Cleaning robots

Abstract

This application relates to a cleaning robot, including a track mechanism and an inner liner. The inner liner is fitted onto the track mechanism and is used to wrap a mop so that the mop contacts and cleans the work surface. The track mechanism includes: a first support; a second support, one end of which is movably connected to one end of the first support. The second support has a tensioned position and a retracted position relative to the first support. The distance between the opposite ends of the second and first supports is greater in the tensioned position than in the retracted position. Parallel rotating shafts are located on the opposite sides of the first and second supports. Rotation of these shafts drives the inner liner to perform a track-like movement relative to the track mechanism to wrap the mop. This eliminates the need for manual mop replacement by the user, making the cleaning robot more convenient.

Description

Technical Field

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

[0002] Cleaning robots are robotic systems capable of autonomously or semi-autonomously performing environmental cleaning tasks. With the rapid development of sensor technology, artificial intelligence, computing power, and mechatronics, cleaning robots have evolved from simple automated equipment into intelligent agents with certain environmental perception, decision-making, planning, and task execution capabilities. Their application scenarios have also expanded from the initial household sweeping robots to commercial (such as shopping malls and office buildings), industrial (such as factory workshops and cleanrooms), and other specialized fields.

[0003] One type of cleaning robot has a flat mop structure. The flat mop can be attached to the floor with Velcro for mopping. However, this cleaning robot requires manual replacement of the mop, which is not convenient. Utility Model Content

[0004] One of the technical problems addressed in this application is how to improve the ease of use of cleaning robots.

[0005] A cleaning robot includes a track mechanism and a liner, the liner being fitted onto the track mechanism. The liner is used to wrap a mop so that the mop contacts and cleans the work surface. The track mechanism includes:

[0006] First support;

[0007] A second support is provided, one end of which is movably connected to one end of the first support. The second support has a tensioned position and a retracted position relative to the first support. The distance between the other ends of the second support and the first support that are far apart from each other is greater in the tensioned position than in the retracted position.

[0008] The first and second supports have parallel pivots on their far sides. The two pivots rotate to drive the inner liner to make a track-like movement relative to the track mechanism to wrap the mop.

[0009] In one embodiment, the second bracket is rotatably connected to the first bracket. In the tensioned position, the planes of the second bracket and the first bracket are coplanar. In the contracted position, the planes of the second bracket and the first bracket are set at an angle.

[0010] In one embodiment, the first support includes a stop rib, and the second support is provided with a first stop groove and a second stop groove, the first stop groove and the second stop groove being spaced apart along the rotation direction of the second support relative to the first support; in the tensioned position, the stop rib engages with the first stop groove, and in the contracted position, the stop rib engages with the second stop groove; or / and, the second support further includes a limiting surface, in the contracted position, the limiting surface abutting against the surface of the first support, so that the second support rotates at the maximum angle relative to the first support from the tensioned position.

[0011] In one embodiment, the second support is slidably connected to the first support, and in the tensioned position and the contracted position, the planes of the second support and the first support, after being abstracted, are coplanar.

[0012] In one embodiment, a tension elastic element is further included, with its two ends connected to the first bracket and the second bracket respectively. The first bracket includes a buckle, and the second bracket is provided with a locking hole. In the tensioned position, the buckle engages with the locking hole, and the tension elastic element stores energy and is in a stretched state. When the buckle disengages from the locking hole, the tension elastic element releases energy and moves the second bracket from the tensioned position to the contracted position.

[0013] Alternatively, the track mechanism may further include a compression elastic element, the two ends of which are connected to the first bracket and the second bracket respectively. The first bracket includes a buckle, and the second bracket is provided with a locking hole. In the retracted position, the buckle engages with the locking hole, and the compression elastic element stores energy and is in a compressed state. When the buckle disengages from the locking hole, the compression elastic element releases energy and moves the second bracket from the retracted position to the tensioned position.

[0014] In one embodiment, when the track mechanism includes a compression elastic element, the track mechanism further includes an unlocking button and an unlocking elastic element. The unlocking button is slidably connected to the first bracket, and the unlocking elastic element abuts between the unlocking button and the first bracket. In the retracted position, the unlocking button can overcome the elastic movement of the unlocking elastic element and disengage the buckle from the locking hole.

[0015] In one embodiment, the track mechanism further includes a drive assembly, which includes a motor, a drive shaft, a timing pulley, and a timing belt. The motor is disposed within the second bracket, the timing pulley is disposed in the middle of the drive shaft, the drive shaft is rotatably connected to the second bracket, and the timing belt is sleeved on the output shaft of the motor and the timing pulley.

