Cleaning robot

Abstract

The utility model relates to the technical field of robots, and discloses a cleaning robot which comprises a robot body and a cleaning module, the cleaning module comprises a mounting disc and a cleaning assembly, and the mounting disc is rotatably connected to the robot body around a first rotating axis; the cleaning assembly is located on the side, facing the bottom of the cleaning robot, of the mounting disc and is connected to the mounting disc in a back-and-forth moving mode in the first direction. Wherein the first rotating axis is parallel to the second direction, the first direction is the up-down direction of the robot body, and the second direction is the left-right direction of the robot body, so that the cleaning effect of the cleaning robot can be improved.

Description

Technical Field

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

[0002] With the advancement of science and technology, the development of robots is becoming more and more rapid. Robots can replace humans in some dangerous high-altitude operations, reducing safety risks. For some high-altitude walls, such as ship walls, storage tank walls, photovoltaic curtain walls, glass walls, etc., cleaning robots can be used for cleaning.

[0003] At present, when cleaning robots are cleaning some curved walls (such as ship walls, storage tank walls, etc.), the adaptability of the cleaning robots is not ideal, which affects the cleaning effect. Utility Model Content

[0004] The present invention aims to solve at least one of the technical problems in the prior art. To this end, the present invention proposes a cleaning robot that can improve the cleaning effect of the cleaning robot.

[0005] According to an embodiment of the present invention, the cleaning robot includes a robot body and a cleaning module. The cleaning module includes a mounting plate and a cleaning assembly. The mounting plate is rotatably connected to the robot body around a first rotation axis. The cleaning assembly is located on a side of the mounting plate facing the bottom of the cleaning robot and is connected to the mounting plate so as to be movable back and forth along a first direction. The first rotation axis is parallel to the second direction, the first direction is the up and down direction of the robot body, and the second direction is the left and right direction of the robot body.

[0006] The cleaning robot according to the present invention has at least the following beneficial effects: the cleaning robot comprises a connected robot body and a cleaning module, the cleaning module comprising a cleaning assembly and a mounting plate, the cleaning assembly being located on a side of the mounting plate facing the bottom of the cleaning robot to facilitate cleaning of a work surface. The mounting plate is rotatably connected to the robot body about a first rotation axis, thereby enabling the cleaning module to rotate a certain angle about the first rotation axis to accommodate work surfaces of varying curvatures, allowing the cleaning assembly to better clean the work surface and improving the cleaning effect. The cleaning assembly is movably connected to the mounting plate along a first direction to avoid obstacles, thereby facilitating more stable movement of the cleaning robot and improving its obstacle-crossing performance.

[0007] According to some embodiments of the present invention, the cleaning module also includes a guide rod and a first elastic member; the guide rod is connected to the cleaning assembly and is movably inserted into the mounting disk along the first direction, or the guide rod is connected to the mounting disk and is movably inserted into the cleaning assembly along the first direction; wherein, the first elastic member is sleeved on the guide rod and abuts between the cleaning assembly and the mounting disk, and is used to push the cleaning assembly away from the mounting disk along the first direction.

[0008] According to some embodiments of the present invention, the cleaning assembly includes a mounting ring and a brush. The mounting ring is connected to the mounting plate so as to be movable back and forth along a first direction. The guide rod is connected between the mounting ring and the mounting plate. The brush is connected to the side of the mounting ring facing the bottom of the cleaning robot.

[0009] According to some embodiments of the present invention, the cleaning robot also includes a second elastic member and a third elastic member, one end of the second elastic member and the third elastic member are respectively connected to the left and right sides of the mounting plate along the first rotation axis, and the other ends of the second elastic member and the third elastic member are both connected to the robot body; the second elastic member and the third elastic member are both used to drive the mounting plate to rotate toward the top side of the cleaning robot.

[0010] According to some embodiments of the present invention, the cleaning module also includes a water inlet assembly and a cleaning piece, the water inlet assembly is connected to the mounting plate; the cleaning piece is rotatably connected to the water inlet assembly and is located on the side of the mounting plate facing the bottom of the cleaning robot; wherein, the water inlet assembly is provided with a water inlet channel, and the cleaning piece is provided with a water outlet channel connected to the water inlet channel, and the cleaning liquid enters the water outlet channel through the water inlet channel and is then sprayed out.

