Cleaning mechanism and cleaning robot

Abstract

The utility model discloses a cleaning mechanism and a cleaning robot. The cleaning mechanism comprises a supporting frame, a cleaning assembly and a first driving assembly. The cleaning assembly is rotationally connected with the supporting frame. The first driving assembly comprises a first driving piece arranged on the supporting frame and a follower in transmission connection with the first driving piece, the follower is rotationally connected with the supporting frame, and the first driving piece is used for driving the follower to rotate relative to the supporting frame in the first direction so that the cleaning assembly can be switched from the first position to the second position. The first driving part is further used for driving the follower to rotate relative to the supporting frame in the second direction so that the cleaning assembly can be switched from the second position to the first position, and the first direction is opposite to the second direction. Therefore, the cleaning assembly can touch the corner area, and then the corner area can be effectively cleaned.

Description

Technical Field

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

[0002] A cleaning robot generally includes a body and a cleaning mechanism installed on the body and having a cleaning function. The cleaning mechanism is basically covered by the body. In related technologies, when the cleaning robot moves to corner areas such as corners or edges of walls, the cleaning mechanism usually cannot completely cover these corner areas, resulting in the corner areas not being effectively cleaned. Utility Model Content

[0003] The present application provides a cleaning mechanism and a cleaning robot, wherein the cleaning components of the cleaning mechanism can reach corner areas, thereby enabling the corner areas to be effectively cleaned.

[0004] In a first aspect, the present application provides a cleaning mechanism, comprising: a support frame; a cleaning assembly, rotatably connected to the support frame; a first driving assembly, comprising a first driving member arranged on the support frame and a follower member drivingly connected to the first driving member, the follower member being rotatably connected to the support frame, the first driving member being used to drive the follower member to rotate in a first direction relative to the support frame so that the cleaning assembly switches from a first position to a second position, the first driving member being further used to drive the follower member to rotate in a second direction relative to the support frame so that the cleaning assembly switches from the second position to the first position, the first direction being opposite to the second direction.

[0005] In a second aspect, the present application also provides a cleaning robot, comprising a body and a cleaning mechanism, the support frame being connected to the body, and the portion of the cleaning component extending from the body when the cleaning component is in the first position being larger than the portion of the cleaning component extending from the body when the cleaning component is in the second position.

[0006] The beneficial effects of the present application are as follows: The first driving member can drive the follower to rotate, so that the cleaning assembly performs corresponding movements, enabling the cleaning assembly to switch between a first position and a second position. When the cleaning mechanism is applied to a cleaning robot, the cleaning assembly can swing relative to the body. When it is necessary to clean the corner area, the cleaning assembly can be rotated to the first position, so that at least part of the cleaning assembly extends out of the body. Thus, when the cleaning robot reaches the corner area, the cleaning assembly can touch the corner area, enabling the corner area to be effectively cleaned. After the cleaning is completed, the cleaning assembly can be rotated to the second position to reduce the part of the cleaning assembly exposed outside the body, which can improve the ability of the cleaning robot to pass through narrow spaces and turn, and can also prevent the cleaning parts from bumping and damaging the walls and furniture in the user's home during the movement of the cleaning robot. In addition, a rotatable follower is added between the first driving member and the cleaning assembly. By using the rotation of the follower to rotate and switch the cleaning assembly from the first position to the second position, and driving the cleaning assembly to rotate through the follower, there is no need to set up transmission mechanisms such as gears, which can simplify the structure of the cleaning mechanism and reduce the cost of the cleaning mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0008] Figure 1 Structural schematic diagram of the cleaning mechanism in an embodiment of the present application;

[0009] Figure 2 Structural schematic diagram of the cleaning mechanism in an embodiment of the present application after removing the second driving member;

[0010] Figure 3 Structural schematic diagram of the cleaning mechanism in an embodiment of the present application after removing the second driving member and part of the support frame;

[0011] Figure 4 Structural schematic diagram of the cleaning mechanism in an embodiment of the present application after removing the second driving member and the support frame;

[0012] Figure 5 Structural schematic diagram of the second transmission component and part of the support frame in an embodiment of the present application;

[0013] Figure 6 Structural schematic diagram of the sweeping robot when the cleaning part is in the extended position in an embodiment of the present application;

[0014] Figure 7This is a schematic structural diagram of a floor cleaning robot when the cleaning member is in the retracted position in an embodiment of the present application.

