Edge cleaning structure and cleaning robot
By designing a rotatable mop holder and an edge-cleaning structure for the movable arm, the problem of cleaning robots having difficulty cleaning three-dimensional areas along walls has been solved, achieving adaptive three-dimensional cleaning for different household scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2026-04-07
AI Technical Summary
Existing cleaning robots have difficulty effectively cleaning the baseboards and walls that are about 10cm high along the walls, and cannot adapt to the different wall designs in different home settings.
Design an edge cleaning structure including a rotatable mop bracket and a movable arm, which can adjust the angle according to the height of the vertical working surface, install an edge cleaning mop, and achieve three-dimensional cleaning of the wall edge or wall side.
It enables the adjustment of the movable arm angle according to the height of different vertical working surfaces, ensuring full coverage of the edge cleaning mop and providing a convenient three-dimensional cleaning effect.
Smart Images
Figure CN224085255U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of cleaning robots, especially an edge cleaning structure and a cleaning robot. BACKGROUND
[0002] At present, most of the cleaning of cleaning robots is ground cleaning facing the bottom, and the skirting line and wall surface of about 10cm of wall body cannot be cleaned, and the wall design of different family scenes is quite different, there are installed skirting lines, there are no skirting lines, there are regular sides, irregular hollow patterns, there are white, black, there are floor curtain cloth, etc., different types, different heights, which brings great difficulty to the cleaning of wall body, and the existing cleaning function cannot well adapt to different scenes. SUMMARY
[0003] In view of the above problems, the utility model provides an edge cleaning structure, which can adjust the angle according to the height of the vertical working surface, fit the working surface, and clean the wall along or the wall edge, thereby providing convenience for users.
[0004] The utility model adopts the technical scheme of:
[0005] An edge cleaning structure, the edge cleaning structure comprising a mop assembly, the mop assembly comprising:
[0006] A mop bracket, the mop bracket being installed on the side of the body of the cleaning robot, the mop bracket comprising a movable arm, the movable arm being rotatable relative to the body of the cleaning robot in a vertical plane;
[0007] An edge cleaning mop, the edge cleaning mop being installed on the movable arm and used for cleaning a first working surface, the first working surface being a vertical plane.
[0008] Optionally, after rotation, the movable arm has an included angle with the horizontal plane, and the projection height of the movable arm in the vertical direction is greater than or equal to the height of the first working surface.
[0009] Optionally, the rotation axis of the movable arm is located at the middle position of each movable arm.
[0010] Or / and, the rotation axis of the movable arm is located at one end of the movable arm away from the middle position.
[0011] Optionally, the number of movable arms is multiple, and each movable arm is parallel in the vertical direction after rotation.
[0012] Optionally, the number of movable arms is multiple, and the projection height of each movable arm in the vertical direction is less than the height of the first working surface, and the projection height of the multiple movable arms in the vertical direction is greater than or equal to the height of the first working surface after rotation.
[0013] Alternatively, the number of movable arms is two, with the rotation axis of each movable arm located at one end of each movable arm, and the ends of the two movable arms with the rotation axis being close to or in contact, and the angle between the two movable arms ranging from 0 degrees to 180 degrees.
[0014] Alternatively, the number of movable arms is two, with the rotation axes of the two movable arms located at opposite ends of the two movable arms, and the angle between the two movable arms ranging from 0 degrees to 180 degrees.
[0015] Optionally, the mop bracket is provided with a ratchet latch structure for mounting the movable arm. The ratchet latch structure includes a ratchet that rotates synchronously with the rotating shaft on the movable arm, a latch for positioning the ratchet, and an elastic pressing member for pressing the latch. The latch is provided with a control shaft for driving the latch to rotate and separate from the ratchet. The rotating shaft of the movable arm is fitted with a torsion spring for driving the movable arm to reset. The mop bracket is also equipped with an opening and closing driver for driving the movable arm to open and close. The opening and closing driver is located on the back of the mop bracket.
[0016] Optionally, the edge cleaning structure also includes an elastic arm, which is used to control the edge cleaning mop on the mop bracket to extend all or part of the cleaning robot body. The elastic arm is located inside the cleaning robot body or at the bottom of the cleaning robot body. One end of the elastic arm is connected to the mop bracket, and the other end of the elastic arm is connected to a power drive mechanism. The elastic arm is also connected to a reset structure for driving the elastic arm to reset.
[0017] This utility model also provides a cleaning robot, including a body and the edge cleaning structure described above, which is detachably mounted on the side of the body.
