Lateral translation mechanism, cleaning robot and control method

Abstract

The present application relates to the field of cleaning robots. Disclosed in the present application are a lateral translation mechanism, a cleaning robot and a control method. The lateral translation mechanism is applied to the cleaning robot. The lateral translation mechanism comprises a lateral translation drive assembly, wherein the lateral translation drive assembly is connected to a wet cleaning member. The lateral translation drive assembly is used for driving the wet cleaning member to translate between a retracted position and an extended position; when the wet cleaning member is in the extended position, the union of the projection of the wet cleaning member on an operating surface and the projection of a bottom shell on the operating surface is larger than that when the wet cleaning member is in the retracted position; the direction of translation of the wet cleaning member within the operating surface intersects the direction of movement of the bottom shell. The lateral translation mechanism of the present application can drive the wet cleaning member to extend out from a main body to clean edge regions, and can drive the wet cleaning member to retract into the main body.

Description

A lateral translation mechanism, a cleaning robot, and a control method Cross-reference to related applications

[0001] This application claims priority to two patent applications filed on October 23, 2024, with application number 202411488662.8 and titled "A Lateral Translation Mechanism, Cleaning Robot and Control Method", both filed on October 23, 2024, with application number 202422574204.8 and titled "A Lateral Translation Mechanism and Cleaning Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of cleaning robots, and in particular to a lateral translation mechanism, a cleaning robot, and a control method. Background Technology

[0003] When a household robotic vacuum cleaner uses its wet cleaning component to clean corners and edges, there are blind spots, resulting in poor cleaning performance. It should be noted that the information disclosed in the background section above is only for enhancing understanding of the background of this disclosure and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a lateral translation mechanism, a cleaning robot, and a control method.

[0005] Specifically, the following technical solutions are included:

[0006] In one aspect, a lateral translation mechanism is provided for use in a cleaning robot, which includes a bottom shell and a wet cleaning component; the wet cleaning component reciprocates relative to the operating surface to clean the operating surface.

[0007] The lateral translation mechanism includes a lateral translation drive assembly, which is connected to the bottom shell and the wet cleaning component. The lateral translation drive assembly is used to drive the wet cleaning component to translate relative to the bottom shell between a retracted position and an extended position.

[0008] When the wet cleaning component is in the extended position, the union of the projection of the wet cleaning component on the operating surface and the projection of the bottom shell on the operating surface is greater than the union of the projection of the wet cleaning component on the operating surface and the projection of the bottom shell on the operating surface when the wet cleaning component is in the retracted position.

[0009] The direction of translation of the wet cleaning component relative to the bottom shell is the width direction of the cleaning robot.

[0010] Optionally, the outer contour of the wet cleaning component is a chamfered arc shape, and at least a portion of the outer contour of the wet cleaning component is parallel to the forward direction of the cleaning robot; and / or, the number of wet cleaning components is one.

[0011] Optionally, the lateral translation drive assembly includes a drive motor, a rotary assembly, and a linear motion assembly. The rotary assembly and the linear motion assembly are connected by a transmission, and the rotary assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation. The drive shafts of the rotary assembly and the drive motor are coupled. The drive motor is mounted on the bottom housing, and the linear motion assembly is connected to the wet cleaning component to drive the wet cleaning component to translate. The wet cleaning component is supported below the bottom housing.

[0012] or,

[0013] The lateral translation mechanism also includes a translation bracket; the lateral translation drive assembly includes a drive motor, a rotary assembly and a linear motion assembly, the rotary assembly and the linear motion assembly are connected by a transmission, and the rotary assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation; the drive shaft of the rotary assembly and the drive motor are coupled; the drive motor is mounted on the bottom shell, and the linear motion assembly is connected to the translation bracket to drive the translation bracket to translate, and the wet cleaning component is supported below the translation bracket.

[0014] Optionally, the rotary component includes a lead screw, and the linear motion component includes a lead screw nut, with the lead screw nut and lead screw connected by threads; or, the rotary component includes a gear, and the linear motion component includes a rack, with the gear and rack meshing and driving each other; or, the rotary component includes a first synchronous pulley and a second synchronous pulley, and the linear motion component includes a synchronous belt, with the synchronous belt sleeved on the first and second synchronous pulleys.

[0015] Optionally, the translation bracket is connected to the base shell via a support member, which is fixed to the base shell.

[0016] The translation bracket has a limiting hole, the central axis of which is perpendicular to the operating surface, and the length extension direction of the limiting hole is parallel to the translation direction of the wet cleaning component. The support and the limiting hole are engaged. When the translation bracket is translated, the limiting hole translates relative to the support along the length extension direction of the limiting hole.

[0017] Optionally, the wall of the limiting hole includes a sidewall, a support member, and sidewall rolling friction, and / or, the wall of the limiting hole includes a top wall, a support member, and top wall rolling friction.

[0018] Optionally, the linear motion assembly also includes a guide; the translation bracket is provided with a guide groove, the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning component; the guide is located in the guide groove, and the guide and the guide groove are slidably connected.

[0019] Optionally, the lateral translation mechanism further includes a guide rod and an elastic element; the wet cleaning component includes a guide plate perpendicular to the translation direction, or the translation bracket includes a guide plate perpendicular to the translation direction; the length direction of the guide rod is parallel to the translation direction; the first end of the guide rod is fixedly connected to the linear motion component, the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected; the elastic element is sleeved on the outer periphery of the portion of the guide rod located between the linear motion component and the guide plate; the elastic element is in a compressed state between the linear motion component and the guide plate; or, the elastic element is in a stretched state between the linear motion component and the guide plate.

[0020] Optionally, the lateral translation mechanism also includes a guide rod, and the linear motion component is connected to the translation bracket via the guide rod; the rotary component includes a lead screw, and the linear motion component includes a lead screw nut, with the lead screw nut and the lead screw connected by threads; the lead screw nut has a lead screw hole and guide rod holes located on both sides of the lead screw hole, and the axis of the guide rod hole is parallel to the axis of the lead screw hole; the lead screw and the lead screw hole are threadedly connected; the guide rod hole and the guide rod are correspondingly arranged, the first end of the guide rod is fixedly connected to the guide rod hole, and the second end of the guide rod is connected to the translation bracket.

[0021] Optionally, the lateral translation mechanism also includes a position sensor for detecting whether the wet cleaning component is in the retracted position and / or whether the wet cleaning component is in the extended position.

[0022] Optionally, the translation bracket is equipped with an installation structure; the cleaning robot also includes: a lifting bracket, which is fixedly connected to the installation structure; a retractable support structure, one end of which is connected to the lifting bracket and the other end of which is connected to the wet cleaning component; the wet cleaning component is supported by the lifting bracket and the support structure below the translation bracket.

[0023] Optionally, the translation bracket includes a clearance structure for the lifting bracket. The clearance structure includes a first clearance groove for accommodating the lifting bracket and / or a step recessed towards the bottom shell. The distance between the step and the wet cleaning component is greater than the distance between the non-step portion of the translation bracket and the wet cleaning component. The step and the wet cleaning component form an accommodating space for the lifting bracket.

[0024] Optionally, the lifting bracket passes through the first clearance groove, and the bottom shell has a second clearance groove. The second clearance groove is used to accommodate the lifting bracket that passes through the first clearance groove. When the wet cleaning component moves, the lifting bracket moves in the second clearance groove along the length extension direction of the second clearance groove.

[0025] Optionally, the outer contour of the wet cleaning component is a chamfered arc shape, and at least part of the outer contour of the wet cleaning component is parallel to the forward direction of the cleaning robot; the projection of the translation support on the operating surface is a chamfered arc shape that matches the projection of the wet cleaning component on the operating surface.

[0026] Optionally, the translation support includes a clearance structure for the lifting support. The clearance structure includes a stepped portion recessed towards the bottom shell for accommodating the lifting support. The distance between the stepped portion and the wet cleaning component is greater than the distance between the non-stepped portion of the translation support and the wet cleaning component. A receiving space for the lifting support is formed between the stepped portion and the wet cleaning component. The outer contour of the wet cleaning component is a chamfered arc shape, and at least a portion of the outer contour of the wet cleaning component is parallel to the forward direction of the cleaning robot. The projection of the translation support on the operating surface is a chamfered arc shape that matches the projection of the wet cleaning component on the operating surface. The projection of the bottom shell on the operating surface is a chamfered arc shape, and the projection of the bottom shell on the operating surface and the projection of the stepped portion of the translation support on the operating surface combine to form a chamfered arc shape that matches the projection of the wet cleaning component on the operating surface.

[0027] In a second aspect, a cleaning robot is provided, including the lateral translation mechanism of the first aspect, and also including a bottom shell and a wet cleaning component.

[0028] Thirdly, a control method for a lateral translation mechanism is provided, optionally applied to the lateral translation mechanism of the first aspect or the cleaning robot of the second aspect. The lateral translation drive assembly includes a drive motor, and the method includes: in response to detecting an extension command, controlling the drive motor to rotate forward to drive the wet cleaning part to translate within the operating surface from the retrieval position to the extension position.

[0029] In response to the detection of a recycling command, the drive motor is reversed to drive the wet cleaning component to translate from the extended position to the recycling position within the operating surface.

[0030] Optionally, the lateral translation drive assembly further includes a rotary component and a linear motion component, which are connected by a transmission mechanism to convert the rotation of the drive motor into translation. The rotary component and the drive motor's drive shaft are coupled. The drive motor is mounted on the base housing. The lateral translation mechanism includes a translation bracket. The lateral translation mechanism also includes a guide rod and an elastic element. The translation bracket is provided with a guide plate perpendicular to the translation direction. The length direction of the guide rod is parallel to the translation direction. The first end of the guide rod is fixedly connected to the linear motion component, and the second end of the guide rod passes through the guide plate. The guide rod and the guide plate are slidably connected. The elastic element is sleeved on the guide plate. The rod is located on the outer periphery of the portion between the linear motion assembly and the guide plate; when the wet cleaning component is in the retracted position, the elastic element is in an initial compressed state between the linear motion assembly and the guide plate; controlling the drive motor to rotate forward to drive the wet cleaning component to translate from the retracted position to the extended position includes: controlling the drive motor to rotate forward, causing the rotating assembly to rotate in a first direction, the linear motion assembly to translate in a second direction, the distance between the linear motion assembly and the guide plate to tend to decrease, the elastic element to tend to be further compressed relative to the initial compressed state, and the compression force of the elastic element to drive the translation bracket to translate in the second direction, thereby driving the wet cleaning component to translate in the second direction.

