Cleaning robot

Abstract

The cleaning robot comprises a machine body, a movable cleaner and a transmission mechanism, and a swing arm is arranged on the machine body; the movable cleaner can move between a first position and a second position under the action of the swinging arm; the transmission mechanism comprises a driving wheel shaft and a transmission wheel set arranged on the swing arm, and the driving wheel shaft drives the movable cleaner to rotate through the transmission wheel set. The transmission mechanism further comprises a one-way clutch assembly. When the one-way clutch assembly is in the first working state, the driving wheel shaft drives the swing arm to swing towards the second position relative to the machine body when rotating in the first direction, and the driving wheel shaft freely rotates relative to the swing arm when rotating in the second direction. When the one-way clutch assembly is in the second working state, the driving wheel shaft drives the swing arm to swing towards the first position relative to the machine body when rotating in the second direction, and the driving wheel shaft freely rotates relative to the swing arm when rotating in the first direction.

Description

Technical Field

[0001] The present disclosure relates to the field of cleaning equipment, and more specifically, to a cleaning robot. Background Art

[0002] Existing cleaning robots currently include sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers, etc. The sweeping and mopping robots can both sweep and clean the floor, and are becoming more and more common in family life.

[0003] However, current cleaning robots are generally unable to clean edge areas such as indoor corners, resulting in incomplete cleaning and affecting the user experience. In order to increase the cleaning range, some existing cleaning robots can drive the cleaning member to swing outward relative to the robot body to clean the edge area.

[0004] However, in order to drive the cleaning parts to swing outward, these existing cleaning robots need to be specially equipped with a driving mechanism and a transmission mechanism for driving the cleaning parts to swing outward, which not only occupies a large space, but also has a relatively high material cost, thereby hindering the miniaturization of the cleaning robots. Utility Model Content

[0005] In order to solve the problems existing in the prior art, the present disclosure provides a cleaning robot.

[0006] According to a first aspect of the present disclosure, there is provided a cleaning robot, comprising:

[0007] A machine body, wherein a swing arm is provided on the machine body;

[0008] A movable cleaner, the movable cleaner being configured to be movable between a first position and a second position relative to the body under the action of the swing arm;

[0009] A transmission mechanism, the transmission mechanism comprising a driving wheel shaft and a transmission wheel set arranged on the swing arm, the driving wheel shaft being configured to be controlled by a driving device to drive the movable cleaner to rotate through the transmission wheel set; the transmission mechanism also comprises a one-way clutch assembly for transmission connection between the driving wheel shaft and the swing arm, the one-way clutch assembly having a first working state and a second working state;

[0010] The one-way clutch assembly is in a first working state, the driving wheel shaft is controlled by the driving device to rotate in the first direction to drive the swing arm to swing relative to the machine body in the direction of the second position through the one-way clutch assembly, and is controlled by the driving device to rotate in the second direction to freely rotate relative to the swing arm through the one-way clutch assembly;

[0011] The one-way clutch assembly is in the second working state, and the driving wheel shaft is controlled by the driving device to rotate in the second direction to drive the swing arm to swing toward the first position relative to the machine body through the one-way clutch assembly, and is controlled by the driving device to rotate in the first direction to freely rotate relative to the swing arm through the one-way clutch assembly.

[0012] In one embodiment of the present disclosure, the one-way clutch assembly includes a locking portion; the locking portion can move to put the one-way clutch assembly in a first working state, and move to put the one-way clutch assembly in a second working state;

[0013] When the one-way clutch assembly is in the first working state, the driving wheel shaft rotates in the first direction to drive the swing arm to move to the second position, and the locking portion is configured to move to put the one-way clutch assembly in the second working state;

[0014] When the one-way clutch assembly is in the second working state, after the driving wheel shaft rotates in the second direction to drive the swing arm to move to the first position, the locking portion is constructed to move to put the one-way clutch assembly in the first working state.

[0015] In one embodiment of the present disclosure, a guide groove is provided on the swing arm, the locking portion is configured to be pre-pressed in the guide groove by an elastic device, and is configured to be able to move along the guide groove in the radial direction of the driving wheel shaft; the one-way clutch assembly includes a rolling portion located in the matching groove; the rolling portion is configured to match with the driving wheel shaft;

[0016] A matching groove is provided on one side of the locking portion facing the driving wheel shaft, and the matching groove faces the inner wall of the driving wheel shaft and is configured to gradually extend obliquely toward the driving wheel shaft from both sides thereof to the middle area thereof, respectively forming a first locking surface and a second locking surface arranged along the first direction;

[0017] When the one-way clutch assembly is in a first working state, the rolling portion is located at a position matching with the first locking surface; when the driving wheel shaft is rotated in a first direction, the rolling portion is driven to move in a direction locked with the first locking surface, so that the driving wheel shaft is transmission-connected to the swing arm through the rolling portion and the first locking surface; when the driving wheel shaft is rotated in a second direction, the rolling portion is driven to move in a direction disengaged from the first locking surface, so that the driving wheel shaft is freely rotated relative to the swing arm through the rolling portion;

[0018] When the one-way clutch assembly is in the second working state, the rolling portion is located at a position cooperating with the second locking surface; when the driving wheel shaft is rotated in the second direction, the rolling portion is driven to move in a direction locked with the second locking surface, so that the driving wheel shaft is transmission-connected to the swing arm through the rolling portion and the second locking surface; when the driving wheel shaft is rotated in the first direction, the rolling portion is driven to move in a direction disengaged from the second locking surface, so that the driving wheel shaft can rotate freely relative to the swing arm through the rolling portion.

[0019] In one embodiment of the present disclosure, in a state where the rolling portion is locked with the first locking surface, after the driving wheel shaft rotates in the first direction and the driving force applied to the locking portion is greater than the resistance of the locking portion to radial movement along the guide groove, the locking portion is configured to move along the guide groove in a direction away from the driving wheel shaft, so that the driving wheel shaft pushes the rolling portion to move from a position matched with the first locking surface to a position matched with the second locking surface, so that the one-way clutch assembly switches to the second working state;

[0020] When the rolling portion is locked with the second locking surface, and the driving wheel shaft rotates in the second direction, the pushing force applied to the locking portion is greater than the resistance of the locking portion to radial movement along the guide groove. Then, the locking portion is constructed to move along the guide groove in a direction away from the driving wheel shaft, so that the driving wheel shaft pushes the rolling portion to move from a position cooperating with the second locking surface to a position cooperating with the first locking surface, so that the one-way clutch assembly switches to the first working state.

[0021] In one embodiment of the present disclosure, after the driving wheel shaft rotates in the first direction until the one-way clutch assembly switches to the second working state, the driving wheel shaft is configured to continue to rotate in the first direction to drive the movable cleaner to rotate;

[0022] After the driving wheel shaft rotates in the second direction until the one-way clutch assembly switches to the first working state, the driving wheel shaft is configured to continue to rotate in the second direction to drive the movable cleaner to rotate.

[0023] In one embodiment of the present disclosure, a first limiting portion and a second limiting portion are provided on the body; the first limiting portion is constructed to abut against the first limiting portion when the swing arm moves to the first position, and the second limiting portion is constructed to abut against the second limiting portion when the swing arm moves to the second position.

[0024] In one embodiment of the present disclosure, a first positioning portion and a second positioning portion are provided between the body and the swing arm; the first positioning portion and the second positioning portion both include a positioning groove and a positioning piece; when the swing arm moves to the first position and the second position, the positioning pieces in the first positioning portion and the second positioning portion are respectively constructed to cooperate with the corresponding positioning grooves; the positioning piece is constructed to disengage from the positioning groove when the torque applied to the swing arm is greater than the holding force between the positioning piece and the positioning groove.

[0025] In one embodiment of the present disclosure, the elastic device is an elastic arm arranged on the swing arm and located on the outside of the locking part, and the elastic arm has a protrusion extending toward the locking part, and the protrusion is constructed to cooperate with a recessed area arranged on the end surface of the locking part.

[0026] In one embodiment of the present disclosure, at least two ribs extending upward are provided on the swing arm, and the at least two ribs are configured to be distributed in a circumferential direction, and the guide groove is formed between two adjacent ribs; a pressure plate is provided on the driving wheel shaft, and the pressure plate is configured to limit the axial movement of the locking portion.

[0027] In one embodiment of the present disclosure, the cleaning robot includes a control unit;

[0028] When the swing arm is located at the first position or the second position, the control unit is configured to control the driving wheel shaft to always rotate in the second direction to drive the movable cleaner to rotate;

[0029] When in the first working state and moving from the first position to the second position, the control unit is configured to control the driving wheel shaft to rotate in the first direction for a predetermined time, so that the locking part drives the swing arm to move from the first position to the second position when the driving force received is less than the movement resistance thereof;

[0030] When moving from the second position to the first position, the control unit is configured to control the driving wheel shaft to rotate in the first direction, and after the driving force applied to the locking portion is greater than the resistance of the locking portion to move radially along the guide groove, the locking portion is configured to move along the guide groove in a direction away from the driving wheel shaft, so that the driving wheel shaft pushes the rolling portion to move from the position matched with the first locking surface to the second working state matched with the second locking surface;

[0031] The control unit is configured to continue to control the driving wheel shaft to rotate in the second direction so that the locking portion drives the swing arm to move from the second position to the first position, and after the driving force applied to the locking portion during the continued rotation is greater than the resistance of the locking portion to radial movement along the guide groove, the locking portion is constructed to move along the guide groove in a direction away from the driving wheel shaft, so that the driving wheel shaft pushes the rolling portion to move from a position cooperating with the second locking surface to a first working state cooperating with the first locking surface.

[0032] In one embodiment of the present disclosure, a driving gear is arranged on the driving wheel shaft, the transmission wheel set includes a first transmission gear set and a second transmission gear set which are located in the swing arm and are respectively connected to the movable cleaner by transmission, and the difference between the number of gears meshed in sequence in the first transmission gear set and the second transmission gear set is an odd number; and also includes a guide gear meshed with the driving gear;

[0033] The driving gear and the guide gear are constructed as helical gears; the driving gear is constructed to drive the guide gear to move axially to mesh with the first transmission gear set during rotation in the first direction, and to drive the guide gear to move axially to mesh with the second transmission gear set during rotation in the second direction.

[0034] In one embodiment of the present disclosure, the first transmission gear set and the second transmission gear set respectively include a first gear and a second gear; a first meshing portion and a first matching portion are provided between the end surfaces facing each other of the guide gear and the first gear; a second meshing portion and a second matching portion are provided between the end surfaces facing each other of the guide gear and the second gear;

[0035] The driving gear is configured to drive the guide gear to move to connect the first meshing portion with the first matching portion during rotation in the first direction, and is configured to drive the guide gear to move to connect the second meshing portion with the second matching portion during rotation in the second direction.

[0036] In one embodiment of the present disclosure, when the guide gear moves toward the first gear, within a predetermined position range before the first meshing portion is fully meshed with the first matching portion, the second meshing portion is not completely disengaged from the second matching portion;

[0037] When the guide gear moves toward the second gear, within a predetermined position range before the second meshing portion is fully meshed with the second matching portion, the first meshing portion is not completely disengaged from the first matching portion.

[0038] In one embodiment of the present disclosure, two opposite sides of the first meshing portion are respectively recorded as first guide sides and first meshing sides opposite to the first guide sides; the first meshing portion is configured to drive the first gear to rotate along the second direction through the first meshing side; the first guide side is configured to gradually tilt toward the first meshing side in the direction from the guide gear to the first gear, forming a first guide surface; the first matching portion is configured to have an inclined surface adapted to the first guide side;

[0039] The two opposite sides of the second meshing portion are respectively referred to as the second guide side and the second meshing side opposite to the second guide side; the second meshing portion is constructed to drive the second gear to rotate along the first direction through the second meshing side; the second guide side is constructed to gradually tilt toward the second meshing side in the direction from the guide gear to the second gear to form a second guide surface; the second matching portion is constructed to have an inclined surface adapted to the second guide side.

[0040] In one embodiment of the present disclosure, a driving gear is provided on the driving wheel shaft, the transmission wheel set includes a first transmission gear set and a second transmission gear set located in the swing arm and respectively connected to the movable cleaner, and the difference between the number of gears meshed sequentially in the first transmission gear set and the second transmission gear set is an odd number;

[0041] It also includes a planetary carrier rotatably connected to the driving wheel shaft, and a planetary gear rotatably connected to the planetary carrier, the driving gear is meshed with the planetary gear, and is constructed to drive the planetary carrier to swing when rotating in a first direction until the planetary gear is meshed with a first transmission gear set, and is constructed to drive the planetary carrier to swing when rotating in a second direction until the planetary gear is meshed with a second transmission gear set.

[0042] According to a second aspect of the present disclosure, there is provided a cleaning robot, comprising:

[0043] A machine body, wherein a swing arm is provided on the machine body;

[0044] A movable cleaner, the movable cleaner being configured to be movable between a first position and a second position relative to the body under the action of the swing arm;

[0045] A transmission mechanism, the transmission mechanism includes a self-rotating transmission shaft, a swinging transmission shaft, and a dual-purpose transmission shaft, wherein the self-rotating transmission shaft is configured to extend from the machine body to the swing arm, and is configured to be controlled by the dual-purpose transmission shaft to drive the movable cleaner located on the swing arm to self-rotate; a first one-way gear and a second one-way gear are arranged on the dual-purpose transmission shaft, the first one-way gear is configured to rotate along with the shaft in a first direction, and the second one-way gear is configured to rotate along with the shaft in a second direction;

[0046] The swing transmission shaft is configured to be connected to the swing arm, and a meshing gear is provided on the swing transmission shaft. The meshing gear is configured in its circumferential direction to have a first meshing area for meshing with the first one-way gear and a first disengagement area for disengaging therefrom, and a second meshing area for meshing with the second one-way gear and a second disengagement area for disengaging therefrom;

[0047] The dual-purpose transmission shaft is configured to drive the swing transmission shaft to rotate when rotating in the first direction through the cooperation of the first one-way gear and the first meshing area, until the first one-way gear is disengaged from the first meshing area, so that the swing arm swings to the first position;

[0048] The dual-purpose transmission shaft is constructed to drive the swing transmission shaft to rotate when rotating in the second direction through the cooperation of the second one-way gear and the second meshing area until the second one-way gear disengages from the second meshing area, so that the swing arm swings to the second position.

[0049] In one embodiment of the present disclosure, in the circumferential direction, the first meshing area and the second meshing area are configured so that the orthographic projections in the axial direction of the swing transmission shaft partially overlap;

[0050] When the dual-purpose transmission shaft rotates in a first direction, after the first one-way gear is disengaged from the first meshing area, the second one-way gear is configured to mesh with the second meshing area;

[0051] When the dual-purpose transmission shaft rotates in the second direction, after the second one-way gear is disengaged from the second meshing area, the first one-way gear is configured to mesh with the first meshing area.

