Cleaning robot

Abstract

The utility model relates to a cleaning robot which comprises a machine body, a movable cleaner and a transmission mechanism, a driving device and a swing arm are arranged on the machine body, and the swing arm is rotationally arranged on the machine body through a swing shaft; the movable cleaner is arranged on the swinging arm and is configured to move between a first position and a second position relative to the machine body under the action of the swinging arm; the transmission mechanism comprises a driving wheel shaft, a first transmission assembly arranged on the swing arm and a second transmission assembly arranged on the machine body, and the driving wheel shaft is constructed to be controlled by the driving device to drive the movable cleaner to rotate through the first transmission assembly; the driving wheel shaft is in transmission connection with the second transmission assembly through the one-way transmission assembly and is constructed to be controlled by the driving device to only rotate in the first direction, and the second transmission assembly drives the swing arm to do reciprocating motion between the first position and the second position.

Description

Technical Field

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

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

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

[0004] However, in order to drive the cleaning parts to swing outward, these existing cleaning robots need to be equipped with a special drive mechanism and a transmission mechanism for driving the cleaning parts to swing outward, which not only takes up a large space and volume, but also has a relatively high material cost, hindering the miniaturization of the cleaning robots. Summary of the Invention

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

[0006] A machine body, wherein a driving device and a swing arm are provided on the machine body, and the swing arm is rotatably provided on the machine body via a swing shaft;

[0007] a movable cleaner, the movable cleaner being disposed on the swing arm and being configured to move between a first position and a second position relative to the machine body under the action of the swing arm;

[0008] A transmission mechanism, the transmission mechanism comprising a driving wheel shaft, a first transmission assembly provided on the swing arm, and a second transmission assembly provided on the body, the driving wheel shaft being configured to be controlled by a driving device to drive the movable cleaner to rotate via the first transmission assembly;

[0009] The driving wheel shaft is connected to the second transmission assembly through a one-way transmission assembly, and is constructed so that when the driving device is controlled to rotate only in the first direction, the swing arm is driven to reciprocate between the first position and the second position through the second transmission assembly.

[0010] In one embodiment of the present disclosure, the second transmission assembly includes a first rotating member, a second rotating member fixed on a swing shaft, and a transmission rod eccentrically connected to the first rotating member and the second rotating member, and the first rotating member is constructed to drive the second rotating member to rotate back and forth through the transmission rod when rotating.

[0011] In one embodiment of the present disclosure, the transmission rod is constructed to be fitted on the machine body along a straight line guide; a cam groove in a closed ring is provided on the end face of the first rotating member, one end of the transmission rod is constructed to be fitted in the cam groove, and the other end is constructed to engage with the second rotating member; the first rotating member is constructed to drive the transmission rod to reciprocate in a straight line direction during rotation, so as to drive the second rotating member to rotate reciprocatingly.

[0012] In one embodiment of the present disclosure, the cam slot has a first extreme position and a second extreme position;

[0013] Wherein, the cam groove is configured to rotate with the first rotating member until the transmission rod moves to cooperate with the first extreme position, and the transmission rod is configured to drive the movable cleaner to move to the first position through the second rotating member;

[0014] The cam groove is configured to rotate with the first rotating member until the transmission rod moves to cooperate with the second extreme position, and the transmission rod is configured to drive the movable cleaner to move to the second position through the second rotating member.

[0015] In one embodiment of the present disclosure, the cam groove is constructed as a closed-loop arc triangle; the first limit position is one of the corners of the arc triangle, and the second limit position is the arc side of the arc triangle opposite to the corner.

[0016] In one embodiment of the present disclosure, the transmission rod includes a first transmission portion and a second transmission portion respectively guided along a straight line and fitted on the body; the first transmission portion is configured to fit with the cam groove, and the second transmission portion is configured to engage with the second rotating member;

[0017] The transmission rod also includes an elastic connection portion connecting the first transmission portion and the second transmission portion; the first transmission portion is configured to drive the second transmission portion to move via the elastic connection portion.

[0018] In one embodiment of the present disclosure, two elastic connection parts are provided, and the two elastic connection parts are configured to bend in opposite directions.

[0019] In one embodiment of the present disclosure, a driving gear is provided on the driving wheel shaft, the one-way transmission assembly includes a guide gear, and the driving gear and the guide gear are configured as helical gears;

[0020] The driving gear is configured to drive the guide gear to move axially to engage with the second transmission assembly during rotation in a first direction, and to drive the guide gear to move axially to disengage from the second transmission assembly during rotation in a second direction.

[0021] In one embodiment of the present disclosure, the second transmission assembly includes a meshing gear, and a meshing portion and a matching portion are provided between the facing end surfaces of the guide gear and the meshing gear;

[0022] The driving gear is configured to drive the guide gear to move to connect the meshing portion with the matching portion during rotation in the first direction, and is configured to drive the guide gear to move to disengage the meshing portion with the matching portion during rotation in the second direction.

[0023] In one embodiment of the present disclosure, the two opposite sides of the meshing portion are respectively designated as a guide side and a meshing side; the meshing portion is configured to drive the meshing gear to rotate through the meshing side; the guide side is configured to gradually tilt toward the meshing side in the direction from the guide gear to the meshing gear to form a guide surface; the mating portion is configured to have an inclined surface adapted to the guide side.

[0024] In one embodiment of the present disclosure, when the movable cleaner is in the first position, at least part of its edge is constructed to be located within the edge projection area of ​​the body; when the movable cleaner is in the second position, at least part of its edge is constructed to be located outside the maximum edge of the body.