[0016] In one embodiment, the track mechanism further includes an electrode that protrudes from the second bracket and is electrically connected to the motor, the electrode being used to abut against a contact on the frame of the cleaning robot.

[0017] In one embodiment, the track mechanism further includes a mounting button and a mounting elastic element, the mounting button being slidably connected to the second bracket, and the mounting elastic element abutting between the mounting button and the second bracket; the mounting button is capable of extending into or disengaging from a mounting hole on the frame of the cleaning robot.

[0018] In one embodiment, the track mechanism further includes a convex shaft protruding from the first bracket. The outer peripheral surface of the convex shaft includes two guide planes and two arc surfaces, with the two guide planes connected between the two arc surfaces. The frame is provided with a circular hole and a rectangular hole that communicate with each other. The guide planes can slide within the rectangular holes to allow the convex shaft to enter or leave the circular holes, and the arc surfaces can rotate within the circular holes.

[0019] One technical advantage of one embodiment of this application is that when the shafts on the first and second supports rotate, the inner liner moves relative to the track mechanism in a tracked motion. This causes the inner liner to wrap around the mop, bringing the mop into contact with the working surface and cleaning it. This eliminates the need for manual mop replacement by the user, providing greater convenience and allowing for timely mop replacement, resulting in better cleaning. Furthermore, since the distance between the opposite ends of the second and first supports is greater in the tensioned position than in the retracted position, when the inner liner needs to be installed onto or unloaded from the track mechanism, the second support can be in the retracted position. This eliminates interference with the track mechanism, allowing the inner liner to be smoothly assembled or unloaded relative to the track mechanism, thereby improving the ease of use of the track mechanism. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of a cleaning robot provided in one embodiment.

[0021] Figure 2 for Figure 1 The diagram shows an exploded view of the cleaning robot.

[0022] Figure 3 This is a three-dimensional structural diagram of the track mechanism in a cleaning robot provided in one embodiment, when the second support is in the tensioned position.

[0023] Figure 4 for Figure 3 The diagram shows a three-dimensional structural schematic of the track mechanism when the second support is in the retracted position.

[0024] Figure 5 This is an exploded structural diagram of the track mechanism in a cleaning robot provided in one embodiment.

[0025] Figure 6 for Figure 5 The diagram shows a planar cross-sectional view of the track mechanism when the second support is in the tensioned position.

[0026] Figure 7 for Figure 5 The diagram shows a partial three-dimensional cross-sectional view of the cleaning robot, where the track mechanism is located, when the second support is in the tensioned position.

[0027] Figure 8 for Figure 5 The diagram shows a three-dimensional sectional view of the track mechanism when the second support is in the tensioned position.

[0028] Figure 9 This is a schematic cross-sectional view of the track mechanism in a cleaning robot provided in one embodiment when the second support is in the tensioned position.

[0029] Figure 10 for Figure 9 The diagram shows a planar cross-sectional view of the track mechanism when the second support is in the retracted position.

[0030] Figure 11 This is a partial three-dimensional structural diagram of a cleaning robot provided in one embodiment.

[0031] Figure 12 for Figure 11 The diagram shows a three-dimensional structure of the cleaning robot during the rotation of its track mechanism.

[0032] Figure 13 for Figure 11 The diagram shows a three-dimensional structure of the cleaning robot when the mounting button in the track mechanism is detached from the frame.

[0033] Figure 14 for Figure 11 The diagram shows a three-dimensional cross-sectional view of the cleaning robot.

[0034] Figure 15 for Figure 11 The diagram shows a three-dimensional structural schematic of the track mechanism of the cleaning robot.

[0035] Figure 16 for Figure 11 The diagram shows the planar structure of the cleaning robot when the track mechanism is installed.

[0036] Figure 17 for Figure 11 The diagram shows the planar structure of the cleaning robot during the disassembly of its track mechanism.