[0052] That is, during the operation of the cleaning robot disclosed herein, the driving device can drive the active wheel shaft to rotate, and when the active wheel shaft rotates, it can drive the movable cleaner to rotate through the transmission wheel set, and when the movable cleaner rotates relative to the working surface, it can clean the working surface.

[0053] When the swing arm needs to drive the movable cleaner to swing toward the second position relative to the machine body, it is only necessary to ensure that the one-way clutch assembly is in the first working state. When the driving device drives the active wheel shaft to rotate in the first direction, the swing arm is driven to swing toward the second position relative to the machine body through the one-way clutch assembly, and the movable cleaner can be driven to swing toward the second position relative to the machine body through the swing arm.

[0054] When the swing arm is required to drive the movable cleaner to swing in the direction of the first position relative to the machine body, it is only necessary to ensure that the one-way clutch assembly is in the second working state. When the driving device drives the active wheel shaft to rotate in the second direction, the swing arm is driven to swing in the direction of the first position relative to the machine body through the one-way clutch assembly, and the movable cleaner can be driven to swing in the direction of the first position relative to the machine body through the swing arm.

[0055] When there is no need for the swing arm to drive the movable cleaner to swing relative to the machine body, when the one-way clutch assembly is in the first working state, when the driving device drives the active wheel shaft to rotate in the second direction, it can freely rotate relative to the swing arm through the one-way clutch assembly, thereby driving the movable cleaner to rotate on its own only through the transmission wheel group to clean the working surface; and when the one-way clutch assembly is in the second working state, when the driving device drives the active wheel shaft to rotate in the first direction, it can freely rotate relative to the swing arm through the one-way clutch assembly, and can also drive the movable cleaner to rotate on its own only through the transmission wheel group to clean the working surface.

[0056] Therefore, the cleaning robot disclosed in the present invention can drive the movable cleaner to rotate by only one driving device, and at the same time drive the movable cleaner to move between a first position and a second position relative to the body, thereby realizing the outward swing and inward swing of the movable cleaner to expand the cleaning range of the movable cleaner, effectively meet the cleaning requirements of the edge of the working surface, and can also perform active avoidance.

[0057] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupancy of the driving device in the internal space of the cleaning robot, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0058] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0060] Figure 1 is a structural schematic diagram of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in a first position;

[0061] Figure 2 is a schematic structural diagram of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0062] Figure 3is a partial structural schematic diagram of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0063] Figure 4 is a partial structural schematic diagram of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0064] Figure 5 is a partial cross-sectional schematic diagram of the cleaning robot provided by the embodiment of the present disclosure when the movable cleaning device is in the second position;

[0065] Figure 6 is a partial three-dimensional cross-sectional schematic diagram of the cleaning robot provided by the embodiment of the present disclosure when the movable cleaning device is in the second position;

[0066] Figure 7 is a schematic diagram of a portion of the internal structure of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0067] Figure 8 is a schematic diagram of a portion of the internal structure of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0068] Fig. 9 is a schematic diagram of a portion of the internal structure of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0069] Fig.10 is a structural schematic diagram of a guide gear, a first gear and a second gear of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0070] Fig.11 is a schematic diagram of an exploded structure of a guide gear, a first gear and a second gear of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in a second position;

[0071] Fig.12 is another exploded structural schematic diagram of the guide gear, the first gear and the second gear of the cleaning robot provided by the embodiment of the present disclosure when the movable cleaning device is in the second position;

[0072] Fig.13 is a partial structural schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0073] Fig.14 is a partial structural schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0074] Fig.15 It is a partial structural schematic diagram of another cleaning robot provided by an embodiment of the present disclosure when a planetary carrier drives a planetary gear to mesh with a first transmission gear set;

[0075] Fig.16 It is a partial structural schematic diagram of another cleaning robot provided by an embodiment of the present disclosure when a planetary carrier drives a planetary gear to mesh with a second transmission gear set;

[0076] Fig.17 is a partial structural schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0077] Fig.18 is a partial structural schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0078] Fig.19 is a schematic diagram of the internal structure of another cleaning robot provided by an embodiment of the present disclosure;

[0079] Fig. 20 is a partial structural schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0080] Fig.21 It is a schematic structural diagram of a dual-purpose transmission shaft of another cleaning robot provided in an embodiment of the present disclosure.

[0081] Figures 1 to 21 The corresponding relationship between the component names and reference numerals is as follows:

[0082] 10. body; 11. driving device; 121. first limiting part; 131. first positioning part; 132. second positioning part; 133. positioning member; 134. positioning groove; 20. swing arm; 21. guide groove; 22. elastic arm; 221. protrusion; 23. convex rib; 24. pressing piece; 30. movable cleaner; 31. side brush; 32. rag plate; 40. transmission mechanism; 41. driving wheel shaft; 411. driving gear; 42. one-way clutch assembly; 421. locking part; 4211. matching groove; 4212. first locking surface; 4213. second locking surface; 4214. recessed area; 422. rolling part; 43. transmission wheel group; 431. guide gear; 4311. first meshing part; 43111. first Meshing side; 43112, first guide surface; 4312, second meshing part; 43121, second meshing side; 43122, second guide surface; 432, first transmission gear set; 4321, first gear; 43211, first matching part; 433, second transmission gear set; 4331, second gear; 43311, second matching part; 434, converging gear set; 441, planet carrier; 442, planetary gear; 451, self-rotating transmission shaft; 452, swing transmission shaft; 4521, first meshing area; 4522, first disengagement area; 4523, second meshing area; 4524, second disengagement area; 453, dual-purpose transmission shaft; 4531, first one-way gear; 4532, second one-way gear; 50, wall. A, first direction; B, second direction. DETAILED DESCRIPTION

[0083] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless specifically stated otherwise, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present disclosure. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values.

[0084] Many specific details are set forth in the following description to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present disclosure, so the present disclosure is not limited to the specific implementation disclosed below. Techniques, methods, and devices known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods, and devices should be considered as part of the specification.

[0085] The terms used in one or more embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present disclosure. The singular forms of "a", "said" and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0086] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determination". In this article, "upper", "lower", "front", "back", "left", "right", etc. are only used to indicate the relative position relationship between the relevant parts, rather than to limit the absolute position of these relevant parts. In this article, "equal", "same", etc. are not strictly mathematical and / or geometrical limitations, but also include errors that can be understood by those skilled in the art and allowed by manufacturing or use. Unless otherwise specified, the numerical range herein includes not only the entire range within its two endpoints, but also includes several sub-ranges contained therein.

[0087] The present disclosure provides a cleaning robot capable of cleaning a work surface; the cleaning robot comprises a body, a movable cleaner and a transmission mechanism, wherein a swing arm is provided on the body; the movable cleaner is configured to be able to move between a first position and a second position relative to the body under the action of the swing arm.

[0088] The transmission mechanism includes a driving wheel shaft and a transmission wheel group arranged on the swing arm. The driving wheel shaft is constructed to be controlled by a driving device to drive the movable cleaner to rotate through the transmission wheel group; the transmission mechanism also includes a one-way clutch assembly for transmitting and connecting the driving wheel shaft and the swing arm, and the one-way clutch assembly has a first working state and a second working state.

[0089] In which, the one-way clutch assembly is in the first working state, and when the driving wheel shaft is controlled by the driving device to rotate in the first direction, the swing arm is driven by the one-way clutch assembly to swing relative to the machine body in the direction of the second position, and when the driving device is controlled to rotate in the second direction, the one-way clutch assembly is used to freely rotate relative to the swing arm.

[0090] When the one-way clutch assembly is in the second working state, the driving wheel shaft is controlled by the driving device to rotate in the second direction to drive the swing arm to swing in the direction of the first position relative to the machine body through the one-way clutch assembly, and is controlled by the driving device to rotate in the first direction to freely rotate relative to the swing arm through the one-way clutch assembly.

[0091] That is, during the operation of the cleaning robot disclosed herein, the driving device can drive the active wheel shaft to rotate, and when the active wheel shaft rotates, it can drive the movable cleaner to rotate through the transmission wheel set, and when the movable cleaner rotates relative to the working surface, it can clean the working surface.

[0092] When the swing arm needs to drive the movable cleaner to swing toward the second position relative to the machine body, it is only necessary to ensure that the one-way clutch assembly is in the first working state. When the driving device drives the active wheel shaft to rotate in the first direction, the swing arm is driven to swing toward the second position relative to the machine body through the one-way clutch assembly, and the movable cleaner can be driven to swing toward the second position relative to the machine body through the swing arm.

[0093] When the swing arm is required to drive the movable cleaner to swing in the direction of the first position relative to the machine body, it is only necessary to ensure that the one-way clutch assembly is in the second working state. When the driving device drives the active wheel shaft to rotate in the second direction, the swing arm is driven to swing in the direction of the first position relative to the machine body through the one-way clutch assembly, and the movable cleaner can be driven to swing in the direction of the first position relative to the machine body through the swing arm.

[0094] When there is no need for the swing arm to drive the movable cleaner to swing relative to the machine body, when the one-way clutch assembly is in the first working state, when the driving device drives the active wheel shaft to rotate in the second direction, it can freely rotate relative to the swing arm through the one-way clutch assembly, thereby driving the movable cleaner to rotate on its own only through the transmission wheel group to clean the working surface; and when the one-way clutch assembly is in the second working state, when the driving device drives the active wheel shaft to rotate in the first direction, it can freely rotate relative to the swing arm through the one-way clutch assembly, and can also drive the movable cleaner to rotate on its own only through the transmission wheel group to clean the working surface.

[0095] Therefore, the cleaning robot disclosed in the present invention can drive the movable cleaner to rotate by only one driving device, and at the same time drive the movable cleaner to move between a first position and a second position relative to the body, thereby realizing the outward swing and inward swing of the movable cleaner to expand the cleaning range of the movable cleaner, effectively meet the cleaning requirements of the edge of the working surface, and can also perform active avoidance.

[0096] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupancy of the driving device in the internal space of the cleaning robot, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0097] For ease of understanding, refer to Figures 1 to 21 The specific structure and working principle of the cleaning robot disclosed in the present invention are explained in detail.

[0098] like Figures 1 to 12 As shown, the present disclosure provides a cleaning robot, which can clean a work surface; the cleaning robot includes a body 10, a movable cleaner 30 and a transmission mechanism 40, wherein a swing arm 20 is provided on the body 10; the movable cleaner 30 is configured to move between a first position and a second position relative to the body 10 under the action of the swing arm 20. The movable cleaner 30 may include cleaning mechanisms such as a side brush 31 and a rag plate 32, which are not limited here.

[0099] like Figure 5 and Figure 7 As shown, the transmission mechanism 40 includes a driving wheel shaft 41 and a transmission wheel group 43 arranged on the swing arm 20. The driving wheel shaft 41 is constructed to be controlled by the driving device 11 to drive the movable cleaner 30 to rotate through the transmission wheel group 43; the transmission mechanism 40 also includes a one-way clutch assembly 42 for transmitting and connecting the driving wheel shaft 41 and the swing arm 20, and the one-way clutch assembly 42 has a first working state and a second working state.

[0100] In which, the one-way clutch assembly 42 is in the first working state, and the driving wheel shaft 41 is controlled by the driving device 11 to rotate in the first direction to drive the swing arm 20 to swing toward the second position relative to the body 10 through the one-way clutch assembly 42, and is controlled by the driving device 11 to rotate in the second direction to freely rotate relative to the swing arm 20 through the one-way clutch assembly 42.

[0101] When the one-way clutch assembly 42 is in the second working state, the driving wheel shaft 41 is controlled by the driving device 11 to rotate in the second direction, and drives the swing arm 20 to swing toward the first position relative to the body 10 through the one-way clutch assembly 42, and is controlled by the driving device 11 to rotate in the first direction, and is freely rotated relative to the swing arm 20 through the one-way clutch assembly 42.

[0102] That is, during the operation of the cleaning robot disclosed herein, the driving device 11 can drive the active wheel shaft 41 to rotate. When the active wheel shaft 41 rotates, it can drive the movable cleaner 30 to rotate through the transmission wheel group 43. When the movable cleaner 30 rotates relative to the working surface, it can clean the working surface.

[0103] When the swing arm 20 is required to drive the movable cleaner 30 to swing toward the second position relative to the machine body 10, it is only necessary to ensure that the one-way clutch assembly 42 is in the first working state. When the driving device 11 drives the active wheel shaft 41 to rotate along the first direction, the swing arm 20 is driven by the one-way clutch assembly 42 to swing relative to the machine body 10 toward the second position, and the movable cleaner 30 can be driven by the swing arm 20 to swing toward the second position relative to the machine body 10.

[0104] When the swing arm 20 is required to drive the movable cleaner 30 to swing toward the first position relative to the machine body 10, it is only necessary to ensure that the one-way clutch assembly 42 is in the second working state. When the driving device 11 drives the active wheel shaft 41 to rotate in the second direction, the swing arm 20 is driven by the one-way clutch assembly 42 to swing relative to the machine body 10 toward the first position, and the movable cleaner 30 can be driven by the swing arm 20 to swing relative to the machine body 10 toward the first position.

[0105] When there is no need for the swing arm 20 to drive the movable cleaner 30 to swing relative to the body 10, when the one-way clutch assembly 42 is in the first working state, when the driving device 11 drives the driving wheel shaft 41 to rotate in the second direction, it can freely rotate relative to the swing arm 20 through the one-way clutch assembly 42, thereby only driving the movable cleaner 30 to rotate by itself through the transmission wheel group 43 to clean the working surface; and when the one-way clutch assembly 42 is in the second working state, when the driving device 11 drives the driving wheel shaft 41 to rotate in the first direction, it can freely rotate relative to the swing arm 20 through the one-way clutch assembly 42, and can also only drive the movable cleaner 30 to rotate by itself through the transmission wheel group 43 to clean the working surface.

[0106] Therefore, the cleaning robot disclosed in the present invention can drive the movable cleaner 30 to rotate by only one driving device 11, and at the same time drive the movable cleaner 30 to move between the first position and the second position relative to the body 10, thereby realizing the outward swing and inward swing of the movable cleaner 30 to expand the cleaning range of the movable cleaner 30, effectively meet the cleaning requirements of the edge position of the working surface, and can also perform active avoidance.

[0107] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupation of the internal space of the cleaning robot by the drive device 11, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0108] Specifically, Figure 1 As shown, in one embodiment of the present disclosure, when the movable cleaner 30 is located at the first position, at least part of its edge is located in the edge projection area of ​​the body 10, that is, when the movable cleaner 30 is located at the first position, it can be set so that part of its edge is located in the edge projection area of ​​the body 10, and part of its edge is located outside the edge projection area of ​​the body 10, so that the movable cleaner 30 located in the first position has a larger cleaning range; it can also be set so that the entire edge is located in the edge projection area of ​​the body 10, so that the overall size of the cleaning robot can be smaller, which is convenient for storage and less prone to collision during driving.

[0109] like Figure 2 As shown, the movable cleaner 30 can swing outward to a second position relative to the body 10. When the movable cleaner 30 is in the second position, the cleaning range of the cleaning robot can be expanded outward compared to when the movable cleaner 30 is in the first position, thereby cleaning the sanitary dead corners that are difficult to clean in the first position, thereby achieving comprehensive cleaning.

