Driving module and cleaning device for cleaning robot

Abstract

The invention provides a driving module for a cleaning robot, which is mounted on a machine body of the cleaning robot to drive a removal module of the cleaning robot to move between a working position and an initial position, and comprises a driving part arranged on the machine body; the folding assembly is arranged between the driving part and the removing module, the removing module is hinged to the folding assembly, and the driving part is in driving connection with the removing module through the folding assembly. On the other hand, the cleaning device for the cleaning robot is provided and comprises the driving module and a carrying assembly, the carrying assembly comprises two removing modules, when the removing modules move from the initial position to the working position, the two removing modules move oppositely so as to clamp the objects, and the driving module is in driving connection with the multiple removing modules. Through the scheme, the problems that in the prior art, the cleaning coverage rate of a cleaning robot is low, and the cleaning function has certain limitation can be solved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511756433.4 (22) Application Date 2023.11.15 (62) Divisional Application Data 202311523834.6 2023.11.15 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Sun Bo, Tang Lin, Yao Yonglian (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Zhu Hongmei (51) Int.Cl. A47L 11 / 24 (2006.01) A47L 11 / 40 (2006.01) (54) Invention Title: Drive Module and Cleaning Device for Cleaning Robot (57) Abstract: This invention provides a drive module for a cleaning robot, installed on the body of the cleaning robot to drive the removal module of the cleaning robot to move between a working position and an initial position. The module includes: a drive unit disposed on the body; a folding assembly disposed between the drive unit and the removal module, the removal module being hinged to the folding assembly, and the drive unit being drivenly connected to the removal module through the folding assembly. On the other hand, this invention provides a cleaning device for a cleaning robot, including the aforementioned drive module and a transport assembly. The transport assembly includes two removal modules. When the removal modules move from the initial position to the working position, the two removal modules move towards each other to clamp items. The drive module is drivenly connected to multiple removal modules respectively. This solution addresses the problems of low cleaning coverage and limited cleaning function in existing cleaning robots. Claims 2 pages, Description 9 pages, Drawings 8 pages, CN 121465440 A 2026.02.06 CN 1 21 46 54 40 A 1. A drive module for a cleaning robot, installed on the body of a cleaning robot to drive a removal module of the cleaning robot to move between a working position and an initial position, characterized in that it comprises: a drive unit (30), disposed on the body (10); a folding assembly (40), the folding assembly (40) being disposed between the drive unit (30) and the removal module, the removal module being hinged to the folding assembly (40), the drive unit (30) being drivenly connected to the removal module through the folding assembly (40), wherein when the folding assembly (40) is in a folded state, the removal module is in the initial position, and when the folding assembly (40) is in an unfolded state, the removal module is in the working position. 2. The drive module for a cleaning robot according to claim 1, characterized in that the folding assembly (40) comprisesA first swing arm (41) and a second swing arm (42), wherein the first end of the first swing arm (41) is hinged to the fuselage (10), and the second end of the first swing arm (41) is hinged to the fuselage (10); the first end of the second swing arm (42) is hinged to the fuselage (10), and the second end of the second swing arm (42) is hinged to the fuselage (10); wherein the first end of the first swing arm (41) and the first end of the second swing arm (42) are distributed circumferentially at intervals along the fuselage (10), the driving part (30) is driven connected to the first end of the first swing arm (41), and / or the driving part (30) is driven connected to the first end of the second swing arm (42), so that the first swing arm (41) and the second swing arm (42) swing synchronously. 3. The drive module for a cleaning robot according to claim 2, characterized in that the distance between the first end of the first swing arm (41) and the first end of the second swing arm (42) is equal to the distance between the second end of the first swing arm (41) and the second end of the second swing arm (42). 4. The drive module for a cleaning robot according to claim 2, characterized in that a clearance space (4201) is provided on the side of the second swing arm (42) near the first swing arm (41), and when the removal module is in the folded state, the first swing arm (41) is located outside the second swing arm (42), and at least a portion of the first swing arm (41) is provided corresponding to the clearance space (4201). 5. The drive module for the cleaning robot according to claim 4, characterized in that the first swing arm (41) includes a first segment (411), a first transition segment (412) and a second segment (413) arranged sequentially along the extension direction, the first transition segment (412) having an angle with the first segment (411) and the second segment (413) respectively, the end of the first segment (411) away from the first transition segment (412) being hinged to the removal module, and the end of the second segment (413) away from the first transition segment (412) being hinged to the body (10). 6. The drive module for a cleaning robot according to claim 4 or 5, characterized in that the second swing arm (42) comprises a third segment (421), a second transition segment (422), and a fourth segment (423) arranged sequentially along the extension direction, the second transition segment (422) having an angle with the third segment (421) and the fourth segment (423) respectively, the end of the third segment (421) away from the second transition segment (422) being hinged to the removal module, and the end of the fourth segment (423) away from the second transition segment (422) being hinged to the body (10). 7. The drive module for a cleaning robot according to claim 6, characterized in that the clearance space (4201) is shaped asThe third segment (421) is located between the fourth segment (423) and the second transition segment (422). When the removal module is in the initial position, there is a buffer interval between the removal module and the body (10), and the folding assembly (40) is located within the buffer interval. When the removal module is in the folded state, at least a portion of the first swing arm (41) is located within the clearance space (4201). 8. The drive module for a cleaning robot according to claim 7, wherein the length of the third segment (421) is less than the length of the fourth segment (423), and when the removal module is in the folded state, the third segment (421) is located on the extension line of the first segment (411) of claim 1 / 2 page 2 CN 121465440 A. 9. A cleaning device for a cleaning robot, characterized in that it comprises a drive module as claimed in any one of claims 1-8, and a transport assembly, the transport assembly comprising two removal modules (20), the two removal modules (20) being symmetrically arranged at the front of the body (10) along the front-rear axis of the cleaning robot, the two removal modules (20) moving towards each other to clamp an item when the removal module (20) moves from an initial position to a working position, the drive module being driven connected to the plurality of removal modules (20). 10. The cleaning device for a cleaning robot according to claim 9, characterized in that the removal module (20) comprises a body part (21), the drive module being driven connected to the body part (21), the body part (21) having a removal end; a lifting part (22) slidably disposed vertically at the removal end of the body part (21), the lifting parts (22) of the two removal modules (20) cooperating to clamp an item. 11. The cleaning device for a cleaning robot according to claim 10, characterized in that the removal module (20) comprises: a drive structure disposed between the body part (21) and the lifting part (22), wherein the lifting part (22) slides relative to the body part (21) via the drive structure. 12. The cleaning device for a cleaning robot according to claim 11, characterized in that the removal end of the body part (21) is provided with a drive hole (2101), the top of the drive hole (2101) is inclined toward the direction close to the lifting part (22), the lifting part (22) comprises a sliding column (221), the sliding column (221) is slidably disposed in the drive hole (2101), the sliding column (221) and the drive hole (2101) cooperate with each other to drive the lifting part (22) to rise; when the two removal modules (20) move away from each other, the lifting part (22) descends. Claims 2 / 2, page 3, CN 121465440 A Drive module and cleaning device for a cleaning robot

