Autonomous mobile surface cleaning robot and stirring member

Abstract

The utility model provides an autonomous mobile surface cleaning robot and a stirring part. The autonomous mobile surface cleaning robot is arranged to be capable of moving on a to-be-cleaned surface so as to clean the to-be-cleaned surface; the stirring device comprises a shell assembly and a stirring piece, and the stirring piece is arranged on the shell assembly and can rotate around the axis of the stirring piece in the vertical direction in the first rotating direction; the stirring piece is arranged to be capable of moving between an initial position and an extension position relative to the shell assembly; the stirring piece comprises a cleaning disc and a cleaning pad which are concentrically arranged, the outer circumference of the cleaning disc is provided with an elastic deformation part, and the outer diameter of the cleaning pad is larger than that of the cleaning disc.

Description

Technical Field

[0001] The present disclosure relates to an autonomous mobile surface cleaning robot and a stirring member. Background Art

[0002] The information provided in this section is only background information related to the present disclosure, and it is not necessarily prior art.

[0003] With the progress of technology, more and more families use surface cleaning devices such as floor cleaning robots to clean the surface to be cleaned.

[0004] To make the surface cleaning device have a higher cleaning effect, cleaning components are included in these surface cleaning devices. These cleaning components can wet-mop the surface to be cleaned, so that the surface to be cleaned after being cleaned by the surface cleaning device is cleaner.

[0005] At the same time, in order to increase the cleaning area of the surface cleaning device, a cleaning component that can move horizontally is provided in the surface cleaning device of the prior art. Thus, when these surface cleaning devices clean the surface to be cleaned, these cleaning components will be moved outside the projection of the housing component of the surface cleaning device on the surface to be cleaned.

[0006] During the process of the cleaning component being horizontally moved, it may touch the surface to be cleaned or an object disposed on the surface to be cleaned, thereby causing damage to the cleaning component and reducing the service life of the surface cleaning device. Utility Model Content

[0007] The present disclosure provides an autonomous mobile surface cleaning robot and a stirring member.

[0008] According to one aspect of the present disclosure, an autonomous mobile surface cleaning robot is provided. The autonomous mobile surface cleaning robot is configured to be able to move on a surface to be cleaned to clean the surface to be cleaned. It includes:

[0009] A housing component and a stirring member. The stirring member is disposed on the housing component and is configured to be able to rotate in a first rotation direction about an axis in the vertical direction of the stirring member; and the stirring member is configured to be able to move relative to the housing component between an initial position and an extended position;

[0010] Wherein, the stirring member includes: a cleaning disc and a cleaning pad that are concentrically arranged. The outer circumference of the cleaning disc has an elastic deformation portion, and the outer diameter of the cleaning pad is larger than the outer diameter of the cleaning disc.

[0011] According to the autonomous mobile surface cleaning robot of at least one embodiment of the present disclosure, the cleaning pad is disposed below the cleaning disc.

[0012] An autonomous mobile surface cleaning robot according to at least one embodiment of the present disclosure, wherein the elastic deformation part is fixed on the cleaning disc.

[0013] An autonomous mobile surface cleaning robot according to at least one embodiment of the present disclosure, wherein the elastic deformation part is provided by the cleaning pad.

[0014] An autonomous mobile surface cleaning robot according to at least one embodiment of the present disclosure, wherein the cleaning pad includes an annular enclosure for sleeving the cleaning pad as a whole on the cleaning disc.

[0015] An autonomous mobile surface cleaning robot according to at least one embodiment of the present disclosure, wherein the annular enclosure includes an elastic material; when the cleaning pad is sleeved on the cleaning disc as a whole, the elastic material at least forms the elastic deformation part.

[0016] An autonomous mobile surface cleaning robot according to at least one embodiment of the present disclosure, wherein the cleaning pad includes a flannelette that is integrally disc-shaped, and the outer diameter of the flannelette is larger than the outer diameter of the annular enclosure.

[0017] An autonomous mobile surface cleaning robot according to at least one embodiment of the present disclosure further includes a drive shaft connected to the cleaning disc, and the drive shaft is used to drive the cleaning disc to rotate about an axis in the vertical direction.

[0018] An autonomous mobile surface cleaning robot according to at least one embodiment of the present disclosure, wherein the cleaning pad includes an upper surface, and the cleaning disc includes a lower surface, and the upper surface and the lower surface are fixed together in the vertical direction by pasting or clamping.

[0019] According to another aspect of the present disclosure, there is provided a stirring member for an autonomous mobile surface cleaning robot, the stirring member includes a cleaning disc and a cleaning pad that are concentrically arranged, the outer circumference of the cleaning disc has an elastic deformation part, and the outer diameter of the cleaning pad is larger than the outer diameter of the cleaning disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings illustrate exemplary embodiments of the present disclosure and are used in conjunction with the description thereof to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are included in this specification and form a part of this specification.

[0021] Figure 1 is a schematic structural diagram of a surface cleaning device according to an embodiment of the present disclosure.

[0022] Figure 2 is a schematic structural diagram of the surface cleaning device from another angle according to an embodiment of the present disclosure.

[0023] Figure 3 It is a schematic structural view of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure.

[0024] Figure 4 It is a schematic structural view (retracted state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure.

[0025] Figure 5 It is a partial schematic structural view (retracted state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure.

[0026] Figure 6 It is a schematic view of the connection relationship of gears of a surface cleaning device according to an embodiment of the present disclosure.

[0027] Figure 7 It is a schematic structural view (expanded state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure.

[0028] Figure 8 It is a partial schematic structural view (expanded state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure.

[0029] Figure 9 It is a schematic structural view of an eccentric wheel according to an embodiment of the present disclosure.

[0030] Figure 10 It is a schematic structural view of a rocker member according to an embodiment of the present disclosure.

