Lateral translation mechanism and cleaning robot

Abstract

The utility model relates to the field of cleaning robots. The utility model discloses a lateral translation mechanism and a cleaning robot, the lateral translation mechanism is applied to the cleaning robot, the lateral translation mechanism comprises a lateral translation driving assembly, and the lateral translation driving assembly is connected with a wet-type cleaning piece. The lateral translation driving assembly is used for driving the wet-type cleaning piece to translate between a recovery position and an extension position; the union set of the projection of the wet-type cleaning piece on the operation surface and the projection of the bottom shell on the operation surface when the wet-type cleaning piece is located at the recovery position is larger than the union set of the projection of the wet-type cleaning piece on the operation surface and the projection of the bottom shell on the operation surface when the wet-type cleaning piece is located at the recovery position; and the translation direction of the wet cleaning piece in the operation surface intersects with the movement direction of the bottom shell. According to the lateral translation mechanism, the wet type cleaning piece can be driven to stretch out of the machine body to sweep the edge area, and the wet type cleaning piece can be driven to be recycled into the machine body.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cleaning robots, especially to a lateral translation mechanism and a cleaning robot. BACKGROUND

[0002] When the wet cleaning part of the household sweeping robot performs wet cleaning on the corner area, there is a cleaning dead angle, resulting in poor cleaning effect. INNOVATION

[0003] Therefore, the utility model provides a lateral translation mechanism and a cleaning robot.

[0004] Specifically, the technical scheme comprises the following:

[0005] In the first aspect, a lateral translation mechanism is provided, which is applied to a cleaning robot, and the cleaning robot comprises a bottom shell and a wet cleaning part; the wet cleaning part reciprocates relative to an operation surface to clean the operation surface;

[0006] The lateral translation mechanism comprises a lateral translation driving assembly, the lateral translation driving assembly is connected with the bottom shell, the lateral translation driving assembly is connected with the wet cleaning part, and the lateral translation driving assembly is used to drive the wet cleaning part to translate relative to the bottom shell between a retracted position and an extended position;

[0007] The union of the projection of the wet cleaning part on the operation surface and the projection of the bottom shell on the operation surface when the wet cleaning part is in the extended position is greater than the union of the projection of the wet cleaning part on the operation surface and the projection of the bottom shell on the operation surface when the wet cleaning part is in the retracted position;

[0008] The translation direction of the wet cleaning part relative to the bottom shell is the width direction of the cleaning robot.

[0009] Optionally, the outer contour of the wet cleaning part is a cut corner arc shape, at least part of the outer contour of the wet cleaning part is parallel to the advancing direction of the cleaning robot; and / or the number of the wet cleaning parts is one.

[0010] Optionally, the lateral translation driving assembly comprises a driving motor, a rotating assembly and a linear motion assembly, the rotating assembly and the linear motion assembly are transmissionally connected, the rotating assembly and the linear motion assembly are used to convert the rotation of the driving motor into translation; the rotating assembly is coupled with the driving shaft of the driving motor; the driving motor is installed on the bottom shell, the linear motion assembly is connected with the wet cleaning part to drive the wet cleaning part to translate, and the wet cleaning part is supported below the bottom shell.

[0011] Alternatively,

[0012] The lateral translation mechanism further comprises a translation support; the lateral translation driving assembly comprises a driving motor, a rotating assembly and a linear motion assembly, the rotating assembly and the linear motion assembly are in transmission connection, and the rotating assembly and the linear motion assembly are used for converting the rotation of the driving motor into translation; the rotating assembly is coupled with a driving shaft of the driving motor; the driving motor is installed on the bottom shell, the linear motion assembly is connected with the translation support to drive the translation support to translate, and the wet cleaning piece is supported below the translation support.

[0013] Optionally, the rotating assembly comprises a lead screw, the linear motion assembly comprises a lead screw nut, and the lead screw nut and the lead screw are in threaded connection; or the rotating assembly comprises a gear, the linear motion assembly comprises a rack, and the gear and the rack are in meshing transmission connection; or the rotating assembly comprises a first synchronous wheel and a second synchronous wheel, and the linear motion assembly comprises a synchronous belt, the synchronous belt being sleeved on the first synchronous wheel and the second synchronous wheel.

[0014] Optionally, the translation support is connected with the bottom shell through a support piece, and the support piece is fixed on the bottom shell.

[0015] A limiting hole is formed in the translation support, a central axis of the limiting hole is perpendicular to the operation surface, and a length extension direction of the limiting hole is parallel to the translation direction of the wet cleaning piece; the support piece and the limiting hole are in clamping connection, and the limiting hole translates relative to the support piece along the length extension direction of the limiting hole when the translation support translates.

[0016] Optionally, a hole wall of the limiting hole comprises a side wall, the support piece and the side wall are in rolling friction, and / or the hole wall of the limiting hole comprises a top wall, the support piece and the top wall are in rolling friction.

[0017] Optionally, the linear motion assembly further comprises a guide piece; a guide groove is arranged on the translation support, a length extension direction of the guide groove is parallel to the translation direction of the wet cleaning piece; the guide piece is located in the guide groove, and the guide piece and the guide groove are in sliding connection.

[0018] Optionally, the lateral translation mechanism further comprises a guide rod and an elastic piece; the wet cleaning piece comprises a guide plate perpendicular to the translation direction, or the translation support comprises a guide plate perpendicular to the translation direction; a length direction of the guide rod is parallel to the translation direction; a first end of the guide rod is fixedly connected with the linear motion assembly, a second end of the guide rod penetrates through the guide plate, and the guide rod and the guide plate are in sliding connection; the elastic piece is sleeved on an outer periphery of a portion of the guide rod between the linear motion assembly and the guide plate; the elastic piece is in a compressed state between the linear motion assembly and the guide plate; or the elastic piece is in a stretched state between the linear motion assembly and the guide plate.

[0019] Optionally, the lateral translation mechanism also includes a guide rod, and the linear motion component is connected to the translation bracket through the guide rod; the rotation component includes a screw rod, and the linear motion component includes a screw nut, and the screw nut and the screw rod are connected by threads; the screw nut is provided with a screw rod hole and guide rod holes on both sides of the screw rod hole, and the axis of the guide rod hole is arranged parallel to the axis of the screw rod hole; the screw rod and the screw rod hole are threadedly connected; the guide rod hole and the guide rod are arranged correspondingly, the first end of the guide rod is fixedly connected to the guide rod hole, and the second end of the guide rod is connected to the translation bracket.

[0020] Optionally, the lateral translation mechanism further comprises a position sensor, and the position sensor is used to detect whether the wet cleaning element is in the retracted position and / or whether the wet cleaning element is in the extended position.

[0021] Optionally, a mounting structure is provided on the translation bracket; the cleaning robot also includes: a lifting bracket, fixedly connected to the mounting structure; a retractable support structure, one end of the support structure is connected to the lifting bracket, and the other end is connected to the wet cleaning piece; the wet cleaning piece is supported by the lifting bracket and the support structure below the translation bracket.

[0022] Optionally, the translation bracket includes an avoidance structure for the lifting bracket, the avoidance structure includes a first avoidance groove for accommodating the lifting bracket and / or a step portion recessed toward the bottom shell, the distance between the step portion and the wet cleaning piece is greater than the distance between the non-step portion of the translation bracket and the wet cleaning piece, and an accommodating space for the lifting bracket is formed between the step portion and the wet cleaning piece.

[0023] Optionally, the lifting bracket is passed through the first avoidance groove, and the bottom shell is provided with a second avoidance groove, and the second avoidance groove is used to accommodate the lifting bracket passing through the first avoidance groove; when the wet cleaning part is translated, the lifting bracket is translated in the second avoidance groove along the length extension direction of the second avoidance groove.

[0024] Optionally, the outer contour of the wet cleaning piece is a tangent arc, and at least part of the outer contour of the wet cleaning piece is parallel to the forward direction of the cleaning robot; the projection of the translation bracket on the operating surface is a tangent arc that matches the projection of the wet cleaning piece on the operating surface.

[0025] Optionally, the translation bracket comprises a step structure of the lifting bracket, the step structure comprises a step part recessed towards the bottom shell for accommodating the lifting bracket, a distance between the step part and the wet cleaning piece is greater than a distance between a non-step part of the translation bracket and the wet cleaning piece, and an accommodation space of the lifting bracket is formed between the step part and the wet cleaning piece; an outer contour of the wet cleaning piece is a cut-angle arc shape, at least part of the outer contour of the wet cleaning piece is parallel to the advancing direction of the cleaning robot; a projection of the translation bracket on an operation surface is a cut-angle arc shape matching the projection of the wet cleaning piece on the operation surface; a projection of the bottom shell on the operation surface is a cut-angle arc shape, and the projection of the bottom shell on the operation surface and the projection of the step part of the translation bracket on the operation surface are spliced into a cut-angle arc shape matching the projection of the wet cleaning piece on the operation surface.

[0026] In a second aspect, a cleaning robot is provided, comprising the lateral translation mechanism of the first aspect, and further comprising a bottom shell and a wet cleaning piece.

[0027] The technical scheme provided by the utility model has at least the following beneficial effects:

[0028] The lateral translation mechanism of the embodiment of the application can drive the wet cleaning piece to translate from the recovery position to the extended position, so that the wet cleaning piece extends from the body to clean the corner area in a wet mode, thereby reducing the cleaning dead angle of the corner area and improving the cleaning effect of the corner area; the lateral translation mechanism can also drive the wet cleaning piece to translate from the extended position to the recovery position, so that the cleaning dead angle of the corner area is reduced while scratches on furniture or obstacles are avoided as much as possible. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 It is a structural schematic diagram of the existing cleaning robot;

[0031] Figure 2 It is a bottom view structural schematic diagram of the existing cleaning robot;

[0032] Figure 3 It is an exploded schematic diagram of the lateral translation mechanism installation structure of one embodiment of the utility model;

[0033] Figure 4 It is a structural schematic diagram of the bottom shell of one embodiment of the utility model;

[0034] Figure 5The mounting structure schematic view of the lateral translation driving assembly of one embodiment of the utility model on the bottom shell;

[0035] Figure 6 The translation support structure schematic view of one embodiment of the utility model;

[0036] Figure 7 The translation support another structure schematic view of one embodiment of the utility model;

[0037] Figure 8 The mounting structure schematic view of the support piece on the translation support of one embodiment of the utility model;

[0038] Figure 9 The support piece structure schematic view of one embodiment of the utility model;

[0039] Figure 10 The translation support structure schematic view of one embodiment of the utility model in the recycling state;

[0040] Figure 11 The translation support structure schematic view of one embodiment of the utility model in the working state;

[0041] Figure 12 The translation support structure schematic view of one embodiment of the utility model in the passive recycling state.

