Cleaning robot

Abstract

Disclosed in the present disclosure is a cleaning robot. The cleaning robot comprises a robot body and a cleaning assembly, wherein the cleaning assembly comprises a driving unit, a cleaning member and a lifting unit; the lifting unit comprises a first transmission member and a second transmission member; the first transmission member is fixedly connected to an output shaft of the driving unit so as to be controlled by the output shaft to rotate; the second transmission member is configured to be fixedly connected to the cleaning member, and to be rotationally connected to the driving unit by means of a limiting shaft sleeve; the second transmission member is configured to be axially guided and fitted in the limiting shaft sleeve; one of the first transmission member and the second transmission member is provided with a fitting portion, and the other one of the first transmission member and the second transmission member is provided with an extension track; the extension track comprises an inclined section obliquely extending in a heightwise direction along a side wall of the first transmission member or the second transmission member; and the first transmission member is configured to make the fitting portion move along the extension track during rotation so as to drive the second transmission member to move between a cleaning position and a clearance position in the heightwise direction.

Description

cleaning robots

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 14, 2023, with application number 202311188714.5 and invention name “Cleaning Robot” and the Chinese patent application filed with the China Patent Office on September 14, 2023, with application number 202311188736.1 and invention name “Cleaning Robot and Cleaning Components”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of cleaning machinery, and more specifically, to a cleaning robot. Background Art

[0003] With the continuous improvement of modern living standards, people's requirements for quality of life are getting higher and higher. Automated and intelligent equipment are being increasingly widely used in daily life. Especially in recent years, smart devices have continued to emerge, such as smart sweeping robots or smart window cleaning robots. On the one hand, these smart robots can perform a large amount of cleaning work in a short time, saving people a lot of time; on the other hand, these smart devices can free people from tedious housework, so these smart devices are becoming more and more popular.

[0004] However, existing cleaning robots are unable to clean carpets in homes, and dirt on the cleaning parts can come into contact with the carpets, contaminating them. Therefore, when a cleaning robot is working on a carpet or other work surface, it is necessary to prevent the cleaning parts from getting wet. Consequently, most cleaning robots currently on the market use a lifting mechanism to lift the cleaning parts before cleaning, to prevent secondary contamination of the carpet or other work surface by dirty rags during the robot's return to the base station. However, the lifting mechanisms of cleaning robots currently on the market are poorly designed, resulting in a low degree of integration and requiring the lifting mechanism to occupy excessive internal space within the cleaning robot.

[0005] To expand cleaning coverage and achieve comprehensive cleaning, some cleaning robots on the market can now move their cleaning parts laterally relative to the robot body, allowing them to clean edge locations such as walls and corners. However, when the cleaning parts move laterally relative to the robot body, if there is an obstacle in front of them, they may collide with the obstacle, which can easily cause structural damage.

[0006] Summary of the Invention

[0007] In order to solve the problems existing in the prior art, the present disclosure provides a cleaning robot.

[0008] According to a first aspect of the present disclosure, a cleaning robot is provided, comprising a body and a cleaning assembly, wherein the cleaning assembly comprises a driving unit, a cleaning member, and a lifting unit; the lifting unit comprises:

[0009] a first transmission member, the first transmission member being fixedly connected to the output shaft of the drive unit so as to be controlled to rotate by the output shaft;

[0010] a second transmission member, the second transmission member being fixedly connected to the cleaning member and rotatably connected to the driving unit via a limiting sleeve, and the second transmission member being guided and fitted in the limiting sleeve in an axial direction;

[0011] Among them, one of the first transmission member and the second transmission member is provided with a matching portion, and the other is provided with an extension track, and the extension track includes an inclined section extending obliquely in the height direction along the side wall of the first transmission member or the second transmission member; the first transmission member is constructed to make the matching portion move along the extension track during the rotation process, so as to drive the second transmission member to move between the cleaning position and the avoidance position in the height direction.

[0012] In one embodiment of the present disclosure, the extension track has a bottom dead center and a top dead center. When the first transmission member rotates in the first direction, the matching portion is configured to move along the extension track to the bottom dead center, and the second transmission member is configured to drive the cleaning member to move to the avoidance position.

[0013] During the process of the first transmission member rotating along the second direction, the matching part is constructed to move along the extension track to the upper dead center, and the second transmission member is constructed to drive the cleaning member to move to the cleaning position; and when it is in the cleaning position, the first transmission member is constructed to drive the second transmission member and the cleaning member to rotate synchronously along the second direction, so as to clean the working surface through the cleaning member.

[0014] In one embodiment of the present disclosure, the extension track is a guide groove opened on the mating surface of the first transmission member or the second transmission member, and the mating portion is constructed to move along the guide groove between the bottom dead point and the top dead point of the guide groove.

[0015] In one embodiment of the present disclosure, the guide groove passes through a side surface of the first transmission member or a side surface of the second transmission member.

[0016] In one embodiment of the present disclosure, the extended track is a guide rail protruding from the mating surface of the first transmission member or the second transmission member, and blocking walls are provided at the ends of the lower dead point and the upper dead point of the guide rail, and the blocking walls are constructed to prevent the mating part from continuing to move.

[0017] In one embodiment of the present disclosure, the guide rail further includes a horizontal section provided at the bottom dead center and the top dead center, and the horizontal section is configured to support the second transmission member in the axial direction when the mating portion is located in the horizontal section.

[0018] In one embodiment of the present disclosure, the matching portion is a protrusion or a cam, the protrusion is configured to slide along the extension track, and the cam is configured to roll along the extension track.

[0019] In one embodiment of the present disclosure, the lifting unit further comprises a compression spring disposed between the second transmission member and the driving unit;

[0020] During the process of the first transmission member rotating in the first direction, the second transmission member is configured to at least overcome the elastic force of the compression spring to drive the cleaning member to move to the avoidance position;

[0021] During the rotation of the first transmission member in the second direction, the matching portion is configured to move along the extension track to the top dead center, and the second transmission member is configured to drive the cleaning member to move to the cleaning position at least under the action of the compression spring force.

[0022] In one embodiment of the present disclosure, the cleaning robot is configured to be located above the working surface;

[0023] When the first transmission member rotates along the first direction, the second transmission member is configured to drive the cleaning member to move to the avoidance position under the action of the elastic force of the compression spring and the gravity of the second transmission member and the cleaning member.

[0024] During the process of the first transmission member rotating in the second direction, the matching part is constructed to move to the upper dead center along the extension track, and the second transmission member is constructed to drive the cleaning member to move to the cleaning position under the action of the compression spring force and the gravity of the second transmission member and the cleaning member.

[0025] In one embodiment of the present disclosure, the limiting sleeve is configured to be sleeved on the outside of the second transmission member and is rotatably connected to the drive unit through a limiting bearing, and the limiting bearing is configured to provide rotational resistance to the second transmission member along the first direction and the second direction.

[0026] In one embodiment of the present disclosure, the limiting bearing is configured to only allow the second transmission member to rotate along the second direction.

[0027] In one embodiment of the present disclosure, one of the outer side surface of the second transmission member and the inner side surface of the limiting sleeve is provided with a limiting ridge extending in the axial direction, and the other is provided with a limiting groove corresponding to the position of the limiting ridge, and the limiting ridge is constructed to guide and fit into the limiting groove.

[0028] In one embodiment of the present disclosure, the limiting sleeve is configured to overcome the gravity of the second transmission member and the cleaning member through rotational resistance after the second transmission member drives the cleaning member to move to the avoidance position, so as to maintain the second transmission member and the cleaning member in the avoidance position.

[0029] In one embodiment of the present disclosure, the driving unit includes a cleaning motor, a reduction gearbox, and a housing. The cleaning motor and the reduction gearbox are both disposed in the housing. The rotating shaft of the cleaning motor is fixedly connected to the input shaft of the reduction gearbox, and the first transmission member is fixedly connected to the input shaft of the reduction gearbox.

[0030] An installation cavity is provided below the housing, the first transmission member is configured to be disposed in the installation cavity, and the outer ring of the limit bearing is fixedly disposed on the inner wall of the installation cavity.

[0031] In one embodiment of the present disclosure, it also includes a traveling component and a control unit, wherein the traveling component is configured to drive the cleaning robot to travel on the working surface, and the control unit is configured to control the lifting unit to drive the cleaning member to move to the avoidance position when the cleaning robot travels to the avoidance area.

[0032] According to a second aspect of the present disclosure, there is provided a cleaning robot comprising:

[0033] body;

[0034] A cleaning assembly, the cleaning assembly being integrally rotatably connected to the machine body and comprising a cleaning mechanism and a motion mechanism; the cleaning mechanism comprising a cleaning member, the motion mechanism being configured to drive the cleaning assembly to move between a first position and a second position, wherein when in the first position, an edge of the cleaning member is within the range of an edge of the machine body, and when in the second position, at least a portion of the edge of the cleaning member extends beyond the edge of the travel range of the machine body;

[0035] A reset elastic member is provided between the machine body and the cleaning assembly; the cleaning assembly is configured to move relative to the machine body under the action of an external force, and to reset under the action of the reset elastic member after the external force is removed.

[0036] In one embodiment of the present disclosure, when the cleaning member is located at the second position, the cleaning member is configured to overcome the force of the reset elastic member and move toward the inside of the machine body under the action of an external force, and to reset after the external force is removed.

[0037] In one embodiment of the present disclosure, the motion mechanism includes a rotating shaft and a rotating motor, the rotating shaft is rotatably connected to the machine body, the cleaning component is fixed on the rotating shaft, and the rotating motor is configured to drive the rotating shaft to rotate so as to drive the cleaning component to move in an arc between a first position and a second position relative to the machine body.

[0038] In one embodiment of the present disclosure, the output shaft of the rotating motor is parallel to the rotating shaft, a driving wheel is provided at the top end of the output shaft, a driven wheel is provided at the top end of the rotating shaft, and the driving wheel is transmission-connected to the driven wheel.

[0039] In one embodiment of the present disclosure, the motion mechanism further includes a rotating bracket, which is rotatably connected to the machine body, and the rotating shaft and the rotating motor are both fixedly disposed on the rotating bracket.

