Cleaning robot

Abstract

The cleaning robot comprises a cleaning assembly, the cleaning assembly comprises a cleaning head, a rotating shaft, a first clamping piece, a second clamping piece and a spring piece, one of the first clamping piece and the second clamping piece is coaxially and fixedly arranged at one end of the cleaning head to form a cleaning head module, and the other one of the first clamping piece and the second clamping piece is coaxially and fixedly arranged at the other end of the rotating shaft to form a rotating shaft module; the first clamping piece is provided with a clamping hole, a notch groove is formed in the free end face of the clamping hole, a clamping groove is formed in the groove wall of the notch groove, a protruding clamping column is arranged on the outer side face of the second clamping piece, the second clamping piece is coaxially connected into the clamping hole, the clamping column is embedded into the clamping groove, and the clamping column is forced to abut against the groove wall of the clamping groove through the elastic force of the spring piece. According to the cleaning device, the first clamping piece, the second clamping piece and the spring piece are arranged, and the rotating shaft and the cleaning head are automatically and rapidly disassembled and assembled through the mechanical arm and the rotating driving piece.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a cleaning robot. Background Technology

[0002] In modern industry and logistics, material handling robots are key equipment for improving the efficiency and automation of cargo handling. They rely on various sensors for precise operation and navigation, with lidar (LiDAR) playing a crucial role in their safe and efficient operation as the core sensing component.

[0003] However, in actual working conditions, lidar is highly susceptible to contaminants such as dust, water stains, and oil. Contaminants adhering to the surface of the optical window cause a bidirectional attenuation of the signal intensity of both emitted and reflected light, resulting in a reduced effective detection range, increased blind zones, and gaps and missing data in the point cloud. This can cause handling robots to misjudge their surroundings, and in extreme cases, even cause the lidar to malfunction, seriously affecting the safety and accuracy of handling operations and increasing the risk of accidents.

[0004] To address the aforementioned technical issues, existing technologies employ cleaning robots to clean LiDAR systems. However, these robots have significant shortcomings, requiring manual installation and replacement of cleaning tools, resulting in low levels of automation and failing to meet the growing demand for efficient and intelligent cleaning. Utility Model Content

[0005] Therefore, this utility model provides a cleaning robot capable of automatically changing cleaning heads.

[0006] To solve the above-mentioned technical problems, this utility model provides a cleaning robot, including a mobile chassis, a robotic arm, and a cleaning mechanism;

[0007] The robotic arm is mounted on the mobile chassis and is used to perform cleaning actions.

[0008] The cleaning mechanism includes a support, a rotary drive, and a cleaning assembly. The support is fixed to the end of the robotic arm, and the rotary drive is mounted on the support.

[0009] The cleaning assembly includes a cleaning head, a rotating shaft, a first snap-fit ​​component, a second snap-fit ​​component, and a spring component. The cleaning head is used to wipe the surface to be cleaned. One end of the rotating shaft is connected to the rotary drive component. Both the first and second snap-fit ​​components are shaft-shaped. One is coaxially fixed to one end of the cleaning head to form a cleaning head module, and the other is coaxially fixed to the other end of the rotating shaft to form a rotating shaft module. The first snap-fit ​​component has an axial snap-fit ​​hole, and the free end of the snap-fit ​​hole has a notch. The notch has a snap-fit ​​groove on its groove wall. The second snap-fit ​​component has a snap-fit ​​post on its outer side. The second snap-fit ​​component is coaxially connected to the snap-fit ​​hole, and the snap-fit ​​post is connected to the snap-fit ​​groove and mutually restricts its separation along the axial direction of the rotating shaft. One end of the spring component abuts against the cleaning head module, and the other end of the spring component abuts against the rotating shaft module. The elastic force of the spring component forces the snap-fit ​​post to press against the groove wall of the snap-fit ​​groove along the axial direction of the rotating shaft.

[0010] Furthermore, a limiting groove is provided on the groove wall of the snap-fit ​​groove, and the elastic force of the spring member forces the snap-fit ​​post to press against the bottom of the limiting groove along the axial direction of the rotating shaft.

