Sweeping robot and cleaning system

Abstract

The application provides a sweeping robot and a cleaning system. The sweeping robot comprises a shell, a running mechanism connected to the shell, the running mechanism comprising a driving motor and a running wheel, the driving motor being connected to the running wheel and used for driving the running wheel to rotate, the driving motor comprising a rotor comprising a rotating shaft and a coil winding, the coil winding being sleeved on the rotating shaft, the rotating shaft being used for being connected to the running wheel, a plurality of fixed magnets, the plurality of fixed magnets being arranged around the rotor and being arranged at intervals in the circumferential direction, the length direction of each fixed magnet being parallel to the axial direction of the rotor, in the axial direction of the rotor, the magnet center point of each fixed magnet being located on one side of the coil center point of the coil winding, wherein the magnet center point is located in the middle part of the fixed magnet in the axial direction of the rotor and is located in the center of the cross section of the middle part of the fixed magnet, and the coil center point is located in the middle part of the coil winding in the axial direction of the rotor and is located in the center of the cross section of the center part of the coil winding.

Description

Technical Field

[0001] This application relates to the technical field of smart homes, and in particular to a robotic vacuum cleaner and cleaning system. Background Technology

[0002] Robotic vacuum cleaners can move using wheels, and the surface of the wheels has multiple grooves spaced apart to improve the robot's obstacle-crossing ability. However, the grooves increase the impact force each time the wheel contacts the ground. This impact force is transmitted to the gearbox and motor that drive the wheel to rotate, and it also impacts the motor rotor axially, causing the motor rotor to move axially and generate noise. Utility Model Content

[0003] In view of the above, it is necessary to provide a robotic vacuum cleaner and cleaning system to reduce the noise generated by the robotic vacuum cleaner during operation.

[0004] A first aspect of this application provides a robotic vacuum cleaner, comprising: a housing; a driving mechanism connected to the housing, the driving mechanism including a drive motor and driving wheels, the drive motor being connected to the driving wheels and used to drive the driving wheels to rotate; the drive motor including: a rotor, the rotor including a shaft and a coil winding, the coil winding being sleeved on the shaft, the shaft being used to connect to the driving wheels; a plurality of fixed magnets, the plurality of fixed magnets being arranged around the rotor and spaced apart in the circumferential direction, the length direction of each fixed magnet being parallel to the axial direction of the rotor; in the axial direction of the rotor, the magnet center point of each fixed magnet is located on one side of the coil center point of the coil winding; wherein, the magnet center point is located at the middle of the fixed magnet in the axial direction of the rotor and at the center of the cross-section of the middle of the fixed magnet; the coil center point is located at the middle of the coil winding in the axial direction of the rotor and at the center of the cross-section of the middle of the coil winding.

[0005] Optionally, in the axial direction of the rotor, the first end of each stator is level with the first end of the coil winding, and the length of each stator is less than the length of the coil winding.

[0006] Optionally, the outer shell is provided with a connecting post, and the connecting post has a connecting groove that extends along the height direction of the connecting post. The sweeping robot also includes: a first cleaning mechanism, which is installed on the outer shell and is used to clean the floor; the first cleaning mechanism includes an auxiliary shell, a first damping sleeve, and a screw, the screw being threadedly connected to the connecting groove, the auxiliary shell having a positioning hole, the first damping sleeve passing through the positioning hole, the first damping sleeve having a through groove that extends through the first damping sleeve along the height direction, and the screw at least partially passing through the through groove to achieve the connection between the auxiliary shell and the outer shell.

[0007] Optionally, the housing is further provided with a connecting seat, which surrounds the connecting post and the height of the connecting seat is less than or equal to the height of the connecting post; the first end of the first damping sleeve in the height direction abuts against the connecting seat; the screw includes a nut and a screw rod, the nut abuts against the second end of the first damping sleeve in the height direction, the nut is used to cooperate with the connecting seat to clamp the first damping sleeve, the screw rod is connected to the nut, and the screw rod is threadedly connected to the connecting groove.

[0008] Optionally, the end of the connecting post facing the nut protrudes from the end of the connecting seat facing the nut, and a through groove is provided on the part of the connecting post protruding from the connecting seat, and the part of the connecting post protruding from the connecting seat is used to abut against the nut.

[0009] Optionally, the end of the connecting post facing the nut is flush with the end of the connecting seat facing the nut. The screw also includes a connecting platform, one end of which is connected to the nut in the height direction and the other end is connected to the screw rod. The diameter of the connecting platform is smaller than the diameter of the nut and larger than the diameter of the screw rod. The end of the connecting platform away from the nut abuts against the connecting post, and the connecting platform is provided with a through groove.

[0010] Optionally, the end of the connecting post facing the nut protrudes from the end of the connecting seat facing the nut, and a through groove is provided in the part of the connecting post protruding from the connecting seat. The screw includes: a connecting platform, one end of the connecting platform in the height direction is connected to the nut, and the other end is connected to the screw rod. The diameter of the connecting platform is smaller than the diameter of the nut and larger than the diameter of the screw rod. The end of the connecting platform away from the nut abuts against the connecting post, and the connecting platform is provided with a through groove.

[0011] Optionally, the sum of the height H1 of the connecting platform and the distance H2 from which the connecting column protrudes from the connecting seat in the direction close to the nut is less than the height H3 of the first damping sleeve, and greater than or equal to 0.8*H3.

[0012] Optionally, the outer casing is provided with a sliding groove, and the first cleaning mechanism further includes: a sliding cover plate, which is movably connected to the auxiliary casing, the sliding cover plate is located between the auxiliary casing and the outer casing, and the sliding cover plate is used to cover the sliding groove, and a through hole is provided on the sliding cover plate; a movable connector, which is provided with a through hole, the movable connector is used to connect a cleaning component, and the movable connector is used to rotate to drive the cleaning component to rotate, thereby realizing the cleaning of the ground.

