Cleaning robot

Abstract

The utility model relates to a cleaning robot which comprises a shell, a cleaning assembly and a driving assembly, and the cleaning assembly is arranged at the bottom of the shell; the driving assembly is installed on the shell and is in transmission connection with the cleaning assembly, the driving assembly is used for driving the cleaning assembly to rotate relative to the shell, and the driving assembly is further used for driving the cleaning assembly to ascend and descend relative to the shell; when the driving assembly drives the cleaning assembly to ascend to the upper limit position relative to the shell, the cleaning assembly abuts against the shell in a friction mode. According to the cleaning robot, friction between the cleaning assembly and the shell is utilized, when the cleaning assembly ascends to the upper limit position, the cleaning assembly is decelerated in time and stops rotating under the action of friction force, the structure is simple and effective, and the reliability of equipment can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning robot. BACKGROUND

[0002] With the continuous improvement of people's living standards, the application of cleaning robots is becoming more and more popular, and the intelligent degree is also developing from the initial primary intelligence to a higher degree of intelligence, and gradually replacing traditional manual cleaning. The existing cleaning robot often uses a damping member to press against the mop shaft, so that the mop shaft and the output shaft form a speed difference to realize the lifting and lowering of the mop. At the same time, when the output shaft stops, the damping member plays a role in rapid deceleration. The surface of the damping member and the shaft is in contact, and the wear between the two after rotation is inevitable, and the reliability is poor. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a cleaning robot, comprising: a shell; a cleaning assembly arranged at the bottom of the shell; a driving assembly mounted on the shell and in transmission connection with the cleaning assembly, the driving assembly being used to drive the cleaning assembly to rotate relative to the shell, and the driving assembly also being used to drive the cleaning assembly to lift and lower relative to the shell; wherein when the driving assembly drives the cleaning assembly to lift to an upper limit position relative to the shell, the cleaning assembly and the shell are in frictional abutment.

[0004] According to an embodiment of the present application, at least one of the cleaning assembly and the shell is provided with a friction member, and when the cleaning assembly is located at the upper limit position, the cleaning assembly and the shell are in frictional abutment through the friction member.

[0005] According to an embodiment of the present application, the friction member is arranged around the rotation axis of the cleaning assembly; or a plurality of friction members are arranged around the rotation axis.

[0006] According to an embodiment of the present application, the shell is provided with the friction member, and the friction member is used to abut against the cleaning assembly; or the cleaning assembly is provided with the friction member, and the friction member is used to abut against the shell.

[0007] According to an embodiment of the present application, the friction member comprises a first friction member and a second friction member, the first friction member is arranged on the cleaning assembly, and the second friction member is arranged on the shell, and when the cleaning assembly lifts to the upper limit position relative to the shell, the first friction member and the second friction member abut against each other.

[0008] According to an embodiment of the present application, the driving assembly comprises a motor, a shaft sleeve and an output shaft, the motor is in transmission connection with the output shaft, the shaft sleeve is in screw transmission connection with the output shaft, the cleaning assembly is connected to the shaft sleeve, and the motor is used to drive the output shaft to rotate, so as to drive the shaft sleeve to rotate and further drive the cleaning assembly to rotate.

[0009] According to an embodiment of the present application, the cleaning assembly is configured to rotate the shaft sleeve relative to the output shaft under the action of friction, so that the cleaning assembly ascends or descends along the output shaft with the shaft sleeve.

[0010] According to an embodiment of the present application, the cleaning assembly has a lower limit position and an upper limit position, when the cleaning assembly is located at the lower limit position, the cleaning assembly drives the output shaft to rotate relative to the shaft sleeve under the action of friction between the cleaning assembly and the ground, so as to ascend the cleaning assembly; when the cleaning assembly is located at the upper limit position, the cleaning assembly drives the output shaft to rotate relative to the shaft sleeve under the action of friction between the cleaning assembly and the shell, so as to descend the cleaning assembly.

