swing arm 121 is stably locked in the retracted position.

[0156] In some embodiments, reference Fig.12 and Fig.14The side wall of the matching portion 1246 and the edge of the matching notch 1216 are both arc-shaped. In this way, the shapes of the matching portion 1246 and the matching notch 1216 are adapted to the movement process of the respective structures, which not only facilitates the matching portion 1246 to enter the matching notch 1216, but also facilitates the matching portion 1246 to exit the matching notch 1216. In addition, the structures of the matching portion 1246 and the matching notch 1216 are relatively simple and easy to implement.

[0157] Optional, reference Fig.16 The driving portion 1244 and the matching portion 1246 of the driving member 124 have different angles relative to the rotation axis, i.e., the second driving axis. In this way, it can be ensured that when the driving portion 1244 cooperates with the abutment surface 1215, the matching portion 1246 is separated from the matching notch 1216; and when the matching portion 1246 cooperates with the matching notch 1216, the driving portion 1244 is separated from the abutment surface 1215, thereby making the switching process of the swing arm 121 between the outward swing position and the inward retracted position smoother.

[0158] Optionally, in order to improve the mating stability between the mating portion 1246 and the mating notch 1216, the peripheral wall of the mating portion 1246 and the inner wall of the mating notch 1216 can be formed as non-planar surfaces. For example, one of them is formed as a step surface and the other is formed as a matching inverted step surface. In this way, the contact area between the peripheral wall of the mating portion 1246 and the inner wall of the mating notch 1216 can be increased, thereby improving the stability of the swing arm 121 when it is locked in the retracted position.

[0159] Optional, reference Fig.11 , Fig.12 , Fig.15 and Fig.16 , the matching portion 1246 is formed as a groove wheel structure, the matching portion 1246 and the driving portion 1244 are located on the same side of the driving body 1241, and the distance between the peripheral wall of the matching portion 1246 and the second rotation axis 1221 is smaller than the distance between the driving portion 1244 and the second rotation axis 1221. Accordingly, the matching notch 1216 and the driving groove can be distributed along the axial direction corresponding to the first rotation axis 1214. For example, the matching notch 1216 is located on the upper side of the driving groove, and the radius of the matching notch 1216 is smaller than the radius of the driving groove, so that the structure of the swing arm 121 is more compact. Optionally, the circles where the peripheral wall of the matching notch 1216 and the groove wall of the driving groove, i.e., the driving surface, are located can be concentric circles.

[0160] In some embodiments, when the swing arm 121 is in the retracted position, the swing arm 121 applies a force to the matching portion 1246 under the drive of the first driving mechanism. When the direction of the force applied by the swing arm 121 to the matching portion 1246 points to the rotation axis of the driving member 124, since the length of the force arm is zero, the swing arm 121 does not have a reaction force to push the driving member 124 to rotate. At this time, the driving member 124 can be locked in the retracted position.

[0161] In addition to the above-mentioned driving member 124 and the swing arm 121 being a grooved wheel mechanism, Figure 7-Figure 9 In other embodiments, the swing arm 121 and the driving member 124 may be matched in a cam mechanism. Specifically, in this embodiment, the driving member 1244 has a first cam surface 1243, the abutting surface 1215 is a second cam surface 141 matched with the first cam surface 1243, and the rotation axis of the second cam surface 141 is colinear with the first rotation axis 1214. Thus, the position locking and position switching of the swing arm 121 are achieved through the cam mechanism. It can be understood that since different positions of the first cam surface 1243 are at different distances from the rotation center of the driving member 124, and different positions of the second cam surface 141 are at different distances from the first rotation axis 1214, when the driving member 124 rotates, the first cam surface 1243 will interfere with the second cam surface 141, causing the first cam surface 1243 to push the second cam surface 141 to rotate the swing arm 121. In addition, since the first cam surface 1243 and the second cam surface 141 are both arc-shaped cam surfaces, the smoothness of the relative movement between the first cam surface 1243 and the second cam surface 141 can be improved to avoid the swing arm 121 from getting stuck during rotation, thereby improving the user experience.

[0162] In some embodiments, reference Fig. 9 The driving part 1244 is a stopper 1242, and the side of the stopper 1242 facing the swing arm 121 has a first cam surface 1243. For example, the stopper 1242 is disposed at one end of the driving body 1241, and the side of the stopper 1242 facing the swing arm 121 has a first cam surface 1243, wherein the height of the stopper 1242 may be greater than the height of the driving body 1241, so as to increase the contact surface 1215 between the first cam surface 1243 and the second cam surface 141, thereby improving the reliability of the driving member 124 when pushing the swing arm 121 to move.

[0163] Understandably, reference Fig. 9The extension path of the stopper 1242 on the driving body 1241 matches the extension path of the first cam surface 1243, so that the side of the stopper 1242 facing the swing arm 121 can be constructed as the first cam surface 1243, that is, the first cam surface 1243 and the stopper 1242 form an integrated structure, thereby reducing the installation process and reducing the cost.

[0164] The stopper 1242 and the driving body 1241 may also be formed into an integral structure through an integral molding process such as injection molding or casting, thereby reducing the number of processes and the process cost.

[0165] In some embodiments, please refer to Fig.10 As shown, the swing arm 121 also includes abutment 140, which can be arranged on a side of the swing arm 121 close to the driving member 124 by means of threaded connectors such as screws, and the second cam surface 141 can be arranged on the abutment 140, so that when the driving member 124 rotates around the first direction, the abutment 140 can be pushed so that the swing arm 121 can move from the retracted position to the outward swing position together with the abutment 140; it can be understood that the height of the swing arm 121 can be adjusted by the abutment 140 so that the position of the second cam surface 141 matches that of the first cam surface 1243.

[0166] In some embodiments, when the swing arm 121 is in the retracted position, the swing arm 121 applies a force to the driving portion 1244 through the abutting surface 1215 under the drive of the first driving mechanism, and the direction of the force applied by the abutting surface 1215 points to the rotation axis of the driving member 124, so that the driving member 124 is locked in the retracted position. In this way, the swing arm 121 can be stably locked in the retracted position with high reliability.

