Cleaning mechanism for cleaning robot and cleaning robot

Abstract

The utility model relates to the technical field of robots, and discloses a cleaning mechanism for a cleaning robot and the cleaning robot. According to the cleaning mechanism for the cleaning robot, the cleaning robot comprises a mounting support, and the cleaning mechanism comprises a first shell arranged on the mounting support; the first cleaning piece is arranged on the first shell and abuts against the surface of the to-be-cleaned object; the dust collection assembly is arranged on the first shell and used for collecting impurities removed by the first cleaning piece. According to the cleaning mechanism, the energy consumption is lower.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, for example to a cleaning mechanism for a cleaning robot and a cleaning robot. BACKGROUND

[0002] A photovoltaic module assumes the function of photoelectric conversion in a photovoltaic power station, and is formed by connecting a certain number of photovoltaic cells in series and parallel through wires and encapsulating them. The problem of dust and snow accumulation on the surface of the photovoltaic module will affect the power generation performance of the photovoltaic module. Regularly cleaning the dust on the surface of the photovoltaic module can effectively improve the power generation efficiency of the photovoltaic module, reduce the temperature on the surface of the photovoltaic module, and to some extent, prolong the service life of the photovoltaic module. Therefore, the research on the cleaning of the surface of the photovoltaic module has important economic significance and application value.

[0003] In the related art, a photovoltaic cell panel cleaning robot is disclosed, which includes a lead screw, a control panel and a solar cell panel are arranged at the upper end of the lead screw; a support is connected to the front end of the lead screw, a rudder is connected to the front end of the support, the rotation of the rudder is controlled by a main controller on the control panel, a fixed frame is connected to the lower end of the rudder through a first connecting piece, two cleaning brushes are arranged in the fixed frame, and the outer side of the cleaning brushes is connected to a driving DC motor; a dust collector is connected to the lower end of the lead screw through a second connecting piece; a moving device is further included, and the moving device is connected to both sides of the lead screw.

[0004] Although the cleaning robot in the related art can achieve flexible cleaning of the photovoltaic cell panel, various separate driving devices, such as the rudder, the DC motor, the dust collector and the moving device, are easy to cause a large amount of energy consumption. UTILITY MODEL CONTENT

[0005] The following presents a simplified summary of some aspects of the disclosed embodiments in order to provide a basic understanding of such embodiments. This summary is not an extensive overview of the embodiments described in detail in the following detailed description, and is intended neither to identify key or critical elements nor to delineate the scope of such embodiments. Rather, the primary purpose of this summary is merely to present some concepts of the disclosed embodiments in a simplified form as a prelude to the more detailed description presented later.

[0006] The embodiments of the present disclosure provide a cleaning mechanism for a cleaning robot and a cleaning robot, which has lower energy consumption.

[0007] In some embodiments, a cleaning mechanism for a cleaning robot is provided, the cleaning robot including a mounting bracket, the cleaning mechanism including: a first housing arranged on the mounting bracket; a first cleaning member arranged on the first housing and abutting against a surface of an object to be cleaned; and a dust collection assembly arranged on the first housing and configured to collect impurities removed by the first cleaning member.

[0008] Optionally, the first cleaning member comprises a first roller brush, the first roller brush is arranged in the first housing and abuts against the surface of the object to be cleaned; the cleaning mechanism further comprises a driving assembly, the driving assembly is arranged in the first housing, and an output end of the driving assembly is connected with the first roller brush for driving the first roller brush to roll.

[0009] Optionally, the driving assembly comprises a fourth motor arranged in the first housing, and a third transmission assembly, an input end of the third transmission assembly is connected with an output shaft of the fourth motor, and an output end of the third transmission assembly is connected with the first roller brush.

[0010] Optionally, one end of the first roller brush is provided with a first transmission shaft; the third transmission assembly comprises a seventh gear, an eighth gear and a ninth gear, the seventh gear is sleeved on the output shaft of the fourth motor, the outer gear of the eighth gear is rotationally connected with the outer gear of the seventh gear, and the ninth gear is sleeved on the first transmission shaft and the outer gear of the ninth gear is rotationally connected with the outer gear of the eighth gear.

[0011] Optionally, the number of the first roller brushes is a plurality, and the plurality of first roller brushes are arranged in the first housing at intervals; the number of the eighth gears is a plurality, the outer gears of adjacent eighth gears are rotationally connected with each other, the outer gear of the seventh gear is rotationally connected with one of the plurality of eighth gears; the number of the ninth gears is a plurality, the plurality of ninth gears are arranged in one-to-one correspondence with the plurality of first roller brushes, and the plurality of ninth gears are arranged in one-to-one correspondence with the plurality of eighth gears.

[0012] Optionally, the cleaning mechanism further comprises a second roller brush, part of the second roller brush is located in the first cavity, and part of the second roller brush protrudes out of the first cavity and abuts against the surface of the object to be cleaned.

[0013] Optionally, one end of the second roller brush is provided with a second transmission shaft; the third transmission assembly further comprises a first toothed sleeve, a second toothed sleeve and a toothed chain, the first toothed sleeve is fixedly arranged on the eighth gear, the second toothed sleeve is sleeved on the second transmission shaft, and the toothed chain is arranged between the first toothed sleeve and the second toothed sleeve.

[0014] Optionally, the first housing comprises a third cavity and a dust collection opening which are mutually through; part of the first cleaning member is located in the third cavity, and part of the first cleaning member protrudes out of the third cavity and abuts against the surface of the object to be cleaned; a dust collection assembly is arranged outside the first housing and located at the dust collection opening.

[0015] Optionally, the dust collection assembly comprises a dust collection shell arranged outside the first housing and covering the dust collection opening, and the dust collection shell and the first housing jointly form a dust collection cavity; and a fan is arranged in the dust collection cavity.

[0016] In some embodiments, a cleaning robot is provided, comprising: a mounting bracket; a cleaning mechanism for the cleaning robot as described in the above embodiments, wherein the first housing is arranged in the mounting bracket.

[0017] The cleaning mechanism and the cleaning robot provided by the embodiments of the present disclosure can achieve the following technical effects.

[0018] In the embodiments of the present disclosure, the first cleaning member is used to clean the object to be cleaned. The dust collection assembly is used to collect the impurities such as dust, hair, snow, debris, etc. removed by the first cleaning member, so that the impurities removed during the cleaning process can be collected and stored in time, preventing them from being scattered into the environment again and causing secondary pollution. Since the first cleaning member abuts against the surface of the object to be cleaned, the first cleaning member and the surface of the object to be cleaned can generate stress when the cleaning robot moves relative to the object to be cleaned, thereby achieving the cleaning of the surface of the object to be cleaned. Compared with the related art, the cleaning does not need to be performed by driving the steering engine and the DC motor, and the energy consumption is lower.

[0019] The general description above and the following description below are exemplary and explanatory only and are not intended to be limiting. BRIEF DESCRIPTION OF DRAWINGS

[0020] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and are not intended to be limiting of the embodiments, and in which like reference numerals designate similar items in the figures, and wherein:

[0021] Figure 1 is a schematic view of a cleaning robot provided by an embodiment of the present disclosure arranged on an object to be cleaned;

[0022] Figure 2 is a schematic view of a structure of a cleaning robot provided by an embodiment of the present disclosure;

[0023] Figure 3 is a schematic view of a structure of a cleaning robot provided by an embodiment of the present disclosure; Figure 2 is a schematic view of a structure of a cleaning robot provided by an embodiment of the present disclosure from another perspective;

[0024] Figure 4 is a schematic view of a cleaning mechanism provided by an embodiment of the present disclosure arranged on a rotating device;

[0025] Figure 5 is a schematic view of a cleaning mechanism provided by an embodiment of the present disclosure arranged on a rotating device; Figure 4 is a schematic view of an enlarged structure at Y in the embodiment shown;

[0026] Figure 6 is a schematic view of an enlarged structure at P in the embodiment shown; Figure 4 is a schematic view of an enlarged structure at P in the embodiment shown;

[0027] Figure 7 is a schematic view of a structure of a cleaning robot provided by another embodiment of the present disclosure;

[0028] Figure 8is a schematic view of the connection between the first rotating member and the second rotating member according to an embodiment of the present disclosure;

