Cleaning robot

Abstract

The utility model discloses a kind of cleaning robots, it is related to cleaning equipment technical field, wherein, cleaning robot includes main body, cleaning module and drive mechanism, cleaning module extends along first horizontal direction, install in main body bottom, can be active in up-down direction and first horizontal direction, with the outer expansion stroke of outward protruding main body. Drive mechanism is located in the inside of main body, including the drive portion that can move in first horizontal direction, cleaning module is installed in drive portion, and can be moved up and down, so that cleaning module can selectively contact or separate from the surface to be cleaned, and prevent cleaning module and barrier from happening scraping, improve passability, cleaning module can expand outward along first horizontal direction, in-depth corner or narrow space, improve cleaning coverage. The movement of drive portion in first horizontal direction and the up-down movement of cleaning module are independent and can work cooperatively, so that cleaning module can realize accurate positioning and flexible adjustment in complex environment, improve cleaning efficiency and adaptability.

Description

Technical Field

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

[0002] In existing cleaning robot technologies, due to the limited size of the robot itself, it is often difficult to effectively enter and complete cleaning tasks in low-ceilinged spaces with limited height (such as under furniture and at the edges of walls), resulting in blind spots and affecting the overall cleaning effect. Especially when dealing with corner areas in complex home environments, traditional cleaning modules, due to layout and structural limitations, struggle to balance miniaturization with maximizing the cleaning range. To improve the robot's cleaning capabilities in confined, low-ceilinged, and edge spaces, there is an urgent need for a technical solution that can dynamically adjust the working position of cleaning components without increasing the overall height or size of the robot, thereby expanding its cleaning coverage. Adaptability and cleaning efficiency, particularly in complex low-ceilinged environments, have become critical technical challenges that need to be addressed. Utility Model Content

[0003] The main purpose of this utility model is to propose a cleaning robot that can achieve the lifting and adjusting function of the cleaning module without increasing the overall size, and can expand its cleaning coverage range.

[0004] To achieve the above objectives, the cleaning robot proposed in this utility model includes:

[0005] main body;

[0006] A cleaning module extends along a first horizontal direction, is mounted on the bottom of the main body, and is movably disposed relative to the main body in the vertical direction and the first horizontal direction. The cleaning module has an outwardly expanding stroke that moves along the first horizontal direction and protrudes laterally outward from the main body; and...

[0007] A drive mechanism is installed on the main body. The drive mechanism includes a drive part that is movably arranged in a first horizontal direction. The cleaning module is installed on the drive part and is movably arranged in a vertical direction relative to the drive part.

[0008] Optionally, the main body includes a shell, and the bottom of the shell has an opening communicating with its inner cavity;

[0009] The cleaning module includes a cleaning part with a corresponding opening and a connecting part connected to the top of the cleaning part. The connecting part is movably connected to the driving part in the vertical direction relative to the driving part.

[0010] During its vertical movement, the cleaning unit has a retracted state that is at least partially located inside the cavity and a working state that is completely exposed outside the opening. In the working state, the cleaning unit can be driven by the drive unit to move along the first horizontal direction to protrude laterally outward from the main body.

[0011] Optionally, one of the driving part and the connecting part is provided with a guide groove, and the other is provided with a guide part that slides with the guide groove. The guide groove extends along a first horizontal direction and has a first end and a second end in the first horizontal direction. The guide groove is inclined upward from its first end to its second end.

[0012] Optionally, a first stop portion and a second stop portion are formed on the main body, and the first stop portion and the second stop portion are disposed on both sides of the cleaning module in the first horizontal direction;

[0013] The first stop is used to restrict the movement of the cleaning module in the first horizontal direction when the guide slides from the first end of the guide groove to the second end;

[0014] The second stop is used to restrict the movement of the cleaning module in the first horizontal direction when the guide slides from the second end of the guide groove toward the first end.

[0015] Optionally, multiple guide grooves and multiple guide parts are provided, with each guide part slidingly engaging with its corresponding guide groove.

[0016] Optionally, the drive mechanism also includes a lead screw, which is rotatably arranged about a rotation axis in the first horizontal direction;

[0017] The drive unit is provided with an internal thread, and the drive unit is threaded with the lead screw so that when the lead screw rotates, the drive unit is driven to move in the first horizontal direction.

