Cleaning robot

Abstract

The utility model provides a cleaning robot, and relates to the technical field of cleaning equipment. The side brush module of the cleaning robot comprises a shell, a driver, a first side brush assembly connected with the driver and a second side brush assembly connected with the first side brush assembly. The friction force between the second side brush assembly and the shell is larger than the friction force between the second side brush assembly and the first side brush assembly. The side brush module has a gathering state and an unfolding state, when the side brush module is switched between the gathering state and the unfolding state, the driver is used for driving the first side brush assembly to rotate in the first direction or the second direction relative to the second side brush assembly, and at least in the unfolding state, the driver drives the first side brush assembly to rotate in the first direction or the second direction. The first side brush assembly is used for driving the second side brush assembly to synchronously rotate in the first direction. According to the cleaning robot, the side brush modules can be controlled to be in the unfolded state, the first side brush assembly and the second side brush assembly are used for efficiently cleaning the surface to be cleaned, and the side brush modules can also be controlled to be in the gathered state so that the cleaning robot can avoid obstacles.

Description

Technical Field

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

[0002] Cleaning robots can be used to clean surfaces such as carpets and floors. The bottom of the cleaning robot is usually equipped with a side brush for cleaning. The bristles of the side brush are mostly fixed in design, which causes the bristles of the cleaning robot to easily hit the threshold, carpet, etc. in some cleaning scenarios, such as passing over thresholds and going on carpets. This increases the difficulty for the cleaning robot to pass over thresholds and go on carpets. Moreover, the bristles are mostly flexible in structure. Over time, the bristles are easily damaged, thereby reducing the cleaning effect of the cleaning robot. Utility Model Content

[0003] In order to solve the above problems existing in the prior art, a technical solution adopted by the present application is: to provide a cleaning robot, the cleaning robot comprising:

[0004] fuselage; and

[0005] Side brush module, including:

[0006] A housing, mounted on the fuselage;

[0007] A driver connected to the housing, the driver comprising an output shaft that rotates relative to the housing;

[0008] A first side brush assembly is drivingly connected to the output shaft, and the driver is used to drive the first side brush assembly to rotate in a first direction or a second direction opposite to the first direction; and

[0009] A second side brush assembly is connected to the first side brush assembly, and the friction between the second side brush assembly and the housing is greater than the friction between the second side brush assembly and the first side brush assembly;

[0010] Among them, the side brush module has a gathered state and an expanded state. When the side brush module switches from the gathered state to the expanded state, the driver is used to drive the first side brush assembly to rotate in a first direction relative to the second side brush assembly. When the side brush module switches from the expanded state to the gathered state, the driver is also used to drive the first side brush assembly to rotate in a second direction relative to the second side brush assembly. The angle formed by the first side brush assembly and the second side brush assembly in the expanded state is greater than the angle formed in the gathered state. At least in the expanded state, the first side brush assembly is used to drive the second side brush assembly to rotate synchronously in the first direction.

[0011] In some embodiments, in the gathered state, the first side brush assembly is used to drive the second side brush assembly to rotate synchronously in the second direction.

[0012] In some embodiments, the side brush module further includes a support member, which is disposed between the first side brush assembly and the second side brush assembly and contacts the first side brush assembly and the second side brush assembly.

[0013] In some embodiments, the support member includes a bearing, an inner race of the bearing cooperates with the first side brush assembly, and an outer race of the bearing cooperates with the second side brush assembly.

[0014] In some embodiments, the second side brush assembly is provided with a first limiting portion, and the driver is used to drive the first side brush assembly to rotate in a first direction until the first side brush assembly abuts against the first limiting portion, so that the side brush module switches from a gathered state to an expanded state.

[0015] In some embodiments, the second side brush assembly is further provided with a second limiting portion, and the driver is further used to drive the first side brush assembly to rotate in a second direction until the first side brush assembly abuts against the second limiting portion, so that the side brush module switches from the expanded state to the gathered state.

[0016] In some embodiments, the second side brush assembly is provided with an arc-shaped through groove, and the two ends of the arc-shaped through groove respectively form a first limiting portion and a second limiting portion, and the first side brush assembly is inserted into the arc-shaped through groove.

[0017] In some embodiments, the first side brush assembly includes a first mounting member and a first side brush member, the first mounting member is drivingly connected to the output shaft, the first side brush member is connected to the first mounting member, the second side brush member includes a second mounting member and a second side brush member, the second side brush member is connected to the second mounting member, the first limiting portion and the second limiting portion are both provided on the second mounting member, and the first mounting member is rotatably connected to the second mounting member.

[0018] In some embodiments, the side brush module is configured such that when the side brush module in the gathered state rotates in the second direction to a preset position, the angles formed by the extension directions of the first side brush assembly and the second side brush assembly and the backward direction of the cleaning robot are both acute angles, and the side brush module is completely covered by the body.

[0019] In some embodiments, the cleaning robot includes a detection switch for allowing the side brush module in the gathered state to stop rotating at a preset position.