[0031] Optionally, the lateral translation drive assembly further includes a rotary component and a linear motion component, which are connected by a transmission mechanism to convert the rotation of the drive motor into translation. The rotary component and the drive motor's drive shaft are coupled. The drive motor is mounted on the base housing. The lateral translation mechanism includes a translation bracket. The lateral translation mechanism also includes a guide rod and an elastic element. The translation bracket is provided with a guide plate perpendicular to the translation direction. The length direction of the guide rod is parallel to the translation direction. The first end of the guide rod is fixedly connected to the linear motion component, and the second end of the guide rod passes through the guide plate. The guide rod and the guide plate are slidably connected. The elastic element is sleeved on the guide rod. The outer periphery of the portion located between the linear motion assembly and the guide plate; when the wet cleaning component is in the retracted position, the elastic element is in an initial stretched state between the linear motion assembly and the guide plate; controlling the drive motor to rotate forward to drive the wet cleaning component to translate from the retracted position to the extended position includes: controlling the drive motor to rotate forward, causing the rotating assembly to rotate in a first direction, the linear motion assembly to translate in a second direction, the distance between the linear motion assembly and the guide plate to tend to increase, the elastic element to tend to be further stretched relative to the initial stretched state, the stretching force of the elastic element to drive the translation bracket to translate in the second direction, thereby driving the wet cleaning component to translate in the second direction.

[0032] Optionally, the linear motion assembly further includes a guide member; the translation bracket is provided with a guide groove, the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning component; the guide member is located in the guide groove; controlling the drive motor to reverse to drive the wet cleaning component to translate from the extended position to the retracted position includes: controlling the drive motor to reverse, causing the rotating component to rotate in a third direction, the linear motion assembly to translate in a fourth direction, the guide member to abut against the guide groove and drive the translation bracket to translate in the fourth direction, thereby driving the wet cleaning component to translate in the fourth direction; the third direction is opposite to the first direction, and the fourth direction is opposite to the second direction.

[0033] Optionally, the method further includes: when the wet cleaning component is in the extended position and is subjected to the force of an obstacle, the translation bracket is translated in the opposite direction of the second direction under the action of the obstacle, so that the length of the guide rod between the linear motion component and the guide plate is shortened and the elastic element is further compressed relative to the initial compressed state; when the force of the obstacle is removed, the elastic element rebounds, and the translation bracket is translated in the second direction under the action of the elastic force of the elastic element, driving the wet cleaning component back to the extended position.

[0034] Optionally, the method further includes: when the wet cleaning component is in the extended position and is subjected to the force of an obstacle, the translation bracket is translated in the opposite direction of the second direction under the action of the obstacle, so that the length of the guide rod between the linear motion component and the guide plate increases and the elastic element is further stretched relative to the initial stretched state; when the force of the obstacle is removed, the elastic element rebounds, and the translation bracket is translated in the second direction under the action of the elastic force of the elastic element, driving the wet cleaning component back to the extended position.

[0035] Optionally, the lateral translation mechanism further includes a position sensor for detecting whether the wet cleaning component is in the retracted position and whether it is in the extended position; in response to detecting an extended command, controlling the drive motor to rotate forward to drive the wet cleaning component to translate from the retracted position to the extended position includes: in response to the position sensor detecting that the wet cleaning component is in the extended position, controlling the lateral translation drive assembly to stop driving the wet cleaning component; in response to detecting a retracted command, controlling the drive motor to rotate in reverse to drive the wet cleaning component to translate from the extended position to the retracted position includes: in response to the position sensor detecting that the wet cleaning component is in the retracted position, controlling the lateral translation drive assembly to stop driving the wet cleaning component.

[0036] The beneficial effects of the technical solution provided by this invention include at least the following:

[0037] The lateral translation mechanism of this application embodiment can move the wet cleaning component from the retracted position to the extended position, so that the wet cleaning component extends out of the machine body to perform wet cleaning on the corner areas, thereby reducing the cleaning dead corners and improving the cleaning effect of the corner areas; the lateral translation mechanism can also move the wet cleaning component from the extended position to the retracted position, which can reduce the cleaning dead corners while minimizing the risk of scratching furniture or being affected by obstacles. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 is a schematic diagram of the structure of an existing cleaning robot;

[0040] Figure 2 is a schematic diagram of the structure of an existing cleaning robot viewed from below.

[0041] Figure 3 is an exploded view of the installation structure of the lateral translation mechanism according to an embodiment of the present invention;

[0042] Figure 4 is a schematic diagram of the bottom shell structure according to an embodiment of the present invention;

[0043] Figure 5 is a schematic diagram of the installation structure of the lateral translation drive assembly on the bottom shell according to an embodiment of the present invention;

[0044] Figure 6 is a schematic diagram of a translational support structure according to an embodiment of the present invention;

[0045] Figure 7 is a schematic diagram of another structure of the translational support according to an embodiment of the present invention;

[0046] Figure 8 is a schematic diagram of the installation structure of the support member on the translation bracket according to an embodiment of the present invention;

[0047] Figure 9 is a schematic diagram of a support structure according to an embodiment of the present invention;

[0048] Figure 10 is a schematic diagram of the translational support in the retracted state according to an embodiment of the present invention;

[0049] Figure 11 is a schematic diagram of the working state of a translational support according to an embodiment of the present invention;

[0050] Figure 12 is a schematic diagram of the translational support in a passive recovery state according to an embodiment of the present invention.

[0051] The reference numerals in the figure are respectively:

[0052] 100 - Cleaning robot; 110 - Main body; 111 - Forward section; 112 - Rearward section; 120 - Drive wheel module;

[0053] 1-Fastener; 2-Bottom shell; 3-Elastic element; 4-Guide rod; 5-Lead screw; 6-Lead screw nut; 7-Coupling; 8-Drive motor; 9-Motor cage; 10-Circuit board; 11-Transfer bracket; 12-Support component; 121-First fixing plate; 122-Second fixing plate; 123-First limiting post; 124-Second limiting post; 13-Sliding roller; 14-Snap ring; 15-Wet cleaning component; 16-Motor mounting plate; 17-Coupling mounting hole; 18-Lead screw mounting hole; 19-Fixing hole; 20-Circuit board mounting hole; 21-Guide hole; 22-Guide groove; 23-Position baffle; 24-Limiting hole; 25-Matching plate; 26-First mounting structure; 27-Second mounting structure; 28-First clearance groove; 29-Second lifting bracket; 30-First lifting bracket; 31-Second clearance groove; 32-Third clearance groove.

[0054] The accompanying drawings illustrate a specific embodiment of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] Before providing a further detailed description of the embodiments of the present invention, the directional terms used in the embodiments of the present invention, such as "upper part", "lower part" and "side part", are based on the orientation shown in FIG1 and do not have the meaning of limiting the scope of protection of the present invention.

[0057] To make the technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0058] Example 1

[0059] Automated cleaning robots are becoming increasingly popular in households, greatly simplifying daily cleaning tasks. As shown in Figure 1-2, cleaning robots 100, such as robotic vacuum cleaners, robotic mops, and combined vacuum and mop robots, can automatically move along a working surface to clean it. This working surface can be a floor, tile, carpet, etc., and carpets may include short-pile and long-pile carpets. The working surface can be horizontal, vertical, or inclined.

[0060] A cleaning robot 100 typically includes a main body 110, a sensing module, a controller, a drive module, a cleaning system, an energy system, and a human-machine interaction module. As shown in Figure 1, the main body 110 includes a front portion 111 and a rear portion 112, and has an approximately circular shape (both front and rear are circular). It may also have other shapes, including but not limited to an approximately D-shaped shape with a circular front and rear, and a rectangular or square shape with a circular front and rear. The main body 110 includes a bottom shell.

[0061] The perception module includes a position determination device on the main body 110, a collision sensor on the forward collision structure of the forward portion 111 of the main body 110, a proximity sensor (wall sensor) on the side of the machine, a cliff sensor on the lower part of the main body 110, and sensors such as a magnetometer, accelerometer, gyroscope, and odometry installed inside the main body 110. These sensors provide the controller with various position and motion status information of the machine. Furthermore, the position determination device can also be used to determine obstacle information, such as the height and width of obstacles, to determine whether the robot can cross them. The position determination device includes, but is not limited to, a camera and a laser distance measuring device (LDS). In some preferred implementations, the position determination device (such as a camera or laser sensor) is located at the front of the main body 110, that is, at the very front of the forward portion 111, to more accurately sense the environment in front of the cleaning robot and achieve precise positioning.

[0062] The controller is located on the main circuit board within the main body 110. It includes non-transitory memory such as hard disks, flash memory, and random access memory, and a computing processor such as a central processing unit and application processor. The application processor uses localization algorithms, such as Simultaneous Localization and Mapping (SLAM), to create a real-time map of the environment in which the cleaning robot 100 is located, based on obstacle information fed back by the laser rangefinder. Furthermore, it combines distance and speed information fed back by sensors on the front structure, such as cliff sensors, magnetometers, accelerometers, gyroscopes, and odometry, to comprehensively determine the current working state, location, and pose of the cleaning robot 100, such as crossing a threshold, stepping on a carpet, being on a cliff, being stuck above or below, having a full dustbin, or being picked up. It also provides specific next action strategies for different situations, resulting in better cleaning performance and a better user experience for the cleaning robot 100.