[0015] Reference numerals:

[0016] 10, support frame; 20, cleaning assembly; 21, mounting frame; 211, arc-shaped limiting groove; 22, cleaning member; 221, cleaning portion; 23, connecting shaft; 24, rotating shaft; 30, first driving assembly; 31, first driving member; 32, follower member; 321, driving portion; 322, connecting portion; 323, swing rod portion; 324, accommodating groove; 325, mounting post; 33, elastic member; 331, spring coil portion; 332, first torsion arm; 333, second torsion arm; 34, first transmission member; 341, through hole; 35, second transmission member; 351, external thread; 36, pin shaft; 40, second driving assembly; 41, second driving member; 42, driving gear; 43, linkage gear; 44, transmission gear; 50, body; S1, first axis; S2, second axis; S3, third axis; R1, first direction; R2, second direction. Detailed implementation manners

[0017] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] A cleaning robot generally includes a body and a cleaning mechanism installed on the body and having a cleaning function. The cleaning mechanism is basically covered by the body. In the related art, when the cleaning robot moves to corner areas such as the corner or the wall side, the cleaning mechanism usually cannot completely cover these corner areas, resulting in ineffective cleaning of the corner areas.

[0019] For the above reasons, the present application provides a cleaning mechanism and a cleaning robot to solve the problem that in the related art, the cleaning mechanism usually cannot completely cover the corner areas, resulting in ineffective cleaning of the corner areas.

[0020] In a first aspect, the present application provides a cleaning mechanism, as Figure 1 and Figure 2 shown, the cleaning mechanism includes a support frame 10 and a cleaning assembly 20.

[0021] Among them, the support frame 10 is the frame structure of the cleaning mechanism. The support frame 10 can be connected to the body 50 of the cleaning robot (such as Figure 6 ) to install the cleaning mechanism on the body 50. The cleaning assembly 20 is rotatably connected to the support frame 10, and the cleaning assembly 20 can rotate relative to the support frame 10 to achieve cleaning of the ground.

[0022] Specifically, the cleaning mechanism further includes a first driving assembly 30. The first driving assembly 30 includes a first driving member 31 disposed on the support frame 10 and a follower 32 drivingly connected to the first driving member 31. The follower 32 is rotatably connected to the support frame 10. The first driving member 31 is configured to drive the follower 32 to rotate relative to the support frame 10 along a first direction R1, so that the cleaning assembly 20 is switched from a first position (such as Figure 1 , hereinafter referred to as the extended position) to a second position (such as Figure 7 , hereinafter referred to as the retracted position). The first driving member 31 is further configured to drive the follower 32 to rotate relative to the support frame 10 along a second direction R2, so that the cleaning assembly 20 is switched from the retracted position to the extended position. The first direction R1 is opposite to the second direction R2. Wherein, both the first direction R1 and the second direction R2 are rotational directions, and the specific directions of the first direction R1 and the first direction R1 can be selected according to specific implementation manners, and are not specifically limited in this embodiment.

[0023] It should be noted that the first driving member 31 can drive the follower 32 to rotate, so that the cleaning assembly 20 performs corresponding movements, so that the cleaning assembly 20 can be switched between the extended position and the retracted position. When the cleaning mechanism is applied to a cleaning robot, the cleaning assembly 20 can swing relative to the body 50. When it is necessary to clean the corner area, the cleaning assembly 20 can be rotated to the extended position (such as Figure 6 ), so that at least part of the cleaning assembly 20 extends out of the body 50. When the cleaning robot reaches the corner area, the cleaning assembly 20 can touch the corner area, so that the corner area can be effectively cleaned; after the cleaning is completed, the cleaning assembly 20 can be rotated to the retracted position (such as Figure 7 ), to reduce the part of the cleaning assembly 20 exposed outside the body 50, which can improve the ability of the cleaning robot to pass through narrow spaces and turn, and can also prevent the cleaning member 22 from bumping and damaging the walls and furniture of the user's home during the movement of the cleaning robot.

