A cleaning robot

Abstract

The application relates to a cleaning robot. The cleaning robot comprises a main machine body, a cleaning device and a transmission device. The cleaning device is detachably connected with the main machine body; the transmission device is arranged on the main machine body and comprises a transmission member, the transmission member is driven to be extended and retracted relative to the main machine body to have an extended position and a retracted position, when being in the extended position, the transmission member is clamped to the cleaning device and drives the cleaning device to clean a working surface, and when being in the retracted position, the transmission member is separated from the cleaning device. When the transmission member is in the extended position, the transmission member can clamp the cleaning device, ensures stable connection of the two, avoids loosening during cleaning, can directly drive the cleaning device to work, ensures efficient and stable power transmission, when the transmission member is in the retracted position, the transmission member can be separated from the cleaning device, and then the cleaning device is detached from the main machine body, so that the cleaning device and the main machine body can be conveniently detached and assembled, and maintenance convenience is improved.

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] Current cleaning robots consist of a main body and a cleaning device. The cleaning device is difficult to remove from the main body, which affects the ease of use of the cleaning robot.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0005] Therefore, it is necessary to provide a cleaning robot that addresses the problem that the current cleaning devices are difficult to remove from the main unit, thus affecting the ease of use of the cleaning robot.

[0006] A cleaning robot, comprising:

[0007] Main unit body;

[0008] Cleaning device, detachably connected to the main unit body; and

[0009] A transmission device is provided on the main body of the host machine. The transmission device includes a transmission member, which is driven to extend and retract relative to the host machine body, having an extended position and a retracted position. When in the extended position, the transmission member engages with the cleaning device and drives the cleaning device to clean the working surface. When in the retracted position, the transmission member disengages from the cleaning device.

[0010] In one embodiment, the transmission device further includes a driver, the main body of which is disposed on the host body, and the output end of which is driven to be connected to the transmission component.

[0011] In one embodiment, the transmission device further includes a drive member, which is motively connected to the driver. The drive member has a first thread, and the transmission member has a second thread. The first thread and the second thread are engaged. The drive member is used to be driven to extend or retract relative to the main body.

[0012] In one embodiment, the first thread is an external thread located on the outer periphery of the drive member, and the second thread is an internal thread located on the inner periphery of the transmission member, wherein the transmission member is sleeved and engaged with the outer periphery of the drive member.

[0013] In one embodiment, the transmission device further includes a damping sleeve, which is sleeved between the outer periphery of the transmission member and the main body.

[0014] In one embodiment, the cleaning robot further includes at least one of the following:

[0015] The inner circumference of the damping sleeve is provided with raised ribs, which are used to contact the outer circumference of the transmission component.

[0016] Or / and, the transmission device further includes a sealing ring, which is sleeved between the outer periphery of the damping sleeve and the main body;

[0017] Or / and, the transmission device further includes a first bearing, the inner ring of the first bearing being sleeved on the outer circumference of the damping sleeve, and the outer ring of the first bearing being connected to the main body.

[0018] In one embodiment, the transmission device further includes an elastic element disposed between the outer periphery of the transmission element and the main body, the elastic element being used to apply a gradually decreasing elastic resistance to the transmission element as it extends.

[0019] In one embodiment, the elastic element includes an elastic sleeve, which has a first end and a second end along its own length. Along the direction in which the transmission element extends, the first end is used to sleeve the outer periphery of the transmission element and is spaced apart from the main body, and the second end is connected to the main body and is spaced apart from the outer periphery of the transmission element.

[0020] In one embodiment, the elastic sleeve includes a support portion and a movable portion. Along the circumferential direction of the elastic sleeve, the support portion and the movable portion are alternately connected. The support portion abuts against the main body, and the movable portion has a first end and a second end. The first end is used to sleeve the outer periphery of the transmission member and is spaced apart from the support portion.

[0021] In one embodiment, the transmission device further includes a second bearing, the inner ring of which is fitted onto the outer periphery of the transmission member, and the outer periphery of the second bearing is connected to the main body.

[0022] In one embodiment, the transmission device further includes a flange sleeve, the inner ring of which is fitted around the outer periphery of the transmission member, and the outer periphery of the flange sleeve is connected to the inner ring of the second bearing.