[0020] Different from the prior art, the cleaning robot provided by the present application has the following beneficial effects:

[0021] The present application drives the first side brush assembly to rotate in the first direction or the second direction through the output shaft of the driver, and designs the side brush module to be a structure in which the friction between the second side brush assembly and the shell is less than the friction between the second side brush assembly and the first side brush assembly, so that the side brush module has a gathered state in which multiple side brush assemblies are gathered, and an expanded state in which multiple side brush assemblies are expanded. When the side brush module switches from the gathered state to the expanded state, the driver drives the first side brush assembly to rotate in the first direction relative to the second side brush assembly. When the side brush module switches from the expanded state to the gathered state, the driver drives the first side brush assembly to rotate in the second direction relative to the second side brush assembly. Through this design, the cleaning robot can control the side brush module to be in the expanded state when cleaning is required, and use the first side brush assembly and the second side brush assembly that rotate synchronously in the first direction to efficiently clean the surface to be cleaned. When there is an obstacle that needs to be crossed in front, the side brush module can be controlled to be in the gathered state to gather the two side brush modules into a shape with a smaller angle, so that the cleaning robot can avoid the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a schematic diagram of the structure of a side brush module provided in some embodiments of the present application;

[0024] Figure 2 yes Figure 1 A schematic diagram of the exploded structure of the side brush module in the embodiment;

[0025] Figure 3 is a schematic diagram of the three-dimensional structure of a side brush mechanism provided in some embodiments of the present application;

[0026] Figure 4 yes Figure 3 A schematic diagram of the exploded structure of the side brush mechanism in the embodiment;

[0027] Figure 5 is a schematic structural diagram of a side brush module in an unfolded state provided by some embodiments of the present application;

[0028] Figure 6 yes Figure 5 A schematic diagram of the structure of the side brush module in the embodiment in a gathered state;

[0029] Figure 7 is a schematic diagram of the exploded structure of the side brush module provided in some embodiments of the present application;

[0030] Figure 8 is a schematic cross-sectional structure diagram of a side brush module provided in some embodiments of the present application;

[0031] Fig. 9 is a schematic diagram of the side view structure of the cleaning robot provided by some embodiments of the present application when the side brush module is in an unfolded state;

[0032] Fig.10 yes Fig. 9 A schematic diagram of the cleaning robot in the embodiment when the side brush module is in an unfolded state when viewed from above;

[0033] Fig.11 is a schematic diagram of a side view structure of a cleaning robot provided by some embodiments of the present application when the side brush module is in a gathered state;

[0034] Fig.12 yes Fig.11 A schematic diagram of the structure of the cleaning robot in the embodiment when the side brush modules are in a gathered state when viewed from above. DETAILED DESCRIPTION

[0035] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0036] It should be understood that the terms "including" and "having" and any variations thereof used in the present specification and the appended claims are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0037] It should also be understood that the terms used in the specification of this application and the attached claims are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of this application and the attached claims, unless the context clearly indicates otherwise, the singular forms of "one", "an" and "the" are intended to include plural forms. As another example, the terms "first" and "second" in the description of this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. As another example, the meaning of "multiple" in the description of this application is two or more, unless otherwise clearly and specifically defined.

[0038] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is understood that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0039] The present application provides a cleaning robot, such as but not limited to a sweeping robot, a sweeping and mopping robot, a sweeping and washing robot, etc. The cleaning robot includes a side brush module. Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the structure of the side brush module provided in some embodiments of the present application, Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the side brush module in the embodiment.

[0040] In some embodiments, the side brush module 10 includes a driver 11 and a side brush mechanism 12. The driver 11 is, for example but not limited to, a motor, a side brush reduction box, etc. The driver 11 is connected to the side brush mechanism 12 to provide the side brush mechanism 12 with the power required for operation. The side brush mechanism 12 may include a first side brush assembly 100 and a second side brush assembly 200. The first side brush assembly 100 and the second side brush assembly 200 may rotate synchronously under the drive of the driver 11 to cooperate in cleaning the ground, carpet, and other surfaces to be cleaned.

[0041] The cleaning efficiency of the side brush module 10 can be improved by using multiple side brush assemblies for cleaning. It is understandable that the number of side brush assemblies of the side brush mechanism 12 is not limited to two. In other embodiments, the side brush mechanism 12 may also be provided with more side brush assemblies. This article takes the side brush mechanism 12 provided with two side brush assemblies as an example for description.

[0042] The first side brush assembly 100 and the second side brush assembly 200 can rotate in the horizontal direction under the drive of the driver 11 to clean the surface to be cleaned. The first side brush member 120 and the second side brush member 220 can be approximately at the same level, so that the first side brush assembly 100 and the second side brush assembly 200 can cooperate to clean the same surface to improve the cleaning efficiency of the side brush module 10 on the surface to be cleaned.

[0043] The side brush module 10 provided in the embodiment of the present application may have a gathered state and an expanded state. The gathered state may be a state when multiple side brush assemblies of the side brush module 10 are gathered. The expanded state may be a state when multiple side brush assemblies of the side brush module 10 are expanded. When the side brush module 10 switches between the gathered state and the expanded state, the driver 11 may drive the side brush assembly of the side brush mechanism 12 to rotate in a corresponding direction, which will be further described below.

