Cleaning robot

Abstract

The utility model discloses a cleaning robot. The cleaning robot comprises a robot body, a switching assembly and a sensing assembly. A controller is arranged in the robot main body; the switching assembly comprises a switching piece, and the switching piece rotates around a first direction relative to the robot main body so as to be in a first state or a second state; the induction assembly comprises an induction piece, the induction piece is arranged in the robot body, and the induction piece is electrically connected with the controller; when the switching piece is in the first state, the switching piece is located within the sensing range of the sensing piece, and when the switching piece is in the second state, the switching piece is located outside the sensing range of the sensing piece. According to the cleaning robot, the operation modes of the cleaning robot can be enriched.

Description

Technical Field

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

[0002] Commercial cleaning robots can use laser radar positioning and navigation, and are equipped with depth cameras, ultrasonic sensors and other sensing detection equipment to achieve intelligent cleaning, thereby reducing manpower and improving cleaning quality. The traditional commercial cleaning robot has a relatively single operating mode, and cannot combine the intelligent cleaning mode with the manual cleaning mode at the same time. During the cleaning process, if the same location needs to be cleaned repeatedly, it is currently unable to meet the needs of fixed-point repeated cleaning, which will greatly reduce the cleaning effect. Therefore, it is necessary to make commercial cleaning robots have a richer operating mode. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the deficiencies in the prior art and provide a cleaning robot that can have richer operating modes.

[0004] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0005] The cleaning robot according to an embodiment of the present application includes:

[0006] A robot body, wherein the robot body has a controller;

[0007] A switching assembly, the switching assembly comprising a switching member, the switching member rotating around a first direction relative to the robot body to be in a first state or a second state;

[0008] A sensing component, wherein the sensing component comprises a sensing element, the sensing element is disposed in the robot body, and the sensing element is electrically connected to the controller;

[0009] Wherein, when the switching element is in the first state, the switching element is located within the sensing range of the sensing element, and when the switching element is in the second state, the switching element is located outside the sensing range of the sensing element.

[0010] The cleaning robot of the present application has the following advantages:

[0011] In the above-mentioned cleaning robot, when the switching member rotates around a first direction relative to the robot body, the switching member can be placed in a first state or a second state. When the cleaning robot needs to operate in an intelligent cleaning mode, the switching member can be rotated around the first direction and placed in the first state, so that the switching member is within the sensing range of the sensing member. At this time, the sensing member can sense the switching member and transmit the sensing signal to the controller, so that the controller issues an instruction to the intelligent cleaning module of the robot body, thereby enabling the cleaning robot to perform intelligent cleaning operations. When the cleaning robot needs to operate in a manual cleaning mode, the switching member can be rotated around the first direction and placed in the second state, so that the switching member is outside the sensing range of the sensing member. At this time, the sensing member cannot sense the switching member, and the controller cannot receive the sensing signal transmitted by the sensing member, and will not issue an instruction to the intelligent cleaning module of the robot body. At this time, the robot body can be manually pushed to perform cleaning operations, thereby enabling the cleaning robot to perform manual cleaning operations. In this way, the operation mode of the cleaning robot can be enriched through the above-mentioned cleaning robot.

[0012] According to the cleaning robot of the embodiment of the present application, a receiving groove is provided on the outer surface of the robot body, the receiving groove is arranged close to the sensing element, the switching element is rotatably connected to the groove wall of the receiving groove, and the switching element rotates around the first direction relative to the receiving groove;

[0013] Wherein, when the switching member is in the first state, the switching member is accommodated in the accommodating groove, and when the switching member is in the second state, the switching member is at least partially separated from the accommodating groove and is arranged at an angle with the robot body.

[0014] According to the cleaning robot of the embodiment of the present application, the accommodating groove has a first side wall along the first direction, the switching member has a first rotating end, one end of the first rotating end along the first direction is rotatably connected to the first side wall, the cleaning robot also includes a first fixing component, the first rotating end is provided with a first through hole, the first fixing component has a first end, the first fixing component is penetrated through the first through hole, and the first end is exposed at one end of the first through hole close to the first side wall, a first fixing through hole connected to the accommodating groove is opened on the first side wall, and the first fixing through hole is located on the moving path of the first end rotating around the first direction;

[0015] Wherein, when the switching member is in the first state, the first end abuts against the first side wall, and when the switching member is in the second state, the first end passes through the first fixing through hole.

[0016] According to the cleaning robot of the embodiment of the present application, the first fixing component includes a first fixing part and a first elastic part, and the first elastic part and the first fixing part can be movably inserted into the first through hole. In the first direction, one end of the first elastic part is connected to the first rotating end, and the other end of the first elastic part is connected to the first fixing part. The first end is an end of the first fixing part away from the first elastic part, and the first elastic part has elastic potential energy to make the first end move along the first direction away from the first through hole.

[0017] According to the cleaning robot of the embodiment of the present application, the first through hole has a first hole segment and a second hole segment connected to the first hole segment, the first hole segment is arranged close to the first side wall, the first fixing member has a first fixing portion and a second fixing portion, the two ends of the second fixing portion along the first direction are respectively connected to the first elastic member and the first fixing portion, and the second fixing portion protrudes from the first fixing portion along the second direction, the first fixing portion is penetrated through the first hole segment, and the first elastic member and the second fixing portion are penetrated through the second hole segment;

[0018] The second direction is perpendicular to the first direction, the diameter of the second hole segment is larger than that of the first hole segment, and the second fixing portion abuts against a hole wall of the second hole segment along the first direction.