[0031] Figure 11 It is a schematic structural view of a stirring member according to an embodiment of the present disclosure.

[0032] Figure 12 It is a schematic structural view of the stirring member from another angle according to an embodiment of the present disclosure.

[0033] Figure 13 It is a schematic cross-sectional view of the stirring member according to an embodiment of the present disclosure.

[0034] Figure 14 It is a schematic structural view of a stirring member according to another embodiment of the present disclosure.

[0035] Figure 15 It is a schematic structural view of an elastic deformation portion of a stirring member according to another embodiment of the present disclosure.

[0036] Specifically, the reference numerals in the figure are as follows:

[0037] 100 housing assembly

[0038] 200 side brush assembly

[0039] 201 Driving gear

[0040] 202 First coaxial gear

[0041] 203 Idler gear

[0042] 204 Second coaxial gear

[0043] 205 Driven gear

[0044] 206 One-way bearing

[0045] 207 Rotating shaft part

[0046] 210 Base body

[0047] 211 Stopping part

[0048] 220 Brush arm

[0049] 221 Base part

[0050] 222 Cover part

[0051] 223 Protruding part

[0052] 224 Boss part

[0053] 230 Cleaning brush

[0054] 240 Power component

[0055] 250 Rocker assembly

[0056] 251 Eccentric wheel

[0057] 251A Limiting plane

[0058] 252 Rocker part

[0059] 252A First arm

[0060] 252B Second arm

[0061] 252C Fulcrum

[0062] 252D Avoiding part

[0063] 260 Power motor

[0064] 270 Pivot shaft

[0065] 300 Cleaning assembly

[0066] 400 Steering wheel

[0067] 500 Traveling wheel

[0068] 600 Cleaning component

[0069] 610 Stirring member

[0070] 611 Cleaning tray

[0071] 612 Cleaning pad

[0072] 612A Annular enclosure

[0073] 613 Elastic deformation part. Detailed implementation manners

[0074] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and implementation manners. It can be understood that the specific implementation manners described herein are only used to explain the relevant content and do not limit the present disclosure. Additionally, it should be noted that for the convenience of description, only parts related to the present disclosure are shown in the accompanying drawings.

[0075] It should be noted that, without conflict, the implementation manners in the present disclosure and the features in the implementation manners can be combined with each other. The technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the implementation manners.

[0076] Unless otherwise specified, the exemplary implementation manners / embodiments shown will be understood to provide exemplary features of various details of some ways that can implement the technical concept of the present disclosure in practice. Therefore, unless otherwise specified, without departing from the technical concept of the present disclosure, the features of various implementation manners / embodiments can be additionally combined, separated, interchanged, and / or rearranged.

[0077] In the accompanying drawings, cross-hatching and / or shading are generally used to make the boundaries between adjacent components clear. Thus, unless stated otherwise, the presence or absence of cross-hatching or shading does not convey or imply any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. Additionally, in the accompanying drawings, for clarity and / or descriptive purposes, the dimensions and relative dimensions of the components may be exaggerated. When the exemplary embodiments can be implemented differently, the specific process sequences can be performed in an order different from that described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. Additionally, the same reference numerals represent the same components.

[0078] When a component is referred to as being “on” or “above” another component, “connected to” or “coupled to” another component, the component can be directly on the other component, directly connected to or directly coupled to the other component, or there can be intervening components. However, when a component is referred to as being “directly on” another component, “directly connected to” or “directly coupled to” another component, there are no intervening components. For this reason, the term “connected” can refer to physical connection, electrical connection, etc., and can have or not have intervening components.

[0079] For descriptive purposes, the present disclosure may use spatial relative terms such as “under,” “below,” “beneath,” “down,” “above,” “on,” “over,” “upper,” and “side (e.g., as in “sidewall”)” etc., to describe the relationship of one component to another (other) component as illustrated in the figures. In addition to the orientation depicted in the figures, the spatial relative terms are also intended to encompass different orientations of the device in use, operation, and / or manufacture. For example, if the device in the figures is turned over, a component described as “under” or “beneath” another component or feature will then be oriented “above” the other component or feature. Thus, the exemplary term “under” can encompass both an orientation of “above” and “below.” In addition, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and as such, the spatial relative descriptors used herein are to be interpreted accordingly.

[0080] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, unless the context clearly dictates otherwise, the singular forms “a,” “an,” and “the” are also intended to include the plural forms. Additionally, when the terms “comprises” and / or “comprising” and variations thereof are used in this specification, it is specified that there are the stated features, integers, steps, operations, components, elements, and / or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, elements, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms and not as terms of degree, and thus are used to interpret the inherent deviations of the measured, calculated, and / or provided values that would be recognized by one of ordinary skill in the art.

[0081] Figure 1 is a schematic structural view of a surface cleaning device according to an embodiment of the present disclosure. Figure 2 is a schematic structural view of the surface cleaning device from another angle according to an embodiment of the present disclosure.

[0082] As Figure 1 and Figure 2As shown, the surface cleaning device of the present disclosure can be a self - mobile surface cleaning device; as an example, the self - mobile surface cleaning device can be a floor sweeping robot, a mopping robot, an autonomous mobile surface cleaning robot, or a sweeping and mopping integrated robot, etc. Among them, the self - mobile surface cleaning device can perform autonomous cleaning operations, that is, the surface cleaning device can autonomously move on the surface to be cleaned to clean the surface to be cleaned by sucking particles located on different parts of the surface to be cleaned.

[0083] Taking Figure 1 and Figure 2 the shown autonomous mobile surface cleaning robot as an example, with the forward direction of the surface cleaning device regarded as the front, referring to Figure 2 the view direction, the forward direction of the surface cleaning device is the upper side. The direction away from the forward direction of the surface cleaning device is the rear, referring to Figure 2 the view direction, the rear of the surface cleaning device refers to the lower side. Correspondingly, the direction perpendicular to the front - rear direction can be defined as the left - right direction.