[0025] In one embodiment of the present disclosure, a control unit is further included, wherein the control unit is configured to control the driving device to rotate in the second direction when the swing arm is located at the first position or the second position, so as to drive the movable cleaner to rotate;

[0026] The control unit is configured to control the driving device to rotate in a first direction for a predetermined time period or a predetermined angle, so that the swing arm moves from the first position to the second position, or from the second position to the first position.

[0027] In one embodiment of the present disclosure, the cleaning robot includes a first sensor and a second sensor; the first sensor is configured to be triggered when the movable cleaner is located in the first position, and the second sensor is configured to be triggered when the movable cleaner is located in the second position;

[0028] When the swing arm moves to the first position, the control unit is configured to control the driving device to rotate along the first direction until the first sensor is triggered, and then control the driving device to stop or reverse; when the swing arm moves to the second position, the control unit is configured to control the driving device to rotate along the first direction until the second sensor is triggered, and then control the driving device to stop or reverse.

[0029] During the operation of the cleaning robot disclosed herein, the driving device can drive the active wheel shaft to rotate. When the active wheel shaft rotates, it can drive the movable cleaner to rotate through the first transmission assembly. When the movable cleaner rotates relative to the working surface, it can clean the working surface.

[0030] When the swing arm is required to drive the movable cleaner to switch between the first position and the second position, the driving wheel shaft is connected to the second transmission assembly via the one-way transmission assembly. In this way, when the driving wheel shaft is controlled by the driving device to rotate only in the first direction, the swing arm can be driven to reciprocate between the first position and the second position through the second transmission assembly, thereby enabling the movable cleaner to switch between the first position and the second position. After the position switching of the movable cleaner is completed, the driving wheel shaft can be controlled to rotate in the second direction. The driving wheel shaft will no longer drive the swing arm to move through the second transmission assembly, but will only drive the movable cleaner to rotate and clean the work surface through the first transmission assembly.

[0031] Therefore, the cleaning robot disclosed in the present invention can simultaneously drive the movable cleaner to rotate and drive the movable cleaner to move between the first position and the second position relative to the body through only one driving device, thereby realizing the outward and inward swinging of the movable cleaner to expand the cleaning range of the movable cleaner, effectively meet the cleaning requirements of the edge position of the working surface, and can also perform active avoidance.

[0032] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupation of the driving device on the internal space of the cleaning robot, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0033] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0035] Figure 1is a structural schematic diagram of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in a first position;

[0036] Figure 2 is a structural schematic diagram of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the second position;

[0037] Figure 3 is a schematic diagram of the swing-related structure of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the first position;

[0038] Figure 4 is another schematic diagram of the swing-related structure of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the first position;

[0039] Figure 5 1 is a schematic diagram of the structure of the swinging part of the cleaning robot provided by the embodiment of the present disclosure when the movable cleaning device is in the first position;

[0040] Figure 6 1 is a schematic diagram of the structure of the swinging part of the cleaning robot provided by the embodiment of the present disclosure when the movable cleaning device is in the first position;

[0041] Figure 7 is a perspective schematic diagram of a housing of a cleaning robot provided by an embodiment of the present disclosure;

[0042] Figure 8 1 is a schematic diagram of the structure of the swinging part of the cleaning robot provided by the embodiment of the present disclosure when the movable cleaning device is in the first position;

[0043] Figure 9 1 is a schematic diagram of the structure of the swinging part of the cleaning robot provided by the embodiment of the present disclosure when the movable cleaning device is in the first position;

[0044] Figure 10 It is a schematic diagram of the relevant structure of the swinging part of the cleaning robot provided by an embodiment of the present disclosure when the movable cleaning device is in the first position.

[0045] Figures 1 to 10 The corresponding relationship between the component names and reference numerals is as follows:

[0046] 10. Machine body; 11. Drive device; 12. Housing; 13. Cover; 20. Swing arm; 21. Swing shaft; 30. Movable cleaner; 31. Side brush; 32. Cloth tray; 40. Driving wheel shaft; 41. Driving gear; 50. First transmission assembly; 60. Second transmission assembly; 61. First rotating member; 611. Cam groove; 62. Second rotating member; 63. Transmission rod; 631. First transmission portion; 632. Second transmission portion; 633. Elastic connecting portion; 70. One-way transmission assembly; 71. Guide gear; 711. Meshing portion; 7111. Meshing side; 7112. Guide side; 72. Meshing gear; 721. Mating portion. 90. Wall. DETAILED DESCRIPTION

[0047] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present disclosure. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0048] The following description sets forth numerous specific details to facilitate a thorough understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art may make similar generalizations without violating the scope of the present disclosure. Therefore, the present disclosure is not limited to the specific implementations disclosed below. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but, where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

[0049] The terms used in one or more embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present disclosure. The singular forms "a", "the", and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0050] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determination". In this article, "upper", "lower", "front", "back", "left", "right", etc. are only used to indicate the relative positional relationship between the relevant parts, rather than to limit the absolute position of these relevant parts. In this article, "equal", "same", etc. are not strict mathematical and / or geometric limitations, but also include errors that can be understood by those skilled in the art and are allowed by manufacturing or use. Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges contained therein.

[0051] The present disclosure provides a cleaning robot capable of cleaning a work surface; the cleaning robot comprises a body, a movable cleaner and a transmission mechanism, wherein a driving device and a swing arm are provided on the body, and the swing arm is rotatably provided on the body through a swing shaft; the movable cleaner is provided on the swing arm, and is configured to be able to move between a first position and a second position relative to the body under the action of the swing arm; the transmission mechanism comprises a driving wheel shaft, a first transmission assembly provided on the swing arm, and a second transmission assembly provided on the body, the driving wheel shaft is constructed to be controlled by the driving device to drive the movable cleaner to rotate through the first transmission assembly; wherein the driving wheel shaft is connected to the second transmission assembly through a one-way transmission assembly, and is constructed to be controlled by the driving device to drive the swing arm to reciprocate between the first position and the second position through the second transmission assembly only when the driving device rotates in the first direction.

