A drive mechanism, a cleaning robot, and a cleaning system

Abstract

This utility model discloses a drive mechanism, a cleaning robot, and a cleaning system. When the rotating component rotates and moves the disassembly part to its limit position, the driving end and the mating end are mutually limited as the rotating component continues to move, to prevent overload damage to the drive mechanism. The main technical solution of this utility model is as follows: a drive mechanism; a rotating component for connecting a load; at least one of the fixed component and the rotating component includes an acting end; an overload sleeve includes a mating end; the acting end and the mating end are circumferentially limited in a first relative position and circumferentially allow for clearance in a second relative position; a first power component drives the rotating component to rotate relative to the fixed component, driving the disassembly part to move between a storage position and an acting position. When the disassembly part moves to the storage position or the acting position, the rotating component continues to move in the same direction, driving the acting end and the mating end to move from the first relative position to the second relative position. This utility model is mainly used for disassembling loads.

Description

Technical Field

[0001] This utility model relates to the field of smart home technology, and in particular to a drive mechanism, a cleaning robot and a cleaning system. Background Technology

[0002] As living standards improve, cleaning robots are becoming an increasingly popular choice. Cleaning robots typically have sweeping and mopping functions, with the mop being the main component for mopping. The mop connects to the connector and contacts the floor, working in conjunction with the robot's movement to effectively clean the floor.

[0003] To enable cleaning robots to move without carrying a mop and to automatically wash or replace the mop, solutions exist for automatic mop detachment. Existing technologies include using a drive connector to lift the mop, causing it to interact with the robot's chassis and force it to detach from the connector. This method generates pressure and friction on the chassis, leading to wear and deformation. Another solution uses a drive mechanism to raise and lower the detachment component, pushing the mop away from the connector. However, if the drive mechanism cannot move further when it reaches its limit, continued operation will overload the mechanism, potentially damaging the structure and power components. Utility Model Content

[0004] In view of this, in order to solve at least one of the above-mentioned technical problems, the present invention provides a drive mechanism, a cleaning robot, and a cleaning system.

[0005] On the one hand, this utility model provides a driving mechanism, the driving mechanism comprising:

[0006] Rotating component (100), the rotating component (100) is used to connect load (900);

[0007] The disassembly component (210) has a storage location and an operational location.

[0008] Fastener (800);

[0009] At least one overload sleeve, a fastener (800) and a rotating assembly (100), at least one of which includes an actuating end, the overload sleeve including a mating end, the relative positions of the actuating end and the mating end including a first relative position and a second relative position, the actuating end and the mating end being circumferentially limited in the first relative position and circumferentially yielding in the second relative position, and a disassembly member (210) being at least movably connected to the overload sleeve.

[0010] The first power assembly is connected to the rotating assembly (100). The first power assembly is used to drive the rotating assembly (100) to rotate relative to the fixed member (800) so as to drive the disassembly member (210) to move between the storage position and the operating position. When the disassembly member (210) moves to the storage position or the operating position, under the drive of the rotating assembly (100) to continue moving in the same direction, at least a part of the overload sleeve moves so that the operating end and the mating end move from the first relative position to the second relative position.

[0011] Among them, at least one overload sleeve includes a first overload sleeve (220), the fastener (800) includes an action end, and the first overload sleeve (220) includes a mating end;

[0012] One of the rotating assembly (100) and the first overload sleeve (220) is positioned in the circumferential direction with the disassembly member (210). The other of the rotating assembly (100) and the first overload sleeve (220) is provided with a first actuating member (221), and the disassembly member (210) is provided with a second actuating member (211). A first power assembly is used to drive the rotating assembly (100) to rotate, and the first actuating member (221) and the second actuating member (211) interact with each other to drive the disassembly member (210) to move between the storage position and the operating position.

[0013] Among them, at least one overload sleeve includes a second overload sleeve (230), the rotating assembly (100) includes an action end, and the second overload sleeve (230) includes a mating end;

[0014] One of the fixing member (800) and the second overload sleeve (230) is positioned in the circumferential direction with the disassembly member (210). The other of the fixing member (800) and the second overload sleeve (230) is provided with a first action member (221), and the disassembly member (210) is provided with a second action member (211). A first power assembly is used to drive the rotating assembly (100) to rotate. The first action member (221) and the second action member (211) interact with each other, thereby driving the disassembly member (210) to move between the storage position and the action position.

[0015] Among them, at least one overload sleeve includes a first overload sleeve (220) and a second overload sleeve (230), the rotating assembly (100) and the fixing member (800) are respectively provided with a first working end and a second working end, the first overload sleeve (220) and the second overload sleeve (230) are respectively provided with a first mating end and a second mating end, the first working end and the first mating end act together, and the second working end and the second mating end act together;

[0016] One of the first overload sleeve (220) and the second overload sleeve (230) is positioned at the upper limit in the circumferential direction with the disassembly member (210). The other of the first overload sleeve (220) and the second overload sleeve (230) is provided with a first action member (221), and the disassembly member (210) is provided with a second action member (211). The first power assembly is used to drive the rotating assembly (100) to rotate, and the first action member (221) and the second action member (211) are used to interact with each other, thereby driving the disassembly member (210) to move between the storage position and the action position.

[0017] The first overload sleeve (220) and the second overload sleeve (230) are movably connected.

[0018] The first overload sleeve (220) and the second overload sleeve (230) each include a connection port (231), at least a portion of the disassembly member (210) includes a first limiting surface (212), the connection port (231) includes a second limiting surface, the disassembly member (210) passes through the connection port (231), and the first limiting surface (212) and the second limiting surface interact to limit circumferentially.

[0019] Among them, at least one of the first action member (221) and the second action member (211) includes a first action ramp. When the rotating assembly (100) rotates, the first action member (221) and the second action member (211) are used to cooperate with each other through the first action ramp to make the disassembly member (210) rise or fall.

[0020] The first action (221) and the second action (211) both include a first action inclined surface, or one of the first action (221) and the second action includes a first action inclined surface, and the other of the first action (221) and the second action (211) rolls or slides relative to the first action inclined surface.

[0021] Among them, at least one of the first action (221) and the second action (211) is threaded.

[0022] The active end and the mating end are provided with a first overload surface (222). The first overload surface (222) extends in both the axial and circumferential directions of the overload sleeve. When the overload sleeve rotates, the active end and the mating end are pushed away from each other in the axial direction by the first overload surface (222), so that the active end and the mating end move from the first relative position to the second relative position.

[0023] The active end and the mating end are provided with a second overload surface (226). The first overload surface (222) and the second overload surface (226) are oriented differently. When the overload sleeve rotates in the forward direction, the active end and the mating end are pushed from the first relative position to the second relative position by the first overload surface (222). When the overload sleeve rotates in the reverse direction, the active end and the mating end are pushed from the first relative position to the second relative position by the second overload surface (226).

[0024] The first overload surface (222) and / or the second overload surface (226) are planar or arc-shaped surfaces.

[0025] The drive mechanism also includes: an elastic element (400);

[0026] The overload sleeve is connected to the elastic element (400). When the action end and the mating end move from the first relative position to the second relative position, the elastic element (400) stores energy. When the action end and the mating end move from the second relative position to the first relative position, the elastic element (400) releases energy.

[0027] Alternatively, at least a portion of the active end is provided in the fastener (800) and the rotating assembly (100), and at least a portion of the overload sleeve is deformed to move the active end and the mating end from a first relative position to a second relative position.

[0028] The rotating assembly (100) includes a connecting portion (110), the connecting portion (110) includes a connecting region (111), the connecting portion (110) is used to connect a load (900), and the connecting region (111) is used to accommodate at least a portion of the structure of the load (900);

[0029] When the disassembly part (210) is in the storage position, the disassembly part (210) is located outside the connection area (111); when the disassembly part (210) is in the working position, at least part of the disassembly part (210) is located inside the connection area (111).

[0030] When the disassembly part (210) moves from the storage position to the operating position, it pushes the load (900) away from the connection area (111).

[0031] The drive mechanism also includes:

[0032] Second drive component;

[0033] The position of the rotating component (100) includes an upward position and a downward position, and the second drive component is used to drive the rotating component (100) to switch between the upward position and the downward position.

[0034] The drive mechanism also includes:

[0035] The main body (500) includes a second drive assembly comprising a second power unit and a third sleeve (600), and the main body (500) includes a fourth sleeve (520).

[0036] The third sleeve (600) is axially upper limited and circumferentially connected to the rotating assembly (100). The third sleeve (600) is movably connected to the fourth sleeve (520). The second power unit is driven to the third sleeve (600). The second power unit is used to drive the third sleeve (600) to rotate. The third sleeve (600) and the fourth sleeve (520) interact with each other, thereby driving the rotating assembly (100) to switch between the rising position and the falling position.