[0011] According to some embodiments of the present invention, the robot body includes a main body module and two drive modules, and the two drive modules are respectively connected to both sides of the main body module along the second direction; the mounting plate is connected to one side of the main body module along the third direction, and the third direction is the front and back direction of the robot body.

[0012] According to some embodiments of the present invention, the driving module is rotatably connected to the robot body.

[0013] According to some embodiments of the present invention, the main body module includes a mounting beam extending along a third direction; the cleaning robot includes a connecting rod connected between the mounting beam and the driving module, the connecting rod is located in the radial direction of the mounting beam, and the connecting rod includes a first end and a second end relative to each other; wherein, the first end is rotatably connected to the mounting beam around a second rotation axis, and the second rotation axis is parallel to the second direction; and / or, the driving module is rotatably connected to the second end around a third rotation axis, and the third rotation axis is parallel to the third direction.

[0014] According to some embodiments of the present invention, the robot body further includes a limiting member, which is connected to the mounting beam and is located in the rotation path of the first end, and is used to limit the rotation angle of the first end.

[0015] According to some embodiments of the present invention, the first end can be rotatably mounted or inserted on the end portion of the mounting beam; the first end is provided with a waist-shaped hole extending along a third direction, the limiting member is inserted in the waist-shaped hole and connected to the mounting beam, and the limiting member is suitable for abutting against the hole wall of the waist-shaped hole to limit the rotation angle of the first end.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 The following is a schematic structural diagram of a cleaning robot provided by an embodiment of the present utility model;

[0019] Figure 2 Shown Figure 1 A schematic diagram of a partially exploded structure of a cleaning robot;

[0020] Figure 3 Shows a schematic structural diagram of a cleaning module provided by an embodiment of the present utility model;

[0021] Figure 4 Shown Figure 3 A structural diagram of the cleaning module from another perspective.

[0022] Reference numerals:

[0023] Cleaning robot 100; robot body 110;

[0024] Main body module 111; second bracket 1111; mounting beam 1113;

[0025] Driving module 113; third bracket 1131; roller 1133; driving member 1135;

[0026] Connecting rod 115; first boss 1151; second boss 1153; waist-shaped hole 1155; stopper 117; second hinge shaft 119;

[0027] Cleaning module 130; mounting plate 131; cleaning assembly 133; mounting ring 1331; brush 1333; first bracket 135; water inlet assembly 137; cleaning member 139;

[0028] Guide rod 141; first elastic member 143; universal wheel 145; second elastic member 150; third elastic member 170; first hinge axis 190; first direction Z; second direction Y; third direction X; first rotation axis A; second rotation axis B; third rotation axis C. DETAILED DESCRIPTION

[0029] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0030] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, 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 invention 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 invention.

[0031] In the description of this utility model, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of the terms "first" and "second" is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0033] In the description of the present invention, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," 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 invention. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0034] See also Figure 1 An embodiment of the present application provides a cleaning robot 100 , which includes a robot body 110 and a cleaning module 130 .

[0035] The robot body 110 can be used to move on the working plane to drive the cleaning module 130 to clean the working plane.

[0036] The working plane may refer to a ship's wall, a building's wall, a glass wall, a storage tank surface, a photovoltaic curtain wall, or some other vertical or inclined working plane.

[0037] As an example, the robot body 110 can be a wall-climbing robot. The wall-climbing robot can adsorb the working plane by negative pressure, or by magnetic attraction, or the wall-climbing robot can adsorb the working plane by other methods.

[0038] The working plane can be a straight surface or a curved surface. For example, the wall of a ship or the wall of a storage tank are both curved working planes.

[0039] In some embodiments, the cleaning robot 100 may have a first direction Z, a second direction Y, and a third direction X. The first direction Z is roughly the up and down direction of the robot body 110 , the second direction Y is roughly the left and right direction of the robot body 110 , and the third direction X is roughly the front and back direction of the robot body 110 .

[0040] The first direction Z, the second direction Y and the third direction X may be perpendicular to each other.

[0041] See also Figures 1 to 3 In some embodiments, the cleaning module 130 includes a mounting plate 131 and a cleaning assembly 133 .