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

[0053] When the swing arm is required to drive the movable cleaner to switch between the first position and the second position, the driving wheel shaft is connected to the second transmission assembly via the one-way transmission assembly. In this way, when the driving wheel shaft is controlled by the driving device to rotate only in the first direction, the swing arm can be driven to reciprocate between the first position and the second position through the second transmission assembly, thereby enabling the movable cleaner to switch between the first position and the second position. After the position switching of the movable cleaner is completed, the driving wheel shaft can be controlled to rotate in the second direction. The driving wheel shaft will no longer drive the swing arm to move through the second transmission assembly, but will only drive the movable cleaner to rotate and clean the work surface through the first transmission assembly.

[0054] Therefore, the cleaning robot disclosed in the present invention can simultaneously drive the movable cleaner to rotate and drive the movable cleaner to move between the first position and the second position relative to the body through only one driving device, thereby realizing the outward and inward swinging of the movable cleaner to expand the cleaning range of the movable cleaner, effectively meet the cleaning requirements of the edge position of the working surface, and can also perform active avoidance.

[0055] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupation of the driving device on the internal space of the cleaning robot, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0056] For ease of understanding, refer to Figures 1 to 10 The specific structure and working principle of the cleaning robot disclosed in the present invention are described in detail.

[0057] like Figures 1 to 4 As shown, the present disclosure provides a cleaning robot capable of cleaning a work surface. The cleaning robot includes a body 10, a movable cleaner 30, and a transmission mechanism. The body 10 is provided with a drive device 11 and a swing arm 20, which is rotatably mounted on the body 10 via a swing shaft 21. The movable cleaner 30 is mounted on the swing arm 20 and is configured to move relative to the body 10 between a first position and a second position under the action of the swing arm 20. The movable cleaner 30 may include cleaning mechanisms such as a side brush 31 and a rag plate 32, which are not limited herein.

[0058] like Figures 5 to 7As shown, the transmission mechanism includes a driving wheel shaft 40, a first transmission assembly 50 arranged on the swing arm 20, and a second transmission assembly 60 arranged on the body 10. The driving wheel shaft 40 is constructed to be controlled by the driving device 11 to drive the movable cleaner 30 to rotate through the first transmission assembly 50; wherein, the driving wheel shaft 40 is connected to the second transmission assembly 60 through a one-way transmission assembly 70, and is constructed to be controlled by the driving device 11 to rotate only in the first direction, and to drive the swing arm 20 to reciprocate between the first position and the second position through the second transmission assembly 60.

[0059] That is, during the operation of the cleaning robot disclosed herein, the driving device 11 can drive the active wheel shaft 40 to rotate. When the active wheel shaft 40 rotates, it can drive the movable cleaner 30 to rotate through the first transmission assembly 50. When the movable cleaner 30 rotates relative to the working surface, it can clean the working surface.

[0060] When the swing arm 20 is required to drive the movable cleaner 30 to switch between the first position and the second position, since the driving wheel shaft 40 is connected to the second transmission assembly 60 through the one-way transmission assembly 70, the driving wheel shaft 40 is controlled by the driving device 11 to rotate only in the first direction, and the swing arm 20 can be driven to reciprocate between the first position and the second position through the second transmission assembly 60, so that the movable cleaner 30 can switch between the first position and the second position. After the position switching of the movable cleaner 30 is completed, the driving wheel shaft 40 can be controlled to rotate in the second direction. The driving wheel shaft 40 will no longer continue to drive the swing arm 20 to move through the second transmission assembly 60, but will only drive the movable cleaner 30 to rotate and clean the work surface through the first transmission assembly 50.

[0061] Therefore, the cleaning robot disclosed in the present invention can simultaneously drive the movable cleaner 30 to rotate and move between the first position and the second position relative to the body 10 by only one driving device 11, thereby realizing the outward and inward swinging of the movable cleaner 30 to expand the cleaning range of the movable cleaner 30, effectively meet the cleaning requirements of the edge position of the working surface, and can also perform active avoidance.

[0062] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupation of the driving device 11 on the internal space of the cleaning robot, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0063] like Figure 1As shown, in one embodiment of the present disclosure, when the movable cleaner 30 is in the first position, at least part of its edge is constructed to be located within the edge projection area of ​​the body 10; when the movable cleaner 30 is in the second position, at least part of its edge is constructed to be located outside the maximum edge of the body 10.

[0064] That is Figure 1 As shown, when the movable cleaner 30 is in the first position, it can be set so that part of its edge is located within the edge projection area of ​​the body 10, and part of its edge is located outside the edge projection area of ​​the body 10, so that the movable cleaner 30 located in the first position has a larger cleaning range; it can also be set so that the entire edge is located within the edge projection area of ​​the body 10, so that the overall size of the cleaning robot can be smaller, easy to store, and less likely to collide during driving.

[0065] like Figure 2 As shown, the movable cleaner 30 can swing outward relative to the body 10 to a second position. The movable cleaner 30 in the second position has a larger cleaning range than the movable cleaner 30 in the first position, which can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0066] Specifically, continue to refer to Figure 1 and Figure 2 In actual cleaning scenarios, there is a wall 90, which makes it difficult for the cleaning robot to move in close proximity to the wall 90. Even if the cleaning robot can move in close proximity to the wall 90, the movable cleaner 30 in the first position still cannot reach the blind spots along the edge. In this case, it is necessary to extend at least the movable cleaner 30 on the side closest to the wall 90 to the second position to expand the cleaning range and eliminate blind spots.