[0110] Specifically, continue to refer to Figure 1 and Figure 2 In the actual cleaning scene, there is a wall 50, and it is difficult for the cleaning robot to move close to the wall 50. Even if the cleaning robot is close to the wall 50, the movable cleaner 30 at the first position still cannot clean the blind corner area along the edge. In this case, it is necessary to extend at least the movable cleaner 30 on the side close to the wall 50 to the second position, so as to expand the cleaning range and leave no blind corner.

[0111] In one embodiment of the present disclosure, the outer contour of the machine body 10 has a maximum edge in the forward direction, and when in the second position, at least part of the edge of the movable cleaner 30 is located outside the maximum edge of the machine body 10. Specifically, the machine body 10 can be set to any shape such as a rectangle, a circle, etc., and the machine body 10 in this embodiment is a circle.

[0112] like Figure 1 and Figure 2 As shown, the α axis is the maximum edge of the outer contour of the body 10 in the forward direction. It is understandable that when the cleaning robot runs to the position closest to the wall 50, the α axis coincides with the edge of the wall 50. Since there is a gap between the movable cleaner 30 located in the first position and the α axis, a cleaning dead angle is formed. In order to make up for the gap between the movable cleaner 30 and the α axis, as shown in the figure, it is necessary to swing the movable cleaner 30 outward and move at least part of its edge to a position exceeding the α axis. In this way, the cleaning range of the movable cleaner 30 in the second position can cover the widest part of the walking range of the body 10. In one embodiment of the present disclosure, the movable cleaner 30 in this embodiment can take the second position as the normal working posture, so the cleaning range of the cleaning robot of the present disclosure during normal operation can at least cover the widest part of the walking range of the body 10, and the cleaning efficiency is higher. In another embodiment of the present disclosure, the movable cleaner 30 in this embodiment can take the first position as the normal working posture, which is not limited here.

[0113] Specifically, Figure 5 As shown, in one embodiment of the present disclosure, the one-way clutch assembly 42 includes a locking portion 421; the locking portion 421 can move to put the one-way clutch assembly 42 in a first working state, and move to put the one-way clutch assembly 42 in a second working state.

[0114] When the one-way clutch assembly 42 is in the first working state, after the driving wheel shaft 41 rotates along the first direction and drives the swing arm 20 to move to the second position, the locking portion 421 is constructed to move to put the one-way clutch assembly 42 in the second working state; when the one-way clutch assembly 42 is in the second working state, after the driving wheel shaft 41 rotates along the second direction and drives the swing arm 20 to move to the first position, the locking portion 421 is constructed to move to put the one-way clutch assembly 42 in the first working state.

[0115] That is, during the operation of the cleaning robot disclosed in the present invention, the locking portion 421 is driven to move so that the one-way clutch assembly 42 can switch between the first working state and the second working state. Specifically, when the one-way clutch assembly 42 is in the first working state, the driving wheel shaft 41 rotates in the first direction to drive the swing arm 20 to move to the second position, and the locking portion 421 can move to put the one-way clutch assembly 42 in the second working state, so that the one-way clutch assembly 42 is in the second working state, and the driving wheel shaft 41 rotates in the second direction to drive the swing arm 20 to move back to the first position; when the one-way clutch assembly 42 is in the second working state, the driving wheel shaft 41 rotates in the second direction to drive the swing arm 20 to move to the first position, and the locking portion 421 can move to put the one-way clutch assembly 42 in the first working state, so that the driving wheel shaft 41 rotates in the first direction to drive the swing arm 20 to move to the second position.

[0116] The cleaning robot disclosed in the present invention drives the locking part 421 to move so that the one-way clutch assembly 42 can switch between the first working state and the second working state, so as to switch the rotation direction of the swing arm 20, and drive the movable cleaner 30 to move between the first position and the second position relative to the body 10, thereby realizing the outward swing and inward swing of the movable cleaner 30, effectively meeting the cleaning needs.

[0117] Further, such as Figure 5 and Figure 6 As shown, in one embodiment of the present disclosure, a guide groove 21 is provided on the swing arm 20, and the locking portion 421 is configured to be pre-pressed in the guide groove 21 by an elastic device, and is configured to be able to move along the guide groove 21 in the radial direction of the driving wheel shaft 41;

[0118] The one-way clutch assembly 42 includes a rolling portion 422 located in the matching groove 4211; the rolling portion 422 is constructed to match with the driving wheel shaft 41; a matching groove 4211 is provided on the side of the locking portion 421 facing the driving wheel shaft 41, and the matching groove 4211 faces the inner wall of the driving wheel shaft 41, and is constructed to gradually extend from its two sides to the middle area toward the direction of the driving wheel shaft 41, forming a first locking surface 4212 and a second locking surface 4213 arranged along the first direction, respectively.

[0119] The rolling portion 422 can move in the matching groove 4211; when the first locking surface 4212 or the second locking surface 4213 squeezes the rolling portion 422 against the outer wall of the driving wheel shaft 41, the driving wheel shaft 41 can drive the swing arm 20 to rotate through the rolling portion 422, and when the first locking surface 4212 or the second locking surface 4213 does not squeeze the rolling portion 422 against the outer wall of the driving wheel shaft 41, the driving wheel shaft 41 will drive the rolling portion 422 to roll freely, and will not drive the driving wheel shaft 41 to rotate. When the one-way clutch assembly 42 is in the first working state, the rolling portion 422 is located at a position matched with the first locking surface 4212; the driving wheel shaft 41 is configured to drive the rolling portion 422 to move in a direction locked with the first locking surface 4212 when rotating in the first direction, so that the driving wheel shaft 41 is transmission-connected to the swing arm 20 through the rolling portion 422 and the first locking surface 4212; the driving wheel shaft 41 is configured to drive the rolling portion 422 to move in a direction disengaged from the first locking surface 4212 when rotating in the second direction, so that the driving wheel shaft 41 can freely rotate relative to the swing arm 20 through the rolling portion 422;

[0120] Specifically, Figure 5 As shown, the one-way clutch assembly 42 is in the first working state, and the rolling portion 422 is located at a position that matches the first locking surface 4212; when the driving wheel shaft 41 rotates along the first direction, the rolling portion 422 is driven to move in a direction that is locked with the first locking surface 4212 ( Figure 5 The driving wheel shaft 41 moves in the counterclockwise direction A) so that the driving wheel shaft 41 is connected to the swing arm 20 through the rolling portion 422 and the first locking surface 4212; when the driving wheel shaft 41 rotates in the second direction, the rolling portion 422 is driven to disengage from the first locking surface 4212 ( Figure 5 The one-way clutch assembly 42 is in the second working state, and the rolling portion 422 is located at a position that cooperates with the second locking surface 4213; the driving wheel shaft 41 is configured to drive the rolling portion 422 to move in a direction that is locked with the second locking surface 4213 when rotating in the second direction, so that the driving wheel shaft 41 is connected to the swing arm 20 through the rolling portion 422 and the second locking surface 4213; the driving wheel shaft 41 is configured to drive the rolling portion 422 to move in a direction that is disengaged from the second locking surface 4213 when rotating in the first direction, so that the driving wheel shaft 41 is freely rotated relative to the swing arm 20 through the rolling portion 422. The movement of the one-way clutch assembly 42 in the second working state is similar and will not be described in detail here.

[0121] Therefore, when the one-way clutch assembly 42 is in the first working state, the rolling portion 422 is located at a position cooperating with the first locking surface 4212, that is, the rolling portion 422 is located between the first locking surface 4212 and the driving wheel shaft 41; at this time, when the rolling portion 422 moves along the first direction, it will gradually press the first locking surface 4212, and the acting force between the rolling portion 422 and the first locking surface 4212 will continue to increase; therefore, when the driving wheel shaft 41 rotates along the first direction, it drives the rolling portion 422 to move in the direction locked with the first locking surface 4212, so that the driving wheel shaft 41 is connected to the swing arm 20 through the rolling portion 422 and the first locking surface 4212, and the driving wheel shaft 41 can push the locking portion 421 where the first locking surface 4212 is located to rotate through the rolling portion 422; further, since the locking portion 421 is pre-pressed in the guide groove 21 of the swing arm 20 by the elastic device, when the driving wheel shaft 41 rotates along the first direction, it can drive the swing arm 20 and the movable cleaner 30 to swing.

[0122] When the one-way clutch assembly 42 is in the first working state, since the rolling portion 422 is located between the first locking surface 4212 and the driving wheel shaft 41, when the driving wheel shaft 41 rotates along the second direction, it drives the rolling portion 422 to move in the direction of disengaging from the first locking surface 4212, that is, it moves toward the end wall side where the first locking surface 4212 is located. At this time, after the rolling portion 422 moves to the end wall of the matching groove 4211, it will roll freely in the matching groove 4211, and will not push the locking portion 421 where the matching groove 4211 is located to move in the second direction. Therefore, when the driving wheel shaft 41 rotates along the second direction, the rolling portion 422 can freely rotate relative to the locking portion 421, and will not drive the swing arm 20 where the locking portion 421 is located to swing.

[0123] When the one-way clutch assembly 42 is in the second working state, the rolling portion 422 is located at a position cooperating with the second locking surface 4213, that is, the rolling portion 422 is located between the second locking surface 4213 and the driving wheel shaft 41; at this time, when the rolling portion 422 moves along the second direction, it will gradually press the second locking surface 4213, and the acting force between the rolling portion 422 and the second locking surface 4213 will continue to increase; therefore, when the driving wheel shaft 41 rotates along the second direction, it drives the rolling portion 422 to move in the direction locked with the second locking surface 4213, so that the driving wheel shaft 41 is connected to the swing arm 20 through the rolling portion 422 and the second locking surface 4213, and the driving wheel shaft 41 can push the locking portion 421 where the second locking surface 4213 is located to rotate through the rolling portion 422; further, since the locking portion 421 is pre-pressed in the guide groove 21 of the swing arm 20 by the elastic device, when the driving wheel shaft 41 rotates along the second direction, it can drive the swing arm 20 and the movable cleaner 30 to swing.

[0124] When the one-way clutch assembly 42 is in the second working state, since the rolling portion 422 is located between the second locking surface 4213 and the driving wheel shaft 41, when the driving wheel shaft 41 rotates along the first direction, it drives the rolling portion 422 to move in the direction of disengaging from the second locking surface 4213, that is, it moves toward the side of the end wall where the second locking surface 4213 is located. At this time, after the rolling portion 422 moves to the end wall of the matching groove 4211, it will roll freely in the matching groove 4211, and will not push the locking portion 421 where the matching groove 4211 is located to move along the first direction. Therefore, when the driving wheel shaft 41 rotates along the first direction, the rolling portion 422 can freely rotate relative to the locking portion 421, and will not drive the swing arm 20 where the locking portion 421 is located to swing.

[0125] like Figure 5 and Figure 6 As shown, in one embodiment of the present disclosure, the rolling portion 422 may be a cylindrical roller, and in another embodiment of the present disclosure, the rolling portion 422 may also be a ball or other structure, which is not limited here.

[0126] like Figure 5 and Figure 6 As shown, in one embodiment of the present disclosure, in a state where the rolling portion 422 is locked with the first locking surface 4212, after the driving wheel shaft 41 rotates in the first direction and the driving force applied to the locking portion 421 is greater than the resistance of the locking portion 421 to radial movement along the guide groove 21, the locking portion 421 is configured to move along the guide groove 21 in a direction away from the driving wheel shaft 41, so that the driving wheel shaft 41 pushes the rolling portion 422 to move from a position matched with the first locking surface 4212 to a position matched with the second locking surface 4213, so that the one-way clutch assembly 42 switches to the second working state;

[0127] When the rolling portion 422 is locked with the second locking surface 4213, when the driving wheel shaft 41 rotates in the second direction, the driving force applied to the locking portion 421 is greater than the resistance of the locking portion 421 to radial movement along the guide groove 21, and the locking portion 421 is constructed to move along the guide groove 21 in a direction away from the driving wheel shaft 41, so that the driving wheel shaft 41 pushes the rolling portion 422 to move from a position cooperating with the second locking surface 4213 to a position cooperating with the first locking surface 4212, so that the one-way clutch assembly 42 switches to the first working state.

[0128] Since the locking portion 421 is pre-pressed in the guide groove 21 of the swing arm 20 by the elastic device, when the one-way clutch assembly 42 is in the first working state, the driving wheel shaft 41 rotates along the first direction, driving the rolling portion 422 to be pressed against the first locking surface 4212. When the driving wheel shaft 41 rotates along the first direction, the driving force applied to the locking portion 421 is greater than the resistance of the radial movement of the locking portion 421 along the guide groove 21. The rolling portion 422 can push the locking portion 421 to move along the guide groove 21 in the direction away from the driving wheel shaft 41 until the rolling portion 422 breaks through the blocking lock of the first locking surface 4212, passes to the middle area of ​​the matching groove 4211 and moves to a position matching with the second locking surface 4213. At this time, the one-way clutch assembly 42 switches to the second working state.

[0129] When the one-way clutch assembly 42 is in the second working state, when the driving wheel shaft 41 rotates along the second direction, it drives the rolling portion 422 to be pressed against the second locking surface 4213. When the driving wheel shaft 41 rotates along the second direction, the driving force applied to the locking portion 421 is greater than the resistance of the locking portion 421 to radial movement along the guide groove 21. The rolling portion 422 can push the locking portion 421 to move along the guide groove 21 in the direction away from the driving wheel shaft 41 until the rolling portion 422 breaks through the blocking lock of the second locking surface 4213, passes through the middle area of ​​the matching groove 4211 and moves to the position matching with the first locking surface 4212. At this time, the one-way clutch assembly 42 switches to the first working state.

[0130] Therefore, the cleaning robot disclosed in the present invention drives the rolling portion 422 to move between a position cooperating with the first locking surface 4212 and a position cooperating with the second locking surface 4213, so that the one-way clutch assembly 42 can switch between the first working state and the second working state, thereby switching the rotation direction of the swing arm 20, and driving the movable cleaner 30 to move between the first position and the second position relative to the body 10, thereby realizing the outward swing and inward swing of the movable cleaner 30.

[0131] like Figure 5 As shown, in one embodiment of the present disclosure, the elastic device is an elastic arm 22 arranged on the swing arm 20 and located on the outside of the locking portion 421. The elastic arm 22 has a protrusion 221 extending toward the locking portion 421, and the protrusion 221 is constructed to cooperate with a recessed area 4214 set on the end face of the locking portion 421.

[0132] In this way, the elastic arm 22 can cooperate with the recessed area 4214 set on the end surface of the locking portion 421 through each protrusion 221 to radially press the locking portion 421 inward; and when the driving wheel shaft 41 applies an upward pushing force to the locking portion 421 through the rolling portion 422, the pushing force can push the locking portion 421 to press the elastic arm 22, thereby pushing the protrusion 221 of the elastic arm 22 to deform, thereby causing the locking portion 421 to move radially outward along the guide groove 21, thereby facilitating the rolling portion 422 to switch between a position cooperating with the first locking surface 4212 or a position cooperating with the second locking surface 4213, so that the one-way clutch assembly 42 can switch between the first working state and the second working state.