[0011] According to an embodiment of the present application, the motor is further used to control the output shaft to decelerate when the cleaning assembly ascends to a predetermined position, and the upper limit position is higher than the predetermined position.

[0012] According to an embodiment of the present application, the cleaning assembly comprises a mop or a side brush.

[0013] The cleaning robot provided by the present application utilizes the friction generated by the pressing of the shell and the cleaning assembly when the cleaning assembly ascends to the upper limit position, so as to make the cleaning assembly decelerate and stop rotating in time, which is simple and effective in structure and is beneficial to improve the reliability of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0015] Figure 1 is a structural schematic diagram of an embodiment of the cleaning robot of the present application;

[0016] Figure 2 is Figure 1 is a schematic diagram of one angle of the local structure of the cleaning robot shown in the figure;

[0017] Figure 3 is Figure 1Another perspective view of a partial structure of the cleaning robot shown;

[0018] Figure 4 is Figure 1 A cross-sectional view of a partial structure of the cleaning robot shown;

[0019] Figure 5 is Figure 4 A partial enlarged view of a cross-section of the cleaning robot shown;

[0020] Figure 6 is a schematic view of a partial structure of another embodiment of the cleaning robot of the present application;

[0021] Figure 7 is Figure 1 Another perspective view of a partial structure of the cleaning robot shown;

[0022] Figure 8 is Figure 7 A cross-sectional view of a partial structure of the cleaning robot shown;

[0023] Figure 9 is Figure 8 A partial enlarged view of a cross-section of the cleaning robot shown;

[0024] Figure 10 is Figure 7 Another cross-sectional view of a partial structure of the cleaning robot shown. DETAILED DESCRIPTION

[0025] The present application will be further described by way of illustration with reference to the accompanying drawings and embodiments. In particular, the following embodiments are provided as illustrative examples only and are not intended to limit the scope of the present application. Similarly, the following embodiments are only some of the embodiments of the present application and all other embodiments obtained by those of ordinary skill in the art without any creative effort are within the scope of the present application.

[0026] The terms "first", "second", "third", etc. in the embodiments of the present application are only used for descriptive purpose and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. The terms "include" and "have" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or components inherent to the process, method, product or device.

[0027] Reference herein to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0028] The embodiments of the present application provide a cleaning robot 10, please refer to Figures 1 to 3 The cleaning robot 10 comprises a shell 100, a cleaning assembly 200 and a driving assembly 300. The cleaning assembly 200 is arranged at the bottom of the shell 100; the driving assembly 300 is installed on the shell 100 and is in driving connection with the cleaning assembly 200, the driving assembly 300 is used to drive the cleaning assembly 200 to rotate relative to the shell 100, and the driving assembly 300 is also used to drive the cleaning assembly 200 to ascend and descend relative to the shell 100; wherein when the driving assembly 300 drives the cleaning assembly 200 to ascend to an upper limit position relative to the shell 100, the cleaning assembly 200 and the shell 100 are in frictional abutment.

[0029] Optionally, at least one of the cleaning assembly 200 and the shell 100 is provided with a friction member 400, and when the cleaning assembly 200 is located at the upper limit position, the cleaning assembly 200 and the shell 100 are in frictional abutment through the friction member 400.

[0030] Further, the cleaning assembly 200 is rotationally connected with the shell 100; the driving assembly 300 is used to drive the cleaning assembly 200 to rotate relative to the shell 100, and the driving assembly 300 can drive the cleaning assembly 200 to ascend and approach the shell 100 or to descend and move away from the shell 100; the friction member 400 is arranged between the shell 100 and the cleaning assembly 200, when the friction member 400 is pressed between the shell 100 and the cleaning assembly 200, the cleaning assembly 200 is in an upper limit position, and the friction member 400 can make the cleaning assembly 200 be subjected to a friction force when the cleaning assembly 200 rotates and ascends to the upper limit position, thereby hindering the rotation of the cleaning assembly 200.