[0001] This application is a divisional application of Chinese patent application CN202311523834.6, filed on 2023-11-15, entitled "Cleaning Robot". The technical field of this invention relates to the field of robotics, specifically to a drive module and cleaning device for a cleaning robot. Background Art

[0002] With the development of science and technology and the improvement of people's living standards, cleaning robots have entered the lives of more and more people.

[0003] Existing cleaning robots typically have a cylindrical body with a walking device. However, when encountering movable obstacles such as slippers or larger pieces of trash such as crumpled paper or aluminum cans during cleaning, existing cleaning robots can only choose to avoid them. After avoiding these movable obstacles, the robot cannot clean the environment near the obstacles, resulting in a low cleaning coverage rate and limited cleaning functionality.

[0004] The present invention provides a cleaning robot to solve the problems of low cleaning coverage and limited cleaning function of existing cleaning robots.

[0005] In one aspect, the present invention provides a drive module for a cleaning robot, which is installed on the body of the cleaning robot to drive the removal module of the cleaning robot to move between a working position and an initial position, including: a drive unit disposed on the body; a folding component disposed between the drive unit and the removal module, the removal module being hinged to the folding component, the drive unit being drivenly connected to the removal module through the folding component, the removal module being in the initial position when the folding component is in the folded state, and the removal module being in the working position when the folding component is in the unfolded state.

[0006] Further, the folding assembly includes a first swing arm and a second swing arm. A first end of the first swing arm is hinged to the body, and a second end of the first swing arm is hinged to the body. A first end of the second swing arm is hinged to the body, and a second end of the second swing arm is hinged to the body. The first ends of the first swing arm and the first ends of the second swing arm are distributed circumferentially around the body. A driving unit is driven connected to the first end of the first swing arm, and / or the driving unit is driven connected to the first end of the second swing arm, so that the first and second swing arms swing synchronously.

[0007] Further, the distance between the first end of the first swing arm and the first end of the second swing arm is equal to the distance between the second end of the first swing arm and the second end of the second swing arm.

[0008] Further, a clearance space is provided on the side of the second swing arm closest to the first swing arm. When the removal module is in a folded state, the first swing arm is located outside the second swing arm, and at least a portion of the first swing arm is provided corresponding to the clearance space.

[0009] Further, the first swing arm includes a first segment, a first transition segment, and a second segment arranged sequentially along the extension direction, see page 1 / 9 of the specification, CN 121465440 A.A transition section forms an angle with the first section and the second section respectively. The end of the first section away from the first transition section is hinged to the removal module, and the end of the second section away from the first transition section is hinged to the fuselage.