[0133] like Figure 5 As shown, in one embodiment of the present disclosure, at least two ribs 23 extending upward are provided on the swing arm 20, and the at least two ribs 23 are constructed to be distributed in the circumferential direction, and a guide groove 21 is formed between two adjacent ribs 23; a pressure plate 24 is provided on the driving wheel shaft 41, and the pressure plate 24 is constructed to limit the axial movement of the locking portion 421.

[0134] like Figure 5 As shown, a guide groove 21 is formed between two adjacent ribs 23 to facilitate guiding the locking portion 421 to move radially along the guide groove 21, and the pressure plate 24 can effectively limit the axial movement of the locking portion 421, thereby ensuring that during the working state switching process of the one-way clutch assembly 42, the locking portion 421 only moves radially along the guide groove 21.

[0135] Specifically, in one embodiment of the present disclosure, after the driving wheel shaft 41 rotates along the first direction until the one-way clutch assembly 42 switches to the second working state, the driving wheel shaft 41 is constructed to continue to rotate along the first direction to drive the movable cleaner 30 to rotate; after the driving wheel shaft 41 rotates along the second direction until the one-way clutch assembly 42 switches to the first working state, the driving wheel shaft 41 is constructed to continue to rotate along the second direction to drive the movable cleaner 30 to rotate.

[0136] That is, when the one-way clutch assembly 42 is in the first working state, when the driving device 11 drives the driving wheel shaft 41 to rotate along the first direction, it can drive the swing arm 20 to swing in the direction of the second position relative to the body 10 until it reaches the second position; when the swing arm 20 reaches the second position, the driving wheel shaft 41 can push the rolling portion 422 to move to a position that cooperates with the second locking surface 4213 by rotating along the first direction, so that the one-way clutch assembly 42 switches to the second working state, and after the one-way clutch assembly 42 switches to the second working state, the driving wheel shaft 41 continues to rotate along the first direction to drive the movable cleaner 30 to rotate, so that the movable cleaner 30 can continue to clean the working surface at the second position.

[0137] When the one-way clutch assembly 42 is in the second working state, when the driving device 11 drives the driving wheel shaft 41 to rotate in the second direction, it can drive the swing arm 20 to swing in the direction of the first position relative to the body 10 until it reaches the first position; when the swing arm 20 reaches the first position, the driving wheel shaft 41 can push the rolling portion 422 to move to a position that cooperates with the first locking surface 4212 by rotating in the second direction, so that the one-way clutch assembly 42 switches to the first working state, and after the one-way clutch assembly 42 switches to the first working state, the driving wheel shaft 41 continues to rotate in the second direction to drive the movable cleaner 30 to rotate, so that the movable cleaner 30 can continue to clean the working surface at the first position.

[0138] like Figure 4 As shown, in one embodiment of the present disclosure, a first limiting portion 121 and a second limiting portion are provided on the body 10; the first limiting portion 121 is constructed to abut against the first limiting portion 121 when the swing arm 20 moves to the first position, and the second limiting portion is constructed to abut against the second limiting portion when the swing arm 20 moves to the second position.

[0139] That is, when the one-way clutch assembly 42 is in the first working state, when the driving device 11 drives the driving wheel shaft 41 to rotate along the first direction, it can drive the swing arm 20 to swing in the direction of the second position relative to the machine body 10 until it reaches the second position, and the swing arm 20 abuts against the second limiting portion; when the swing arm 20 abuts against the second limiting portion, the swing arm 20 cannot continue to rotate in the first direction. At this time, the driving wheel shaft 41 will drive the rolling portion 422 to continuously press on the first locking surface 4212 until the driving wheel shaft 421 is applied with a driving force greater than the resistance of the locking portion 421 to radial movement along the guide groove 21. The rolling portion 422 pushes the locking portion 421 to move along the guide groove 21 in the direction away from the driving wheel shaft 41, and breaks through the blocking lock of the first locking surface 4212, passes through the middle area of ​​the matching groove 4211 and moves to a position matching with the second locking surface 4213, and the one-way clutch assembly 42 switches to the second working state.

[0140] That is, when the one-way clutch assembly 42 is in the second working state, when the driving device 11 drives the driving wheel shaft 41 to rotate along the second direction, it can drive the swing arm 20 to swing in the direction of the first position relative to the machine body 10 until it reaches the first position, and the swing arm 20 abuts against the first limiting portion 121; when the swing arm 20 abuts against the first limiting portion 121, the swing arm 20 cannot continue to rotate in the second direction. At this time, the driving wheel shaft 41 will drive the rolling portion 422 to continuously press on the second locking surface 4213 until the driving wheel shaft 421 applied to the locking portion 421 is greater than the resistance of the locking portion 421 to radial movement along the guide groove 21, the rolling portion 422 pushes the locking portion 421 to move along the guide groove 21 in the direction away from the driving wheel shaft 41, and breaks through the blocking lock of the second locking surface 4213, passes to the middle area of ​​the matching groove 4211 and moves to the position matching with the first locking surface 4212, and the one-way clutch assembly 42 switches to the first working state.

[0141] By providing the first limit portion 121 on the body 10, it is convenient to control the driving wheel shaft 41 to rotate along the second direction when the swing arm 20 moves to the first position, so that the one-way clutch assembly 42 switches to the first working state. When the one-way clutch assembly 42 switches to the first working state, the driving wheel shaft 41 continues to rotate along the second direction without changing the rotation direction, which can drive the movable cleaner 30 to rotate, so that the movable cleaner 30 continues to clean the working surface at the first position.

[0142] By providing a second limit portion on the body 10, it is convenient to control the driving wheel shaft 41 to rotate along the first direction when the swing arm 20 moves to the second position, so that the one-way clutch assembly 42 switches to the second working state. When the one-way clutch assembly 42 switches to the second working state, the driving wheel shaft 41 continues to rotate along the first direction without changing the rotation direction, which can drive the movable cleaner 30 to rotate, so that the movable cleaner 30 continues to clean the working surface at the second position.

[0143] During the swinging process of the movable cleaner 30, there is no need to control the driving device 11 to reverse. The movable cleaner 30 can be controlled to continue rotating after reaching the target position to clean the working surface, thereby greatly reducing the impact of frequent reversal of the driving device 11 on the life of the motor.

[0144] like Figure 8As shown, in one embodiment of the present disclosure, a first positioning portion 131 and a second positioning portion 132 are provided between the body 10 and the swing arm 20; the first positioning portion 131 and the second positioning portion 132 both include a positioning groove 134 and a positioning member 133; when the swing arm 20 moves to the first position and the second position, the positioning members 133 in the first positioning portion 131 and the second positioning portion 132 are respectively constructed to cooperate with the corresponding positioning groove 134; the positioning member 133 is constructed to disengage from the positioning groove 134 when the torque applied to the swing arm 20 is greater than the holding force between the positioning member 133 and the positioning groove 134.

[0145] That is, when the swing arm 20 moves to the first position, the positioning member 133 in the first positioning portion 131 cooperates with the corresponding positioning groove 134, thereby temporarily limiting the swing arm 20 to the first position. When the one-way clutch assembly 42 is in the first working state, when the driving device 11 drives the driving wheel shaft 41 to rotate along the first direction, when the torque applied to the swing arm 20 is greater than the holding force between the positioning member 133 and the positioning groove 134, the positioning member 133 disengages from the positioning groove 134, and the swing arm 20 can rotate from the first position to the second position.

[0146] That is, when the swing arm 20 moves to the second position, the positioning member 133 in the second positioning portion 132 cooperates with the corresponding positioning groove 134, thereby temporarily limiting the swing arm 20 to the second position. When the one-way clutch assembly 42 is in the second working state, when the driving device 11 drives the driving wheel shaft 41 to rotate along the second direction, when the torque applied to the swing arm 20 is greater than the holding force between the positioning member 133 and the positioning groove 134, the positioning member 133 disengages from the positioning groove 134, and the swing arm 20 can rotate from the second position to the first position.

[0147] It can be understood that the retaining force between the positioning member 133 and the positioning groove 134 should be set to be smaller than the driving force required for the active wheel shaft 41 to push the rolling portion 422 to break through the blocking lock of the first locking surface 4212 and the second locking surface 4213, so as to ensure that the active wheel shaft 41 pushes the swing arm 20 to rotate, so that when the positioning member 133 disengages from the positioning groove 134, the working state of the one-way clutch assembly 42 will not switch.

[0148] By providing the first positioning portion 131 and the second positioning portion 132 , when the movable cleaner 30 encounters an obstacle during operation, it can effectively prevent the swing arm 20 from freely rotating out of its position.

[0149] In one embodiment of the present disclosure, the cleaning robot of the present disclosure further comprises a control unit; when the swing arm 20 is located at the first position or the second position, the control unit is configured to control the driving wheel shaft 41 to always rotate in the second direction to drive the movable cleaner 30 to rotate;

[0150] When in the first working state and moving from the first position to the second position, the control unit is configured to control the driving wheel shaft 41 to rotate in the first direction for a predetermined time, so that the locking portion 421 drives the swing arm 20 to move from the first position to the second position when the driving force received is less than the movement resistance thereof;

[0151] When moving from the second position to the first position, the control unit is configured to control the driving wheel shaft 41 to rotate in the first direction. When the driving wheel shaft 41 is applied with a driving force greater than the resistance of the locking portion 421 to move radially along the guide groove 21, the locking portion 421 is configured to move along the guide groove 21 in a direction away from the driving wheel shaft 41, so that the driving wheel shaft 41 pushes the rolling portion 422 to move from the position matched with the first locking surface 4212 to the second working state matched with the second locking surface 4213;

[0152] The control unit is configured to continue to control the driving wheel shaft 41 to rotate in the second direction so that the locking portion 421 drives the swing arm 20 to move from the second position to the first position, and after the driving force applied to the locking portion 421 during the continued rotation is greater than the resistance of the locking portion 421 to the radial movement of the locking portion 421 along the guide groove 21, the locking portion 421 is constructed to move along the guide groove 21 in a direction away from the driving wheel shaft 41, so that the driving wheel shaft 41 pushes the rolling portion 422 to move from the position cooperating with the second locking surface 4213 to the first working state cooperating with the first locking surface 4212.

[0153] That is, when the swing arm 20 is located at the first position or the second position, the control unit can control the driving wheel shaft 41 to always rotate in the second direction to drive the movable cleaner 30 to rotate. In this way, when the swing arm 20 is located at the first position or the second position, the movable cleaner 30 can always rotate in the same direction; in this way, the movable cleaner 30 can always sweep the garbage, sewage and other dirt located on the outside of the cleaning robot to the inside of the cleaning robot, and then the dirt can be sucked into the inside of the cleaning robot under the action of the fan unit, so as to clean the dirt on the working surface and avoid residue.

[0154] When the one-way clutch assembly 42 is in the first working state, when the swing arm 20 needs to move from the first position to the second position, the control unit can control the driving wheel shaft 41 to rotate in the first direction for a predetermined period of time, so that the locking portion 421 is in a state where the driving force received is less than its movement resistance, that is, the working state of the one-way clutch assembly 42 remains unchanged, and the driving wheel shaft 41 can be used to drive the swing arm 20 to move from the first position to the second position; after the swing arm 20 moves to the second position, the control unit can control the driving wheel shaft 41 to rotate in the second direction to drive the movable cleaner 30 to rotate.

[0155] When the one-way clutch assembly 42 is in the first working state, when the swing arm 20 needs to move from the second position to the first position, the control unit first controls the driving wheel shaft 41 to rotate in the first direction until the driving force applied by the rolling portion 422 to the locking portion 421 is greater than the resistance of the locking portion 421 to radial movement along the guide groove 21, and the locking portion 421 moves along the guide groove 21 in a direction away from the driving wheel shaft 41, so that the driving wheel shaft 41 pushes the rolling portion 422 to move from the position matched with the first locking surface 4212 to the position matched with the second locking surface 4213, and the one-way clutch assembly 42 switches to the second working state. Then, when the one-way clutch assembly 42 is in the second working state, the control unit continues to control the driving wheel shaft 41 to rotate in the second direction so that the locking portion 421 drives the swing arm 20 to move from the second position to the first position. After the swing arm 20 is driven to move to the first position, the control unit continues to control the driving wheel shaft 41 to rotate in the second direction until the rolling portion 422 is pushed to move from the position matched with the second locking surface 4213 to the position matched with the first locking surface 4212, and the one-way clutch assembly 42 is switched to the first working state. After the one-way clutch assembly 42 is switched to the first working state, the control unit can continue to control the driving wheel shaft 41 to rotate in the second direction to drive the movable cleaner 30 to rotate.

[0156] The above control process can ensure that when the swing arm 20 is located at the first position or the second position, the movable cleaner 30 can always rotate in the same direction to meet the cleaning requirements.

[0157] like Figure 7 As shown, in one embodiment of the present disclosure, a driving gear 411 is provided on the driving wheel shaft 41, and the transmission wheel set 43 includes a first transmission gear set 432 and a second transmission gear set 433 which are located in the swing arm 20 and are respectively transmission-connected to the movable cleaner 30, and the difference between the number of gears meshed sequentially in the first transmission gear set 432 and the second transmission gear set 433 is an odd number;

[0158] The transmission wheel group 43 also includes a guide gear 431 meshing with the driving gear 411; the driving gear 411 and the guide gear 431 are constructed as helical gears; the driving gear 411 is constructed to drive the guide gear 431 to move axially to the first transmission gear group 432 to mesh with it during the process of rotating along the first direction, and to drive the guide gear 431 to move axially to the second transmission gear group 433 to mesh with it during the process of rotating along the second direction.

[0159] It is understandable that if Figure 7As shown, the transmission gear set 43 may further include a converging gear set 434. The first transmission gear set 432 and the second transmission gear set 433 are both meshed with the converging gear set 434. The converging gear set 434 can directly drive the movable cleaner 30 to rotate. When calculating the number of gears meshed sequentially in the first transmission gear set 432 and the second transmission gear set 433, two or more coaxially arranged gears in the first transmission gear set 432 and the second transmission gear set 433 are only regarded as one gear.

[0160] Since both the driving gear 411 and the guide gear 431 are helical gears, when the driving gear 411 rotates, it can not only drive the guide gear 431 to rotate, but also drive the guide gear 431 to move in the axial direction.