[0019] According to the cleaning robot of the embodiment of the present application, the cleaning robot also includes a first unlocking component, which is arranged outside the accommodating groove, and the first unlocking component is arranged on the side of the accommodating groove close to the first side wall along the first direction, the first unlocking component has a second end, the second end is passed through the first fixed through hole, and the second end moves along the first direction in the first fixed through hole, and when the switching member is in the second state, the second end is against the first end.

[0020] According to the cleaning robot of the embodiment of the present application, the first unlocking component includes a first unlocking member, the first unlocking member is movably connected to the robot body, and the first unlocking member is at least partially exposed outside the robot body, the first unlocking member moves along the first direction relative to the robot body, and the second end is an end of the first unlocking member close to the accommodating groove along the first direction.

[0021] According to the cleaning robot of the embodiment of the present application, the first unlocking component also includes a second elastic member, and in the first direction, one end of the second elastic member is against the outer wall of the accommodating groove close to the first side wall, and the other end of the second elastic member is against the first unlocking member, and the second elastic member has elastic potential energy to cause the second end to move along the first direction away from the first through hole.

[0022] According to the cleaning robot of the embodiment of the present application, the switching member also includes a switching member main body and a second rotating end, the first rotating end and the second rotating end are respectively arranged at the two ends of the switching member main body along the first direction, and the first rotating end is rotatably connected to one end of the robot main body along the first direction, and the second rotating end is rotatably connected to the other end of the robot main body along the first direction.

[0023] According to the cleaning robot of the embodiment of the present application, the sensing component further includes a sensed member, the sensed member is arranged on the switching member, and the sensing member and the sensed member are both arranged close to the first rotating end;

[0024] Or the sensing element and the sensed element are both arranged close to the second rotating end. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 The structure of the cleaning robot in this application is shown Figure 1 ;

[0027] Figure 2 The structure of the cleaning robot in this application is shown Figure 2 ;

[0028] Figure 3 Shows Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0029] Figure 4 Shows Figure 1 A schematic diagram of the enlarged structure at B in the middle;

[0030] Figure 5 Shows Figure 2 Schematic diagram of the enlarged structure at C in the middle;

[0031] Figure 6The cross-sectional structure diagram of the first fixing component and the first unlocking component in this application is shown. Figure 1 ;

[0032] Figure 7 The cross-sectional structure diagram of the second fixing component and the second unlocking component in this application is shown. Figure 1 ;

[0033] Figure 8 The cross-sectional structure diagram of the first fixing component and the first unlocking component in this application is shown. Figure 2 ;

[0034] Fig. 9 The cross-sectional structure diagram of the second fixing component and the second unlocking component in this application is shown. Figure 2 ;

[0035] Fig.10 A schematic cross-sectional structure diagram of the first rotating end in the present application is shown;

[0036] Fig.11 A schematic cross-sectional structure diagram of the second rotating end in the present application is shown;

[0037] Fig.12 A schematic diagram showing the structure of the switching component in the present application is shown;

[0038] Fig.13 A partial structural schematic diagram of the cleaning robot in the present application is shown;

[0039] Fig.14 A schematic diagram of a partial structure of the cleaning robot when the switching element in the present application is in a first state is shown;

[0040] Fig.15 A partial structural schematic diagram of the cleaning robot when the switching member in the present application is in the second state is shown.

[0041] Description of main component symbols:

[0042] 100-robot body; 110-accommodating groove; 111-first side wall; 1111-first fixing through hole; 112-second side wall; 113-main body groove; 114-first avoidance groove; 115-second avoidance groove; 1151-third side wall; 1152-fourth side wall; 1153-second fixing through hole.

[0043] 200-switching assembly; 210-switching member; 211-first rotating end; 2111-first through hole; 2111a-first hole section; 2111b-second hole section; 2111c-third hole section; 212-switching member body; 213-second rotating end; 2131-second through hole; 2131a-fourth hole section; 2131b-fifth hole section; 2131c-sixth hole section; 220-first rotating shaft; 230-second rotating shaft;

[0044] 300-sensing component; 310-sensing part; 320-sensed part;

[0045] 400 - first fixing assembly; 410 - first end; 420 - first fixing member; 421 - first fixing portion; 422 - second fixing portion; 430 - first elastic member; 440 - first fastening member;

[0046] 500 - first unlocking assembly; 510 - second end; 520 - first unlocking member; 530 - second elastic member; 540 - first guide member; 541 - first guide through hole;

[0047] 600-second fixing assembly; 610-third end; 620-second fixing member; 621-third fixing portion; 622-fourth fixing portion; 630-third elastic member; 640-second fastener;

[0048] 700 - second unlocking assembly; 710 - fourth end; 720 - second unlocking member; 730 - fourth elastic member; 740 - second guide member; 741 - second guide through hole. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0050] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] Reference Figure 1 , Figure 2 , Fig.14 as well as Fig.15 As shown, the cleaning robot involved in the embodiment of the present application includes a robot body 100, a switching component 200 and a sensing component 300.