[0042] The reference signs in the drawing respectively represent:

[0043] 100-clean robot;110-main body;111-forward part;112-rear part;120-driving wheel module;

[0044] 1-fastener;2-bottom shell;3-elastic piece;4-guide rod;5-screw rod;6-screw rod nut;7-coupling;8-driving motor;9-motor retainer;10-circuit board;11-translation support;12-support piece;121-first fixed plate;122-second fixed plate;123-first limiting column;124-second limiting column;13-sliding roller;14-clamp spring;15-wet cleaning piece;16-motor mounting plate;17-coupling mounting hole;18-screw rod mounting hole;19-fixing hole;20-circuit board mounting hole;21-guiding hole;22-guiding groove;23-position baffle;24-limiting hole;25-matching plate;26-first mounting structure;27-second mounting structure;28-first avoiding groove;29-second lifting support;30-first lifting support;31-second avoiding groove;32-third avoiding groove.

[0045] By means of the above-mentioned drawings, one specific embodiment of the present application has been shown, and will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the present application concept in any way, but to illustrate the present application concept for the person skilled in the art by means of a specific embodiment. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without any creative effort fall within the scope of the present application.

[0047] Before the present application is further described, the orientation terms such as "upper", "lower", "side", etc. used in the embodiments of the present application are based on the orientation shown in the drawings, and do not have the meaning of limiting the scope of the present application. Figure 1

[0048] In order to make the technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0049] Embodiment One

[0050] The popularity of automatic cleaning robots in user households is getting higher and higher, which greatly simplifies the daily cleaning work. As shown in Figures 1-2 A cleaning robot 100, such as a sweeping robot, a mopping robot, and a sweeping and mopping integrated robot, can automatically travel on an operating surface to clean the operating surface. The operating surface can be a floor surface, a tile surface, a carpet, etc. The carpet can include a short-pile carpet and a long-pile carpet, etc. The operating surface can be a horizontal surface, a vertical surface, an inclined surface, etc.

[0051] The cleaning robot 100 usually includes a main body 110, a sensing module, a controller, a driving module, a cleaning system, an energy system, and a human-computer interaction module, etc. As shown in Figure 1 The main body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (circular in front and rear), or can have other shapes, including but not limited to an approximately D-shaped shape with a circular rear and a rectangular or square shape with a circular front and rear. The main body 110 includes a bottom shell.

[0052] ​The perception module includes a position determining device on the main body 110, a collision sensor disposed on the front collision structure of the front portion 111 of the main body 110, a wall sensor on the side of the machine, a cliff sensor disposed on the lower portion of the main body 110, and a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices disposed inside the main body 110, for providing various position information and motion state information of the machine to the controller. In addition, the position determining device can also be used to determine the information of the obstacle, such as the height, width, and other size information of the obstacle, to determine whether the robot can cross. The position determining device includes but is not limited to a camera and a laser distance sensor (LDS). In some preferred implementations, the position determining device (such as a camera and a laser sensor) is located on the front side of the main body 110, that is, the frontmost end of the front portion 111, so as to more accurately sense the environment in front of the cleaning robot and achieve accurate positioning.

[0053] The controller is disposed on the circuit board in the main body 110, and includes a communication processor, such as a central processing unit and an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory. The application processor uses a positioning algorithm, such as simultaneous localization and mapping (SLAM), to draw an instant map of the environment in which the cleaning robot 100 is located, according to the obstacle information fed back by the laser distance sensor. In combination with the distance information and speed information fed back by the sensors, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and other sensing devices disposed on the front collision structure, the cleaning robot 100 can comprehensively determine the current working state, the position, and the current pose of the cleaning robot 100, such as crossing the threshold, being on the carpet, being at the cliff, being stuck above or below, the dust box being full, being picked up, and the like. The cleaning robot 100 can also give specific next action strategies for different situations, so as to have better cleaning performance and user experience.

[0054] The drive module can maneuver the body 110 across the ground based on drive commands having distance and angle information. The drive module includes drive wheel modules 120 that can control left and right drive wheels, and preferably include left and right drive wheel modules, respectively, for more precise control of the robot's motion. The left and right drive wheel modules are disposed along a lateral axis defined by the body 110. To enable the cleaning robot 100 to move more stably or with more power across the ground, the cleaning robot 100 can include one or more idler wheels, including but not limited to a caster wheel. The drive wheel modules include drive motors and control circuitry to control the drive motors, and can also be connected to circuitry to measure drive current and an odometer. The left and right drive wheels can also have a biased drop suspension system that is movably secured, e.g., rotatably attached to the body 110, and receives a spring bias that biases downward and away from the body 110. The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain amount of ground force, while the cleaning elements of the cleaning robot 100 also contact the ground with a certain amount of pressure.

[0055] The cleaning system can include a dry cleaning system and / or a wet cleaning system. The dry cleaning system can include a roller brush, a dust bin, a fan, and an air outlet. The roller brush, which has a certain interference with the ground, sweeps up the garbage on the ground and brings it to the front of the suction port between the roller brush and the dust bin, and then the garbage is sucked into the dust bin by the suction of the gas generated by the fan and passing through the dust bin. The dry cleaning system can also include a side brush having a rotating shaft at an angle with respect to the ground for moving debris into the roller brush area of the cleaning system.

[0056] The wet cleaning system can include a wet cleaning element 15, a lifting unit, a water delivery mechanism, a liquid storage tank, etc. The wet cleaning element 15 can be disposed below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the wet cleaning element 15 by the water delivery mechanism, so that the wet cleaning element 15 performs wet cleaning on the operating surface. In some preferred embodiments, the cleaning liquid inside the liquid storage tank can also be directly sprayed onto the cleaning surface, and the wet cleaning element 15 cleans the surface by evenly applying the cleaning liquid.

[0057] For example, when the cleaning robot 100 docks at the base station to clean the wet cleaning element 15, or when it encounters an operating surface that cannot be cleaned by the wet cleaning element 15, the wet cleaning element 15 temporarily does not participate in work.

[0058] The wet cleaning member 15 can be mounted on the bottom of the rear portion of the main body 110, for example.

[0059] The wet cleaning member 15 can include a mop plate and a mop arranged on the mop plate. The wet cleaning system can further include a reciprocating driving unit to drive the mop to reciprocate at a high frequency to generate high-frequency friction with the operation surface, thereby removing stains on the operation surface. The mop plate can include a mop plate body and a support portion, and the mop plate body can be detachably connected to the support portion, and the mop can be arranged on the mop plate body. The lifting unit can include a lifting driving unit, a lifting bracket, and a telescopic support structure (e.g., a linkage support structure, a scissor support structure, a mast support structure, a sleeve support structure, or a parallelogram telescopic support structure). The support structure is taken as a linkage pair for example. When the support structure is a linkage pair, the lifting driving unit can include a motor, a spool, and a rope. The motor is used to control the winding length of the rope on the spool, thereby controlling the distance between the wet cleaning member and the bottom of the main body. The wet cleaning member 15 can be mounted on the bottom of the main body 110 by the lifting bracket. When the wet cleaning member 15 is usually mounted on the tail of the robot, the wet cleaning member 15 can be mounted on the bottom of the rear portion of the main body 110 by the lifting bracket. The two ends of the linkage pair are respectively hinged to the lifting bracket and the wet cleaning member 15 (e.g., the support portion of the wet cleaning member 15), and the lifting driving unit drives the wet cleaning member 15 to lift relative to the lifting bracket. The lifting unit can be arranged on the side of the support portion away from the operation surface.

[0060] The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are connected with a single-chip microcomputer control circuit. The main machine is connected with a charging pile through a charging electrode arranged on the side or the bottom of the machine body to be charged.

[0061] The human-computer interaction module includes keys on the host panel, which are used by the user to select functions; it can also include a display screen and / or an indicator light and / or a loudspeaker, which show the user the current mode of the machine or the function selection item; it can also include a mobile phone client program. For a path navigation type automatic cleaning robot 100, the mobile phone client can show the user a map of the environment in which the device is located, as well as the location of the machine, and can provide the user with more rich and personalized function items. Specifically, the cleaning robot has multiple modes, such as a working mode, a self-cleaning mode, etc. Among them, the working mode refers to the mode in which the cleaning robot performs automatic cleaning work, and the self-cleaning mode refers to the mode in which the cleaning robot removes dirt on the roller brush and the side brush on the base, and automatically collects the dirt, and / or automatically washes and dries the mop.

[0062] For the sake of convenience of description, the following directional definitions are made: the cleaning robot 100 can be calibrated by defining the following three mutually perpendicular axes: the lateral axis Y, the front-rear axis X and the vertical axis Z. The direction along which the arrow of the front-rear axis X points is marked as "rearward", and the direction opposite to the arrow direction of the front-rear axis X is marked as "forward". The lateral axis Y is essentially the direction along the width of the cleaning robot 100, and the arrow direction along the lateral axis Y is marked as "leftward", and the arrow direction opposite to the lateral axis Y is marked as "rightward". The direction perpendicular to the front-rear axis X and the lateral axis Y is the direction of the vertical axis Z.

[0063] As shown in Figure 2 , the wet cleaning element 15 is arranged at the tail of the cleaning robot, and when cleaning the corner, even if the main body travels along the corner, due to the shape limitation of the cleaning robot, the mop area of the wet cleaning element 15 is away from the wall forming the corner, so that there is a cleaning dead angle along the corner area. This problem is particularly significant when the wet cleaning element 15 is a single wet cleaning element that cleans by reciprocating relative to the operating surface.

[0064] As shown in Figure 3 , Figure 10 , Figure 11As shown, the embodiment of the present application provides a lateral translation mechanism applied to a cleaning robot, the cleaning robot comprising a bottom shell 2 and a wet cleaning element 15; the wet cleaning element 15 reciprocates relative to an operating surface to clean the operating surface; the lateral translation mechanism comprises a lateral translation driving assembly, the lateral translation driving assembly is connected with the bottom shell 2 and the wet cleaning element 15, and the lateral translation driving assembly is used to drive the wet cleaning element 15 to translate relative to the bottom shell 2 between a retracted position and an extended position; the union of the projection of the wet cleaning element 15 on the operating surface and the projection of the bottom shell 2 on the operating surface when the wet cleaning element 15 is in the extended position is greater than the union of the projection of the wet cleaning element 15 on the operating surface and the projection of the bottom shell 2 on the operating surface when the wet cleaning element 15 is in the retracted position; and the translation direction of the wet cleaning element 15 relative to the bottom shell 2 is the width direction of the cleaning robot.

[0065] The bottom shell 2 can be the bottom of the main body of the cleaning robot. The wet cleaning element 15 can perform various movements in the operating surface, for example, on the one hand, the wet cleaning element 15 can be translated or rotated in the operating surface under the drive of the bottom shell 2, at this time, the center of the wet cleaning element 15 is stationary relative to the bottom shell 2 (not considering the high-frequency reciprocating motion of the wet cleaning element 15); on the other hand, the wet cleaning element 15 can be translated in the operating surface relative to the bottom shell 2 under the drive of the lateral translation mechanism, the translation of the wet cleaning element 15 relative to the bottom shell 2 is between the retracted position and the extended position, and the translation direction is the width direction of the cleaning robot. It can be understood that when the wet cleaning element 15 is translated relative to the bottom shell 2 from the retracted position to the extended position, the wet cleaning element 15 is translated outward of the bottom shell 2 along the width direction of the cleaning robot; when the wet cleaning element 15 is translated relative to the bottom shell 2 from the extended position to the retracted position, the wet cleaning element 15 is translated inward of the bottom shell 2 along the width direction of the cleaning robot, thus, relative to the front-back moving direction of the cleaning robot, the translation direction of the wet cleaning element 15 relative to the bottom shell 2 is lateral translation.

