清洁机器人、基站及清洁系统
By introducing a power module into the cleaning robot to drive the switching between the movement module and the cleaning module, the problem of poor cleaning effect on corners and obstacles is solved, and more comprehensive cleaning capabilities and obstacle-crossing performance are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- YUNJING INTELLIGENCE TECH (DONGGUAN) CO LTD
- Filing Date
- 2024-02-09
- Publication Date
- 2026-07-17
Smart Images
Figure CN224505324U_ABST
Abstract
Claims
1. A cleaning robot, characterized in that, include: body; A cleaning module is disposed on the body of the machine. The cleaning module is provided with a matching part. The cleaning module includes a mopping component for cleaning the surface to be cleaned. A mobile module, which is movably mounted on the body and can cooperate with the cleaning module, wherein the mobile module is provided with a linkage component that cooperates with the matching component; and A power module is disposed on the body and connected to the moving module. The power module is used to drive the moving module to move relative to the body and drive the cleaning module to move relative to the body, so that the cleaning module switches between a first state, a second state and a third state. When the cleaning module is in the first and second states, the cleaning module is in contact with the surface to be cleaned. The target end of the cleaning module is further away from the centerline of the cleaning robot's width direction in the second state than in the first state. The linkage can move so that the matching member is supported on the linkage, so that when the cleaning module is in the third state, the cleaning module is spaced apart from the surface to be cleaned. The target end of the cleaning module is the side of the cleaning module closer to the obstacle when the cleaning robot is traveling along the obstacle. The width direction of the cleaning robot is perpendicular to the direction of travel of the cleaning robot.
2. The cleaning robot according to claim 1, characterized in that, When the cleaning module is in the first state, the cleaning module is in contact with the surface to be cleaned, and the cleaning module is located in the widest area of the body; When the cleaning module is in the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is located outside the widest area of the body, or the target end of the cleaning module is flush with the edge of the widest area of the body; when the cleaning module is in the third state, the cleaning module is located within the widest area of the body; wherein, the widest area is the area formed by two tangents along the travel direction of the cleaning robot to the projection of the body onto the surface to be cleaned.
3. The cleaning robot according to claim 1, wherein, The cleaning module includes a tracked cleaning component or a roller-type cleaning component.
4. The cleaning robot according to claim 1, wherein, The power module is used to drive the mobile module to move relative to the body along a first direction, so as to switch the cleaning module between the first state and the second state; When the cleaning module abuts against the body on one side in the first direction, the power module provides a force to drive the moving module to move in the first direction, and through the linkage of the moving module and the matching component, drives the cleaning module to move in the second direction, so that the cleaning module switches between the first state and the third state, or between the second state and the third state, wherein the first direction and the second direction intersect.
5. The cleaning robot according to claim 4, wherein, The first direction is parallel to the width direction of the cleaning robot.
6. The cleaning robot according to claim 4, characterized in that, The second direction includes the height direction of the cleaning robot.
7. The cleaning robot according to claim 4, wherein, Along the first direction, the body includes an abutment portion opposite to the cleaning module, the abutment portion being able to abut against the cleaning module to restrict the movement of the cleaning module along the first direction.
8. The cleaning robot according to claim 7, wherein, In the first direction, the abutment portion of the body is located on the body at a position away from the target end of the cleaning module, and the abutment portion is used to abut against the end of the cleaning module away from the target end.
9. The cleaning robot according to claim 7, wherein, The cleaning module includes a body and a slider. The slider is disposed on the side of the body opposite to the abutment portion. When the slider abuts the abutment portion, the movement of the cleaning module along the first direction is restricted by the body. The slider is used to reduce the friction between the body and the abutment portion when the body moves along the second direction.
10. The cleaning robot of claim 1, wherein, The cleaning module includes a body, and the matching component is disposed on the body; the mobile module includes a mobile body, which is movably disposed on the body and connected to the power module. The linkage component is disposed on the mobile body and can cooperate with the cleaning module. The power module is used to drive the mobile body to move along a first direction, and through the linkage component, drive the matching component to move along a second direction, so as to drive the body to move along the second direction. 11.The cleaning robot according to claim 10, wherein The linkage includes a first side and a second side that are opposite to each other along the first direction. When the linkage is engaged with the cleaning module, the first side of the linkage is opposite to the matching component. The first side of the linkage is inclined and the distance between the first side of the linkage and the surface to be cleaned gradually decreases along the positive direction of the first direction.