[0029] Figure 9 is a schematic view of the connection between the first plug-in member and the second plug-in member according to an embodiment of the present disclosure;

[0030] Figure 10 is a schematic view of the structure of the cleaning robot when the cleaning mechanism rotates to the second position (the axis of the cleaning mechanism is parallel to the axis of the rotating device and the suction device) according to an embodiment of the present disclosure;

[0031] Figure 11 is a schematic view of the internal structure of the cleaning robot according to an embodiment of the present disclosure;

[0032] Figure 12 is a schematic view of the structure of the rotating device according to an embodiment of the present disclosure; Figure 11 is a schematic view of the enlarged structure at X in the embodiment shown;

[0033] Figure 13 is a schematic view of the structure of the rotating device according to an embodiment of the present disclosure;

[0034] Figure 14 is a sectional view of the rotating device in the embodiment shown. Figure 13

[0035] Reference signs:

[0036] 1 cleaning robot;

[0037] 10 mounting bracket; 100 sliding rail; 112 first end; 114 second end;

[0038] 20 movement mechanism;

[0039] 200 suction device; 202 second lifting structure; 204 second suction structure; 206 second suction disc; 208 second moving structure; 210 second housing; 212 second opening; 214 second cavity;

[0040] ​300 rotating device; 302 first adsorption structure; 304 suction cup; 3040 first suction cup; 306 air hole; 308 air guide cylinder; 310 air guide channel; 312 air pump; 314 rotating structure; 316 rotating support; 318 first motor; 320 first gear; 322 second gear; 324 first lifting structure; 326 lifting support; 328 mounting sleeve; 330 mounting groove; 332 second motor; 334 first transmission assembly; 336 first rack; 338 third gear; 340 first moving structure; 342 moving support; 344 third motor; 346 second transmission assembly; 348 fourth gear; 350 fifth gear; 352 first connecting rod; 354 sixth gear; 356 second rack; 358 third housing; 360 first opening; 362 first cavity; 364 first rotating piece; 368 first plug-in piece;

[0041] 400 cleaning mechanism; 402 first housing; 404 third cavity; 406 dust collection opening; 408 first cleaning piece; 410 first rolling brush; 412 first transmission shaft; 414 dust collection assembly; 416 dust collection shell; 422 driving assembly; 424 fourth motor; 426 third transmission assembly; 428 seventh gear; 430 eighth gear; 432 ninth gear; 436 first toothed sleeve; 438 second toothed sleeve; 440 toothed chain; 442 second cleaning piece; 444 second rolling brush; 446 second transmission shaft; 448 second rotating piece; 450 second plug-in piece;

[0042] 7 object to be cleaned; 70 photovoltaic panel. DETAILED DESCRIPTION

[0043] In order to enable a more detailed understanding of the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, which are only used for reference and do not limit the embodiments of the present disclosure. In the following technical description, in order to facilitate explanation, through multiple details, a sufficient understanding of the disclosed embodiments is provided. However, one or more embodiments can still be implemented without these details. In other cases, in order to simplify the drawings, well-known structures and devices can be simplified.

[0044] The terms "first", "second", and the like in the specification and claims of the embodiments of the present disclosure and the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0045] In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the embodiments of the present disclosure and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to indicating the orientation or positional relationship, the above-mentioned terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0046] In addition, the terms "set", "connected", "fixed" should be broadly understood. For example, "connected" can be fixedly connected, detachably connected, or integrally configured; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0047] Unless otherwise specified, the term "a plurality of" means two or more.

[0048] In the embodiments of the present disclosure, the character " / " represents an "or" relationship between the objects before and after it. For example, A / B means A or B.

[0049] The term "and / or" is a description of the association between objects, which means that there can be three relationships. For example, A and / or B means: A, B, A and B, the three relationships.

[0050] It should be noted that the embodiments in the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0051] In some embodiments, in combination with Figures 1 to 3 As shown, a cleaning robot 1 is provided, which includes a mounting bracket 10 and a cleaning mechanism 400. The cleaning mechanism 400 is arranged on the mounting bracket 10, and is used to clean a to-be-cleaned object 7.

[0052] It should be noted that the to-be-cleaned object 7 in the present disclosure refers to a target area or object that needs to be cleaned. According to the application scenario of the cleaning robot 1, the to-be-cleaned object 7 can be a floor, a carpet, a ceramic tile and the like of a floor material in a family or a commercial place, or other surfaces that need to be cleaned such as a wall, a ceiling, a glass, a photovoltaic panel in a photovoltaic assembly.

[0053] In some embodiments, the cleaning mechanism 400 comprises a first housing 402, a first cleaning member 408, and a dust collection assembly 414. The first housing 402 is arranged on the mounting bracket 10. The first cleaning member 408 is arranged in the first housing 402 and used to clean the object 7 to be cleaned. The dust collection assembly 414 is arranged in the first housing 402 and used to collect the impurities removed by the first cleaning member 408.

[0054] In this embodiment, the first cleaning member 408 is used to clean the object 7 to be cleaned. The dust collection assembly 414 is used to collect the impurities such as dust, hair, snow, debris, etc. removed by the first cleaning member 408, so that the impurities removed during the cleaning process can be collected and stored in time to prevent them from being scattered into the environment again and causing secondary pollution.

[0055] In some embodiments, the first cleaning member 408 abuts against the surface of the object 7 to be cleaned. In this embodiment, since the first cleaning member 408 abuts against the surface of the object 7 to be cleaned, the first cleaning member 408 and the surface of the object 7 to be cleaned can generate stress when the cleaning robot moves relative to the object 7 to be cleaned, thereby achieving the cleaning of the surface of the object 7 to be cleaned. Compared with the related art, the cleaning does not need to be performed by driving the steering engine and the DC motor, and the energy consumption is lower.

[0056] Optionally, as shown in Figure 2 , Figure 3 , Figure 7 and Figure 11 , the first housing 402 comprises a third cavity 404 and a dust collection port 406 which are through each other. Part of the first cleaning member 408 is located in the third cavity 404, and part of the first cleaning member 408 protrudes out of the third cavity 404 and abuts against the surface of the object 7 to be cleaned. The dust collection assembly 414 is arranged outside the first housing 402 and located at the dust collection port 406.

[0057] In this embodiment, part of the first cleaning member 408 is located in the third cavity 404, and part of the first cleaning member 408 protrudes out of the third cavity 404 and abuts against the surface of the object 7 to be cleaned. The third cavity 404 serves as a space for accommodating part of the first cleaning member 408, which is used to protect the first cleaning member 408 from the external environment and ensure that the first cleaning member 408 can effectively contact the surface of the object 7 to be cleaned. The dust collection assembly 414 is located at the dust collection port 406, and the dust collection port 406 is through the third cavity 404, so as to guide the impurities removed by the first cleaning member 408 during the cleaning process to the dust collection assembly 414 through the dust collection port 406.

[0058] Optionally, as shown in Figure 2 , Figure 3 , Figure 7 and Figure 11As shown, the dust collection assembly 414 includes a dust collection shell 416 and a fan (not shown). The dust collection shell 416 is disposed outside the first shell 402 and covers the dust collection port 406. The dust collection shell 416 and the first shell 402 jointly form a dust collection cavity (not shown). The fan is disposed in the dust collection cavity.

[0059] In this embodiment, the dust collection shell 416 is disposed outside the first shell 402 and covers the dust collection port 406 to ensure the sealing of the dust collection port 406 and prevent leakage of impurities. The dust collection shell 416 and the first shell 402 jointly form a closed dust collection cavity as an impurity collection space to efficiently accommodate and store impurities removed from the surface of the object to be cleaned 7. The fan is disposed in the dust collection cavity and is responsible for generating strong suction to suck impurities from the dust collection port 406 into the dust collection cavity. In this embodiment, the dust collection cavity formed by the dust collection shell 416 and the first shell 402 provides a closed and sufficient capacity impurity collection space, ensuring that impurities can be effectively collected and stored to avoid secondary pollution. The strong suction of the fan further enhances the collection efficiency of impurities, so that even tiny impurities can be easily sucked into the dust collection cavity, achieving efficient impurity collection.