[0042] Among them, the mounting plate 131 is rotatably connected to the robot body 110 around a first rotation axis A, and the first rotation axis A is parallel to the second direction Y. In this way, when the cleaning robot 100 cleans a work plane with an arc, the mounting plate 131 can rotate a certain angle to adapt to work planes with different arcs, which helps the cleaning component 133 to better clean the work plane and improve the cleaning effect.

[0043] The cleaning assembly 133 is located on one side of the mounting plate 131 facing the bottom of the cleaning robot 100 to facilitate cleaning the working surface.

[0044] The cleaning assembly 133 is connected to the mounting plate 131 so as to be movable back and forth along the first direction Z, so that the cleaning assembly 133 can move to one side of the mounting plate 131 when encountering an obstacle to avoid the obstacle, thereby improving the obstacle-crossing performance of the cleaning robot 100.

[0045] In some embodiments, the cleaning module 130 may further include a first bracket 135, which may be connected to a side of the mounting plate 131 facing away from the cleaning assembly 133, and the first bracket 135 may be hinged to the robot body 110, so that the cleaning module 130 may rotate around the first rotation axis A.

[0046] As an example, the robot body 110 may include a second bracket 1111, which may be provided with a first hinge hole, and the first bracket 135 may be provided with a second hinge hole opposite the first hinge hole. The cleaning robot 100 may also include a first hinge shaft 190, which may be inserted into the first hinge hole and the second hinge hole. The first rotation axis A may be the axis of the first hinge shaft 190, so that the cleaning module 130 can rotate about the first rotation axis A. The second bracket 1111 may serve as the main frame of the robot body 110, for mounting other structural components.

[0047] It should be noted that a bearing may be provided between the first hinge shaft 190 and the wall of the first hinge hole, and / or a bearing may be provided between the first hinge shaft 190 and the wall of the second hinge hole, thereby helping the cleaning module 130 to rotate more smoothly.

[0048] It can be understood that the number of first hinge shafts 190 can be multiple, the first hinge hole, the second hinge hole and the first hinge shaft 190 can correspond one to one, and the axes of multiple first hinge holes and multiple second hinge holes can be collinear, which helps to avoid interference and make the rotation more stable.

[0049] Here, a plurality may refer to two or more. In this embodiment, the number of the first hinge shafts 190 may be two.

[0050] In some embodiments, the cleaning assembly 133 includes a mounting ring 1331 and a brush 1333 .

[0051] The mounting ring 1331 is connected to the mounting plate 131 so as to be movable back and forth along the first direction Z, so that the cleaning assembly 133 can move back and forth along the first direction Z to avoid obstacles.

[0052] The brush 1333 is connected to the side of the mounting ring 1331 facing the bottom of the cleaning robot 100 to facilitate brushing the working surface.

[0053] See also Figures 2 to 4 In some embodiments, the cleaning module 130 further includes a water inlet assembly 137 and a cleaning component 139 .

[0054] The water inlet assembly 137 is connected to the mounting plate 131 , and the cleaning member 139 is rotatably connected to the water inlet assembly 137 and is located on a side of the mounting plate 131 facing the bottom of the cleaning robot 100 .

[0055] The water inlet is provided with an inlet channel, and the cleaning component 139 is provided with an outlet channel connected to the inlet channel. The cleaning liquid enters the outlet channel through the inlet channel and is then sprayed out, thereby better cleaning the work surface. Specifically, the water inlet component 137 can be connected to a water inlet pipe, which transports the cleaning liquid to the inlet channel and then sprays it out through the outlet channel.

[0056] As an example, the mounting plate 131 may be provided with a connection hole, into which the water inlet assembly 137 may be inserted. The two sections of the water inlet assembly 137 along the first direction Z are located on opposite sides of the mounting plate 131. The end of the water inlet assembly 137 located on the top of the mounting plate 131 facing the cleaning robot 100 may be connected to a liquid inlet pipe, which can deliver cleaning fluid to the water inlet assembly 137. The end of the water inlet assembly 137 located on the bottom of the mounting plate 131 facing the cleaning robot 100 may be connected to a cleaning member 139, so that the cleaning fluid can be sprayed onto the work surface via the cleaning member 139.

