Self-driving surface cleaning robot

Abstract

Self-driving surface cleaning robot, characterized in that it includes: a housing assembly; and a cleaning assembly attached to the housing assembly, wherein the cleaning assembly is in frictional contact with a surface to be cleaned in order to clean that surface; the cleaning assembly includes: a housing attached to the housing assembly; a cleaning element for cleaning the surface to be cleaned; a second drive motor connected to the cleaning element to enable the cleaning element to rotate around a rotary axis; an adjustment mechanism connected to both the housing and the cleaning element, which, in response to the driving force of the second drive motor, causes the cleaning element to move relative to the housing assembly between a lowered position and a raised position, wherein the cleaning element is closer to the housing assembly in the raised position than in the lowered position; and a damping element arranged between the housing and the adjustment mechanism, wherein during the transition between the lowered position and the raised position of the cleaning element the damping element generates a first torque centered on the axis of rotation, while the adjustment mechanism generates a second torque centered on the axis of rotation, the first torque exceeding the second torque.

Description

TECHNICAL AREA

[0001] The present utility model relates to household cleaning equipment, in particular a self-driving surface cleaning robot. STATE OF THE ART

[0002] Household vacuum cleaners are used to clean rooms by vacuuming particles such as dust from the floor.

[0003] Existing household vacuum cleaners can be equipped with a mop. This mop can be soaked with cleaning fluid. When rotated, it can wet-clean the surfaces to be cleaned, thus improving the cleaning effect.

[0004] To prevent the mop from colliding with obstacles while the vacuum cleaner is moving, the mop height can be adjusted on existing vacuum cleaners. This adjustment also allows the mop to clean different floor types.

[0005] Current devices with height-adjustable mops typically use two separate drive mechanisms to achieve the vertical and rotational movements of the mop. While this configuration offers a simple control solution, it results in a more complex structure and higher costs. CONTENTS OF THE PRESENT SAMPLE FOR USE

[0006] The present utility model provides a self-driving surface cleaning robot.

[0007] According to one aspect of the present utility model, the following is provided: A self-propelled surface cleaning robot comprising: a housing assembly; and a cleaning assembly attached to the housing assembly, wherein the cleaning assembly is in frictional contact with a surface to be cleaned in order to clean that surface; wherein the cleaning assembly comprises: a housing attached to the housing assembly; a cleaning element for cleaning the surface to be cleaned; a second drive motor connected to the cleaning element to enable the cleaning element to rotate about a pivot axis on the housing;an adjustment mechanism connected to both the housing and the cleaning element, which, in response to the driving force of the second drive motor, moves the cleaning element relative to the housing assembly between a lowered position and a raised position, wherein the cleaning element is closer to the housing assembly in the raised position than in the lowered position; a damping element positioned between the housing and the adjustment mechanism; wherein, during the transition of the cleaning element between the lowered position and the raised position, the damping element provides a first torque centered on the axis of rotation, and the adjustment mechanism provides a second torque centered on the axis of rotation, the first torque being greater than the second torque.

[0008] According to at least one embodiment of the present utility model, the cleaning element ceases to rotate during the transition between the lowered position and the raised position.

[0009] According to at least one embodiment of the present utility model, the damping element generates both circumferential static friction force and axial static friction force between the housing and the adjustment mechanism, wherein the circumferential static friction force is greater than the axial static friction force.

[0010] According to at least one embodiment of the present utility model, the damping element generates the first torque through the circumferential static friction force.

[0011] According to at least one embodiment of the present utility model, the adjusting mechanism comprises a threaded spindle and a sleeve, wherein at least a part of the sleeve is screwed to the threaded spindle and the sleeve and the threaded spindle perform a relative axial movement via the screw connection.

[0012] According to at least one embodiment of the present utility model, the sleeve comprises an inner cylinder, wherein the inner cylinder is screwed to the threaded spindle.

[0013] According to at least one embodiment of the present utility model, the threaded spindle and the sleeve generate the second torque through the threaded connection.

[0014] According to at least one embodiment of the present utility model, the second torque is generated at least by the thread between the threaded spindle and the sleeve.

[0015] According to at least one embodiment of the present utility model, the cleaning assembly further comprises a stop element which is attached to the free end of the threaded spindle in order to limit the axial stroke of the sleeve relative to the threaded spindle.

[0016] According to at least one embodiment of the present utility model, the stop element comprises a stop disc which is attached to the free end of the threaded spindle. In the lowered position, the stop disc abuts at least a portion of the sleeve.

