Cleaning robot

Abstract

The cleaning robot comprises a robot body and an edge cleaning unit which is movably arranged on the robot body and has an extending state and a returning state, the edge cleaning unit is provided with an anti-collision structure, the robot body is provided with a driving mechanism and a positioning support used for installing the edge cleaning unit, and the edge cleaning unit is rotationally connected with the positioning support. The positioning bracket is at least provided with a first switch electrically connected with the driving mechanism; when the anti-collision structure collides with an obstacle, the edge cleaning unit rotates by a preset angle so as to trigger the first switch, and the driving mechanism drives the positioning support to transversely retract and / or vertically lift so as to drive the edge cleaning unit to be switched from the extending state to the returning state. According to the cleaning robot, the active driving mechanism and the passive driving mechanism are arranged, so that the edge cleaning assembly can adaptively act according to the actual cleaning condition, the moving smoothness and safety of the cleaning robot can be improved, the moving blockage of the cleaning robot is avoided, and the cleaning robot can adapt to a more complex cleaning environment.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning appliances, and specifically relates to a cleaning robot. Background Art

[0002] Existing cleaning robots generally include a main cleaning part and an edge cleaning part located on the side of the cleaning robot. When the main cleaning part sweeps and mops the area to be cleaned, the edge cleaning part can sweep and mop the edge and corner areas adjacent to the area to be cleaned, so as to clean blind spots such as edges and corners that the main cleaning part cannot reach.

[0003] The greatest resistance that the edge cleaning parts encounter as the cleaning robot moves forward comes from collisions with obstacles in the travel path. When the edge cleaning parts touch an obstacle, the movement of the cleaning robot will be obstructed. If the edge cleaning parts cannot avoid the obstacle, the edge cleaning parts will be directly squeezed and collided with the obstacle, which will affect the service life of the edge cleaning parts in the long run. Patent CN115316889B discloses an automatic cleaning device, which includes a mobile platform that automatically moves on an operating surface and a wet supplementary cleaning module arranged on one side of the mobile platform. The wet supplementary cleaning module is configured to supplement at least a portion of the cleaning operating surface using a wet cleaning method, and the wet supplementary cleaning module can switch between a first position and a second position. The wet supplementary cleaning module is used to perform wet supplementary cleaning when in the first position, and does not perform supplementary cleaning operations when in the second position. The wet supplementary cleaning module includes an anti-collision component, which moves from the wet supplementary cleaning body toward the direction of the mobile platform. When the mobile platform collides with an obstacle during the forward movement, the obstacle pushes the anti-collision component to cause the wet supplementary cleaning module to move toward the second position, so that the wet supplementary cleaning module is recovered at least a portion toward the mobile platform, thereby ensuring the passability of the cleaning device. After the cleaning device passes the obstacle, the wet supplementary cleaning module returns to the first position to perform the wet cleaning operation. However, in actual application, the operating environment of the cleaning robot is complex, and the sizes of various obstacles and their positions relative to the anti-collision components on the travel path are different. If the movement range between the first position and the second position exceeds the range that allows the wet replenishment cleaning module to avoid obstacles, the adaptive adjustment of the wet replenishment cleaning module still cannot meet the obstacle avoidance requirements, thereby hindering the movement of the cleaning robot. Utility Model Content

[0004] The present application provides a cleaning robot to solve the technical problem that the existing cleaning robots with edge cleaning parts have poor obstacle avoidance capabilities, which leads to obstruction of the cleaning robot's movement and serious damage to the edge cleaning parts.

[0005] The technical solutions adopted in this application are:

[0006] A cleaning robot comprises a body and an edge cleaning unit movably arranged on the body to have an extended state and a returned state, the edge cleaning unit being provided with an anti-collision structure on at least one side facing the moving direction of the cleaning robot and / or at least one side facing away from the moving direction of the cleaning robot, the body being provided with a driving mechanism and a positioning bracket for installing the edge cleaning unit, the edge cleaning unit being rotatably connected to the positioning bracket, the positioning bracket being provided with at least a first switch electrically connected to the driving mechanism; when the anti-collision structure collides with an obstacle, the edge cleaning unit rotates by a preset angle to trigger the first switch, and the driving mechanism drives the positioning bracket to retract laterally and / or lift vertically to drive the edge cleaning unit to switch from the extended state to the returned state.

[0007] The cleaning robot in this application also includes the following additional technical features:

[0008] The machine body is provided with a movable bracket which can move relative to the machine body, and the positioning bracket is slidably arranged on the movable bracket so as to have a tendency to move horizontally and / or vertically relative to the movable bracket.

[0009] A transverse elastic telescopic member is provided between the positioning bracket and the movable bracket, and the transverse elastic telescopic member is used to drive the positioning bracket to move laterally to abut the first surface to be cleaned; and / or, a vertical elastic telescopic member is provided between the positioning bracket and the movable bracket, and the vertical elastic telescopic member is used to drive the positioning bracket to move vertically to abut the second surface to be cleaned.

