Cleaning robot

Abstract

A cleaning robot, comprising a robot body (10) and cleaning members (20) mounted on the robot body (10) by means of mechanical swing arms (30). By means of a first joint assembly (50), a first arm end of each mechanical swing arm (30) is transmittingly connected to a first motor (91) fixedly mounted on the robot body (10), so as to use power output generated by the first motor (91) to achieve horizontal swinging of the corresponding cleaning member (20). Each cleaning member (20) is located at a second arm end of the corresponding mechanical swing arm (30), and by means of a second joint assembly (60), each cleaning member (20) is transmittingly connected to a second motor (92) fixedly mounted on the corresponding mechanical swing arm (30), so as to use power output generated by the second motor (92) to achieve continuous horizontal rotation for ground cleaning. At least one of the first joint assembly (50) and the second joint assembly (60) can also generate axial joint displacement under the driving of received power output, so that the axial joint displacement triggers the corresponding cleaning member (20) to move up and down. Therefore, the height of the cleaning members (20) mounted on the robot body (10) by means of the mechanical swing arms (30) can be adjusted, without additionally introducing extra motors to provide power output for height adjustment.

Description

Cleaning robots

[0001] This application claims priority to Chinese Patent Application No. 202410687627.2, filed on May 29, 2024, entitled "Cleaning Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to intelligent robot technology, and more particularly to a cleaning robot. Background Technology

[0003] The mobile chassis of the cleaning robot can be equipped with a rotating roller brush. During the movement of the cleaning robot, the rotating roller brush can rotate to perform a hoisting operation on the ground under the mobile chassis, so as to hoist the dirt on the ground into the dust collection component inside the cleaning robot.

[0004] In addition, cleaning robots can also have cleaning components such as side brushes and / or mop trays. The side brushes are used to sweep the floor by rotating horizontally on both sides of the front of the cleaning robot, so that dirt on the floor can be gathered to the area that can be swept up by the rotating roller brush, thereby improving cleaning efficiency; the mop trays are used to wipe the floor by rotating horizontally on both sides of the rear of the cleaning robot, so that the area swept up by the rotating roller brush can be further cleaned by wiping with a cloth.

[0005] Typically, cleaning components such as side brushes and / or cloth trays can be mounted on the robot body of the cleaning robot via a mechanical swing arm, and the cleaning components can be adjusted to be suspended in a selected position outside the edge of the robot body by the horizontal swing of the mechanical swing arm.

[0006] However, the mechanical arm cannot support height adjustment of the cleaning components, which may reduce the efficiency of the cleaning robot in performing its cleaning tasks.

[0007] Therefore, how to adjust the height of the cleaning components mounted on the robot body using a mechanical swing arm has become a technical problem that needs to be solved in the existing technology. Summary of the Invention

[0008] The embodiments of this application provide a cleaning robot that can use a mechanical swing arm to support the horizontal adjustment of the cleaning components and simultaneously support the height adjustment of the cleaning components.

[0009] In one embodiment of this application, a cleaning robot includes a robot body and a cleaning component mounted on the robot body using a mechanical swing arm;

[0010] The first arm end of the mechanical swing arm is connected to the first motor fixedly mounted on the robot body via a first joint assembly, and the first joint assembly is used to trigger the mechanical swing arm to drive the cleaning component to swing horizontally in response to the power output of the first motor.

[0011] The mechanical swing arm is fixedly equipped with a second motor, which is connected to the cleaning component correspondingly mounted on the mechanical swing arm via a second joint assembly. The second joint assembly and the cleaning component are located at the second arm end of the mechanical swing arm, and the second joint assembly is used to trigger the cleaning component to rotate continuously in response to the power output of the second motor.

[0012] Wherein, the first joint assembly is further configured to generate a first joint axial misalignment in response to the power output of the first motor, and / or the second joint assembly is further configured to generate a second joint axial misalignment in response to the power output of the second motor, the first joint axial misalignment being used to cause the mechanical swing arm to drive the cleaning component to rise and fall, and the second joint axial misalignment being used to cause the cleaning component to rise and fall relative to the mechanical swing arm.

[0013] In some examples, the first joint assembly is optionally configured to: in response to a positive or negative power output from the first motor, cause the mechanical swing arm to swing the cleaning member horizontally, and cause axial misalignment of the first joint during the horizontal swing.

[0014] In some examples, the system may optionally include a sensing component and a control module, wherein the sensing component is used to sense spatial position information of a facade corner adjacent to the cleaning robot, the control module is used to control the first motor based on the spatial position information, and the mechanical swing arm drives the horizontal swing of the cleaning component to ensure that the cleaning component maintains continuous contact with the facade corner as the cleaning robot turns and travels around the facade corner.

[0015] In some examples, the cleaning component may optionally include a side brush or a cloth tray, wherein the side brush includes a side brush base, a brush strip extending radially downward from the side brush base, and a cylindrical brush body surrounding the side brush base.

[0016] In some examples, the second joint assembly is optionally configured to: induce continuous translational rotation of the cleaning member in response to a forward power output from the second motor, and induce axial misalignment of the second joint in response to a reverse power output from the second motor, wherein the forward and reverse power outputs of the second motor are controlled to switch, the cleaning members are arranged in pairs, each pair of cleaning members is mounted on the robot body using a pair of mechanical arms, and the switching condition for the reverse power output of the second motor includes the convergence of the mechanical arms carrying the pair of cleaning members, and the convergence of the mechanical arms is used to grip a target object.

[0017] In some examples, optionally, the mechanical swing arm includes a joint base located at the end of the first arm. The first joint assembly includes a first rotating shaft, a guide roller, and an annular fixed guide rail. The first rotating shaft is drively connected between the first motor and the joint base. The guide roller is mounted on the outer periphery of the first rotating shaft. The annular fixed guide rail surrounds the outer periphery of the first rotating shaft and is fixedly arranged relative to the first motor. The annular fixed guide rail has an annular concave-convex end face, and the guide roller contacts the annular concave-convex end face of the annular fixed guide rail. Wherein: the first rotating shaft responds to the rotation of the power output of the first motor to drive the mechanical swing arm to swing horizontally via the joint base; the axial misalignment of the first joint includes: during the rotation of the first rotating shaft, the axial position change of the guide roller caused by the annular concave-convex end face of the annular fixed guide rail drives the mechanical swing arm to move the cleaning component up and down via the first rotating shaft and the joint base.

[0018] In some examples, optionally, the output shaft of the first motor is suspended along the lifting direction of the cleaning member, the joint base is located below the output shaft of the first motor, the top end of the first rotating shaft is coaxially engaged with the output shaft of the first motor, and the bottom end of the first rotating shaft is fixedly connected to the joint base.

[0019] In some examples, the outer periphery of the first shaft may optionally have a radial convex shaft, and the guide roller may be mounted on the radial convex shaft.

[0020] In some examples, the first joint assembly may optionally include a first retaining sleeve fixedly mounted to the motor housing of the first motor, and the annular retaining guide rail is integrated into the open end face of the first retaining sleeve.

[0021] In some examples, the first joint assembly may optionally include an elastic retaining member that generates an elastic constraint force on the first pivot shaft, thereby keeping the guide roller in contact with the annular concave-convex end face of the annular fixed guide rail.

[0022] In some examples, optionally, the mechanical swing arm includes a joint housing located at the end of the second arm. The second joint assembly includes a second rotating shaft, a clutch drum, and a helical fixed guide rail. The second rotating shaft passes through the joint housing and is drively connected between the second motor and the cleaning component. The clutch drum is slidably engaged with the helical fixed guide rail. Wherein: the second rotating shaft responds to the forward rotation of the forward power output of the second motor to drive the cleaning component to rotate continuously; the second rotating shaft responds to the reverse rotation of the reverse power output of the second motor to form a connection between the second rotating shaft and the... The synchronous rotation constraint between the clutch drums; the axial misalignment of the second joint includes: during the reverse rotation of the clutch drum based on the synchronous rotation constraint, an axial position rise caused by relative sliding with the helical fixed guide rail triggers the second shaft to drive the cleaning member to rise relative to the mechanical swing arm; and the synchronous rotation constraint is released when the second shaft rotates in response to the positive rotation of the positive power output of the second motor, and in response to the release of the synchronous rotation constraint, the axial position of the clutch drum decreases to trigger the second shaft to drive the cleaning member to decrease relative to the mechanical swing arm.

[0023] In some examples, optionally, the output shaft of the second motor and the joint cover are both arranged vertically, the output shaft of the second motor and the joint cover are parallel and spaced apart, the bottom end of the second rotating shaft is fixedly connected to the cleaning member, and the top end of the second rotating shaft is driven by the output shaft of the second motor through a gear set; wherein, the final gear in the gear set coaxially connected to the second rotating shaft has a first gear thickness, the preceding gear in the gear set has a second gear thickness, the first gear thickness is greater than the second gear thickness, and the thickness difference between the first gear thickness and the second gear thickness is greater than or equal to the lifting amplitude of the cleaning member relative to the mechanical swing arm.

[0024] In some examples, optionally, the inner wall of the clutch drum has an inner ratchet; the second joint assembly further includes a second flange and a pawl, the second flange being fixedly connected between the second shaft and the cleaning member, the second flange being located in the clutch drum, the pawl being mounted on the second flange, the pawl extending radially beyond the edge of the second flange, and the pawl contacting the inner ratchet; wherein, during the period of reverse rotation of the second shaft in response to the reverse power output of the second motor, the pawl engages with the inner ratchet to form the synchronous rotation constraint between the second shaft and the clutch drum; and, during the period of forward rotation of the second shaft in response to the forward power output of the second motor, the pawl slides against the inner ratchet, causing the synchronous rotation constraint to be released.