[0037] Reference numerals: Cleaning robot 10, Track mechanism 11, Liner 12, Frame 13, Mounting hole 13a, Circular hole 13b, Rectangular hole 13c, Discharge mechanism 14, Mop 15, First bracket 100, Stop rib 110, Buckle 120, Limit buckle 130, Second bracket 200, First stop groove 210, Second stop groove 220, Limiting surface 230, Locking hole 240, Tensile elastic element 310, Compression elastic element 320, Unlock button 410, Unlock elastic element 420, Drive assembly 500, Motor 510, Drive shaft 520, Synchronous pulley 530, Synchronous belt 540, Driven shaft 550, Electrode 610, Contact 620, Mounting button 710, Mounting elastic element 720, Convex shaft 800, Guide plane 810, Arc surface 820. Detailed Implementation

[0038] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0039] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0040] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0044] See Figure 1 , Figure 2 and Figure 3An embodiment of this application provides a cleaning robot 10 including a track mechanism 11, an inner liner 12, a frame 13, a discharge mechanism 14, and a mop 15. The track mechanism 11 is mounted on the frame 13. The inner liner 12 is annular and sleeved around the track mechanism 11, and the inner liner 12 can rotate around the track mechanism 11 circumferentially. One end of the mop 15 is fixed to the discharge mechanism 14, allowing the mop 15 to wrap around the discharge mechanism 14; the other end of the mop 15 can be fixed to the inner liner 12, allowing the mop 15 to wrap around the inner liner 12. The portion of the mop 15 that covers the track mechanism 11 and comes into contact with the ground awaiting cleaning is the cleaning section. When this section is heavily soiled, the inner liner 12 rotates relative to the track mechanism 11, wrapping the heavily soiled section around it and releasing the clean mop 15 onto the discharge mechanism 14. This maintains a high level of cleanliness in the cleaning section of the mop 15, thus improving its cleaning effect. This eliminates the need for manual replacement of the mop 15, offering greater convenience and improving the ease of use of the cleaning robot 10. Furthermore, timely replacement of the mop 15 ensures optimal cleaning results.

[0045] In this invention, a mop refers to a cleaning material that can be used for sweeping and mopping, including dry cleaning materials for sweeping and mopping work surfaces and wet cleaning materials for mopping and washing work surfaces. The cleaning material can be cotton, polyester fiber, or non-woven fabric, etc., and is not limited thereto. Furthermore, in this invention, the work surface can be a floor, tabletop, or glass surface; that is, the cleaning robot provided by this invention can be a sweeping robot, a tabletop cleaning robot, or a window cleaning robot.

[0046] See Figure 1 , Figure 2 and Figure 3In some embodiments, the track mechanism 11 includes a first support 100 and a second support 200. One end of the second support 200 is movably connected to one end of the first support 100. When the second support 200 moves relative to the first support 100, it has a tensioned position and a retracted position relative to the first support 100. The distance A between the ends of the second support 200 and the first support 100 that are far apart is greater than the distance a in the retracted position. Therefore, in the retracted position, the distance between the ends of the second support 200 and the first support 100 that are far apart is relatively small, allowing the annular inner liner 12 to be fitted onto the track mechanism 11. In the tensioned position, the distance between the ends of the second support 200 and the first support 100 that are far apart is relatively large, allowing the track mechanism 11 to generate tension on the inner liner 12 from the inside out, thus preventing the inner liner 12 from falling off the track mechanism 11. It is understood that the first support 100 and the second support 200 have parallel rotating shafts on their far sides. The rotation of the two rotating shafts is used to drive the inner liner 12 to make track-like movements relative to the track mechanism 11, so that the mop 15 is wrapped around the inner liner 12.

[0047] If the distance between the two ends of the second and first supports remains constant, the track mechanism will interfere with the inner liner, making it difficult to install the inner liner on the track mechanism or unload it from the track mechanism. This will increase the difficulty of installing and unloading the inner liner, thus affecting the ease of use of the track mechanism.

[0048] Regarding the track mechanism 11 in the above embodiments, since the distance between the opposite ends of the second support 200 and the first support 100 is greater in the tensioned position than in the retracted position, when the inner liner 12 needs to be installed onto or unloaded from the track mechanism 11, the second support 200 can be in the retracted position. This eliminates interference with the track mechanism 11, allowing the inner liner 12 to be smoothly assembled or unloaded relative to the track mechanism 11, thereby improving the ease of use of the track mechanism 11. It can be understood that when the inner liner 12 needs to rotate normally relative to the track mechanism 11, the second support 200 can be in the tensioned position. This allows the track mechanism 11 to exert a reasonable tension force on the inner liner 12, achieving a flattening effect for the inner liner 12 and ensuring that the inner liner 12 rotates smoothly relative to the track mechanism 11 circumferentially, preventing the inner liner 12 from detaching from the track mechanism 11.