[0018] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model provides an edge cleaning structure that can adjust the angle of the movable arm according to the height of the vertical working surface, so that the edge cleaning mop on the movable arm can completely cover the working surface. With the movement of the cleaning robot, it can perform three-dimensional cleaning of the wall edge or wall side, providing convenience for users. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of a cleaning structure along an edge for cleaning the first working surface, as provided by this utility model.
[0020] Figure 2 This is a schematic diagram of an edge cleaning structure provided by the present invention.
[0021] Figure 3 A schematic diagram of the position of the rotating shaft on the movable arm in an edge cleaning structure provided by this utility model. Figure 1 .
[0022] Figure 4A schematic diagram of the position of the rotating shaft on the movable arm in an edge cleaning structure provided by this utility model. Figure 2 .
[0023] Figure 5 This invention provides a first embodiment of a movable arm for an edge-cleaning structure.
[0024] Figure 6 This is a second embodiment of the movable arm of the edge cleaning structure provided by this utility model.
[0025] Figure 7 This is a third embodiment of the movable arm of the edge cleaning structure provided by this utility model.
[0026] Figure 8 This is the fourth embodiment of the movable arm of the edge cleaning structure provided by this utility model.
[0027] Figure 9 A schematic diagram of an edge cleaning structure installed on the body of a cleaning robot, as provided by this utility model. Figure 1 .
[0028] Figure 10 A schematic diagram of an edge cleaning structure installed on the body of a cleaning robot, as provided by this utility model. Figure 2 .
[0029] Figure 11 An exploded view of the ratchet latch structure in an edge cleaning structure provided by this utility model.
[0030] Figure 12 A schematic diagram of the rotation of the elastic arm in an edge cleaning structure provided by this utility model. Figure 1 .
[0031] Figure 13 A schematic diagram of the rotation of the elastic arm in an edge cleaning structure provided by this utility model. Figure 2 . Detailed Implementation
[0032] The preferred embodiments of this utility model will be described in detail with reference to the accompanying drawings.
[0033] Figures 1 to 13 This is one embodiment of the edge cleaning structure provided by this utility model. For example... Figures 1 to 13As shown, the edge cleaning structure includes a mop assembly 10, which includes a mop bracket 11 and an edge cleaning mop 12. The mop bracket 11 is mounted around the periphery of the cleaning robot body 100 and includes a movable arm 13 that can rotate relative to the cleaning robot body 100 in a vertical plane. The edge cleaning mop 12 is mounted on the movable arm 13 and is used to clean a first working surface 200, which is a vertical plane. This allows the angle of the movable arm 13 to be adjusted according to the width of the first working surface 200, so that the edge cleaning mop 12 on the movable arm 13 completely covers the first working surface 200. As the cleaning robot moves, it performs three-dimensional cleaning of the wall edge or wall side, providing convenience for the user. The first working surface 200 can be a baseboard set on the wall edge or wall side, or it can be the wall surface directly on the wall edge or wall side.
[0034] The edge cleaning mop 12 is detachably mounted on the movable arm 13. For example, the edge cleaning mop 12 can be installed using Velcro, magnets, or other methods, facilitating subsequent cleaning or replacement and providing convenience for users. The edge cleaning mop 12 can be made of materials such as microfiber, cotton, sponge, silicone, non-woven fabric, or nanomaterials. Material selection for the edge cleaning mop 12 takes into account absorbency, durability, cleaning efficiency, and applicable scenarios. For example, in daily household use, a microfiber edge cleaning mop 12 can be selected, offering strong absorbency without damaging floors; for heavy-duty / commercial applications, silicone or sponge edge cleaning mops 12 can be selected, offering wear resistance and easy cleaning.
[0035] After the movable arm 13 rotates, it forms an angle with the horizontal plane. The projected height of the movable arm 13 in the vertical direction is greater than or equal to the height of the first working surface 200. Thus, the edge cleaning mop 12 on the movable arm 13 can completely cover the first working surface 200. With the movement of the cleaning robot, the entire first working surface 200 can be cleaned in one go.
[0036] The position of the rotation axis 131 on the movable arm 13 can be set according to structural design requirements, with the rotation axis 131 of the movable arm 13 located at the middle position of each movable arm 13; or / and, the rotation axis 131 of the movable arm 13 located at one end of the movable arm 13 away from the middle position. For example, as Figure 3 As shown, the rotation axis 131 of the movable arm 13 is located at the center of each movable arm 13; as Figure 4 As shown, the rotation axis 131 of the movable arm 13 is located at one end of the movable arm 13 away from the center position.