[0018] Optionally, the drive unit includes:

[0019] Nut, which mates with the threaded lead screw;

[0020] A sliding sleeve, fitted around the nut and slidably disposed relative to the nut along a first horizontal direction, is connected to the cleaning module; and,

[0021] The elastic element connects the nut and the sleeve, and provides a counterforce when the sleeve slides inward.

[0022] Optionally, a first limiting stop and a second limiting stop are respectively provided at both ends of the nut in the first horizontal direction;

[0023] The elastic element is disposed between the first limiting stop and the sliding sleeve, and the sliding sleeve is in a limiting engagement with the second limiting stop.

[0024] Optionally, the drive mechanism further includes a drive motor having an output shaft extending along a first horizontal direction, the output shaft being connected to a lead screw drive to drive the lead screw to rotate.

[0025] Optionally, the drive mechanism also includes a gearbox, which drives the output shaft and the lead screw.

[0026] Optionally, the drive motor and the lead screw are arranged side by side in the second horizontal direction, and the second horizontal direction intersects with the first horizontal direction;

[0027] The gearbox is located at the same end of the lead screw and the output shaft in the first horizontal direction.

[0028] Optionally, the cleaning robot also includes a control device electrically connected to the drive motor for controlling the operation of the drive motor.

[0029] The technical solution provided by this utility model has at least the following advantages:

[0030] By configuring the cleaning module to move vertically, it can selectively contact or detach from the surface to be cleaned, preventing the cleaning module from scratching obstacles and improving maneuverability. Furthermore, the cleaning module extends outward along a first horizontal direction, allowing it to penetrate corners or confined spaces without being limited by the overall shape, achieving comprehensive coverage of these areas. The drive mechanism employs a dual-degree-of-freedom structure, meaning that the movement of the drive unit along the first horizontal direction and the vertical movement of the cleaning module are independent yet can work together, enabling the cleaning module to achieve precise positioning and adjustment in complex environments. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0032] Figures 1 to 3 A partial structural schematic diagram of an embodiment of the cleaning robot provided by this utility model;

[0033] Figure 4 for Figure 1 A magnified view of a section at point A in the middle;

[0034] Figure 5 for Figure 1 Front view of the cleaning module and drive mechanism;

[0035] Figure 6 for Figure 1Side view of the cleaning module and drive mechanism.

[0036] Explanation of icon numbers:

[0037] 100. Cleaning robot; 10. Main body; 101. Shell; 101a. Opening; 102. First stop; 103. Second stop; 1. Cleaning module; a. Guide groove; a1. First end; a2. Second end; 11. Cleaning part; 12. Connecting part; 2. Drive mechanism; 20. Drive part; 21. Guide part; 22. Lead screw; 23. Nut; 231. First limit stop; 232. Second limit stop; 24. Sliding sleeve; 25. Elastic element; 26. Drive motor; 27. Gearbox.

[0038] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0040] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0042] In existing cleaning robot technology, due to the limitations of the robot's structural size, it often struggles to effectively access low-ceilinged spaces such as under furniture and corners, affecting cleaning performance. Although some existing products improve edge cleaning capabilities by optimizing the layout of cleaning modules, the working range of the cleaning components is still limited by the drive structure and installation space, making it difficult to fully extend the cleaning range to narrow, low, or complex corner areas.

[0043] This utility model proposes a cleaning robot, which aims to provide a cleaning robot that can realize the lifting and adjusting function of the cleaning module without increasing the overall size, and can expand its cleaning coverage range.

[0044] Please see Figures 1 to 3 In one embodiment of this utility model, the cleaning robot 100 includes a main body 10, a cleaning module 1, and a drive mechanism 2. The cleaning module 1 extends along a first horizontal direction and is installed at the bottom of the main body 10. The cleaning module 1 is movably arranged relative to the main body 10 in the vertical direction and the first horizontal direction. The cleaning module 1 has an outwardly extended stroke that moves along the first horizontal direction and protrudes laterally outward from the main body 10. The drive mechanism 2 is installed on the main body 10 and includes a drive part 20 movably arranged along the first horizontal direction. The cleaning module 1 is installed on the drive part 20 and is movably arranged relative to the drive part 20 in the vertical direction.