[0025] In some examples, optionally, the second rotating shaft is subjected to a first upward axial elastic force, and the clutch drum is subjected to a second downward axial elastic force, the second axial elastic force being greater than the first axial elastic force, the second axial elastic force causing the clutch drum to prevent the second rotating shaft from rising; during the reverse rotation of the clutch drum based on the synchronous rotation constraint, relative sliding with the helical fixed guide rail causes the clutch drum to overcome the second axial elastic force and rise axially, so that the second rotating shaft, driven by the first axial elastic force, drives the cleaning member to rise relative to the mechanical swing arm; and, in response to the release of the synchronous rotation constraint, the clutch drum, driven by the second axial elastic force, descends axially, so that the second rotating shaft, overcoming the first axial elastic force, drives the cleaning member to descend relative to the mechanical swing arm.

[0026] In some examples, the second joint assembly may optionally include a second retaining sleeve fixedly mounted to the joint housing, and the helical retaining guide rail is integrated into the second retaining sleeve.

[0027] In some examples, the mechanical arm may optionally include a clamping member that moves up and down synchronously with the second rotating shaft.

[0028] In some examples, optionally, the second rotating shaft has an outer flange that bears a first axial elastic force generated by a first axial elastic member, and the first axial elastic force causes the second rotating shaft to move upward; the clutch drum bears a second axial elastic force generated by a second axial elastic member, the second axial elastic force causing the clutch drum to move downward, the clutch drum preventing the second rotating shaft from rising under the drive of the second axial elastic force, and the second axial elastic force being greater than the first axial elastic force; wherein, during the reverse rotation of the clutch drum based on the synchronous rotation constraint, relative sliding with the helical fixed guide rail causes the clutch drum to rise axially against the second axial elastic force, so that the second rotating shaft drives the cleaning member to rise relative to the mechanical swing arm under the drive of the first axial elastic force; and, in response to the release of the synchronous rotation constraint, the clutch drum descends axially under the drive of the second axial elastic force, so that the second rotating shaft drives the cleaning member to descend relative to the mechanical swing arm against the first axial elastic force.

[0029] In some examples, optionally, the top end of the second shaft engages with the second motor drive, the second joint assembly further includes a second flange and a mounting turntable, the second flange is fixedly connected to the bottom end of the second shaft, the mounting turntable is fixedly connected below the second flange, and the cleaning member is fixedly connected below the mounting turntable; wherein, the clutch drum presses down on the mounting turntable under the drive of the second axial elastic force to prevent the second shaft from rising.

[0030] In some examples, the second joint assembly may optionally include a second retaining sleeve fixedly mounted to the joint housing, the outer wall of the second retaining sleeve surrounding the outer periphery of the clutch cylinder, and the helical fixing guide integrated into the outer wall, wherein: the helical fixing guide is a helical guide groove formed in the outer wall, and the outer periphery of the clutch cylinder has a sliding guide shaft inserted into the helical guide groove; or, the helical fixing guide is a helical guide tooth formed on the end edge of the outer wall, and the outer periphery of the clutch cylinder has a helical protrusion complementary to the helical guide tooth.

[0031] In some examples, the mechanical swing arm may optionally include a rigid swing arm body, a joint base, and a joint housing, wherein: the joint base is located at the first arm end and is drivenly connected to the first motor via a first joint assembly; the joint housing is located at the second arm end and the second joint assembly is mounted on the joint housing; the rigid swing arm body is located between the joint base and the joint housing, wherein the rigid swing arm body is connected to the joint base and / or the joint housing in a resilient hinged manner with a return capability.

[0032] Based on the above embodiments of this application, a cleaning component can be mounted on the robot body using a mechanical swing arm. The first end of the mechanical swing arm is connected to a first motor fixedly mounted on the robot body via a first joint assembly, allowing the cleaning component to swing horizontally using the power output generated by the first motor. The cleaning component is located at the second end of the mechanical swing arm, and is connected to a second motor fixedly mounted on the mechanical swing arm via a second joint assembly, allowing continuous horizontal rotation for floor cleaning using the power output generated by the second motor. Furthermore, at least one of the first and second joint assemblies can also undergo axial joint misalignment under the drive of the received power output, causing the cleaning component to rise or fall, thereby enabling height adjustment of the cleaning component mounted on the robot body using the mechanical swing arm. Moreover, regardless of which of the first and second joint assemblies achieves height adjustment of the cleaning component through joint misalignment, no additional motor is required to provide power output for height adjustment. Attached Figure Description

[0033] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0034] The following figures are for illustrative purposes only and do not limit the scope of this application:

[0035] Figure 1a is an exemplary structural diagram of a cleaning robot in an embodiment of this application;

[0036] Figure 1b is a diagram showing the connection relationship between the robot body and the first motor of another exemplary cleaning robot in an embodiment of this application;

[0037] Figure 2 is a schematic diagram of an example of the cleaning robot shown in Figure 1a performing corner cleaning by adjusting its mechanical swing arm;

[0038] Figure 3 is a schematic diagram of the optimized side brush structure of the cleaning robot shown in Figure 1b;

[0039] Figure 4 is a schematic diagram of an example of the cleaning robot shown in Figure 1b performing facade cleaning using optimized side brushes;

[0040] Figure 5 is a schematic diagram of an example of the cleaning robot shown in Figure 1a performing target object clamping by adjusting the mechanical swing arm;

[0041] Figure 6 is a schematic diagram of an example of the cleaning robot shown in Figure 1a lifting the clamped target object by adjusting the height of the cleaning components;

[0042] Figure 7 is an exploded structural diagram of the first joint assembly of the cleaning robot shown in Figure 1a;

[0043] Figure 8 is a cross-sectional view of the assembly structure of the first joint component of the cleaning robot shown in Figure 1a;

[0044] Figure 9 is a partial cross-sectional view of the elastic hinge portion of the mechanical arm of the cleaning robot shown in Figure 1a.

[0045] Figure 10 is a schematic diagram of the first example structure of the elastic hinge part of the mechanical arm of the cleaning robot shown in Figure 1a.

[0046] Figure 11 is a schematic diagram of a second example of the elastic hinge portion of the mechanical arm of the cleaning robot in an embodiment of this application.

[0047] Figure 12 is an exploded structural diagram of the second joint assembly of the cleaning robot shown in Figure 1a;

[0048] Figure 13 is a schematic diagram of the assembly structure of the second joint assembly shown in Figure 12;

[0049] Figure 14a is a cross-sectional view of the assembly structure of the second joint assembly shown in Figure 12;

[0050] Figure 14b is a partial cross-sectional view of the assembly structure of the second joint component of the cleaning robot shown in Figure 1b;

[0051] Figure 15 is an alternative structural cross-sectional view of the second joint assembly of the cleaning robot in an embodiment of this application;

[0052] Figure 16 is a partial assembly view of the clamping components of the cleaning robot in an embodiment of this application.

[0053] Reference numerals in the attached figures: 10 - Robot body; 20 - Cleaning component; 21 - Side brush; 211 - Side brush base; 2111 - Main body; 2112 - Connecting part; 212 - Brush strip; 215 - Cylindrical brush body; 22 - Cloth tray; 30 - Mechanical swing arm; 31 - Joint base; 311 - Hinge boss; 312 - Reset ridge; 32 - Joint cover; 320 - Top of cover; 33 - Vertical hinge axis; 34 - Horizontal hinge axis; 35 - Rigid body of the swing arm; 35 1-End slot; 353-Slot bottom flange; 355-Slot cover; 356-Slot cover flange; 36-First return torsion spring; 37-Clamping member; 371-Drive plate; 372-Clamping plate; 373-Return reset member; 375-Limit screw; 50-First joint assembly; 51-First rotating shaft; 511-Insertion square hole; 512-Square bar end; 513-Radial convex shaft; 515-Guide roller; 52-First flange; 53-First fixing sleeve Cylinder; 530-Annular fixed guide rail; 56-Linear bearing; 57-Elastic retaining member; 60-Second joint assembly; 61-Second rotating shaft; 610-Outer flange of rotating shaft; 62-Locking screw; 63-Final stage gear; 64-Second flange; 640-Pawl mounting post; 65-Mounting turntable; 66-Clutch rotating cylinder; 660-Inner ratchet; 661-Sliding guide shaft; 662-Helical outer protrusion; 665-Inner flange of rotating cylinder; 666-Annular groove on outer wall ; 67-Pawl; 670-Pawl outward tilting torsion spring; 68-Second fixing sleeve; 681-Annular top cover; 682-Inner cylinder wall; 683-Inner cylinder limiting bottom; 685-Outer cylinder wall; 686-First axial elastic member; 687-Second axial elastic member; 69-Spiral fixing guide rail; 691-Spiral guide groove; 692-Spiral guide tooth; 81-Flexible thin and light object; 82-Block-shaped target object; 91-First motor; 92-Second motor. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments.

[0056] Figure 1a is an exemplary structural diagram of a cleaning robot according to an embodiment of this application. Referring to Figure 1a, in an embodiment of this application, the cleaning robot may include a robot body 10 and a cleaning component 20 mounted on the robot body 10 using a mechanical swing arm 30. The first arm end of the mechanical swing arm 30 is connected to the first motor 91 fixedly mounted on the robot body 10 via the first joint assembly 50. The first joint assembly 50 is used to cause the mechanical swing arm 30 to drive the cleaning component 20 to swing horizontally in response to the power output of the first motor 91. The mechanical swing arm 30 is fixedly mounted with the second motor 92, which is connected to the corresponding cleaning component 20 mounted on the mechanical swing arm 30 via the second joint assembly 60. The second joint assembly 60 and the cleaning component 20 are located at the second arm end of the mechanical swing arm 30. The second joint assembly 60 is used to cause the cleaning component 20 to rotate continuously in response to the power output of the second motor 92. The first joint assembly 50 is also used to generate a first joint axial misalignment in response to the power output of the first motor 91, and / or the second joint assembly 60 is also used to generate a second joint axial misalignment in response to the power output of the second motor 92. The first joint axial misalignment is used to cause the mechanical swing arm 30 to drive the cleaning component 20 to rise and fall, and the second joint axial misalignment is used to cause the cleaning component 20 to rise and fall relative to the mechanical swing arm 30.

