A cleaning robot

Abstract

The application provides a cleaning robot, and belongs to the technical field of cleaning equipment. The cleaning robot comprises a moving host and a cleaning piece. The moving host is provided with a connecting frame. The cleaning piece is connected with the connecting frame, and is used for cleaning the ground under the automatic control of the moving host. The connecting frame is movably connected with the moving host to drive the cleaning piece to move. A driving assembly is arranged on the moving host and is in transmission connection with the connecting frame. The driving assembly is configured to drive the connecting frame to move relative to the moving host. The driving assembly comprises a driving structure and a transmission structure. The driving structure is in transmission connection with the connecting frame through the transmission structure. A first limiting piece is fixedly arranged on the moving host and is configured to limit the movement of the connecting frame, so as to limit the extension, contraction direction or stroke of the cleaning piece. The cleaning robot provided by the application can clean the corners of walls, tables or edges of walls when the cleaning piece is in the extended state, so that the cleaning quality is improved.

Description

[0001] This application claims priority to Chinese Patent Application No. 202421817871.8, filed on July 29, 2024, entitled "A Cleaning Robot", the contents of which are incorporated herein by reference in part. Technical Field

[0002] This application relates to the field of cleaning equipment technology, and more particularly to a cleaning robot. Background Technology

[0003] Existing cleaning robots with roller structures can only retract the rollers inside the mobile unit to mop the floor. This makes it easy for the cleaning robot to not clean the walls or corners of cabinets thoroughly, affecting the user experience. Utility Model Content

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a cleaning robot.

[0005] This application provides a cleaning robot, comprising:

[0006] Mobile host, equipped with a connecting frame;

[0007] A cleaning component, connected to the connecting frame, is used to clean the floor under the automatic control of the mobile host.

[0008] The connecting frame is movably connected to the mobile host, thereby driving the cleaning component to move.

[0009] A drive assembly is disposed on the mobile host and is pulsatorically connected to the connecting frame. The drive assembly is configured to drive the connecting frame to move relative to the mobile host, so that the cleaning component can switch between a retracted state and an extended state.

[0010] The drive assembly includes a drive structure and a transmission structure;

[0011] The drive structure is connected to the connecting frame via the transmission structure. A first limiting member is fixed on the mobile host. The first limiting member is configured to limit the movement of the connecting frame, thereby limiting the extension, retraction direction or stroke of the cleaning component.

[0012] In some embodiments, the connecting frame is further connected to at least one of a scraper, a wastewater tank, and a water storage box, and the cleaning component is a roller structure;

[0013] The scraper is configured to scrape off liquid or stains adsorbed by the roller structure;

[0014] The wastewater tank is configured to collect wastewater scraped off the roller structure by the scraper.

[0015] The water storage box is configured to provide cleaning fluid or clean water to the roller structure.

[0016] In some embodiments, the drive structure includes a drive motor, a driving gear, a driven gear, and a conveyor belt;

[0017] The output shaft of the drive motor drives the drive gear to rotate. The drive gear is connected to the driven gear through the conveyor belt. The conveyor belt drives the transmission structure, thereby driving the connecting frame to move relative to the mobile host.

[0018] In some embodiments, one end of the transmission structure is connected to the conveyor belt, and the other end of the transmission structure is connected to the connecting frame.

[0019] In some embodiments, the other end of the transmission structure is connected to the connecting frame via a first elastic member, which is used to drive the connecting frame and the cleaning component to move outward relative to the mobile host when the transmission structure moves along a first direction under the drive of the conveyor belt, and to retract inward relative to the mobile host under the elastic action of the first elastic member when the connecting frame and / or the cleaning component encounters an obstacle.

[0020] In some embodiments, the connecting frame is provided with a first pushing part, and the transmission structure is provided with a second pushing part on the side facing the connecting frame;

[0021] When the transmission structure moves along a second direction opposite to the first direction under the drive of the conveyor belt, the second pushing part can push against the first pushing part to cause the connecting frame and the cleaning component to retract inward relative to the mobile host.

[0022] In some embodiments, a guide rod is fixedly provided on the mobile host, and the transmission structure includes a first rod body and a guide member disposed on the first rod body, wherein the guide member is slidably sleeved on the guide rod.

[0023] One end of the first rod is provided with a first connecting part, and the other end of the first rod is provided with a second connecting part. The first connecting part is connected to the connecting frame through the first elastic element, and the second connecting part is connected to the conveyor belt.

[0024] In some embodiments, one of the first limiting member and the connecting frame is provided with at least one first strip-shaped channel, and the other of the two is provided with at least one first protrusion. The first protrusion is disposed in the first strip-shaped channel and is movable relative to the first strip-shaped channel, such that the first limiting member is configured to limit the movement of the connecting frame, thereby limiting the extension, retraction direction or stroke of the cleaning member.

[0025] In some embodiments, the connecting frame has a second protrusion on the side facing the first limiting member, the first limiting member has a second strip-shaped channel, the second protrusion is disposed in the second strip-shaped channel, and the second protrusion is connected to the other end of the transmission structure through the first elastic member.

[0026] In some embodiments, the cleaning component is a roller structure, which includes a first motor, a movable component, and a roller.

[0027] The first motor is located inside the roller, and a dragging and wiping component is connected to the outer periphery of the roller;

[0028] The output end of the first motor passes through the end of the drum and is connected to the movable part, thereby driving the movable part to rotate.

[0029] The first motor is configured to drive the movable component to rotate, thereby switching the roller from a cleaning position to a lifted position.

[0030] In some embodiments, the cleaning component is a roller structure, and an elastic connection structure that cooperates with the mobile host is connected to the roller structure; one end of the elastic connection structure is pivotally connected to the roller structure, and the mobile host has an abutment surface that limits the range of motion of the other end of the elastic connection structure;

[0031] The elastic connection structure is configured such that when the roller structure is lifted, the other end of the elastic connection structure moves upward along the abutment surface and is stretched, so that the roller structure moves upward against the elastic force of the elastic connection structure; when the roller structure is falling, the other end of the elastic connection structure moves downward along the abutment surface and reduces the degree of stretching, so as to assist the roller structure in moving downward under the elastic force of the elastic connection structure.

[0032] The embodiments of this application have the following advantages: the connecting frame is moved relative to the mobile host by the drive component, so that the cleaning component can switch between a retracted state and an extended state. When the cleaning component is in the extended state, the cleaning robot can clean corners, table corners or wall edges. When the cleaning component is in the retracted state, the cleaning robot can clean flat ground, thereby improving the cleaning efficiency and quality of the ground.

[0033] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This application provides a schematic diagram of the structure of a first embodiment of a cleaning robot from one perspective.