[0161] During the rotation of the driving wheel shaft 41 in the first direction, the driving gear 411 can drive the guide gear 431 to move axially to the first transmission gear set 432 for engagement, and then the first transmission gear set 432 can drive the movable cleaner 30 to rotate; during the rotation of the driving wheel shaft 41 in the second direction, the driving gear 411 can drive the guide gear 431 to move axially to the second transmission gear set 433 for engagement, and then the second transmission gear set 433 can drive the movable cleaner 30 to rotate. It can be understood that since the two meshing gears rotate in opposite directions during transmission, when the rotation direction of the driving wheel shaft 41 is opposite and the difference in the number of gears meshing sequentially in the first transmission gear set 432 and the second transmission gear set 433 is an odd number, the rotation direction of the movable cleaner 30 remains the same, thereby ensuring that when the driving wheel shaft 41 rotates in any direction, the movable cleaner 30 can always rotate in the same direction, so that garbage, sewage and other dirt located on the outside of the cleaning robot can always be swept to the inside of the cleaning robot, and then the fan unit can suck away the dirt to avoid residual dirt on the working surface.

[0162] like Figures 10 to 12 As shown, in one embodiment of the present disclosure, the first transmission gear group 432 and the second transmission gear group 433 respectively include a first gear 4321 and a second gear 4331; a first meshing portion 4311 and a first matching portion 43211 are provided between the end surfaces facing each other of the guide gear 431 and the first gear 4321; a second meshing portion 4312 and a second matching portion 43311 are provided between the end surfaces facing each other of the guide gear 431 and the second gear 4331.

[0163] The driving gear 411 is configured to drive the guide gear 431 to move when rotating in the first direction so that the first meshing portion 4311 is transmission-connected with the first matching portion 43211, and is configured to drive the guide gear 431 to move when rotating in the second direction so that the second meshing portion 4312 is transmission-connected with the second matching portion 43311.

[0164] It is understandable that, since the guide gear 431 is meshed with the driving gear 411, the rotation directions are opposite. When the driving wheel shaft 41 rotates in the first direction, the driving gear 411 drives the guide gear 431 to rotate in the second direction, and drives the guide gear 431 to move axially until the first meshing portion 4311 is connected to the first matching portion 43211 by transmission, and the guide gear 431 can drive the first gear 4321 to rotate in the second direction, so as to drive the movable cleaner 30 to rotate in the preset direction through the first transmission gear set 432.

[0165] When the driving wheel shaft 41 rotates along the second direction, the driving gear 411 drives the guide gear 431 to rotate along the first direction, and drives the guide gear 431 to move axially until the second meshing portion 4312 is transmission-connected with the second matching portion 43311. The guide gear 431 can drive the second gear 4331 to rotate along the first direction, so as to drive the movable cleaner 30 to rotate along the same preset direction through the second transmission gear set 433.

[0166] By switching the rotation direction of the driving wheel shaft 41, the transmission state switching between the driving gear 411 and the first transmission gear set 432 or the second transmission gear set 433 can be achieved, and the movable cleaner 30 is ensured to always rotate in the same preset direction to meet the cleaning requirements.

[0167] like Figures 10 to 12 As shown, in one embodiment of the present disclosure, a first meshing portion 4311 and a second meshing portion 4312 may be respectively provided on both end surfaces of the guide gear 431 , a first matching portion 43211 may be provided on the first gear 4321 , and a second matching portion 43311 may be provided on the second gear 4331 . In other embodiments of the present disclosure, a first matching portion 43211 and a second matching portion 43311 may be respectively provided on both end surfaces of the guide gear 431, a first meshing portion 4311 may be provided on the first gear 4321, and a second meshing portion 4312 may be provided on the second gear 4331; a first meshing portion 4311 and a second matching portion 43311 may be respectively provided on both end surfaces of the guide gear 431, a first matching portion 43211 may be provided on the first gear 4321, and a second meshing portion 4312 may be provided on the second gear 4331; or a first matching portion 43211 and a second meshing portion 4312 may be respectively provided on both end surfaces of the guide gear 431, a first meshing portion 4311 may be provided on the first gear 4321, and a second matching portion 43311 may be provided on the second gear 4331, which will not be repeated here.

[0168] It can be understood that since the first transmission gear set 432 and the second transmission gear set 433 are both meshed with the converging gear set 434, when the guide gear 431 drives the first gear 4321 to rotate in the second direction, the second gear 4331 always rotates in the first direction, and when the guide gear 431 drives the second gear 4331 to rotate in the first direction, the second gear 4331 always rotates in the second direction, and the rotation directions of the first gear 4321 and the second gear 4331 always remain opposite.

[0169] Therefore, if Fig.10 As shown, in one embodiment of the present disclosure, when the guide gear 431 moves in the direction of the first gear 4321, the second meshing portion 4312 is not completely disengaged from the second matching portion 43311 within a predetermined position range before the first meshing portion 4311 is fully meshed with the first matching portion 43211; when the guide gear 431 moves in the direction of the second gear 4331, the first meshing portion 4311 is not completely disengaged from the first matching portion 43211 within a predetermined position range before the second meshing portion 4312 is fully meshed with the second matching portion 43311.

[0170] In this way, when the driving gear 411 pushes the guide gear 431 to move in the direction of the first gear 4321, within the predetermined position range before the first meshing portion 4311 is fully meshed with the first matching portion 43211, the second meshing portion 4312 is not completely disengaged from the second matching portion 43311, and the second gear 4331 can provide a certain rotational resistance to the guide gear 431, thereby facilitating the driving gear 411 to use the bevel tooth surface matched with the guide gear 431 to push the guide gear 431 to move in the direction of the first gear 4321, until the first meshing portion 4311 is fully meshed with the first matching portion 43211, and the second meshing portion 4312 is completely disengaged from the second matching portion 43311.

[0171] When the driving gear 411 pushes the guide gear 431 to move in the direction of the second gear 4331, within the predetermined position range before the second meshing portion 4312 is fully meshed with the second matching portion 43311, the first meshing portion 4311 is not completely disengaged from the first matching portion 43211, and the first gear 4321 can provide a certain rotational resistance to the guide gear 431, thereby facilitating the driving gear 411 to use the bevel tooth surface matched with the guide gear 431 to push the guide gear 431 to move in the direction of the second gear 4331, until the second meshing portion 4312 is fully meshed with the second matching portion 43311, and the first meshing portion 4311 is completely disengaged from the first matching portion 43211.

[0172] Specifically, the above effect can be achieved by adjusting the sizes of the first meshing portion 4311, the second meshing portion 4312, the first matching portion 43211, and the second matching portion 43311; Fig.10 For example, the above effect can be achieved by adjusting the distance between the first meshing portion 4311 and the second meshing portion 4312 on the guide gear 431 to be greater than the distance between the first matching portion 43211 and the second matching portion 43311. Other structures are similar and will not be described in detail here.

[0173] like Figures 10 to 12 As shown, in one embodiment of the present disclosure, the two opposite sides of the first meshing portion 4311 are respectively recorded as the first guide side and the first meshing side 43111 opposite to the first guide side; the first meshing portion 4311 is configured to drive the first gear 4321 to rotate along the second direction through the first meshing side 43111; the first guide side is configured to gradually tilt toward the first meshing side 43111 in the direction from the guide gear 431 to the first gear 4321, forming a first guide surface 43112; the first matching portion 43211 is configured to have an inclined surface adapted to the first guide side;

[0174] The two opposite sides of the second meshing portion 4312 are respectively referred to as the second guide side, and the second meshing side 43121 opposite to the second guide side; the second meshing portion 4312 is constructed to drive the second gear 4331 to rotate along the first direction through the second meshing side 43121; the second guide side is constructed to gradually tilt toward the second meshing side 43121 in the direction from the guide gear 431 to the second gear 4331, forming a second guide surface 43122; the second matching portion 43311 is constructed to have an inclined surface adapted to the second guide side.

[0175] That is Figures 10 to 12 Taking the embodiment in as an example, a first meshing portion 4311 and a second meshing portion 4312 are respectively arranged on the two end surfaces of the guide gear 431, a first matching portion 43211 is arranged on the first gear 4321, and a second matching portion 43311 is arranged on the second gear 4331; the two sides of the first meshing portion 4311 are respectively a first meshing side 43111 and a first guide side, and correspondingly, the two sides of the first matching portion 43211 are respectively abutting surfaces and inclined surfaces; the two sides of the second meshing portion 4312 are respectively a second meshing side 43121 and a second guide side, and correspondingly, the two sides of the second matching portion 43311 are respectively abutting surfaces and inclined surfaces.

[0176] It can be understood that since the driving gear 411 is set on the driving wheel shaft 41 and directly meshes with the guide gear 431, the setting direction of the first guide side is away from the second direction, and the direction of the second guide side is away from the first direction. In other cases, the setting directions of the first guide side and the second guide side can be adjusted as long as the above requirements are met.

[0177] When the driving wheel shaft 41 rotates in the first direction, the driving gear 411 drives the guide gear 431 to rotate in the second direction during the rotation of the driving wheel shaft 411 in the first direction, and pushes the guide gear 431 to move in the direction of the first gear 4321. At this time, the second gear 4331 rotates in the first direction, and the rotation directions of the second gear 4331 and the guide gear 431 are opposite. Therefore, the inclined surface of the second matching portion 43311 and the second guide surface 43122 of the second meshing portion 4312 move relative to each other, and the second matching portion 43311 can assist in pushing the guide gear 431 to move in the direction of the first gear 4321, that is, the second gear 4331 and the driving gear 411 can jointly push the guide gear 431 to move in the direction of the first gear 4321. The first engaging portion 4311 gradually enters the first matching portion 43211 until the first engaging side 43111 abuts against the abutting surface of the first matching portion 43211, the first engaging portion 4311 is fully engaged with the first matching portion 43211, and the second matching portion 43311 is completely separated from the second engaging portion 4312. The second gear 4331 no longer provides a certain rotational resistance to the guide gear 431, and only the active gear 411 pushes the guide gear 431 and the first gear 4321 to maintain a transmission connection state. The guide gear 431 continuously drives the first gear 4321 to rotate along the second direction, so as to drive the movable cleaner 30 to rotate along the preset direction through the first transmission gear set 432.

[0178] When the driving wheel shaft 41 rotates in the second direction, the driving gear 411 rotates in the second direction, driving the guide gear 431 to rotate in the first direction, and pushing the guide gear 431 to move in the direction of the second gear 4331. At this time, the first gear 4321 rotates in the second direction, and the rotation directions of the first gear 4321 and the guide gear 431 are opposite. Therefore, the inclined surface of the first matching portion 43211 and the first guide surface 43112 of the first meshing portion 4311 move relative to each other, and the first matching portion 43211 can assist in pushing the guide gear 431 to move in the direction of the second gear 4331, that is, the first gear 4321 and the driving gear 411 can jointly push the guide gear 431 to move in the direction of the second gear 4331. The second meshing portion 4312 gradually enters the second matching portion 43311 until the second meshing side 43121 abuts against the abutting surface of the second matching portion 43311, the second meshing portion 4312 is fully meshed with the second matching portion 43311, and the first matching portion 43211 is completely separated from the first meshing portion 4311. The first gear 4321 no longer provides a certain rotational resistance to the guide gear 431, and only the active gear 411 pushes the guide gear 431 and the second gear 4331 to maintain a transmission connection state. The guide gear 431 continuously drives the second gear 4331 to rotate along the first direction, so as to drive the movable cleaner 30 to rotate along the preset direction through the second transmission gear set 433.

[0179] like Figures 13 to 16 As shown, in another embodiment of the present disclosure, a driving gear 411 is provided on the driving wheel shaft 41, and the transmission wheel set 43 includes a first transmission gear set 432 and a second transmission gear set 433 which are located in the swing arm 20 and are respectively transmission-connected to the movable cleaner 30, and the difference between the number of gears meshed sequentially in the first transmission gear set 432 and the second transmission gear set 433 is an odd number;

[0180] The cleaning robot disclosed in the present invention also includes a planetary carrier 441 rotatably connected to the driving wheel shaft 41, and a planetary gear 442 rotatably connected to the planetary carrier 441, the driving gear 411 is meshed with the planetary gear 442, and is constructed to drive the planetary carrier 441 to swing when rotating in a first direction until the planetary gear 442 is meshed with the first transmission gear set 432, and is constructed to drive the planetary carrier 441 to swing when rotating in a second direction until the planetary gear 442 is meshed with the second transmission gear set 433.

[0181] It is understandable that if Figures 14 to 16 As shown, the planet carrier 441 can rotate synchronously with the planetary gear 442 around the driving wheel shaft 41; the transmission gear set 43 can also include a converging gear set 434, and the first transmission gear set 432 and the second transmission gear set 433 are both meshed with the converging gear set 434, and the converging gear set 434 can directly drive the movable cleaner 30 to rotate. When calculating the number of gears meshed in sequence in the first transmission gear set 432 and the second transmission gear set 433, two or more gears coaxially arranged in the first transmission gear set 432 and the second transmission gear set 433 are only regarded as one gear.

[0182] Since the driving gear 411 is meshed with the planetary gear 442 , the planetary gear 442 can be driven to rotate in the opposite direction during the rotation of the driving gear 411 .

[0183] When the planetary gear 442 is not engaged with the first transmission gear set 432, when the driving gear 411 rotates in the first direction, it can first drive the planetary carrier 441 to swing through the planetary gear 442 until the planetary gear 442 is engaged with the first transmission gear set 432. After the planetary gear 442 is engaged with the first transmission gear set 432, the driving gear 411 can drive the movable cleaner 30 to rotate through the first transmission gear set 432.

[0184] When the planetary gear 442 is not engaged with the second transmission gear set 433, when the driving gear 411 rotates in the second direction, it can first drive the planetary carrier 441 to swing through the planetary gear 442 until the planetary gear 442 is engaged with the second transmission gear set 433. After the planetary gear 442 is engaged with the second transmission gear set 433, the driving gear 411 can drive the movable cleaner 30 to rotate through the second transmission gear set 433.

[0185] It can be understood that since the two meshing gears rotate in opposite directions during transmission, when the rotation direction of the driving wheel shaft 41 is opposite and the difference in the number of gears meshing sequentially in the first transmission gear set 432 and the second transmission gear set 433 is an odd number, the rotation direction of the movable cleaner 30 remains the same, thereby ensuring that when the driving wheel shaft 41 rotates in any direction, the movable cleaner 30 can always rotate in the same direction, so that garbage, sewage and other dirt located on the outside of the cleaning robot can always be swept to the inside of the cleaning robot, and then the fan unit can suck away the dirt to avoid residual dirt on the working surface.

[0186] It can be understood that in order for the driving gear 411 to first drive the planetary carrier 441 to rotate rather than drive the planetary gear 442 to rotate, the driving force required to drive the planetary carrier 441 to rotate must be smaller than the driving force required to drive the planetary gear 442 to rotate relative to the planetary carrier 441, that is, the rotational resistance of the planetary carrier 441 is smaller than the rotational resistance of the planetary gear 442 relative to the planetary carrier 441.