[0024] It should also be noted that by adding a rotatable follower 32 between the first driving member 31 and the cleaning assembly 30, and using the rotation of the follower 32 to rotate and switch the cleaning assembly 20 from the extended position to the retracted position, and driving the cleaning assembly to rotate through the follower 32, there is no need to set up transmission mechanisms such as gears, which can simplify the structure of the cleaning mechanism and reduce the cost of the cleaning mechanism.

[0025] See Figures 1 to 4As shown, in some embodiments of the present application, the first driving assembly 30 further includes a transmission assembly. The first driving member 31 is drivingly connected to the follower member 32 through the transmission assembly. The follower member 32 is rotatably connected to the transmission assembly. The first driving member 31 is configured to drive the transmission assembly to move so as to drive the follower member 32 to rotate relative to the support frame 10. It can be understood that when the first driving member 31 drives the transmission assembly to move, power is transmitted to the follower member 32 through the transmission assembly, so that the follower member 32 rotates relative to the support frame 10, and the follower member 32 and the transmission assembly can rotate relative to each other, enabling more choices for the type of the transmission assembly. For example, the transmission assembly can be a transmission assembly that performs linear motion or rotational motion.

[0026] In one embodiment, the transmission assembly includes a first transmission member 34 and a second transmission member 35. The first transmission member 34 is rotatably connected to the follower member 32; the second transmission member 35 is drivingly connected to the first driving member 31 and is movably engaged with the first transmission member 34. The first driving member 31 is configured to drive the second transmission member 35 to move so as to drive the first transmission member 34 to perform linear motion, and further drive the follower member 32 to rotate. It can be understood that when the first driving member 31 outputs power to the second transmission member 35, the first driving member 31 can drive the first transmission member 31 to perform linear motion through the second transmission member 35, and further drive the follower member 32 to rotate so that the cleaning assembly 20 rotates and switches from the extended position to the retracted position. The transmission assembly can convert the linear motion of the first transmission member 31 into the rotational motion of the follower member 32. And due to the structural characteristics, when the first transmission member 31 stops moving, the first transmission member 31 will hinder the rotation of the follower member 32, making it impossible or difficult for the follower member 32 to move, thereby realizing the locking of the follower member 32. This can prevent the follower member 32 from rotating due to accidental factors such as jitter when it is in the retracted position. At the same time, it is not necessary for the first driving member 31 to provide a locking force for the follower member 32, nor is it necessary to provide an additional locking structure to provide a locking force for the follower member 32.

[0027] In one embodiment, the rotation axis at the connection between the follower member 32 and the support frame 10 is the first axis S1, and the rotation axis at the connection between the follower member 32 and the transmission assembly is the second axis S2. The first axis S1 is parallel to the second axis S2. It can be understood that when the first driving member 31 drives the transmission assembly to move, it drives the follower member 32 to rotate relative to the transmission assembly around the second axis S2, so that the follower member 32 swings reciprocally relative to the support frame 10 around the first axis S1, thereby enabling the follower member 32 to rotate along the first direction R1 and the second direction R2. In other embodiments, the first axis S1 and the second axis S2 can coincide.

[0028] In one embodiment, the transmission assembly may be a screw transmission assembly. The second transmission member 35 is a screw rod, and the first transmission member 34 is a nut. The first transmission member 34 is sleeved on the second transmission member 35 and is in threaded cooperation with the second transmission member 35. Specifically, a through hole 341 is provided on the first transmission member 34, and an internal thread is provided in the through hole 341. The second transmission member 35 is inserted through the through hole 341. An external thread 351 that mates with the internal thread is provided on the outer periphery of the second transmission member 35. The second transmission member 35 is threadedly connected to the first transmission member 34. The output shaft of the first driving member 31 is connected to the second transmission member 35. When the first driving member 31 outputs power to the second transmission member 35, the first driving member 31 drives the second transmission member 35 to rotate around the axis of the second transmission member 35, so as to drive the first transmission member 34 to perform a linear motion along the axis of the second transmission member 35 relative to the second transmission member 35; when the first driving member 31 stops outputting power to the second transmission member 35, the second transmission member 35 and the first transmission member 34 are locked by the internal thread and the external thread 351, so that the follower 32 is locked.