[0013] Optionally, the first cleaning mechanism further includes: a first driving member, which is disposed within the housing and connected to a movable connector, and is used to drive the movable connector to rotate; and a second damping sleeve, which is integrally connected to a sliding cover plate, and is correspondingly disposed with a through hole, and is sleeved on at least a portion of the structure of the first driving member.

[0014] A second aspect of the embodiments of this application provides a cleaning system, including: a base station; a sweeping robot as described above; wherein the base station has a docking position for the sweeping robot to dock.

[0015] The sweeping robot and cleaning system provided by the embodiments of this application, when the driving mechanism is working, the concave part on the driving wheel abuts against the ground, which will cause the rotor of the driving drive to be subjected to a sudden force. At this time, since the magnet center point of each fixed magnet is on the same side of the rotor axis and the coil center point, multiple fixed magnets can apply a unilateral magnetic pull force to the coil winding in the axial direction, that is, apply a unilateral magnetic pull force to the rotor in the axial direction, so as to counteract the sudden force on the rotor through the unilateral magnetic pull force, thereby reducing the rotor's axial movement and reducing the generation of noise. Attached Figure Description

[0016] Figure 1 This is a partial top view of the robotic vacuum cleaner in an embodiment of this application.

[0017] Figure 2 This is a bottom view of a partial structure of the sweeping robot in the embodiments of this application.

[0018] Figure 3 This is a cross-sectional view of the driving mechanism in an embodiment of this application.

[0019] Figure 4 This is a schematic diagram showing the relative relationship between the coil winding and the fixed magnet in an embodiment of this application.

[0020] Figure 5 This is a schematic diagram of the first internal structure of the sweeping robot in the embodiments of this application.

[0021] Figure 6 This is a first schematic diagram of the flexible connection between the attached housing and the outer shell in an embodiment of this application.

[0022] Figure 7 This is a second schematic diagram of the flexible connection between the attached housing and the outer shell in an embodiment of this application.

[0023] Figure 8 This is a third schematic diagram of the flexible connection between the attached housing and the outer shell in the embodiments of this application.

[0024] Figure 9 This is a fourth schematic diagram of the flexible connection between the attached housing and the outer shell in the embodiments of this application.

[0025] Figure 10 This is a schematic diagram of the second internal structure of the sweeping robot in the embodiments of this application.

[0026] Figure 11 This is a schematic diagram of the structure of the sliding cover and the second damping sleeve in the embodiments of this application.

[0027] Figure 12 This is a schematic diagram of the cleaning system according to an embodiment of this application.

[0028] Explanation of key component symbols: 100. Sweeping robot; 10. Outer shell; 11. Connecting column; 111. Connecting groove; 12. Connecting seat; 13. Slide groove; 20. Traveling mechanism; 21. Mounting housing; 22. Drive motor; 221. Rotor; 2211. Rotating shaft; 2212. Coil winding; 222. Stator magnet; 223. Stator housing; 23. Traveling wheel; 24. Helical gear; 30. First cleaning mechanism; 31. Auxiliary housing; 311. Positioning hole; 32. First vibration damping sleeve; 321. Through groove; 322. Anti-vibration... 33. Screw; 331. Nut; 332. Screw; 333. Connecting platform; 34. Sliding cover; 341. Through hole; 35. Movable connector; 36. First driving component; 361. First housing; 362. First output shaft; 37. Second damping sleeve; 371. Sleeve part; 372. Blocking part; 40. Second cleaning mechanism; 41. Second driving component; 411. Second housing; 412. Second output shaft; 42. Fixed connector; 43. Damping pad; 200. Base station. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0030] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0031] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0032] Please see Figure 1 and Figure 2 Figure 1 and Figure 2 An embodiment of the present application is shown, which provides a robotic vacuum cleaner 100.

[0033] In the embodiments of this application, the sweeping robot 100 can be operated by electric power. The sweeping robot 100 has the function of driving on the ground and has at least one of the functions of sweeping, washing, vacuuming and disinfecting the ground.

[0034] In one embodiment, the robotic vacuum cleaner 100 may include a housing 10 and a driving mechanism 20. The housing 10 may house various components of the robotic vacuum cleaner 100. A portion of the driving mechanism 20 is housed within the housing 10, and a portion of the driving mechanism 20 extends from the bottom of the housing 10 and abuts against the ground. Operation of the driving mechanism 20 enables the robotic vacuum cleaner 100 to move on the ground.

[0035] Please refer to the following: Figure 3 The driving mechanism 20 may include a mounting housing 21, a drive motor 22, and driving wheels 23. The mounting housing 21 may be partially housed within the outer casing 10 and fixedly connected to it. The drive motor 22 may be housed within the mounting housing 21 and fixedly connected to it. The driving wheels 23 may be partially housed within the mounting housing 21, with the remaining portion extending beyond it. Anti-slip patterns may be formed on the outer arc surface of the driving wheels 23. The portion of the driving wheels 23 extending beyond the mounting housing 21 may contact the ground and may rotate relative to the outer casing 10. In the height direction of the robotic vacuum cleaner 100, the driving wheels 23 may extend beyond the bottom of the mounting housing 21, and the drive motor 22 may be located above and / or to the side of the driving wheels 23. The drive motor 22 is connected to the driving wheels 23 and can drive the driving wheels 23 to rotate, thereby enabling the robotic vacuum cleaner 100 to move on the ground.

[0036] It is understandable that the anti-slip texture on the driving wheel 23 can reduce the probability of the driving wheel 23 slipping on the ground when it rotates, and can improve the adhesion of the driving wheel 23 to the ground, thereby improving the stability and obstacle crossing ability of the sweeping robot 100.