[0167] Furthermore, when the swing arm 121 is in the retracted position, the force applied by the second cam surface 141 to the first cam surface 1243 is directed toward the rotation axis of the driving member 124. In this way, the swing arm 121 can be stably locked in the retracted position with high reliability.

[0168] In some embodiments, in combination Figure 7-Figure 13 The driving mechanism may further include a mounting seat 125, the mounting seat 125 being configured to be fixed relative to the machine body 110, and the swing arm 121 being capable of rotating about the first rotation axis 1214 to move relative to the mounting seat 125, thereby further moving relative to the machine body 110. For example, the mounting seat 125 may be detachably connected to the machine body 110 via a threaded connector or a snap-on connector, so as to facilitate replacement of the mounting seat 125 and / or the side brush assembly 120, etc.; or, the mounting seat 125 may also be integrally formed on the machine body 110; or, the mounting seat 125 may also be fixedly connected to the machine body 110 via bonding, welding, etc., as long as the mounting seat 125 is fixed relative to the machine body 110, and no limitation is made here.

[0169] Also, please refer to Fig. 9 and Fig.11 As shown, the driving member 124 is arranged on the mounting seat 125 and can rotate relative to the mounting seat 125. The mounting seat 125 is provided with a first limiting portion 1251 and a second limiting portion 1252 at intervals along the rotation direction of the driving member 124. The driving member 124 is configured to rotate between the first limiting portion 1251 and the second limiting portion 1252. In this way, the driving member 124 is limited by the first limiting portion 1251 and the second limiting portion 1252 to improve the accuracy of the movement range of the swing arm 121, avoid inaccurate movement position of the swing arm 121 and fail to clean the designated area, thereby improving the user experience.

[0170] In some embodiments, the first limiting portion 1251 includes a first limiting rib, and the second limiting rib includes a second limiting rib. In this way, the motion range of the driving member 124 is limited by the first limiting rib and the second limiting rib, thereby improving the accuracy of the motion range of the swing arm 121, and the structures of the two are relatively simple.

[0171] The first limiting rib and the second limiting rib can be formed into an integrated structure with the mounting seat 125 through a process such as injection molding or casting, so as to reduce the process flow and reduce the cost.

[0172] In order to improve the compactness of the cleaning robot 100, in some embodiments, the first drive motor 123 can be arranged on the mounting seat 125, and the output shaft of the first drive motor is coaxially arranged with the rotation axis of the driving member 124 to reduce the external size of the cleaning robot 100 and improve the compactness of the overall structure of the cleaning robot 100.

[0173] The forward and reverse rotations of the first drive motor 123 can make the movement direction of the drive member 124 different. For example, when the first drive motor 123 rotates forward, the first drive motor 123 can provide power to the drive member 124 to rotate the drive member 124 in a first direction, and when the first drive motor 123 rotates reversely, the drive member 124 can rotate in a second direction.

[0174] In addition, refer to Fig. 9 The first driving mechanism may further include a reducer 127, which is disposed between the first driving motor 123 and the driving member 124 to adjust the rotation speed of the driving member 124 through the reducer 127; wherein the reducer 127 may be configured as a first-stage reducer 127, a second-stage reducer 127 or a third-stage reducer 127 according to actual needs, and is not specifically limited.

[0175] In some embodiments, the side wall of the swing arm 121 on at least one side of the rotation direction is also provided with a buffer. For example, since the swing arm 121 can be rotated from the outward swing position to the inward retracted position, or from the inward retracted position to the outward swing position, buffers can be provided on the side of the swing arm 121 along its own circumference facing the outward swing position and the side facing the inward retracted position, respectively. The buffers can be rubber parts, sponges, and other buffers. The buffers are used to buffer the collision between the swing arm 121 and the body 110, thereby preventing the swing arm 121 from being damaged by collision and avoiding collision noise. Of course, in some alternative embodiments, the buffers corresponding to both sides of the swing arm 121 can be provided on the body 110 to reduce the weight of the swing arm 121 itself and make its movement smoother.

[0176] In some embodiments, the swing arm 121 includes an outer side surface of the swing arm and an inner side surface of the swing arm, and the buffer may include a first buffer and a second buffer, wherein the first buffer is arranged on the outer side surface of the swing arm, and the outer side surface of the swing arm refers to a side surface of the swing arm 121 close to the machine body along the rotation direction during the outer swing process, so that the first buffer can buffer the collision between the swing arm 121 and the machine body 10 when the swing arm 121 moves from the retracted position to the outer swing position. The second buffer is arranged on the inner side surface of the swing arm, and the inner side surface of the swing arm refers to a side surface of the swing arm 121 close to the mounting seat 125 of the driving mechanism along the rotation direction during the retracted process, and the second buffer can buffer the collision between the swing arm 121 and the mounting seat 125 of the driving mechanism when the swing arm 121 moves from the outer swing position to the retracted position.

[0177] In some embodiments, when the swing arm 121 moves from the outward swing position to the inward retracted position, the rotation angle of the swing arm 121 relative to the machine body 110 is between 50° and 70°. For example, the rotation angle of the swing arm 121 relative to the machine body 110 may be 50°, 55°, 60°, 65° or 70°. Of course, the present application does not limit this. The rotation angle of the swing arm 121 relative to the machine body 110 may be reasonably selected within the above range according to actual needs. In this way, while ensuring that the swing arm 121 can effectively transfer the cleaning member 122 to the outside of the machine body 110, it can be prevented that the space occupied by the movement is too large when the stroke of the swing arm 121 is too large.

[0178] In some embodiments, when the swing arm 121 is in the outward swing position, the minimum distance from the end of the swing arm 121 away from the body 110 to the body 110 is greater than or equal to 10 cm. Here, the minimum distance from the end of the swing arm 121 away from the body 110 to the body 110 refers to the minimum distance from the end of the swing arm 121 away from the body 110 to the contour of the body 110. In this way, the cleaning member 122 can have a sufficiently large cleaning range to better adapt to complex working conditions and improve the user experience.