[0023] In one embodiment, the first thread is an internal thread and the second thread is an external thread. The internal thread is located on the inner circumference of the driving member, and the external thread is located on the outer circumference of the transmission member. The driving member is sleeved and engaged with the outer circumference of the transmission member.

[0024] In one embodiment, the transmission device further includes a damping column, the damping column having a third end and a fourth end along the extension direction of the transmission member, the radial dimension of the third end gradually decreasing from the fourth end, the third end being connected to the main body, the damping column being located on the inner periphery of the transmission member, and the third end of the damping column being used to abut against the transmission member.

[0025] And / or, the transmission device further includes a third bearing, the inner ring of which is sleeved on the outer periphery of the drive member, and the outer ring of which is connected to the main body.

[0026] In one embodiment, the transmission device further includes a primary gear component, which is drivenly connected to the driver. The primary gear component is located outside the driver component, and the driver component has driving teeth on its outer periphery, which mesh with the primary gear component.

[0027] In one embodiment, the transmission device further includes a secondary gear, which is located between the primary gear and the drive member. The secondary gear is rotatably connected to the main body and simultaneously meshes with the drive teeth of the primary gear and the drive member.

[0028] When the transmission component of the aforementioned cleaning device is in the extended position, it can both engage the cleaning device to ensure a secure connection and prevent loosening during the cleaning process, and directly drive the cleaning device to work, ensuring efficient and stable power transmission. When the transmission component is in the retracted position, it can disengage from the cleaning device, thereby allowing the cleaning device to be detached from the main unit. This facilitates the assembly and disassembly of the cleaning device from the main unit and improves maintenance convenience. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the disclosed drawings without creative effort.

[0030] Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application.

[0031] Figure 2 This is a schematic diagram of the structure of the first transmission device provided in the embodiments of this application.

[0032] Figure 3 An exploded view of the first transmission device provided in the embodiments of this application.

[0033] Figure 4 This is a schematic diagram of the structure of a second type of transmission device provided in an embodiment of this application.

[0034] Figure 5 An exploded view of a second type of transmission device provided in an embodiment of this application.

[0035] Figure 6 This is a cross-sectional view of a third type of transmission device provided in an embodiment of this application.

[0036] Figure 7 Rear view of a third type of transmission device provided in an embodiment of this application.

[0037] Figure 8 An exploded view of a third type of transmission device provided in an embodiment of this application.

[0038] Explanation of reference numerals in the attached drawings: 100, Cleaning robot; 1, Main body; 2, Cleaning device; 3, Transmission device; 301, Transmission component; 3011, Second thread; 302, Driving component; 3021, First thread; 3022, Driving gear; 3023, Driving sleeve; 3024, Support sleeve; 303, Driver; 304, Damping sleeve; 3041, Raised rib; 3042, First sleeve; 3043, Second sleeve; 305, Sealing ring; 306, First bearing; 307, Elastic component; 3071, Elastic sleeve; 30 711, First end; 30712, Second end; 30713, Support part; 30714, Moving part; 308, Second bearing; 309, Flange sleeve; 3091, Connecting sleeve; 3092, Extension ring; 310, Damping column; 3101, Third end; 3102, Fourth end; 311, Third bearing; 312, First-stage gear; 313, Second-stage gear; 3131, First gear; 3132, Second gear; 314, Third-stage gear; 3141, Third gear; 3142, Fourth gear; 315, Fourth-stage gear. Detailed Implementation

[0039] 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.

[0040] Current cleaning robots consist of a main body and a cleaning device. The cleaning device is difficult to remove from the main body, which affects the ease of use of the cleaning robot.

[0041] Please see Figure 1Based on the above problems, this application provides a cleaning robot 100, including a main body 1, a cleaning device 2, and a transmission device 3. The cleaning device 2 is detachably connected to the main body 1; the transmission device 3 is disposed on the main body 1 and includes a transmission component 301. The transmission component 301 is driven to extend and retract relative to the main body 1, having an extended position and a retracted position. When in the extended position, the transmission component 301 engages with the cleaning device 2 and drives the cleaning device 2 to clean the working surface. When in the retracted position, the transmission component 301 disengages from the cleaning device 2. When the transmission component 301 is in the extended position, it can both engage with the cleaning device 2 to ensure a stable connection and prevent loosening during cleaning, and directly drive the cleaning device 2 to work, ensuring efficient and stable power transmission. When the transmission component 301 is in the retracted position, it can disengage from the cleaning device 2, thereby detaching the cleaning device 2 from the main body 1. This facilitates the assembly and disassembly of the cleaning device 2 from the main body 1 and improves maintenance convenience.