[0037] The drive mechanism also includes:

[0038] The bearing (700) is connected between the bearing (700), the third sleeve (600) and the rotating assembly (100), and the third sleeve (600) and the rotating assembly (100) are both axially positioned relative to the bearing (700).

[0039] The fourth sleeve (520) and the third sleeve (600) are respectively provided with a third action member (510) and a fourth action member (610). The third action member (510) and the fourth action member (610) interact with each other to drive the rotating component (100) to switch between the rising position and the falling position.

[0040] At least one of the third action member (510) and the fourth action member (610) includes a second action ramp. When the third sleeve (600) rotates, the third action member (510) and the fourth action member (610) cooperate with each other through the second action ramp to make the third sleeve (600) rise or fall.

[0041] The third action (510) and the fourth action (610) both include the second action slope, or one of the third action (510) and the fourth action (610) includes the second action slope, and the other of the third action (510) and the fourth action (610) includes a rolling element or a slider.

[0042] Among them, at least one of the third action member (510) and the fourth action member (610) is threaded.

[0043] The first power assembly includes a first power unit and a first sleeve (300), and the rotating assembly (100) also includes a second sleeve (120). The first power unit is driven to the first sleeve (300), and the second sleeve (120) is at least circumferentially positioned relative to the first sleeve (300).

[0044] The first power unit is used to drive the first sleeve (300) to rotate, so as to drive the rotating assembly (100) to drive the load (900) to rotate.

[0045] The connecting part (110) includes a body (112) and a mating part (113). The body (112) includes a connecting area (111), and the mating part (113) is disposed in the connecting area (111). The mating part (113) is detachably connected to the load (900).

[0046] The connection method between the mating part (113) and the load (900) includes at least one of hooking, snapping, bonding, magnetic connection and clamping connection.

[0047] On the other hand, the present invention provides a cleaning robot, including the drive mechanism of any of the foregoing, and a device body (10), wherein the drive mechanism is disposed on the device body (10).

[0048] On the other hand, the present invention provides a cleaning system, including the cleaning robot (20) and the cleaning base station (30) or the driving mechanism.

[0049] The driving mechanism, cleaning robot, and cleaning system proposed in this utility model drive the rotating component to rotate via a first power component, which in turn drives the disassembly component to move, making way for the installation of the load, or acting on the load to force the load to detach from the rotating component. When the disassembly component moves to the limit position of the storage position and the action position, if the rotating component continues to rotate, the disassembly component will act on the overload sleeve, causing the action end and the mating end to interact and drive the action end and the mating end to move away from each other, contacting the circumferential limit, and then releasing the torque generated by the continued movement of the rotating component. This avoids overloading of the first power component and avoids structural damage caused by rigid compression of components such as the disassembly component and the overload sleeve. Attached Figure Description

[0050] Figure 1 A cross-sectional view of a drive mechanism in the storage position as provided in an embodiment of this utility model;

[0051] Figure 2 A cross-sectional view of a drive mechanism in the action position of the disassembly component, provided as an embodiment of this utility model;

[0052] Figure 3 A cross-sectional view of a drive mechanism in an embodiment of the present invention, showing the rotating component in an intermediate position between the rising and falling positions;

[0053] Figure 4 A cross-sectional view of a drive mechanism in the descending position, provided as an embodiment of the present invention;

[0054] Figure 5 A schematic diagram of the structure of the disassembly component and plug in a drive mechanism provided for an embodiment of this utility model;

[0055] Figure 6 A schematic diagram of the structure of a disassembly component and a first overload sleeve in a drive mechanism provided by an embodiment of this utility model;

[0056] Figure 7 A schematic diagram of the structure of the second overload sleeve in a drive mechanism provided in an embodiment of this utility model;

[0057] Figure 8 A schematic diagram of the structure of a fixing member in a drive mechanism provided in an embodiment of this utility model;

[0058] Figure 9 A schematic diagram of the structure of a connecting member in a drive mechanism provided in an embodiment of this utility model;

[0059] Figure 10 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present utility model;

[0060] Figure 11 This is a schematic diagram of a cleaning system provided in an embodiment of the present invention. Detailed Implementation

[0061] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the following detailed description of the specific implementation, structure, features and effects of a driving mechanism proposed according to this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0062] like Figure 1-2 As shown, this embodiment of the invention provides a drive mechanism that can be used in various equipment for load disassembly and overload protection, such as machine tools, automobiles, construction tools, and electrical equipment. Depending on the application scenario, the load can be various. For example, the drive mechanism can be used on a lathe or milling machine, with the load being a part, for unloading the part after machining; or it can be used on an automated delivery machine, with the load being goods, for unloading the goods; or it can be used in a cleaning robot for unloading various disassembled components, and so on. This application uses the application of the drive mechanism in a cleaning robot as an example to provide a detailed description of the drive mechanism.

[0063] Cleaning robots, also known as self-cleaning devices, self-cleaning robots, sweepers, floor cleaning robots, or mopping robots, can automatically clean and collect debris without user intervention. The payload refers to the components of a cleaning robot that need to be disassembled. Based on the common structure of cleaning robots, they can further include a main body, a motion system, a cleaning system, and a sensing system. To allow the robot to adapt to more cleaning spaces and achieve greater stability and balance, the main body is typically a flattened circle, but may also have other shapes such as semi-circle or square. The sensing system is located on the main body and is used to detect walls and obstacles, create a map, and determine the robot's position as it moves and cleans. The motion system may include multiple wheels and wheel drives, which drive the wheels to move the main body. The cleaning system may include sweeping and mopping components. The sweeping component includes a cleaning unit, a dustbin, a blower, and a cleaning drive mechanism. The cleaning unit can be a brush, rubber brush, etc. The main body of the machine has a suction port located behind the cleaning unit, and the dustbin is located in the airflow path between the blower and the suction port. The cleaning unit has some interference with the floor. Driven by the cleaning drive mechanism, the cleaning unit rotates, sweeping up debris from the floor and carrying it to the area below the suction port. The debris is then drawn into the dustbin by the air drawn back towards it by the blower. The cleaning unit can be a load-bearing element, which can be detached from the main body after cleaning, reducing the burden on the main body and preventing secondary contamination of the floor by debris adhering to the cleaning element. Alternatively, the dustbin can be a load-bearing element, detached from the main body after vacuuming, and can be used in conjunction with other mechanisms for automatic dustbin emptying. The mopping assembly may include a mop drive unit and one or more mops. The mops are rotatable for dry mopping the floor. In some embodiments, the mopping assembly also includes a water tank to replenish water to the mops for wet mopping. The load may be the mop. When the cleaning robot needs to perform cleaning work without carrying the mop, the mop can be unloaded to prevent secondary pollution of the floor by the water on the mop and to reduce the movement burden on the cleaning robot. In addition, in cleaning systems with automatic mop changing and washing, the mop can be disassembled for washing. The load can also be used in other possible situations, which will not be listed here. For ease of explanation, the following embodiments will all use the following... Figure 1-4 The direction shown is an example of actual usage.

[0064] Specifically, the drive mechanism includes:

[0065] Rotating component (100), the rotating component (100) is used to connect load (900);

[0066] The disassembly component (210) has a storage location and an operational location.

[0067] Fastener (800);

[0068] At least one overload sleeve, a fastener (800) and a rotating assembly (100), at least one of which includes an actuating end, the overload sleeve including a mating end, the relative positions of the actuating end and the mating end including a first relative position and a second relative position, the actuating end and the mating end being circumferentially limited in the first relative position and circumferentially yielding in the second relative position, and a disassembly member (210) being at least movably connected to the overload sleeve.

[0069] The first power assembly is connected to the rotating assembly (100). The first power assembly is used to drive the rotating assembly (100) to rotate relative to the fixed member (800) so as to drive the disassembly member (210) to move between the storage position and the operating position. When the disassembly member (210) moves to the storage position or the operating position, under the drive of the rotating assembly (100) to continue moving in the same direction, at least a part of the overload sleeve moves so that the operating end and the mating end move from the first relative position to the second relative position.

[0070] The disassembly component (210) is used to move vertically to drive the mop away from the rotating assembly (100) by pushing the mop. To reduce the number of power components, making the cleaning robot lighter and smaller, the disassembly component (210) is not connected to a separate drive mechanism, but is driven by the first power assembly. In addition to driving the disassembly component (210) to move up and down, the first power assembly is also used to drive the mop to rotate during the cleaning process, thereby causing the mop to rotate relative to the ground to achieve cleaning.

[0071] The disassembly component (210) is connected to the overload sleeve. The disassembly component (210) interacts with the overload sleeve at least to convert the rotational motion of the first power component driving the rotating component (100) into the vertical movement of the disassembly component (210). For example, the overload sleeve can be provided with a ramp or thread to achieve the conversion of the motion direction; further examples will be provided later in detail. The fixing component (800) is a structure fixed relative to the robot's main support structure, such as the top shell of the drive mechanism.