[0029] Wherein, the first driving member 31 may be hinged to the mounting bracket 21, and the first transmission member 34 is hinged to the follower 32. When the first transmission member 34 performs a linear motion, the first driving member 31 can rotate relative to the mounting bracket 21, and the follower 32 can swing smoothly relative to the first transmission member 34, preventing the first transmission member 34 and the second transmission member 35 from jamming due to movement interference, so that a gear mechanism does not need to be added between the first transmission member 34 and the follower 32, and the linear motion of the first transmission member 34 can be converted into the rotational motion of the follower 32, which can reduce the cost of the cleaning mechanism.

[0030] In one embodiment, an arc-shaped limiting groove 211 extending around the first axis may be provided on the support frame 10. The first transmission member 34 is rotatably connected to the follower 32 through a pin shaft 36. The pin shaft 36 is inserted through the arc-shaped limiting groove 211 and can slide along the arc-shaped limiting groove 211. The axis of the pin shaft 36 is the second axis. The rotation direction of the follower 32 is limited by the arc-shaped limiting groove 211, so that the movement of the follower 32 is more stable.

[0031] It should also be noted that in other embodiments, the transmission assembly can also be a component of other transmission types. For example, the transmission assembly can be a rack and pinion assembly. In this case, the first transmission member 34 is a rack, and the second transmission member 35 is a gear. In other embodiments, the transmission assembly can also be a cylindrical cam assembly. In this case, the first transmission member 34 is a push rod, and the second transmission member 35 is a cylindrical cam. In other embodiments, the transmission assembly can also be a component of other transmission types. For example, the transmission assembly can also be a worm and worm gear assembly. In this case, the first transmission member 34 can also be a worm wheel, and the second transmission member 35 is a worm meshing with the worm wheel. When the first driving member 31 drives the worm to rotate, the worm wheel is driven to rotate, thereby driving the follower 32 to rotate around the first axis S1. When the worm wheel stops moving, the worm wheel and the worm are locked. In other implementations, the first transmission member 34 can also be a structure with a funnel-shaped hole, and the second transmission member 35 is a frustum-shaped rotating rod. The second transmission member 35 is inserted into the funnel-shaped hole, and the outer peripheral surface of the second transmission member 35 is attached to the inner wall surface of the funnel-shaped hole. When the second transmission member 35 rotates, it drives the first transmission member 34 to rotate. When the second transmission member 35 stops moving, the second transmission member 35 and the first transmission member 34 are locked through the friction between the outer peripheral surface of the second transmission member 35 and the inner wall surface of the funnel-shaped hole. In other implementations, the first transmission member 34 and the second transmission member 35 can also be other mutually cooperating transmission members, and the present application does not list them one by one.

[0032] As Figure 3 and Figure 4 shown, in some embodiments of the present application, the first driving assembly 30 further includes an elastic member 33. The elastic member 33 abuts against the cleaning assembly 20 and the follower 32. When the first driving member 31 drives the follower 32 to rotate relative to the support frame along the second direction R2, the elastic member 33 drives the cleaning assembly 20 to switch from the retracted position to the extended position. It can be understood that when the follower 32 rotates along the second direction R2, the elastic member 33 is in a compressed state. At this time, the elastic force of the elastic member 33 is released, and the cleaning assembly 20 will swing under the action of the elastic force of the elastic member 33 and drive the cleaning assembly 20 to swing along the second direction R2 to the extended position. Among them, the elastic member 33 can be a torsion spring, and the preparation material of the elastic member 33 can be metal, elastic plastic or other materials, and the present application does not make specific limitations.

[0033] In one embodiment, when the first driving member 31 drives the follower 32 to rotate relative to the support frame 10 along the first direction R1, the follower 32 contacts the cleaning assembly 20 to push the cleaning assembly 20 from the extended position to the retracted position; when the first driving member 31 drives the follower 32 to rotate relative to the support frame 10 along the second direction R2, the follower 32 is separated from the cleaning assembly 20.