[0045] It should be noted that the main body 10 serves as the overall support structure for the cleaning robot, and its shape is typically designed to be close to a disc to facilitate flexible movement and rotation in indoor environments. The cleaning module 1 extends along a first horizontal direction, is mounted on the bottom of the main body 10, and has mobility relative to the main body 10 in the vertical direction and the first horizontal direction. The cleaning module 1 has an outward extension stroke for movement along the first horizontal direction, allowing it to protrude laterally outward from the main body 10 when needed, thereby entering corners or narrow spaces that are difficult for the main body 10 to reach.

[0046] The drive mechanism 2 is installed inside the main body 10 and includes a drive unit 20, which is movably disposed along a first horizontal direction. The cleaning module 1 is mounted on the drive unit 20 and is movably disposed vertically relative to the drive unit 20. This dual-movement structure allows the cleaning module 1 to be adjusted vertically and horizontally.

[0047] It should be noted that the "first horizontal direction" refers to a specific direction within the horizontal plane where the main body of the cleaning robot is located during normal operation. In this embodiment, the "first horizontal direction" is mainly used to describe the outward expansion direction of the cleaning module 1 and the movement path of the drive unit 20 along this direction.

[0048] Specifically, the cleaning module 1 is connected to the drive unit 20 via a guide structure. This guide structure includes, but is not limited to, the cooperation between the guide rail and the slider, the cooperation between the slide groove and the guide unit, or a linkage structure such as a connecting rod or elastic element, to ensure the vertical movement of the cleaning module 1. The drive unit 20 in the drive mechanism 2 is driven by a motor and achieves linear motion along the first horizontal direction through a gear, rack, or lead screw transmission mechanism.

[0049] The drive mechanism 2 controls the raising and lowering of the cleaning module 1, selectively bringing it into contact with or away from the surface to be cleaned. For example, in dry cleaning mode, the cleaning module 1 can be raised to avoid contact with water stains on the ground; in wet cleaning mode, it can prevent the wet cleaning module 1 from contacting dry carpet areas, preventing contamination or wetting of the carpet. Furthermore, when the cleaning robot overcomes obstacles, raising the cleaning module 1 increases the bottom clearance, effectively preventing the cleaning module 1 from scratching obstacles and improving passability and operational stability. Because the cleaning module 1 can be adjusted vertically, it can adapt to ground obstacles of different heights, such as carpets, thresholds, or the bottom of furniture. Subsequently, the drive unit 20 moves outward along the first horizontal direction, causing the cleaning module 1 to expand outward, protruding laterally from the edge of the main body 10 and entering areas that the main body 10 cannot directly reach. The cleaning module 1 begins operation in this state, completing cleaning tasks, for example, by rotating a roller brush, vacuuming, or mopping.

[0050] After cleaning is completed, the cleaning module 1 retracts along the first horizontal direction to below the main body 10, so that the robot can continue to move and work in other areas.

[0051] By configuring the cleaning module 1 to be movable in the vertical direction, it can selectively contact or detach from the surface to be cleaned, preventing the cleaning module 1 from scratching obstacles and improving passability. Furthermore, the cleaning module 1 extends outward along the first horizontal direction, allowing it to penetrate corners or narrow spaces without being limited by the shape of the main body 10, achieving comprehensive coverage of these areas. The drive mechanism 2 adopts a dual-degree-of-freedom structure, meaning that the movement of the drive unit 20 along the first horizontal direction and the vertical movement of the cleaning module 1 are independent yet can work together, enabling the cleaning module 1 to achieve precise positioning and adjustment in complex environments.

[0052] Specifically, please refer to Figure 1 and Figure 2In this embodiment, the main body 10 includes a housing 101, and the bottom of the housing 101 is provided with an opening 101a communicating with its inner cavity. The cleaning module 1 includes a cleaning part 11 provided corresponding to the opening 101a, and a connecting part 12 connected to the top of the cleaning part 11. The connecting part 12 is movably connected to the driving part 20 in the vertical direction relative to the driving part. During the vertical movement of the cleaning part 11, it has a retracted state at least partially located in the inner cavity, and a working state completely exposed outside the opening 101a. In the working state, the cleaning part 11 can be driven by the driving part 20 to move in the first horizontal direction to protrude laterally outward from the main body 10.