[0055] Specifically, the robot body 100 has a controller (not shown); the switching component 200 includes a switching member 210, which rotates around a first direction relative to the robot body 100 to be in a first state or a second state; the sensing component 300 includes a sensing member 310, which is arranged in the robot body 100, and the sensing member 310 is electrically connected to the controller; wherein, when the switching member 210 is in the first state, the switching member 210 is located within the sensing range of the sensing member 310, and when the switching member 210 is in the second state, the switching member 210 is located outside the sensing range of the sensing member 310 of the sensing component 300.

[0056] It should be noted that the first direction is Figure 1 The direction that x points to.

[0057] In the above-mentioned cleaning robot, when the switching member 210 rotates around the first direction relative to the robot body 100, the switching member 210 can be in the first state or the second state. When the cleaning robot needs to operate in the intelligent cleaning mode, the switching member 210 can be rotated around the first direction and be in the first state, so that the switching member 210 is located within the sensing range of the sensing member 310. At this time, the sensing member 310 can sense the switching member 210 and transmit the sensing signal to the controller, so that the controller sends a command to the intelligent cleaning module (not shown) of the robot body 100, thereby enabling the cleaning robot to perform intelligent cleaning. When the cleaning robot needs to operate in the manual cleaning mode, the switching member 210 can be rotated in the first direction and be in the second state, so that the switching member 210 is outside the sensing range of the sensing member 310. At this time, the sensing member 310 cannot sense the switching member 210, and the controller cannot receive the sensing signal transmitted by the sensing member 310, and will not send instructions to the intelligent cleaning module of the robot body 100. At this time, the robot body 100 can be manually pushed to perform cleaning operations, so that the cleaning robot can perform manual cleaning operations. In this way, the operation mode of the cleaning robot can be enriched through the above-mentioned cleaning robot.

[0058] Specifically, in some embodiments, the sensing element 310 is a photoelectric switch, such as a beam-type photoelectric switch, an emission-type photoelectric switch, etc.

[0059] Reference Figure 3 As shown, a receiving groove 110 is provided on the outer surface of the robot body 100, and the receiving groove 110 is arranged close to the sensing element 310. The switching element 210 is rotatably connected to the groove wall of the receiving groove 110, and the switching element 210 rotates around a first direction relative to the receiving groove 110; wherein, when the switching element 210 is in a first state, the switching element 210 is accommodated in the receiving groove 110, and when the switching element 210 is in a second state, the switching element 210 is at least partially separated from the receiving groove 110 and is arranged at an angle to the robot body 100.

[0060] The second side wall 112 first rotating shaft 220 first rotating shaft 220 first rotating shaft 220 can be understood that when the switching member 210 rotates around the first direction relative to the accommodating groove 110, the switching member 210 can be in the first state or the second state. When the cleaning robot is in the intelligent cleaning mode, the switching member 210 is in the first state. At this time, the switching member 210 is accommodated in the accommodating groove 110, and the accommodating groove 110 can limit and fix the switching member 210 to avoid shaking of the switching member 210 during the intelligent cleaning process. , improving the structural stability, when the cleaning robot needs to be converted from the intelligent cleaning mode to the manual cleaning mode, the switching member 210 can be switched from the first state to the second state. At this time, the switching member 210 is rotated around the first direction relative to the accommodating groove 110 until at least part of the switching member 210 is separated from the accommodating groove 110 and is set at an angle to the robot body 100. Therefore, the switching member 210 can be manually held to push the robot body 100 to perform cleaning operations through the switching member 210, thereby enabling the cleaning robot to perform manual cleaning operations.

[0061] Specifically, in the above-mentioned embodiment, the switching member 210 is a push rod.

[0062] Furthermore, in the above-mentioned embodiment, the shape of the accommodating groove 110 is consistent with the shape of the switching member 210. When the switching member 210 is accommodated in the accommodating groove 110, it can further limit and fix the switching member 210 to avoid shaking of the switching member 210 during the intelligent cleaning process.

[0063] Reference Figure 3 , Figure 6 as well as Figure 8 As shown, the accommodating groove 110 has a first side wall 111 along the first direction, the switching member 210 has a first rotating end 211, one end of the first rotating end 211 along the first direction is rotatably connected to the first side wall 111, the cleaning robot also includes a first fixing component 400, the first rotating end 211 is provided with a first through hole 2111, the first fixing component 400 has a first end 410, the first fixing component 400 is penetrated by the first through hole 2111, and the first end 410 is exposed at one end of the first through hole 2111 close to the first side wall 111, the first side wall 111 is provided with a first fixing through hole 1111 communicating with the accommodating groove 110, and the first fixing through hole 1111 is located on the moving path of the first end 410 rotating around the first direction;

[0064] When the switching member 210 is in the first state, the first end 410 abuts against the first side wall 111 , and when the switching member 210 is in the second state, the first end 410 passes through the first fixing through hole 1111 , the first through hole 2111 , the first through hole 2111 , the first side wall 111 , and the first side wall 111 .