[0010] Further, the second swing arm includes a third section, a second transition section and a fourth section arranged sequentially along the extension direction. The second transition section forms an angle with the third section and the fourth section respectively. The end of the third section away from the second transition section is hinged to the removal module, and the end of the fourth section away from the second transition section is hinged to the fuselage.

[0011] Further, a clearance space is formed between the fourth section and the second transition section. When the removal module is in the initial position, there is also a buffer interval between the removal module and the fuselage, and the folding assembly is located within the buffer interval. When the removal module is in the folded state, at least part of the first swing arm is located within the clearance space.

[0012] Further, the length of the third section is less than the length of the fourth section. When the removal module is in the folded state, the third section is located on the extension line of the first section.

[0013] On the other hand, embodiments of the present invention provide a cleaning device for a cleaning robot, including the aforementioned drive module and a transport assembly. The transport assembly includes two removal modules, which are symmetrically arranged at the front of the robot body along the front-rear axis. When the removal modules move from the initial position to the working position, the two removal modules move towards each other to clamp items. The drive module is driven connected to the multiple removal modules respectively.

[0014] Further, the removal module includes a body part, the drive module is driven connected to the body part, and the body part has a removal end; a lifting part is slidably arranged at the removal end of the body part in the vertical direction, and the lifting parts of the two removal modules cooperate to clamp items.

[0015] Further, the removal module includes a drive structure, which is arranged between the body part and the lifting part, and the lifting part slides relative to the body part through the drive structure.

[0016] Further, the removal end of the main body is provided with a drive hole, the top of the drive hole is inclined towards the direction close to the lifting part, the lifting part includes a sliding column, the sliding column is slidably disposed in the drive hole, the sliding column and the drive hole cooperate with each other to drive the lifting part to rise; when the two removal modules move away from each other, the lifting part falls.

[0017] By applying the technical solution provided by the embodiments of the present invention, by setting the removal module and the drive module, movable obstacles around the cleaning robot can be removed, so that the cleaning robot can clean the location of the obstacle. In the conventional technical solution, when the cleaning robot encounters an obstacle, it will bypass the obstacle, and the cleaning robot cannot clean the area where the obstacle is located. Compared with the conventional technical solution, the setting of this solution can clamp and move the movable obstacle, so that the cleaning robot can clean the location of the obstacle, thereby improving the cleaning coverage. Brief Description of the Drawings

[0018] The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the present invention.The exemplary embodiments and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings: FIG1 shows a structural schematic diagram of the removal module of the cleaning robot provided according to an embodiment of the present invention in its initial position; FIG2 shows a structural schematic diagram of the removal module of the cleaning robot provided according to an embodiment of the present invention in its working position; FIG3 shows a structural schematic diagram of the removal module of the cleaning robot provided according to an embodiment of the present invention in the state shown in FIG2 from another perspective; FIG4 shows another structural schematic diagram of the removal module of the cleaning robot provided according to an embodiment of the present invention in its working state; FIG5 shows a bottom view of the removal module provided according to an embodiment of the present invention in its initial position; FIG6 shows a structural schematic diagram of the removal module provided according to an embodiment of the present invention in its initial position from another perspective; FIG7 shows a structural schematic diagram of the removal module provided according to an embodiment of the present invention in its working position; FIG8 shows a structural schematic diagram of the removal module provided according to an embodiment of the present invention in its working position from another perspective; FIG9 shows a structural schematic diagram of the lifting part of the removal module provided according to an embodiment of the present invention cooperating with two mounting plates; FIG10 shows a structural schematic diagram of the lifting part of the removal module provided according to an embodiment of the present invention cooperating with one of the mounting plates.

[0019] Wherein, the above-mentioned drawings include the following reference numerals: 10, fuselage; 20, removal module; 21, main body; 2101, drive hole; 211, mounting plate; 22, lifting part; 221, sliding column; 222, lifting rod; 223, connecting rod; 30, driving part; 31, driving component; 32, transmission part; 40, folding assembly; 41, first swing arm; 411, first segment; 412, first transition segment; 413, second segment; 42, second swing arm; 4201, clearance space.

[0020] 421, third segment; 422, second transition segment; 423, fourth segment. Detailed Description of Embodiments

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] As shown in Figures 1 to 4, an embodiment of the present invention provides a cleaning robot, which includes a body 10, a walking module, a removal module 20, and a drive module. The walking module is disposed on the body 10. The removal module 20 is movably disposed on...On the body 10, the removal module 20 moves between an initial position and a working position. In the initial position, the removal module 20 forms part of the outer shell of the body 10. In the working position, the removal module 20 separates from the body 10 to remove objects around the cleaning robot. A drive module is disposed on the body 10 and drivenly connected to the removal module 20 to move the removal module 20 between the working position and the initial position.