[0037] It is understood that the drive motor 22 can be connected to the driving wheel 23 through a gear set. When the drive motor 22 is working, it can drive the gear set to rotate, thereby causing the driving wheel 23 to rotate synchronously through the transmission action of the gear set, enabling the sweeping robot 100 to move on the ground. In the embodiments of this application, the principle of the drive motor 22 connecting to the driving wheel 23 through the gear set is a general principle in the relevant field and will not be described in detail here.

[0038] In the embodiments of this application, the fixing method during fixed connection and fixed installation is not specifically limited. For example, the fixing method may include, but is not limited to, bolt fixing, screw fixing, snap-fit ​​fixing, and welding fixing.

[0039] It is understood that the driving wheels 23 can be rotatably connected to the mounting housing 21, thereby rotating relative to the mounting housing 21 and the outer shell 10 under the drive of the drive motor 22, enabling the sweeping robot 100 to move on the ground. The rotatable connection can be achieved through a rotating connector, a connection method that allows the two components to rotate relative to each other. In the embodiments of this application, the type of rotating connector is not specifically limited. For example, the rotating connector can be, but is not limited to, a pin, bearing, or hinge.

[0040] Please refer to the following: Figure 4 In some embodiments, the drive motor 22 may include a rotor 221, a stator magnet 222, and a stator housing 223.

[0041] The rotor 221 may include a shaft 2211 and a coil winding 2212. The axial direction of the shaft 2211 and the axial direction of the traveling wheel 23 may be the same. The gear set connecting the drive motor 22 and the traveling wheel 23 may include a helical gear 24. One end of the shaft 2211 may be fixedly connected to the helical gear 24, and the helical gear 24 may be coaxially arranged with the shaft 2211. The rotation of the shaft 2211 can drive the helical gear 24 to rotate synchronously, so that the gear set rotates synchronously, thereby driving the traveling wheel 23 to rotate. The coil winding 2212 is fixedly connected to the shaft 2211; for example, the coil winding 2212 is sleeved in the middle of the shaft 2211.

[0042] A stator housing 223 can be fitted over the coil winding 2212. A rotating shaft 2211 can axially pass through both ends of the stator housing 223 and can rotate relative to the stator housing 223. Multiple stator magnets 222 can be present, spaced apart along the direction surrounding the coil winding 2212, and all stator magnets 222 are fixedly connected to the inner wall of the stator housing 223. Each stator magnet 222 is spaced apart from the coil winding 2212. For example... Figure 4 As shown, each fixed magnet 222 may include a magnet center point P1, which is located at the center of the corresponding fixed magnet 222 along the axial direction of the rotor 221 and at the center of the cross-section of the corresponding fixed magnet 222. The coil winding 2212 may include a winding center point P2, which is located at the center of the coil winding 2212 along the axial direction of the rotor 221 and at the center of the cross-section of the coil winding 2212. Along the axial direction of the rotor 221, the magnet center point P1 of each fixed magnet 222 is located to one side of the coil center point P2.

[0043] It is understood that the coil winding 2212 can be energized to generate magnetic force. The magnetic force generated by the energized coil winding 2212 can cooperate with the magnetic force of the fixed magnet 222, thereby causing the rotor 221 to rotate. In the embodiments of this application, the principle of the rotor 221 rotation can be a general principle in the relevant field. For the specific principle, please refer to the working principle of the permanent magnet synchronous motor, which will not be repeated here.

[0044] It is understandable that when the traveling wheel 23 contacts and rotates with the ground, there are some recessed areas on the curved surface of the traveling wheel 23 with anti-slip texture. When these recessed areas contact the ground, they will generate a sudden impact on the traveling wheel 23, causing the traveling wheel 23 to receive a sudden force. This sudden force will be transmitted to the rotor 221 through the gear set, causing the rotor 221 to move axially and generate noise. In the embodiment of this application, by aligning the magnet center point P1 of each fixed magnet 222 with the rotor 221 on the same side as the coil center point P2, the multiple fixed magnets 222 can apply a unilateral magnetic pull force to the coil winding 2212 axially while driving the rotor 221 to rotate through magnetic force. That is, they can apply a unilateral magnetic pull force to the rotor 221 axially, thereby offsetting the sudden force on the rotor 221. In this way, the axial movement of the rotor 221 can be reduced, and the generation of noise can be reduced.

[0045] In the embodiments of this application, the length of each fixed magnet 222 is less than the length of the coil winding 2212 in the axial direction of the rotor 221. In the axial direction of the rotor 221, the fixed magnet 222, the coil winding 2212, and the rotating shaft 2211 may each have a first end and a second end arranged opposite to each other; the first end of the fixed magnet 222 may be flush with the first end of the coil winding 2212, and the second end of the coil winding 2212 protrudes beyond the second end of the fixed magnet 222.

[0046] The operator can determine whether the helical gear 24 is installed at the first or second end of the rotating shaft 2211 based on the structure and internal component layout of the robotic vacuum cleaner 100. For example, when the rotating shaft 2211 is subjected to a sudden force, it will tend to move in the direction from the first end to the second end. The helical gear 24 can be fixedly installed at the first end of the rotating shaft 2211, and the fixed magnet 222 can generate a driving force to propel the rotating shaft 2211 in the direction from the second end to the first end (e.g., ...). Figure 3 and Figure 4 A unilateral magnetic pull force that moves in the X direction (of the object).

[0047] In the embodiments of this application, the method by which the fixed magnet 222 achieves the length difference with the coil winding 2212 is not specifically limited. For example, the fixed magnet 222 can be manufactured first to have the same length as the coil winding 2212, and then the second end of the fixed magnet 222 can be machined to make the second end of the fixed magnet 222 offset from the second end of the coil winding 2212.