[0057] Based on the above embodiments of this application, the cleaning component 20 can be mounted on the robot body 10 using a mechanical swing arm 30. The first arm end of the mechanical swing arm 30 is connected to a first motor 91 fixedly mounted on the robot body 10 via a first joint assembly 50, so that the cleaning component 20 can be horizontally swung using the power output generated by the first motor 91. The cleaning component 20 is located at the second arm end of the mechanical swing arm 30, and the cleaning component 20 is connected to a second motor 92 fixedly mounted on the mechanical swing arm 30 via a second joint assembly 60, so that the cleaning component 20 can be continuously horizontally rotated for floor cleaning using the power output generated by the second motor 92. Furthermore, at least one of the first joint assembly 50 and the second joint assembly 60 can also undergo axial joint misalignment under the drive of the received power output, thereby causing the cleaning component 20 to rise or fall, thus enabling height adjustment of the cleaning component 20 mounted on the robot body 10 using the mechanical swing arm 30. Moreover, regardless of whether the first joint assembly 50 or the second joint assembly 60 achieves height adjustment of the cleaning component 20 through joint misalignment, it is not necessary to introduce an additional motor to provide power output for height adjustment.

[0058] In another embodiment of this application, the mechanical arm 30 may also form a module with the first joint assembly 50 and the first motor 91, and the module may be assembled with the robot body 10.

[0059] In this embodiment of the application, as shown in Figures 1a and 1b, Figure 1b is a connection diagram of the robot body 10 and the first motor 91 of another exemplary cleaning robot in this embodiment of the application. The housing of the first motor 91 can be connected to the first flange 52 and fixedly connected to the robot body 10 through the first flange 52 and fasteners. The cleaning component 20 may include at least one of a side brush 21 and a wiping tray 22. Exemplarily, as illustrated in the figures of this embodiment of the application, each cleaning component 20, whether it is a side brush 21 or a wiping tray 22, can be arranged in pairs, and each cleaning component 20 arranged in pairs (i.e., side brush 21 or wiping tray 22) can be respectively mounted on the robot body 10 using a pair of mechanical swing arms 30.

[0060] In an embodiment of this application, as shown in FIG1a, the first arm end (or arm root end) of the mechanical swing arm 30 can be connected to the first motor 91 fixedly mounted on the robot body 10 via the first joint assembly 50. The first joint assembly 50 is used to induce the mechanical swing arm 30 to swing the cleaning component 20 horizontally in response to the power output of the first motor 91. The axis of horizontal swing is the rotation axis C1 shown in FIG1a. Therefore, by using the mechanical swing arm 30 to swing the cleaning component 20 horizontally, the cleaning component 20 can be positioned at a selected location outside the edge of the robot body 10.

[0061] In an embodiment of this application, as shown in FIG1a, a second motor 92 is fixedly mounted on the mechanical swing arm 30. The second motor 92 is connected to the cleaning component 20 correspondingly mounted on the mechanical swing arm 30 via a second joint assembly 60. The second joint assembly 60 and the cleaning component 20 are located at the second arm end of the mechanical swing arm 30. The second joint assembly 60 is used to induce the cleaning component 20 to continuously rotate in response to the power output of the second motor 92. The rotation axis is the vertical axis C2 shown in FIG1a. Thus, no matter where the mechanical swing arm 30 swings the cleaning component 20, the cleaning component 20 can perform floor cleaning by continuously rotating.

[0062] Exemplary, in an embodiment of this application, as shown in FIG1a, the mechanical swing arm 30 may include a rigid swing arm body 35, a joint base 31, and a joint housing 32. The joint base 31 is located at the first arm end and is connected to the first motor 91 via a first joint assembly 50. The joint housing 32 is located at the second arm end and a second joint assembly 60 is mounted on the joint housing 32. The rigid swing arm body 35 is located between the joint base 31 and the joint housing 32. Thus, the joint base 31 can serve as the horizontal swing fulcrum of the mechanical swing arm 30, and the joint housing 32 can serve as the horizontal rotation fulcrum of the cleaning member 20.

[0063] Exemplarily, in embodiments of this application, the cleaning robot may further include sensing components and a control module. The sensing components may include lateral ranging sensing components such as a 3D vision module, LiDAR, or sensors; collision sensing components such as collision sensors; and ground feature sensing components such as a 3D vision module for detecting ground irregularities or subsidence. Furthermore, the sensing components may be arranged in the robot body 10 and / or the mechanical arm 30 (e.g., at least one of the rigid arm body 35 and the joint housing 32). The control module may include at least one of the following: processing elements such as a CPU (central processing unit); logic devices such as an FPGA (Field-Programmable Gate Array); image signal processors such as a GPU (Graphics Processing Unit); and intelligent processing units such as an AI (Artificial Intelligence) processing unit. In this scenario, when the cleaning robot moves to a location adjacent to a facade (e.g., a wall), the sensing component can detect the spatial position information of the facade. Based on this spatial position information, the control module controls the first motor 91 to drive the mechanical swing arm 30 to move the cleaning component 20 horizontally. This ensures that the cleaning component 20 is in contact with the facade while avoiding physical interference between the cleaning component 20 and the facade that would hinder the robot's movement. Furthermore, while cleaning the floor, the facade can also be cleaned simultaneously. For example, if the cleaning component 20 includes a side brush 21, the side brush 21 may include a side brush base 211 connected to the second joint assembly 60, and brush strips 212 extending downwardly from the side brush base 211. During the process where the power output generated by the second motor 92 drives the side brush base 211 to rotate horizontally through the second joint assembly 60 (i.e., the side brush 21 rotates horizontally), the brush strips 212 can perform floor and facade cleaning through physical contact with the floor and facade. For example, if the cleaning component 20 includes a mop tray 22, then the mop tray 22 may include a tray base connected to the second joint assembly 60, and a mop attached to the lower surface of the tray base and wrapping around the tray. During the process of the power output generated by the second motor 92 driving the tray base to rotate horizontally through the second joint assembly 60 (i.e., the mop tray 22 rotates horizontally), the mop can perform floor cleaning and vertical cleaning through physical contact with the ground and the vertical surfaces. Optionally, the side brush base 211 of the side brush 21 and the tray base of the mop tray 22 can both be snapped into the second joint assembly 60 at one end of the mechanical swing arm 30.

[0064] Figure 2 is a schematic diagram illustrating an example of the cleaning robot shown in Figure 1a performing corner cleaning by adjusting the mechanical swing arm 30. Referring to Figure 2, if the adjacent facade of the cleaning robot has a corner, the cleaning robot can turn and move at the corner. During this turning motion, the sensing component can detect the spatial position information of the adjacent facade corner. The control module can control the first motor 91 based on this spatial position information. The power output of the first motor 91 causes the suspension position of the cleaning component 20 (i.e., the side brush 21 and / or the wiping cloth tray 22) to actively adapt to the change in the facade at the corner. Thus, the horizontal swing of the cleaning component 20 (i.e., the side brush 21 and / or the wiping cloth tray 22) driven by the mechanical swing arm 30 ensures that the cleaning component 20 (i.e., the side brush 21 and / or the wiping cloth tray 22) maintains continuous contact with the facade corner as the cleaning robot turns and moves around it. Therefore, while cleaning the floor, cleaning of the facade and its corners can also be carried out simultaneously.

[0065] As shown in Figure 2, the cleaning robot in the starting position has its two mechanical arms 30 with the included angle between them set to the maximum angle. At this time, both mechanical arms 30 are partially located within the robot body 10. As the cleaning robot moves, the included angle between the two mechanical arms 30 changes accordingly.

[0066] In the embodiments of this application, the mechanical swing arm 30 can be integrally rigid, that is, the joint base 31 and the joint cover 32 are rigidly connected to opposite ends of the rigid body 35 of the swing arm, respectively.

[0067] In embodiments of this application, the mechanical swing arm 30 may not be integrally rigid, and the mechanical swing arm 30 may have an adaptive bending capability, that is, the rigid body 35 of the swing arm and the joint base 31 and / or the joint cover 32 may be connected in an elastic hinge manner with a return capability. For example, the rigid body 35 of the swing arm and the joint base 31 may be connected in an elastic hinge manner with a return capability, and the rigid body 35 of the swing arm may be rigidly connected to the joint cover 32 (e.g., the rigid body 35 of the swing arm and the joint cover 32 are integrally integrated); or, the rigid body 35 of the swing arm and the joint base 31 may be rigidly connected (e.g., the rigid body 35 of the swing arm and the joint base 31 are integrally integrated), and the rigid body 35 of the swing arm and the joint cover 32 may be connected in an elastic hinge manner with a return capability; or, the rigid body 35 of the swing arm and the joint base 31 may be connected in an elastic hinge manner with a return capability, and the rigid body 35 of the swing arm and the joint cover 32 may be connected in an elastic hinge manner with a return capability.

[0068] In the embodiments of this application, if the adaptive bending of the mechanical swing arm 30 includes adaptive bending between the rigid body 35 of the swing arm and the joint base 31 through an elastic hinge, then the elastic hinge between the rigid body 35 of the swing arm and the joint base 31 can allow the rigid body 35 of the swing arm to respond to the external force (e.g., resistance from the vertical surface) on the mechanical swing arm 30 and undergo adaptive oscillation relative to the joint base 31, thereby driving the cleaning member 20 to adaptively swing relative to the joint base 31 through the joint cover 32. The adaptive oscillation can at least include adaptive oscillation, and the axis of rotation of the adaptive oscillation is the vertical axis C3 shown in FIG1a. That is, the elastic hinge between the rigid body 35 of the swing arm and the joint base 31 can be a unidirectional hinge or a multidirectional hinge that supports adaptive oscillation. Furthermore, when the external force disappears, the rigid body 35 of the swing arm can drive the cleaning member 20 to automatically reset to the default relative position with respect to the joint base 31 through the joint cover 32. Similarly, if the adaptive bending of the mechanical swing arm 30 includes adaptive bending between the rigid body 35 of the swing arm and the joint housing 32 via an elastic hinge, then the elastic hinge between the rigid body 35 of the swing arm and the joint housing 32 can allow the joint housing 32 to adaptively swing relative to the rigid body 35 of the swing arm in response to external forces (such as resistance from the vertical surface), thereby causing the cleaning member 20 to adaptively swing relative to the joint base 31. That is, the elastic hinge between the rigid body 35 of the swing arm and the joint housing 32 can be a unidirectional hinge or a multidirectional hinge that supports adaptive swing; and when the external force disappears, the joint housing 32 can cause the cleaning member 20 to automatically reset to the default relative position with respect to the joint base 31.