[0084] The surface cleaning device can include a housing assembly 100, which can form the body of the surface cleaning device; steering wheels 400 and driving wheels 500 are arranged at the bottom of the housing assembly 100. The steering wheels 400 are used to control the traveling direction of the surface cleaning device, and the driving wheels 500 are used to drive the surface cleaning device forward. The steering wheels 400 are arranged at the front position of the housing assembly 100, and the cleaning assembly 600 is rotatably connected to the bottom of the housing assembly 100, and is located at the rear position of the housing assembly 100.

[0085] As Figure 2 shown, the driving wheels 500 of the present disclosure can be set to two, and these two driving wheels 500 are respectively located at approximately the middle position in the front - rear direction of the housing assembly 100 and on both sides in the left - right direction of the housing assembly 100; moreover, the steering wheel 400 is set to one, which can be a universal wheel. Correspondingly, the universal wheel is arranged at the middle position in the left - right direction of the surface cleaning device and near the front end of the surface cleaning device. Of course, the steering wheel 400 of the present disclosure can also be set to two or more.

[0086] During actual use, the driving wheels 500 can be driven to rotate. By controlling the driving wheels 500 to rotate at the same speed, the surface cleaning device can move forward. Correspondingly, by controlling the driving wheels 500 to rotate at different speeds, the steering of the surface cleaning device can be controlled.

[0087] In the present disclosure, a side brush assembly 200 is also arranged on the housing assembly 100. Among them, the side brush assembly 200 can be set to one or two; taking Figure 2In the illustrated implementation form, the side brush assembly 200 is provided as one, and the side brush assembly 200 is provided on the right side of the front end of the housing assembly 100; thus, by the rotation of the side brush assembly 200, the dirt on the surface to be cleaned can be disturbed, and the cleaning of the surface to be cleaned can be achieved. In the present disclosure, the side brush assembly 200 can also be referred to as the side brush assembly.

[0088] In addition, a cleaning assembly 300 is further provided on the housing assembly 100. The cleaning assembly 300 is disposed at the middle position in the front-back direction of the housing assembly 100, and its length direction is the width direction of the housing assembly 100. More specifically, the cleaning assembly 300 can be a rotary brush, and the rotary brush is rotatably connected to the housing assembly 100, and the rotation axis of the rotary brush is parallel to the surface to be cleaned, for example, parallel to the ground. In other embodiments of the present disclosure, the cleaning assembly 300 can be a structure well-known to those skilled in the art. Figure 2 The specific structure when the cleaning assembly is a rotary brush is shown. The rotation axis of the rotary brush is parallel to the surface to be cleaned. When the rotary brush rotates, the surface to be cleaned can be cleaned, which will not be described in detail here.

[0089] Thus, through the rotating rotary brush of the cleaning assembly 300, the dirt on the surface to be cleaned can be disturbed, and these dirt can be sucked to devices such as a dust box by means of negative pressure adsorption, and the separation of solid particles can be achieved in the devices such as the dust box, thereby realizing the cleaning operation of the surface to be cleaned.

[0090] In a preferred embodiment, a cleaning assembly 600 is further provided on the housing assembly 100; in the present disclosure, the cleaning assembly 600 is rotatably connected to the housing assembly 100 and is configured to clean the surface to be cleaned. The detailed structure of the cleaning assembly 600 will be described in detail below.

[0091] Since the cleaning assembly 300 is located in front of the cleaning assembly 600, the surface cleaning device of the present disclosure can clean (wet mop) the surface to be cleaned by using the cleaning assembly 600 after the cleaning assembly 300 has cleaned the surface to be cleaned.

[0092] Thus, when the surface cleaning device of the present disclosure is working, it can self-clean the cleaning assembly 600 of the surface cleaning device according to its working time; more preferably, the working time can be different according to the dirt degree of the ground. For example, when the dirt degree of the ground is relatively large, the working time can be set to be relatively short; correspondingly, when the dirt degree of the ground is relatively small, the working time can be set to be relatively long.

[0093] At the same time, when the surface cleaning device completes the cleaning operation for a predetermined time, it can automatically return and dock at the base station, and the base station can self-clean the cleaning assembly 600 of the surface cleaning device.

[0094] Figure 3 is a schematic structural view of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure. Figure 4 is a schematic structural view (retracted state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure. Figure 5 is a partial schematic structural view (retracted state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure. Figure 6 is a schematic view of the connection relationship of gears of a surface cleaning device according to an embodiment of the present disclosure. Figure 7 is a schematic structural view (expanded state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure. Figure 8 is a partial schematic structural view (expanded state) of a side brush assembly of a surface cleaning device according to an embodiment of the present disclosure.

[0095] As shown in FIGS. 3 to Figure 8 As shown, in the present disclosure, the side brush assembly 200 of the present disclosure may include components such as a base body 210, a brush arm 220, a cleaning brush 230, a power component 240, a rocker assembly 250, and a power motor 260.

[0096] As Figure 3 shown, the base body 210 can be arranged on the housing assembly 100. In a preferred embodiment, the base body 210 is formed separately from the housing assembly 100 and is fixed on the housing assembly 100. In another embodiment, the base body 210 can be integrally formed with the housing assembly 100, that is to say, at this time, the brush arm 220 can be directly installed on the housing assembly 100.

[0097] As Figure 6 and Figure 8 shown, the base body 210 of the present disclosure may include a stop portion 211, and the stop portion 211 is formed as an arm portion of the base body 210; when the rocker assembly 250 interacts with the base body 210, the rocker assembly 250 cooperates with the stop portion 211 of the base body 210 and contacts with pressure.