[0066] It can be understood that the translation of the wet cleaning element 15 relative to the bottom shell 2 can be performed while the wet cleaning element 15 is translated or rotated in the operating surface under the drive of the bottom shell 2, or can be performed when the center of the wet cleaning element 15 is stationary relative to the bottom shell 2.

[0067] In the embodiment, the wet cleaning element 15 moves relative to the bottom shell 2 by translation rather than oscillation, and the structure of the lateral translation driving assembly used to drive the wet cleaning element 15 to move relative to the bottom shell 2 is simpler.

[0068] The lateral translation driving assembly drives the wet cleaning element 15 to extend or retract relative to the bottom shell 2 in the operating surface, when the wet cleaning element 15 needs to clean the edge corner area, the lateral translation driving assembly drives the wet cleaning element 15 to extend out of the bottom shell 2 (for example,Figure 11 When the side corner needs to be cleaned, the lateral translation driving assembly drives the wet cleaning member 15 to extend out of the bottom shell 2 (as shown in FIG. 2B) to clean the side corner. When the side corner does not need to be cleaned, for example, when the wet cleaning member 15 needs to clean the open area, the lateral translation driving assembly drives the wet cleaning member 15 to retract below the bottom shell 2 (as shown in FIG. 2A). Figure 10

[0069] When the wet cleaning member 15 is in the extended position, the extent to which the wet cleaning member 15 extends out of the bottom shell 2 can be determined as needed. The length by which the wet cleaning member 15 extends out of the bottom shell 2 is matched with the position of the cleaning robot 100, so that the mop of the wet cleaning member 15 has a certain amount of interference with the side corner. If the wet cleaning member 15 extends out of the bottom shell 2 too short, the cleaning effect on the side corner area is limited. If the wet cleaning member 15 extends out of the bottom shell 2 too long, it is difficult to ensure the collimation and controllability of translation, and it is also easy to collide with or be stuck by obstacles. When the wet cleaning member 15 is in the extended position, the part of the wet cleaning member 15 that extends out can account for 1 / 10-1 / 2 of the total length of the wet cleaning member 15 in the width direction of the cleaning robot.

[0070] For example, referring to FIG. 2A, when the wet cleaning member 15 is in the retracted position, the projection of the wet cleaning member 15 on the operation surface is equal to the projection of the bottom shell 2 on the operation surface; that is, the wet cleaning member 15 is completely below the bottom shell 2. Figure 10 For example, referring to FIG. 2B, when the wet cleaning member 15 is in the extended position, the projection of the wet cleaning member 15 on the operation surface is equal to the projection of the bottom shell 2 on the operation surface; that is, the wet cleaning member 15 is at least partially extended below the bottom shell 2. The union of the projection of the wet cleaning member 15 on the operation surface and the projection of the bottom shell 2 on the operation surface is the projection of the part of the wet cleaning member 15 that extends out of the bottom shell 2 on the operation surface plus the projection of the bottom shell 2 on the operation surface. Figure 11

[0071] For example, the bottom shell 2 can include a bottom surface and a side surface, the bottom surface and the side surface of the bottom shell 2 form a cavity, and a gap can be provided on the side surface of the bottom shell 2. In the retracted position, the lateral translation driving assembly and the wet cleaning member 15 are located in the cavity, and when needed, the wet cleaning member 15 extends out through the gap. In this way, the cleaning robot is better encapsulated and has better integration. For example, the bottom shell 2 can only include a bottom surface, and the lateral translation driving assembly and the wet cleaning member 15 are located outside the bottom shell 2.

[0072] ​​For example, the outer contour of the wet cleaning member 15 can be substantially consistent with the outer contour of the bottom shell 2. For example, the outer contour of the wet cleaning member 15 includes a first outer edge arc, and the outer contour of the bottom shell 2 includes a second outer edge arc, the first outer edge arc and the second outer edge arc are coaxially arranged, and the first outer edge arc and the second outer edge arc have the same radius. Specifically, the outer contour of the wet cleaning member 15 and the outer contour of the bottom shell 2 can both be arc-shaped, but the chord length of the first outer edge arc corresponding to the arc-shaped outer contour of the wet cleaning member 15 is slightly longer than the chord length of the second outer edge arc corresponding to the arc-shaped outer contour of the bottom shell 2, and the projection of the first outer edge arc on the operation surface coincides with the projection of the second outer edge arc on the operation surface.

[0073] Alternatively, for example, the outer contour of the wet cleaning member 15 can be inconsistent with the outer contour of the bottom shell 2. For example, the outer contour of the bottom shell 2 is arc-shaped or circular, and the outer contour of the wet cleaning member 15 is rectangular.

[0074] For example, the outer contour of the wet cleaning member 15 can be a cut-angle arc, and at least part of the outer contour of the wet cleaning member 15 is parallel to the advancing direction of the cleaning robot 100. Specifically, a part of the arc-shaped outer side of the wet cleaning member 15 is cut off on the side close to the edge corner, so that the outer contour of the side of the wet cleaning member 15 close to the edge corner is parallel to the advancing direction of the cleaning robot, instead of being circular arc-shaped. In this way, the dead angle that cannot be covered by the wet cleaning member 15 when cleaning the edge corner can be reduced. For example, in order to ensure the overall symmetry of the cleaning robot, the cut-angle can be performed on both sides of the wet cleaning member 15 along the Y-axis direction. In order to match the outer contour of the bottom shell 2 with the outer contour of the wet cleaning member 15, the bottom shell 2 can be cut-angle on one side or both sides along the Y-axis direction.

[0075] For example, for the cleaning robot in which the wet cleaning member 15 needs to be translated relative to the bottom shell 2, a lateral translation driving assembly needs to be added in the cleaning robot 100, and the wet cleaning member 15 is connected to the bottom shell 2 through the lateral translation driving assembly. It can be understood that, in the Z-axis direction, the distance from the bottom surface of the bottom shell 2, the lateral translation driving assembly and the wet cleaning member 15 to the operation surface is gradually decreasing, that is, the bottom surface of the bottom shell 2 is farthest from the operation surface, and the wet cleaning member 15 is closest to the operation surface.

[0076] For example, the lateral translation driving assembly includes two ends, one end A does not translate relative to the bottom shell 2, and the other end B can translate relative to the bottom shell 2, and the wet cleaning member 15 is directly or indirectly connected to the end B. In this way, the lateral translation driving assembly can drive the wet cleaning member 15 to translate relative to the bottom shell 2.

[0077] Exemplarily, the wet cleaning member 15 is capable of moving relative to the bottom shell 2, and the wet cleaning member 15 is connected to the B end through a lifting support, and a lifting driving part drives the wet cleaning member 15 to move relative to the lifting support. Exemplarily, the lifting support is fixedly connected to the B end and is connected to one end of a connecting rod pair through a shaft, and the other end of the connecting rod pair is connected to the wet cleaning member 15 through a shaft. Exemplarily, the wet cleaning member 15 can be a vibration mopping assembly, which is capable of mopping and high-frequency vibration (i.e., high-frequency reciprocating motion relative to the operation surface) at the same time, so as to more efficiently remove stubborn stains on the cleaning surface.

[0078] Exemplarily, the wet cleaning member 15 is part or all of the wet cleaning members carried on the cleaning robot, for example, two wet cleaning members are carried on the cleaning robot, one of which is capable of moving relative to the bottom shell 2, and the other of which is incapable of moving relative to the bottom shell 2.

[0079] Exemplarily, the wet cleaning member 15 is capable of moving out in one direction relative to the bottom shell 2, for example, the wet cleaning member 15 is capable of moving out to the right relative to the bottom shell 2. Exemplarily, two wet cleaning members 15 are carried on the cleaning robot, one of which is capable of moving out to the right relative to the bottom shell 2, and the other of which is capable of moving out to the left relative to the bottom shell 2.

[0080] Exemplarily, one wet cleaning member 15 is provided, and the wet cleaning member 15 is the only wet cleaning member carried on the cleaning robot, that is, when sweeping an open area, the wet cleaning member 15 is in the retracted position, and when sweeping a corner area, the wet cleaning member 15 is in the extended position. In this way, an additional wet cleaning member 15 is not required to clean the corner, which on the one hand makes the structure and control system of the cleaning robot simpler, and on the other hand avoids different cleaning effects or different cleaning marks (such as water stains) left by different wet cleaning members 15 on the operation surface.

[0081] Specifically, the process of moving the wet cleaning member 15 by the lateral translation driving assembly can be controlled by the control module of the cleaning robot. When the cleaning robot identifies that the sweeping area is a corner area, the control module controls the lateral translation driving assembly to drive the wet cleaning member 15 to move from the retracted position to the extended position. When the cleaning robot identifies that the corner area has been swept, the control module controls the lateral translation driving assembly to drive the wet cleaning member 15 to move from the extended position to the retracted position.

[0082] The lateral translation mechanism of the embodiment of the present application is capable of directly or indirectly driving the wet cleaning member 15 to move from the retracted position to the extended position, so as to extend the wet cleaning member 15 out of the bottom shell 2 to sweep the corner area, and the lateral translation mechanism is also capable of driving the wet cleaning member 15 to retract into the body, which can clean the corner area without leaving dead angles and can avoid scratching furniture.

[0083] Preferably, in the first embodiment, the lateral translation driving assembly comprises a driving motor 8, a rotating assembly and a linear motion assembly, the rotating assembly and the linear motion assembly are drivingly connected, and the rotating assembly and the linear motion assembly are used to convert the rotation of the driving motor 8 into translation. The rotating assembly is coupled with the driving shaft of the driving motor 8, the driving motor 8 is mounted on the bottom shell 2, and the linear motion assembly is connected with the wet cleaning piece 15. The bottom shell 2 is provided with a motor mounting structure on the lower surface thereof, and the driving motor 8 is mounted on the motor mounting structure. The lateral translation driving assembly is used to drive the wet cleaning piece 15 to translate between the retracted position and the extended position. The linear motion assembly is connected with the wet cleaning piece to drive the wet cleaning piece to translate, and the wet cleaning piece is supported below the bottom shell.

[0084] Preferably, in the second embodiment, as shown in Figure 3 , Figure 5 and Figure 7 , in addition to the lateral translation driving assembly, the lateral translation mechanism further comprises a translation bracket 11. The lateral translation driving assembly comprises a driving motor 8, a rotating assembly and a linear motion assembly, the rotating assembly and the linear motion assembly are drivingly connected, and the rotating assembly and the linear motion assembly are used to convert the rotation of the driving motor 8 into translation. The rotating assembly is coupled with the driving shaft of the driving motor 8, the driving motor 8 is mounted on the bottom shell 2, the linear motion assembly is connected with the translation bracket 11, the translation bracket 11 is translationally connected with the bottom shell 2, and the linear motion assembly drives the translation bracket 11 to translate relative to the bottom shell 2. The translation bracket 11 is connected with the wet cleaning piece 15. The lateral translation driving assembly is used to drive the translation bracket 11 to drive the wet cleaning piece 15 to translate between the retracted position and the extended position. In the Z-axis direction, the distance between the bottom surface of the bottom shell 2, the lateral translation driving assembly, the translation bracket 11 and the wet cleaning piece 15 and the operation surface gradually decreases, that is, the bottom surface of the bottom shell 2 is farthest from the operation surface, and the wet cleaning piece 15 is closest to the operation surface. For example, when the wet cleaning piece 15 and the bottom shell 2 can be relatively lifted and lowered, the wet cleaning piece 15 is lifted and lowered relative to the bottom shell 2, and the translation bracket 11 does not move in the Z-axis direction relative to the bottom shell 2. The linear motion assembly is connected with the translation bracket to drive the translation bracket to translate, and the wet cleaning piece is supported below the translation bracket. For example, the translation bracket 11 is provided with mounting holes for the driving motor 8 and the rotating assembly, so as to mount the driving motor on the bottom shell.