[0017] According to at least one embodiment of the present utility model, the stop disc abuts the end of the inner sleeve in the lowered position.

[0018] According to at least one embodiment of the present utility model, the damping element is arranged between the sleeve and the housing.

[0019] According to at least one embodiment of the present utility model, the housing comprises a downwardly extending cylindrical component, wherein the damping element is positioned between the cylindrical component and the sleeve.

[0020] According to at least one embodiment of the present utility model, the damping element is distributed circumferentially around the free end of the cylindrical component in a defined manner.

[0021] According to at least one embodiment of the present utility model, the damping element is placed over the free end of the cylindrical component. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings illustrate exemplary embodiments of the present utility model and, together with their descriptions, serve to explain the principles of the present utility model. These drawings are included to facilitate a better understanding of the present utility model and form part of this description. Fig. Figure 1 is a schematic diagram of the structure of a surface cleaning assembly according to an embodiment of the present utility model. Fig. Figure 2 is a schematic representation of the surface cleaning assembly according to an embodiment of the present utility model, viewed from a different perspective. Fig. Figure 3 is a schematic representation of the surface cleaning assembly according to an embodiment of the present utility model in a different state. Fig. Figure 4 is a schematic representation of the surface cleaning assembly according to an embodiment of the present utility model in a different state from a different perspective. Fig. Figure 5 is a schematic representation of a partial assembly of the surface cleaning assembly according to an embodiment of the present utility model. Fig. Figure 6 is a schematic representation of a substructure of the surface cleaning assembly according to an embodiment of the present utility model. Fig. Figure 7 is a schematic representation of the cleaning assembly and the first drive assembly of the surface cleaning assembly according to an embodiment of the present utility model. Fig. Figure 8 is a schematic representation of the cleaning assembly in the extended position according to an embodiment of the surface cleaning assembly of the present utility model. Fig. Figure 9 is a schematic representation of the cleaning assembly of the surface cleaning assembly according to an embodiment of the present utility model in its initial position. Fig. Figure 10 is a schematic representation of the elastic component of the surface cleaning assembly according to an embodiment of the present utility model. Fig. Figure 11 is a schematic representation of the intermediate element according to an embodiment of the present utility model. Fig. Figure 12 is a schematic representation of the cleaning assembly according to an embodiment of the present utility model. Fig. Figure 13 is a schematic structural representation of the cleaning assembly from a different perspective according to an embodiment of the present utility model. Fig. Figure 14 is a schematic sectional view of the cleaning assembly according to an embodiment of the present utility model. Fig. Figure 15 is a schematic representation of a partial structure of the cleaning assembly according to an embodiment of the present utility model.

[0023] The reference numbers in the drawings are as follows: 100 Housing assembly 101 inner bracket 200 side brush assembly 300 sweeping units 400 swivel caster 500 drive wheels 600 Cleaning assembly 610 case 611 Cylindrical component 620 Second drive assembly 630 cleaning element 640 Adjustment mechanism 641 Threaded spindle 642 sleeve 642A Inner sleeve 650 damping element 660 Stop element 700 First drive assembly 710 First drive motor 720 actuator 730 Drive element 740 Intermediate element 741 First actuating element 742 Second actuating element 742A Sliding section 742B advantage 742B1 First intervention area 742B2 Second intervention area 800 Elastic element. DETAILED DESCRIPTION

[0024] The present utility model is now described in more detail with reference to the attached drawings and embodiments. It is understood that the specific embodiments described here serve solely for illustrative purposes and do not constitute any limitations to the scope of the present utility model. It should also be noted that, for the sake of clarity, the drawings only show the components relevant to the present utility model.

[0025] It should be noted that the embodiments and features within the embodiments of this utility model can be combined with one another, provided they do not conflict with each other. The technical solutions of this utility model are now described in detail with reference to the accompanying drawings and in conjunction with the embodiments.

[0026] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as illustrations of exemplary features of various details that offer possibilities for the practical implementation of the technical concept of the present utility model. Unless otherwise stated, the features of different embodiments / examples can therefore be additionally combined, separated, exchanged and / or rearranged without deviating from the technical concept of the present utility model.

[0027] The hatching and / or shading used in the drawings generally serves to indicate the boundaries between adjacent components. Unless otherwise specified, the presence or absence of hatching or shading therefore does not imply any preference or requirement regarding the specific material, material properties, dimensions, proportions, commonalities between the components shown, and / or other features, characteristics, or properties of the components. Furthermore, for the sake of clarity and / or descriptiveness, the dimensions and relative dimensions of components may be exaggerated in the drawings. Where exemplary embodiments can be implemented differently, certain process steps may be carried out in a different sequence than described.For example, two processes described sequentially can be carried out essentially simultaneously or in reverse order. Furthermore, identical reference symbols denote identical components.