[0044] See also Figure 3 and Figure 4 , Figure 3 is a schematic diagram of the three-dimensional structure of the side brush mechanism provided in some embodiments of the present application, Figure 4 yes Figure 3 Schematic diagram of the exploded structure of the side brush mechanism in the embodiment.

[0045] In some embodiments, the second side brush assembly 200 may be provided with an arc-shaped through slot 201 . The first side brush assembly 100 may be inserted into the arc-shaped through slot 201 .

[0046] In some embodiments, the first side brush assembly 100 may include a first mounting member 110 and a first side brush member 120, and the second side brush assembly 200 may include a second mounting member 210 and a second side brush member 220. The first side brush member 120 is connected to the first mounting member 110, and the first side brush assembly 100 can use the first mounting member 110 to drive the first side brush member 120 to rotate. The second side brush member 220 is connected to the second mounting member 210, and the second side brush assembly 200 can use the second mounting member 210 to drive the second side brush member 220 to rotate. The first side brush assembly 100 and the second side brush assembly 200 can be installed into modules respectively, and then combined to form the side brush mechanism 12.

[0047] In some embodiments, the second mounting member 210 may be provided with an arcuate through groove 201, and the arcuate through groove 201 may be an arcuate groove that passes through two opposite surfaces of the second mounting member 210. The curvature of the arcuate through groove 201 may be designed according to the rotation angle of the first side brush member 120 relative to the second side brush member 220, and is not limited here. The first side brush member 120 may be partially located in the arcuate through groove 201. The opposite ends of the first mounting member 110 and the first side brush member 120 may be respectively located on opposite sides of the second mounting member 210, and the second mounting member 210 may be arranged around at least a portion of the first mounting member 110.

[0048] In some embodiments, the first mounting member 110 may form a sliding friction fit with the groove wall of the arc-shaped through groove 201. In this case, the arc-shaped through groove 201 is similar to a slide rail, and the first mounting member 110 is similar to a slider, and the groove wall of the arc-shaped through groove 201 and the first mounting member 110 may be provided with an arc-shaped protrusion or an arc-shaped groove on the surface where the groove wall of the arc-shaped through groove 201 and the first mounting member 110 contact each other for achieving sliding friction fit.

[0049] In other embodiments, the first mounting member 110 can be suspended in the arc-shaped groove 201 to minimize the friction between the first mounting member 110 and the second mounting member 210 during the rotation relative to the second mounting member 210. Theoretically, the friction can be reduced to 0, that is, completely eliminated.

[0050] In some embodiments, the two ends of the arc-shaped through groove 201 may respectively form a first limiting portion 2011 and a second limiting portion 2012. According to the change of the relative position of the first side brush member 120 and the second side brush member 220, an expanded state or a gathered state may be formed.

[0051] In the unfolded state, the first side brush 120 may contact the first limiting portion 2011. In the gathered state, the first side brush 120 may contact the second limiting portion 2012. The unfolded state and the gathered state may be regarded as the state where the first side brush 120 is located at one end and the other end of the arc-shaped through groove 201, respectively. The first limiting portion 2011 and the second limiting portion 2012 may be groove walls at both ends of the arc-shaped through groove 201.

[0052] It can be understood that, in the unfolded state, at least a portion of the first limit portion 2011 overlaps with a portion of the first side brush 120 in the rotation direction; in the gathered state, at least a portion of the second limit portion 2012 overlaps with a portion of the first side brush 120 in the rotation direction. The first side brush 120 can rotate in one direction to contact the first limit portion 2011, and the rotation direction is defined as the first direction. The first side brush 120 can also rotate in another direction to contact the second limit portion 2012, and the rotation direction is defined as the second direction. The first direction and the second direction can be two opposite directions.

[0053] See also Figure 5 and Figure 6 , Figure 5 is a schematic diagram of the structure of the side brush module in the unfolded state provided by some embodiments of the present application, Figure 6 yes Figure 5 A schematic diagram of the structure of the side brush module in the embodiment in the gathered state. Figure 5 and Figure 6 The X direction shown is the first direction, and the Y direction is the second direction.

[0054] In some application scenarios, the side brush module 10 is Figure 6 The converged state shown switches to Figure 5 In the unfolded state shown, the first side brush member 120 can rotate in a first direction. In the unfolded state, the angle formed by the first side brush member 120 and the second side brush member 220 is relatively large.

[0055] In some application scenarios, the side brush module 10 is Figure 5 The expanded state shown switches to Figure 6 In the gathered state shown, the first side brush member 120 can rotate in the second direction. In the gathered state, the angle formed by the first side brush member 120 and the second side brush member 220 is relatively small.

[0056] like Figure 5 and Figure 6 As shown, the angle formed by the first side brush member 120 and the second side brush member 220 in the unfolded state is greater than the angle formed in the gathered state.

[0057] In some embodiments, the first side brush member 120 can rotate in the arc-shaped through groove 201 in the first direction until the first side brush member 120 contacts the first limit portion 2011, so that the side brush module 10 switches from the gathered state to the unfolded state. In the unfolded state, the first side brush member 120 can push the second mounting member 210 to rotate in the first direction together, so that the first side brush assembly 100 can drive the second side brush assembly 200 to rotate in the first direction synchronously, so that the side brush module 10 can efficiently clean the surface to be cleaned.