[0179] In some embodiments, when the side brush is in the retracted position, there is a gap between the side brush and the angle; when the side brush is in the outward swing position, the side brush contacts the angle to deform and clean; the edge path is the first wall, and the preset obstacle is an obstacle that the cleaning robot 100 needs to turn to avoid when cleaning along the first wall. For example, the preset obstacle can be a table and chair leg, a columnar object, a flower pot, etc. When the side brush cannot clean the gap between the side brush and the angle in the retracted position, the swing arm can be controlled to rotate to the outward swing position, so that the side brush is in the outward swing position, and the side brush contacts the angle to deform. The deformed side brush can be extended into the narrow gap at the angle for cleaning, thereby providing a cleaning effect and improving the user experience.

[0180] In some embodiments, when the cleaning robot 100 identifies a target obstacle, the side brush is in an outward swing position for cleaning, the target obstacle has a cavity that the side brush can touch when it is in the outward swing position, and the target obstacle is at least concave at the height of the side brush toward the side away from the body to form a cavity. For example, the lower edge of the target obstacle may have an arc and / or a broken line structure to form an inner concave portion. It is understandable that since the body is relatively large in size, the side brush has bristles, and the bristles are easier to clean a small space, and the overall volume of the side brush is relatively small, and the movement is more flexible, therefore, the side brush is more suitable for cleaning the cavity of the target obstacle. When the body itself cannot approach the concave cavity of the target obstacle, the side brush can be extended to clean the cavity, so as to better clean the inside of the cavity, improve the cleaning effect, and improve the cleaning robot 100 to adapt to more complex cleaning conditions.

[0181] In some embodiments, the depth of the side brush entering the cavity in the outward swing position is greater than the depth of the side brush entering the cavity in the retracted position. In this way, it can be ensured that the side brush can effectively clean the inside of the cavity, that is, although the side brush can enter the cavity in the retracted position, the cleaning effect is limited. When in the outward swing position, it can further penetrate the cavity for cleaning.

[0182] In some embodiments, when the side brush of the cleaning robot 100 is in an outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or wet stains, the drive mechanism drives the side brush to switch from the outward swing position to the retracted position so that the side brush avoids the linear obstacles and / or wet stains. Here, the preset distance can be pre-set by the user, or it can be determined by the cleaning data collected by the cleaning robot 100. The preset distance can be the same or different for different preset obstacles. In the embodiment of the present application, the linear obstacle may refer to obstacles with linear characteristics such as electric wires and knitted fabrics, and the wet stain may refer to stains with moisture such as water stains, tea stains, and feces. The embodiment of the present application does not specifically limit the linear obstacles and wet stains.

[0183] In this way, the side brush can be retracted to the retracted position before it reaches the linear obstacle and / or wet stain, thereby preventing the side brush from getting hooked on the linear obstacle and causing the side brush to fall off or be deformed and damaged. It can also prevent the side brush from being stained with wet stains, causing itself to be contaminated and its cleaning ability to be weakened.

[0184] In some embodiments, an obstacle detection sensor can be provided on the body 10, that is, when the presence of a preset type of obstacle is detected based on environmental information, such as obstacles such as wiring harnesses, fabrics, wet stains, etc., if the side brush is in an outward swing position, it is easy to get entangled or contaminated, and then a retraction switching instruction can be generated to control the cleaning robot 100 to control the side brush to switch from an outward swing position to a retracted position at a preset distance. In this way, the side brush can be actively retracted to avoid contact with linear obstacles and / or wet stains, thereby preventing the side brush from being contaminated and reducing the number of cleanings.

[0185] In some embodiments, the side brush assembly 120 further includes a controller, which is suitable for controlling the movement of the swing arm 121 between an outward swing position and an inward retracted position. This facilitates the control of the movement of the swing arm 121 and can improve the degree of automation of the movement of the swing arm 121.

[0186] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in an outward swing position when there are a first obstacle and a second obstacle on the travel path of the cleaning robot 100, wherein the first obstacle and the second obstacle extend in different horizontal directions respectively, and there is an angle between the first obstacle and the second obstacle. For example, at the angle formed in a corner of a wall or between the legs of a table or chair, the swing arm 121 can be controlled to extend so as to extend the cleaning element 122 to the corner for cleaning.

[0187] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in an outward swing position when there is a third obstacle in the path of the cleaning robot 100, wherein the third obstacle has an inwardly recessed area, for example, the space at the bottom of the washing machine, or other third obstacles are recessed inward at a corresponding height of the cleaning member 122 toward the side away from the body 110 to form a cavity. At this time, the swing arm 121 can be controlled to extend into the cavity for cleaning.

[0188] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in a retracted position when there is a fourth obstacle on the path of the cleaning robot 100, wherein the fourth obstacle is an obstacle that hinders the operation of the cleaning member 122, for example, the fourth obstacle may be a linear obstacle and / or a wet stain, and at a preset distance relative to the linear obstacle and / or the wet stain, the swing arm 121 is controlled to switch from the outward swing position to the retracted position so that the swing arm 121 avoids the linear obstacle and / or the wet stain.

[0189] In summary, the cleaning robot 100 of this embodiment can avoid obstacles better during operation, and can effectively clean the corner spaces around obstacles, thereby improving the adaptability of the cleaning robot 100 to complex working conditions, being more intelligent, and helping to improve user experience.

[0190] In some embodiments, reference Figure 4 The cleaning robot 100 further includes an electrical connection assembly 130 , which includes an electrical connection member 132 , which is electrically connected to the body 110 , and at least a portion of the electrical connection member 132 is coaxially arranged with the first rotation axis 1214 . Exemplarily, the electrical connector 132 can be a wiring harness for electrically connecting two components. The electrical connector 132 is electrically connected to the body 110. For example, an electrical component is provided on the swing arm 121, and the electrical component is connected to the swing arm 121 through the electrical connector 132 to provide electrical connection and / or signal connection to the electrical component, and at least part of the electrical connector 132 is coaxially arranged with the first rotation axis 1214. In this way, when the swing arm 121 rotates relative to the body 110, the electrical connector 132 will move synchronously with the swing arm 121 around the first rotation axis 1214. In this way, the relative movement between the electrical connector 132 and the swing arm 121 is reduced, thereby reducing the wear on the electrical connector 132 and extending the service life of the electrical connector 132.