[0010] The body is provided with a second switch and a third switch electrically connected to the driving mechanism respectively, the second switch is provided at the end of the lateral movement stroke of the positioning bracket, and the third switch is provided at the end of the vertical movement stroke of the positioning bracket; when the positioning bracket triggers the second switch or the third switch, the driving mechanism drives the movable bracket to move horizontally and / or vertically along the body to drive the positioning bracket to retract horizontally and / or lift vertically.

[0011] The driving mechanism includes a motor, a gear linked to the output shaft of the motor, and a rack meshing with the gear for transmission. The rack is provided on the movable bracket. The rack includes a transverse extension section, a vertical extension section and a transition section connecting the transverse extension section and the vertical extension section. The motor drives the movable bracket to move transversely and / or vertically through the gear and the rack.

[0012] In the extended state, the gear is engaged with the transverse extension section, and when colliding with an obstacle, the transverse movement of the movable bracket precedes the vertical movement.

[0013] The cleaning robot further comprises a guide structure, wherein the guide structure comprises a guide slot provided on one of the body and the movable bracket, and a guide column provided on the other of the body and the movable bracket.

[0014] The machine body is provided with a fourth switch and / or a fifth switch, the fourth switch is used to detect the lateral movement stroke of the positioning bracket, and the fifth switch is used to detect the vertical movement stroke of the positioning bracket.

[0015] A longitudinal elastic telescopic member is provided between the edge cleaning unit and the positioning bracket. The longitudinal elastic telescopic member can abut against the edge cleaning unit to drive the edge cleaning unit to rotate in a vertical direction to release the abutment against the first switch.

[0016] The anti-collision structure is arranged on a side facing toward or away from the moving direction of the cleaning robot. Two first switches are provided. The two first switches are located on the same side of the edge cleaning unit and are located on both sides of the rotation axis of the edge cleaning unit perpendicular to the moving direction of the cleaning robot.

[0017] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0018] 1. In the process of moving, the existing cleaning robot's edge cleaning components rely on the push of obstacles to drive the passive movement of the edge cleaning components, which makes the cleaning robot unable to adapt to more complex cleaning environments. The present application sets an active driving mechanism to enable the edge cleaning components to take active actions according to the actual cleaning conditions. This not only prevents the edge cleaning components from being damaged in the process of moving with the cleaning robot, forming a good protective effect for the edge cleaning components, but also improves the smoothness of the cleaning robot's movement, avoids its movement being obstructed, and enables the cleaning robot to adapt to more complex cleaning environments.

[0019] Specifically, a first switch is provided on the positioning bracket for installing the edge cleaning unit, and the edge cleaning unit can rotate relative to the positioning bracket. When the anti-collision structure provided on the edge cleaning unit collides with an obstacle, the edge cleaning unit can rotate to a preset angle to trigger the first switch, and the driving mechanism is started to drive the positioning bracket to retract laterally and / or lift vertically, thereby driving the edge cleaning unit to switch from an extended state to a returned state to avoid obstacles, so that the cleaning robot can move smoothly.

[0020] The automatic triggering mechanism in this application can provide the cleaning robot with automatic adjustment capabilities in addition to the adaptive adjustment capabilities of the edge cleaning components, realize intelligent control of the cleaning robot, enable the cleaning robot to quickly respond to obstacles and avoid obstacles, reduce the time it stops when encountering obstacles during the cleaning process, and improve the overall cleaning efficiency.

[0021] Furthermore, the edge cleaning unit's rotation relative to the positioning bracket to trigger the first switch is well adapted to the cleaning robot's travel path, increasing the robot's flexibility when encountering obstacles and enabling it to more effectively avoid them. Furthermore, the edge cleaning unit's ability to rotate relative to the positioning bracket provides it with a degree of freedom perpendicular to its direction of travel, allowing it to deflect when encountering obstacles, thus avoiding the drawbacks of a head-on collision. This increases the edge cleaning unit's flexibility when encountering obstacles, thereby enhancing the protection provided to the edge cleaning unit.

[0022] 2. As a preferred embodiment of the present application, the machine body is provided with a movable bracket, and the positioning bracket is slidably arranged on the movable bracket so as to have a tendency to move laterally and / or vertically relative to the movable bracket. By adding a movable bracket, the positioning bracket moves relative to the movable bracket to achieve adaptability to a clean environment. Compared with the technical solution of using a driving mechanism to directly drive the positioning bracket to move, the degree of freedom of the positioning bracket can be further increased, and its environmental adaptability can be further improved.