[0063] The drive module can manipulate the main body 110 to travel across the ground based on drive commands with distance and angle information. The drive module includes a drive wheel module 120, which can control the left and right drive wheels. For more precise control of the robot's movement, it is preferable that the drive wheels each include a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are arranged along a transverse axis defined by the main body 110. To enable the cleaning robot 100 to move more stably or with greater mobility on the ground, the cleaning robot 100 may include one or more driven wheels, including but not limited to omnidirectional wheels. The drive wheel module includes a drive motor and control circuitry for controlling the drive motor. The drive wheel module may also be connected to circuitry for measuring drive current and an odometer. Furthermore, the left and right drive wheels may have an offset drop suspension system, movably secured, for example, rotatably attached to the main body 110, and receiving spring biases that are offset downwards and away from the main body 110. Spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 100 also contact the ground with a certain pressure.

[0064] Cleaning systems may include dry cleaning systems and / or wet cleaning systems. Dry cleaning systems may include a roller brush, dustbin, fan, and air outlet. The roller brush, with some interference from the ground, sweeps up debris and carries it to the suction port between the roller brush and the dustbin. The suction air generated by the fan and passing through the dustbin is then drawn into the dustbin. Dry cleaning systems may also include side brushes with a rotating axis at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning system.

[0065] The wet cleaning system may include: a wet cleaning component 15, a lifting unit, a water supply mechanism, and a liquid storage tank. The wet cleaning component 15 may be positioned below the liquid storage tank. Cleaning fluid from the liquid storage tank is supplied to the wet cleaning component 15 via the water supply mechanism, enabling the wet cleaning component 15 to perform wet cleaning of the work surface. In some preferred embodiments, the cleaning fluid from the liquid storage tank may also be directly sprayed onto the surface to be cleaned, and the wet cleaning component 15 cleans the surface by evenly spreading the cleaning fluid.

[0066] For example, when the wet cleaning component 15 is not temporarily engaged in operation, it can be raised away from the operating surface by the lifting unit. When the wet cleaning component 15 needs to be engaged in operation, it can be lowered to contact the operating surface by the lifting unit. For instance, when the cleaning robot 100 docks at the base station to clean the wet cleaning component, or when encountering an operating surface that cannot be cleaned using the wet cleaning component 15, the wet cleaning component 15 will temporarily not be engaged in operation.

[0067] For example, the wet cleaning component 15 can be mounted on the bottom shell of the main body 110, such as on the bottom of the rear portion of the main body 110, in which case the wet cleaning component 15 is installed at the tail of the robot vacuum cleaner.

[0068] For example, the wet cleaning component 15 includes a mop plate and a mop cloth mounted on the mop plate. The wet cleaning system also includes a reciprocating motion drive unit, which drives the mop cloth to reciprocate at high frequency, generating high-frequency friction with the operating surface, thereby removing stains from the operating surface. For example, the mop plate may include a mop plate body and a support unit, with the mop plate body detachably connected to the support unit and the mop cloth mounted on the mop plate body. For example, the lifting unit may include a lifting drive unit, a lifting bracket, and a retractable support structure (e.g., a linkage support structure, a scissor support structure, a mast support structure, a sleeve support structure, or a parallelogram telescopic frame type). The following description uses a linkage pair as an example of the support structure. When the support structure is a linkage pair, the lifting drive unit may include a motor, a spool, and a rope. The motor controls the winding length of the rope on the spool, thereby controlling the distance between the wet cleaning component and the bottom shell of the main body. For example, the wet cleaning component 15 is mounted to the bottom of the main body 110 via the lifting bracket. For example, when the wet cleaning component 15 is typically mounted at the rear of the robotic vacuum cleaner, the wet cleaning component 15 is attached to the bottom of the rear portion of the main body 110 via a lifting bracket. For example, both ends of the linkage pair are hinged to the lifting bracket and the wet cleaning component 15 (e.g., the support portion of the wet cleaning component 15), respectively, and the lifting drive unit drives the wet cleaning component 15 to move up and down relative to the lifting bracket. For example, the lifting unit may be located on the side of the support portion away from the operating surface.

[0069] The energy system includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion batteries. These batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit connects to a charging station via charging electrodes located on the side or bottom of the device for charging.

[0070] The human-machine interface module includes buttons on the main control panel for user function selection; it may also include a display screen and / or indicator lights and / or a speaker, which display the current machine mode or function selection options; and it may include a mobile client application. For the path-navigation type automatic cleaning robot 100, the mobile client can display a map of the device's environment and its location to the user, providing richer and more user-friendly functions. Specifically, the cleaning robot has multiple modes, such as working mode and self-cleaning mode. Working mode refers to the mode in which the cleaning robot performs automatic cleaning operations, while self-cleaning mode refers to the mode in which the cleaning robot removes dirt from the roller brush and side brushes on the base, automatically collects the dirt, and / or automatically washes and dries the mop.

[0071] For ease of description, the following directional definitions are used: The cleaning robot 100 can be calibrated using the following three mutually perpendicular axes: the lateral axis Y, the front-to-back axis X, and the vertical axis Z. The direction indicated by the arrow along the front-to-back axis X is labeled "backward," and the direction opposite to the arrow along the front-to-back axis X is labeled "forward." The lateral axis Y is essentially along the width of the cleaning robot 100; the direction indicated by the arrow along the lateral axis Y is labeled "leftward," and the direction opposite to the arrow along the lateral axis Y is labeled "rightward." The direction perpendicular to both the front-to-back axis X and the lateral axis Y is the direction of the vertical axis Z.

[0072] As shown in Figure 2, the wet cleaning component 15 is located at the tail of the cleaning robot. When cleaning corners, even though the main body moves along the corners, due to the shape limitations of the cleaning robot, there is a certain distance between the mopping area of ​​the wet cleaning component 15 and the wall forming the corner, resulting in cleaning dead spots along the corners. This problem is particularly significant when the wet cleaning component 15 is a single component that cleans by reciprocating relative to the operating surface.

[0073] As shown in Figures 3, 10, and 11, this embodiment of the application provides a lateral translation mechanism applied to a cleaning robot. The cleaning robot includes a base shell 2 and a wet cleaning component 15. The wet cleaning component 15 reciprocates relative to the operating surface to clean the operating surface. The lateral translation mechanism includes a lateral translation drive assembly, which is connected to the base shell 2 and the wet cleaning component 15. The lateral translation drive assembly is used to drive the wet cleaning component 15 to translate relative to the base shell 2 between a retracted position and an extended position. When the wet cleaning component 15 is in the extended position, the union of the projection of the wet cleaning component 15 on the operating surface and the projection of the base shell 2 on the operating surface is greater than the union of the projection of the wet cleaning component 15 on the operating surface and the projection of the base shell 2 on the operating surface when the wet cleaning component 15 is in the retracted position. The translation direction of the wet cleaning component 15 relative to the base shell 2 is the width direction of the cleaning robot.

[0074] The bottom shell 2 can be the bottom of the main body of the cleaning robot. The wet cleaning component 15 can perform various movements within the operating surface. For example, on the one hand, the wet cleaning component 15 can translate or rotate within the operating surface under the drive of the bottom shell 2, at which time the center of the wet cleaning component 15 is stationary relative to the bottom shell 2 (without considering the high-frequency reciprocating motion of the wet cleaning component 15); on the other hand, the wet cleaning component 15 can translate relative to the bottom shell 2 within the operating surface under the drive of the lateral translation mechanism. The translation of the wet cleaning component 15 relative to the bottom shell 2 is between the retracted position and the extended position, and the direction of translation is the width direction of the cleaning robot. Understandably, when the wet cleaning component 15 moves from the retracted position to the extended position relative to the bottom shell 2, the wet cleaning component 15 moves outward along the width direction of the cleaning robot; when the wet cleaning component 15 moves from the extended position to the retracted position relative to the bottom shell 2, the wet cleaning component 15 moves inward along the width direction of the cleaning robot. Thus, relative to the forward and backward movement direction of the cleaning robot, the translation direction of the wet cleaning component 15 relative to the bottom shell 2 is a lateral translation.

[0075] Understandably, the translation of the wet cleaning component 15 relative to the bottom shell 2 can be performed simultaneously with the wet cleaning component 15 translating or rotating within the operating surface under the influence of the bottom shell 2, or it can be performed when the center of the wet cleaning component 15 is stationary relative to the bottom shell 2.

[0076] In this embodiment, the wet cleaning component 15 moves relative to the bottom shell 2 by translation rather than oscillation, and the structure of the lateral translation drive assembly that can be used to drive the wet cleaning component 15 to move relative to the bottom shell 2 is simpler.

[0077] The lateral translation drive assembly drives the wet cleaning component 15 to extend or retract relative to the bottom shell 2 within the operating surface. When the wet cleaning component 15 needs to clean the corner area, the lateral translation drive assembly drives the wet cleaning component 15 to extend out of the bottom shell 2 (as shown in Figure 11); when it is not necessary to clean the corner, for example when the wet cleaning component 15 needs to clean the open area, the lateral translation drive assembly drives the wet cleaning component 15 to retract below the bottom shell 2 (as shown in Figure 10).

[0078] When the wet cleaning component 15 is in the extended position, the extent to which it extends beyond the bottom shell 2 can be determined as needed. The length of the extended wet cleaning component 15 should be coordinated with the position of the cleaning robot 100, ensuring that the mop of the wet cleaning component 15 interferes with the corners. If the wet cleaning component 15 extends too short beyond the bottom shell 2, the cleaning effect on corner areas will be limited. If the wet cleaning component 15 extends too long, it will not only be difficult to ensure the straightness and controllability of translation, but it will also be prone to collisions with or getting stuck on obstacles. When the wet cleaning component 15 is in the extended position, the extended portion can account for 1 / 10 to 1 / 2 of the total length of the wet cleaning component 15 in the width direction of the cleaning robot.

[0079] For example, referring to Figure 10, when the wet cleaning component 15 is in the retracted position, the union of the projection of the wet cleaning component 15 on the operating surface and the projection of the bottom shell 2 on the operating surface is equal to the projection of the bottom shell 2 on the operating surface; that is, the wet cleaning component 15 is completely located below the bottom shell 2; when the wet cleaning component 15 is in the extended position, the wet cleaning component 15 extends at least partially below the bottom shell 2, and the union of the projection of the wet cleaning component 15 on the operating surface and the projection of the bottom shell 2 on the operating surface is the projection of the portion of the wet cleaning component 15 extending from the bottom shell 2 on the operating surface plus the projection of the bottom shell 2 on the operating surface, as shown in Figure 11.