[0069] In the embodiments of this application, the adaptive bending capability of the mechanical swing arm 30 can reduce the control accuracy of the cleaning robot's trajectory when the cleaning robot is cleaning a facade, a corner of a facade, or a facade. In this case, the sensing components described above may also include an angle sensor or a force sensor disposed at the elastic hinge portion between the rigid body 35 of the swing arm and the joint base 31 and / or the joint cover 32, so that the control module can determine the degree of bending of the mechanical swing arm 30 at the elastic hinge portion based on the sensing results of the sensing components at the elastic hinge portion. Furthermore, the control module can use the degree of bending of the mechanical swing arm 30 at the elastic hinge portion as feedback to adjust the trajectory of the cleaning robot when it approaches a corner or facade.

[0070] Figure 3 is a schematic diagram of the optimized structure of the side brush 21 of the cleaning robot shown in Figure 1b. Figure 4 is a schematic diagram of an example of the cleaning robot shown in Figure 1b using the optimized side brush 21 to perform facade cleaning. Referring to Figures 3 and 4, in the embodiments of this application, the side brush 21 may further include a cylindrical brush body 215 surrounding the side brush base 211, and the brush strips 212 may extend radially downward from the side brush base 211 through the cylindrical brush body 215. For example, the cylindrical brush body 215 may include a bristle brush or a silk brush, and although the cylindrical brush body 215 is shown as cylindrical in the illustrations of this application, it does not mean that the embodiments of this application intend to limit the cylindrical brush body 215 to a cylindrical shape; that is, the cylindrical brush body 215 may also be any kind of rotating body structure such as spherical or conical.

[0071] The side brush 21 shown in Figure 1a without the cylindrical brush body 215 is a non-cylindrical side brush, while the side brush 21 shown in Figure 1b with the cylindrical brush body 215 is a cylindrical side brush. The cylindrical side brush and the non-cylindrical side brush are two different accessories that can be used interchangeably. They can be disassembled and installed according to the needs, and are easy to disassemble and replace.

[0072] Figure 5 is a schematic diagram illustrating an example of the cleaning robot shown in Figure 1a performing target object clamping by adjusting the mechanical swing arms 30. Referring to Figure 5, in embodiments of this application, if the cleaning components 20 are arranged in pairs, and each pair of cleaning components 20 is mounted on the robot body 10 using a pair of mechanical swing arms 30, then the horizontal swing of the mechanical swing arms 30 can also bring the mechanical swing arms 30 carrying the pair of cleaning components 20 together. The convergence of the two mechanical swing arms 30 carrying the pair of cleaning components 20 can be used to clamp target objects (e.g., flexible and thin objects 81 such as plastic bags or paper towels shown in Figure 5). Furthermore, after a target object is clamped, the horizontal swing of the cleaning components 20 driven by the mechanical swing arms 30 can also be used to move the clamped target object outside the cleaning robot's travel path or to a designated area specifically for storing target objects.

[0073] For example, in the illustrated representation of the embodiments of this application, the clamping is performed by two mechanical swing arms 30 that respectively carry a pair of side brushes 21. In this case, the target object can be clamped between the second arm ends of the two mechanical swing arms 30. It can be understood that for the two mechanical swing arms 30 that carry a pair of cloth trays 22, the clamping caused by the horizontal swing can clamp the target object between the pair of cloth trays 22.

[0074] In embodiments of this application, the first joint assembly 50 may also be used to generate a first joint axial misalignment in response to the power output of the first motor 91, and / or the second joint assembly 60 may also be used to generate a second joint axial misalignment in response to the power output of the second motor 92, wherein the first joint axial misalignment is used to cause the mechanical swing arm 30 to drive the cleaning component 20 to rise and fall, and the second joint axial misalignment is used to cause the cleaning component 20 to rise and fall relative to the mechanical swing arm 30.

[0075] For example, in an embodiment of this application, if the first joint assembly 50 can generate a first joint axial misalignment in response to the power output of the first motor 91, then the first joint assembly 50 can be specifically configured to: in response to the positive or negative power output of the first motor 91, cause the mechanical swing arm 30 to drive the cleaning component 20 to swing horizontally, and cause a first joint axial misalignment during the horizontal swing. That is, the lifting and lowering of the cleaning component 20 driven by the mechanical swing arm 30 can occur during the horizontal swing of the cleaning component 20 driven by the mechanical swing arm 30, and the axial height of the cleaning component 20 driven by the mechanical swing arm 30 can be determined by the rotation angle of the output shaft of the first motor 91 when generating positive or negative power output. The axial misalignment of the first joint causes the mechanical swing arm 30 to lift and lower the cleaning component 20, which can at least be used to adjust the pressure of the cleaning component 20 on the ground. The axial misalignment of the first joint causes the mechanical swing arm 30 to lift and lower the cleaning component 20, which can keep the cleaning component 20 in a continuous horizontal rotation at a specified height position. Furthermore, the specified height position can be associated with the phase angle of the output shaft of the first motor 91. That is, when the output shaft of the first motor 91 is kept at a specific phase angle, the cleaning component 20 is kept in a continuous horizontal rotation at the specified height position determined by the phase angle.

[0076] For example, in the embodiments of this application, the positive and negative directions of the power output of the first motor 91 can correspond to the inward and outward rotation directions of the horizontal swing of the mechanical arm 30, respectively. The inward rotation of the mechanical arm 30 refers to the rotation direction that moves from the outside to the middle in the width direction of the robot body 10, and the outward rotation of the mechanical arm 30 refers to the rotation direction that moves from the middle to the outside in the width direction of the robot body 10.

[0077] For example, in the embodiments of this application, the forward power output and reverse power output of the second motor 92 are controlled to switch. If the second joint assembly 60 can generate a second joint axial misalignment in response to the power output of the second motor 92, then the second joint assembly 60 can be specifically configured to: trigger the continuous horizontal rotation of the cleaning member 20 in response to the forward power output of the second motor 92, and trigger the second joint axial misalignment in response to the reverse power output of the second motor 92. That is, the cleaning member 20 cannot maintain a continuous horizontal rotation for cleaning the floor when it is raised and lowered relative to the mechanical swing arm 30, or in other words, the raising and lowering of the cleaning member 20 relative to the mechanical swing arm 30 and the continuous horizontal rotation of the cleaning member 20 can only occur in time. In this case, if the cleaning components 20 are arranged in pairs, and the paired cleaning components 20 are respectively mounted on the robot body 10 by a pair of mechanical swing arms 30, then the switching conditions for the reverse power output of the second motor 92 include: the mechanical swing arms 30 carrying the pair of cleaning components 20 are brought together, the bringing together of the mechanical swing arms 30 is used to clamp the target object, and the lifting and lowering of the cleaning components 20 relative to the mechanical swing arms 30 can be used to lift the clamped target object.

[0078] For example, in the embodiments of this application, the positive and negative directions of the power output of the second motor 92 can correspond to the inward and outward rotation directions of the cleaning component 20, respectively. The inward rotation of the cleaning component 20 refers to the rotation direction in which dirt is caused to gather from the outer periphery of the robot body 10 to the lower part of the robot body 10 through friction with the ground. The outward rotation of the cleaning component 20 refers to the rotation direction in which dirt is caused to spread from the lower part of the robot body 10 to the outer periphery of the robot body 10 through friction with the ground.

[0079] Figure 6 is a schematic diagram illustrating an example of the cleaning robot shown in Figure 1a lifting a clamped target object by adjusting the height of the cleaning component 20. Referring to Figure 6, if the cleaning components 20 are arranged in pairs, and each pair of cleaning components 20 is mounted on the robot body 10 using a pair of mechanical swing arms 30, and the mechanical swing arms 30 carrying the pair of cleaning components 20 (taking the side brush 21 as an example in Figure 6) converge to clamp the target object (taking a block-shaped target object 82 as an example in Figure 6), then, in response to the reverse power output of the second motor 92, the axial misalignment of the second joint assembly 60 can cause the cleaning component 20 to generate an upward axial lift Δh relative to the mechanical swing arms 30. This axial lift Δh can be used to lift the clamped target object. Furthermore, after the clamped target object is lifted, the horizontal swing of the cleaning component 20 driven by the mechanical swing arms 30 can also be used to move the clamped target object outside the cleaning robot's travel trajectory or to a designated area specifically for storing the target object. The magnitude of the axial lift Δh can be controlled by the rotation angle of the output shaft of the second motor 92 when generating reverse power output. That is, the axial height of the cleaning member 20 relative to the mechanical swing arm 30 can be determined by the rotation angle of the output shaft of the second motor 92 when generating reverse power output. Furthermore, if the second motor 92 resumes forward power output, the axial lift Δh of the cleaning member 20 is canceled.