[0040] In one embodiment of the present disclosure, the resetting elastic member is a torsion spring sleeved on the rotating bracket, and one end of the torsion spring abuts against the rotating bracket, and the other end abuts against the machine body.

[0041] In one embodiment of the present disclosure, a connecting portion is provided on the cleaning assembly, a fixing hole is provided on the connecting portion, the rotating shaft passes through the fixing hole, and the connecting portion abuts against the top of the rotating bracket.

[0042] In one embodiment of the present disclosure, a receiving cavity is provided at the bottom of the rotating bracket, a fixed shaft fixedly connected to the body is provided in the receiving cavity, and a lower bearing is provided between the fixed shaft and the inner wall of the receiving cavity.

[0043] In one embodiment of the present disclosure, the rotating shaft is coaxially arranged with the fixed shaft; and the cleaning member is configured to move the entire cleaning assembly between a first position and a second position under the action of an external force.

[0044] In one embodiment of the present disclosure, the cleaning mechanism includes a shell and a cleaning motor located in the shell. The output shaft of the cleaning motor is transmission-connected to the cleaning member and is configured to drive the cleaning member to rotate on the work surface to clean the work surface.

[0045] In one embodiment of the present disclosure, a speed reduction mechanism is provided in the housing, and the output shaft of the cleaning motor is transmission-connected to the cleaning member via the speed reduction mechanism.

[0046] In one embodiment of the present disclosure, the body has an inner cavity, and an arc-shaped through hole is provided at the bottom of the body; the cleaning component is installed in the inner cavity of the body, and the output end of the deceleration mechanism is connected to the cleaning member through the arc-shaped through hole, and the cleaning member is constructed to move under the restriction of the arc-shaped through hole.

[0047] In one embodiment of the present disclosure, the cleaning component is installed on the machine body in a module manner.

[0048] In one embodiment of the present disclosure, the cleaning member is a movable rag disk, and at least one movable rag disk is provided on the machine body.

[0049] According to a third aspect of the present disclosure, a cleaning assembly is provided, wherein the cleaning assembly is configured to be integrally rotatably connected to a body of a cleaning robot, and a reset elastic member is provided between the body and the cleaning assembly; the cleaning assembly is configured to move relative to the body under the action of an external force, and to reset under the action of the reset elastic member after the external force is removed;

[0050] The cleaning component includes a cleaning mechanism and a moving mechanism; the cleaning mechanism includes a cleaning member, and the moving mechanism is configured to drive the cleaning component to move between a first position and a second position. When in the first position, the edge of the cleaning member is within the range of the edge of the machine body, and when in the second position, at least part of the edge of the cleaning member exceeds the edge of the moving range of the machine body.

[0051] During the operation of the cleaning robot disclosed herein, when normal cleaning is required, the driving component can drive the first transmission component to rotate to drive the second transmission component to move downward in the height direction relative to the limit shaft sleeve to a cleaning position, and then drive the second transmission component to rotate relative to the body to drive the cleaning component to move relative to the working surface to clean the working surface; when it is necessary to avoid obstacles such as carpets or thresholds that need to be avoided, the driving component can drive the first transmission component to rotate to drive the second transmission component to move upward in the height direction to an avoidance position to avoid the cleaning component from contacting carpets or other working surfaces that need to be avoided or obstacles such as thresholds, thereby preventing contamination of carpets or other working surfaces that need to be avoided, and protecting the cleaning component to avoid damage caused by collision.

[0052] It can be seen that when the cleaning robot of the present disclosure faces different cleaning scenarios, the drive unit can effectively drive the cleaning member to move between the cleaning position and the avoidance position along the height direction through the lifting unit to cope with different cleaning scenarios. Moreover, the cleaning assembly of the present disclosure can achieve the lifting and rotation of the cleaning member relative to the work surface solely through the drive assembly, without the need for a separate structure to drive the lifting of the cleaning member. As a result, the overall structure of the cleaning assembly is compact, highly integrated, and occupies little space.

[0053] During the working process of the cleaning robot disclosed in the present invention, during normal cleaning, the cleaning component is located in the first position, and the edge of the cleaning piece is within the range of the edge of the body. In this way, the cleaning component will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component in the present invention moves to the second position, the cleaning range of the cleaning piece can exceed the edge of the walking range of the body, thereby achieving comprehensive cleaning of the corner positions that the body cannot fit.

[0054] When the cleaning element extends to the outside of the body and collides with an obstacle on the side of the body or an obstacle lower than the bottom surface of the body appears in front of the cleaning robot, when the cleaning element collides with the obstacle, the cleaning component can rotate as a whole relative to the body under the action of external force, thereby avoiding the obstacle, and using the reset elastic component to buffer the impact force, thereby reducing the impact force on the cleaning component; and after the cleaning component passes the obstacle, the reset elastic component can automatically drive the cleaning component to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0055] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0057] FIG1 is an internal schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when a cleaning member is located in a first position;

[0058] FIG2 is an internal schematic diagram of the cleaning robot provided by an embodiment of the present disclosure when the cleaning member is located in a second position;

[0059] FIG3 is a cross-sectional schematic diagram of a cleaning robot provided by an embodiment of the present disclosure;

[0060] FIG4 is a partially enlarged schematic diagram of FIG3 ;

[0061] FIG5 is an exploded schematic diagram of a cleaning assembly provided in an embodiment of the present disclosure;

[0062] FIG6 is a cross-sectional schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0063] FIG7 is a cross-sectional schematic diagram of a cleaning mechanism provided in an embodiment of the present disclosure;

[0064] FIG8 is an exploded schematic diagram of a cleaning mechanism provided in an embodiment of the present disclosure;

[0065] FIG9 is a perspective schematic diagram of the second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in a cleaning position;

[0066] FIG10 is a perspective schematic diagram of the second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in the avoidance position;

[0067] FIG11 is a cross-sectional schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure;

[0068] FIG12 is an exploded schematic diagram of another cleaning mechanism provided by an embodiment of the present disclosure;

[0069] FIG13 is a perspective schematic diagram of another second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in a cleaning position;

[0070] FIG14 is a perspective schematic diagram of another second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in the avoidance position;

[0071] FIG15 is a cross-sectional schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure;

[0072] FIG16 is an exploded schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure.

[0073] The corresponding relationship between the component names and reference numerals in Figures 1 to 16 is as follows:

[0074] 10. Cleaning assembly; 1. Cleaning mechanism; 11. Cleaning member; 12. Connecting portion; 13. Driving unit; 131. Housing; 132. Cleaning motor; 133. Reducer; 1331. Output shaft; 134. Mounting cavity; 14. Lifting unit; 141. First transmission member; 142. Second transmission member; 143. Extension track; 1431. Inclined section; 1432. Horizontal section; 1433. Bottom dead center; 1434. Top dead center; 1435. Blocking wall; 144. Mating part; 151. Limiting sleeve; 152. Limiting bearing; 161. Limiting edge; 162. Limiting groove; 17. Compression spring; 2. Motion mechanism; 21. Rotating shaft; 22. Rotating motor; 23. Driving wheel; 24. Driven wheel; 25. Rotating bracket; 26. Fixed shaft; 27. Upper bearing; 28. Lower bearing; 29. ​​Clamping elastic member; 20. Resetting elastic member; 30. Machine body; 31. Inner cavity; 32. Arc-shaped through hole; 40. Cover body. DETAILED DESCRIPTION

[0075] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0076] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0077] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0078] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0079] The specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0080] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0081] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the prerequisite for each other's existence.

[0082] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0083] Unless otherwise stated, numerical ranges herein include not only the entire range between its two endpoints but also the several sub-ranges contained therein.

[0084] The present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.

[0085] The cleaning robot comprises at least a body, a cleaning assembly, and a resilient reset member. The cleaning assembly is integrally rotatably connected to the body and includes a cleaning mechanism and a motion mechanism. The cleaning mechanism includes a cleaning member, and the motion mechanism is configured to drive the cleaning assembly to move between a first position and a second position. When in the first position, the edge of the cleaning member is within the range of the body's edge. When in the second position, at least a portion of the edge of the cleaning member extends beyond the edge of the body's travel range. Specifically, the cleaning member is disposed at the bottom of the body and is capable of moving relative to a work surface to clean the work surface.

[0086] During the working process of the cleaning robot disclosed in the present invention, during normal cleaning, the cleaning component is located in the first position, and the edge of the cleaning piece is within the range of the edge of the body. In this way, the cleaning component will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component in the present invention moves to the second position, the cleaning range of the cleaning piece can exceed the edge of the walking range of the body, thereby achieving comprehensive cleaning of the corner positions that the body cannot fit.

[0087] In the cleaning robot disclosed herein, a reset elastic member is arranged between the body and the cleaning component. The cleaning component is integrally connected to the body and is constructed to move relative to the body under the action of external force, and to reset under the action of the reset elastic member after the external force is removed.

[0088] In this way, when the cleaning piece extends to the outside of the body and collides with an obstacle on the side of the body or an obstacle lower than the bottom surface of the body appears in front of the cleaning robot, when the cleaning piece collides with the obstacle, the cleaning component can rotate as a whole relative to the body under the action of external force, thereby avoiding the obstacle, and using the reset elastic component to buffer the impact force, thereby reducing the impact force on the cleaning component; and after the cleaning component passes the obstacle, the reset elastic component can automatically drive the cleaning component to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0089] Specifically, when the cleaning member is located at the second position, the cleaning member is configured to overcome the action of the reset elastic member and move toward the inside of the machine body under the action of an external force, and to reset after the external force is removed.

[0090] As mentioned above, in order to fully clean the corners that the machine body cannot fit into, when the cleaning component moves to the second position, when the cleaning component collides with an obstacle outside the machine body, the cleaning component can overcome the force of the reset elastic member under the action of the external force and move toward the inside of the machine body to avoid the obstacle, and use the reset elastic member to buffer the impact force, thereby reducing the impact force on the cleaning component. After the cleaning component passes the obstacle and the external force is removed, the reset elastic member can automatically drive the cleaning component to return to the second position through its own elastic force, thereby continuing to clean the corners that the machine body cannot fit into, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.