[0080] For example, the bottom shell 2 may include a bottom surface and a side surface, which form a cavity. A notch may be provided on the side surface of the bottom shell 2. When in the retracted position, the lateral translation drive component and the wet cleaning component 15 are located in this cavity. When extension is required, the wet cleaning component 15 extends through the notch. This results in better packaging and integration of the cleaning robot. For example, the bottom shell 2 may only include the bottom surface, with the lateral translation drive component and the wet cleaning component 15 located outside the bottom shell 2.

[0081] For example, the outer contour of the wet cleaning component 15 can be substantially consistent with the outer contour of the bottom shell 2. For instance, the outer contour of the wet cleaning component 15 includes a first outer edge arc, and the outer contour of the bottom shell 2 includes a second outer edge arc. The first and second outer edge arcs are coaxially arranged, and the radii of the first and second outer edge arcs of the bottom shell 2 are the same. Specifically, the outer contour of the wet cleaning component 15 and the outer contour of the bottom shell 2 can both be arc-shaped, except that the chord length of the first outer edge arc corresponding to the arc shape of the wet cleaning component 15 is slightly longer than the chord length of the second outer edge arc corresponding to the arc shape of the bottom shell 2. The projection of the first outer edge arc in the operating surface coincides with the projection of the second outer edge arc of the bottom shell 2 in the operating surface.

[0082] Alternatively, for example, the outer contour of the wet cleaning component 15 may not be consistent with the outer contour of the bottom shell 2. For example, the outer contour of the bottom shell 2 may be arc-shaped or circular, while the outer contour of the wet cleaning component 15 may be rectangular.

[0083] For example, the outer contour of the wet cleaning component 15 can be a chamfered arc shape, with at least a portion of the outer contour of the wet cleaning component 15 parallel to the forward direction of the cleaning robot 100. Specifically, a portion of the outer side of the arc shape is cut off near the corner of the wet cleaning component 15, so that the outer contour of the wet cleaning component near the corner is parallel to the forward direction of the cleaning robot, instead of being a circular arc shape. This reduces blind spots that the wet cleaning component 15 cannot cover when cleaning corners. For example, to ensure the overall symmetry of the cleaning robot, chamfers can be made on both sides of the wet cleaning component 15 along the Y-axis. To make the outer contour of the bottom shell 2 match the shape of the outer contour of the wet cleaning component 15, one or both sides of the bottom shell 2 can be chamfered along the Y-axis.

[0084] For example, for a cleaning robot where the wet cleaning component 15 needs to translate relative to the bottom shell 2, a lateral translation drive assembly needs to be added to the cleaning robot 100. The wet cleaning component 15 is connected to the bottom shell 2 through the lateral translation drive assembly. It is understood that in the Z-axis direction, the bottom surface of the bottom shell 2, the lateral translation drive assembly, and the wet cleaning component 15 are progressively closer to the operating surface; that is, the bottom surface of the bottom shell 2 is furthest from the operating surface, and the wet cleaning component 15 is closest to the operating surface.

[0085] For example, the lateral translation drive assembly includes two ends, one end A does not translate relative to the bottom shell 2, and the other end B can translate relative to the bottom shell 2. The wet cleaning component 15 is directly or indirectly connected to end B. In this way, the lateral translation drive assembly can drive the wet cleaning component 15 to translate relative to the bottom shell 2.

[0086] For example, when the wet cleaning component 15 and the base shell 2 can be raised and lowered relative to each other, the wet cleaning component 15 can be connected to end B via a lifting bracket, and the lifting drive unit drives the wet cleaning component 15 to rise and fall relative to the lifting bracket. For example, the lifting bracket is fixedly connected to end B and rotatably connected to one end of the connecting rod pair, and the other end of the connecting rod pair is axially connected to the wet cleaning component 15. For example, the wet cleaning component 15 can be a vibrating mopping assembly that vibrates at high frequency while mopping (i.e., reciprocates at high frequency relative to the operating surface), which can more efficiently remove stubborn stains on the cleaning surface.

[0087] For example, the wet cleaning component 15 is some or all of the multiple wet cleaning components mounted on the cleaning robot. For instance, the cleaning robot is equipped with two wet cleaning components, one of which can translate relative to the bottom shell 2, and the other cannot translate relative to the bottom shell 2.

[0088] For example, the wet cleaning component 15 can be moved out in one direction relative to the bottom shell 2, such as by moving it to the right relative to the bottom shell 2. For example, the cleaning robot is equipped with two wet cleaning components 15, one of which can be moved to the right relative to the bottom shell 2, and the other can be moved to the left relative to the bottom shell 2.

[0089] For example, only one wet cleaning component 15 is provided, which is the only wet cleaning component mounted on the cleaning robot. That is, when cleaning open areas, the wet cleaning component 15 is in the retracted position, and when cleaning corner areas, the wet cleaning component 15 is in the extended position. In this way, there is no need to set up an additional wet cleaning component 15 for corner cleaning, which simplifies the structure and control system of the cleaning robot, and avoids different cleaning effects or different cleaning traces (such as water stains) left by different wet cleaning components 15 on the operating surface.

[0090] Specifically, the process of the lateral translation drive component driving the wet cleaning component 15 to move can be controlled by the control module of the cleaning robot. When the cleaning robot identifies the cleaning area as a corner area, the control module controls the lateral translation drive component to move the wet cleaning component 15 from the retraction position to the extension position. When the cleaning robot identifies that the corner area has been cleaned, it controls the lateral translation drive component to move the wet cleaning component 15 from the extension position to the retraction position.

[0091] The lateral translation mechanism of this application embodiment can directly or indirectly drive the wet cleaning component 15 from the retraction position to the extension position, so that the wet cleaning component 15 extends out of the bottom shell 2 to clean the corner area. The lateral translation mechanism can also drive the wet cleaning component 15 to be retracted into the machine body, so as to clean the corner area without leaving any dead corners and avoid scratching the furniture.

[0092] Preferably, in the first embodiment, the lateral translation drive assembly includes a drive motor 8, a rotary assembly, and a linear motion assembly. The rotary assembly and the linear motion assembly are drively connected and are used to convert the rotation of the drive motor 8 into translation. The drive shafts of the rotary assembly and the drive motor 8 are coupled (e.g., via a coupling). The drive motor 8 is mounted on the bottom housing 2, and the linear motion assembly is connected to the wet cleaning component 15. A motor mounting structure is provided on the lower surface of the bottom housing 2, and the drive motor 8 is mounted on the motor mounting structure. The lateral translation drive assembly is used to drive the wet cleaning component 15 to translate between a retracted position and an extended position. The linear motion assembly is connected to the wet cleaning component to drive the wet cleaning component to translate, and the wet cleaning component is supported below the bottom housing.

[0093] Preferably, in the second embodiment, as shown in Figures 3, 5, and 7, in addition to the lateral translation drive assembly, the lateral translation mechanism also includes a translation bracket 11. The lateral translation drive assembly includes a drive motor 8, a rotary assembly, and a linear motion assembly. The rotary assembly and the linear motion assembly are connected by a transmission link and are used to convert the rotation of the drive motor 8 into translation. The rotary assembly and the drive shaft of the drive motor 8 are coupled together. The drive motor 8 is mounted on the bottom shell 2. The linear motion assembly is connected to the translation bracket 11, which is movably connected to the bottom shell 2. The linear motion assembly drives the translation bracket 11 to translate relative to the bottom shell 2. The translation bracket 11 is connected to the wet cleaning component 15. The lateral translation drive assembly is used to drive the translation bracket 11 to move the wet cleaning component 15 between a retracted position and an extended position. In the Z-axis direction, the bottom surface of the base shell 2, the lateral translation drive assembly, the translation bracket 11, and the wet cleaning component 15 are gradually approaching the operating surface; that is, the bottom surface of the base shell 2 is furthest from the operating surface, and the wet cleaning component 15 is closest to the operating surface. For example, when the wet cleaning component 15 and the base shell 2 can be raised and lowered relative to each other, the wet cleaning component 15 rises and falls relative to the base shell 2, while the translation bracket 11 has no Z-axis movement relative to the base shell 2. The linear motion assembly is connected to the translation bracket to drive the translation bracket to translate, and the wet cleaning component is supported below the translation bracket. For example, the translation bracket 11 has mounting holes for the drive motor 8 and the rotation assembly to mount the drive motor onto the base shell.

[0094] Specifically, the rotary component and linear motion component in the above embodiments are described below:

[0095] In the first embodiment, the rotating component includes a lead screw 5, and the linear motion component includes a lead screw nut 6, with the lead screw nut 6 and the lead screw 5 connected by threads. In the first embodiment, the lead screw 5 is connected to the drive shaft of the drive motor 8, and the wet cleaning component 15 is connected to the lead screw nut 6. In the second embodiment, the lead screw 5 is connected to the drive shaft of the drive motor 8, the translation bracket 11 is connected to the lead screw nut 6, and the wet cleaning component 15 is connected to the translation bracket 11. Furthermore, the lateral translation drive component also includes a coupling 7, through which the lead screw 5 is connected to the drive shaft of the drive motor 8, enabling synchronous rotation.

[0096] In the second embodiment, the rotating component includes a gear, and the linear motion component includes a rack; the gear and rack are meshed and connected. In the first embodiment described above, the gear is connected to the drive shaft of the drive motor 8, and the wet cleaning component 15 is connected to the rack. In the second embodiment described above, the gear is connected to the drive shaft of the drive motor 8, the translation bracket 11 is connected to the rack, and the wet cleaning component 15 is connected to the translation bracket 11.

