Cleaning robot

Abstract

Provided is a cleaning robot, comprising a machine body and a side brush assembly. The side brush assembly comprises a driving mechanism, a swing arm, and a cleaning member. The swing arm is rotatably connected to the machine body around a first rotating axis, and the cleaning member is provided on the swing arm and is adapted to cleaning operation; the driving mechanism is adapted to drive the swing arm to rotate around the first rotating axis, so that the swing arm moves between an extended position and a retracted position relative to the machine body; when the swing arm is located at the extended position, the cleaning member is farther away from the machine body compared with the case where the swing arm is located at the retracted position; and when the swing arm is located at the extended position, the cleaning member can clean the included angle between an edgewise path and a preset obstacle.

Description

cleaning robots

[0001] This application claims the Chinese patent application filed with the China Patent Office on December 11, 2023, with application number 202323371141.8 and application name “Cleaning Robot”, the Chinese patent application filed with the China Patent Office on January 13, 2024, with application number 202410050718.5 and application name “Control Method, Device, Equipment, Medium and Product for Cleaning Equipment”, and the international application number PCT / CN2023 / 10021 filed with the China Patent Office on June 14, 2023 0. The PCT international application entitled “Cleaning Equipment”, filed with the Patent Office of China on June 14, 2023, with international application number PCT / CN2023 / 100199, the PCT international application entitled “Control Method of Cleaning Equipment, Cleaning Equipment and Storage Medium”, and the priority of the Chinese patent application entitled “Cleaning Robot”, filed with the Patent Office of China on March 1, 2024, with application number 202420401515.1, all of which are incorporated by reference in this application. Technical Field

[0002] The present application relates to, but is not limited to, the technical field of cleaning equipment. Background Art

[0003] With the development of science and technology and the improvement of living standards, household cleaning robots have become increasingly popular, reducing the burden of human housework.

[0004] A side brush assembly is usually provided at the bottom of the cleaning robot, which includes cleaning parts such as a roller brush and a side brush. The side brush is usually provided at the front edge of the cleaning robot body. When the cleaning robot is running, the side brush can rotate around its own axis to gather the garbage on the ground to the inside of the cleaning robot, thereby sucking the garbage into the cleaning robot cavity through the roller brush and the suction port on the cleaning robot body to clean the ground.

[0005] However, cleaning robots have a technical problem of limited cleaning range in areas that are difficult to clean, such as corners.

[0006] Summary of the Invention

[0007] In view of the above problems, an embodiment of the present application provides a cleaning robot that can improve the coverage of areas that are difficult to clean, such as corners, and increase the cleaning range of the cleaning robot.

[0008] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0009] An embodiment of the present application provides a cleaning robot, comprising: a body; a side brush assembly, comprising a driving mechanism, a swing arm and a cleaning member; the swing arm is rotatably connected to the body around a first rotation axis, and the cleaning member is arranged on the swing arm and is suitable for performing cleaning operations; the driving mechanism is suitable for driving the swing arm to rotate around the first rotation axis, so that the swing arm moves between an outward swing position and an inward retracted position relative to the body, and when the swing arm is in the outward swing position, the cleaning member is further away from the body than when the swing arm is in the inward position; when the swing arm is in the outward swing position, the cleaning member can clean the angle between the edge path and a preset obstacle.

[0010] According to the cleaning robot of the present application, the swing arm of the side brush assembly is rotatably connected to the body. A drive mechanism drives the swing arm to move relative to the body between an outward swing position and a retracted position. The cleaning member is arranged on the swing arm to follow the movement of the swing arm, so that the swing arm drives the cleaning member to move between the outward swing position and the retracted position. When the swing arm is in the outward swing position, the cleaning member can clean the angle between the edge path and the preset obstacle. This increases the cleaning range of the cleaning member, avoids the problem of cleaning blind spots, enables the cleaning robot to cope with more complex cleaning conditions, and improves the user experience.

[0011] In some embodiments, the cleaning member includes a side brush, and when the swing arm is in the retracted position, the cleaning robot performs edge cleaning along the edge path; when the swing arm is in the outward swing position, the side brush contacts the angle and deforms, so that the side brush penetrates into the angle between the edge path and the preset obstacle for cleaning.

[0012] When the cleaning robot is cleaning along the edge, the side brush assembly at least partially extends beyond the edge of the body, so that the side brush assembly can perform edge cleaning when in the retracted position, avoiding frequent outward swinging of the side brush assembly and reducing the life of the side brush assembly; when there is a preset obstacle on the edge cleaning path of the cleaning robot, an angle is formed between the edge path and the preset obstacle. Since the side brush is a flexibly deformable structure, when it is deformed by contact with the angle, the side brush has already reached the depth of the angle, so that it can clean deep into the angle, that is, it is easier to clean the narrow angle area, thereby improving the cleaning effect at the angle.

[0013] In some embodiments, the driving mechanism includes a driving member, which is rotatably arranged relative to the body around a second rotation axis. The driving member is used to drive the swing arm to move between the outward swing position and the inward retracted position, and the first rotation axis and the second rotation axis are parallel to or coincide with each other.

[0014] In this way, the swing arm is driven to rotate by the rotation of the driving member, making the movement of the swing arm and the driving member relatively simple and easy to implement. In addition, the side brush assembly rotates along with the swing arm about the second rotation axis to reach the outward swing position. The outward swinging method facilitates a larger outward swing range while occupying less space in the machine body.

[0015] In some embodiments, the driving mechanism includes: a first driving mechanism, at least the driving force of the first driving mechanism drives the swing arm to move around the first rotation axis so that the swing arm moves toward one of the outward swing position and the inward retracted position; a second driving mechanism, at least the driving force of the second driving mechanism drives the swing arm to move toward the other of the outward swing position and the inward retracted position.

[0016] In this way, different power sources can be provided for the two movement processes of the swing arm from the outward swing position to the inward retracted position and from the inward retracted position to the outward swing position, respectively, which can simplify the movement form of the second drive mechanism and reduce costs.

[0017] In some embodiments, the first drive mechanism is configured to at least partially drive the swing arm from the retracted position to the outward swing position; the second drive mechanism is configured to at least partially overcome the force of the first drive mechanism to drive the swing arm from the outward swing position to the retracted position.

[0018] In this way, the swing arm moves between the outward swing position and the inward retracted position under the driving action of the second drive mechanism and the first drive mechanism respectively, so as to meet the cleaning needs of different scenarios, increase the cleaning range, avoid cleaning dead corners, and enhance the user experience.

[0019] In some embodiments, the first driving mechanism includes an elastic member, one end of which is connected to the swing arm, and the other end of which is fixed relative to the body; the elastic member drives the swing arm from the retracted position to the outward swing position through its own elastic force.

[0020] In this way, the elastic force of the elastic member itself can drive the swing arm from the retracted position to the outward swing position, resulting in a simple structure, no additional power components required, and low cost. Furthermore, when the side brush assembly contacts an obstacle in the outward swing position, the elastic member causes the side brush assembly to move toward the retracted position, preventing damage to the side brush assembly due to rigid collision.

[0021] In some embodiments, the elastic member is one of a torsion spring, a compression spring, and a tension spring.

[0022] In this way, the swing arm can be driven to move from the retracted position to the outward swing position by the elastic force of the elastic member itself. The structure is simple, no additional power members are required, and the cost is low.

[0023] In some embodiments, the second driving mechanism includes the driving member, which is constructed to rotate relative to the body along a first direction and a second direction. When the driving member rotates around the first direction, it at least partially overcomes the elastic force of the elastic member to push the swing arm from the outward swing position to the retracted position; when the driving member rotates around the second direction, the elastic member drives the swing arm from the retracted position to the outward swing position by its own elastic force; wherein, the first direction and the second direction are opposite.

[0024] In this way, by adjusting the rotation direction of the driving member and cooperating with the elastic member, the swing arm can be switched between the retracted position and the outward swing position. The overall implementation method is relatively simple and easy to implement.

[0025] In some embodiments, the second driving mechanism includes an epicyclic motor and an epicyclic gear set, the epicyclic gear set includes planetary gears, the epicyclic gear set is at least partially arranged below the driving member, the rotation axis of the epicyclic motor and the orbital axis of the planetary gears are coaxial, so that the rotation axis of the epicyclic motor and the rotation axis of the driving member are coaxial.

[0026] In this way, by setting up an outer swing gear set and setting the outer swing gear set in the form of a planetary gear, the driving member of the second driving mechanism has multiple output modes to better drive the swinging action of the swing arm. In addition, setting the planetary gear on the lower side of the driving member is conducive to saving space. The side brush assembly mainly occupies the dimension of the body in the height direction, realizing stacking in the height direction, thereby reducing the space occupied by the side brush assembly on the body.

[0027] In some embodiments, the second driving mechanism includes an epicyclic motor and an epicyclic gear set, the epicyclic gear set includes parallel gears, at least one rotating shaft of the parallel gears is parallel to the rotating shaft of the epicyclic motor, and at least another rotating shaft of the parallel gears is coaxial with the rotating shaft of the driving member.

[0028] By providing an epi-oscillatory gear set in the form of parallel gears, the transmission ratio of the parallel gears can be adjusted as needed, thereby adjusting the speed of the driving member to effectively drive the swing arm's swing motion. In this case, placing the parallel gears to the side of the epi-oscillatory motor optimizes the spatial layout and helps reduce costs.

[0029] In some embodiments, the driving member includes a driving body and a driving portion, the driving portion is connected to the driving body and is eccentrically arranged relative to the second rotation axis of the driving member, the swing arm has an abutment surface that cooperates with the driving portion, and when the driving member rotates along the first direction around the second rotation axis, the driving portion is suitable for pushing the abutment surface to move the swing arm from the outward swing position to the inward retracted position.

[0030] In this way, the driving body can provide mounting support for the driving unit, which can drive the swing arm to move. The structure of the driving member is relatively simple and easy to manufacture. This ensures that the driving unit can stably apply thrust to the swing arm, and the cooperation between the swing arm and the driving member is simple and reliable.

[0031] In some embodiments, one of the driving member and the swing arm further includes a mating portion, and the other has a mating notch that cooperates with the mating portion. When the swing arm is in the outward swing position, the mating portion and the mating notch are separated from each other. When the swing arm is in the inward retracted position, the mating portion and the mating notch are mated and connected with each other.

[0032] In this way, the swing arm can be locked in the retracted position through the cooperation between the matching portion and the matching notch.

[0033] In some embodiments, when the swing arm is in the retracted position, the swing arm applies a force to the mating part under the drive of the first driving mechanism, and the direction of the force applied by the swing arm to the mating part points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

[0034] In this way, since the length of the lever arm is zero, the swing arm does not have a reaction force to push the driving member to rotate. At this time, the driving member can be locked in the retracted position. The structure is relatively simple to implement, and the side brush assembly can be locked in the retracted position without adding new parts.

[0035] In some embodiments, the driving portion has a first cam surface, the abutting surface is a second cam surface that matches the first cam surface, and the rotation axis of the second cam surface is collinear with the first rotation axis.

[0036] In this way, when the driving member rotates, the first cam surface will interfere with the second cam surface, causing the first cam surface to push the second cam surface to rotate the swing arm. In addition, since the first cam surface and the second cam surface are both arc-shaped cam surfaces, the smoothness of the relative movement between the first cam surface and the second cam surface can be improved to avoid the swing arm from getting stuck when rotating, thereby improving the user experience.

[0037] In some embodiments, when the swing arm is in the retracted position, the swing arm applies a force to the driving part through the abutment surface under the drive of the first driving mechanism, and the direction of the force applied by the abutment surface points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

[0038] In this way, the swing arm can be stably locked in the retracted position with high reliability.

[0039] In some embodiments, when the swing arm is in the retracted position, the force applied by the second cam surface to the first cam surface is directed toward the rotation axis of the driving member.

[0040] In this way, the swing arm can be stably locked in the retracted position with high reliability.

[0041] In some embodiments, when the swing arm is located in the retracted position, the direction of the reaction force of the swing arm on the driving member points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

[0042] In some embodiments, a side wall of at least one side of the swing arm in the rotation direction is further provided with a buffer member, and the buffer member is used to buffer the collision between the swing arm and the body.

[0043] In this way, the buffer member can be used to buffer the collision between the swing arm and the body, thereby preventing the swing arm from being damaged by the collision and avoiding collision noise.

[0044] In some embodiments, the swing arm includes an outer side surface and an inner side surface of the swing arm, and the buffer includes a first buffer component and a second buffer component. The first buffer component is arranged on the outer side surface of the swing arm to buffer the collision between the swing arm and the body when the swing arm moves from the retracted position to the outward swing position. The second buffer component is arranged on the inner side surface of the swing arm to buffer the collision between the swing arm and the mounting seat of the drive mechanism when the swing arm moves from the outward swing position to the retracted position.

[0045] In some embodiments, when the swing arm moves from the outward swing position to the inward retracted position, the rotation angle of the swing arm relative to the body is between 50° and 70°.