[0011] Furthermore, the first snap-fit ​​component is fixedly connected to the cleaning head, and the second snap-fit ​​component is fixedly connected to the rotating shaft.

[0012] Furthermore, one end of the spring is fixedly connected to the rotating shaft module.

[0013] Furthermore, in the cleaning head module and the rotating shaft module, one of them is coaxially connected with a pin, and the other has a socket in the center, into which the pin is inserted.

[0014] Furthermore, it also includes a photoelectric sensor and a photoelectric contact piece. The photoelectric sensor is mounted on the support, and the photoelectric contact piece is mounted on the rotating shaft module. The photoelectric sensor is used to detect the photoelectric contact piece.

[0015] Furthermore, the rotary drive component drives the shaft to rotate via a timing pulley and a timing belt.

[0016] Furthermore, the outer surface of the cleaning head is used to contact the surface to be cleaned.

[0017] Furthermore, the cleaning head is a sponge cleaning head, a brush cleaning head, or a non-woven fabric cleaning head.

[0018] Furthermore, it also includes a cleaning head platform, which is mounted on the mobile chassis. The cleaning head platform is provided with a positioning pin, and the outer side of the positioning pin is provided with a positioning protrusion. The other end of the cleaning head is provided with a positioning hole, and the side wall of the positioning hole is provided with a positioning groove. The positioning pin is inserted into the positioning hole, and the positioning protrusion and the positioning groove are in concave-convex fit. The positioning pin is in fit with the positioning hole, and the positioning protrusion and the positioning groove can slide along the axial direction of the positioning pin and restrict each other's rotation.

[0019] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art:

[0020] 1) The cleaning robot of this utility model, by setting a first snap-fit ​​component, a second snap-fit ​​component and a spring component, uses a robotic arm and a rotary drive component to realize the automated and rapid assembly and disassembly of the rotating shaft and the cleaning head;

[0021] 2) The cleaning robot of this utility model is equipped with a limit groove to prevent the locking post from accidentally disengaging from the locking groove;

[0022] 3) The cleaning robot of this utility model has a first snap-fit ​​component that is fixedly connected to the cleaning head and a second snap-fit ​​component that is fixedly connected to the rotating shaft. The structure is more reasonable and it is easier to quickly assemble the second snap-fit ​​component and the first snap-fit ​​component.

[0023] 4) In the cleaning robot described in this utility model, the spring component is fixedly connected to the rotating shaft module. Compared with setting the spring component on the cleaning head module, setting the spring component on the rotating shaft module can achieve the same function using fewer spring components.

[0024] 5) The cleaning robot of this utility model, by setting pins and holes, ensures that the second snap-fit ​​component and the first snap-fit ​​component are in a coaxial state before assembly, which facilitates the accurate assembly of the second snap-fit ​​component and the first snap-fit ​​component.

[0025] 6) The cleaning robot described in this utility model, by setting photoelectric sensors and photoelectric contacts, can detect whether the rotating shaft has returned to its initial position, which facilitates the connection between the rotating shaft and the cleaning head, as well as the connection between the cleaning head and the positioning pin;

[0026] 7) The cleaning robot of this utility model connects the rotating shaft and the rotating drive component through a synchronous pulley and a synchronous belt drive. The positional relationship between the rotating drive component and the rotating shaft is not critical, and it can absorb a certain amount of vibration to prevent overload.

[0027] 8) The cleaning robot of this utility model has a large working surface on the outer side of the cleaning head, which is suitable for cleaning surfaces of various shapes.

[0028] 9) The cleaning robot described in this utility model has a cleaning head made of sponge, brush or non-woven fabric, which can be adapted to clean different surfaces.

[0029] 10) The cleaning robot of this utility model, by setting a cleaning head platform, facilitates the robot to quickly and conveniently replace the cleaning head. By setting a positioning pin, it is easy to keep the cleaning head on the cleaning head platform in a set posture, and facilitates the assembly and disassembly with the first and second locking parts. Attached Figure Description

[0030] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0031] Figure 1 This is a schematic diagram of the cleaning robot in this utility model;

[0032] Figure 2 This is a schematic diagram of the cleaning mechanism in this utility model;

[0033] Figure 3 This is a schematic diagram showing the connection between the cleaning head and the first snap-fit ​​component in this utility model;

[0034] Figure 4 This is a schematic diagram showing the connection between the rotating shaft and the second snap-fit ​​component in this utility model;

[0035] Figure 5 This is a schematic diagram of the positioning hole of the cleaning head in this utility model.