[0097] In the third embodiment, the rotating component includes a first synchronous pulley and a second synchronous pulley, and the linear motion component includes a synchronous belt, which is sleeved on the first and second synchronous pulleys. In the first embodiment, the first synchronous pulley is connected to the drive shaft of the drive motor 8, the second synchronous pulley is rotatably connected to the base shell 2, and the wet cleaning component 15 is connected to the synchronous belt. In the second embodiment, the first synchronous pulley is connected to the drive shaft of the drive motor 8, and the first synchronous pulley is the driving pulley; the second synchronous pulley is rotatably connected to the base shell 2, and the second synchronous pulley is the driven pulley; the translation bracket 11 is connected to the synchronous belt; and the wet cleaning component 15 is connected to the translation bracket 11. Under the drive of the drive motor 8, the first synchronous pulley, the second synchronous pulley, the synchronous belt, the wet cleaning component 15, and the translation bracket 11 rotate synchronously.

[0098] Specifically, staff can choose any one of the first, second, or third implementation schemes or other possible lateral translation drive component schemes as needed.

[0099] For example, the first embodiment described above is applied based on the second embodiment. In a specific embodiment, the lateral translation mechanism further includes a guide rod 4, a lead screw nut 6, and a lead screw 5 connected by threads, and a translation bracket 11 connected to a wet cleaning component 15. The first end of the guide rod 4 is connected to the lead screw nut 6, and the second end of the guide rod 4 is connected to the translation bracket 11. The first end of the guide rod 4 and the lead screw nut 6 are fixedly connected by threads or fastened by two nuts. The second end of the guide rod 4 and the translation bracket 11 can be fixedly connected by threads or fastened by two nuts to achieve synchronous and unidirectional movement of the guide rod 4 and the translation bracket 11.

[0100] For example, the first embodiment described above is applied based on the second embodiment. In a specific embodiment, as shown in Figures 3 and 7, the lateral translation mechanism further includes a guide rod 4 and an elastic element 3, with the length direction of the guide rod parallel to the translation direction. For example, the elastic element 3 can be a spring. The lead screw nut 6 and the lead screw 5 are connected by threads, and the translation bracket 11 and the wet cleaning component 15 are connected. The wet cleaning component includes a guide plate perpendicular to the translation direction, or the translation bracket 11 is provided with a guide plate perpendicular to the translation direction. The first end of the guide rod 4 is fixedly connected to the linear motion component, and the second end of the guide rod 4 passes through the guide plate, with the guide rod and the guide plate slidably connected; the elastic element 3 is sleeved on the outer periphery of the portion of the guide rod 4 located between the linear motion component and the guide plate; the elastic element 3 is in a compressed state between the linear motion component and the guide plate; or, the elastic element is in a stretched state between the linear motion component and the guide plate.

[0101] Specifically, the first end of the guide rod 4 is connected to the lead screw nut 6, and the second end of the guide rod 4 passes through the guide plate. The guide rod 4 and the guide plate are slidably connected, and the elastic element 3 is sleeved on the outer periphery of the portion of the guide rod 4 located between the lead screw nut 6 and the guide plate. Specifically, the guide plate is provided with a guide hole 21, and the second end of the guide rod 4 passes through the guide hole 21. The guide rod 4 and the guide plate are slidably connected. When the wet cleaning component 15 is in the retracted position, the elastic element 3 is in a compressed state between the lead screw nut 6 and the guide plate; or, the elastic element 3 is in a stretched state between the lead screw nut 6 and the guide plate. This compressed or stretched state can be slight (hereinafter also referred to as the stretched state, that is, a certain preload is applied on the basis of the free state of the elastic element), so that the elastic force generated in this compressed or stretched state is balanced with the frictional force between the cleaning robot and the operating surface, thereby preventing the wet cleaning component 15 from relative translation with the bottom shell 2. The lead screw nut 6 moves linearly on the lead screw, thereby driving the translation bracket 11 to move linearly, and then driving the wet cleaning component 15 to translate from the retracted position to the extended position. For example, when the wet cleaning component 15 is in the retracted position, the elastic element 3 is compressed between the lead screw nut 6 and the guide plate. At this time, the lead screw nut 6 moves linearly towards the guide plate, further compressing the elastic element 3 between the lead screw nut 6 and the guide plate. The resulting elastic force is greater than the friction between the cleaning robot and the operating surface. Under the action of the elastic force, the translation bracket 11 moves linearly, thereby causing the wet cleaning component 15 to translate relative to the bottom shell 2. As another example, when the wet cleaning component 15 is in the retracted position, the elastic element 3 is stretched between the lead screw nut 6 and the guide plate. At this time, the lead screw nut 6 moves linearly away from the guide plate, further stretching the elastic element 3 between the lead screw nut 6 and the guide plate. The resulting elastic force is greater than the friction between the cleaning robot and the operating surface. Under the action of the elastic force, the translation bracket 11 moves linearly, thereby causing the wet cleaning component 15 to translate relative to the bottom shell 2. By incorporating the elastic element 3, when the humidity cleaning component is in the extended position and encounters an obstacle, the elastic element 3 generates an elastic force under the reaction force of the obstacle, passively avoiding the obstacle. The specific process of passive retraction will be explained later.

[0102] For example, as shown in Figures 4 and 5, in this embodiment, the lower surface of the bottom shell 2 is provided with a motor mounting structure and a lead screw 5 mounting structure. The lower surface of the bottom shell 2 may also be provided with a coupling 7 mounting structure. For example, the motor mounting structure includes a motor mounting plate 16 and a motor retainer 9, and the motor mounting plate 16 is provided with multiple motor mounting holes. For example, the coupling 7 mounting structure includes a coupling mounting hole 17, and for example, the lead screw 5 mounting structure includes a lead screw mounting hole 18. The coupling mounting hole 17 and the lead screw mounting hole 18 are coaxially arranged.

[0103] Further, as shown in Figures 3 and 5, the drive motor 8 is housed in the motor cage 9, which is connected to the motor mounting hole via fastener 1. The coupling 7 is installed in the coupling mounting hole 17 and can rotate relative to it. One end of the lead screw 5 is connected to the coupling 7, and the other end is installed in the lead screw mounting hole 18, allowing it to rotate relative to this hole. The lead screw nut 6 is mounted on the lead screw 5, with its axis parallel to the operating surface. When the drive motor 8 drives the lead screw 5 to rotate via the coupling 7, the lead screw nut 6 moves along the axis of the lead screw 5, thereby enabling the translation bracket 11 to move the wet cleaning component 15 within the operating surface.

[0104] Furthermore, as shown in Figures 3 to 7, the translation bracket 11 is provided with a retainer hole, and the motor retainer 9 is disposed in the retainer hole. The length of the retainer hole along the translation direction of the translation bracket 11 is adapted to the translation distance of the translation bracket 11, so as to prevent the motor retainer 9 from obstructing the translation of the translation bracket 11. Moreover, this setting can effectively reduce the overall thickness and volume of the cleaning robot, making it easier to enter low spaces such as under the bed.

[0105] Specifically, as shown in Figures 3 and 7, the linear motion component is connected via guide rod 4 and translation bracket 11. The rotary component includes a lead screw 5, and the linear motion component includes a lead screw nut 6. The lead screw nut 6 and the lead screw 5 are connected by threads. The lead screw nut 6 includes a main plate (perpendicular to the Y direction) and side plates (perpendicular to the Y direction). Two side plates are provided, exemplarily distributed on both sides of the main plate along the X-axis. The main plate has a lead screw hole, and the lead screw 5 is threadedly connected to the lead screw hole. The side plates have guide rod holes, which correspond to the guide rod 4. The axis of the guide rod hole is parallel to the axis of the lead screw hole. The connection between the first end of the guide rod 4 and the lead screw nut 6 includes: the first end of the guide rod 4 is connected to the guide rod hole. It is understood that when two side plates are provided, there are also two guide rods 4.

[0106] Furthermore, as shown in Figure 7, after the first end of the guide rod 4 passes through the guide rod hole, a retaining ring 14 is provided on the first end of the guide rod 4 to prevent the guide rod 4 from coming out of the guide rod hole.

[0107] Furthermore, as shown in Figure 6, the guide hole 21 on the translation bracket 11 is such that, since the lead screw nut 6 moves along the axis of the lead screw 5, the length of the guide rod 4 needs to be greater than the distance between the guide hole 21 and the guide rod hole to prevent the second end of the guide rod 4 from disengaging from the guide hole 21.

[0108] Furthermore, in other embodiments, the elastic element 3 may be a compression spring or a tension spring 3 or other elastic parts as needed, which, in conjunction with the lateral translation drive assembly, enables the extension or retraction of the wet cleaning element 15. If necessary, the setting direction of the lateral translation drive assembly may be reasonably adjusted.

[0109] Preferably, the linear motion assembly further includes a guide member, and the translation bracket 11 is provided with a guide groove 22. The length extension direction of the guide groove 22 is parallel to the translation direction of the wet cleaning component 15 (i.e., the Y direction), and the central axis of the guide groove 22 is perpendicular to the operating surface. The guide member is located within the guide groove 22, and the guide member and the guide groove 22 are slidably connected. For example, the guide member may protrude from the main body of the linear motion assembly and extend into the guide groove 22. In this way, the linear motion of the translation bracket 11 can be guided by restricting the movement of the guide member within the guide groove 22.

[0110] Preferably, as shown in Figures 3 and 5, the guide component is a guide post on the side plate, and the axis of the guide post is in the Z-axis direction. As shown in Figure 6, the translation bracket 11 is provided with a guide groove 22, and the guide post and the guide groove 22 are slidably connected.

[0111] Specifically, the guide groove 22 is elongated, and its length extends along the translational direction of the wet cleaning component 15. The length of the guide groove 22 must meet the travel distance requirements of the lead screw nut 6, and the guide groove 22 has a limiting effect on the movement of the lead screw nut 6 within the operating surface. Furthermore, during the active retrieval process of the wet cleaning component 15 (which will be explained later), the guide component contacts the target end sidewall of the guide groove, and the relative position between the target end sidewall of the guide groove and the guide component is the same as the relative position between the retrieval position and the extension position. Driven by the guide component, the translational support 11 moves from the extension position to the retrieval position.