[0098] The brush arm 220 maintains a pivoting relationship with the base body 210 through a pivot shaft 270; in other words, the brush arm 220 of the present disclosure is rotatably connected to the base body 210, and the rotation axis of the brush arm 220 relative to the base body 210 is the center line of the pivot shaft 270. In a preferred embodiment, the center line of the pivot shaft 270 is arranged substantially vertically, whereby when the surface cleaning device of the present disclosure is in use, the center line of the pivot shaft 270 can be arranged substantially vertically and perpendicular to the substantially horizontal surface to be cleaned.

[0099] The cleaning brush 230 is used to remove debris on the surface to be cleaned. Specifically, the cleaning brush 230 is rotatably arranged on the brush arm 220. In particular, the rotation axis of the cleaning brush 230 relative to the brush arm 220 is substantially parallel to the center line of the pivot shaft 270. That is, when the surface cleaning device is cleaning the surface to be cleaned, the rotation axis of the cleaning brush 230 is arranged substantially perpendicular to the surface to be cleaned. Thus, the cleaning brush 230 has a relatively large cleaning area.

[0100] In the present disclosure, when the brush arm 220 rotates relative to the base body 210, it has a first position and a second position; at the first position, the brush arm 220 is close to the base body 210; at the second position, the brush arm 220 is away from the base body 210.

[0101] That is to say, in the present disclosure, the first position can also be referred to as the adducted position. At this time, the cleaning brush 230 is in the adducted state. Correspondingly, the brush arm 220 can be received inside the housing assembly 100; the second position can also be called the extended position. At this time, the cleaning brush 230 is in the extended state. Correspondingly, one end of the brush arm 220 away from the base body 210 can be located outside the housing assembly 100.

[0102] Thus, in the side brush assembly 200 of the present disclosure, by arranging the pivotable brush arm 220, the cleaning area and the cleanable area can be further increased. In particular, the cleaning of positions such as slits and corners can be achieved; and by controlling the rotation of the brush arm 220, the side brush assembly 200 of the present disclosure can be more reliably controlled.

[0103] Specifically, whether in the adducted state or the extended state, at least a part of the cleaning brush 230 can extend beyond the outer periphery of the surface cleaning device, and the rotation direction of the cleaning brush 230 is set to be able to face the cleaning component 300 on the lower side of the surface cleaning device to clean the particles outside the outer periphery of the surface cleaning device. Figure 2 In the example shown, when the surface cleaning device is cleaning the surface to be cleaned and observed in the direction from top to bottom, the cleaning brush 230 rotates counterclockwise.

[0104] For example, the cleaning brush 230 sweeps debris towards the area in front of the surface cleaning device, or sweeps the debris into the projected cleaning path of the surface cleaning device. During the obstacle following action, when the surface cleaning device travels along the periphery of the obstacle and the side of the surface cleaning device tracks the obstacle, the cleaning brush 230 sweeps the debris along the obstacle. The cleaning brush 230 is positioned close to the front side of the front end of the surface cleaning device, and at least a part of it extends beyond the side of the surface cleaning device so that the cleaning brush 230 can approach the particles located along the obstacle and at the corner defined by the obstacle.

[0105] The arrangement of the cleaning brush 230 relative to the sweeping assembly 300 and the cleaning assembly 600 of the surface cleaning device is Figure 2 shown (bottom view). The width of the sweeping assembly 300 and the rotational cleaning amplitude of the cleaning assembly 600 define the cleaning width of the surface cleaning device. During autonomous cleaning operation, the sweeping assembly 300 is rotated to guide particles under the surface cleaning device into the dust bin of the surface cleaning device, and the cleaning brush 230 is rotated to push the particles towards the sweeping assembly 300. The cleaning brush 230 enables the surface cleaning device to pick up particles outside the cleaning range of the sweeping assembly 300 of the surface cleaning device, and the cleaning brush 230 sweeps the particles into the above-mentioned projected cleaning path of the cleaning width of the surface cleaning device.

[0106] The cleaning brush 230 is rotatable to sweep the surface to be cleaned and advance the debris towards the sweeping assembly 300. The cleaning brush 230 rotates about its axis of rotation. In some embodiments, the cleaning brush 230 rotates about an axis that forms an angle less than 90 degrees with the surface to be cleaned.

[0107] The brush arm 220 of the present disclosure is disposed substantially horizontally. Thus, the brush arm 220 is not only used to support the rotation of the cleaning brush 230, but also used to drive the cleaning brush 230 to move in a given direction (for example, the brush arm 220 can drive the cleaning brush 230 to move in a substantially horizontal plane), so that the cleaning brush 230 can move between the retracted position and the extended position. Correspondingly, when the cleaning brush 230 is in the extended position, the debris removal range of the cleaning brush 230 can be increased.

[0108] In one embodiment, the brush arm 220 of the present disclosure may include a base portion 221 and a cover portion 222; correspondingly, a receiving space is formed between the base portion 221 and the cover portion 222, and a plurality of gears are disposed in the receiving space; that is to say, the brush arm 220 of the present disclosure can be integrally formed as a gearbox.

[0109] In the present disclosure, as Figure 4 shown, the cover portion 222 is provided with a protruding portion 223, and a motor fixing seat is formed through the protruding portion 223, and a power motor 260 is installed in the motor fixing seat; in a preferred embodiment, the axis of rotation of the output shaft of the power motor 260 is disposed substantially vertically.

[0110] The upper end of the protruding portion 223 extends outward to form a boss portion 224, and the upper end of the pivot shaft 270 is fixed to the boss portion 224. For example, a mounting hole is formed in the boss portion 224, and the pivot shaft 270 is inserted into the mounting hole, and the pivot shaft 270 is in interference fit with the inner wall of the mounting hole, so that the pivot shaft 270 and the boss portion 224 can be fixed together. Of course, the pivot shaft 270 of the present disclosure can also be fixed to the boss portion 224 by means of gluing or the like.