[0085] Specifically, the rotating assembly and the linear motion assembly in the above embodiments are described as follows:

[0086] In the first embodiment, the rotating assembly comprises a screw rod 5, the linear motion assembly comprises a screw nut 6, and the screw nut 6 and the screw rod 5 are connected through threads. In the first embodiment, the screw rod 5 is connected with the driving shaft of the driving motor 8, and the wet cleaning element 15 is connected with the screw nut 6. In the second embodiment, the screw rod 5 is connected with the driving shaft of the driving motor 8, the translation bracket 11 is connected with the screw nut 6, and the wet cleaning element 15 is connected with the translation bracket 11. Further, the lateral translation driving assembly further comprises a coupling 7, the screw rod 5 is connected with the driving shaft of the driving motor 8 through the coupling 7, so that the screw rod 5 can rotate synchronously with the driving shaft of the driving motor 8.

[0087] In the second embodiment, the rotating assembly comprises a gear, the linear motion assembly comprises a rack, and the gear and the rack are connected through meshing transmission. In the first embodiment, the gear is connected with the driving shaft of the driving motor 8, and the wet cleaning element 15 is connected with the rack. In the second embodiment, the gear is connected with the driving shaft of the driving motor 8, the translation bracket 11 is connected with the rack, and the wet cleaning element 15 is connected with the translation bracket 11.

[0088] In the third embodiment, the rotating assembly comprises a first synchronous wheel and a second synchronous wheel, and the linear motion assembly comprises a synchronous belt, the synchronous belt being sleeved on the first synchronous wheel and the second synchronous wheel. In the first embodiment, the first synchronous wheel is connected with the driving shaft of the driving motor 8, the second synchronous wheel is rotationally connected with the bottom shell 2, and the wet cleaning element 15 is connected with the synchronous belt. In the second embodiment, the first synchronous wheel is connected with the driving shaft of the driving motor 8, the first synchronous wheel is a driving wheel, the second synchronous wheel is rotationally connected with the bottom shell 2, the second synchronous wheel is a driven wheel, the translation bracket 11 is connected with the synchronous belt, and the wet cleaning element 15 is connected with the translation bracket 11. Under the driving of the driving motor 8, the first synchronous wheel, the second synchronous wheel, the synchronous belt, the wet cleaning element 15 and the translation bracket 11 rotate synchronously.

[0089] Specifically, the staff can select any one of the first embodiment, the second embodiment, the third embodiment or other possible lateral translation driving assembly schemes according to the needs.

[0090] For example, the first embodiment is applied on the basis of the second embodiment. In a specific embodiment, the lateral translation mechanism further comprises a guide rod 4, the screw nut 6 and the screw rod 5 are connected through threads, and the translation bracket 11 is connected with the wet cleaning element 15. The first end of the guide rod 4 is connected with the screw nut 6, and the second end of the guide rod 4 is connected with the translation bracket 11. The first end of the guide rod 4 and the screw nut 6 are fixedly connected through threads or fastened through two nuts, and the second end of the guide rod 4 and the translation bracket 11 can be fixedly connected through threads or fastened through two nuts, so as to realize the synchronous and same-direction movement of the guide rod 4 and the translation bracket 11.

[0091] In a specific embodiment, the first embodiment described above is applied on the basis of the second embodiment, and in a specific embodiment, as shown in Figure 3 and Figure 7 The lateral translation mechanism further comprises a guide rod 4 and an elastic member 3, and the length direction of the guide rod is parallel to the translation direction. The elastic member 3 can be a spring. The lead screw nut 6 and the lead screw 5 are connected through threads, and the translation bracket 11 and the wet cleaning member 15 are connected. The wet cleaning member comprises a guide plate perpendicular to the translation direction, or the translation bracket 11 is provided with a guide plate perpendicular to the translation direction. The first end of the guide rod 4 is fixedly connected with the linear motion assembly, the second end of the guide rod 4 penetrates the guide plate, and the guide rod and the guide plate are in sliding connection; the elastic member 3 is sleeved on the outer periphery of the portion of the guide rod 4 between the linear motion assembly and the guide plate; the elastic member 3 is in a compressed state between the linear motion assembly and the guide plate; or the elastic member is in a stretched state between the linear motion assembly and the guide plate.

[0092] Specifically, the first end of the guide rod 4 is connected to the screw nut 6, and the second end of the guide rod 4 extends through the guide plate. The guide rod 4 and the guide plate are slidably connected. The elastic member 3 is sleeved around the outer periphery of the guide rod 4 located between the screw nut 6 and the guide plate. Specifically, the guide plate is provided with a guide hole 21, and the second end of the guide rod 4 extends through the guide hole 21. The guide rod 4 and the guide plate are slidably connected. When the wet cleaning element 15 is in the retracted position, the elastic member 3 is in a compressed state between the screw nut 6 and the guide plate; alternatively, the elastic member 3 is in a stretched state between the screw nut 6 and the guide plate. This compressed or stretched state can be slight (hereinafter referred to as the stretched state, i.e., a certain preload is applied to the elastic member in the free state). The elastic force generated in this compressed or stretched state balances the friction between the cleaning robot and the operating surface, thereby preventing the wet cleaning element 15 from translating relative to the bottom housing 2. The screw nut 6 moves linearly on the lead screw, thereby driving the translation bracket 11 to also move linearly, thereby driving the wet cleaning element 15 to translate from the retracted position to the extended position. For example, when the wet cleaning element 15 is in the retracted position, the elastic element 3 is in a compressed state between the screw nut 6 and the guide plate; at this time, the screw nut 6 undergoes linear motion in a direction closer to the guide plate, causing the elastic element 3 to be further compressed between the screw nut 6 and the guide plate. The elastic force generated at this time is greater than the friction force between the cleaning robot and the operating surface, and the translation bracket 11 undergoes linear motion under the action of the elastic force, thereby driving the wet cleaning element 15 to translate relative to the bottom shell 2. For another example, when the wet cleaning element 15 is in the retracted position, the elastic element 3 is in a stretched state between the screw nut 6 and the guide plate; at this time, the screw nut 6 undergoes linear motion in a direction away from the guide plate, causing the elastic element 3 to be further stretched between the screw nut 6 and the guide plate. The elastic force generated at this time is greater than the friction force between the cleaning robot and the operating surface, and the translation bracket 11 undergoes linear motion under the action of the elastic force, thereby driving the wet cleaning element 15 to translate relative to the bottom shell 2. By providing the elastic member 3, when the wet cleaning assembly is in the extended position and encounters an obstacle, the elastic member 3 generates elastic force under the reaction force of the obstacle, passively avoiding the obstacle. The specific process of passive recovery will be described later.

[0093] For example, Figure 4 and Figure 5 As shown, in this embodiment, the lower surface of the bottom shell 2 is provided with a motor mounting structure and a screw rod 5 mounting structure. The lower surface of the bottom shell 2 may also be provided with a coupling 7 mounting structure. Exemplarily, the motor mounting structure includes a motor mounting plate 16 and a motor holder 9. The motor mounting plate 16 is provided with a plurality of motor mounting holes. Exemplarily, the coupling 7 mounting structure includes a coupling mounting hole 17. Exemplarily, the screw rod 5 mounting structure includes a screw rod mounting hole 18. The coupling mounting hole 17 and the screw rod mounting hole 18 are coaxially arranged.

[0094] Further, as shown in Figure 3 and Figure 5 The driving motor 8 is arranged in the motor holder 9, which is connected through the fastener 1 and the motor mounting hole. The coupling 7 is mounted in the coupling mounting hole 17, and the coupling 7 can rotate relative to the coupling mounting hole 17. One end of the lead screw 5 is connected to the coupling 7, and the other end is mounted in the lead screw mounting hole 18, and the lead screw 5 can rotate relative to the lead screw mounting hole 18. The lead screw nut 6 is arranged on the lead screw 5, and the axis of the lead screw 5 is arranged parallel to the operation surface. When the driving motor 8 drives the lead screw 5 to rotate through the coupling 7, the lead screw nut 6 moves along the axis of the lead screw 5 to realize the movement of the translation bracket 11 and the wet cleaning element 15 in the operation surface.

[0095] Further, as shown in Figures 3 to 7 The translation bracket 11 is provided with a holder hole, and the motor holder 9 is arranged in the holder hole. The length of the holder hole in the translation direction of the translation bracket 11 is adapted to the translation distance of the translation bracket 11 to prevent the motor holder 9 from hindering the translation of the translation bracket 11. This arrangement can effectively reduce the overall thickness and volume of the cleaning robot, and facilitate the entry into low space such as the bottom of the bed.

[0096] Specifically, as shown in Figure 3 and Figure 7 The linear motion assembly is connected to the translation bracket 11 through the guide rod 4, the rotating assembly includes the lead screw 5, the linear motion assembly includes the lead screw nut 6, and the lead screw nut 6 and the lead screw 5 are connected through threads. The lead screw nut 6 includes a main plate (which can be perpendicular to the Y direction) and a side plate (which can be perpendicular to the Y direction), and the side plate is provided with two, and the two side plates are distributed on both sides of the main plate along the X axis direction. The main plate is provided with a lead screw hole, and the lead screw 5 and the lead screw hole are threadedly connected. The side plate is provided with a guide rod hole, and the guide rod hole and the guide rod 4 are correspondingly arranged. The axis of the guide rod hole and the axis of the lead screw hole are arranged in parallel, and the first end of the guide rod 4 and the lead screw nut 6 are connected, including that the first end of the guide rod 4 and the guide rod hole are connected. It can be understood that when the side plate is provided with two, the guide rod 4 is also two.

[0097] Further, as shown in Figure 7 After the first end of the guide rod 4 penetrates the guide rod hole, a circlip 14 is arranged on the first end of the guide rod 4 to prevent the guide rod 4 from coming out of the guide rod hole.

[0098] Further, as shown in Figure 6 Since the lead screw nut 6 has a movement along the axis of the lead screw 5, the length of the guide rod 4 needs to be greater than the distance between the guide hole 21 and the guide rod hole to prevent the second end of the guide rod 4 from coming out of the guide hole 21.

[0099] Furthermore, in other embodiments, the elastic member 3 can use a compression spring or a tension spring 3 or other elastic parts as needed, and cooperate with the lateral translation drive assembly to realize the extension or retraction of the wet cleaning member 15. If necessary, the setting direction of the lateral translation drive assembly can be reasonably adjusted.