[0046] In this way, while ensuring that the swing arm can effectively transfer the cleaning parts to the outside of the body, it can prevent the swing arm from having too large a stroke, which will cause the space occupied by the movement to be too large. For example, when the rotation angle is greater than 70°, the swing arm needs to occupy a larger installation space of the body, and the position of the swing arm is too close to the front side of the body. In the width direction of the body, the cleaning range is relatively reduced; when the rotation angle is less than 50 degrees, the swing arm rotation angle is too small, so the side brush assembly is not close enough to the front side of the body, and the outward swing range of the side brush assembly is small, and the cleaning effect on the included angle is not good.

[0047] In some embodiments, when the side brush is in the retracted position, there is a gap between the side brush and the angle; when the side brush is in the outward swing position, the side brush contacts the angle and deforms to perform cleaning; the edge path is the first wall edge, and the preset obstacle is an obstacle that the cleaning robot needs to turn to avoid when cleaning along the first wall edge.

[0048] In this way, when the side brush cannot clean the gap between the side brush and the angle in the retracted position, the swing arm can be controlled to rotate to the outward swing position, so that the side brush is in the outward swing position, and the side brush contacts the angle and deforms. The deformed side brush can be extended into the narrow gap at the angle for cleaning, thereby providing a cleaning effect and improving the user experience.

[0049] In some embodiments, when the cleaning robot identifies a target obstacle, the side brush is in the outward swing position for cleaning, and the target obstacle has a cavity that the side brush can reach when it is in the outward swing position. The target obstacle is concave inward toward the side away from the body at least at the height of the side brush to form the cavity.

[0050] In this way, when the body itself cannot approach the concave cavity of the target obstacle, the side brush can be extended to clean the cavity, so as to better clean the inside of the cavity, improve the cleaning effect, and increase the ability of the cleaning robot to adapt to more complex cleaning conditions.

[0051] In some embodiments, the side brush enters the cavity to a greater depth in the swung-out position than in the retracted position.

[0052] In this way, it can be ensured that the side brush can effectively clean the inside of the cavity.

[0053] In some embodiments, when the side brush assembly of the cleaning robot is in an outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or the wet stains, the driving mechanism drives the side brush assembly from the outward swing position to the inward retracted position to allow the side brush to avoid the linear obstacles and / or the wet stains.

[0054] In this way, the side brush can be retracted to the retracted position before it reaches the linear obstacle and / or wet stain, thereby preventing the side brush from getting hooked on the linear obstacle, causing the side brush to fall off or be deformed and damaged, and also preventing the side brush from being stained with wet stains, causing itself to be contaminated and its cleaning ability to be weakened.

[0055] In some embodiments, the side brush assembly further comprises a controller adapted to control the swing arm to move between the outward swing position and the inward retracted position.

[0056] In this way, it is easy to control the movement of the swing arm and the degree of automation of the swing arm movement can be improved.

[0057] In some embodiments, the cleaning member is rotatably connected to the swing arm, and the side brush assembly further includes a third driving mechanism, which is configured to drive the cleaning member to be rotatably connected to the swing arm.

[0058] In this way, the third driving mechanism can provide driving force for the rotation of the cleaning member, so that the cleaning member can clean the surface to be cleaned.

[0059] In some embodiments, the third drive mechanism and the second drive mechanism share an outward swing motor; the second drive mechanism further includes a clutch, and the outward swing motor drives at least one of the swing arm and the cleaning member to rotate through the clutch.

[0060] In this way, by setting up a clutch, a set of driving devices can be used to drive the swing arm and the cleaning member to rotate respectively, thereby improving the integration of the third driving mechanism and the second driving mechanism, and helping to reduce the space occupied by the side brush assembly.

[0061] In some embodiments, when the side brush assembly is in the retracted position, the clutch member is used to enable the outward swing motor to drive the cleaning member to rotate and the swing arm to stop rotating, so that the swing arm is locked in the retracted position.

[0062] In this way, the side brush assembly can keep its position fixed when cleaning the surface to be cleaned in the retracted position, thereby ensuring the smooth progress of the cleaning work and improving the cleaning efficiency.

[0063] In some embodiments, the cleaning robot further includes an electrical connection assembly, wherein the electrical connection assembly includes an electrical connector, the electrical connector is electrically connected to the body, and at least a portion of the electrical connector is coaxially arranged with the first rotation axis.

[0064] In this way, when the swing arm rotates relative to the body, the electrical connector will move synchronously with the swing arm around the first rotation axis. This reduces the relative movement between the electrical connector and the swing arm, thereby reducing wear on the electrical connector and extending the service life of the electrical connector.

[0065] In some embodiments, a wire-passing hole is provided on the swing arm, and the wire-passing hole is coaxially arranged with the first rotation axis. The wire-passing hole is configured to guide at least a portion of the extension direction of the electrical connector.

[0066] In this way, the wire hole can guide and limit the extension of part of the electrical connector, so that the electrical connector can be coaxially arranged with the first rotation axis, thereby improving the reliability of the coaxial arrangement of the electrical connector and the first rotation axis.

[0067] In some embodiments, the third driving mechanism is disposed on the swing arm and is electrically connected to the electrical connector.

[0068] In this way, the external dimensions of the side brush assembly can be reduced, thereby improving the structural compactness of the side brush assembly; in addition, the third driving mechanism is electrically connected to the electrical connector, and the electrical connector is used to energize the third driving mechanism.

[0069] In some embodiments, the third driving mechanism includes a second driving motor, which is electrically connected to the electrical connector; the second driving motor is configured to drive the cleaning member to rotate around a second rotation axis.

[0070] In this way, the cleaning element can be driven.

[0071] In some embodiments, the electrical connection assembly further includes a circuit board, the circuit board is disposed within the body, and the electrical connector is electrically connected to the circuit board.

[0072] In some embodiments, when the swing arm is in the outward swing position, the swing arm extends outward relative to the body; when the swing arm is in the retracted position, the swing arm is close to the body, and the body has a accommodating gap. When the swing arm is in the retracted position, the swing arm is accommodated in the accommodating gap.

[0073] In this way, when the swing arm does not need to be extended, it can be better accommodated to prevent the swing arm from colliding and reduce the risk of damage. In addition, it can also improve the appearance of the cleaning robot.

[0074] In some embodiments, the shape of the swing arm and the shape of the accommodating notch match each other, and when the swing arm is in the retracted position, the outer side surface of the swing arm constitutes a part of the body contour.

[0075] In this way, the appearance consistency of the cleaning robot can be improved and become more beautiful.

[0076] In some embodiments, the side brush assembly further comprises a housing, wherein when the swing arm is in the retracted position, the housing forms a portion of the body contour.

[0077] In some embodiments, the shell is fixed to the swing arm; or, the shell is movably connected to the outer wall of the body, and when the swing arm is in the retracted position, the shell blocks the accommodating gap.

[0078] In this way, the appearance consistency of the cleaning robot can be improved and become more beautiful.

[0079] In some embodiments, the cleaning member includes: a rubber strip, a first end of which is connected to the third driving mechanism; and bristles, which are provided at the second end of the rubber strip.

[0080] Thus, the structure of the cleaning element is relatively simple.

[0081] In some embodiments, the swing arm is covered with a flexible material layer, the side brush is connected to the distal end of the swing arm relative to the body, the flexible material layer circumferentially covers the outer side of at least part of the distal end of the swing arm, and / or the flexible material layer covers at least part of the side wall of the swing arm.

[0082] In this way, when the swing arm collides with the body or obstacles during movement, the flexible material layer can provide a certain degree of cushioning to protect the swing arm and the component structure inside the swing arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0084] FIG1 is a schematic diagram of a partial structure of a side brush assembly of a cleaning robot provided by an embodiment of the present application in an outward swing position;

[0085] FIG2 is a schematic diagram of a partial structure of a side brush assembly of a cleaning robot provided by an embodiment of the present application in a retracted position;

[0086] FIG3 is an exploded schematic diagram of a partial structure of a cleaning robot provided in an embodiment of the present application;

[0087] FIG4 is an exploded schematic diagram of a side brush assembly and a circuit board in a cleaning robot provided by an embodiment of the present application;

[0088] FIG5 is a schematic diagram of a partial structure of a side brush assembly of a cleaning robot provided in an embodiment of the present application;

[0089] FIG6 is an exploded schematic diagram of a partial structure of a side brush assembly provided in an embodiment of the present application;

[0090] FIG7 is a schematic diagram of the state of the side brush assembly provided in an embodiment of the present application when it is in an outward swing position;

[0091] FIG8 is a schematic diagram of a side brush assembly in a retracted position according to an embodiment of the present application;

[0092] FIG9 is a partial structural diagram of a side brush assembly provided in an embodiment of the present application from another perspective;

[0093] FIG10 is a partial structural diagram of another structure of a side brush assembly provided in an embodiment of the present application;

[0094] FIG11 is a schematic diagram of a partial structure of a side brush assembly provided in an embodiment of the present application at one angle;

[0095] FIG12 is a partial structural diagram of the side brush assembly provided in an embodiment of the present application from another angle;

[0096] FIG13 is a partial structural diagram of a side brush assembly provided in an embodiment of the present application from another angle;

[0097] FIG14 is a schematic diagram of a portion of the structure of a drive mechanism of a side brush assembly provided in an embodiment of the present application;

[0098] FIG15 is a schematic structural diagram of a driving member of a side brush assembly provided in an embodiment of the present application from one angle;

[0099] FIG16 is a schematic structural diagram of the driving member of the side brush assembly provided in an embodiment of the present application from another angle.

[0100] Explanation of Reference Numerals: 100 - cleaning robot; 110 - body; 120 - side brush assembly; 121 - swing arm; 1211 - raised portion; 1212 - wire hole; 1214 - first rotation axis; 1215 - abutment surface; 1216 - mating notch; 122 - cleaning member; 1221 - second rotation axis; 123 - first driving motor; 124 - driving member; 1241 - driving body; 1242 - stopper; 1243 - first cam surface; 1244 - driving portion; 1245 - roller; 1246 - mating portion; 125 - mounting seat; 1251 - first limiting portion; 1252 - second limiting portion; 126 - second driving motor; 127 - speed reducer; 128 - lead frame; 1281 - guide groove; 129 - elastic member; 130 - electrical connection assembly; 131 - circuit board; 132 - electrical connection member; 140 - abutment member; 141 - second cam surface.

[0101] Implementation Methods of the Application

[0102] With the development of science and technology and the improvement of living standards, household cleaning robots have become increasingly popular, reducing the burden of human housework. The bottom of the cleaning robot is usually provided with a side brush assembly, which includes a roller brush, a side brush, a mopping member and other cleaning parts. The side brush is usually set at the front edge of the cleaning robot body. When the cleaning robot is running, the side brush can rotate around its own axis to gather garbage on the ground to the inside of the cleaning robot, thereby sucking the garbage into the cleaning robot cavity through the roller brush and the suction port on the cleaning robot body to clean the ground; the mopping member can usually perform wet cleaning or dry cleaning on the surface to be cleaned. The mopping member is used to mop the surface to be cleaned to remove dirt, thereby further improving the cleaning power of the cleaning robot. However, when the position of the cleaning part is fixed relative to the cleaning robot, when cleaning areas that are difficult to clean, such as right-angled edges or deep concave corners, the cleaning range of the cleaning robot is limited, and there is a technical problem of cleaning dead corners.

[0103] In order to solve the above problems, an embodiment of the present application provides a cleaning robot, in which a side brush assembly is movably connected to a body. The side brush assembly includes a swing arm, a cleaning member and a driving mechanism. The driving mechanism drives the swing arm to move between an outward swing position and an inward retracted position relative to the body. The cleaning member is arranged on the swing arm to follow the movement of the swing arm, so that the swing arm drives the cleaning member to move between the outward swing position and the inward retracted position. In this way, the cleaning range of the cleaning member is increased, the problem of cleaning dead corners is avoided, and the user experience is improved.

[0104] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0105] Figure 1 is a schematic diagram of the state of part of the structure of the side brush assembly in the outward swing position of the cleaning robot provided by an embodiment of the present application; Figure 2 is a schematic diagram of the state of part of the structure of the side brush assembly in the retracted position of the cleaning robot provided by an embodiment of the present application; Figure 3 is an exploded schematic diagram of part of the structure of the cleaning robot provided by an embodiment of the present application; Figure 4 is an exploded schematic diagram of the side brush assembly and circuit board in the cleaning robot provided by an embodiment of the present application; Figure 5 is a schematic diagram of part of the structure of the side brush assembly in the cleaning robot provided by an embodiment of the present application; Figure 6 is an exploded schematic diagram of part of the structure of the side brush assembly provided by an embodiment of the present application; Figure 7 is a schematic diagram of the state of the side brush assembly provided by an embodiment of the present application in the outward swing position; Figure 8 is a schematic diagram of the state of the side brush assembly provided by an embodiment of the present application in the retracted position Figure; Figure 9 is a partial structural schematic diagram of another perspective of the side brush assembly provided by an embodiment of the present application; Figure 10 is a partial structural schematic diagram of another structure of the side brush assembly provided by an embodiment of the present application; Figure 11 is a partial structural schematic diagram of one angle of the side brush assembly provided by an embodiment of the present application; Figure 12 is a partial structural schematic diagram of another angle of the side brush assembly provided by an embodiment of the present application; Figure 13 is a partial structural schematic diagram of another angle of the side brush assembly provided by an embodiment of the present application; Figure 14 is a partial structural schematic diagram of the driving mechanism of the side brush assembly provided by an embodiment of the present application; Figure 15 is a structural schematic diagram of one angle of the driving part of the side brush assembly provided by an embodiment of the present application; Figure 16 is a structural schematic diagram of another angle of the driving part of the side brush assembly provided by an embodiment of the present application.