[0057] It should be noted that since the cleaning module 130 can rotate around the first rotation axis A, when the cleaning part 139 sprays high-pressure cleaning fluid onto the working plane, the cleaning module 130 can rotate around the first rotation axis A to absorb the recoil force of the cleaning fluid, which helps the robot body 110 to be more stably adsorbed on the working plane.

[0058] In some embodiments, the cleaning member 139 may be located within the inner ring of the mounting ring 1331 . This may limit the spraying range of the cleaning liquid and may also clean the brush 1333 , thereby improving the cleaning capability of the cleaning module 130 .

[0059] Among them, the bottom wall of the cleaning member 139 along the first direction Z (i.e., the side of the cleaning member 139 facing the working plane) can be provided with a first liquid outlet, and the cleaning liquid entering the water outlet channel can be sprayed onto the working plane through the first liquid outlet. When the cleaning member 139 sprays the cleaning liquid directly onto the working plane through the first liquid outlet, the cleaning liquid exerts a reaction force on the cleaning member 139 from the bottom to the top of the cleaning robot 100. At this time, the cleaning module 130 can rotate around the first axis to absorb the reaction force, thereby helping the cleaning robot 100 to be more stably adsorbed on the working plane and improving the stability of the cleaning robot 100.

[0060] The side wall of the cleaning part 139 can be provided with a second liquid outlet. The cleaning liquid entering the water outlet channel can be sprayed toward the brush 1333 through the second liquid outlet, thereby increasing the spraying range of the cleaning part 139 and cleaning the brush 1333, thereby improving the cleaning effect of the cleaning module 130.

[0061] See also Figure 3 In some embodiments, the cleaning module 130 may include a guide rod 141 and a first elastic member 143 .

[0062] Among them, the guide rod 141 can be connected to the cleaning component 133 and can be movably inserted into the mounting plate 131 along the first direction Z, so that the cleaning component 133 can move back and forth along the first direction Z, and the guide rod 141 can provide guidance for the movement of the cleaning component 133.

[0063] The first elastic member 143 can be sleeved on the guide rod 141 and abut against the cleaning component 133 and the mounting plate 131, and is used to push the cleaning component 133 away from the mounting plate 131 along the first direction Z, so that the first elastic member 143 can drive the cleaning component 133 to always move toward the side of the working plane, which helps to ensure that the brush 1333 can always brush the working plane, helps the cleaning component 133 to better adapt to planes of different curvatures, and improves the cleaning effect of the cleaning component 133.

[0064] As an example, the guide rod 141 may include a first rod segment and a second rod segment connected to each other, the diameter of the second rod segment may be larger than the diameter of the first rod segment, and the outer circumference of the end of the first rod segment away from the second rod segment may be provided with a thread. The mounting plate 131 may be provided with a first mounting hole, and the mounting ring 1331 may be provided with a second mounting hole opposite to the first mounting hole, and the second mounting hole may be a threaded hole. The first rod segment may be movably inserted into the first mounting hole along the first direction Z, and the end of the first rod segment provided with a thread may be inserted into the second mounting hole. The first elastic member 143 may be sleeved on the first rod segment and abutted between the mounting ring 1331 and the mounting plate 131, and the second rod segment may abut against the side of the mounting plate 131 away from the mounting ring 1331, so that the cleaning assembly 133 can move back and forth along the first direction Z in the first mounting hole through the first rod segment.

[0065] The first elastic member 143 can be a spring, elastic rubber or other elastic structural members.

[0066] It can be understood that the guide rod 141 can also be connected to the mounting plate 131 and movably inserted into the mounting ring 1331 along the first direction Z. The installation method can refer to the above example and will not be repeated here.

[0067] In some embodiments, the number of guide rods 141 and first elastic members 143 can be multiple, and the guide rods 141 and first elastic members 143 can correspond one to one. Multiple guide rods 141 are distributed along the circumference of the mounting plate 131 to help ensure more stable movement of the cleaning assembly 133 relative to the mounting plate 131. The term "multiple" can refer to two or more.

[0068] See also Figures 1 to 2 In some embodiments, the cleaning robot 100 may further include a second elastic member 150 and a third elastic member 170 .