[0036] Figure 6 This is a schematic diagram of the cleaning head platform in this utility model;

[0037] Figure 7 This is a schematic diagram of the positioning pin in this utility model;

[0038] Figure 8 This is a schematic diagram of the cleaning robot in operation according to this utility model.

[0039] Explanation of reference numerals in the instruction manual:

[0040] A. Cleaning Robot; 1. Mobile Chassis; 2. Robotic Arm; 3. Cleaning Mechanism; 301. Support; 302. Rotary Drive Component; 303. Cleaning Head; 304. Rotating Shaft; 305. First Snap-in Component; 306. Second Snap-in Component; 307. Spring Component; 308. Snap-in Hole; 309. Notch; 310. Snap-in Slot; 311. Snap-in Post; 312. Limiting Slot; 313. Pin; 314. Insertion Hole; 315. Photoelectric Sensor; 316. Photoelectric Contact Piece; 317. Synchronous Pulley; 318. Synchronous Belt; 319. Positioning Hole; 320. Positioning Groove; 4. Cleaning Head Platform; 401. Positioning Pin; 402. Positioning Protrusion; B. Handling Robot; 5. LiDAR. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0042] See Figures 1 to 8 As shown, this utility model provides an embodiment of a cleaning robot.

[0043] The cleaning robot A includes a mobile chassis 1, a robotic arm 2, and a cleaning mechanism 3. The robotic arm 2 is mounted on the mobile chassis 1 and is used to perform cleaning actions. The cleaning mechanism 3 includes a support 301, a rotary drive 302, and a cleaning component. The support 301 is fixed to the end of the robotic arm 2, and the rotary drive 302 is mounted on the support 301.

[0044] The aforementioned cleaning assembly includes a cleaning head 303, a rotating shaft 304, a first locking member 305, a second locking member 306, and a spring member 307. The cleaning head 303 is used to wipe the surface to be cleaned. One end of the rotating shaft 304 is connected to the rotary drive member 302. Both the first locking member 305 and the second locking member 306 are shaft-shaped. The first locking member 305 is coaxially fixed to one end of the cleaning head 303 to form a cleaning head module, and the second locking member 306 is coaxially fixed to the other end of the rotating shaft 304 to form a rotating shaft module. The first locking member 305 is provided with an axial locking hole 308. The free end of 08 is provided with a notch 309, and the notch 309 has a snap-fit ​​groove 310 on its wall. The outer side of the second snap-fit ​​member 306 is provided with a snap-fit ​​post 311. The second snap-fit ​​member 306 is coaxially connected to the snap-fit ​​hole 308. The snap-fit ​​post 311 is connected to the snap-fit ​​groove 310 and mutually restricts each other to detach along the axial direction of the rotating shaft 304. One end of the spring member 307 abuts against the cleaning head module, and the other end of the spring member 307 abuts against the rotating shaft module. The elastic force of the spring member 307 forces the snap-fit ​​post 311 to press against the wall of the snap-fit ​​groove 310 along the axial direction of the rotating shaft 304.

[0045] In the above text, the mobile chassis 1 is the foundation of the entire cleaning robot A, enabling it to move to different working positions. To achieve autonomous movement of the cleaning robot, the mobile chassis 1 can be an AGV, AMR, or other autonomously movable robot chassis, allowing it to move autonomously to different locations.

[0046] Robotic arm 2 is a mechanical device that mimics the function of a human arm, capable of performing various complex movements and operations in three-dimensional space. Through a control system, commands are sent to the drive system, ultimately causing the end effector to reach a designated position and complete the predetermined operation. Robotic arm 2 employs a multi-joint structure to achieve multi-degree-of-freedom control; typically, a robotic arm can be designed with 6 degrees of freedom to achieve multi-position, multi-angle control of the cleaning mechanism.