[0106] The cleaning robot 100 according to an embodiment of the present application will be described below with reference to FIG. 1 to FIG. 16 .

[0107] The cleaning robot 100 of this embodiment can be a wet / dry cleaning robot 100. The cleaning robot 100 can be a sweeping robot or a sweeping and mopping robot. The cleaning robot 100 includes: a body 110 and a side brush assembly 120.

[0108] Among them, the body 110 is suitable for walking along the ground, tabletop, carpet and other surfaces to be cleaned. A walking system is provided on the body 110 for driving the body 110 to realize the self-moving walking function on the surface to be cleaned. The walking system generally includes a driver and a walking part, and the driver drives the walking part to move. There can generally be two walking parts, and the two walking parts are symmetrically arranged on the body 110. The walking parts can be, but are not limited to, driving wheels, track wheels or steering wheels with adjustable steering. For example, the steering wheel is a Mecanum wheel. In addition, the walking system can be swingably arranged on the body 110 so that the cleaning robot 100 has an obstacle crossing function during walking. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of objects such as the ground, tabletop, glass, and wall. For the convenience of expression, the surface to be cleaned below is described using the ground as an example.

[0109] The side brush assembly 120 may include a drive mechanism, a swing arm 121, and a cleaning member 122. The swing arm 121 is rotatably connected to the housing 110 about a first rotation axis 1214. The cleaning member 122 is disposed on the swing arm 121 so that the cleaning member 122 can rotate relative to the housing 110 along with the swing arm 121. The cleaning member 122 is suitable for performing cleaning operations and may, for example, be a side brush assembly.

[0110] The driving mechanism is suitable for driving the swing arm 121 to rotate around the first rotation axis 1214 so that the swing arm 121 moves between an outward swing position and a retracted position relative to the body 110, wherein the retracted position corresponds to the state in which the side brush assembly 120 is retracted relative to the body 110. At this time, the side brush assembly 120 (for example, including the swing arm 121) is in the retracted position, and correspondingly, the cleaning member 122 is in the retracted position; the outward swing position corresponds to the state in which the side brush assembly 120 is extended relative to the body 110. At this time, the side brush assembly 120 (for example, including the swing arm 121) is in the outward swing position, and correspondingly, the cleaning member 122 is in the outward swing position, that is, the side brush assembly 120 at least partially extends outside the body 110, so that areas outside the range to which the body 110 can move can be cleaned, for example, areas with right-angled edges or deep concave areas can be cleaned, and areas that are difficult to clean, such as corners, can be covered, thereby increasing the cleaning range, avoiding the existence of cleaning dead corners, and improving the user experience.

[0111] As will be appreciated, when the swing arm 121 is in the outward swing position, the cleaning member 122 is further away from the body 110 than when the swing arm 121 is in the retracted position. In other words, when the swing arm 121 is in the outward swing position, the cleaning member 122 can clean areas farther from the body 110. When the swing arm 121 is in the outward swing position, the cleaning member 122 can clean the angle between the edge path and the pre-set obstacle. Thus, the side brush assembly 120 in the outward swing position is more capable of cleaning corners, thereby improving the user experience.

[0112] In Figure 1, the swing arm 121 is in a retracted state relative to the body 110 (corresponding to the retracted position); in Figure 2, the swing arm 121 is in an extended state relative to the body 110 (corresponding to the outward swing position). In this way, when the floor to be cleaned has a right-angled or concave area, the swing arm 121 can move from the retracted state to the extended state relative to the body 110, and clean the cleaning area through the cleaning member 122, thereby increasing the cleaning range of the cleaning robot 100.

[0113] In the first case, when the swing arm 121 is in the outward swing position, the swing arm 121 is outside the outline of the body 110. At this time, at least part of the cleaning element 122 exceeds the outline of the body 110. When the swing arm 121 is in the outward swing position, at least part of the swing arm 121 extends outside the outline of the body 110 to clean the corner areas. At this time, at least part of the cleaning element 122 exceeds the outline of the body 110, or the cleaning element 122 is located outside the outline of the body 110; or, in the second case, when the swing arm 121 is in the outward swing position, part of the structure of the swing arm 121 is outside the outline of the body 110. When the swing arm 121 is in the retracted position, the distance that the swing arm 121 exceeds the outline of the body 110 is less than the distance that the swing arm 121 exceeds the outline of the body 110 when it is in the outward swing position.

[0114] Among them, the body 110 is usually formed in a circular, D-shaped, rectangular or other shapes. The outline of the body 110 refers to the circular outline, D-shaped outline or rectangular outline of the body 110. The range of the outline of the body 110 can be determined based on the projection of the body 110 shell on the horizontal plane.

[0115] The cleaning member 122 may be a side brush, a mopping member, or the like. The side brush may be, for example, a rubber strip or a bristle brush, and the mopping member may be, for example, a disc-shaped cleaning cloth. Thus, the cleaning member 122 cleans or wipes the floor as it rotates. Alternatively, the cleaning member 122 may be a flexibly deformable structure, so that when the cleaning member 122 comes into contact with an external obstacle, it exhibits good flexibly deformable properties, avoiding rigid collisions and ensuring the passability of the cleaning robot 100.

[0116] The cleaning member 122 is rotatably disposed on the swing arm 121 , so that when the cleaning member 122 rotates relative to the swing arm 121 , the cleaning member 122 can clean the floor by sweeping or wiping.

[0117] According to the cleaning robot 100 of the embodiment of the present application, the swing arm 121 of the side brush assembly 120 is rotatably connected to the body 110. The driving mechanism drives the swing arm 121 to move between an outward swing position and an inward retracted position relative to the body 110. The cleaning member 122 is provided on the swing arm 121 to follow the movement of the swing arm 121, so that the swing arm 121 drives the cleaning member 122 to move between the outward swing position and the inward retracted position. When the swing arm 121 is in the outward swing position, the cleaning member 122 can clean the angle between the edge path and the preset obstacle. In this way, the cleaning range of the cleaning member 122 is increased, the problem of cleaning blind spots is avoided, and the cleaning robot 100 can cope with more complex cleaning conditions, thereby improving the user experience.

[0118] In some embodiments, as shown in Figures 1 and 2, the side brush assembly 120 can be set at a position near the edge of the bottom of the body 110. For example, the side brush assembly 120 is set at the bottom of the body 110 near the front edge. In this way, when the cleaning robot 100 is moving, the cleaning member 122 rotates relative to the swing arm 121 to gather dust and foreign particles on the ground to the inside of the body 110 of the cleaning robot 100.

[0119] In addition, a dust suction chamber (not shown in the figure) is provided in the body 110, and a dust suction port (not shown in the figure) and a roller brush (not shown in the figure) connected to the dust suction chamber are provided at the bottom of the body 110. A negative pressure generating device such as rotating blades can be provided in the dust suction chamber (not shown in the figure). In this way, negative pressure suction can be generated in the dust suction chamber through, for example, the rotation of the blades. When the side brush rotates to gather dust and foreign particles on the ground to the inner side of the cleaning robot 100, the dust and foreign particles can be sucked into the dust suction chamber of the body 110 through the roller brush and the dust suction port.

[0120] In some embodiments, the cleaning member 122 includes a side brush. When the swing arm 121 is in the retracted position, the cleaning robot 100 performs edge cleaning along the edge path; when the swing arm 121 is in the outward swing position, the side brush contacts the angle and deforms, so that the side brush penetrates into the angle between the edge path and the preset obstacle for cleaning.

[0121] When the swing arm is in the retracted position, the side brush extends beyond the edge of the robot body. When the cleaning robot cleans along the edge, the side brush can sweep away debris near the edge, thereby allowing the swing arm to remain in the retracted position for cleaning along the edge, reducing the frequency of the side brush assembly swinging outward, and thus extending the service life of the side brush assembly. When an angle is formed between the edge path and the preset obstacle, because the side brush is a flexibly deformable structure, when the swing arm is in the outward swing position, the side brush can penetrate deep into the angle for cleaning. Especially when deformed by contact with the angle, the side brush can reach deep into the angle for cleaning, making it easier to clean narrow angle areas, thereby improving the cleaning effect at the angle. The angle formed between the edge path and the preset obstacle is difficult for other cleaning components that are not easily deformed to penetrate deep into the angle for cleaning. For example, the mop assembly is usually formed as a circular or rectangular cleaning component, and the mop is mounted on a mop mounting plate. The mop mounting plate is usually a rigid structure that makes it difficult to penetrate deep into the angle for cleaning.

[0122] In some embodiments, referring to FIG. 4 , the drive mechanism may include a drive member 124 rotatably disposed relative to the body 110 about a second rotation axis 1221 to drive the swing arm 121 between an outward swing position and a retracted position relative to the body 110. The first rotation axis 1214 and the second rotation axis 1221 are parallel to or coincide with each other, facilitating a compact arrangement of the drive mechanism. The first rotation axis 1214 is a fixed axis relative to the body 110, and the second rotation axis 1221 may also be a fixed axis relative to the body 110. Thus, the swing arm 121 is driven to rotate by the rotation of the drive member 124, resulting in a simpler and easier-to-implement movement of the swing arm 121 and the drive member 124. In other possible embodiments, the first rotation axis 1214 and the second rotation axis 1221 may also have a certain angle, and may be located in the same plane or in different planes.

[0123] In some embodiments, when the swing arm 121 is in the retracted position, the direction of the reaction force of the swing arm 121 on the driving member 124 is directed to the rotation axis of the driving member 124, so that the driving member 124 is locked in the retracted position. In this way, the driving member 124 can be locked, thereby locking the swing arm 121 in the retracted position, and the position of the cleaning member 122 is stable when performing cleaning work in the retracted position, ensuring the smooth progress of the cleaning work.

[0124] In some embodiments, referring to FIG. 4 , the first rotation axis 1214 and the second rotation axis 1221 are parallel to each other. This makes the movement of the swing arm 121 and the driving member 124 simpler and reduces the space occupied by the cleaning structure.

[0125] In some embodiments, the drive mechanism may include a first drive mechanism and a second drive mechanism. At least the driving force of the first drive mechanism drives the swing arm 121 to move about the second rotation axis 1221, thereby causing the swing arm 121 to move toward one of the outward swing position and the retracted position, while at least the driving force of the second drive mechanism drives the swing arm 121 toward the other of the outward swing position and the retracted position. For example, only the driving force of the first drive mechanism may drive the swing arm 121 to move about the second rotation axis 1221 from the retracted position to the outward swing position, while only the driving force of the second drive mechanism may drive the swing arm 121 from the outward swing position to the retracted position. Alternatively, at least one of the movements of the swing arm 121 from the outward swing position to the retracted position and from the retracted position to the outward swing position may be achieved by the cooperation of the first drive mechanism and the second drive mechanism. In this way, different power sources can be provided for the two movements of the swing arm 121, respectively, from the outward swing position to the retracted position and from the retracted position to the outward swing position. This simplifies the motion of the second drive mechanism and reduces costs.

[0126] In some embodiments, the first drive mechanism is configured to at least partially drive the swing arm 121 from the retracted position to the extended position, and the second drive mechanism is configured to at least partially overcome the force of the first drive mechanism to drive the swing arm 121 from the extended position to the retracted position. In this way, the swing arm 121, driven by the second drive mechanism and the first drive mechanism, respectively, moves between the extended position and the retracted position to meet the cleaning needs of different scenarios, expand the cleaning range, avoid blind spots, and enhance the user experience.

[0127] In some embodiments, referring to Figures 11 and 12, the first driving mechanism may include an elastic member 129, one end of the elastic member 129 is connected to the swing arm 121, and the other end of the elastic member 129 is relatively fixed to the body 110. The elastic member 129 can drive the swing arm 121 from the retracted position to the outward swing position through its own elastic force. It can be understood that the swing arm 121 can be driven from the retracted position to the outward swing position through the elastic force of the elastic member 129 itself. The structure is simple, no other power parts are required, and the cost is low.

[0128] 11 and 12 , the elastic member 129 can be a torsion spring, a compression spring or a tension spring, as long as it can drive the swing arm 121 from the retracted position to the outward swing position through its own elastic force. For example, the elastic member 129 drives the swing arm 121 through its own elastic force, so that the swing arm 121 moves from a retracted position relative to the body 110 to a protruding position relative to the body 110, so that the cleaning robot 100 can clean areas with deeper recesses, thereby increasing the cleaning range.