[0036] Figure 2 This application provides a schematic diagram of the structure of a cleaning robot in a first embodiment, showing the combination of a drive assembly, a connecting frame, and a cleaning component from one perspective.

[0037] Figure 3 It shows Figure 2 Enlarged view of section A;

[0038] Figure 4 This application provides a schematic diagram showing another perspective of the combination of a drive component and a mobile host in a first embodiment of a cleaning robot.

[0039] Figure 5 This application provides a schematic diagram of the structure of a roller structure in a first embodiment of a cleaning robot, showing a perspective view.

[0040] Figure 6 It shows Figure 5 Sectional view of the middle BB section;

[0041] Figure 7 This application shows a schematic diagram of the drive structure of a cleaning robot in a first embodiment, provided by some embodiments of the present application, from another perspective.

[0042] Figure 8 The following are schematic diagrams showing structural features from other perspectives of a first embodiment of a cleaning robot provided by some embodiments of this application;

[0043] Figure 9 It shows Figure 8 A sectional view of the central CC section;

[0044] Figure 10This application provides a schematic diagram of the structure from another perspective of the combination of the drive assembly, connecting frame, and cleaning component in a first embodiment of a cleaning robot.

[0045] Figure 11 This application shows a schematic diagram of the structure of a second embodiment of a cleaning robot from one perspective.

[0046] Figure 12 This application provides a schematic diagram of the structure of a second embodiment of a cleaning robot, showing a cleaning component combined with a connecting frame from one perspective.

[0047] Figure 13 This application provides a second embodiment of a cleaning robot, showing a structural schematic diagram from another perspective of the combination of the cleaning component and the connecting frame.

[0048] Figure 14 This illustration shows a structural schematic diagram from another perspective of the combination of the cleaning component and the connecting frame in a second embodiment of a cleaning robot provided by some embodiments of this application.

[0049] Explanation of key component symbols:

[0050] 100 - Mobile host; 110 - Connecting frame; 111 - First pushing part; 112 - First protrusion; 113 - Second protrusion; 114 - Limiting channel; 120 - Abutting surface; 130 - First limiting member; 131 - First strip-shaped channel; 132-Second strip channel; 140-Guide rod; 150-Mounting housing; 151-First space; 160-Limiting cavity; 200-Cleaning component; 210-Roller structure; 211-First motor; 212-Moving component; 2121-Drive arm; 21211-Free end; 2122-Coil winding component; 213-Roller; 2131-First connecting cylinder; 2132-Second connecting cylinder; 2133-Third connecting cylinder; 214-Dragging component; 215-Roller cover; 2151-First limiting part; 2152-Second limiting part; 300-Drive assembly; 310-Drive structure; 311-Drive motor; 312-Drive gear; 3121- 3122 - Transmission gear; 313 - Driven gear; 314 - Conveyor belt; 320 - Transmission structure; 321 - Second pushing part; 322 - First rod body; 3221 - First connecting part; 3222 - Second connecting part; 323 - Guide member; 400 - Scraper; 500 - Worm gear mechanism; 600 - First elastic member; 700 - Second motor; 800 - Connecting line; 900 - Second connecting member; 1000 - First connecting member; 1100 - Swing arm; 1200 - Elastic connection structure; 1210 - Third connecting member; 1211 - Guide groove; 1212 - Arc surface; 1220 - Second elastic member; 2111 - Limiting groove. Detailed Implementation

[0051] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0052] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," 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. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] 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 one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0056] like Figures 1 to 10 As shown, the first embodiment of this application provides a cleaning robot, which is mainly used in cleaning equipment to improve the convenience and efficiency of cleaning.

[0057] The cleaning robot includes a mobile host 100 and a cleaning component 200.

[0058] The mobile host 100 can move on the ground according to a preset route, and can identify and avoid obstacles during the movement. The cleaning component 200 can be a side sweeping mechanism, a mop structure, or a roller structure.

[0059] The mobile host 100 is provided with a connecting frame 110. The connecting frame 110 and the mobile host 100 can be connected by any of the following connection methods: movable connection (e.g., sliding connection), snap-fit ​​connection, bolt connection, adhesive connection, magnetic connection, or integral molding. The cleaning component 200 is connected to the connecting frame 110. The cleaning component 200 is used to clean the floor under the automatic control of the mobile host 100. The cleaning component 200 and the connecting frame 110 can be connected by any of the following connection methods: pivot connection, snap-fit ​​connection, bolt connection, adhesive connection, magnetic connection, or integral molding.

[0060] In this embodiment, the connecting frame 110 is movably connected to the mobile host 100, thereby driving the cleaning component 200 to move. It should be noted that the direction of movement of the connecting frame 110 relative to the mobile host 100 can be horizontal, curved, diagonally up and down, or vertical.

[0061] For example, in one embodiment, the connecting frame 110 can move horizontally relative to the mobile host 100, thereby driving the cleaning component 200 to move synchronously in the horizontal direction through the connecting frame 110, and moving the cleaning component 200 to the outside of the mobile host 100 through the connecting frame 110. At this time, the cleaning component 200 can clean corners, table corners, bends or wall edges, thereby increasing the cleaning range of the cleaning robot and improving the cleaning quality and cleaning efficiency.

[0062] For example, in another embodiment, the connecting frame 110 can move vertically or in an arc-shaped up-and-down direction relative to the mobile host 100, thereby driving the cleaning component 200 to rise or fall synchronously in the vertical or arc-shaped up-and-down direction. It is understood that when the cleaning robot cleans the floor, the connecting frame 110 drives the cleaning component 200 to fall vertically or in an arc-shaped up-and-down direction, bringing the cleaning component 200 into contact with the surface to be cleaned. After cleaning, the connecting frame 110 drives the cleaning component 200 to rise synchronously in the vertical or arc-shaped up-and-down direction, keeping the cleaning component 200 separated from the floor to prevent it from contacting and contaminating the floor during the robot's movement. Furthermore, when the cleaning robot passes over a carpet, the connecting frame 110 can drive the cleaning component 200 to rise vertically, thus preventing the cleaning component 200 from contacting the carpet surface.

[0063] For example, in another embodiment, the connecting frame 110 is movable in both vertical and horizontal directions relative to the mobile host 100, so as to improve the cleaning efficiency of the cleaning robot while avoiding contamination of the floor and carpet.

[0064] like Figure 2 As shown, in this embodiment, the cleaning robot includes a drive assembly 300. The drive assembly 300 is disposed on the mobile host 100 and is connected to the connecting frame 110 for transmission, so that the drive assembly 300 drives the connecting frame 110 to move relative to the mobile host 100, thereby enabling the cleaning component 200 to switch between a retracted state and an extended state.

[0065] Understandably, the drive assembly 300 is configured to drive the connecting frame 110 to move relative to the mobile host 100 so that the cleaning component 200 can switch between a retracted state and an extended state.