[0049] See Figure 2 and Figure 3In some embodiments, the second support 200 is rotatably connected to the first support 100. In the tensioned position, the abstract planes of the second support 200 and the first support 100 are coplanar. In the retracted position, the abstract planes of the second support 200 and the first support 100 are set at an angle, which can be a right angle, an obtuse angle, or an acute angle. For example, in the retracted position, the abstract planes of the second support 200 and the first support 100 are set at a 90° angle, at which point the abstract planes of the second support 200 and the first support 100 are perpendicular to each other.

[0050] See Figure 2 and Figure 3 It can be understood that, in the tensioned position, given that the planes obtained after abstracting the second support 200 and the first support 100 are coplanar, the distance between the two ends of the second support 200 and the first support 100 that are far apart is the sum of the lengths of the second support 200 and the first support 100. In the contracted position, given that the planes obtained after abstracting the second support 200 and the first support 100 are set at an angle, according to the principle that the sum of two sides of a triangle is greater than the third side, the distance between the two ends of the second support 200 and the first support 100 that are far apart will be greater than the sum of the lengths of the second support 200 and the first support 100. Therefore, the value of the distance between the two ends of the second support 200 and the first support 100 that are far apart in the tensioned position is greater than the value in the contracted position.

[0051] See Figure 2 and Figure 3In some embodiments, the first support 100 includes a stop rib 110, which extends along the length of the axis around which the second support 200 rotates relative to the first support 100. The second support 200 is provided with a first stop groove 210 and a second stop groove 220, which are spaced apart along the rotation direction of the second support 200 relative to the first support 100. Similarly, the first stop groove 210 and the second stop groove 220 extend along the length of the axis around which the second support 200 rotates relative to the first support 100. In the tensioned position, the stop rib 110 engages with the first stop groove 210; in the contracted position, the stop rib 110 engages with the second stop groove 220. It is understood that the stop rib 110 can extend into or disengage from the first stop groove 210, and the stop rib 110 can also extend into or disengage from the second stop groove 220. Therefore, when the stop rib 110 engages with the first stop groove 210 or the second stop groove 220, the second bracket 200 can have a certain degree of locking, thus providing a prompt and limiting function for the second bracket 200 to rotate into position. For example, when in the retracted position, if the abstract planes of the second bracket 200 and the first bracket 100 are set at a 90° angle, the angle between the first stop groove 210 and the second stop groove 220 along the rotation direction of the second bracket 200 relative to the first bracket 100 can be 90°.

[0052] See Figure 2 and Figure 3 In some embodiments, the second support 200 further includes a limiting surface 230. In the retracted position, the limiting surface 230 abuts against the surface of the first support 100, maximizing the angle of rotation of the second support 200 relative to the first support 100 from the tensioned position. Therefore, during the rotation of the second support 200 from the tensioned position to the retracted position, when the limiting surface 230 abuts against the surface of the first support 100, the second support 200 cannot continue to rotate forward; that is, the second support 200 rotates to its limit position, thus ensuring that the second support 200 accurately stops at the retracted position. Therefore, the limiting surface 230 can limit the limit position of the second support 200. Simultaneously, in the retracted position, the abutment of the limiting surface 230 against the surface of the first support 100 allows the first support 100 to provide good load-bearing capacity for the second support 200, preventing the second support 200 from rotating relative to the first support 100 under gravity.

[0053] See Figure 9 and Figure 10In some embodiments, the second support 200 is slidably connected to the first support 100, and in the tensioned and retracted positions, the abstract planes of the second support 200 and the first support 100 are coplanar. It can be understood that during the sliding process of the second support 200 relative to the first support 100, when the ends of the second support 200 and the first support 100 that are far apart move closer or further apart, the distance between the ends of the second support 200 and the first support 100 that are far apart can be changed. Similarly, the distance between the ends of the second support 200 and the first support 100 that are far apart can be made greater in the tensioned position than in the retracted position. In short, through the slidable connection between the second support 200 and the first support 100, the switching between the tensioned and retracted positions of the second support 200 can also be achieved.

[0054] See Figure 9 and Figure 10 In some embodiments, the track mechanism 11 further includes a tension elastic element 310, which can be a tension spring or the like. The two ends of the tension elastic element 310 are connected to the first support 100 and the second support 200, respectively. The first support 100 includes a buckle 120, and the second support 200 is provided with a locking hole 240. In the tensioned position, the buckle 120 engages with the locking hole 240, and the tension elastic element 310 stores energy and is in a stretched state. When the buckle 120 disengages from the locking hole 240, the tension elastic element 310 releases energy, and the tension elastic element 310 moves the second support 200 from the tensioned position to the retracted position.