[0042] It should be noted that, in an optional embodiment, the cleaning device 2 includes an edge cleaning component, which includes a first cleaning surface and a second cleaning surface for cleaning. The first cleaning surface and the second cleaning surface are used to clean different working surfaces. In the extended position, the transmission member 301 is connected to the edge cleaning component and drives the edge cleaning component.

[0043] In other alternative embodiments, the cleaning device 2 further includes a rotating cleaning member that abuts against the working surface. The rotating cleaning member is used to wind up and wrap the mop and clean the working surface based on the mop. In the extended position, the transmission member 301 is connected to the rotating cleaning member and drives the rotating cleaning member.

[0044] In an alternative implementation, the rotating cleaning component may be a cylinder, a polygonal cylinder, or a track support.

[0045] In other optional embodiments, the cleaning device 2 further includes a cleaning bracket and a material collection structure connected to the cleaning bracket. The cleaning bracket has a contact surface for abutting the working surface, and the material collection structure is used to move the mop. One end of the mop passes through the contact surface and is connected to the material collection structure. The mop is used to clean the working surface. In the extended position, the transmission member 301 is connected to and drives the material collection structure. In this embodiment, the mop refers to a cleaning material that can be used for sweeping and mopping, including dry cleaning materials for sweeping the working surface and wet cleaning materials for mopping the working surface. The cleaning material here can be cotton, polyester fiber, or non-woven fabric, etc., and is not limited here. In addition, the working surface in this invention can be a floor, a table, or a glass surface, that is, the cleaning robot provided by this utility model can be a sweeping robot, a table cleaning robot, or a window cleaning robot.

[0046] In an optional implementation, the cleaning stand may be a cleaning stand with a flat plate, or a cleaning stand of other shapes with a flat bottom surface.

[0047] Please see Figure 1 In optional embodiments, the transmission component 301 can be driven directly by the driver 303, or it can be driven by the driver 303 in conjunction with a synchronous belt or synchronous pulley. In some embodiments, the transmission device 3 further includes a driver 303, the main body of which is mounted on the main body 1, and the output end of the driver 303 is connected to the transmission component 301. In optional embodiments, the driver 303 can be a rotary motor or a rotary cylinder, etc.

[0048] Please see Figure 2 , Figure 4 and Figure 6 In some embodiments, the transmission device 3 further includes a drive member 302, which is drivenly connected to the driver 303. The drive member 302 has a first thread 3021, and the transmission member 301 has a second thread 3011. The first thread 3021 and the second thread 3011 are engaged. The drive member 302 is driven to extend and retract the transmission member 301 relative to the main body 1. The engagement of the first thread 3021 and the second thread 3011 smoothly converts the rotational motion of the driver 303 into the linear extension and retraction motion of the transmission member 301. This allows the transmission member 301 to move precisely a corresponding distance and accurately control whether it is in the extended or retracted position, avoiding problems such as jamming or unstable connection caused by excessive or insufficient extension and retraction.

[0049] In an optional implementation, the first thread 3021 may be an internal thread or an external thread, and correspondingly, the second thread 3011 may be an external thread or an internal thread.

[0050] Please see Figures 2 to 5 In an optional embodiment, the first thread 3021 is an external thread located on the outer periphery of the driving member 302, and the second thread 3011 is an internal thread located on the inner periphery of the transmission member 301. The transmission member 301 is sleeved and engaged with the outer periphery of the driving member 302. The transmission member 301 is sleeved on the external thread of the driving member 302 through its internal thread, forming a nested structure. This results in a larger contact area between the two, enabling more stable transmission of torque and axial force. When the transmission member 301 extends or retracts, its inner wall remains in contact with the outer periphery of the driving member 302, preventing radial offset or wobbling of the transmission member 301 during linear motion and ensuring accurate extension / retraction trajectory.

[0051] Please see Figure 2 and Figure 3In some embodiments, the transmission device 3 further includes a damping sleeve 304, which is sleeved between the outer periphery of the transmission member 301 and the main body 1. The damping sleeve 304 applies resistance to the transmission member 301, preventing the transmission member 301 from rotating continuously during its extension, thereby facilitating its docking with the cleaning device 2.