[0028] When a component is described as being "on" or "above" another component, or as being "connected to" or "coupled with" another component, that component may be directly on top of, directly connected to, or directly coupled with the other component, or there may be intermediate elements. However, when a component is described as being "directly on," "directly with," or "directly coupled with" another component, there are no intermediate elements. For this purpose, the term "connection" can refer to a physical connection, an electrical connection, etc., with or without intermediate elements.

[0029] For descriptive purposes, this utility model may use spatial relative terms such as "below," "under," "below," "below," "above," "on," "above," "higher than," and "side" (e.g., as in "side wall") to describe the relationship between one component and another (different) component, as illustrated in the accompanying drawings. Beyond the orientations shown in the drawings, spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings were reversed, a component described as "below" or "under" another component or feature would subsequently be positioned "above" that other component or feature.Thus, the exemplary term "below" can encompass both the "above" and "below" orientations. Furthermore, the device can be positioned alternatively (e.g., rotated by 90 degrees or arranged in other orientations), and the spatial relative descriptions used here should be interpreted accordingly.

[0030] The terminology used herein serves to describe specific embodiments and is not to be understood as restrictive. Unless the context clearly indicates otherwise, the singular forms "a (type, one)" and "the (named)" also include the plural forms. When the terms "comprehensive" and / or "inclusive" and their variants are used herein, they indicate the presence of the specified features, units, steps, operations, parts, components, and / or groups thereof, but do not exclude the presence or addition of one or more other features, units, steps, operations, parts, components, and / or groups thereof. It should also be noted that the terms "essentially," "approximately," and other similar expressions as used herein are used as approximations rather than degrees of certainty.They are therefore used to account for inherent deviations in the stated measurements, calculations and / or values ​​that would be known to a person skilled in the art.

[0031] Fig. Figure 1 is a schematic diagram of the structure of a surface cleaning device according to an embodiment of the present utility model. Fig. Figure 2 is a schematic diagram of the structure of the surface cleaning device according to an embodiment of the present utility model, viewed from a different perspective.

[0032] As in the Fig. 1 and Fig. Figure 2 depicts a surface cleaning device that is a self-driving surface cleaning robot. For example, the surface cleaning robot could be a sweeping robot, a mopping robot, a surface cleaning robot, or an integrated sweeping and mopping robot. The surface cleaning robot is capable of autonomously traversing surfaces that require cleaning, vacuuming up and removing particles from these surfaces.

[0033] Using the example of the one in the Fig. 1 and Fig. In the surface cleaning robot shown in section 2, the forward direction of the surface cleaning robot is referred to as the front. This is in relation to the viewing direction. Fig. 2 is the forward direction of the surface cleaning robot, the side facing upwards. The opposite direction to the forward direction is the reverse direction. The back of the surface cleaning robot refers to the side shown in Fig. 2. downward-facing side. Accordingly, the direction perpendicular to the forward and backward directions can be defined as the lateral direction.

[0034] The surface cleaning robot mentioned above can comprise a housing assembly 100. The housing assembly 100 is configured to form the body of the surface cleaning robot. The underside of the housing assembly 100 is equipped with a steering caster 400 and a drive wheel 500. The steering caster 400 controls the direction of travel of the surface cleaning robot. The drive wheels 500 move the surface cleaning robot forward. The steering caster 400 is positioned at the front of the housing assembly 100. The cleaning assembly 600 is pivotally connected to the underside of the housing assembly 100. The cleaning assembly 600 is located at the rear of the housing assembly 100.

[0035] As in Fig. As shown in Figure 2, the number of drive wheels 500 can be two. The two drive wheels 500 are each arranged approximately in the center of the housing assembly 100 in the longitudinal direction. The two drive wheels 500 are located on both sides of the housing assembly 100 in the transverse direction. The number of swivel casters 400 can be one. The swivel caster 400 can be one swivel caster. The swivel caster is positioned in the center in the lateral direction of the surface cleaning robot. The swivel caster is located near the front end of the surface cleaning robot. Of course, the number of swivel casters 400 in the present utility model can be two or more.

[0036] The drive wheels 500 can be driven and rotated. By controlling the drive wheels 500 to rotate at the same speed, the surface cleaning robot can be made to move forward. By controlling the drive wheels 500 to rotate at different speeds, the surface cleaning robot can be made to turn.