[0053] The cleaning unit 11 can move vertically, and its lifting stroke includes two states: one is a retracted state, in which the cleaning unit 11 is at least partially located in the inner cavity of the housing 101 to prevent dust from entering, or to maintain the integrity of the cleaning robot's appearance when not in operation; the other is an operating state, in which the cleaning unit 11 moves downward and is at least partially exposed outside the opening 101a, ready to perform cleaning operations. In this state, the cleaning unit 11 can be driven by the drive unit 20 to move along the first horizontal direction, thereby protruding laterally outward from the edge of the main body 10 to enter corners or narrow spaces that are difficult for the main body 10 to reach directly for cleaning.

[0054] Specifically, please refer to Figures 3 to 5 In some embodiments, one of the driving part 20 and the connecting part 12 is provided with a guide groove a, and the other is provided with a guide part 21 that slides with the guide groove a. The guide groove a extends along a first horizontal direction and has a first end a1 and a second end a2 in the first horizontal direction. The guide groove a is inclined upward from its first end a1 to its second end a2.

[0055] The guide groove a is inclined and cooperates with the guide part 21, so that when the cleaning module 1 moves along the first horizontal direction under the drive part 20, it also has a vertical motion component. When the drive part 20 moves along the first horizontal direction, the guide part 21 slides in the guide groove a, driving the connecting part 12 and the cleaning part 11 to move up and down synchronously, thereby realizing that the cleaning module 1 automatically adjusts its height while expanding horizontally to adapt to the height changes of different cleaning surfaces.

[0056] Specifically, please refer to Figure 2In this embodiment, the main body 10 has a first stop portion 102 and a second stop portion 103, which are respectively disposed on both sides of the cleaning module 1 in the first horizontal direction. The first stop portion 102 is used to restrict the movement of the cleaning module 1 in the first horizontal direction when the guide portion 21 slides from the first end a1 of the guide groove a towards the second end a2. The second stop portion 103 is used to restrict the movement of the cleaning module 1 in the first horizontal direction when the guide portion 21 slides from the second end a2 of the guide groove a towards the first end a1.

[0057] In specific implementation, when the cleaning module 1 is moving downward and preparing to be exposed from the bottom opening 101a of the housing 101, the guide part 21 slides along the guide groove a from the first end a1 to the second end a2. At this time, the cleaning module 1 is limited by the first stop part 102, so that it cannot be displaced in the first horizontal direction and can only move in the vertical direction.

[0058] As the cleaning module 1 moves upward based on a command and retracts from the opening 101a at the bottom of the housing 101 into the inner cavity of the main body 10, the drive unit 20 drives the cleaning module 1 to move inward along the first horizontal direction, and the guide unit 21 slides along the guide groove a from the second end a2 toward the first end a1. At this time, since the guide groove a is inclined upward from the first end a1 to the second end a2, when the guide unit 21 slides in the opposite direction, the connecting part 12 will drive the cleaning module 1 to move upward as a whole.

[0059] During this process, the cleaning part 11 of the cleaning module 1 gradually moves upward from outside the opening 101a and enters the inner cavity of the housing 101 to complete the storage action. At the same time, the sliding fit between the guide part 21 and the guide groove a ensures that the lifting action of the cleaning module 1 is smooth, synchronous, and coordinated with the horizontal movement.

[0060] Furthermore, as the cleaning module 1 moves upward, when the guide part 21 slides to the first end a1 of the guide groove a, the cleaning module 1 has been completely retracted into the inner cavity and enters the storage state. At this time, the second stop part 103 limits the movement of the cleaning module 1 in the first horizontal direction to prevent unnecessary horizontal deviation during the upward process, ensuring that the cleaning module 1 is stably stored inside the housing 101.

[0061] For example, the first stop 102 can be the inner wall of the housing 101 of the main body 10, the inner wall of the groove structure provided inside the housing 101, or other structural components fixedly installed on the main body 10, as long as it can achieve the function of limiting the horizontal direction of the cleaning module 1 during a specific movement phase. Similarly, the second stop 103 can also adopt a similar structural form to limit the horizontal displacement of the cleaning module 1 during retraction and ascent.