[0069] Among them, one end of the second elastic member 150 and the third elastic member 170 are respectively connected to the left and right sides of the mounting plate 131 along the first rotation axis A, and the other ends of the second elastic member 150 and the third elastic member 170 are both connected to the robot body 110. The second elastic member 150 and the third elastic member 170 are both used to drive the mounting plate 131 to rotate toward the top side of the cleaning robot 100, so that the second elastic member 150 and the third elastic member 170 can better absorb the recoil force of the cleaning liquid to limit the rotation angle of the cleaning module 130 within an appropriate range, which helps to avoid the rotation angle of the cleaning module 130 being too large due to the large recoil force of the cleaning liquid, thereby affecting the cleaning effect.

[0070] Specifically, because one end of the second elastic member 150 and the third elastic member 170 are respectively connected to the left and right sides of the mounting plate 131 along the first rotation axis A, the second elastic member 150 and the third elastic member 170 can respectively pull the mounting plate 131 to rotate about the first rotation axis A in opposite directions, and both rotate toward one side of the top of the cleaning robot 100. For example, the second elastic member 150 can pull the mounting plate 131 to rotate in a first rotation direction, and the third elastic member 170 can pull the mounting plate 131 to rotate in a second rotation direction, where the first rotation direction and the second rotation direction are opposite.

[0071] When the mounting plate 131 rotates in the first rotation direction, the tension on the third elastic member 170 increases, and the force applied by the third elastic member 170 to the mounting plate 131 rotating in the second rotation direction increases, thereby limiting the rotation angle of the mounting plate 131 in the first rotation direction.

[0072] Similarly, when the mounting plate 131 rotates in the second rotation direction, the tension on the second elastic member 150 increases, and the force applied by the second elastic member 150 to the mounting plate 131 rotating in the first rotation direction increases, thereby limiting the rotation angle of the mounting plate 131 in the second rotation direction.

[0073] In addition, the second elastic member 150 and the third elastic member 170 can also play a buffering role to absorb the vibration force when the cleaning member 139 rotates at a high speed, which helps to make the cleaning module 130 more stable.

[0074] As an example, the second elastic member 150 and the third elastic member 170 may both be connected between the second bracket 1111 and the mounting plate 131 .

[0075] The second elastic member 150 and the third elastic member 170 can both be springs, elastic ropes or other elastic structural members.

[0076] In some embodiments, the number of the second elastic member 150 and the number of the third elastic member 170 can be multiple, and the second elastic member 150 and the third elastic member 170 can correspond one to one, thereby helping to make the cleaning module 130 more stable.

[0077] Here, a plurality may refer to two or more than two. In this embodiment, the number of the second elastic member 150 and the number of the third elastic member 170 may both be two.

[0078] See also Figures 2 to 3 In some embodiments, the cleaning module 130 may further include a universal wheel 145, which is connected to the mounting plate 131 and is used to move on the working plane, so that the universal wheel 145 can support the mounting plate 131, which helps to make the cleaning module 130 more stable and improves the stability of the movement of the cleaning robot 100.

[0079] In some embodiments, there may be multiple universal wheels 145 , and the multiple universal wheels 145 may be distributed along the circumference of the mounting plate 131 , which helps to more stably support the mounting plate 131 .

[0080] Here, multiple can be two or more.

[0081] See also Figures 1 to 3 In some embodiments, the robot body 110 may include a main body module 111 and two drive modules 113. The two drive modules 113 are respectively connected to both sides of the main body module 111 along the second direction Y, and the mounting plate 131 is connected to one side of the main body module 111 along the third direction X. In this way, the cleaning robot 100 adopts a modular assembly structure, which helps to reduce the difficulty of assembly, facilitates subsequent disassembly, maintenance or replacement, and has a more compact structure.

[0082] The robot body 110 can be moved on the working plane by the driving module 113. The second bracket 1111 can be a main frame of the main body module 111.

[0083] It can be understood that the mounting plate 131 is connected to one side of the main module 111 along the third direction X, which may mean that the cleaning module 130 is located at the front end of the cleaning robot 100 along the third direction X, or it may mean that the cleaning module 130 is located at the rear end of the cleaning robot 100 along the third direction X.

