Cleaning robot and cleaning execution part

Abstract

The embodiment of the utility model provides a cleaning robot and a cleaning execution part. The cleaning robot comprises an equipment body; the mopping execution part is connected to the equipment body; the mopping execution piece comprises a support; the cleaning roller is arranged on the bracket; the shielding cloth is wound on a reel arranged on the bracket; the driving device is connected with the reel; wherein the shielding cloth has a rolling state and a shielding state, and when the shielding cloth is in the rolling state, the shielding cloth is wound on the reel; when the shielding cloth is in the shielding state, the driving device drives the shielding cloth to unfold, and the shielding cloth covers partial area of the surface of the cleaning roller. In the technical scheme of the embodiment of the invention, the shielding cloth can be rolled or unfolded, and when the shielding cloth is in the shielding state, the shielding cloth covers a part of area of the surface of the cleaning roller, so that the surface of the cleaning roller is separated from the to-be-cleaned surface, and the carpet is effectively prevented from being wetted. And the cleaning robot can deal with various to-be-cleaned surfaces easily, the adaptability is better, and the cleaning capability of the cleaning robot can be effectively exerted.

Description

Technical Field

[0001] This application relates to the field of electrical equipment, and more particularly to a cleaning robot and a cleaning actuator. Background Technology

[0002] With the continuous development of cleaning technology, a type of cleaning equipment that can sweep and mop is widely used in floor cleaning operations. For example, a self-moving cleaning robot can not only sweep and vacuum the floor, but also mop and wash the floor, with good cleaning effect and effectively freeing up the user's hands.

[0003] The environments of surfaces to be cleaned are complex and diverse. For example, carpets may be laid on ordinary surfaces. For carpeted surfaces, cleaning robots typically only need to sweep and vacuum the carpet. However, in this case, the cleaning actuators on the robot used for mopping will wet and contaminate the carpet, making it ineffective for cleaning carpeted surfaces. Self-moving cleaning robots also have poor adaptability and cannot simultaneously clean ordinary and carpeted surfaces. Utility Model Content

[0004] In view of the above problems, this application is made to provide a cleaning robot and cleaning actuator that solves or at least partially solves the above problems.

[0005] In one embodiment of this application, a cleaning robot is provided, comprising:

[0006] Equipment body;

[0007] A mopping actuator is connected to the device body; the mopping actuator includes:

[0008] support;

[0009] A cleaning roller is mounted on the bracket;

[0010] The shielding cloth is wound onto a roller provided on the bracket;

[0011] A drive unit is connected to the reel;

[0012] The shielding cloth has a rolled-up state and a shielding state. When the shielding cloth is in the rolled-up state, it is wound around the roller. When the shielding cloth is in the shielding state, the driving device drives the shielding cloth to unfold, and the shielding cloth covers a part of the surface of the cleaning roller.

[0013] Optionally, it also includes a lifting device, through which the mopping actuator is connected to the equipment body;

[0014] The cleaning robot has at least a first working mode and a second working mode. In the first working mode, the mopping actuator contacts the surface to be cleaned.

[0015] In the second working mode, the lifting device drives the mopping actuator to lift, and the shielding cloth switches to the shielding state.

[0016] Optionally, the reel is located on one side of the cleaning roller, and the axis of the reel is parallel to the axis of the cleaning roller.

[0017] Optionally, the mopping actuator further includes an extension mechanism, which is connected to the drive device and the shielding cloth respectively;

[0018] The end of the extension mechanism has at least a first position and a second position on the outer side of the surface of the cleaning roller;

[0019] When the end of the stretching mechanism is in the first position, the shielding cloth is in a rolled-up state;

[0020] When the end of the extension mechanism is in the second position, the covering cloth is in a covering state.

[0021] Optionally, the extension mechanism includes: a left ring tooth and a right ring tooth;

[0022] Corresponding to both ends of the cleaning roller, the two sides of the bracket are respectively provided with annular tracks, and the left annular teeth and the right annular teeth are respectively engaged and connected in the annular tracks;

[0023] The left and right ring teeth are respectively connected to the shielding cloth, and the driving device is connected to one or more of the left and right ring teeth.

[0024] Optionally, the two ends of the reel are respectively connected to the left ring gear and the right ring gear for transmission.

[0025] The annular track is coaxial with the cleaning roller.

[0026] Optionally, when the shielding cloth is in a shielding state, the shielding cloth has multiple unfolding positions, and the area of ​​the surface of the cleaning roller covered by the shielding cloth is different in different positions.

[0027] Optionally, the drive device includes a drive gear, a double gear, and a coil gear;

[0028] The drive gear is connected to the power assembly, and the reel gears are respectively provided on both sides of the reel;

[0029] Corresponding to both sides of the scroll, the bracket is provided with two double gears, which are respectively connected to the scroll gear and the extension mechanism.

[0030] Optionally, the power component is a drive motor, which is mounted on the bracket, and the drive gear is mounted on the shaft of the drive motor.

[0031] Optionally, the mopping actuator includes a clutch device, the power component is a drum motor, the shaft of the drum motor is connected to the drive gear through the clutch device, and the clutch device has a disengaged state and an engaged state;

[0032] When the clutch is in the disengaged state, the rotating shaft is separated from the driving gear;

[0033] When the clutch is engaged, the shaft is connected to the drive gear.