[0112] Specifically, as shown in Figure 3, the guide post is inserted into the guide groove 22, which restricts the movement of the lead screw nut 6 in the front-back and left-right directions. To prevent the guide post from disengaging from the guide groove 22 and to restrict the vertical movement of the lead screw nut 6, a limiting screw is provided on the guide post. After the guide post is inserted into the guide groove 22, the limiting screw is located below the translation bracket 11 and installed on the guide post. The guide groove 22 also reduces the overall thickness and volume of the cleaning robot, making it easier to enter low spaces such as under beds.

[0113] Specifically, the number of guide posts can be adjusted according to requirements. In this embodiment, two guide posts are provided on each side plate.

[0114] Preferably, as shown in Figures 3, 8, and 9, the translation bracket 11 is connected to the base shell 2 via a support member 12, which is fixed to the base shell 2. A limiting hole 24 is provided on the translation bracket 11. The central axis of the limiting hole 24 is perpendicular to the operating surface, and the length extension direction of the limiting hole 24 is parallel to the translation direction of the wet cleaning component 15. The support member 12 and the limiting hole 24 engage. When the translation bracket 11 translates, the limiting hole 24 translates relative to the support member 12 along the length extension direction of the limiting hole 24. Thus, the linear movement of the translation bracket 11 can be guided by restricting the relative movement of the support member 12 to within the limiting hole 24. Specifically, four support members 12 are provided, each fixed to the base shell 2, to ensure the stability of the translation bracket 11 when translating relative to the base shell 2.

[0115] For example, the wall of the limiting hole includes sidewalls, a support member, and rolling friction between the sidewalls; and / or, the wall of the limiting hole includes a top wall, a support member, and rolling friction between the top wall and the support member. This allows for limiting and guiding from one direction or from two mutually perpendicular directions, resulting in more aligned and smooth translation. For example, the limiting hole including sidewalls and a top wall could be a through hole, with half of the top surface forming the top wall. For example, the support member rolling friction from two mutually perpendicular directions could be a support member comprising roller structures located in two mutually perpendicular directions.

[0116] Specifically, the support member 12 includes a limiting bracket and at least one friction member rotatably connected to the limiting bracket. The friction member can rotate circumferentially around its axis. As shown in Figure 6, the translation bracket 11 is provided with a limiting hole 24 and a mating plate 25. The mating plate 25 is disposed on the limiting hole 24, parallel to the operating surface, and located on the side of the limiting hole 24 away from the operating surface. The limiting bracket includes a first fixing plate 121 and a second fixing plate 122. The first fixing plate 121 and the second fixing plate 122 are arranged perpendicularly. The first fixing plate 121 is parallel to and connected to the bottom shell 2. The first fixing plate 121 is provided with a first limiting post 123, and the second fixing plate 122 is provided with a second limiting post 124. The axis of the first limiting post 123 and the axis of the second limiting post 124 are arranged perpendicularly, and the axis of the second limiting post 124 is parallel to the operating surface. The first limiting post 123 is slidably connected to the wall of the limiting hole 24, and the second limiting post 124 is slidably connected to the mating plate 25.

[0117] Specifically, as shown in Figure 3, during installation, the support member 12 is installed from below the translation bracket 11 into the limiting hole 24. The first fixing plate 121 is parallel to the bottom shell 2, the first limiting post 123 abuts against the hole wall of the limiting hole 24, and the second limiting post 124 abuts against the bottom surface of the mating plate 25. The first fixing plate 121 is provided with a fastening hole, and the bottom shell 2 is provided with a fixing hole 19 that mates with the fastening hole. The first fixing plate 121 and the bottom shell 2 are connected by fasteners 1.

[0118] Specifically, as shown in Figure 8, multiple support members 12 are provided, and the number of limiting holes 24 and mating plates 25 matches the number of support members 12. In this embodiment, four support members 12 are provided, and four limiting holes 24 and four mating plates 25 are provided respectively. The positions of the limiting holes 24 and mating plates 25 can be changed according to requirements, but must meet the stability requirements of the translation bracket 11 driving the wet cleaning component 15 to move.

[0119] Preferably, as shown in Figure 9, the first limiting post 123 is provided with a first friction element, which is a sliding roller 13 or a sliding ball, and the sliding roller 13 or the sliding ball can rotate relative to the first limiting post 123. The second limiting post 124 is provided with a second friction element, which is a sliding roller 13 or a sliding ball, and the sliding roller 13 or the sliding ball can rotate relative to the second limiting post 124. The rotation axes of the first friction element and the second friction element are perpendicular to each other. When the translation bracket 11 translates, rolling friction occurs between the first friction element and the side wall of the limiting hole 24, and rolling friction occurs between the second friction element and the mating plate 25. The setting of the sliding roller 13 or the sliding ball reduces the coefficient of friction between the first limiting post 123 and the inner wall of the limiting hole 24, and the coefficient of friction between the second limiting post 124 and the mating plate 25, ensuring the stability and smoothness of the translation bracket 11 driving the wet cleaning component 15 to move.

[0120] Specifically, the first limiting post 123 and the second limiting post 124 are uniformly equipped with sliding roller 13 or sliding ball.

[0121] Specifically, the number of the first limiting post 123 and the second limiting post 124 can be adjusted according to requirements. In this embodiment, one first limiting post 123 and two second limiting posts 124 are provided.

[0122] Specifically, the number of sliding rollers 13 or sliding balls installed on the first limiting post 123 and the second limiting post 124 can be adjusted according to requirements. In this embodiment, the first limiting post 123 is provided with a sliding roller 13, and the second limiting post 124 is provided with a limiting roller.

[0123] Specifically, the sliding roller 13 or the sliding ball is limited by the retaining spring 14 to the first limiting post 123 and the second limiting post 124 to prevent the sliding roller 13 or the sliding ball from falling off. This also ensures that the sliding roller 13 or the sliding ball can only rotate circumferentially around the axis of the first limiting post 123. It also ensures that the sliding roller 13 or the sliding ball can only rotate circumferentially around the axis of the second limiting post 124.

[0124] Preferably, the lateral translation mechanism further includes a position sensor for detecting whether the wet cleaning component 15 is in the retracted position and whether the wet cleaning component 15 is in the extended position. The position sensor may include a proximity switch, a Hall effect sensor, a magnetic sensor, an optocoupler sensor, etc. For example, the position sensor may include an optocoupler sensor, and the position sensor includes a positioning sensor and a positioning baffle. When the positioning baffle blocks or does not block the positioning sensor, the signal generated by the positioning sensor is different; for example, it is a high level when blocked and a low level when not blocked. When the wet cleaning component translates relative to the bottom housing 2, the positioning sensor and the positioning baffle also move relative to each other. For example, the positioning sensor is mounted on the bottom housing 2, and the positioning baffle 23 is mounted on the translation bracket 11; or, the positioning sensor is mounted on the translation bracket 11, and the positioning baffle 23 is mounted on the bottom housing 2. For example, the positioning sensors are mounted on the bottom shell 2, and the position baffles 23 are mounted on the translation bracket 11. There are two positioning sensors and one position baffle. When the wet cleaning component 15 is in the retracted and extended positions, it blocks one of the positioning sensors respectively. When the wet cleaning component 15 is in the retracted and extended positions, it does not block any positioning sensors. Alternatively, the positioning sensors are mounted on the translation bracket 11, and the position baffles 23 are mounted on the bottom shell 2. There is one positioning sensor and two position baffles. When the wet cleaning component 15 is in the retracted and extended positions, one position baffle 23 blocks the positioning sensor respectively. When the wet cleaning component 15 is in the retracted and extended positions, it does not block any positioning sensors.

[0125] Specifically, the position of the wet cleaning component 15 can be determined by the cooperation of the position sensor and the position baffle 23: moving to the retracted position, moving to the extended position, and the position between the retracted position and the extended position.

[0126] Specifically, in this embodiment, as shown in Figure 3, the first positioning sensor I and the second positioning sensor II are located on the same sensor circuit board 10. As shown in Figure 4, the bottom shell 2 is provided with circuit board mounting holes 20, and the circuit board 10 is mounted on the bottom shell 2 by fasteners 1. The position baffle 23 is set on the translation bracket 11. When the translation bracket 11 moves, the position baffle 23 moves between the first positioning sensor I and the second positioning sensor II.

[0127] Preferably, as shown in Figure 3, the outer contour of the wet cleaning component 15 is a chamfered arc shape, and at least a portion of the outer contour of the wet cleaning component 15 is parallel to the forward direction of the cleaning robot 100. The projection of the translation bracket on the operating surface is a chamfered arc shape that matches the projection of the wet cleaning component 15 on the operating surface. Optionally, the projection of the bottom shell 2 on the operating surface is a chamfered arc shape, and the projection of the bottom shell 2 on the operating surface and the projection of the translation bracket step on the operating surface are combined to form a chamfered arc shape that matches the projection of the wet cleaning component 15 on the operating surface. This allows for a more compact distribution of components, which is beneficial for equipment miniaturization, and the projections of each component on the operating surface do not protrude beyond the projection of the main body of the cleaning robot 100 on the operating surface, reducing the probability of the cleaning robot 100 getting stuck by obstacles.

[0128] Preferably, the translation bracket 11 is provided with a mounting structure. The cleaning robot 100 also includes: a lifting bracket and a retractable support structure, one end of which is connected to the lifting bracket and the other end of which is connected to the wet cleaning component 15. The wet cleaning component 15 is supported by the lifting bracket and the support structure below the translation bracket, and the lifting bracket is fixedly connected to the mounting structure. For example, the retractable support structure is a pair of links, with both ends of the link pair hinged to the lifting bracket and the wet cleaning component 15, respectively. The cleaning robot 100 may also include a lifting drive unit for driving the wet cleaning component 15 to move up and down relative to the lifting bracket. It is understood that the translation bracket 11 and the wet cleaning component 15 translate together relative to the bottom shell 2, the translation bracket 11 does not move up or down relative to the bottom shell 2, and the wet cleaning component 15 moves up and down relative to the bottom shell 2.