[0052] Please see Figure 2 and Figure 3 In some embodiments, the inner circumference of the damping sleeve 304 is provided with a raised rib 3041, which contacts the outer circumference of the transmission member 301. The raised rib 3041 can further increase the resistance applied by the damping sleeve 304 to the transmission member 301, so that the transmission member 301 cannot rotate continuously during the extension process, thereby ensuring the extension action of the transmission member 301.

[0053] Please see Figure 2 and Figure 3 In some embodiments, the transmission device 3 further includes a sealing ring 305, which is sleeved between the outer periphery of the damping sleeve 304 and the main body 1. The sealing ring 305 increases the resistance between the damping sleeve 304 and the main body 1, thereby increasing the resistance between the damping sleeve 304 and the transmission component 301, preventing the transmission component 301 from continuously rotating during extension and ensuring the extension action of the transmission component 301.

[0054] Please see Figure 2 and Figure 3 In some embodiments, the transmission device 3 further includes a first bearing 306, the inner ring of which is sleeved on the outer periphery of the damping sleeve 304, and the outer ring of which is connected to the main body 1. The first bearing 306 is provided to ensure that the transmission component 301 can continuously rotate relative to the main body 1 after the transmission component 301 is docked with the cleaning device 2, thereby ensuring that the transmission component 301 drives the cleaning device 2.

[0055] Please see Figure 2 and Figure 3In an optional embodiment, the damping sleeve 304 includes a first sleeve 3042 and a second sleeve 3043. The outer periphery of the first sleeve 3042 is connected to the inner periphery of the second sleeve 3043, and the first sleeve 3042 is located on the outer side of the second sleeve 3043 along the extension / retraction direction of the transmission member 301. In other words, the diameter of the first sleeve 3042 is smaller than the diameter of the second sleeve 3043. A raised rib 3041 protrudes from the inner periphery of the second sleeve 3043. A sealing ring 305 is disposed on the outer periphery of the second sleeve 3043. A first bearing 306 is sleeved on the outer periphery of the first sleeve 3042. Understandably, when the transmission component 301 passes through the second sleeve 3043 under the drive of the drive component 302, the protruding rib 3041 inside the second sleeve 3043 and the sealing ring 305 outside the second sleeve 3043 simultaneously apply resistance to the transmission component 301, thus ensuring that the transmission component 301 can extend relative to the main body 1. When the transmission component 301 extends to abut against the first sleeve 3042, the transmission component 301 stops extending and engages with the cleaning device 2. At this time, under the action of the first bearing 306, the transmission component 301 can rotate relative to the main body 1, thereby driving the cleaning device 2.

[0056] Please see Figure 4 and Figure 5 In some embodiments, the transmission device 3 further includes an elastic element 307, which is disposed between the outer periphery of the transmission member 301 and the main body 1. The elastic element 307 is used to apply a gradually decreasing elastic resistance to the transmission member 301 during its extension. During the extension process, the transmission member 301 cannot rotate continuously due to the resistance of the elastic element 307. As the extension progresses, the resistance experienced by the transmission member 301 gradually decreases, thereby enabling the transmission member 301 to rotate after docking with the cleaning device 2, so as to drive the cleaning device 2.

[0057] Please see Figure 4 and Figure 5 In some embodiments, the elastic element 307 includes an elastic sleeve 3071. The elastic sleeve 3071 includes a first end 30711 and a second end 30712 along its own length direction. Along the direction in which the transmission element 301 extends, the first end 30711 is used to sleeve the outer periphery of the transmission element 301 and is spaced apart from the main body 1, and the second end 30712 is connected to the main body 1 and is spaced apart from the outer periphery of the transmission element 301. In other words, during the extension of the transmission element 301, the transmission element 301 first contacts the elastic element 307 and then gradually disengages from the elastic element 307. The resistance exerted by the elastic element 307 on the transmission element 301 gradually decreases, thereby ensuring that continuous rotation does not occur during the extension of the transmission element 301. After docking with the cleaning device 2, it can rotate and thus drive the cleaning device 2.