[0060] Optionally, in combination with Figure 4 and Figure 11 As shown, the first cleaning member 408 includes a first roller brush 410. The first roller brush 410 is disposed in the first shell 402 and abuts against the surface of the object to be cleaned 7.

[0061] In this embodiment, since the first roller brush 410 abuts against the surface of the object to be cleaned 7, when the rotating device 300 moves relative to the object to be cleaned 7, the first roller brush 410 and the surface of the object to be cleaned 7 can generate a friction force to drive the first roller brush 410 to rotate and roll relative to the object to be cleaned 7. By the rolling cleaning mode of the first roller brush 410, the stains and impurities on the surface of the object to be cleaned 7 can be cleaned more deeply. Compared with the static cleaning mode, the first roller brush 410 can more effectively remove difficult-to-clean impurities.

[0062] Optionally, in combination with Figures 4 to 6 As shown, the cleaning mechanism 400 further includes a driving assembly 422. The driving assembly 422 is disposed in the first shell 402, and the output end of the driving assembly 422 is connected with the first roller brush 410 for driving the first roller brush 410 to roll.

[0063] In this embodiment, the driving assembly 422 is configured to provide driving force to drive the first rolling brush 410 to roll. By configuring the driving assembly 422, flexible cleaning mode and higher cleaning efficiency can be achieved. For example, when the driving assembly 422 is not started, the first rolling brush 410 can rotate relative to the object 7 to be cleaned under the friction force of the surface of the object 7 to be cleaned, and the rotation direction of the first rolling brush 410 at this time is forward, and the rotation speed of the first rolling brush 410 at this time depends on the size of the friction force. By flexibly starting the driving assembly 422 to change the rotation speed and / or rotation direction of the first rolling brush 410 (for example, the rotation direction of the first rolling brush 410 is reversed), the friction force between the first rolling brush 410 and the surface of the object 7 to be cleaned can be increased, and higher cleaning efficiency can be achieved.

[0064] Optionally, in combination with Figures 4 to 6 As shown, the driving assembly 422 includes a fourth motor 424 and a third transmission assembly 426. The fourth motor 424 is arranged in the first housing 402. The input end of the third transmission assembly 426 is connected with the output shaft of the fourth motor 424, and the output end of the third transmission assembly 426 is connected with the first rolling brush 410.

[0065] In this embodiment, the fourth motor 424 is configured to provide driving force, and the third transmission assembly 426 is configured to transmit the driving force generated by the fourth motor 424 to the first rolling brush 410, so that the first rolling brush 410 can roll at a stable speed and direction, and the cleaning efficiency of the cleaning mechanism 400 can be ensured.

[0066] Optionally, in combination with Figures 4 to 6 As shown, one end of the first rolling brush 410 is provided with a first transmission shaft 412. The third transmission assembly 426 includes a seventh gear 428, an eighth gear 430 and a ninth gear 432. The seventh gear 428 is sleeved on the output shaft of the fourth motor 424. The outer gear of the eighth gear 430 is rotatably connected with the outer gear of the seventh gear 428. The ninth gear 432 is sleeved on the first transmission shaft 412, and the outer gear of the ninth gear 432 is rotatably connected with the outer gear of the eighth gear 430.

[0067] In this embodiment, the third transmission assembly 426 is jointly constituted by a seventh gear 428, an eighth gear 430 and a ninth gear 432. The seventh gear 428 is sleeved on the output shaft of the fourth motor 424, serving as the starting point of power input, and is responsible for transmitting the rotational motion generated by the fourth motor 424 to the eighth gear 430. The external gear of the eighth gear 430 is rotationally connected with the external gears of the seventh gear 428 and the ninth gear 432, and the eighth gear 430 is responsible for further transmitting the rotational motion to the ninth gear 432. The ninth gear 432 is sleeved on the first transmission shaft 412 and is responsible for further transmitting the rotational motion to the first rolling brush 410, so as to ensure that the first rolling brush 410 can roll at a stable speed and direction.

[0068] Optionally, in combination with Figures 4 to 6 As shown, the diameter of the eighth gear 430 is greater than the diameter of the seventh gear 428. The diameter of the eighth gear 430 is greater than the diameter of the ninth gear 432.

[0069] In this embodiment, the diameter of the eighth gear 430 is greater than the diameter of the seventh gear 428, and the diameter of the eighth gear 430 is greater than the diameter of the ninth gear 432, so as to optimize the transmission ratio between the eighth gear 430 and the seventh gear 428 and the ninth gear 432, reduce the relative sliding speed when the eighth gear 430 meshes with the seventh gear 428 and the ninth gear 432, and thus reduce the friction loss and wear between the eighth gear 430 and the seventh gear 428 and the ninth gear 432. Smaller relative sliding speed can reduce the energy loss between gears, make power transmission more efficient, and improve the energy utilization efficiency of the cleaning mechanism 400.

[0070] Optionally, in combination with Figures 4 to 6 As shown, the number of the first rolling brush 410 is multiple, and multiple first rolling brushes 410 are arranged at intervals in the first housing 402. The number of the eighth gear 430 is multiple, and the external gears of adjacent eighth gears 430 are rotationally connected with each other. The external gear of the seventh gear 428 is rotationally connected with one of the multiple eighth gears 430. The number of the ninth gear 432 is multiple, and multiple ninth gears 432 are arranged one-to-one with multiple first rolling brushes 410, and multiple ninth gears 432 are arranged one-to-one with multiple eighth gears 430.

[0071] In this embodiment, the number of the eighth gears 430 is multiple, the number of the ninth gears 432 is multiple, and the number of the first rolling brushes 410 is multiple. The outer gears of the adjacent eighth gears 430 are rotationally connected with each other, the outer gear of the seventh gear 428 is rotationally connected with one of the multiple eighth gears 430, so as to realize the transmission of the rotational motion generated by the fourth motor 424 to each of the eighth gears 430 in sequence. The multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple eighth gears 430, and the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple first rolling brushes 410, so as to further realize the transmission of the rotational motion to each of the first rolling brushes 410 in sequence, and realize the driving of the multiple first rolling brushes 410 to work simultaneously.

[0072] In this embodiment, since the outer gears of the adjacent eighth gears 430 are rotationally connected with each other, the rotation directions of the adjacent eighth gears 430 are opposite, so as to drive the reverse rotation of the adjacent two first rolling brushes 410, so as to drive the flying of the dust on the photovoltaic panel, and further realize the collection of the dust on the surface of the photovoltaic panel by using the dust collecting assembly 414. At the same time, the simultaneous work of the multiple first rolling brushes 410 can significantly improve the cleaning efficiency of the cleaning mechanism 400, so that the cleaning mechanism 400 can complete a larger cleaning task in a shorter time. The multiple first rolling brushes 410 arranged at intervals can better cover the cleaning area, reduce omission, and improve the cleaning quality and effect. In addition, the multiple first rolling brushes 410 in this embodiment are all driven by the fourth motor 424, which can realize the maximum utilization of driving force, so as to further improve the energy utilization efficiency of the cleaning mechanism 400.

[0073] In some embodiments, the cleaning robot 1 comprises a third housing 358. The third housing 358 is arranged on the mounting bracket 10. In combination with Figure 3 and Figure 4 As shown, the cleaning mechanism 400 further comprises a second cleaning piece 442, and the second cleaning piece 442 is arranged on the third housing 358 and abuts against the surface of the object to be cleaned 7.

[0074] In this embodiment, the second cleaning piece 442 is additionally arranged, and since the second cleaning piece 442 is arranged on the third housing 358 and abuts against the surface of the object to be cleaned 7, when the cleaning robot 1 moves relative to the object to be cleaned 7, the second cleaning piece 442 can be driven to move relative to the object to be cleaned 7, so as to further realize the cleaning of the object to be cleaned 7. In this embodiment, by additionally arranging the second cleaning piece 442 and the first cleaning piece 408, the cleaning efficiency of the cleaning mechanism 400 is further improved.

[0075] Optionally, the third housing 358 comprises a first cavity 362. In combination with Figure 3 and Figure 4As shown, part of the second cleaning member 442 is located in the first cavity 362, and part of the second cleaning member 442 protrudes from the first cavity 362 to abut against the surface of the object to be cleaned 7.