[0129] Preferably, the translation support includes a clearance structure for the lifting support. The clearance structure includes a first clearance groove 28 for accommodating the lifting support and / or a stepped portion recessed towards the bottom shell. The distance between the stepped portion and the wet cleaning component is greater than the distance between the non-stepped portion of the translation support (i.e., the portion of the translation support excluding the stepped portion) and the wet cleaning component. A receiving space for the lifting support is formed between the stepped portion and the wet cleaning component. This compresses the longitudinal volume, which helps reduce the thickness of the cleaning robot's body.

[0130] Preferably, as shown in Figure 3, the lifting bracket includes a second lifting bracket 29 and a first lifting bracket 30. As shown in Figure 6, the mounting structure includes a first mounting structure 26 and a second mounting structure 27. The translation bracket 11 is provided with a first clearance groove 28, and the lifting bracket passes through the first clearance groove 28. As shown in Figures 4 and 5, the bottom shell 2 is provided with a second clearance groove 31, and the second mounting structure 27 is disposed at the first clearance groove 28. The second clearance groove 31 is used to accommodate the lifting bracket that passes through the first clearance groove 28. Specifically, the first lifting bracket 30 extends into the second clearance groove 31 through the first clearance groove 28. The first lifting bracket 30 and the second mounting structure 27 are connected. The length extension direction of the second clearance groove 31 is parallel to the translation direction of the wet cleaning component 15, i.e., the Y direction. When the wet cleaning component 15 translates relative to the bottom shell 2, the first lifting bracket 30 translates along the length extension direction of the second clearance groove 31 within the second clearance groove 31. Specifically, the first mounting structure 26 has a first mounting screw hole, the axis of which is perpendicular to the operating surface. This first mounting screw hole is a blind hole. The second lifting bracket 29 has a first assembly screw hole corresponding to the first mounting structure 26, the axis of which is perpendicular to the operating surface. This first assembly screw hole is a through hole. The first mounting structure 26 and the second lifting bracket 29 are fastened together with screws. The second mounting structure 27 has a second mounting screw hole, the axis of which is perpendicular to the operating surface. This second mounting screw hole is a blind hole. The first lifting bracket 30 has a second assembly screw hole corresponding to the second mounting structure 27, the axis of which is perpendicular to the operating surface. This second assembly screw hole is a through hole. The second mounting structure 27 and the first lifting bracket 30 are fastened together with screws. The first clearance groove 28 is a rectangular hole. The second mounting structures 27 are located on the short sides of the first clearance groove 28, with one second mounting structure 27 located on each short side.

[0131] Furthermore, the lateral translation mechanism also satisfies at least one of the following:

[0132] A lifting drive unit is mounted on the translation bracket 11 and / or the wet cleaning component 15. The lifting drive unit can be a transmission form involving a drive element, gears, or racks, where the drive element drives the meshing of the gears and racks to achieve the lifting movement of the wet cleaning component 15 relative to the translation bracket 11. Alternatively, the lifting drive unit can be a transmission form involving a lifting drive element and a sling, where the length of the sling determines the distance between the lifting bracket and the wet cleaning component 15, and the lifting drive element drives the extension or retraction of the sling to achieve the lifting movement of the wet cleaning component 15 relative to the translation bracket 11. For example, the lifting drive unit can be mounted on the surface of the wet cleaning component 15 away from the operating surface. For example, the wet cleaning component 15 includes a drag plate and a mop cloth located on the drag plate. The drag plate can also include a drag plate body and a support portion, with the drag plate body detachably connected to the support portion, and the mop cloth disposed on the drag plate body. For example, the two ends of a linkage pair are axially connected to the lifting bracket and the support portion of the wet cleaning component 15, respectively. A lifting unit can be mounted on the support portion.

[0133] For example, as shown in Figure 3, the translation bracket 11 has a stepped portion recessed towards the bottom shell. A clearance space 32 for the lifting bracket is formed between the stepped portion and the wet cleaning component. The clearance space 32 corresponds to the lifting drive unit, which is disposed within the clearance space 32. The clearance space 32 is located on the extendable side of the translation bracket 11. The projection of the bottom shell 2 onto the operating surface does not intersect with the projection of the clearance space 32 onto the operating surface. The union of the projections of the bottom shell 2 and the clearance space 32 onto the operating surface is approximately equal to the projection of the translation bracket 11 onto the operating surface. For example, the top surface of the clearance space 32, i.e., the stepped portion, can be further away from the operating surface in the Z direction than the bottom shell 2, thus reducing the size of the bottom shell 2 to provide an installation position for the clearance space 32. Understandably, when the wet cleaning component 15 is a vibration cleaning assembly, and / or when the wet cleaning component 15 needs to be replenished with water, the water delivery mechanism, the reciprocating motion drive unit and the lifting drive unit can be integrated into a combined drive unit and installed in the clearance space 32.

[0134] Specifically, taking the situations shown in Figures 10, 11 and 12 as examples, we will introduce several states of the wet cleaning component 15.

[0135] ①Initial state (not yet started cleaning along the corners, in the recycling position):

[0136] As shown in Figure 10, the wet cleaning component 15 extends to the retraction position, the lead screw nut 6 is on the left side of the guide groove 22, the first lifting bracket 30 is on the left side of the second clearance groove 31, the elastic component 3 is in the extended state (e.g., the initial compressed state), the support component 12 is on the right side of the limiting hole 24, and the first positioning sensor I on the circuit board 10 is triggered to a high level, recognizing that the wet cleaning component 15 is in the retraction position.

[0137] ②Working status (extended position and not encountering any obstacles):

[0138] When the wet cleaning component 15 needs to extend for corner cleaning, the drive motor 8 rotates forward, the lead screw 5 drives the lead screw nut 6 to move, the distance between the guide hole 21 and the guide rod hole tends to decrease, and the elastic component 3 tends to be further compressed relative to the initial compressed state. The compressed elastic component 3 has a compressive elastic force. Under the action of the compressive elastic force of the elastic component 3, with the linear movement of the lead screw nut 6, the translation bracket 11 drives the wet cleaning component 15 to gradually extend to the extended position.

[0139] At this time, as shown in Figure 11, when the wet cleaning component 15 extends to the extended position, the lead screw nut 6 is on the left side of the guide groove 22, the first lifting bracket 30 is on the right side of the second clearance groove 31, the elastic component 3 is in the extended state (e.g., the initial compressed state), the support component 12 is on the left side of the limiting hole 24, and the second positioning sensor II on the circuit board 10 is triggered to a high level, recognizing that the wet cleaning component 15 is in the extended position.

[0140] The process of the wet cleaning component 15 moving to the extended position is as follows:

[0141] The drive motor 8 rotates in the forward direction, driving the coupling 7 and the lead screw 5 to rotate synchronously in the forward direction, causing the lead screw nut 6 to generate relative displacement along the axial direction of the lead screw 5, the distance between the guide hole 21 and the guide rod hole gradually shortens, and the elastic element 3 is compressed;

[0142] Guided by the guide rod 4 in the axial direction of the lead screw nut 6, the translation bracket 11 is pushed out to the extended position by the elastic force of the elastic element 3, that is, the translation bracket 11 and the bottom shell 2 generate relative displacement along the axial direction of the lead screw 5.

[0143] During this process, the translation bracket 11 and the bottom shell 2 generate relative movement. This movement is limited by the support member 12 and rolls against the translation bracket 11, so that it can only generate movement along the axial direction of the lead screw 5 within the operating surface.

[0144] During this process, the states of the first positioning sensor I and the second positioning sensor II on the circuit board 10 respectively go through the following stages: initial state (first positioning sensor I is triggered, second positioning sensor II is not triggered) (I-high level, II-low level) → extension process (first positioning sensor I is not triggered, second positioning sensor II is not triggered) (I-low level, II-low level) → reaching the working state (first positioning sensor I is not triggered, second positioning sensor II is triggered) (I-low level, II-high level).

[0145] ③ Passive retraction state (encountering an obstacle while in the extended position):

[0146] Furthermore, when the wet cleaning component 15 is in the extended position and encounters an obstacle, the elastic element 3 allows the wet cleaning component 15 to enter a passive retraction state. The degree of retraction of the wet cleaning component 15 relative to the extended position can be freely adjusted according to the obstacle, avoiding the need for complex control logic. For example, when the wet cleaning component 15 is in the extended position and encounters an obstacle, the translation bracket 11 and the wet cleaning component 15 are subjected to a force in the Y direction of the obstacle and are translated towards the retraction position. This force points towards the retraction position, the second end of the guide rod 4 extends along the guide plate, the distance between the guide plate 4 and the screw nut 6 is shortened, and the elastic element 3 is further compressed from the extended state (e.g., the initial compressed state). (If the spring's extended state is the stretched state, the arrangement of each component ensures that when the wet cleaning component 15 is in the extended position and encounters an obstacle, the translation bracket 11 and the wet cleaning component 15 are subjected to a force in the Y direction of the obstacle and are translated towards the retraction position.) The robot moves towards the retraction position due to the force acting on the obstacle in the Y direction. This force points towards the retraction position, increasing the distance between the guide plate and the lead screw nut 6, and further stretching the elastic element 3 from its extended state. The wet cleaning component 15 can be passively retracted from its extended position (the degree of passive retraction is determined by one of the limiting factors: the size of the obstacle, the amount by which the second end of the guide rod 4 can extend beyond the guide plate, and the distance between the extended and retraction positions). After the cleaning robot bypasses the obstacle, the wet cleaning component 15 re-extends to its extended position under the elastic potential energy of the elastic element 3. During passive retraction, the wet cleaning component 15 remains against the obstacle, enabling cleaning of the obstacle's edges and corners and avoiding cleaning dead zones. It should be noted that during passive retraction, the drive motor 8 does not operate, the lead screw nut 6 does not move, and the guide groove 22 translates relative to the lead screw nut 6, causing the lead screw nut 6 to move to the right side of the guide groove 22, as shown in Figure 12. The lead screw nut 6 is located on the right side of the guide groove 22, and the first lifting bracket 30 is located on the left side of the second clearance groove 31.