[0191] In some embodiments, please refer to Figures 4 to 6 As shown, a wire passing hole 1212 is provided on the swing arm 121, and the wire passing hole 1212 is coaxially arranged with the first rotation axis 1214. The wire passing hole 1212 is configured to guide the extension direction of at least part of the electrical connector 132. For example, the electrical connector 132 is passed through the wire passing hole 1212. In this way, the wire passing hole 1212 can guide and limit the extension of part of the electrical connector 132, so that the electrical connector 132 can be coaxially arranged with the first rotation axis 1214, thereby improving the reliability of the coaxial arrangement of the electrical connector 132 and the first rotation axis 1214.

[0192] Exemplarily, the electrical connector 132 is passed through the wire hole 1212 to guide and limit the extension direction of the electrical connector 132 through the wire hole 1212. In this way, when the swing arm 121 swings around the first rotation axis 1214, the electrical connector 132 moves synchronously with the swing arm 121, thereby reducing the relative movement between the electrical connector 132 and the swing arm 121, thereby reducing the wear on the electrical connector 132 and extending the service life of the electrical connector 132.

[0193] In some embodiments, reference Figure 4A protrusion 1211 is provided on the swing arm 121, and the wire hole 1212 is located on the protrusion 1211, and the protrusion 1211 has a notch portion connected to the wire hole 1212, and the electrical connector 132 is passed through the notch portion and arranged in the wire hole 1212.

[0194] For example, a protrusion 1211 is disposed at one end of the swing arm 121 facing the first rotation axis 1214. Figures 1 to 4 When placed horizontally in the middle, the protrusion 1211 is arranged on the top of the swing arm 121, the wire hole 1212 is located on the protrusion 1211, and the protrusion 1211 has a notch portion connected to the wire hole 1212, and the electrical connector 132 is passed through the notch portion (not shown in the figure) and is arranged in the wire hole 1212; it can be understood that by arranging the protrusion 1211 on the swing arm 121, and arranging the wire hole 1212 on the protrusion 1211, the electrical connector 132 can be passed through the notch portion and in the wire hole 1212, so that the cross misalignment between the electrical connector 132 and the swing arm 121 can be avoided, which will cause wear on the electrical connector 132, thereby extending the service life of the electrical connector 132.

[0195] In addition, in some embodiments, a lead frame 128 (such as Figure 5 As shown in the figure, the wire rack 128 is arranged on the swing arm 121, and the wire rack 128 is configured to guide the electrical connector 132 to the wire hole 1212, and the electrical connector 132 is movably connected to the wire rack 128, so that the electrical connector 132 is guided by the wire rack 128, so that the electrical connector 132 can extend to the wire hole 1212 along the specified routing path, so as to reduce the relative movement between the swing arm 121 and the electrical connector 132, thereby reducing the wear on the electrical connector 132.

[0196] In order to further improve the guiding property of the electrical connector 132 and reduce the wear of the electrical connector 132, in some embodiments, please continue to refer to Figure 5 As shown, a guide groove 1281 is provided on the lead frame 128 , and the electrical connector 132 is movably provided in the guide groove 1281 so as to guide the electrical connector 132 through the guide groove 1281 .

[0197] It should be noted that the extension direction of the guide groove 1281 is consistent with the routing direction of the electrical connector 132, so that the wiring harness can be guided to the wire hole 1212 through the guide groove 1281, so that part of the electrical connector 132 is coaxially arranged with the wire hole 1212 and the first rotation axis 1214 to reduce the wear on the electrical connector 132.

[0198] In addition, the contour shape of the groove wall of the guide groove 1281 facing the electrical connector 132 can match the contour shape of the electrical connector 132 to reduce the wear between the guide groove 1281 and the electrical connector 132 and extend the service life of the electrical connector 132.

[0199] In some embodiments, the cleaning member 122 is rotatably connected to the swing arm 121, so that the cleaning member 122 can rotate relative to the swing arm 121 to clean the surface to be cleaned.

[0200] In some embodiments, the side brush assembly 120 may further include a third driving mechanism, which is configured to drive the cleaning member 122 to be rotatably connected to the swing arm 121. In this way, when the third driving mechanism can provide driving force for the rotation of the cleaning member 122, when the cleaning member 122 rotates, for example, the dust particles on the ground can be swept by the cleaning member 122 and gathered toward the inner side of the body 110, so as to be adsorbed into the dust suction chamber through the dust suction port; or; when the third driving mechanism drives the cleaning member 122 to rotate relative to the swing arm 121, the cleaning member 122 is, for example, a cleaning cloth, so that the ground is wiped and cleaned by the cleaning cloth.

[0201] In some embodiments, the third drive mechanism and the second drive mechanism may share an outer swing motor; the second drive mechanism may further include a clutch, and the outer swing motor drives at least one of the swing arm and the cleaning member to rotate through the clutch. In this way, by providing the clutch, a set of drive devices can be used to drive the swing arm 121 and the cleaning member 122 to rotate respectively, thereby improving the integration of the third drive mechanism and the second drive mechanism, and helping to reduce the space occupied by the side brush assembly 120.

[0202] Furthermore, when the side brush assembly 120 is in the retracted position, the clutch member is used to only allow the outer swing motor to drive the cleaning member 122 to rotate, so that the swing arm 121 is locked in the retracted position. In this way, when the side brush assembly 120 is in the retracted position to clean the surface to be cleaned, it can keep its position fixed, thereby ensuring the smooth progress of the cleaning work and improving the cleaning efficiency.

[0203] In some embodiments, the third driving mechanism can be arranged on the swing arm 121, so that the external dimensions of the side brush assembly 120 can be reduced, thereby improving the structural compactness of the side brush assembly 120; in addition, the third driving mechanism is electrically connected to the electrical connector 132, and the electrical connector 132 is used to energize the third driving mechanism.

[0204] In addition, by arranging the third driving mechanism on the swing arm 121 and electrically connecting the electrical connector 132 to the third driving mechanism, the third driving mechanism and the electrical connector 132 will move synchronously with the swing arm 121, thereby reducing the relative movement between the electrical connector 132 and the swing arm 121, thereby reducing the wear on the electrical connector 132 and extending the service life of the electrical connector 132.

[0205] In some embodiments, reference Figure 6 The third driving mechanism includes a second driving motor 126, which is electrically connected to the electrical connector 132; the second driving motor 126 is configured to drive the cleaning member 122 to rotate around the second rotation axis 1221. In this way, the cleaning member 122 can be driven.