[0034] Optionally, when the rotational speed of the shaft exceeds a preset value, the clutch device switches from the disengaged state to the engaged state;

[0035] Alternatively, the mopping actuator may include an electronically controlled component that drives the clutch to switch between the disengaged state and the engaged state.

[0036] Optionally, the mopping actuator includes a one-way valve, the power component is a drum motor, and the shaft of the drum motor is connected to the drive gear through the one-way valve;

[0037] When the drum motor rotates in the first direction, the rotating shaft separates from the drive gear;

[0038] When the drum motor rotates in the second direction, the rotating shaft engages with the drive gear;

[0039] The first direction is opposite to the second direction.

[0040] Optionally, the spool is provided with a spring mechanism. When the spool engages with the drive gear, the shielding cloth unfolds, and the roller motor drives the spring mechanism to store power. When the spool disengages from the drive gear, the spring mechanism releases, and the spring mechanism drives the spool to rotate, and the shielding cloth is wound onto the spool.

[0041] In another embodiment of this application, a cleaning actuator is also provided, comprising:

[0042] support;

[0043] A cleaning roller is mounted on the bracket;

[0044] The shielding cloth is wound onto a roller provided on the bracket;

[0045] A drive unit is connected to the reel;

[0046] The shielding cloth has a rolled-up state and a shielding state. In the rolled-up state, the shielding cloth is wound on the roller. In the shielding state, the driving device drives the shielding cloth to unfold, and the shielding cloth covers a part of the surface of the cleaning roller.

[0047] In the technical solution of this application embodiment, a drive device drives the roller to rotate, thereby realizing the winding and unfolding of the covering cloth. When the covering cloth is in the covering state, it covers a portion of the surface of the cleaning roller, thus isolating the surface of the cleaning roller from the surface to be cleaned. In this state, when the cleaning robot cleans the carpet floor, the carpet will not come into contact with the wet mopping actuator, effectively preventing the carpet from getting wet. At this time, the cleaning robot can clean and vacuum the carpet floor independently. The cleaning robot can handle various types of surfaces to be cleaned with ease, exhibiting better adaptability and effectively utilizing its cleaning capabilities. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the structure of a mopping actuator provided in an embodiment of this application;

[0050] Figure 2 This is a structural schematic diagram of a mopping actuator from another perspective, provided in an embodiment of this application.

[0051] Figure 3 This is a schematic diagram of the mopping actuator structure provided in an embodiment of the present application, where the shielding cloth is in a shielding state.

[0052] Figure 4 A left view of a mopping actuator provided in an embodiment of this application;

[0053] Figure 5 This application provides a schematic diagram of the structure of a mopping actuator for a shielding cloth in a rolled-up state, as provided in an embodiment of the present application.

[0054] Figure 6 This is a structural schematic diagram of a mopping actuator with a shielding cloth in a shielding state, provided in an embodiment of this application, from another perspective.

[0055] Figure 7 A cross-sectional view of a mopping actuator provided in an embodiment of this application;

[0056] Figure 8 This is a schematic diagram of another mopping actuator provided in an embodiment of this application;

[0057] Figure 9 A schematic diagram of the clutch device provided in the embodiments of this application in the disengaged state and the engaged state;

[0058] Figure 10 This is a schematic diagram of another mopping actuator provided in an embodiment of this application. Detailed Implementation

[0059] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0060] The embodiments described in this application are merely some embodiments, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application. The term "comprising" as used throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain error range. Furthermore, in the embodiments of this application, "multiple" refers to two or more. Those skilled in the art can combine and integrate different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction. The descriptions such as "first" and "second" used herein are used to distinguish different directions, structures, components, etc., and do not represent a sequential order. Furthermore, the embodiments described below are merely some embodiments, not all embodiments.

[0061] With the continuous development of cleaning robot technology, some cleaning robots can not only sweep and vacuum floors, but also mop floors using a mopping actuator (such as a cleaning roller) to thoroughly clean them. However, the types of surfaces to be cleaned are diverse, including tiled floors, wooden floors, and carpeted floors. While the mopping actuator can clean tiled and wooden floors, it easily comes into contact with carpets, wetting or staining them. Clearly, this type of cleaning robot cannot fully adapt to all household cleaning environments, and it cannot utilize its full cleaning capabilities.

[0062] To solve the above technical problems, see Figures 1 to 3 One embodiment of this application provides a cleaning robot, which includes a device body and a mopping actuator. The cleaning actuator includes a support 1, a cleaning roller 2, a shielding cloth 3, and a drive device 4. The cleaning roller 2 is mounted on the support 1 and rotates to perform cyclic mopping of the floor. The support 1 is also equipped with a roller 5, on which the shielding cloth 3 is wound. The drive device 4 is connected to the roller 5 and can drive the rotation of the roller 5, thereby releasing the shielding cloth 3 wound on the roller 5, or winding the shielding cloth 3 in an unfolded state onto the roller 5.