[0047] The cleaning mechanism 3, acting as an end effector, directly contacts the surface to be cleaned. The support 301 serves as the mounting base for the cleaning mechanism 3, supporting the entire mechanism. The rotary drive 302, acting as the power source for the cleaning mechanism 3, rotates the entire cleaning assembly to wipe the surface. In this embodiment, the rotary drive 302 is a motor. The cleaning head 303 directly contacts the surface to be cleaned. The cleaning head 303 will be further described later. The rotating shaft 304 transmits power from the rotary drive 302 to the cleaning head 303. The cleaning head 303 and the rotating shaft 304 are detachably connected via a first snap-fit ​​member 305 and a second snap-fit ​​member 306. Specifically, in this embodiment, the first snap-fit ​​member 305 is a bushing, and the second snap-fit ​​member 306 is a sleeve connected to the rotating shaft 304 via a fixing pin. The snap-fit ​​hole 308 extends axially along the first snap-fit ​​member 305. A notch 309 is recessed into the free end face of the snap-fit ​​hole 308. The notch 309 has a first groove wall in the circumferential direction of the snap-fit ​​hole 308. A snap-fit ​​groove 310 is recessed into the first groove wall of the notch 309. The snap-fit ​​groove 310 has a second groove wall in the axial direction of the snap-fit ​​hole 308. The second groove wall of the snap-fit ​​groove 310 is used to abut against the snap-fit ​​post 311. In this embodiment, the notch 309 and the snap-fit ​​groove 310 form an L-shape after connection, with one part extending axially along the snap-fit ​​hole 308 and the other part extending circumferentially along the snap-fit ​​hole 308. The snap-fit ​​post 311 extends radially along the second snap-fit ​​member 306 and passes through the snap-fit ​​groove 310. For force balance, both the snap-fit ​​groove 310 and the snap-fit ​​post 311 should be configured as at least two evenly distributed around the central axis of the snap-fit ​​hole 308. In this embodiment, both the snap-fit ​​groove and the snap-fit ​​post 311 are provided in pairs. The spring member 307 is mainly used to provide elastic force. When the first snap-fit ​​member 305 and the second snap-fit ​​member 306 are assembled, due to the action of external force, the deformation of the spring member 307 increases, and the snap-fit ​​post 311 enters the snap-fit ​​groove 310. After the snap-fit ​​post 311 enters the snap-fit ​​groove 310, the external force is removed, and the deformation of the spring member 307 decreases, but it is still in a deformed state. At this time, the elastic force of the spring member 307 allows the snap-fit ​​post 311 to press against the groove wall of the snap-fit ​​groove 310. In this embodiment, the spring member 307 is a compression spring. When the first snap-fit ​​member 305 and the second snap-fit ​​member 306 are disassembled, one end of the spring member 307 is connected to the rotating shaft 304 and is partially located inside the sleeve. After the first snap-fit ​​member 305 and the second snap-fit ​​member 306 are snapped together, one end of the spring member 307 abuts against the end of the rotating shaft 304, and the other end abuts against the end of the cleaning head 303.

[0048] The assembly process of the first card connector 305 and the second card connector 306 is described below:

[0049] First, the cleaning head 303 is positioned by a positioning structure that ensures that the cleaning head 303 can axially disengage from the positioning structure, but cannot rotate relative to the positioning structure.

[0050] Then, the robotic arm 2 drives the second snap-fit ​​component 306 to enter the inner hole of the first snap-fit ​​component 305 along the axial direction. During this process, the snap-fit ​​post 311 enters the notch groove 309, and the spring component 307 deforms.

[0051] Subsequently, the rotary drive 302 drives the rotating shaft 304 to rotate in the forward direction. During this process, the second snap-fit ​​member 306 rotates relative to the first snap-fit ​​member 305, and at the same time, the snap-fit ​​post 311 enters the snap-fit ​​groove 310.

[0052] Next, the robotic arm 2 moves the cleaning head 303 upward. During this process, the deformation of the spring 307 decreases, and the elastic force of the spring 307 forces the locking post 311 to press against the side wall of the locking groove 310.