[0034] It can be understood that the first driving member 31 can drive the follower member 32 to rotate, so that the follower member 32 contacts and separates from the cleaning assembly 20. When the cleaning assembly 20 is in the extended position, at this time, the follower member 32 can be in a contact state or a separated state with the cleaning assembly 20. At this time, if the cleaning assembly 20 needs to move to the retracted position, the first driving member 31 can be used to drive the follower member 32 to rotate along the first direction R1. The follower member 32 contacts the cleaning assembly 20, and then the follower member 32 continues to rotate along the first direction R1 to drive the cleaning assembly 20 to switch from the extended position to the retracted position along the first direction R1. When the cleaning assembly 20 is in the retracted position, at this time, the follower member 32 is in contact with the cleaning assembly 20 to limit and lock the cleaning assembly 20 in the retracted position. At this time, if the cleaning assembly 20 needs to move to the extended position, the first driving member 31 can be used to drive the follower member 32 to rotate along the second direction R2, so that the follower member 32 separates from the cleaning assembly 20, and the restriction of the follower member 32 on the cleaning assembly 20 is released. The cleaning assembly 20 can rotate freely. At this time, the elastic member 33 is in a compressed state, and the cleaning assembly 20 can rotate to the extended position along the second direction R2 under the elastic force of the elastic member 33.

[0035] In other embodiments, the elastic member 33 can also be omitted. The movement of the cleaning assembly 20 along the first direction R1 and the second direction R2 is driven by the follower member 32. That is, in this embodiment, the cleaning assembly 20 always remains in contact with the follower member 32. When the follower member 32 moves along the first direction R1, it pushes the cleaning assembly 20 to move from the extended position to the retracted position. When the follower member 32 moves along the second direction R2, it pushes the cleaning assembly 20 to move from the retracted position to the extended position.

[0036] In one embodiment, the cleaning assembly 20 is configured such that when the cleaning assembly 20 is in the extended position, it can swing in the direction of the retracted position under the action of an external force, so that when the cleaning assembly 20 is in the extended position and encounters an obstacle outside the body 50, the part of the cleaning assembly 20 extending out of the body 50 can elastically retract along the first direction R1, thereby preventing the cleaning assembly 20 from making hard contact and hard friction with the obstacle, and further preventing the cleaning assembly 20 from knocking and damaging the walls and furniture of the user's home during the movement of the cleaning robot.

[0037] In one embodiment, when the first driving member 31 drives the cleaning member 22 to swing from the extended position to the retracted position, the elastic member 33 can be in a natural expansion and contraction state. At this time, the elastic member 33 is not stretched or compressed, which can prevent the cleaning member 22 from rotating towards the extended position under the elastic force of the elastic member 33 and can extend the service life of the elastic member 33. In addition, during the process of the cleaning member 22 swinging outward in the direction of the extended position, when the cleaning member 22 swings to any angle and encounters an obstacle outside the fuselage 50, it can elastically retract. The elastic member 33 can provide a stable collision resilience for the cleaning member 22, and the collision resilience is not affected by the outward swing angle of the cleaning member 22.

[0038] In one embodiment, the follower 32 has a receiving groove 324. An installation post 325 located in the receiving groove 324 is provided on the follower 32, and the axis line of the installation post 325 is parallel to the first axis S1. The elastic member 33 includes a spring coil portion 331, a first torsion arm 332, and a second torsion arm 333. The spring coil portion 331 is sleeved on the installation post 325. The first torsion arm 332 is connected to the spring coil portion 331 and abuts against the inner wall of the receiving groove 324. The second torsion arm 333 is connected to the spring coil portion 331 and abuts against the mounting bracket 21. It can be understood that when the follower 32 rotates in the second direction R2 until it separates from the mounting bracket 21, the elastic member 33 and the installation post 325 rotate synchronously with the follower 32 in the second direction R2, and the first torsion arm 332 and the second torsion arm 333 are twisted, so that elastic force is accumulated in the elastic member 33, thereby driving the mounting bracket 21 to swing in the first direction R1 so that the cleaning member 22 swings to the extended position. When the follower 32 rotates in the first direction R1 until it contacts the mounting bracket 21 and drives the cleaning member 22 to swing from the extended position to the retracted position in the first direction R1, the elastic member 33 and the installation post 325 rotate synchronously with the follower 32 in the first direction R1, and the first torsion arm 332 and the second torsion arm 333 are always in a natural expansion and contraction state, and no elastic force is accumulated in the elastic member 33, which can prevent the cleaning member 22 from rotating towards the extended position under the elastic force of the elastic member 33. In addition, the receiving groove 324 can provide a receiving space for the elastic member 33 to hide the elastic member 33 in the receiving groove 324, which can prevent the elastic member 33 from affecting the arrangement of other components in the cleaning mechanism and make the structure of the cleaning mechanism more compact, and can reduce the overall volume of the cleaning mechanism. In addition, the receiving groove 324 can also reduce the weight of the follower part, thereby reducing the overall weight of the cleaning mechanism.