[0063] The shielding cloth 3 has a rolled-up state and a shielding state. In the rolled-up state, the shielding cloth 3 is wound on the roller 5 and does not cover the cleaning surface of the cleaning roller 2. The cleaning surface of the cleaning roller 2 can contact the surface to be cleaned to achieve mopping. In the shielding state, the driving device 4 drives the shielding cloth 3 to unfold, and the shielding cloth 3 covers a part of the surface of the cleaning roller 2. That is, the shielding cloth 3 blocks the cleaning surface of the cleaning roller 2, thereby preventing the cleaning surface of the cleaning roller 2 from contacting the surface to be cleaned.

[0064] It should be noted that the cleaning roller 2 is typically a cylindrical structure with cleaning fibers or sponges on its surface. These fibers or sponges are absorbent, and as the cleaning roller 2 rotates, they can mop and wash the surface to be cleaned. The cleaning surface of the cleaning roller 2 mentioned above can be considered as the surface of the cleaning roller 2, the part of the cleaning roller 2 that contacts the surface to be cleaned, or the surface of the cleaning roller 2 near the lower half.

[0065] In the technical solution provided in this application, the drive device 4 drives the roller 5 to rotate, thereby realizing the winding and unfolding of the covering cloth 3. When the covering cloth 3 is in the covering state, it covers a portion of the surface of the cleaning roller 2, thus isolating the surface of the cleaning roller 2 from the surface to be cleaned. In this state, when the cleaning robot cleans the carpet floor, the carpet will not come into contact with the wet mopping actuator, effectively preventing the carpet from getting wet. At this time, the cleaning robot can clean and vacuum the carpet floor independently. The cleaning robot can handle various types of surfaces to be cleaned with ease, exhibiting better adaptability and effectively utilizing its cleaning capabilities.

[0066] To enable the cleaning robot to perform both sweeping and mopping functions, it also includes a sweeping actuator and a dust collection system. The sweeping actuator can be a sweeping roller brush. The sweeping roller brush works in conjunction with the dust collection system. The sweeping roller brush sweeps the ground by rotating, and the suction airflow generated by the dust collection system can draw and collect the garbage and dust on the surface to be cleaned into the dust collection box, thereby cleaning the surface.

[0067] In addition to the above, the cleaning robot also includes components such as a propulsion device, obstacle avoidance module, and positioning module to assist the robot's self-movement. In one embodiment provided in this application, the cleaning roller 2 typically performs self-cleaning while cleaning the surface to be cleaned. The cleaning robot also includes a self-cleaning device that provides cleaning fluid to the cleaning roller 2 and collects stains and wastewater on it. Specifically, the self-cleaning device includes a clean water tank, a wastewater tank, a water supply component, and a wastewater collection component.

[0068] As mentioned above, before cleaning carpeted floors, the cleaning robot can use the drive device 4 to drive the cover cloth 3 to cover part of the surface of the cleaning roller 2, thereby effectively preventing the wet cleaning roller 2 from contacting the carpet and wetting it. However, in order to achieve better cleaning results, the cleaning roller 2 usually applies pressure to the floor. Even if the cleaning robot moves onto the carpeted floor and the cover cloth 3 separates the carpet from the cleaning roller 2, there will still be a force between the cleaning roller 2 and the carpet. This force not only hinders the unfolding and rewinding of the cover cloth 3, but also causes excessive friction between the carpet and the cover cloth 3. This not only makes it difficult for the cleaning robot to move, but also causes the cover cloth 3 to wear out easily over time.

[0069] To avoid these problems, in one embodiment provided in this application, the cleaning robot further includes a lifting device, through which the mopping actuator is connected to the device body. Specifically, the lifting device is connected to the support 1, and the lifting device can drive the mopping actuator to lift or lower relative to the surface to be cleaned.

[0070] Before the cleaning robot reaches the carpet, the lifting device raises the mopping actuator relative to the ground. At this point, there is a gap between the lowest point of the cleaning roller 2 and the ground. Then, the drive device 4 drives the shielding cloth 3 to cover a portion of the surface of the cleaning roller 2, thus covering the lowest part of the surface. When the cleaning robot reaches the carpet, the carpet is separated from the cleaning roller 2. In this state, there is a gap between the shielding cloth 3 and the carpet. Even with carpets with long pile, the contact force between the shielding cloth 3 and the carpet is small, and it will not significantly affect the movement of the cleaning robot.

[0071] It should be noted that when the shielding cloth 3 covers a portion of the surface of the cleaning roller 2, the shielding cloth 3 can be attached to the surface of the cleaning roller 2, that is, the shielding cloth 3 is in contact with the surface of the cleaning roller 2. Alternatively, the shielding cloth 3 can be in non-contact with the cleaning roller 2, that is, there is a gap between the shielding cloth 3 and the surface of the cleaning roller 2.

[0072] In one embodiment provided in this application, the cleaning robot has at least a first working mode and a second working mode. In the first working mode, the mopping actuator contacts the surface to be cleaned.

[0073] Specifically, the lifting device drives the cleaning roller 2 to a lowered state, and the cleaning roller 2 contacts the surface to be cleaned, allowing the cleaning roller 2 to clean the surface. The first working mode can be considered as a mopping and washing cleaning mode. In this working mode, the cleaning robot can not only sweep and collect dust on the ground, but also mop and wash the ground using the cleaning roller 2.