[0080] Based on the above embodiments of this application, the cleaning component 20 can be mounted on the robot body 10 using a mechanical swing arm 30. The first arm end of the mechanical swing arm 30 is connected to a first motor 91 fixedly mounted on the robot body 10 via a first joint assembly 50, so that the cleaning component 20 can be horizontally swung using the power output generated by the first motor 91. The cleaning component 20 is located at the second arm end of the mechanical swing arm 30, and the cleaning component 20 is connected to a second motor 92 fixedly mounted on the mechanical swing arm 30 via a second joint assembly 60, so that the cleaning component 20 can be continuously horizontally rotated for floor cleaning using the power output generated by the second motor 92. Furthermore, at least one of the first joint assembly 50 and the second joint assembly 60 can also undergo axial joint misalignment under the drive of the received power output, thereby causing the cleaning component 20 to rise or fall, thus enabling height adjustment of the cleaning component 20 mounted on the robot body 10 using the mechanical swing arm 30. Moreover, regardless of whether the first joint assembly 50 or the second joint assembly 60 achieves height adjustment of the cleaning component 20 through joint misalignment, it is not necessary to introduce an additional motor to provide power output for height adjustment.

[0081] To better understand the principle of the mechanical swing arm 30 in the embodiments of this application, detailed examples will be given below for the first joint assembly 50, the elastic hinge portion, and the second joint assembly 60.

[0082] Figure 7 is an exploded structural diagram of the first joint assembly 50 of the cleaning robot shown in Figure 1a. Figure 8 is an assembled structural cross-sectional view of the first joint assembly 50 of the cleaning robot shown in Figure 1a. Referring to Figures 7 and 8, in the embodiments of this application, the first joint assembly 50 may include a first rotating shaft 51, a guide roller 515, and an annular fixed guide rail 530.

[0083] In an embodiment of this application, the first pivot 51 of the first joint assembly 50 is connected between the first motor 91 and the first arm end of the mechanical swing arm 30.

[0084] For example, as described above, the mechanical swing arm 30 may include a joint base 31 located at the first arm end of the mechanical swing arm 30. In this case, as shown in Figures 7 and 8, a first rotating shaft 51 is driven between the first motor 91 and the joint base 31 of the mechanical swing arm 30. The first rotating shaft 51 responds to the rotation of the power output (i.e., forward power output or reverse power output) of the first motor 91 to drive the mechanical swing arm 30 to swing horizontally (i.e., internal rotational swing or external rotational swing) via the joint base 31. For example, the output shaft of the first motor 91 is suspended along the lifting direction of the cleaning member 20, the joint base 31 is located below the output shaft of the first motor 91, the top end of the first rotating shaft 51 can be coaxially engaged with the output shaft of the first motor 91, and the bottom end of the first rotating shaft 51 is fixedly connected to the joint base 31. In the illustrated representation of this application embodiment, taking the output shaft of the first motor 91 as a square bar as an example, in this case, the top end of the first rotating shaft 51 may have a square insertion hole 511 for the output shaft of the first motor 91 to be inserted, thereby enabling synchronous rotation and axial relative sliding between the output shaft of the first motor 91 and the first rotating shaft 51; in the illustrated representation of this application embodiment, the bottom end of the first rotating shaft 51 may have a square bar end 512, and the base bottom surface of the joint base 31 may have a square hole groove for insertion and mating with the square bar end 512. Furthermore, the bottom end of the first rotating shaft 51 (i.e., the square bar end 512) may be axially locked in the square hole groove on the base bottom surface of the joint base 31 by using an axial screw penetrating the base bottom surface of the joint base 31, thereby enabling synchronous rotation and synchronous axial movement between the output shaft of the first motor 91 and the joint base 31.

[0085] In embodiments of this application, as shown in Figures 7 and 8, the annular fixed guide rail 530 of the first joint assembly 50 surrounds the outer periphery of the first rotating shaft 51. The annular fixed guide rail 530 has annular concave and convex end faces and is fixedly arranged relative to the first motor 91. Exemplarily, the first joint assembly 50 may further include a first fixed sleeve 53, which can be fixedly mounted to the motor housing of the first motor 91. For example, the first fixed sleeve 53 can be fixedly mounted to the motor housing of the first motor 91 via a first flange 52, and the annular fixed guide rail 530 can be integrated into the open end face of the first fixed sleeve 53. When the first joint assembly 50 also includes a first fixed sleeve 53, a linear bearing 56 can be fixedly mounted below the first fixed sleeve 53. This linear bearing 56 can improve the coaxial stability between the first rotating shaft 51 and the output shaft of the first motor 91, and allows the first rotating shaft 51 to move axially relative to the output shaft of the first motor 91.

[0086] In the embodiments of this application, as shown in Figures 7 and 8, the guide roller 515 of the first joint assembly 50 is mounted on the outer periphery of the first rotating shaft 51. For example, the outer periphery of the first rotating shaft 51 has a radial convex shaft 513, and the guide roller 515 is mounted on the radial convex shaft 513. The guide roller 515 is in contact with the annular concave and convex end face of the annular fixed guide rail 530.

[0087] Exemplary, in embodiments of this application, as shown in Figures 7 and 8, the first joint assembly 50 may further include an elastic retaining member 57 (e.g., a spring). The elastic retaining member 57 can exert an elastic constraint force on the first rotating shaft 51, keeping the guide roller 515 in contact with the annular concave-convex end face of the annular fixed guide rail 530. For example, the elastic retaining member 57 can be compressed between the end face flange of the linear bearing 56 used to connect the first fixed sleeve 53 and the base bottom surface of the joint base 31. Thus, the elastic retaining member 57 generates an elastic pressure on the base bottom surface of the joint base 31. This elastic pressure can be transmitted to the guide roller 515 through the first rotating shaft 51, and this elastic pressure can be converted into an elastic retaining force that causes the guide roller 515 to tightly contact the annular concave-convex end face of the annular fixed guide rail 530.

[0088] In the embodiments of this application, the contact position between the guide roller 515 and the annular concave-convex end face of the annular fixed guide rail 530 is determined by the rotation angle of the output shaft of the first motor 91 when generating forward or reverse power output. Furthermore, the axial height of the annular concave-convex end face of the annular fixed guide rail 530 at the contact position with the guide roller 515 has a configurable difference. Therefore, the rotation angle of the output shaft of the first motor 91 when generating forward or reverse power output can determine the axial height of the guide roller 515 and the first rotating shaft 51 on which it is located. Subsequently, the axial height of the first rotating shaft 51 can be synchronized to the mechanical swing arm 30 via the joint base 31 to drive the mechanical swing arm 30 to move the cleaning component 20 up and down. That is, the axial misalignment of the first joint assembly 50 can include: during the rotation of the first rotating shaft 51, the axial position change of the guide roller 515 caused by the annular concave-convex end face of the annular fixed guide rail 530 drives the mechanical swing arm 30 to move the cleaning component 20 up and down via the first rotating shaft 51 and the joint base 31.

[0089] In the embodiments of this application, as described above, the elastic hinge between the joint base 31 and the rigid body 35 of the swing arm can be a one-way hinge or a multi-way hinge. In this case, the end of the rigid body 35 of the swing arm facing the joint base 31 and the hinge boss 311 can be hinged by a hinge shaft, a ball joint, or a damping element.

[0090] Figure 9 is a partial cross-sectional view of the elastic hinge portion of the mechanical arm 30 of the cleaning robot shown in Figure 1a. Figure 10 is a schematic diagram of a first example structure of the elastic hinge portion of the mechanical arm 30 of the cleaning robot shown in Figure 1a. Referring to Figures 9 and 10, taking the elastic hinge between the joint base 31 and the rigid body 35 of the arm as an example of a unidirectional hinge based on the hinge axis, the outer wall of the joint base 31 may have a hinge boss 311. The end of the rigid body 35 of the arm facing the joint base 31 and the hinge boss 311 can be hinged through a vertical hinge axis 33. An elastic return member (e.g., a first return torsion spring 36) is also arranged between the end of the rigid body 35 of the arm facing the joint base 31 and the hinge boss 311. Furthermore, the elastic return member (e.g., the first return torsion spring 36) is used to cause the rigid body 35 of the arm and the joint base 31 to be in a default relative pose in the horizontal direction.

[0091] For example, please refer back to Figures 7 and 9 while referring to Figure 10. In the illustrative representation of the embodiments of this application, the end of the rigid body 35 of the swing arm facing the joint base 31 may have an end slot 351. The bottom of the end slot 351 may have a bottom flange 353 protruding towards the joint base 31. The top of the end slot 351 is covered by a slot cover 355. The slot cover 355 has a slot cover flange 356 protruding towards the joint base 31. The vertical hinge shaft 33 is supported outside the end slot 351 between the bottom flange 353 and the slot cover flange 356. Furthermore, the hinge boss 311 is hinged to the vertical hinge shaft 33. In this case, the elastic return member may include a first return torsion spring 36, which is installed in the end slot 351. The joint base 31 also has a reset protrusion 312 protruding into the end slot 351. The two ends of the first return torsion spring 36 abut against the slot wall of the end slot 351 and the reset protrusion 312, respectively, so that when a horizontal offset occurs between the rigid body 35 of the swing arm and the joint base 31 relative to the default relative posture, a horizontal reset elastic force is generated to cause the rigid body 35 of the swing arm and the joint base 31 to return to the default relative posture in the horizontal direction.

[0092] Figure 11 is a schematic diagram of a second example of the elastic hinge portion of the mechanical arm 30 of the cleaning robot in this application embodiment. Referring to Figure 11, taking the elastic hinge between the joint base 31 and the rigid body 35 of the arm as an example of a bidirectional hinge based on the hinge axis, the outer wall of the joint base 31 may have a hinge boss 311. The end of the rigid body 35 of the arm facing the joint base 31 and the hinge boss 311 can be hinged by a cross axis group composed of a vertical hinge axis 33 and a horizontal hinge axis 34. That is, the end of the rigid body 35 of the arm facing the joint base 31 may be equipped with a vertical hinge axis 33, and the hinge boss 311 of the joint base 31 may be provided with a horizontal hinge axis 34. Furthermore, the vertical hinge axis 33 and the horizontal hinge axis 34 intersect each other perpendicularly. In this case, an elastic return member is also arranged between the end of the rigid body 35 of the swing arm facing the joint base 31 and the hinge boss 311, and the elastic return member is used to make the rigid body 35 of the swing arm and the joint base 31 in a default relative position in the horizontal direction.