[0072] To ensure that the disassembly component (210) and the overload sleeve do not move indefinitely relative to each other and detach, the disassembly component (210) and the overload sleeve will be rigidly limited when the disassembly component (210) is in the two extreme positions of the storage position and the operating position. Due to the influence of mechanical and control errors, when the first power component drives the rotating component (100) to rotate and drives the disassembly component (210) to move, the first power component can be set to continue driving the rotating component (100) to rotate in the same direction for a period of time after the theoretical disassembly component (210) reaches the extreme position, and then stop driving, so as to ensure that the disassembly component (210) can reach the storage position and the operating position with certainty, so as to allow the mop to be installed in place and to ensure the successful disassembly of the mop. During the process of the disassembly component (210) moving to the operating position or the storage position, the overload sleeve will not be subjected to a large external force from the disassembly component (210), and the operating end and the mating end maintain the first relative position. When the disassembly component (210) moves to the operating position or the storage position, it will have a rigid interaction with the overload sleeve. As the rotating assembly (100) continues to rotate, the force between the disassembly piece (210) and the overload sleeve increases, which in turn increases the interaction force between the action end and the mating end. The contact surfaces of the action end and the mating end are configured such that when the relative circumferential pressure between the action end and the mating end increases, it will push the action end and the mating end axially away from each other to a second relative position, while giving way to each other circumferentially. This circumferential giving way causes the disassembly piece (210) to rotate the overload sleeve or stop rotating together with the disassembly piece (210), thereby releasing the torque brought by the rotating assembly (100) and achieving overload protection.

[0073] The active end and the mating end are the ends of one of the fixing member (800) and the rotating assembly (100) that interact with the overload sleeve. For example, the active end can be the bottom end of the fixing member (800), and the mating end can be the top end of the overload sleeve. Alternatively, in some embodiments, part of the structure of the fixing member (800) or the rotating assembly (100) can also be a cylindrical structure, with the fixing member (800) or the rotating assembly (100) sleeved on the outer periphery of the overload sleeve. The active end is a section on the inner wall of the fixing member (800) or the rotating assembly (100), and the mating end is a section on the outer wall of the overload sleeve. That is, the active end and the mating end do not necessarily refer to the ends, but only to the positions where the fixing member (800) and / or the rotating assembly (100) interacts with the overload sleeve.

[0074] The drive mechanism, cleaning robot, and cleaning system proposed in this embodiment of the invention drive the rotating component to rotate via a first power component, thereby driving the disassembly component to move. This makes way for the installation of the load, or, by interacting with the load, forces the load to detach from the rotating component. When the disassembly component moves to the limit positions of the storage position and the action position, if the rotating component continues to rotate, the disassembly component will act on the overload sleeve, causing the action end and the mating end to interact and drive them away from each other, contacting the circumferential limit, and then releasing the torque generated by the continued movement of the rotating component. This avoids overloading of the first power component and prevents structural damage caused by rigid compression of components such as the disassembly component and the overload sleeve.

[0075] The overload sleeve can be a single piece or two, designed to release the torque of the rotating assembly (100) relative to the fixed member (800). The overload sleeve can be connected to the fixed member (800), to the rotating assembly (100), or two overload sleeves can be connected to the rotating assembly (100) and the fixed member (800) respectively. Examples will be given below:

[0076] Firstly, at least one overload sleeve includes a first overload sleeve (220), the fixing member (800) includes an actuating end, and the first overload sleeve (220) includes a mating end. One of the rotating assembly (100) and the first overload sleeve (220) is circumferentially positioned relative to the disassembly member (210). The other of the rotating assembly (100) and the first overload sleeve (220) is provided with a first actuating member (221), and the disassembly member (210) is provided with a second actuating member (211). A first power assembly is used to drive the rotating assembly (100) to rotate, and the first actuating member (221) and the second actuating member (211) interact with each other, thereby driving the disassembly member (210) to move between a storage position and an actuating position.

[0077] For example, the disassembly component (210) can be circumferentially limited by the first overload sleeve (220), thereby preventing the disassembly component (210) from moving circumferentially, at least during its movement toward the operating position or the storage position, and allowing it to move only axially. The disassembly component (210) achieves linear movement of the disassembly component (210) by interacting with the rotating component (100) and utilizing the circumferential rotation provided by the first power component. Alternatively, the disassembly component (210) can be circumferentially limited by the rotating component (100), and the disassembly component (210) will rotate synchronously with the rotating component (100). The first overload sleeve (220) will not rotate at least during the movement of the disassembly component (210) toward the operating position or the storage position, and the rotating disassembly component (210) will then achieve lifting and lowering by interacting with the first overload sleeve (220).

[0078] Taking the embodiment where the disassembly component (210) and the rotating assembly (100) are circumferentially limited as an example, during the movement of the disassembly component (210) towards the storage position and the operating position, the first overload sleeve (220) and the fixing component (800) interact with each other and remain stationary, while the disassembly component (210) moves relative to the first overload sleeve (220) and rises and falls. When the disassembly component (210) moves to the limit position of the storage position or the operating position, the disassembly component (210) and the first overload sleeve (220) generate a rigid interaction. When the rotating assembly (100) continues to rotate in the same direction and drives the disassembly part (210) to rotate, the force between the disassembly part (210) and the first overload sleeve (220) increases, the interaction force between the action end and the mating end increases, driving the first overload sleeve (220) to move as a whole or in part, pushing the action end and the mating end to move away from each other in the axial direction to the second relative position, while giving way to each other in the circumferential direction. The disassembly part (210) will drive the first overload sleeve (220) to rotate, thereby releasing the torque brought by the rotating assembly (100) and realizing overload protection.

[0079] Secondly, at least one overload sleeve includes a second overload sleeve (230), the rotating assembly (100) includes an actuating end, and the second overload sleeve (230) includes a mating end. One of the fixing member (800) and the second overload sleeve (230) is circumferentially positioned relative to the disassembly member (210). The other of the fixing member (800) and the second overload sleeve (230) is provided with a first actuating member (221), and the disassembly member (210) is provided with a second actuating member (211). A first power assembly is used to drive the rotating assembly (100) to rotate, and the first actuating member (221) and the second actuating member (211) interact with each other to drive the disassembly member (210) to move between a storage position and an actuating position.

[0080] For example, the disassembly component (210) may be circumferentially limited by the second overload sleeve (230), thereby causing the disassembly component (210) to rotate synchronously with the rotating component (100) at least during its movement toward the operating position or the storage position. The disassembly component (210) achieves linear movement of the disassembly component (210) by interacting with the fixing component (800) and utilizing the circumferential rotation provided by the first power component. Alternatively, the disassembly component (210) may be circumferentially limited by the fixing component (800), and the disassembly component (210) will not rotate. The second overload sleeve (230) rotates at least during the movement of the disassembly component (210) toward the operating position or the storage position, and the rotating second overload sleeve (230) drives the disassembly component (210) to rise and fall by interacting with the disassembly component (210).

[0081] Taking the embodiment where the disassembly component (210) and the second overload sleeve (230) are circumferentially limited as an example, during the movement of the disassembly component (210) towards the storage position and the operating position, the second overload sleeve (230) and the rotating assembly (100) interact and rotate synchronously, and the disassembly component (210) moves relative to the fixed component (800) and rises and falls. When the disassembly component (210) moves to the limit position of the storage position or the operating position, the disassembly component (210) and the fixed component (800) generate a rigid interaction. When the rotating assembly (100) continues to rotate in the same direction and drives the second overload sleeve (230) to rotate, the force between the disassembly part (210) and the second overload sleeve (230) increases, the interaction force between the action end and the mating end increases, driving the second overload sleeve (230) to move as a whole or in part, which will push the action end and the mating end away from each other in the axial direction to the second relative position, while giving way to each other in the circumferential direction. The disassembly part (210) and the second overload sleeve (230) will stop rotating, thereby releasing the torque brought by the rotating assembly (100) and realizing overload protection.

[0082] Thirdly, such as Figure 1-4 As shown, at least one overload sleeve includes a first overload sleeve (220) and a second overload sleeve (230). The rotating assembly (100) and the fixing member (800) are respectively provided with a first working end and a second working end. The first overload sleeve (220) and the second overload sleeve (230) are respectively provided with a first mating end and a second mating end. The first working end interacts with the first mating end, and the second working end interacts with the second mating end. One of the first overload sleeve (220) and the second overload sleeve (230) is circumferentially positioned relative to the disassembly member (210). The other of the first overload sleeve (220) and the second overload sleeve (230) is provided with a first working member (221), and the disassembly member (210) is provided with a second working member (211). A first power assembly is used to drive the rotating assembly (100) to rotate. The first working member (221) and the second working member (211) interact with each other, thereby driving the disassembly member (210) to move between the storage position and the working position.