[0091] The present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.

[0092] The cleaning robot comprises at least a body, a cleaning assembly, and a resilient reset member. The cleaning assembly is integrally rotatably connected to the body and includes a cleaning mechanism and a motion mechanism. The cleaning mechanism includes a cleaning member, and the motion mechanism is configured to drive the cleaning assembly to move between a first position and a second position. When in the first position, the edge of the cleaning member is within the range of the body's edge. When in the second position, at least a portion of the edge of the cleaning member extends beyond the edge of the body's travel range. Specifically, the cleaning member is disposed at the bottom of the body and is capable of moving relative to a work surface to clean the work surface.

[0093] During the working process of the cleaning robot disclosed in the present invention, during normal cleaning, the cleaning component is located in the first position, and the edge of the cleaning piece is within the range of the edge of the body. In this way, the cleaning component will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component in the present invention moves to the second position, the cleaning range of the cleaning piece can exceed the edge of the walking range of the body, thereby achieving comprehensive cleaning of the corner positions that the body cannot fit.

[0094] In the cleaning robot disclosed herein, a reset elastic member is arranged between the body and the cleaning component. The cleaning component is integrally connected to the body and is constructed to move relative to the body under the action of external force, and to reset under the action of the reset elastic member after the external force is removed.

[0095] In this way, when the cleaning piece extends to the outside of the body and collides with an obstacle on the side of the body or an obstacle lower than the bottom surface of the body appears in front of the cleaning robot, when the cleaning piece collides with the obstacle, the cleaning component can rotate as a whole relative to the body under the action of external force, thereby avoiding the obstacle, and using the reset elastic component to buffer the impact force, thereby reducing the impact force on the cleaning component; and after the cleaning component passes the obstacle, the reset elastic component can automatically drive the cleaning component to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0096] Specifically, when the cleaning member is located at the second position, the cleaning member is configured to overcome the action of the reset elastic member and move toward the inside of the machine body under the action of an external force, and to reset after the external force is removed.

[0097] As mentioned above, in order to fully clean the corners that the machine body cannot fit into, when the cleaning component moves to the second position, when the cleaning component collides with an obstacle outside the machine body, the cleaning component can overcome the force of the reset elastic member under the action of the external force and move toward the inside of the machine body to avoid the obstacle, and use the reset elastic member to buffer the impact force, thereby reducing the impact force on the cleaning component. After the cleaning component passes the obstacle and the external force is removed, the reset elastic member can automatically drive the cleaning component to return to the second position through its own elastic force, thereby continuing to clean the corners that the machine body cannot fit into, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.

[0098] For ease of understanding, the specific structure and working principle of the cleaning robot disclosed herein are described in detail below in conjunction with an embodiment with reference to Figures 1 to 16. It should be noted that the present disclosure also provides a cleaning component. To maintain brevity, this document will introduce the cleaning component together with the description of the cleaning robot and will not describe it separately.

[0099] As shown in Figures 1 and 2, the present disclosure provides a cleaning robot, which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. for cleaning the floor, or a window cleaning robot, etc. for cleaning windows or glass curtain walls.

[0100] The cleaning robot includes at least a body 30, a cleaning component 10 and a reset elastic member 20, wherein the cleaning component 10 is integrally connected to the body 30 and includes a cleaning mechanism 1 and a moving mechanism 2; the cleaning mechanism 1 includes a cleaning member 11, and the moving mechanism 2 is configured to drive the cleaning component 10 to move between a first position and a second position. When in the first position, the edge of the cleaning member 11 is within the range of the edge of the body 30, and when in the second position, at least part of the edge of the cleaning member 11 exceeds the edge of the walking range of the body 30.

[0101] Specifically, the cleaning member 11 is disposed at the bottom of the body 30. The cleaning member 11 can move relative to the work surface to clean the work surface. It is understood that the body 30 can also be provided with a drive wheel, which is used to drive the cleaning robot of the present disclosure to move and turn on the work surface, so that the cleaning member 11 can clean all parts of the work surface.

[0102] As shown in Figure 7, in one embodiment of the present disclosure, the cleaning part 11 is a movable rag disc, and at least one movable rag disc is provided on the body 30. The movable rag disc can be moistened with cleaning liquid. During the operation of the cleaning robot of the present disclosure, the cleaning component 10 can control the movable rag disc to rotate and work on the surface in a wiping and mopping manner. In one embodiment of the present disclosure, the bottom of the body 30 is further provided with a dust suction port that uses wind power to suck away garbage on the ground, and the movable rag disc is arranged behind the dust suction port. Furthermore, a roller brush for sweeping the floor can be installed at the dust suction port, and the body 30 realizes a cleaning sequence of sweeping first and then wiping during the movement. In another embodiment of the present disclosure, the cleaning component 10 is a sweeping disc for sweeping the floor, and the cleaning component 10 is arranged in front of the dust suction port, and the body 30 realizes a cleaning sequence of sweeping first and then sucking during the movement.

[0103] As shown in Figure 7, in one embodiment of the present disclosure, the cleaning mechanism 1 includes a housing 131 and a cleaning motor 132 located within the housing 131. The output shaft of the cleaning motor 132 is in transmission connection with the cleaning member 11 and is configured to drive the cleaning member 11 to rotate on the work surface to clean the work surface. In this way, the cleaning motor 132 can drive the cleaning member 11 to rotate on the work surface to clean the work surface. Further, as shown in Figure 7, in one embodiment of the present disclosure, a reduction gearbox 133 is provided within the housing 131, and the output shaft of the cleaning motor 132 is in transmission connection with the cleaning member 11 via the reduction gearbox 133. Since the output shaft of the cleaning motor 132 is in transmission connection with the cleaning member 11 via the reduction gearbox 133, the output torque of the cleaning motor 132 and the required torque of the cleaning member 11 can be effectively adapted by reducing the output speed of the cleaning motor 132, thereby reducing the output torque requirement of the cleaning motor 132, thereby reducing the occupied volume of the cleaning motor 132. Moreover, this also allows the cleaning motor 132 to be located on the side of the output shaft of the reduction gearbox 133, thereby effectively reducing the overall height of the cleaning mechanism 1.

[0104] As shown in Figures 3 and 4, in one embodiment of the present disclosure, a body 30 has an inner cavity 31, with an arcuate through-hole 32 provided at the bottom of the body 30. The cleaning assembly 10 is mounted in the inner cavity 31 of the body 30, and the output end of the reduction gearbox 133 passes through the arcuate through-hole 32 to connect to the cleaning member 11. The cleaning member 11 is configured to move within the constraints of the arcuate through-hole 32. Because the cleaning assembly 10 is mounted in the inner cavity 31 of the body 30, and the output end of the reduction gearbox 133 passes through the arcuate through-hole 32 to connect to the cleaning member 11, the cleaning member 11 moves within the constraints of the arcuate through-hole 32. This effectively limits the range of motion of the cleaning member 11 and prevents excessive debris from entering the inner cavity 31 of the body 30 during operation.

[0105] During the operation of the cleaning robot disclosed in the present invention, during normal cleaning, the cleaning component 10 is located in the first position, and the edge of the cleaning member 11 is located within the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component 10 in the present invention moves to the second position, the cleaning range of the cleaning member 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corner positions that the body 30 cannot fit.

[0106] Specifically, as shown in Figures 4 and 5, in one embodiment of the present disclosure, the motion mechanism 2 includes a rotating shaft 21 and a rotating motor 22. The rotating shaft 21 is rotatably connected to the body 30, and the cleaning component 10 is fixed on the rotating shaft 21. The rotating motor 22 is configured to drive the rotating shaft 21 to rotate, so as to drive the cleaning component 10 to move on an arc between the first position and the second position relative to the body 30.

[0107] In this way, during the operation of the cleaning robot disclosed herein, when the cleaning component 10 needs to be moved from the first position to the second position, it is only necessary to control the rotating motor 22 to rotate along the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move along the arc from the first position to the second position; similarly, when the cleaning component 10 needs to be moved from the second position to the first position, it is only necessary to control the rotating motor 22 to rotate along the second preset direction opposite to the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move from the second position to the first position along the arc.

[0108] In order to enable the rotating shaft 21 to drive the cleaning assembly 10 to rotate, as shown in Figures 4 and 5, in one embodiment of the present disclosure, a connecting portion 12 is provided on the cleaning mechanism 1, and a fixing hole is provided on the connecting portion 12. The rotating shaft 21 passes through the fixing hole, and the cross-section of the rotating shaft 21 located inside the fixing hole and the fixing hole are both waist-shaped holes. In this way, when the rotating shaft 21 rotates, it can drive the cleaning assembly 10 to rotate. In another embodiment of the present disclosure, the rotating shaft 21 can also be fixedly connected to the cleaning assembly 10 by other means. In this way, the purpose of the rotating shaft 21 driving the cleaning assembly 10 to rotate can also be achieved. This will not be repeated here.

[0109] Furthermore, as shown in FIG5 , in one embodiment of the present disclosure, the output shaft of the rotating motor 22 is parallel to the rotating shaft 21 , a driving wheel 23 is provided at the top end of the output shaft, and a driven wheel 24 is provided at the top end of the rotating shaft 21 , and the driving wheel 23 is transmission-connected to the driven wheel 24 .

[0110] In this way, during the operation of the cleaning robot disclosed herein, when the cleaning component 10 needs to be moved from the first position to the second position, it is only necessary to control the rotating motor 22 to rotate along the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move along the arc from the first position to the second position; similarly, when the cleaning component 10 needs to be moved from the second position to the first position, it is only necessary to control the rotating motor 22 to rotate along the second preset direction opposite to the first preset direction, and then rotate the rotating shaft 21 to drive the cleaning component 10 to move from the second position to the first position along the arc.