[0066] It should be noted that, in this embodiment, the retracted state and the extended state refer to the cleaning component 200 retracting or extending in the horizontal direction relative to the mobile host 100. That is, when the cleaning component 200 is in the extended state, the cleaning robot can clean corners, table corners, or wall edges. When the cleaning component 200 is in the retracted state, the cleaning robot can clean flat surfaces.

[0067] In some embodiments of this application, at least one of a scraper 400, a sewage tank, and a water storage box is also connected to the connecting frame 110, and the cleaning component 200 is a roller structure 210.

[0068] It is understood that the connecting frame 110 may also connect to any one of the following: the scraper 400, the wastewater tank, and the water storage box. Alternatively, the connecting frame 110 may also connect to any two of the following: the scraper 400, the wastewater tank, and the water storage box. The specific configuration can be determined based on the actual situation.

[0069] By connecting the scraper 400, the wastewater tank, and the water storage box to the connecting frame 110, the scraper 400, the wastewater tank, and the water storage box can move synchronously during the movement of the connecting frame 110 relative to the mobile host 100. This ensures that the cleaning efficiency of the cleaning component 200 is consistent in both the retracted and extended states, thereby further improving the cleaning quality and efficiency of the cleaning robot.

[0070] It should be noted that the scraper 400 is configured to scrape off the liquid or stains adsorbed by the roller structure 210, preventing sewage from remaining on the roller structure 210, thereby ensuring the cleanliness of the surface of the roller structure 210 and improving the cleaning quality and efficiency of the roller structure 210 on the floor.

[0071] The wastewater tank is configured to recycle the wastewater scraped off the roller structure 210 by the scraper 400, preventing the liquid and stains adsorbed by the roller structure 210 from falling onto the ground and improving cleaning efficiency.

[0072] Additionally, the water reservoir is configured to provide cleaning fluid or water to the roller structure 210. It is understood that the water reservoir can store cleaning fluid or water and can inject the cleaning fluid or water onto the roller structure 210, thereby cleaning the floor through the roller structure 210.

[0073] like Figure 2 and Figure 4 As shown, in some embodiments of this application, the drive assembly 300 includes a drive structure 310 and a transmission structure 320.

[0074] The drive structure 310 is connected to the connecting frame 110 via the transmission structure 320. Specifically, the output end of the drive structure 310 is connected to one end of the transmission structure 320, and the other end of the transmission structure 320 is connected to the connecting frame 110. The drive structure 310 controls the rotation of the transmission structure 320, and the transmission structure 320 drives the roller structure 210 to switch between a retracted state and an extended state.

[0075] In addition, a first limiting member 130 is fixed on the mobile host 100. The first limiting member 130 is configured to limit the movement of the connecting frame 110, thereby limiting the extension and retraction direction or stroke of the cleaning component 200. It is understood that the first limiting member 130 can guide and limit the movement of the connecting frame 110 to ensure the smoothness and stability of the switching between the retracted and extended states. Simultaneously, the first limiting member 130 can also limit the stroke of the connecting frame 110 to ensure the consistency of the stroke during extension or retraction, thereby ensuring the consistency of the cleaning range of the cleaning robot and preventing the connecting frame 110 from falling off the mobile host 100.

[0076] like Figure 4 and Figure 7 As shown, in some embodiments of this application, the drive structure 310 includes a drive motor 311, a drive gear 312, a driven gear 313, and a conveyor belt 314. The two ends of the conveyor belt 314 are respectively fitted onto the drive gear 312 and the driven gear 313, for example, in a friction-fit connection. The side of the conveyor belt 314 corresponding to the connecting frame 110 can move forward and backward respectively when the drive gear 312 rotates in both directions, thereby driving the connecting frame 110 to move relative to the mobile host 100.

[0077] Specifically, the output shaft of the drive motor 311 drives the drive gear 312 to rotate. The drive gear 312 is connected to the driven gear 313 via the conveyor belt 314. That is, while the output shaft of the drive motor 311 rotates, it drives the drive gear 312 to rotate. The drive gear 312 drives the driven gear 313 to rotate synchronously with the drive gear 312 via the conveyor belt 314.

[0078] By connecting the transmission structure 320 to the conveyor belt 314, the conveyor belt 314 can drive the transmission structure 320 to move while moving, thereby driving the connecting frame 110 to move relative to the mobile host 100 through the transmission structure 320, thereby driving the cleaning component 200 to switch between the retracted state and the extended state through the connecting frame 110.

[0079] like Figure 7 As shown, in this embodiment, the driving gear 312 includes a first gear 3121 and a transmission gear 3122 that are coaxially connected. The first gear 3121 and the transmission gear 3122 are coaxially connected to form the driving gear 312.

[0080] In addition, the output shaft of the drive motor 311 meshes with the first gear 3121, so that the first gear 3121 is driven to rotate through the output shaft of the drive motor 311, and the first gear 3121 drives the transmission gear 3122 to rotate synchronously, so that the transmission gear 3122 can drive the driven gear 313 to rotate synchronously through the conveyor belt 314 during the rotation process.

[0081] like Figure 3 , Figure 4 and Figure 7 As shown, in some embodiments of this application, the cleaning component 200 is a roller structure 210, and the output shaft of the drive motor 311 meshes with the first gear 3121 through a worm gear mechanism 500, so that while the output shaft of the drive motor 311 is rotating, it drives the first gear 3121 to rotate through the worm gear mechanism 500.

[0082] The output shaft of the drive motor 311 extends horizontally, and the gear shafts of the drive gear 312 and the transmission gear 3122 both extend vertically. The extension direction of the line connecting the drive gear 312 and the transmission gear 3122 is parallel to or the same as the moving direction of the roller structure 210.

[0083] It is understood that the conveyor belt 314 located between the driving gear 312 and the driven gear 313 extends horizontally and is parallel to the extension direction of the line connecting the driving gear 312 and the driven gear 313. That is to say, the moving direction of the conveyor belt 314, the moving direction of the transmission structure 320, the moving direction of the connecting frame 110 and the moving direction of the roller structure 210 are parallel or the same, thereby ensuring the smoothness and stability of the roller structure 210 in switching between the contracted state and the extended state.

[0084] like Figure 3 and Figure 4 As shown in some embodiments of this application, a guide rod 140 is fixed on the mobile host 100. The number of guide rods 140 can be one, two, or more, and can be specifically set according to the actual situation.

[0085] In this embodiment, there are three guide rods 140, which are spaced apart and have parallel axes. The extension direction of the guide rods 140 is parallel or the same as the moving direction of the roller structure 210.

[0086] Specifically, the transmission structure 320 is slidably connected to at least one guide rod 140, so that the guide rod 140 provides guidance and limiting function for the transmission structure 320, thereby further improving the stability and smoothness of the transmission structure 320 during movement.