[0083] For example, the disassembly component (210) can be circumferentially limited by the first overload sleeve (220), thereby preventing the disassembly component (210) from moving circumferentially, at least during its movement towards the operating or storage position, and allowing it to move only axially. The second overload sleeve (230) moves synchronously with the rotating assembly (100), and the disassembly component (210) achieves linear movement of the disassembly component (210) by interacting with the second overload sleeve (230) and utilizing the circumferential rotation provided by the first power assembly. Alternatively, it can be as follows: Figure 1-4As shown, the disassembly component (210) and the second overload sleeve (230) are circumferentially limited. At least during the process of the disassembly component (210) moving to the action position or the storage position, the disassembly component (210) will rotate synchronously with the rotating component (100) through the second overload sleeve (230). The first overload sleeve (220) does not rotate at least during the process of the disassembly component (210) moving to the action position or the storage position. Then, the rotating disassembly component (210) achieves lifting and lowering by interacting with the first overload sleeve (220).

[0084] Taking the embodiment where the disassembly component (210) and the second overload sleeve (230) are circumferentially limited as an example, during the movement of the disassembly component (210) towards the storage position and the operating position, the first overload sleeve (220) and the fixing component (800) interact with each other and remain stationary, while the disassembly component (210) moves relative to the first overload sleeve (220) and rises and falls. When the disassembly component (210) moves to the limit position of the storage position or the operating position, the disassembly component (210) and the first overload sleeve (220) generate a rigid interaction. When the rotating assembly (100) continues to rotate in the same direction and drives the disassembly component (210) to rotate via the second overload sleeve (230), the forces between the disassembly component (210), the first overload sleeve (220), and the second overload sleeve (230) all increase. This could be due to an increase in the interaction force between the first acting end and the first mating end, driving the first overload sleeve (220) to move entirely or partially, pushing the first acting end and the first mating end axially away from each other to a second relative position, while making room for each other circumferentially. The disassembly component (210) will then drive the first overload sleeve (220) to rotate. Alternatively, the interaction force between the second acting end and the second mating end may increase, driving the second overload sleeve (230) to move entirely or partially, pushing the second acting end and the second mating end axially away from each other to a second relative position, while making room for each other circumferentially. The disassembly component (210) will then stop rotating synchronously with the second overload sleeve (230). The overload protection of the first overload sleeve (220) and the second overload sleeve (230) can occur simultaneously or alternately. For example, the disassembly component (210) will rotate synchronously with the first overload sleeve (220) and the second overload sleeve (230), but the rotation speed is slower than that of the rotating component (100), thereby releasing the torque brought by the rotating component (100) and realizing overload protection.

[0085] In one embodiment, a portion of the first overload sleeve (220) and the second overload sleeve (230) are movably sleeved together. For example, the top portion of the second overload sleeve (230) can be inserted into the bottom opening of the first overload sleeve (220), thereby making the movement of the first overload sleeve (220) and the second overload sleeve (230) more stable and the structure more compact.

[0086] In any of the foregoing embodiments, the way the disassembly component (210) is circumferentially limited can be varied, such as one of the first overload sleeve (220) and the second overload sleeve (230) including a connection port (231), such as in the embodiment where the second overload sleeve (230) and the disassembly component (210) are circumferentially limited, such as Figure 6-7 As shown, a connection port (231) is provided on the second overload sleeve (230), and at least a portion of the disassembly member (210) includes a first limiting surface (212). The connection port (231) includes a second limiting surface. The disassembly member (210) passes through the connection port (231). The first limiting surface (212) and the second limiting surface interact to limit the second overload sleeve (230) and the disassembly member (210) in the circumferential direction. For example, the connection port (231) includes two opposing second limiting surfaces, the connection port (231) is waist-shaped, and the area of ​​the disassembly member (210) for moving relative to the connection port (231) is flat rod-shaped, thereby achieving circumferential limitation. Alternatively, in another embodiment, the second overload sleeve (230) includes a limiting groove or limiting hole extending axially, and the disassembly member (210) includes a limiting head that is embedded in the limiting groove to limit the overload sleeve and the disassembly member (210) in the circumferential direction.

[0087] For ease of explanation, the following embodiments take the embodiment with a first overload sleeve (220) and a second overload sleeve (230) as an example. It can be understood that the following embodiments are also applicable in embodiments that include either the first overload sleeve (220) or the second overload sleeve (230).

[0088] The change in the relative position of the action end and the mating end can be caused by the movement of the fixing member (800) and the first overload sleeve (220), or by the movement of the rotating assembly (100) and the second overload sleeve (230) as a whole. That is, when the fixing member (800) and the first overload sleeve (220), the rotating assembly (100) and the second overload sleeve (230) have no elasticity or only very little elasticity, the action end and the mating end can be moved from the first relative position to the second relative position by the overall movement. Alternatively, at least a portion of the fastener (800), the first overload sleeve (220), the rotating assembly (100), and the second overload sleeve (230) may deform, meaning that the first action end and the first mating end may elastically move relative to the main body of the fastener (800) and the first overload sleeve (220), and the second action end and the second mating end may elastically move relative to the main body of the rotating assembly (100) and the second overload sleeve (230). For example, the fastener (800) and the first overload sleeve (220) may have elastic or hollow areas, so that the first action end and the first mating end may move from the first relative position to the second relative position by springing.

[0089] The first actuating member (221) and the second actuating member (211) can be implemented in various ways, with the aim of driving the disassembly member (210) to rise or fall when the rotating assembly (100) moves. For example, at least one of the first actuating member (221) and the second actuating member (211) includes a first actuating inclined surface. When the rotating assembly (100) rotates, the first actuating member (221) and the second actuating member (211) cooperate with each other through the first actuating inclined surface to make the disassembly member (210) rise or fall.

[0090] The first acting inclined surface is an inclined surface that provides lifting and lowering forces to the first acting element (221) and the second acting element (211) when they move relative to each other in the circumferential direction. Alternatively, it can be interpreted as an inclined surface that spirals upwards or downwards in the circumferential direction. Both the first acting element (221) and the second acting element (211) may include the first acting inclined surface, but their lengths may differ. Alternatively, one of the first acting element (221) and the second acting element (211) may include the first acting inclined surface, while the other may include a rolling element or a slider for rolling or sliding relative to the first acting inclined surface. The rolling element may be a roller or a shaft, which, through rolling connection to the first acting inclined surface, can further reduce the second frictional force. Alternatively, the slider may be a block-shaped, columnar, or other protrusion.

[0091] In one embodiment, the number of the first action member (221) and the second action member (211) can both be one. Alternatively, the number of the first action member (221) and the second action member (211) can be the same, with each corresponding to the other. There can also be multiple first action members (221) and multiple second action members (211). Multiple first action members (221) are circumferentially distributed around the axis of rotation of the disassembly member (210), and multiple second action members (211) are circumferentially distributed around the axis of rotation of the first overload sleeve (220) or the second overload sleeve (230). This ensures that the actions of the first action members (221) and the second action members (211) balance the forces on the disassembly member (210) and the first overload sleeve (220) or the second overload sleeve (230) in the circumferential direction, preventing skewing.

[0092] In a more specific embodiment, one of the first actuating member (221) and the second actuating member (211) is threaded, and the other of the first actuating member (221) and the second actuating member (211) can be a chuck, which is embedded between the helical surfaces. The disassembly member (210) is threadedly connected to the first overload sleeve (220) or the second overload sleeve (230), and due to the thread, circumferential movement will generate a vertical pushing force, causing the disassembly member (210) to be pushed up or down. The disassembly member (210) is used to rotate relative to the first overload sleeve (220) or the second overload sleeve (230) to push the disassembly member (210) up and down through the thread.

[0093] To ensure that the first actuating member (221) and the second actuating member (211) do not detach from each other, one of the first actuating member (221) and the second actuating member (211) has a terminal actuating surface (2211), such as in an embodiment where the first actuating member (221) is threaded. Figure 5 As shown, one or both ends of the thread are provided with an action surface (2211). When the disassembly part (210) is in the storage position or the action position, the second action part (211), or the slider, will abut against the action surface (2211).