[0074] In the second working mode, the lifting device drives the mopping actuator to lift, and the shielding cloth 3 switches to the shielding state. In this state, the cleaning roller 2 does not work or performs self-cleaning operations, while the sweeping actuator and / or dust collection device work to achieve sweeping and dust collection operations.

[0075] In addition, the cleaning robot also has a third working mode. In this mode, the cleaning roller 2 contacts the surface to be cleaned to clean it. The sweeping actuators and / or dust collection device do not operate.

[0076] It should be noted that the water supply components and sludge collection components mentioned above can be installed separately from the bracket 1 or integrated with the bracket 1. When the above components are installed separately from the bracket 1, the above components do not move relative to the surface to be cleaned when the drive device 4 drives the mopping actuator. When the above components are integrated with the bracket 1, the above components rise or fall together with the bracket 1 when the drive device 4 drives the mopping actuator.

[0077] In the technical solution provided in this application, the cleaning robot has multiple working modes. In different working modes, the cleaning robot can clean different floors or floors with different degrees of dirt. The cleaning robot has better adaptability and can easily deal with different surfaces to be cleaned. Moreover, when cleaning carpet floors, the wet cleaning roller 2 will not wet the carpet.

[0078] Typically, the shielding cloth 3 is wound on the roller 5. The position of the roller 5 not only affects the unfolding and rewinding of the shielding cloth 3, but also the overall size of the mopping actuator. Setting the roller 5 in a reasonable position not only facilitates the unfolding and rewinding of the shielding cloth 3, but also helps to make the structure of the mopping actuator more compact.

[0079] See Figures 1 to 3 In one embodiment provided in this application, the spool 5 is disposed on one side of the cleaning roller 2, and the axis of the spool 5 is parallel to the axis of the cleaning roller 2. Specifically, the spool 5 is disposed parallel to the upper side of the cleaning roller 2, which can be understood as the center of the spool 5 being located within the projection range of the circumscribed square of the outer contour of the cleaning roller 2 when viewed from the side. The outer contour of the mopping actuator is closer to a cuboid structure, the shape of the mopping actuator is more regular, and the structure is more compact, which is beneficial for the mopping actuator to be installed on the equipment body of the cleaning robot.

[0080] In another embodiment of this application, the roll 5 can also be located diagonally below the cleaning roller 2, which can shorten the length of the shielding cloth 3. The shielding cloth 3 only needs to be slightly unfolded to cover the bottom part of the cleaning roller 2, and the unfolding and rewinding speeds of the shielding cloth 3 are also faster.

[0081] The shielding cloth 3 is usually a waterproof cloth or isolation cloth. The material of the shielding cloth 3 includes, but is not limited to, plastic cloth, chemical fiber waterproof cloth, nylon waterproof cloth, polymer waterproof cloth, etc. In addition, the shielding cloth 3 also has a certain degree of flexibility. When subjected to a large tensile force, the shielding cloth 3 can stretch and return to its original length after the external force is removed.

[0082] To facilitate the unfolding of the flexible covering fabric 3, and to prevent wrinkles after unfolding. See [link / reference] Figures 1 to 3 In one embodiment provided in this application, the mopping actuator further includes an extension mechanism 6, which is connected to the drive device 4 and the cover cloth 3. When the cover cloth 3 is unfolded, the extension mechanism 6 can provide an external force to drive the cover cloth 3 to unfold, and always keep the cover cloth 3 wrinkle-free. When the cover cloth 3 is rolled up, the extension mechanism 6 can also provide a counterforce to assist in driving the cover cloth 3 to roll up, so that the cover cloth 3 is neatly rolled up during the rolling process, and is not easily messy or wrinkled.

[0083] Furthermore, the end of the stretching mechanism 6 has at least a first position and a second position on the outer side of the surface of the cleaning roller 2. When the end of the stretching mechanism 6 is in the first position, the shielding cloth 3 is in a wound state. When the end of the stretching mechanism 6 is in the second position, the shielding cloth 3 is in a shielding state. The stretching mechanism 6 drives the shielding cloth 3 to unfold and rewind by reciprocating between the first position and the second position.

[0084] Furthermore, the support 1 is provided with a first limiting part and a second limiting part. When the end of the extension mechanism 6 moves to the first position, the end of the shielding cloth 3 or the end of the extension mechanism 6 is engaged with the first limiting part. When the end of the extension mechanism 6 moves to the second position, the end of the shielding cloth 3 or the end of the extension mechanism 6 is engaged with the second limiting part, so that the shielding cloth 3 is kept in the unfolded state.

[0085] See Figures 1 to 3 In one embodiment provided in this application, the extension mechanism 6 includes a left ring tooth 61 and a right ring tooth 62. Corresponding to both ends of the cleaning roller 2, the two sides of the support 1 are respectively provided with annular tracks 11, and the left ring tooth 61 and the right ring tooth 62 are respectively engaged and connected in the annular tracks 11. The left ring tooth 61 and the right ring tooth 62 can slide in the annular tracks 11 to realize the movement of the extension mechanism 6 between a first position and a second position.