[0023] Furthermore, a transverse elastic telescopic member and / or a vertical elastic telescopic member is provided between the positioning bracket and the movable bracket: on the one hand, the provision of the transverse elastic telescopic member and / or the vertical elastic telescopic member enables the edge cleaning component to move laterally and / or vertically under the push of obstacles, thereby improving its adaptive adjustment performance, so that the cleaning robot can better adapt to the cleaning environment, especially when the edge cleaning unit encounters a side obstacle on one side or a bottom obstacle below it during the movement of the cleaning robot, the edge cleaning unit can move laterally and retract laterally under the push of the side obstacle or be lifted vertically under the action of the bottom obstacle, thereby more effectively avoiding obstacles and reducing damage caused by collisions, and improving the obstacle crossing performance of the cleaning robot, reducing the time it stops when encountering obstacles during the cleaning process, and improving the overall cleaning efficiency. In addition, for cleaning areas with relatively narrow widths, the positioning bracket can move laterally relative to the movable bracket, so that the cleaning robot can partially recover the edge cleaning unit in a relatively narrow area, so that the edge cleaning unit can both clean close to the edge and adapt to width changes in the travel path, thereby achieving flexible position adjustment, avoiding cleaning dead corners, and improving the environmental adaptability of the cleaning robot; on the other hand, the positioning bracket is driven to move relative to the movable bracket by the transverse elastic telescopic member and / or the vertical elastic telescopic member, thereby realizing a floating arrangement of the edge cleaning unit, so that the edge cleaning unit can abut the first surface to be cleaned and / or the second surface to be cleaned, thereby achieving a close fit between the edge cleaning unit and the surface to be cleaned, and improving the cleaning effect of the edge cleaning unit on the surface to be cleaned.

[0024] 3. As a preferred embodiment of the present application, the body is provided with a movable bracket, and the positioning bracket is slidably arranged on the movable bracket so as to have a tendency to move laterally and / or vertically relative to the movable bracket. The body is provided with a second switch and a third switch respectively electrically connected to the driving mechanism, the second switch is arranged at the end of the lateral movement stroke of the positioning bracket, and the third switch is arranged at the end of the vertical movement stroke of the positioning bracket; when the positioning bracket triggers the second switch or the third switch, the driving mechanism drives the movable bracket to move laterally and / or vertically along the body to drive the positioning bracket to retract laterally and / or lift vertically, further improving the lateral and / or vertical movement stroke of the edge cleaning unit, so that the edge cleaning unit can adjust its own state according to environmental changes, so that it can adapt to more complex cleaning environments, and expand the application range of the cleaning robot.

[0025] 4. As a preferred embodiment of the present application, the drive mechanism includes a motor, a gear, and a rack provided on a movable bracket. The rack includes a horizontal extension section and a vertical extension section. The motor drives the movable bracket to move horizontally and / or vertically through the meshing of the gear and the rack. The special structural design of the rack in this embodiment makes the entire transmission coordination structure of the gear and rack compact and occupies less space, which helps to reduce the installation space and movement space required for the entire drive mechanism, thereby facilitating the miniaturization of the cleaning robot and improving the cleaning robot's ability to work in narrow spaces. In addition, the coordination of the motor and the gear rack can ensure that the movement of the movable bracket is more precise and stable, thereby improving the control of the motion stability and position accuracy of the edge cleaning unit, enabling it to better adapt to the cleaning environment and maintain a stable cleaning effect.

[0026] 5. As a preferred embodiment of the present application, the body is provided with a fourth switch and / or a fifth switch, the fourth switch is used to detect the lateral movement stroke of the positioning bracket, and the fifth switch is used to detect the vertical movement stroke of the positioning bracket. Through the fourth switch and / or the fifth switch, the movement stroke of the positioning bracket can be accurately detected, and combined with the start and stop control of the driving mechanism, the movement range of the positioning bracket can be accurately controlled, thereby controlling the movement stroke of the edge cleaning unit to prevent it from exceeding the preset stroke range, thereby avoiding the edge cleaning unit from colliding with obstacles in the external environment or other components in the cleaning robot, which not only realizes the protection of the edge cleaning unit, but also improves the cleaning efficiency and accuracy.

[0027] 6. As a preferred embodiment of the present application, a longitudinal elastic telescopic member is provided between the edge cleaning unit and the positioning bracket, which can drive the edge cleaning unit to rotate in a vertical direction to release the interference with the first switch, so that when the edge cleaning unit touches an obstacle and rotates in a vertical direction under the push of the obstacle to trigger the first switch to start the driving mechanism of the positioning bracket, the edge cleaning unit can avoid the obstacle smoothly, and after avoiding the obstacle, the edge cleaning unit can be smoothly reset under the action of the longitudinal elastic telescopic member to avoid pressing the first switch for a long time, which can not only provide good protection for the first switch, but also enable the edge cleaning unit to rotate smoothly again under the push of the obstacle to trigger the first switch when encountering an obstacle next time, thereby ensuring the feasibility of triggering the first switch and ensuring the stability and reliability of the cleaning robot's obstacle avoidance ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 This is an exploded view of the driving mechanism, movable bracket, fixed bracket, edge cleaning unit, etc. in one embodiment of the present application;

[0030] Figure 2 This is an exploded view of the driving mechanism, movable bracket, fixed bracket, etc. in one embodiment of the present application;

[0031] Figure 3 This is a rear view of the assembled driving mechanism, movable bracket, fixed bracket, etc. in one embodiment of the present application;

[0032] Figure 4 This is a side view of the assembled driving mechanism, movable bracket, fixed bracket, etc. in one embodiment of the present application;

[0033] Figure 5 for Figure 4 AA section view;

[0034] Figure 6 This is an exploded view of the lower edge cleaning unit according to one embodiment of the present application.