[0067] In one embodiment of the present disclosure, the outer contour of the machine body 10 has a maximum edge in the forward direction, and when in the second position, at least a portion of the edge of the movable cleaner 30 is located outside the maximum edge of the machine body 10. Specifically, the machine body 10 can be configured as any shape such as a rectangle or a circle. In this embodiment, the machine body 10 is a circle.

[0068] like Figure 1 and Figure 2As shown, the α-axis shows the maximum edge of the outer contour of the body 10 in the forward direction. It can be understood that when the cleaning robot runs to the position closest to the wall 90, the α-axis coincides with the edge of the wall 90. Since there is a gap between the movable cleaner 30 located in the first position and the α-axis, a cleaning dead angle is formed. In order to make up for the gap between the movable cleaner 30 and the α-axis, as shown in the figure, it is necessary to swing the movable cleaner 30 outward and move at least part of its edge to a position beyond the α-axis. In this way, the cleaning range of the movable cleaner 30 in the second position can cover the widest part of the walking range of the body 10. Since the movable cleaner 30 in this embodiment takes the second position as the normal working posture, the cleaning range of the cleaning robot disclosed in the present invention can at least cover the widest part of the walking range of the body 10 during normal operation, and the cleaning efficiency is higher.

[0069] Specifically, such as Figure 6 and Figure 7 As shown, in one embodiment of the present disclosure, the second transmission assembly 60 includes a first rotating member 61, a second rotating member 62 fixed on the swing shaft 21, and a transmission rod 63 eccentrically connected to the first rotating member 61 and the second rotating member 62. The first rotating member 61 is constructed to drive the second rotating member 62 to rotate back and forth through the transmission rod 63 when rotating.

[0070] In this way, during the operation of the cleaning robot disclosed herein, the driving device 11 is able to drive the active wheel shaft 40 to rotate. When the active wheel shaft 40 is controlled by the driving device 11 to rotate only in the first direction, it can drive the first rotating member 61 of the second transmission assembly 60 to rotate. Since the second rotating member 62 is fixed to the swing shaft 21, the transmission rod 63 eccentrically connects the first rotating member 61 and the second rotating member 62. When the first rotating member 61 rotates, it drives the connection point between the transmission rod 63 and the first rotating member 61 to rotate around the axis of the first rotating member 61, thereby driving the second rotating member 62 to reciprocate through the transmission rod 63. Since the second rotating member 62 is fixed to the swing shaft 21, when the first rotating member 61 reciprocates, it can drive the swing shaft 21 to reciprocate. When the swing shaft 21 reciprocates, it can drive the swing arm 20 and the movable cleaner 30 to move between the first position and the second position.

[0071] Therefore, the cleaning robot disclosed in the present invention can achieve the purpose of the first rotating member 61 and the second rotating member 62 being eccentrically connected through the transmission rod 63, so that the first rotating member 61 can drive the second rotating member 62 to rotate back and forth when rotating, thereby driving the swing arm 20 and the movable cleaner 30 to move between the first position and the second position. The overall mechanical structure is simple, which reduces the space occupied, and can also reduce the material cost of the cleaning robot disclosed in the present invention and reduce the overall weight of the cleaning robot, so as to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0072] It can be understood that the eccentric connection of the transmission rod 63 to the first rotating member 61 and the second rotating member 62 means that the connection points between the transmission rod 63 and the first rotating member 61 and the second rotating member 62 are not located on the rotating axis of the first rotating member 61 and the rotating axis of the second rotating member 62 at the same time. As long as it is ensured that the second rotating member 62 can be driven to rotate reciprocally through the transmission rod 63 when the first rotating member 61 rotates, the specific setting method is not limited here.

[0073] Further, such as Figure 6 and Figure 7 As shown, in one embodiment of the present disclosure, the transmission rod 63 is constructed to be fitted on the body 10 along a straight line guide; a closed ring-shaped cam groove 611 is provided on the end face of the first rotating member 61, and one end of the transmission rod 63 is constructed to be fitted in the cam groove 611, and the other end is constructed to engage with the second rotating member 62; the first rotating member 61 is constructed to drive the transmission rod 63 to reciprocate in a straight line direction during the rotation process, so as to drive the second rotating member 62 to rotate reciprocatingly.

[0074] That is, during the operation of the cleaning robot disclosed herein, the transmission rod 63 is fitted on the body 10 along a straight line guide, that is, the transmission rod 63 can move back and forth along a straight line on the body 10 .

[0075] Since a closed ring-shaped cam groove 611 is provided on the end face of the first rotating member 61, one end of the transmission rod 63 is engaged in the cam groove 611, and the other end is engaged with the second rotating member 62, and the transmission rod 63 is engaged on the machine body 10 along a straight line guide; during the rotation of the first rotating member 61, it can drive the cam groove 611 to rotate, and the end of the transmission rod 63 engaged in the cam groove 611 can move back and forth on the machine body 10 driven by the cam groove 611, thereby driving the entire transmission rod 63 to reciprocate in the straight line direction; and during the reciprocating movement of the transmission rod 63 in the straight line direction, it can drive the second rotating member 62 to rotate back and forth.

[0076] The first rotating member 61 drives the transmission rod 63 to reciprocate in a linear direction through the closed annular cam groove 611. Not only is the overall transmission structure simple, but the reciprocating motion of the transmission rod 63 is also relatively smooth, thereby effectively extending the service life of the overall transmission structure.