[0055] When the second bracket 200 needs to be moved from the retracted position to the tensioned position, a reverse pulling force can be applied to the first bracket 100 and the second bracket 200 to overcome the tension of the elastic element 310, causing the distance between the opposite ends of the first bracket 100 and the second bracket 200 to gradually increase. When the buckle 120 engages with the locking hole 240, the distance between the opposite ends of the first bracket 100 and the second bracket 200 increases to its maximum, meaning the second bracket 200 can no longer slide relative to the first bracket 100 in its original direction. At this point, the second bracket 200 moves to the tensioned position, and the energy stored in the elastic element 310 is at its maximum. Therefore, through the engagement of the buckle 120 and the locking hole 240, the second bracket 200 can overcome the tension of the elastic element 310 and be fixed in the tensioned position, thereby achieving the tensioning and flattening effect of the track mechanism 11 on the inner liner 12.

[0056] When the second bracket 200 needs to be moved from the tensioned position to the retracted position, a reverse compressive force can be applied to the first bracket 100 and the second bracket 200 to overcome the engaging force between the buckle 120 and the locking hole 240, causing the buckle 120 to disengage from the locking hole 240. After the buckle 120 disengages from the locking hole 240, the tension elastic element 310 releases energy and generates tension. The distance between the opposite ends of the first bracket 100 and the second bracket 200 gradually decreases, so the tension elastic element 310 will pull the second bracket 200 from the tensioned position to the retracted position, thereby realizing the assembly and unloading of the inner liner 12 relative to the track bracket.

[0057] See Figure 5 , Figure 6 , Figure 7 and Figure 8 In some embodiments, the track mechanism 11 further includes a compression elastic element 320, which may be a compression spring or the like. The two ends of the compression elastic element 320 are connected to a first support 100 and a second support 200, respectively. The first support 100 includes a buckle 120, and the second support 200 is provided with a locking hole 240. In the retracted position, the buckle 120 engages with the locking hole 240, and the compression elastic element 320 stores energy and is in a compressed state. When the buckle 120 disengages from the locking hole 240, the compression elastic element 320 releases energy, moving the second support 200 from the retracted position to the tensioned position.

[0058] When the second bracket 200 needs to be moved from the tensioned position to the retracted position, a reverse compressive force can be applied to the first bracket 100 and the second bracket 200 to overcome the thrust of the compression elastic element 320, causing the distance between the opposite ends of the first bracket 100 and the second bracket 200 to gradually decrease. When the buckle 120 engages with the locking hole 240, the distance between the opposite ends of the first bracket 100 and the second bracket 200 is reduced to its minimum, meaning the second bracket 200 can no longer slide relative to the first bracket 100 in its original direction. At this point, the second bracket 200 moves to the retracted position, and the energy stored in the compression elastic element 320 is at its maximum. Therefore, through the engagement of the buckle 120 and the locking hole 240, the second bracket 200 can overcome the thrust of the compression elastic element 320 and be fixed in the retracted position, thereby enabling the assembly and unloading of the inner liner 12 relative to the track bracket.

[0059] When the second bracket 200 needs to be moved from the retracted position to the tensioned position, a reverse pulling force can be applied to the first bracket 100 and the second bracket 200 to overcome the engaging force between the buckle 120 and the locking hole 240, causing the buckle 120 to disengage from the locking hole 240. After the buckle 120 disengages from the locking hole 240, the compression elastic element 320 releases energy and generates thrust, causing relative movement between the first bracket 100 and the second bracket 200. The distance between the opposite ends of the first bracket 100 and the second bracket 200 gradually increases, so the tension elastic element 310 will pull the second bracket 200 from the retracted position to the tensioned position, thereby realizing the tensioning and flattening effect of the track mechanism 11 on the inner liner 12.

[0060] It is understood that the first support 100 may also include a limiting buckle 130. As the distance between the opposite ends of the first support 100 and the second support 200 gradually increases, when the limiting buckle 130 abuts against the second support 200, the second support 200 can no longer slide relative to the first support 100 in its original direction. At this point, the second support 200 has just moved to the tensioned position. Clearly, during the movement of the second support 200 from the tensioned position to the contracted position, the limiting buckle 130 will not interfere with the movement of the second support 200.

[0061] See Figure 5 , Figure 6 , Figure 7 and Figure 8 In some embodiments, the track mechanism 11 further includes an unlocking button 410 and an unlocking elastic element 420. The unlocking elastic element 420 can be a spring, etc. The unlocking button 410 is slidably connected to the first bracket 100 along the extension direction of the axis around which the second bracket 200 rotates relative to the first bracket 100. The unlocking elastic element 420 abuts against the unlocking button 410 and the first bracket 100. In the retracted position, the unlocking button 410 can overcome the elastic movement of the unlocking elastic element 420 and disengage the latch 120 from the latch hole 240.