[0093] For example, the elastic return member may include a second return torsion spring (not shown in the figure) and a third return torsion spring (not shown in the figure), with the two ends of the second and third return torsion springs fixed to the rigid body 35 of the swing arm and the joint base 31, respectively. The second return torsion spring generates a pitch-returning elastic force that causes the rigid body 35 of the swing arm and the joint base 31 to return to their default relative positions in the pitch direction when a pitch offset occurs between the rigid body 35 of the swing arm and the joint base 31 relative to their default relative positions. The third return torsion spring generates a horizontal return elastic force that causes the rigid body 35 of the swing arm and the joint base 31 to return to their default relative positions in the lateral direction when a horizontal offset occurs between the rigid body 35 of the swing arm and the joint base 31 relative to their default relative positions.

[0094] The illustrated hinge configurations based on the hinge axis described above are merely to illustrate the available hinge configurations between the joint base 31 and the rigid body 35 of the swing arm, and are not intended to limit the hinge between the joint base 31 and the rigid body 35 to only relying on the hinge axis. That is, as mentioned above, the joint base 31 and the rigid body 35 of the swing arm can also be hinged via a ball joint or a damping element. It is understood that the hinge configuration between the joint housing 32 and the fingers of the rigid body 35 of the swing arm is similar to the hinge configuration between the joint base 31 and the rigid body 35 of the swing arm, and will not be elaborated upon further in this paper.

[0095] Figure 12 is an exploded structural diagram of the second joint assembly 60 of the cleaning robot shown in Figure 1a. Figure 13 is an assembled structural diagram of the second joint assembly 60 of the cleaning robot shown in Figure 12. Figure 14a is a cross-sectional view of the assembled structure of the second joint assembly 60 shown in Figure 12. Figure 14b is a partial cross-sectional view of the assembled structure of the second joint assembly 60 of the cleaning robot shown in Figure 1b. The embodiment shown in Figure 14b differs from the embodiment shown in Figure 14a only in the structure of the side brush 21. The side brush 21 in the embodiment shown in Figure 14b is the same as the side brush shown in Figure 3. The side brush base 211 of the side brush 21 in the embodiment shown in Figure 14b has a main body 2111 and a connecting part 2112. The main body 2111 is connected to the second joint assembly 60. The connecting part 2112 is cylindrical and is arranged around the main body 2111 and the second joint assembly 60. The connecting part 2112 is used to connect with the cylindrical brush body 215, and the two can be fixed together by adhesive or other means. Please refer to Figures 12 to 14b. In the embodiments of this application, as mentioned above, the mechanical swing arm 30 may include a joint cover 32 located at the end of the second arm, and the second joint assembly 60 may be installed on the joint cover 32. In this case, the second joint assembly 60 may include a second rotating shaft 61, a clutch rotating cylinder 66, and a spiral fixing guide rail 69.

[0096] In an embodiment of this application, the second pivot 61 of the second joint assembly 60 passes through the joint housing 32, and the second pivot 61 is tractively connected between the second motor 92 and the cleaning member 20.

[0097] Exemplary, in embodiments of this application, both the output shaft of the second motor 92 and the joint housing 32 can be arranged vertically. The output shaft of the second motor 92 and the joint housing 32 of the second joint assembly 60 are parallel and spaced apart. The bottom end of the second rotating shaft 61 of the second joint assembly 60 is fixedly connected to the cleaning member 20, and the top end of the second rotating shaft 61 is driven by the output shaft of the second motor 92 through a gear set. For example, the top end of the second rotating shaft 61 can be coaxially and fixedly connected to the final gear 63 in the gear set, so that the forward or reverse power output of the second motor 92 can be transmitted to the final gear 63 through the gear set, and the final gear 63 drives the second rotating shaft 61 to rotate forward or in reverse.

[0098] Exemplary, in embodiments of this application, as shown in Figures 12 to 14b, the second joint assembly 60 further includes a second flange 64 and a mounting turntable 65. The second rotating shaft 61 of the second joint assembly 60 can be fixedly connected to the cleaning member 20 via the second flange 64 and the mounting turntable 65. In the illustrative representation of this application embodiment, the second flange 64 can be fixedly connected to the bottom end of the second rotating shaft 61. For example, the second flange 64 can be fixedly connected to the bottom end of the second rotating shaft 61 using locking screws 62. The mounting turntable 65 can be fixedly connected below the second flange 64. For example, the mounting turntable 65 and the second flange 64 can be fixedly connected via a snap-fit ​​engagement at the edge. Furthermore, the cleaning member 20 is fixedly connected below the mounting turntable 65. For example, the cleaning member 20 can be fixedly attached to the mounting turntable 65 via a snap-fit ​​engagement.

[0099] In the embodiments of this application, the clutch rotary drum 66 is in sliding engagement with the spiral fixed guide rail 69.

[0100] Exemplary, in an embodiment of this application, as shown in Figures 12 to 14b, the second joint assembly 60 may further include a second fixing sleeve 68, which is fixedly mounted on the joint housing 32. The second fixing sleeve 68 includes an annular top cover 681, an inner cylinder wall 682, and an outer cylinder wall 685. The inner cylinder wall 682 extends downward from the inner edge of the annular top cover 681, and the outer cylinder wall 685 extends downward from the outer edge of the annular top cover 681. Furthermore, the outer cylinder wall 685 surrounds the outer periphery of the clutch rotary cylinder 66. In this case:

[0101] The clutch rotary cylinder 66 can be located between the annular top cover 681 of the second fixed sleeve 68 and the mounting turntable 65;

[0102] The inner wall 682 of the second fixed sleeve 68 surrounds the outer periphery of the second rotating shaft 61, and the second flange 64 and the inner wall 682 of the second fixed sleeve 68 can be located in the clutch rotating cylinder 66.

[0103] The clutch rotary cylinder 66 of the second fixed sleeve 68 can be located inside the outer cylinder wall 685 of the second fixed sleeve 68, and the spiral fixed guide rail 69 can be integrated into the outer cylinder wall 685 of the second fixed sleeve 68, that is, the spiral fixed guide rail 69 can be integrated into the second fixed sleeve 68, so that the clutch rotary cylinder 66 and the spiral fixed guide rail 69 slide together.

[0104] For example, the spiral fixed guide rail 69 can be a spiral guide groove 691 opened on the outer cylinder wall 685, and the outer periphery of the clutch rotary cylinder 66 has a sliding guide shaft 661 inserted in the spiral guide groove 691.

[0105] Figure 15 is an alternative structural cross-sectional view of the second joint assembly 60 of the cleaning robot in an embodiment of this application. As shown in Figure 15, the helical fixed guide rail 69 may also be a helical guide tooth 692 formed on the end edge (e.g., the upper end edge) of the outer cylinder wall 685, and the outer periphery of the clutch drum 66 has a helical outer protrusion 662 that is complementary to the helical guide tooth 692.

[0106] In an embodiment of this application, as shown in FIG15, the second rotating shaft 61 can rotate in the forward direction in response to the forward power output of the second motor 92, and the forward rotation of the second rotating shaft 61 can be used to drive the cleaning component 20 to rotate continuously.

[0107] In embodiments of this application, the second rotating shaft 61 can also rotate in the opposite direction in response to the reverse power output of the second motor 92, and the reverse rotation of the second rotating shaft 61 can be used to form a synchronous rotational constraint between the second rotating shaft 61 and the clutch drum 66. In this case, the axial misalignment of the second joint of the second joint assembly 60 may include:

[0108] During the reverse rotation of the clutch drum 66 based on synchronous rotation constraints, the axial position rise caused by relative sliding with the helical fixed guide rail 69 triggers the second rotating shaft 61 to drive the cleaning component 20 to rise relative to the mechanical swing arm 30; and,

[0109] The synchronous rotation constraint is released when the second shaft 61 rotates in the forward direction in response to the forward power output of the second motor 92, and in response to the release of the synchronous rotation constraint, the axial position of the clutch drum 66 decreases, thereby triggering the second shaft 61 to drive the cleaning component 20 to decrease relative to the mechanical swing arm 30.

[0110] For example, in an embodiment of this application, as shown in FIG15, if the top end of the second rotating shaft 61 is engaged with the output shaft of the second motor 92 through a gear set transmission, and the top end of the second rotating shaft 61 is fixedly connected to the last gear 63 in the gear set, then, in order to ensure that the axial position change of the second rotating shaft 61 does not cause the last gear 63 to disengage from the preceding gear in the gear set, the last gear 63 coaxially connected to the second rotating shaft 61 in the gear set may have a first gear thickness, and the preceding gear of the last gear 63 may have a second gear thickness. The first gear thickness is greater than the second gear thickness, and the thickness difference between the first gear thickness and the second gear thickness is greater than or equal to the axial position change range of the second rotating shaft 61 (i.e., the lifting range of the cleaning member 20 relative to the mechanical swing arm 30).

[0111] Exemplarily, in embodiments of this application, the formation and disengagement of the synchronous rotational constraint between the second rotating shaft 61 and the clutch drum 66, and the switching of the clutch state, can be achieved by a ratchet. Specifically, as illustrated in the embodiments of this application, the inner wall of the clutch drum 66 may have an inner ratchet 660, and the second joint assembly 60 may further include a pawl 67. The pawl 67 is mounted in the clutch drum 66 on the second flange 64, extends radially beyond the edge of the second flange 64, and contacts the inner ratchet 660. For example, referring particularly to FIG13, the edge of the second flange 64 may have a pawl mounting post 640, the pawl 67 may be mounted on the pawl mounting post 640 using a pawl outward torsion spring 670, and the pawl outward torsion spring 670 may generate an outward retaining force that causes the pawl 67 to extend radially beyond the edge of the second flange 64 and contact the inner ratchet 660. Thus, during the period when the second shaft 61 rotates in the reverse direction in response to the reverse power output of the second motor 92, the pawl 67 engages with the inner ratchet 660 to form a synchronous rotation constraint between the second shaft 61 and the clutch drum 66; and during the period when the second shaft 61 rotates in the forward direction in response to the forward power output of the second motor 92, the pawl 67 slides against the inner ratchet 660, thereby releasing the synchronous rotation constraint.