[0065] It can be understood that when the switching member 210 is in the first state, the switching member 210 is in the accommodating groove 110 to avoid the switching member 210 from shaking during the intelligent cleaning process. At the same time, since the first end 410 of the first fixing component 400 is against the first side wall 111 at this time, the first fixing component 400 can increase the resistance of the first rotating end 211 to rotate around the first direction, so as to further limit the switching member 210 to a certain extent, increase the stability of the switching member 210 accommodated in the accommodating groove 110, and reduce the abnormal noise of the cleaning robot during the cleaning process. Since the first fixing through hole 1111 is opened on the first side wall 111, and the first fixing through hole 1111 is located On the moving path of the first end 410 rotating around the first direction, therefore, when the switching member 210 rotates from the first state around the first direction to the second state, the first end 410 can be passed through the first fixed through hole 1111 to fix the first end 410 through the first fixed through hole 1111, so that the first end 410 no longer rotates around the first direction, thereby making the first rotating end 211 unable to rotate around the first direction, thereby fixing the switching member 210. When the switching member 210 is fixed by the first fixed through hole 1111, the switching member 210 can be manually held to push the robot body 100 to perform cleaning operations through the switching member 210, thereby enabling the cleaning robot to perform manual cleaning operations.

[0066] Specifically, in the above-mentioned embodiment, the accommodating groove 110 also has a second side wall 112, the first side wall 111 and the second side wall 112 are arranged relatively to each other along the first direction, and the switching component 200 also includes a first rotating shaft 220. In the first direction, one end of the first rotating shaft 220 is connected to the first side wall 111, and the other end of the first rotating shaft 220 is connected to the second side wall 112. The first rotating end 211 is rotatably connected to the first rotating shaft 220, and the first rotating end 211 rotates around the first direction relative to the first rotating shaft 220. When the first rotating end 211 rotates around the first direction relative to the first rotating shaft 220, the switching member 210 can be driven to rotate around the first direction through the first rotating end 211, so that the switching member 210 can be in the first state or the second state.

[0067] Reference Figure 6 as well as Figure 8As shown, the first fixing component 400 includes a first fixing member 420 and a first elastic member 430. The first elastic member 430 and the first fixing member 420 can be movably inserted into the first through hole 2111. In the first direction, one end of the first elastic member 430 is connected to the first rotating end 211, and the other end of the first elastic member 430 is connected to the first fixing member 420. The first end 410 is an end of the first fixing member 420 away from the first elastic member 430. The first elastic member 430 has elastic potential energy that enables the first end 410 to move along the first direction away from the first through hole 2111.

[0068] Specifically, in the above embodiment, the first elastic member 430 is a first spring.

[0069] It can be understood that when the switching member 210 is in the first state, the first end 410 of the first fixing member 420 is against the first side wall 111. In the first direction, since one end of the first elastic member 430 is connected to the first rotating end 211, and the other end of the first elastic member 430 is connected to the end of the first fixing member 420 away from the first end 410, the first elastic member 430 is compressed at this time, and the first elastic member 430 can provide the first fixing member 420 with elastic potential energy for moving along the first direction away from the first through hole 2111, so as to enhance the stability of the first end 410 against the first side wall 111, thereby enhancing the stability of the switching member 210 accommodated in the accommodating groove 110, avoiding the switching member 210 from rotating around the first direction during the intelligent cleaning process, reducing the abnormal noise of the cleaning robot during the cleaning process, and When the direction rotates to the second state, the first end 410 can be driven by the first rotating end 211 to rotate around the first direction to the first fixed through hole 1111. At this time, the first end 410 can be driven by the elastic potential energy of the first elastic member 430 to move along the first direction away from the first through hole 2111, so that the first end 410 is inserted into the first fixed through hole 1111 along the first direction, so as to fix the first end 410 through the first fixed through hole 1111, so that the first end 410 no longer rotates around the first direction, so that the switching member 210 can be fixed by the first fixed through hole 1111. When the switching member 210 is fixed by the first fixed through hole 1111, the switching member 210 can be manually held to push the robot body 100 to perform cleaning operations through the switching member 210, so that the cleaning robot can perform manual cleaning operations.

[0070] Specifically, in the above-mentioned embodiments, referring to Figure 6 as well as Figure 8As shown, the first fixing component 400 also includes a first fastener 440, which is fixedly inserted into the first through hole 2111. In the first direction, one end of the first elastic member 430 is fixedly connected to the first fastener 440, and the other end of the first elastic member 430 is fixedly connected to the first fixing member 420. The first fastener 440 can be used to fix one end of the first elastic member 430 away from the first fixing member 420 in the first through hole 2111, thereby enhancing the structural stability of the first fixing component 400.

[0071] Continue to refer to Figure 6 as well as Figure 8 As shown, the cleaning robot also includes a first unlocking component 500, which is arranged outside the accommodating groove 110, and the first unlocking component 500 is arranged on a side of the accommodating groove 110 close to the first side wall 111 along the first direction, and the first unlocking component 500 has a second end 510, and the second end 510 is penetrated in the first fixing through hole 1111, and the second end 510 moves in the first fixing through hole 1111 along the first direction. When the switching member 210 is in the second state, refer to Figure 6 As shown, the second end 510 abuts against the first end 410 .

[0072] It can be understood that when the switching member 210 is in the second state, since the second end 510 of the first unlocking component 500 is against the first end 410, when the switching member 210 needs to be switched from the second state to the first state, since the second end 510 can move along the first direction in the first fixed through hole 1111, the second end 510 can move along the first direction in the first fixed through hole 1111 toward the first through hole 2111, so that the second end 510 generates a thrust on the first end 410 to move along the first direction toward the first through hole 2111, and thus, the first end 410 can be pushed out of the first fixed through hole 1111 by the second end 510, so that the first fixing member 420 is disengaged from the first fixed through hole 1111, and thus, the first rotating end 211 can rotate around the first direction, so that the switching member 210 is switched from the second state to the first state.