[0037] The housing assembly 100 further comprises a side brush assembly 200. The number of side brush assemblies 200 can be one or two. As in Fig. As shown in Figure 2, the number of side brush assemblies is 200. The side brush assembly 200 is positioned on the right side of the front end of the housing assembly 100. By rotating the side brush assembly 200, dirt on the surface to be cleaned can be agitated and the surface cleaned.

[0038] The housing assembly 100 is equipped with a sweeping unit 300. The sweeping unit 300 is positioned longitudinally in the center of the housing assembly 100. The longitudinal direction of the sweeping unit 300 corresponds to the width direction of the housing assembly 100. The sweeping unit 300 can be a roller brush. The roller brush is rotatably connected to the housing assembly 100. The axis of rotation of the roller brush runs parallel to the surface to be cleaned, for example, parallel to the floor. Fig. Figure 2 illustrates the specific setup when the cleaning assembly includes the roller brush. The axis of rotation of the roller brush runs parallel to the surface to be cleaned. As the roller brush rotates, it sweeps the surface being cleaned.

[0039] The roller brush of the 300 sweeping unit can stir up dirt on the surface to be cleaned. This dirt is then sucked into the dust container by negative pressure. Solid particles are separated in the dust container. This process cleans the surface.

[0040] In a preferred embodiment, the housing assembly 100 further comprises a cleaning assembly 600. The cleaning assembly 600 is rotatably connected to the housing assembly 100. The cleaning assembly 600 is configured to establish frictional contact with the surface to be cleaned and thereby cleans the surface.

[0041] Fig. Figure 3 is a schematic representation of another state of the surface cleaning robot according to an embodiment of the present utility model. Fig. Figure 4 is a schematic representation of another state of the surface cleaning robot according to an embodiment of the present utility model, viewed from a different perspective. Fig. Figure 5 is a schematic representation of a partial structure of the surface cleaning robot according to an embodiment of the present utility model. Fig. Figure 6 is a schematic representation of a partial structure of the surface cleaning robot according to an embodiment of the present utility model. Fig. Figure 7 is a schematic representation of the cleaning assembly and the first drive assembly of the surface cleaning robot according to an embodiment of the present utility model. Fig. Figure 8 is a schematic structure diagram of the cleaning assembly in an extended position according to an embodiment of the present utility model. Fig. Figure 9 is a schematic structure diagram of the cleaning assembly in a starting position according to an embodiment of the present utility model. Fig. Figure 10 is a schematic structure diagram of the elastic component according to an embodiment of the present utility model.

[0042] As in the Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 to Fig. As shown in Figure 10, the cleaning assembly 600 is attached to the housing assembly 100. The cleaning assembly 600 can move relative to the housing assembly 100 between a starting position (retracted position) and an extended position (extended position). The starting position corresponds to the one shown in Figure 10. Fig. The configuration shown in section 2 can also be referred to as the retracted position. The extended position corresponds to the configuration shown in the following sections. Fig. 3 and Fig. 4 configurations shown and can also be referred to as the extended position.

[0043] The housing assembly 100 can include an inner support 101 to which the cleaning assembly 600 is pivotably attached. For example, the cleaning assembly 600 is rotatably connected to the inner support 101 via a rotary shaft. In a preferred embodiment, the rotary shaft is positioned in a substantially vertical orientation.

[0044] The cleaning assembly 600 also includes a self-rotating axis. The self-rotating axis is also arranged in a substantially vertical direction. The self-rotating axis maintains a predetermined distance from the axis of rotation of the rotary unit. As the cleaning assembly 600 rotates around the rotary axis, it can move between its initial position and its extended position.

[0045] The cleaning assembly 600 can be driven by a first drive assembly 700, thereby enabling the cleaning assembly 600 to rotate relative to the housing assembly 100. The first drive assembly 700 can comprise: a first drive motor 710, an actuator 720, a drive element 730, and an intermediate element 740.

[0046] The first drive motor 710 is mounted on the housing assembly 100. For example, the first drive motor 710 can be mounted on the inner bracket 101. The first drive motor 710 generates a rotary motion. In particular, the first drive motor 710 can be an electric motor. In a preferred embodiment, the axis of rotation of the first drive motor 710 can be a vertical line.

[0047] The actuator 720 is connected to the output shaft of the first drive motor 710. In a preferred embodiment, the actuator 720 can be a gearbox. Consequently, the first drive motor 710 is able to drive the actuator 720 to rotate it. The axis of rotation of the actuator 720 is identical to the axis of rotation of the first drive motor 710.