[0031] Optionally, the friction member 400 is arranged around the rotation shaft 201 of the cleaning assembly 200; the friction member 400 can be arranged in a circular ring shape around the rotation shaft 201, and in other embodiments, the friction member 400 can also be in an elliptical or polygonal shape.

[0032] Optionally, as shown in Figure 6 , the friction member 400 can be provided in plurality, and the plurality of friction members 400 are arranged at intervals around the rotation shaft 201. The friction member 400 can be arranged in a sheet shape or a strip shape, and the number of the friction members 400 can be 2, 3, 4, 6, etc. In other embodiments, the number of the friction members 400 can also be 1.

[0033] Further, the shell 100 is provided with the friction member 400, and the friction member 400 is used to abut against the cleaning assembly 200; or the cleaning assembly 200 is provided with the friction member 400, and the friction member 400 is used to abut against the shell 100. The material of the friction member 400 can be an elastic material, for example, the material of the friction member 400 can be rubber, silicone, etc. The cleaning assembly 200 includes a rotating disc 210, and the friction member 400 can be protruded from one side of the rotating disc 210 facing the shell 100 or from one side of the shell 100 facing the rotating disc 210. In some embodiments, the friction member 400 can be detachably connected with the shell 100 or the cleaning assembly 200, so as to be replaced in time when the friction member 400 is damaged or seriously worn, and of course, the friction member 400 can be connected with the shell 100 or the cleaning assembly 200 by gluing.

[0034] Optionally, the driving assembly 300 can drive the cleaning assembly 200 to ascend or descend through screw transmission connection, and the screw transmission is a mechanical transmission that realizes the conversion between rotary motion and linear motion by screwing the screw and the thread surface, which can be an internal and external thread screwing mode or a screw groove and convex structure movable connection mode.

[0035] Further, the cleaning assembly 200 can be arranged at the bottom of the shell 100 close to the ground, and the friction member 400 can be arranged between the bottom of the shell 100 and the cleaning assembly 200.

[0036] Optionally, as shown in Figure 8 The driving assembly 300 comprises a motor 330, a sleeve 320 and an output shaft 310, the motor 330 is in transmission connection with the output shaft 310, the sleeve 320 is in screw transmission connection with the output shaft 310, the cleaning assembly 200 is connected to the sleeve 320, and the motor 330 is used to drive the output shaft 310 to rotate, so as to drive the sleeve 320 to rotate and further drive the cleaning assembly 200 to rotate.

[0037] Further, the cleaning assembly 200 is configured to be affected by the friction force to make the sleeve 320 rotate relative to the output shaft 310, so that the cleaning assembly 200 rises or falls along the output shaft 310 with the sleeve 320. That is, in the embodiment, the rotating motion and the lifting motion of the cleaning assembly 200 share one driving assembly 300, which simplifies the overall structure of the cleaning robot 10. In other embodiments, the cleaning robot 10 can also be configured with a driving structure for the rotating motion and the lifting motion of the cleaning assembly 200, respectively. Correspondingly, the transmission connection mode between the driving structure and the cleaning assembly 200 is not limited to the screw transmission connection mode of the present application, but can also be other transmission connection modes, such as driving the cleaning assembly to rise through a connecting rod mode, driving the cleaning assembly to rotate through a gear transmission structure, etc., which will not be listed one by one here.

[0038] Further, the cleaning assembly 200 has a lower limit position and an upper limit position. When the cleaning assembly 200 is located at the lower limit position, the cleaning assembly 200 makes the output shaft 310 and the sleeve 320 relatively rotate to lift the cleaning assembly 200 under the action of the friction force between the cleaning assembly 200 and the ground. When the cleaning assembly 200 is located at the upper limit position, the cleaning assembly 200 makes the output shaft 310 and the sleeve 320 relatively rotate to lower the cleaning assembly 200 under the action of the friction force between the cleaning assembly 200 and the shell 100.