[0077] Specifically, the body 10 may be provided with a housing 12 and a cover 13 for accommodating the second transmission assembly 60, wherein Figure 6 and Figure 8 As shown, limiting grooves can be provided on the cover 13 and the housing 12 respectively to ensure that the transmission rod 63 is linearly guided and fitted on the body 10 , that is, the transmission rod 63 moves back and forth linearly on the body 10 .

[0078] Specifically, such as Figure 6 and Figure 7 As shown, in one embodiment of the present disclosure, the cam groove 611 has a first extreme position and a second extreme position; wherein, the cam groove 611 is configured so that when the first rotating member 61 rotates until the transmission rod 63 moves to the first extreme position, the transmission rod 63 is configured to drive the movable cleaner 30 to the first position via the second rotating member 62; the cam groove 611 is configured so that when the first rotating member 61 rotates until the transmission rod 63 moves to the second extreme position, the transmission rod 63 is configured to drive the movable cleaner 30 to the second position via the second rotating member 62. That is, during the rotation of the first rotating member 61, the cam groove 611 can be driven to rotate, and the end of the transmission rod 63 engaged in the cam groove 611 can be driven by the cam groove 611 to reciprocate on the body 10. When the cam groove 611 rotates along with the first rotating member 61 until the transmission rod 63 moves to the first limit position, that is, when one end of the transmission rod 63 in the cam groove 611 moves to the first limit position, the transmission rod 63 just drives the movable cleaner 30 to the first position via the second rotating member 62. Similarly, when the cam groove 611 rotates along with the first rotating member 61 until the transmission rod 63 moves to the second limit position, that is, when one end of the transmission rod 63 in the cam groove 611 moves to the second limit position, the transmission rod 63 just drives the movable cleaner 30 to the second position via the second rotating member 62; in this way, it is ensured that the transmission rod 63 can drive the movable cleaner 30 to the first position and the second position via the second rotating member 62.

[0079] like Figure 6 and Figure 7 As shown, in one embodiment of the present disclosure, the cam groove 611 is constructed as a closed-loop arc triangle; the first limit position is one of the corners of the arc triangle, and the second limit position is the arc side of the arc triangle opposite to the corner.

[0080] Since the first limit position is one of the corners of the arc triangle, and the second limit position is the arc side of the arc triangle opposite to the corner, when the first rotating member 61 rotates at a constant speed, the movement speed of the transmission rod 63 is faster when the end of the transmission rod 63 that cooperates with the cam groove 611 is near the first limit position, and the movement speed is slower when the end of the transmission rod 63 that cooperates with the cam groove 611 is near the second limit position; that is, in the process of the transmission rod 63 moving from the state of cooperating with the first limit position to the state of cooperating with the second limit position, the movement speed of the transmission rod 63 first increases and then decreases; During the movement of the rod 63 from the state of being in cooperation with the second extreme position to the state of being in cooperation with the first extreme position, the moving speed of the transmission rod 63 first increases and then decreases, thereby ensuring that the movable cleaner 30 moves at a faster speed when near the first position, and at a slower speed when near the second position. This can effectively ensure that the movable cleaner 30 can be quickly swung outward from the first position, and can also ensure that the position of the movable cleaner 30 near the second position is relatively accurate, effectively meeting the precise positioning requirements, thereby cleaning sanitary dead corners such as corners, achieving comprehensive cleaning, and avoiding omissions.

[0081] like Figure 6 and Figure 7 As shown, in one embodiment of the present disclosure, the transmission rod 63 includes a first transmission part 631 and a second transmission part 632 which are respectively fitted on the body 10 along a linear guide; the first transmission part 631 is constructed to cooperate with the cam groove 611, and the second transmission part 632 is constructed to engage with the second rotating member 62; the transmission rod 63 also includes an elastic connecting part 633 connecting the first transmission part 631 and the second transmission part 632; the first transmission part 631 is constructed to drive the second transmission part 632 to move through the elastic connecting part 633.

[0082] In this way, during the rotation of the first rotating member 61, the cam groove 611 can be driven to rotate, and the first transmission part 631 can be driven to reciprocate on the body 10 by the cam groove 611, thereby driving the second transmission part 632 to reciprocate through the elastic connection part 633. Since the second transmission part 632 is engaged with the second rotating member 62, the second transmission part 632 can drive the second rotating member 62 to rotate reciprocally during the reciprocating movement, thereby driving the swing shaft 21 to rotate reciprocally.

[0083] It is understandable that when the movable cleaner 30 collides with a table leg, sofa, wall, etc. in the second position, the movable cleaner 30 can move inward, that is, toward the first position. In the process of the movable cleaner 30 moving toward the first position, the swing shaft 21 is driven to rotate, thereby driving the second transmission part 632 to move toward the first transmission part 631 in the opposite direction. In this way, the elastic connection part 633 between the first transmission part 631 and the second transmission part 632 can provide a buffer, ensuring that the second transmission part 632 can move a certain distance toward the first transmission part 631, thereby ensuring that the movable cleaner 30 can move a certain distance toward the first position, avoiding hard collisions between the movable cleaner and obstacles such as table legs, sofas, walls, etc., thereby extending the service life of the movable cleaner 30.