[0084] It should be noted that the two drive modules 113 can be symmetrically distributed on the left and right sides of the robot body 110 along the second direction Y, and the connection method between the two drive modules 113 and the robot body 110 is roughly the same. For the sake of convenience of description, the following will be explained using one drive module 113 as an example.

[0085] In some embodiments, the driving module 113 can be rotatably connected to the robot body 110, so that the driving module 113 can adaptively rotate to a suitable angle relative to the working plane to better adapt to working planes of different curvatures, which helps the cleaning robot 100 move more stably.

[0086] In some embodiments, the main body module 111 includes a mounting beam 1113 extending along the third direction X.

[0087] As an example, the mounting beam 1113 may be connected to the second bracket 1111 , or the mounting beam 1113 may be a part of the second bracket 1111 .

[0088] The cleaning robot 100 may include a connecting rod 115 connected between the mounting beam 1113 and the driving module 113 . The connecting rod 115 may be located radially of the mounting beam 1113 . The connecting rod 115 includes a first end and a second end that are opposite to each other.

[0089] The first end and the second end may refer to two ends of the connecting rod 115 along the length direction. The first end may be connected to the mounting beam 1113 , and the second end may be connected to the driving module 113 .

[0090] In some embodiments, the first end can be rotatably connected to the mounting beam 1113 about a second rotation axis B, and the second rotation axis B is parallel to the second direction Y. Thus, the connecting rod 115 can rotate around the second rotation axis B on the periphery of the mounting beam 1113 via the first end, thereby driving the drive assembly to rotate around the second rotation axis B. This helps the drive module 113 rotate around the second rotation axis B to an appropriate angle to adapt to work planes of different curvatures, helping the cleaning robot 100 to move more stably on the work plane. In addition, the rotation of the connecting rod 115 about the second rotation axis B can also adjust the height position of the drive module 113 along the cleaning robot 100 along the first direction Z, helping to adjust the height of the cleaning module 130 relative to the work plane so that the cleaning module 130 can better clean the work plane.

[0091] It is understandable that the two driving modules 113 can rotate around the second rotation axis B at different or the same angles to adapt to working planes with different curvatures, so that the cleaning robot 100 can move more stably on the working plane.

[0092] In some embodiments, the driving module 113 can be rotatably connected to the second end around a third rotation axis C, and the third rotation axis C is parallel to the third direction X, so that the driving module 113 can rotate around the third rotation axis C to adapt to working planes with different curvatures, which helps the cleaning robot 100 move more stably on the working plane.

[0093] It is understandable that the two driving modules 113 can rotate around the third rotation axis C at different or the same angles to adapt to working planes with different curvatures, so that the cleaning robot 100 can move more stably on the working plane.

[0094] As an example, a first protrusion 1151 may be protruded from the second end, and the axial direction of the first protrusion 1151 may be parallel to the third direction X. The driving module 113 may include a third bracket 1131 and a plurality of rollers 1133, and the plurality of rollers 1133 may be connected to the third bracket 1131. The third bracket 1131 may include a hinge portion, and the hinge portion may include a third hinge hole extending along the third direction X. The first protrusion 1151 may be rotatably inserted into the third hinge hole via a bearing. In this example, the plurality of rollers 1133 may include four rollers 1133.

[0095] As another example, Figure 2 As shown, the second end may be provided with a first protrusion 1151, the axial direction of the first protrusion 1151 may be parallel to the second direction Y, the hinge portion may be provided with a third hinge hole extending along the third direction X, and the first protrusion 1151 may be provided with a fourth hinge hole opposite to the third hinge hole. The robot body 110 may further include a second hinge shaft 119, which may be inserted into the third hinge hole and inserted into the fourth hinge hole, or the second hinge shaft 119 may be inserted into the third hinge hole and inserted into the fourth hinge hole, so that the driving module 113 can rotate around the axis of the second hinge shaft 119 (i.e., the third rotation axis C).

[0096] In addition, since the driving module 113 can rotate around the second rotation axis B and the third rotation axis C at the same time, the driving module 113 can rotate around multiple axes, which helps to better adapt to working planes with different curvatures and further improves the stability of the cleaning robot 100.

[0097] In some embodiments, the robot body 110 may further include a limiter 117, which is connected to the mounting beam 1113 and located in the rotation path of the first end, and is used to limit the rotation angle of the first end, thereby limiting the rotation angle of the driving module 113, helping to avoid the first end rotating at too large an angle and affecting the stability of the movement of the driving module 113.