[0111] The lower end of the pivot shaft 270 can be fixed to the cover part 222. For example, an installation hole is formed in the cover part 222, and the pivot shaft 270 is inserted into the installation hole, and the pivot shaft 270 is in interference fit with the inner wall of the installation hole, so that the pivot shaft 270 and the cover part 222 can be fixed together. Of course, the pivot shaft 270 of the present disclosure can also be fixed to the cover part 222 by means of gluing or the like.

[0112] Of course, both ends of the pivot shaft 270 of the present disclosure can also be rotatably arranged in these two installation holes.

[0113] At least part of the base body 210 is rotatably arranged on the pivot shaft 270 and is located between the boss part 224 and the cover part 222. Thus, the brush arm 220 can stably pivot relative to the base body 210.

[0114] In the present disclosure, the power component 240 connects the base body 210 and the brush arm 220 and is used to provide a pivoting force between the base body 210 and the brush arm 220. In a preferred embodiment, the power component 240 is an elastic component. Specifically, the elastic component can be a torsion spring. The elastic component connects the base body 210 and the brush arm 220 and is used to provide an elastic pivoting force between the base body 210 and the brush arm 220.

[0115] Correspondingly, the pivoting force provided by the power component 240 can enable the brush arm 220 to have a tendency to move relative to the base body 210 towards the second position. At this time, one end of the elastic component is connected or abutted to the base body 210, and the other end is connected or abutted to the brush arm 220.

[0116] That is to say, when the brush arm 220 is in a free state, the pivoting force provided by the power component 240 can enable the brush arm 220 to move from the first position to the second position.

[0117] In a preferred embodiment, the side brush assembly (or the surface cleaning device) of the present disclosure may further include a sensor for detecting the relative position of the brush arm 220 and the base body 210. In one embodiment, the sensor can be a rotary encoder, so that the relative position of the brush arm 220 and the base body 210 can be obtained through the rotary encoder. In another embodiment, the sensor can be a travel switch. For example, a plurality of travel switches are provided, and when the brush arm 220 is in different positions, different travel switches can be triggered, so that the position of the brush arm 220 can be obtained through the position of the triggered travel switch.

[0118] The rocker assembly 250 of the present disclosure is arranged on the brush arm 220, wherein the rocker assembly 250 is controlled so that the rocker assembly 250 can periodically release or overcome the pivoting force to change the relative position of the brush arm 220 and the base body 210.

[0119] In other words, the rocker assembly 250 of the present disclosure can periodically release or overcome the pivoting force according to the driving force signal to change the relative position between the brush arm 220 and the base body 210. Wherein, the driving force signal is the output shaft steering signal of the power motor 260.

[0120] In the present disclosure, the power motor 260 is used to drive the cleaning brush 230 to rotate; wherein, the power motor 260 is also used to provide a driving force for the rocker assembly 250 so that the rocker assembly 250 can periodically release or overcome the pivoting force.

[0121] Specifically, as Figure 6 shown, when viewed in the direction from top to bottom, when the power motor 260 rotates in the first direction (for example, rotates clockwise), the power motor 260 is used to drive the cleaning brush 230 to rotate and does not provide a driving force for the rocker assembly 250. At this time, the power motor 260 drives the driving gear 201 to rotate, and the driving gear 201 drives the first coaxial gear 202; wherein, the large gear of the first coaxial gear 202 meshes with and drives the driving gear 201, and moreover, the number of teeth of the first coaxial gear 202 is greater than that of the driving gear 201, so that a speed reduction transmission is formed between the driving gear 201 and the first coaxial gear 202. Wherein, the first coaxial gear will rotate counterclockwise.

[0122] The small gear of the first coaxial gear 202 drives the idler gear 203 to rotate; moreover, the idler gear 203 is used to drive the second coaxial gear 204 to rotate; wherein, the gear shaft of the second coaxial gear 204 is rotatably arranged on the brush arm 220 and is fixedly connected to the cleaning brush 230. Thus, when the second coaxial gear 204 rotates, the cleaning brush 230 can rotate at the same speed as the second coaxial gear 204; correspondingly, the cleaning brush 230 can also rotate counterclockwise and perform the cleaning operation on the cleaning surface.

[0123] In addition, when the power motor 260 rotates in the second direction, the power motor 260 is used to provide a driving force for the rocker assembly 250.

[0124] Specifically, referring again to Figure 6 , when the power motor 260 rotates in the second direction (the second direction is the opposite direction of the first direction, that is, the counterclockwise direction); at this time, the second coaxial gear 204 will rotate clockwise; correspondingly, the large gear of the second coaxial gear 204 meshes with the idler gear; the small gear of the second coaxial gear 204 will drive the driven gear 205 to rotate. At this time, the driven gear 205 will have the same rotation direction as the power motor 260.

[0125] The driven gear 205 is connected to the rotating shaft portion 207 through a one-way bearing 206 (overrunning clutch); specifically, the rotating shaft portion 207 of the present disclosure can be rotatably arranged on the brush arm 220, and the one-way bearing 206 is arranged such that when the driven gear 205 rotates counterclockwise, it drives the rotating shaft portion 207 to rotate; when the driven gear 205 rotates clockwise, it does not drive the rotating shaft portion 207 to rotate.

[0126] Of course, those skilled in the art should be aware that when there are gears with different numbers of stages between the power motor 260 and the driven gear 205, the power motor 260 and the driven gear 205 may also have different rotation directions. At this time, the configuration of the one-way bearing 206 can separate and combine different rotation directions according to actual needs.

[0127] With the above structure, the side brush assembly 200 of the present disclosure can drive and extend the cleaning brush 230 outward by different rotation directions of the same power motor 260, and keep the cleaning brush 230 capable of rotating to clean the ground.