[0023] By applying the technical solution provided in the embodiments of the present invention, by setting the removal module 20 and the drive module, movable obstacles around the cleaning robot can be removed, so that the cleaning robot can clean the location of the obstacle. In the conventional technical solution, when the cleaning robot encounters an obstacle, it will bypass the obstacle, and the cleaning robot cannot clean the area where the obstacle is located. Compared with the conventional technical solution, the setting of this solution can clamp and move the movable obstacle, so that the cleaning robot can clean the location of the obstacle, thereby improving the cleaning coverage.

[0024] This solution does not limit the specific location of the removal module 20. The removal module 20 can be located on the side or top of the body 10, as long as it is ensured that when the removal module 20 is in the working position, it is separated from the body and can protrude outward from the side wall of the body, that is, it can ensure that the removal module 20 removes obstacles around the cleaning robot.

[0025] As shown in Figure 1, the body 10 includes a front part and a rear part, and has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to an approximately D-shaped shape with a circular front and rear, and a rectangular or square shape with a circular front and rear. In this embodiment, the removal module 20 can be located at the front and / or rear of the side of the body 10.

[0026] As shown in Figure 1, in this embodiment, the removal module 20 is located at the front of the body 10. Specifically, it is located at the front of the side of the body 10. This arrangement facilitates the removal module 20 in removing obstacles located in front of the body 10.

[0027] Furthermore, when the removal module 20 is in its initial position, there is a buffer interval between the removal module 20 and the body 10 to buffer the collision between the cleaning robot and obstacles. During the cleaning robot's movement, it may encounter obstacles that cannot be removed, such as walls or tables. When the removal module 20 collides with an obstacle that cannot be removed, the above-mentioned setting changes the rigid contact between the cleaning robot and the obstacle into a flexible contact, effectively buffering the impact and reducing damage to the cleaning robot. Moreover, the above-mentioned setting integrates the removal module 20 with both removal and buffering functions. This solution does not require additional buffer components to buffer the cleaning robot, thus improving the efficiency of the solution.The cleaning robot of this solution has a compact structure, and at the same time, reduces the cost of the cleaning robot.

[0028] This solution does not limit the specific number of removal modules 20, but at least one removal module 20 is provided in this solution.

[0029] In the embodiment of this solution, there are two removal modules 20, which are symmetrically arranged at the front of the body 10 along the front and rear axis of the cleaning robot. When the removal module 20 moves from the initial position to the working position, the two removal modules 20 move towards each other to clamp the item. The two removal modules 20 cooperate with each other to clamp the item, making it easy to remove the item.

[0030] This solution does not limit the specific shape of the removal module 20, as long as the removal module 20 and the body 10 form a regular structure when the removal module 20 is in the initial position.

[0031] As shown in Figures 1 and 2, in this embodiment, the side of the body 10 is provided with a recess, which extends circumferentially along the outer side wall of the body 10, and the recess is provided one-to-one with the removal module. The removal module 20 is roughly an arc-shaped plate structure. When the removal module 20 is in the initial position, the removal module 20 is set in the corresponding recess, and the overall outer contour of the body 10 and the removal module 20 are roughly in a complete cylindrical structure.

[0032] As shown in Figures 4 to 6, specifically, the drive module includes a drive unit 30 and a folding component 40. The drive unit 30 is disposed on the body 10. The folding component 40 is disposed between the drive unit 30 and the removal module 20. The drive unit 30 is drivenly connected to the removal module 20 through the folding component 40. When the folding component 40 is in the folded state, the removal module 20 is in the initial position. When the folding component 40 is in the unfolded state, the removal module 20 is in the working position. This setting facilitates the switching of the position of the removal module 20. Furthermore, setting the drive module in the form of a drive unit 30 and a folding component 40 can minimize the space occupied by the folding component 40 when it is in the folded state, thereby improving the compactness of the overall structure.

[0033] Further, the removal module 20 is hinged to the folding component 40. This arrangement allows the removal module 20 to move slightly within the buffer interval when it is in its initial position, achieving a buffering effect. Furthermore, this arrangement eliminates the need for additional buffer components between the removal module 20 and the folding component 40 to allow the removal module 20 to move slightly. That is, the buffering effect of the removal module 20 can be achieved simply through the connection between the removal module 20 and the folding component 40, resulting in a simple structure and ease of manufacturing.

[0034] In this embodiment, when the removal module 20 is in its initial position, the folding component 40 is located within the buffer interval. This arrangement further improves the compactness and layout rationality of the cleaning robot in this solution. Simultaneously, it improves the...The aesthetics of the cleaning robot when the removal module 20 is in the initial position.