[0058] Please see Figure 4 and Figure 5 In some embodiments, the elastic sleeve 3071 includes a support portion 30713 and a movable portion 30714. Along the circumference of the elastic sleeve 3071, the support portion 30713 and the movable portion 30714 are alternately connected. The support portion 30713 abuts against the main body 1. The movable portion 30714 has a first end 30711 and a second end 30712. The first end 30711 is used to fit around the outer periphery of the transmission member 301 and is spaced apart from the support portion 30713. The support portion 30713 serves as a stable support base for the elastic sleeve 3071. During the extension of the transmission member 301, the transmission member 301 first contacts the movable portion 30714 and then gradually disengages from it. The resistance exerted by the movable portion 30714 on the transmission member 301 gradually decreases, thereby ensuring that continuous rotation does not occur during the extension of the transmission member 301. After docking with the cleaning device 2, the transmission member 301 can rotate, thereby driving the cleaning device 2.

[0059] Please see Figure 4 and Figure 5 In some embodiments, the transmission device 3 further includes a second bearing 308, the inner ring of which is sleeved on the outer periphery of the transmission member 301, and the outer periphery of the second bearing 308 is connected to the main body 1. The second bearing 308 facilitates the rotation of the transmission member 301 after it extends and engages the cleaning device, thereby ensuring the drive of the cleaning device 2.

[0060] Please see Figure 4 and Figure 5 In some embodiments, the transmission device 3 further includes a flange sleeve 309, the inner ring of which is fitted onto the outer periphery of the transmission member 301, and the outer periphery of the flange sleeve 309 is connected to the inner ring of the second bearing 308. The flange sleeve 309 is provided to fix the transmission member 301 on the bearing, which facilitates the rotation of the transmission member 301.

[0061] Please see Figure 4 and Figure 5In an optional embodiment, along the extension direction of the transmission member 301, the second bearing 308 is located outside the second end 30712 of the elastic sleeve 3071 and abuts against the second end 30712 of the elastic sleeve 3071. The flange sleeve 309 includes a connecting sleeve 3091 and an extension ring 3092 connected together, with the inner circumference of the extension ring 3092 sleeved on the outer circumference of the connecting sleeve 3091. The inner circumference of the connecting sleeve 3091 is sleeved on the outer circumference of the transmission member 301, and the outer circumference of the connecting sleeve 3091 is connected to the inner ring of the second bearing 308. The end face of the extension ring 3092 abuts against the end face of the second bearing 308, and the outer circumferential surface of the extension ring 3092 abuts against the second end 30712 of the elastic sleeve 3071. Understandably, the contact resistance between the transmission component 301 and the elastic sleeve 3071 gradually decreases during the extension process. When the transmission component 301 abuts against the extension ring 3092 of the flange sleeve 309, the transmission component 301 engages with the cleaning device 2 and drives the cleaning device 2.

[0062] Please see Figure 6 and Figure 8 In some embodiments, the first thread 3021 is an internal thread, and the second thread 3011 is an external thread. The internal thread is located on the inner circumference of the driving member 302, and the external thread is located on the outer circumference of the transmission member 301. The driving member 302 is sleeved and engaged with the outer circumference of the transmission member 301. Since the driving member 302 is sleeved with the outer circumference of the transmission member 301, the driving member 302 can be adjusted to meet the working requirements of the transmission member 301 extending and engaging, as well as rotating and driving.

[0063] Please see Figure 6 In some embodiments, the transmission device 3 further includes a damping column 310, which includes a third end 3101 and a fourth end 3102 along the extension direction of the transmission member 301. The radial dimension of the third end 3101 gradually decreases from that of the fourth end 3102. The third end 3101 is connected to the main body 1. The damping column 310 is located on the inner periphery of the transmission member 301, and the third end 3101 of the damping column 310 is used to abut against the transmission member 301. It is understood that because the radial dimension of the third end 3101 to the fourth end 3102 of the damping column 310 gradually decreases, the contact between the transmission member 301 and the damping column 310 in the extension direction gradually weakens, and the resistance exerted by the damping column 310 on the transmission member 301 is reduced. When the drive member 302 drives the transmission member 301, the resistance applied by the damping column 310 to the transmission member 301 prevents the transmission member 301 from rotating continuously, and the transmission member 301 extends relative to the main body 1; during the extension process, the resistance applied by the damping column 310 to the transmission member 301 decreases. When the transmission member 301 is engaged with the cleaning device 2, the resistance applied by the damping column 310 to the transmission member 301 is small, which enables the drive member 302 to drive the transmission member 301 to rotate, thereby enabling the transmission member 301 to drive the cleaning device 2.