[0037] Depending on the structural design requirements, the number of movable arms 13 can be one or more; for example Figure 2As shown, when there is only one movable arm 13, the first working surface 200 is cleaned using only the cleaning mop 12 along the edge of a single movable arm 13; as Figures 5 to 8 As shown, when there are multiple movable arms 13, the second working surface 200 is cleaned simultaneously using the cleaning mop 12 along the upper edge of multiple movable arms 13.
[0038] In some examples, there are multiple movable arms 13, and after rotation, all movable arms 13 are parallel in the vertical direction. For example... Figure 5 As shown, multiple movable arms 13 can be arranged in parallel with one end aligned. When rotating, the edge cleaning mop 12 on the movable arm 13 in the first position cleans the first working surface 200 in the first order, and the edge cleaning mop 12 on the movable arm 13 in the last position cleans the first working surface 200 in the last order. In this way, as the cleaning robot moves, the same first working surface 200 is cleaned more than 100 times by using the edge cleaning mops 12 arranged in front and behind.
[0039] In other examples, there are multiple movable arms 13, where the projected height of a single movable arm 13 in the vertical direction is less than the height of the first working surface 200, and after rotation, the sum of the projected heights of the multiple movable arms 13 in the vertical direction is greater than or equal to the height of the first working surface 200. For example... Figure 6 As shown, multiple movable arms 13 can be arranged in parallel vertically. When rotating, the sum of the projected heights of each movable arm 13 in the vertical direction is greater than or equal to the height of the first working surface 200. As a result, the edge cleaning mops 12 on each movable arm 13 are staggered vertically. Thus, as the cleaning robot moves, the edge cleaning mops 12 arranged vertically are used to clean the same first working surface 200.
[0040] In other examples, there are two movable arms 13, with their rotation axes located at one end of each arm 13, and the ends of the two arms 13 with their rotation axes close to or in contact with each other. The angle between the two movable arms 13 ranges from 0 degrees to 180 degrees. Figure 7 As shown, the two movable arms 13 are arranged vertically and parallel to each other. The ends of the two movable arms 13 with the rotating shaft 131 are close to each other. The two movable arms 13 are opened and closed to accommodate the first working surface 200 at different heights. The included angle between the two movable arms 13 is in the range of 0 degrees to 180 degrees. For example, the included angle between the two movable arms 13 is 0°, 30°, 60°, 90°, 100°, 120°, 150° or 180°. When the included angle between the two movable arms 13 is 0°, the sum of the projected heights of the two movable arms 13 in the vertical direction is the smallest. When the included angle between the two movable arms 13 is 180°, the sum of the projected heights of the two movable arms 13 in the vertical direction reaches the maximum.
[0041] In other examples, there are two movable arms 13, with their rotation axes 131 located at opposite ends of each arm 13. The angle between the two arms 13 ranges from 0 to 180 degrees. The two movable arms 13 can be vertically aligned or vertically offset and parallel. Figure 8 As shown, the two movable arms 13 are vertically aligned, with the ends of the two movable arms 13 having the rotation axis 13 facing away from each other. The two movable arms 13 open and close to accommodate the first working surface 200 at different heights. The included angle between the two movable arms 13 ranges from 0 degrees to 180 degrees, for example, the included angle between the two movable arms 13 is 0°, 30°, 60°, 90°, 100°, 120°, 150° or 180°. When the included angle between the two movable arms 13 is 0°, the two movable arms 13 are in a vertical straight line, and the ends of the two movable arms 13 that do not have the rotation axis 13 are in contact. The sum of the projected heights of the two movable arms 13 in the vertical direction is the sum of the lengths of the two movable arms 13. When the included angle between the two movable arms 13 is 180 degrees, the two movable arms 13 are in a straight line, and a spatial distance is formed between the two movable arms 13. The height of this spatial distance is the distance between the two rotation axes 131. At this time, at least two cleanings are required to clean the first working surface 200.