[0100] Preferably, the linear motion assembly further includes a guide member. A guide slot 22 is provided on the translational support 11. The length of the guide slot 22 extends parallel to the translational direction of the wet cleaning element 15 (i.e., the Y direction), and the central axis of the guide slot 22 is perpendicular to the operating surface. The guide member is positioned within the guide slot 22 and is slidably connected to the guide slot 22. For example, the guide member may protrude from the main body of the linear motion assembly and extend into the guide slot 22. In this manner, the linear motion of the translational support 11 is guided by restricting the movement of the guide member within the guide slot 22.

[0101] Preferably, Figure 3 and Figure 5 As shown, the guide member is a guide column on the side plate, and the axis of the guide column is in the Z-axis direction. Figure 6 As shown, a guide groove 22 is provided on the translation bracket 11, and the guide column and the guide groove 22 are slidably connected.

[0102] Specifically, the guide groove 22 is elongated and extends along the translational direction of the wet cleaning element 15. The length of the guide groove 22 must meet the required travel distance of the lead screw nut 6. The guide groove 22 acts as a limiter for the movement of the lead screw nut 6 within the operating surface. Furthermore, during the active retraction process of the wet cleaning element 15 (which will be described later), the guide member contacts the target end sidewall of the guide groove. The relative position between the target end sidewall of the guide groove and the guide member is the same as that between the retracted position and the extended position. Driven by the guide member, the translation bracket 11 translates from the extended position to the retracted position.

[0103] Specifically, such as Figure 3 As shown, the guide post is inserted into the guide slot 22, which restricts the forward and backward and left and right movement of the lead screw nut 6. To prevent the guide post from disengaging from the guide slot 22 and to limit the vertical movement of the lead screw nut 6, a stop screw is provided on the guide post. After the guide post is inserted into the guide slot 22, the stop screw is located below the translation bracket 11 and is mounted on the guide post. The provision of the guide slot 22 also reduces the overall thickness and size of the cleaning robot, making it easier to enter low spaces such as under beds.

[0104] Specifically, the number of guide posts can be adjusted according to needs. In this embodiment, two guide posts are provided on each side plate.

[0105] Preferably, Figure 3 、 Figure 8 andFigure 9 As shown, the translation bracket 11 is connected to the bottom shell 2 through the support 12, and the support 12 is fixed on the bottom shell 2. The translation bracket 11 is provided with a limiting hole 24, and the central axis of the limiting hole 24 is perpendicular to the operation surface, and the length extension direction of the limiting hole 24 is parallel to the translation direction of the wet cleaning element 15. The support 12 and the limiting hole 24 are clamped, and when the translation bracket 11 translates, the limiting hole 24 translates relative to the support 12 along the length extension direction of the limiting hole 24. In this way, the linear motion of the translation bracket 11 can be guided by limiting the relative motion of the support 12 in the limiting hole 24. Specifically, the support 12 is provided with four, and the four supports 12 are respectively fixed on the bottom shell 2 to ensure the stability of the translation bracket 11 when it translates relative to the bottom shell 2.

[0106] For example, the hole wall of the limiting hole includes a side wall, and the support and the side wall roll friction, and / or the hole wall of the limiting hole includes a top wall, and the support and the top wall roll friction. In this way, limiting and guiding can be performed from one direction or from two mutually perpendicular directions, so that the translation is more accurate and stable. For example, the limiting hole including a side wall and a top wall can be a through hole, and on this basis, the through hole has a half top surface to form a top wall. For example, the support rolling friction from two mutually perpendicular directions can be that the support contains a roller structure in two mutually perpendicular directions.

[0107] Specifically, the support 12 includes a limiting bracket and at least one friction element rotatably connected to the limiting bracket, and the friction element can rotate circumferentially around the axis of the friction element; for example, Figure 6 As shown, the translation bracket 11 is provided with a limiting hole 24 and a matching plate 25, the matching plate 25 is arranged on the limiting hole 24, the matching plate 25 is parallel to the operation surface, and the matching plate 25 is located on the side of the limiting hole 24 away from the operation surface. The limiting bracket includes a first fixed plate 121 and a second fixed plate 122, the first fixed plate 121 and the second fixed plate 122 are arranged vertically, the first fixed plate 121 is arranged parallel to the bottom shell 2 and connected to the bottom shell 2, the first fixed plate 121 is provided with a first limiting column 123, the second fixed plate 122 is provided with a second limiting column 124, the axis of the first limiting column 123 and the axis of the second limiting column 124 are arranged vertically, and the axis of the second limiting column 124 is arranged parallel to the operation surface. The first limiting column 123 is in sliding connection with the hole wall of the limiting hole 24, and the second limiting column 124 is in sliding connection with the matching plate 25.

[0108] Specifically, as shown in the figure, Figure 3As shown, when installed, the support 12 is installed into the limiting hole 24 from below the translation bracket 11, the first fixed plate 121 is parallel to the bottom shell 2, the first limiting column 123 abuts against the hole wall of the limiting hole 24, and the second limiting column 124 abuts against the bottom surface of the matching plate 25. The first fixed plate 121 is provided with a fastening hole, the bottom shell 2 is provided with a fixed hole 19 matched with the fastening hole, and the first fixed plate 121 and the bottom shell 2 are connected through the fastener 1.

[0109] Specifically, as shown in Figure 8 The support 12 is provided with a plurality of limiting holes 24 and matching plates 25, and the number of the limiting holes 24 and the matching plates 25 is matched with the number of the supports 12. In this embodiment, the support 12 is provided with four limiting holes 24 and four matching plates 25. The positions of the limiting holes 24 and the matching plates 25 can be changed according to requirements, and the stability requirement in the moving process of the translation bracket 11 driving the wet cleaning piece 15 needs to be met.

[0110] Preferably, as shown in Figure 9 The first limiting column 123 is provided with a first friction piece, which is a sliding roller 13 or a sliding ball, and the sliding roller 13 or the sliding ball can rotate relative to the first limiting column 123. The second limiting column 124 is provided with a second friction piece, which is a sliding roller 13 or a sliding ball, and the sliding roller 13 or the sliding ball can rotate relative to the second limiting column 124. The rotation axis of the first friction piece and the rotation axis of the second friction piece are perpendicular to each other. When the translation bracket 11 translates, the first friction piece generates rolling friction with the side wall of the limiting hole 24, and the second friction piece generates rolling friction with the matching plate 25. The sliding roller 13 or the sliding ball reduces the friction coefficient between the first limiting column 123 and the inner wall of the limiting hole 24 and the friction coefficient between the second limiting column 124 and the matching plate 25, thereby ensuring the stability and smoothness in the moving process of the translation bracket 11 driving the wet cleaning piece 15.

[0111] Specifically, the first limiting column 123 and the second limiting column 124 are uniformly provided with the sliding roller 13 or are uniformly provided with the sliding ball.

[0112] Specifically, the number of the first limiting column 123 and the second limiting column 124 can be adjusted according to requirements. In this embodiment, the first limiting column 123 is provided with one, and the second limiting column 124 is provided with two.

[0113] Specifically, the number of the sliding roller 13 or the sliding ball installed on the first limiting column 123 and the second limiting column 124 can be adjusted according to requirements. In this embodiment, the first limiting column 123 is provided with one sliding roller 13, and the second limiting column 124 is provided with one limiting roller.

[0114] Specifically, the sliding roller 13 or the sliding ball is limited on the first limiting column 123 and the second limiting column 124 by the snap spring 14, preventing the sliding roller 13 or the sliding ball from falling off. It is also achieved that the sliding roller 13 or the sliding ball can only rotate circumferentially around the axis of the first limiting column 123. It is also achieved that the sliding roller 13 or the sliding ball can only rotate circumferentially around the axis of the second limiting column 124.

[0115] Preferably, the lateral translation mechanism further comprises a position sensor for detecting whether the wet cleaning member 15 is in the retracted position and whether the wet cleaning member 15 is in the extended position. The position sensor can comprise a proximity switch, a Hall effect sensor, a magnetic sensor, an optical coupling sensor, etc. Illustratively, the position sensor can comprise an optical coupling sensor, which comprises a position sensor and a position stop, when the position stop shields or does not shield the position sensor, the position sensor generates different signals, for example, a high level when shielded and a low level when not shielded. When the wet cleaning assembly is translated relative to the bottom case 2, the position sensor and the position stop also move relatively, illustratively, the position sensor is mounted on the bottom case 2 and the position stop 23 is mounted on the translation bracket 11, or, the position sensor is mounted on the translation bracket 11 and the position stop 23 is mounted on the bottom case 2. Illustratively, the position sensor is mounted on the bottom case 2 and the position stop 23 is mounted on the translation bracket 11, there are two position sensors and one position stop, when the wet cleaning member 15 is in the retracted and extended positions, one of the position sensors is shielded respectively, and when the wet cleaning member 15 is between the retracted and extended positions, none of the position sensors is shielded. Illustratively, the position sensor is mounted on the translation bracket 11 and the position stop 23 is mounted on the bottom case 2, there is one position sensor and two position stops, when the wet cleaning member 15 is in the retracted and extended positions, the position sensor is shielded by one of the position stops respectively, and when the wet cleaning member 15 is between the retracted and extended positions, none of the position sensors is shielded.

[0116] Specifically, the cooperation of the position sensor and the position stop 23 can obtain three positions of the wet cleaning member 15: moving to the retracted position, moving to the extended position, and being between the retracted and extended positions.

[0117] Specifically, in the present embodiment, as shown in Figure 3 , the first position sensor I and the second position sensor II are located on the same sensor circuit board 10. As shown in Figure 4 , the bottom case 2 is provided with a circuit board mounting hole 20, the circuit board 10 is mounted on the bottom case 2 by a fastener 1, and the position stop 23 is arranged on the translation bracket 11, when the translation bracket 11 moves, the position stop 23 moves between the first position sensor I and the second position sensor II.

[0118] Preferably, asFigure 3 The outer contour of the wet cleaning element 15 is a cut-off arc shape, at least part of the outer contour of the wet cleaning element 15 is parallel to the advancing direction of the cleaning robot 100; the projection of the translation bracket on the operation surface is a cut-off arc shape matching the projection of the wet cleaning element 15 on the operation surface; optionally, the projection of the bottom shell 2 on the operation surface is a cut-off arc shape, the projection of the bottom shell 2 on the operation surface and the projection of the stepped portion of the translation bracket on the operation surface form a cut-off arc shape matching the projection of the wet cleaning element 15 on the operation surface. In this way, the components are more compactly distributed, which is conducive to miniaturization of the equipment, and the projection of the components on the operation surface does not protrude from the projection of the main body of the cleaning robot 100 on the operation surface, thereby reducing the probability of the cleaning robot 100 being stuck by an obstacle.