[0206] Furthermore, the third driving mechanism includes a second driving motor 126 and a reducer 127, the second driving motor 126 is electrically connected to the electrical connector 132, and the reducer 127 is arranged between the second driving motor 126 and the cleaning member 122, for example, the reducer 127 is connected to the output shaft of the second driving motor 126, and the output shaft of the reducer 127 is connected to the cleaning member 122, wherein the second driving motor 126 drives the cleaning member 122 to rotate around a second rotation axis 1221 through the reducer 127, wherein the cleaning member 122 is, for example, a disc structure, and the second rotation axis 1221 is, for example, coaxially arranged with the central axis of the disc-shaped cleaning member 122.

[0207] Exemplarily, the cleaning member 122 includes a disc base and a brush, a cleaning cloth or a rubber strip, etc., which are arranged on the disc base. The second rotation axis 1221 is coaxially arranged with the central axis of the disc base. In this way, the second drive motor 126 drives the disc base to rotate around the second rotation axis 1221 through the reducer 127, so that the brush, the cleaning part or the rubber strip, etc. on the disc base rotates with the disc base to clean the floor.

[0208] It can be understood that the reducer 127 in the third driving mechanism is also used to adjust the rotation speed of the cleaning member 122. The reducer 127 can also be provided with a first-stage reducer 127, a second-stage reducer 127 or a third-stage reducer 127 according to user needs. In this way, the rotation speed of the cleaning member 122 can be adjusted according to different cleaning needs to enhance the user's experience.

[0209] The structure of the reducer 127 may refer to the relevant technology and will not be described in detail here.

[0210] In some embodiments, the cleaning member 122 includes at least one of a side brush and a mopping member. Thus, the cleaning member 122 has various forms, and different cleaning members 122 can be used according to different task requirements.

[0211] In some embodiments, please refer to Figures 1 to 4 As shown, the electrical connection component 130 also includes a circuit board 131, and the circuit board 131 is arranged in the body 110. The electrical connector 132 is electrically connected to the circuit board 131. For example, the second drive motor 126 in the third drive mechanism is electrically connected to the circuit board 131 through the electrical connector 132, so that the circuit board 131 provides electrical energy to the second drive motor 126; in addition, the first drive motor 123 in the first drive mechanism can also be electrically connected to the circuit board 131, etc.

[0212] In some embodiments, the cleaning robot 100 may further include a position sensor, which is disposed at the front end of the body 110, and is connected to the circuit board 131 by signal. The position sensor is configured to detect the position of the body 110 and / or the side brush assembly 120, and the swing arm 121 rotates to the outward swing position or the retracted position according to the signal detected by the position sensor, thereby improving the accuracy of the judgment of whether the swing arm 121 needs to be retracted or extended. Exemplarily, the position sensor can be formed as a collision plate structure.

[0213] For example, when the position sensor detects an area that is difficult to clean, such as a corner of the cleaning position where the machine body 110 is located, the swing arm 121 moves from an outward swing position to an inward retracted position according to a detection signal from the position sensor. Specifically, the swing arm 121 is driven by a first driving mechanism (such as an elastic member 129) to rotate toward the outside of the machine body 110 so that the swing arm 121 extends relative to the machine body 110, thereby cleaning areas that are difficult to clean, such as corners.

[0214] In some embodiments, the body 110 has a accommodating notch, and when the swing arm 121 is in the retracted position, the swing arm 121 is accommodated in the accommodating notch. In this way, when the swing arm 121 is not needed to be extended, the swing arm 121 can be better accommodated to prevent the swing arm 121 from colliding and reduce the risk of damage. In addition, it can also improve the appearance of the cleaning robot 100.

[0215] In some embodiments, the shape of the swing arm 121 matches the shape of the receiving notch. When the swing arm 121 is in the retracted position, the outer side of the swing arm 121 constitutes a part of the outline of the body 110. For example, when the body 110 is circular, the exposed part of the swing arm 121 is also in an arc shape when the swing arm 121 is in the retracted position, and the exposed part of the swing arm 121 and the outline of the body 110 are on the same circle. In this way, the appearance consistency of the cleaning robot 100 can be improved, making it more beautiful.

[0216] In some embodiments, the side brush assembly 120 may also be a shell, and when the swing arm 121 is in the retracted position, the shell constitutes a part of the outline of the body 110. In this way, the appearance consistency of the cleaning robot 100 can be improved and more beautiful.

[0217] In some embodiments, the housing can be fixed to the swing arm 121, for example, the housing can be fixed to the swing arm 121 by bolt connection, clamping, bonding, etc. Alternatively, the housing is movably connected to the outer wall of the body 110, and when the swing arm 121 is in the retracted position, the housing blocks the accommodation gap. In other words, the housing can be used to open or close the solute gap. In this way, when the swing arm 121 is in the retracted position, the housing can better protect the swing arm 121.

[0218] In some embodiments, the cleaning member 122 may include: a rubber strip and bristles. Specifically, the first end of the rubber strip is connected to the third driving mechanism, and the rubber strip may be directly connected to the third driving mechanism or may be connected to the third driving mechanism through an intermediate transmission device. The bristles are arranged at the second end of the rubber strip, and the bristles are used to clean the surface to be cleaned. In this way, the structure of the cleaning member 122 is relatively simple.

[0219] In some embodiments, the swing arm 121 is coated with a flexible material layer, wherein the side brush is connected to the far end of the swing arm 121 relative to the machine body 10 to ensure that the side brush has a larger cleaning range. The flexible material layer can be circumferentially coated on the outside of at least part of the far end of the swing arm 121. Here, the far end of the swing arm 121 refers to the end farthest from the machine body 10 when the swing arm 121 is in the outward swing position. Since the far end of the swing arm 121 may be the position on the swing arm 121 that is most likely to collide with an obstacle, in this embodiment, the flexible material layer is circumferentially coated on the far end of the swing arm 121, which can provide a buffer for the swing arm when the far end of the swing arm 121 collides with other objects to prevent collision damage.

[0220] Of course, considering that other positions of the swing arm 121 may also collide with obstacles or the body, the flexible material layer can also cover at least part of the side wall of the swing arm 121. At this time, the flexible material layer can also cover only part of the side wall of the swing arm 121, or it can cover the entire side wall of the swing arm 121 to ensure the overall collision buffering effect of the swing arm 121.