[0094] Taking the first overload sleeve (220) with a first working element (221), i.e., a thread, as an example. When the first overload sleeve (220) is not subjected to a large external force from the disassembly element (210), it will maintain a first relative position with the fixing element (800). When the disassembly element (210) rotates, it will approach the working surface (2211) located below the thread along the thread. When the disassembly element (210) moves to the working position, it will abut against the working surface (2211). As the rotating assembly (100) drives the second overload sleeve (230) to continue rotating, the disassembly piece (210) will continue to rotate under the action of the connection port (231) of the second overload sleeve (230). At this time, the disassembly piece (210) will not continue to descend, but will push the action surface (2211), which will drive the first overload sleeve (220) to rotate. The first overload sleeve (220) and the fixing piece (800) will have a tendency to move relative to each other in the circumferential direction, pushing the first overload sleeve (220) and the fixing piece (800) to move away from each other in the axial direction to a second relative position, while giving way to each other in the circumferential direction. And / or, it will drive the second overload sleeve (230) to stop relative to the rotating assembly (100). The second overload sleeve (230) and the rotating assembly (100) will have a tendency to move relative to each other in the circumferential direction, pushing the second overload sleeve (230) and the rotating assembly (100) to move away from each other in the axial direction to a second relative position, while giving way to each other in the circumferential direction.

[0095] In one embodiment, to facilitate the installation of the disassembly component (210), such as Figure 5As shown, the overload sleeve includes an overload cylinder (224) and a plug (225). The plug (225) has an annular structure. The overload cylinder (224) is threaded. The plug (225) is inserted into the overload cylinder (224) to provide a working surface (2211) for the thread. The disassembly part (210) can then be installed on the overload cylinder (224) first, and then the plug (225) can be installed.

[0096] To achieve axial displacement when the working end and the mating end move relative to each other in the circumferential direction, circumferential relative compressive force can be used. In one embodiment, such as... Figures 5-9 As shown, at least one of the working end and the mating end is provided with a first overload surface (222). The first overload surface (222) extends in both the axial and circumferential directions of the first overload sleeve (220) or the second overload sleeve (230). When the first overload sleeve (220) or the second overload sleeve (230) rotates, the first overload surface (222) pushes the working end and the mating end away from each other in the axial direction, so that the working end and the mating end move from the first relative position to the second relative position.

[0097] To achieve overload protection function when the rotating component (100) rotates in both the forward and reverse directions, a second overload surface (226) is provided on at least one of the action end and the mating end. The first overload surface (222) and the second overload surface (226) have different orientations. When the overload sleeve rotates in the forward direction, the first overload surface (222) pushes the action end and the mating end to move from the first relative position to the second relative position. When the overload sleeve rotates in the reverse direction, the second overload surface (226) pushes the action end and the mating end to move from the first relative position to the second relative position.

[0098] The first overload surface (222) and the second overload surface (226) are used to decompose the applied force into a force capable of pushing at least one of the acting end and the mating end to move axially when a force is applied relative to each other in the circumferential direction. The first overload surface (222) and the second overload surface (226) can be planar or arc-shaped. The second overload surface (226) and the first overload surface (222) have different orientations and are connected in a sawtooth shape. The inclination angles of the second overload surface (226) and the first overload surface (222) can be the same or different. For example, the first overload surface (222) can be planar. Figure 6In this design, the top end face of the first overload sleeve (220) is provided with multiple first overload surfaces (222) and second overload surfaces (226) around the axis, and the first overload surfaces (222) and second overload surfaces (226) are alternately arranged with different inclination directions to form a toothed surface, so that when moving relative to each other in two circumferential directions, that is, when the disassembly part (210) is in the active position and the storage position, the active end and the mating end can move and make way. The bottom end face of the fixing part (800) is also provided with first overload surfaces (222) and second overload surfaces (226) with similar structure and arrangement, and then the bottom end face of the fixing part (800) can engage and embed into the top end face of the first overload sleeve (220). The second overload sleeve (230) and the rotating assembly (100) have similar arrangements, which will not be described in detail here.

[0099] When the disassembly component (210) reaches either the operating position or the storage position, the second actuating element (211), i.e., the slider, of the disassembly component (210) will interact with the operating surface (2211). As the disassembly component (210) continues to rotate, the second actuating element (211) will push the operating surface (2211), causing the first overload sleeve (220) and the fixing component (800) to tend to move relative to each other in the circumferential direction, and increasing the pressure between the two first overload surfaces (222) or the two second overload surfaces (226), forcing the operating end and the mating end to move away from each other in the axial direction, thereby realizing the relative movement of the first overload sleeve (220) and the fixing component (800) in the circumferential direction and avoiding overload of the first power assembly. Alternatively, the second overload sleeve (230) and the rotating assembly (100) may tend to move relative to each other in the circumferential direction, and the pressure between the two first overload surfaces (222) or the two second overload surfaces (226) may increase, forcing the action end and the mating end to move away from each other in the axial direction, thereby realizing the relative movement of the second overload sleeve (230) and the rotating assembly (100) in the circumferential direction and avoiding overload of the first power assembly.

[0100] In one embodiment, the drive mechanism further includes an elastic element (400). At least one of the first overload sleeve (220) and the second overload sleeve (230) is connected to the elastic element (400). When the actuating end and the mating end move from the first relative position to the second relative position, the elastic element (400) stores energy, and when the actuating end and the mating end move from the second relative position to the first relative position, the elastic element (400) releases energy.

[0101] The elastic element (400) allows the actuating end and the mating end to be in close contact, and when the circumferential pressure on the actuating end and the mating end is large, axial relative movement can be achieved by overcoming the elastic force of the elastic element (400). In an embodiment including a first overload sleeve (220) and a second overload sleeve (230), the elastic element (400) is located between the first overload sleeve (220) and the second overload sleeve (230). In one embodiment, as... Figure 6 As shown, a first mounting boss (223) can be provided on the outer wall of the first overload sleeve (220), and a second mounting boss can be provided on the second overload sleeve (230). The elastic member (400) can be disposed between the first mounting boss (223) and the second mounting boss by compression for easy installation. Alternatively, the elastic member (400) can also be connected by hooking, plugging, or other methods.

[0102] In one embodiment, the rotating assembly (100) includes a connecting portion (110) and a connecting region (111). The connecting portion (110) is used to connect a load (900), and the connecting region (111) is used to accommodate at least a portion of the structure of the load (900). When the disassembly member (210) is in the retracted position, the disassembly member (210) is located outside the connecting region (111). When the disassembly member (210) is in the active position, at least a portion of the disassembly member (210) is located inside the connecting region (111). When the disassembly member (210) moves from the retracted position to the active position, it pushes the load (900) away from the connecting region (111).

[0103] The connecting area (111) refers to the space occupied by at least a portion of the mop's structure after the connecting part (110) is connected to the mop, or in other words, when the mop is installed in the connecting part (110). For example, the connecting area (111) can be a relatively enclosed area on the connecting part (110), and the connecting part (110) can be... Figure 1-4The structure shown is approximately cylindrical, with the connecting area (111) being the internal region of the cylinder. The connecting part (110) has a bottom opening communicating with the connecting area (111). The mop may include a connecting rod and a drag plate. The connecting rod can be inserted into the connecting area (111) through the bottom opening and abuts against the side wall of the connecting area (111), thereby achieving a more stable positioning of the mop. In some embodiments, the connecting rod may also be circumferentially positioned against the side wall of the connecting area (111), thereby enabling the connecting part (110) to drive the mop to rotate. Alternatively, the connecting area (111) may also be an open area. In the aforementioned embodiment where the connecting part (110) is a cylindrical structure, the connecting area (111) may also refer to the area occupied by the drag plate on the outside of the connecting part (110). Alternatively, if the connecting part (110) is only a planar structure extending in a single direction, such as a disc-shaped structure, then the connecting area (111) is only a portion of the bottom side of the connecting part (110). In embodiments where the mop may include a connecting rod and a mop plate, the connecting rod is connected to the connecting part (110) via its top end, and the connecting area (111) may be the area occupied by the connecting rod or the area occupied by the mop plate.

[0104] The connecting part (110) can connect the mop in various ways, but it is understood that the connection is detachable, that is, when the mop moves under the drive of a certain external force, it can detach from the connecting part (110) and fall off. The connecting part (110) can connect the mop by magnetic attraction. In one embodiment, the connecting part (110) includes a body (112) and a mating part (113). The body (112) includes a connecting area (111), such as the body (112) including a cylindrical structure with a bottom opening. The connecting area (111) is the area enclosed by the inner wall of the body (112). The mating part (113) can be one of a magnetic element and a magnetic attraction element, and is disposed in the connecting area (111), such as on the inner side wall or the inner top wall of the body (112). The connecting rod of the mop includes the other of a magnetic element and a magnetic attraction element. The connecting rod of the mop is inserted into the body (112), and the connecting rod is magnetically connected to the mating part (113). Alternatively, in some other embodiments, the connection between the mating part (113) and the load (900) may be at least one of hooking, snapping, bonding, and clamping. For example, the mating part (113) may include one of a spring hook and a locking head, and the connecting rod of the mop may be provided with the other of a hook and a locking head. Alternatively, the mating part (113) may be one of felt and barbed fabric, and the connecting rod of the mop may be provided with the other of felt and barbed fabric.