[0062] Through the inclined sliding cooperation between the guide groove a and the guide part 21, the automatic retraction and lifting action of the cleaning module 1 can be synchronously controlled during the process of the cleaning module 1 moving upward and preparing to be stored in the inner cavity of the housing 101. In addition, the coordinated action of the guide part 21, the first stop part 102 and the second stop part 103 enables the cleaning module 1 to achieve automatic avoidance, path adaptation and structural limit functions without relying on additional drive or sensing devices during the rising and storage stage.

[0063] Further, please refer to Figure 4 In this embodiment, multiple guide grooves a are provided, and multiple guide parts 21 are provided, with each guide part 21 slidingly engaging with the corresponding guide groove a.

[0064] Specifically, the guide grooves a can be distributed at intervals along the first horizontal direction on the drive part 20 or the connecting part 12, while the guide part 21 is disposed on the corresponding other component (e.g., the connecting part 12 or the drive part 20) and corresponds one-to-one with the guide grooves a to achieve sliding fit.

[0065] The arrangement of the multiple guide grooves a and guide parts 21 can be symmetrical or asymmetrical, depending on the structural dimensions, weight distribution, and motion trajectory requirements of the cleaning module 1. For example, a set of guide grooves a and guide parts 21 can be set on each of the left and right sides of the cleaning module 1 to ensure that the cleaning module 1 is subjected to uniform force and moves smoothly during movement along the first horizontal direction and vertical movement.

[0066] In actual operation, when the drive unit 20 moves along the first horizontal direction, the guide unit 21 slides in the corresponding guide groove a, driving the cleaning module 1 to simultaneously complete the lifting and expanding actions. The synergistic effect of multiple guide grooves a and guide unit 21 gives the cleaning module 1 higher structural rigidity and guiding accuracy during the compound motion, avoiding the swaying, tilting or jamming that may be caused by a single guide structure.

[0067] Specifically, please refer to Figure 4 and Figure 5 In this embodiment, the drive mechanism 2 further includes a lead screw 22, which is rotatably arranged about a rotation axis in the first horizontal direction. The drive part 20 is provided with an internal thread, and the drive part 20 is threadedly engaged with the lead screw 22 so that when the lead screw 22 rotates, the drive part 20 is driven to move in the first horizontal direction.

[0068] The lead screw 22 extends along a first horizontal direction and is rotatably mounted inside the main body 10 about a rotation axis in that direction. Both ends of the lead screw 22 are supported by bearings or bearing seats to ensure good coaxiality and stability during rotation.

[0069] The drive unit 20 is provided with an internal thread that matches the lead screw 22, forming a threaded engagement relationship between the drive unit 20 and the lead screw 22. When the lead screw 22 rotates, since the drive unit 20 is limited to the first horizontal direction and cannot rotate, the rotation of the lead screw 22 is converted into linear motion of the drive unit 20 along the first horizontal direction. By controlling the forward and reverse rotation of the lead screw 22, the reciprocating movement of the drive unit 20 in the first horizontal direction can be realized, thereby driving the cleaning module 1 to complete the expansion or retraction action.

[0070] In a specific implementation, one end of the lead screw 22 is connected to the drive motor 26, which transmits power to the lead screw 22 through the reduction gearbox 27 to achieve precise speed and torque control. Driven by the lead screw 22, the drive unit 20 slides along the first horizontal direction within a guide rail or groove structure inside the main body 10, ensuring that its direction of movement is consistent with the axis of the lead screw 22, thereby achieving stable horizontal movement of the cleaning module 1. This configuration enables high-precision position control of the cleaning module 1 along the first horizontal direction.

[0071] For further information, please refer to [link / reference]. Figure 4 and Figure 5 In this embodiment, the drive unit 20 includes a nut 23, a sliding sleeve 24, and an elastic element 25. The nut 23 is threadedly engaged with the lead screw 22. The sliding sleeve 24 is sleeved around the nut 23 and is slidably disposed relative to the nut 23 along a first horizontal direction. The sliding sleeve 24 is connected to the cleaning module 1. The elastic element 25 connects the nut 23 and the sliding sleeve 24, and the elastic element 25 provides a counterforce when the sliding sleeve 24 slides inward.