[0087] like Figure 3 , Figure 4 and Figure 12 As shown, in some embodiments of this application, a mounting housing 150 is connected to the mobile host 100. The mounting housing 150 defines a first space 151, and a guide rod 140 is disposed in the first space 151 and connected to the mounting housing 150 to ensure the stability of the guide rod 140 on the mobile host 100, so as to provide protection and fixation for the guide rod 140 through the mounting housing 150.

[0088] In addition, the transmission structure 320 is at least partially housed within the first space 151 to provide clearance for the transmission structure 320, thereby ensuring the smoothness of the transmission structure 320 during its movement along the extension direction of the guide rod 140.

[0089] like Figure 2 and Figure 4As shown, in this embodiment, one end of the transmission structure 320 is connected to the conveyor belt 314 so that the conveyor belt 314 can drive the transmission structure 320 to move synchronously along the axis of the guide rod 140 during movement. By connecting the other end of the transmission structure 320 to the connecting frame 110, the transmission structure 320 can drive the connecting frame 110 to move during movement, thereby driving the cleaning component 200 to move synchronously through the connecting frame 110, thus achieving the switching between the retracted state and the extended state.

[0090] like Figure 2 As shown, in this embodiment, the other end of the transmission structure 320 is connected to the connecting frame 110 via a first elastic member 600. When the transmission structure 320 moves along the first direction under the drive of the conveyor belt 314, the first elastic member 600 drives the connecting frame 110 and the cleaning component 200 to move outward relative to the mobile host 100 (i.e., the roller structure 210 switches from a retracted state to an extended state). The end of the first elastic member 600 connected to the conveyor belt 314 can be positioned closer to the extended position of the roller structure 210 than the end connected to the connecting frame 110, i.e., closer to the notch on the mobile host 100 for the roller structure 210 to extend. In this case, the first elastic member 600 is always or mostly in a stretched state. Of course, in other embodiments, the opposite connection method can be used, so that the first elastic member 600 is always or mostly in a compressed state.

[0091] When the roller structure 210 is in the extended state during cleaning, and the connecting frame 110 and / or the cleaning component 200 encounters an obstacle, they retract inward relative to the mobile host 100 under the elastic action of the first elastic element 600. That is, the connecting frame 110 and / or the cleaning component 200 elastically move from the extended state to the retracted state under the resistance of the obstacle, thereby allowing the connecting frame 110 and / or the cleaning component 200 to avoid the obstacle and prevent the cleaning component 200 from rigidly colliding with the obstacle. This achieves the protection of the cleaning component 200, avoids damage to the cleaning component 200, improves its service life, and enhances the convenience of floor cleaning.

[0092] like Figure 3 and Figure 4 As shown, in some embodiments of this application, the connecting frame 110 is provided with a first pushing part 111, and the transmission structure 320 is provided with a second pushing part 321 on the side facing the connecting frame 110.

[0093] When the transmission structure 320 moves along a second direction opposite to the first direction under the drive of the conveyor belt 314, the second pushing part 321 can push against the first pushing part 111 to cause the connecting frame 110 and the cleaning component 200 to retract inward relative to the mobile host 100.

[0094] In this embodiment, the first direction is parallel to the second direction, the first direction is opposite to the second direction, and both the first and second directions can be horizontal.

[0095] It is understandable that during the process of the cleaning component 200 switching from the extended state to the retracted state, the transmission structure 320 drives the second pushing part 321 to move synchronously during the movement. The second pushing part 321 pushes against the first pushing part 111 and pushes the connecting frame 110 and the cleaning component 200 to move inward, thereby causing the cleaning component 200 to switch from the extended state to the retracted state.

[0096] In some specific embodiments, the first elastic element 600 may be a rigid spring. When the roller structure 210 extends outward or retracts inward, the first elastic element 600 is in a slightly stretched state. When the connecting frame 110 and / or the cleaning component 200 encounter an obstacle, the connecting frame 110 retracts slightly inward to pull the first elastic element 600, so that the first elastic element 600 is further stretched. When the obstacle is bypassed, the connecting frame 110 drives the roller structure 210 to extend again under the restoring force of the first elastic element 600.

[0097] like Figure 2 and Figure 4 As shown, in some embodiments, a guide rod 140 is fixed on the mobile host 100.

[0098] The transmission structure 320 includes a first rod 322 and a guide member 323 disposed on the first rod 322. The guide member 323 is located on the side of the first rod 322 near the drive structure 310 and is fixedly connected to the first rod 322. By sliding the guide member 323 onto the guide rod 140, the guide member 323 can slide along the axial direction of the guide rod 140, thereby driving the first rod 322 to slide synchronously along the axial direction of the guide rod 140. It should be noted that the axial direction of the guide rod 140 is parallel to the first and second directions of movement of the transmission structure 320.

[0099] Among them, such as Figures 2 to 4As shown, one end of the first rod 322 is provided with a first connecting part 3221, and the other end of the first rod 322 is provided with a second connecting part 3222. The first connecting part 3221 is connected to the connecting frame 110 through a first elastic member 600, and the second connecting part 3222 is connected to the conveyor belt 314 so that the conveyor belt 314 can drive the first rod 322 to move along the first direction. Since the first elastic member 600 is a hard spring, the first connecting frame 110 can be moved outward by pulling the first elastic member 600 through the first rod 322, thereby driving the cleaning part 200 to extend out of the mobile host 100 through the connecting frame 110. When the conveyor belt 314 drives the first rod 322 to move along the second direction, the first rod 322 drives the second pushing part 321 on the first rod 322 to move synchronously during the movement. The second pushing part 321 pushes the first pushing part 111 of the connecting frame 110, thereby pushing the connecting frame 110 and the cleaning component 200 to move inward, so that the cleaning component 200 retracts from the mobile host 100.

[0100] like Figure 2 and Figure 4 As shown, in some embodiments of this application, one of the first limiting member 130 and the connecting frame 110 is provided with at least one first strip-shaped channel 131, and the other of the two is provided with at least one first protrusion 112.

[0101] Understandably, in one embodiment, the first limiting member 130 is provided with at least one first strip-shaped channel 131, and the connecting frame 110 is provided with at least one first protrusion 112. In another embodiment, the connecting frame 110 is provided with at least one first strip-shaped channel 131, and the first limiting member 130 is provided with at least one first protrusion 112. It should be noted that the number of first strip-shaped channels 131 is equal to the number of first protrusions 112, and one first protrusion 112 is provided in one first strip-shaped channel 131 and can move relative to the first strip-shaped channel 131, so that the first limiting member 130 is configured to limit the movement of the connecting frame 110, thereby limiting the extension, retraction direction or stroke of the cleaning member 200.