[0128] Referring again to Figure 5 , the brush arm 220 has a first stroke and a second stroke opposite to the first stroke. In the first stroke, the rocker assembly 250 periodically releases a pivoting force to move the brush arm 220 from the first position to the second position; at the same time, in the second stroke, the rocker assembly 250 periodically overcomes the pivoting force to move the brush arm 220 from the second position to the first position.

[0129] Specifically, in the direction of looking down on the side brush assembly 200, the first stroke is the counterclockwise rotation process of the brush arm 220 around the pivot shaft 270; conversely, the second stroke is the clockwise rotation process of the brush arm 220 around the pivot shaft 270.

[0130] The structure of the rocker assembly 250 will be described in detail below.

[0131] Figure 9 is a schematic structural diagram of an eccentric wheel according to an embodiment of the present disclosure.

[0132] As Figure 5 and Figure 8 shown, the rocker assembly 250 of the present disclosure includes an eccentric wheel 251 and a rocker member 252; wherein the eccentric wheel 251 can be fixed on the rotating shaft portion 207 and rotate together with the rotating shaft portion 207; in another embodiment, when the rotating shaft portion 207 is fixed to the brush arm 220, the inner ring of the one-way bearing 206 is arranged to be able to rotate relative to the rotating shaft portion 207. At this time, the eccentric wheel 251 is fixed to the inner ring of the one-way bearing 206 and can rotate relative to the rotating shaft portion 207.

[0133] That is to say, in the present disclosure, it is only necessary to keep the inner ring of the one-way bearing 206 fixed to the eccentric wheel 251 and capable of rotating together. Correspondingly, the outer ring of the one-way bearing 206 is fixedly connected to the driven gear 205.

[0134] Correspondingly, the eccentric wheel 251 of the present disclosure is driven by the power motor 260 to be capable of rotating; the rocker member 252 is located between the eccentric wheel 251 and the base 210, and under the action of the eccentric wheel 251, the rocker member 252 provides an interaction with the base 210, and the interaction includes abutting against the base 210 or periodically releasing the abutment against the base 210.

[0135] That is to say, the eccentric wheel 251 of the present disclosure has a rotation axis and a geometric center, and the rotation axis does not coincide with the geometric center. Moreover, the outer peripheral surface of the eccentric wheel 251 of the present disclosure has a first part and a second part; wherein, the first part of the outer peripheral surface is the surface with a smaller distance from the rotation axis; the second part of the outer peripheral surface is the surface with a larger distance from the rotation axis; as Figure 9 shown, a limiting plane 251A is formed on the second part of the outer peripheral surface of the present disclosure, and the limiting plane 251A is perpendicular to the plane where the rotation axis and the geometric center are located.

[0136] Figure 10 is a schematic structural view of the rocker member according to an embodiment of the present disclosure.

[0137] As Figure 10 shown, the rocker member 252 of the present disclosure includes a first arm 252A and a second arm 252B. The first arm 252A and the second arm 252B are respectively located on both sides of the fulcrum 252C. The first arm 252A is used to interact with the eccentric wheel 251, and the second arm 252B is used to interact with the base 210.

[0138] Specifically, taking Figure 5 the adducted state shown as the initial state, the power motor 260 maintains a clockwise rotation state to drive the cleaning brush 230 to rotate counterclockwise to pick up particles on the surface to be cleaned. If the surface cleaning device detects an obstacle adjacent to the side of the surface cleaning device, the power motor 260 switches the output direction. At this time, the power motor 260 will rotate clockwise, and the eccentric wheel 251 will be caused to rotate clockwise. The distance between the rotation axis of the eccentric wheel 251 and the first arm 252A of the rocker member 252 will gradually decrease. Correspondingly, the rocker member 252 will be allowed to rotate counterclockwise; at this time, under the action of the pivoting force, the brush arm 220 will rotate counterclockwise around the pivot shaft 270, and the stopper 211 of the base 210 will deflect the rocker member 252 to rotate counterclockwise, and the first arm 252A of the rocker member 252 will be in pressure contact with the outer periphery of the eccentric wheel 251.

[0139] That is to say, due to the rotation of the eccentric wheel 251, the distance between the rotation axis of the eccentric wheel 251 and the first arm 252A is reduced to release the contact of the second arm 252B against the base body, so as to release the pivoting force. Accordingly, the brush arm 220 is in the first stroke and gradually expands outwards.

[0140] Wherein, the state of the brush arm 220 located at the second position is as Figure 7 and Figure 8 shown.

[0141] In Figure 7 and Figure 8 the state shown, the power motor 260 switches the rotation direction, that is, the power motor 260 rotates in the clockwise direction to drive the cleaning brush 230 to rotate counterclockwise to pick up particles on the surface to be cleaned near the obstacle.

[0142] When the surface cleaning device detects that the obstacle has moved away from the side of the surface cleaning device, the power motor 260 switches the output direction. At this time, the power motor 260 will rotate counterclockwise, causing the eccentric wheel 251 to rotate counterclockwise. The distance between the rotation axis of the eccentric wheel 251 and the first arm 252A of the rocker member 252 will gradually increase. Accordingly, the rocker member 252 will rotate clockwise under the drive of the eccentric wheel 251. At this time, the second arm 252B of the rocker member 252 will be in pressure contact with the stopper 211 of the base body 210, causing the brush arm 220 to rotate clockwise around the pivot shaft 270. Thus, the driving force provided by the rocker member 252 will overcome the pivoting force. Accordingly, the brush arm 220 will be in the second stroke and move from the second position to the first position.