[0035] in,

[0036] 1. Edge cleaning unit; 110. Mounting frame; 111. Rotating shaft; 112. First motor; 120. Edge cleaning element; 121. Edge mop; 122. Driving wheel; 123. Driven wheel;

[0037] 2. Positioning bracket; 21. Rotating shaft seat; 22. Slider;

[0038] 3. Movable bracket; 31. Rack; 311. Horizontal extension section; 312. Vertical extension section; 313. Transition section; 32. Guide chute; 33. Slide rail;

[0039] 4. Fixed bracket; 41. Guide column;

[0040] 5. Second motor;

[0041] 6. Gear;

[0042] 7. Lateral elastic expansion member;

[0043] 8. Vertical elastic expansion member;

[0044] 9. Longitudinal elastic expansion member;

[0045] 10. First switch;

[0046] 11. Fourth switch;

[0047] 12. The fifth switch. DETAILED DESCRIPTION

[0048] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0049] The following description sets forth many specific details to facilitate a thorough understanding of the present application. However, the present application may also be implemented in other ways than those described herein, and therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below. It should be noted that the embodiments of the present application and the features of each embodiment may be combined with each other unless there is a conflict.

[0050] In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present application.

[0051] In this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0052] In this application, unless otherwise expressly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0053] Cleaning robots, such as sweeping and mopping robots, generally have sensors on the side of the cleaning robot body to sense such obstacles in order to avoid scratches against objects in their path, such as walls and furniture, during movement. During the cleaning operation, there is a margin between the cleaning robot body and such obstacles to ensure the passability of the cleaning robot. However, the existence of this margin leads to cleaning dead corners in some areas near the obstacles. To avoid this phenomenon, existing cleaning robots have edge cleaning parts on the side of the body. The edge cleaning parts can be movably arranged on the body so as to have a state of extending out of the body. In this extended state, the edge cleaning parts can clean such margin areas and objects such as walls, thereby improving the coverage of the cleaning area by the cleaning robot.

[0054] Example 1:

[0055] like Figure 1As shown, a cleaning robot includes a body and an edge cleaning unit 1 movably arranged on the body to have an extended state and a returned state. The edge cleaning unit 1 is provided with an anti-collision structure on at least one side facing the moving direction of the cleaning robot. The body is provided with a driving mechanism and a positioning bracket 2 for mounting the edge cleaning unit 1. The edge cleaning unit 1 is rotatably connected to the positioning bracket 2. The positioning bracket 2 is provided with at least a first switch 10 electrically connected to the driving mechanism. When the anti-collision structure collides with an obstacle, the edge cleaning unit 1 rotates a preset angle to trigger the first switch 10, and the driving mechanism drives the positioning bracket 2 to retract laterally and / or lift vertically to drive the edge cleaning unit 1 to switch from the extended state to the returned state.

[0056] The extended state in this embodiment 1 refers to the edge cleaning unit 1 extending along the side and / or bottom of the machine body so that the edge cleaning unit 1 can adhere to the first surface to be cleaned and / or the second surface to be cleaned to perform the cleaning operation, and when the cleaning robot moves back to the base station, the edge cleaning unit 1 extends along the side and / or bottom of the machine body to abut against the cleaning structure in the base station to perform the self-cleaning operation.

[0057] The return state refers to that at least part of the edge cleaning unit 1 is laterally retracted into the interior of the machine body to avoid obstacles during the travel process or returns to its original position in the standby state to reduce the occupation of the storage space.

[0058] The anti-collision structure is arranged on the side of the edge cleaning unit 1 facing the moving direction of the cleaning robot, so that when the cleaning robot moves, the anti-collision structure can touch an obstacle, and push the edge cleaning unit 1 to rotate under the action of the obstacle to trigger the first switch 10.

[0059] like Figure 6 As shown, the edge cleaning unit 1 includes an edge cleaning member 120 and a mounting frame 110 for mounting the edge cleaning member 120. The mounting frame 110 is provided with a first motor 112 and a transmission structure for driving the edge cleaning member 120 to rotate. The transmission structure can be, for example, a synchronous belt transmission mechanism. The edge cleaning member 120 includes an edge bracket and an edge mop 121 rotatably arranged on the edge bracket. The edge bracket is provided with a driving wheel 122 linked to the synchronous belt rotation mechanism and two driven wheels 123 arranged in a triangle with the driving wheel 122. The edge mop 121 is wound around the outside of the driving wheel 122 and the two driven wheels 123, so that the edge cleaning member 120 has a triangular shape as a whole.

[0060] However, this embodiment is not limited to this. In other examples, a driving wheel 122 linked to the synchronous belt rotation mechanism and a driven wheel 123 arranged in a straight line with the driving wheel 122 can be provided on the edge bracket, and the edge mop 121 is wound around the outside of the driving wheel 122 and the driven wheel 123 so that the edge cleaning member 120 is in a straight line as a whole.