[0111] Since the output shaft of the rotating motor 22 is parallel to the rotating shaft 21, and the rotating motor 22 and the rotating shaft 21 transmit power through the driving wheel 23 and the driven wheel 24 connected by the transmission, the rotating motor 22 can be set on one side of the rotating shaft 21 without being fixed to the rotating shaft 21, thereby effectively reducing the overall length of the motion mechanism 2 and effectively utilizing the space within the body 30. As shown in Figure 5, in one embodiment of the present disclosure, the driving wheel 23 and the driven wheel 24 can both be gears, and the driving wheel 23 and the driven wheel 24 can mesh with each other. In another embodiment of the present disclosure, the driving wheel 23 and the driven wheel 24 can also be pulleys or sprockets, and power is transmitted between the driving wheel 23 and the driven wheel 24 through devices such as a transmission chain and a synchronous belt.

[0112] In another embodiment of the present disclosure, the output shaft of the rotating motor 22 can directly serve as the aforementioned rotating shaft 21 or be fixedly connected to the rotating shaft 21 , thereby effectively reducing the power loss of the rotating motor 22 .

[0113] As previously mentioned, in one embodiment of the present disclosure, the rotary motor 22 can drive the rotary shaft 21 to rotate, thereby driving the cleaning assembly 10 to move in an arc between the first position and the second position relative to the machine body 30. In another embodiment of the present disclosure, a telescopic mechanism can also be provided, which can drive the cleaning assembly 10 to move in a straight line between the first position and the second position relative to the machine body 30. The principle is relatively simple and will not be further described here.

[0114] In the cleaning robot disclosed herein, the reset elastic member 20 is arranged between the body 30 and the cleaning component 10. The cleaning component 10 is integrally connected to the body 30 and is constructed to move relative to the body 30 under the action of an external force, and to reset under the action of the reset elastic member 20 after the external force is removed.

[0115] In this way, when the cleaning member 11 extends to the outside of the body 30 and collides with an obstacle on the side of the body 30 or an obstacle lower than the bottom surface of the body 30 appears in front of the cleaning robot, and the cleaning member 11 collides with the obstacle, the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0116] Specifically, in one embodiment of the present disclosure, when the cleaning member 11 is in the second position, the cleaning member 11 is constructed to overcome the force of the reset elastic member 20 under the action of an external force and move toward the inside of the body 30, and reset after the external force is removed.

[0117] As mentioned above, in order to fully clean the corners that the body 30 cannot fit into, when the cleaning assembly 10 moves to the second position, when the cleaning member 11 collides with an obstacle outside the body 30, the cleaning assembly 10 can overcome the force of the reset elastic member 20 under the action of an external force and move toward the inside of the body 30 to avoid the obstacle, and use the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning assembly 10. After the cleaning assembly 10 passes the obstacle and the external force is removed, the reset elastic member 20 can automatically drive the cleaning assembly 10 to return to the second position through its own elastic force, thereby continuing to clean the corners that the body 30 cannot fit into, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.

[0118] In one embodiment of the present disclosure, the cleaning assembly 10 is installed on the body 30 in a modular manner. This can effectively reduce the difficulty of installing the cleaning assembly 10 and facilitate the modular design of the cleaning robot.

[0119] Among them, in one embodiment of the present disclosure, when the cleaning component 10 moves to the second position, the rotating motor 22 can maintain a self-locking state. In this way, the cleaning component 11 can overcome the force of the reset elastic component 20 under the action of external force and move toward the inside of the body 30. It will not drive the driven gear to rotate through the rotating shaft 21, and then drive the output shaft of the rotating motor 22 to rotate, thereby avoiding the driving motor from bearing the impact force. Instead, the impact force is borne by the entire cleaning component 10, thereby reducing the risk of damage to the driving motor due to force impact.

[0120] In order to facilitate the rotational connection of the cleaning component 10 to the body 30, as shown in Figures 4 and 5, in one embodiment of the present disclosure, the motion mechanism 2 also includes a rotating bracket 25, the rotating bracket 25 is rotationally connected to the body 30, the rotating motor 22 is fixedly arranged on the rotating bracket 25, and the rotating shaft 21 is rotationally connected to the rotating bracket 25. In this way, when the cleaning component 10 is moved toward the inside of the body 30 under the action of an external force, the rotating bracket 25 can rotate relative to the body 30, driving the cleaning component 10 to rotate toward the inside of the body 30, thereby avoiding obstacles. After the cleaning component 10 passes the obstacle and the external force is removed, the reset elastic member 20 can automatically drive the rotating bracket 25 to rotate through its own elastic force, thereby driving the cleaning component 10 to reset to the second position, thereby continuing to clean the corners that the body 30 cannot fit.

[0121] As shown in FIG4 , it is understood that, in one embodiment of the present disclosure, during the process of adjusting the cleaning assembly 10 by the rotary motor 22, since the driving wheel 23 and the driven wheel 24 are meshing gears, their rotation directions are necessarily opposite. During the operation of the rotary motor 22 of the present disclosure, the output shaft of the rotary motor 22 and the rotary shaft 21 rotate in opposite directions, and the movement directions of the rotary motor 22 and the cleaning assembly 10 are also opposite, thereby causing the rotation directions of the rotary shaft 21 and the rotary bracket 25 to be opposite. As shown in FIG4 , in one embodiment of the present disclosure, in order to enable relative rotation between the rotary shaft 21 and the rotary bracket 25, an upper bearing 27 is provided between the rotary shaft 21 and the rotary bracket 25.

[0122] In another embodiment of the present disclosure, when the driving wheel 23 and the driven wheel 24 rotate in the same direction and synchronously, the output shaft of the rotating motor 22 and the rotating shaft 21 rotate in the same direction and speed, and the rotating motor 22 and the cleaning assembly 10 also move in the same direction and speed, thereby causing the rotating shaft 21 and the rotating bracket 25 to rotate synchronously, thereby eliminating the need for the upper bearing 27. That is, during the operation of the rotating motor 22 of the present disclosure, when the rotating shaft 21 and the rotating bracket 25 rotate synchronously, the upper bearing 27 is not required, but when the rotating shaft 21 and the rotating bracket 25 rotate asynchronously, the upper bearing 27 is required.

[0123] As shown in FIG4 , in one embodiment of the present disclosure, the connecting portion 12 of the cleaning mechanism 1 abuts against the top of the rotating bracket 25. Since the connecting portion 12 abuts against the top of the rotating bracket 25, the rotating bracket 25 can support the connecting portion 12, so that the cleaning assembly 10 is maintained at a preset height, so that the cleaning member 11 can fit the work surface, and the connecting portion 12 is prevented from being bent due to excessive force.

[0124] To enable the rotating bracket 25 to be rotatably connected to the body 30, as shown in FIG4 , in one embodiment of the present disclosure, a receiving chamber is provided at the bottom of the rotating bracket 25. A fixed shaft 26 fixedly connected to the body 30 is disposed within the receiving chamber, and a lower bearing 28 is disposed between the fixed shaft 26 and the inner wall of the receiving chamber. Because the lower bearing 28 is disposed between the fixed shaft 26 and the inner wall of the receiving chamber, the rotating bracket 25 can be rotatably connected to the body 30 via the lower bearing 28. Consequently, when the cleaning assembly 10 is moved toward the inside of the body 30 under the action of an external force, the rotating bracket 25 can rotate relative to the body 30, driving the cleaning assembly 10 to rotate toward the inside of the body 30, thereby avoiding obstacles. Once the cleaning assembly 10 passes the obstacle and the external force is removed, the resetting elastic member 20 can automatically drive the rotating bracket 25 to rotate relative to the body 30 due to its own elastic force, thereby driving the cleaning assembly 10 to return to the second position, allowing it to continue cleaning corners of the body 30 that were not properly aligned.

[0125] As shown in Figure 4, in one embodiment of the present disclosure, a rotating shaft 21 and a fixed shaft 26 are provided; the cleaning member 11 is configured to move the entire cleaning assembly 10 between a first position and a second position when subjected to an external force. It will be appreciated that when the rotary motor 22 is operating, the rotation axis of the cleaning mechanism 1 during rotation of the rotating shaft 21 is the rotating shaft 21, while the rotation axis of the entire cleaning assembly 10 after the cleaning member 11 is subjected to an external force is the fixed shaft 26. Due to the arrangement of the rotating shaft 21 and the fixed shaft 26, the rotation axis of the cleaning mechanism 1 and the rotation axis of the entire cleaning assembly 10 after the cleaning member 11 is subjected to an external force are aligned when the rotary motor 22 is operating, thereby effectively conserving space within the housing 30. Furthermore, since the cleaning member 11 moves between the first position and the second position when subjected to an external force, the entire cleaning assembly 10 and the resilient member 20 can withstand impact forces, thereby reducing the risk of damage to a single structure, such as the rotating motor 22 or the cleaning member 11, caused by excessive impact forces.

[0126] As shown in Figures 4 and 5, in one embodiment of the present disclosure, the resilient reset member 20 is a torsion spring mounted on the rotating bracket 25, with one end of the torsion spring abutting the rotating bracket 25 and the other end abutting the housing 30. Thus, in one embodiment of the present disclosure, when the cleaning assembly 10 is subjected to an external force and rotates toward the interior of the housing 30 via the rotating bracket 25, the ends of the torsion spring are compressed. When the cleaning assembly 10 passes an obstacle and the external force is removed, the torsion spring automatically expands due to its own elastic force, driving the rotating bracket 25 to rotate, thereby returning the cleaning assembly 10 to the second position. In another embodiment of the present disclosure, when the cleaning assembly 10 is subjected to an external force and rotates toward the interior of the housing 30 via the rotating bracket 25, the ends of the torsion spring are stretched. When the cleaning assembly 10 passes an obstacle and the external force is removed, the torsion spring automatically retracts due to its own elastic force, thereby automatically contracting due to its own elastic force, driving the rotating bracket 25 to rotate, thereby returning the cleaning assembly 10 to the second position. The principles of these two embodiments are similar and will not be further described here.

[0127] As shown in FIG6 , in another embodiment of the present disclosure, the rotating shaft 21 may be directly rotatably connected to the body 30 , and the rotating bracket 25 may be rotatably connected to the rotating shaft 21 . In this way, the above functions may also be achieved, which will not be described in detail here.