[0048] The intermediate element 740 is rotatably mounted on the housing assembly 100. Under the action of the actuator 720, the intermediate element 740 can pivot relative to the housing assembly 100. The axis of rotation of the intermediate element 740 is also arranged in a substantially vertical direction.

[0049] In a specific embodiment, the intermediate element 740 comprises a first actuating element 741 and a second actuating element 742. The first actuating element 741 comprises a plurality of teeth. The second actuating element 742 comprises a sliding section 742A and a projection 742B extending along the sliding section 742A. The intermediate element 740 of the present utility model is configured as an incomplete gear structure. An opening with a predetermined width is provided circumferentially between the two ends of the incomplete gear structure. The sliding section 742A and the projection 742B are formed circumferentially at one end of the incomplete gear structure.

[0050] The intermediate element 740 interacts with the actuator 720 via the first actuating element 741. The meshing of the gear with its multiple teeth enables the actuator 720 to rotate the intermediate element 740.

[0051] The intermediate element 740 interacts with the drive element 730 via the second actuating element 742. Through the engagement between the second actuating element 742 and the drive element 730, the drive element 730 can be driven and rotated.

[0052] The drive element 730 is rotatably mounted on the housing assembly 100 and can change its position relative to the housing assembly 100. The drive element 730 can pivot about its axis of rotation relative to the housing assembly 100. The axis of rotation of the drive element 730 coincides with the axis of rotation of the cleaning assembly 600.

[0053] The intermediate element 740 of the present utility model is positioned between the actuator 720 and the drive element 730. The intermediate element 740 interacts with the driven element 730. The drive element 730 is able to receive the actuating force from the actuator 720 and change its position relative to the housing assembly 100. At this point, the drive element 730 is acted upon indirectly by the actuator 720 and directly by the intermediate element 740.

[0054] The drive element 730 includes a projection. The projection is designed to engage with the projection 742B in a sliding manner. The projection 742B comprises a first engagement surface 742B1 and a second engagement surface 742B2. In the starting position, the first contact surface 742B1 engages with the projection. In the extended position, the second engagement surface 742B2 engages with the projection. Consequently, the projection 742B can drive the rotation of the drive element 730 and thereby rotate the cleaning assembly 600 from the extended position to the starting position.

[0055] In a preferred embodiment, the projection remains in sliding engagement with the projection 742B at positions between the initial position and the extended position.

[0056] In the present utility model application, the cleaning assembly 600 can comprise a housing 610, a second drive assembly 620 and a cleaning element 630.

[0057] The housing 610 is rotatably mounted on the housing assembly 100. In particular, the housing 610 is rotatably mounted on the inner bracket 101. Accordingly, the axis of rotation of the housing 610 forms the axis of rotation of the cleaning assembly 600.

[0058] In a preferred embodiment, the cleaning assembly 600 is connected to the drive element 730. When the drive element 730 is driven and rotates, the cleaning assembly 600 can rotate together with the drive element 730. Even more preferably, the drive element 730 can be integrally formed with the housing 610 of the cleaning assembly 600.

[0059] The cleaning element 630 is pivotally mounted on the drive element 730. Alternatively, the cleaning element 630 can be pivotally mounted on the housing 610. This allows the surface to be cleaned through frictional contact between the cleaning element 630 and the surface.

[0060] Preferably, the second drive assembly 620 is attached to the drive element 730 (or alternatively, the second drive assembly 620 is attached to the housing 610) and connected to the cleaning element 630. The second drive assembly 620 is configured to rotate the cleaning element 630 relative to the drive element 730. In this case, the axis of rotation of the cleaning element 630 forms the aforementioned axis of rotation.

[0061] In the present utility model, the elastic element 800 acts on the cleaning assembly 600 and the housing assembly 100. When the cleaning assembly 600 is in the extended position, the elastic element 800 generates an elastic force between the cleaning assembly 600 and the housing assembly 100. This restricts the movement of the cleaning assembly 600 from the extended position towards the initial position.

[0062] In particular, the elastic element 800 comprises a first free end and a second free end. The second free end is opposite the first free end. The first free end acts on the cleaning assembly 600. The second free end acts on the housing assembly 100. In a preferred embodiment, the elastic element 800 has the form of a torsion spring. The cleaning assembly 600 is slidably connected to the housing assembly 100 via a pivot shaft. In this case, the torsion spring is arranged around the pivot shaft. Accordingly, the first free end acts on the drive element 730, while the second free end acts on the housing assembly 100. Consequently, the drive element 730 (or the cleaning assembly 600) is subjected to the action of the elastic element 800. The elastic element 800 causes the cleaning assembly 600 to tend to move in the direction of the extended position.