[0084] like Figure 6 and Figure 7 As shown, in one embodiment of the present disclosure, two elastic connecting parts 633 are provided, and the two elastic connecting parts 633 are constructed to bend in opposite directions. Since there are two elastic connecting parts 633 and the two elastic connecting parts 633 are bent in opposite directions, it can be ensured that during the reciprocating movement of the transmission rod 63 as a whole, the power transmission direction between the first transmission part 631 and the second transmission part 632 can be transmitted along the extension direction of the transmission rod 63, thereby avoiding the situation where the first transmission part 631 and the second transmission part 632 do not move along the same straight line; and since the two elastic connecting parts 633 are bent in opposite directions, when the second transmission part 632 moves toward the side of the first transmission part 631, the two elastic connecting parts 633 will not interfere with each other, thereby providing the second transmission part 632 with sufficient movement space.

[0085] In another embodiment of the present disclosure, other mechanisms such as a connecting rod mechanism can be used to achieve the purpose of enabling the first rotating member 61 to drive the second rotating member 62 to rotate back and forth when rotating, thereby driving the swing arm 20 and the movable cleaner 30 to move between the first position and the second position. The principle is similar and will not be repeated here.

[0086] The one-way transmission assembly 70 can have various structures. Specifically, in one embodiment of the present disclosure, a driving gear 41 is provided on the driving wheel shaft 40, and the one-way transmission assembly 70 includes a guide gear 71. The driving gear 41 and the guide gear 71 are configured as helical gears. The driving gear 41 is configured to drive the guide gear 71 axially to engage with the second transmission assembly 60 during rotation in a first direction, and to drive the guide gear 71 axially to disengage from the second transmission assembly 60 during rotation in a second direction.

[0087] Since both the driving gear 41 and the guide gear 71 are helical gears, when the driving gear 41 rotates, it can not only drive the guide gear 71 to rotate, but also drive the guide gear 71 to move in the axial direction.

[0088] During the process of the driving wheel shaft 40 rotating in the first direction, the driving gear 41 can drive the guide gear 71 to move axially until it engages with the second transmission assembly 60, and the second transmission assembly 60 drives the swing arm 20 to reciprocate between the first position and the second position, thereby enabling the movable cleaner 30 to switch between the first position and the second position. After the position switching of the movable cleaner 30 is completed, the driving wheel shaft 40 can be controlled to rotate in the second direction. During the process of the driving gear 41 on the driving wheel shaft 40 rotating in the second direction, the guide gear 71 can be driven to move axially until it disengages from the second transmission assembly 60. In this way, the swing arm 20 will no longer be driven to move by the second transmission assembly 60, but only the first transmission assembly 50 will drive the movable cleaner 30 to rotate and clean the work surface.

[0089] Specifically, such as Figure 9 and Figure 10 As shown, in one embodiment of the present disclosure, the second transmission assembly 60 includes an engaging gear 72, and an engaging portion 711 and a matching portion 721 are provided between the end surfaces facing each other of the guide gear 71 and the meshing gear 72; the driving gear 41 is configured to drive the guide gear 71 to move in the process of rotating in the first direction until the engaging portion 711 and the matching portion 721 are transmission-connected, and is configured to drive the guide gear 71 to move in the process of rotating in the second direction until the engaging portion 711 and the matching portion 721 are disengaged.

[0090] It will be appreciated that, because the guide gear 71 is meshed with the driving gear 41, they rotate in opposite directions. As the driving shaft 40 rotates in the first direction, the driving gear 41 rotates in the first direction, driving the guide gear 71 in the second direction. This rotation also drives the guide gear 71 axially until the meshing portion 711 is in transmission connection with the mating portion 721. The guide gear 71 then drives the meshing gear 72 in the second direction, thereby driving the first rotating member 61. As the driving shaft 40 rotates in the second direction, the driving gear 41 rotates in the second direction, driving the guide gear 71 axially until the meshing portion 711 and the mating portion 721 are disengaged. This disengages the swing arm 20 from the second transmission assembly 60, and instead drives the movable cleaner 30 to rotate and clean the work surface solely through the first transmission assembly 50. By switching the rotation direction of the driving shaft 40, the meshing portion 711 and the mating portion 721 can be switched between engagement and disengagement, thereby satisfying the cleaning requirements for controlling the swinging of the movable cleaner 30.

[0091] Further, such as Figure 9 and Figure 10 As shown, in one embodiment of the present disclosure, the two opposite sides of the meshing portion 711 are respectively recorded as the guide side 7112 and the meshing side 7111; the meshing portion 711 is constructed to drive the meshing gear 72 to rotate through the meshing side 7111; the guide side 7112 is constructed to gradually tilt toward the meshing side 7111 in the direction from the guide gear 71 to the meshing gear 72, forming a guide surface; the mating portion 721 is constructed to have an inclined surface adapted to the guide side 7112.

[0092] After the cam 711 is in the unlocked position, the guide gear 71 is unlocked and the gear 72 is unlocked, so that the cam 711 is unlocked and the gear 72 is unlocked.

[0093] In another embodiment of the present disclosure, the one-way transmission assembly 70 may be a one-way bearing. The one-way bearing is disposed on the driving wheel shaft 40. When the driving wheel shaft 40 is in a first direction, it is in transmission connection with the second transmission assembly 60. When the driving wheel shaft 40 rotates in a second direction, it does not transmit power to the second transmission assembly 60. The principle is similar and will not be repeated here.

[0094] In one embodiment of the present disclosure, the cleaning robot of the present disclosure also includes a control unit, which is configured to control the driving device 11 to rotate in the second direction when the swing arm 20 is located in the first position or the second position, so as to drive the movable cleaner 30 to rotate; the control unit is configured to control the driving device 11 to rotate in the first direction for a predetermined period of time or a predetermined angle, so that the swing arm 20 moves from the first position to the second position, or from the second position to the first position.