[0128] As shown in Figures 15 and 16, in one embodiment of the present disclosure, a clamping elastic member 29 is provided between the cleaning component 10 and the rotating bracket 25. The clamping elastic member 29 is used to eliminate the fitting clearance between the cleaning component 10 and the rotating bracket 25, thereby ensuring that no shaking occurs between the cleaning component 10 and the rotating bracket 25 when the cleaning component 10 rotates to any position along the rotating shaft 21.

[0129] As shown in Figures 15 and 16, in one embodiment of the present disclosure, the cleaning component of the present disclosure may further include a cover body 40, which is fixed to the machine body. The various structures within the motion mechanism 2 of the present disclosure are all arranged in the cover body 40, one end of the elastic member 20 abuts against the rotating bracket 25, and the other end abuts against the cover body 40, and the rotating shaft 21 is rotatably arranged in the shell.

[0130] As shown in Figures 7 and 8, in one embodiment of the present disclosure, the cleaning assembly 10 includes a drive unit 13, a cleaning member 11, and a lifting unit 14. As mentioned above, in one embodiment of the present disclosure, the drive unit 13 includes a cleaning motor 132, a reduction gear box 133, and a housing 131, and the cleaning motor 132 and the reduction gear box 133 are both disposed in the housing 131.

[0131] As shown in Figures 7 and 8, the lifting unit 14 includes a first transmission member 141 and a second transmission member 142. The first transmission member 141 is fixedly connected to the output shaft 1331 of the drive unit 13 so as to be controlled by the rotation of the output shaft 1331. When the drive unit 13 includes a cleaning motor 132 and a reduction gearbox 133, the first transmission member 141 is fixedly connected to the output shaft 1331 of the reduction gearbox 133, and the cleaning motor 132 drives the first transmission member 141 to rotate through the reduction gearbox 133. Specifically, as shown in Figure 7, the first transmission member 141 can be fixedly connected to the output shaft 1331 by fixing members such as screws. The second transmission member 142 is constructed to be fixedly connected to the cleaning member 11, and is rotatably connected to the drive unit 13 through a limiting sleeve 151, and the second transmission member 142 is constructed to be guided in the axial direction and fitted in the limiting sleeve 151.

[0132] As shown in Figures 7 to 10, one of the first transmission member 141 and the second transmission member 142 is provided with a mating portion 144, and the other is provided with an extension track 143. The extension track 143 includes an inclined section 1431 that extends along the side wall of the first transmission member 141 or the second transmission member 142 in the height direction. The first transmission member 141 is configured to move the mating portion 144 along the extension track 143 during rotation, thereby driving the second transmission member 142 to move in the height direction between the cleaning position and the avoidance position. The height direction refers to the extension direction from the machine body 30 to the work surface. When the work surface is horizontal, the height direction is the vertical direction. When the work surface is vertical, the height direction is the horizontal direction.

[0133] In this way, during the operation of the cleaning robot disclosed herein, when normal cleaning is required, the driving component can drive the first transmission member 141 to rotate to drive the second transmission member 142 to move downward in the height direction relative to the limiting shaft sleeve 151 to the cleaning position, and then drive the second transmission member 142 to rotate relative to the body 30 to drive the cleaning member 11 to move relative to the working surface to clean the working surface; when it is necessary to avoid obstacles such as carpets or thresholds that need to be avoided, the driving component can drive the first transmission member 141 to rotate to drive the second transmission member 142 to move upward in the height direction to the avoidance position to avoid the cleaning member 11 from contacting the carpets or other working surfaces that need to be avoided or obstacles such as thresholds, thereby preventing contamination of the carpets or other working surfaces that need to be avoided, and protecting the cleaning member 11 to avoid damage caused by collision.

[0134] It can be seen that when the cleaning robot of the present disclosure faces different cleaning scenarios, the drive unit 13 can effectively drive the cleaning member 11 to move between the cleaning position and the avoidance position along the height direction through the lifting unit 14 to cope with different cleaning scenarios. Moreover, the cleaning assembly 10 of the present disclosure can achieve the lifting and rotation of the cleaning member 11 relative to the work surface solely through the drive assembly, without the need for a separate structure to lift and lower the cleaning member 11. As a result, the cleaning assembly 10 has a compact overall structure, high integration, and takes up little space.

[0135] Specifically, as shown in Figures 8 to 10, in one embodiment of the present disclosure, the extension track 143 has a lower dead point 1433 and an upper dead point 1434. During the rotation of the first transmission member 141 along the first direction, the matching portion 144 is constructed to move along the extension track 143 to the lower dead point 1433, and the second transmission member 142 is constructed to drive the cleaning member 11 to move to the avoidance position; during the rotation of the first transmission member 141 along the second direction, the matching portion 144 is constructed to move along the extension track 143 to the upper dead point 1434, and the second transmission member 142 is constructed to drive the cleaning member 11 to move to the cleaning position; and when in the cleaning position, the first transmission member 141 is constructed to drive the second transmission member 142 and the cleaning member 11 to rotate synchronously along the second direction, so as to clean the working surface through the cleaning member 11.

[0136] As shown in Figures 9 and 10, when the matching portion 144 is disposed on the first transmission member 141 and the extension track 143 is disposed on the second transmission member 142, when the first transmission member 141 rotates in the first direction, the matching portion 144 rotates in the first direction, and the extension track 143 and the second transmission member 142 move in the height direction relative to the limiting shaft sleeve 151 until the matching portion 144 moves to the bottom dead center 1433 along the inclined section 1431 of the extension track 143. At this time, the second transmission member 142 drives the cleaning member 11 to move to the avoidance position. When the first transmission member 141 rotates in the second direction, the matching portion 144 rotates in the second direction, and the extension track 143 and the second transmission member 142 move in the height direction until the matching portion 144 moves to the top dead center 1434 along the inclined section 1431 of the extension track 143 relative to the limiting shaft sleeve 151. At this time, the second transmission member 142 drives the cleaning member 11 to move to the cleaning position. After the second transmission member 142 drives the cleaning member 11 to move to the cleaning position, when the first transmission member 141 continues to rotate in the second direction, it can drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member 11.

[0137] Similarly, as shown in Figures 11 to 14, when the extension track 143 is provided on the first transmission member 141 and the matching portion 144 is provided on the second transmission member 142, when the first transmission member 141 rotates in the first direction, the extension track 143 rotates in the first direction, and the matching portion 144 and the second transmission member 142 move in the height direction relative to the limiting shaft sleeve 151 until the matching portion 144 moves to the bottom dead center 1433 along the inclined section 1431 of the extension track 143. At this time, the second transmission member 142 drives the cleaning member 11 to move to the avoidance position. When the first transmission member 141 rotates in the second direction, the extension track 143 rotates in the second direction, and the matching portion 144 and the second transmission member 142 move in the height direction until the matching portion 144 moves to the top dead center 1434 along the inclined section 1431 of the extension track 143 relative to the limiting shaft sleeve 151. At this time, the second transmission member 142 drives the cleaning member 11 to move to the cleaning position. After the second transmission member 142 drives the cleaning member 11 to move to the cleaning position, when the first transmission member 141 continues to rotate in the second direction, it can drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member 11.

[0138] Since the extension track 143 includes an inclined section 1431 extending obliquely in the height direction and has a lower dead point 1433 and an upper dead point 1434, the second transmission member 142 can easily drive the cleaning member 11 to the cleaning position or the avoidance position, thereby facilitating the cleaning robot to cope with different scenarios.

[0139] As shown in Figures 7 and 11 , in one embodiment of the present disclosure, the second transmission member 142 can be sleeved on the outside of the first transmission member 141. In this way, the mating surface of the first transmission member 141 is the outer side of the first transmission member 141, and the mating surface of the second transmission member 142 is the outer side of the second transmission member 142. In another embodiment of the present disclosure, the second transmission member 142 can be sleeved on the outside of the first transmission member 141. In this way, the mating surface of the first transmission member 141 is the outer side of the first transmission member 141, and the mating surface of the second transmission member 142 is the outer side of the second transmission member 142.

[0140] The extension track 143 can have various forms. As shown in Figures 8 to 10, in one embodiment of the present disclosure, the extension track 143 is a guide groove formed on the mating surface of the first transmission member 141 or the second transmission member 142. The mating portion 144 is configured to move along the guide groove between the bottom dead center 1433 and the top dead center 1434 of the guide groove. Thus, when adjusting the height of the cleaning member 11, the rotation of the first transmission member 141 can cause the mating portion 144 to move along the guide groove to the bottom dead center 1433 or the top dead center 1434, thereby allowing the second transmission member 142 to drive the cleaning member 11 to the cleaning position or the avoidance position.

[0141] Furthermore, as shown in Figures 8 to 10, in one embodiment of the present disclosure, the guide groove passes through the side of the first transmission member 141 or the side of the second transmission member 142. Since the guide groove passes through the side of the first transmission member 141 or the side of the second transmission member 142, the processing difficulty of the guide groove can be reduced, thereby saving the processing cost of the lifting unit 14.

[0142] As shown in Figures 12 to 14, in another embodiment of the present disclosure, the extension track 143 is a guide rail protruding from the mating surface of the first transmission member 141 or the second transmission member 142, and a blocking wall 1435 is provided at the end of the lower dead point 1433 and the end of the upper dead point 1434 of the guide rail. The blocking wall 1435 is constructed to prevent the mating part 144 from continuing to move.

[0143] In this way, during the process of adjusting the height of the cleaning member 11, when the first transmission member 141 rotates, the matching portion 144 can be moved along the guide rail to the lower dead point 1433 or the upper dead point 1434, and then the second transmission member 142 drives the cleaning member 11 to the cleaning position or the avoidance position.