[0048] In the embodiments of this application, the cutting depth of the fixed magnet 222 is not specifically limited. For example, the cutting depth of the fixed magnet 222 can be from 0.8 mm to 1.2 mm, and is preferably 1 mm.

[0049] Please refer to the following: Figure 5 and Figure 6 In some embodiments, a connecting post 11 and a connecting seat 12 protrude from the inner wall of the outer casing 10. The connecting seat 12 can be integrally formed with the outer casing 10. The connecting seat 12 can be arranged around the connecting post 11, and the connecting post 11 and the connecting seat 12 are fixedly connected, thereby achieving a fixed connection with the outer casing 10. A connecting groove 111 is formed on the connecting post 11, and the connecting groove 111 can extend along the height direction of the connecting post 11.

[0050] The robotic vacuum cleaner 100 may further include a first cleaning mechanism 30. At least a portion of the first cleaning mechanism 30 is housed within the outer casing 10. The first cleaning mechanism 30 may include an auxiliary housing 31, a first damping sleeve 32, and screws 33. The auxiliary housing 31 is housed within the outer casing 10, and at least one motor is connected to the auxiliary housing 31. This motor is connected to a cleaning component and can drive the cleaning component to move, enabling it to clean the floor.

[0051] The screw 33 may include a nut 331 and a screw 332. The nut 331 is connected to the screw 332 and is located at one axial end of the screw 332. The screw 332 of the screw 33 can be received in the connecting groove 111 and threadedly connected to the connecting groove 111. The first damping sleeve 32 is made of an elastic material. A positioning hole 311 can be formed on the housing 31, and the first damping sleeve 32 can pass through the positioning hole 311. A through groove 321 can be formed in the middle of the first damping sleeve 32, and the through groove 321 extends through the first damping sleeve 32 along the height direction of the first damping sleeve 32. Part of the structure of the screw 33 can pass through the through groove 321 and the positioning hole 311. The bottom of the first damping sleeve 32 in the height direction can abut against the top of the connecting seat 12, so that the first damping sleeve 32 is supported on the connecting seat 12; the top of the first damping sleeve 32 in the height direction can abut against the bottom of the nut 331, and the nut 331 can cooperate with the connecting seat 12 to clamp the first damping sleeve 32.

[0052] It is understood that, in the height direction of the outer casing 10, both the connecting post 11 and the connecting seat 12 can be located on the bottom wall inside the outer casing 10 and extend towards the top of the outer casing 10. The connecting seat 12 can cooperate with the connecting post 11 to receive the position of the positioning hole 311 on the auxiliary housing 31 from the bottom, thereby realizing the support of the auxiliary housing 31. This allows the auxiliary housing 31 to be spaced apart from the bottom wall inside the outer casing 10, reducing the collision between the outer casing 10 and the auxiliary housing 31, thereby reducing the noise generated by the sweeping robot 100 during operation.

[0053] It is understood that the cleaning component can come into contact with the ground and rotate and / or move under the drive of the motor on the attached housing 31. The cleaning component can clean dust, hair, stains, etc. on the ground by rotating and / or moving relative to the ground, thereby enabling the sweeping robot 100 to clean the ground.

[0054] In the embodiments of this application, the type of cleaning component is not specifically limited. For example, the cleaning component may be, but is not limited to, a brush, a cloth strip, or an adhesive strip. It is understood that the first damping sleeve 32 is connected to the auxiliary housing 31 through the positioning hole 311, and the screw 33 is connected to the first damping sleeve 32 and the outer housing 10 through the positioning hole 311 and the through groove 321. In this way, the first damping sleeve 32 can achieve a soft connection between the auxiliary housing 31 and the outer housing 10. When the sweeping robot 100 is working, the electric components inside the outer housing 10 (such as the drive motor 22 and the motor on the auxiliary housing 31) will generate vibration when they work. The vibration generated on the auxiliary housing 31 and the outer housing 10 can be transmitted to the first damping sleeve 32. Due to the soft connection between the outer housing 10 and the auxiliary housing 31, the first damping sleeve 32 can undergo elastic deformation under the action of vibration and maintain the connection with the auxiliary housing 31 and the outer housing 10, thereby reducing the collision between the auxiliary housing 31 and the outer housing 10 caused by vibration and reducing the noise when the sweeping robot 100 is working.

[0055] In the embodiments of this application, the material of the first damping sleeve 32 is not specifically limited. For example, the first damping sleeve 32 may be, but is not limited to, rubber or silicone.

[0056] Please refer to the following: Figure 8In the first case, the screw 332 and the nut 331 are directly fixedly connected. The top of the connecting post 11 can protrude from the top of the connecting seat 12, and the part of the connecting post 11 protruding from the connecting seat 12 passes through a through groove 321 and fits against the inner wall of the through groove 321. The screw 332 passes through the through groove 321. The height of the first damping sleeve 32 can be less than the height of the part of the connecting post 11 protruding from the connecting seat 12. When the screw 33 is tightened, the nut 331 can cooperate with the connecting seat 12 to compress the first damping sleeve 32, causing the first damping sleeve 32 to undergo elastic deformation, thereby strengthening the fit between the first damping sleeve 32 and the attached housing 31 and the connecting post 11, and the bottom of the nut 331 can abut against the top of the connecting post 11.