[0062] When the second bracket 200 needs to be moved from the retracted position to the tensioned position, the latch 120 must first disengage from the latch hole 240. At this point, the unlock button 410 can overcome the elastic force of the unlocking elastic element 420 and move closer to the latch 120. When the unlock button 410 contacts the latch 120, it applies a reasonable squeezing force to the latch 120, causing the latch 120 to disengage from the latch hole 240. Clearly, when the latch 120 disengages from the latch hole 240, the compression elastic element 320 releases energy and generates a thrust, causing the second bracket 200 to automatically move from the retracted position to the tensioned position under the action of the compression elastic element 320. It is understandable that after the unlock button 410 disengages the buckle 120 from the slot 240, the force applied to the unlock button 410 can be removed, causing the unlocking elastic element 420 to release energy and push the unlock button 410 to the initial position. When the second bracket 200 moves to the retracted position, the interference of the unlock button 410 can be eliminated, ensuring that the buckle 120 and the slot 240 cooperate smoothly.

[0063] It is understood that in embodiments where the track mechanism 11 includes a tension elastic element 310, the track mechanism 11 may also include an unlocking button 410 and an unlocking elastic element 420. When the second support 200 is in the tensioned position, the unlocking button 410 can overcome the elastic force of the unlocking elastic element 420 and move closer to the latch 120. When the unlocking button 410 contacts the latch 120, it can apply a reasonable squeezing force to the latch 120, thereby causing the latch 120 to disengage from the locking hole 240. Obviously, when the latch 120 disengages from the locking hole 240, the tension elastic element 310 releases energy and generates tension, thereby causing the second support 200 to automatically move from the tensioned position to the retracted position under the action of the tension elastic element 310.

[0064] See Figure 3 and Figure 11In some embodiments, the track mechanism 11 further includes a drive assembly 500, which includes a motor 510, a drive shaft 520, a synchronous pulley 530, a synchronous belt 540, and a driven shaft 550. The motor 510 is disposed within the second bracket 200, the synchronous pulley 530 is disposed in the middle of the drive shaft 520, and the synchronous belt 540 is sleeved on the output shaft of the motor 510 and the synchronous pulley 530. When the motor 510 is working, it can drive the synchronous pulley 530 and the drive shaft 520 to rotate through the synchronous belt 540. When the second bracket 200 is in the tensioned position, causing the inner liner 12 to be tensioned and flattened, the drive shaft 520 can drive the driven shaft 550 to rotate through the inner liner 12. This causes the inner liner 12 to rotate around the track mechanism 11 circumferentially, thereby causing the mop 15 to gradually wrap around the inner liner 12. Therefore, by setting the motor 510 on the second bracket 200, it can be understood that the motor 510 is integrated on the track mechanism 11, which can improve the ease of use of the track mechanism 11.

[0065] See Figure 11 and Figure 13 In some embodiments, the track mechanism 11 further includes an electrode 610, which protrudes from the second bracket 200 and is electrically connected to the motor 510 via a wire. A contact 620 is provided on the frame 13 and can be electrically connected to a power source. The electrode 610 abuts against the contact 620. When the track mechanism 11 is mounted on the frame 13, the electrode 610 will be in contact with the contact 620, allowing power to be supplied to the motor 510 through the electrode 610 and the contact 620, thereby causing the inner liner 12 to rotate relative to the track mechanism 11. Obviously, when the track mechanism 11 is removed from the frame 13, the abutment between the electrode 610 and the contact 620 can be quickly released, facilitating the rapid unloading of the track mechanism 11 relative to the frame 13.