[0144] It is understandable that, as shown in Figures 12 to 14, when the second transmission member 142 is sleeved on the outside of the first transmission member 141, when the guide rail is provided on the outer side of the first transmission member 141 and the matching portion 144 is provided on the inner side of the second transmission member 142, in order for the first transmission member 141 to be able to drive the matching portion 144 to move upward through the guide rail, the matching portion 144 needs to be located above the guide rail. In another embodiment of the present disclosure, when the matching portion 144 is provided on the outer side of the first transmission member 141 and the guide rail is provided on the inner side of the second transmission member 142, in order for the first transmission member 141 to be able to drive the guide rail to move upward through the matching portion 144, the matching portion 144 needs to be located below the guide rail. The situation where the first transmission member 141 is sleeved on the outside of the second transmission member 142 is similar and will not be repeated here.

[0145] Since blocking walls 1435 are provided at both the end of the guide rail's bottom dead center 1433 and the end of the top dead center 1434, and the blocking walls 1435 are configured to prevent the mating portion 144 from continuing to move, the mating portion 144 can drive the transmission member on which the guide rail is located to move or stop moving after reaching the blocking walls 1435. Specifically, when the mating portion 144 moves along the guide rail to the blocking wall 1435 at the end of the top dead center 1434, the second transmission member 142 drives the cleaning member 11 to the cleaning position. When the first transmission member 141 continues to rotate in the second direction, the mating walls and the blocking portion abutting against each other drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, thereby allowing the cleaning member 11 to clean the work surface. When the matching part 144 moves along the guide rail to the blocking wall 1435 at the end of the lower dead point 1433, the second transmission member 142 drives the cleaning member 11 to the avoidance position. At this time, the matching part 144 stops moving due to the blocking resistance of the blocking wall 1435, preventing the first transmission part from continuing to drive the second transmission member 142 to idle.

[0146] Specifically, as shown in FIG13 , in one embodiment of the present disclosure, the guide rail further includes a horizontal section 1432 disposed between a bottom dead center 1433 and a top dead center 1434. The horizontal section 1432 is configured to axially support the second transmission member 142 when the mating portion 144 is located in the horizontal section 1432. Thus, during the rotation of the first rotating member, when the mating portion 144 reaches the horizontal section 1432 disposed between the bottom dead center 1433 and the top dead center 1434, the horizontal section 1432 of the guide rail can axially support the second transmission member 142. In particular, as shown in FIG14 , when the guide rail is disposed on the outer side surface of the first transmission member 141 and the mating portion 144 is disposed on the inner side surface of the second transmission member 142, with the mating portion 144 located above the guide rail, when the mating portion 144 reaches the horizontal section 1432 disposed at the bottom dead center 1433, the horizontal section 1432 of the guide rail can axially support the second transmission member 142, thereby ensuring that the cleaning member 11 can be maintained in the avoidance position under the support of the horizontal section 1432, preventing the second transmission member 142 from sliding off the inclined section 1431 of the guide rail due to gravity, and preventing the cleaning member 11 from sliding from the avoidance position to the cleaning position. The principles of other situations are similar and will not be described in detail here.

[0147] The mating portion 144 may also have various forms. As shown in FIG8 , in one embodiment of the present disclosure, the mating portion 144 is a protrusion configured to slide along the extension track 143. As shown in FIG12 , in another embodiment of the present disclosure, the mating portion 144 is a cam configured to roll along the extension track 143. This effectively reduces the resistance of the mating portion 144 when it moves along the extension track 143.

[0148] In particular, as shown in FIG8 , when the mating portion 144 is a cam and the extension track 143 is a guide rail, a wheel groove can be provided on the guide rail so that the cam can move along the wheel groove to limit the relative sliding of the first transmission member 141 and the second transmission member 142 in the radial direction, thereby ensuring the coaxial alignment of the first transmission member 141 and the second transmission member 142.

[0149] Moreover, as shown in FIG13 , when the mating portion 144 is a cam, a groove may be provided on the mating surface of the cam to partially accommodate the cam, thereby ensuring the size of the cam and effectively reducing the radial size of the lifting unit 14 .

[0150] As shown in Figures 11 and 12, in one embodiment of the present disclosure, the lifting unit 14 further includes a compression spring 17 disposed between the second transmission member 142 and the drive unit 13; during the rotation of the first transmission member 141 in the first direction, the second transmission member 142 is configured to at least overcome the elastic force of the compression spring 17 and drive the cleaning member 11 to move to the avoidance position; during the rotation of the first transmission member 141 in the second direction, the matching portion 144 is configured to move along the extension track 143 to the top dead center 1434, and the second transmission member 142 is configured to at least drive the cleaning member 11 to move to the cleaning position under the elastic force of the compression spring 17. In this way, when the cleaning robot of the present disclosure cleans a vertical surface, the elastic force of the compression spring 17 can drive the cleaning member 11 to move to the cleaning position, thereby using the compression spring 17 to press the cleaning member 11 against the work surface to improve the cleaning effect of the cleaning member 11 on the work surface.

[0151] When the working surface is horizontal or other working surface at an angle to the vertical, in one embodiment of the present disclosure, the cleaning robot is configured to be located above the working surface; during the rotation of the working surface in the first direction by the first transmission member 141, the second transmission member 142 is configured to overcome the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11, thereby driving the cleaning member 11 to move to the avoidance position; during the rotation of the first transmission member 141 in the second direction, the engaging portion 144 is configured to move along the extension track 143 to the top dead center 1434, and the second transmission member 142 is configured to drive the cleaning member 11 to the cleaning position under the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11. In this way, the cleaning member 11 can be driven to the cleaning position by the elastic force of the compression spring 17, the second transmission member 142, and the gravity of the cleaning member 11, thereby utilizing the compression spring 17 and pressing the cleaning member 11 against the working surface, thereby improving the cleaning effect of the cleaning member 11 on the working surface.

[0152] As shown in Figures 7 and 11, in one embodiment of the present disclosure, a limiting sleeve 151 is configured to be sleeved on the outside of the second transmission member 142 and is rotatably connected to the drive unit 13 via a limiting bearing 152. The limiting bearing 152 is configured to provide rotational resistance to the second transmission member 142. The limiting bearing 152 can be a load bearing that can bear axial loads and, therefore, can withstand the weight of the limiting sleeve 151.

[0153] Because the limiting bearing 152 can provide rotational resistance to the second transmission member 142, when the height of the cleaning member 11 needs to be adjusted, when the first transmission member 141 rotates, the limiting bearing 152 provides rotational resistance to the second transmission member 142. This can prevent the first transmission member 141 from driving the second transmission member 142 to idle rotation, and instead allows the second transmission member 142 to move up and down along the limiting shaft sleeve 151 preferentially until it moves to the cleaning position or the avoidance position. After the second transmission member 142 and the cleaning member 11 move to the cleaning position, the first transmission member 141 overcomes the rotational resistance of the limiting bearing 152 and drives the second transmission member 142 and the cleaning member 11 to rotate synchronously, thereby causing the cleaning member 11 to move relative to the work surface to clean the work surface.

[0154] Furthermore, in one embodiment of the present disclosure, the limiting bearing 152 is configured to only allow the second transmission member 142 to rotate in the second direction. That is, the limiting bearing 152 enables the second transmission member 142 to rotate in the first direction. In this way, when the first transmission member 141 rotates in the first direction, it can drive the second transmission member 142 to move to the avoidance position. After the second transmission member 142 moves to the avoidance position, under the action of the limiting bearing 152, the first transmission member 141 cannot synchronously drive the second transmission member 142 to rotate in the first direction, thereby effectively preventing the second transmission member 142 and the cleaning member 11 from idling in the avoidance position.

[0155] In order to guide the second transmission member 142 in the axial direction and fit within the limiting sleeve 151, as shown in Figures 8 and 12, in one embodiment of the present disclosure, one of the outer side surface of the second transmission member 142 and the inner side surface of the limiting sleeve 151 is provided with an axially extending limiting rib 161, and the other is provided with a limiting groove 162 corresponding to the position of the limiting rib 161. The limiting rib 161 is configured to guide and fit within the limiting groove 162. Since the limiting rib 161 is configured to guide and fit within the limiting groove 162, the second transmission member 142 can be guided and fit within the limiting sleeve 151 in the axial direction.

[0156] Specifically, as shown in Figures 8 and 12, in one embodiment of the present disclosure, the outer side surface of the second transmission member 142 is provided with an axially extending limiting rib 161, and the inner side surface of the limiting sleeve 151 is provided with a limiting groove 162 corresponding to the position of the limiting rib 161. In another embodiment of the present disclosure, the inner side surface of the limiting sleeve 151 is provided with an axially extending limiting rib 161, and the outer side surface of the second transmission member 142 is provided with a limiting groove 162 corresponding to the position of the limiting rib 161.

[0157] It can be understood that when the extension track 143 only includes the inclined section 1431, when the second transmission member 142 and the cleaning member 11 are in the avoidance position, the second transmission member 142 and the cleaning member 11 may rotate and slide from the avoidance position to the cleaning position under the action of their own gravity or the resistance of the compression spring 17.

[0158] In order to prevent the second transmission member 142 and the cleaning member 11 from rotating and sliding from the avoidance position to the cleaning position, as shown in FIG7 , in one embodiment of the present disclosure, the limiting sleeve 151 is configured to overcome the gravity of the second transmission member 142 and the cleaning member 11 through rotational resistance after the second transmission member 142 drives the cleaning member 11 to move to the avoidance position, so that the second transmission member 142 and the cleaning member 11 are maintained in the avoidance position. The second transmission member 142 and the cleaning member 11 need to rotate in the first direction to rotate and slide from the avoidance position to the cleaning position. Since the limiting bearing 152 can provide rotational resistance, the free rotation of the second transmission member 142 and the cleaning member 11 can be limited by the limiting sleeve 151, thereby preventing the second transmission member 142 and the cleaning member 11 from rotating and sliding from the avoidance position to the cleaning position under the action of the second transmission member 142 and the cleaning member 11's own weight or the resistance of the compression spring 17, thereby ensuring that the second transmission member 142 and the cleaning member 11 can be maintained in the avoidance position.