[0039] Specifically, the receiving groove 324 is located on the side of the driving part 321 facing the mounting bracket 21, and a part of the mounting bracket 21 can extend into the receiving groove 324, so that the layout of the driving part 321 and the mounting bracket 21 is more compact, and the overall volume of the cleaning mechanism can be further reduced.

[0040] In some embodiments of the present application, the cleaning assembly 20 includes a mounting bracket 21 and a cleaning member 22. The mounting bracket 21 is rotatably connected to the support bracket 10, and the cleaning member 22 is rotatably connected to the mounting bracket 21. The rotation axis at the rotatable connection between the mounting bracket 21 and the support bracket 10 is the first axis S1, and the rotatable connection between the cleaning member 22 and the mounting bracket 21 is the third axis S3, and the third axis S3 is parallel to the first axis S1.

[0041] It can be understood that the self-rotation central axis of the follower 32 and the swing central axis when the mounting bracket 21 swings are both the first axis S1, and the self-rotation central axis of the cleaning member 22 (i.e., the third axis S3) is parallel to the swing central axis when the mounting bracket 21 swings, so that the follower 32 and the mounting bracket 21 can have a larger overlapping portion in the extending direction of the first axis S1, and the cleaning member 22 and the mounting bracket 21 can have a larger overlapping portion in the extending direction of the first axis S1, so that the arrangement of the follower 32 and the mounting bracket 21 and the cleaning member 22 is more compact, so that the volume of the cleaning mechanism can be smaller, and further making it more convenient to install the cleaning mechanism on the fuselage 50. It is not difficult to understand that in other embodiments, the rotation axis at the rotatable connection between the follower 32 and the support bracket 10 can also deviate from the rotation axis at the rotatable connection between the mounting bracket 21 and the support bracket 10.

[0042] Specifically, the mounting bracket 21 is rotatably connected to the support bracket 10 through a connecting shaft 23. The mounting bracket 21 is rotatably connected to the connecting shaft 23. The mounting bracket 21 can rotate relative to the connecting shaft 23 around the axis of the connecting shaft 23, and the axis of the connecting shaft 23 is the first axis.

[0043] In some embodiments of the present application, the follower 32 includes a driving portion 321 and a connecting portion 322. The driving portion 321 is located on the side of the mounting bracket 21. The connecting portion 322 and the mounting bracket 21 are arranged along the extending direction of the first axis S1 and are disposed around the outer periphery of the connecting shaft 23. The first driving member 31 is in transmission connection with the connecting portion 322. The first driving member 31 is used to drive the connecting portion 322 to rotate around the first axis S1 so that the driving portion 321 contacts and separates from the mounting bracket 21. When the driving portion 321 contacts the mounting bracket 21, the first driving member 31 can drive the mounting bracket 21 to swing around the first axis S1 through the follower 32, so that the cleaning member 22 is switched from the extended position to the retracted position.

[0044] It should be noted that the driving portion 321 is the part of the follower 32 for driving the mounting bracket 21 to swing, and the connecting portion 322 is the part of the follower 32 for being in transmission connection with the first driving member 31. The connecting portion 322 can be rotatably connected to the mounting bracket 21, or the connecting portion 322 can also be directly rotatably connected to the connecting shaft 23. The driving portion 321 has a driving end. Figure 3The left end of the middle driving part 321 is the driving end. When the cleaning part 22 is in the extended position, the driving end can be in a contact state or a separated state with the mounting bracket 21 at this time. If the cleaning part 22 needs to move to the retracted position at this time, the first driving part 31 can be used to drive the driving part 321 to rotate along the first direction R1. The driving end contacts the mounting bracket 21, and then the driving end continues to rotate along the first direction R1. The mounting bracket 21 is driven by the driving end to switch from the extended position to the retracted position along the first direction R1. When the cleaning part 22 is in the retracted position, the driving end is in contact with the mounting bracket 21 at this time to limit and lock the cleaning part 22 in the retracted position. If the cleaning part 22 needs to move to the extended position at this time, the first driving part 31 can be used to drive the driving part 321 to rotate along the second direction R2, so that the driving end is separated from the mounting bracket 21. At this time, the restriction of the follower 32 on the mounting bracket 21 is released, and the mounting bracket 21 can drive the cleaning part 22 to rotate to the extended position along the second direction R2 under the action of an external force.