[0102] By placing the first protrusion 112 within the first strip-shaped channel 131 and allowing it to move along the channel, the wall of the channel provides a limiting and guiding function for the protrusion 112, ensuring its stability and smoothness during movement along the extension direction of the channel. In this embodiment, the extension direction of the first strip-shaped channel 131 is parallel to both the first and second directions.

[0103] In addition, by controlling the length of the first strip channel 131, the movement distance of the first protrusion 112 in the first strip channel 131 can be controlled, thereby controlling the length of the connecting frame 110 and / or the cleaning component 200 outside the mobile host 100 when the connecting frame 110 is in the extended state, thereby adjusting the cleaning range of the cleaning component 200 of the cleaning robot extending outward.

[0104] like Figure 2 and Figure 4 As shown, in some embodiments of this application, the connecting frame 110 is provided with a second protrusion 113 on the side facing the first limiting member 130, the first limiting member 130 is provided with a second strip-shaped channel 132, the second protrusion 113 is provided in the second strip-shaped channel 132, and the second protrusion 113 is connected to the other end of the transmission structure 320 through the first elastic member 600, so that the transmission structure 320 can drive the first elastic member 600 to extend or retract during the movement, thereby driving the connecting frame 110 and the cleaning member 200 to switch between the extended state and the retracted state under the action of the elastic force of the first elastic member 600.

[0105] It should be noted that the extension direction of the first strip channel 131 is parallel to the extension direction of the second strip channel 132.

[0106] In this embodiment, the connecting frame 110 is disposed on the side of the first limiting member 130 facing the roller structure 210, and the connecting frame 110 is slidably connected to the first limiting member 130.

[0107] Since the cleaning unit 200 is in constant contact with the floor during the cleaning process, it can easily contaminate the carpet if it is wet or stained.

[0108] like Figure 5 and Figure 6 As shown, in this embodiment, the cleaning component 200 is a roller structure 210, which includes a first motor 211, a movable component 212, and a roller 213.

[0109] In some embodiments, a first motor 211 is located inside a roller 213, and a mopping component 214 is connected to the outer periphery of the roller 213 to clean the floor.

[0110] Specifically, the output end of the first motor 211 passes through the end of the roller 213 and is connected to the movable part 212, thereby driving the movable part 212 to rotate. The axis of the output end of the first motor 211 is parallel to or coincides with the axis of the roller 213. The output end of the first motor 211 can be a structure connected to the motor output shaft.

[0111] In this embodiment, the first motor 211 is configured to drive the movable component 212 to rotate, thereby causing the roller 213 to switch from a cleaning position to a raised position during the rotation of the movable component 212. It is understood that when the roller 213 is in the cleaning position, the mopping component 214 is in contact with the ground for cleaning; when the roller 213 is in the raised position, there is a gap between the mopping component 214 and the ground, i.e., a gap exists between the roller structure 210 and the ground, forming a clearance space. This allows the mobile host 100 to avoid contact with the carpet during movement, preventing the mopping component 214 from contacting the carpet. In some embodiments, the first motor 211 may also be located outside the roller 213 and can drive the movable component 212 to rotate, thereby causing the roller 213 to switch from a cleaning position to a raised position during the rotation of the movable component 212.

[0112] When the roller 213 switches from the lifted position to the cleaning position, the roller 213 can be driven by the first motor 211 or by its own gravity.

[0113] like Figure 10 As shown, in this embodiment, the movable component 212 includes a drive arm 2121, and the roller structure 210 is pivotally connected to the connecting frame 110. The roller structure 210 can rotate relative to the connecting frame 110 in the vertical direction.

[0114] The end of the drive arm 2121 facing away from the output end of the first motor 211 is the free end 21211. Driven by the first motor 211, the drive arm 2121 rotates, causing the free end 21211 to abut against the connecting frame 110 during rotation. The connecting frame 110 provides support in the rotational direction of the free end 21211, allowing the drive arm 2121 to drive the roller 213 from the cleaning position to the raised position under the torque of the first motor 211's output end. When the first motor 211 stops running, the roller 213 remains in the raised position to prevent the mop 214 from contacting the ground or the carpet, thus preventing the mop 214 from contaminating the ground or carpet.

[0115] In some embodiments, there are two first motors 211 and two drive arms 2121. The output ends of the two first motors 211 are respectively passed through the two ends of the roller 213 and respectively connected to the two drive arms 2121 to drive the drive arms 2121 to rotate.

[0116] It is understood that both first motors 211 are housed inside the drum 213 to save space. The output shafts of the two first motors 211 are arranged in opposite directions, their axes coincide, and they move synchronously. This drives the two drive arms 2121 to rotate synchronously in the same direction, ensuring that both ends of the drum 213 can be raised synchronously, preventing the drum 213 from tilting during raising or lowering. In some other embodiments, both first motors 211 may be housed outside the drum 213.

[0117] By setting up two first motors 211 and two drive arms 2121, the stability and smoothness of the roller 213 during the switching process between the cleaning position and the lifting position are improved.

[0118] like Figure 6 , Figure 10 As shown, in this embodiment, the roller structure 210 also includes a roller cover 215. The mopping component 214 on the outer periphery of the roller 213 can rotate relative to the roller cover 215 to mop the ground. It is understood that there is a gap between the roller cover 215 and the mopping component 214 to avoid friction between the mopping component 214 and the roller cover 215 during the rotation process, so as to ensure the stability and smoothness of the mopping component 214 during the rotation process.

[0119] The roller cover 215 is pivotally connected to the connecting frame 110 so that the roller cover 215 can move relative to the connecting frame 110.

[0120] like Figure 6 As shown, in this embodiment, the roller 213 includes a first connecting cylinder 2131, a second connecting cylinder 2132, and a third connecting cylinder 2133. Both the first connecting cylinder 2131 and the second connecting cylinder 2132 are located inside the third connecting cylinder 2133. The first connecting cylinder 2131 may be located at its end, and the second connecting cylinder 2132 may be located in its middle. A wiping member 214 is connected to the outer periphery of the third connecting cylinder 2133. The axes of the first connecting cylinder 2131, the second connecting cylinder 2132, and the third connecting cylinder 2133 are parallel or coincident with each other.

[0121] The first motor 211 is fixed inside the first connecting cylinder 2131. The output end of the first motor 211 passes through the first connecting cylinder 2131 and the third connecting cylinder 2133, and is connected to the drive arm 2121, thereby driving the drive arm 2121 to rotate. The second connecting cylinder 2132 is fixedly connected to the first connecting cylinder 2131. A second motor 700 is fixed inside the second connecting cylinder 2132. The output end of the second motor 700 faces the side of the second connecting cylinder 2132 away from the first connecting cylinder 2131. The output end of the second motor 700 is connected to the third connecting cylinder 2133, so that the third connecting cylinder 2133 can rotate relative to the first connecting cylinder 2131 and the second connecting cylinder 2132. This, in turn, drives the mopping component 214 to rotate, thus cleaning the floor during rotation.