[0159] To facilitate the installation of the limiting bearing 152 and the limiting sleeve 151, as shown in Figures 7 and 11, in one embodiment of the present disclosure, a mounting cavity 134 is provided below the housing 131. The first transmission member 141 is configured to be disposed within the mounting cavity 134, and the outer ring of the limiting bearing 152 is fixedly mounted on the inner wall of the mounting cavity 134. By providing the mounting cavity 134 below the housing 131 and fixing the outer ring of the limiting bearing 152 to the inner wall of the mounting cavity 134, the limiting bearing 152 and the limiting sleeve 151 are effectively mounted on the outer side of the second transmission member 142. Furthermore, since the first transmission member 141 is disposed within the mounting cavity 134 and the second transmission member 142 is partially disposed therein, the outer wall of the mounting cavity 134 prevents external dirt from splashing onto the first and second transmission members 141, 142 during operation of the cleaning member 11, thereby ensuring the normal operation of the lifting unit 14.

[0160] In order to further limit the position of the limiting sleeve 151 and protect the first transmission member 141 and the second transmission member 142, as shown in Figure 11, in one embodiment of the present disclosure, the cleaning member 11 is provided with a receiving groove for accommodating the limiting sleeve 151, and the limiting sleeve 151 is configured to move up and down within the receiving groove. In this way, by providing the receiving groove for accommodating the limiting sleeve 151 in the cleaning member 11, the radial movement of the cleaning member 11 can be effectively limited, thereby ensuring the coaxial alignment between the cleaning member 11 and the output shaft 1331, and the outer wall of the mounting cavity 134 and the limiting sleeve 151 can jointly prevent external dirt from splashing onto the first transmission member 141 and the second transmission member 142, further ensuring the normal operation of the lifting unit 14.

[0161] In one embodiment of the present disclosure, the cleaning robot further includes a travel assembly and a control unit. The travel assembly is configured to drive the cleaning robot to travel on a work surface. The control unit is configured to control the lifting unit 14 to drive the cleaning member 11 to a avoidance position when the cleaning robot travels to an avoidance area. Specifically, the avoidance area may include a carpet or other work restricted area set by the user.

[0162] In one embodiment of the present disclosure, the cleaning robot of the present disclosure can pre-store the corresponding position of the avoidance area through pre-map creation or manual user input. When the cleaning robot moves to the avoidance area, the control unit controls the lifting unit 14 to drive the cleaning member 11 to the avoidance position, thereby avoiding contamination of the carpet or other malfunctions. In another embodiment of the present disclosure, the cleaning robot of the present disclosure can be provided with a detection sensor for detecting work restricted areas such as carpets. When the detection sensor detects that the cleaning robot is about to move to a work restricted area such as carpets, the control unit can control the lifting unit 14 to drive the cleaning member 11 to the avoidance position, thereby avoiding contamination of the carpet or other malfunctions.

[0163] The present disclosure further provides a cleaning assembly 10, which is configured to be integrally rotatably connected to a body 30 of a cleaning robot, and a reset elastic member 20 is disposed between the body 30 and the cleaning assembly 10; the cleaning assembly 10 is configured to move relative to the body 30 under the action of an external force, and to reset under the action of the reset elastic member 20 after the external force is removed;

[0164] The cleaning assembly 10 includes a cleaning mechanism 1 and a moving mechanism 2; the cleaning mechanism 1 includes a cleaning member 11, and the moving mechanism 2 is configured to drive the cleaning assembly 10 to move between a first position and a second position. When in the first position, the edge of the cleaning member 11 is within the range of the edge of the body 30, and when in the second position, at least part of the edge of the cleaning member 11 exceeds the edge of the moving range of the body 30.

[0165] In this way, during normal cleaning, the cleaning component 10 is located in the first position, and the edge of the cleaning member 11 is within the range of the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during work; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component 10 in the present disclosure moves to the second position, the cleaning range of the cleaning member 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corner positions that the body 30 cannot fit.

[0166] When the cleaning member 11 extends to the outside of the body 30 and collides with an obstacle on the side of the body 30 or an obstacle lower than the bottom surface of the body 30 appears in front of the cleaning robot, and the cleaning member 11 collides with the obstacle, the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0167] Application Scenario 1

[0168] The present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.

[0169] The cleaning robot includes at least a body 30 and a cleaning assembly 10. The cleaning assembly 10 includes a driving unit 13, a cleaning member 11, and a lifting unit 14. The lifting unit 14 includes a first transmission member 141 and a second transmission member 142. The first transmission member 141 is fixedly connected to an output shaft 1331 of the driving unit 13 so as to be rotated by the output shaft 1331. The second transmission member 142 is configured to be fixedly connected to the cleaning member 11 and rotationally connected to the driving unit 13 via a limiting sleeve 151. The second transmission member 142 is configured to be guided and fitted in the limiting sleeve 151 in the axial direction.

[0170] Among them, one of the first transmission member 141 and the second transmission member 142 is provided with a matching portion 144, and the other is provided with an extension track 143, and the extension track 143 includes an inclined section 1431 extending obliquely in the height direction along the side wall of the first transmission member 141 or the second transmission member 142; the first transmission member 141 is constructed to make the matching portion 144 move along the extension track 143 during the rotation process, so as to drive the second transmission member 142 to move between the cleaning position and the avoidance position in the height direction.

[0171] In this way, during the operation of the cleaning robot disclosed herein, when normal cleaning is required, the driving component can drive the first transmission member 141 to rotate to drive the second transmission member 142 to move downward in the height direction relative to the limiting shaft sleeve 151 to the cleaning position, and then drive the second transmission member 142 to rotate relative to the body 30 to drive the cleaning member 11 to move relative to the working surface to clean the working surface; when it is necessary to avoid obstacles such as carpets or thresholds that need to be avoided, the driving component can drive the first transmission member 141 to rotate to drive the second transmission member 142 to move upward in the height direction to the avoidance position to avoid the cleaning member 11 from contacting the carpets or other working surfaces that need to be avoided or obstacles such as thresholds, thereby preventing contamination of the carpets or other working surfaces that need to be avoided, and protecting the cleaning member 11 to avoid damage caused by collision.

[0172] It can be seen that when the cleaning robot of the present disclosure faces different cleaning scenarios, the drive unit 13 can effectively drive the cleaning member 11 to move between the cleaning position and the avoidance position along the height direction through the lifting unit 14 to cope with different cleaning scenarios. Moreover, the cleaning assembly 10 of the present disclosure can achieve the lifting and rotation of the cleaning member 11 relative to the work surface solely through the drive assembly, without the need for a separate structure to lift and lower the cleaning member 11. As a result, the cleaning assembly 10 has a compact overall structure, high integration, and takes up little space.

[0173] Application Scenario 2

[0174] The present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.

[0175] The cleaning robot includes at least a body 30, a cleaning assembly 10, and a resilient reset member 20. The cleaning assembly 10 is integrally rotatably connected to the body 30 and includes a cleaning mechanism 1 and a motion mechanism 2. The cleaning mechanism 1 includes a cleaning member 11, and the motion mechanism 2 is configured to drive the cleaning assembly 10 to move between a first position and a second position. When in the first position, the edge of the cleaning member 11 is within the range of the edge of the body 30. When in the second position, at least a portion of the edge of the cleaning member 11 exceeds the edge of the movement range of the body 30. Specifically, the cleaning member 11 is disposed at the bottom of the body 30 and can clean the work surface by moving relative to the work surface.

[0176] During the operation of the cleaning robot disclosed in the present invention, during normal cleaning, the cleaning component 10 is located in the first position, and the edge of the cleaning member 11 is located within the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned. After the cleaning component 10 in the present invention moves to the second position, the cleaning range of the cleaning member 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corner positions that the body 30 cannot fit.

[0177] In the cleaning robot disclosed herein, the reset elastic member 20 is arranged between the body 30 and the cleaning component 10. The cleaning component 10 is integrally connected to the body 30 and is constructed to move relative to the body 30 under the action of an external force, and to reset under the action of the reset elastic member 20 after the external force is removed.

[0178] In this way, when the cleaning member 11 extends to the outside of the body 30 and collides with an obstacle on the side of the body 30 or an obstacle lower than the bottom surface of the body 30 appears in front of the cleaning robot, and the cleaning member 11 collides with the obstacle, the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.

[0179] Specifically, when the cleaning member 11 is located at the second position, the cleaning member 11 is configured to overcome the force of the reset elastic member 20 and move toward the inside of the body 30 under the action of an external force, and to reset after the external force is removed.

[0180] As mentioned above, in order to fully clean the corners that the body 30 cannot fit into, when the cleaning assembly 10 moves to the second position, when the cleaning member 11 collides with an obstacle outside the body 30, the cleaning assembly 10 can overcome the force of the reset elastic member 20 under the action of an external force and move toward the inside of the body 30 to avoid the obstacle, and use the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning assembly 10. After the cleaning assembly 10 passes the obstacle and the external force is removed, the reset elastic member 20 can automatically drive the cleaning assembly 10 to return to the second position through its own elastic force, thereby continuing to clean the corners that the body 30 cannot fit into, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.

[0181] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, their practical applications, or technical improvements in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cleaning robot, characterized in that: The invention comprises a machine body (30) and a cleaning assembly (10), wherein the cleaning assembly (10) comprises a driving unit (13), a cleaning member (11) and a lifting unit (14); the lifting unit (14) comprises: A first transmission member (141), the first transmission member (141) being fixedly connected to an output shaft (1331) of the drive unit (13) so as to be controlled to rotate by the output shaft (1331); A second transmission member (142), the second transmission member (142) being configured to be fixedly connected to the cleaning member (11) and rotatably connected to the driving unit (13) via a limiting shaft sleeve (151), and the second transmission member (142) being configured to be guided and fitted in the limiting shaft sleeve (151) in the axial direction; Wherein, one of the first transmission member (141) and the second transmission member (142) is provided with a matching portion (144), and the other is provided with an extension track (143), wherein the extension track (143) comprises an inclined section (1431) extending obliquely in the height direction along the side wall of the first transmission member (141) or the second transmission member (142); the first transmission member (141) is constructed to make the matching portion (144) move along the extension track (143) during the rotation process, so as to drive the second transmission member (142) to move between the cleaning position and the avoidance position in the height direction.