[0105] When the disassembly component (210) is in the storage position, it is located outside the connection area (111), meaning that it does not interfere with the mop or only slightly contacts the mop, without disturbing the connection between the mop and the mating part (113). When the disassembly component (210) is in the operating position, at least part of it is located within the connection area (111), meaning that it occupies part of the space in the connection area (111). As the disassembly component (210) moves toward the operating position, it drives the mop to move due to its occupation of the connection area (111), thereby forcing the mop to move relative to the mating part (113) until the action of the mating part (113) on the mop is released, allowing the mop to detach from the connection part (110) under the influence of gravity. The disassembly component (210) moves from the storage position to the operating position in the direction that the mop moves away from the connecting part (110), or in other words, away from the mating part (113), thereby disengaging the connection. The distance that the disassembly component (210) needs to move varies depending on the mating part (113). For example, if the mating part (113) uses a magnetic connection to attach the mop, the disassembly component (210) needs to move a longer distance to completely remove the mop from the magnetic range of the mating part (113). When the mating part (113) uses an adhesive connection to attach the mop, the disassembly component (210) only needs to move a shorter distance to push the felt and the barbed cloth apart, thereby disassembling the mop.

[0106] Depending on the connection area (111), the disassembly member (210) can interact with the mop from various positions. For example, in an embodiment where the connection part (110) is cylindrical and the connection area (111) is the internal space of the connection part (110), the connection part (110) includes a connection port (231) communicating with the connection area (111) above it. The disassembly member (210) extends into the connection area (111) through the connection port (231) to push the mop to move. Alternatively, when the connection area (111) is occupied by the mop plate, the disassembly member (210) can be positioned relative to the mop plate, and the mop can be moved by pushing the mop plate from top to bottom.

[0107] By using the disassembly component (210) to act on the load (900), the risk of wear and deformation of the chassis caused by the interaction between the load (900) and the chassis of the cleaning robot is avoided, ensuring the stability of the internal structure and the clean appearance of the cleaning robot. At the same time, the disassembly component (210) is smaller and lighter than the connecting part, and the movement of the disassembly component (210) occupies less internal space of the cleaning robot, ensuring the effective use of the internal space of the cleaning robot, reducing the drive load, and improving the service life of the motor.

[0108] The following describes the lifting process of the disassembly component (210) and the overload protection process of the first overload sleeve (220) and the second overload sleeve (230) using a more specific embodiment:

[0109] The connecting part (110) is cylindrical, and the connecting area (111) is the internal area of ​​the connecting part (110). The second overload sleeve (230) includes a connecting port (231), and the disassembly part (210) is circumferentially limited to the connecting port (231). The connecting port (231) communicates with the connecting area (111). The mating part (113) of the connecting part (110) is a magnetic suction part. Both the first overload sleeve (220) and the second overload sleeve (230) are cylindrical. The inner wall of the first overload sleeve (220) is provided with two threads evenly distributed in the circumferential direction. The disassembly part (210) is provided with two second action parts (211). The second action parts (211) are sliders, and the sliders slide and are inserted between the threads.

[0110] like Figure 1 As shown, when the disassembly component (210) is in the storage position, and the first power component drives the rotating component (100) to rotate in a preset direction, the second overload sleeve (230) rotates, which then circumferentially limits the rotation of the disassembly component (210). The slider on the disassembly component (210) will interact with the thread, pushing the disassembly component (210) down. The disassembly component (210) will extend into the connecting part (110) until it moves to the operating position, i.e., as shown... Figure 2 The state shown is as follows. Push the mop away from the magnetic suction device until the mop is out of the magnetic suction range of the magnetic suction device, and naturally detach from the connecting part (110) under the action of gravity, thus realizing the disassembly of the mop. At this time, if the first power component continues to drive the rotating component (100) to drive the second overload sleeve (230) to rotate, and since the disassembly part (210) has reached the limit position, the disassembly part (210) and the first overload sleeve (220) will have a rigid interaction. The force between the disassembly part (210), the first overload sleeve (220) and the second overload sleeve (230) will both increase. This could be due to an increase in the interaction force between the first action end and the first mating end, which will drive the first overload sleeve (220) to move as a whole or in part, pushing the first action end and the first mating end away from each other in the axial direction to the second relative position, while giving way to each other in the circumferential direction. The disassembly part (210) will drive the first overload sleeve (220) to rotate. Alternatively, the interaction force between the second action end and the second mating end may increase, driving the second overload sleeve (230) to move as a whole or in part, which will push the second action end and the second mating end to move away from each other in the axial direction to the second relative position, while giving way to each other in the circumferential direction, and the disassembly part (210) will stop rotating synchronously with the second overload sleeve (230).

[0111] Then, the rotating component (100) can be driven to rotate in the opposite direction in a preset direction, and then, through the pushing action of the thread, the disassembly part (210) will be pushed up, and the disassembly part (210) will return to the storage position. That is, it returns to the position as shown in the image. Figure 1At the position shown, if the first power component continues to drive the rotating component (100) to rotate the second overload sleeve (230), and since the disassembly component (210) has reached its limit position, the disassembly component (210) and the first overload sleeve (220) will have a rigid interaction. Alternatively, the interaction force between the first acting end and the first mating end may increase, driving the first overload sleeve (220) to move entirely or partially, pushing the first acting end and the first mating end axially away from each other to a second relative position, while allowing each other to move circumferentially. The disassembly component (210) will then drive the first overload sleeve (220) to rotate. Simultaneously, the interaction force between the second acting end and the second mating end may increase, driving the second overload sleeve (230) to move entirely or partially, pushing the second acting end and the second mating end axially away from each other to a second relative position, while allowing each other to move circumferentially. The disassembly component (210) will then stop rotating synchronously with the second overload sleeve (230).

[0112] The first power component can drive the rotating component (100) to rotate in various ways. For example, in one embodiment, the first power component includes a first power unit and a first sleeve (300), and the rotating component (100) further includes a second sleeve (120). The first power unit is driven to the first sleeve (300), and the second sleeve (120) is at least circumferentially positioned relative to the first sleeve (300). The first power unit is used to drive the first sleeve (300) to rotate, thereby driving the rotating component (100) to rotate the load (900).

[0113] Both the second sleeve (120) and the first sleeve (300) are cylindrical structures, and the connecting part (110) can be sleeved and fixed inside the second sleeve (120). The top opening of the second sleeve (120) is used to pass through the overload cylinder (224), so that the overload cylinder (224) interacts with the fixing member (800) located outside the second sleeve (120). The elastic member (400) is located inside the second sleeve (120) and serves to protect the elastic member (400). The first sleeve (300) is sleeved on the outer periphery of the second sleeve (120). One of the first sleeve (300) and the second sleeve (120) may have a sliding groove or sliding hole, while the other of the first sleeve (300) and the second sleeve (120) may have a sliding protrusion. The sliding protrusion is embedded in the sliding groove or sliding hole, thereby achieving circumferential limiting. The outer circumference of the first sleeve (300) is provided with a tooth, and the first power unit can be connected to the first sleeve (300) through one or more transmission gears. By driving the first sleeve (300) to rotate, the second sleeve (120) or the rotating assembly (100) will be driven to rotate.

[0114] In some implementations, due to the large area of ​​the mop and its surface being made of soft, absorbent material such as felt or loops, there is significant friction between the mop and floor coverings such as carpets. Furthermore, the mop retains stains after cleaning, especially after wet mopping, leaving wastewater on it. To prevent friction between the mop and floor coverings from affecting the normal movement of the cleaning robot and to avoid repeated contamination of the floor due to contact between the wastewater-laden mop and the floor, one implementation further includes a second drive assembly. The second drive assembly enables the raising and lowering of the mop. More specifically, the rotating assembly (100) has both an upward and a downward position, and the second drive assembly drives the rotating assembly (100) to switch between these positions.

[0115] In the aforementioned embodiment including the second sleeve (120) and the first sleeve (300), the second sleeve (120) and the first sleeve (300) are axially movably connected, thereby enabling the first power component to drive the rotating component (100) to rotate in both the rising and falling positions. The aforementioned sliding groove or sliding hole is a strip-shaped sliding groove or sliding hole extending axially.