12. The cleaning robot of claim 10, wherein, The matching component includes a first side and a second side that are opposite to each other along the first direction. When the linkage component is engaged with the cleaning module, the first side of the matching component is opposite to the linkage component. The first side of the matching component is inclined and the distance between the first side of the matching component and the surface to be cleaned gradually decreases along the first direction.
13. The cleaning robot of claim 10, wherein, The main body is provided with a mating groove, and the main body is provided with a communication port communicating with the mating groove. The matching component is disposed in the mating groove, and at least a part of the linkage component extends into the mating groove through the communication port and can mate with the matching component.
14. The cleaning robot according to claim 13, wherein, The matching component includes a pulley, which is located near the side wall of the mating groove opposite to the linkage in the first direction, and the pulley is capable of engaging with the linkage; or The matching component includes a matching sidewall of the mating groove that is opposite to the linkage component in the first direction, and the matching sidewall is capable of mating with the linkage component.
15. The cleaning robot of claim 10, wherein, The body is provided with a guide groove extending along the first direction, and at least a portion of the moving body is disposed in the guide groove, the guide groove being used to guide the moving body to move relative to the body along the first direction.
16. The cleaning robot of claim 15, wherein, One of the fuselage and the mobile body is provided with a positioning member, and the other of the fuselage and the mobile body is provided with a positioning groove extending along the first direction. The positioning member is used to cooperate with the positioning groove to restrict the movement of the mobile body along the first direction.
17. The cleaning robot of claim 1, wherein, The matching component on the cleaning module is located at the top of the cleaning module and at the middle position in the width direction of the cleaning module; wherein, the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.
18. The cleaning robot of claim 1, wherein, The power module includes: Drive components; and A transmission component, one end of which is connected to the drive component and the other end of which is connected to the moving module, is used to transmit the driving force of the drive component to the moving module so that the moving module moves relative to the body.
19. The cleaning robot of claim 18, wherein, The power module also includes: A buffer assembly is provided to buffer the positive external force along the first direction experienced by the cleaning module when the cleaning module is in the second state and is subjected to the external force along the first direction.
20. The cleaning robot of claim 19, wherein, The buffer component includes: The elastic element is in an elastic deformation state when the cleaning module is in the second state and is subjected to a positive external force along the first direction; the elastic element includes at least one of the following: spring, sheet, and rubber component.
21. The cleaning robot according to any one of claims 18-20, wherein, The transmission component includes: Connector, the connector being connected to the mobile module; and A transmission component, one end of which is connected to the drive component and the other end of which is connected to the connector, wherein the drive component drives the connector to move relative to the body through the transmission component, thereby causing the moving module to move relative to the body.
22. The cleaning robot of claim 21, wherein, The transmission component includes a gear and a rack. The gear is connected to the driving component, and the rack is connected to the connecting component. The gear and the rack cooperate with each other. When the driving component drives the gear to rotate, the gear drives the rack to move, thereby driving the connecting component to move relative to the machine body.
23. The cleaning robot of claim 21, wherein, The mobile body of the mobile module is provided with a connecting groove. In the opposite direction of the first direction, the connecting groove includes a first connecting sidewall and a second connecting sidewall in sequence. At least a portion of the connector is disposed in the connecting groove. The elastic element of the buffer assembly of the power module is connected to both the connector and the first connecting sidewall, or the elastic element is connected to both the connector and the second connecting sidewall.
24. The cleaning robot of claim 23, wherein, When the elastic element includes a tension spring, the tension spring is fixedly connected to both the connecting member and the first connecting sidewall; when the elastic element includes a compression spring, the compression spring is connected to both the connecting member and the second connecting sidewall, and the compression spring is connected to at least one of the connecting member and the second connecting sidewall in an abutting manner.
25. The cleaning robot of claim 23, wherein, The movable body includes a connecting post disposed within the connecting groove, and the elastic element is sleeved on the connecting post. The connecting post is used to restrict the deformation of the elastic element along a first direction.
26. The cleaning robot according to claim 18 or 19, wherein, The mobile module includes a first end and a second end opposite to each other in a first direction; the transmission component includes: A connecting member is provided around the output shaft of the drive member, and the opposite ends of the connecting member are respectively connected to the first end and the second end of the moving module. The drive member drives the moving module to move relative to the body through the connecting member.
27. The cleaning robot of claim 26, wherein, The buffer assembly of the power module includes a collision avoidance member, which is disposed on the body and is movable relative to the body. At least a portion of the movable body of the movable module is disposed on the collision avoidance member and is movable relative to the collision avoidance member. Both ends of the connecting member are connected to the collision avoidance member. The elastic element of the buffer assembly is connected between the collision avoidance member and the movable body along the first direction.