[0073] Reference Figure 6 as well as Fig.10As shown, the first through hole 2111 has a first hole section 2111a and a second hole section 2111b connected to the first hole section 2111a, the first hole section 2111a is arranged close to the first side wall 111, the first fixing member 420 has a first fixing portion 421 and a second fixing portion 422, both ends of the second fixing portion 422 along the first direction are respectively connected to the first elastic member 430 and the first fixing portion 421, and the second fixing portion 422 protrudes from the first fixing portion 421 along the second direction, the first fixing portion 421 is penetrated in the first hole section 2111a, and the first elastic member 430 and the second fixing portion 422 are penetrated in the second hole section 2111b;

[0074] The second direction is perpendicular to the first direction, the diameter of the second hole segment 2111b is larger than the diameter of the first hole segment 2111a, and the second fixing portion 422 abuts against the hole wall of the second hole segment 2111b along the first direction.

[0075] It should be noted that the second direction is Figure 2 The direction that y points to.

[0076] It can be understood that when the switching member 210 rotates from the first state to the second state around the first direction, the first end 410 can move along the first direction away from the first through hole 2111 driven by the elastic potential energy of the first elastic member 430, so that the first end 410 is inserted into the first fixed through hole 1111 along the first direction to fix the first end 410 through the first fixed through hole 1111. At this time, since the second fixing portion 422 is against the hole wall of the second hole section 2111b along the first direction, the movement of the first fixing member 420 along the first direction can be limited by the hole wall of the second hole section 2111b along the first direction, reducing the impact of the elastic potential energy of the first elastic member 430 on the first fixing member 420, thereby avoiding a violent collision between the first end 410 and the second end 510, reducing damage to the first unlocking component 500 and the first fixing component 400, and extending the service life of the above-mentioned cleaning robot.

[0077] Specifically, in the above-mentioned embodiment, when the switching member 210 rotates around the first direction and is in the second state, the central axis of the first through hole 2111 coincides with the central axis of the first fixed through hole 1111, and the aperture of the first hole section 2111a is equal to the aperture of the first fixed through hole 1111, thereby ensuring that the first end 410 can move along the first direction into the first fixed through hole 1111.

[0078] Specifically, in the above-mentioned embodiment, continue to refer to Figure 6 as well as Fig.10As shown, the first through hole 2111 also has a third hole segment 2111c, the third hole segment 2111c is located at one end of the first through hole 2111 along the first direction away from the first fixed through hole 1111, and one end of the second hole segment 2111b along the first direction is connected to the third hole segment 2111c, the outer surface of the first fastener 440 has an external thread, and the hole wall of the third hole segment 2111c has an internal thread, and the external thread is threadedly connected with the internal thread to achieve the purpose of fixed connection between the first fastener 440 and the hole wall of the first through hole 2111.

[0079] Reference Figure 3 , Figure 6 as well as Figure 8 As shown, the first unlocking component 500 includes a first unlocking member 520, which is movably connected to the robot body 100, and the first unlocking member 520 is at least partially exposed outside the robot body 100, and the first unlocking member 520 moves along a first direction relative to the robot body 100, and the second end 510 is an end of the first unlocking member 520 close to the accommodating groove 110 along the first direction.

[0080] It can be understood that since the first unlocking member 520 is movably connected to the robot body 100 and the first unlocking member 520 is at least partially exposed outside the robot body 100, an external force can be applied to the first unlocking member 520 so that the first unlocking member 520 moves relative to the robot body 100 along the first direction toward the direction close to the accommodating groove 110, so that the second end 510 can move in the first fixed through hole 1111 along the first direction toward the direction close to the first through hole 2111, so as to push the first end 410 out of the first fixed through hole 1111 through the second end 510, so that the first fixing member 420 is disengaged from the first fixed through hole 1111, so that the first rotating end 211 can rotate around the first direction, thereby converting the switching member 210 from the second state to the first state.

[0081] Reference Figure 6 as well as Figure 8 As shown, the first unlocking component 500 also includes a second elastic member 530. In the first direction, one end of the second elastic member 530 is against the outer wall of the accommodating groove 110 close to the first side wall 111, and the other end of the second elastic member 530 is against the first unlocking member 520. The second elastic member 530 has elastic potential energy that causes the second end 510 to move along the first direction away from the first through hole 2111.

[0082] Specifically, in the above embodiment, the second elastic member 530 is a second spring.

[0083] It can be understood that since one end of the second elastic member 530 is abutted against the outer wall of the accommodating groove 110 close to the first side wall 111, and the other end of the second elastic member 530 is abutted against the first unlocking member 520, when the first unlocking member 520 moves along the first direction toward the direction close to the accommodating groove 110, the second elastic member 530 is compressed. At this time, the second elastic member 530 has elastic potential energy, so that the first unlocking member 520 tends to move along the first direction toward the direction away from the accommodating groove 110. Therefore, when the external force applied to the first unlocking member 520 is removed, the elastic potential energy of the second elastic member 530 can cause the first unlocking member 520 to move along the first direction toward the direction away from the accommodating groove 110, so that the first unlocking member 520 is restored. In this way, when the first unlocking member 520 unlocks the first fixing member 420, the first unlocking member 520 can automatically return to the initial position, that is, the position before the external force is applied, so as to improve the convenience of use of the above-mentioned cleaning robot.