[0076] In this embodiment, part of the second cleaning member 442 is located in the first cavity 362, and part of the second cleaning member 442 protrudes from the first cavity 362 to abut against the surface of the object to be cleaned 7. The first cavity 362 serves as a space for accommodating the second cleaning member 442, for protecting the second cleaning member 442 from the external environment, while ensuring that the second cleaning member 442 can effectively contact the surface of the object to be cleaned 7.

[0077] Optionally, in combination with Figure 3 and Figure 4 As shown, the second cleaning member 442 comprises a second roller brush 444, which is arranged in the third housing 358 and abuts against the surface of the object to be cleaned 7.

[0078] In this embodiment, since the second roller brush 444 abuts against the surface of the object to be cleaned 7, when the rotating device 300 moves relative to the object to be cleaned 7, the second roller brush 444 and the surface of the object to be cleaned 7 can generate a friction force to drive the second roller brush 444 to rotate and roll relative to the object to be cleaned 7. By the rolling cleaning manner of the second roller brush 444, the stains and impurities on the surface of the object to be cleaned 7 can be cleaned more deeply.

[0079] It should be noted that, according to the specific structure size or shape of the cleaning robot 1, the second roller brush 444 and the first roller brush 410 can be the same or different. For example, in the case where the third housing 358 and the first housing 402 have the same shape, the second roller brush 444 and the first roller brush 410 are respectively arranged to extend along the length direction of the first housing 402 and the third housing 358, and in this case, the second roller brush 444 and the first roller brush 410 are the same. In the case where the third housing 358 and the first housing 402 have different shapes, for example, the length of the third housing 358 is less than the length of the first housing 402, the second roller brush 444 and the first roller brush 410 are respectively arranged to extend along the length direction of the first housing 402 and the third housing 358, and in this case, the second roller brush 444 and the first roller brush 410 are different.

[0080] Optionally, in combination with Figures 4 to 6 As shown, one end of the second roller brush 444 is provided with a second transmission shaft 446. The third transmission assembly 426 further comprises a first toothed sleeve 436, a second toothed sleeve 438, and a toothed chain 440, the first toothed sleeve 436 is fixedly arranged on the eighth gear 430, the second toothed sleeve 438 is sleeved on the second transmission shaft 446, and the toothed chain 440 is arranged between the first toothed sleeve 436 and the second toothed sleeve 438.

[0081] In this embodiment, the third transmission assembly 426 further comprises a first toothed sleeve 436, a second toothed sleeve 438 and a toothed chain 440. The first toothed sleeve 436 is fixedly arranged on the eighth gear 430, the second toothed sleeve 438 is sleeved on the second transmission shaft 446, and the first toothed sleeve 436 and the second toothed sleeve 438 are rotationally connected with the toothed chain 440, so as to further transmit the rotary motion transmitted to the eighth gear 430 to the second transmission shaft 446, thereby driving the second rolling brush 444 to move, ensuring that the second rolling brush 444 can roll at a stable speed and direction. In this embodiment, the driving force generated by the fourth motor 424 can not only be used to drive the first rolling brush 410, but also can simultaneously drive the second rolling brush 444, thereby improving the utilization rate of the driving force, and further improving the energy utilization efficiency of the cleaning robot 1.

[0082] Optionally, as shown in Figure 3 、 Figure 4 and Figure 11 , the number of cleaning mechanisms 400 is two, and the two cleaning mechanisms 400 are arranged on opposite sides of the mounting bracket 10.

[0083] In this embodiment, the two cleaning mechanisms 400 are located on opposite sides of the mounting bracket 10. By increasing the number of cleaning mechanisms 400, the cleaning robot 1 can cover a larger cleaning area, thereby improving the cleaning efficiency of the cleaning robot 1. In addition, by arranging the two cleaning mechanisms 400 on opposite sides of the mounting bracket 10, the structural stability of the cleaning robot 1 is ensured.

[0084] Optionally, as shown in Figures 7 to 9 , the cleaning robot 1 further comprises a first rotating member 364 and a first plug-in member 368 arranged at intervals. The cleaning mechanism 400 further comprises a second rotating member 448 and a second plug-in member 450 arranged at intervals, the first rotating member 364 and the second rotating member 448 are rotationally connected, and the first plug-in member 368 and the second plug-in member 450 are detachably connected.

[0085] In this embodiment, the first rotating member 364 and the first plug-in member 368 are respectively arranged on opposite sides of the third housing 358 and located close to the cleaning mechanism 400. The second rotating member 448 and the second plug-in member 450 are respectively arranged on opposite sides of the first housing 402 and located close to the third housing 358. The first rotating member 364 and the second rotating member 448 are correspondingly arranged, and the first plug-in member 368 and the second plug-in member 450 are correspondingly arranged. In this embodiment, the first plug-in member 368 and the second plug-in member 450 are detachably connected through the first plug-in member 368 and the second plug-in member 450, and the first rotating member 364 and the second rotating member 448 are rotatably connected, so that when the first plug-in member 368 and the second plug-in member 450 are separated, the cleaning mechanism 400 can rotate relative to the mounting bracket 10 to switch the cleaning mechanism 400 at different positions.

[0086] For example, the cleaning mechanism 400 can rotate relative to the mounting bracket 10 with the axis of the second rotating member 448 as the rotation axis. As shown in Figure 7 When the cleaning mechanism 400 rotates to the first position, the axis of the cleaning mechanism 400 is perpendicular to the axis of the mounting bracket 10 in the length direction, and the first plug-in member 368 and the second plug-in member 450 can be connected at this time, so that the cleaning robot 1 can cover the maximum cleaning area and ensure the cleaning efficiency of the cleaning robot 1. As shown in Figure 10 When the cleaning mechanism 400 rotates to the second position, the axis of the cleaning mechanism 400 is parallel to the axis of the mounting bracket 10 in the length direction, and the first plug-in member 368 and the second plug-in member 450 are separated at this time, so that the space volume occupied by the cleaning robot 1 is smaller, which is convenient for storage and transportation.

[0087] In some embodiments, the first rotating member 364 and the second rotating member 448 can be rotatably connected through a bearing or a shaft pin. The first plug-in member 368 and the second plug-in member 450 can be detachably connected through buckles, screws or bolt pins.

[0088] In some embodiments, the cleaning robot 1 further comprises a motion mechanism 20. The motion mechanism 20 is arranged on the mounting bracket 10 and is used to drive the mounting bracket 10 to move relative to the object to be cleaned 7, so that the cleaning robot 1 moves relative to the object to be cleaned 7.

[0089] In the cleaning robot 1 provided by the embodiments of the present disclosure, the motion mechanism 20 can drive the mounting bracket 10 to move relative to the object to be cleaned 7, so as to drive the cleaning robot 1 to move relative to the object to be cleaned 7, thereby realizing the movement control of the cleaning robot 1.

[0090] Optionally, in combination with Figure 2 , Figure 3 and Figure 11As shown, the movement mechanism 20 includes an adsorption device 200 and a rotating device 300. The adsorption device 200 is arranged in connection with the mounting bracket 10 at one end and is capable of switching between a fixed state of being fixed to the surface of the object to be cleaned 7 and a disengaged state of being disengaged from the surface of the object to be cleaned 7. The rotating device 300 is arranged in movable connection with the mounting bracket 10 at one end and is capable of switching between a fixed state of being fixed to the surface of the object to be cleaned 7 and a disengaged state of being disengaged from the surface of the object to be cleaned 7. Among them, when the rotating device 300 is in the fixed state, the adsorption device 200 and the mounting bracket 10 in the disengaged state can move relative to the object to be cleaned 7. When the adsorption device 200 is in the fixed state, the rotating device 300 in the disengaged state can move relative to the object to be cleaned 7.

[0091] In the embodiments of the present disclosure, the adsorption device 200 and the rotating device 300 are arranged in a spaced manner on the side of the mounting bracket 10 close to the object to be cleaned 7, and the end of the adsorption device 200 and the rotating device 300 away from the mounting bracket 10 can be switched between a fixed state of being fixed to the surface of the object to be cleaned 7 and a disengaged state of being disengaged from the surface of the object to be cleaned 7. And the adsorption device 200 and the rotating device 300 are not in the disengaged state at the same time. By the adsorption device 200 and the rotating device 300 not being in the disengaged state at the same time, it is ensured that the cleaning robot 1 can be stably attached to the object to be cleaned 7 when working, preventing sliding or falling due to wind, vibration and other factors, and improving the safety and stability of the operation. By the adsorption device 200 and the rotating device 300 cooperating with each other, the movement of the movement mechanism 20 driving the mounting bracket 10 relative to the object to be cleaned 7 can be realized, and then the position and attitude adjustment of the cleaning robot 1 relative to the object to be cleaned 7 can be realized.