[0064] Please see Figure 6 In some embodiments, the transmission device 3 further includes a third bearing 311, the inner ring of which is sleeved on the outer periphery of the drive member 302, and the outer ring of which is connected to the main body 1. The third bearing 311 facilitates the drive member 302 to drive the transmission member 301 to rotate, thereby enabling the transmission member 301 to drive the cleaning device 2.

[0065] Please see Figure 6 In an optional embodiment, the drive member 302 includes a drive sleeve 3023 and a support sleeve 3024. The inner circumference of the support sleeve 3024 is connected to the outer circumference of the drive sleeve 3023, and the drive sleeve 3023 is located on the outer side of the support sleeve 3024 along the extension direction of the transmission member 301. A first thread 3021 is provided on the inner circumference of the drive sleeve 3023, and a damping post 310 is located inside the support sleeve 3024. The inner ring of the third bearing 311 is sleeved on the outer circumference of the drive sleeve 3023. It is understood that during the movement of the transmission member 301 along the support sleeve 3024, it cannot rotate continuously due to the resistance of the damping post 310 and gradually extends out of the main body 1. During this process, the resistance applied by the damping post 310 to the transmission member 301 gradually decreases. When the transmission member 301 moves to abut against the drive sleeve 3023, the transmission member 301 engages with the cleaning device 2. Under the action of the third bearing 311, the transmission component 301 is subjected to a small resistance, thereby rotating relative to the main body 1 and driving the cleaning device 2.

[0066] Please see Figure 6 and Figure 7In some embodiments, the transmission device 3 further includes a primary gear 312, which is drivenly connected to the driver 303. The primary gear 312 is located outside the driver 302, and the driver 302 has driving teeth 3022 on its outer periphery, which mesh with the primary gear 312. The primary gear 312 can change the direction and position of the power transmission of the driver 303, allowing the driver 303 to be arranged without being coaxial with the driver 302, and achieving lateral power steering through the meshing of the primary gear 312. For example, if the driver 303 needs to be installed horizontally due to space constraints, while the driver 302 needs to be arranged vertically to drive the extension and retraction of the transmission component 301, the primary gear 312 can serve as an intermediate transition structure, transmitting the driving force from the horizontal direction to the vertical direction of the driver 302. This avoids the restriction that the driver 303 and driver 302 must be strictly coaxial, and is more suitable for the compact, multi-component spatial layout inside the cleaning robot 100. When indirectly driven by the primary gear 312, the primary gear 312 can precisely mesh with the output end of the driver 303 and the drive teeth 3022 of the driver 302, respectively. This reduces the difficulty of alignment during assembly, improves the efficiency of mass production, and reduces the failure rate caused by assembly errors. During operation, the cleaning device 2 may encounter obstacles or be entrained by foreign objects, resulting in sudden resistance. In such cases, the driver 302 will be subjected to a reverse impact force. As an intermediate transmission structure, the primary gear 312 can buffer part of the impact force through the small gaps between the meshing teeth, reducing the load directly transmitted to the driver 303, thereby protecting the driver 303 from impact damage and extending its service life.

[0067] Please see Figure 6 and Figure 7In some embodiments, the transmission device 3 further includes a secondary gear 313, located between the primary gear 312 and the drive member 302. The secondary gear 313 is rotatably connected to the main body 1 and simultaneously meshes with the drive teeth 3022 of both the primary gear 312 and the drive member 302. In optional embodiments, the number of teeth in the secondary gear 313 is greater than the number of teeth in the primary gear 312. The secondary gear 313, together with the primary gear 312 and the drive member 302, forms a multi-stage gear transmission and multi-stage reduction, which can convert the high speed and low torque of the driver 303 into the low speed and high torque of the drive member 302, with a larger reduction and torque increase amplitude and higher precision. For the transmission member 301 of the cleaning robot 100, the larger torque ensures that it does not jam when it is in contact with the ground with high pressure or encounters resistance, such as hair entanglement or uneven ground, making it more suitable for low-speed, heavy-load working scenarios. The secondary gear 313 serves as an intermediate transition structure, which can further change the direction and distance of power transmission: if the primary gear 312 and the drive component 302 cannot mesh directly due to space limitations, such as excessive distance, the secondary gear 313 can act as a bridge to fill the gap. Through the multi-stage transmission from the primary gear 312 to the secondary gear 313 and then to the drive component 302, other components inside the main body 1 can be bypassed, structural interference can be avoided, and the compact internal space can be adapted more flexibly.