[0086] Furthermore, the left ring tooth 61 and the right ring tooth 62 are respectively connected to the shielding cloth 3. The left ring tooth 61 and the right ring tooth 62 can operate synchronously to assist the unfolding and rewinding of the shielding cloth 3 on both sides simultaneously. The driving device 4 is connected to one or more of the left ring tooth 61 and the right ring tooth 62. To achieve synchronous operation of the left ring tooth 61 and the right ring tooth 62, the left ring tooth 61 and the right ring tooth 62 can be connected into a single structure. The driving device 4 can be connected to one or both of the left ring tooth 61 and the right ring tooth 62 simultaneously to drive the left ring tooth 61 and the right ring tooth 62 to move between a first position and a second position, thereby driving the unfolding and rewinding of the shielding cloth 3.

[0087] In one technical solution provided in this application, the two ends of the roller 5 are respectively connected to the left ring gear 61 and the right ring gear 62 for transmission. When the left ring gear 61 and the right ring gear 62 are in operation, they will drive the roller 5 to rotate, thereby realizing the unfolding and rewinding of the covering cloth 3. In the technical solution provided in this application, the roller 5 is not only connected to the drive device 4, but also to the left ring gear 61 and the right ring gear 62. When the drive device 4 drives the roller 5 to roll up and unfold the covering cloth 3, the left ring gear 61 and the right ring gear 62 can assist in the rolling up and unfolding of the covering cloth 3. This not only makes the rolling up and unfolding of the covering cloth 3 more stable and the action more rapid, but also makes the covering cloth 3 less prone to wrinkles.

[0088] Furthermore, in one specific implementation, the annular track 11 is coaxial with the cleaning roller 2, and the curvature of the annular track 11 is the same as the curvature of the outer surface of the cleaning roller 2. This can be understood as the relationship between the location of the annular track 11 and the edge of the cleaning roller 2 being concentric circles of different radii.

[0089] The movement trajectory of the shielding cloth 3 during unfolding and rewinding can be either flush against the surface of the cleaning roller 2, or it can have a certain gap with the cleaning roller 2, for example, see [reference needed] Figure 4As shown, the distance H between the movement trajectory of the cover cloth 3 during unfolding and rewinding and the surface of the cleaning roller 2 is effectively prevented. By setting this gap, contact between the cleaning roller 2 and the cover cloth 3 can be effectively avoided, thus preventing the cover cloth 3 from getting dirty. In addition, when the carpet pile is long, the cover cloth 3 has a certain displacement space after being subjected to the force of the carpet, and this force will not act on the cleaning roller 2.

[0090] The speed at which the drive device 4 drives the shielding cloth 3 to wind or unwind is the same as the speed at which the extension mechanism 6 assists in driving the shielding cloth 3 to wind or unwind. However, as the shielding cloth 3 winds onto or is released from the roller 5, the diameter of the shielding cloth 3 on the roller 5 will gradually change, and thus the speed at which the roller 5 winds the shielding cloth 3 will also change continuously. This will cause a mismatch between the rotational speed of the roller 5 and the moving speed of the extension mechanism 6, which will cause the shielding cloth 3 to be stretched.

[0091] In order to accommodate the stretching of the shielding cloth 3, in one embodiment provided in this application, the shielding cloth 3 is tough. When the shielding cloth 3 is stretched during the winding process, the shielding cloth 3 can be appropriately elongated. The elasticity of the shielding cloth 3 itself absorbs the difference between the initial velocity and the final velocity of the shielding cloth 3 when it is unfolded and rolled up due to the change in the diameter of the shaft of the shielding cloth 3.

[0092] Furthermore, in order to make the shielding cloth 3 have a better shielding effect, the width of the shielding cloth 3 is greater than or equal to the length of the cleaning roller 2.

[0093] In one embodiment provided in this application, when the shielding cloth 3 is in a shielding state, the shielding cloth 3 has multiple unfolding positions, and the area of ​​the shielding cloth 3 covering the surface of the cleaning roller 2 is different in different positions. See also Figure 4 The cleaning roller 2 has a center line M, and the angle between the end of the shielding cloth 3 and the center line M varies depending on the unfolding position. For example, the shielding cloth 3 has at least three unfolding positions; in the first unfolding position, the angle α between the end of the shielding cloth 3 and the center line is 0 degrees; in the second unfolding position, the angle α between the end of the shielding cloth 3 and the center line is 30 degrees; and in the third unfolding position, the angle α between the end of the shielding cloth 3 and the center line is 90 degrees.

[0094] Further, see Figures 5 to 7 The mopping actuator is also equipped with a detection device 10, which is set on the bracket 1. The detection device 10 can be used to detect information such as the unfolding speed, unfolding angle, and unfolding position of the cover cloth 3, which is beneficial to the control of the unfolding and winding process of the cover cloth 3.

[0095] In one specific implementation, the detection device 10 includes a photoelectric switch and a grating. The grating is disposed on the left ring tooth 61 or the right ring tooth 62, and the photoelectric switch is correspondingly disposed on one side of the left ring tooth 61 or the right ring tooth 62. By detecting the movement distance of the left ring tooth 61 or the right ring tooth 62, the unfolding position of the shielding cloth 3 is determined.