[0112] Exemplary, in an embodiment of this application, as shown in Figures 12 to 15, the axial position rise of the clutch drum 66 caused by relative sliding between it and the helical fixed guide rail 69 can trigger the second rotating shaft 61 to drive the cleaning component 20 to rise relative to the mechanical swing arm 30 via elastic force. In this case:

[0113] The second rotating shaft 61 has an outer flange 610, which bears the first axial elastic force generated by the first axial elastic member 686. The first axial elastic force can cause the second rotating shaft 61 to move upward, that is, the second rotating shaft 61 can be subjected to the first axial elastic force in the upward direction.

[0114] The clutch cylinder 66 is subjected to a second axial elastic force generated by the second axial elastic member 687. This second axial elastic force can cause the clutch cylinder 66 to move downward. That is, the clutch cylinder 66 is subjected to a second axial elastic force facing downward. The second axial elastic force is greater than the first axial elastic force. Furthermore, the clutch cylinder 66 can prevent the second rotating shaft 61 from rising under the drive of the second axial elastic force.

[0115] For example, as shown in Figures 12 to 14b, the lower edge of the inner cylinder wall 682 of the second fixed sleeve 68 has an inner cylinder limiting bottom 683, and the second rotating shaft 61 has a rotating shaft outer flange 610 located above the inner cylinder limiting bottom 683; a first axial elastic member 686 for compression deformation is arranged between the inner cylinder limiting bottom 683 of the inner cylinder wall 682 of the second fixed sleeve 68 and the rotating shaft outer flange 610 of the second rotating shaft 61; and the first axial elastic member 686 generates a first axial elastic force on the rotating shaft outer flange 610 of the second rotating shaft 61, causing the second rotating shaft 61 to move upward.

[0116] Alternatively, similar to the structures shown in Figures 12 to 14b, in the alternative structure shown in Figure 15, the second rotating shaft 61 still has an outer flange 610 located above the clutch cylinder 66; however, unlike the structures shown in Figures 12 to 14a, in the alternative structure shown in Figure 15, the second fixed sleeve 68 may not include the annular top cover 681, the inner cylinder limiting bottom 683, and the outer cylinder wall 685. A first axial elastic member 686 for compression deformation is arranged between the inner flange 665 of the clutch cylinder 66 and the outer flange 610 of the second rotating shaft 61, and the first axial elastic member 686 generates a first axial elastic force on the outer flange 610 of the second rotating shaft 61, causing the second rotating shaft 61 to move upward.

[0117] For example, as shown in Figures 12 to 14b, the inner wall of the clutch cylinder 66 has an inner flange 665. A second axial elastic member 687, which is subject to compression deformation, is arranged between the inner flange 665 and the annular top cover 681. The second axial elastic member 687 generates a second axial elastic force on the inner flange 665, causing the clutch cylinder 66 to move downward. Furthermore, the clutch cylinder 66 can press the mounting turntable 65 under the drive of the second axial elastic force to prevent the second rotating shaft 61 from rising.

[0118] Alternatively, unlike the structures shown in Figures 12 to 14b, in the alternative structure shown in Figure 15, the clutch cylinder 66 has an annular groove 666 on the outer wall with an opening facing the joint housing 32. A second axial elastic member 687 that can be compressed and deformed is arranged between the bottom of the annular groove 666 and the joint housing 32. The second axial elastic member 687 generates a second axial elastic force on the bottom of the annular groove 666, causing the clutch cylinder 66 to move downward. Furthermore, the clutch cylinder 66 can press the mounting turntable 65 under the drive of the second axial elastic force to prevent the second rotating shaft 61 from rising.

[0119] Thus, based on the structure shown in Figures 12 to 14b, or based on the alternative structure shown in Figure 15, during the reverse rotation of the clutch drum 66 based on the synchronous rotation constraint, the relative sliding with the helical fixed guide rail 69 causes the clutch drum 66 to overcome the second axial elastic force and rise in axial position, so that the second rotating shaft 61 drives the cleaning component 20 to rise relative to the mechanical swing arm 30 under the drive of the first axial elastic force.

[0120] In response to the release of the synchronous rotation constraint, the clutch drum 66 descends axially under the drive of the second axial elastic force, causing the second shaft 61 to overcome the first axial elastic force and drive the cleaning component 20 to descend relative to the mechanical swing arm 30.

[0121] It is understood that the first axial elastic member 686 and the second axial elastic member 687 are used as compression springs in the illustrated representation of the embodiments of this application, but such illustrated representation should not be regarded as a limitation on the first axial elastic member 686 and the second axial elastic member 687, that is, at least one of the first axial elastic member 686 and the second axial elastic member 687 can also be used as a compression spring.

[0122] Figure 16 is a partial assembly view of the clamping member 37 of the cleaning robot in an embodiment of this application. Referring to Figure 16, in an embodiment of this application, the mechanical arm 30 may further include the clamping member 37. As mentioned above, when the cleaning member 20 includes side brushes 21, the two mechanical arms 30, each carrying a pair of side brushes 21, can converge to clamp the target object, and the target object can be clamped between the second arm ends (i.e., joint housings 32) of the two mechanical arms 30. In this case, in order to efficiently transmit the axial position change of the second rotating shaft 61 to the clamped target object to lift the clamped target object, the clamping member 37 of the mechanical arm 30 can be configured to: rise and fall synchronously with the second rotating shaft 61, and contact the clamped target object and physically separate the target object from the second arm end (i.e., joint housings 32) of the mechanical arm 30.

[0123] Exemplary, in an embodiment of this application, as shown in FIG16, the clamping member 37 may include a drive plate 371, a clamping plate 372, and a return-reset member 373, wherein: the drive plate 371 is located above the second rotating shaft 61 so as to be lifted by the second rotating shaft 61 when the cleaning member 20 is driven to rise relative to the mechanical swing arm 30; the clamping plate 372 is connected to the drive plate 371, and the clamping plate 372 abuts against the inner side of the mechanical swing arm 30 so that when the mechanical swing arm 30 carrying a pair of cleaning members 20 converges, the target object is clamped between the clamping plates 372 of the pair of mechanical swing arms 30 and lifted by the clamping plates 372 that rise with the drive plate 371; the return-reset member 373 is used to generate a downward elastic force on the drive plate 371 so as to cause the drive plate 371 to drive the clamping plate 372 to return to its original position when the second rotating shaft 61 drives the cleaning member 20 to fall relative to the mechanical swing arm 30. As mentioned above, the height positions of the clamping member 37 and the cleaning member 20 can be correlated with the phase angle of the output shaft of the second motor 92 when it generates reverse power output.

[0124] For example, the drive plate 371 of the clamping member 37 can be suspended above the top 320 of the joint cover 32. The drive plate 371 can receive the top support of the second rotating shaft 61 through the opening of the top 320. Thus, when the second rotating shaft 61 drives the cleaning member 20 to rise relative to the mechanical swing arm 30, the drive plate 371 of the clamping member 37 can be lifted by the second rotating shaft 61, causing the clamping plate 372 to drive the clamped target object to rise. A limit screw 375 can also be installed inside the joint cover 32. The return-reset member 373 can be located between the nut of the limit screw 375 and the top 320 of the joint cover 32, so that: when the drive piece 371 of the clamping member 37 is lifted up by the second rotating shaft 61, the return-reset member 373 can be compressed and generate a downward elastic force that causes the drive piece 371 of the clamping member 37 to fall back, so that when the lifting of the second rotating shaft 61 disappears due to the fall of the second rotating shaft 61, the drive piece 371 can drive the clamping piece 372 to fall back and reset under the drive of the downward elastic force.

[0125] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises a robot body (10), a cleaning member (20) mounted on the robot body (10) by a mechanical swing arm (30); a first end of the mechanical swing arm (30) is drivingly connected with a first motor (91) fixedly mounted on the robot body (10) through a first joint assembly (50), and the first joint assembly (50) is configured to cause the mechanical swing arm (30) to drive the cleaning member (20) to swing horizontally in response to a power output of the first motor (91); the mechanical swing arm (30) is fixedly mounted with a second motor (92), the second motor (92) is drivingly connected with the cleaning member (20) correspondingly mounted on the mechanical swing arm (30) through a second joint assembly (60), the second joint assembly (60) and the cleaning member (20) are located at a second end of the mechanical swing arm (30), and the second joint assembly (60) is configured to cause the cleaning member (20) to continuously swing horizontally in response to a power output of the second motor (92); wherein the first joint assembly (50) is further configured to cause a first joint axial displacement in response to the power output of the first motor (91), and / or the second joint assembly (60) is further configured to cause a second joint axial displacement in response to the power output of the second motor (92), the first joint axial displacement is configured to cause the mechanical swing arm (30) to drive the cleaning member (20) to lift, and the second joint axial displacement is configured to cause the cleaning member (20) to lift relative to the mechanical swing arm (30).