[0068] Please see Figure 6 and Figure 7 In some embodiments, the transmission device 3 further includes a third-stage gear 314, located between the second-stage gear 313 and the drive member 302. The third-stage gear 314 is rotatably connected to the main body 1 and simultaneously meshes with the drive teeth 3022 of both the second-stage gear 313 and the drive member 302. In optional embodiments, the number of teeth in the third-stage gear 314 is greater than the number of teeth in the second-stage gear 313. Adding the third-stage gear 314 achieves a greater deceleration effect and further increases torque, which can further reduce the jamming or insufficient power when the transmission member 301 extends.

[0069] Please see Figure 6 and Figure 7 In some embodiments, the transmission device 3 further includes a fourth-stage gear 315, located between the third-stage gear 314 and the drive member 302. The fourth-stage gear 315 is rotatably connected to the main body 1 and simultaneously meshes with the drive teeth 3022 of both the third-stage gear 314 and the drive member 302. In optional embodiments, the number of teeth in the fourth-stage gear 315 is greater than the number of teeth in the third-stage gear 314. Adding the fourth-stage gear 315 further enhances the deceleration effect and increases the torque, thereby further reducing the jamming or insufficient power when the transmission member 301 extends.

[0070] Please see Figure 6 and Figure 7 In an optional embodiment, the secondary gear 313 includes a first gear 3131 and a second gear 3132 stacked along its own axial direction. The number of teeth of the first gear 3131 is greater than the number of teeth of the second gear 3132 and the first gear, while the number of teeth of the second gear 3132 is similar to the number of teeth of the first gear. The tertiary gear 314 includes a third gear 3141 and a fourth gear 3142 stacked along its own axial direction. The number of teeth of the third gear 3141 is greater than the number of teeth of the first gear 3131, and the number of teeth of the fourth gear 3142 is similar to the number of teeth of the second gear 3132. The first gear 3131 is meshed with the first gear, the second gear 3132 is meshed with the third gear 3141, and the fourth gear 3142 is meshed with the fourth gear, thereby realizing multi-stage power transmission of the driver 303. Compared to single-gear multi-stage transmission, the double-gear stacking configuration allows for a larger reduction ratio through the amplification of the reduction ratio by the large gear and the connection of the small gear to the next stage. This enables a wider range of reduction ratio adjustment within a limited number of stages, and the reduction ratio of each stage can be designed independently. For example, by adjusting the control of the reduction amplitude of the first gear 3131 and the third gear 3141, and by optimizing the connection accuracy of the second gear 3132 and the fourth gear 3142, it can flexibly adapt to the high-speed to low-speed requirements of different equipment. The two gears of the second-stage gear 313 and the third-stage gear 314 are stacked axially, sharing the same rotation axis, eliminating the need to reserve radial space for each gear separately. In other words, the first gear 3131 and the second gear 3132 of the second-stage gear 313 are axially stacked, and their overall radial dimension is only equivalent to the diameter of the first gear 3131, while functionally equivalent to the transmission effect of two independent gears. This design can reduce the overall volume of the transmission system within a limited machine body, reserving more space for other components within the main body 1. When the first gear 312 drives the first gear 3131 of the second gear 313, the first gear 3131 has many teeth and a large tooth surface contact area, which can disperse the initial load from the driver 303, especially the impact load at the moment of driver 303 start-up, and avoid excessive force on a single tooth. When the second gear 3132 of the second gear 313 drives the third gear 3141 of the third gear 314, the third gear 3141 has even more teeth, further expanding the contact area and dispersing the load again. When it is finally transmitted to the driver 302, the force on each tooth has been greatly reduced, reducing tooth surface wear and the risk of tooth breakage.

[0071] In summary, the transmission device 3 of this application drives the transmission component 301 through the drive component 302, which enables the transmission component 301 to extend relative to the main body 1 and engage with the cleaning device 2. After engaging with the cleaning device 2, the drive component 302 can drive the transmission component 301 to rotate, thereby driving the cleaning device 2 to work, thus realizing the convenience of disassembly and assembly of the cleaning device 2 and the continuity of drive.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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, include: Main unit body; The cleaning device is detachably connected to the main unit body; as well as A transmission device is provided on the main body of the host machine. The transmission device includes a transmission member, which is driven to extend and retract relative to the host machine body, having an extended position and a retracted position. When in the extended position, the transmission member engages with the cleaning device and drives the cleaning device to clean the working surface. When in the retracted position, the transmission member disengages from the cleaning device.