[0039] Further, the cleaning assembly 200 rotates synchronously with the sleeve 320, the output shaft 310 can rotate in a first direction to drive the cleaning assembly 200 to rise to the upper limit position through the screw transmission connection; the output shaft 310 can rotate in a second direction to drive the cleaning assembly 200 to fall to the lower limit position through the screw transmission connection, and the cleaning assembly 200 is in the lower limit position, the output shaft 310 abuts against the sleeve 320 in the second direction to make the output shaft 310 and the sleeve 320 rotate synchronously in the second direction, the first direction and the second direction are opposite in rotation direction.

[0040] Further, the cleaning assembly 200 comprises a rotating disc 210 and a mop 230 fixed to the side of the rotating disc 210 away from the housing 100. Generally, the mop 230 is detachably connected to the rotating disc 210, for example, the mop 230 is attached to the rotating disc 210 by a magic tape. The rotating disc 210 can drive the mop 230 to rotate synchronously with the sleeve 320. The mop 230 can contact the ground to clean. When it is needed to fold the mop 230 and make the cleaning assembly 200 rise close to the housing 100, the output shaft 310 can rotate in the first direction. The friction between the mop 230 and the ground and the inertial force of the sleeve 320, the rotating disc 210 and the mop 230 can make the rotating speed of the sleeve 320 in the first direction lower than that of the output shaft 310, so that a rotating speed difference is formed between the sleeve 320 and the output shaft 310. Through the screw transmission, the sleeve 320 drives the mop 230 to rise. When the cleaning assembly 200 rises to the upper limit position, the motor 330 stops working. Due to the inertial effect of the sleeve 320 and the cleaning assembly 200, the cleaning assembly 200 still has a rotating trend in the first direction. The friction between the cleaning assembly 200 and the housing 100 can make the cleaning assembly 200 decelerate and stop rotating in time. Meanwhile, the sleeve 320 is prevented from rotating in the second direction relative to the output shaft 310, so that the cleaning assembly 200 is prevented from descending automatically when it is not needed to descend. The damping member in contact with the surface of the sleeve 320 is cancelled, so that the reliability problem caused by the abrasion of the damping member is avoided. Meanwhile, the cleaning assembly 200 is pressed against the friction member 400, so that the stability of the cleaning assembly 200 is improved. When the cleaning machine shakes, the rotating disc 210 will not shake left and right, so that the risk of falling of the mop 230 is reduced.

[0041] Further, when the cleaning assembly 200 descends away from the housing 100, the output shaft 310 can rotate in the second direction. The friction between the cleaning assembly 200, the friction member 400 and the housing 100 and the inertial force of the sleeve 320, the rotating disc 210 and the mop 230 can make the rotating speed of the sleeve 320 in the second direction lower than that of the output shaft 310, so that a rotating speed difference is formed between the sleeve 320 and the output shaft 310. Through the screw transmission, the sleeve 320 drives the mop 230 to descend to the lower limit position. At this time, the output shaft 310 continues to rotate in the second direction, and abuts against the sleeve 320, so that the output shaft 310 and the sleeve 320 rotate synchronously in the second direction.

[0042] In some embodiments, the cleaning assembly 200 can comprise an edge brush 240, which can be used to clean the edge gap of a wall.

[0043] Optionally, as Figure 4 and 5As shown, the friction member 400 includes a first friction member 410 and a second friction member 420, the first friction member 410 is arranged on the cleaning assembly 200, and the second friction member 420 is arranged on the housing 100, and the first friction member 410 and the second friction member 420 abut when the cleaning assembly 200 is raised to the upper limit position relative to the housing 100.

[0044] Optionally, the friction member 400 includes the first friction member 410, the first friction member 410 is connected to the side of the rotating disc 210 facing the housing 100, and the first friction member 410 is arranged around the rotating shaft 201. The material of the first friction member 410 can be an elastic material, and specifically, the material of the first friction member 410 can be silicone. The first friction member 410 can protrude from the side of the rotating disc 210 facing the housing 100.