[0063] During operation, the surface cleaning robot allows the cleaning assembly 600 to extend outwards, thereby increasing the cleaning area and improving cleaning efficiency. Furthermore, the elastic element 800 allows the cleaning assembly 600 to return to its starting position if it encounters an obstacle while extended. This prevents the cleaning assembly 600 from being easily damaged, thus increasing its reliability. Consequently, the service life of the surface cleaning robot is extended.

[0064] The second drive assembly 620 of the cleaning assembly 600 according to the present utility model is also configured to drive the cleaning element 630 to a vertical movement.

[0065] Fig. Figure 12 is a schematic structure diagram of the cleaning assembly according to an embodiment of the present utility model. Fig. Figure 13 is a schematic structure diagram of the cleaning assembly from a different perspective according to an embodiment of the present utility model. Fig. Figure 14 is a schematic sectional diagram of the cleaning assembly according to an embodiment of the present utility model. Fig. Figure 15 is a schematic structure diagram of a substructure of the cleaning assembly according to an embodiment of the present utility model.

[0066] As in the Fig. 12, Fig. 13 to Fig. As shown in Figure 14, the cleaning assembly 600 can further comprise an adjustment mechanism 640. The adjustment mechanism 640 is connected to the housing 610 and the cleaning element 630. The adjustment mechanism 640 changes the height of the cleaning element 630 relative to the housing 610 in response to the received driving force.

[0067] In a specific embodiment, the second drive assembly 620 supplies drive force to the adjusting mechanism 640 to regulate the distance between the cleaning element 630 and the surface to be cleaned via the adjusting mechanism 640. The second drive assembly 620 may include a second drive motor. The second drive motor is mounted on the housing 610. The second drive motor is configured to transmit the drive force to the threaded spindle 641.

[0068] In the present utility model application, the second drive motor can transmit the drive force to the threaded spindle 641 via a worm gear assembly or a gear assembly. The worm gear assembly or the gear assembly can be implemented using prior art solutions, and this utility model application will not discuss them further here.

[0069] As in Fig. As shown in Figure 14, the adjusting mechanism 640 comprises a threaded spindle 641 and a sleeve 642. At least part of the sleeve 642 can form a threaded connection with the threaded spindle 641. When either the threaded spindle 641 or the sleeve 642 receives the driving force, the sleeve 642 and the threaded spindle 641 move axially relative to each other via the threaded connection.

[0070] This means that if the threaded spindle 641 is rotated and the sleeve 642 is not rotating, or if the sleeve 642 is rotating but its rotational speed is lower than that of the threaded spindle 641 (i.e., the threaded spindle 641 and the sleeve 642 are rotating unevenly), a relative change in position in the axial direction occurs between the threaded spindle 641 and the sleeve 642. Since the cleaning element 630 is located at the lower end of the sleeve 642 and the vertical position of the threaded spindle 641 remains unchanged, the cleaning element 630 will simultaneously undergo a vertical movement. Consequently, the cleaning element 630 can move between a lowered position and a raised position relative to the housing assembly 100. In the present utility model application, the cleaning element 630 is positioned closer to the housing assembly 100 in the raised position than in the lowered position.

[0071] Simultaneously, when in the lowered position, the cleaning element 630 can establish pressure contact with the surface to be cleaned. When the cleaning element 630 is in the raised position, it can detach from the surface to be cleaned. Similarly, when in the raised position, the cleaning element 630 can avoid obstacles on the surface to be cleaned, thus preventing a collision between these obstacles and the cleaning element 630.

[0072] In the present utility model application, the second drive motor is connected to the cleaning element 630 in such a way that the cleaning element 630 can rotate about the axis of rotation on the housing 610. In particular, the second drive motor is not directly connected to the cleaning element 630, but transmits the force to the cleaning element 630 via the adjustment mechanism 640 and thus drives the cleaning element 630 to rotate.