[0045] In one embodiment, the whole of the driving part 321 can be arc-shaped extending around the first central axis, which can make the rotation of the driving part 321 smoother and can reduce the overall volume of the driving part 321.

[0046] In one embodiment, the follower 32 can further include a swing rod part 323. One end of the swing rod part 323 is connected to the connecting part 322, and the other end of the swing rod part 323 is rotatably connected to the first transmission part 34 through a pin shaft 36.

[0047] In some embodiments of the present application, the cleaning mechanism further includes a second driving assembly 40. The second driving assembly 40 includes a second driving part 41 arranged on the support frame 10. The second driving part 41 is in transmission connection with the cleaning part 22. The second driving part 41 is used to drive the cleaning part 22 to rotate relative to the mounting bracket 21 to realize the cleaning of the ground.

[0048] The first driving part 31 and the second driving part 41 can be devices such as a motor, a motor or an electric cylinder.

[0049] Specifically, the second driving member 41 is in transmission connection with the connecting shaft 23, and the connecting shaft 23 is in transmission connection with the cleaning member 22. The second driving member 41 is used to drive the connecting shaft 23 to rotate around the first axis S1, so as to drive the cleaning member 22 to rotate relative to the mounting bracket 21 around the third axis S3. It should be noted that the mounting bracket 21 and the cleaning member 22 can rotate relative to the connecting shaft 23, so that when the mounting bracket 21 and the cleaning member 22 swing, the connecting shaft 23 does not need to rotate accordingly. Furthermore, the second driving member 41 and the support frame 10 connected to the connecting shaft 23 do not need to swing together with the cleaning member 22 and the mounting bracket 21, so that the volume of the part that needs to swing on the cleaning assembly 20 is relatively small, thereby reducing the torque required when the mounting bracket 21 and the cleaning member 22 swing, and also making it unnecessary to reserve a large swinging space for the cleaning assembly 20 on the fuselage 50.

[0050] As Figure 5 shown, the cleaning member 22 is rotatably connected to the mounting bracket 21 through a rotating shaft 24. The axis line of the rotating shaft 24 is the third axis. The second driving assembly 40 further includes a driving gear 42 and a linkage gear 43. The driving gear 42 can be installed on the connecting shaft 23 by interference fit or key connection, etc. The linkage gear 43 can be installed on the rotating shaft 24 by interference fit or key connection, etc. The driving gear 42 is in transmission connection with the linkage gear 43. When the first driving member 31 drives the connecting shaft 23 and the driving gear 42 to rotate, the driving gear 42 drives the linkage gear 43 to rotate, so as to drive the rotating shaft 24 and the cleaning member 22 to rotate around the second axis S2. It can be understood that the driving gear 42 and the linkage gear 43 are transmission components between the connecting shaft 23 and the rotating shaft 24. The driving gear 42 can be directly meshed with the linkage gear 43 to achieve transmission connection. Other transmission gears 44 for transmission can also be provided between the driving gear 42 and the linkage gear 43. The transmission connection is achieved through the meshing of the transmission gear 44 with the driving gear 42 and the linkage gear 43. The number of transmission gears 44 can be 1, 2 or more, and the number of transmission gears 44 can be determined according to the required transmission ratio between the second driving member 41 and the cleaning member 22.