[0045] Optionally, the friction member 400 includes the second friction member 420, the second friction member 420 is connected to the side of the housing 100 facing the rotating disc 210, the second friction member 420 is arranged around the rotating shaft 201, and the second friction member 420 is configured to abut the first friction member 410 when the cleaning assembly 200 is rotated and raised to the upper limit position.

[0046] Further, the second friction member 420 protrudes from the side of the housing 100 facing the rotating disc 210, and the position and shape of the second friction member 420 can be matched with the first friction member 410, so that the cleaning assembly 200 can be raised to the upper limit position, and the second friction member 420 can abut the first friction member 410. Specifically, the projection planes of the first friction member 410 and the second friction member 420 facing the housing 100 can coincide. The material of the second friction member 420 can be an elastic material, such as rubber, silicone, etc.

[0047] Further, the first friction member 410 is connected to the side of the rotating disc 210 facing the housing 100, the side of the rotating disc 210 is surrounded by the elastic member 220, the elastic member 220 is in interference fit with the rotating disc 210, the first friction member 410 is connected to the elastic member 220, and the first friction member 410 and the elastic member 220 can be an integral structure. The first friction member 410 and the elastic member 220 can be integrally injection molded, and the materials of the elastic member 220 and the first friction member 410 can both be elastic materials, such as rubber material, silicone material. The elastic member 220 can be sleeved on the side of the rotating disc 210 and in interference fit with the side, so as to fix the first friction member 410 on the rotating disc 210, and meanwhile, the first friction member 410 and the elastic member 220 can be conveniently replaced. The second friction member 420 can be directly glued on the housing 100, or detachably connected to the housing 100, such as being pasted on the housing 100 by magic tape, or the housing 100 has a structural member for mounting the second friction member 420, and the second friction member 420 is sleeved on the structural member.

[0048] In other embodiments, the friction member 400 can also be directly integrated on the housing 100 or the cleaning assembly 200, for example, at least part of the structure of the cleaning assembly 200 such as the rotating disc 210 is made of rubber or silicone, etc. After the part of the structure contacts the housing 100, a larger friction force can be generated between the part of the structure and the housing 100.

[0049] Optionally, please refer to Figures 7 to 10 The shaft sleeve 320 comprises a first wall 321 and a second wall 322 arranged around the first wall 321, and a first groove 3201 is formed between the first wall 321 and the second wall 322. The output shaft 310 comprises a third wall 311 which is inserted into the first groove 3201. The second wall 322 is provided with a threaded groove 3203 on the side facing the first wall 321. The third wall 311 is provided with a sliding portion 3111 on the side facing the second wall 322, and the sliding portion 3111 is in sliding connection with the threaded groove 3203.

[0050] Specifically, the sliding portion 3111 can slide along the threaded groove 3203. When the cleaning assembly 200 is lowered to the lower limit position, the sliding portion 3111 abuts against the end of the threaded groove 3203 in the second direction, so that the shaft sleeve 320 rotates synchronously with the output shaft 310 in the second direction.

[0051] Optionally, the first wall 321 can be provided with a second groove 3202. The rotating disc 210 is provided with a connecting shaft 211 on the side close to the housing 100, and the connecting shaft 211 is inserted into the second groove 3202. The cross-sectional shape of the connecting shaft 211 matches the cross-sectional shape of the second groove 3202, and is a non-circular cross-section, so that the first wall 321 and the connecting shaft 211 cannot rotate relative to each other.

[0052] Further, the opening of the first groove 3201 faces the housing 100, and the opening of the second groove 3202 faces the mop 230. The connecting shaft 211 is provided with a first magnetic member 212 on the end close to the housing 100. The bottom of the second groove 3202 is provided with a second magnetic member 323. The connecting shaft 211 is detachably connected with the shaft sleeve 320 through the magnetic attraction of the first magnetic member 212 and the second magnetic member 323. The cleaning robot 10 further comprises a Hall sensor 500 which is used to detect the first magnetic member 212 and determine whether the cleaning assembly 200 is connected with the shaft sleeve 320.