[0129] When the elastic member 129 is a torsion spring, one end of the torsion spring is connected to the swing arm 121, and the other end of the torsion spring is fixedly connected to the body 110, and the axis of the torsion spring is coaxially arranged with the first rotation axis 1214. For example, the swing arm 121 rotates around a rotating shaft fixed relative to the body 110, and the central axis of the rotating shaft is the first rotation axis 1214. The torsion spring can be directly sleeved on the rotating shaft. In this way, no other structure is required to limit and fix the torsion spring, and the structure is simple and easy to install. Thereafter, one end of the torsion spring is connected to the swing arm 121, and the other end of the torsion spring is fixed relative to the body 110. When the swing arm 121 is in the outward swing position, the torsion spring has a certain elastic torque. When there is no corresponding structure blocking the movement of the swing arm 121 on the movement path from the retracted position to the outward swing position, the swing arm 121 can move from the retracted position to the outward swing position under the action of the elastic torque of the torsion spring, so that the swing arm 121 extends relative to the body 110.

[0130] When the driving member 124 rotates around the first direction, it at least partially overcomes the elastic force of the elastic member 129 to push the swing arm 121 from the outward swing position to the inward swing position; and when the driving member 124 rotates around the second direction, the elastic member 129 drives the swing arm 121 from the inward swing position to the outward swing position by its own elastic force, wherein the first direction and the second direction are opposite.

[0131] It should be noted that, in addition to driving the swing arm 121 to move, the driving member 124 also has the function of limiting the swing arm 121 .

[0132] When the lever 121 is in the retracted position, the actuator 124 is locked relative to the housing 110, so that the lever 121 stops in the retracted position. When the lever 121 needs to move from the retracted position to the outward swing position, the actuator 124 rotates, for example, in the second direction. In this way, as the actuator 124 rotates, the interference between the actuator 124 and the lever 121 is eliminated, so that the lever 121 can gradually move from the retracted position to the outward swing position under the action of the elastic force of the elastic member 129. When the actuator 124 stops rotating, the actuator 124 continues to block the continued movement of the lever 121. In this way, the lever 121 stops at the position corresponding to the actuator 124, so that the lever 121 can stop at any position between the retracted position and the outward swing position. That is, in the stopped state, the lever 121 is limited and locked mainly by the actuator 124. When the lever 121 is in the retracted position, the actuator 124 is locked relative to the housing 110. When further movement is required, the driving member 124 only needs to be rotated in the second direction so that the driving member 124 releases the locking force on the swing arm 121. The swing arm 121 continues to move toward the outward swing position under the elastic force of the elastic member 129 until the driving member 124 rotates to the extreme position in the second direction. At this time, the swing arm 121 can move to the outward swing position (as shown in FIG. 11 ), that is, the maximum outward swing position of the swing arm 121. When the swing arm 121 needs to move from the outward swing position to the retracted position, the driving member 124 rotates in the first direction so that the driving member 124 at least partially overcomes the elastic force of the elastic member 129 to push the swing arm 121, so that the swing arm 121 moves from the outward swing position to the retracted position. In this way, the driving member 124 and the elastic member 129 respectively drive the swing arm 121 to move between the retracted position and the outward swing position, so that the cleaning member 122 can clean corners and other locations that are difficult to clean, thereby expanding the cleaning range and improving the user experience. In addition, in the embodiment of the present application, through the mutual cooperation between the driving member 124, the elastic member 129, and the driving member 124 and the swing arm 121, the swing arm 121 can be moved between the retracted position and the outward swing position. For example, when the elastic member 129 drives the swing arm 121 to move from the retracted position to the outward swing position, the locking and / or interference between the driving member 124 and the swing arm 121 is released, and the elastic member 129 can drive the swing arm 121 to move through its own elastic force. The structure is simple, the operation is convenient, and the cost is low.

[0133] In some embodiments, the second drive mechanism further includes a first drive motor 123, which is adapted to drive the drive member 124 to rotate. That is, the first drive motor 123 can drive the drive member 124 to rotate about the second rotation axis 1221. Thus, the first drive motor 123 can provide power for the rotation of the drive member 124. Furthermore, the power device of the second drive mechanism is relatively simple and inexpensive. The first drive motor 123 can be directly connected to the drive member 124 or connected to the drive member 124 via an intermediate transmission mechanism. The transmission method between the first drive motor 123 and the drive member 124 can be appropriately selected based on actual needs.

[0134] In some embodiments, the first drive motor 123 can be located inside the edge of the body 110. This can prevent the first drive motor 123 from occupying space outside the body 110, making the overall structure more compact, improving the appearance, and better protecting the first drive motor 123.

[0135] In some embodiments, referring to Figures 11 and 12, the second drive mechanism includes a drive member 124 adapted to rotate in a first direction and a second direction. When the drive member 124 rotates in the first direction, it at least partially overcomes the elastic force of the elastic member 129 to push the swing arm 121 from the outward swing position to the inward swing position. When the drive member 124 rotates in the second direction, the swing arm 121 is driven by the first drive mechanism to move from the inward swing position to the outward swing position. Specifically, the elastic member 129 drives the swing arm 121 from the inward swing position to the outward swing position through its own elastic force. The first and second directions are opposite. For example, the first direction may be counterclockwise, and the second direction may be clockwise. Specifically, when the drive member 124 rotates counterclockwise, it pushes the swing arm 121 from the outward swing position to the inward swing position. When the drive member 124 rotates clockwise, the swing arm 121 is driven by the first drive mechanism to move from the inward swing position to the outward swing position. It is understood that when the driving member 124 rotates in the second direction, it can separate from the swing arm 121 to avoid pushing against the swing arm 121, thereby facilitating the operation of the first driving mechanism. In this way, by adjusting the rotation direction of the driving member 124 and cooperating with the elastic member 129, the swing arm 121 can be switched between the retracted position and the outward swing position. The overall implementation method is relatively simple and easy to implement.

[0136] In some embodiments, the second drive mechanism includes an epicyclic motor (i.e., the first drive motor 123 described above) and an epicyclic gear set. The epicyclic gear set may include planetary gears. The epicyclic gear set is at least partially disposed below the drive member. The epicyclic gear set may serve as a transmission mechanism between the epicyclic motor and the drive member 124. The axis of rotation of the epicyclic motor and the orbital axis of the planetary gears are coaxial, so that the axis of rotation of the epicyclic motor and the axis of rotation of the drive member are coaxial. Thus, by providing the epicyclic gear set and configuring the epicyclic gear set in the form of planetary gears, the drive member 124 of the second drive mechanism has multiple output modes to better drive the swinging motion of the swing arm 121. Furthermore, arranging the planetary gears below the drive member 124 helps save space.

[0137] In some embodiments, the first driving mechanism and the second driving mechanism may adopt the same driving mechanism. For example, both the first driving mechanism and the second driving mechanism may be driven by the first driving motor 123 .

[0138] In a specific embodiment, the drive mechanism includes a commutator, which is used to adjust the rotation direction of the side brush assembly 120. For example, when the outer swing motor rotates in a first direction, the side brush assembly 120 rotates around the first rotation direction to perform cleaning; when the outer swing motor rotates in a second direction, if a commutator is not provided, the rotation direction of the side brush assembly 120 will change. By providing a commutator, the direction of the driving force of the outer swing motor is changed, and the rotation direction of the side brush assembly 120 is adjusted so that the side brush assembly 120 continues to rotate around the first rotation direction to perform cleaning. For example, the side brush assembly 120 rotates in a counterclockwise direction (top view) to perform cleaning. When the side brush assembly 120 is in a counterclockwise rotation state, the side brush assembly 120 has a better contact effect with the corners, thereby achieving a better cleaning effect.

[0139] In addition to the above-mentioned configuration of the epicyclic gear set in the form of planetary gears, in other embodiments, the second drive mechanism includes an epicyclic motor and an epicyclic gear set, the epicyclic gear set including parallel gears, at least one rotating shaft of the parallel gears being parallel to the rotating shaft of the epicyclic motor, that is, the epicyclic motor is located on one side of the parallel gears, and at least another rotating shaft of the parallel gears is coaxial with the rotating shaft of the driving member. In this way, by providing the epicyclic gear set and configuring the epicyclic gear set in the form of parallel gears, it is convenient to adjust the transmission ratio of the parallel gears as needed, thereby adjusting the speed of the driving member 124 to better drive the swinging motion of the swing arm 121. In this case, arranging the parallel gears to the side of the epicyclic motor provides a reasonable spatial layout and is conducive to reducing costs.

[0140] In some embodiments, in conjunction with Figures 11 to 16, the driving member 124 may include a driving body 1241 and a driving portion 1244. The driving body 1241 can provide mounting support for the driving portion 1244. The shape of the driving body 1241 can be reasonably selected according to actual needs. For example, the driving body 1241 can be roughly formed into a cam or a groove wheel structure, or other structures. The driving body 1241 can be connected to the body 110, and the driving portion 1244 is connected to the driving body 1241 and is eccentrically arranged relative to the second rotation axis 1221 of the driving member 124, that is, the driving portion 1244 is spaced apart from the second rotation axis 1221. In this way, when the driving member 124 rotates around its own axis (that is, the second rotation axis 1221), the driving portion 1244 has a certain arc-shaped motion stroke. Based on the force of the driving portion on the swing arm, the swing arm 121 is pushed from the outward swing position to the inward retracted position. In this way, the driving member 124 can drive the swing arm 121 to move, and the driving member 124 has a relatively simple structure and is easy to manufacture.

[0141] In some embodiments, referring to Figure 12, the swing arm 121 has a contact surface 1215, which cooperates with the driving part 1244. When the driving member 124 rotates in the first direction around the second rotation axis 1221, the driving part 1244 is suitable for pushing the contact surface 1215 to move the swing arm 121 from the outward swing position to the inward retracted position. The driving part 1244 and the contact surface 1215 can be surface contact or line contact to ensure that the driving part 1244 can stably apply thrust to the swing arm 121. The cooperation between the swing arm 121 and the driving member 124 is simple and reliable.

[0142] 11 and 12 , a drive slot is provided on the swing arm 121 , and a notch is provided on the side of the drive slot facing the driver 124 . The slot wall of the drive slot can constitute an abutment surface 1215 , and the abutment surface 1215 can be formed into an arcuate surface. The driving portion 1244 can be cylindrical and can be provided on the outer periphery of the upper surface of the driving body 1241 and staggered with the second rotation axis 1221 . The driving portion 1244 can enter the drive slot through the notch to push against the abutment surface 1215 . The arcuate surface is conducive to stable abutment and is conducive to position locking when the swing arm is in the retracted position. Of course, in some other embodiments, the abutment surface 1215 can also be a plane or other shape, and the driving portion 1244 can be formed into other shapes suitable for pushing against the abutment surface 1215 .

[0143] In order to reduce the friction between the driving part 1244 and the abutting surface 1215 , a roller 1245 may be provided on the outside of the driving part 1244 . During the rotation of the driving member 124 , the roller 1245 rolls along the abutting surface 1215 , thereby improving the smoothness of the movement of the swing arm 121 .

[0144] As shown in Figure 16, the driving part 1244 can be arranged at the edge of the driving body 1241 and located at the position on the driving body 1241 with the largest distance from the second rotation axis 1221. In this way, when the driving part 1244 contacts the abutting surface 1215, the power required by the driving member 124 can be minimized, and the stroke of the swing arm 121 can be large enough.

[0145] In some embodiments, referring to Figures 11-16, one of the driving member 124 and the swing arm 121 may further include a mating portion 1246, and the other may include a mating notch 1216 that mates with the mating portion 1246. For example, the mating portion 1246 may be formed on the driving member 124, and the mating notch 1216 may be formed on the swing arm 121; alternatively, the mating portion 1246 may be formed on the swing arm 121, and the mating notch 1216 may be formed on the driving member 124. Taking the mating portion 1246 formed on the driving member 124 and the mating notch 1216 formed on the swing arm 121 as an example, when the swing arm 121 is in the outward swing position, the mating portion 1246 and the mating notch 1216 are separated from each other. When the swing arm 121 is in the retracted position, the mating portion 1246 and the mating notch 1216 are mated and connected. In this case, the mating between the driving member 124 and the swing arm 121 is a sheave mechanism. At this time, the peripheral wall of the mating portion 1246 constitutes the locking surface of the driving member 124, and the inner wall of the mating notch 1216 constitutes the locking mating surface of the swing arm 121. In this way, through the cooperation between the mating portion 1246 and the mating notch 1216, the swing arm 121 can be locked in the retracted position.

[0146] In some embodiments, the sidewall shape of the mating portion 1246 matches the edge shape of the mating notch 1216, so that when the swing arm 121 is in the retracted position, the mating portion 1246 and the mating notch 1216 engage with each other. Thus, when the mating portion 1246 and the mating notch 1216 engage with each other, the swing arm 121 cannot rotate relative to the driving member 124, thereby stably locking the swing arm 121 in the retracted position.