[0122] In this embodiment, by fixing the first connecting cylinder 2131 to the roller cover 215, the first connecting cylinder 2131 and the second connecting cylinder 2132 can be fixed relative to the roller cover 215 during the rotation of the third connecting cylinder 2133 relative to the first connecting cylinder 2131 and the second connecting cylinder 2132, so as to ensure the stability of the connection between the first connecting cylinder 2131, the second connecting cylinder 2132 and the third connecting cylinder 2133. Furthermore, since the roller cover 215 is pivotally connected to the connecting frame 110, and the first connecting cylinder 2131 is fixedly connected to the roller cover 215, when the drive arm 2121 rotates under the drive of the first motor 211, the free end 21211 abuts against the connecting frame 110 during the rotation process. The connecting frame 110 forms support in the rotation direction of the free end 21211, so that the first motor 211 fixed to the first connecting cylinder 2131 rises with the pivot shaft of the roller cover 215 pivotally connected to the connecting frame 110 as the rotation axis, thereby driving the roller 213 to switch from the cleaning position to the lifting position through the first connecting cylinder 2131.

[0123] like Figures 11 to 14 As shown in the second embodiment of the cleaning robot of this application, the movable part 212 includes a winding part 2122, which is disposed at one end of the roller 213 along the axial direction, and the connecting frame 110 is provided with a limiting channel 114 extending along the axial direction of the roller 213.

[0124] The connecting frame 110 is equipped with a connecting line 800. One end of the connecting line 800 passes through the limiting channel 114, extends downward and is wound around the winding member 2122. The other end of the connecting line 800 passes through the limiting channel 114, extends downward and is used to pull the other end of the roller 213. The connecting line 800 is always in a taut state (unless the cleaning robot flips over, the connecting line 800 may loosen).

[0125] It should be noted that the rotation of the first motor 211 drives the winding component 2122 to rotate, thereby causing the winding component 2122 to wind the connecting wire 800, so as to drive the roller 213 to switch from the cleaning position to the lifting position.

[0126] Specifically, when the roller 213 switches from the cleaning position to the lifting position, the end of the connecting line 800 near the winding member 2122 gradually winds around the winding member 2122, causing the lengths of the connecting lines 800 at both ends of the roller 213 along the axial direction to gradually decrease synchronously. As the length of the connecting line 800 decreases, the roller 213 is pulled from the cleaning position to the lifting position, thus achieving the switch from the cleaning position to the lifting position. Since the two ends of the connecting line 800 are respectively connected to the two ends of the roller 213, the lengths of the connecting lines 800 at both ends of the roller 213 can decrease synchronously as their lengths decrease. This allows the connecting lines 800 to pull the two ends of the roller 213 to lift synchronously, ensuring the stability of the roller 213 during the lifting process and effectively preventing tilting or deviation.

[0127] In addition, when the roller 213 moves from the lifting position to the cleaning position under its own weight or the action of the first motor 211, the connecting wire 800 wound in the winding component 2122 gradually comes out of the winding component 2122, so that the length of the connecting wire 800 at both ends of the roller 213 axis gradually increases synchronously, ensuring that the roller 213 moves down smoothly.

[0128] like Figure 12 and Figure 13 As shown, in some embodiments of this application, a second connector 900 corresponding to the other end position of the roller 213 is pivotally connected between the roller structure 210 and the connecting frame 110, so that the roller structure 210 can move relative to the connecting frame 110.

[0129] The other end of the connecting line 800 extends downward through the limiting channel 114 and is fixed to the second connecting member 900, so that the connecting line 800 can drive the second connecting member 900 to rotate relative to the connecting frame 110 during the process of extension or contraction, thereby driving the roller structure 210 to rotate and lift relative to the connecting frame 110 through the second connecting member 900.

[0130] It is understandable that by providing a second connector 900 at the end of the roller structure 210 away from the winding member 2122, and by pivoting the roller structure 210 to the connecting frame 110 through the second connector 900, the smoothness and stability of the roller 213 in the process of switching between the cleaning position and the lifting position can be further improved.

[0131] like Figures 12 to 14As shown, in some embodiments of this application, the roller structure 210 further includes a roller cover 215, and a first connector 1000 is provided at one end of the roller 213 near the winding member 2122. The end of the first connector 1000 away from the first motor 211 is rotatably connected to the connecting frame 110 so that the roller 213 can rotate relative to the connecting frame 110.

[0132] One end of the second connector 900 is pivotally connected to the roller cover 215, and the other end of the second connector 900 is pivotally connected to the connecting frame 110, so that when the first motor 211 drives the roller 213 from the cleaning position to the lifting position via the winding member 2122, it can drive the roller cover 215 to rise synchronously. Additionally, when the first motor 211 drives the roller 213 from the lifting position to the cleaning position via the winding member 2122, it can drive the roller cover 215 to descend synchronously.

[0133] It should be noted that there is a gap between the first connecting piece 1000 and the roller cover 215 to avoid friction between the roller cover 215 and the first connecting piece 1000 during the rotation of the roller 213, thereby ensuring the smoothness of the roller 213 during rotation.

[0134] In the second embodiment, the roller 213 includes a first connecting cylinder 2131, a second connecting cylinder 2132, and a third connecting cylinder 2133. The first connecting cylinder 2131 and the second connecting cylinder 2132 are both disposed inside the third connecting cylinder 2133. A dragging and wiping component 214 is connected to the outer periphery of the third connecting cylinder 2133. A first motor 211 is fixedly disposed inside the first connecting cylinder 2131. A second motor 700 is fixedly disposed inside the second connecting cylinder 2132. However, the first connecting cylinder 2131 is not fixedly connected to the roller cover 215. The roller cover 215 can be flipped relative to the roller 213.

[0135] Since the cleaning robot passes over a thick carpet from a flat surface, the end of the roller 213 facing the ground may come into contact with the carpet surface when the roller 213 switches from the cleaning position to the lifted position, causing the carpet to become soiled. Therefore, when the roller 213 is in the lifted position, the end of the roller 213 facing the ground needs to be separated from the carpet to prevent soiling the carpet.

[0136] Therefore, in some embodiments, such as Figures 12-14 As shown, the roller structure 210 also includes a roller cover 215. When the roller 213 is switched from the cleaning position to the lifting position, at least a portion of the roller cover 215 is flipped downwards around the axis of rotation of the roller 213 so that the end of the roller 213 facing the ground is covered by the roller cover 215. This covers the mopping component 214, allowing the cleaning robot to move on the carpet without contacting the mopping component 214 with the carpet and preventing carpet contamination.