[0058] The first side brush member 120 can also rotate in the arc-shaped through groove 201 in the second direction until the first side brush member 120 contacts the second limit portion 2012, so that the side brush module 10 switches from the unfolded state to the gathered state, so that the first side brush member 120 and the second side brush member 220 are in a gathered state with a smaller angle. In the gathered state, the first side brush member 120 can push the second mounting member 210 to rotate in the second direction together, so that the first side brush assembly 100 can drive the second side brush assembly 200 to rotate in the second direction to a preset storage position synchronously, so that the side brush module 10 can avoid obstacles that may exist in the forward direction.

[0059] The second side brush 220 can be fixed to the portion of the second mounting member 210 close to the second limiting portion 2012 to maximize the angle between the first side brush 120 and the second side brush 220 in the unfolded state and minimize the angle in the gathered state.

[0060] In some embodiments, at least one of the first side brush member 120 and the second side brush member 220 is bent. For example, the first side brush member 120 and the second side brush member 220 can form the same or similar bent shape.

[0061] Optionally, the first side brush member 120 includes a first mounting portion 1201 and a first brush body 1202, the first mounting portion 1201 is fixed to the first mounting member 110, and the first brush body 1202 is disposed at a portion of the first mounting portion 1201 away from the first mounting member 110. The second side brush member 220 includes a second mounting portion 2201 and a second brush body 2202, the second mounting portion 2201 is fixed to the second mounting member 210, and the second brush body 2202 is disposed at a portion of the second mounting portion 2201 away from the second mounting member 210. The first brush body 1202 and the second brush body 2202 are used to clean the surface to be cleaned.

[0062] The first mounting portion 1201 may be bent to reduce the distance between the end of the first brush body 1202 away from the first mounting member 110 and the first mounting member 110. The second mounting portion 2201 may be bent to reduce the distance between the end of the second brush body 2202 away from the second mounting member 210 and the second mounting member 210. The first brush body 1202 and the second brush body 2202 may be straight. With this design, the side brush module 10 can reduce the extension length of the first side brush member 120 and the second side brush member 220 without reducing the cleaning area of ​​the first side brush member 120 and the second side brush member 220, thereby reducing the space required for the installation of the side brush module 10.

[0063] The portion of the first mounting portion 1201 away from the first mounting member 110 and the portion of the second mounting portion 2201 away from the second mounting member 210 can be bent toward the second direction to facilitate the storage of the first side brush member 120 and the second side brush member 220 .

[0064] It should be noted that Figures 3 to 6 The structures of the first side brush assembly 100 and the second side brush assembly 200 shown are only exemplary structures provided in some embodiments of the present application. The first side brush assembly 100 and the second side brush assembly 200 can be designed as other structures as needed. In addition, the first side brush assembly 100 and the second side brush assembly 200 in other embodiments of the present application are not limited to the above-mentioned interlaced assembly design. For example, the first side brush assembly 100 and the second side brush assembly 200 can adopt a stacked design, a nested design, and other structures.

[0065] In addition, the first limiting portion 2011 and the second limiting portion 2012 provided in the embodiment of the present application can be, but are not limited to, the groove wall of the above-mentioned arc-shaped through groove 201. The first limiting portion 2011 is a structure of the side brush module 10 used to prevent the first side brush assembly 100 from further rotating in the first direction relative to the second side brush assembly 200. In other embodiments, the first limiting portion 2011 can be other structures formed on the second side brush assembly 200, such as a convex portion formed on the second side brush assembly 200, etc. The first limiting portion 2011 can also be formed by another independent component, which can be arranged on the second side brush assembly 200, so that the first limiting portion 2011 is arranged on the second side brush assembly 200, and can drive the second side brush assembly 200 to rotate synchronously after contacting the first side brush assembly 100.

[0066] Similarly, the second limiting portion 2012 is a structure of the side brush module 10 for preventing the first side brush assembly 100 from further rotating in the second direction relative to the second side brush assembly 200. The second limiting portion 2012 may be a part of the second side brush assembly 200, or an independent component disposed on the second side brush assembly 200. In some embodiments, the side brush module 10 may also be provided with the first limiting portion 2011 but not the second limiting portion 2012, so that in the unfolded state, the first side brush assembly 100 can rotate synchronously with the second side brush assembly 200, and the first side brush assembly 100 can switch to the gathered state as long as it rotates in the opposite direction.

[0067] In some embodiments, the second side brush assembly 200 may not be provided with the arc-shaped through groove 201. The second mounting member 210 of the second side brush assembly 200 is also not limited to being designed as Figure 4 The annular structure shown. For example, the second mounting member 210 can be designed as a roughly semicircular structure. In some embodiments, the first limiting portion 2011 and the second limiting portion 2012 can both be disposed on the second mounting member 210 of the second side brush assembly 200. The first mounting member 110 can be rotatably connected to the second mounting member 210. When the first mounting member 110 rotates relative to the second mounting member 210 in a first direction to a preset position, the first limiting portion 2011 disposed on the second mounting member 210 can resist the first mounting member 110. When the first mounting member 110 rotates relative to the second mounting member 210 in a second direction to a preset position, the second limiting portion 2012 disposed on the second mounting member 210 can resist the first mounting member 110.