[0092] It should be noted that the moving direction of the cleaning robot 1 in the present disclosure refers to the direction of the cleaning robot 1 advancing or retreating relative to the object to be cleaned 7 (such as the photovoltaic panel 70). In actual application, the moving direction of the cleaning robot 1 will be consistent with a certain structural feature of the cleaning robot 1 itself, such as when the mounting bracket 10 is in the shape of a rectangular solid, the moving direction of the cleaning robot 1 is the same as the length direction or the width direction of the mounting bracket 10. The embodiments of the present disclosure take the example that the moving direction of the cleaning robot 1 is the same as the length direction of the mounting bracket 10, and when understanding the structural features of the cleaning robot 1 in some embodiments of the present disclosure, the moving direction of the cleaning robot 1 can be regarded as the length direction of the mounting bracket 10.

[0093] In order to introduce the present disclosure, the following will be described in combination with Figure 1As shown, the opposite ends of the mounting bracket 10 are named as the first end 112 and the second end 114 respectively along the moving direction of the cleaning robot 1. Then, through the cooperation of the adsorption device 200 and the rotating device 300, the specific steps of driving the mounting bracket 10 to move relative to the object to be cleaned 7 by the moving mechanism 20 are as follows:

[0094] For example, in combination with Figure 1 As shown, let the cleaning robot 1 move on the photovoltaic panel 70 according to the path shown by the dashed line in the figure. At the initial moment, the cleaning robot 1 moves relative to the photovoltaic panel 70 in the direction from A to B, at this time, the direction from A to B is the same as the direction of the first end 112 towards the second end 114. Then, when the rotating device 300 is in the disengaged state and the adsorption device 200 is in the fixed state, control the rotating device 300 to move relative to the photovoltaic panel 70 in the direction of the first end 112 towards the second end 114 (since the mounting bracket 10 is stationary relative to the photovoltaic panel 70 at this time, the rotating device 300 also moves relative to the mounting bracket 10 in the process of moving relative to the photovoltaic panel 70). After the rotating device 300 moves to the desired position (such as the mounting bracket 10 passing by the second end 114), control the rotating device 300 to switch to the fixed state. After the rotating device 300 is in the fixed state, control the adsorption device 200 to switch to the disengaged state again. Control the rotating device 300 to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to move relative to the photovoltaic panel 70 in the direction from A to B (at this time, the rotating device 300 moves in the direction of the second end 114 towards the first end 112 with the mounting bracket 10 as the reference), after moving to the desired position (such as the rotating device 300 being located at the mounting bracket 10 passing by the first end 112), control the adsorption device 200 to switch to the fixed state. After the adsorption device 200 is in the fixed state, control the rotating device 300 to switch to the disengaged state again. Control the rotating device 300 to move relative to the photovoltaic panel 70 in the direction of the first end 112 towards the second end 114 again. After moving to the desired position, control the rotating device 300 to switch to the fixed state……and so on, to achieve the linear motion of the cleaning robot 1 relative to the photovoltaic panel 70 in the direction from A to B.

[0095] For example, in combination with Figure 1As shown, the cleaning robot 1 moves along the path shown by the dotted line in the figure. At the initial moment, the cleaning robot 1 moves relative to the photovoltaic panel 70 in the direction from A to B, which is the same as the direction from the first end 112 to the second end 114. Then, when the rotating device 300 is in the disengaged state and the adsorbing device 200 is in the fixed state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114. After the rotating device 300 moves to the desired position (e.g., the mounting bracket 10 is close to the second end 114), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorbing device 200 is controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorbing device 200 in the disengaged state and the mounting bracket 10 to rotate 180° relative to the photovoltaic panel 70. After the adsorbing device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 70, the adsorbing device 200 is controlled to switch to the fixed state. After the adsorbing device 200 is in the fixed state, the rotating device 300 is controlled to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the second end 114 to the first end 112. After moving to the desired position (e.g., the mounting bracket 10 is close to the first end 112), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorbing device 200 is controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorbing device 200 in the disengaged state and the mounting bracket 10 to rotate 180° relative to the photovoltaic panel 70. After the adsorbing device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 70, the adsorbing device 200 is controlled to switch to the fixed state. After the adsorbing device 200 is in the fixed state, the rotating device 300 is controlled to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114 again……and so on, so as to realize the linear motion of the cleaning robot 1 relative to the photovoltaic panel 70 in the direction from A to B.

[0096] For example, in combination with Figure 1As shown, when the cleaning robot 1 reaches the B point, it needs to turn from the A-B direction to the B-C direction. Then the control device controls the rotating device 300 to switch to the fixed state and controls the adsorption device 200 to switch to the disengaged state. After the adsorption device 200 is in the disengaged state, the control device controls the rotating device 300 to drive the adsorption device 200 to rotate 90° relative to the photovoltaic panel 70. After the adsorption device 200 rotates 90° relative to the photovoltaic panel 70, the control device controls the adsorption device 200 to switch to the fixed state. After the adsorption device 200 is in the fixed state, the control device controls the rotating device 300 to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the control device controls the rotating device 300 to move in the B-C direction relative to the photovoltaic panel 70... so as to realize that after the cleaning robot 1 turns on the photovoltaic panel 70, it continues to move linearly relative to the photovoltaic panel 70.

[0097] In the embodiments of the present disclosure, through the switching of the adsorption device 200 and the rotating device 300 between the fixed state and the disengaged state, and the driving of the rotating device 300, the position and attitude adjustment of the cleaning robot 1 relative to the to-be-cleaned object 7 is realized, and the damage such as scratches and indentations caused by the traditional wheels or tracks to the surface of the to-be-cleaned object 7 is avoided.

[0098] In some embodiments, the cleaning mechanism 400 is arranged on one side of the rotating device 300 and abuts against the surface of the to-be-cleaned object 7. Wherein, when the adsorption device 200 is in the fixed state, the rotating device 300 in the disengaged state can move relative to the to-be-cleaned object 7 to drive the cleaning mechanism 400 to move relative to the to-be-cleaned object 7, and clean the surface of the to-be-cleaned object 7.

[0099] In this embodiment, the cleaning mechanism 400 is arranged on one side of the rotating device 300 and abuts against the surface of the to-be-cleaned object 7, and can move relative to the to-be-cleaned object 7 when the rotating device 300 moves relative to the to-be-cleaned object 7, so as to realize the cleaning of the surface of the to-be-cleaned object 7. Since the rotating device 300 in the disengaged state moves relative to the to-be-cleaned object 7 in the present disclosure in order to cooperate with the adsorption device 200 to realize the movement of the cleaning robot 1 (for details of the cooperation of the rotating device 300 and the adsorption device 200 to realize the movement of the cleaning robot 1, refer to the above embodiments), therefore, the cleaning of the to-be-cleaned object 7 can be realized in the process of moving the cleaning robot 1 in the present disclosure, the energy utilization efficiency is higher, and the energy consumption is lower.

[0100] Optionally, in combination with Figures 11 to 14As shown, the rotating device 300 comprises a first moving structure 340, a first lifting structure 324, a first adsorbing structure 302, and a rotating structure 314. The first moving structure 340 is movably connected with the mounting bracket 10. The first lifting structure 324 is arranged on the first moving structure 340. The first adsorbing structure 302 is arranged on the first lifting structure 324, and a side of the first adsorbing structure 302 away from the first lifting structure 324 can be switched between a fixed state of being fixed to the surface of the object to be cleaned 7 and a detached state of being detached from the surface of the object to be cleaned 7. The rotating structure 314 is arranged on the first adsorbing structure 302. Among them, the first moving structure 340 can drive the rotating device 300 to move relative to the object to be cleaned 7 when the first adsorbing structure 302 is in the detached state. The first lifting structure 324 can drive the first adsorbing structure 302 to move towards or away from the object to be cleaned 7 when the adsorbing device 200 is in the fixed state, so as to realize the switching of the first adsorbing structure 302 between the fixed state and the detached state. The rotating structure 314 can drive the first lifting structure 324 to rotate relative to the first adsorbing structure 302 when the first adsorbing structure 302 is in the fixed state, so as to drive the cleaning robot 1 to rotate relative to the object to be cleaned 7.