[0057] Please refer to the following: Figure 9 In the second case, screw 33 can be a axial screw 33, which may also include a nut 331, a screw 332, and a connecting platform 333. The top of the connecting platform 333 is fixedly connected to the nut 331 in the height direction, and the bottom is fixedly connected to the screw 332, thereby achieving a fixed connection between the screw 332 and the nut 331. The connecting platform 333 can be accommodated in the through groove 321. The height of the connecting platform 333 can be less than the height of the first damping sleeve 32. The top of the connecting post 11 can be flush with the top of the connecting seat 12. When screw 33 is tightened, the nut 331 can cooperate with the connecting seat 12 to compress the first damping sleeve 32, causing the first damping sleeve 32 to undergo elastic deformation, thereby strengthening the fit between the first damping sleeve 32 and the attached housing 31 and the connecting post 11, and the bottom of the connecting platform 333 can abut against the top of the connecting post 11.

[0058] like Figure 7 As shown, in the third case, screw 33 can be a axial screw 33, and screw 33 can also include a nut 331, a screw 332, and a connecting platform 333. The top of the connecting platform 333 is fixedly connected to the nut 331 in the height direction, and the bottom is fixedly connected to the screw 332, thereby realizing the fixed connection between the screw 332 and the nut 331. The top of the connecting post 11 protrudes from the top of the connecting seat 12. The part of the connecting post 11 protruding from the top of the connecting seat 12 and the connecting platform 333 are both received in the through groove 321. The sum of the height of the connecting platform 333 and the height of the part of the connecting post 11 protruding from the connecting seat 12 is less than the height of the first damping sleeve 32. When the screw 33 is tightened, the nut 331 can cooperate with the connecting seat 12 to squeeze the first damping sleeve 32, causing the first damping sleeve 32 to undergo elastic deformation, thereby strengthening the fit between the first damping sleeve 32 and the attached housing 31 and the connecting column 11. The bottom of the connecting platform 333 can abut against the top of the connecting column 11, and the bottom of the nut 331 can abut against the top of the connecting column 11.

[0059] It is understandable that workers can select the corresponding screws 33 to install on the connecting post 11 according to the height of the connecting post 11, so that the auxiliary housing 31 and the outer housing 10 can be flexibly connected in various situations.

[0060] Please refer to the following: Figure 9 In the embodiments of this application, the sum of the height H1 of the connecting platform 333 and the distance H2 of the connecting post 11 protruding from the connecting seat 12 in the direction close to the nut 331 (i.e., the height of the part of the connecting post 11 protruding from the connecting seat 12) is less than the height H3 of the first damping sleeve 32, and greater than or equal to 0.8*H3. Thus, when the screw 33 is tightened, the first damping sleeve 32 can expand under the pressure of the nut 331 and the connecting seat 12. Simultaneously, it can avoid the situation where the screw 332 does not enter the connecting groove 111 deeply enough when the height of the first damping sleeve 32 is too large, thereby enhancing the stability and firmness of the connection between the first damping sleeve 32 and the outer shell 10 and the auxiliary shell 31.

[0061] In the embodiments of this application, a plurality of anti-slip protrusions 322 may be provided on the peripheral wall of the first damping sleeve 32, and the plurality of anti-slip protrusions 322 may be spaced apart in the height direction of the first damping sleeve 32. When the first damping sleeve 32 passes through the positioning hole 311, the plurality of anti-slip protrusions 322 abut against the inner wall of the positioning hole 311. When the first damping sleeve 32 is compressed and deformed, the gap space between the plurality of anti-slip protrusions 322 can provide space for the elastic deformation of the first damping sleeve 32, and the elastically deformed first damping sleeve 32 can fit tightly against the inner wall of the positioning hole 311, which can improve the firmness of the connection between the auxiliary housing 31 and the first damping sleeve 32.

[0062] like Figure 2 As shown in the embodiments of this application, multiple positioning holes 311 can be formed on the housing 31, and multiple connecting posts 11 and multiple connecting seats 12 can be provided on the inner wall of the housing 10. The multiple positioning holes 311 correspond one-to-one with the multiple connecting posts 11 and one-to-one with the multiple connecting seats 12. The number of screws 33 and first damping sleeves 32 can both be multiple, with the multiple screws 33, multiple first damping sleeves 32, and multiple positioning holes 311 corresponding one-to-one.

[0063] Based on the experimental results of the sweeping robot 100, the staff can set the connecting post 11 and screw 33 corresponding to each positioning hole 311 separately, so that the connecting post 11 and screw 33 corresponding to each positioning hole 311 can meet at least one of the first, second and third situations mentioned above. The embodiments of this application do not specifically limit the number of positioning holes 311.

[0064] Please refer to the following: Figure 10In some embodiments, a groove 13 may be formed on the outer casing 10, and the groove 13 communicates with the space inside the outer casing 10. The groove 13 may be located at the bottom of the outer casing 10 in the height direction. In the height direction of the outer casing 10, the projection of the groove 13 may at least partially coincide with the projection of the attached housing 31.

[0065] The first cleaning mechanism 30 may further include a sliding cover 34, a sliding drive (not shown), a movable connector 35, a first drive 36, and a second damping sleeve 37. The sliding cover 34 may be housed within the outer casing 10 and is movably connected to the auxiliary casing 31. The sliding cover 34 may be located at the bottom of the auxiliary casing 31 in the height direction and between the auxiliary casing 31 and the bottom wall within the outer casing 10. The sliding cover 34 may completely cover the slide groove 13 and may slide along the extension direction of the slide groove 13. The sliding drive may be fixedly mounted on the auxiliary casing 31 and may be connected to the sliding cover 34. The sliding drive may drive the sliding cover 34 to slide.

[0066] Please refer to the following: Figure 11 A through hole 341 can be formed on the sliding cover plate 34, and the through hole 341 can penetrate the sliding cover plate 34 along the height direction of the sliding cover plate 34. The movable connector 35 is partially housed in the auxiliary housing 31, and the remaining part passes through the through hole 341 and the slide groove 13. The cleaning component can be fixedly installed at the end of the movable connector 35 that passes through the through hole 341, and the cleaning component can extend out of the housing 10 and abut against the ground.