[0068] See also Figure 7 and Figure 8 , Figure 7 is a schematic diagram of the exploded structure of the side brush module provided in some embodiments of the present application, Figure 8 It is a schematic diagram of the cross-sectional structure of the side brush module provided in some embodiments of the present application.

[0069] In some embodiments, the driver 11 includes an output shaft 111, and the first side brush assembly 100 is in transmission connection with the output shaft 111. In the case where the first side brush assembly 100 includes a first mounting member 110 and a first side brush member 120, the first mounting member 110 may be in transmission connection with the output shaft 111. The driver 11 may be used to drive the first side brush assembly 100 to rotate in a first direction or in a second direction opposite to the first direction. When the side brush module 10 switches from a gathered state to an unfolded state, the driver 11 may be used to drive the first side brush assembly 100 to rotate in a first direction relative to the second side brush assembly 200. When the side brush module 10 switches from an unfolded state to a gathered state, the driver 11 may be used to drive the first side brush assembly 100 to rotate in a second direction relative to the second side brush assembly 200.

[0070] Optionally, the side brush module 10 includes a fixing member 300, and the first side brush assembly 100 is connected to the output shaft 111 through the fixing member 300. The fixing member 300 may include an insertion portion 310 and a supporting portion 320, wherein the insertion portion 310 is inserted through the first mounting member 110 and fixed to the output shaft 111, and the supporting portion 320 is provided at one end of the insertion portion 310 away from the output shaft 111, and abuts against a side of the first mounting member 110 away from the driver 11, so that the first mounting member 110 can be fixed to the output shaft 111 by the fixing member 300. The fixing member 300 may be T-shaped, with the horizontal portion being the supporting portion 320 and the vertical portion being the insertion portion 310. The fixing member 300 is, for example, but not limited to, a screw, a rivet, and the like.

[0071] In other embodiments, the first side brush assembly 100 may also be directly fixed to the output shaft 111 , for example, by providing an assembly hole adapted to the output shaft 111 .

[0072] In some embodiments, the side brush module 10 includes a housing 13, and the output shaft 111 of the driver 11 can rotate relative to the housing 13. The housing 13 can form an outer shell of the side brush module 10, and is used to install the side brush module 10 outside. The housing 13 can surround the portion of the side brush module 10 that is connected to the driver 11. The second side brush assembly 200 can contact the housing 13.

[0073] The friction force between the second side brush assembly 200 and the shell 13 is greater than the friction force between the second side brush assembly 200 and the first side brush assembly 100, so that the second side brush assembly 200 can rotate relative to the first side brush assembly 100 without being rotated synchronously by the first side brush assembly 100, so that the driver 11 can be used to drive the first side brush assembly 100 to rotate in a first direction relative to the second side brush assembly 200, so that the side brush module 10 switches from a gathered state to an expanded state. The driver 11 can also be used to drive the first side brush assembly 100 to rotate in a second direction relative to the second side brush assembly 200, so that the side brush module 10 switches from an expanded state to a gathered state.

[0074] The friction force between the second side brush assembly 200 and the first side brush assembly 100 may be greater than 0 or may be equal to 0.

[0075] In some embodiments, the side brush module 10 further includes a support member 400. The support member 400 is disposed between the first side brush assembly 100 and the second side brush assembly 200, and contacts the first side brush assembly 100 and the second side brush assembly 200. The support member 400 can be supported between the first side brush assembly 100 and the second side brush assembly 200, so that the first side brush assembly 100 fixed to the output shaft 111 can support the second side brush assembly 200 through the support member 400.

[0076] In some embodiments, the support member 400 may have a lubricating function to reduce the friction when the first side brush assembly 100 and the second side brush assembly 200 rotate relative to each other. In some embodiments, the support member 400 may include a bearing 401, and the bearing 401 may be, for example, but not limited to, a sliding bearing. The inner ring 410 of the bearing 401 may cooperate with the first side brush assembly 100, and the outer ring 420 of the bearing 401 may cooperate with the second side brush assembly 200. In some embodiments, the inner ring 410 of the bearing 401 may be sleeved on the first side brush assembly 100. In some embodiments, the second side brush assembly 200 may be sleeved on the outer ring 420 of the bearing 401. Of course, the support member 400 may also not include the bearing 401. In other embodiments, the support member 400 may also include components other than the bearing 401, such as an oil-containing sleeve.

[0077] In some embodiments, the second side brush assembly 200 can be limited by the bearing 401. The second side brush assembly 200 can include a fixed bracket 500, and the second mounting member 210 is fixed to the fixed bracket 500. The bearing 401 can be sleeved on the first mounting member 110 and supported on the second mounting member 210; the fixed bracket 500 can be sleeved with the bearing 401 and overlapped on the bearing 401, so that the fixed bracket 500 can be limited to the first mounting member 110 by the bearing 401. The shell 13 can surround at least a portion of the fixed bracket 500. The outer peripheral surface of the fixed bracket 500 can contact the shell 13 to increase the friction between the second side brush assembly 200 and the shell 13. The outer peripheral surface of the fixed bracket 500 can also be separated from the shell 13.