[0084] Specifically, in the above-mentioned embodiment, continue to refer to Figure 6 as well as Figure 8 As shown, the first unlocking component 500 also includes a first guide member 540, which is arranged outside the accommodating groove 110, and the first guide member 540 is arranged on a side of the accommodating groove 110 close to the first side wall 111 along the first direction. The first guide member 540 is provided with a first guide through hole 541, and the first guide through hole 541 is extended along the first direction, and the central axis of the first guide through hole 541 coincides with the central axis of the first fixed through hole 1111, and the first unlocking member 520 is passed through the first guide through hole 541, so as to guide the first unlocking member 520, ensure that the first unlocking member 520 moves along the first direction, and further ensure that the first end 410 can pass through the first fixed through hole 1111 along the first direction.

[0085] Reference Fig.12 As shown, the switching member 210 also includes a switching member body 212 and a second rotating end 213. The first rotating end 211 and the second rotating end 213 are respectively arranged at the two ends of the switching member body 212 along the first direction. The first rotating end 211 is rotationally connected to one end of the robot body 100 along the first direction, and the second rotating end 213 is rotationally connected to the other end of the robot body 100 along the first direction.

[0086] Specifically, in the above-mentioned embodiment, the switching member 210 is a U-shaped switching member 210, one end of the U-shaped switching member 210 is a first rotating end 211, and the other end of the U-shaped switching member 210 is a second rotating end 213. The first rotating end 211 is rotatably connected to one end of the robot body 100 along the first direction, and the second rotating end 213 is rotatably connected to the other end of the robot body 100 along the first direction. The first rotating end 211 and the second rotating end 213 are rotated relative to the robot body 100 around the first direction, so that the switching member body 212 of the U-shaped switching member 210 rotates relative to the robot body 100 around the first direction, thereby switching the U-shaped switching member 210 between the first state and the second state.

[0087] It can be understood that the first rotating end 211 and the second rotating end 213 respectively arranged at the two ends of the switching member main body 212 along the first direction can make the switching member main body 212 smoother in the switching state. At the same time, the first rotating end 211 and the second rotating end 213 can make both ends of the switching member 210 connected to the robot main body 100. When the robot main body 100 is pushed by the switching member 210 to perform cleaning operations, the switching member 210 can provide a more balanced thrust for the robot main body 100, thereby avoiding the robot main body 100 from tipping over and improving the cleaning effect.

[0088] Specifically, in some embodiments, referring to Figure 5 As shown, the sensing component 300 also includes a sensed member 320 , which is disposed on the switching member 210 , and both the sensing member 310 and the sensed member 320 are disposed close to the first rotating end 211 ; or both the sensing member 310 and the sensed member 320 are disposed close to the second rotating end 213 .

[0089] Specifically, in the above-mentioned embodiment, the induced component 320 is a magnetic component, and the inductive component 310 is a Hall sensor, so that the magnetic signal of the magnetic component is sensed by the Hall sensor.

[0090] More specifically, in the above embodiment, part of the structure of the switching element 210 can also be directly made of magnetic material, so that the sensed element 320 and the switching element 210 are integrally formed, which can also meet the requirements of the Hall sensor sensing the magnetic signal of the magnetic element.

[0091] It can be understood that the working mode of the above-mentioned cleaning robot can be switched by whether the sensed component 320 is located within the sensing range of the sensing component 310. When the sensed component 320 is located within the sensing range of the sensing component 310, the switching component 210 is in the first state. At this time, the sensing component 310 transmits the sensing signal to the controller, so that the controller sends an instruction to the intelligent cleaning module of the robot body 100, thereby making the cleaning robot in the intelligent cleaning mode. When the sensed component 320 is located outside the sensing range of the sensing component 310, the switching component 210 is in the second state. At this time, the controller cannot receive the sensing signal transmitted by the sensing component 310 and will not send an instruction to the intelligent cleaning module of the robot body 100. Then the above-mentioned cleaning robot is in the manual cleaning mode.

[0092] Specifically, in the above-mentioned embodiments, referring to Fig.13 As shown, the accommodating groove 110 includes a main groove 113, a first avoidance groove 114 and a second avoidance groove 115, the first avoidance groove 114 and the second avoidance groove 115 are respectively at two ends of the main groove 113 along the first direction, the main groove 113 is used to accommodate the switching member body 212, the first avoidance groove 114 is used to accommodate the first rotating end 211, and the second avoidance groove 115 is used to accommodate the second rotating end 213; wherein, in the third direction, the groove depths of the first avoidance groove 114 and the second avoidance groove 115 are greater than the main groove 113. The groove depth of the body groove 113 is such that, when the switching member 210 is in a state where it rotates from the first state around the first direction to the second state, the first avoidance groove 114 can provide a rotation space for the first rotating end 211, thereby preventing the groove wall of the accommodating groove 110 along the third direction from interfering with the rotation of the first rotating end 211. At the same time, the second avoidance groove 115 can provide a rotation space for the second rotating end 213, thereby preventing the groove wall of the accommodating groove 110 along the third direction from interfering with the rotation of the second rotating end 213.

[0093] More specifically, in the above-mentioned embodiments, referring to Figures 6 to 9 As shown, the first side wall 111 and the second side wall 112 are two groove walls of the first avoiding groove 114 along the first direction, and the second avoiding groove 115 has a third side wall 1151 and a fourth side wall 1152 oppositely arranged along the first direction.