[0221] In some embodiments, the cleaning member 122 is a flexible cleaning member 122 , so that the cleaning member 122 can be prevented from being squeezed, bent, or deformed, thereby increasing the service life.

[0222] In some embodiments, the swing arm 121 is a flexible member, so that the swing arm 121 can be deformed to a certain extent and can be more easily extended around the obstacle, so that the cleaning member 122 can clean the area around the obstacle.

[0223] In some embodiments, the cleaning member 122 can be raised and lowered on the swing arm 121 to switch between a cleaning position and a raised position, wherein, in the cleaning position, the cleaning member 122 cleans the surface to be cleaned; in the raised position, the cleaning member 122 is separated from the surface to be cleaned to avoid secondary contamination of the surface to be cleaned by dirt on the cleaning member 122.

[0224] For example, when the cleaning robot 100 moves to a floor with liquid stains or sticky stains, the cleaning member 122 can be controlled to switch from a cleaning position to a raised position to prevent the cleaning member 122 from contacting the stains and carrying the stains to other locations on the floor, such as locations that have been cleaned, thereby preventing secondary contamination of the floor; alternatively, when the cleaning member 122 has cleaned the floor that has already been cleaned and there is a lot of dirt attached to the cleaning member 122, the cleaning member 122 can be controlled to switch from a cleaning position to a raised position to prevent the cleaning member 122 from contacting the surface to be cleaned, thereby preventing secondary contamination of the floor.

[0225] In some embodiments, the cleaning robot 100 includes at least two side brush assemblies 120, and at least two side brush assemblies 120 are spaced apart and movably connected to the front of the body 110. For example, the side brush assembly 120 can be one, two or more. When there are two or more side brush assemblies 120, the two or more side brush assemblies 120 are spaced apart at the edge of the body 110, for example, in the front. It can be understood that the front of the body 110 refers to the movement direction of the body 110. The side of the body 110 facing forward is the front of the body 110, and the opposite is the rear of the body 110. The left side of the body 110 is the left side, and the right side of the body 110 is the right side. Exemplarily, when there are two side brush assemblies 120, the two side brush assemblies 120 can be symmetrically arranged in front of the body 110, so that the dust and foreign particles on the ground are gathered to the inner side of the body 110 through the two side brush assemblies 120, thereby improving the cleaning efficiency of the cleaning robot 100.

[0226] Exemplarily, the side brush assembly 120 includes a swingable side brush assembly 120 and a non-swinging side brush assembly 120. The swingable side brush assembly 120 swings relative to the body 110 via a swing arm 121, and the non-swinging side brush assembly 120 is fixed relative to the body 110. Exemplarily, the cleaning robot 100 includes a side brush assembly 120, which adopts a swingable side brush assembly 120. The swingable side brush assembly 120 can be set at the upper right corner of the body 110 (also referred to as the right front corner). In this way, when the swing arm 121 is extended relative to the body 110, the cleaning member 122 can clean the right-angled or concave area to avoid the existence of cleaning dead corners, thereby increasing the cleaning range of the cleaning robot 100 and improving the user experience. Alternatively, the cleaning robot 100 includes two side brush assemblies 120, both of which are swingable side brush assemblies 120, or, one of the two side brush assemblies 120 is a swingable side brush assembly 120, and the other is a non-swinging side brush assembly 120, wherein the swingable side brush assembly 120 can be set on the right side of the cleaning robot 100.

[0227] It can be seen that in the embodiment of the present application, at least one swingable side brush assembly 120 is movably connected to the machine body 110. The side brush assembly 120 includes a swing arm 121, a cleaning member 122 and an electrical connection assembly 130. The swing arm 121 is rotatably connected to the machine platform around a first rotation axis 1214, so that the swing arm 121 moves between an outward swing position and an inward retracted position relative to the machine body 110. The cleaning member 122 is arranged on the swing arm 121 to move with the swing arm 121. In this way, the cleaning range of the cleaning member 122 is increased, and the existence of cleaning defects is avoided. In addition, the electrical connection component 130 includes an electrical connection member 132, which is electrically connected to the body 110, and at least a portion of the electrical connection member 132 is coaxially arranged with the first rotation axis 1214. When the swing arm 121 moves, the electrical connection member 132 follows the swing arm 121 and moves synchronously around the first rotation axis 1214, thereby reducing the relative movement between the electrical connection member 132 and the swing arm 121, thereby reducing the wear on the electrical connection member 132 and extending the service life of the electrical connection.

[0228] In some embodiments, the front end of the cleaning robot 100 is generally provided with a collision detection structure (not shown in the figure), for example, a collision plate structure (not shown in the figure). When the front end of the cleaning robot 100 collides, the collision plate structure undergoes a displacement change to trigger the collision detection of the cleaning robot 100. The collision plate structure is at least partially surrounded by the front side of the cleaning robot 100; the collision plate structure is provided with an avoidance space, and the avoidance space is used to avoid the side brush assembly 120 to provide movement space for the side brush assembly 120 to move from the outward swing position to the inward retracted position. Exemplarily, the avoidance space can be formed as a gap.

[0229] Exemplarily, when the side brush assembly 120 moves from an outward swing position to a retracted position relative to the body 110, the side brush assembly 120 can move along the bottom of the body 110 to move from the outward swing position to the retracted position; or, the side brush assembly 120 can move from the side wall of the body 110 to move from the outward swing position to the retracted position.

[0230] In some embodiments, the driving member 124 has a driving surface, and the swing arm 121 has an abutment surface 1215 that matches the driving surface. When the driving member 124 rotates along the first direction around its own axis, the driving surface pushes the abutment surface 1215 to move the swing arm 121 from the retracted position to the outward swing position. It can be understood that by providing a driving surface on the driving member 124 and providing an abutment surface 1215 that matches the driving surface on the swing arm 121, the driving surface pushes the abutment surface 1215, so that when the swing arm 121 moves, the abutment accuracy between the driving member 124 and the swing arm 121 can be improved, thereby avoiding the problem of movement delay caused by large abutment error.