[0187] like Figures 17 to 21 As shown, the present disclosure also provides a cleaning robot, which includes a body 10, a movable cleaner 30 and a transmission mechanism 40; a swing arm 20 is provided on the body 10;

[0188] The movable cleaner 30 is configured to be able to move between a first position and a second position relative to the body 10 under the action of the swing arm 20;

[0189] The transmission mechanism 40 includes a self-rotating transmission shaft 451, a swing transmission shaft 452, and a dual-purpose transmission shaft 453, wherein the self-rotating transmission shaft 451 is configured to extend from the machine body 10 to the swing arm 20, and is configured to be controlled by the dual-purpose transmission shaft 453 to drive the movable cleaner 30 located on the swing arm 20 to rotate; a first one-way gear 4531 and a second one-way gear 4532 are arranged on the dual-purpose transmission shaft 453, the first one-way gear 4531 is configured to rotate with the shaft in a first direction, and the second one-way gear 4532 is configured to rotate with the shaft in a second direction;

[0190] The swing transmission shaft 452 is configured to be connected to the swing arm 20, and a meshing gear is provided on the swing transmission shaft 452. The meshing gear is configured in its circumferential direction to have a first meshing area 4521 for meshing with the first one-way gear 4531, and a first disengagement area 4522 for disengaging therefrom, and a second meshing area 4523 for meshing with the second one-way gear 4532, and a second disengagement area 4524 for disengaging therefrom;

[0191] The dual-purpose transmission shaft 453 is configured to rotate in the first direction, and the first one-way gear 4531 and the first meshing area 4521 cooperate to drive the swing transmission shaft 452 to rotate, until the first one-way gear 4531 is disengaged from the first meshing area 4521, so that the swing arm 20 swings to the first position;

[0192] The dual-purpose transmission shaft 453 is constructed to rotate in the second direction, and the swing transmission shaft 452 is driven to rotate through the cooperation of the second one-way gear 4532 and the second meshing area 4523 until the second one-way gear 4532 disengages from the second meshing area 4523, so that the swing arm 20 swings to the second position.

[0193] That is, during the operation of the cleaning robot disclosed herein, the driving device 11 can drive the dual-purpose transmission shaft 453 to rotate, and then drive the movable cleaner 30 located on the swing arm 20 to rotate through the self-rotating transmission shaft 451. When the movable cleaner 30 rotates relative to the working surface, it can clean the working surface.

[0194] When the swing arm 20 is required to drive the movable cleaner 30 to swing toward the first position relative to the machine body 10, the driving device 11 controls the dual-purpose transmission shaft 453 to rotate along the first direction. At this time, the first one-way gear 4531 and the first meshing area 4521 cooperate with each other to drive the swing transmission shaft 452 to rotate along the second direction. When the swing transmission shaft 452 rotates along the second direction, it drives the swing arm 20 to swing to the first position; after the swing transmission shaft 452 drives the swing arm 20 to swing to the first position, the first one-way gear 4531 reaches the first disengagement area 4522, and there is no longer a transmission connection between the third rotating shaft and the second rotating shaft, and the swing arm 20 no longer continues to swing, but only the dual-purpose transmission shaft 453 drives the movable cleaner 30 located on the swing arm 20 to rotate through the self-rotating transmission shaft 451, so that the movable cleaner 30 cleans the working surface at the first position.

[0195] It can be understood that when the swing transmission shaft 452 rotates in the second direction, when the second one-way gear 4532 cooperates with the second meshing area 4523, the second meshing area 4523 will drive the second one-way gear 4532 to rotate in the first direction, that is, the dual-purpose transmission shaft 453 and the second one-way gear 4532 present a synchronous rotation state, but the second one-way rotation is not driven by the dual-purpose transmission shaft 453. After the first one-way gear 4531 reaches the first disengagement area 4522, the third rotating shaft is no longer in transmission connection with the second rotating shaft, the swing transmission shaft 452 no longer rotates, and the second one-way gear 4532 is not driven to rotate. The third rotating shaft continues to drive the first one-way gear 4531 to rotate, and rotates freely relative to the second one-way gear 4532.

[0196] When the swing arm 20 is required to drive the movable cleaner 30 to swing toward the second position relative to the machine body 10, the driving device 11 controls the dual-purpose transmission shaft 453 to rotate along the second direction. At this time, the second one-way gear 4532 and the second meshing area 4523 cooperate with each other to drive the swing transmission shaft 452 to rotate along the first direction. When the swing transmission shaft 452 rotates along the first direction, it drives the swing arm 20 to swing to the second position; after the swing transmission shaft 452 drives the swing arm 20 to swing to the second position, the second one-way gear 4532 reaches the second disengagement area 4524, and there is no longer a transmission connection between the third rotating shaft and the second rotating shaft, and the swing arm 20 no longer continues to swing, but only the dual-purpose transmission shaft 453 drives the movable cleaner 30 located on the swing arm 20 to rotate through the self-rotating transmission shaft 451, so that the movable cleaner 30 cleans the working surface at the second position.

[0197] Similarly, when the swing transmission shaft 452 rotates along the first direction, when the first one-way gear 4531 cooperates with the first meshing area 4521, the first meshing area 4521 will drive the first one-way gear 4531 to rotate along the second direction, that is, the dual-purpose transmission shaft 453 and the first one-way gear 4531 are in a synchronous rotation state, but the first one-way rotation is not driven by the dual-purpose transmission shaft 453.

[0198] After the second one-way gear 4532 reaches the second disengagement area 4524, the third rotating shaft is no longer connected to the first rotating shaft, the swing transmission shaft 452 no longer rotates, and the first one-way gear 4531 is no longer driven to rotate. The third rotating shaft continues to drive the second one-way gear 4532 to rotate, and rotates freely relative to the first one-way gear 4531.

[0199] Therefore, the cleaning robot disclosed in the present invention can drive the movable cleaner 30 to rotate by only one driving device 11, and at the same time drive the movable cleaner 30 to move between the first position and the second position relative to the body 10, thereby realizing the outward swing and inward swing of the movable cleaner 30 to expand the cleaning range of the movable cleaner 30, effectively meet the cleaning requirements of the edge position of the working surface, and can also perform active avoidance.

[0200] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupation of the internal space of the cleaning robot by the drive device 11, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0201] Specifically, Fig.18 and Fig.19As shown, the driving device 11 can drive the dual-purpose transmission shaft 453 to rotate through a series of reduction gears, or can directly drive the dual-purpose transmission shaft 453 to rotate. The one-way transmission direction between the first one-way gear 4531, the second one-way gear 4532 and the dual-purpose transmission shaft 453 can be achieved by a one-way bearing, or by other mechanisms, which is not limited here.

[0202] In order to ensure that the rotation direction of the movable cleaner 30 remains unchanged before and after the rotation direction of the dual-purpose transmission shaft 453 is reversed, a series of structures such as the aforementioned driving gear 411, guide gear 431, first transmission gear group 432, second transmission gear group 433, and converging gear group 434 can be set in the swing arm 20, among which the driving gear 411 can be set on the self-rotating transmission shaft 451, or controlled by the rotation of the self-rotating transmission shaft 451. Other structures refer to the above and will not be repeated here.

[0203] Further, such as Fig.21 As shown, in one embodiment of the present disclosure, in the circumferential direction, the first meshing area 4521 and the second meshing area 4523 are constructed to overlap with the orthographic projection portion of the swing transmission shaft 452 in the axial direction; when the dual-purpose transmission shaft 453 rotates along the first direction, after the first one-way gear 4531 disengages from the first meshing area 4521, the second one-way gear 4532 is constructed to mesh with the second meshing area 4523; when the dual-purpose transmission shaft 453 rotates along the second direction, after the second one-way gear 4532 disengages from the second meshing area 4523, the first one-way gear 4531 is constructed to mesh with the first meshing area 4521.

[0204] When the driving device 11 controls the dual-purpose transmission shaft 453 to rotate along the first direction, after the swing transmission shaft 452 drives the swing arm 20 to swing to the first position, the first one-way gear 4531 reaches the first disengagement area 4522, the third rotation shaft and the second rotation shaft are no longer in transmission connection, and the swing arm 20 no longer continues to swing; but at this time, the second one-way gear 4532 is still in cooperation with the second meshing area 4523. In this way, the driving device 11 controls the dual-purpose transmission shaft 453 to rotate along the second direction, and the swing transmission shaft 452 can be driven to rotate along the first direction by utilizing the cooperation between the second one-way gear 4532 and the second meshing area 4523; until the swing transmission shaft 452 drives the swing arm 20 to swing to the second position, the second one-way gear 4532 reaches the second disengagement area 4524, the third rotation shaft and the second rotation shaft are no longer in transmission connection, and the swing arm 20 no longer continues to swing. However, at this time, the first one-way gear 4531 still cooperates with the first meshing area 4521, so that the subsequent driving device 11 can control the dual-purpose transmission shaft 453 to rotate along the first direction until the swing transmission shaft 452 drives the swing arm 20 to swing to the first position.

[0205] Since the orthographic projections of the first meshing area 4521 and the second meshing area 4523 in the axial direction of the swing transmission shaft 452 partially overlap, it can be avoided that the first one-way gear 4531 is located in the first disengagement area 4522 and the second one-way gear 4532 is located in the second disengagement area 4524, thereby ensuring that the driving device 11 can control the rotation of the dual-purpose transmission shaft 453 to drive the swing transmission shaft 452 to rotate, thereby driving the swing arm 20 to swing.

[0206] As mentioned above, the movable cleaning device 30 may include a cleaning mechanism such as a side brush 31 and a rag plate 32, which are not limited here. Figure 1 As shown, in the cleaning robot disclosed in the present invention, a single-side side brush 31 may be provided, or a side brush 31 may be provided on each of the left and right sides of the cleaning robot. Figure 1 Taking the embodiment in as an example, the cleaning robot is only provided with a side brush 31 on the right side. Thus, in order to sweep the dirt on the working surface to the inner side of the cleaning robot to be sucked into the dust box, the side brush 31 on the right side needs to rotate counterclockwise; correspondingly, the side brush 31 on the left side of the cleaning robot needs to rotate clockwise.

[0207] like Figure 1 As shown, a double-sided rag plate 32 may be provided in the cleaning robot of the present disclosure. In another embodiment of the present disclosure, only a single-sided rag plate 32 may be provided. Figure 1 The cleaning robot shown in the figure is provided with double-sided rag discs 32, and the rag discs 32 on both sides rotate in opposite directions. The two rag discs 32 rotating in opposite directions can offset the lateral force and prevent interference with the normal movement of the cleaning robot.

[0208] like Figure 1 As shown, in one embodiment of the present disclosure, in the cleaning robot of the present disclosure, of the double-sided rag trays 32, only the right rag tray 32 can be swung outward, and the left rag tray 32 is fixed; and the rotation direction of the right rag tray 32 is clockwise, so that the right rag tray 32 can easily be passively swung inward when encountering an obstacle, so as to achieve passive obstacle avoidance.

[0209] Application scenario 1

[0210] The present disclosure provides a cleaning robot, which can clean a work surface; the cleaning robot includes a body 10, a movable cleaner 30 and a transmission mechanism 40, wherein a swing arm 20 is provided on the body 10; the movable cleaner 30 is configured to move between a first position and a second position relative to the body 10 under the action of the swing arm 20. The movable cleaner 30 may include cleaning mechanisms such as a side brush 31 and a rag plate 32, which are not limited here.

[0211] The transmission mechanism 40 includes a driving wheel shaft 41 and a transmission wheel group 43 arranged on the swing arm 20. The driving wheel shaft 41 is constructed to be controlled by the driving device 11 to drive the movable cleaner 30 to rotate through the transmission wheel group 43; the transmission mechanism 40 also includes a one-way clutch assembly 42 for transmitting and connecting the driving wheel shaft 41 and the swing arm 20, and the one-way clutch assembly 42 has a first working state and a second working state.

[0212] Specifically, the one-way clutch assembly 42 includes a locking portion 421; a guide groove 21 is provided on the swing arm 20, and the locking portion 421 is configured to be pre-pressed in the guide groove 21 by an elastic device, and is configured to be able to move along the guide groove 21 in the radial direction of the driving wheel shaft 41;

[0213] The one-way clutch assembly 42 includes a rolling portion 422 located in the matching groove 4211; the rolling portion 422 is constructed to match with the driving wheel shaft 41; a matching groove 4211 is provided on the side of the locking portion 421 facing the driving wheel shaft 41, and the matching groove 4211 faces the inner wall of the driving wheel shaft 41, and is constructed to gradually extend from its two sides to the middle area toward the direction of the driving wheel shaft 41, forming a first locking surface 4212 and a second locking surface 4213 arranged along the first direction, respectively.

[0214] When the one-way clutch assembly 42 is in the first working state, the rolling portion 422 is located at a position matched with the first locking surface 4212; the driving wheel shaft 41 is configured to drive the rolling portion 422 to move in a direction locked with the first locking surface 4212 when rotating in the first direction, so that the driving wheel shaft 41 is transmission-connected to the swing arm 20 through the rolling portion 422 and the first locking surface 4212; the driving wheel shaft 41 is configured to drive the rolling portion 422 to move in a direction disengaged from the first locking surface 4212 when rotating in the second direction, so that the driving wheel shaft 41 can freely rotate relative to the swing arm 20 through the rolling portion 422;

[0215] When the one-way clutch assembly 42 is in the second working state, the rolling portion 422 is located at a position cooperating with the second locking surface 4213; the driving wheel shaft 41 is constructed to drive the rolling portion 422 to move in the direction of locking with the second locking surface 4213 when rotating along the second direction, so that the driving wheel shaft 41 is transmission-connected to the swing arm 20 through the rolling portion 422 and the second locking surface 4213; the driving wheel shaft 41 is constructed to drive the rolling portion 422 to move in the direction of disengaging from the second locking surface 4213 when rotating along the first direction, so that the driving wheel shaft 41 can rotate freely relative to the swing arm 20 through the rolling portion 422.

[0216] Therefore, when the one-way clutch assembly 42 is in the first working state, the rolling portion 422 is located at a position cooperating with the first locking surface 4212, that is, the rolling portion 422 is located between the first locking surface 4212 and the driving wheel shaft 41; at this time, when the rolling portion 422 moves along the first direction, it will gradually press the first locking surface 4212, and the acting force between the rolling portion 422 and the first locking surface 4212 will continue to increase; therefore, when the driving wheel shaft 41 rotates along the first direction, it drives the rolling portion 422 to move in the direction locked with the first locking surface 4212, so that the driving wheel shaft 41 is connected to the swing arm 20 through the rolling portion 422 and the first locking surface 4212, and the driving wheel shaft 41 can push the locking portion 421 where the first locking surface 4212 is located to rotate through the rolling portion 422; further, since the locking portion 421 is pre-pressed in the guide groove 21 of the swing arm 20 by the elastic device, when the driving wheel shaft 41 rotates along the first direction, it can drive the swing arm 20 and the movable cleaner 30 to swing.

[0217] When the one-way clutch assembly 42 is in the first working state, since the rolling portion 422 is located between the first locking surface 4212 and the driving wheel shaft 41, when the driving wheel shaft 41 rotates along the second direction, it drives the rolling portion 422 to move in the direction of disengaging from the first locking surface 4212, that is, it moves toward the end wall side where the first locking surface 4212 is located. At this time, after the rolling portion 422 moves to the end wall of the matching groove 4211, it will roll freely in the matching groove 4211, and will not push the locking portion 421 where the matching groove 4211 is located to move in the second direction. Therefore, when the driving wheel shaft 41 rotates along the second direction, the rolling portion 422 can freely rotate relative to the locking portion 421, and will not drive the swing arm 20 where the locking portion 421 is located to swing.