[0094] Further, refer to Figure 3 As shown, the switching assembly 200 also includes a second rotating shaft 230. In the first direction, one end of the second rotating shaft 230 is connected to the third side wall 1151, and the other end of the second rotating shaft 230 is connected to the fourth side wall 1152. The second rotating end 213 is rotatably connected to the second rotating shaft 230, and the second rotating end 213 rotates around the first direction relative to the second rotating shaft 230.

[0095] Further, refer to Figure 4 , Figure 7 as well as Fig. 9 As shown, the cleaning robot further includes a second fixing assembly 600, the second rotating end 213 is provided with a second through hole 2131, the second fixing assembly 600 has a third end 610, the second fixing assembly 600 is penetrated through the second through hole 2131, and the third end 610 is exposed at one end of the second through hole 2131 close to the third side wall 1151, the third side wall 1151 is provided with a second fixing through hole 1153 connected with the accommodating groove 110, and the second fixing through hole 1153 is located on the moving path of the third end 610 rotating around the first direction;

[0096] When the switching element 210 is in the first state, refer to Fig. 9 As shown, the third end 610 abuts against the third side wall 1151. When the switching member 210 is in the second state, refer to Figure 7 As shown, the third end 610 is inserted into the second fixing through hole 1153 .

[0097] Further, refer to Figure 7 as well as Fig. 9 As shown, the second fixing component 600 includes a second fixing member 620 and a third elastic member 630. The third elastic member 630 and the second fixing member 620 can be movably inserted into the second through hole 2131. In the first direction, one end of the third elastic member 630 is connected to the second rotating end 213, and the other end of the third elastic member 630 is connected to the second fixing member 620. The third end 610 is an end of the second fixing member 620 away from the third elastic member 630. The third elastic member 630 has elastic potential energy that enables the third end 610 to move along the first direction away from the second through hole 2131.

[0098] Further, continue to refer to Figure 7 as well as Fig. 9 As shown, the second fixing component 600 also includes a second fastener 640, which is fixedly inserted into the second through hole 2131. In the first direction, one end of the third elastic member 630 is fixedly connected to the second fastener 640, and the other end of the third elastic member 630 is fixedly connected to the second fixing member 620. The second fastener 640 can be used to fix one end of the third elastic member 630 away from the second fixing member 620 in the second through hole 2131, thereby enhancing the structural stability of the second fixing component 600.

[0099] Further, refer to Figure 7 as well as Fig.11As shown, the second through hole 2131 has a fourth hole segment 2131a, a fifth hole segment 2131b and a sixth hole segment 2131c, the two ends of the fifth hole segment 2131b along the first direction are respectively connected with the fourth hole segment 2131a and the sixth hole segment 2131c, and the fourth hole segment 2131a is arranged close to the third side wall 1151, the outer surface of the second fastener 640 has an external thread, and the hole wall of the sixth hole segment 2131c has an internal thread, and the external thread is threadedly connected with the internal thread, the second fixing member 620 has a third fixing portion 621 and a fourth fixing portion 622, the two ends of the fourth fixing portion 622 along the first direction are respectively connected with the third elastic member 630 and the third fixing portion 621, and the fourth fixing portion 622 protrudes from the third fixing portion 621 along the second direction, the third fixing portion 621 is penetrated in the fourth hole segment 2131a, and the third elastic member 630 and the fourth fixing portion 622 are penetrated in the fifth hole segment 2131b;

[0100] The hole diameter of the fifth hole segment 2131 b is greater than the hole diameter of the fourth hole segment 2131 a , and the fourth fixing portion 622 abuts against the hole wall of the fifth hole segment 2131 b along the first direction.

[0101] Furthermore, when the switching member 210 rotates around the first direction and is in the second state, the central axis of the second through hole 2131 coincides with the central axis of the second fixed through hole 1153, and the aperture of the fourth hole section 2131a is equal to the aperture of the second fixed through hole 1153, thereby ensuring that the third end 610 can move along the first direction into the second fixed through hole 1153.

[0102] Further, refer to Figure 4 , Figure 7 as well as Fig. 9 As shown, the cleaning robot also includes a second unlocking component 700, which is arranged outside the accommodating groove 110, and the second unlocking component 700 is arranged on one side of the accommodating groove 110 close to the third side wall 1151 along the first direction, and the second unlocking component 700 has a fourth end 710, and the fourth end 710 is penetrated in the second fixing through hole 1153, and the fourth end 710 moves in the second fixing through hole 1153 along the first direction. When the switching member 210 is in the second state, refer to Figure 7 As shown, the fourth end 710 abuts against the third end 610 .

[0103] Further, refer to Figure 7 as well as Fig. 9 As shown, the second unlocking component 700 includes a second unlocking member 720, which is movably connected to the robot body 100, and the second unlocking member 720 is at least partially exposed outside the robot body 100, and the second unlocking member 720 moves along the first direction relative to the robot body 100, and the fourth end 710 is an end of the second unlocking member 720 close to the accommodating groove 110 along the first direction.

[0104] Further, continue to refer to Figure 7 as well as Fig. 9 As shown, the second unlocking component 700 also includes a fourth elastic member 730. In the first direction, one end of the fourth elastic member 730 is against the outer wall of the accommodating groove 110 close to the third side wall 1151, and the other end of the fourth elastic member 730 is against the second unlocking member 720. The fourth elastic member 730 has elastic potential energy that causes the fourth end 710 to move along the first direction away from the second through hole 2131.

