Cleaning robot

Abstract

The utility model relates to a cleaning robot which comprises a first rotating arm, a second rotating arm, a first rotating shaft and a second rotating shaft, the two ends of the first rotating arm are provided with a first rotating shaft and a second rotating shaft respectively, and the first rotating shaft and the second rotating shaft both extend in the first direction; the second rotating arm is rotationally arranged on the first rotating arm through the first rotating shaft, and a ground gripping piece is arranged on the second rotating arm; and the moving seat is rotationally arranged on the first rotating arm through the second rotating shaft.

Description

Technical Field

[0001] The utility model relates to the field of household cleaning equipment, in particular to a cleaning robot. Background Art

[0002] A cleaning robot is an automatic cleaning device suitable for ordinary households. With the improvement of intelligence, the cleaning effect of the cleaning robot has also been improved synchronously, which has further improved the application scenarios and application scope of the cleaning robot, such as cleaning between different floors.

[0003] In order to meet the cleaning scenarios between different floors, cleaning robots inevitably need to introduce stair climbing functions. For most existing cleaning robots that can climb stairs, due to their complex structural design, the movements during the stair climbing process are cumbersome and the speed of climbing stairs is very slow, which reduces the cleaning efficiency and is difficult to meet the cleaning needs of residents in attics. Utility Model Content

[0004] Based on this, it is necessary to provide a cleaning robot to address the problems of complex structure and slow stair climbing speed of the cleaning robot.

[0005] A cleaning robot, comprising:

[0006] A first rotating arm, wherein two ends of the first rotating arm are respectively provided with a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft both extend along a first direction;

[0007] a second rotating arm, the second rotating arm being rotatably disposed on the first rotating arm via the first rotating shaft, and a gripping member being disposed on the second rotating arm; and

[0008] A movable seat is rotatably arranged on the first rotating arm via the second rotating shaft.

[0009] The gripping piece of the utility model is an electric suction cup.

[0010] The movable seat of the utility model comprises a seat body and a plurality of sliding wheels arranged on the seat body.

[0011] The cleaning robot of the utility model also includes a plurality of cleaning units, which are installed on the movable base. There are at least two sliding wheels, and all the sliding wheels are tangent to a base plane. The base plane is spaced apart from the base body to allow the cleaning units to be located between the base plane and the base body.

[0012] In the utility model, in the first direction, the second rotating arm is located between the first rotating arm and the moving seat.

[0013] In the utility model, when the first rotating arm and the base plane are in a non-parallel state, the projection of the cleaning unit on the base plane avoids the projection of the second rotating arm on the base plane.

[0014] In the utility model, at least one of the cleaning units is a roller brush, which is tangent to the base plane, and the projection of the roller brush on the base plane avoids the projection of the second rotating arm on the base plane.

[0015] At least one of the cleaning units of the utility model is a side brush, which is rotatably arranged on the movable seat to allow the projection of the side brush on the base plane to partially overlap the projection of the second rotating arm on the base plane when the first rotating arm is parallel to the base plane.

[0016] The mobile seat of the utility model is equipped with a cliff sensor.

[0017] The movable seat of the utility model is provided with a buffer pad.

[0018] The beneficial effects of the utility model are:

[0019] The cleaning robot of the utility model has a simple structure, low cost, and fewer steps to climb stairs, so the speed of climbing stairs is faster. In addition, the structural state of the cleaning robot remains unchanged before and after each stair climbing, so the cleaning robot can directly clean after climbing stairs without additional state switching. In summary, the cleaning robot of the utility model has a high cleaning efficiency in the cleaning scene between different floors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the cleaning robot in an embodiment of the utility model when viewed from above;

[0021] Figure 2 The side view structure diagram of the cleaning robot in the embodiment of the utility model is shown in FIG. Figure 1 ;

[0022] Figure 3 The side view structure diagram of the cleaning robot in the embodiment of the utility model is shown in FIG. Figure 2 ;

[0023] Figure 4 This is a side view structural diagram of the cleaning robot in step S1 when climbing stairs in an embodiment of the utility model;

[0024] Figure 5 It is a side view structural diagram of the cleaning robot in step S2 when climbing stairs in an embodiment of the utility model;

[0025] Figure 6It is a side view structural diagram of the cleaning robot in step S3 when climbing stairs in an embodiment of the utility model;

[0026] Figure 7 This is a schematic diagram of the side view structure of the cleaning robot in step S4 when climbing stairs in an embodiment of the utility model;

[0027] Figure 8 It is a side view structural diagram of the cleaning robot in step S5 when climbing stairs in an embodiment of the utility model;

[0028] Fig. 9 It is a side view structural diagram of the cleaning robot in step S6 when climbing stairs in an embodiment of the utility model.