[0073] In particular, when the second drive motor drives the threaded spindle 641 to rotate in the first direction, the threaded spindle 641 drives the sleeve 642 to move downwards, thus positioning the cleaning element 630 in the lowered position. At this point, the sleeve 642 does not move further downwards relative to the threaded spindle 641, but instead rotates together with the threaded spindle 641, thus rotating the cleaning element 630 in the first direction. When the second drive motor drives the threaded spindle 641 to rotate in the second direction, the threaded spindle 641 drives the sleeve 642 to move upwards, thus positioning the cleaning element 630 in the raised position. At this point, the sleeve 642 does not move further upwards relative to the threaded spindle 641. In the raised position, the cleaning element 630 does not need to clean the surface to be cleaned.Accordingly, the second drive motor can adjust the rotation. However, if the second drive motor continues to drive the threaded spindle 641 to rotate in the second direction, the threaded spindle 641 drives the sleeve 642 to rotate in the second direction. Consequently, the cleaning element 630 rotates in the second direction.

[0074] Due to the structure described above, the second drive motor is able to drive both the vertical movement of the cleaning element 630 and the rotary movement of the cleaning element 630.

[0075] In the present utility model, during the process in which the second drive motor drives the cleaning element 630 to raise or lower it, the rotational movement of the sleeve 642 should be stopped as much as possible so that the sleeve 642 can perform the raising and lowering movement as quickly as possible. The cleaning assembly 600 may further include a damping element 650. The damping element 650 is positioned between the housing 610 and the adjusting mechanism 640. During the transition of the cleaning element 630 between the lowered position and the raised position, the damping element 650 provides a first torque centered on the axis of rotation, while the adjusting mechanism 640 provides a second torque centered on the axis of rotation. The first torque t is greater than the second torque.

[0076] In particular, due to the arrangement of the damping element 650, the cleaning element 630 ceases to rotate relative to the housing 610 during the transition between the lowered position and the raised position.

[0077] In a preferred embodiment, the damping element 650 generates both circumferential static friction (circumferential damping friction) and axial static friction (axial damping friction) between the housing 610 and the adjusting mechanism 640. The circumferential static friction (circumferential damping friction) is greater than the axial static friction (axial damping friction). Consequently, the damping element 650 is able to suppress the rotation of the sleeve 642 as much as possible and facilitate the axial movement of the sleeve 642 relative to the damping element 650.

[0078] The damping element 650 generates the first torque via the circumferential static friction force. The threaded spindle 641 and the sleeve 642 generate the second torque via their threaded connection. The second torque is generated at least by the thread friction between the threaded spindle 641 and the sleeve 642. If the first torque exceeds the second torque, the damping element 650 can minimize or prevent the rotation of the sleeve 642. Consequently, the rotation of the threaded spindle 641 allows vertical movement of the sleeve 642.

[0079] As in Fig. As shown in Figure 14, the sleeve 642 has a free end. The cleaning element 630 is detachably connected to this free end. The free end of the sleeve 642 forms the lower end of the sleeve 642. The detachable connection of the cleaning element 630 to the free end of the sleeve 642 allows for convenient maintenance and replacement work on the cleaning element 630.

[0080] In one specific embodiment, the sleeve 642 comprises an inner sleeve 642A. An internal threaded bore is formed in the center of the inner sleeve 642A. The inner sleeve 642A can be screwed to the threaded spindle 641 through this internal threaded bore.

[0081] The cleaning assembly 600 further comprises stop elements 660. There can be two stop elements 660. One stop element can be the shoulder at the upper end of the threaded spindle 641. The other stop element can be a stop disc at the lower end of the threaded spindle 641. The stop elements 660 can be attached to the free end of the threaded spindle 641 to limit the axial stroke of the sleeve 642 relative to the threaded spindle 641.

[0082] In the end position, the stop element 660 abuts at least a part of the sleeve 642. For example, the stop element 660 can abut the end of the inner sleeve 642A of the sleeve 642.

[0083] As in Fig. As shown in Figure 14, the cleaning element 630 is in the lowered position. In the lowered position, the stop disc abuts the lower end of the sleeve 642. When the cleaning element 630 is in the raised position, the shoulder of the threaded spindle 641 can rest against the upper end of the inner sleeve 642A of the sleeve 642, thereby limiting any further upward movement of the sleeve 642.

[0084] In a preferred embodiment, the housing 610 comprises a cylindrical component 611. The downwardly extending section extends downwards. The damping element 650 is positioned between the cylindrical component 611 and the sleeve 642. Even more preferably, the damping element 650 is distributed circumferentially and fixedly attached to the free end of the cylindrical component 611.

[0085] For example, the damping element 650 is placed over the free end of the cylindrical component 611 and positioned outside the cylindrical component 611. This means that the lower end of the cylindrical component 611 can be inserted into the sleeve 642, thereby holding the damping element 650 between the cylindrical component 611 and the sleeve 642.