[0061] As a preferred example under this embodiment 1, the anti-collision structure is an anti-collision plate provided on the mounting frame 110 and protruding toward the direction of movement of the cleaning robot. Furthermore, the anti-collision plate extends laterally to occupy more than half of the lateral length of the mounting frame 110, so as to increase the anti-collision coverage area of the anti-collision plate during the movement of the cleaning robot and improve the timeliness of the anti-collision structure's response to obstacles.

[0062] The existing cleaning robots rely on obstacles to push the edge cleaning components to move passively during movement, which makes the cleaning robots unable to adapt to more complex cleaning environments. This embodiment sets an active driving mechanism to enable the edge cleaning components to take active actions according to the actual cleaning conditions. This not only prevents the edge cleaning components from being damaged during the movement of the cleaning robot, forming a good protective effect for the edge cleaning components, but also improves the smoothness of the cleaning robot's movement, avoids its movement being obstructed, and enables the cleaning robot to adapt to more complex cleaning environments.

[0063] Specifically, a first switch 10 is provided on the positioning bracket 2 for installing the edge cleaning unit 1. The edge cleaning unit 1 can rotate relative to the positioning bracket 2. When the anti-collision structure provided on the edge cleaning unit 1 hits an obstacle, the edge cleaning unit 1 rotates to a preset angle to trigger the first switch 10, and the driving mechanism is started to drive the positioning bracket 2 to retract laterally and / or lift vertically, thereby driving the edge cleaning unit 1 to switch from an extended state to a returned state to avoid obstacles, and the cleaning robot can move smoothly.

[0064] The automatic triggering mechanism in this application can provide the cleaning robot with automatic adjustment capabilities in addition to the adaptive adjustment capabilities of the edge cleaning components, realize intelligent control of the cleaning robot, enable the cleaning robot to quickly respond to obstacles and avoid obstacles, reduce the time it stops when encountering obstacles during the cleaning process, and improve the overall cleaning efficiency.

[0065] Furthermore, the rotation of the edge cleaning unit 1 relative to the positioning bracket 2 to trigger the first switch 10 can be well adapted to the travel path of the cleaning robot, increasing the cleaning robot's flexibility when encountering obstacles and enabling it to more effectively avoid them. Furthermore, the ability of the edge cleaning unit 1 to rotate relative to the positioning bracket 2 provides it with a degree of freedom perpendicular to its direction of travel, allowing it to deflect when encountering an obstacle, thereby avoiding the disadvantages of a head-on collision. This increases the flexibility of the edge cleaning unit 1 when encountering obstacles, thereby enhancing the protective effect of the edge cleaning unit 1.

[0066] The first switch 10 may be, for example, a micro switch or a proximity switch. Of course, other types of switches may also be used.

[0067] In a specific example, Figure 1 As shown, the mounting frame 110 is provided with an upwardly extending rotating shaft 111, and the positioning bracket 2 is provided with a rotating shaft seat 21 adapted to the rotating shaft 111. The rotating shaft 111 is rotatably mounted on the rotating shaft seat 21, so that the edge cleaning unit 1 can rotate in a vertical direction relative to the positioning bracket 2 to trigger the first switch 10. The first switch 10 is electrically connected to the control unit of the cleaning robot. When the control unit receives a signal that the first switch 10 is triggered, the control unit controls the drive mechanism to operate to drive the positioning bracket 2 to retract laterally and / or lift vertically, thereby driving the edge cleaning unit 1 provided on the positioning bracket 2 to switch from an extended state to a laterally retracted state as a whole.

[0068] In this embodiment 1, the driving mechanism can drive the positioning bracket 2 in any of the following ways:

[0069] Embodiment 1: The driving mechanism directly drives the positioning bracket 2 to retract laterally and / or lift vertically, so as to drive the edge cleaning unit 1 provided on the positioning bracket 2 to switch from the extended state to the laterally retracted state.

[0070] Implementation method 2: Figure 4 As shown, the machine body is provided with a movable bracket 3 that is movable relative to the machine body, and the positioning bracket 2 is slidably mounted on the movable bracket 3 so as to have a tendency to move laterally and / or vertically relative to the movable bracket 3. By adding the movable bracket 3, the positioning bracket 2 moves relative to the movable bracket 3 to achieve adaptability to the clean environment. Compared with the technical solution of using a drive mechanism to directly drive the movement of the positioning bracket 2, the degree of freedom of the positioning bracket 2 can be further increased, further improving its environmental adaptability.

[0071] As a preference, Figure 2 As shown, one of the movable bracket 3 and the positioning bracket 2 is provided with a slide rail 33, and the other is provided with a slider 22 adapted to the slide rail 33. The cooperation between the slide rail 33 and the slider 22 enables the positioning bracket 2 to slide stably relative to the movable bracket 3.

[0072] As a preferred example of the second embodiment, Figure 5 As shown, a transverse elastic member 7 is provided between the positioning bracket 2 and the movable bracket 3. The transverse elastic member 7 is used to drive the positioning bracket 2 to move laterally to abut against the first surface to be cleaned. The first surface to be cleaned can be, for example, a skirting board on a wall, a side wall of furniture, etc. that can contact the side of the edge cleaning member 120.