28. The cleaning robot of claim 26, wherein, One end of the elastic element of the buffer assembly of the power module is connected to the connector, and the other end is connected to the first end of the moving body of the moving module and / or the second end of the moving body.
29. The cleaning robot of claim 28, wherein, The first end and / or the second end of the movable body are provided with a through groove, and at least a portion of the elastic element is disposed in the through groove, the through groove being used to restrict the deformation of the elastic element along the first direction.
30. The cleaning robot according to claim 1, characterized in that, The cleaning robot further includes a detection module, which is used to detect the current state of the cleaning module, the current state including the first state, the second state and the third state.
31. The cleaning robot of claim 30, wherein, The detection module includes an encoder, which is disposed on the drive component of the power module and is used to detect the number of rotations of the drive component of the power module to determine the current state of the cleaning module.
32. The cleaning robot of claim 30, wherein, The detection module includes a transmitter and a receiver, one of which is disposed on the cleaning module and the other is disposed on the body. The transmitter is used to transmit a detection signal, and the receiver is used to receive the detection signal and indicate the current state of the cleaning module based on the received detection signal.
33. The cleaning robot of claim 1, wherein, The cleaning module further includes a main body and a movable component disposed on the main body; the cleaning robot further includes: A guide member is disposed on the fuselage and is used to guide the moving member to move relative to the fuselage.
34. The cleaning robot of claim 33, wherein, The guide includes two guides, which are disposed on opposite sides of the cleaning module in the width direction; Alternatively, the guide may include one component, which is disposed on the top of the cleaning module and located at the middle position in the width direction of the cleaning module; The width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.
35. The cleaning robot of claim 33, wherein, The body is provided with a guide groove, which forms the guide member, and the length direction of the guide groove is a first direction; or The guide is installed on the fuselage, and the guide has a guide groove, the length direction of which is the first direction.
36. The cleaning robot according to claim 1, characterized in that, The body has an installation space, and the side of the body has an opening communicating with the installation space. At least a portion of the cleaning module is disposed in the installation space. When the cleaning module is in the second state, at least a portion of the cleaning module extends out of the installation space from the opening.
37. A cleaning robot, characterized in that include: body; A cleaning module is disposed on the body of the machine. The cleaning module is provided with a matching part. The cleaning module includes a mopping component for cleaning the surface to be cleaned. A mobile module, which is movably mounted on the body and can cooperate with the cleaning module, wherein the mobile module is provided with a linkage component that cooperates with the matching component; and A power module is disposed on the body and connected to the mobile module, and the power module is used to drive the mobile module to move relative to the body along a first direction; During the process of the power module driving the mobile module to move along the first direction, the linkage can move to the point where the matching part is supported on the linkage, so that the cleaning module moves relative to the body from a first position to a second position; wherein, when the cleaning module is in the first position, the cleaning module is in contact with the surface to be cleaned, and when the cleaning module is in the second position, the cleaning module is spaced apart from the surface to be cleaned.
38. The cleaning robot of claim 37, wherein, The first direction is parallel to the width direction of the cleaning robot.
39. The cleaning robot of claim 37, wherein, The cleaning module includes a body, and the matching component is disposed on the body; the mobile module includes a mobile body, which is movably disposed on the body and connected to the power module. The linkage component is disposed on the mobile body and can cooperate with the cleaning module. The power module is used to drive the mobile body to move along the first direction, and through the linkage component, drive the matching component to move along the second direction, so as to drive the body to move along the second direction, the second direction intersecting the first direction.
40. The cleaning robot of claim 39, wherein, The linkage includes a first side and a second side that are opposite to each other along the first direction. When the linkage is engaged with the cleaning module, the first side of the linkage is opposite to the matching component. The first side of the linkage is inclined and the distance between the first side of the linkage and the surface to be cleaned gradually decreases along the positive direction of the first direction.
41. The cleaning robot of claim 39, wherein, The matching component includes a first side and a second side that are opposite to each other along the first direction. When the linkage component is engaged with the cleaning module, the first side of the matching component is opposite to the linkage component. The first side of the matching component is inclined. Along the positive direction of the first direction, the distance between the first side of the matching component and the surface to be cleaned gradually decreases.