[0086] In the surface cleaning robot of the present utility model, the threaded spindle 641 and the sleeve 642 can have a significantly longer thread engagement length, thereby effectively solving cases of sleeve engagement errors that occur in prior art configurations.

[0087] In the description of this specification, the use of terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples" indicates that the specific features, structures, materials, or properties described in connection with that embodiment / mode or example are included in at least one embodiment / mode or example of the present application. In this specification, the illustrative use of the above terms need not necessarily refer to the same embodiment / mode or example. Furthermore, the described specific features, structures, materials, or properties may be combined appropriately in one or more embodiments / modes or examples.Furthermore, provided there is no conflict between them, experts may combine and integrate various embodiments / modes or examples described here with features from different embodiments / modes or examples.

[0088] Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be interpreted as indicating or implying a relative meaning or as implying the number of the specified technical features. Thus, features defined as “first” or “second” may explicitly or implicitly include at least one such feature. In the description of this application, “a plurality” means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

[0089] Those skilled in the art will recognize that the embodiments mentioned above serve only to clearly illustrate the present utility model and not to limit its scope. Based on the above disclosure, those skilled in the art may make other variations or modifications that also remain within the scope of the present utility model.

Claims

[1] Self-driving surface cleaning robot, characterized by that it includes: a housing assembly; and a cleaning assembly attached to the housing assembly, wherein the cleaning assembly is in frictional contact with a surface to be cleaned in order to clean that surface; the cleaning assembly includes: a housing attached to the housing assembly; a cleaning element for cleaning the surface to be cleaned; a second drive motor connected to the cleaning element to enable the cleaning element to rotate around a rotary axis; an adjustment mechanism connected to both the housing and the cleaning element, which, in response to the driving force of the second drive motor, causes the cleaning element to move relative to the housing assembly between a lowered position and a raised position, wherein the cleaning element is closer to the housing assembly in the raised position than in the lowered position; and a damping element arranged between the housing and the adjustment mechanism, wherein during the transition between the lowered position and the raised position of the cleaning element the damping element generates a first torque centered on the axis of rotation, while the adjustment mechanism generates a second torque centered on the axis of rotation, the first torque exceeding the second torque. [2] Self-driving surface cleaning robot according to claim 1, characterized by that the cleaning element stops rotating during the transition between the lowered position and the raised position. [3] Self-driving surface cleaning robot according to claim 1, characterized by , that the damping element generates both circumferential static friction force and axial static friction force between the housing and the adjustment mechanism, with the circumferential static friction force being greater than the axial static friction force. [4] Self-driving surface cleaning robot according to claim 3, characterized by , that the damping element provides the first torque via the circumferential static friction force. [5] Self-driving surface cleaning robot according to claim 1, characterized bythat the adjusting mechanism comprises a threaded spindle and a sleeve, wherein at least a part of the sleeve is screwed to the threaded spindle and the sleeve and the threaded spindle perform a relative axial movement via this screw connection. [6] Self-driving surface cleaning robot according to claim 5, characterized by that the sleeve includes an inner sleeve which is screwed to the threaded spindle. [7] Self-driving surface cleaning robot according to claim 5, characterized by , that the second torque is provided by the threaded connection between the threaded spindle and the sleeve. [8] Self-driving surface cleaning robot according to claim 7, characterized by , that the second torque is formed at least by the thread between the threaded spindle and the sleeve. [9] Self-driving surface cleaning robot according to claim 6, characterized by, that the cleaning assembly further comprises a stop element which is attached to the free end of the threaded spindle in order to limit the axial stroke of the sleeve relative to the threaded spindle. [10] Self-driving surface cleaning robot according to claim 9, characterized by that the stop element comprises a stop disc which is attached to the free end of the threaded spindle, wherein the stop disc rests against at least a part of the sleeve in the lowered position. [11] Self-driving surface cleaning robot according to claim 10, characterized by that the stop washer rests against the end of the inner sleeve in the lowered position. [12] Self-driving surface cleaning robot according to claim 5, characterized by that the damping element is arranged between the sleeve and the housing. [13] Self-driving surface cleaning robot according to claim 5, characterized bythat the housing comprises a downwardly extending cylindrical component, wherein the damping element is positioned between the cylindrical component and the sleeve. [14] Self-driving surface cleaning robot according to claim 13, characterized by that the damping element is distributed around the circumference and firmly attached to the free end of the cylindrical component. [15] Self-driving surface cleaning robot according to claim 14, characterized by that the damping element fits over the free end of the cylindrical component.

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