[0053] Specifically, the first magnetic member 212 can be made of a magnet, and the second magnetic member 323 can be made of a metal material or a magnet. The Hall sensor 500 can sense the change of the magnetic field generated when the first magnetic member 212 is inserted into the second groove 3202 and when the first magnetic member 212 is separated from the second groove 3202, and then determine whether the cleaning assembly 200 is connected to the shaft sleeve 320. In other embodiments, the first magnetic member 212 can also be made of a metal material, and the second magnetic member 323 can be made of a magnet. The first magnetic member 212 can be attracted by the second magnetic member 323.

[0054] In other embodiments, the shaft sleeve 320 and the connecting shaft 211 can also be fixed together in a non-detachable manner. The shaft sleeve 320 and the connecting shaft 211 can be an integral structure, or the shaft sleeve 320 and the connecting shaft 211 can be fixed together by adhesion, clamping, screwing, or the like. The rotating disc 210 can also not be provided with the connecting shaft 211, and can be directly fixedly connected with the shaft sleeve 320.

[0055] Further, the cross-sectional shape of the connecting shaft 211 perpendicular to the rotating axis of the rotating disc 210 is matched with the cross-sectional shape of the second groove 3202 perpendicular to the rotating axis of the rotating disc 210. The cross-sectional shape of the connecting shaft 211 can be an elliptical shape, a hexagonal shape, a polygonal shape, or the like, so that the shaft sleeve 320 and the connecting shaft 211 cannot rotate relative to each other.

[0056] Optionally, the motor 330 is further configured to control the output shaft 310 to slow down when the cleaning assembly 200 rises to a predetermined position, and the upper limit position is higher than the predetermined position.

[0057] Optionally, a speed reducer 340 is arranged between the motor 330 and the output shaft 310, and the motor 330 drives the output shaft 310 to rotate through the speed reducer 340. The cleaning robot 10 further comprises a position detection sensor 600 and a control unit (not shown in the figure). The position detection sensor 600 is configured to send information to the control unit when the cleaning assembly 200 rises to a predetermined position, so that the control unit controls the output shaft 310 to slow down through the motor 330, and the upper limit position is closer to the shell 100 than the predetermined position. The output shaft 310 slows down when the cleaning assembly 200 rises to the predetermined position, thereby reducing the moment of inertia of the cleaning assembly 200. Then, when the cleaning assembly 200 rises to the upper limit position, the rotation can be stopped in time, so as to reduce the friction loss between the cleaning assembly 200 and the shell 100. The position detection sensor 600 can be an infrared sensor, a Hall sensor, or the like.

[0058] Further, the position detection sensor 600 can determine whether the cleaning assembly 200 is raised to the predetermined position by detecting the position of the shaft sleeve 320. Further, the predetermined position can be set such that when the cleaning assembly 200 is at the predetermined position, the output shaft 310 needs to rotate more than half a circle relative to the shaft sleeve 320 in the first direction to raise the cleaning assembly 200 to the upper limit position.

[0059] Further, when the cleaning assembly 200 is raised to the predetermined position, the control unit can control the output shaft 310 to slow down by the motor 330, so that the rotation speed of the output shaft 310 is not too small during the raising of the cleaning assembly 200, and the output shaft 310 can be stopped in time when the cleaning assembly 200 is raised to the upper limit position, so as to ensure that the raising speed of the cleaning assembly 200 is not too small while reducing the friction loss of the friction member 400.

[0060] Further, the control unit can detect the arrival of the cleaning assembly 200 at the predetermined position by the position detection sensor 600 and then control the speed reduction. In other embodiments, the cleaning robot 10 can also not be provided with the position detection sensor 600, for example, the control unit can indirectly determine that the cleaning assembly 200 has reached the predetermined position by the rotation stroke / time of the motor 330 and then control the speed reduction.

[0061] In other embodiments, the speed reduction function can be cancelled, and the motor can be directly controlled to stop rotating when the cleaning assembly 200 is raised to the upper limit position.