[0098] The limiting member 117 can be arranged in a variety of ways.

[0099] As an example, the limiting member 117 can be a limiting ring that can be mounted on the mounting beam 1113 and has an opening. The connecting rod 115 is rotatably connected to the mounting beam 1113, with the opening extending outward. When the connecting rod 115 rotates, the two opposing side walls of the opening can be located in the rotation path of the connecting rod 115, thereby limiting the rotation angle of the connecting rod 115.

[0100] In some embodiments, the first end can be rotatably mounted or inserted on the end of the mounting beam 1113, and the first end is provided with a waist-shaped hole 1155 extending along the third direction X. The limiting member 117 is inserted into the waist-shaped hole 1155 and connected to the mounting beam 1113. The limiting member 117 is suitable for abutting against the hole wall of the waist-shaped hole 1155 to limit the rotation angle of the first end, thereby limiting the rotation angle of the driving module 113, which helps to avoid the first end rotating too large an angle and affecting the stability of the movement of the driving module 113.

[0101] As an example, the first end can be rotatably mounted on the end of the mounting beam 1113 around the second rotation axis B. The first end can pass through the first through hole of the first end along the second direction Y. The first end can be rotatably mounted on the end of the mounting beam 1113 through the second through hole. The outer peripheral wall of the first end can be provided with a waist-shaped hole 1155, and the waist-shaped hole 1155 can be connected to the first through hole. The mounting beam 1113 can be provided with a plug-in hole, which can be a threaded hole. The limiter 117 can be a screw that is inserted into the plug-in hole. In this way, when the first end rotates, the limiter 117 can respectively abut against the hole walls on both sides of the waist-shaped hole 1155 along the third direction X to limit the rotation angle of the first end, thereby limiting the rotation angle of the driving module 113.

[0102] As an example, Figure 2 As shown, the first end is provided with a second protrusion 1153, and the axial direction of the second protrusion 1153 can be parallel to the second direction Y. The end surface of the mounting beam 1113 along the second direction Y can be provided with a mounting groove, and the second protrusion 1153 can be rotatably inserted into the mounting groove. The outer peripheral wall of the second protrusion 1153 can be provided with a waist-shaped hole 1155 passing through the second protrusion 1153. The outer peripheral wall of the mounting beam 1113 can be provided with a plug hole passing through the mounting beam 1113, and the plug hole can be connected to the mounting groove. The limiting member 117 can be a bolt, and the stud of the bolt can be inserted into the plug hole and the waist-shaped hole 1155. The stud can be fixed to the mounting beam 1113 by a nut. In this way, when the first end rotates, the stud can respectively abut against the hole walls on both sides of the waist-shaped hole 1155 along the third direction X to limit the rotation angle of the first end, thereby limiting the rotation angle of the driving module 113.

[0103] In some embodiments, the driving module 113 may include a first magnetic member, and the main body module 111 may include a second magnetic member. Both the first magnetic member and the second magnetic member are used to adsorb the working plane.

[0104] The first magnetic member may be connected to the third bracket 1131 , and the plurality of rollers 1133 may be disposed around the first magnetic member. The second magnetic member may be disposed on the second bracket 1111 .

[0105] The two first magnetic components of the two driving modules 113 and the second magnetic component of the main body module 111 may be distributed in a triangular pattern, which helps the robot body 110 to be more stably adsorbed on the working plane.

[0106] In some embodiments, the driving module 113 may further include a driving member 1135 . The driving member 1135 may be connected to the third bracket 1131 . A driving end of the driving member 1135 may be connected to the roller 1133 to drive the roller 1133 to move.

[0107] In the cleaning robot 100 provided in the embodiment of the present application, the cleaning robot 100 includes a connected robot body 110 and a cleaning module 130. The cleaning module 130 includes a cleaning assembly 133 and a mounting plate 131. The cleaning assembly 133 is located on the side of the mounting plate 131 facing the bottom of the cleaning robot 100 to facilitate cleaning of the working surface. The mounting plate 131 is rotatably connected to the robot body 110 about a first rotation axis A, so that the cleaning module 130 can rotate a certain angle about the first rotation axis A to adapt to working surfaces of different curvatures. The cleaning assembly 133 can better clean the working surface and improve the cleaning effect. The cleaning assembly 133 is connected to the mounting plate 131 so that it can move back and forth along a first direction Z to avoid obstacles, which helps the cleaning robot 100 move more stably and improves the obstacle-crossing performance of the cleaning robot 100.