[0073] As another preferred example of the second embodiment, Figure 3As shown, a vertical elastic member 8 is provided between the positioning bracket 2 and the movable bracket 3. The vertical elastic member 8 is used to drive the positioning bracket 2 to move vertically to abut against the second surface to be cleaned. The second surface to be cleaned can be, for example, a surface structure such as the ground that can contact the bottom surface of the edge cleaning member 120.

[0074] As another preferred example under the second embodiment, Figure 2 As shown, a transverse elastic expansion member 7 and a vertical elastic expansion member 8 are provided between the positioning bracket 2 and the movable bracket 3. The transverse elastic expansion member 7 and the vertical elastic expansion member 8 can be elastic members such as springs.

[0075] The provision of the transverse elastic telescopic member 7 and / or the vertical elastic telescopic member 8 enables the edge cleaning assembly to move laterally and / or vertically under the push of an obstacle, thereby improving its adaptive adjustment performance and enabling the cleaning robot to better adapt to the cleaning environment. In particular, when the edge cleaning unit 1 encounters a side obstacle located on one side of it or a bottom obstacle located below it during the movement of the cleaning robot, the edge cleaning unit 1 can move laterally and retract laterally under the push of the side obstacle or be lifted vertically under the action of the bottom obstacle, thereby more effectively avoiding obstacles and reducing damage caused by collisions, and improving the obstacle-crossing performance of the cleaning robot, reducing the time it stops when encountering obstacles during the cleaning process, and improving the overall cleaning efficiency. In addition, for cleaning areas with relatively narrow widths, the positioning bracket 2 can move laterally relative to the movable bracket 3, so that the cleaning robot can partially retract the edge cleaning unit 1 in a relatively narrow area, thereby enabling the edge cleaning unit 1 to clean close to the edge and adapt to width changes in the travel path, achieving flexible position adjustment, avoiding cleaning dead corners, and improving the environmental adaptability of the cleaning robot.

[0076] By driving the positioning bracket 2 to move relative to the movable bracket 3 through the transverse elastic telescopic member 7 and / or the vertical elastic telescopic member 8, a floating arrangement of the edge cleaning unit 1 is realized, so that the edge cleaning unit 1 can abut the first surface to be cleaned and / or the second surface to be cleaned, thereby achieving a close fit between the edge cleaning unit 1 and the surface to be cleaned, and improving the cleaning effect of the edge cleaning unit 1 on the surface to be cleaned.

[0077] In both the first and second embodiments, a second switch and a third switch electrically connected to the drive mechanism can be further provided on the body, the second switch being provided at the end of the lateral movement stroke of the positioning bracket 2, and the third switch being provided at the end of the vertical movement stroke of the positioning bracket 2; when the positioning bracket 2 triggers the second switch or the third switch, the drive mechanism drives the movable bracket 3 to move laterally and / or vertically along the body, thereby causing the positioning bracket 2 to retract laterally and / or elevate vertically. When the positioning bracket 2 reaches its preset adaptive adjustment stroke, the positioning bracket 2 triggers the second switch or the third switch. When the control unit receives a signal that the second switch or the third switch is triggered, the control unit controls the drive mechanism to actuate, and the drive mechanism drives the movable bracket 3 to actively move laterally and / or vertically along the body, thereby causing the positioning bracket 2 to actively retract laterally and / or elevate vertically, further improving the lateral and / or vertical movement stroke of the edge cleaning unit 1, enabling the edge cleaning unit 1 to adjust its state according to environmental changes, enabling it to adapt to more complex cleaning environments, and expanding the application range of the cleaning robot.

[0078] As another preferred example under the second embodiment, Figure 5 As shown, the driving mechanism includes a second motor 5, a gear 6 linked to the output shaft of the second motor 5, and a rack 31 meshing with the gear 6 for transmission. The rack 31 is provided on the movable bracket 3. The rack 31 includes a lateral extension section 311, a vertical extension section 312, and a transition section 313 connecting the lateral extension section 311 and the vertical extension section 312. The second motor 5 drives the movable bracket 3 to move laterally and / or vertically through the gear 6 and the rack 31. More specifically, the body is further provided with a fixed bracket 4, the second motor 5 is mounted on the fixed bracket 4, and the movable bracket 3 is slidably assembled on the fixed bracket 4 so as to slide along the fixed bracket 4 under the drive of the second motor 5. The special structural design of the rack 31 in this embodiment makes the entire transmission matching structure of the gear 6 and the rack 31 compact and occupies less space, which helps to reduce the installation space and movement space required for the entire driving mechanism, thereby contributing to the miniaturization of the cleaning robot and improving the cleaning robot's ability to work in narrow spaces. Moreover, the cooperation between the motor and the gear 6 rack 31 can ensure that the movement of the movable bracket 3 is more precise and stable, thereby improving the control of the motion stability and position accuracy of the edge cleaning unit 1, so that it can better adapt to the cleaning environment and maintain a stable cleaning effect.