[0062] Optionally, the connecting shaft 211 can be provided with a mounting groove 2101, the opening of the mounting groove 2101 away from the mop 230 is provided with a movable member 213, the first magnetic member 212 can be fixed to the movable member 213, and the movable member 213 and the bottom of the mounting groove 2101 abut against an elastic body 214, and the elastic body 214 can be a spring. The movable member 213 can move relative to the rotating disc 210 along the rotation axis direction of the rotating disc 210, and the rotating disc 210 can compress the spring to move close to the shell 100 under the action of external pressure, so that the mop 230 can better fit the ground in the case of uneven ground.

[0063] In some embodiments, the number of cleaning assemblies 200 installed on the cleaning robot can be one or more, and the number of driving assemblies 300 can match the number of cleaning assemblies 200. Alternatively, multiple cleaning assemblies 200 can share one driving assembly 300, and specifically, the number of cleaning assemblies 200 can be two.

[0064] The above merely describes some embodiments of the present application, and does not limit the protection scope of the present application, and any equivalent device or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning robot, characterized in that, The application relates to a cleaning device, comprising: a housing; a cleaning assembly arranged at the bottom of the housing; a driving assembly mounted on the housing and in transmission connection with the cleaning assembly, the driving assembly being used for driving the cleaning assembly to rotate relative to the housing and for driving the cleaning assembly to ascend and descend relative to the housing; wherein when the driving assembly drives the cleaning assembly to ascend to an upper limit position relative to the housing, the cleaning assembly is in frictional abutment with the housing; the driving assembly comprises a motor, a shaft sleeve and an output shaft, the cleaning assembly is connected to the shaft sleeve, and the cleaning assembly is configured to, when the cleaning assembly is located at the upper limit position, rotate the output shaft relative to the shaft sleeve under the action of friction between the cleaning assembly and the housing so as to lower the cleaning assembly.

2. The cleaning robot according to claim 1, wherein, At least one of the cleaning assembly and the housing is provided with a friction member, and when the cleaning assembly is located at the upper limit position, the cleaning assembly is in frictional abutment with the housing through the friction member.

3. The cleaning robot according to claim 2, wherein, The friction member is arranged around the rotation shaft of the cleaning assembly; or the friction member is provided in plurality, and the plurality of friction members are arranged at intervals around the rotation shaft.

4. The cleaning robot according to claim 2 or 3, characterized in that, The housing is provided with the friction member, and the friction member is used for abutting against the cleaning assembly; or the cleaning assembly is provided with the friction member, and the friction member is used for abutting against the housing.

5. The cleaning robot according to claim 2 or 3, characterized in that, The friction member comprises a first friction member and a second friction member, the first friction member is arranged on the cleaning assembly, the second friction member is arranged on the housing, and when the cleaning assembly ascends to the upper limit position relative to the housing, the first friction member and the second friction member abut against each other.

6. The cleaning robot according to claim 1, wherein, The motor is in transmission connection with the output shaft, the shaft sleeve is in screw transmission connection with the output shaft, and the motor is used for driving the output shaft to rotate, thereby driving the shaft sleeve to rotate and further driving the cleaning assembly to rotate.

7. The cleaning robot according to claim 6, wherein, The cleaning assembly is configured to rotate the shaft sleeve relative to the output shaft under the action of friction, so that the cleaning assembly ascends or descends along the output shaft with the shaft sleeve.

8. The cleaning robot according to claim 7, wherein, The cleaning assembly has a lower limit position and the upper limit position, and when the cleaning assembly is located at the lower limit position, the cleaning assembly rotates the output shaft relative to the shaft sleeve under the action of friction between the cleaning assembly and the ground, so as to ascend the cleaning assembly.

9. The cleaning robot according to claim 7, wherein, The motor is also used for controlling the output shaft to decelerate when the cleaning assembly ascends to a predetermined position, and the upper limit position is higher than the predetermined position.

10. The cleaning robot according to claim 1, wherein, The cleaning assembly comprises a mop or an edge brush.

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