[0231] In some embodiments, a cam mechanism is formed between the driving member 124 and the swing arm 121, and the position locking of the swing arm 121 is achieved by the cam mechanism. Exemplarily, the cam mechanism includes a first cam surface 1243 and a second cam surface 141. As shown in the figure, the driving surface includes the first cam surface 1243, and the abutting surface 1215 includes a second cam surface 141 that matches the first cam surface 1243. The axis of the second cam surface 141 is colinear with the first rotation axis 1214. It can be understood that since different positions of the first cam surface 1243 are at different distances from the rotation center of the driving member 124, the second cam surface 141 is colinear with the first rotation axis 1214. Different positions of the cam surface 141 have different distances from the first rotation axis 1214. In this way, when the driving member 124 rotates, the first cam surface 1243 will interfere with the second cam surface 141, causing the first cam surface 1243 to push the second cam surface 141 to rotate the swing arm 121. In addition, since the first cam surface 1243 and the second cam surface 141 are both arc-shaped cam surfaces, the smoothness of the relative movement between the first cam surface 1243 and the second cam surface 141 can be improved to avoid the swing arm 121 from getting stuck when rotating, thereby improving the user experience.

[0232] The cleaning robot 100 provided in the embodiment of the present application includes a body 110 and a side brush assembly 120, the side brush assembly 120 is movably connected to the body 110, the side brush assembly 120 includes a swing arm 121, a cleaning member 122 and an electrical connection assembly 130, the swing arm 121 is rotatably connected to the body 110 around a first rotation axis 1214, so that the swing arm 121 moves between an outward swing position and an inward retracted position relative to the body 110, and the cleaning member 122 is arranged on the swing arm 121 to follow the movement of the swing arm 121, so that the cleaning efficiency of the cleaning member 122 is increased. range, avoiding the problem of cleaning dead corners and improving the user experience; in addition, the electrical connection component 130 includes an electrical connection member 132, which is electrically connected to the body 110, and at least part of the electrical connection member 132 is coaxially arranged with the first rotation axis 1214. When the swing arm 121 moves, the electrical connection member 132 follows the swing arm 121 and moves synchronously around the first rotation axis 1214, thereby reducing the relative movement between the electrical connection member 132 and the swing arm 121, thereby reducing the wear on the electrical connection member 132 and extending the service life of the electrical connection.

[0233] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0234] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0235] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that: include: Body; A side brush assembly comprises a driving mechanism, a swing arm and a cleaning member, wherein the swing arm is rotatably connected to the machine body around a first rotation axis, and the cleaning member is arranged on the swing arm and is suitable for performing cleaning operations; The driving mechanism is suitable for driving the swing arm to rotate around a first rotation axis so that the swing arm moves between an outward swing position and a retracted position relative to the machine body. When the swing arm is in the outward swing position, the cleaning member is further away from the machine body than when the swing arm is in the retracted position. When the swing arm is in the outward swing position, the cleaning member can clean the angle between the edge path and a preset obstacle.

2. The cleaning robot according to claim 1, characterized in that: The cleaning member includes a side brush. When the swing arm is in the retracted position, the cleaning robot performs edge cleaning along the edge path. When the swing arm is in the outward swing position, the side brush contacts the angle and deforms, so that the side brush penetrates into the angle between the edge path and the preset obstacle for cleaning.

3. The cleaning robot according to claim 1, characterized in that: The driving mechanism includes a driving member, which is rotatably arranged relative to the body around a second rotation axis. The driving member is used to drive the swing arm to move between the outward swing position and the inward retracted position. The first rotation axis and the second rotation axis are parallel to each other.

4. The cleaning robot according to claim 3, characterized in that: The driving mechanism comprises: a first driving mechanism, wherein at least a driving force of the first driving mechanism drives the swing arm to move around the first rotation axis so that the swing arm moves toward one of the outward swing position and the inward retracted position; A second driving mechanism, at least the driving force of the second driving mechanism drives the swing arm to move toward the other of the outward swing position and the inward retracted position.

5. The cleaning robot according to claim 4, characterized in that: The first driving mechanism is configured to at least partially drive the swing arm to move from the retracted position to the outward swing position; the second driving mechanism is configured to at least partially overcome the force of the first driving mechanism to drive the swing arm to move from the outward swing position to the retracted position.

6. The cleaning robot according to claim 5, characterized in that: The first driving mechanism includes an elastic member, one end of which is connected to the swing arm, and the other end of which is fixed relatively to the body; the elastic member drives the swing arm from the retracted position to the outward swing position through its own elastic force.

7. The cleaning robot according to claim 6, characterized in that: The elastic member is one of a torsion spring, a compression spring and a tension spring.

8. The cleaning robot according to claim 6, characterized in that: The second driving mechanism includes the driving member, and the driving member is configured to rotate relative to the body in a first direction and a second direction. When the driving member rotates about the first direction, the driving member at least partially overcomes the elastic force of the elastic member to push the swing arm from the outward swing position to the inward retracted position; When the driving member rotates around the second direction, the elastic member drives the swing arm to move from the retracted position to the outward swing position through its own elastic force; wherein the first direction and the second direction are opposite.

9. The cleaning robot according to claim 8, characterized in that: The second driving mechanism includes an epicyclic motor and an epicyclic gear set, the epicyclic gear set includes a planetary gear, and the epicyclic gear set is at least partially arranged below the driving member. The rotation axis of the epicyclic motor and the orbital axis of the planetary gear are coaxial, so that the rotation axis of the epicyclic motor and the rotation axis of the driving member are coaxial.

10. The cleaning robot according to claim 8, characterized in that: The second driving mechanism includes an outward swing motor and an outward swing gear set, the outward swing gear set includes parallel gears, at least one rotating shaft of the parallel gears is parallel to the rotating shaft of the outward swing motor, and at least another rotating shaft of the parallel gears is coaxial with the rotating shaft of the driving member.

11. The cleaning robot according to claim 8, characterized in that: The driving member comprises a driving body and a driving portion, wherein the driving portion is connected to the driving body and is eccentrically arranged relative to a second rotation axis of the driving member. The swing arm has an abutment surface that cooperates with the driving part. When the driving member rotates along the first direction around the second rotation axis, the driving part is suitable for pushing the abutment surface to move the swing arm from the outward swing position to the inward retracted position.