[0051] In a second aspect, based on the above cleaning mechanism, the present application further provides a cleaning robot, as Figure 6 and Figure 7 shown, the cleaning robot includes a fuselage 50 and a cleaning mechanism as described in any one of the above embodiments. The support frame 10 is connected to the fuselage 50. The part of the cleaning assembly 20 that extends out of the fuselage 50 when in the extended position is greater than the part of the cleaning assembly 20 that extends out of the fuselage 50 when in the retracted position. Among them, the cleaning robot can be a floor sweeping robot, a sweeping and mopping integrated robot or a floor mopping robot, etc. The present application does not make specific limitations on the type of the cleaning robot.

[0052] In one embodiment, the cleaning mechanism can be a side brush mechanism. At this time, the cleaning component 20 is a side brush component, and the cleaning member 22 is a side brush. In another embodiment, the cleaning mechanism can be a mop mechanism. At this time, the cleaning component 20 is a mop component, and the cleaning member 22 is a mop. In yet another embodiment, the cleaning robot can include a side brush mechanism and a mop mechanism. Among them, the side brush component of the side brush mechanism and the mop component of the mop mechanism can both be configured with the above-mentioned first driving component 30 to realize the switching of the side brush component between the extended position and the retracted position and the switching of the mop component between the extended position and the retracted position.

[0053] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning mechanism, characterized in that: include: Support frame; A cleaning assembly, rotatably connected to the support frame; The first driving component includes a first driving member arranged on the support frame and a follower member drivingly connected to the first driving member, the follower member is rotationally connected to the support frame, the first driving member is used to drive the follower member to rotate relative to the support frame along a first direction so that the cleaning component switches from the first position to the second position, and the first driving member is also used to drive the follower member to rotate relative to the support frame along a second direction so that the cleaning component switches from the second position to the first position, and the first direction is opposite to the second direction.

2. The cleaning mechanism according to claim 1, characterized in that: The first drive assembly also includes: Transmission assembly, the first driving member is transmission-connected to the follower through the transmission assembly, the follower is rotationally connected to the transmission assembly, and the first driving member is used to drive the transmission assembly to move so as to drive the follower to rotate relative to the support frame.

3. The cleaning mechanism according to claim 2, characterized in that: The transmission assembly comprises: A first transmission member is rotatably connected to the follower; and The second transmission member is transmission-connected to the first driving member and movably cooperates with the first transmission member. The first driving member is used to drive the second transmission member to move, so as to drive the first transmission member to move linearly, and further drive the follower to rotate.

4. The cleaning mechanism according to claim 2, characterized in that: The rotation axis of the rotation connection between the follower and the support frame is the first axis, the rotation axis of the rotation connection between the follower and the transmission assembly is the second axis, and the first axis is parallel to the second axis.

5. The cleaning mechanism according to claim 1, characterized in that: The first drive assembly also includes: An elastic member abuts against the cleaning assembly and the follower, and when the first driving member drives the follower to rotate relative to the supporting frame along the second direction, the elastic member drives the cleaning assembly to switch from the second position to the first position.

6. The cleaning mechanism according to claim 5, characterized in that: When the first driving member drives the follower to rotate relative to the support frame along the first direction, the follower contacts the cleaning assembly to push the cleaning assembly to move from the first position to the second position; When the first driving member drives the follower to rotate relative to the supporting frame along the second direction, the follower is separated from the cleaning assembly.

7. The cleaning mechanism according to claim 5, characterized in that: The cleaning component is configured to be able to move toward the second position under the action of an external force when the cleaning component is in the first position.

8. The cleaning mechanism according to claim 1, characterized in that: The cleaning assembly comprises a mounting frame and a cleaning member, wherein the mounting frame is rotatably connected to the supporting frame, and the cleaning member is rotatably connected to the mounting frame; Wherein, the rotation axis of the rotation connection between the mounting frame and the supporting frame is the first axis, the rotation connection between the cleaning member and the mounting frame is the third axis, and the third axis is parallel to the first axis.

9. A cleaning robot, characterized in that: The cleaning robot comprises a body and a cleaning mechanism as described in any one of claims 1 to 8, the support frame is connected to the body, and the portion of the cleaning component extending out of the body when the cleaning component is in the first position is larger than the portion of the cleaning component extending out of the body when the cleaning component is in the second position.

10. The cleaning robot according to claim 9, characterized in that: The cleaning mechanism includes a side brush mechanism or a mop mechanism.

Images