[0079] As a preference, Figure 5 As shown, the transition section 313 is configured as an arc-shaped toothed structure that is adapted to the outer contour of the gear 6 and can engage with the gear 6, so as to achieve a smooth transition of the gear 6 between the horizontal extension section 311 and the vertical extension section 312, avoiding the occurrence of a jamming phenomenon.

[0080] Preferably, if Figure 5As shown, in the extended state, the gear 6 is engaged with the lateral extension section 311. When colliding with an obstacle, the lateral movement of the movable bracket 3 precedes the vertical movement, so that the edge cleaning unit 1 can first retract horizontally and then perform vertical lifting movement. Moreover, the edge cleaning unit 1 can still contact the second surface to be cleaned when retracting horizontally to achieve sweeping and mopping of the second surface to be cleaned, thereby ensuring the sweeping and mopping coverage rate.

[0081] Of course, the driving mechanism in this embodiment 1 is not limited to the above-mentioned transmission form of the motor and the gear 6 rack 31. Other mechanical transmission methods can also be used as long as they can drive the positioning bracket 2 to retract horizontally and / or lift vertically.

[0082] As a preferred example under the second embodiment, Figure 5 As shown, the cleaning robot also includes a guide structure comprising a guide slot 32 provided on the movable support 3 and a guide post 41 provided on the body. One end of the guide post 41 extends into the guide slot 32, allowing the movable support 3 to move along a fixed trajectory relative to the body, ensuring stable and reliable movement. Furthermore, the guide slot 32 is L-shaped, providing guidance for both lateral and vertical movement of the movable support 3.

[0083] Of course, the guide structure may further include a guide slot 32 provided on the body and a guide post 41 provided on the movable bracket 3 .

[0084] As a preferred implementation method under this embodiment, Figure 3 As shown, the machine body is provided with a fourth switch 11 and / or a fifth switch 12. The fourth switch 11 is used to detect the lateral movement stroke of the positioning bracket 2, and the fifth switch 12 is used to detect the vertical movement stroke of the positioning bracket 2. The fourth switch 11 and / or the fifth switch 12 can accurately detect the movement stroke of the positioning bracket 2. Combined with the start and stop control of the drive mechanism, the movement range of the positioning bracket 2 can be accurately controlled, thereby controlling the movement stroke of the edge cleaning unit 1 to prevent it from exceeding the preset travel range, thereby avoiding collisions between the edge cleaning unit 1 and obstacles in the external environment or other components of the cleaning robot. This not only protects the edge cleaning unit 1, but also improves cleaning efficiency and accuracy.

[0085] The fourth switch 11 and the fifth switch 12 may be, for example, proximity switches, micro switches, or travel switches.

[0086] As a preferred implementation method under this embodiment, Figure 4As shown, a longitudinal elastic member 9 is provided between the edge cleaning unit 1 and the positioning bracket 2. The longitudinal elastic member 9 can abut against the edge cleaning unit 1 to drive the edge cleaning unit 1 to rotate in a vertical direction to release the interference with the first switch 10. The longitudinal elastic member 9 can be, for example, a spring. By providing the longitudinal elastic member 9, when the edge cleaning unit 1 touches an obstacle and rotates in a vertical direction under the push of the obstacle to trigger the first switch 10 to start the driving mechanism to drive the positioning bracket 2, the edge cleaning unit 1 can smoothly avoid the obstacle. After avoiding the obstacle, the edge cleaning unit 1 can smoothly reset under the action of the longitudinal elastic member 9 to avoid prolonged pressing of the first switch 10. This can not only provide a good protective effect for the first switch 10, but also ensure that the edge cleaning unit 1 can smoothly rotate again under the push of the obstacle to trigger the first switch 10 when encountering an obstacle next time, thereby ensuring the feasibility of triggering the first switch 10 and ensuring the stability and reliability of the cleaning robot's obstacle avoidance capability.

[0087] As a preferred implementation method under this embodiment, Figure 5 As shown, two first switches 10 are provided. These two first switches 10 are located on the same side of the edge cleaning unit 1 and are positioned perpendicular to the direction of movement of the cleaning robot, on either side of the rotation axis of the edge cleaning unit 1. This configuration allows the positioning bracket 2 to rotate in different directions when an obstacle strikes different positions of the anti-collision structure during movement of the cleaning robot, thereby triggering one of the two first switches 10 and improving the timeliness of the response.

[0088] by Figure 1For example, the anti-collision structure is provided on the side of the mounting frame 110 facing the moving direction of the cleaning robot: during the forward movement of the cleaning robot, if the position of the obstacle is further to the left relative to the rotation axis, the obstacle will touch the left side of the anti-collision structure during the movement, so as to drive the edge cleaning unit 1 to rotate counterclockwise around the rotation axis 111, thereby touching the first switch 10 located on the right side of the rotation axis of the edge cleaning unit 1; during the forward movement of the cleaning robot, if the position of the obstacle is further to the right relative to the rotation axis, the obstacle will touch the right side of the anti-collision structure during the movement, so as to drive the edge cleaning unit 1 to rotate clockwise around the rotation axis 111, thereby Touch the first switch 10 located on the left side of the rotation axis of the edge cleaning unit 1; during the forward movement of the cleaning robot, if the position of the obstacle is more centered relative to the rotation axis, but due to the shape of the obstacle, the posture adjustment of the body after encountering the obstacle, etc., the overall force of the obstacle on the edge cleaning unit 1 will not be completely symmetrical, so that the edge cleaning unit 1 can deflect in the direction of greater force to rotate around the rotation axis 111, and can always touch one of the two first switches 10, so as to finally achieve active adjustment through the driving mechanism, thereby greatly improving the intelligence level of the cleaning robot in this application, and improving the obstacle avoidance ability and cleaning effect.