[0035] As shown in Figures 3 to 6, specifically, the folding assembly 40 includes a first swing arm 41 and a second swing arm 42. The first end of the first swing arm 41 is hinged to the body 10, and the second end of the first swing arm 41 is hinged to the body 10. The first end of the second swing arm 42 is hinged to the body 10, and the second end of the second swing arm 42 is hinged to the body 10. The first ends of the first swing arm 41 and the first ends of the second swing arm 42 are distributed circumferentially around the body 10. The driving part 30 is driven connected to the first end of the first swing arm 41 and / or driven connected to the first end of the second swing arm 42, so that the first swing arm 41 and the second swing arm 42 swing synchronously. This arrangement makes the body 10, the first swing arm 41, the second swing arm 42 and the removal module 20 form a linkage-like mechanism, which can ensure the stability of the removal module 20 when switching between the initial position and the working position. Furthermore, the above-mentioned arrangement provides two connection points between each removal module 20 and the folding assembly 40, improving the stability of the two removal modules 20 when holding the item and reducing the possibility of swinging or shaking when the removal modules 20 hold the item.

[0036] Further, the second end of the first swing arm 41 and the second end of the second swing arm 42 are respectively hinged to the removal module 20 near the middle. When the folding assembly 40 switches from a folded state to an unfolded state, the first swing arm 41 and the second swing arm 42 swing towards the front of the body 10.

[0037] In this embodiment, the distance between the first end of the first swing arm 41 and the first end of the second swing arm 42 is equal to the distance between the second end of the first swing arm 41 and the second end of the second swing arm 42. This arrangement ensures that when the folding assembly 40 is in the folded state, the first swing arm 41 and the second swing arm 42 occupy a sufficiently small space, further improving the structural compactness of the device.

[0038] In this embodiment, when the removal module 20 is in a folded state, the first swing arm 41 is located outside the second swing arm 42; when the removal module 20 is in an unfolded state, the first swing arm 41 is located in front of the second swing arm 42. This arrangement ensures that when the removal module 20 is in a folded state, the removal module 20, the first swing arm 41, and the second swing arm 42 are distributed radially along the fuselage 10. When the removal module 20 is in a folded state, this arrangement minimizes the space occupied by the removal module 20, the first swing arm 41, and the second swing arm 42, improving the structural compactness of the removal module 20 in the folded state.

[0039] As shown in FIG5, specifically, a clearance space 4201 is provided on the side of the second swing arm 42 closest to the first swing arm 41, and at least a portion of the first swing arm 41 is provided corresponding to the clearance space 4201. This arrangement ensures that when the folding assembly 40 is in a folded state, the first swing arm 41 can be as close as possible to the second swing arm 42, further improving the structural compactness of the folding assembly 40.

[0040] As shown in Figures 3 and 6, in this embodiment, the first swing arm 41 includes a first segment 411, a first transition segment 412, and a second segment 413 arranged sequentially along the extension direction. The first transition segment 412 forms an angle with the first segment 411 and the second segment 413 respectively. The end of the first segment 411 away from the first transition segment 412 is hinged to the removal module 20, and the end of the second segment 413 away from the first transition segment 412 is hinged to the body 10. When the removal module is in a folded state, the first segment 411 is located closer to the inner side of the removal module 20 than the second segment 413, and the second segment 413 is located closer to the body 10 than the first segment 411.

[0041] The second swing arm 42 includes a third segment 421, a second transition segment 422, and a fourth segment 423 arranged sequentially along the extension direction. The second transition segment 422 forms an angle with the third segment 421 and the fourth segment 423 respectively. The end of the third segment 421 away from the second transition segment 422 is hinged to the removal module 20, and the end of the fourth segment 423 away from the second transition segment 422 is hinged to the fuselage 10. When the removal module is in a folded state, the third segment 421 is located closer to the inner wall of the removal module 20 than the fourth segment 423, and the fourth segment 423 is located closer to the fuselage 10 than the third segment 421.

[0042] Further, a clearance space 4201 is formed between the fourth segment 423 and the second transition segment 422. When the removal module is in a folded state, at least part of the first swing arm 41 is located within the clearance space 4201.

[0043] The length of the third segment 421 is less than the length of the fourth segment 423. When the removal module is in a folded state, the third segment 421 is located on the extension line of the first segment 411. This configuration ensures that when the removal module is in the folded state, the outer side of the first swing arm 41 is almost close to the inner wall of the removal module 20, the outer side of the second swing arm 42 is almost close to the inner side of the first swing arm 41, and the inner side of the second swing arm 42 is almost close to the outer wall of the fuselage 10. This further improves the structural compactness of the removal module when it is in the folded state.

[0044] In some embodiments of this solution, the drive unit 30 is driven connected to the first end of the first swing arm 41 and the first end of the second swing arm 42, respectively.

[0045] In other embodiments of this solution, the drive unit 30 is driven connected to the first end of the first swing arm 41.