[0119] Preferably, the translation bracket 11 is provided with a mounting structure. The cleaning robot 100 further comprises a lifting bracket, a telescopic support structure, one end of the support structure being connected to the lifting bracket, the other end being connected to the wet cleaning element 15, the wet cleaning element 15 being supported below the translation bracket by the lifting bracket and the support structure, and the lifting bracket being fixedly connected to the mounting structure. Exemplarily, the telescopic support structure is a pair of connecting rods, the two ends of the connecting rods being hingedly connected to the lifting bracket and the wet cleaning element 15, respectively. The cleaning robot 100 can further comprise a lifting driving portion for driving the lifting movement of the wet cleaning element 15 relative to the lifting bracket. It can be understood that the translation bracket 11 and the wet cleaning element 15 jointly translate relative to the bottom shell 2, the translation bracket 11 does not lift relative to the bottom shell 2, and the wet cleaning element 15 lifts relative to the bottom shell 2.

[0120] Preferably, the translation bracket comprises a lifting bracket avoiding structure, the avoiding structure comprising a first avoiding groove 28 for accommodating the lifting bracket and / or a stepped portion recessed towards the bottom shell, the distance between the stepped portion and the wet cleaning element being greater than the distance between the non-stepped portion of the translation bracket (i.e. the portion of the translation bracket other than the stepped portion) and the wet cleaning element, and the stepped portion and the wet cleaning element forming an accommodation space for the lifting bracket. In this way, the longitudinal volume can be compressed, which is conducive to reducing the thickness of the cleaning robot body.

[0121] Preferably, as shown in Figure 3 The lifting bracket comprises a second lifting bracket 29 and a first lifting bracket 30, as shown in Figure 6 The mounting structure comprises a first mounting structure 26 and a second mounting structure 27, the translation bracket 11 is provided with a first avoiding groove 28, and the lifting bracket is arranged in the first avoiding groove 28. As shown in Figure 4 and Figure 5As shown, the bottom shell 2 is provided with a second avoiding groove 31, and the second mounting structure 27 is arranged at the first avoiding groove 28. The second avoiding groove 31 is used to accommodate the first lifting bracket 30 which is arranged through the first avoiding groove 28. Specifically, the first lifting bracket 30 is arranged through the first avoiding groove 28 and extends into the second avoiding groove 31. The first lifting bracket 30 is connected with the second mounting structure 27. The length extension direction of the second avoiding groove 31 is parallel to the Y direction which is the translation direction of the wet cleaning piece 15. When the wet cleaning piece 15 is translated relative to the bottom shell 2, the first lifting bracket 30 is translated in the second avoiding groove 31 along the length extension direction of the second avoiding groove 31. Specifically, the first mounting structure 26 is a first mounting screw hole. The axis of the first mounting screw hole is arranged perpendicularly to the operation surface. The first mounting screw hole is a blind hole. The second lifting bracket 29 is provided with a first assembly screw hole corresponding to the first mounting structure 26. The axis of the first assembly screw hole is arranged perpendicularly to the operation surface. The first assembly screw hole is a through hole. The first mounting structure 26 and the second lifting bracket 29 are connected by screw fastening. The second mounting structure 27 is a second mounting screw hole. The axis of the second mounting screw hole is arranged perpendicularly to the operation surface. The second mounting screw hole is a blind hole. The first lifting bracket 30 is provided with a second assembly screw hole corresponding to the second mounting structure 27. The axis of the second assembly screw hole is arranged perpendicularly to the operation surface. The second assembly screw hole is a through hole. The second mounting structure 27 and the first lifting bracket 30 are connected by screw fastening. The first avoiding groove 28 is a rectangular hole. The second mounting structure 27 is arranged on the short side of the first avoiding groove 28. One second mounting structure 27 is arranged on each short side.

[0122] Further, the lateral translation mechanism further satisfies at least one of:

[0123] The lifting driving part is arranged on the translation bracket 11 and / or the wet cleaning piece 15. The lifting driving part can be in the transmission form of driving piece, gear and rack. The lifting driving part drives the meshing transmission of the gear and rack to realize the lifting movement of the wet cleaning piece 15 relative to the translation bracket 11. The lifting driving part can also be in the transmission form of lifting driving piece and sling. The length of the sling determines the distance between the lifting bracket and the wet cleaning piece 15. The lifting driving piece drives the extension or recovery of the sling to realize the lifting movement of the wet cleaning piece 15 relative to the translation bracket 11. Exemplarily, the lifting driving part can be arranged on the surface of the wet cleaning piece 15 away from the operation surface. Exemplarily, the wet cleaning piece 15 comprises a mop plate and a mop cloth arranged on the mop plate. The mop plate can further comprise a mop plate main body and a support part. The mop plate main body is detachably connected to the support part. The mop cloth is arranged on the mop plate main body. Exemplarily, the two ends of the connecting rod pair are respectively connected to the lifting bracket and the support part of the wet cleaning piece 15 in a shaft rotation mode. The lifting unit can be arranged on the support part.

[0124] Exemplarily, as Figure 3As shown, the translation bracket 11 is provided with a step portion recessed towards the bottom shell, and the step portion and the wet cleaning piece form a lifting bracket avoiding space 32, the avoiding space 32 is provided corresponding to the lifting driving portion, and the lifting driving portion is arranged in the avoiding space 32; the avoiding space 32 is located at one side of the translation bracket 11 which can be extended; the projection of the bottom shell 2 in the operation surface does not intersect with the projection of the avoiding space 32 in the operation surface, and the union of the projection of the bottom shell 2 in the operation surface and the projection of the avoiding space 32 in the operation surface is substantially equal to the projection of the translation bracket 11 in the operation surface. As an example, the top surface of the avoiding space 32, i.e. the step portion, can be more away from the operation surface in the Z direction than the bottom shell 2, so as to reduce the size of the bottom shell 2 to provide the installation position of the avoiding space 32. It can be understood that when the wet cleaning piece 15 is a vibration cleaning assembly, and / or the wet cleaning piece 15 needs to be supplied with water, the water supply mechanism, the reciprocating driving portion and the lifting driving portion can be integrated into a comprehensive driving portion and installed in the avoiding space 32.

[0125] Specifically, as shown in the cases of Figure 10 、 Figure 11 and Figure 12 , several states of the wet cleaning piece 15 are introduced.

[0126] ① Initial state (not starting to clean the edge and corner, in the recovery position):

[0127] As shown in Figure 10 , the wet cleaning piece 15 is extended to the recovery position, the screw nut 6 is located at the left side of the guide groove 22, the first lifting bracket 30 is located at the left side of the second avoiding groove 31, the elastic member 3 is in the stretched state (for example, the initial compression state), the supporting member 12 is located at the right side of the limiting hole 24, and the first arrival sensor I on the circuit board 10 is triggered to be high level, which identifies that the wet cleaning piece 15 is in the recovery position.

[0128] ② Working state (in the extended position and not encountering an obstacle):

[0129] When the wet cleaning piece 15 needs to be extended to clean the edge and corner, the driving motor 8 is rotated in the positive direction, the screw rod 5 drives the screw nut 6 to move, the distance between the guide hole 21 and the guide rod hole has a tendency to decrease, the elastic member 3 has a tendency to be further compressed relative to the initial compression state, the compressed elastic member 3 has a compression elastic force, and under the action of the compression elastic force of the elastic member 3, with the linear movement of the screw nut 6, the translation bracket 11 drives the wet cleaning piece 15 to gradually extend to the extended position.

[0130] At this time, as shown in Figure 11As shown, when the wet cleaning member 15 is extended to the extended position, the screw nut 6 is located at the left side of the guide slot 22, the first lifting bracket 30 is located at the right side of the second avoiding slot 31, the elastic member 3 is in the stretched state (for example, the initial compressed state), the supporting member 12 is located at the left side of the limiting hole 24, and the second position sensor II on the circuit board 10 is triggered to high level, indicating that the wet cleaning member 15 is in the extended position.

[0131] The process of moving the wet cleaning member 15 to the extended position is as follows:

[0132] The driving motor 8 rotates forward, driving the driving shaft 7 and the screw rod 5 to rotate forward synchronously, so that the screw nut 6 moves axially along the screw rod 5, the distance between the guide hole 21 and the guide rod hole gradually shortens, and the elastic member 3 is compressed.

[0133] Under the guidance of the guide rod 4 in the axial direction of the screw nut 6, the translation bracket 11 drives the wet cleaning member 15 to be pushed out to the extended position under the action of the elastic force of the elastic member 3, that is, the translation bracket 11 and the bottom shell 2 produce relative displacement along the axial direction of the screw rod 5.

[0134] During this process, the translation bracket 11 and the bottom shell 2 produce relative motion, which is limited by the supporting member 12 and produces rolling friction with the translation bracket 11, so that it can only move along the axial direction of the screw rod 5 in the operation plane.

[0135] During this process, the first position sensor I and the second sensor II on the circuit board 10 respectively experience the initial state (the first sensor I is triggered, and the second position sensor II is not triggered) (I-high level, II-low level)→extension process (the first position sensor I is not triggered, and the second position sensor II is not triggered) (I-low level, II-low level)→reach the working state (the first position sensor I is not triggered, and the second position sensor II is triggered) (I-low level, II-high level).

[0136] ③ Passive recovery state (encounter obstacles when in the extended position):

[0137] Further, when the wet cleaning member 15 is in the extended position and encounters an obstacle, the arrangement of the elastic member 3 enables the wet cleaning member 15 to enter a passive recovery state, the degree of recovery of the wet cleaning member 15 relative to the extended position can be freely adjusted according to the obstacle, avoiding the arrangement of complex control logic. For example, when the wet cleaning member 15 is in the extended position and encounters an obstacle, the translation bracket 11 and the wet cleaning member 15 are translated to the recovery position under the action force in the Y direction of the obstacle, the action force points to the recovery position, the second end of the guide rod 4 extends along the guide plate, the distance between the guide plate 4 and the screw nut 6 is shortened, the elastic member 3 is further compressed on the basis of the stretched state (for example, the initial compressed state) (if the stretched state of the spring is the stretched state, the arrangement of each component is such that when the wet cleaning member 15 is in the extended position and encounters an obstacle, the translation bracket 11 and the wet cleaning member 15 are translated to the recovery position under the action force in the Y direction of the obstacle, the action force points to the recovery position, the distance between the guide plate and the screw nut 6 is increased, and the elastic member 3 is further stretched on the basis of the stretched state), the wet cleaning member 15 can passively recover on the basis of the extended position (the degree of passive recovery can be determined according to one of the obstacle size, the amount that the second end of the guide rod 4 can extend out of the guide plate, and the distance between the extended position and the recovery position), and after the cleaning robot passes the obstacle, the wet cleaning member 15 is re-extended to the extended position under the elastic potential energy of the elastic member 3. During the passive recovery, the wet cleaning member 15 is always in contact with the obstacle, which can achieve cleaning of the corners of the obstacle and avoid cleaning dead angles. It should be noted that during the passive recovery, the driving motor 8 does not work, the screw nut 6 does not displace, the guide groove 22 translates relative to the screw nut 6, and the screw nut 6 moves to the right of the guide groove 22, as shown in FIG. 8, the screw nut 6 is located to the right of the guide groove 22, and the first lifting bracket 30 is located to the left of the second avoiding groove 31. Figure 12

[0138] Specifically, after encountering the obstacle, the elastic member 3 is compressed inward under the reaction force of the obstacle on the wet cleaning member 15 to passively avoid the obstacle; during this process, the translation bracket 11 moves to the recovery position through the limiting and rolling friction of the support member 12.