[0072] It is understood that the nut 23 and the lead screw 22 form a threaded engagement. When the lead screw 22 rotates, it drives the nut 23 to move linearly along the first horizontal direction. The sliding sleeve 24 is sleeved on the periphery of the nut 23 and is slidably disposed relative to the nut 23 along the first horizontal direction. Its lower end is connected to the cleaning module 1 and is used to transmit the movement of the drive unit 20 to the cleaning module 1.

[0073] An elastic element 25 is disposed between the nut 23 and the sliding sleeve 24. Specifically, one end of the elastic element 25 is fixedly connected to the nut 23, and the other end is in contact with or connected to the sliding sleeve 24. In the initial state, the sliding sleeve 24 and the elastic element 25 are in a tight fit, and the elastic element 25 is compressed. The elastic element 25 always applies a force to the sliding sleeve 24 toward the outside of the main body 10 (i.e., one side in the first horizontal direction). Therefore, when the nut 23 moves to the right under the drive of the lead screw 22, the elastic element 25 drives the sliding sleeve 24 to move to the right synchronously, thereby pushing the cleaning module 1 to expand outward and enter corners or narrow spaces that are difficult for the main body 10 to reach directly.

[0074] When the cleaning unit 11 encounters an obstacle or is pushed by an external force during its lateral expansion, the cleaning module 1 will be subjected to a reverse force. This force is transmitted to the elastic element 25 through the sliding sleeve 24, causing it to compress further. At this time, the sliding sleeve 24 slides inward relative to the nut 23, causing the cleaning module 1 to retract towards the main body 10 to avoid the obstacle, thus achieving a passive obstacle avoidance function. This obstacle avoidance process relies entirely on the force transmission between mechanical structures and the deformation response of the elastic element 25. Without the need for additional control logic or sensor intervention, the cleaning module 1 can achieve adaptive movement and structural protection in complex environments, avoiding the problem of easy damage to traditional rigid connection structures under stress and extending the service life of the cleaning module 1.

[0075] Specifically, please refer to Figure 3 and Figure 4 In this embodiment, the nut 23 is provided with a first limiting stop 231 and a second limiting stop 232 at both ends in the first horizontal direction; the elastic member 25 is disposed between the first limiting stop 231 and the sliding sleeve 24, and the sliding sleeve 24 is in a limiting engagement with the second limiting stop 232.

[0076] Understandably, the first limiting stop 231 is used to limit the installation position and direction of action of the elastic element 25 during the compression process, while the second limiting stop 232 is used to form a limiting engagement with the sliding sleeve 24 to prevent the sliding sleeve 24 from disengaging from the nut 23 during the movement.

[0077] Specifically, one end of the elastic element 25 abuts against the first limiting stop 231, and the other end contacts one end face of the sliding sleeve 24, so that it is in a compressed state under normal conditions and continuously applies a thrust toward the outside of the main body 10 to the sliding sleeve 24. The sliding sleeve 24 is sleeved around the nut 23 and can slide relative to the nut 23 in the first horizontal direction; so that when the sliding sleeve 24 slides outward, it can contact the second limiting stop 232 and be limited, preventing it from continuing to slide beyond the set stroke.

[0078] When the nut 23 moves along the first horizontal direction under the drive of the lead screw 22, the elastic element 25 pushes the sliding sleeve 24 to move along with it, thereby driving the cleaning module 1 to complete the expansion or retraction action. When the cleaning module 1 encounters an obstacle or external force, the sliding sleeve 24 compresses the elastic element 25 and slides inward until it contacts the second limit stop 232. At this time, the sliding sleeve 24 stops sliding, thereby limiting the retraction limit position of the cleaning module 1 and preventing structural overload or detachment.

[0079] Please see Figure 3 and Figure 4The drive mechanism 2 further includes a drive motor 26 and a reduction gearbox 27. The drive motor 26 is located inside the main body 10, and its output shaft extends along a first horizontal direction and is connected to a lead screw 22 for driving the lead screw 22 to rotate around its axis. Specifically, one end of the output shaft is connected to the input end of the reduction gearbox 27, and the output end of the reduction gearbox 27 is connected to the lead screw 22 via a coupling or gear transmission structure, thereby transmitting the power of the drive motor 26 to the lead screw 22.