2. The cleaning robot according to claim 1, wherein the first joint assembly (50) is specifically configured to cause the mechanical swing arm (30) to drive the cleaning member (20) to swing horizontally and the first joint axial displacement to occur during the horizontal swinging in response to a forward power output or a reverse power output of the first motor (91); and / or further comprising a sensing assembly and a control module, the sensing assembly is configured to sense spatial position information of a facade corner adjacent to the cleaning robot, the control module is configured to control the first motor (91) based on the spatial position information, and the horizontal swinging of the mechanical swing arm (30) driving the cleaning member (20) causes the cleaning member (20) to maintain continuous contact with the facade corner during the turning driving of the cleaning robot at the facade corner; and / or the cleaning member (20) comprises an edge brush (21) or a cloth disc (22), wherein the edge brush (21) comprises an edge brush base (211), brush bars (212) downwardly and radially extending from the edge brush base (211), and a cylindrical brush body (215) surrounding the edge brush base (211); and / or The second joint assembly (60) is specifically configured to cause the cleaning member (20) to continuously rotate in response to positive power output of the second motor (92), and to cause the second joint to axially dislocate in response to reverse power output of the second motor (92), wherein the positive and reverse power output of the second motor (92) is controlled to switch, the cleaning member (20) is arranged in pairs, the pair of cleaning members (20) is installed on the robot body (10) by a pair of mechanical swing arms (30) respectively, the switching of the reverse power output of the second motor (92) is effective under the condition that the mechanical swing arms (30) carrying a pair of cleaning members (20) are gathered, and the gathering of the mechanical swing arms (30) is used to clamp target objects.

3. The cleaning robot according to claim 1, wherein The mechanical swing arm (30) comprises a joint base (31) at the first arm end, the first joint assembly (50) comprises a first rotating shaft (51), a guide roller (515) and an annular fixed guide rail (530), the first rotating shaft (51) is drivingly connected between the first motor (91) and the joint base (31), the guide roller (515) is installed on the outer periphery of the first rotating shaft (51), the annular fixed guide rail (530) is annularly arranged on the outer periphery of the first rotating shaft (51), the annular fixed guide rail (530) is fixedly arranged relative to the first motor (91), the annular fixed guide rail (530) has an annular concave-convex end face, and the guide roller (515) is in contact with the annular concave-convex end face of the annular fixed guide rail (530); wherein: The first rotating shaft (51) rotates in response to the power output of the first motor (91) to drive the mechanical swing arm (30) to swing through the joint base (31); The first joint axial dislocation includes that during the rotation of the first rotating shaft (51), the axial position of the guide roller (515) changes due to the annular concave-convex end face of the annular fixed guide rail (530), the mechanical swing arm (30) drives the cleaning member (20) to rise and fall through the first rotating shaft (51) and the joint base (31).

4. The cleaning robot according to claim 3, wherein The output shaft of the first motor (91) is suspendedly arranged along the lifting direction of the cleaning member (20), the joint base (31) is located below the output shaft of the first motor (91), the top end of the first rotating shaft (51) is coaxially matched with the output shaft of the first motor (91), and the bottom end of the first rotating shaft (51) is fixedly connected with the joint base (31); and / or The outer periphery of the first rotating shaft (51) has a radial convex shaft (513), and the guide roller (515) is installed on the radial convex shaft (513); and / or, The first joint assembly (50) further comprises a first fixing sleeve (53) fixedly installed on a motor housing of the first motor (91), and the annular fixing guide rail (530) is integrated on an open end surface of the first fixing sleeve (53); And / or, The first joint assembly (50) further comprises an elastic retaining member (57) generating an elastic constraint force on the first rotating shaft (51) to keep the guide roller (515) in contact with the annular concave-convex end surface of the annular fixing guide rail (530).

5. The cleaning robot according to claim 1, wherein the mechanical swing arm (30) comprises a joint housing (32) at the second arm end, the second joint assembly (60) comprises a second rotating shaft (61), a clutching roller (66) and a spiral fixing guide rail (69), the second rotating shaft (61) penetrates through the joint housing (32), the second rotating shaft (61) is drivingly connected between the second motor (92) and the cleaning member (20), and the clutching roller (66) is in sliding fit with the spiral fixing guide rail (69); Wherein: The second rotating shaft (61) is used for driving the cleaning member (20) to continuously rotate in a forward direction in response to a forward rotation of the second motor (92) in a forward direction of power output; The second rotating shaft (61) is used for forming a synchronous rotation constraint between the second rotating shaft (61) and the clutching roller (66) in response to a reverse rotation of the second motor (92) in a reverse direction of power output; The second joint shaft is axially dislocated, comprising: During a period of reverse rotation of the clutching roller (66) based on the synchronous rotation constraint, an axial position rise caused by relative sliding with the spiral fixing guide rail (69) triggers the second rotating shaft (61) to drive the cleaning member (20) to rise relative to the mechanical swing arm (30); and The synchronous rotation constraint is released when the second rotating shaft (61) rotates in a forward direction in response to a forward direction of power output of the second motor (92), and in response to the release of the synchronous rotation constraint, an axial position of the clutching roller (66) is lowered to trigger the second rotating shaft (61) to drive the cleaning member (20) to descend relative to the mechanical swing arm (30).

6. The cleaning robot according to claim 5, wherein ​ The output shaft of the second motor (92) and the joint shell (32) are vertically arranged, the output shaft of the second motor (92) and the joint shell (32) are parallel and spaced, the bottom end of the second rotating shaft (61) is fixedly connected with the cleaning member (20), and the top end of the second rotating shaft (61) is in transmission cooperation with the output shaft of the second motor (92) through a gear set; wherein the last-stage gear (63) coaxially connected with the second rotating shaft (61) in the gear set has a first gear thickness, the previous-stage gears in the gear set have a second gear thickness, the first gear thickness is greater than the second gear thickness, and the thickness difference between the first gear thickness and the second gear thickness is greater than or equal to the lifting amplitude of the cleaning member (20) relative to the mechanical swing arm (30); and / or, The inner wall of the clutch drum (66) has an inner ratchet (660); the second joint assembly (60) further comprises a second flange (64) and a pawl (67), the second flange (64) is fixedly connected between the second rotating shaft (61) and the cleaning member (20), the second flange (64) is located in the clutch drum (66), the pawl (67) is arranged on the second flange (64), the pawl (67) protrudes out of the edge of the second flange (64) in the radial direction, and the pawl (67) contacts the inner ratchet (660); wherein during the reverse rotation of the second rotating shaft (61) in response to the reverse power output of the second motor (92), the pawl (67) is engaged with the inner ratchet (660) to form the synchronous rotation constraint between the second rotating shaft (61) and the clutch drum (66); and during the forward rotation of the second rotating shaft (61) in response to the forward power output of the second motor (92), the pawl (67) is in sliding friction with the inner ratchet (660), so that the synchronous rotation constraint is released; and / or, The second joint assembly (60) further comprises a second fixed sleeve (68), the second fixed sleeve (68) is fixedly arranged on the joint shell (32), and the spiral fixed guide rail (69) is integrated in the second fixed sleeve (68); and / or, The mechanical swing arm (30) further comprises a clamping member (37), the clamping member (37) is synchronous with the second rotating shaft (61) in lifting.

7. The cleaning robot according to claim 5, wherein, The second rotating shaft (61) has a rotating shaft outer flange (610), the rotating shaft outer flange (610) bears a first axial elastic force generated by a first axial elastic member (686), and the first axial elastic force promotes the upward movement of the second rotating shaft (61); The clutching drum (66) bears a second axial elastic force generated by a second axial elastic member (687), the second axial elastic force urges the clutching drum (66) to move downward, the clutching drum (66) resists the second rotating shaft (61) from rising under the urging of the second axial elastic force, and the second axial elastic force is greater than the first axial elastic force; Wherein, during the reverse rotation of the clutching drum (66) based on the synchronous rotation constraint, the relative sliding with the spiral fixed guide rail (69) urges the clutching drum (66) to overcome the second axial elastic force to move upward in axial position, so that the second rotating shaft (61) drives the cleaning member (20) to rise relative to the mechanical swing arm (30) under the urging of the first axial elastic force; and in response to the release of the synchronous rotation constraint, the clutching drum (66) moves downward in axial position under the urging of the second axial elastic force, so that the second rotating shaft (61) drives the cleaning member (20) to descend relative to the mechanical swing arm (30) under the urging of the first axial elastic force.

8. The cleaning robot according to claim 7, wherein The top end of the second rotating shaft (61) is in transmission cooperation with the second motor (92), the second joint assembly (60) further comprises a second flange (64) and a mounting turntable (65), the second flange (64) is fixedly connected to the bottom end of the second rotating shaft (61), the mounting turntable (65) is fixedly connected below the second flange (64), and the cleaning member (20) is fixedly connected below the mounting turntable (65); Wherein, the clutching drum (66) presses the mounting turntable (65) under the urging of the second axial elastic force, so as to resist the second rotating shaft (61) from rising.

9. The cleaning robot according to claim 7, wherein The second joint assembly (60) further comprises a second fixed sleeve (68), the second fixed sleeve (68) is fixedly installed in the joint shell (32), the outer cylinder wall (685) of the second fixed sleeve (68) surrounds the outer periphery of the clutching drum (66), and the spiral fixed guide rail (69) is integrated in the outer cylinder wall (685), wherein: The spiral fixed guide rail (69) is a spiral guide groove (691) opened in the outer cylinder wall (685), and the outer periphery of the clutching drum (66) has a sliding guide shaft (661) inserted in the spiral guide groove (691); Or, The spiral fixed guide rail (69) is a spiral guide tooth (692) formed on the edge of the outer cylinder wall (685), and the outer periphery of the clutching drum (66) has a spiral outer protruding platform (662) complementary to the spiral guide tooth (692).

10. The cleaning robot according to claim 1, wherein The mechanical swing arm (30) comprises a swing arm rigid body (35), a joint base (31), and a joint shell (32), wherein: The joint base (31) is located at the first arm end, and the joint base (31) is in transmission connection with the first motor (91) through the first joint assembly (50); The joint cover (32) is located at the second arm end, and the second joint assembly (60) is arranged on the joint cover (32); The swing arm rigid body (35) is located between the joint base (31) and the joint cover (32), and the swing arm rigid body (35) is connected between the joint base (31) and / or the joint cover (32) in an elastic hinged manner with reset capability.

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