[0078] The second mounting member 210 can be limited by the fixed relationship with the fixed bracket 500, so as to form the above-mentioned cooperation with the first mounting member 110 and the bearing 401. The second mounting member 210 can be engaged with the fixed bracket 500 to be fixed to the fixed bracket 500. Of course, the fixed cooperation between the second mounting member 210 and the fixed bracket 500 is not limited to a single type. For example, the second mounting member 210 can also be bonded, screwed, welded, or integrally formed with the fixed bracket 500. In other embodiments, the second side brush assembly 200 may not include the fixed bracket 500, but use other components, such as the second mounting member 210, to achieve cooperation with the bearing 401.

[0079] In some embodiments, the housing 13 may include a friction member 600 having a rough surface for contacting the second side brush assembly 200 to increase the friction between the housing 13 and the second side brush assembly 200. For example, the friction member 600 may be a cover body provided on the second side brush assembly 200. The friction member 600 may also be provided at other positions as required, such as the outer peripheral side of the second side brush assembly 200. In other embodiments, the housing 13 may also be an integrated structure.

[0080] In some application scenarios, during the rotation of the first side brush assembly 100 relative to the second side brush assembly 200, the friction between the first mounting member 110 and the bearing 401 is less than the friction between the fixed bracket 500 and the shell 13, so that the first mounting member 110 can rotate relative to the fixed bracket 500 without driving the fixed bracket 500, thereby enabling the first side brush member 120 and the second side brush member 220 to switch between the expanded state and the gathered state.

[0081] When the first side brush member 120 rotates to contact the first limiting portion 2011 or the second limiting portion 2012, further rotation will apply a driving force to the second mounting member 210, so that the power applied to the second side brush assembly 200 as a whole exceeds the friction resistance, so that the second side brush assembly 200 can rotate synchronously with the first side brush assembly 100 in the same direction. In some embodiments, when the side brush module 10 is in the unfolded state, the first side brush assembly 100 can be used to drive the second side brush assembly 200 to rotate synchronously in the first direction. In some embodiments, when the side brush module 10 is in the gathered state, the first side brush assembly 100 can be used to drive the second side brush assembly 200 to rotate synchronously in the second direction. Of course, the side brush module 10 can also be designed as a structure in which the first side brush assembly 100 can rotate synchronously with the second side brush assembly 200 in the first direction only in the unfolded state. When the side brush module 10 switches from the unfolded state to the gathered state, the first side brush assembly 100 can rotate in the second direction to gather with the second side brush assembly 200.

[0082] In some embodiments, the side brush module 10 further includes a detection switch 710. The detection switch 710 can be used to stop the side brush module 10 in the gathered state from rotating at a preset position. It should be noted that the rotation of the side brush module 10 mentioned herein can be understood as the rotation of the output shaft 111 of the side brush module 10 and one or more side brush components, rather than the rotation of the side brush module 10 as a whole; the stop of the side brush module 10 mentioned herein can be understood as the stop of the output shaft 111 of the side brush module 10 and all side brush components.

[0083] In some embodiments, the detection switch 710 can be used to detect the position of the first side brush assembly 100 and the second side brush assembly 200 in the gathered state, so that the side brush module 10 in the gathered state can stop rotating when the first side brush assembly 100 and the second side brush assembly 200 are in a preset position. In some embodiments, the side brush module 10 may include more than two side brush assemblies, and the detection switch 710 can be used to stop rotating the side brush module 10 in the gathered state when all the side brush assemblies are in a preset position.

[0084] In some embodiments, the side brush module 10 may further include a detection member 720, which rotates synchronously with at least one of the first side brush assembly 100 and the second side brush assembly 200. The detection switch 710 detects the position of the first side brush assembly 100 and the second side brush assembly 200 in the gathered state by detecting the detection member 720.

[0085] Optionally, the side brush module 10 includes a detection member 720 and a transmission shaft 730, and the transmission shaft 730 is transmission-connected to the output shaft 111 or is integrally formed therewith, and the detection member 720 is fixed to the transmission shaft 730, so that the detection member 720 can rotate synchronously with the first side brush assembly 100, and the detection switch 710 can detect the position of the first side brush assembly 100 by detecting the detection member 720.

[0086] Among them, the transmission shaft 730 can protrude from the surface of the shell 13 away from the first side brush assembly 100 and the second side brush assembly 200, the detection switch 710 can be arranged on the surface, the detection member 720 is fixed to the protruding part of the transmission shaft 730, and during the rotation process, it partially passes through the detection position 701 of the detection switch 710, so that the detection switch 710 can detect the detection member 720, and then position the first side brush assembly 100 and the second side brush assembly 200.

[0087] The matching structure of the detection switch 710 and the detection member 720 can be designed according to actual conditions. For example, the detection switch 710 can be designed to be concave in shape, with the detection position 701 formed on the concave side of the detection switch 710. Part of the detection member 720 is designed to pass through the concave side of the detection switch 710 during rotation. When the detection switch 710 detects the appearance of the detection member 720, it can be determined that the first side brush assembly 100 and the second side brush assembly 200 have reached the preset position, and the side brush module 10 can control the output shaft 111 to stop moving.