[0137] When the roller 213 switches from the lifted position to the cleaning position, at least a portion of the roller cover 215 flips upward about the rotation axis of the roller 213 so that the end of the roller 213 facing the ground is exposed outside the roller cover 215, so that the mopping member 214 can come into contact with the surface to be cleaned, thereby cleaning the ground by the mopping member 214.

[0138] The roller cover 215 may be a single roller cover that rotates relative to the roller 213 about the axis of rotation of the roller 213, or there may be at least two roller covers, one of which is always located above or diagonally above the roller 213 and cannot rotate relative to the roller 213, and the other roller cover can rotate relative to the roller 213 about the axis of rotation of the roller 213.

[0139] like Figure 11 As shown, in some embodiments of this application, the output end of the first motor 211 passes through the end of the roller 213 and is connected to a swing arm 1100. The roller cover 215 near the end of the swing arm 1100 is provided with a first limiting part 2151 and a second limiting part 2152 distributed circumferentially. There is a gap between the first limiting part 2151 and the second limiting part 2152. One end of the swing arm 1100 away from the output end of the first motor 211 is disposed at the first limiting part 2151 and the second limiting part 2152. Between the two limiting portions 2152, the side of the first limiting portion 2151 facing the second limiting portion 2152 is spaced apart from, in contact with, or abuts against one side of the swing arm 1100, and the side of the second limiting portion 2152 facing the first limiting portion 2151 is spaced apart from, in contact with, or abuts against the other side of the swing arm 1100. The first limiting portion 2151 and the second limiting portion 2152 form a limiting groove 2111, and the end of the swing arm 1100 facing away from the output end of the first motor 211 is disposed in the limiting groove 2111. The swing arm 1100 and the winding component 2122 can be integrally formed and jointly connected to the output end of the first motor 211, or the swing arm 1100 and the winding component 2122 can be separate parts, each connected to the output end of the first motor 211.

[0140] In this embodiment, the first motor 211, in addition to controlling the winding component 2122, is also configured to drive the swing arm 1100 to rotate. When the swing arm 1100 rotates and abuts against the first limiting part 2151, the swing arm 1100 causes at least a portion of the roller cover 215 to rotate downward around the axis of rotation of the roller 213, so that the end of the roller 213 facing the ground is covered by the roller cover 215 to prevent the mopping component 214 on the roller 213 from contaminating the ground or coming into contact with the carpet.

[0141] When the swing arm 1100 rotates and abuts against the second limiting part 2152, the swing arm 1100 drives at least a portion of the roller cover 215 to rotate upward around the rotation axis of the roller 213, so that the end of the roller 213 facing the ground is exposed outside the roller cover 215, so that the side of the mopping member 214 facing the ground is exposed, thereby the mopping member 214 can clean the ground.

[0142] like Figure 2 , Figure 9 As shown, in the first embodiment, the cleaning component 200 is a roller structure 210, and the roller structure 210 is connected to an elastic connection structure 1200 that cooperates with the mobile host 100.

[0143] It is understood that the number of flexible connection structures 1200 can be one, two or more, depending on the actual situation, and the position can be set directly above or diagonally above the roller structure 210.

[0144] Specifically, one end of the elastic connection structure 1200 is pivotally connected to the roller structure 210, allowing the elastic connection structure 1200 to rotate relative to the roller structure 210. Additionally, the mobile host 100 has an abutment surface 120 that limits the range of motion of the other end of the elastic connection structure 1200, thereby limiting the stroke of the elastic connection structure 1200 and ensuring the stability of its stroke.

[0145] It should be noted that the elastic connection structure 1200 is configured such that when the roller structure 210 is lifted, the other end of the elastic connection structure 1200 moves upward along the abutment surface 120, and the elastic element of the elastic connection structure 1200 approaches and is stretched in the horizontal direction, so that the roller structure 210 overcomes the elastic force of the elastic connection structure 1200 and moves upward.

[0146] As the roller structure 210 falls, the other end of the elastic connection structure 1200 moves downward along the contact surface 120. The extension direction of the elastic element of the elastic connection structure 1200 returns to approach the vertical direction and the elastic element reduces its stretching degree, so as to help the roller structure 210 move downward under the elastic force of the elastic connection structure 1200.

[0147] During the descent of the roller structure 210, the elastic connection structure 1200 applies a downward force to the roller structure 210 by reducing the degree of stretching of its elastic element, thereby facilitating the descent of the roller structure 210 under its own weight or the action of the first motor 211.

[0148] like Figure 2 , Figure 9 and Figure 10As shown, in some embodiments of this application, the elastic connection structure 1200 includes a third connector 1210 and a second elastic member 1220. The third connector 1210 defines a guide groove 1211, and the second elastic member 1220 is at least partially housed in the guide groove 1211 to provide guidance and limiting for the second elastic member 1220, so that the second elastic member 1220 can extend or contract along the extension direction of the guide groove 1211, thereby ensuring the stability of the second elastic member 1220 during the extension or contraction process.

[0149] One end of the third connector 1210 is pivotally connected to the upper end of the roller structure 210, meaning that the third connector 1210 can rotate relative to the roller structure 210. The other end of the third connector 1210 is used to abut against the abutment surface 120, so that the abutment surface 120 provides resistance and limiting effect to the third connector 1210.

[0150] In some specific embodiments, the roller structure 210 includes a roller cover 215, one end of the third connector 1210 is pivotally connected to the upper end of the roller cover 215, and the first connecting cylinder 2131 of the roller 213 is fixedly connected to the roller cover 215, thereby enabling the third connector 1210 to rotate relative to the roller structure 210.

[0151] In addition, such as Figure 10 As shown, one end of the second elastic element 1220 is connected to the roller structure 210, and the other end of the second elastic element 1220 is connected to the end of the third connecting element 1210 away from the roller structure 210. It should be noted that the second elastic element 1220 is in a stretched state when the roller structure 210 is in the lifting position and the cleaning position.

[0152] It should be noted that the acute angle formed between the second elastic element 1220 and the horizontal direction is less than 60 degrees.

[0153] Specifically, when the roller structure 210 is in the raised position, the acute angle formed by the second elastic element 1220 and the horizontal direction is the smallest, and the second elastic element 1220 is in the maximum stretched state. However, at this time, the length of the second elastic element 1220 is the longest, that is, the elastic potential energy stored in the second elastic element 1220 is the largest. When the first motor 211 drives the roller structure 210 or the roller structure 210 switches from the raised position to the cleaning position under its own gravity, the acute angle formed by the second elastic element 1220 and the horizontal direction is the largest. The second elastic element 1220 gives the roller structure 210 a force through its elastic potential energy to help the roller structure 210 move downward under the elastic force of the second elastic element 1220.