[0218] When the one-way clutch assembly 42 is in the second working state, the rolling portion 422 is located at a position cooperating with the second locking surface 4213, that is, the rolling portion 422 is located between the second locking surface 4213 and the driving wheel shaft 41; at this time, when the rolling portion 422 moves along the second direction, it will gradually press the second locking surface 4213, and the acting force between the rolling portion 422 and the second locking surface 4213 will continue to increase; therefore, when the driving wheel shaft 41 rotates along the second direction, it drives the rolling portion 422 to move in the direction locked with the second locking surface 4213, so that the driving wheel shaft 41 is connected to the swing arm 20 through the rolling portion 422 and the second locking surface 4213, and the driving wheel shaft 41 can push the locking portion 421 where the second locking surface 4213 is located to rotate through the rolling portion 422; further, since the locking portion 421 is pre-pressed in the guide groove 21 of the swing arm 20 by the elastic device, when the driving wheel shaft 41 rotates along the second direction, it can drive the swing arm 20 and the movable cleaner 30 to swing.

[0219] When the one-way clutch assembly 42 is in the second working state, since the rolling portion 422 is located between the second locking surface 4213 and the driving wheel shaft 41, when the driving wheel shaft 41 rotates along the first direction, it drives the rolling portion 422 to move in the direction of disengaging from the second locking surface 4213, that is, it moves toward the side of the end wall where the second locking surface 4213 is located. At this time, after the rolling portion 422 moves to the end wall of the matching groove 4211, it will roll freely in the matching groove 4211, and will not push the locking portion 421 where the matching groove 4211 is located to move along the first direction. Therefore, when the driving wheel shaft 41 rotates along the first direction, the rolling portion 422 can freely rotate relative to the locking portion 421, and will not drive the swing arm 20 where the locking portion 421 is located to swing.

[0220] When the rolling portion 422 is locked with the first locking surface 4212, when the driving wheel shaft 41 rotates in the first direction, the driving force applied to the locking portion 421 is greater than the resistance of the locking portion 421 to radial movement along the guide groove 21. The locking portion 421 is configured to move along the guide groove 21 in a direction away from the driving wheel shaft 41, so that the driving wheel shaft 41 pushes the rolling portion 422 to move from a position matched with the first locking surface 4212 to a position matched with the second locking surface 4213, so that the one-way clutch assembly 42 switches to the second working state.

[0221] When the rolling portion 422 is locked with the second locking surface 4213, when the driving wheel shaft 41 rotates in the second direction, the driving force applied to the locking portion 421 is greater than the resistance of the locking portion 421 to radial movement along the guide groove 21, and the locking portion 421 is constructed to move along the guide groove 21 in a direction away from the driving wheel shaft 41, so that the driving wheel shaft 41 pushes the rolling portion 422 to move from a position cooperating with the second locking surface 4213 to a position cooperating with the first locking surface 4212, so that the one-way clutch assembly 42 switches to the first working state.

[0222] Therefore, the cleaning robot disclosed in the present invention drives the rolling portion 422 to move between a position cooperating with the first locking surface 4212 and a position cooperating with the second locking surface 4213, so that the one-way clutch assembly 42 can switch between the first working state and the second working state, thereby switching the rotation direction of the swing arm 20, and driving the movable cleaner 30 to move between the first position and the second position relative to the body 10, thereby realizing the outward swing and inward swing of the movable cleaner 30.

[0223] A driving gear 411 is arranged on the driving wheel shaft 41, and the transmission wheel group 43 includes a first transmission gear group 432 and a second transmission gear group 433 which are located in the swing arm 20 and are respectively connected to the movable cleaner 30 by transmission, and the difference in the number of gears meshing in sequence between the first transmission gear group 432 and the second transmission gear group 433 is an odd number; the transmission wheel group 43 also includes a guide gear 431 meshing with the driving gear 411; the driving gear 411 and the guide gear 431 are constructed as helical gears; the driving gear 411 is constructed to drive the guide gear 431 to move axially to the first transmission gear group 432 to mesh during the process of rotating along the first direction, and to drive the guide gear 431 to move axially to the second transmission gear group 433 to mesh during the process of rotating along the second direction.

[0224] The transmission gear set 43 may further include a converging gear set 434. The first transmission gear set 432 and the second transmission gear set 433 are both meshed with the converging gear set 434. The converging gear set 434 can directly drive the movable cleaner 30 to rotate. When calculating the number of gears meshed sequentially in the first transmission gear set 432 and the second transmission gear set 433, two or more coaxially arranged gears in the first transmission gear set 432 and the second transmission gear set 433 are regarded as only one gear.

[0225] Since both the driving gear 411 and the guide gear 431 are helical gears, when the driving gear 411 rotates, it can not only drive the guide gear 431 to rotate, but also drive the guide gear 431 to move in the axial direction.

[0226] During the rotation of the driving wheel shaft 41 in the first direction, the driving gear 411 can drive the guide gear 431 to move axially to the first transmission gear set 432 for engagement, and then the first transmission gear set 432 can drive the movable cleaner 30 to rotate; during the rotation of the driving wheel shaft 41 in the second direction, the driving gear 411 can drive the guide gear 431 to move axially to the second transmission gear set 433 for engagement, and then the second transmission gear set 433 can drive the movable cleaner 30 to rotate. It can be understood that since the two meshing gears rotate in opposite directions during transmission, when the rotation direction of the driving wheel shaft 41 is opposite and the difference in the number of gears meshing sequentially in the first transmission gear set 432 and the second transmission gear set 433 is an odd number, the rotation direction of the movable cleaner 30 remains the same, thereby ensuring that when the driving wheel shaft 41 rotates in any direction, the movable cleaner 30 can always rotate in the same direction, so that garbage, sewage and other dirt located on the outside of the cleaning robot can always be swept to the inside of the cleaning robot, and then the fan unit can suck away the dirt to avoid residual dirt on the working surface.

[0227] Application scenario 2

[0228] The present disclosure also provides a cleaning robot. A driving gear 411 is provided on a driving wheel shaft 41 of the cleaning robot of the present disclosure. A transmission wheel set 43 includes a first transmission gear set 432 and a second transmission gear set 433 which are located in a swing arm 20 and are respectively connected to the movable cleaning device 30. The difference between the number of gears meshed in sequence in the first transmission gear set 432 and the second transmission gear set 433 is an odd number.

[0229] The cleaning robot disclosed in the present invention also includes a planetary carrier 441 rotatably connected to the driving wheel shaft 41, and a planetary gear 442 rotatably connected to the planetary carrier 441, the driving gear 411 is meshed with the planetary gear 442, and is constructed to drive the planetary carrier 441 to swing when rotating in a first direction until the planetary gear 442 is meshed with the first transmission gear set 432, and is constructed to drive the planetary carrier 441 to swing when rotating in a second direction until the planetary gear 442 is meshed with the second transmission gear set 433.

[0230] When the planetary gear 442 is not engaged with the first transmission gear set 432, when the driving gear 411 rotates in the first direction, it can first drive the planetary carrier 441 to swing through the planetary gear 442 until the planetary gear 442 is engaged with the first transmission gear set 432. After the planetary gear 442 is engaged with the first transmission gear set 432, the driving gear 411 can drive the movable cleaner 30 to rotate through the first transmission gear set 432.

[0231] When the planetary gear 442 is not engaged with the second transmission gear set 433, when the driving gear 411 rotates in the second direction, it can first drive the planetary carrier 441 to swing through the planetary gear 442 until the planetary gear 442 is engaged with the second transmission gear set 433. After the planetary gear 442 is engaged with the second transmission gear set 433, the driving gear 411 can drive the movable cleaner 30 to rotate through the second transmission gear set 433.

[0232] Since the two meshing gears rotate in opposite directions during transmission, when the rotation direction of the driving wheel shaft 41 is opposite and the difference between the number of gears meshing in sequence in the first transmission gear set 432 and the second transmission gear set 433 is an odd number, the rotation direction of the movable cleaner 30 remains the same, thereby ensuring that when the driving wheel shaft 41 rotates in any direction, the movable cleaner 30 can always rotate in the same direction, so that garbage, sewage and other dirt on the outside of the cleaning robot can always be swept to the inside of the cleaning robot, and then the fan unit can suck away the dirt to avoid residual dirt on the working surface.

[0233] Application scenario three

[0234] The present disclosure also provides a cleaning robot, which includes a body 10, a movable cleaner 30 and a transmission mechanism 40; a swing arm 20 is provided on the body 10; the movable cleaner 30 is configured to be able to move between a first position and a second position relative to the body 10 under the action of the swing arm 20; the transmission mechanism 40 includes a self-rotating transmission shaft 451, a swing transmission shaft 452, and a dual-purpose transmission shaft 453, wherein the self-rotating transmission shaft 451 is configured to extend from the body 10 to the swing arm 20, and is configured to be controlled by the dual-purpose transmission shaft 453 to drive the movable cleaner 30 located on the swing arm 20 to rotate; a first one-way gear 4531 and a second one-way gear 4532 are provided on the dual-purpose transmission shaft 453, the first one-way gear 4531 is configured to rotate with the shaft in a first direction, and the second one-way gear 4532 is configured to rotate with the shaft in a second direction;

[0235] The swing transmission shaft 452 is configured to be connected to the swing arm 20, and a meshing gear is provided on the swing transmission shaft 452. The meshing gear is configured in its circumferential direction to have a first meshing area 4521 for meshing with the first one-way gear 4531, and a first disengagement area 4522 for disengaging therefrom, and a second meshing area 4523 for meshing with the second one-way gear 4532, and a second disengagement area 4524 for disengaging therefrom;

[0236] The dual-purpose transmission shaft 453 is configured to rotate in the first direction, and the first one-way gear 4531 and the first meshing area 4521 cooperate to drive the swing transmission shaft 452 to rotate, until the first one-way gear 4531 is disengaged from the first meshing area 4521, so that the swing arm 20 swings to the first position;

[0237] The dual-purpose transmission shaft 453 is constructed to rotate in the second direction, and the swing transmission shaft 452 is driven to rotate through the cooperation of the second one-way gear 4532 and the second meshing area 4523 until the second one-way gear 4532 disengages from the second meshing area 4523, so that the swing arm 20 swings to the second position.

[0238] That is, during the operation of the cleaning robot disclosed herein, the driving device 11 can drive the dual-purpose transmission shaft 453 to rotate, and then drive the movable cleaner 30 located on the swing arm 20 to rotate through the self-rotating transmission shaft 451. When the movable cleaner 30 rotates relative to the working surface, it can clean the working surface.

[0239] When the swing arm 20 is required to drive the movable cleaner 30 to swing toward the first position relative to the machine body 10, the driving device 11 controls the dual-purpose transmission shaft 453 to rotate along the first direction. At this time, the first one-way gear 4531 and the first meshing area 4521 cooperate with each other to drive the swing transmission shaft 452 to rotate along the second direction. When the swing transmission shaft 452 rotates along the second direction, it drives the swing arm 20 to swing to the first position; after the swing transmission shaft 452 drives the swing arm 20 to swing to the first position, the first one-way gear 4531 reaches the first disengagement area 4522, and there is no longer a transmission connection between the third rotating shaft and the second rotating shaft, and the swing arm 20 no longer continues to swing, but only the dual-purpose transmission shaft 453 drives the movable cleaner 30 located on the swing arm 20 to rotate through the self-rotating transmission shaft 451, so that the movable cleaner 30 cleans the working surface at the first position.

[0240] Therefore, the cleaning robot disclosed in the present invention can drive the movable cleaner 30 to rotate by only one driving device 11, and at the same time drive the movable cleaner 30 to move between the first position and the second position relative to the body 10, thereby realizing the outward swing and inward swing of the movable cleaner 30 to expand the cleaning range of the movable cleaner 30, effectively meet the cleaning requirements of the edge position of the working surface, and can also perform active avoidance.

[0241] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupation of the internal space of the cleaning robot by the drive device 11, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0242] Specifically, in the circumferential direction, the first meshing area 4521 and the second meshing area 4523 are constructed to overlap with the orthographic projection part in the axial direction of the swing transmission shaft 452; when the dual-purpose transmission shaft 453 rotates along the first direction, after the first one-way gear 4531 disengages from the first meshing area 4521, the second one-way gear 4532 is constructed to mesh with the second meshing area 4523; when the dual-purpose transmission shaft 453 rotates along the second direction, after the second one-way gear 4532 disengages from the second meshing area 4523, the first one-way gear 4531 is constructed to mesh with the first meshing area 4521.

[0243] When the driving device 11 controls the dual-purpose transmission shaft 453 to rotate along the first direction, after the swing transmission shaft 452 drives the swing arm 20 to swing to the first position, the first one-way gear 4531 reaches the first disengagement area 4522, the third rotation shaft and the second rotation shaft are no longer in transmission connection, and the swing arm 20 no longer continues to swing; but at this time, the second one-way gear 4532 is still in cooperation with the second meshing area 4523. In this way, the driving device 11 controls the dual-purpose transmission shaft 453 to rotate along the second direction, and the swing transmission shaft 452 can be driven to rotate along the first direction by utilizing the cooperation between the second one-way gear 4532 and the second meshing area 4523; until the swing transmission shaft 452 drives the swing arm 20 to swing to the second position, the second one-way gear 4532 reaches the second disengagement area 4524, the third rotation shaft and the second rotation shaft are no longer in transmission connection, and the swing arm 20 no longer continues to swing. However, at this time, the first one-way gear 4531 still cooperates with the first meshing area 4521, so that the subsequent driving device 11 can control the dual-purpose transmission shaft 453 to rotate along the first direction until the swing transmission shaft 452 drives the swing arm 20 to swing to the first position.

[0244] Since the orthographic projections of the first meshing area 4521 and the second meshing area 4523 in the axial direction of the swing transmission shaft 452 partially overlap, it can be avoided that the first one-way gear 4531 is located in the first disengagement area 4522 and the second one-way gear 4532 is located in the second disengagement area 4524, thereby ensuring that the driving device 11 can control the rotation of the dual-purpose transmission shaft 453 to drive the swing transmission shaft 452 to rotate, thereby driving the swing arm 20 to swing.