[0053] The following describes the disassembly process of the first card connector 305 and the second card connector 306:

[0054] First, the robotic arm 2 places the cleaning head 303 on a positioning structure. This positioning structure ensures that the cleaning head 303 can be axially assembled on the positioning structure, and that the cleaning head cannot rotate relative to the positioning structure after it is assembled on the positioning structure.

[0055] Then, the rotary drive 302 drives the rotating shaft 304 to rotate in the opposite direction. During this process, the second snap-fit ​​306 rotates relative to the first snap-fit ​​305. At the same time, the snap-fit ​​post 311 disengages from the snap-fit ​​groove 310 and returns to the notch groove 309.

[0056] Then, the robotic arm 2 drives the second locking piece 306 to detach from the first locking piece 305 along the axial direction, completing the disassembly of the rotating shaft 304 and the cleaning head 303.

[0057] In the above technical solution, by setting the first snap-fit ​​component 305, the second snap-fit ​​component 306 and the spring component 307, the robotic arm 2 and the rotary drive component 302 are used to realize the automated and rapid assembly and disassembly of the rotating shaft 304 and the cleaning head 302.

[0058] In this embodiment, a limiting groove 312 is also provided on the groove wall of the above-mentioned snap-fit ​​groove 310. The elastic force of the above-mentioned spring member 307 forces the above-mentioned snap-fit ​​post 311 to press against the bottom of the above-mentioned limiting groove 312 along the axial direction of the above-mentioned rotating shaft 304.

[0059] After the first locking member 305 and the second locking member 306 are engaged, although the locking post 311 abuts against the groove wall of the locking groove 310, the elasticity of the spring member 307 is limited. In some cases, such as when encountering resistance during wiping, the first locking member 305 and the second locking member 306 may rotate relative to each other in the direction of separation. Although the locking post 311 abuts against the groove wall of the locking groove 310 after the first locking member 305 and the second locking member 306 are engaged, the elasticity of the spring member 307 is limited. Therefore, the aforementioned limiting groove 312 is further provided. As mentioned above, the locking groove 310 has a second groove wall in the axial direction of the locking hole 308, and the limiting groove 312 is provided on the second groove wall of the locking groove 310. Specifically, the limiting groove 312 is provided on the second groove wall of the locking groove 310 near the free end of the locking hole 308. The limiting groove 312 and the snap-fit ​​post 311 are matched in size, and the snap-fit ​​post 311 is exactly in the limiting groove 312. The snap-fit ​​post 311 is in contact with the bottom and wall of the limiting groove 312. By setting the limiting groove 312, the snap-fit ​​post 311 is embedded in the limiting groove 312, and the wall of the limiting groove 312 prevents the snap-fit ​​post 311 from disengaging from the limiting groove 312, ensuring a reliable connection between the second snap-fit ​​member 306 and the first snap-fit ​​member 305.

[0060] In this embodiment, the free end of the second snap-fit ​​member 306 is also coaxially connected with a pin 313, and the cleaning head 303 is also provided with a socket 314 at the end near the first snap-fit ​​member 305, and the pin 313 is inserted into the socket 314.

[0061] During the connection process between the second latching member 306 and the first latching member 305, the pin 313 is first inserted into the socket 314, thereby ensuring that the second latching member 306 and the first latching member 305 are coaxial. In this embodiment, the spring member 307 is sleeved on the outside of the pin 313, and the free end of the pin 313 is a tapered head, which facilitates the pin 313 entering the socket 314.

[0062] In this embodiment, a photoelectric sensor 315 and a photoelectric contact 316 are also included. The photoelectric sensor 315 is mounted on the support 301, and the photoelectric contact 316 is mounted on the rotating shaft 304. The photoelectric sensor 315 is used to detect the photoelectric contact 316.

[0063] When the second connector 306 and the first connector 305 are quickly connected, they need to move relative to each other axially within a set position and angle. In this embodiment, when the second connector 306 and the first connector 305 are quickly connected, the rotating shaft 304 needs to be in the initial position. When the rotating shaft 304 is in the initial position, the photoelectric sensor 315 can detect the photoelectric contact 316. The photoelectric sensor 315 determines whether the rotating shaft 304 is in the initial position by whether it can detect the photoelectric contact 316, so that the second connector 306 and the first connector 305 can dock and the cleaning head 303 can dock with the positioning pin mentioned below.