[0046] As shown in Figures 7 and 8, in an embodiment of this solution, the drive unit 30 is driven connected to the first end of the second swing arm 42. The fuselage 10, the first swing arm 41, the second swing arm 42, and the removal module 20 form a linkage-like mechanism, enabling the first swing arm 41 and the second swing arm 42 to move in tandem. The drive unit 30 is driven to the first end of the second swing arm 42. This configuration ensures the smoothness and consistency of the movement of the first swing arm 41 and the second swing arm 42.

[0047] In this embodiment, the drive unit 30 is driven to connect with the two second swing arms 42 respectively.

[0048] Further, the drive unit 30 includes a drive member 31 and a transmission unit 32. The transmission unit 32 is provided in two sets, with each transmission unit 32 corresponding to one of the second swing arms 42. The drive member 31 is driven to connect with the two second swing arms 42 through the two sets of transmission units 32, so that the two second swing arms 42 rotate synchronously. This arrangement ensures that the two removal modules 20 switch synchronously between the folded and open states.

[0049] In this embodiment, the drive member 31 has two drive shafts, each corresponding to one of the transmission units 32. The transmission unit 32 includes a bevel gear set, with the drive shaft driven to connect with the input shaft of the bevel gear set, and the output shaft of the bevel gear set driven to connect with the second swing arms 42. The bevel gear set has a simple structure, high transmission smoothness, and strong structural stability. Furthermore, the above arrangement allows the same drive member 31 to drive the two second swing arms 42 to rotate simultaneously, improving the consistency of the synchronous movement of the two sets of removal modules 20. Meanwhile, the above configuration reduces the number of components in the drive unit 30, resulting in a compact structure. Specifically, the drive component 31 is a first drive motor, which is located inside the body 10 and has two drive shafts.

[0050] In some other embodiments of this solution, the transmission unit 32 includes a gear set, and two drive components 31 are provided, with each drive component 31 corresponding to a gear set. Each drive component 31 is connected to one of the second swing arms 42 via a corresponding gear set. Specifically, the drive component 31 is a second drive motor, and the two second drive motors are located inside the body 10.

[0051] In other embodiments of this solution, two removal modules 20 cooperate to form a transfer assembly, and at least one transfer assembly is provided. This configuration further improves the removal range of the removal module 20 for movable obstacles around the cleaning robot, further enhancing the adaptability of this cleaning robot. Instruction manual, pages 6 / 9, CN 121465440 A

[0052] In other embodiments of this solution, multiple removal modules 20 are provided, and the drive module is driven connected to multiple removal modules 20 respectively. This arrangement allows multiple removal modules 20 to be driven and controlled by a single drive module, reducing the number of parts in the device, improving the compactness of the structure, and achieving lightweighting.

[0053] As shown in Figures 4, 9, and 10, in this embodiment, the removal module 20 includes a body part 21 and a lifting part 22. The drive module is driven connected to the body part 21, and the body part 21 has a removal end. In this embodiment, the front end of the body part 21 forms the removal end. The lifting part 22 is slidably disposed vertically at the removal end of the body part 21, and the lifting parts 22 of the two removal modules 20 cooperate to clamp the object. This arrangement allows the lifting part 22 to lift the obstacle off the ground after clamping the obstacle, avoidingThis design reduces or eliminates the possibility of obstacles contacting the ground during the cleaning process, improving the cleaning effect of the robot. Furthermore, it avoids friction between obstacles and the ground, reducing resistance to the robot's movement and improving its smoothness.

[0054] This solution does not limit the specific movement of the lifting part 22.

[0055] In some implementations of this solution, the lifting part 22 can be driven to move in the height direction by a drive component, such as a cylinder or a telescopic component.

[0056] In this embodiment, the removal module 20 includes a drive structure, which is disposed between the main body 21 and the lifting part 22. The lifting part 22 slides relative to the main body 21 via the drive structure. The drive structure allows the lifting part 22 to slide vertically relative to the main body 21.

[0057] Specifically, the removal end of the main body 21 is provided with a drive hole 2101. The top of the drive hole 2101 is inclined towards the direction close to the lifting part 22. The lifting part 22 includes a sliding column 221, which is slidably disposed in the drive hole 2101. The sliding column 221 and the drive hole 2101 cooperate with each other to drive the lifting part 22 to rise. When the two removal modules 20 move away from each other, the lifting part 22 descends. After the two lifting parts 22 contact the items respectively, the two main bodies 21 continue to move towards each other. Due to the certain friction between the lifting part 22 and the items, under the guidance of the sliding column 221 by the drive hole 2101, the two lifting parts 22 drive the clamped items to move upward. With this arrangement, this solution does not require an additional power device to drive the lifting part 22 to rise or fall.

[0058] Specifically, the front end of the main body 21 includes two mounting plates 211. The two mounting plates 211 are symmetrically arranged along the thickness direction of the main body 21, and the two mounting plates 211 are interlocked. Each mounting plate 211 is provided with two drive holes 2101, which are distributed parallel to each other along the height direction of the mounting plate 211.