[0096] In the technical solution provided in this application, the shielding cloth 3 has different shielding effects at different unfolding positions, which can effectively adapt to carpets with different pile lengths, and the cleaning robot has better adaptability.

[0097] The transmission methods of the drive device 4 include, but are not limited to: gear transmission, belt transmission, sprocket transmission, and linkage transmission.

[0098] See Figures 1 to 3 In one embodiment provided in this application, the transmission method of the drive device 4 is gear transmission. The drive device 4 includes a drive gear 41, a double gear 42, and a winding gear 43. The drive gear 41 is connected to the power component. Winding gears 43 are respectively provided on both sides of the winding shaft 5. Corresponding to both sides of the winding shaft 5, two double gears 42 are respectively provided on the left and right sides of the bracket 1. The double gears 42 are respectively connected to the winding gears 43 and the extension mechanism 6.

[0099] The power unit is used for power output, which drives the drive gear 41 to rotate. The drive gear 41 meshes with the roller gear 43 through a set of driven gears, thereby driving the rotation of the roller 5 to realize the unfolding and rewinding process of the shielding cloth 3.

[0100] The double gear 42 includes a first gear 421 and a second gear 422 coaxially arranged. The first gear 421 meshes with one gear in the driven gear set and also with the spool gear 43. The second gear 422 is connected to the left ring gear 61. The first gear 421 and the second gear 422 are connected and can rotate synchronously or be connected as one unit. In this way, the power output from the power assembly can not only be directly transmitted to the spool 5, but also transmitted to the left ring gear 61 through the double gear 42, so as to simultaneously drive the left ring gear 61 to slide in the annular track 11.

[0101] The double gears 42 on both sides of the reel 5 can connect multiple components to each other, so that the power output from the power unit can be transmitted to multiple components in sequence, thus reducing the number of power units required.

[0102] In the technical solution of this application, only one power component is needed to achieve synchronous driving of the left ring gear 61 and the right ring gear 62. Specifically, when the power component drives the scroll gear 43 on the left side of the scroll 5 to rotate, the scroll 5 can transmit power to the double gear 42 located on the right side of the bracket 1. Then, the double gear 42 on the right side of the bracket 1 connects with the right ring gear 62 and drives the right ring gear 62 to slide in the corresponding annular track 11.

[0103] Therefore, the roller 5 serves both to wind the shielding cloth 3 and to transmit power. This connects multiple components into a single unit, resulting in a compact drive unit 4 that facilitates miniaturization of the mopping and washing actuators.

[0104] Furthermore, in one specific embodiment, the power component is a drive motor 45, which is mounted on the bracket 1, and the drive gear 41 is mounted on the rotating shaft of the drive motor 45.

[0105] In addition, see Figure 8 In another embodiment provided in this application, the rotational power of the cleaning roller 2 can also be used as the power for unfolding and retracting the cover cloth 3. Specifically, the mopping actuator includes a clutch device 7, and the power component is a roller motor. The rotating shaft of the roller motor is connected to the drive gear 41 through the clutch device 7. When the cleaning roller 2 rotates, the clutch device 7 will rotate synchronously.

[0106] The clutch device 7 has a disengaged state and an engaged state. When the clutch device 7 is in the disengaged state, the rotating shaft is separated from the drive gear 41; when the clutch device 7 is in the engaged state, the rotating shaft is connected to the drive gear 41. In the first working mode, the shielding cloth 3 is in the wound state, and the clutch device 7 will be in the disengaged state. At this time, when the roller motor drives the roller to rotate, the drive gear 41 does not rotate. When the mopping actuator switches to the second working mode, the clutch device 7 will switch to the engaged state, and the drive gear 41 will rotate together with the cleaning roller 2. The driven gear set meshing with the drive gear 41 can transmit power to the roller 5, thereby driving the shielding cloth 3 to unfold.

[0107] The switching between the disengaged and engaged states of the aforementioned clutch device 7 can be achieved in various ways. For example, when the rotational speed of the shaft exceeds a preset value, the clutch device 7 switches from the disengaged state to the engaged state. Specifically, the preset value can be 300 r / min. When the rotational speed of the cleaning roller 2 exceeds 300 r / min, the clutch device 7 switches from the disengaged state to the engaged state; when the rotational speed of the cleaning roller 2 is below 300 r / min, the clutch device 7 switches from the engaged state to the disengaged state.

[0108] Specifically, see Figure 8 and Figure 9The clutch device 7 includes a contact arm 71 and an elastic element 72. One end of the elastic element 72 is connected to the rotating shaft 12, and the other end is connected to the contact arm 71. The outward-facing end of the contact arm 71 is provided with contact teeth 74, and the inner ring of the drive gear 41 is provided with connecting teeth 411. To limit the movement direction of the contact arm 71, baffles 73 are also provided on both sides of the contact arm 71. Initially, if... Figure 9 As shown in Figure a, the elastic element 72 causes the contact arm 71 to move away from the drive gear 41. When the rotational speed of the clutch device 7 exceeds a preset value, as shown in Figure a... Figure 9 As shown in Figure b, the contact arm 71 is thrown out, the contact tooth 74 engages with the connecting tooth 411, the clutch device 7 switches to the engaged state, and the power output by the drum motor can be transmitted to the drive gear 41 through the clutch device 7, and the drive gear 41 will also rotate synchronously.