[0064] In this embodiment, the rotary drive 302 drives the rotating shaft 304 to rotate via the synchronous pulley 317 and the synchronous belt 318.

[0065] The aforementioned rotary drive component 302 and shaft 304 are driven by belt drive, a common mechanical transmission method. On one hand, the center distance between the two synchronous pulleys 317 can be adjusted within a wide range, and the positional requirements for the rotary drive component 302 and shaft 304 are not very high. On the other hand, the synchronous belt 318 itself has a certain degree of elasticity. When the motor speed is uneven or the load changes abruptly, the belt can absorb these vibrations and impacts to a certain extent. When the transmitted load exceeds the limit of the friction between the synchronous belt 318 and the synchronous pulley 317, the synchronous belt 318 will slip on the synchronous pulley 317, effectively preventing damage to the cleaning components due to overload.

[0066] In this embodiment, the outer surface of the cleaning head 303 is used to contact the surface to be cleaned.

[0067] The outer surface of the cleaning head 303 is curved, with a large area, and can be adapted to various shapes of surfaces to be cleaned, making it suitable as the working surface of the cleaning head 303 and the surface to be cleaned.

[0068] In this embodiment, the cleaning head 303 is a sponge cleaning head, a brush cleaning head, or a non-woven fabric cleaning head.

[0069] The cleaning head comes with various heads, allowing you to choose the right head for different usage scenarios or cleaning steps. For example, for surfaces that need to be wiped dry or have their cleaning reach into crevices and holes, you can choose a sponge cleaning head or a non-woven fabric cleaning head. For surfaces that require strong cleaning, you can choose a brush cleaning head.

[0070] In this embodiment, a cleaning head platform 4 is also included. The cleaning head platform 4 is mounted on the movable chassis. The cleaning head platform 4 is provided with a positioning pin 401. The outer side of the positioning pin 401 is provided with a positioning protrusion 402. The other end of the cleaning head 303 is provided with a positioning hole 319. The side wall of the positioning hole 319 is provided with a positioning groove 320. The positioning pin 401 is inserted into the positioning hole 319. The positioning protrusion 402 and the positioning groove 320 are in concave-convex fit. The positioning pin 401 and the positioning hole 319 are in fit. The positioning protrusion 402 and the positioning groove 320 can slide along the axial direction of the positioning pin 401 and restrict each other's rotation.

[0071] Since the cleaning head 303 is a consumable item, it will gradually wear down, lose its original function, and become dirty after repeated use, absorbing dust and dirt during wiping. Furthermore, the cleaning head will gradually wear down and eventually lose its cleaning ability. Therefore, it needs to be replaced frequently. By setting up a cleaning head platform 4 on the mobile chassis 1, multiple cleaning heads 303 can be stored on the cleaning head platform 4, allowing the robot to replace the cleaning head conveniently, quickly, and easily.

[0072] Since the first connector 305 and the second connector 306 need to move and rotate relative to each other in a set position and angle relationship when making quick connection, by keeping the cleaning head 303 at a set angle, the robotic arm 2 can make the position and angle relationship between the rotating shaft 304 and the cleaning head 303 meet the requirements of quick connection by controlling the angle of the rotating shaft 304.

[0073] The robotic arm 2 moves its end effector to align the second snap-fit ​​component of the rotating shaft module with the first snap-fit ​​component of a cleaning head module on the cleaning platform. Automatic assembly is achieved by rotating the rotating shaft module. The robotic arm 2 moves its end effector to align the positioning hole 319 of the cleaning head 303 with the positioning pin 401 and the positioning groove 320 with the positioning protrusion 402. Automatic disassembly is achieved by rotating the rotating shaft module.