[0067] The first drive unit 36 ​​may include a first housing 361 and a first output shaft 362. The first housing 361 may be housed within an auxiliary housing 31. The first output shaft 362 may be partially housed within the first housing 361, with one axial end of the first output shaft 362 extending beyond the bottom of the first housing 361 in the height direction. The end of the first output shaft 362 extending beyond the first housing 361 may be fixedly connected to a movable connector 35. When the first drive unit 36 ​​operates, the first output shaft 362 rotates, thereby causing the movable connector 35 and the cleaning component connected to the movable connector 35 to rotate synchronously, achieving cleaning of the ground by the cleaning component.

[0068] The second damping sleeve 37 is made of elastic material and can be integrally connected to the sliding cover plate 34. The second damping sleeve 37 is located on the side of the sliding cover plate 34 away from the bottom wall inside the outer casing 10, that is, at the top of the sliding cover plate 34 in the height direction. The second damping sleeve 37 is correspondingly provided with the through hole 341.

[0069] The second damping sleeve 37 may include a sleeve portion 371 and a blocking portion 372, wherein the sleeve portion 371 and the blocking portion 372 may be integrally formed. The sleeve portion 371 may be annular and may surround the through hole 341, and the space formed by the sleeve portion 371 may communicate with the through hole 341 and the space inside the attached housing 31. The blocking portion 372 may be annular and is located at the end of the sleeve portion 371 opposite to the sliding cover plate 34, that is, at the top of the sleeve portion 371 in the height direction. The blocking portion 372 may partially block the space formed by the sleeve portion 371. The first output shaft 362 may pass through the space formed by the blocking portion 372 and enter the space formed by the sleeve portion 371. A portion of the structure of the movable connector 35 is accommodated in the space formed by the sleeve portion 371 and is spaced apart from the inner wall of the sleeve portion 371. The bottom of the first housing 361 in the height direction can enter the space formed by the blocking part 372, so that the second damping sleeve 37 can be fitted onto the bottom of the first housing 361. The blocking part 372 can support the first housing 361 from the bottom, thereby realizing the support and connection of the second damping sleeve 37 to the first driving member 36.

[0070] In the embodiments of this application, the specific method of movably connecting the sliding cover 34 and the attached housing 31 is not limited. For example, a slide rail can be connected to the bottom of the attached housing 31, and the sliding cover 34 can be slidably connected to the attached housing 31 through the slide rail, thereby realizing the movable connection of the sliding cover 34 to the attached housing 31.

[0071] In the embodiments of this application, the material of the second damping sleeve 37 is not specifically limited. For example, the material of the second damping sleeve 37 can be, but is not limited to, rubber or silicone.

[0072] It is understandable that after the sliding cover plate 34 is produced, workers can use injection molding machines and other equipment to perform injection molding on the sliding cover plate 34, thereby forming a second damping sleeve 37 on the sliding cover plate 34, so that the second damping sleeve 37 is integrally connected with the sliding cover plate 34.

[0073] It is understood that the sliding drive component can drive the sliding cover plate 34 to slide along the direction of the slide groove 13, thereby causing the second damping sleeve 37 to move synchronously. The first drive component 36, which is supported on the second damping sleeve 37, the movable connector 35 partially housed within the second damping sleeve 37, and the cleaning component connected to the movable connector 35 can move synchronously. Thus, the sliding of the sliding cover plate 34 can drive the first drive component 36, the movable connector 35, and the cleaning component to move synchronously. Therefore, the relative positional relationship between the movable connector 35 and the outer shell 10, as well as the relative positional relationship between the corresponding cleaning component and the outer shell 10, can be adjusted by sliding the sliding cover plate 34. This allows the cleaning position of the cleaning component when cleaning the ground to be adjusted, so that the sweeping robot 100 can adjust the position of the movable connector 35 to allow the corresponding cleaning component to clean a designated area according to different usage scenarios.

[0074] For example, when there are no obstacles around the robot vacuum 100, the movable connector 35 can be positioned close to the center of the robot vacuum 100, allowing the corresponding cleaning component to clean the area at the bottom of the outer casing 10. When the robot vacuum 100 collides with obstacles such as furniture, the area under the furniture is difficult to clean. In this case, the sliding drive component can drive the sliding cover 34 to slide, causing the movable connector 35 to move away from the center of the robot vacuum 100. This allows the corresponding cleaning component to extend from the outer casing 10 in a direction perpendicular to the height of the robot vacuum 100 and into the bottom of the furniture. Then, the first drive component 36 can drive the cleaning component to rotate, allowing the cleaning component to clean the area at the bottom of the furniture.

[0075] In the embodiments of this application, the type of sliding drive component is not specifically limited. For example, the sliding drive component can be, but is not limited to, a motor.

[0076] In the embodiments of this application, the extension direction of the groove 13 is not specifically limited. For example, the groove 13 may extend along a circumferential direction, and the groove 13 may be in the shape of an incomplete annulus.

[0077] In the embodiments of this application, the type of the first driving member 36 is not specifically limited. For example, the first driving member 36 may be, but is not limited to, a motor. For example, the first driving member 36 may be a motor, and the first output shaft 362 may be the rotor shaft of the first driving member 36.