[0108] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by a person skilled in the art without departing from the spirit of the present invention. In addition, the embodiments of the present invention and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. A cleaning robot, characterized in that: include: Robot body; as well as a cleaning module comprising a mounting plate and a cleaning assembly, wherein the mounting plate is rotatably connected to the robot body about a first rotation axis; the cleaning assembly is located on a side of the mounting plate facing the bottom of the cleaning robot and is connected to the mounting plate so as to be movable back and forth in a first direction; The first rotation axis is parallel to a second direction, the first direction is the up-down direction of the robot body, and the second direction is the left-right direction of the robot body.

2. The cleaning robot according to claim 1, characterized in that: The cleaning module further includes a guide rod and a first elastic member; The guide rod is connected to the cleaning assembly and is movably inserted into the mounting plate along a first direction, or the guide rod is connected to the mounting plate and is movably inserted into the cleaning assembly along a first direction; Wherein, the first elastic member is sleeved on the guide rod and abuts between the cleaning assembly and the mounting plate, and is used for pushing the cleaning assembly away from the mounting plate along the first direction.

3. The cleaning robot according to claim 2, characterized in that: The cleaning assembly includes a mounting ring and a brush, wherein the mounting ring is connected to the mounting plate so as to be movable back and forth along the first direction, and the guide rod is connected between the mounting ring and the mounting plate; The brush is connected to a side of the mounting ring facing the bottom of the cleaning robot.

4. The cleaning robot according to claim 1, characterized in that: The cleaning robot further includes a second elastic member and a third elastic member, one end of the second elastic member and the third elastic member are respectively connected to the left and right sides of the mounting plate along the first rotation axis, and the other ends of the second elastic member and the third elastic member are both connected to the robot body; The second elastic member and the third elastic member are both used to drive the mounting plate to rotate toward the top side of the cleaning robot.

5. The cleaning robot according to claim 1, characterized in that: The cleaning module further includes a water inlet assembly and a cleaning member, wherein the water inlet assembly is connected to the mounting plate; the cleaning member is rotatably connected to the water inlet assembly and is located on a side of the mounting plate facing the bottom of the cleaning robot; The water inlet assembly is provided with a water inlet channel, and the cleaning component is provided with a water outlet channel connected to the water inlet channel. The cleaning liquid enters the water outlet channel through the water inlet channel and is then sprayed out.

6. The cleaning robot according to claim 1, characterized in that: The robot body includes a main body module and two driving modules, and the two driving modules are respectively connected to two sides of the main body module along the second direction; The mounting plate is connected to one side of the main body module along a third direction, and the third direction is a front-to-back direction of the robot body.

7. The cleaning robot according to claim 6, characterized in that: The driving module is rotatably connected to the robot body.

8. The cleaning robot according to claim 7, characterized in that: The main body module includes a mounting beam extending along the third direction; The cleaning robot includes a connecting rod connected between the mounting beam and the driving module, the connecting rod is located in the radial direction of the mounting beam, and the connecting rod includes a first end and a second end opposite to each other; Wherein, the first end is rotatably connected to the mounting beam around a second rotation axis, and the second rotation axis is parallel to the second direction; and / or, the driving module is rotatably connected to the second end around a third rotation axis, and the third rotation axis is parallel to the third direction.

9. The cleaning robot according to claim 8, characterized in that: The robot body further includes a limiting member connected to the mounting beam and located in the rotation path of the first end, for limiting the rotation angle of the first end.

10. The cleaning robot according to claim 9, characterized in that: The first end is rotatably mounted on or inserted into the end of the mounting beam; The first end is provided with a waist-shaped hole extending along the third direction. The limiting member is inserted into the waist-shaped hole and connected to the mounting beam. The limiting member is suitable for abutting against the hole wall of the waist-shaped hole to limit the rotation angle of the first end.

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