[0088] See also Fig. 9 and Fig.10 , Fig. 9 is a schematic diagram of a side view of a cleaning robot provided by some embodiments of the present application when the side brush module is in an unfolded state, Fig.10 yes Fig. 9 A schematic diagram of the structure of the cleaning robot in the embodiment when the side brush module is in an unfolded state when viewed from above.

[0089] In some embodiments, the cleaning robot 1000 includes a body 20 and the side brush module 10 described above. The housing 13 of the side brush module 10 can be mounted on the body 20. The side of the housing 13 facing away from the first side brush assembly 100 and the second side brush assembly 200 can be connected to the bottom of the body 20, so that the first side brush assembly 100 and the second side brush assembly 200 can be located at the bottom of the body 20. In some embodiments, the rotation axis of the side brush module 10 can be perpendicular to at least one of the bottom of the body 20 and the surface to be cleaned. The rotation axis of the side brush module 10 can coincide with the extension direction of the output shaft 111. Multiple side brush assemblies of the side brush module 10 can rotate around the rotation axis of the side brush module 10.

[0090] In some embodiments, the cleaning robot 1000 is configured to have a preset forward direction A and a backward direction B opposite to the forward direction. The cleaning robot 1000 may include a left wheel 810, a right wheel 820 and a front wheel 830 for realizing the driving function. The left wheel 810, the right wheel 820 and the front wheel 830 are all arranged at the bottom of the fuselage 20. The left wheel 810 and the right wheel 820 are respectively arranged at the left and right sides of the bottom of the fuselage 20, and the front wheel 830 is arranged at the front side of the bottom of the fuselage 20. In some embodiments, the side brush module 10 can be arranged in front of the right wheel 820. In other embodiments, the side brush module 10 can also be arranged in front of the left wheel 810. The side brush module 10 arranged in front of the left wheel 810 or the right wheel 820 can clean the surface to be cleaned below and in front of the fuselage 20.

[0091] The cleaning robot 1000 may further include a roller brush mechanism 840 disposed at the bottom of the body 20. The roller brush mechanism 840 is located outside the cleaning range of the side brush module 10 in the unfolded state, that is, outside the rotation area of ​​the first side brush assembly 100 and the second side brush assembly 200, so that the roller brush mechanism 840 can cooperate with the side brush module 10 for cleaning without interfering with each other.

[0092] The roller brush mechanism 840 can be arranged at the rear side of the front wheel 830 to clean the surface to be cleaned below the body 20. The side brush module 10 can be arranged at the left side of the roller brush mechanism 840 and in front of the left wheel 810. The side brush module 10 can also be arranged at the right side of the roller brush mechanism 840 and in front of the right wheel 820. In this way, the side brush module 10 can cooperate with the roller brush mechanism 840 to clean the surface to be cleaned below and around the body 20, and can avoid the wheel bodies and the roller brush mechanism 840, thereby improving the utilization rate of the installation space at the bottom of the body 20.

[0093] The cleaning robot 1000 may further include a wiping mechanism 850 disposed at the bottom of the body 20 . The wiping mechanism 850 may be disposed at the rear side of the roller brush mechanism 840 to cooperate with the side brush module 10 and the roller brush mechanism 840 to clean the surface to be cleaned below the body 20 .

[0094] See also Fig.11 and Fig.12 , Fig.11 is a schematic diagram of a side view structure of a cleaning robot provided by some embodiments of the present application when the side brush module is in a gathered state, Fig.12 yes Fig.11 A schematic diagram of the structure of the cleaning robot in the embodiment when the side brush modules are in a gathered state when viewed from above.

[0095] In some embodiments, the side brush module 10 can be configured as follows: the side brush module 10 in the gathered state rotates toward the second direction (eg Fig.12 When the first side brush assembly 100 and the second side brush assembly 200 are in the preset position (shown), the angles formed by the extension directions of the first side brush assembly 100 and the second side brush assembly 200 and the backward direction B of the cleaning robot 1000 are both acute angles. It can be understood that the above preset position can be a range of regional positions. Within a preset range, the angles formed by the extension directions of the first side brush assembly 100 and the second side brush assembly 200 and the backward direction B of the cleaning robot 1000 are both acute angles, and the acute angle is not limited to a specific angle.

[0096] In some embodiments, the side brush module 10 in the gathered state rotates in the second direction (eg Fig.12When the side brush module 10 is in the preset position (shown in the figure), the side brush module 10 is completely covered by the body 20 to prevent the first side brush 120 or the second side brush 220 from hitting obstacles when the cleaning robot 1000 is in a scene where obstacles need to be avoided, such as crossing a threshold or getting on a carpet. It can be understood that the above preset position can be a range of regional positions, and within a preset range, the side brush module 10 can be completely covered by the body 20.