[0143] On the other hand, in Figure 5 the state of, when the power motor 260 rotates clockwise and makes the brush arm 220 in the Figure 8 state shown, if the power motor 260 does not switch the rotation direction but continues to rotate clockwise, then the brush arm 220 will move from the second position to the first position. Therefore, after the sensor detects that the brush arm 220 is located at the second position, the controller will control the power motor 260 to reverse, so that the eccentric wheel 251 stops rotating and the position of the rocker member 252 is fixed, and the cleaning brush 230 is in the cleaning state.

[0144] Referring again to Figure 9, in the present disclosure, the rocker member 252 forms an avoidance portion 252D for avoiding the eccentric wheel 251. During the first stroke and the second stroke, the avoidance portion 252D provides a rotational avoidance space for the eccentric wheel 251. More specifically, the avoidance portion 252D is disposed close to the fulcrum 252C and is formed between the first arm 252A and the second arm 252B. Moreover, the avoidance portion 252D has an inner diameter that is not less than the outer diameter of the eccentric wheel 251.

[0145] That is to say, due to the arrangement of the avoidance portion 252D, the eccentric wheel 251 will not touch the second arm 252B during rotation. Accordingly, the rocker assembly 250 of the present disclosure is more easily controllable.

[0146] In a preferred embodiment, the first arm 252A includes a straight portion that is tangent to the avoidance portion 252D, so that the contact point between the eccentric wheel 251 and the first arm 252A smoothly transitions from the straight portion to the avoidance portion 252D.

[0147] In the present disclosure, when the brush arm 220 is in the first position, the limiting plane 251A of the eccentric wheel 251 can be in surface contact with the straight portion surface of the first arm 252A. Thus, the eccentric wheel 251 can stably hold the brush arm 220 in the first position.

[0148] Thus, during the first stroke, no or a relatively small contact force is generated between the straight portion and the eccentric wheel 251, and during the second stroke, a contact force or a relatively large contact force is generated between the straight portion and the eccentric wheel 251.

[0149] On the other hand, the second arm 252B includes a curved portion that is tangent to the avoidance portion 252D, so that the contact point between the eccentric wheel 251 and the second arm 252B smoothly transitions from the curved portion to the avoidance portion 252D.

[0150] Thus, the side brush assembly 200 of the present disclosure can realize the sweeping drive and the outward-expansion and inward-retraction drive of the cleaning brush 230 through the same power motor 260; moreover, the side brush assembly 200 can be detachably mounted as a unit to the housing assembly 100 of the surface cleaning device; the brush arm 220 and the base body 210 can be mounted as a whole to the housing assembly 100 or detached from the housing assembly 100, which makes the maintenance of the side brush assembly 200 easier to perform. In addition, the brush arm 220 can move relative to the housing assembly 100 of the surface cleaning device, so that the brush arm 220 can move in response to contact with an obstacle along the ground surface (on which the surface cleaning device moves) or in response to a change in the ground type. If the cleaning brush 230 is arranged on the brush arm 220, the contact between the cleaning brush 230 and an obstacle on the ground surface can also cause the brush arm 220 to move. This can effectively increase the cleaning area.

[0151] During the obstacle-following behavior, the surface cleaning device travels near the perimeter of the obstacle such that the side is positioned adjacent to the perimeter. By being positioned close to the side, the cleaning brush 230 is positioned to be able to contact debris along the perimeter of the obstacle during the obstacle-following behavior. For example, on the obstacle side, the brush arm 220 changes position so that the cleaning brush 230 can approach the tracking target or the wall.

[0152] As Figure 1 and Figure 2 described, two cleaning assemblies 600 of the present disclosure can be provided, and these two cleaning assemblies 600 are respectively provided on the left and right sides of the rear end of the housing assembly 100. In one embodiment, when these two cleaning assemblies 600 rotate, they can contact the surface to be cleaned with pressure, so as to be able to perform wet mopping on the surface to be cleaned, thereby realizing wet cleaning of the surface to be cleaned. Correspondingly, during the cleaning process of the surface to be cleaned, in the left-right direction, since there is no gap or the gap is small between the cleaning assemblies 600, there will also be no area where cleaning is missed.

[0153] Figure 11 is a schematic structural view of the stirring member 610 according to an embodiment of the present disclosure. Figure 12 is a schematic structural view of the stirring member 610 from another angle according to an embodiment of the present disclosure. Figure 13 is a schematic cross-sectional structural view of the stirring member 610 according to an embodiment of the present disclosure. Figure 14 is a schematic structural view of the stirring member 610 according to another embodiment of the present disclosure.

[0154] The cleaning assembly 600 of the present disclosure can include a stirring member 610. That is to say, the rotation axis of the stirring member 610 of the present disclosure is in the vertical direction. At this time, the surface to be cleaned is in a substantially horizontal state. In other words, the rotation axis of the stirring member 610 of the present disclosure is perpendicular to or substantially perpendicular to the surface to be cleaned, so that when the stirring member 610 is driven to rotate, the surface to be cleaned can be wet-mopped by the friction between the rotating stirring member 610 and the surface to be cleaned.

[0155] In the present disclosure, the stirring member 610 is arranged to be movable relative to the housing assembly 100 between an initial position and an extended position; Figure 2 In the shown autonomous mobile surface cleaning robot, its stirring member 610 is located at the initial position. When the cleaning assembly 600 is controlled and moves outward from the housing assembly 100, the stirring member 610 can be in the extended position.

[0156] As Figures 11 to 14As shown, the stirring member 610 includes a cleaning disk 611 and a cleaning pad 612 that are concentrically arranged. The outer circumference of the cleaning disk 611 has an elastic deformation portion 613, and the outer diameter of the cleaning pad 612 is greater than the outer diameter of the cleaning disk 611.