[0147] In some embodiments, referring to Figures 12 and 14 , the sidewalls of the mating portion 1246 and the edges of the mating notch 1216 are both arc-shaped. Thus, the shapes of the mating portion 1246 and the mating notch 1216 adapt to the movement of the respective structures, making it easier for the mating portion 1246 to enter and exit the mating notch 1216. Furthermore, the structures of the mating portion 1246 and the mating notch 1216 are relatively simple and easy to implement.

[0148] Referring to Figure 16, the driving part 1244 and the matching part 1246 of the driving member 124 have different angles relative to its rotation axis, i.e., the second rotation axis 1221. In this way, it can be ensured that when the driving part 1244 cooperates with the abutment surface 1215, the matching part 1246 is separated from the matching notch 1216; and when the matching part 1246 cooperates with the matching notch 1216, the driving part 1244 is separated from the abutment surface 1215, thereby making the switching process of the swing arm 121 between the outward swing position and the inward retracted position smoother.

[0149] In order to improve the matching stability between the matching portion 1246 and the matching notch 1216, the peripheral wall of the matching portion 1246 and the inner wall of the matching notch 1216 can be formed as non-planar surfaces. For example, one of them is formed as a step surface and the other is formed as an adaptive inverted step surface. In this way, the contact area between the peripheral wall of the matching portion 1246 and the inner wall of the matching notch 1216 can be increased, thereby improving the stability of the swing arm 121 when it is locked in the retracted position.

[0150] 11, 12, 15, and 16, the mating portion 1246 is formed as a sheave structure. The mating portion 1246 and the driving portion 1244 are located on the same side of the driving body 1241. Furthermore, the distance between the peripheral wall of the mating portion 1246 and the second rotation axis 1221 is smaller than the distance between the driving portion 1244 and the second rotation axis 1221. Accordingly, the mating notch 1216 and the driving groove can be distributed along the axial direction corresponding to the first rotation axis 1214. For example, the mating notch 1216 is located above the driving groove, and the radius of the mating notch 1216 is smaller than the radius of the driving groove. This makes the structure of the swing arm 121 more compact. The circles on which the peripheral wall of the mating notch 1216 and the groove wall of the driving groove, i.e., the driving surface, are located can be concentric circles.

[0151] In some embodiments, when the swing arm 121 is in the retracted position, the swing arm 121 applies a force to the mating portion 1246 under the drive of the first driving mechanism. When the direction of the force applied by the swing arm 121 to the mating portion 1246 points to the rotation axis of the driving member 124, since the length of the force arm is zero, the swing arm 121 does not have a reaction force to push the driving member 124 to rotate at this time, and the driving member 124 can be locked in the retracted position at this time.

[0152] In addition to the aforementioned arrangement of the driving member 124 and the swing arm 121 as a sheave mechanism, with reference to Figures 7-9 , in other embodiments, the swing arm 121 and the driving member 124 may utilize a cam mechanism. Specifically, in this embodiment, the driving portion 1244 includes a first cam surface 1243, and the abutting surface 1215 is a second cam surface 141 that mates with the first cam surface 1243. The rotation axis of the second cam surface 141 is collinear with the first rotation axis 1214. Thus, the cam mechanism enables position locking and position switching of the swing arm 121. It can be understood that since different positions of the first cam surface 1243 are at different distances from the rotation center of the driving member 124, and different positions of the second cam surface 141 are at different distances from the first rotation axis 1214, when the driving member 124 rotates, the first cam surface 1243 will interfere with the second cam surface 141, causing the first cam surface 1243 to push the second cam surface 141 to rotate the swing arm 121. In addition, since the first cam surface 1243 and the second cam surface 141 are both arc-shaped cam surfaces, the smoothness of the relative movement between the first cam surface 1243 and the second cam surface 141 can be improved to avoid the swing arm 121 from getting stuck during rotation, thereby improving the user experience.

[0153] In some embodiments, referring to FIG9 , the driving portion 1244 is a stopper 1242, and the side of the stopper 1242 facing the swing arm 121 has a first cam surface 1243. For example, the stopper 1242 is disposed at one end of the driving body 1241, and the side of the stopper 1242 facing the swing arm 121 has the first cam surface 1243. The height of the stopper 1242 can be greater than the height of the driving body 1241 to increase the contact area between the first cam surface 1243 and the second cam surface 141, thereby improving the reliability of the driving member 124 when pushing the swing arm 121 to move.

[0154] It can be understood that, referring to Figure 9, the extension path of the stop block 1242 on the driving body 1241 matches the extension path of the first cam surface 1243. In this way, the side of the stop block 1242 facing the swing arm 121 can be constructed as the first cam surface 1243, that is, the first cam surface 1243 and the stop block 1242 form an integrated structure, thereby reducing the installation process and reducing costs.

[0155] The stopper 1242 and the driving body 1241 may also be formed into an integral structure through an integral molding process such as injection molding or casting, thereby reducing the number of processes and the cost of the process.

[0156] In some embodiments, please refer to Figure 10, the swing arm 121 also includes abutment 140, which can be set on the side of the swing arm 121 close to the driving member 124 through a threaded connection such as a screw, and the second cam surface 141 can be set on the abutment 140. In this way, when the driving member 124 rotates about the first direction, the swing arm 121 can be pushed by the abutment 140 so that the swing arm 121 moves from the outward swing position to the inward retracted position together with the abutment 140; it can be understood that the height of the swing arm 121 can be adjusted by the abutment 140 so that the position of the second cam surface 141 matches the position of the first cam surface 1243.

[0157] In some embodiments, when the swing arm 121 is in the retracted position, the swing arm 121, driven by the first drive mechanism, applies a force to the driving portion 1244 via the abutment surface 1215, and the direction of the force applied by the abutment surface 1215 is directed toward the rotation axis of the driving member 124, thereby locking the driving member 124 in the retracted position. In this way, the swing arm 121 can be stably locked in the retracted position with high reliability.

[0158] Furthermore, when the swing arm 121 is in the retracted position, the force applied by the second cam surface 141 to the first cam surface 1243 is directed toward the rotation axis of the driving member 124. In this way, the swing arm 121 can be stably locked in the retracted position with high reliability.

[0159] In some embodiments, referring to Figures 7-13 , the drive mechanism may further include a mounting base 125, which is configured to be fixed relative to the body 110. The swing arm 121 may rotate about a first rotation axis 1214 to move relative to the mounting base 125, thereby further moving relative to the body 110. For example, the mounting base 125 may be detachably connected to the body 110 via a threaded connector or a snap-on connector to facilitate replacement of the mounting base 125 and / or the side brush assembly 120. Alternatively, the mounting base 125 may be integrally formed on the body 110. Alternatively, the mounting base 125 may be fixedly connected to the body 110 via bonding, welding, or the like. Any method is acceptable as long as the mounting base 125 is fixed relative to the body 110.

[0160] In addition, please refer to Figures 9 and 11, the driving member 124 is arranged on the mounting seat 125 and can rotate relative to the mounting seat 125. The mounting seat 125 is provided with a first limiting portion 1251 and a second limiting portion 1252 at intervals along the rotation direction of the driving member 124. The driving member 124 is configured to rotate between the first limiting portion 1251 and the second limiting portion 1252. In this way, the driving member 124 is limited by the first limiting portion 1251 and the second limiting portion 1252 to improve the accuracy of the motion range of the swing arm 121, avoid inaccurate movement position of the swing arm 121 and inability to clean the designated area, thereby improving the user experience.

[0161] In some embodiments, the first limiting portion 1251 includes a first limiting rib, and the second limiting portion 1252 includes a second limiting rib. In this way, the motion range of the driving member 124 is limited by the first limiting rib and the second limiting rib, thereby improving the accuracy of the motion range of the swing arm 121, and the structures of the two are relatively simple.

[0162] The first limiting rib and the second limiting rib can be formed into an integral structure with the mounting seat 125 through a process such as injection molding or casting, so as to reduce the process flow and lower the cost.

[0163] In order to improve the compactness of the cleaning robot 100, in some embodiments, the first drive motor 123 can be arranged on the mounting seat 125, and the output shaft of the first drive motor is coaxially arranged with the rotation axis of the driving member 124 to reduce the external size of the cleaning robot 100 and improve the compactness of the overall structure of the cleaning robot 100.

[0164] The forward and reverse rotations of the first drive motor 123 can make the movement direction of the drive member 124 different. For example, when the first drive motor 123 rotates forward, the first drive motor 123 can provide power to the drive member 124 to rotate the drive member 124 in a first direction, and when the first drive motor 123 rotates reversely, the drive member 124 can rotate in a second direction.

[0165] In addition, referring to Figure 9, the first driving mechanism may further include a reducer 127, which is arranged between the first driving motor 123 and the driving member 124 to adjust the rotation speed of the driving member 124 through the reducer 127; wherein the reducer 127 can be set to a first-stage reducer, a second-stage reducer or a third-stage reducer according to actual needs, and there is no specific limitation.

[0166] In some embodiments, a buffer is further provided on the sidewall of at least one side of the swing arm 121 in the direction of rotation. For example, since the swing arm 121 can rotate from an outward swing position to an inward position, and also from an inward position to an outward swing position, a buffer can be provided on the side of the swing arm 121 along its own circumference facing the outward swing position and the side facing the inward position, respectively. The buffer can be a rubber member, sponge, or other buffer member. The buffer is used to buffer the collision between the swing arm 121 and the body 110, thereby preventing the swing arm 121 from being damaged by the collision and avoiding collision noise. Of course, in some alternative embodiments, the buffers corresponding to both sides of the swing arm 121 can be provided on the body 110 to reduce the weight of the swing arm 121 itself and make its movement smoother.

[0167] In some embodiments, the swing arm 121 includes an outer side surface and an inner side surface, and the buffer may include a first buffer and a second buffer, wherein the first buffer is provided on the outer side surface of the swing arm, which refers to the side surface of the swing arm 121 that is close to the body along the rotation direction during the outward swing process. In this way, the first buffer can buffer the collision between the swing arm 121 and the body 110 when the swing arm 121 moves from the retracted position to the outward swing position. The second buffer is provided on the inner side surface of the swing arm, which refers to the side surface of the swing arm 121 that is close to the mounting seat 125 of the drive mechanism along the rotation direction during the retraction process. The second buffer can buffer the collision between the swing arm 121 and the mounting seat 125 of the drive mechanism when the swing arm 121 moves from the outward swing position to the retracted position.

[0168] In some embodiments, when the swing arm 121 moves from the outward swing position to the inward retracted position, the rotation angle of the swing arm 121 relative to the body 110 is between 50° and 70°. For example, the rotation angle of the swing arm 121 relative to the body 110 can be 50°, 55°, 60°, 65°, or 70°. Of course, this application is not limited to this. The rotation angle of the swing arm 121 relative to the body 110 can be reasonably selected within the above range according to actual needs. In this way, while ensuring that the swing arm 121 can effectively transfer the cleaning element 122 to the outside of the body 110, it can prevent the swing arm 121 from having too much travel, which would cause the movement to occupy too much space.

[0169] In some embodiments, when the swing arm 121 is in the outward swing position, the minimum distance between the end of the swing arm 121 away from the body 110 and the body 110 is greater than or equal to 10 cm. Here, the minimum distance between the end of the swing arm 121 away from the body 110 and the body 110 refers to the minimum distance between the end of the swing arm 121 away from the body 110 and the outline of the body 110. In this way, the cleaning member 122 can have a sufficiently large cleaning range to better adapt to complex working conditions and improve the user experience.

[0170] In some embodiments, when the side brush is in the retracted position, there is a gap between the side brush and the angle; when the side brush is in the outward swing position, the side brush contacts the angle to produce deformation for cleaning; the edge path is the first wall, and the preset obstacle is an obstacle that the cleaning robot 100 needs to turn to avoid when cleaning along the first wall. For example, the preset obstacle can be a table and chair leg, a columnar object, a flower pot, etc. When the side brush cannot clean the gap between the side brush and the angle in the retracted position, the swing arm can be controlled to rotate to the outward swing position, so that the side brush is in the outward swing position, and the side brush contacts the angle to produce deformation. The deformed side brush can be extended into the narrow gap at the angle for cleaning, thereby providing a cleaning effect and improving the user experience.

[0171] In some embodiments, when the cleaning robot 100 identifies a target obstacle, the side brush is in an outward swing position for cleaning. The target obstacle has a cavity that the side brush can reach when in the outward swing position. The target obstacle is concave at least at the height of the side brush toward the side away from the body to form a cavity. For example, the lower edge of the target obstacle can have an arc and / or a broken line structure to form a concave portion. It is understandable that since the body is relatively large, the side brush has bristles, which are easier to clean in small spaces, and the overall volume of the side brush is relatively small, and the movement is more flexible. Therefore, the side brush is more suitable for cleaning the cavity of the target obstacle. When the body itself cannot approach the concave cavity of the target obstacle, the side brush can be extended to clean the cavity, so as to better clean the inside of the cavity, improve the cleaning effect, and enhance the ability of the cleaning robot 100 to adapt to more complex cleaning conditions.