[0139] During this process, the first and second position sensors I and II have two possible states:

[0140] The first state is the working state (the first position sensor I is not triggered, and the second position sensor II is triggered) (I-low level, II-high level)→the initial state (the first position sensor I is triggered, and the second position sensor II is not triggered) (I-high level, II-low level). In this case, the translation bracket 11 drives the wet cleaning member 15 to move to the recovery position, as shown in FIG. 8. Figure 12 ​as shown.

[0141] The second: working state (the first position sensor I is not triggered, and the second position sensor II is triggered) (I-low level, II-high level) → the middle position (the first position sensor I is not triggered, and the second position sensor II is not triggered) (I-low level, II-low level). In this case, the translation bracket 11 drives the wet cleaning element 15 to move to a position between the extended position and the recovery position.

[0142] When the obstacle is bypassed, the elastic element 3 rebounds under the guidance of the guide rod 4, and pushes the wet cleaning element 15 to the working state (the first position sensor I is not triggered, and the second position sensor II is triggered) (I-low level, II-high level), and in this case, the translation bracket 11 drives the wet cleaning element 15 to move to the extended position.

[0143] (4) Active recovery state (end of edge cleaning, translation from the extended position to the recovery position):

[0144] When the wet cleaning element 15 is in the active recovery state, the wet cleaning element 15 is recovered downward to the bottom shell 2. The drive motor 8 is reversed, the lead screw 5 drives the lead screw nut 6 to move, the guide element contacts the target end side wall of the guide groove 22, and the guide element drives the translation bracket 11 and the wet cleaning element 15 to gradually recover to the recovery position.

[0145] Specifically, the drive motor 8 reverses to rotate the lead screw 5 in the opposite direction, and the lead screw nut 6 is retracted to drive the translation bracket 11 to actively recover to the initial state. The process is: working state (the first position sensor I is not triggered, and the second position sensor II is triggered) (I-low level, II-high level) → middle position (the first position sensor I is not triggered, and the second position sensor II is not triggered) (I-low level, II-low level) → initial state (the first position sensor I is triggered, and the second position sensor II is not triggered) (I-high level, II-low level), the first position sensor I recognizes a high level, and detects that the wet cleaning element 15 is in the recovery position.

[0146] In the edge mopping process, the wet cleaning element 15 can be translated outward (for example, to the right side) to the outside of the body profile in the Y-axis direction, which can effectively solve the problem that the edge corner area cannot be mopped during the edge mopping process.

[0147] In the normal mopping process and when returning to the base station, the wet cleaning element 15 can be retracted, which effectively solves the appearance problem of the mopping structure arranged outside the body profile.

[0148] The embodiment of the present application is provided with a single motor drive for the lateral translation mechanism, which can effectively avoid the logical coupling problem caused by the shared motor driving the vibration mopping assembly and the motor driving the edge mopping rotation.

[0149] Embodiment two

[0150] The embodiment provides a control method of a lateral translation mechanism, which is applied to the lateral translation mechanism as described in embodiment one. The lateral translation driving assembly includes a driving motor 8. The method includes: in response to detecting an extension instruction, controlling the driving motor 8 to drive the wet cleaning piece 15 to translate from the recovery position to the extension position. In response to detecting a recovery instruction, controlling the driving motor 8 to reverse to drive the wet cleaning piece 15 to translate from the extension position to the recovery position. The embodiment of the present application controls the lateral translation driving assembly to drive the wet cleaning piece to translate from the recovery position to the extension position, so that the wet cleaning piece 15 is extended from the machine body to clean the edge area, and the lateral translation mechanism can also drive the wet cleaning piece 15 to recover into the machine body, which can clean the edge area without leaving dead corners and avoid scratching furniture.

[0151] Specifically, with reference to embodiment one, the lateral translation driving assembly further includes a rotating assembly and a linear motion assembly, the rotating assembly and the linear motion assembly are in transmission connection, and the rotating assembly and the linear motion assembly are used to convert the rotation of the driving motor 8 into translation; the rotating assembly is coupled with the driving shaft of the driving motor 8.

[0152] Specifically, with reference to embodiment one, in the first implementation, the rotating assembly is a lead screw 5, and the linear motion assembly is a lead screw nut 6.

[0153] Specifically, with reference to embodiment one, in the second implementation, the rotating assembly is a gear, and the linear motion assembly is a rack.

[0154] Specifically, with reference to embodiment one, in the third implementation, the rotating assembly is a first synchronous wheel and a second synchronous wheel, and the linear motion assembly is a synchronous belt.

[0155] The method includes: controlling the driving motor 8 to drive the rotating assembly to rotate, the rotating assembly drives the wet cleaning piece 15 to move in the operation surface through the linear motion assembly, and the wet cleaning piece 15 translates from the recovery position to the extension position or from the extension position to the recovery position.

[0156] Specifically, with reference to embodiment one, the lateral translation mechanism includes a translation bracket 11, a guide rod 4 and an elastic piece 3. The translation bracket 11 is provided with a guide plate. The first end of the guide rod 4 is fixedly connected with the linear motion assembly, and the second end of the guide rod 4 penetrates through the guide plate and is in sliding connection with the guide plate. The elastic piece 3 is sleeved on the outer periphery of the portion of the guide rod 4 between the linear motion assembly and the guide plate.

[0157] In an embodiment, the elastic member 3 is in an initial compression state between the linear motion assembly and the guide plate when the wet cleaning member 15 is in the retracted position. The control of the driving motor 8 to rotate forward to drive the translation bracket 11 to translate the wet cleaning member 15 from the retracted position to the extended position includes: control of the driving motor 8 to rotate forward such that the rotation assembly rotates in a first direction, the linear motion assembly translates in a second direction, the distance between the linear motion assembly and the guide plate has a tendency to decrease, the elastic member 3 has a tendency to be further compressed relative to the initial compression state, the compression elastic force of the elastic member 3 drives the translation bracket 11 to translate in the second direction, thereby driving the wet cleaning member 15 to translate in the second direction. The first direction is the same as the forward rotation direction of the driving motor 8, and the second direction is the direction from the retracted position to the extended position.

[0158] In an embodiment, the elastic member 3 is in an initial tension state between the linear motion assembly and the guide plate when the wet cleaning member 15 is in the retracted position. The control of the driving motor 8 to rotate forward to drive the translation bracket 11 to translate the wet cleaning member 15 from the retracted position to the extended position includes: control of the driving motor 8 to rotate forward such that the rotation assembly rotates in a first direction, the linear motion assembly translates in a second direction, the distance between the linear motion assembly and the guide plate has a tendency to increase, the elastic member 3 has a tendency to be further stretched relative to the initial tension state, the tension elastic force of the elastic member 3 drives the translation bracket 11 to translate in the second direction, thereby driving the wet cleaning member 15 to translate in the second direction. The first direction is the same as the forward rotation direction of the driving motor 8, and the second direction is the direction from the retracted position to the extended position.

[0159] Specifically, the linear motion assembly further includes a guide member; the translation bracket 11 is provided with a guide groove, the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning member 15; the guide member is located in the guide groove, and the guide member and the guide groove are in sliding connection. The control of the driving motor 8 to rotate reversely to drive the translation bracket 11 to translate the wet cleaning member 15 from the extended position to the retracted position includes: control of the driving motor 8 to rotate reversely such that the rotation assembly rotates in a third direction, the linear motion assembly translates in a fourth direction, the guide member abuts against the guide groove and drives the translation bracket 11 to translate in the fourth direction, thereby driving the wet cleaning member 15 to translate in the fourth direction; the third direction is opposite to the first direction, and the fourth direction is opposite to the second direction. The third direction is the same as the reverse rotation direction of the driving motor 8, and the fourth direction is the direction from the extended position to the retracted position.

[0160] Specifically, the method further comprises: when the wet cleaning piece 15 is in the extended position and is subjected to the force of the obstacle, the translation bracket 11 is translated in the opposite direction of the second direction under the action of the force of the obstacle, so that the length of the guide rod 4 between the linear motion assembly and the guide plate becomes shorter, and the elastic piece 3 is further compressed relative to the initial compression state. When the force of the obstacle is removed, the elastic piece 3 rebounds, the translation bracket 11 is translated in the second direction under the elastic force of the elastic piece 3, and the wet cleaning piece 15 is brought back to the extended position. The second direction is a direction from the retracted position to the extended position.

[0161] Specifically, when the wet cleaning piece 15 reaches the working state and encounters an obstacle, the arrangement of the elastic piece 3 enables the wet cleaning piece 15 to enter a passive retraction state, and the extension length of the wet cleaning piece 15 can be freely adjusted according to the obstacle, avoiding the arrangement of complex control logic. For example, when the wet cleaning piece 15 reaches the working state and encounters an obstacle, the elastic piece 3 is compressed under the action of the obstacle, and the wet cleaning piece 15 can be passively retracted to the lower part of the bottom shell 2. After the cleaning robot bypasses the obstacle, the wet cleaning piece 15 is re-extended to the original working state position under the elastic potential energy of the elastic piece 3. In the process of passive retraction, the wet cleaning piece 15 is always in contact with the obstacle, which can achieve cleaning of the edge of the obstacle and avoid cleaning dead angles. It should be noted that in the process of passive retraction, the driving motor 8 does not work, and the screw nut 6 does not produce displacement. In the process of passive retraction, the guide groove plays a limiting role on the guide column.

[0162] Specifically, the lateral translation mechanism further comprises a position sensor, which is used to detect whether the wet cleaning piece 15 is in the retracted position and is used to detect whether the wet cleaning piece 15 is in the extended position. The specific arrangement mode can refer to Embodiment I.

[0163] In response to detection of the extension instruction, the driving motor 8 is controlled to rotate forward to drive the wet cleaning piece 15 to translate from the retracted position to the extended position, comprising: in response to detection by the position sensor that the wet cleaning piece 15 is in the extended position, the lateral translation driving assembly is controlled to stop driving the wet cleaning piece 15.

[0164] In response to detection of the retraction instruction, the driving motor 8 is controlled to rotate reversely to drive the wet cleaning piece 15 to translate from the extended position to the retracted position, comprising: in response to detection by the position sensor that the wet cleaning piece 15 is in the retracted position, the lateral translation driving assembly is controlled to stop driving the wet cleaning piece 15.

[0165] Further, when the position sensor includes a first position sensor and a second position sensor, the position stopper 23 is provided one, the position stopper 23 is arranged at the first position, the first position sensor is arranged at the first position, and the second position sensor is arranged at the second position. The method includes: receiving feedback information of the first position sensor to determine that the wet cleaning piece 15 moves to the retracted position, and receiving feedback information of the second position sensor to determine that the wet cleaning piece 15 moves to the extended position.

[0166] Further, when the position stopper 23 includes a first stopper and a second stopper, the position sensor is provided one, the position sensor is arranged at the first position, the first stopper is arranged at the first position, and the second stopper is arranged at the second position. The method includes: obtaining the initial position of the wet cleaning piece 15, receiving the cumulative number of feedback information of the position sensor, and determining that the wet cleaning piece 15 moves to the retracted position or the extended position based on the pre-set determination rule according to the initial position of the wet cleaning piece 15 and the cumulative number of feedback information of the position sensor. For example, the initial position of the wet cleaning piece 15 is the retracted position, the pre-set determination rule is that when the cumulative number of feedback information of the position sensor is odd, it is determined that the wet cleaning piece 15 moves to the retracted position, and when the cumulative number of feedback information of the position sensor is even, it is determined that the wet cleaning piece 15 moves to the extended position.