[0154] When the roller structure 210 is in the cleaning position, the acute angle formed by the second elastic element 1220 and the horizontal direction is less than 60 degrees, so that when the roller structure 210 is lifted, the elastic force on the roller structure 210 in the vertical direction is within a preset range. This reduces the torque difference of the first motor 211 in driving the roller structure 210 to lift, so that the operating power of the first motor 211 is within a preset range when the roller structure 210 switches from the cleaning position to the lifting position, thereby reducing the energy consumption of the first motor 211 and thus reducing its operating cost. The size of the first motor 211 is reduced, saving motor installation space.

[0155] In other words, during the process of switching the roller structure 210 from the cleaning position to the lifting position, the pulling force of the second elastic element 1220 on the roller structure 210 in the vertical direction is kept within a preset range, so that the power of the first motor 211 can be kept in a relatively stable state during operation.

[0156] like Figure 9 As shown, in this embodiment, the mobile host 100 has a limiting cavity 160 near the roller structure 210 to provide installation space for the roller structure 210, thereby ensuring the stability and aesthetics of the connection between the roller structure 210 and the mobile host 100.

[0157] It should be noted that the abutting surface 120 is the cavity wall surface of the limiting cavity 160, and the abutting surface 120 is inclined relative to the horizontal direction.

[0158] Among them, such as Figure 9 , Figure 10 As shown, the third connector 1210 has an arc-shaped surface 1212 at one end near the abutment surface 120. When the elastic connection structure 1200 moves upward or downward, the arc-shaped surface 1212 abuts against the abutment surface 120 at different positions, so as to provide a limiting effect on the third connector 1210 through the abutment surface 120.

[0159] In this embodiment, there are at least two elastic connection structures 1200, and the two elastic connection structures 1200 are respectively disposed at both ends of the roller structure 210 in the axial direction to improve the stability of the roller structure 210 during the lifting or lowering process.

[0160] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0161] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0162] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A cleaning robot, characterized in that, include: Mobile host, equipped with a connecting frame; A cleaning component, connected to the connecting frame, is used to clean the floor under the automatic control of the mobile host. The connecting frame is movably connected to the mobile host, thereby driving the cleaning component to move. A drive assembly is disposed on the mobile host and is pulsatorically connected to the connecting frame. The drive assembly is configured to drive the connecting frame to move relative to the mobile host, so that the cleaning component can switch between a retracted state and an extended state. The drive assembly includes a drive structure and a transmission structure; The drive structure is connected to the connecting frame via the transmission structure. A first limiting member is fixed on the mobile host. The first limiting member is configured to limit the movement of the connecting frame, thereby limiting the extension, retraction direction or stroke of the cleaning component.

2. The cleaning robot according to claim 1, characterized in that, The connecting frame is also connected to at least one of three components: a scraper, a sewage tank, and a water storage box; the cleaning component is a roller structure. The scraper is configured to scrape off liquid or stains adsorbed by the roller structure; The wastewater tank is configured to collect wastewater scraped off the roller structure by the scraper. The water storage box is configured to provide cleaning fluid or clean water to the roller structure.

3. The cleaning robot according to claim 1, characterized in that, The drive structure includes a drive motor, a driving gear, a driven gear, and a conveyor belt; The output shaft of the drive motor drives the drive gear to rotate. The drive gear is connected to the driven gear through the conveyor belt. The conveyor belt drives the transmission structure, thereby driving the connecting frame to move relative to the mobile host.

4. The cleaning robot according to claim 3, characterized in that, One end of the transmission structure is connected to the conveyor belt, and the other end of the transmission structure is connected to the connecting frame.

5. The cleaning robot according to claim 4, characterized in that, The other end of the transmission structure is connected to the connecting frame via a first elastic element. When the transmission structure moves along the first direction under the drive of the conveyor belt, the first elastic element drives the connecting frame and the cleaning component to move outward relative to the mobile host. When the connecting frame and / or the cleaning component encounters an obstacle, it retracts inward relative to the mobile host under the elastic action of the first elastic element.

6. The cleaning robot according to claim 5, characterized in that, The connecting frame is provided with a first pushing part, and the transmission structure is provided with a second pushing part on the side facing the connecting frame; When the transmission structure moves along a second direction opposite to the first direction under the drive of the conveyor belt, the second pushing part can push against the first pushing part to cause the connecting frame and the cleaning component to retract inward relative to the mobile host.

7. The cleaning robot according to claim 5, characterized in that, The mobile host is fixedly provided with a guide rod, and the transmission structure includes a first rod body and a guide member disposed on the first rod body, the guide member being slidably sleeved on the guide rod; One end of the first rod is provided with a first connecting part, and the other end of the first rod is provided with a second connecting part. The first connecting part is connected to the connecting frame through the first elastic element, and the second connecting part is connected to the conveyor belt.

8. The cleaning robot according to claim 1, characterized in that, One of the first limiting member and the connecting frame is provided with at least one first strip-shaped channel, and the other of the two is provided with at least one first protrusion. The first protrusion is provided in the first strip-shaped channel and can move relative to the first strip-shaped channel, so that the first limiting member is configured to limit the movement of the connecting frame, thereby limiting the extension, retraction direction or stroke of the cleaning member.

9. The cleaning robot according to claim 5, characterized in that, The connecting frame has a second protrusion on the side facing the first limiting member. The first limiting member has a second strip-shaped channel. The second protrusion is located in the second strip-shaped channel. The second protrusion is connected to the other end of the transmission structure through the first elastic member.

10. The cleaning robot according to any one of claims 1 to 9, characterized in that, The cleaning component is a roller structure, which includes a first motor, a movable component, and a roller. The first motor is located inside the roller, and a dragging and wiping component is connected to the outer periphery of the roller; The output end of the first motor passes through the end of the drum and is connected to the movable part, thereby driving the movable part to rotate. The first motor is configured to drive the movable component to rotate, thereby switching the roller from a cleaning position to a lifted position.

11. The cleaning robot according to any one of claims 1 to 9, characterized in that, The cleaning component is a roller structure, and an elastic connection structure that cooperates with the mobile host is connected to the roller structure; one end of the elastic connection structure is pivotally connected to the roller structure, and the mobile host has an abutment surface that limits the range of motion of the other end of the elastic connection structure. The elastic connection structure is configured such that when the roller structure is lifted, the other end of the elastic connection structure moves upward along the abutment surface and is stretched, so that the roller structure moves upward against the elastic force of the elastic connection structure; when the roller structure is falling, the other end of the elastic connection structure moves downward along the abutment surface and reduces the degree of stretching, so as to assist the roller structure in moving downward under the elastic force of the elastic connection structure.

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