[0172] In some embodiments, the side brush enters the cavity deeper in the outward-swinging position than in the retracted position. This ensures that the side brush can effectively clean the interior of the cavity. That is, although the side brush can enter the cavity in the retracted position, the cleaning effect is limited. In the outward-swinging position, it can penetrate deeper into the cavity for cleaning.

[0173] In some embodiments, when the side brush of the cleaning robot 100 is in the outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or wet stains, the drive mechanism drives the side brush to switch from the outward swing position to the inward position so that the side brush avoids the linear obstacles and / or wet stains. Here, the preset distance can be pre-set by the user, or it can be determined by the cleaning data collected by the cleaning robot 100. The preset distance can be the same or different for different preset obstacles. In the embodiment of the present application, linear obstacles can refer to obstacles with linear characteristics such as wires and knitted fabrics, and wet stains can refer to stains with moisture such as water stains, tea stains, and feces. The embodiment of the present application does not specifically limit linear obstacles and wet stains.

[0174] In this way, the side brush can be retracted to the retracted position before it reaches the linear obstacle and / or wet stain, thereby preventing the side brush from getting hooked on the linear obstacle, causing the side brush to fall off or be deformed and damaged, and also preventing the side brush from being stained with wet stains, causing itself to be contaminated and its cleaning ability to be weakened.

[0175] In some embodiments, an obstacle detection sensor can be provided on the body 110. That is, when the presence of a preset type of obstacle is detected based on environmental information, such as obstacles such as wiring harnesses, fabrics, wet stains, etc., if the side brush is in an outward swing position, it is easy to get entangled or contaminated, and then a retraction switching instruction can be generated to control the cleaning robot 100 to control the side brush to switch from an outward swing position to a retracted position at a preset distance. In this way, the side brush can be actively retracted to avoid contact with linear obstacles and / or wet stains, thereby preventing the side brush from being contaminated and reducing the number of cleanings.

[0176] In some embodiments, the side brush assembly 120 further includes a controller, which is suitable for controlling the movement of the swing arm 121 between an outward swing position and an inward retracted position. This facilitates the control of the movement of the swing arm 121 and can improve the degree of automation of the movement of the swing arm 121.

[0177] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in an outward swing position when there are a first obstacle and a second obstacle in the travel path of the cleaning robot 100, wherein the first obstacle and the second obstacle extend in different horizontal directions respectively, and there is an angle between the first obstacle and the second obstacle. For example, at the angle formed at a corner of a wall or between the legs of a table or chair, the swing arm 121 can be controlled to extend so as to extend the cleaning element 122 to the corner of the wall for cleaning.

[0178] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in an outward swing position when there is a third obstacle in the path of the cleaning robot 100, wherein the third obstacle has an inwardly recessed area, for example, the space at the bottom of the washing machine, or other third obstacles are recessed inward toward the side away from the body 110 at a corresponding height of the cleaning member 122 to form a cavity. At this time, the swing arm 121 can be controlled to extend into the cavity for cleaning.

[0179] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in a retracted position when there is a fourth obstacle in the path of the cleaning robot 100, wherein the fourth obstacle is an obstacle that hinders the operation of the cleaning member 122, for example, the fourth obstacle can be a linear obstacle and / or a wet stain, and at a preset distance relative to the linear obstacle and / or wet stain, the swing arm 121 is controlled to switch from the outward swing position to the retracted position so that the swing arm 121 avoids the linear obstacle and / or wet stain.

[0180] In summary, the cleaning robot 100 of this embodiment can avoid obstacles better during operation, and can effectively clean the corner spaces around obstacles, thereby improving the adaptability of the cleaning robot 100 to complex working conditions, being more intelligent, and helping to improve user experience.

[0181] In some embodiments, referring to FIG. 4 , the cleaning robot 100 further includes an electrical connection assembly 130 , which includes an electrical connector 132 , which is electrically connected to the body 110 , and at least a portion of the electrical connector 132 is coaxially arranged with the first rotation axis 1214 . The electrical connector 132 can be a wiring harness that electrically connects two components. The electrical connector 132 is electrically connected to the body 110. For example, an electrical component is provided on the swing arm 121, and the electrical component is connected to the swing arm 121 through the electrical connector 132 to provide electrical connection and / or signal connection to the electrical component, and at least part of the electrical connector 132 is coaxially arranged with the first rotation axis 1214. In this way, when the swing arm 121 rotates relative to the body 110, the electrical connector 132 will move synchronously with the swing arm 121 around the first rotation axis 1214. In this way, the relative movement between the electrical connector 132 and the swing arm 121 is reduced, thereby reducing the wear on the electrical connector 132 and extending the service life of the electrical connector 132.

[0182] In some embodiments, please refer to Figures 4 to 6, a wire hole 1212 is provided on the swing arm 121, and the wire hole 1212 is coaxially arranged with the first rotation axis 1214. The wire hole 1212 is configured to guide at least the extension direction of part of the electrical connector 132. For example, the electrical connector 132 is passed through the wire hole 1212. In this way, the wire hole 1212 can guide and limit the extension of part of the electrical connector 132, so that the electrical connector 132 can be coaxially arranged with the first rotation axis 1214, thereby improving the reliability of the coaxial arrangement of the electrical connector 132 and the first rotation axis 1214.

[0183] The electrical connector 132 is passed through the wire hole 1212 to guide and limit the extension direction of the electrical connector 132 through the wire hole 1212. In this way, when the swing arm 121 swings around the first rotation axis 1214, the electrical connector 132 moves synchronously with the swing arm 121, thereby reducing the relative movement between the electrical connector 132 and the swing arm 121, and further reducing the wear on the electrical connector 132, thereby extending the service life of the electrical connector 132.

[0184] In some embodiments, referring to FIG4 , a protrusion 1211 is provided on the swing arm 121 , a wire hole 1212 is located on the protrusion 1211 , and the protrusion 1211 has a notch portion communicating with the wire hole 1212 , and the electrical connector 132 is passed through the notch portion and arranged in the wire hole 1212 .

[0185] For example, a protrusion 1211 is provided at one end of the swing arm 121 facing the first rotation axis 1214. When the swing arm 121 is placed horizontally as shown in Figures 1 to 4, the protrusion 1211 is provided at the top of the swing arm 121, and the wire hole 1212 is located on the protrusion 1211, and the protrusion 1211 has a notch portion connected to the wire hole 1212, and the electrical connector 132 is passed through the notch portion (not shown in the figure); it can be understood that by providing the protrusion 1211 on the swing arm 121 and providing the wire hole 1212 on the protrusion 1211, the electrical connector 132 can be passed through the notch portion in the wire hole 1212. In this way, cross-dislocation between the electrical connector 132 and the swing arm 121 can be avoided, which will cause wear on the electrical connector 132, thereby extending the service life of the electrical connector 132.

[0186] In addition, in some embodiments, a wire rack 128 (as shown in FIG5 ) is further provided on the body 110 , and the wire rack 128 is provided on the swing arm 121 , and the wire rack 128 is configured to guide the electrical connector 132 to the wire hole 1212 , and the electrical connector 132 is movably connected to the wire rack 128 , so that the electrical connector 132 is guided by the wire rack 128 so that the electrical connector 132 can extend along the specified routing path to the wire hole 1212 , so as to reduce the relative movement between the swing arm 121 and the electrical connector 132 , thereby reducing the wear on the electrical connector 132 .

[0187] In order to further improve the guidance of the electrical connector 132 and reduce the wear of the electrical connector 132, in some embodiments, please continue to refer to Figure 5, a guide groove 1281 is provided on the wire rack 128, and the electrical connector 132 is movably provided in the guide groove 1281 to guide the electrical connector 132 through the guide groove 1281.

[0188] It should be noted that the extension direction of the guide groove 1281 is consistent with the routing direction of the electrical connector 132, so that the wiring harness is guided to the wire hole 1212 through the guide groove 1281, so that part of the electrical connector 132 is coaxially arranged with the wire hole 1212 and the first rotation axis 1214 to reduce wear on the electrical connector 132.

[0189] In addition, the contour shape of the groove wall of the guide groove 1281 facing the electrical connector 132 can match the contour shape of the electrical connector 132 to reduce wear between the guide groove 1281 and the electrical connector 132 and extend the service life of the electrical connector 132.

[0190] In some embodiments, the cleaning member 122 is rotatably connected to the swing arm 121 , so that the cleaning member 122 can rotate relative to the swing arm 121 to clean the surface to be cleaned.

[0191] In some embodiments, the side brush assembly 120 may further include a third drive mechanism, which is configured to drive the cleaning member 122 to be rotatably connected to the swing arm 121. In this way, when the third drive mechanism can provide driving force for the rotation of the cleaning member 122, when the cleaning member 122 rotates, for example, the dust particles on the ground can be swept by the cleaning member 122 and gathered toward the inside of the body 110, and thus adsorbed into the dust suction chamber through the suction port; or; when the third drive mechanism drives the cleaning member 122 to rotate relative to the swing arm 121, the cleaning member 122 is, for example, a cleaning cloth, so that the ground is wiped and cleaned by the cleaning cloth.

[0192] In some embodiments, the third drive mechanism and the second drive mechanism may share a swing-out motor. The second drive mechanism may further include a clutch, through which the swing-out motor drives at least one of the swing arm and the cleaning member to rotate. Thus, by providing a clutch, a single drive device can be used to separately drive the swing arm 121 and the cleaning member 122, thereby increasing the integration of the third and second drive mechanisms and reducing the space occupied by the side brush assembly 120.

[0193] Exemplarily, when the side brush assembly 120 is in the retracted position, the outward swing motor is at least used to drive the cleaning member 122 to rotate. At this time, under the action of the clutch, the swing arm 121 does not rotate, or although the swing arm 121 has a rotational movement tendency under the action of the outward swing motor, its movement tendency is restricted by the limiting structure so that the swing arm 121 remains in the retracted position; and / or, when the side brush assembly 120 is in the outward swing position, the outward swing motor is at least used to drive the cleaning member 122 to rotate. At this time, under the action of the clutch, the swing arm 121 does not rotate, or although the swing arm 121 has a rotational movement tendency under the action of the outward swing motor, its movement tendency is restricted by the limiting structure so that the swing arm 121 remains in the retracted position. The side brush assembly 120 has a tendency to move, but its movement tendency is limited by the limiting structure so that the swing arm 121 remains in the outward swing position; and / or, when the side brush assembly 120 is in the process of moving from the retracted position to the outward swing position, or in the process of moving from the outward swing position to the inward swing position, under the action of the clutch, the outward swing motor drives both the cleaning member 122 and the swing arm 121 to move, so that when the swing arm 121 is in the process of swinging toward the inward position or the outward swing position, the cleaning member 122 rotates relative to the swing arm 121, so that the cleaning member 122 can also keep rotating during the outward swing process or the retracting process, thereby reducing the use of the motor and ensuring the cleaning effect.

[0194] Furthermore, when the side brush assembly 120 is in the retracted position, the clutch member is used to only allow the outward swing motor to drive the cleaning member 122 to rotate, so that the swing arm 121 is locked in the retracted position. In this way, when the side brush assembly 120 is in the retracted position to clean the surface to be cleaned, it can maintain its position fixed, thereby ensuring smooth cleaning and improving cleaning efficiency.

[0195] In some embodiments, the third drive mechanism can be arranged on the swing arm 121, so that the external dimensions of the side brush assembly 120 can be reduced, thereby improving the structural compactness of the side brush assembly 120; in addition, the third drive mechanism is electrically connected to the electrical connector 132, and the electrical connector 132 is used to energize the third drive mechanism.

[0196] In addition, by setting the third driving mechanism on the swing arm 121 and electrically connecting the electrical connector 132 to the third driving mechanism, the third driving mechanism and the electrical connector 132 will move synchronously with the swing arm 121, reducing the relative movement between the electrical connector 132 and the swing arm 121, thereby reducing the wear on the electrical connector 132 and extending the service life of the electrical connector 132.

[0197] In some embodiments, referring to FIG6 , the third driving mechanism includes a second driving motor 126 , which is electrically connected to the electrical connector 132 ; the second driving motor 126 is configured to drive the cleaning member 122 to rotate about the second rotation axis 1221 , thereby driving the cleaning member 122 .

[0198] Furthermore, the third drive mechanism includes a second drive motor 126 and a reducer 127, the second drive motor 126 is electrically connected to the electrical connector 132, and the reducer 127 is arranged between the second drive motor 126 and the cleaning member 122, for example, the reducer 127 is connected to the output shaft of the second drive motor 126, and the output shaft of the reducer 127 is connected to the cleaning member 122, wherein the second drive motor 126 drives the cleaning member 122 to rotate around the second rotation axis 1221 through the reducer 127, wherein the cleaning member 122 is, for example, a disc structure, and the second rotation axis 1221 is, for example, coaxially arranged with the central axis of the disc-shaped cleaning member 122.