[0042] The rotation angle of the movable arm 13 can be controlled manually or automatically. Figure 11 As shown, the mop bracket 11 has a ratchet latch structure 14 for mounting the movable arm 13. The ratchet latch structure 14 includes a ratchet 141 that rotates synchronously with the rotating shaft 131 on the movable arm 13, a latch 142 for positioning the ratchet 141, and an elastic pressing member 143 for pressing the latch 142. The latch 142 is provided with a control shaft 1421 for driving the latch 142 to rotate and separate from the ratchet 141. The rotating shaft 131 on the movable arm 13 is fitted with a mechanism to drive the movable arm 13 to rotate. When the torsion spring 144 is in position, the rotating shaft 131 on the movable arm 13 drives the ratchet 141 to rotate until the movable arm 13 rotates to a suitable angle. Under the action of the elastic pressing member 143, the latch 142 remains engaged with the ratchet 141, thus positioning the ratchet 141. During reset, the control shaft 1421 is manually rotated, causing the latch 142 to rotate, separating it from the ratchet 141, and the movable arm 13 resets under the action of the torsion spring 144. When using automated drive, the mop bracket 11 is also equipped with an opening / closing driver 15 for driving the opening and closing of the movable arm 13. The opening / closing driver 15 is located on the back of the mop bracket 11 and drives the ratchet 141 to rotate, causing the rotating shaft 131 on the movable arm 13 to rotate synchronously. The opening / closing driver 15 can be a motor.
[0043] The edge cleaning structure also includes an elastic arm 20, which controls the edge cleaning mop 12 on the mop holder 11 to extend fully or partially out of the cleaning robot body 100. The elastic arm 20 is located inside the cleaning robot body 100 or at the bottom of the cleaning robot body 100. The elastic arm 20 can provide greater pressure to the edge cleaning mop 12, improving the cleaning efficiency. One end of the elastic arm 20 is connected to the mop holder 11, and the other end of the elastic arm 20 is connected to a power drive mechanism 30. When the cleaning robot detects a wall edge or edge, the power drive mechanism 30 acts on the elastic arm 20, and the elastic arm 20 controls the edge cleaning mop 12 on the mop holder 11 to extend fully or partially out of the cleaning robot body 100, with the edge cleaning mop 12 adhering to the first working surface 200 on the wall edge or edge.
[0044] As one embodiment, the power drive mechanism 30 can be a cylinder, and the elastic arm 20 is a cylinder extension rod connected to the cylinder. The cylinder pushes the cylinder extension rod to extend, and the cylinder extension rod pushes the mop bracket 11 to extend, so that the edge cleaning mop 12 on the mop bracket 11 fits against the first working surface 200. Then, the rotation angle of the movable arm 13 is adjusted according to the height of the first working surface 200.
[0045] As another embodiment, such as Figure 12 and Figure 13 As shown, the power drive mechanism 30 is a drive motor used to drive the elastic arm 20 to rotate. When the cleaning robot detects the wall edge or side edge, the drive motor drives the elastic arm 20 to rotate. The mop bracket 11 extends out of the body 100 of the cleaning robot in whole or in part. The edge cleaning mop 12 adheres to the first working surface 200 on the wall edge or side edge. Then, according to the height of the first working surface 200, the rotation angle of the movable arm 13 is adjusted. The edge cleaning mop 12 on the movable arm 13 completely covers the first working surface 200. With the movement of the cleaning robot, the wall edge or side edge is cleaned in three dimensions. When the cleaning is completed, the elastic arm 20 is retracted, thus exiting the scene of cleaning along the wall edge.
[0046] The flexible arm 20 is also connected to a reset structure 40 for resetting the flexible arm 20. When it is necessary to exit the cleaning along the wall edge scenario, the reset structure 40 drives the flexible arm 20 to retract, thereby removing the cleaning mop 12 from the first working surface 200. Figure 12 and Figure 13 As shown, the reset structure 40 is a reset spring. One end of the reset spring is connected to the elastic arm 20, and the other end of the reset spring is connected to the body 100 of the cleaning robot. When the drive motor drives the elastic arm 20 to rotate, it pulls the reset spring. When it is necessary to retract the elastic arm 20, the elastic arm 20 automatically retracts under the action of the reset spring.