[0089] Example 2:

[0090] The structure and principle of this embodiment 2 are basically the same as those of embodiment 1, except that:

[0091] In this embodiment 2, the anti-collision structure is provided on at least one side facing away from the moving direction of the cleaning robot, so as to realize active adjustment of the state of the edge cleaning unit 1 during the backward stroke of the cleaning robot.

[0092] Example 3:

[0093] The structure and principle of this embodiment 3 are basically the same as those of embodiment 1, except that:

[0094] The edge cleaning unit 1 is provided with anti-collision structures on at least one side facing the moving direction of the cleaning robot and at least one side facing away from the moving direction of the cleaning robot, so as to realize active adjustment of the state of the edge cleaning unit 1 during the forward and backward strokes of the cleaning robot.

[0095] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0096] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0097] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A cleaning robot comprising a body and an edge cleaning unit movably mounted on the body to have an extended state and a returned state, wherein the edge cleaning unit is provided with an anti-collision structure on at least one side facing the moving direction of the cleaning robot and / or at least one side facing away from the moving direction of the cleaning robot, characterized in that: The machine body is provided with a driving mechanism and a positioning bracket for installing the edge cleaning unit. The edge cleaning unit is rotatably connected to the positioning bracket. The positioning bracket is provided with at least one first switch electrically connected to the driving mechanism. When the anti-collision structure collides with an obstacle, the edge cleaning unit rotates by a preset angle to trigger the first switch. The driving mechanism drives the positioning bracket to retract laterally and / or lift vertically to drive the edge cleaning unit to switch from the extended state to the returned state.

2. A cleaning robot according to claim 1, characterized in that: The machine body is provided with a movable bracket which can move relative to the machine body, and the positioning bracket is slidably arranged on the movable bracket so as to have a tendency to move horizontally and / or vertically relative to the movable bracket.

3. A cleaning robot according to claim 2, characterized in that: A transverse elastic telescopic member is provided between the positioning bracket and the movable bracket, and the transverse elastic telescopic member is used to drive the positioning bracket to move transversely to abut against the first surface to be cleaned; and / or, A vertical elastic telescopic member is provided between the positioning bracket and the movable bracket, and the vertical elastic telescopic member is used to drive the positioning bracket to move vertically so as to abut against the second surface to be cleaned.

4. A cleaning robot according to claim 2, characterized in that: The machine body is provided with a second switch and a third switch respectively electrically connected to the driving mechanism, the second switch is provided at the end of the horizontal movement stroke of the positioning bracket, and the third switch is provided at the end of the vertical movement stroke of the positioning bracket; When the positioning bracket triggers the second switch or the third switch, the driving mechanism drives the movable bracket to move laterally and / or vertically along the machine body, so as to drive the positioning bracket to retract laterally and / or lift vertically.

5. The cleaning robot according to claim 2, characterized in that: The driving mechanism includes a motor, a gear linked to the output shaft of the motor, and a rack meshing with the gear for transmission. The rack is provided on the movable bracket. The rack includes a transverse extension section, a vertical extension section and a transition section connecting the transverse extension section and the vertical extension section. The motor drives the movable bracket to move transversely and / or vertically through the gear and the rack.

6. The cleaning robot according to claim 5, characterized in that: In the extended state, the gear is engaged with the transverse extension section, and when colliding with an obstacle, the transverse movement of the movable bracket precedes the vertical movement.

7. The cleaning robot according to claim 2, characterized in that: The cleaning robot further comprises a guide structure, wherein the guide structure comprises a guide slot provided on one of the body and the movable bracket, and a guide column provided on the other of the body and the movable bracket.

8. The cleaning robot according to claim 1, characterized in that: The machine body is provided with a fourth switch and / or a fifth switch, the fourth switch is used to detect the lateral movement stroke of the positioning bracket, and the fifth switch is used to detect the vertical movement stroke of the positioning bracket.

9. The cleaning robot according to claim 1, characterized in that: A longitudinal elastic telescopic member is provided between the edge cleaning unit and the positioning bracket. The longitudinal elastic telescopic member can abut against the edge cleaning unit to drive the edge cleaning unit to rotate in a vertical direction to release the abutment against the first switch.

10. The cleaning robot according to claim 1, characterized in that: The anti-collision structure is arranged on a side facing toward or away from the moving direction of the cleaning robot. Two first switches are provided. The two first switches are located on the same side of the edge cleaning unit and are located on both sides of the rotation axis of the edge cleaning unit perpendicular to the moving direction of the cleaning robot.

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