[0109] In another embodiment provided in this application, the switching of the clutch device 7 between the disengaged and engaged states can also be achieved by an electronically controlled device. Specifically, the mopping actuator includes an electronically controlled component that drives the clutch device 7 to switch between the disengaged and engaged states.

[0110] See Figure 10 In another embodiment provided in this application, the rotational power of the cleaning roller 2 can also be used as the power for unfolding and retracting the cover cloth 3. Specifically, the mopping actuator includes a one-way valve 8, and the power component is a roller motor. The rotating shaft of the roller motor is connected to the drive gear 41 through the one-way valve 8. When the roller motor rotates in the first direction, the rotating shaft is separated from the drive gear 41, and the power output by the roller motor cannot be transmitted to the drive gear 41; when the roller motor rotates in the second direction, the rotating shaft is engaged with the drive gear 41, and the power output by the roller motor is transmitted to the drive gear 41. The drive gear 41 rotates synchronously with the cleaning roller 2, thereby driving the cover cloth 3 to unfold.

[0111] The first direction is opposite to the second direction. The first direction can be the forward rotation direction of the cleaning roller 2, and the second direction can be the reverse rotation direction of the cleaning roller 2.

[0112] The unfolding of the shielding cloth 3 can be achieved by rotating the cleaning roller 2 in different directions. However, when the cleaning roller 2 changes its rotation direction, it cannot drive the shielding cloth 3 to rewind. Therefore, in one embodiment provided in this application, the roller 5 is provided with a spring mechanism 9. When the rotating shaft engages with the drive gear 41, the shielding cloth 3 unfolds, and the roller motor drives the spring mechanism 9 to store power. When the rotating shaft separates from the drive gear 41, the spring mechanism 9 releases, and the spring mechanism 9 drives the roller 5 to rotate, so that the shielding cloth 3 is wound onto the roller 5 to realize the winding process of the shielding cloth 3.

[0113] In one embodiment of this application, a cleaning actuator is also provided, comprising: a support 1, a cleaning roller 2, a shielding cloth 3, and a driving device 4. The cleaning roller 2 is disposed on the support 1, and the shielding cloth 3 is wound around a roller 5 disposed on the support 1. The driving device 4 is connected to the roller 5. The shielding cloth 3 has a wound state and a shielding state. In the wound state, the shielding cloth 3 is wound around the roller 5. In the shielding state, the driving device 4 drives the shielding cloth 3 to unfold, and the shielding cloth 3 covers a portion of the surface of the cleaning roller 2.

[0114] For other structural details of the cleaning actuator, please refer to the description above; they will not be repeated here.

[0115] The technical solution of this application will be briefly described below through a specific embodiment.

[0116] The cleaning robot has a first working mode and a second working mode. In the first working mode, the shielding cloth 3 is in a rolled-up state, and the cleaning roller 2 can contact the surface to be cleaned. In the second working mode, the shielding cloth 3 is in a shielding state, covering a portion of the surface of the cleaning roller 2, thereby isolating the surface of the cleaning roller 2 from the surface to be cleaned and preventing the damp cleaning roller 2 from wetting and soiling the carpet.

[0117] The unfolding and rewinding of the shielding cloth 3 is achieved by the drive device 4. When the motor located on the support 1 rotates forward, the driving gear 41 drives the driven gear set to rotate synchronously. The driven gear of the last stage in the driven gear set drives the double gear 42 to rotate. The rotating double gear 42 synchronously drives the left and right ring gears 62 to rotate in the annular track 11 located on the support 1 and the roller gear 43 located on the roller 5 to rotate. During the rotation of the above gears, the shielding cloth 3 gradually unfolds from the roller 5, completing the shielding of the roller.

[0118] When the motor on the support 1 reverses, the driving gear 41 drives the driven gear set to rotate synchronously. The last stage of the driven gear set drives the double gear 42 to rotate. The rotating double gear 42 synchronously drives the left and right ring gears 62 to rotate within the annular track 11 on the support 1 and the roller gear 43 on the roller 5 to rotate. During the rotation of the above gears, the shielding cloth 3 is gradually wound onto the roller 5, completing the storage of the shielding cloth 3.

[0119] The forward and reverse rotation of the motor is controlled by an optocoupler located on the bracket 1, which reads the number of teeth on the optocoupler light-shielding plate of the left ring gear 61. The blocking angle of the shielding cloth 3 can be adjusted by setting different numbers of teeth on the optocoupler trigger. The left ring gear 61 is equipped with a retaining ring, and the right ring gear 62 is equipped with a light-shielding plate. This prevents the shielding cloth 3 from deviating when unfolding and retracting. The shielding cloth 3 is elastic, which can absorb the small speed difference between the ring gears (left ring gear 61, right ring gear 62) and the roller 5 during the unfolding and retracting of the shielding cloth 3.