[0066] See Figure 12 , Figure 13 , Figure 14 and Figure 15In some embodiments, the track mechanism 11 further includes an installation button 710 and an installation elastic member 720. The installation button 710 is slidably connected to the second bracket 200 and to the first bracket 100 along the extension direction of the axis around which the second bracket 200 rotates relative to the first bracket 100. The installation elastic member 720 abuts between the installation button 710 and the second bracket 200. A mounting hole 13a is provided on the frame 13, allowing the installation button 710 to extend into or detach from the mounting hole 13a. When the track mechanism 11 is installed in place relative to the frame 13, the installation button 710 can extend into the mounting hole 13a, thus preventing the track mechanism 11 from detaching from the frame 13 due to the interference of the installation button 710, thereby achieving the installation of the track mechanism 11. When the track mechanism 11 needs to be unloaded from the frame 13, the mounting button 710 can first overcome the elastic force of the mounting elastic member 720, thereby disengaging the mounting button 710 from the mounting hole 13a. Once the mounting button is disengaged from the mounting hole 13a, the interference of the mounting button 710 is eliminated, allowing the track mechanism 11 to be smoothly unloaded from the frame 13. For example, the second bracket 200 has a hole structure, and the mounting button 710 is slidably connected to the hole structure. The mounting elastic member 720 is housed within the hole structure. When the mounting elastic member 720 retracts, the mounting button 710 is fully housed within the hole structure, preventing the mounting button 710 from protruding relative to the second bracket 200. When the mounting elastic member 720 pushes the mounting button 710, the mounting button 710 can gradually extend from the hole structure, thus preventing the mounting button 710 from protruding relative to the second bracket 200. In other embodiments, the mounting button 710 can also be slidably connected to the first bracket 100.

[0067] In other embodiments, the mounting button 710 and the unlocking button 410 can be the same part, that is, the mounting button 710 and the unlocking button 410 are integrated into one unit; the mounting elastic element 720 and the unlocking elastic element 420 can be the same part, that is, the mounting elastic element 720 and the unlocking elastic element 420 are integrated into one unit. This reasonably simplifies the structure of the track mechanism 11.

[0068] See Figure 15 , Figure 16 and Figure 17In some embodiments, the track mechanism 11 further includes a convex shaft 800, which is disposed on the first bracket 100. The outer peripheral surface of the convex shaft 800 includes two guide planes 810 and two arcuate surfaces 820, with the two guide planes 810 connected between the two arcuate surfaces 820. It can be understood that the cross-section of the convex shaft 800 is non-circular, i.e., the cross-section of the convex shaft 800 is racetrack-shaped. The frame 13 is provided with interconnected circular holes 13b and rectangular holes 13c. The guide planes 810 can slide within the rectangular holes 13c to allow the convex shaft 800 to enter or exit the circular holes 13b, and the arcuate surfaces 820 can rotate within the circular holes 13b.

[0069] During the installation of the track mechanism 11 relative to the frame 13, the guide plane 810 is first made parallel to the inner wall of the rectangular hole 13c, allowing the convex shaft 800 to enter the circular hole 13b from the rectangular hole 13c. When the convex shaft 800 enters the circular hole 13b, it can rotate within the circular hole 13b, thereby causing the track mechanism 11 to rotate relative to the frame 13. When the mounting button 710 contacts the frame 13, under the pressing action of the frame 13, the mounting button 710 will retract into the hole structure of the second bracket 200, overcoming the action of the mounting elastic element 720, thus preventing the protruding mounting button 710 from interfering with the rotation of the track mechanism 11. When the mounting button 710 is just aligned with the mounting hole 13a, the mounting elastic element 720 releases energy, causing the mounting button 710 to extend from the hole structure of the second bracket 200 and engage with the mounting hole 13a. At this point, the track mechanism 11 is installed relative to the frame 13. The interference effect of the installation button 710 prevents the track mechanism 11 from detaching from the frame 13. Furthermore, when the track mechanism 11 is installed relative to the frame 13, the guide plane 810 and the inner wall of the rectangular hole 13c can be perpendicular to each other, preventing the convex shaft 800 from entering the rectangular hole 13c from the circular hole 13b and detaching from the frame 13. This improves the stability and reliability of the track mechanism 11 installation.

[0070] During the disassembly of the track mechanism 11 relative to the frame 13, a force can be applied to the mounting button 710 to overcome the elastic force of the mounting elastic member 720, causing the mounting button 710 to exit the mounting hole 13a and retract into the hole structure of the second bracket 200. This eliminates interference from the mounting button 710, allowing the track mechanism 11 to rotate relative to the frame 13 around the convex shaft 800. During the rotation of the track mechanism 11, the frame 13 applies a compressive force to the mounting button 710, causing the mounting button 710 to retract into the hole structure of the second bracket 200 to avoid interference. It can be understood that after the mounting button 710 disengages from the frame 13, the mounting elastic member 720 will push the mounting button 710 out of the hole structure of the second bracket 200. At this point, the mounting button 710 protruding relative to the second bracket 200 cannot interfere with the rotation of the track mechanism 11. When the cam shaft 800 rotates to the point where the guide plane 810 is parallel to the inner wall of the rectangular hole 13c, the cam shaft 800 can enter the rectangular hole 13c from the circular hole 13b, and finally the cam shaft 800 can be separated from the entire frame 13 from the rectangular hole 13c, thus realizing the disassembly of the track mechanism 11 relative to the frame 13.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that, The track mechanism includes a track system and a liner, the liner being fitted onto the track system and used to wrap a mop so that the mop contacts the working surface and cleans the working surface. The track system includes: First support; A second support is provided, one end of which is movably connected to one end of the first support. The second support has a tensioned position and a retracted position relative to the first support. The distance between the other ends of the second support and the first support that are far apart from each other is greater in the tensioned position than in the retracted position. The first and second supports have parallel pivots on their far sides. The two pivots rotate to drive the inner liner to make a track-like movement relative to the track mechanism to wrap the mop.