[0167] Specifically, the lateral translation mechanism includes a lifting driving part and a translation support 11; the method includes: in response to detecting a lifting instruction, controlling the lifting driving part to drive the wet cleaning piece 15 to move up and down relative to the translation support 11.

[0168] Further, the lifting driving part includes a lifting driving piece, a gear and a rack, the rack is arranged on the wet cleaning piece 15, the lifting driving piece is a driving motor arranged on the translation support 11, and the gear is arranged on the driving shaft of the driving piece. The method includes: controlling the driving piece to drive the gear to rotate, and the gear drives the wet cleaning piece 15 to move up and down through the rack.

[0169] Further, the lifting driving part includes a lifting driving piece and a sling, the lifting driving piece is a driving motor arranged on the translation support 11, and the sling connects the driving shaft of the lifting driving piece and the wet cleaning piece 15. The method includes: controlling the lifting driving piece to drive the sling to stretch or retract, and the sling drives the wet cleaning piece 15 to move up and down.

[0170] In this embodiment, the control method in one operation cycle includes:

[0171] Receiving feedback information of the first sensor to determine that the wet cleaning piece 15 is located at the retracted position;

[0172] The driving motor 8 is controlled to drive the lead screw 5 to rotate forward, and the elastic member 3 between the lead screw nut 6 and the guide plate is compressed along with the rotation of the lead screw 5, and the guide rod 4 slides relative to the guide plate under the driving of the lead screw nut 6, and the compression elastic force of the elastic member 3 drives the translation bracket 11 to drive the wet cleaning member 15 to translate to the extended position in the operation surface;

[0173] When the feedback information of the second sensor is received, it is judged that the wet cleaning member 15 is located at the extended position, and the driving motor 8 is controlled to stop;

[0174] When the wet cleaning member 15 is located at the extended position and is subjected to the force of the obstacle, the wet cleaning member 15 translates to the opposite direction of the second direction under the action of the force of the obstacle, so that the length of the guide rod 4 between the lead screw nut 6 and the guide plate becomes shorter, and the elastic member 3 is further compressed relative to the initial compression state;

[0175] When the force of the obstacle is removed, the elastic member 3 rebounds, the translation bracket 11 translates to the second direction under the action of the elastic force of the elastic member 3, and drives the wet cleaning member 15 to return to the extended position;

[0176] When the cleaning is completed, the driving motor 8 is controlled to drive the lead screw 5 to rotate reversely, and along with the rotation of the lead screw 5, the translation bracket 11 drives the wet cleaning member 15 to translate to the recycling position in the operation surface under the driving of the lead screw nut 6;

[0177] When the feedback information of the first sensor is received, it is judged that the wet cleaning member 15 is located at the recycling position, and the driving motor 8 is controlled to stop.

[0178] In the present application, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance. The term "a plurality of" means two or more, unless otherwise explicitly limited.

[0179] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The specification and examples given are considered exemplary only, and the scope of the application is not to be determined by any such exemplary language. The specification and examples are to be considered as merely illustrative of the principles of the application.

[0180] The above is only the preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lateral translation mechanism, applied to a cleaning robot, characterized in that: The cleaning robot comprises a bottom shell and a wet cleaning member; the wet cleaning member cleans the operating surface; The lateral translation mechanism includes a lateral translation drive assembly, the lateral translation drive assembly is connected to the bottom shell, the lateral translation drive assembly is connected to the wet cleaning element, and the lateral translation drive assembly is used to drive the wet cleaning element to translate between a retracted position and an extended position relative to the bottom shell; When the wet cleaning element is in the extended position, the union of the projection of the wet cleaning element on the operating surface and the projection of the bottom shell on the operating surface is greater than the union of the projection of the wet cleaning element on the operating surface and the projection of the bottom shell on the operating surface when the wet cleaning element is in the retracted position; The translation direction of the wet cleaning member relative to the bottom shell is the width direction of the cleaning robot.

2. A lateral translation mechanism according to claim 1, characterized in that: The wet cleaning element vibrates back and forth relative to the operating surface to clean the operating surface; The outer contour of the wet cleaning member is a chamfered arcuate shape, and at least a portion of the outer contour of the wet cleaning member is parallel to the forward direction of the cleaning robot; and / or, the number of the wet cleaning member is one.

3. The lateral translation mechanism according to claim 1, characterized in that: The lateral translation drive assembly includes a drive motor, a rotation assembly, and a linear motion assembly, wherein the rotation assembly and the linear motion assembly are in transmission connection and are used to convert the rotation of the drive motor into translation; the rotation assembly is coupled to a drive shaft of the drive motor; the drive motor is mounted on the bottom housing, and the linear motion assembly is connected to the wet cleaning member to drive the wet cleaning member to translate, and the wet cleaning member is supported below the bottom housing; or, The lateral translation mechanism also includes a translation bracket; the lateral translation drive assembly includes a drive motor, a rotation assembly and a linear motion assembly, the rotation assembly and the linear motion assembly are transmission-connected, and the rotation assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation; the rotation assembly and the drive shaft of the drive motor are coupled; the drive motor is mounted on the bottom shell, the linear motion assembly is connected to the translation bracket to drive the translation bracket to translate, and the wet cleaning element is supported below the translation bracket.

4. A lateral translation mechanism according to claim 3, characterized in that: The rotating assembly includes a screw, the linear motion assembly includes a screw nut, and the screw nut and the screw are connected by threads; Alternatively, the rotating assembly includes a gear, the linear motion assembly includes a rack, and the gear and the rack are meshed and transmission-connected; Alternatively, the rotating assembly includes a first synchronous wheel and a second synchronous wheel, and the linear motion assembly includes a synchronous belt, which is sleeved on the first synchronous wheel and the second synchronous wheel.

5. The lateral translation mechanism according to claim 3, characterized in that: The translation bracket is connected to the bottom shell via a support member, and the support member is fixed on the bottom shell; A limiting hole is provided on the translation bracket, the central axis of the limiting hole is perpendicular to the operating surface, and the length extension direction of the limiting hole is parallel to the translation direction of the wet cleaning element; The support member is engaged with the limiting hole. When the translation bracket translates, the limiting hole translates relative to the support member along the length extension direction of the limiting hole.

6. A lateral translation mechanism according to claim 5, characterized in that: The hole wall of the limiting hole includes a side wall, and the support member and the side wall are in rolling friction, and / or the hole wall of the limiting hole includes a top wall, and the support member and the top wall are in rolling friction.

7. The lateral translation mechanism according to claim 3, characterized in that: The linear motion assembly further includes a guide member; a guide slot is provided on the translation bracket, and the length extension direction of the guide slot is parallel to the translation direction of the wet cleaning member; The guide member is located in the guide groove, and the guide member and the guide groove are slidably connected.

8. The lateral translation mechanism according to claim 3, characterized in that: The lateral translation mechanism further includes a guide rod and an elastic member; The wet cleaning member includes a guide plate perpendicular to the translation direction, or the translation bracket includes a guide plate perpendicular to the translation direction; The length direction of the guide rod is parallel to the translation direction; The first end of the guide rod is fixedly connected to the linear motion assembly, the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected; The elastic member is sleeved on the outer periphery of the portion of the guide rod located between the linear motion assembly and the guide plate; The elastic member is in a compressed state between the linear motion assembly and the guide plate; or, the elastic member is in a stretched state between the linear motion assembly and the guide plate.

9. A lateral translation mechanism according to any one of claims 3 to 8, characterized in that: The lateral translation mechanism further includes a guide rod, and the linear motion assembly is connected to the translation bracket via the guide rod; The rotating assembly includes a screw, the linear motion assembly includes a screw nut, and the screw nut and the screw are connected by threads; The screw nut is provided with a screw hole and guide rod holes located on both sides of the screw hole, and the axis of the guide rod hole is arranged parallel to the axis of the screw hole; the screw and the screw hole are threadedly connected; the guide rod hole and the guide rod are arranged correspondingly, the first end of the guide rod is fixedly connected to the guide rod hole, and the second end of the guide rod is connected to the translation bracket.

10. The lateral translation mechanism according to claim 1, characterized in that: The lateral translation mechanism further includes a position sensor for detecting whether the wet cleaning element is in the retracted position and / or whether the wet cleaning element is in the extended position.

11. The lateral translation mechanism according to claim 3, characterized in that: The translation bracket is provided with a mounting structure; the cleaning robot further comprises: a lifting bracket, fixedly connected to the mounting structure; a retractable support structure, one end of the support structure being connected to the lifting bracket and the other end being connected to the wet cleaning element; The wet cleaning element is supported by the lifting bracket and the supporting structure below the translation bracket.

12. A lateral translation mechanism according to claim 11, characterized in that: The translation bracket includes an avoidance structure of the lifting bracket, and the avoidance structure includes a first avoidance groove for accommodating the lifting bracket and / or a step portion recessed toward the bottom shell. The distance between the step portion and the wet cleaning component is greater than the distance between the non-step portion of the translation bracket and the wet cleaning component. An accommodating space for the lifting bracket is formed between the step portion and the wet cleaning component.

13. The lateral translation mechanism according to claim 12, characterized in that: The lifting bracket is passed through the first avoidance groove, and the bottom shell is provided with a second avoidance groove, and the second avoidance groove is used to accommodate the lifting bracket passed through the first avoidance groove; when the wet cleaning piece is translated, the lifting bracket is translated in the second avoidance groove along the length extension direction of the second avoidance groove.

14. The lateral translation mechanism according to claim 3, characterized in that: The outer contour of the wet cleaning piece is a chamfered arc, and at least part of the outer contour of the wet cleaning piece is parallel to the forward direction of the cleaning robot; the projection of the translation bracket on the operating surface is a chamfered arc that matches the projection of the wet cleaning piece on the operating surface.

15. The lateral translation mechanism according to claim 11, characterized in that: The translation bracket includes an avoidance structure for the lifting bracket, the avoidance structure including a step portion recessed toward the bottom shell for accommodating the lifting bracket, the distance between the step portion and the wet cleaning member being greater than the distance between the non-step portion of the translation bracket and the wet cleaning member, and an avoidance space for the lifting bracket is formed between the step portion and the wet cleaning member; The outer contour of the wet cleaning piece is a chamfered bow, and at least part of the outer contour of the wet cleaning piece is parallel to the forward direction of the cleaning robot; the projection of the translation bracket on the operating surface is a chamfered bow that matches the projection of the wet cleaning piece on the operating surface; the projection of the bottom shell on the operating surface is a chamfered bow, and the projection of the bottom shell on the operating surface and the projection of the step portion of the translation bracket on the operating surface form a chamfered bow that matches the projection of the wet cleaning piece on the operating surface.

16. A cleaning robot, characterized in that: The lateral translation mechanism comprises the lateral translation mechanism according to any one of claims 1 to 15, and further comprises a bottom shell and a wet cleaning member.

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