[0059] The lifting part 22 also includes a lifting rod 222 and two connecting rods 223. The lifting rod 222 extends along the height direction, and the two connecting rods 223 are distributed at intervals along the height direction of the lifting rod 222. The connecting rods 223 are perpendicular to the lifting rod 222, and a sliding post 221 is provided at the end of each connecting rod 223 away from the lifting rod 222. The two ends of each sliding post 221 are respectively slidably engaged with two drive holes 2101 arranged opposite to each other on the two mounting plates 211. This arrangement can ensure the stability and smoothness of the sliding of the lifting part 22 relative to the body part 21.

[0060] Further, the cleaning robot of this embodiment of the invention also includes a first sensor. The first sensor can be disposed between the body 10 and the removal module 20. The first sensor is used to detect whether the removal module 20 is in the initial position and is in contact with an obstacle.When the object comes into contact, the first sensor is electrically connected to the walking module to change the walking path of the walking module. The setting of the first sensor can timely determine whether the removal module 20 has collided with the obstacle and adjust the running path of the cleaning robot in time.

[0061] When the removal module 20 is in the initial position, and the first sensor detects that the removal module 20 has swung slightly, the first sensor senses that the removal module 20 has collided with the obstacle. The first sensor transmits the sensing signal to the walking module so that the walking module changes its running direction.

[0062] In an embodiment of this solution, the first sensor is set in the recess of the body 10. Specification 7 / 9 pages 10 CN 121465440 A

[0063] In other embodiments of this solution, the first sensor is set on the inner sidewall of the removal module 20.

[0064] Further, the cleaning robot of the present invention may also include a second sensor, which may be set on at least one of the body 10 or the removal module 20. The second sensor is used to detect whether there is a removable obstacle around the body 10, and to determine whether to remove it by the removal module 20 according to the detection result. In this embodiment of the invention, the second sensor may be a camera, line laser, or other sensor disposed at the front of the body 10. During the movement of the cleaning robot, the second sensor detects obstacles in front of the body 10 and determines whether the obstacle is a movable obstacle. For example, when the second sensor is a camera disposed at the front of the body 10, the cleaning robot can determine whether the obstacle is a movable obstacle based on the obstacle image captured by the camera. If it is determined to be a movable obstacle, the cleaning robot can control the removal module 20 to move to the working position and remove the obstacle; if it is determined to be an immovable obstacle or an obstacle that is difficult to move, the cleaning robot can control the walking module to change the walking path to reduce the possibility of the cleaning robot colliding with the obstacle.

[0065] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0066] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered as part of the specification.Part. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary and not as a limitation. Thus, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0067] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "lateral, vertical, horizontal" and "top, bottom" are generally based on the orientation or positional relationship shown in the figures, and are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of the present invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0068] For ease of description, spatial relative terms such as “above,” “over,” “on the upper surface,” “above,” etc., may be used herein to describe the spatial positional relationship of a device or feature as shown in the figures with other devices or features. It should be understood that spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as “above” or “on top of” other devices or structures will subsequently be positioned as “below” or “under” other devices or structures. Thus, the exemplary term “above” can include both orientations of “above” and “below”. The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein shall be interpreted accordingly.

[0069] Furthermore, it should be noted that the use of terms such as “first,” “second,” etc., to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention. (See Figure 1 on page 1 / 8 of the specification, CN 121465440 A, and Figure 2 on page 2 / 8 of the specification, CN 121465440 A.)121465440 A Figure 3 Appendix 3 / 8, Page 15 CN 121465440 A Figure 4 Figure 5 Appendix 4 / 8, Page 16 CN 121465440 A Figure 6 Figure 7 Appendix 5 / 8, Page 17 CN 121465440 A Figure 8 Appendix 6 / 8, Page 18 CN 121465440 A Figure 9 Appendix 7 / 8, Page 19 CN 121465440 A Figure 10 Appendix 8 / 8, Page 20 CN 121465440 A DRIVING MODULE AND CLEANING DEVICE FOR CLEANING ROBOT Abstract The present invention provides, in one aspect, a driving module for a cleaning robot. The driving module is mounted on a body of the cleaning robot to drive a moving module of the cleaning robot to move between a working position and an initial position. The driving module includes a driving part and a folding assembly. The driving part is disposed on the robot body; the folding assembly is arranged between the driving part and the moving module, the moving module is hinged to the folding assembly, and the driving part is drivingly connected to the moving module via the folding assembly. In another aspect, the present invention provides a cleaning device for a cleaning robot, comprisingthe aforesaid driving module and a carrying assembly. The carrying assembly includes two moving modules. When the moving modules move from the initial position to the working position, the two moving modules move toward each other to clamp an article, and the driving module is drivingly connected to each of the multiple moving modules respectively. The technical solution of the present invention can solve the problems of low cleaning coverage and limited cleaning functions of cleaning robots in the prior art.