[0078] It is understood that by accommodating the movable connector 35 and connecting it to the first drive member 36 through the second damping sleeve 37, the vibration generated by the first drive member 36 during operation is not directly transmitted to the sliding cover 34 and the outer shell 10, but is instead transmitted to the second damping sleeve 37. The second damping sleeve 37 can undergo elastic deformation under the vibration generated by the first drive member 36 during operation, thereby reducing the vibration transmitted to the sliding cover 34 and the outer shell 10. At the same time, the first drive member 36 and the auxiliary shell 31 can be kept apart. The first drive member 36 can be maintained within the auxiliary shell 31 by being supported by the second damping sleeve 37, so that the vibration generated by the first drive member 36 during operation is not directly transmitted to the auxiliary shell 31, reducing the vibration transmitted to the auxiliary shell 31. In this way, the synchronous vibration of the sliding cover 34, the outer shell 10, and the auxiliary shell 31 due to the vibration of the first drive member 36 can be reduced, and the probability of the sliding cover 34 colliding with the outer shell 10 and the auxiliary shell 31 due to vibration can be reduced, thereby reducing the noise generated by the sweeping robot 100 during operation.

[0079] In some embodiments, the robotic vacuum cleaner 100 may further include a second cleaning mechanism 40. The second cleaning mechanism 40 may be housed within the outer casing 10. The second cleaning mechanism 40 may include a second drive member 41 and a fixed connector 42. The second drive member 41 may include a second housing 411 and a second output shaft 412. The second housing 411 may be housed within the outer casing 10. The second output shaft 412 may be partially housed within the second housing 411, and one axial end of the second output shaft 412 extends beyond the bottom of the second housing 411. The end of the second output shaft 412 extending beyond the second housing 411 may be fixedly connected to the fixed connector 42. The fixed connector 42 may pass through the bottom of the outer casing 10, and a cleaning component may be fixedly connected to the bottom of the fixed connector 42. When the second drive member 41 is working, the second output shaft 412 rotates, thereby causing the fixed connector 42 and the cleaning component connected to the fixed connector 42 to rotate synchronously, thereby enabling the cleaning component to clean the floor.

[0080] It is understandable that the second cleaning mechanism 40 can work synchronously with the first cleaning mechanism 30 to cooperate in cleaning the area located at the bottom of the sweeping robot 100.

[0081] It is understood that the materials and structures of the fixed connector 42 and the movable connector 35 can be the same or similar; at the same time, the types of cleaning components connected to the fixed connector 42 and the movable connector 35 can be the same or similar, and the embodiments of this application do not limit this.

[0082] In the embodiments of this application, the type of the second driving member 41 is not specifically limited. For example, the second driving member 41 may be, but is not limited to, a motor. For example, the second driving member 41 may be a motor, and the second output shaft 412 may be the rotor shaft of the second driving member 41.

[0083] It is understandable that when the robotic vacuum cleaner 100 stops working, the second cleaning mechanism 40 can be spaced apart from the bottom wall inside the outer casing 10. When the robotic vacuum cleaner 100 needs to clean the floor, the second cleaning mechanism 40 can be lowered as a whole, so that the fixed connector 42 extends at least partially out of the bottom of the outer casing 10, and the corresponding cleaning component comes into contact with the floor. At this time, the second drive member 41 can drive the fixed connector 42 to rotate, so that the corresponding cleaning component begins to clean the floor.

[0084] As the second cleaning mechanism 40 descends, the second housing 411 gradually approaches the bottom wall inside the outer housing 10. A vibration damping pad 43, made of elastic material, can be fixedly connected to the bottom of the second housing 411. The vibration damping pad 43 descends synchronously with the second housing 411 and abuts against the bottom wall inside the outer housing 10, thus achieving a soft connection between the second cleaning mechanism 40 and the outer housing 10. Vibrations generated by the second drive component 41 are not directly transmitted to the outer housing 10, but rather to the vibration damping pad 43. The vibration damping pad 43 can undergo elastic deformation under vibration, maintaining the soft connection between the second cleaning mechanism 40 and the outer housing 10. This reduces the transmission of vibrations from the second drive component 41 to the outer housing 10, thus reducing noise during the operation of the robotic vacuum cleaner 100.

[0085] It is understood that the lifting and lowering of the second cleaning mechanism 40 can be achieved through a lifting drive component (not shown) connected to the second cleaning mechanism 40. The implementation principle can be a general principle in the relevant field, and will not be elaborated here. For example, the lifting drive component can be, but is not limited to, a linear motor.

[0086] The first drive component 36 and the movable connector 35 in the first cleaning mechanism 30 can be raised and lowered by the same or similar principle as the second cleaning mechanism 40. The first housing 361 of the first drive component 36 can be raised and lowered to move closer to or further away from the first damping sleeve 32.

[0087] The sweeping robot 100 provided by the embodiments of this application allows the driving mechanism 20, the first cleaning mechanism 30, and the second cleaning mechanism 40 to work synchronously during operation. When the driving mechanism 20 is working, the concave portion of the driving wheel 23 contacts the ground, causing a sudden force to the rotor 221 of the driving drive component. Since the center point of each fixed magnet 222 is on the same side of the rotor 221 along the axial direction as the center point of the coil, multiple fixed magnets 222 can apply a unilateral magnetic pull force to the coil winding 2212 along the axial direction, i.e., apply a unilateral magnetic pull force to the rotor 221 along the axial direction. This unilateral magnetic pull force counteracts the sudden force on the rotor 221, thereby reducing the axial movement of the rotor 221 and reducing noise generation.

[0088] When the first cleaning mechanism 30 is working, the second damping sleeve 37 can block the vibration generated by the operation of the first driving member 36, reducing the transmission of vibration to the auxiliary housing 31 and the outer housing 10; and the first damping sleeve 32 can maintain the soft connection between the auxiliary housing 31 and the outer housing 10, reducing the transmission of vibration between the auxiliary housing 31 and the outer housing 10. In this way, the collision between the auxiliary housing 31 and the outer housing 10 is reduced, and the generation of noise is reduced.