[0080] The reduction gearbox 27 is disposed between the output shaft of the drive motor 26 and the lead screw 22, and is used to adjust the speed and torque output by the drive motor 26. Through the speed reduction and torque amplification effect of the reduction gearbox 27, the lead screw 22 can obtain a larger output torque at a lower speed, thereby improving the driving force and control accuracy of the drive unit 20 when it moves along the first horizontal direction.

[0081] Further, please refer to Figure 3 and Figure 4 In this embodiment, the drive motor 26 and the lead screw 22 are arranged side by side in the second horizontal direction, and the second horizontal direction intersects with the first horizontal direction; the reduction gearbox 27 is located at the same end of the lead screw 22 and the output shaft in the first horizontal direction.

[0082] It should be noted that the "second horizontal direction" refers to a direction in another horizontal plane that intersects with the "first horizontal direction". It is usually perpendicular to the first horizontal direction, forming two orthogonal directions in a two-dimensional horizontal coordinate system.

[0083] Specifically, the "first horizontal direction" is the direction in which the cleaning module 1 moves laterally outward, that is, the straight path along which the cleaning part 11 extends outward or retracts inward from the edge of the main body 10. The "second horizontal direction" refers to another direction within the horizontal plane where the main body 10 is located, which intersects (usually perpendicular to) the first horizontal direction. For example, if the first horizontal direction is defined as the left-right direction (such as the X-axis), then the second horizontal direction can be defined as the front-back direction (such as the Y-axis).

[0084] Taking the main body 10 of the cleaning robot 100 as a disc shape as an example, the cleaning module 1 expands outward along the radial direction (first horizontal direction). If the drive motor 26 and the lead screw 22 are arranged coaxially along this radial direction, it will occupy a long radial space, restricting the layout of other components. However, by arranging the drive motor 26 and the lead screw 22 side by side in a second horizontal direction (such as the front-to-back direction) that are adjacent in the circumferential or axial direction, and using the reduction gearbox 27 to achieve power transmission at one end in the first horizontal direction, the space requirement of the drive mechanism in the radial direction can be significantly reduced, improving the compactness and layout flexibility of the overall structure.

[0085] Furthermore, in this embodiment, the cleaning robot 100 also includes a control device (not shown), which is electrically connected to the drive motor 26 and is used to control the operation of the drive motor 26.

[0086] Specifically, the control device can be an embedded controller or a main control module, which receives feedback signals from the internal sensors of the cleaning robot 100 (such as position sensors, obstacle avoidance sensors, detection modules, etc.) to determine the external position and operating status of the cleaning module 1 in real time, and accordingly performs precise control of the drive motor 26.

[0087] As the cleaning module 1 expands outward along the first horizontal direction, the drive motor 26 drives the lead screw 22 to rotate through the reduction gearbox 27, which in turn moves the nut 23 and the sliding sleeve 24, thereby pushing the cleaning module 1 outward. When the cleaning module 1 reaches the target expansion position, the control device controls the drive motor 26 to stop rotating according to a preset program or sensor feedback signal, so that the cleaning module 1 stays at that position and begins to perform the cleaning task.

[0088] In addition, when the cleaning module 1 is blocked by an external obstacle or the elastic element 25 is compressed and retracted due to the avoidance action, the control device can still control the drive motor 26 to restart according to the current position information, so that the cleaning module 1 returns to the set position or continues to execute the cleaning path.

[0089] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A cleaning robot (100), characterized in that, include: Main body (10); A cleaning module (1) extends along a first horizontal direction, the cleaning module (1) is mounted on the bottom of the main body, and is movably disposed relative to the main body in the vertical direction and in the first horizontal direction. The cleaning module (1) has an outwardly expanding stroke that moves along the first horizontal direction and protrudes laterally outward from the main body (10); and, A drive mechanism (2) is installed on the main body (10). The drive mechanism (2) includes a drive part (20) that is movably arranged along the first horizontal direction. The cleaning module (1) is installed on the drive part (20) and is movably arranged in the vertical direction relative to the drive part (20).