[0116] The following describes the lifting and mop removal process: When the rotating component (100) is in the raised position and cleaning is not required, such as Figure 3 As shown. When cleaning is required, the second drive assembly drives the rotating assembly (100) to lower itself to the lowered position, as shown. Figure 4 As shown, at this time, the mop will interfere with the ground. The first sleeve (300) of the first power component drives the rotating component (100) to rotate the mop synchronously, thus achieving cleaning. After cleaning, when it is necessary to store the mop, the second drive component drives the rotating component (100) to rise to the raised position, as shown. Figure 3As shown, at this time, the mop can be disassembled or not. However, when in the rising position, the fixing member (800) and the first overload sleeve (220) interact and contact each other. In other words, when the rotating component (100) is in the rising position, if the rotating component (100) is not driven to rotate, the first working end of the fixing member (800) and the first mating end of the first overload sleeve (220) will be in the first relative position, ensuring that the first overload sleeve (220) can be limited when the rotating component (100) is in the rising position, so as to provide conditions for disassembling the mop. When it is necessary to disassemble the mop, the rotating component (100) is driven by the first sleeve (300) of the first power component, and the disassembly member (210) is driven to rotate synchronously by the first overload sleeve (220). Then, the disassembly member (210) interacts with the first overload sleeve (220) and descends to the working position. During this process, the mop will be pushed away from the connecting part (110). Once the disassembly component (210) reaches its operating position, if the disassembly component (210) continues to rotate, the first overload sleeve (220) will interact with the fixing component (800), pushing the first overload sleeve (220) to overcome the elastic force of the elastic component (400) and move away from the fixing component (800), causing the first operating end and the first mating end to move to the second relative position. Alternatively, the second overload sleeve (230) may interact with the connecting part (110), pushing the second overload sleeve (230) to overcome the elastic force of the elastic component (400) and move away from the connecting part (110), causing the second operating end and the second mating end to move to the second relative position.

[0117] As the rotating end and mating end of the disassembly component (210) continuously switch between the first relative position and the second relative position, the disassembly component (210), the first overload sleeve (220) and the second overload sleeve (230) rotate synchronously relative to the fixed component (800), or the disassembly component (210), the first overload sleeve (220) and the second overload sleeve (230) remain stationary, or the disassembly component (210), the first overload sleeve (220) and the second overload sleeve (230) move slowly until the first power component ends its drive, thus completing the disassembly of the mop.

[0118] The second drive assembly can be implemented in various ways. In one embodiment, the drive mechanism further includes a main body (500), the second drive assembly includes a second power unit and a third sleeve (600), and the main body (500) includes a fourth sleeve (520). The third sleeve (600) is axially upper limited and movably connected to the rotating assembly (100) in the circumferential direction. The third sleeve (600) is movably connected to the fourth sleeve (520). The second power unit is driven to the third sleeve (600). The second power unit is used to drive the third sleeve (600) to rotate. The third sleeve (600) and the fourth sleeve (520) interact with each other, thereby driving the rotating assembly (100) to switch between the rising position and the falling position.

[0119] The third sleeve (600) and the rotating assembly (100) are positioned at the upper limit in the axial direction, thereby enabling the third sleeve (600) to drive the rotating assembly (100) to rise and fall synchronously. The third sleeve (600) and the rotating assembly (100) are movably connected in the circumferential direction, that is, the rotation of the third sleeve (600) and the rotation of the rotating assembly (100) are independent. The rotation of the third sleeve (600) controls the lifting and lowering, while the rotation of the rotating assembly (100) is used for the rotation and cleaning of the mop and the removal of the mop.

[0120] The third sleeve (600) is used to rotate under the drive of the second power unit, and the third sleeve (600) interacts with the fourth sleeve (520) through rotation, thereby obtaining a vertical force while moving in the circumferential direction. This can be achieved by providing a fourth action member (610) and a third action member (510) on the third sleeve (600) and the fourth sleeve (520) respectively. The fourth action member (610) and the third action member (510) can be in various forms, with the aim of driving the third sleeve (600) to rise and fall when the third sleeve (600) rotates.

[0121] If at least one of the fourth action member (610) and the third action member (510) includes a second action ramp, when the third sleeve (600) rotates, the fourth action member (610) and the third action member (510) are used to cooperate with each other through the second action ramp to make the third sleeve (600) rise or fall.

[0122] The second action ramp is an ramp that provides both lifting and lowering forces to the fourth action member (610) and the third action member (510) when they move relative to each other in the circumferential direction. Alternatively, it can be interpreted as a ramp that spirals upwards or downwards in the circumferential direction. Both the fourth action member (610) and the third action member (510) may include the second action ramp, but with different lengths. Alternatively, one of the fourth action member (610) and the second action member may include the second action ramp, and the other of the fourth action member (610) and the third action member (510) may include a rolling element or a slider for rolling or sliding relative to the second action ramp. The rolling element may be a roller or a shaft, which, through rolling connection to the second action ramp, can further reduce the second frictional force. Alternatively, the slider may be a block-shaped, columnar, or other protrusion.

[0123] In one embodiment, the number of the fourth action member (610) and the third action member (510) can both be one. Alternatively, the number of the fourth action member (610) and the third action member (510) can be the same, with each corresponding to the other. There can also be multiple fourth action members (610) and multiple third action members (510), with the multiple fourth action members (610) circumferentially distributed around the rotation axis of the third sleeve (600), and the multiple third action members (510) circumferentially distributed around the rotation axis of the fourth sleeve (520). This ensures that the actions of the fourth action members (610) and the third action members (510) balance the forces on the third sleeve (600) and the fourth sleeve (520) in the circumferential direction, preventing skewing.

[0124] In a more specific embodiment, both the fourth action (610) and the third action (510) are threaded, resulting in a tighter connection and better stability between them. Alternatively, one of the fourth action (610) and the third action (510) can be threaded, while the other can be a chuck embedded between the helical surfaces. The third sleeve (600) and the fourth sleeve (520) are threaded together, with the third sleeve (600) rotating relative to the fourth sleeve (520) to drive the third sleeve (600) up and down via the thread. Due to the thread, circumferential movement generates a vertical pushing force, causing the rotating component (100) to rise or fall synchronously when the third sleeve (600) rotates.

[0125] In one embodiment, the drive mechanism further includes a bearing (700), and the rotating assembly (100) further includes a connecting ring (130). The connecting ring (130) is connected to the end of the connecting portion (110) near the load (900). The bearing (700) is connected between the third sleeve (600) and the connecting ring (130). The third sleeve (600) and the rotating assembly (100) are both axially positioned relative to the bearing (700).

[0126] The bearing (700) enables circumferential movement between the third sleeve (600) and the rotating assembly (100), while providing axial limitation. This also allows for smoother rotation of the rotating assembly (100) relative to the third sleeve (600), resulting in better stability of the rotating assembly (100). Furthermore, the bearing (700) also acts as a barrier against debris. Specifically, the first sleeve (300), second sleeve (120), third sleeve (600), and fourth sleeve (520) are all cylindrical structures. The first sleeve (300) is fitted around the outer circumference of the second sleeve (120), the third sleeve (600) is fitted around the outer circumference of the fourth sleeve (520), and the fourth sleeve (520) is fitted around the outer circumference of the first sleeve (300). The second sleeve (120) is connected to the connecting ring (130). Subsequently, the second sleeve (120), connecting ring (130), bearing (700), and third sleeve (600) together form a closed space on the side opposite the mop. Due to the obstruction of the bearing (700), debris and sewage splashed during mop cleaning are less likely to enter the connection positions of the sleeves, thus ensuring the smoothness of the relative movement of the sleeves and avoiding wear and jamming. The connecting ring (130) facilitates processing and installation.

[0127] On the other hand, such as Figure 10 As shown, the present invention provides a cleaning robot (20), including the drive mechanism of any of the above-mentioned components, and a device body (10), wherein the drive mechanism is disposed on the device body (10).

[0128] There can be one, two, or more drive mechanisms, depending on the needs. For example, if the roller brush, dustbin, and mop are all used as loads (900), then three drive mechanisms can be set. The cleaning robot includes any of the aforementioned drive mechanisms, and the advantages of including any of the aforementioned drive mechanisms will not be elaborated here.

[0129] On the other hand, such as Figure 11As shown, this utility model provides a cleaning system including the aforementioned cleaning robot (20) and a cleaning base station (30). The cleaning robot (20) is used to selectively dock at the cleaning base station (30). In some embodiments, the cleaning base station (30) includes a docking space, and the cleaning robot (20) can move to the docking space to perform operations such as storing, washing, and replacing the mop after disassembly, replenishing the water tank, and charging. The cleaning system includes the aforementioned cleaning robot (20), and the advantages of including the aforementioned cleaning robot (20) will not be repeated here.

[0130] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A drive mechanism characterized by, include: A rotating assembly (100) for connecting a load (900); The disassembly component (210) has a storage position and an operating position; Fastener (800); At least one overload sleeve, at least one of the fixing member (800) and the rotating assembly (100) includes an actuating end, the overload sleeve includes a mating end, the relative positions of the actuating end and the mating end include a first relative position and a second relative position, the actuating end and the mating end are circumferentially limited in the first relative position and circumferentially recessed in the second relative position, and the disassembly member (210) is at least movably connected to the overload sleeve; A first power assembly is connected to the rotating assembly (100). The first power assembly is used to drive the rotating assembly (100) to rotate relative to the fixed member (800) to drive the disassembly member (210) to move between the storage position and the operating position. When the disassembly member (210) moves to the storage position or the operating position, under the drive of the rotating assembly (100) to continue moving in the same direction, at least a portion of the overload sleeve moves relative to the operating end, so that the operating end and the mating end move from the first relative position to the second relative position.