[0157] Thus, when the autonomous mobile surface cleaning robot of the present disclosure performs edge cleaning, even if the stirring member 610 touches an obstacle such as furniture, due to the existence of the elastic deformation portion 613, there is no risk of damaging the furniture; correspondingly, the force applied to the cleaning pad 612 will be buffered and then applied to components such as the cleaning disk 611 and the drive shaft. Correspondingly, it will not cause damage to components such as the cleaning disk 611 or the drive shaft.

[0158] In a specific embodiment, the cleaning pad 612 is disposed below the cleaning disk 611. In other words, when the stirring member 610 of the present disclosure interferes with the surface to be cleaned, the cleaning pad 612 will be in frictional contact with the surface to be cleaned and clean the surface to be cleaned.

[0159] In one embodiment, as Figure 14 shown, the elastic deformation portion 613 of the present disclosure is fixed on the cleaning disk 611. At this time, the elastic deformation portion 613 can be formed as an annular rubber member, and the annular rubber member can be fixed on the outer circumference of the cleaning disk 611, for example, by gluing or other means. The cleaning pad 612 can be fixed to the elastic deformation portion 613. Thus, when the cleaning assembly 600 hits an obstacle such as furniture, the impact force can be reduced through the elastic deformation portion 613, reducing the risk of damaging the furniture during the impact process.

[0160] Moreover, as Figure 15 shown, an annular groove is formed on the inner circumferential surface of the elastic deformation portion 613 of the present disclosure, and the outer edge of the cleaning disk 611 can be located in the annular groove, so that the position between the elastic deformation portion 613 and the cleaning disk 611 can be fixed.

[0161] In another embodiment, as Figures 1 to 3 shown, the elastic deformation portion 613 is provided by the cleaning pad 612.

[0162] Specifically, the cleaning pad 612 includes an annular enclosure 612A for sleeving the cleaning pad 612 as a whole on the cleaning disk 611. Among them, the annular enclosure 612A includes an elastic material; when the cleaning pad 612 is sleeved on the cleaning disk 611 as a whole, the elastic material at least forms the elastic deformation portion 613.

[0163] That is to say, at this time, the cleaning pad 612 may include a flannel cloth that is integrally disc-shaped, and the outer diameter of the flannel cloth is larger than the outer diameter of the annular enclosure 612A. Thus, the annular enclosure 612A does not directly contact the surface to be cleaned or the obstacle. And when the flannel cloth contacts the obstacle, the obstacle exerts a force on the flannel cloth, and this force can cause the annular enclosure 612A to deform and play a buffering role.

[0164] In a preferred embodiment, the cleaning pad 612 includes an upper surface, and the cleaning disk 611 includes a lower surface. The upper surface and the lower surface are fixed together in the vertical direction by means of pasting or snap connection.

[0165] In particular, due to the setting of the annular enclosure 612A, when the exposed area of the cleaning pad 612 relative to the cleaning disk 611 is the same, it is less likely to be scratched and fall off during operation, and the risk of functional failure is lower. Moreover, when the user installs the cleaning pad 612, there is no situation of inaccurate installation.

[0166] The self-mobile surface cleaning robot of the present disclosure further includes a drive shaft (not shown in the figure) connected to the cleaning disk 611. The drive shaft is used to drive the cleaning disk 611 to rotate around an axis in the vertical direction. That is to say, the drive shaft of the present disclosure can be arranged substantially vertically.

[0167] In the description of this specification, the description with reference to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0168] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0169] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present disclosure, rather than limiting the scope of the present disclosure. For those skilled in the art, other changes or modifications can be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. An autonomous mobile surface cleaning robot, which is configured to be able to move on a surface to be cleaned to clean the surface to be cleaned; characterized in that, Comprising: A housing assembly and a stirring member, the stirring member being disposed in the housing assembly and being configured to be rotatable about an axis in the vertical direction of the stirring member in a first rotational direction; And the stirring member is configured to be movable relative to the housing assembly between an initial position and an extended position; Wherein, the stirring member includes: a cleaning disk and a cleaning pad arranged concentrically, an outer circumference of the cleaning disk has an elastically deformable portion, and an outer diameter of the cleaning pad is larger than an outer diameter of the cleaning disk.

2. The autonomous mobile surface cleaning robot according to claim 1, characterized in that, The cleaning pad is disposed below the cleaning disk.

3. The autonomous mobile surface cleaning robot according to claim 1, characterized in that, The elastically deformable portion is fixed to the cleaning disk.

4. The autonomous mobile surface cleaning robot according to claim 1, wherein, The elastically deformable portion is provided by the cleaning pad.

5. The autonomous mobile surface cleaning robot according to claim 1, characterized in that, The cleaning pad includes an annular enclosure for integrally sleeving the cleaning pad on the cleaning disk.

6. The autonomous mobile surface cleaning robot according to claim 5, characterized in that The annular enclosure includes an elastic material; when the cleaning pad is integrally sleeved on the cleaning disk, the elastic material at least forms the elastically deformable portion.

7. The autonomous mobile surface cleaning robot according to claim 5, characterized in that, The cleaning pad includes a flannelette integrally in a disk shape, and an outer diameter of the flannelette is larger than an outer diameter of the annular enclosure.

8. The autonomous mobile surface cleaning robot according to claim 1, characterized in that, It further includes a drive shaft connected to the cleaning disk, the drive shaft being used to drive the cleaning disk to rotate about an axis in the vertical direction.

9. The autonomous mobile surface cleaning robot according to claim 1, wherein The cleaning pad includes an upper surface, the cleaning disk includes a lower surface, and the upper surface and the lower surface are fixed together in the vertical direction by means of adhesion or clamping.

10. A stirring member for an autonomous mobile surface cleaning robot, characterized in that, The stirring member includes a cleaning disk and a cleaning pad arranged concentrically, an outer circumference of the cleaning disk has an elastically deformable portion, and an outer diameter of the cleaning pad is larger than an outer diameter of the cleaning disk.

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