2. The cleaning robot according to claim 1, wherein, The second bracket is rotatably connected to the first bracket. In the tensioned position, the planes of the second bracket and the first bracket are coplanar. In the contracted position, the planes of the second bracket and the first bracket are set at an angle.

3. The cleaning robot according to claim 2, wherein, The first support includes a stop rib, and the second support is provided with a first stop groove and a second stop groove. The first stop groove and the second stop groove are spaced apart along the rotation direction of the second support relative to the first support. In the tensioned position, the stop rib engages with the first stop groove, and in the contracted position, the stop rib engages with the second stop groove. Or / and, the second bracket further includes a limiting surface that abuts against the surface of the first bracket in the contracted position, so that the second bracket rotates at the maximum angle relative to the first bracket from the tensioned position.

4. The cleaning robot according to claim 1, wherein, The second bracket is slidably connected to the first bracket, and in the tensioned position and the contracted position, the planes of the second bracket and the first bracket, after being abstracted, are coplanar.

5. The cleaning robot according to claim 4, wherein, The track mechanism further includes a tension elastic element, the two ends of which are connected to the first bracket and the second bracket respectively. The first bracket includes a buckle, and the second bracket is provided with a locking hole. In the tensioned position, the buckle engages with the locking hole, and the tension elastic element stores energy and is in a stretched state. When the buckle disengages from the locking hole, the tension elastic element releases energy and moves the second bracket from the tensioned position to the retracted position. Or / and, the track mechanism further includes a compression elastic element, the two ends of which are respectively connected to the first bracket and the second bracket. The first bracket includes a buckle, and the second bracket is provided with a locking hole. In the retracted position, the buckle engages with the locking hole, and the compression elastic element stores energy and is in a compressed state. When the buckle disengages from the locking hole, the compression elastic element releases energy and moves the second bracket from the contracted position to the tensioned position.

6. The cleaning robot according to claim 5, wherein, When the track mechanism includes a compression elastic element, the track mechanism also includes an unlocking button and an unlocking elastic element. The unlocking button is slidably connected to the first bracket, and the unlocking elastic element abuts between the unlocking button and the first bracket. In the retracted position, the unlocking button can overcome the elastic movement of the unlocking elastic element and disengage the buckle from the locking hole.

7. The cleaning robot according to any one of claims 1 to 6, wherein, The track mechanism further includes a drive assembly, which includes a motor, a drive shaft, a synchronous pulley, and a synchronous belt. The motor is disposed inside the second bracket, the synchronous pulley is disposed in the middle of the drive shaft, the drive shaft is rotatably connected to the second bracket, and the synchronous belt is sleeved on the output shaft of the motor and the synchronous pulley.

8. The cleaning robot according to claim 7, wherein, The track mechanism also includes an electrode that protrudes from the second bracket and is electrically connected to the motor. The electrode is used to abut against a contact on the frame of the cleaning robot.

9. The cleaning robot according to any one of claims 1 to 6, wherein, The track mechanism also includes an installation button and an installation elastic element. The installation button is slidably connected to the second bracket, and the installation elastic element abuts between the installation button and the second bracket. The installation button can extend into or detach from the mounting hole on the frame of the cleaning robot.

10. The cleaning robot according to claim 9, characterized in that, The track mechanism further includes a convex shaft protruding from the first bracket. The outer circumferential surface of the convex shaft includes two guide planes and two arc surfaces. The two guide planes are connected between the two arc surfaces. The frame is provided with a circular hole and a rectangular hole that communicate with each other. The guide planes can slide in the rectangular holes to allow the convex shaft to enter or leave the circular holes, and the arc surfaces can rotate in the circular holes.

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