[0101] In this embodiment, in combination with the first moving structure 340, the first lifting structure 324, the first adsorbing structure 302, and the rotating structure 314, multi-dimensional motion of the cleaning robot 1 on the object to be cleaned 7 is realized, including translation, rotation, and lifting, etc. Through the multi-dimensional motion of the robot on the object to be cleaned 7, the robot can cope with various complex work scenes and task requirements, and the reliability and practicality of the robot are improved.

[0102] Specifically, when the first adsorption structure 302 is in the fixed state in this embodiment, the rotating structure 314 can drive the adsorption device 200 and the mounting bracket 10 to rotate relative to the object 7 to be cleaned, so as to realize the rotating motion. The first lifting structure 324 can drive the first adsorption structure 302 to move towards the object 7 to be cleaned or away from the object 7 to be cleaned when the adsorption device 200 is in the fixed state, i.e. realize the lifting motion, so as to realize the switching of the first adsorption structure 302 between the fixed state and the disengaged state. For example, when it is needed to switch the first adsorption structure 302 from the disengaged state to the fixed state, the first lifting structure 324 is controlled to drive the first adsorption structure 302 to move towards the object 7 to be cleaned, so that the first adsorption structure 302 can be fixed to the surface of the object 7 to be cleaned. When it is needed to switch the first adsorption structure 302 from the fixed state to the disengaged state, the first lifting structure 324 is controlled to drive the first adsorption structure 302 to move away from the object 7 to be cleaned, so that the first adsorption structure 302 can be disengaged from the surface of the object 7 to be cleaned. The first moving structure 340 can drive the rotating device 300 to move relative to the object 7 to be cleaned when the first adsorption structure 302 is in the disengaged state, so as to realize the translational motion.

[0103] Optionally, in combination with Figures 11 to 14 As shown, the first adsorption structure 302 comprises a suction cup 304, a gas guide cylinder 308 and an air pump 312. The suction cup 304 comprises a gas passage hole 306. The gas guide cylinder 308 is rotatably connected to the side of the suction cup 304 away from the object 7 to be cleaned. The gas guide cylinder 308 is provided with a gas guide channel 310, and the gas guide channel 310 and the gas passage hole 306 are in communication. The air pump 312 is arranged in the gas guide cylinder 308, and is used to change the flow direction of the gas in the gas guide channel 310. The first lifting structure 324 is arranged in connection with the gas guide cylinder 308. The rotating structure 314 is arranged in the suction cup 304.

[0104] In this embodiment, since the gas guide channel 310 is in communication with the gas passage hole 306 of the suction cup 304, the air pump 312 can change the flow direction of the gas in the gas guide channel 310 by injecting air into the gas guide channel 310 or extracting air from the gas guide channel 310, so as to change the air pressure between the suction cup 304 and the object 7 to be cleaned, and realize the switching of the suction cup 304 between the fixed state of being fixed to the surface of the object 7 to be cleaned and the disengaged state of being disengaged from the surface of the object 7 to be cleaned.

[0105] Specifically, when the suction cup 304 needs to switch from the detached state to the fixed state, after the suction cup 304 contacts the object 7 to be cleaned, the air pump 312 is controlled to draw air out of the air guide channel 310 to reduce the air pressure between the suction cup 304 and the object 7 to be cleaned, so that the suction cup 304 is firmly adsorbed on the object 7 to be cleaned, and the suction cup 304 is fixed on the surface of the object 7 to be cleaned. When the suction cup 304 needs to switch from the fixed state to the detached state, the air pump 312 is controlled to inject air into the air guide channel 310 to increase the air pressure between the suction cup 304 and the object 7 to be cleaned, so that the suction cup 304 is separated from the object 7 to be cleaned, and the suction cup 304 is detached from the surface of the object 7 to be cleaned.

[0106] Optionally, in combination with Figures 11 to 14 As shown, the rotating structure 314 includes a rotating bracket 316, a first motor 318, a first gear 320, and a second gear 322. The rotating bracket 316 is sleeved on one end of the air guide cylinder 308 close to the suction cup 304 and is rotatably connected with the suction cup 304. The first motor 318 is arranged in the rotating bracket 316. The first gear 320 is sleeved on the output shaft of the first motor 318, and the first motor 318 is used to drive the first gear 320 to rotate. The second gear 322 is fixedly connected with the suction cup 304, and the outer gear of the first gear 320 is rotatably connected with the outer gear of the second gear 322.

[0107] In this embodiment, since the first gear 320 is sleeved on the output shaft of the first motor 318, the outer gear of the first gear 320 is rotatably connected with the outer gear of the second gear 322, and the second gear 322 is fixedly connected with the suction cup 304, in the process of driving the first gear 320 to rotate by the first motor 318, the second gear 322 can be driven to rotate, and then the suction cup 304 is driven to rotate. Since the first motor 318 is arranged in the rotating bracket 316, and the rotating bracket 316 is sleeved on the air guide cylinder 308, when the first adsorption structure 302 is in the fixed state, the suction cup 304 is fixed on the surface of the object 7 to be cleaned, so when the first motor 318 drives the first gear 320 to rotate, a reaction force can be generated between the second gear 322 and the first gear 320 to drive the first motor 318, the rotating bracket 316 and the air guide cylinder 308 to rotate relative to the suction cup 304, that is, to rotate relative to the object 7 to be cleaned. Since the first lifting structure 324 is connected with the air guide cylinder 308, the first lifting structure 324, the first moving structure 340, the mounting bracket 10 and the like are driven to rotate relative to the object 7 to be cleaned, and the steering of the cleaning robot 1 is realized.

[0108] Optionally, in combination with Figures 11 to 14The first lifting structure 324 includes a lifting bracket 326, a second motor 332, and a first transmission assembly 334. The lifting bracket 326 is connected to the first moving structure 340. The second motor 332 is arranged on the lifting bracket 326. The input end of the first transmission assembly 334 is connected to the output end of the second motor 332, and the output end of the first transmission assembly 334 is connected to the air guide cylinder 308.

[0109] In this embodiment, the lifting bracket 326 serves as a support frame of the first lifting structure 324, and is used to connect the first moving structure 340 and other structural components of the first lifting structure 324, such as the second motor 332, to ensure that the first lifting structure 324 can remain stable during lifting, thereby improving the stability of the rotating device 300 and the cleaning robot 1. The second motor 332 is the source of driving force for the first lifting structure 324, and provides power for the subsequent first transmission assembly 334, thereby realizing the lifting function. The input end of the first transmission assembly 334 is connected to the output end of the second motor 332, and the output end of the first transmission assembly 334 is connected to the air guide cylinder 308, so as to convert the rotary motion of the second motor 332 into the lifting motion of the first adsorption structure 302, thereby realizing the switching of the first adsorption structure 302 between the fixed state and the released state.

[0110] Optionally, in combination with Figure 14 The first transmission assembly 334 includes a first rack 336 and a third gear 338. The first rack 336 is arranged along the length direction of the air guide cylinder 308. The third gear 338 is sleeved on the output shaft of the second motor 332, and the outer gear of the third gear 338 is rotatably connected with the first rack 336.

[0111] In this embodiment, the first rack 336 is arranged along the length direction of the air guide cylinder 308. The first rack 336 is in meshing relationship with the teeth of the third gear 338, thereby realizing the transmission of power. The third gear 338 is arranged on one side of the first rack 336 and is directly connected with the output end of the second motor 332. When the second motor 332 is started, the output shaft of the second motor 332 drives the third gear 338 to rotate. The rotary motion of the third gear 338 is converted into the linear motion of the first rack 336 through the meshing relationship between the third gear 338 and the first rack 336, so that the air guide cylinder 308 connected with the first rack 336 can realize lifting, thereby realizing the lifting of the first adsorption structure 302.