[0095] In this way, when the swing arm 20 is located in the first position or the second position, the control unit can control the driving device 11 to rotate in the second direction to drive the movable cleaner 30 to rotate. In this way, when the swing arm 20 is located in the first position or the second position, the movable cleaner 30 can always rotate in the same direction; in this way, the movable cleaner 30 can always sweep the garbage, sewage and other dirt located on the outside of the cleaning robot to the inside of the cleaning robot, and then the dirt can be sucked into the inside of the cleaning robot under the action of the fan unit, thereby cleaning the dirt on the working surface and avoiding residue.

[0096] When the swing arm 20 needs to be controlled to move from the first position to the second position, or from the second position to the first position, the control unit only needs to control the driving device 11 to rotate in the first direction for a predetermined time period or a predetermined angle to move the swing arm 20 from the first position to the second position, or from the second position to the first position, thereby driving the movable cleaner 30 to swing in or out. During the swinging process of the movable cleaner 30, only the driving device 11 needs to be controlled to reverse, without the need for other control methods, which is simple and convenient.

[0097] Further, in one embodiment of the present disclosure, the cleaning robot includes a first sensor and a second sensor; the first sensor is configured to be triggered when the movable cleaner 30 is located in the first position, and the second sensor is configured to be triggered when the movable cleaner 30 is located in the second position;

[0098] When the swing arm 20 moves to the first position, the control unit is configured to control the drive device 11 to rotate along the first direction until the first sensor is triggered, and then control the drive device 11 to stop or reverse; when the swing arm 20 moves to the second position, the control unit is configured to control the drive device 11 to rotate along the first direction until the second sensor is triggered, and then control the drive device 11 to stop or reverse.

[0099] That is, when it is necessary to control the swing arm 20 to move from the first position to the second position, or from the second position to the first position, the control unit only needs to control the driving device 11 to rotate along the first direction until the corresponding target position is triggered when the swing arm 20 moves toward the corresponding target position, and then the driving device 11 can be controlled to stop or reverse, thereby ensuring that the movable cleaner 30 is in the target position.

[0100] Application Scenario

[0101] The present disclosure provides a cleaning robot capable of cleaning a work surface; the cleaning robot includes a body 10, a movable cleaner 30 and a transmission mechanism, wherein a driving device 11 and a swing arm 20 are provided on the body 10, and the swing arm 20 is rotatably provided on the body 10 through a swing shaft 21; the movable cleaner 30 is provided on the swing arm 20 and is configured to be able to move between a first position and a second position relative to the body 10 under the action of the swing arm 20; the transmission mechanism includes a driving wheel shaft 40, a first transmission assembly 50 provided on the swing arm 20 and a second transmission assembly 60 provided on the body 10, the driving wheel shaft 40 is constructed to be controlled by the driving device 11 to drive the movable cleaner 30 to rotate through the first transmission assembly 50; wherein the driving wheel shaft 40 is transmission-connected to the second transmission assembly 60 through a one-way transmission assembly 70, and is constructed to be controlled by the driving device 11 to rotate only in the first direction, and to drive the swing arm 20 to reciprocate between the first position and the second position through the second transmission assembly 60.

[0102] That is, during the operation of the cleaning robot disclosed herein, the driving device 11 can drive the active wheel shaft 40 to rotate. When the active wheel shaft 40 rotates, it can drive the movable cleaner 30 to rotate through the first transmission assembly 50. When the movable cleaner 30 rotates relative to the working surface, it can clean the working surface.

[0103] When the swing arm 20 is required to drive the movable cleaner 30 to switch between the first position and the second position, since the driving wheel shaft 40 is connected to the second transmission assembly 60 through the one-way transmission assembly 70, the driving wheel shaft 40 is controlled by the driving device 11 to rotate only in the first direction, and the swing arm 20 can be driven to reciprocate between the first position and the second position through the second transmission assembly 60, so that the movable cleaner 30 can switch between the first position and the second position. After the position switching of the movable cleaner 30 is completed, the driving wheel shaft 40 can be controlled to rotate in the second direction. The driving wheel shaft 40 will no longer continue to drive the swing arm 20 to move through the second transmission assembly 60, but will only drive the movable cleaner 30 to rotate and clean the work surface through the first transmission assembly 50.

[0104] Therefore, the cleaning robot disclosed in the present invention can simultaneously drive the movable cleaner 30 to rotate and move between the first position and the second position relative to the body 10 by only one driving device 11, thereby realizing the outward and inward swinging of the movable cleaner 30 to expand the cleaning range of the movable cleaner 30, effectively meet the cleaning requirements of the edge position of the working surface, and can also perform active avoidance.

[0105] Compared with existing cleaning robots, the cleaning robot disclosed in the present invention can effectively simplify the drive-related structure, reduce the occupation of the driving device 11 on the internal space of the cleaning robot, reduce the material cost of the cleaning robot disclosed in the present invention, and also reduce the overall weight of the cleaning robot to improve the working efficiency of the cleaning robot disclosed in the present invention.

[0106] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, their practical applications, or technical improvements in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cleaning robot, characterized in that: include: A machine body (10), wherein a driving device (11) and a swing arm (20) are provided on the machine body (10), and the swing arm (20) is rotatably provided on the machine body (10) via a swing shaft (21); a movable cleaner (30), the movable cleaner (30) being arranged on the swing arm (20) and being configured to be movable between a first position and a second position relative to the machine body (10) under the action of the swing arm (20); A transmission mechanism, comprising a driving wheel shaft (40), a first transmission assembly (50) provided on a swing arm (20), and a second transmission assembly (60) provided on a machine body (10); the driving wheel shaft (40) is configured to be controlled by a driving device (11) and to drive the movable cleaner (30) to rotate via the first transmission assembly (50); The driving wheel shaft (40) is connected to the second transmission assembly (60) through a one-way transmission assembly (70), and is configured to drive the swing arm (20) to reciprocate between the first position and the second position through the second transmission assembly (60) when the driving device (11) is controlled to rotate only in the first direction.