2. The cleaning robot according to claim 1, characterized in that: The extension track (143) has a lower dead point (1433) and an upper dead point (1434); when the first transmission member (141) rotates in the first direction, the matching portion (144) is configured to move along the extension track (143) to the lower dead point (1433); and the second transmission member (142) is configured to drive the cleaning member (11) to move to a avoidance position; During the process of the first transmission member (141) rotating in the second direction, the matching portion (144) is constructed to move along the extension track (143) to the upper dead point (1434), and the second transmission member (142) is constructed to drive the cleaning member (11) to move to a cleaning position; and when in the cleaning position, the first transmission member (141) is constructed to drive the second transmission member (142) and the cleaning member (11) to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member (11).

3. The cleaning robot according to claim 2, characterized in that: The extension track (143) is a guide groove opened on the matching surface of the first transmission member (141) or the second transmission member (142), and the matching portion (144) is constructed to move along the guide groove between the lower dead point (1433) and the upper dead point (1434) of the guide groove.

4. The cleaning robot according to claim 3, characterized in that: The guide groove passes through a side surface of the first transmission member (141) or a side surface of the second transmission member (142).

5. The cleaning robot according to claim 2, characterized in that: The extension track (143) is a guide rail protruding from the mating surface of the first transmission member (141) or the second transmission member (142), and a blocking wall (1435) is provided at the end of the lower dead point (1433) and the end of the upper dead point (1434) of the guide rail, and the blocking wall (1435) is constructed to prevent the mating part (144) from continuing to move.

6. The cleaning robot according to claim 5, characterized in that: The guide rail also includes a horizontal section (1432) arranged at the lower dead center (1433) and the upper dead center (1434), and the horizontal section (1432) is constructed to axially support the second transmission member (142) when the matching portion (144) is located in the horizontal section (1432).

7. The cleaning robot according to claim 2, characterized in that: The matching portion (144) is a protrusion or a cam, the protrusion is configured to slide along the extension track (143), and the cam is configured to roll along the extension track (143).

8. The cleaning robot according to claim 2, characterized in that: The lifting unit (14) further comprises a compression spring (17) arranged between the second transmission member (142) and the driving unit (13); When the first transmission member (141) rotates in the first direction, the second transmission member (142) is configured to at least overcome the elastic force of the compression spring (17) to drive the cleaning member (11) to move to a avoidance position; During the process of the first transmission member (141) rotating in the second direction, the matching portion (144) is constructed to move along the extension track (143) to the upper dead point (1434), and the second transmission member (142) is constructed to drive the cleaning member (11) to move to a cleaning position at least under the action of the elastic force of the compression spring (17).

9. The cleaning robot according to claim 8, characterized in that: The cleaning robot is configured to be located above the working surface; When the working surface is rotating along the first direction of the first transmission member (141), the second transmission member (142) is configured to drive the cleaning member (11) to move to a avoidance position under the action of the elastic force of the compression spring (17) and the gravity of the second transmission member (142) and the cleaning member (11); During the process of the first transmission member (141) rotating in the second direction, the matching portion (144) is constructed to move along the extension track (143) to the upper dead point (1434), and the second transmission member (142) is constructed to drive the cleaning member (11) to move to a cleaning position under the action of the elastic force of the compression spring (17) and the gravity of the second transmission member (142) and the cleaning member (11).

10. The cleaning robot according to claim 2, characterized in that: The limiting sleeve (151) is configured to be sleeved on the outside of the second transmission member (142), and is rotationally connected to the driving unit (13) via a limiting bearing (152), and the limiting bearing (152) is configured to provide the second transmission member (142) with rotation resistance along the first direction and the second direction.

11. The cleaning robot according to claim 10, characterized in that: The limiting bearing (152) is configured to only allow the second transmission member (142) to rotate along a second direction.

12. The cleaning robot according to claim 10, characterized in that: One of the outer side surface of the second transmission member (142) and the inner side surface of the limiting sleeve (151) is provided with a limiting edge (161) extending in the axial direction, and the other is provided with a limiting groove (162) corresponding to the position of the limiting edge (161), and the limiting edge (161) is constructed to be guided and matched in the limiting groove (162).

13. The cleaning robot according to claim 10, characterized in that: The limiting sleeve (151) is configured to overcome the gravity of the second transmission member (142) and the cleaning member (11) through rotational resistance after the second transmission member (142) drives the cleaning member (11) to move to the avoidance position, so that the second transmission member (142) and the cleaning member (11) are maintained in the avoidance position.

14. The cleaning robot according to claim 10, characterized in that: The driving unit (13) comprises a cleaning motor (132), a reduction box (133) and a housing (131); the cleaning motor (132) and the reduction box (133) are both arranged in the housing (131); the rotating shaft of the cleaning motor (132) is fixedly connected to the input shaft of the reduction box (133); and the first transmission member (141) is fixedly connected to the input shaft of the reduction box (133); An installation cavity (134) is provided below the housing (131); the first transmission member (141) is configured to be disposed in the installation cavity (134); and the outer ring of the limit bearing (152) is fixedly disposed on an inner wall of the installation cavity (134).

15. The cleaning robot according to any one of claims 1 to 14, characterized in that: It also includes a traveling component and a control unit, wherein the traveling component is configured to drive the cleaning robot to travel on a working surface, and the control unit is configured to control the lifting unit (14) to drive the cleaning member (11) to move to the avoidance position when the cleaning robot travels to the avoidance area.

16. The cleaning robot according to any one of claims 1 to 14, characterized in that: The cleaning component (10) is integrally rotatably connected to the machine body (30), and comprises a cleaning mechanism (1) and a moving mechanism (2); the cleaning mechanism (1) comprises the cleaning member (11), and the moving mechanism (2) is configured to drive the cleaning component (10) to move between a first position and a second position, wherein when the cleaning member (11) is located at the first position, an edge of the cleaning member (11) is located within the range of an edge of the machine body (30), and when the cleaning member (11) is located at the second position, at least part of the edge of the cleaning member (11) exceeds the edge of the moving range of the machine body (30); The cleaning robot further comprises a resetting elastic member (20), wherein the resetting elastic member (20) is arranged between the body (30) and the cleaning assembly (10); the cleaning assembly (10) is configured to move relative to the body (30) under the action of an external force, and to reset under the action of the resetting elastic member (20) after the external force is removed.

17. The cleaning robot according to claim 16, characterized in that: When the cleaning member (11) is located at the second position, the cleaning member (11) is configured to overcome the action force of the reset elastic member (20) under the action of an external force and move toward the inside of the machine body (30), and to reset after the external force is removed.

18. The cleaning robot according to claim 17, characterized in that: The motion mechanism (2) comprises a rotating shaft (21) and a rotating motor (22); the rotating shaft (21) is rotatably connected to the machine body (30); the cleaning component (10) is fixed to the rotating shaft (21); and the rotating motor (22) is configured to drive the rotating shaft (21) to rotate, so as to drive the cleaning component (10) to move relative to the machine body (30) on an arc between a first position and a second position.

19. The cleaning robot according to claim 18, characterized in that: The output shaft (1331) of the rotating motor (22) is parallel to the rotating shaft (21); a driving wheel (23) is arranged at the top end of the output shaft (1331); a driven wheel (24) is arranged at the top end of the rotating shaft (21); and the driving wheel (23) is transmission-connected to the driven wheel (24).

20. The cleaning robot according to claim 18, characterized in that: The motion mechanism (2) further comprises a rotating bracket (25), the rotating bracket (25) being rotatably connected to the machine body (30), the rotating motor (22) being fixedly arranged on the rotating bracket (25), and the rotating shaft (21) being rotatably connected to the rotating bracket (25).

21. The cleaning robot according to claim 20, characterized in that: The resetting elastic member (20) is a torsion spring sleeved on the rotating bracket (25), and one end of the torsion spring abuts against the rotating bracket (25), and the other end abuts against the machine body (30).

22. The cleaning robot according to claim 20, characterized in that: The cleaning mechanism (1) is provided with a connecting portion (12), the connecting portion (12) is provided with a fixing hole, the rotating shaft (21) passes through the fixing hole, and the connecting portion (12) abuts against the top of the rotating bracket (25).

23. The cleaning robot according to claim 20, characterized in that: The bottom of the rotating bracket (25) is provided with a receiving cavity, a fixed shaft (26) fixedly connected to the machine body (30) is provided in the receiving cavity, and a lower bearing (28) is provided between the fixed shaft (26) and the inner wall of the receiving cavity.

24. The cleaning robot according to claim 23, characterized in that: The rotating shaft (21) is coaxially arranged with the fixed shaft (26); and the cleaning member (11) is configured to move the entire cleaning assembly (10) between a first position and a second position under the action of an external force.

25. The cleaning robot according to claim 16, characterized in that: The cleaning mechanism (1) comprises a housing (131) and a cleaning motor (132) located in the housing (131); an output shaft (1331) of the cleaning motor (132) is drivingly connected to the cleaning member (11) and is configured to drive the cleaning member (11) to rotate on a working surface so as to clean the working surface.

26. The cleaning robot according to claim 25, characterized in that: A speed reduction mechanism is provided in the housing (131), and the output shaft (1331) of the cleaning motor (132) is transmission-connected to the cleaning member (11) via the speed reduction mechanism.

27. The cleaning robot according to claim 26, characterized in that: The machine body (30) has an inner cavity (31), and an arc-shaped through hole (32) is arranged at the bottom of the machine body (30); the cleaning component (10) is installed in the inner cavity (31) of the machine body (30), and the output end of the speed reduction mechanism is connected to the cleaning member (11) through the arc-shaped through hole (32), and the cleaning member (11) is constructed to move under the restriction of the arc-shaped through hole (32).

28. The cleaning robot according to claim 25, characterized in that: The cleaning component (10) is mounted on the machine body (30) in a module manner.

29. The cleaning robot according to claim 16, characterized in that: The cleaning member (11) is a movable rag disc, and at least one movable rag disc is arranged on the machine body (30).

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