[0105] Further, continue to refer to Figure 7 as well as Fig. 9 As shown, the second unlocking component 700 also includes a second guide member 740, which is arranged outside the accommodating groove 110, and the second guide member 740 is arranged on the side of the accommodating groove 110 close to the third side wall 1151 along the first direction. The second guide member 740 is provided with a second guide through hole 741, and the second guide through hole 741 is extended along the first direction, and the central axis of the second guide through hole 741 coincides with the central axis of the second fixed through hole 1153. The second unlocking member 720 is passed through the second guide through hole 741, so as to guide the second unlocking member 720, ensure that the second unlocking member 720 moves along the first direction, and further ensure that the fourth end 710 can pass through the second fixed through hole 1153 along the first direction.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do 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. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A cleaning robot, characterized in that: include: A robot body, wherein the robot body has a controller; A switching assembly, the switching assembly comprising a switching member, the switching member rotating around a first direction relative to the robot body to be in a first state or a second state; A sensing component, wherein the sensing component comprises a sensing element, the sensing element is disposed in the robot body, and the sensing element is electrically connected to the controller; Wherein, when the switching element is in the first state, the switching element is located within the sensing range of the sensing element, and when the switching element is in the second state, the switching element is located outside the sensing range of the sensing element.

2. The cleaning robot according to claim 1, characterized in that: A receiving groove is provided on the outer surface of the robot body, the receiving groove is arranged close to the sensing element, the switching element is rotatably connected to the groove wall of the receiving groove, and the switching element rotates around the first direction relative to the receiving groove; Wherein, when the switching member is in the first state, the switching member is accommodated in the accommodating groove, and when the switching member is in the second state, the switching member is at least partially separated from the accommodating groove and is arranged at an angle with the robot body.

3. The cleaning robot according to claim 2, characterized in that: The accommodating groove has a first side wall along the first direction, the switching member has a first rotating end, one end of the first rotating end along the first direction is rotatably connected to the first side wall, the cleaning robot also includes a first fixing component, the first rotating end is provided with a first through hole, the first fixing component has a first end, the first fixing component is penetrated through the first through hole, and the first end is exposed at one end of the first through hole close to the first side wall, a first fixing through hole connected to the accommodating groove is opened on the first side wall, and the first fixing through hole is located on the moving path of the first end rotating around the first direction; Wherein, when the switching member is in the first state, the first end abuts against the first side wall, and when the switching member is in the second state, the first end passes through the first fixing through hole.

4. The cleaning robot according to claim 3, characterized in that: The first fixing assembly includes a first fixing member and a first elastic member. Both the first elastic member and the first fixing member can be movably inserted into the first through hole. In the first direction, one end of the first elastic member is connected to the first rotating end, and the other end of the first elastic member is connected to the first fixing member. The first end is an end of the first fixing member away from the first elastic member. The first elastic member has elastic potential energy that causes the first end to move away from the first through hole along the first direction.

5. The cleaning robot according to claim 4, characterized in that: The first through hole has a first hole section and a second hole section connected to the first hole section, the first hole section is arranged close to the first side wall, the first fixing member has a first fixing portion and a second fixing portion, two ends of the second fixing portion along the first direction are respectively connected to the first elastic member and the first fixing portion, and the second fixing portion protrudes from the first fixing portion along the second direction, the first fixing portion is penetrated through the first hole section, and the first elastic member and the second fixing portion are penetrated through the second hole section; The second direction is perpendicular to the first direction, the diameter of the second hole segment is larger than that of the first hole segment, and the second fixing portion abuts against a hole wall of the second hole segment along the first direction.

6. The cleaning robot according to claim 3, characterized in that: The cleaning robot also includes a first unlocking component, which is arranged outside the accommodating groove and on a side of the accommodating groove close to the first side wall along the first direction. The first unlocking component has a second end, which is passed through the first fixed through hole and moves along the first direction in the first fixed through hole. When the switching member is in the second state, the second end abuts against the first end.

7. The cleaning robot according to claim 6, characterized in that: The first unlocking component includes a first unlocking member, which is movably connected to the robot body and is at least partially exposed outside the robot body. The first unlocking member moves along the first direction relative to the robot body, and the second end is an end of the first unlocking member close to the accommodating groove along the first direction.

8. The cleaning robot according to claim 7, characterized in that: The first unlocking assembly also includes a second elastic member. In the first direction, one end of the second elastic member abuts against the outer wall of the accommodating groove close to the first side wall, and the other end of the second elastic member abuts against the first unlocking member. The second elastic member has elastic potential energy that causes the second end to move along the first direction away from the first through hole.

9. The cleaning robot according to any one of claims 3 to 8, characterized in that: The switching member also includes a switching member main body and a second rotating end, the first rotating end and the second rotating end are respectively arranged at the two ends of the switching member main body along the first direction, and the first rotating end is rotationally connected to one end of the robot main body along the first direction, and the second rotating end is rotationally connected to the other end of the robot main body along the first direction.

10. The cleaning robot according to claim 9, characterized in that: The sensing component further comprises a sensed member, the sensed member is arranged on the switching member, and the sensing member and the sensed member are both arranged close to the first rotating end; Or the sensing element and the sensed element are both arranged close to the second rotating end.

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