2. The cleaning robot according to claim 1, characterized in that: The second transmission assembly (60) comprises a first rotating member (61), a second rotating member (62) fixed on the swing shaft (21), and a transmission rod (63) eccentrically connected to the first rotating member (61) and the second rotating member (62). The first rotating member (61) is configured to drive the second rotating member (62) to rotate back and forth through the transmission rod (63) when rotating.

3. The cleaning robot according to claim 2, characterized in that: The transmission rod (63) is constructed to be fitted on the machine body (10) along a straight line guide; a closed annular cam groove (611) is provided on the end surface of the first rotating member (61); one end of the transmission rod (63) is constructed to be fitted in the cam groove (611), and the other end is constructed to be engaged with the second rotating member (62); the first rotating member (61) is constructed to drive the transmission rod (63) to reciprocate in a straight line direction during rotation, so as to drive the second rotating member (62) to rotate back and forth.

4. The cleaning robot according to claim 3, characterized in that: The cam groove (611) has a first limit position and a second limit position; The cam groove (611) is configured to rotate with the first rotating member (61) until the transmission rod (63) moves to cooperate with the first extreme position, and the transmission rod (63) is configured to drive the movable cleaner (30) to move to the first position through the second rotating member (62); The cam groove (611) is configured to rotate with the first rotating member (61) until the transmission rod (63) moves to cooperate with the second extreme position, and the transmission rod (63) is configured to drive the movable cleaner (30) to move to the second position through the second rotating member (62).

5. The cleaning robot according to claim 4, characterized in that: The cam groove (611) is constructed as a closed circular arc triangle; the first limit position is one of the corners of the circular arc triangle, and the second limit position is the arc side of the circular arc triangle opposite to the corner.

6. The cleaning robot according to claim 3, characterized in that: The transmission rod (63) comprises a first transmission part (631) and a second transmission part (632) respectively guided along a straight line and matched on the machine body (10); the first transmission part (631) is configured to match with the cam groove (611), and the second transmission part (632) is configured to mesh with the second rotating member (62); The transmission rod (63) further includes an elastic connection portion (633) connecting the first transmission portion (631) and the second transmission portion (632); the first transmission portion (631) is configured to drive the second transmission portion (632) to move via the elastic connection portion (633).

7. The cleaning robot according to claim 6, characterized in that: Two elastic connection parts (633) are provided, and the two elastic connection parts (633) are configured to bend in opposite directions.

8. The cleaning robot according to claim 1, characterized in that: A driving gear (41) is provided on the driving wheel shaft (40), the one-way transmission assembly (70) includes a guide gear (71), and the driving gear (41) and the guide gear (71) are constructed as helical gears; The driving gear (41) is configured to drive the guide gear (71) to move axially until it engages with the second transmission assembly (60) during rotation in the first direction, and to drive the guide gear (71) to move axially until it disengages from the second transmission assembly (60) during rotation in the second direction.

9. The cleaning robot according to claim 8, characterized in that: The second transmission assembly (60) includes a meshing gear (72), and a meshing portion (711) and a matching portion (721) are provided between the facing end surfaces of the guide gear (71) and the meshing gear (72); The driving gear (41) is configured to drive the guide gear (71) to move until the meshing portion (711) and the matching portion (721) are in transmission connection during the process of rotating in the first direction, and is configured to drive the guide gear (71) to move until the meshing portion (711) and the matching portion (721) are disengaged during the process of rotating in the second direction.

10. The cleaning robot according to claim 9, characterized in that: The two opposite sides of the meshing portion (711) are respectively designated as a guide side (7112) and a meshing side (7111); the meshing portion (711) is configured to drive the meshing gear (72) to rotate via the meshing side (7111); the guide side (7112) is configured to gradually tilt toward the meshing side (7111) in the direction from the guide gear (71) to the meshing gear (72), thereby forming a guide surface; and the matching portion (721) is configured to have an inclined surface adapted to the guide side (7112).

11. The cleaning robot according to any one of claims 1 to 10, characterized in that: When the movable cleaner (30) is located at the first position, at least part of its edge is configured to be located within the edge projection area of ​​the machine body (10); when the movable cleaner (30) is located at the second position, at least part of its edge is configured to be located outside the maximum edge of the machine body (10).

12. The cleaning robot according to claim 11, characterized in that: It also includes a control unit, which is configured to control the driving device (11) to rotate in a second direction when the swing arm (20) is located at the first position or the second position, so as to drive the movable cleaner (30) to rotate; The control unit is configured to control the driving device (11) to rotate in a first direction for a predetermined time period or a predetermined angle, so that the swing arm (20) moves from the first position to the second position, or from the second position to the first position.

13. The cleaning robot according to claim 12, characterized in that: The cleaning robot comprises a first sensor and a second sensor; the first sensor is configured to be triggered when the movable cleaner (30) is located in the first position, and the second sensor is configured to be triggered when the movable cleaner (30) is located in the second position; When the swing arm (20) moves toward the first position, the control unit is configured to control the drive device (11) to rotate in the first direction until the first sensor is triggered, and then control the drive device (11) to stop or reverse; when the swing arm (20) moves toward the second position, the control unit is configured to control the drive device (11) to rotate in the first direction until the second sensor is triggered, and then control the drive device (11) to stop or reverse.

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