[0199] The cleaning member 122 includes a disc base and a brush, cleaning cloth or rubber strip, etc. arranged on the disc base. The second rotation axis 1221 is coaxially arranged with the central axis of the disc base. In this way, the second drive motor 126 drives the disc base to rotate around the second rotation axis 1221 through the reducer 127, so that the brush, cleaning part or rubber strip, etc. on the disc base rotates with the disc base to clean the floor.

[0200] It can be understood that the reducer 127 in the third drive mechanism is also used to adjust the rotation speed of the cleaning member 122. The reducer 127 can also be provided with a first-stage reducer, a second-stage reducer or a third-stage reducer according to user needs. In this way, the rotation rate of the cleaning member 122 can be adjusted according to different cleaning needs to enhance the user experience.

[0201] The structure of the reducer 127 may refer to related art and will not be described in detail here.

[0202] In some embodiments, the cleaning member 122 includes at least one of a side brush and a mopping member. Thus, the cleaning member 122 has various forms, and different cleaning members 122 can be used according to different task requirements.

[0203] In some embodiments, please refer to Figures 1 to 4, the electrical connection component 130 also includes a circuit board 131, the circuit board 131 is arranged in the body 110, and the electrical connector 132 is electrically connected to the circuit board 131. For example, the second drive motor 126 in the third drive mechanism is electrically connected to the circuit board 131 through the electrical connector 132, so that the circuit board 131 provides electrical energy to the second drive motor 126; in addition, the first drive motor 123 in the first drive mechanism can also be electrically connected to the circuit board 131, etc.

[0204] In some embodiments, the cleaning robot 100 may further include a position sensor disposed at the front end of the body 110 and connected to the circuit board 131 for signal communication. The position sensor is configured to detect the position of the body 110 and / or the side brush assembly 120. The swing arm 121 rotates to an outward swing position or an inward swing position based on the signal detected by the position sensor, thereby improving the accuracy of determining whether the swing arm 121 needs to be retracted or extended. The position sensor may be formed as a striker structure.

[0205] For example, when the position sensor detects an area that is difficult to clean, such as a corner of the cleaning position where the body 110 is located, the swing arm 121 moves from the outward swing position to the inward position according to the detection signal of the position sensor. Specifically, the swing arm 121 is driven to rotate toward the outside of the body 110 by the first driving mechanism (such as the elastic member 129) so that the swing arm 121 extends relative to the body 110, thereby cleaning areas that are difficult to clean, such as corners.

[0206] In some embodiments, the body 110 has a accommodating gap. When the swing arm 121 is in the retracted position, the swing arm 121 is accommodated in the accommodating gap. In this way, when the swing arm 121 is not needed to be extended, the swing arm 121 can be better accommodated to prevent the swing arm 121 from colliding and reducing the risk of damage. In addition, it can also improve the appearance of the cleaning robot 100.

[0207] In some embodiments, the shape of the swing arm 121 matches the shape of the receiving notch. When the swing arm 121 is in the retracted position, the outer surface of the swing arm 121 forms part of the outline of the body 110. For example, if the body 110 is circular, the exposed portion of the swing arm 121 in the retracted position is also arc-shaped, and the exposed portion of the swing arm 121 and the outline of the body 110 are on the same circle. This improves the appearance consistency of the cleaning robot 100 and makes it more beautiful.

[0208] In some embodiments, the side brush assembly 120 may further include a housing, and when the swing arm 121 is in the retracted position, the housing constitutes a portion of the outline of the body 110. In this way, the appearance consistency of the cleaning robot 100 can be improved, making it more beautiful.

[0209] In some embodiments, the housing can be fixed to the swing arm 121. For example, the housing can be fixed to the swing arm 121 by bolting, clamping, or bonding. Alternatively, the housing can be movably connected to the outer wall of the body 110, and when the swing arm 121 is in the retracted position, the housing covers the accommodating notch. In other words, the housing can be used to open or close the accommodating notch. In this way, when the swing arm 121 is in the retracted position, the housing can effectively protect the swing arm 121.

[0210] In some embodiments, the cleaning member 122 may include a rubber strip and bristles. Specifically, the first end of the rubber strip is connected to the third drive mechanism, either directly or via an intermediate transmission device. The bristles are located at the second end of the rubber strip and are used to clean the surface to be cleaned. Thus, the structure of the cleaning member 122 is relatively simple.

[0211] In some embodiments, the swing arm 121 is covered with a flexible material layer, wherein the side brush is connected to the distal end of the swing arm 121 relative to the body 110 to ensure that the side brush has a larger cleaning range. The flexible material layer can circumferentially cover the outer side of at least a portion of the distal end of the swing arm 121. Here, the distal end of the swing arm 121 refers to the end farthest from the body 110 when the swing arm 121 is in the outward swing position. Since the distal end of the swing arm 121 may be the position on the swing arm 121 most likely to collide with obstacles, in this embodiment, the flexible material layer is circumferentially covered around the distal end of the swing arm 121. This can provide a buffer for the swing arm 121 when the distal end collides with other objects, preventing collision damage.

[0212] Of course, considering that other positions of the swing arm 121 may also collide with obstacles or the body, the flexible material layer can also cover at least part of the side wall of the swing arm 121. At this time, the flexible material layer can also cover only part of the side wall of the swing arm 121, or it can cover the entire side wall of the swing arm 121 to ensure the overall collision buffering effect of the swing arm 121.

[0213] In some embodiments, the cleaning member 122 is a flexible cleaning member. This can prevent the cleaning member 122 from being squeezed, bent, or deformed, thereby increasing its service life.

[0214] In some embodiments, the swing arm 121 is a flexible member, so that the swing arm 121 can be deformed to a certain extent and more easily extend around the obstacle, so that the cleaning member 122 can clean the area around the obstacle.

[0215] In some embodiments, the cleaning member 122 can be raised and lowered on the swing arm 121 to switch between a cleaning position and a raised position, wherein, in the cleaning position, the cleaning member 122 cleans the surface to be cleaned; in the raised position, the cleaning member 122 is separated from the surface to be cleaned to avoid secondary contamination of the surface to be cleaned by dirt on the cleaning member 122.

[0216] For example, when the cleaning robot 100 moves to a floor with liquid stains or sticky stains, the cleaning element 122 can be controlled to switch from a cleaning position to a raised position to prevent the cleaning element 122 from contacting the stains and carrying the stains to other locations on the floor, such as the cleaned locations, thereby preventing secondary contamination of the floor; or, when the cleaning element 122 has finished cleaning the cleaned floor and there is a lot of dirt attached to the cleaning element 122, the cleaning element 122 can be controlled to switch from a cleaning position to a raised position to prevent the cleaning element 122 from contacting the surface to be cleaned, thereby preventing secondary contamination of the floor.

[0217] In some embodiments, the cleaning robot 100 includes at least two side brush assemblies 120, and at least two side brush assemblies 120 are spaced apart and movably connected to the front of the body 110. For example, the side brush assembly 120 can be one, two or more. When there are two or more side brush assemblies 120, the two or more side brush assemblies 120 are spaced apart at the edge of the body 110, for example, in the front. It can be understood that the front of the body 110 refers to the movement direction of the body 110. The side of the body 110 facing forward is the front of the body 110, and the opposite is the rear of the body 110. The left side of the body 110 is the left, and the right side of the body 110 is the right; when there are two side brush assemblies 120, the two side brush assemblies 120 can be symmetrically arranged in front of the body 110, so that the dust and foreign particles on the ground are gathered to the inner side of the body 110 through the two side brush assemblies 120, thereby improving the cleaning efficiency of the cleaning robot 100.

[0218] The side brush assembly 120 includes a swingable side brush assembly 120 and a non-swinging side brush assembly 120. The swingable side brush assembly 120 swings relative to the body 110 through the swing arm 121, and the non-swinging side brush assembly 120 is relatively fixed to the body 110. The cleaning robot 100 includes a side brush assembly 120, which adopts a swingable side brush assembly 120. The swingable side brush assembly 120 can be set at the upper right corner of the body 110 (also called the right front corner). In this way, when the swing arm 121 is extended relative to the body 110, the cleaning member 122 can clean the right-angled or concave areas to avoid the existence of cleaning dead corners, thereby increasing the cleaning range of the cleaning robot 100 and improving the user experience. Alternatively, the cleaning robot 100 includes two side brush assemblies 120, both of which are swingable side brush assemblies 120, or one of the two side brush assemblies 120 is a swingable side brush assembly 120, and the other is a non-swinging side brush assembly 120, wherein the swingable side brush assembly 120 can be set on the right side of the cleaning robot 100.

[0219] It can be seen that the embodiment of the present application is to movably connect at least one swingable side brush assembly 120 to the body 110, and the side brush assembly 120 includes a swing arm 121, a cleaning member 122 and an electrical connection assembly 130. The swing arm 121 is rotatably connected to the body 110 around a first rotation axis 1214, so that the swing arm 121 moves between an outward swing position and an inward retracted position relative to the body 110. The cleaning member 122 is provided on the swing arm 121 to follow the movement of the swing arm 121. In this way, the cleaning range of the cleaning member 122 is increased, and the existence of The problem of cleaning dead corners is solved, and the user experience is improved; in addition, the electrical connection component 130 includes an electrical connector 132, which is electrically connected to the body 110, and at least part of the electrical connector 132 is coaxially arranged with the first rotation axis 1214. When the swing arm 121 moves, the electrical connector 132 follows the swing arm 121 and moves synchronously around the first rotation axis 1214, reducing the relative movement between the electrical connector 132 and the swing arm 121, thereby reducing the wear on the electrical connector 132 and extending the service life of the electrical connection.

[0220] In some embodiments, the front end of the cleaning robot 100 is usually provided with a collision detection structure (not shown in the figure), for example, a collision plate structure (not shown in the figure). When the front end of the cleaning robot 100 collides, the collision plate structure undergoes displacement changes to trigger the collision detection of the cleaning robot 100. The collision plate structure is at least partially surrounded by the front side of the cleaning robot 100; the collision plate structure is provided with an avoidance space, and the avoidance space is used to avoid the side brush assembly 120 to provide movement space for the side brush assembly 120 to move from the outward swing position to the inward retracted position. The avoidance space can be formed as a gap.

[0221] When the side brush assembly 120 moves from the outward swing position to the inward swing position relative to the body 110, the side brush assembly 120 can move along the bottom of the body 110 to move from the outward swing position to the inward swing position; or, the side brush assembly 120 can move from the side wall of the body 110 to move from the outward swing position to the inward swing position.

[0222] In some embodiments, the driving member 124 has a driving surface, and the swing arm 121 has an abutment surface 1215 that cooperates with the driving surface. When the driving member 124 rotates along the first direction around its own axis, the driving surface pushes the abutment surface 1215 to move the swing arm 121 from the outward swing position to the inward retracted position. It can be understood that by providing a driving surface on the driving member 124 and providing an abutment surface 1215 that cooperates with the driving surface on the swing arm 121, the driving surface pushes the abutment surface 1215, so that when the swing arm 121 moves, the abutment accuracy between the driving member 124 and the swing arm 121 can be improved, thereby avoiding the problem of movement delay caused by large abutment error.

[0223] In some embodiments, a cam mechanism is formed between the driving member 124 and the swing arm 121, and the position locking of the swing arm 121 is achieved by the cam mechanism. The cam mechanism includes a first cam surface 1243 and a second cam surface 141. As shown in the figure, the driving surface includes a first cam surface 1243, and the abutting surface 1215 includes a second cam surface 141 that matches the first cam surface 1243. The axis of the second cam surface 141 is collinear with the first rotation axis 1214. It can be understood that since different positions of the first cam surface 1243 are at different distances from the rotation center of the driving member 124, the second cam surface 141 is collinear with the first rotation axis 1214. Different positions of the surface 141 have different distances from the first rotation axis 1214. In this way, when the driving member 124 rotates, the first cam surface 1243 will interfere with the second cam surface 141, causing the first cam surface 1243 to push the second cam surface 141 to rotate the swing arm 121. In addition, since the first cam surface 1243 and the second cam surface 141 are both arc-shaped cam surfaces, the smoothness of the relative movement between the first cam surface 1243 and the second cam surface 141 can be improved to avoid the swing arm 121 from getting stuck during rotation, thereby improving the user experience.