[0074] The following example illustrates the working process of a cleaning robot, using a cleaning robot A to clean the lidar 5 of a transport robot B. The surface of the lidar 5 is the surface to be cleaned. During cleaning, the robot first moves its chassis 1 to the vicinity of the transport robot B. Then, the robotic arm 2 adjusts the position and orientation of the cleaning mechanism 3, bringing the cleaning head 303 into contact with the lidar 5 on the transport robot B. Afterward, the rotary drive 302 rotates the cleaning head 303, causing it to wipe the surface to be cleaned. Example

[0075] The rest is the same as in Embodiment 1, except that the second snap-fit ​​connector is connected to the cleaning head. Example

[0076] The rest is the same as in Embodiment 1, except that the spring member is connected to the first snap-fit ​​member, the rotating shaft, or the cleaning head. Example

[0077] The rest is the same as in Embodiment 1, except that the above-mentioned pin is connected to the above-mentioned cleaning head, and the above-mentioned insertion hole is located at the free end of the second snap-fit ​​member.

[0078] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A cleaning robot, characterized in that, Includes a mobile chassis, robotic arms, and cleaning mechanisms; The robotic arm is mounted on the mobile chassis and is used to perform cleaning actions. The cleaning mechanism includes a support, a rotary drive, and a cleaning assembly. The support is fixed to the end of the robotic arm, and the rotary drive is mounted on the support. The cleaning assembly includes a cleaning head, a rotating shaft, a first snap-fit ​​component, a second snap-fit ​​component, and a spring component. The cleaning head is used to wipe the surface to be cleaned. One end of the rotating shaft is connected to the rotary drive component. Both the first and second snap-fit ​​components are shaft-shaped. One is coaxially fixed to one end of the cleaning head to form a cleaning head module, and the other is coaxially fixed to the other end of the rotating shaft to form a rotating shaft module. The first snap-fit ​​component has an axial snap-fit ​​hole, and the free end of the snap-fit ​​hole has a notch. The notch has a snap-fit ​​groove on its groove wall. The second snap-fit ​​component has a snap-fit ​​post on its outer side. The second snap-fit ​​component is coaxially connected to the snap-fit ​​hole, and the snap-fit ​​post is connected to the snap-fit ​​groove and mutually restricts its separation along the axial direction of the rotating shaft. One end of the spring component abuts against the cleaning head module, and the other end of the spring component abuts against the rotating shaft module. The elastic force of the spring component forces the snap-fit ​​post to press against the groove wall of the snap-fit ​​groove along the axial direction of the rotating shaft.

2. The cleaning robot according to claim 1, wherein, The snap-fit ​​groove is also provided with a limiting groove on its groove wall, and the elastic force of the spring member forces the snap-fit ​​post to press against the bottom of the limiting groove along the axial direction of the rotating shaft.

3. The cleaning robot according to claim 1, wherein, The first snap-fit ​​component is fixedly connected to the cleaning head, and the second snap-fit ​​component is fixedly connected to the rotating shaft.

4. The cleaning robot according to claim 1, wherein, One end of the spring is fixedly connected to the rotating shaft module.

5. The cleaning robot according to claim 1, wherein, In the cleaning head module and the rotating shaft module, one of them is coaxially connected with a pin, and the other has a socket in the center, into which the pin is inserted.

6. The cleaning robot according to claim 1, wherein, It also includes a photoelectric sensor and a photoelectric contact piece. The photoelectric sensor is mounted on the support, and the photoelectric contact piece is mounted on the rotating shaft module. The photoelectric sensor is used to detect the photoelectric contact piece.

7. The cleaning robot according to claim 1, wherein, The rotary drive component drives the shaft to rotate via a timing pulley and a timing belt.

8. The cleaning robot of claim 1, wherein, The outer surface of the cleaning head is used to contact the surface to be cleaned.

9. The cleaning robot of claim 1, wherein, The cleaning head can be a sponge cleaning head, a brush cleaning head, or a non-woven fabric cleaning head.

10. The cleaning robot of claim 1, wherein, It also includes a cleaning head platform, which is mounted on the mobile chassis. The cleaning head platform is provided with a positioning pin, and the outer side of the positioning pin is provided with a positioning protrusion. The other end of the cleaning head is provided with a positioning hole, and the side wall of the positioning hole is provided with a positioning groove. The positioning pin is inserted into the positioning hole, and the positioning protrusion and the positioning groove are in concave-convex fit. The positioning pin is in fit with the positioning hole, and the positioning protrusion and the positioning groove can slide along the axial direction of the positioning pin and restrict each other's rotation.

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