2. The cleaning robot (100) as described in claim 1, characterized in that, The main body (10) includes a shell (101), and the bottom of the shell (101) is provided with an opening (101a) communicating with its inner cavity. The cleaning module (1) includes a cleaning part (11) provided corresponding to the opening (101a) and a connecting part (12) connected to the top of the cleaning part (11). The connecting part (12) is movably connected to the driving part (20) in the vertical direction relative to the driving part. During its vertical movement, the cleaning part (11) has a retracted state that is at least partially located within the inner cavity and a working state that is completely exposed outside the opening (101a). In the working state, the cleaning part (11) can be driven by the drive part (20) to move along the first horizontal direction so as to protrude laterally outward from the main body (10).

3. The cleaning robot (100) as described in claim 2, characterized in that, One of the driving part (20) and the connecting part (12) is provided with a guide groove (a), and the other is provided with a guide part (21) that slides with the guide groove (a). The guide groove (a) extends along the first horizontal direction and has a first end (a1) and a second end (a2) in the first horizontal direction. The guide groove (a) is inclined upward from its first end (a1) to its second end (a2).

4. The cleaning robot (100) as described in claim 3, characterized in that, The main body (10) has a first stop (102) and a second stop (103) formed thereon, the first stop (102) and the second stop (103) being respectively disposed on both sides of the cleaning module (1) in the first horizontal direction; The first stop (102) is used to restrict the movement of the cleaning module (1) in the first horizontal direction when the guide (21) slides from the first end (a1) of the guide groove (a) toward the second end (a2); The second stop (103) is used to restrict the movement of the cleaning module (1) in the first horizontal direction when the guide (21) slides from the second end (a2) of the guide groove (a) toward the first end (a1).

5. The cleaning robot (100) as described in claim 3, characterized in that, Multiple guide grooves (a) are provided, and multiple guide parts (21) are provided, with each guide part (21) slidingly engaging with the corresponding guide groove (a).

6. The cleaning robot (100) as described in any one of claims 1 to 5, characterized in that, The drive mechanism (2) further includes a lead screw (22), which is rotatably arranged about the rotation axis in the first horizontal direction; The drive unit (20) is provided with an internal thread, and the drive unit (20) is threadedly engaged with the lead screw (22) so that when the lead screw (22) rotates, the drive unit (20) is driven to move along the first horizontal direction.

7. The cleaning robot (100) as described in claim 6, characterized in that, The drive unit (20) includes: Nut (23) is threaded into the lead screw (22); A sliding sleeve (24) is fitted around the nut (23) and slidably disposed relative to the nut (23) along the first horizontal direction; the sliding sleeve (24) is connected to the cleaning module (1); and, An elastic element (25) connects the nut (23) and the sliding sleeve (24), the elastic element (25) being used to provide a counterforce when the sliding sleeve (24) slides inward.

8. The cleaning robot (100) as described in claim 7, characterized in that, The nut (23) is provided with a first limiting stop (231) and a second limiting stop (232) at both ends in the first horizontal direction. The elastic element (25) is disposed between the first limiting stop (231) and the sliding sleeve (24), and the sliding sleeve (24) is in a limiting cooperation with the second limiting stop (232).

9. The cleaning robot (100) as described in claim 6, characterized in that, The drive mechanism (2) further includes a drive motor (26), which has an output shaft extending along the first horizontal direction. The output shaft is connected to the lead screw (22) to drive the lead screw (22) to rotate.

10. The cleaning robot (100) as described in claim 9, characterized in that, The drive mechanism (2) also includes a reduction gearbox (27), which is connected to the output shaft and the lead screw (22) in a transmission manner.

11. The cleaning robot (100) as described in claim 10, characterized in that, The drive motor (26) and the lead screw (22) are arranged side by side in the second horizontal direction, and the second horizontal direction intersects with the first horizontal direction; The gearbox (27) is located at the same end of the lead screw (22) and the output shaft in the first horizontal direction.

12. The cleaning robot (100) as described in claim 9, characterized in that, The cleaning robot (100) also includes a control device, which is electrically connected to the drive motor (26) and is used to control the operation of the drive motor (26).

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