[0224] The cleaning robot 100 provided in the embodiment of the present application includes a body 110 and a side brush assembly 120, the side brush assembly 120 is movably connected to the body 110, the side brush assembly 120 includes a swing arm 121, a cleaning member 122 and an electrical connection assembly 130, the swing arm 121 is rotatably connected to the body 110 around a first rotation axis 1214, so that the swing arm 121 moves between an outward swing position and an inward retracted position relative to the body 110, and the cleaning member 122 is arranged on the swing arm 121 to follow the movement of the swing arm 121, thereby increasing the cleaning efficiency of the cleaning member 122. range, avoiding the problem of cleaning dead corners and improving the user experience; in addition, the electrical connection component 130 includes an electrical connector 132, which is electrically connected to the body 110, and at least part of the electrical connector 132 is coaxially arranged with the first rotation axis 1214. When the swing arm 121 moves, the electrical connector 132 follows the swing arm 121 and moves synchronously around the first rotation axis 1214, reducing the relative movement between the electrical connector 132 and the swing arm 121, thereby reducing the wear on the electrical connector 132 and extending the service life of the electrical connection.

[0225] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0226] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0227] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, comprising: Body; A side brush assembly comprises a driving mechanism, a swing arm and a cleaning member, wherein the swing arm is rotatably connected to the machine body around a first rotation axis, and the cleaning member is arranged on the swing arm and is suitable for performing cleaning operations; The driving mechanism is suitable for driving the swing arm to rotate around a first rotation axis so that the swing arm moves between an outward swing position and a retracted position relative to the machine body. When the swing arm is in the outward swing position, the cleaning member is further away from the machine body than when the swing arm is in the retracted position. When the swing arm is in the outward swing position, the cleaning member can clean the angle between the edge path and a preset obstacle.

2. The cleaning robot according to claim 1, wherein: The cleaning member includes a side brush. When the swing arm is in the retracted position, the cleaning robot performs edge cleaning along the edge path. When the swing arm is in the outward swing position, the side brush contacts the angle and deforms, so that the side brush penetrates into the angle between the edge path and the preset obstacle for cleaning.

3. The cleaning robot according to claim 1, wherein: The driving mechanism includes a driving member, which is rotatably arranged relative to the body around a second rotation axis. The driving member is configured to drive the swing arm to move between the outward swing position and the inward retracted position. The first rotation axis and the second rotation axis are parallel to or coincide with each other.

4. The cleaning robot according to claim 1 or 3, wherein: The driving mechanism comprises: a first driving mechanism, wherein at least a driving force of the first driving mechanism drives the swing arm to move around the first rotation axis so that the swing arm moves toward one of the outward swing position and the inward retracted position; A second driving mechanism, at least the driving force of the second driving mechanism drives the swing arm to move toward the other of the outward swing position and the inward retracted position.

5. The cleaning robot according to claim 4, wherein: The first driving mechanism is configured to at least partially drive the swing arm to move from the retracted position to the outward swing position; the second driving mechanism is configured to at least partially overcome the force of the first driving mechanism to drive the swing arm to move from the outward swing position to the retracted position.

6. The cleaning robot according to claim 5, wherein: The first driving mechanism includes an elastic member, one end of which is connected to the swing arm, and the other end of which is fixed relatively to the body; the elastic member drives the swing arm from the retracted position to the outward swing position through its own elastic force.

7. The cleaning robot according to claim 6, wherein: The elastic member is one of a torsion spring, a compression spring and a tension spring.

8. The cleaning robot according to claim 6, wherein: The second driving mechanism includes a driving member, and the driving member is configured to rotate relative to the body in a first direction and a second direction. When the driving member rotates about the first direction, the driving member at least partially overcomes the elastic force of the elastic member to push the swing arm from the outward swing position to the inward retracted position; When the driving member rotates around the second direction, the elastic member drives the swing arm to move from the retracted position to the outward swing position through its own elastic force; wherein the first direction and the second direction are opposite.

9. The cleaning robot according to claim 8, wherein: The second driving mechanism includes an epicyclic motor and an epicyclic gear set, the epicyclic gear set includes a planetary gear, and the epicyclic gear set is at least partially arranged below the driving member. The rotation axis of the epicyclic motor and the orbital axis of the planetary gear are coaxial, so that the rotation axis of the epicyclic motor and the rotation axis of the driving member are coaxial.

10. The cleaning robot according to claim 8, wherein: The second driving mechanism includes an outward swing motor and an outward swing gear set, the outward swing gear set includes parallel gears, at least one rotating shaft of the parallel gears is parallel to the rotating shaft of the outward swing motor, and at least another rotating shaft of the parallel gears is coaxial with the rotating shaft of the driving member.

11. The cleaning robot according to claim 8, wherein: The driving member comprises a driving body and a driving portion, wherein the driving portion is connected to the driving body and is eccentrically arranged relative to a second rotation axis of the driving member. The swing arm has an abutment surface that cooperates with the driving part. When the driving member rotates along the first direction around the second rotation axis, the driving part is suitable for pushing the abutment surface to move the swing arm from the outward swing position to the inward retracted position.

12. The cleaning robot according to any one of claims 4 to 11, wherein: One of the driving member and the swing arm also includes a matching portion, and the other has a matching notch matching with the matching portion. When the swing arm is located in the outward swing position, the matching portion and the matching notch are separated from each other. When the swing arm is located in the retracted position, the matching portion and the matching notch are matched and connected with each other.

13. The cleaning robot according to claim 12, wherein: When the swing arm is located at the retracted position, the swing arm applies a force to the matching portion under the drive of the first driving mechanism, and the direction of the force applied by the swing arm to the matching portion points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

14. The cleaning robot according to claim 11, wherein: The driving portion has a first cam surface, the abutting surface is a second cam surface matched with the first cam surface, and the rotation axis of the second cam surface is colinear with the first rotation axis.

15. The cleaning robot according to claim 14, wherein: When the swing arm is located at the retracted position, the swing arm applies a force to the driving part through the abutment surface under the drive of the first driving mechanism, and the direction of the force applied by the abutment surface points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

16. The cleaning robot according to claim 15, wherein: When the swing arm is located at the retracted position, the force applied by the second cam surface to the first cam surface is directed toward the rotation axis of the driving member.

17. The cleaning robot according to claim 3, wherein: When the swing arm is located at the retracted position, the direction of the reaction force of the swing arm on the driving member points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

18. The cleaning robot according to any one of claims 1 to 11, wherein: A buffer is also provided on at least one side of the side wall of the swing arm in the rotation direction, and the buffer is configured to buffer the collision between the swing arm and the machine body.

19. The cleaning robot according to claim 18, wherein: The swing arm includes an outer side surface and an inner side surface of the swing arm, and the buffer includes a first buffer component and a second buffer component. The first buffer component is arranged on the outer side surface of the swing arm to buffer the collision between the swing arm and the body when the swing arm moves from the retracted position to the outward swing position. The second buffer component is arranged on the inner side surface of the swing arm to buffer the collision between the swing arm and the mounting seat of the drive mechanism when the swing arm moves from the outward swing position to the retracted position.

20. The cleaning robot according to any one of claims 1 to 11, wherein: When the swing arm moves from the outward swing position to the inward retracted position, the rotation angle of the swing arm relative to the machine body is between 50° and 70°.

21. The cleaning robot according to claim 2, wherein: When the side brush is in the retracted position, there is a gap between the side brush and the angle; when the side brush is in the outward swing position, the side brush contacts the angle and deforms to perform cleaning; the edge path is the first wall edge, and the preset obstacle is an obstacle that the cleaning robot needs to turn to avoid when cleaning along the first wall edge.

22. The cleaning robot according to claim 2, wherein: When the cleaning robot identifies a target obstacle, the side brush is in the outward swing position for cleaning, and the target obstacle has a cavity that can be touched by the side brush in the outward swing position. The target obstacle is concave at least at the height of the side brush toward a side away from the machine body to form the cavity.

23. The cleaning robot according to claim 22, wherein: The depth of the side brush entering the cavity in the outward swing position is greater than the depth of the side brush entering the cavity in the inward retracted position.

24. The cleaning robot according to claim 2, wherein: When the side brush assembly of the cleaning robot is in the outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or the wet stains, the driving mechanism drives the side brush assembly to switch from the outward swing position to the retracted position so that the side brush avoids the linear obstacles and / or the wet stains.

25. The cleaning robot according to any one of claims 4 to 11, wherein: The cleaning member is rotatably connected to the swing arm, and the side brush assembly further comprises a third driving mechanism, wherein the third driving mechanism is configured to drive the cleaning member to be rotatably connected to the swing arm.

26. The cleaning robot according to claim 25, wherein: The third driving mechanism and the second driving mechanism share an outward swing motor; The second driving mechanism also includes a clutch, and the outer swing motor drives at least one of the swing arm and the cleaning member to rotate through the clutch.

27. The cleaning robot according to claim 26, wherein: When the side brush assembly is in the retracted position, the clutch member is configured to enable the outward swing motor to drive the cleaning member to rotate and the swing arm to stop rotating, so that the swing arm is locked in the retracted position.

28. The cleaning robot according to claim 25, wherein: It also includes an electrical connection assembly, which includes an electrical connection member, which is electrically connected to the body, and at least a portion of the electrical connection member is coaxially arranged with the first rotation axis.

29. The cleaning robot according to claim 28, wherein: The swing arm is provided with a wire-passing hole, the wire-passing hole is coaxially arranged with the first rotation axis, and the wire-passing hole is configured to guide at least a portion of the extension direction of the electrical connector.

30. The cleaning robot according to claim 28, wherein: The third driving mechanism is arranged on the swing arm and is electrically connected to the electrical connection member.

31. The cleaning robot according to claim 30, wherein: The third driving mechanism includes a second driving motor, which is electrically connected to the electrical connection member; the second driving motor is configured to drive the cleaning member to rotate around a third rotation axis.

32. The cleaning robot according to claim 31, wherein: The electrical connection assembly also includes a circuit board, which is disposed in the body, and the electrical connector is electrically connected to the circuit board.

33. The cleaning robot according to any one of claims 1 to 11, wherein: When the swing arm is located at the outward swing position, the swing arm extends outward relative to the body; when the swing arm is located at the retracted position, the swing arm is close to the body, and the body has a accommodating gap. When the swing arm is in the retracted position, the swing arm is accommodated in the accommodating gap.

34. The robot according to claim 33, wherein: The shape of the swing arm and the shape of the accommodating notch match each other. When the swing arm is in the retracted position, the outer side surface of the swing arm constitutes a part of the body contour.

35. The cleaning robot according to claim 25, wherein: The cleaning element comprises: A rubber strip, a first end of which is connected to the third driving mechanism; Bristles are arranged at the second end of the rubber strip.

36. The cleaning robot according to any one of claims 1 to 11, wherein: The swing arm is covered with a flexible material layer, the side brush is connected to the distal end of the swing arm relative to the body, the flexible material layer circumferentially covers the outer side of at least part of the distal end of the swing arm, and / or the flexible material layer covers at least part of the side wall of the swing arm.

37. The cleaning robot according to any one of claims 1 to 3, wherein: The driving mechanism includes a first driving mechanism and a second driving mechanism, the side brush assembly includes a third driving mechanism, the swing arm moves between the retracted position and the outward swing position under the driving force of the first driving mechanism and the second driving mechanism; the second driving mechanism includes an outward swing motor; The third driving mechanism is configured to drive the cleaning member to be rotatably connected to the swing arm; The second driving mechanism and the third driving mechanism share the outer swing motor.

38. The cleaning robot according to claim 37, wherein: When the outward swing motor rotates along the first direction, the swing arm moves from the outward swing position to the inward retracted position; when the outward swing motor rotates along the second direction, the swing arm moves from the inward retracted position to the outward swing position.

39. The cleaning robot according to claim 38, wherein: The driving mechanism includes a commutator. When the outer swing motor rotates in a first direction and in a second direction, the side brush assembly rotates in a first rotation direction under the action of the commutator.

40. The cleaning robot according to claim 37, wherein: The second driving mechanism includes a clutch, and the outer swing motor drives at least one of the swing arm and the side brush assembly to rotate through the clutch.

41. The cleaning robot according to claim 40, wherein: When the swing arm is in the retracted position or the outward swing position, the outward swing motor is at least used to drive the cleaning element to rotate relative to the swing arm; when the swing arm is switching between the retracted position and the outward swing position, the outward swing motor is used to drive the swing arm to rotate around the first rotation axis, and drive the cleaning element to rotate relative to the swing arm.

42. The cleaning robot according to claim 41, wherein: When the swing arm is in the retracted position or the outward swing position, the outward swing motor is used to drive the cleaning member to rotate, and under the action of the clutch member, the swing arm does not rotate.

43. The cleaning robot according to claim 41, characterized in that: The cleaning robot includes a limiting structure. When the swing arm is in the retracted position or the outward swing position, the outward swing motor drives the cleaning element to rotate, and drives the swing arm to have a rotation tendency. The rotation tendency of the swing arm is limited by the limiting structure so that the swing arm remains in the retracted position or the outward swing position.

44. The cleaning robot according to claim 41, characterized in that: When the swing arm is in the process of moving from the retracted position to the outward swing position, or in the process of moving from the outward swing position to the retracted position, under the action of the clutch, the outward swing motor drives both the cleaning member and the swing arm to rotate, so that when the swing arm is in the process of swinging toward the retracted position or the outward swing position, the cleaning member rotates relative to the swing arm.

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