2. The cleaning robot according to claim 1, characterized in that, The transmission device also includes a driver, the main body of which is located on the host body, and the output end of which is connected to the transmission component.

3. The cleaning robot according to claim 1 or 2, characterized in that, The transmission device further includes a drive component, which is driven to be connected to a driver. The drive component has a first thread, and the transmission component has a second thread. The first thread and the second thread are engaged. The drive component is used to be driven to extend and retract relative to the main body.

4. The cleaning robot according to claim 3, characterized in that, The first thread is an external thread, which is located on the outer periphery of the driving member. The second thread is an internal thread, which is located on the inner periphery of the transmission member. The transmission member is sleeved and engaged with the outer periphery of the driving member.

5. The cleaning robot according to claim 4, characterized in that, The transmission device further includes a damping sleeve, which is sleeved between the outer periphery of the transmission component and the main body.

6. The cleaning robot according to claim 5, characterized in that, The cleaning robot also includes at least one of the following: The inner circumference of the damping sleeve is provided with raised ribs, which are used to contact the outer circumference of the transmission component. Or / and, the transmission device further includes a sealing ring, which is sleeved between the outer periphery of the damping sleeve and the main body; Or / and, the transmission device further includes a first bearing, the inner ring of the first bearing being sleeved on the outer circumference of the damping sleeve, and the outer ring of the first bearing being connected to the main body.

7. The cleaning robot according to claim 4, characterized in that, The transmission device also includes an elastic element, which is disposed between the outer periphery of the transmission element and the main body. The elastic element is used to apply a gradually decreasing elastic resistance to the transmission element during its extension.

8. The cleaning robot according to claim 7, characterized in that, The elastic element includes an elastic sleeve, which has a first end and a second end along its own length. Along the direction in which the transmission element extends, the first end is used to sleeve the outer periphery of the transmission element and is spaced apart from the main body, and the second end is connected to the main body and is spaced apart from the outer periphery of the transmission element.

9. The cleaning robot according to claim 8, characterized in that, The elastic sleeve includes a support portion and a movable portion. Along the circumferential direction of the elastic sleeve, the support portion and the movable portion are alternately connected. The support portion abuts against the main body. The movable portion has a first end and a second end. The first end is used to fit around the outer periphery of the transmission member and is spaced apart from the support portion.

10. The cleaning robot according to claim 7, characterized in that, The transmission device further includes a second bearing, the inner ring of which is sleeved on the outer periphery of the transmission component, and the outer periphery of the second bearing is connected to the main body.

11. The cleaning robot according to claim 10, characterized in that, The transmission device further includes a flange sleeve, the inner ring of which is fitted onto the outer circumference of the transmission component, and the outer circumference of the flange sleeve is connected to the inner ring of the second bearing.

12. The cleaning robot according to claim 3, characterized in that, The first thread is an internal thread, and the second thread is an external thread. The internal thread is located on the inner circumference of the driving component, and the external thread is located on the outer circumference of the transmission component. The driving component is sleeved and engaged with the outer circumference of the transmission component.

13. The cleaning robot according to claim 12, characterized in that, The cleaning robot also includes at least one of the following: The transmission device further includes a damping column, which includes a third end and a fourth end along the extension direction of the transmission member. The radial dimension of the third end gradually decreases from that of the fourth end. The third end is connected to the main body. The damping column is located on the inner circumference of the transmission member, and the third end of the damping column is used to abut against the transmission member. And / or, the transmission device further includes a third bearing, the inner ring of which is sleeved on the outer periphery of the drive member, and the outer ring of which is connected to the main body.

14. The cleaning robot according to claim 12, characterized in that, The transmission device further includes a primary gear component, which is driven and connected to the driver. The primary gear component is located outside the driver component, and the driver component has driving teeth on its outer periphery. The driving teeth mesh with the primary gear component.

15. The cleaning robot according to claim 14, characterized in that, The transmission device further includes a secondary gear component, which is located between the primary gear component and the drive component. The secondary gear component is rotatably connected to the main body and simultaneously meshes with the drive teeth of the primary gear component and the drive component.

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