[0112] Optionally, in combination with Figures 11 to 14As shown, the lifting bracket 326 comprises a mounting sleeve 328. The mounting sleeve 328 is sleeved with the air guide cylinder 308, and the air guide cylinder 308 is capable of sliding relative to the mounting sleeve 328. The mounting sleeve 328 comprises a mounting groove 330 extending along the length direction of the air guide cylinder 308. The teeth of the first rack 336 are located in the mounting groove 330 and are in meshing connection with the third gear 338.

[0113] In this embodiment, the mounting sleeve 328 is nested with the air guide cylinder 308, and allows the air guide cylinder 308 to slide relative to the mounting sleeve 328 inside the mounting sleeve 328, which realizes the lifting function while providing a guide for the air guide cylinder 308 and ensuring the stability of the lifting.

[0114] Optionally, in combination with Figures 11 to 14 As shown, the first moving structure 340 comprises a moving bracket 342, a third motor 344 and a second transmission assembly 346. The moving bracket 342 is connected with the first lifting structure 324. The third motor 344 is arranged on the moving bracket 342. The second transmission assembly 346 is movably connected with the mounting bracket 10, and an input end of the second transmission assembly 346 is connected with an output end of the third motor 344.

[0115] In this embodiment, the moving bracket 342 is used to carry other components (such as the third motor 344 and the second transmission assembly 346) and is connected with the first lifting structure 324 to ensure that the first lifting structure 324 can move with the movement of the moving bracket 342. The third motor 344 serves as the power source of the first moving structure 340 and is used to provide power input for the second transmission assembly 346. The second transmission assembly 346 is used to convert the rotary motion of the third motor 344 into the translational motion of the first moving structure 340, thereby realizing the movement of the driving rotating device 300 relative to the object to be cleaned 7.

[0116] Optionally, in combination with Figure 11 As shown, the second transmission assembly 346 comprises a fourth gear 348, a fifth gear 350, a first connecting rod 352, a sixth gear 354 and a second rack 356. The fourth gear 348 is sleeved on the output shaft of the third motor 344. The outer gear of the fifth gear 350 is in meshing connection with the outer gear of the fourth gear 348. The first connecting rod 352 is in sliding connection with the moving bracket 342 and is arranged through the fifth gear 350. The sixth gear 354 is sleeved on the end of the first connecting rod 352. The second rack 356 is arranged on the mounting bracket 10 and is in meshing connection with the outer gear of the sixth gear 354.

[0117] In this embodiment, the second transmission assembly 346 is formed by the fourth gear 348, the fifth gear 350, the first connecting rod 352, the sixth gear 354, and the second rack 356, to realize the conversion of the rotational motion of the third motor 344 into the translational motion of the first moving structure 340, ensuring stable transmission of power.

[0118] Specifically, the fourth gear 348 is directly connected with the output shaft of the third motor 344 as the starting component of the second transmission assembly 346. When the third motor 344 is started, its power is transmitted to the fourth gear 348 through the output shaft. The fifth gear 350 is meshed with the fourth gear 348, forming a pair of intermeshing gear pairs. When the fourth gear 348 rotates, it drives the fifth gear 350 to rotate in the opposite direction. The first connecting rod 352 is arranged in the central hole of the fifth gear 350 and is slidingly connected with the moving bracket 342, so that the first connecting rod 352 can rotate relative to the moving bracket 342 with the rotation of the fifth gear 350. The sixth gear 354 is connected with the end of the first connecting rod 352. When the first connecting rod 352 rotates, it drives the sixth gear 354 to rotate. The second rack 356 is meshed with the sixth gear 354. When the sixth gear 354 rotates, it rolls along the tooth surface of the second rack 356, thereby converting the rotational motion into linear motion, so that the first moving structure 340 can translate on the mounting bracket 10, realizing the movement of the driving rotating device 300 relative to the mounting bracket 10, and further relative to the object to be cleaned 7.

[0119] In some embodiments, one end of the first connecting rod 352 is fixedly connected with the sixth gear 354, and the other end is rollingly connected with the mounting bracket 10.

[0120] In some embodiments, in combination with Figure 11 As shown, the number of sixth gears 354 is two, which are respectively connected with the opposite ends of the first connecting rod 352. The number of second racks 356 is two, which are respectively arranged on the opposite sides of the mounting bracket 10. The two second racks 356 and the two sixth gears 354 are one-to-one corresponding.

[0121] In this embodiment, by increasing the number of sixth gears 354 and second racks 356, and arranging two sixth gears 354 respectively with the opposite ends of the first connecting rod 352, and arranging two second racks 356 respectively on the opposite sides of the mounting bracket 10, and arranging the two second racks 356 and the two sixth gears 354 one-to-one corresponding, the power transmission of the second transmission assembly 346 is more stable, and the movement stability of the driving rotating device 300 is improved.

[0122] Optionally, in combination with Figure 11As shown, the mounting bracket 10 comprises two sliding rails 100 extending in parallel and along the extension direction of the rack, and the opposite ends of the moving bracket 342 are respectively connected with the two sliding rails 100 in sliding mode. In this embodiment, the sliding rails 100 are connected with the opposite ends of the moving bracket 342 in sliding mode to guide the movement of the first moving structure 340 relative to the mounting bracket 10, thereby improving the movement stability of the rotating device 300.

[0123] In some embodiments, in combination with Figure 2 , Figure 3 and Figure 11 As shown, the rotating device 300 further comprises a third housing 358. The third housing 358 is arranged on the lifting bracket 326, and the opposite ends of the third housing 358 are provided with first openings 360. The third housing 358 comprises a first cavity 362, and the first openings 360 and the first cavity 362 are in communication. The first lifting structure 324 is located in the first cavity 362. The rotating structure 314 is located in the first cavity 362. The first moving structure 340 is partially protruding out of the first cavity 362 through the first opening 360 and is movably connected with the mounting bracket 10. The first adsorption structure 302 is partially protruding out of the first cavity 362 through the first opening 360 away from the first moving structure 340. In this embodiment, the third housing 358 is arranged to protect the structural components of the rotating device 300, thereby improving the safety of the cleaning robot 1.

[0124] In some embodiments, in combination with Figure 2 , Figure 3 and Figure 11 As shown, the cleaning mechanism 400 is arranged on one side of the third housing 358. In this embodiment, the cleaning mechanism 400 is arranged on one side of the rotating device 300 by arranging the cleaning mechanism 400 on one side of the third housing 358, so as to move synchronously with the movement of the rotating device 300.

[0125] In some embodiments, in combination with Figure 11 As shown, the adsorption device 200 comprises a second lifting structure 202 and a second adsorption structure 204. The second lifting structure 202 is connected with the mounting bracket 10. The second adsorption structure 204 is arranged on the second lifting structure 202, and the side of the second adsorption structure 204 away from the second lifting structure 202 can be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7.

[0126] In this embodiment, in combination with the cooperation of the second lifting structure 202 and the second adsorption structure 204, the switching of the adsorption device 200 between the fixed state and the disengaged state is realized. The second lifting structure 202 can drive the second adsorption structure 204 to move towards the direction of approaching or moving away from the object to be cleaned 7 when the second adsorption structure 204 is in the fixed state, so as to realize the switching of the second adsorption structure 204 between the fixed state and the disengaged state, thereby realizing the switching of the adsorption device 200 between the fixed state and the disengaged state.

[0127] Specifically, when it is needed to switch the adsorption device 200 from the disengaged state to the fixed state, the second lifting structure 202 is controlled to drive the second adsorption structure 204 to move towards the object to be cleaned 7, so that the second adsorption structure 204 can be adsorbed on the surface of the object to be cleaned 7, and the second adsorption structure 204 is fixed on the surface of the object to be cleaned 7. When it is needed to switch the adsorption device 200 from the fixed state to the disengaged state, the second lifting structure 202 is controlled to drive the second adsorption structure 204 to move away from the object to be cleaned 7, so that the second adsorption structure 204 can be disengaged from the surface of the object to be cleaned 7.