2. The driving mechanism according to claim 1, characterized in that, The at least one overload sleeve includes a first overload sleeve (220), the fastener (800) includes the functional end, and the first overload sleeve (220) includes the mating end; One of the rotating assembly (100) and the first overload sleeve (220) is circumferentially positioned relative to the disassembly member (210). The other of the rotating assembly (100) and the first overload sleeve (220) is provided with a first actuating member (221), and the disassembly member (210) is provided with a second actuating member (211). The first power assembly is used to drive the rotating assembly (100) to rotate, and the first actuating member (221) and the second actuating member (211) interact to drive the disassembly member (210) to move between the storage position and the actuating position.

3. The driving mechanism according to claim 1, characterized in that, The at least one overload sleeve includes a second overload sleeve (230), the rotating assembly (100) includes the working end, and the second overload sleeve (230) includes the mating end; One of the fixing member (800) and the second overload sleeve (230) is circumferentially positioned relative to the disassembly member (210). The other of the fixing member (800) and the second overload sleeve (230) is provided with a first actuating member (221), and the disassembly member (210) is provided with a second actuating member (211). The first power assembly is used to drive the rotating assembly (100) to rotate. The first actuating member (221) and the second actuating member (211) interact with each other to drive the disassembly member (210) to move between the storage position and the actuating position.

4. The driving mechanism according to claim 1, characterized in that, The at least one overload sleeve includes a first overload sleeve (220) and a second overload sleeve (230). The rotating assembly (100) and the fixing member (800) are respectively provided with a first working end and a second working end. The first overload sleeve (220) and the second overload sleeve (230) are respectively provided with a first mating end and a second mating end. The first working end and the first mating end work together, and the second working end and the second mating end work together. One of the first overload sleeve (220) and the second overload sleeve (230) is circumferentially positioned relative to the disassembly member (210). The other of the first overload sleeve (220) and the second overload sleeve (230) is provided with a first actuating member (221), and the disassembly member (210) is provided with a second actuating member (211). The first power assembly is used to drive the rotating assembly (100) to rotate. The first actuating member (221) and the second actuating member (211) interact with each other to drive the disassembly member (210) to move between the storage position and the actuating position.

5. The driving mechanism according to claim 4, characterized in that, Partial areas of the first overload sleeve (220) and the second overload sleeve (230) are movably connected.

6. The drive mechanism according to any one of claims 2-4, characterized in that, One of the first overload sleeve (220) and the second overload sleeve (230) includes a connection port (231), at least a portion of the disassembly member (210) includes a first limiting surface (212), the connection port (231) includes a second limiting surface, the disassembly member (210) passes through the connection port (231), and the first limiting surface (212) and the second limiting surface interact to limit circumferentially.

7. The drive mechanism according to any one of claims 2-4, characterized in that, At least one of the first action member (221) and the second action member (211) includes a first action ramp. When the rotating assembly (100) rotates, the first action member (221) and the second action member (211) cooperate with each other through the first action ramp to make the disassembly member (210) rise or fall.

8. The driving mechanism according to claim 7, characterized in that, Both the first action (221) and the second action (211) include the first action slope, or one of the first action (221) and the second action (211) includes the first action slope, and the other of the first action (221) and the second action (211) rolls or slides relative to the first action slope.

9. The driving mechanism according to claim 7, characterized in that, At least one of the first actuating element (221) and the second actuating element (211) is threaded.

10. The driving mechanism according to claim 1, characterized in that, At least one of the working end and the mating end is provided with a first overload surface (222), which extends in both the axial and circumferential directions of the overload sleeve. When the overload sleeve rotates, the first overload surface (222) pushes the working end and the mating end away from each other in the axial direction, so that the working end and the mating end move from the first relative position to the second relative position.

11. The driving mechanism according to claim 10, characterized in that, At least one of the working end and the mating end is provided with a second overload surface (226). The first overload surface (222) and the second overload surface (226) have different orientations. When the overload sleeve rotates in the forward direction, the first overload surface (222) pushes the working end and the mating end to move from the first relative position to the second relative position. When the overload sleeve rotates in the reverse direction, the second overload surface (226) pushes the working end and the mating end to move from the first relative position to the second relative position. The first overload surface (222) and / or the second overload surface (226) are planar or arc-shaped surfaces.

12. The driving mechanism according to claim 1, characterized in that, The driving mechanism further includes: an elastic element (400); the overload sleeve is connected to the elastic element (400); when the working end and the mating end move from the first relative position to the second relative position, the elastic element (400) stores energy; when the working end and the mating end move from the second relative position to the first relative position, the elastic element (400) releases energy. Alternatively, at least a portion of the active end of the fastener (800) and the rotating assembly (100) and at least a portion of the overload sleeve are deformed to move the active end and the mating end from the first relative position to the second relative position.

13. The driving mechanism according to claim 1, characterized in that, The rotating assembly (100) includes a connecting portion (110), the connecting portion (110) includes a connecting region (111), the connecting portion (110) is used to connect a load (900), and the connecting region (111) is used to accommodate at least a portion of the structure of the load (900); When the disassembly component (210) is in the storage position, the disassembly component (210) is located outside the connection area (111); when the disassembly component (210) is in the action position, at least a portion of the disassembly component (210) is located within the connection area (111). When the disassembly component (210) moves from the storage position to the operating position, it pushes the load (900) away from the connection area (111).

14. The drive mechanism of claim 1, wherein, The drive mechanism also includes: Second drive component; The position of the rotating component (100) includes an upward position and a downward position, and the second driving component is used to drive the rotating component (100) to switch between the upward position and the downward position.

15. The driving mechanism according to claim 14, characterized in that, The drive mechanism also includes: The main body (500) includes a second power unit and a third sleeve (600), and the main body (500) includes a fourth sleeve (520). The third sleeve (600) is axially upper limited and movably connected to the rotating assembly (100) in the circumferential direction. The third sleeve (600) is movably connected to the fourth sleeve (520). The second power unit is driven to the third sleeve (600). The second power unit is used to drive the third sleeve (600) to rotate. The third sleeve (600) and the fourth sleeve (520) interact with each other, thereby driving the rotating assembly (100) to switch between the rising position and the falling position.

16. The driving mechanism according to claim 15, characterized in that, The drive mechanism also includes: The bearing (700) is connected between the third sleeve (600) and the rotating assembly (100), and both the third sleeve (600) and the rotating assembly (100) are axially positioned relative to the bearing (700).

17. The driving mechanism according to claim 15, characterized in that, The fourth sleeve (520) and the third sleeve (600) are respectively provided with a third action member (510) and a fourth action member (610), which interact with each other to drive the rotating assembly (100) to switch between the rising position and the falling position; At least one of the third action member (510) and the fourth action member (610) includes a second action ramp. When the third sleeve (600) rotates, the third action member (510) and the fourth action member (610) cooperate with each other through the second action ramp to make the third sleeve (600) rise or fall.

18. The driving mechanism according to claim 17, characterized in that, Both the third action member (510) and the fourth action member (610) include the second action slope, or one of the third action member (510) and the fourth action member (610) includes the second action slope, and the other of the third action member (510) and the fourth action member (610) includes a roller or a slider.

19. The driving mechanism according to claim 17, characterized in that, At least one of the third action (510) and the fourth action (610) is threaded.

20. The driving mechanism according to claim 1, characterized in that, The first power assembly includes a first power unit and a first sleeve (300), and the rotating assembly (100) further includes a second sleeve (120). The first power unit is drivenly connected to the first sleeve (300), and the second sleeve (120) is at least circumferentially positioned relative to the first sleeve (300). The first power unit is used to drive the first sleeve (300) to rotate, so as to drive the rotating assembly (100) to drive the load (900) to rotate.

21. The driving mechanism according to claim 13, characterized in that, The connecting part (110) includes a body (112) and a mating part (113). The body (112) includes the connecting area (111). The mating part (113) is disposed in the connecting area (111). The mating part (113) is detachably connected to the load (900). The connection method between the mating part (113) and the load (900) includes at least one of hooking, snapping, bonding, magnetic connection and clamping connection.

22. A cleaning robot, characterized in that, It includes a drive mechanism as described in any one of claims 1-21 above, and a device body (10), the drive mechanism being disposed on the device body (10).

23. A cleaning system, characterized in that, Includes a cleaning robot (20) as described in claim 22 above, and a cleaning base station (30), wherein the cleaning robot (20) is used to selectively dock at the cleaning base station (30); Alternatively, it may include a drive mechanism as described in any one of claims 1-21 above.

Images