12. The cleaning robot according to any one of claims 4 to 11, characterized in that: One of the driving member and the swing arm also includes a matching portion, and the other has a matching notch matching with the matching portion. When the swing arm is located in the outward swing position, the matching portion and the matching notch are separated from each other. When the swing arm is located in the retracted position, the matching portion and the matching notch are matched and connected with each other.

13. The cleaning robot according to claim 12, characterized in that: When the swing arm is located at the retracted position, the swing arm applies a force to the matching portion under the drive of the first driving mechanism, and the direction of the force applied by the swing arm to the matching portion points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

14. The cleaning robot according to claim 11, characterized in that: The driving portion has a first cam surface, the abutting surface is a second cam surface matched with the first cam surface, and the rotation axis of the second cam surface is colinear with the first rotation axis.

15. The cleaning robot according to claim 14, characterized in that: When the swing arm is located at the retracted position, the swing arm applies a force to the driving part through the abutment surface under the drive of the first driving mechanism, and the direction of the force applied by the abutment surface points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

16. The cleaning robot according to claim 15, characterized in that: When the swing arm is located at the retracted position, the force applied by the second cam surface to the first cam surface is directed toward the rotation axis of the driving member.

17. The cleaning robot according to claim 3, characterized in that: When the swing arm is located at the retracted position, the direction of the reaction force of the swing arm on the driving member points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

18. The cleaning robot according to any one of claims 1 to 11, characterized in that: A buffer is also provided on at least one side of the side wall of the swing arm in the rotation direction, and the buffer is used to buffer the collision between the swing arm and the machine body.

19. The cleaning robot according to claim 18, characterized in that: The swing arm includes an outer side surface and an inner side surface of the swing arm, and the buffer includes a first buffer component and a second buffer component. The first buffer component is arranged on the outer side surface of the swing arm to buffer the collision between the swing arm and the body when the swing arm moves from the retracted position to the outward swing position. The second buffer component is arranged on the inner side surface of the swing arm to buffer the collision between the swing arm and the mounting seat of the drive mechanism when the swing arm moves from the outward swing position to the retracted position.

20. The cleaning robot according to any one of claims 1 to 11, characterized in that: When the swing arm moves from the outward swing position to the inward retracted position, the rotation angle of the swing arm relative to the machine body is between 50° and 70°.

21. The cleaning robot according to claim 2, characterized in that: When the side brush is in the retracted position, there is a gap between the side brush and the angle; when the side brush is in the outward swing position, the side brush contacts the angle and deforms to perform cleaning; the edge path is the first wall edge, and the preset obstacle is an obstacle that the cleaning robot needs to turn to avoid when cleaning along the first wall edge.

22. The cleaning robot according to claim 2, characterized in that: When the cleaning robot identifies a target obstacle, the side brush is in the outward swing position for cleaning, and the target obstacle has a cavity that can be touched by the side brush in the outward swing position. The target obstacle is concave at least at the height of the side brush toward a side away from the machine body to form the cavity.

23. The cleaning robot according to claim 22, characterized in that: The depth of the side brush entering the cavity in the outward swing position is greater than the depth of the side brush entering the cavity in the inward retracted position.

24. The cleaning robot according to claim 2, characterized in that: When the side brush assembly of the cleaning robot is in the outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or the wet stains, the driving mechanism drives the side brush assembly to switch from the outward swing position to the retracted position so that the side brush avoids the linear obstacles and / or the wet stains.

25. The cleaning robot according to any one of claims 4 to 11, characterized in that: The cleaning member is rotatably connected to the swing arm, and the side brush assembly further comprises a third driving mechanism, wherein the third driving mechanism is configured to drive the cleaning member to be rotatably connected to the swing arm.

26. The cleaning robot according to claim 25, characterized in that: The third driving mechanism and the second driving mechanism share an outward swing motor; The second driving mechanism also includes a clutch, and the outer swing motor drives at least one of the swing arm and the cleaning member to rotate through the clutch.

27. The cleaning robot according to claim 26, characterized in that: When the side brush assembly is in the retracted position, the clutch member is used to enable the outward swing motor to drive the cleaning member to rotate and the swing arm to stop rotating, so that the swing arm is locked in the retracted position.

28. The cleaning robot according to claim 25, characterized in that: It also includes an electrical connection assembly, which includes an electrical connection member, which is electrically connected to the body, and at least a portion of the electrical connection member is coaxially arranged with the first rotation axis.

29. The cleaning robot according to claim 28, characterized in that: The swing arm is provided with a wire-passing hole, the wire-passing hole is coaxially arranged with the first rotation axis, and the wire-passing hole is configured to guide at least a portion of the extension direction of the electrical connector.

30. The cleaning robot according to claim 28, characterized in that: The third driving mechanism is arranged on the swing arm and is electrically connected to the electrical connection member.

31. The cleaning robot according to claim 30, characterized in that: The third driving mechanism includes a second driving motor, which is electrically connected to the electrical connection member; the second driving motor is configured to drive the cleaning member to rotate around a third rotation axis.

32. The cleaning robot according to claim 31, characterized in that: The electrical connection assembly also includes a circuit board, which is disposed in the body, and the electrical connector is electrically connected to the circuit board.

33. The cleaning robot according to any one of claims 1 to 11, characterized in that: When the swing arm is located at the outward swing position, the swing arm extends outward relative to the body; when the swing arm is located at the retracted position, the swing arm is close to the body, and the body has a accommodating gap. When the swing arm is in the retracted position, the swing arm is accommodated in the accommodating gap.

34. The robot according to claim 33, characterized in that The shape of the swing arm and the shape of the accommodating notch match each other. When the swing arm is in the retracted position, the outer side surface of the swing arm constitutes a part of the body contour.

35. The cleaning robot according to claim 25, characterized in that: The cleaning element comprises: A rubber strip, a first end of which is connected to the third driving mechanism; Bristles are arranged at the second end of the rubber strip.

36. The cleaning robot according to any one of claims 1 to 11, characterized in that: The swing arm is covered with a flexible material layer, the side brush is connected to the distal end of the swing arm relative to the body, the flexible material layer circumferentially covers the outer side of at least part of the distal end of the swing arm, and / or the flexible material layer covers at least part of the side wall of the swing arm.

Images