[0047] like Figures 9 to 13As shown, the preferred embodiment of the edge cleaning structure is as follows: The mop bracket 11 has two movable arms 13, with one end of each movable arm 13 having a rotating shaft 131 close to the other. The mop bracket 11 contains a ratchet latching structure 14 for mounting the movable arms 13. The ratchet 141 in the ratchet latching structure 14 rotates synchronously with the rotating shaft 131. The ratchet 141 is connected to an opening / closing driver 15 for driving the two movable arms 13 to open and close. The bottom of the cleaning robot body 100 has an elastic arm 20. One end of the elastic arm 20 is connected to the mop bracket 11, and the other end is connected to a power drive mechanism 30. When the cleaning robot detects a wall edge or edge, the power drive mechanism 30... The elastic arm 20 controls the edge cleaning mop 12 on the mop bracket 11 to extend all or part of its length beyond the body 100 of the cleaning robot. The edge cleaning mop 12 adheres to the first working surface 200 on the wall edge or side. Under the action of the corresponding opening and closing driver 15, the two movable arms 13 are controlled to open to a suitable angle. The sum of the vertical projection heights of the two movable arms 13 is greater than or equal to the height of the first working surface 200, so that the edge cleaning mop 12 on the two movable arms 13 completely covers the first working surface 200. With the movement of the cleaning robot, the first working surface 200 on the wall edge and side is cleaned in three dimensions, providing convenience for the user.
[0048] In summary, the technical solution of this utility model can fully and effectively achieve the aforementioned objectives. Furthermore, the structure and functional principles of this utility model have been fully verified in the embodiments, achieving the expected effects and objectives. Without departing from the principles and essence of this utility model, various changes or modifications can be made to the embodiments. Therefore, this utility model includes all substitutions within the scope mentioned in the patent application claims, and any equivalent changes made within the scope of this patent application are within the scope of the patent application.
[0049] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0051] In this application, unless otherwise expressly specified and limited, the terms "initial," "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0052] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0053] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0054] The embodiments described above are merely some embodiments of this utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.
Claims
1. An edge-cleaning structure, characterized in that, The edge cleaning structure includes a mop assembly, the mop assembly comprising: A mop bracket is mounted on the periphery of the cleaning robot body. The mop bracket includes a movable arm that can rotate relative to the cleaning robot body in a vertical plane. An edge-cleaning mop is mounted on the movable arm and is used to clean a first working surface, which is a vertical plane.
2. The edge cleaning structure according to claim 1, characterized in that, After rotation, the movable arm forms an angle with the horizontal plane, and the projected height of the movable arm in the vertical direction is greater than or equal to the height of the first working surface.
3. The edge cleaning structure according to claim 1, characterized in that, The rotation axis of the movable arm is located at the middle position of each movable arm; Or / and, the rotation axis of the movable arm is at one end of the movable arm away from the middle position.
4. The edge cleaning structure according to claim 1, characterized in that, There are multiple movable arms, and after rotation, each movable arm is parallel in the vertical direction.
5. The edge cleaning structure according to claim 1, characterized in that, The number of movable arms is multiple. The projected height of a single movable arm in the vertical direction is less than the height of the first working surface. After rotation, the projected height of multiple movable arms in the vertical direction is greater than or equal to the height of the first working surface.
6. The edge cleaning structure according to claim 5, characterized in that, The number of movable arms is two, and the pivot of each movable arm is located at one end of each movable arm. The ends of the two movable arms with pivots are close to or in contact with each other, and the angle between the two movable arms is from 0 degrees to 180 degrees.
7. The edge cleaning structure according to claim 5, characterized in that, The number of movable arms is two, and the rotation axes of the two movable arms are located at opposite ends of the two movable arms. The angle between the two movable arms ranges from 0 degrees to 180 degrees.
8. The edge cleaning structure according to any one of claims 1 to 7, characterized in that, The mop bracket is equipped with a ratchet latch structure for mounting the movable arm. The ratchet latch structure includes a ratchet that rotates synchronously with the rotating shaft on the movable arm, a latch for positioning the ratchet, and an elastic pressing member for pressing the latch. The latch is equipped with a control shaft for driving the latch to rotate and separate from the ratchet. The rotating shaft of the movable arm is fitted with a torsion spring for driving the movable arm to reset. The mop bracket is also equipped with an opening and closing driver for driving the movable arm to open and close. The opening and closing driver is located on the back of the mop bracket.
9. The edge cleaning structure according to any one of claims 1 to 7, characterized in that, The edge cleaning structure also includes an elastic arm, which is used to control the edge cleaning mop on the mop bracket to extend all or part of the cleaning robot body. The elastic arm is set inside the cleaning robot body or at the bottom of the cleaning robot body. One end of the elastic arm is connected to the mop bracket, and the other end of the elastic arm is connected to a power drive mechanism. The elastic arm is also connected to a reset structure for driving the elastic arm to reset.
10. A cleaning robot, characterized in that, The cleaning robot includes a body and an edge cleaning structure as described in any one of claims 1 to 9, wherein the edge cleaning structure is detachably disposed on the side of the body.