[0120] In summary, in the technical solution of this application embodiment, the roller is driven to rotate by a drive device, thereby realizing the winding and unfolding of the covering cloth. When the covering cloth is in the covering state, it covers a portion of the surface of the cleaning roller, thus isolating the surface of the cleaning roller from the surface to be cleaned. In this state, when the cleaning robot cleans the carpet floor, the carpet will not come into contact with the wet mopping actuator, thereby effectively preventing the carpet from getting wet. At this time, the cleaning robot can clean and vacuum the carpet floor independently. The cleaning robot can handle various types of surfaces to be cleaned with ease, exhibiting better adaptability and effectively utilizing its cleaning capabilities.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning robot, characterized in that, include: Equipment body; A mopping actuator is connected to the device body; The mopping actuator includes: support; A cleaning roller is mounted on the bracket; The shielding cloth is wound onto a roller provided on the bracket; A drive unit is connected to the reel; The shielding cloth has a rolled-up state and a shielding state. When the shielding cloth is in the rolled-up state, it is wound around the roller. When the shielding cloth is in the shielding state, the driving device drives the shielding cloth to unfold, and the shielding cloth covers a part of the surface of the cleaning roller.

2. The cleaning robot according to claim 1, characterized in that, It also includes a lifting device, through which the mopping actuator is connected to the equipment body; The cleaning robot has at least a first working mode and a second working mode. In the first working mode, the mopping actuator contacts the surface to be cleaned. In the second working mode, the lifting device drives the mopping actuator to lift, and the shielding cloth switches to the shielding state.

3. The cleaning robot according to claim 2, characterized in that, The reel is located on one side of the cleaning roller, and the axis of the reel is parallel to the axis of the cleaning roller.

4. The cleaning robot according to claim 3, characterized in that, The mopping actuator also includes an extension mechanism, which is connected to the drive device and the shielding cloth respectively. The end of the extension mechanism has at least a first position and a second position on the outer side of the surface of the cleaning roller; When the end of the stretching mechanism is in the first position, the shielding cloth is in a rolled-up state; When the end of the extension mechanism is in the second position, the covering cloth is in a covering state.

5. The cleaning robot according to claim 4, characterized in that, The extension mechanism includes: a left ring tooth and a right ring tooth; Corresponding to both ends of the cleaning roller, the two sides of the bracket are respectively provided with annular tracks, and the left annular teeth and the right annular teeth are respectively engaged and connected in the annular tracks; The left and right ring teeth are respectively connected to the shielding cloth, and the driving device is connected to one or more of the left and right ring teeth.

6. The cleaning robot according to claim 5, characterized in that, The two ends of the scroll are respectively connected to the left ring tooth and the right ring tooth for transmission. The annular track is coaxial with the cleaning roller.

7. The cleaning robot according to claim 1, characterized in that, When the shielding cloth is in the shielding state, the shielding cloth has multiple unfolding positions, and the area of ​​the surface of the cleaning roller covered by the shielding cloth is different in different positions.

8. The cleaning robot according to any one of claims 1 to 7, characterized in that, The drive device includes a drive gear, a double gear, and a coil gear; The drive gear is connected to the power assembly, and the reel gears are respectively provided on both sides of the reel; Corresponding to both sides of the scroll, the bracket is provided with two double gears, which are respectively connected to the scroll gear and the extension mechanism.

9. The cleaning robot according to claim 8, characterized in that, The power component is a drive motor, which is mounted on the bracket, and the drive gear is mounted on the shaft of the drive motor.

10. The cleaning robot according to claim 8, characterized in that, The mopping actuator includes a clutch device, the power component is a drum motor, the rotating shaft of the drum motor is connected to the drive gear through the clutch device, and the clutch device has a disengaged state and an engaged state; When the clutch is in the disengaged state, the rotating shaft is separated from the driving gear; When the clutch is engaged, the shaft is connected to the drive gear.

11. The cleaning robot according to claim 10, characterized in that, When the rotational speed of the shaft exceeds a preset value, the clutch device switches from the disengaged state to the engaged state; Alternatively, the mopping actuator may include an electronically controlled component that drives the clutch to switch between the disengaged state and the engaged state.

12. The cleaning robot according to claim 8, characterized in that, The mopping actuator includes a one-way valve, the power component is a drum motor, and the rotating shaft of the drum motor is connected to the drive gear through the one-way valve. When the drum motor rotates in the first direction, the rotating shaft separates from the drive gear; When the drum motor rotates in the second direction, the rotating shaft engages with the drive gear; The first direction is opposite to the second direction.

13. The cleaning robot according to claim 12, characterized in that, The spool is equipped with a spring mechanism. When the spool engages with the drive gear, the shielding cloth unfolds, and the roller motor drives the spring mechanism to store power. When the spool disengages from the drive gear, the spring mechanism releases, and the spring mechanism drives the spool to rotate, and the shielding cloth is wound onto the spool.

14. A cleaning actuator, characterized in that, include: support; A cleaning roller is mounted on the bracket; The shielding cloth is wound onto a roller provided on the bracket; A drive unit is connected to the reel; The shielding cloth has a rolled-up state and a shielding state. In the rolled-up state, the shielding cloth is wound around the roller. When the shielding cloth is in the shielding state, the driving device drives the shielding cloth to unfold, and the shielding cloth covers a portion of the surface of the cleaning roller.

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