[0128] It should be noted that the specific structural component composition of the second lifting structure 202 and the second adsorption structure 204, and the component connection relationship between the second lifting structure 202 and the second adsorption structure 204 are the same as the specific structural component composition of the first lifting structure 324 and the first adsorption structure 302, and the component connection relationship between the first lifting structure 324 and the first adsorption structure 302 in the above-mentioned embodiment, which will not be repeated here. For the technical effects possessed by the second moving structure 208, please refer to the above-mentioned embodiment. The difference is that in this embodiment, the lifting bracket 326 in the second lifting structure 202 is directly connected with the mounting bracket 10, realizing the connection of the second lifting structure 202 with the mounting bracket 10.

[0129] It should be noted that although the specific structural component composition of the second lifting structure 202 and the second adsorption structure 204 in this disclosure is the same as that of the first lifting structure 324 and the first adsorption structure 302, the shape or size of a single component can be different, so that the second lifting structure 202 and the first lifting structure 324, or the second adsorption structure 204 and the first adsorption structure 302 are in different forms.

[0130] In a specific application, for example, Figure 3As shown, the suction cup 304 in the first adsorption structure 302 is named as the first suction cup 3040, and the suction cup 304 in the second adsorption structure 204 is named as the second suction cup 206, and the diameter of the second suction cup 206 is smaller than that of the first suction cup 3040, so that the second adsorption structure 204 and the first adsorption structure 302 have different shapes. In this embodiment, by limiting the diameter of the second suction cup 206 to be smaller than that of the first suction cup 3040, the adsorption force generated when the second suction cup 206 is adsorbed to the object to be cleaned 7 is smaller than the adsorption force generated when the first suction cup 3040 is adsorbed to the object to be cleaned 7, so as to maintain sufficient adsorption force while optimizing the adsorption force distribution and reducing the local pressure concentration on the surface of the object to be cleaned 7.

[0131] In some embodiments, in combination with Figure 11 As shown, the adsorption device 200 further comprises a second moving structure 208. The second moving structure 208 is movably connected with the mounting bracket 10. The second lifting structure 202 is arranged on the second moving structure 208. The second adsorption structure 204 is arranged on the second lifting structure 202, and the side of the second adsorption structure 204 away from the second lifting structure 202 can be switched between a fixed state of being fixed to the surface of the object to be cleaned 7 and a detached state of being detached from the surface of the object to be cleaned 7. The second moving structure 208 can drive the second adsorption structure 204 in the detached state to move relative to the mounting bracket 10 when the rotating device 300 is in the fixed state.

[0132] In this embodiment, by additionally providing the second moving structure 208 to drive the second adsorption structure 204 in the detached state to move relative to the mounting bracket 10, the position of the adsorption device 200 on the mounting bracket 10 can be flexibly adjusted as needed, thereby improving the working efficiency and flexibility. During the movement of the cleaning robot 1 relative to the object to be cleaned 7 (the movement of the mounting bracket 10 relative to the object to be cleaned 7), the adsorption device 200 is stationary relative to the mounting bracket 10, so as to ensure the stability of the robot movement. During the movement of the adsorption device 200 relative to the mounting bracket 10, the mounting bracket 10 is stationary relative to the object to be cleaned 7, so as to ensure the stability of the position adjustment of the adsorption device 200.

[0133] It should be noted that the specific structural components of the second moving structure 208 and the component connection relationship between the second moving structure 208 and the mounting bracket 10 and the second lifting structure 202 are the same as those of the first moving structure 340 and the component connection relationship between the first moving structure 340 and the mounting bracket 10 and the first lifting structure 324 in the above-mentioned embodiments, which will not be described here again. For the technical effects of the second moving structure 208, please refer to the above-mentioned embodiments.

[0134] Optionally, in combination with Figure 2 ,Figure 3 and Figure 11 As shown, the adsorption device 200 also includes a second housing 210. The second housing 210 is disposed on the lifting bracket 326 of the second lifting structure 202. Second openings 212 are provided at opposite ends of the second housing 210. The second housing 210 includes a second cavity 214, and the second openings 212 and the second cavity 214 are connected. The second lifting structure 202 is located within the second cavity 214. A portion of the second movable structure 208 protrudes through the second opening 212 and is movably connected to the mounting bracket 10 outside the second cavity 214. A portion of the second adsorption structure 204 protrudes through the second opening 212 away from the second movable structure 208 and is located outside the second cavity 214. In this embodiment, the second housing 210 protects the structural components of the adsorption device 200, improving the safety of the cleaning robot 1.

[0135] In some embodiments, combined with Figure 2 , Figure 3 and Figure 11 As shown, there are two adsorption devices 200. Along the moving direction of the cleaning robot 1, the two adsorption devices 200 are located on opposite sides of the rotating device 300 and are spaced apart from the rotating device 300.

[0136] In this embodiment, the two adsorption devices 200 are located on opposite sides of the rotating device 300, and the two adsorption devices 200 operate synchronously to provide stable support for the mounting bracket 10, thereby improving the stability and reliability of the cleaning robot 1's movement and operation. In this embodiment, the specific structures of the two adsorption devices 200 may be the same or different.

[0137] In some embodiments, combined with Figure 2 , Figure 3 and Figure 11 As shown, along the robot's direction of movement, the two adsorption devices 200 are located at opposite ends of the mounting bracket 10.

[0138] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A cleaning mechanism for a robot, characterized in that, The cleaning robot includes a mounting bracket, and the cleaning mechanism includes: The first housing is mounted on the mounting bracket; The first cleaning component is disposed in the first housing and abuts against the surface of the object to be cleaned; A dust collection assembly is disposed in the first housing and is used to collect impurities removed by the first cleaning component.

2. The cleaning mechanism of claim 1, wherein, The first cleaning component includes a first roller brush, which is disposed in the first housing and abuts against the surface of the object to be cleaned; The cleaning mechanism also includes a drive assembly, which is disposed in the first housing. The output end of the drive assembly is connected to the first roller brush and is used to drive the first roller brush to roll.

3. The cleaning mechanism of claim 2, wherein, The driver components include: The fourth motor is located in the first housing; The third transmission assembly has its input end connected to the output shaft of the fourth motor and its output end connected to the first roller brush.

4. The cleaning mechanism of claim 3, wherein, A first drive shaft is provided at one end of the first roller brush; The third transmission assembly includes a seventh gear, an eighth gear, and a ninth gear. The seventh gear is mounted on the output shaft of the fourth motor. The external gear of the eighth gear is rotatably connected to the external gear of the seventh gear. The ninth gear is mounted on the first transmission shaft, and the external gear of the ninth gear is rotatably connected to the external gear of the eighth gear.

5. The cleaning mechanism of claim 4, wherein, There are multiple first roller brushes, which are spaced apart in the first housing. There are multiple eighth gears, and the external gears of adjacent eighth gears are rotatably connected to each other. The external gear of the seventh gear is rotatably connected to one of the multiple eighth gears. There are multiple ninth gears, each corresponding to a different first roller brush, and each ninth gear also corresponding to a different eighth gear.

6. The cleaning mechanism of claim 4, wherein, Cleaning services also include: The second roller brush has a portion located within the first cavity and a portion protruding from the first cavity to contact the surface of the object to be cleaned.

7. The cleaning mechanism of claim 6, wherein, A second drive shaft is provided at one end of the second roller brush; The third transmission assembly also includes a first toothed sleeve, a second toothed sleeve, and a toothed chain. The first toothed sleeve is fixedly mounted on the eighth gear, the second toothed sleeve is mounted on the second transmission shaft, and the toothed chain is mounted on the first toothed sleeve and the second toothed sleeve.

8. The cleaning mechanism according to any one of claims 1 to 7, characterized in that, The first housing includes a third cavity and a dust collection port that are interconnected with each other; Part of the first cleaning component is located in the third cavity, and part of the first cleaning component protrudes from the third cavity and abuts against the surface of the object to be cleaned; The dust collection component is located outside the first housing at the dust collection port.

9. The cleaning mechanism of claim 8, wherein, The dust collection components include: A dust collection shell is disposed outside the first shell and covers the dust collection port. The dust collection shell and the first shell together form a dust collection chamber. The fan is located in the dust collection chamber.

10. A cleaning robot, characterized in that, include: Mounting bracket; The cleaning mechanism for a cleaning robot as described in any one of claims 1 to 9, wherein the first housing is disposed on the mounting bracket.

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