[0089] When the second cleaning mechanism 40 is working, the vibration damping pad 43 can block the vibration generated by the operation of the second drive component 41, reduce the transmission of vibration to the housing 10, thereby reducing the collision between the second cleaning mechanism 40 and the housing 10 and reducing the generation of noise.

[0090] Please see Figure 12 This application also provides a cleaning system. Figure 12 This is a schematic diagram of the cleaning system according to an embodiment of this application. Figure 12 As shown, the cleaning system provided in this application embodiment includes a sweeping robot 100 and a base station 200, and the base station 200 has a docking position for the sweeping robot 100 to dock.

[0091] The structure and function of the sweeping robot 100 in the cleaning system provided in this embodiment are the same as those of the sweeping robot 100 provided in the previous embodiment. For details, please refer to... Figures 1 to 11 As described in the foregoing embodiments, this embodiment will not repeat them.

[0092] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A robotic vacuum cleaner, comprising: shell; A driving mechanism is connected to the housing. The driving mechanism includes a drive motor and driving wheels. The drive motor is connected to the driving wheels and is used to drive the driving wheels to rotate. The characteristic is that the drive motor includes: A rotor, comprising a shaft and coil windings, wherein the coil windings are sleeved on the shaft, and the shaft is used to connect to the traveling wheel; Multiple fixed magnets are arranged around the rotor and spaced apart in the circumferential direction. The length direction of each fixed magnet is parallel to the axial direction of the rotor. In the axial direction of the rotor, the center point of each fixed magnet is located to one side of the center point of the coil winding. The center point of the magnet is located at the middle of the fixed magnet in the axial direction of the rotor and at the center of the cross-section of the middle part of the fixed magnet. The center point of the coil is located at the middle of the coil winding in the axial direction of the rotor and at the center of the cross-section of the middle part of the coil winding.

2. The floor cleaning robot according to claim 1, wherein Along the axial direction of the rotor, the first end of each of the fixed magnets is level with the first end of the coil winding, and the length of each of the fixed magnets is less than the length of the coil winding.

3. The floor cleaning robot according to claim 1, wherein The outer shell is provided with a connecting post, and the connecting post has a connecting groove that extends along the height direction of the connecting post. The sweeping robot also includes: A first cleaning mechanism is installed on the outer casing and is used to clean the ground. The first cleaning mechanism includes an auxiliary housing, a first vibration damping sleeve, and a screw. The screw is threadedly connected to the connecting groove. The auxiliary housing has a positioning hole, and the first vibration damping sleeve passes through the positioning hole. The first vibration damping sleeve has a through groove that extends through the first vibration damping sleeve along its height direction. The screw passes through the through groove at least partially to achieve the connection between the auxiliary housing and the outer casing.

4. The floor cleaning robot according to claim 3, wherein The outer casing is also provided with a connecting seat, which is arranged around the connecting post, and the height of the connecting seat is less than or equal to the height of the connecting post; the first end of the first damping sleeve in the height direction abuts against the connecting seat; The screw includes a nut and a screw rod. The nut abuts against the second end of the first vibration damping sleeve in the height direction. The nut is used to cooperate with the connecting seat to clamp the first vibration damping sleeve. The screw rod is connected to the nut and is threadedly connected to the connecting groove.

5. The floor cleaning robot according to claim 4, characterized in that, The end of the connecting post facing the nut protrudes from the end of the connecting seat facing the nut. The part of the connecting post protruding from the connecting seat passes through the through groove, and the part of the connecting post protruding from the connecting seat is used to abut against the nut.

6. The floor sweeping robot according to claim 4, characterized in that, The end of the connecting post facing the nut is flush with the end of the connecting seat facing the nut, and the screw further includes: A connecting platform, one end of which is connected to the nut in the height direction, and the other end of which is connected to the screw. The diameter of the connecting platform is smaller than the diameter of the nut and larger than the diameter of the screw. The end of the connecting platform away from the nut abuts against the connecting post. The connecting platform passes through the through groove.

7. The floor cleaning robot according to claim 4, wherein The connecting post protrudes from the end facing the nut at one end and from the end facing the nut at the other end of the connecting seat at the same end. The portion of the connecting post protruding from the connecting seat passes through the through groove. The screw includes: A connecting platform, one end of which is connected to the nut in the height direction, and the other end of which is connected to the screw. The diameter of the connecting platform is smaller than the diameter of the nut and larger than the diameter of the screw. The end of the connecting platform away from the nut abuts against the connecting post. The connecting platform passes through the through groove.

8. The sweeping robot as described in claim 7, characterized in that, The sum of the height H1 of the connecting platform and the distance H2 from which the connecting column protrudes from the connecting seat in the direction close to the nut is less than the height H3 of the first damping sleeve, and greater than or equal to 0.8*H3.

9. The sweeping robot as described in claim 3, characterized in that, The outer casing is provided with a sliding groove, and the first cleaning mechanism further includes: A sliding cover plate is movably connected to the auxiliary housing, the sliding cover plate is located between the auxiliary housing and the outer housing, and the sliding cover plate is used to cover the sliding groove, and a through hole is formed on the sliding cover plate; A movable connector passes through the through hole and is used to connect a cleaning component. The movable connector is used to rotate to drive the cleaning component to rotate, thereby achieving the cleaning of the ground.

10. The sweeping robot as described in claim 9, characterized in that, The first cleaning mechanism also includes: A first driving component is disposed inside the attached housing and connected to the movable connector. The first driving component is used to drive the movable connector to rotate. The second vibration damping sleeve is integrally connected to the sliding cover plate, and the second vibration damping sleeve is correspondingly disposed to the through hole. The second vibration damping sleeve is sleeved on at least a part of the structure of the first driving member.

11. A cleaning system, characterized in that, include: Base station; The sweeping robot as described in any one of claims 1-10; The base station has a parking space for the sweeping robot to dock.

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