[0245] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cleaning robot, characterized in that: include: A machine body (10), wherein a swing arm (20) is provided on the machine body (10); A movable cleaner (30), wherein the movable cleaner (30) is configured to be able to move between a first position and a second position relative to the machine body (10) under the action of the swing arm (20); A transmission mechanism (40), the transmission mechanism (40) comprising a driving wheel shaft (41) and a transmission wheel group (43) arranged on the swing arm (20), the driving wheel shaft (41) being configured to be controlled by a driving device (11) to drive the movable cleaner (30) to rotate via the transmission wheel group (43); the transmission mechanism (40) further comprising a one-way clutch assembly (42) for transmission connection between the driving wheel shaft (41) and the swing arm (20), the one-way clutch assembly (42) having a first working state and a second working state; The one-way clutch component (42) is in a first working state, the driving wheel shaft (41) is controlled by the driving device (11) to rotate in a first direction, and the swing arm (20) is driven by the one-way clutch component (42) to swing relative to the machine body (10) in a direction toward a second position, and is controlled by the driving device (11) to rotate in a second direction, and is freely rotated relative to the swing arm (20) through the one-way clutch component (42); The one-way clutch component (42) is in a second working state, and when the driving wheel shaft (41) is controlled by the driving device (11) to rotate in the second direction, the one-way clutch component (42) drives the swing arm (20) to swing relative to the machine body (10) in the direction of the first position, and when the driving device (11) is controlled to rotate in the first direction, the one-way clutch component (42) freely rotates relative to the swing arm (20).

2. The cleaning robot according to claim 1, characterized in that: The one-way clutch assembly (42) comprises a locking portion (421); the locking portion (421) can move to place the one-way clutch assembly (42) in a first working state, and can move to place the one-way clutch assembly (42) in a second working state; When the one-way clutch assembly (42) is in a first working state, the driving wheel shaft (41) rotates in a first direction to drive the swing arm (20) to move to a second position, and the locking portion (421) is configured to move to place the one-way clutch assembly (42) in the second working state; When the one-way clutch assembly (42) is in the second working state, the driving wheel shaft (41) rotates in the second direction to drive the swing arm (20) to move to the first position, and the locking portion (421) is constructed to move to put the one-way clutch assembly (42) in the first working state.

3. The cleaning robot according to claim 2, characterized in that: The swing arm (20) is provided with a guide groove (21); the locking portion (421) is configured to be pre-pressed in the guide groove (21) by an elastic device, and is configured to be able to move along the guide groove (21) in the radial direction of the driving wheel shaft (41); the one-way clutch assembly (42) comprises a rolling portion (422) located in the matching groove (4211); the rolling portion (422) is configured to match with the driving wheel shaft (41); A matching groove (4211) is provided on one side of the locking portion (421) facing the driving wheel shaft (41); the matching groove (4211) faces the inner wall of the driving wheel shaft (41) and is configured to gradually extend obliquely from both sides thereof to the middle region thereof in the direction of the driving wheel shaft (41), respectively forming a first locking surface (4212) and a second locking surface (4213) arranged along the first direction; The one-way clutch assembly (42) is in a first working state, and the rolling portion (422) is located at a position matching the first locking surface (4212); the driving wheel shaft (41) is configured to drive the rolling portion (422) to move in a direction locked with the first locking surface (4212) when rotating in a first direction, so that the driving wheel shaft (41) is transmission-connected to the swing arm (20) through the rolling portion (422) and the first locking surface (4212); the driving wheel shaft (41) is configured to drive the rolling portion (422) to move in a direction disengaged from the first locking surface (4212) when rotating in a second direction, so that the driving wheel shaft (41) is freely rotated relative to the swing arm (20) through the rolling portion (422); The one-way clutch assembly (42) is in a second working state, and the rolling portion (422) is located at a position cooperating with the second locking surface (4213); the driving wheel shaft (41) is configured to drive the rolling portion (422) to move in a direction locked with the second locking surface (4213) when rotating in the second direction, so that the driving wheel shaft (41) is transmission-connected to the swing arm (20) through the rolling portion (422) and the second locking surface (4213); the driving wheel shaft (41) is configured to drive the rolling portion (422) to move in a direction disengaged from the second locking surface (4213) when rotating in the first direction, so that the driving wheel shaft (41) is freely rotated relative to the swing arm (20) through the rolling portion (422).

4. The cleaning robot according to claim 3, characterized in that: When the rolling portion (422) is locked with the first locking surface (4212), when the driving wheel shaft (41) rotates in the first direction, the driving force applied to the locking portion (421) is greater than the resistance of the locking portion (421) to radial movement along the guide groove (21), and the locking portion (421) is configured to move along the guide groove (21) in a direction away from the driving wheel shaft (41), so that the driving wheel shaft (41) pushes the rolling portion (422) to move from a position cooperating with the first locking surface (4212) to a position cooperating with the second locking surface (4213), so that the one-way clutch assembly (42) switches to a second working state; When the rolling portion (422) is locked with the second locking surface (4213), when the driving wheel shaft (41) rotates in the second direction, the driving force applied to the locking portion (421) is greater than the resistance of the locking portion (421) to radial movement along the guide groove (21), and the locking portion (421) is constructed to move along the guide groove (21) in a direction away from the driving wheel shaft (41), so that the driving wheel shaft (41) pushes the rolling portion (422) to move from a position cooperating with the second locking surface (4213) to a position cooperating with the first locking surface (4212), so that the one-way clutch assembly (42) switches to the first working state.

5. The cleaning robot according to claim 4, characterized in that: After the driving wheel shaft (41) rotates in the first direction until the one-way clutch assembly (42) switches to the second working state, the driving wheel shaft (41) is configured to continue to rotate in the first direction to drive the movable cleaner (30) to rotate; After the driving wheel shaft (41) rotates in the second direction until the one-way clutch assembly (42) switches to the first working state, the driving wheel shaft (41) is configured to continue to rotate in the second direction to drive the movable cleaner (30) to rotate.

6. The cleaning robot according to claim 4, characterized in that: The machine body (10) is provided with a first limiting portion (121) and a second limiting portion; the first limiting portion (121) is configured to abut against the first limiting portion (121) when the swing arm (20) moves to the first position, and the second limiting portion is configured to abut against the second limiting portion when the swing arm (20) moves to the second position.

7. The cleaning robot according to claim 4, characterized in that: A first positioning portion (131) and a second positioning portion (132) are provided between the machine body (10) and the swing arm (20); the first positioning portion (131) and the second positioning portion (132) both comprise a positioning groove (134) and a positioning member (133); when the swing arm (20) moves to a first position or a second position, the positioning members (133) in the first positioning portion (131) and the second positioning portion (132) are respectively configured to cooperate with the corresponding positioning groove (134); the positioning member (133) is configured to disengage from the positioning groove (134) when the torque applied to the swing arm (20) is greater than the retaining force between the positioning member (133) and the positioning groove (134).

8. The cleaning robot according to claim 3, characterized in that: The elastic device is an elastic arm (22) arranged on the swing arm (20) and located outside the locking portion (421), and the elastic arm (22) has a protrusion (221) extending toward the locking portion (421), and the protrusion (221) is constructed to cooperate with a recessed area (4214) arranged on the end surface of the locking portion (421).

9. The cleaning robot according to claim 3, characterized in that: At least two convex ribs (23) extending upward are arranged on the swing arm (20), the at least two convex ribs (23) are configured to be distributed in a circumferential direction, and the guide groove (21) is configured to be formed between two adjacent convex ribs (23); a pressing plate (24) is arranged on the driving wheel shaft (41), and the pressing plate (24) is configured to limit the axial movement of the locking portion (421).

10. The cleaning robot according to claim 3, characterized in that: The cleaning robot comprises a control unit; When the swing arm (20) is located at the first position or the second position, the control unit is configured to control the driving wheel shaft (41) to always rotate in the second direction, so as to drive the movable cleaner (30) to rotate; When in the first working state and moving from the first position to the second position, the control unit is configured to control the driving wheel shaft (41) to rotate in the first direction for a predetermined time period, so that the locking portion (421) drives the swing arm (20) to move from the first position to the second position when the driving force received is less than the movement resistance thereof; When moving from the second position to the first position, the control unit is configured to control the driving wheel shaft (41) to rotate in the first direction so that the driving force applied to the locking portion (421) is greater than the resistance of the locking portion (421) to radial movement along the guide groove (21), and the locking portion (421) is constructed to move along the guide groove (21) in a direction away from the driving wheel shaft (41), so that the driving wheel shaft (41) pushes the rolling portion (422) to move from a position matched with the first locking surface (4212) to a second working state matched with the second locking surface (4213); The control unit is configured to continue to control the driving wheel shaft (41) to rotate in the second direction so that the locking portion (421) drives the swing arm (20) to move from the second position to the first position, and after the driving force applied to the locking portion (421) during the continued rotation is greater than the resistance of the locking portion (421) to radial movement along the guide groove (21), the locking portion (421) is constructed to move along the guide groove (21) in a direction away from the driving wheel shaft (41), so that the driving wheel shaft (41) pushes the rolling portion (422) to move from a position cooperating with the second locking surface (4213) to a first working state cooperating with the first locking surface (4212).

11. The cleaning robot according to claim 1, characterized in that: A driving gear (411) is arranged on the driving wheel shaft (41); the transmission wheel set (43) comprises a first transmission gear set (432) and a second transmission gear set (433) which are located in the swing arm (20) and are respectively connected to the movable cleaner (30); the difference between the number of gears meshing in sequence in the first transmission gear set (432) and the second transmission gear set (433) is an odd number; and further comprises a guide gear (431) meshing with the driving gear (411); The driving gear (411) and the guide gear (431) are constructed as helical gears; the driving gear (411) is constructed to drive the guide gear (431) to move axially to mesh with the first transmission gear set (432) during rotation in the first direction, and to drive the guide gear (431) to move axially to mesh with the second transmission gear set (433) during rotation in the second direction.

12. The cleaning robot according to claim 11, characterized in that: The first transmission gear set (432) and the second transmission gear set (433) respectively include a first gear (4321) and a second gear (4331); a first meshing portion (4311) and a first matching portion (43211) are provided between the facing end surfaces of the guide gear (431) and the first gear (4321); a second meshing portion (4312) and a second matching portion (43311) are provided between the facing end surfaces of the guide gear (431) and the second gear (4331); The driving gear (411) is configured to drive the guide gear (431) to move in a first direction so that the first meshing portion (4311) is in transmission connection with the first matching portion (43211), and is configured to drive the guide gear (431) to move in a second direction so that the second meshing portion (4312) is in transmission connection with the second matching portion (43311).

13. The cleaning robot according to claim 12, characterized in that: When the guide gear (431) moves in the direction of the first gear (4321), within a predetermined position range before the first meshing portion (4311) is fully meshed with the first matching portion (43211), the second meshing portion (4312) is not completely disengaged from the second matching portion (43311); When the guide gear (431) moves in the direction of the second gear (4331), within a predetermined position range before the second meshing portion (4312) is fully meshed with the second matching portion (43311), the first meshing portion (4311) is not completely disengaged from the first matching portion (43211).

14. The cleaning robot according to claim 13, characterized in that: The two opposite sides of the first meshing portion (4311) are respectively recorded as the first guide side and the first meshing side (43111) opposite to the first guide side; the first meshing portion (4311) is configured to drive the first gear (4321) to rotate along the second direction through the first meshing side (43111); the first guide side is configured to gradually tilt toward the first meshing side (43111) in the direction from the guide gear (431) to the first gear (4321) to form a first guide surface (43112); the first matching portion (43211) is configured to have an inclined surface adapted to the first guide side; The two opposite sides of the second meshing portion (4312) are respectively referred to as the second guide side and the second meshing side (43121) opposite to the second guide side; the second meshing portion (4312) is constructed to drive the second gear (4331) to rotate along the first direction through the second meshing side (43121); the second guide side is constructed to gradually tilt toward the second meshing side (43121) in the direction from the guide gear (431) to the second gear (4331) to form a second guide surface (43122); the second matching portion (43311) is constructed to have an inclined surface adapted to the second guide side.

15. The cleaning robot according to claim 1, characterized in that: A driving gear (411) is arranged on the driving wheel shaft (41), and the transmission wheel set (43) comprises a first transmission gear set (432) and a second transmission gear set (433) which are located in the swing arm (20) and are respectively connected to the movable cleaner (30) in a transmission manner, and the difference between the number of gears meshing in sequence in the first transmission gear set (432) and the second transmission gear set (433) is an odd number; The invention also includes a planet carrier (441) rotatably connected to the driving wheel shaft (41), and a planet gear (442) rotatably connected to the planet carrier (441), wherein the driving gear (411) meshes with the planet gear (442), and is configured to drive the planet carrier (441) to swing when rotating in a first direction until the planet gear (442) meshes with the first transmission gear set (432), and is configured to drive the planet carrier (441) to swing when rotating in a second direction until the planet gear (442) meshes with the second transmission gear set (433).

16. A cleaning robot, characterized in that: include: A machine body (10), wherein a swing arm (20) is provided on the machine body (10); A movable cleaner (30), wherein the movable cleaner (30) is configured to be able to move between a first position and a second position relative to the machine body (10) under the action of the swing arm (20); A transmission mechanism (40), the transmission mechanism (40) comprising a self-rotating transmission shaft (451), a swinging transmission shaft (452), and a dual-purpose transmission shaft (453), wherein the self-rotating transmission shaft (451) is configured to extend from a machine body (10) to a swinging arm (20), and is configured to be controlled by the dual-purpose transmission shaft (453) to drive a movable cleaner (30) located on the swinging arm (20) to self-rotate; a first one-way gear (4531) and a second one-way gear (4532) are provided on the dual-purpose transmission shaft (453), the first one-way gear (4531) is configured to rotate along with the shaft in a first direction, and the second one-way gear (4532) is configured to rotate along with the shaft in a second direction; The swing transmission shaft (452) is configured to be connected to the swing arm (20), and a meshing gear is provided on the swing transmission shaft (452), and the meshing gear is configured in its circumferential direction to have a first meshing area (4521) for meshing with the first one-way gear (4531), and a first disengagement area (4522) for disengaging therefrom, and a second meshing area (4523) for meshing with the second one-way gear (4532), and a second disengagement area (4524) for disengaging therefrom; The dual-purpose transmission shaft (453) is configured to drive the swing transmission shaft (452) to rotate when rotating in a first direction through the cooperation of the first one-way gear (4531) and the first meshing area (4521), until the first one-way gear (4531) is disengaged from the first meshing area (4521), so that the swing arm (20) swings to the first position; The dual-purpose transmission shaft (453) is constructed to drive the swing transmission shaft (452) to rotate when rotating in the second direction through the cooperation of the second one-way gear (4532) and the second meshing area (4523), until the second one-way gear (4532) is disengaged from the second meshing area (4523), so that the swing arm (20) swings to the second position.

17. The cleaning robot according to claim 16, characterized in that: In the circumferential direction, the first meshing area (4521) and the second meshing area (4523) are constructed so that their orthographic projections on the axial direction of the swing transmission shaft (452) partially overlap; When the dual-purpose transmission shaft (453) rotates in a first direction, after the first one-way gear (4531) is disengaged from the first meshing area (4521), the second one-way gear (4532) is configured to mesh with the second meshing area (4523); When the dual-purpose transmission shaft (453) rotates in the second direction, after the second one-way gear (4532) is disengaged from the second meshing area (4523), the first one-way gear (4531) is constructed to mesh with the first meshing area (4521).

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