[0029] Reference numerals:

[0030] 1. First rotating arm; 11. First rotating axis; 12. Second rotating axis; 2. Second rotating arm; 21. Gripping piece; 3. Moving seat; 31. Sliding wheel; 311. Base plane; 32. Seat body; 321. Buffer pad; 4. Cleaning unit; 41. Roller brush; 42. Side brush; 5. Step. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0037] Example:

[0038] See also Figure 1-Figure 3 This embodiment provides a cleaning robot, including a first rotating arm 1, a second rotating arm 2, a moving base 3 and a plurality of cleaning units 4.

[0039] The cleaning unit 4 is mounted on the moving base 3 so that the cleaning unit 4 can move with the moving base 3 to clean different positions on the ground.

[0040] A first rotating shaft 11 and a second rotating shaft 12 are respectively disposed at two ends of the first rotating arm 1 , and both the first rotating shaft 11 and the second rotating shaft 12 extend along a first direction.

[0041] In this embodiment, the first direction is perpendicular to the first rotating arm 1 . The axis of the first rotating shaft 11 is the first axis, and the axis of the second rotating shaft 12 is the second axis. Accordingly, the first axis and the second axis are both parallel to the first direction and perpendicular to the first rotating arm 1 .

[0042] One end of the second rotating arm 2 is mounted on the first rotating shaft 11 to allow the second rotating arm 2 to rotate around the first axis on the first rotating arm 1, and the first rotating arm 1 and the second rotating arm 2 are connected through the first rotating shaft 11. In this embodiment, the first rotating shaft 11 is also perpendicular to the second rotating arm 2.

[0043] In particular, a gripping member 21 is provided on the second rotating arm 2. In this embodiment, the gripping member 21 is an electric suction cup.

[0044] The movable seat 3 is mounted on the second rotating shaft 12 so that the movable seat 3 can rotate around the second axis on the first rotating arm 1 .

[0045] Specifically, the mobile seat 3 includes a seat body 32 and a plurality of sliding wheels 31 disposed on the seat body 32, the second rotating shaft 12 is located on the seat body 32, and a buffer pad 321 is disposed on the seat body 32. The sliding wheels 31 can reduce the resistance when the seat body 32 moves. There are generally at least two sliding wheels 31, and the common tangent plane of all the sliding wheels 31 is the base plane 311, that is, all the sliding wheels 31 are tangent to the base plane 311. When the sliding wheels 31 are supported on the ground, the base plane 311 coincides with the ground.

[0046] The stair climbing process of the cleaning robot in this embodiment includes the following steps in sequence:

[0047] Step S1: See Figure 4 At this time, the first rotating arm 1 and the second rotating arm 2 are parallel to the base plane 311, the sliding wheel 31 is supported on the ground, and a cliff sensor is installed on the base body 32. The base body 32 recognizes the step 5 through the cliff sensor, and thus moves horizontally to the step 5 through the sliding wheel 31.

[0048] Since the base plane 311 and the base body 32 are spaced apart, the cleaning unit 4 can be located between the base plane 311 and the base body 32 , so that when the base body 32 moves toward the step 5 , the cleaning unit 4 can also clean the floor.

[0049] The buffer pad 321 can protect the cliff sensor when the seat body 32 and the step 5 collide.

[0050] Step S2: See Figure 5When the seat body 32 abuts against the step 5 , the first rotating arm 1 and the second rotating arm 2 both begin to rotate toward the step 5 , and at the same time, the gripping member 21 gradually approaches the top surface of the step 5 .

[0051] Step S3: See Figure 6 Since the length of the first rotating arm 1 in this embodiment is greater than the height of the step 5, the seat body 32 of the first rotating arm 1 and the second rotating arm 2 gradually retreats during the process of turning toward the step 5, so that a certain distance is gradually left between the seat body 32 and the step 5 until the gripping piece 21 can contact the upper surface of the step 5 and perform vacuum adsorption.

[0052] Step S4: See Figure 7 After the gripping member 21 is adsorbed on the upper surface of the step 5, the first rotating arm 1 and the movable seat 3 can gradually turn to the upper surface of the step 5, thereby effectively increasing the height of the first rotating arm 1 and the movable seat 3.

[0053] Step S5: See Figure 8 After the first rotating arm 1 and the seat body 32 rotate a certain angle, the seat body 32 is located above the second rotating arm 2, and the base plane 311 is parallel to the upper surface of the step 5. Then the first rotating arm 1 further rotates on the second rotating arm 2, and the seat body 32 further rotates on the first rotating arm 1, so that the seat body 32 moves vertically downward in the direction perpendicular to the upper surface of the step 5.