Claims

1. A drive module for a cleaning robot, mounted on the body of the cleaning robot to drive the removal module of the cleaning robot to move between a working position and an initial position, characterized in that, include: A drive unit (30) is provided on the fuselage (10); A folding component (40) is disposed between the driving unit (30) and the removal module. The removal module is hinged to the folding component (40). The driving unit (30) is driven to the removal module through the folding component (40). When the folding component (40) is in a folded state, the removal module is in the initial position. When the folding component (40) is in an unfolded state, the removal module is in the working position.

2. The drive module for a cleaning robot according to claim 1, characterized in that, The folding assembly (40) includes a first swing arm (41) and a second swing arm (42). The first end of the first swing arm (41) is hinged to the body (10), and the second end of the first swing arm (41) is hinged to the body (10). The first end of the second swing arm (42) is hinged to the body (10), and the second end of the second swing arm (42) is hinged to the body (10). Wherein, the first end of the first swing arm (41) and the first end of the second swing arm (42) are distributed circumferentially along the fuselage (10), the driving part (30) is driven connected to the first end of the first swing arm (41), and / or, the driving part (30) is driven connected to the first end of the second swing arm (42), so that the first swing arm (41) and the second swing arm (42) swing synchronously.

3. The drive module for a cleaning robot according to claim 2, characterized in that, The distance between the first end of the first swing arm (41) and the first end of the second swing arm (42) is equal to the distance between the second end of the first swing arm (41) and the second end of the second swing arm (42).

4. The drive module for a cleaning robot according to claim 2, characterized in that, A clearance space (4201) is provided on the side of the second swing arm (42) near the first swing arm (41). When the removal module is in the folded state, the first swing arm (41) is located outside the second swing arm (42), and at least part of the first swing arm (41) is provided corresponding to the clearance space (4201).

5. The drive module for a cleaning robot according to claim 4, characterized in that, The first swing arm (41) includes a first segment (411), a first transition segment (412), and a second segment (413) arranged sequentially along the extension direction. The first transition segment (412) has an angle with the first segment (411) and the second segment (413) respectively. The end of the first segment (411) away from the first transition segment (412) is hinged to the removal module, and the end of the second segment (413) away from the first transition segment (412) is hinged to the body (10).

6. The drive module for a cleaning robot according to claim 4 or 5, characterized in that, The second swing arm (42) includes a third segment (421), a second transition segment (422) and a fourth segment (423) arranged sequentially along the extension direction. The second transition segment (422) has an angle with the third segment (421) and the fourth segment (423) respectively. The end of the third segment (421) away from the second transition segment (422) is hinged to the removal module, and the end of the fourth segment (423) away from the second transition segment (422) is hinged to the body (10).

7. The drive module for a cleaning robot according to claim 6, characterized in that, The clearance space (4201) is formed between the fourth segment (423) and the second transition segment (422). When the removal module is in the initial position, there is also a buffer interval between the removal module and the fuselage (10), and the folding assembly (40) is located within the buffer interval. When the removal module is in the folded state, at least a portion of the first swing arm (41) is located within the clearance space (4201).

8. The drive module for a cleaning robot according to claim 7, characterized in that, The length of the third segment (421) is less than the length of the fourth segment (423). When the removal module is in a folded state, the third segment (421) is located on the extension line of the first segment (411).

9. A cleaning device for a cleaning robot, characterized in that, Including the drive module as described in any one of claims 1-8, The robot is equipped with a transport assembly, which includes two removal modules (20). The two removal modules (20) are symmetrically arranged at the front of the robot body (10) along the front-rear axis of the robot. When the removal modules (20) move from the initial position to the working position, the two removal modules (20) move towards each other to clamp the items. The drive module is driven connected to the multiple removal modules (20) respectively.

10. The cleaning device for a cleaning robot according to claim 9, characterized in that, The removal module (20) includes a body part (21), the driving module is drivenly connected to the body part (21), and the body part (21) has a removal end; The lifting part (22) is slidably disposed at the removal end of the main body (21) in the vertical direction, and the lifting parts (22) of the two removal modules (20) cooperate to clamp the item.

11. The cleaning device for a cleaning robot according to claim 10, characterized in that, The removal module (20) includes a drive structure disposed between the body part (21) and the lifting part (22), wherein the lifting part (22) slides relative to the body part (21) via the drive structure.

12. The cleaning device for a cleaning robot according to claim 11, characterized in that, The removal end of the main body (21) is provided with a drive hole (2101). The top of the drive hole (2101) is inclined toward the direction close to the lifting part (22). The lifting part (22) includes a sliding column (221). The sliding column (221) is slidably disposed in the drive hole (2101). The sliding column (221) and the drive hole (2101) cooperate with each other to drive the lifting part (22) to rise. When the two removal modules (20) move away from each other, the lifting part (22) descends.

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