[0097] In some embodiments, the structures of the side brush module 10 and the body 20 can be designed in a coordinated manner: when the first side brush assembly 100 and the second side brush assembly 200 rotate in the second direction in the gathered state, there must be a portion of time under the cover of the body 20, and the extension direction of both is at an acute angle to the backward direction B of the cleaning robot 1000. This structure can be achieved by adjusting the shape and form of the side brush module 10 and the body 20, for example, adjusting the length, angle, curvature and other parameters of the first side brush 120 and the second side brush 220, or adjusting the bottom area of ​​the body 20, etc., which is not limited here.

[0098] In some embodiments, the angle formed by the extension direction of the first side brush member 120 and the second side brush member 220 of the side brush module 10 in the gathered state and the retreat direction B is less than 50 degrees, for example 0 degrees, 10 degrees, 20 degrees, etc. The specific design angle can be set according to actual conditions.

[0099] It is worth mentioning that in this embodiment, the cleaning robot 1000 is configured to clean along the right side. Correspondingly, a set of side brush modules 10 is provided in this embodiment, which are arranged on the right side of the body 20, so that when the cleaning robot 1000 moves along the side, the side brush module 10 can better achieve edge cleaning. It is not difficult to understand that in this embodiment, the direction of looking up at the bottom of the cleaning robot 1000 is used as the reference perspective, that is, Fig.12 The perspective shown is used as a reference. Taking the forward direction of the cleaning robot 1000 as a reference, the rotation direction of the side brush module 10 when in the unfolded state is clockwise, that is, the first direction is clockwise, and the second direction is counterclockwise.

[0100] In other embodiments, the cleaning robot 1000 may also be provided with two sets of side brush modules 10, which are respectively arranged on the left and right sides of the body 20. The two sets of side brush modules 10 rotate in opposite directions when in the unfolded state, so as to gather the garbage onto the travel path of the roller brush mechanism 840.

[0101] In the description of the present application, 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 contradicting each other.

[0102] The above description is only part of the implementation methods of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: fuselage; and Side brush module, including: A housing, mounted on the fuselage; A driver connected to the housing, the driver comprising an output shaft that rotates relative to the housing; A first side brush assembly is drivingly connected to the output shaft, and the driver is used to drive the first side brush assembly to rotate in a first direction or a second direction opposite to the first direction; and a second side brush assembly connected to the first side brush assembly, wherein the friction between the second side brush assembly and the housing is greater than the friction between the second side brush assembly and the first side brush assembly; Wherein, the side brush module has a gathered state and an expanded state. When the side brush module switches from the gathered state to the expanded state, the driver is used to drive the first side brush assembly to rotate toward the first direction relative to the second side brush assembly. When the side brush module switches from the expanded state to the gathered state, the driver is used to drive the first side brush assembly to rotate toward the second direction relative to the second side brush assembly. The angle formed by the first side brush assembly and the second side brush assembly in the expanded state is greater than the angle formed in the gathered state. At least in the expanded state, the first side brush assembly is used to drive the second side brush assembly to rotate synchronously toward the first direction.

2. The cleaning robot according to claim 1, characterized in that: In the gathered state, the first side brush assembly is used to drive the second side brush assembly to rotate synchronously in the second direction.

3. The cleaning robot according to claim 1 or 2, characterized in that: The side brush module further includes a support member, which is disposed between the first side brush assembly and the second side brush assembly and contacts the first side brush assembly and the second side brush assembly.

4. The cleaning robot according to claim 3, characterized in that: The support member includes a bearing, an inner ring of the bearing cooperates with the first side brush assembly, and an outer ring of the bearing cooperates with the second side brush assembly.

5. The cleaning robot according to claim 1 or 2, characterized in that: The second side brush assembly is provided with a first limiting portion, and the driver is used to drive the first side brush assembly to rotate in the first direction until the first side brush assembly abuts against the first limiting portion, so that the side brush module switches from the gathered state to the unfolded state.

6. The cleaning robot according to claim 5, characterized in that: The second side brush assembly is also provided with a second limiting portion, and the driver is further used to drive the first side brush assembly to rotate in the second direction until the first side brush assembly abuts against the second limiting portion, so that the side brush module switches from the expanded state to the gathered state.

7. The cleaning robot according to claim 6, characterized in that: The second side brush assembly is provided with an arc-shaped through groove, and the first limiting portion and the second limiting portion are respectively formed at two ends of the arc-shaped through groove, and the first side brush assembly is passed through the arc-shaped through groove.

8. The cleaning robot according to claim 6, characterized in that: The first side brush assembly includes a first mounting member and a first side brush member, the first mounting member is drivingly connected to the output shaft, the first side brush member is connected to the first mounting member, the second side brush assembly includes a second mounting member and a second side brush member, the second side brush member is connected to the second mounting member, the first limiting portion and the second limiting portion are both arranged on the second mounting member, and the first mounting member is rotatably connected to the second mounting member.

9. The cleaning robot according to claim 1, characterized in that: The side brush module is configured as follows: when the side brush module in the gathered state rotates to a preset position in the second direction, the angles formed by the extension directions of the first side brush assembly and the second side brush assembly and the backward direction of the cleaning robot are both acute angles, and the side brush module is completely covered by the body.

10. The cleaning robot according to claim 9, characterized in that: The cleaning robot comprises a detection switch for stopping the side brush module in the gathered state from rotating at the preset position.

Images