[0054] During the downward movement of the seat body 32, the first rotating arm 1 and the base plane 311 are in a non-parallel state. In order to make the seat body 32 and the second rotating arm 2 finally be at the same height, the cleaning unit 4 at the bottom of the seat body 32 needs to avoid the second rotating arm 2. Therefore, during the downward movement of the seat body 32, the projection of the cleaning unit 4 located at the bottom of the seat body 32 on the base plane 311 should avoid the projection of the second rotating arm 2 on the base plane 311.

[0055] Step S6: See Fig. 9 Finally, the sliding wheel 31 is supported on the upper surface of the step 5, and the first rotating arm 1 and the second rotating arm 2 are also parallel to the upper surface of the step 5, so that the cleaning robot completes a stair climbing process.

[0056] By repeating the above process, the cleaning robot can continuously climb stairs, and the structural state of the cleaning robot remains unchanged before and after each stair climbing. Therefore, the cleaning robot can directly perform cleaning after climbing the stairs without additional state switching.

[0057] See also Figure 1 , Figure 5-Figure 8 In the first direction, the second rotating arm 2 is located between the first rotating arm 1 and the movable seat 3, so that the relative rotation movement between the second rotating arm 2 and the first rotating arm 1 and the relative rotation movement between the first rotating arm 1 and the movable seat 3 will not interfere with each other.

[0058] Preferably, in this embodiment, there are three cleaning units 4 , one of which is a roller brush 41 , and the other two cleaning units 4 are side brushes 42 .

[0059] The roller brush 41 also extends along the first direction and is tangent to the base plane 311, so that the roller brush 41 can not only play a similar role as the sliding wheel 31, but also clean the floor. Since the projection of the roller brush 41 on the base plane 311 does not change during the rolling process, the projection of the roller brush 41 on the base plane 311 always avoids the projection of the second rotating arm 2 on the base plane 311.

[0060] The side brush 42 is rotatably disposed on the base body 32, and the rotation axis of the side brush 42 is perpendicular to the base plane 311. Figure 4 and Fig. 9 When the first rotating arm 1 is parallel to the base plane 311, the side brush 42 can rotate so that its projection on the base plane 311 can partially overlap with the projection of the second rotating arm 2 on the base plane 311, so as to allow the side brush 42 to clean directly below the second rotating arm 2.

[0061] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A cleaning robot, characterized in that: include: A first rotating arm (1), wherein two ends of the first rotating arm (1) are respectively provided with a first rotating shaft (11) and a second rotating shaft (12), and the first rotating shaft (11) and the second rotating shaft (12) both extend along a first direction; a second rotating arm (2), the second rotating arm (2) being rotatably disposed on the first rotating arm (1) via the first rotating shaft (11), and a gripping member (21) being disposed on the second rotating arm (2); and A movable seat (3), wherein the movable seat (3) is rotatably arranged on the first rotating arm (1) via the second rotating shaft (12).

2. The cleaning robot according to claim 1, characterized in that: The gripping member (21) is an electric suction cup.

3. The cleaning robot according to claim 1, characterized in that: The movable seat (3) comprises a seat body (32) and a plurality of sliding wheels (31) arranged on the seat body (32).

4. The cleaning robot according to claim 3, characterized in that: The cleaning robot further comprises a plurality of cleaning units (4), wherein the cleaning units (4) are mounted on the movable seat (3), the number of the sliding wheels (31) is at least two, and all the sliding wheels (31) are tangent to a base plane (311), and the base plane (311) and the seat body (32) are spaced apart to allow the cleaning units (4) to be located between the base plane (311) and the seat body (32).

5. The cleaning robot according to claim 4, characterized in that: In the first direction, the second rotating arm (2) is located between the first rotating arm (1) and the moving seat (3).

6. The cleaning robot according to claim 5, characterized in that: When the first rotating arm (1) and the base plane (311) are in a non-parallel state, the projection of the cleaning unit (4) on the base plane (311) avoids the projection of the second rotating arm (2) on the base plane (311).

7. The cleaning robot according to claim 6, characterized in that: At least one of the cleaning units (4) is a roller brush (41), the roller brush (41) is tangent to the base plane (311), and the projection of the roller brush (41) on the base plane (311) avoids the projection of the second rotating arm (2) on the base plane (311).

8. The cleaning robot according to claim 6, characterized in that: At least one of the cleaning units (4) is a side brush (42), and the side brush (42) is rotatably arranged on the movable seat (3) to allow, when the first rotating arm (1) is parallel to the base plane (311), the projection of the side brush (42) on the base plane (311) to partially overlap the projection of the second rotating arm (2) on the base plane (311).

9. The cleaning robot according to claim 1, characterized in that: The mobile seat (3) is provided with a cliff sensor.

10. The cleaning robot according to claim 9, characterized in that: A buffer pad (321) is provided on the movable seat (3).

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