42. The cleaning robot of claim 39, wherein, The main body is provided with a mating groove, and the main body is provided with a communication port communicating with the mating groove. The matching component is disposed in the mating groove, and at least a part of the linkage component extends into the mating groove through the communication port and can mate with the matching component.
43. The cleaning robot of claim 42, wherein, The matching component includes a pulley, which is located near the side wall of the mating groove opposite to the linkage in the first direction, and the pulley is capable of engaging with the linkage; or The matching component includes a matching sidewall of the mating groove that is opposite to the linkage component in the first direction, and the matching sidewall is capable of mating with the linkage component.
44. The cleaning robot of claim 37, wherein, The power module includes: Drive components; and A transmission component, one end of which is connected to the drive component and the other end of which is connected to the moving module, is used to transmit the driving force of the drive component to the moving module so that the moving module moves relative to the body.
45. The cleaning robot of claim 44, wherein, The power module also includes: A buffer assembly is provided to buffer the positive external force along the first direction experienced by the cleaning module when it is in the first position and subjected to the external force along the first direction.
46. The cleaning robot of claim 45, wherein, The buffer component includes: The elastic element is in an elastic deformation state when the cleaning module is in the first position and is subjected to a positive external force along the first direction. The elastic element includes at least one of the following: spring, sheet, or rubber component.
47. The cleaning robot according to any one of claims 44-46, wherein, The transmission component includes: Connector, the connector being connected to the mobile module; and A transmission component, one end of which is connected to the drive component and the other end of which is connected to the connector, wherein the drive component drives the connector to move relative to the body through the transmission component, thereby causing the moving module to move relative to the body.
48. The cleaning robot of claim 47, wherein, The mobile body of the mobile module is provided with a connecting groove. In the opposite direction of the first direction, the connecting groove includes a first connecting sidewall and a second connecting sidewall in sequence. At least a portion of the connector is disposed in the connecting groove. The elastic element of the buffer assembly of the power module is connected to both the connector and the first connecting sidewall, or the elastic element is connected to both the connector and the second connecting sidewall. In the first direction, the connector and the second connecting sidewall are spaced apart.
49. The cleaning robot according to claim 48, characterized in that, When the elastic element includes a tension spring, the tension spring is fixedly connected to both the connecting member and the first connecting sidewall; When the elastic element includes a compression spring, the compression spring is connected to both the connecting member and the second connecting sidewall, and the connection between the compression spring and at least one of the connecting member and the second connecting sidewall is an abutment.
50. The cleaning robot of claim 48, wherein, The mobile body includes a connecting post, which is disposed in the connecting groove. The elastic element of the buffer component of the power module is sleeved on the connecting post, and the connecting post is used to limit the deformation of the elastic element along the first direction.
51. The cleaning robot of claim 44 or 45, wherein, The mobile module includes a first end and a second end opposite to each other in a first direction; the transmission component includes: A connecting member is provided around the output shaft of the drive member, and the opposite ends of the connecting member are respectively connected to the first end and the second end of the moving module. The drive member drives the moving module to move relative to the body through the connecting member.
52. The cleaning robot of claim 51, wherein, The buffer assembly of the power module includes a collision avoidance member, which is disposed on the body and is movable relative to the body. At least a portion of the movable body of the movable module is disposed on the collision avoidance member and is movable relative to the collision avoidance member. Both ends of the connecting member are connected to the collision avoidance member. The elastic element of the buffer assembly is connected between the collision avoidance member and the movable body along the first direction.
53. The cleaning robot of claim 51, wherein, One end of the elastic element of the buffer assembly of the power module is connected to the connector, and the other end is connected to the first end of the moving body of the moving module and / or the second end of the moving body.
54. The cleaning robot of claim 53, wherein, The first end and / or the second end of the movable body are provided with a through groove, and at least a portion of the elastic element is disposed in the through groove, the through groove being used to restrict the deformation of the elastic element along the first direction.
55. The cleaning robot of claim 37, wherein, The cleaning module further includes a main body and a movable component disposed on the main body; the cleaning robot further includes: A guide member is disposed on the fuselage and is used to guide the moving member to move relative to the fuselage.
56. A base station, comprising: The base station is used in conjunction with the cleaning robot according to any one of claims 1-36 and 37-55, and the base station includes a docking position for accommodating the cleaning robot.
57. A cleaning system characterized by, include: The cleaning robot according to any one of claims 1-36 and 37-55; and A base station for use with the cleaning robot according to any one of claims 1-36 and 37-55, the base station including a docking position for accommodating the cleaning robot.