[0147] Specifically, when encountering an obstacle, the elastic element 3 is compressed inward under the reaction force of the obstacle on the wet cleaning element 15 to passively avoid the obstacle; during this process, the translation bracket 11 moves to the recovery position through the limiting action of the support element 12 and the rolling friction.

[0148] During this process, there are two possible states for the first positioning sensor I and the second positioning sensor II:

[0149] The first scenario: Working state (first positioning sensor I not triggered, second positioning sensor II triggered) (I-low level, II-high level) → Initial state (first positioning sensor I triggered, second positioning sensor II not triggered) (I-high level, II-low level). In this case, the translation bracket 11 drives the wet cleaning component 15 to the recycling position, as shown in Figure 12.

[0150] The second scenario: Working state (first positioning sensor I not triggered, second positioning sensor II triggered) (I-low level, II-high level) → Intermediate position (first positioning sensor I not triggered, second positioning sensor II not triggered) (I-low level, II-low level). In this case, the translation bracket 11 moves the wet cleaning component 15 to a position between the extended position and the retracted position.

[0151] After bypassing the obstacle, the elastic element 3 rebounds under the guidance of the guide rod 4, pushing the wet cleaning element 15 to the working state (the first positioning sensor I is not triggered, and the second positioning sensor II is triggered) (I-low level, II-high level). In this case, the translation bracket 11 drives the wet cleaning element 15 to the extended position.

[0152] ④ Active retrieval status (edge ​​cleaning completed, the device moves from the extended position to the retrieval position):

[0153] When the wet cleaning component 15 is in the active retraction state, it retracts downwards towards the bottom shell 2. The drive motor 8 reverses, and the lead screw 5 drives the lead screw nut 6 to move. The guide component contacts the target end sidewall of the guide groove 22, and the guide component drives the translation bracket 11 and the wet cleaning component 15 to gradually retract to the retraction position.

[0154] Specifically, the drive motor 8 rotates in the opposite direction, causing the lead screw 5 to rotate in the opposite direction. The lead screw nut 6 retracts, causing the translation bracket 11 to actively retract to its initial state. This process is as follows: working state (first positioning sensor I not triggered, second positioning sensor II triggered) (I-low level, II-high level) → intermediate position (first positioning sensor I not triggered, second positioning sensor II not triggered) (I-low level, II-low level) → initial state (first positioning sensor I triggered, second positioning sensor II not triggered) (I-high level, II-low level). The first positioning sensor I detects a high level, indicating that the wet cleaning component 15 is in the retracted position.

[0155] In this embodiment of the application, during the edge mopping process, the wet cleaning component 15 can be moved outward (e.g., to the right) in the Y-axis direction to the outside of the body outline, which can effectively solve the problem that the corner area along the edge cannot be mopped during the edge mopping process.

[0156] In this embodiment, the wet cleaning component 15 can be retracted during normal mopping and when returning to the base station, effectively solving the appearance problem of the mopping structure being located on the outside of the body outline.

[0157] In this embodiment, a separate motor drive is provided for the lateral translation mechanism, which can effectively avoid the logical coupling problem caused by having a vibrating mopping component and a side mop, using the side mop to clean corners, and sharing the motor that drives the vibrating mopping component to vibrate and the motor that drives the side mop to rotate.

[0158] Example 2

[0159] This embodiment provides a control method for a lateral translation mechanism, applied to the lateral translation mechanism described in Embodiment 1. The lateral translation drive assembly includes a drive motor 8. The method includes: in response to detecting an extension command, controlling the drive motor 8 to drive the wet cleaning component 15 to translate from a retracted position to an extended position. In response to detecting a retraction command, controlling the drive motor 8 to reverse to drive the wet cleaning component 15 to translate from the extended position to the retracted position. This embodiment controls the lateral translation drive assembly to move the wet cleaning component from the retracted position to the extended position, so that the wet cleaning component 15 extends out of the machine body to clean the edge area. Furthermore, the lateral translation mechanism can also retract the wet cleaning component 15 into the machine body, enabling thorough cleaning of the edge area without leaving any blind spots while avoiding scratching furniture.

[0160] Specifically, referring to Embodiment 1, the lateral translation drive assembly further includes a rotary assembly and a linear motion assembly, which are connected by a transmission. The rotary assembly and the linear motion assembly are used to convert the rotation of the drive motor 8 into translation; the rotary assembly and the drive shaft of the drive motor 8 are coupled.

[0161] Specifically, referring to Embodiment 1, in the first embodiment, the rotating component is a lead screw 5, and the linear motion component is a lead screw nut 6.

[0162] Specifically, referring to Embodiment 1, in the second embodiment, the rotating component is a gear and the linear motion component is a rack.

[0163] Specifically, referring to Embodiment 1, in the third embodiment, the rotating components are the first synchronous pulley and the second synchronous pulley, and the linear motion component is the synchronous belt.

[0164] The method includes: controlling the drive motor 8 to drive the rotating assembly to rotate, the rotating assembly driving the wet cleaning component 15 to move within the operating surface through the linear motion component, the wet cleaning component 15 translating from the retraction position to the extension position, or the wet cleaning component 15 translating from the extension position to the retraction position.

[0165] Specifically, referring to Embodiment 1, the lateral translation mechanism includes a translation bracket 11, a guide rod 4, and an elastic element 3. The translation bracket 11 is provided with a guide plate. The first end of the guide rod 4 is fixedly connected to the linear motion component, and the second end of the guide rod 4 passes through the guide plate. The guide rod 4 and the guide plate are slidably connected. The elastic element 3 is sleeved on the outer periphery of the portion of the guide rod 4 located between the linear motion component and the guide plate.

[0166] In one embodiment, when the wet cleaning component 15 is in the retracted position, the elastic element 3 is in an initial compressed state between the linear motion component and the guide plate. Controlling the drive motor 8 to rotate forward to drive the translation bracket 11 and move the wet cleaning component 15 from the retracted position to the extended position includes: controlling the drive motor 8 to rotate forward, causing the rotating component to rotate in a first direction, the linear motion component to translate in a second direction, and a tendency for the distance between the linear motion component and the guide plate to decrease. The elastic element 3 tends to be further compressed relative to its initial compressed state, and the compressive force of the elastic element 3 drives the translation bracket 11 to translate in the second direction, thereby moving the wet cleaning component 15 in the second direction. The first direction is the same as the forward rotation direction of the drive motor 8, and the second direction is the direction from the retracted position to the extended position.

[0167] In one embodiment, when the wet cleaning component 15 is in the retracted position, the elastic element 3 is in an initial stretched state between the linear motion component and the guide plate. Controlling the drive motor 8 to rotate forward to drive the translation bracket 11 and move the wet cleaning component 15 from the retracted position to the extended position includes: controlling the drive motor 8 to rotate forward, causing the rotating component to rotate in a first direction, the linear motion component to translate in a second direction, and the distance between the linear motion component and the guide plate to tend to increase. The elastic element 3 tends to be further stretched relative to its initial stretched state. The stretching force of the elastic element 3 drives the translation bracket 11 to translate in the second direction, thereby moving the wet cleaning component 15 to translate in the second direction. The first direction is the same as the forward rotation direction of the drive motor 8, and the second direction is the direction from the retracted position to the extended position.

[0168] Specifically, the linear motion component also includes a guide member; the translation bracket 11 is provided with a guide groove, the length extension direction of which is parallel to the translation direction of the wet cleaning component 15; the guide member is located within the guide groove, and the guide member and the guide groove are slidably connected. The control of the drive motor 8 to reverse and drive the translation bracket 11 to move the wet cleaning component 15 from the extended position to the retracted position includes: controlling the drive motor 8 to reverse, causing the rotating component to rotate in a third direction, the linear motion component to translate in a fourth direction, the guide member to abut against the guide groove and drive the translation bracket 11 to translate in the fourth direction, thereby driving the wet cleaning component 15 to translate in the fourth direction; the third direction is opposite to the first direction, and the fourth direction is opposite to the second direction. Wherein, the third direction is the same as the reversal direction of the drive motor 8, and the fourth direction is the direction from the extended position to the retracted position.

[0169] Specifically, the method further includes: when the wet cleaning component 15 is in the extended position and is subjected to the force of an obstacle, the translation bracket 11 translates in the opposite direction of the second direction under the force of the obstacle, causing the length of the guide rod 4 between the linear motion component and the guide plate to shorten, and the elastic element 3 to be further compressed relative to the initial compressed state. When the force of the obstacle is removed, the elastic element 3 rebounds, and the translation bracket 11 translates in the second direction under the elastic force of the elastic element 3, driving the wet cleaning component 15 back to the extended position. Here, the second direction is the direction from the retracted position to the extended position.

[0170] Specifically, when the wet cleaning component 15 reaches its working state and encounters an obstacle, the elastic element 3 causes the wet cleaning component 15 to enter a passive retraction state. The extension length of the wet cleaning component 15 can be freely adjusted according to the obstacle, avoiding the need for complex control logic. For example, when the wet cleaning component 15 reaches its working state and encounters an obstacle, the elastic element 3 is compressed under the action of the obstacle, and the wet cleaning component 15 can be passively retracted to the lower part of the bottom shell 2. After the cleaning robot bypasses the obstacle, the wet cleaning component 15 extends back to its original working position under the elastic potential energy of the elastic element 3. During the passive retraction process, the wet cleaning component 15 remains in contact with the obstacle, enabling cleaning of the obstacle's edge and avoiding cleaning dead spots. It should be noted that during the passive retraction process, the drive motor 8 does not operate, and the lead screw nut 6 does not displace. During the passive retraction process, the guide groove limits the guide post.

[0171] Specifically, the lateral translation mechanism also includes a position sensor, which is used to detect whether the wet cleaning component 15 is in the retracted position and whether the wet cleaning component 15 is in the extended position. For a detailed configuration, please refer to Embodiment 1.

[0172] In response to the detection of an extension command, the drive motor 8 is controlled to rotate forward to drive the wet cleaning component 15 to translate from the retracted position to the extended position, including: in response to the position sensor detecting that the wet cleaning component 15 is in the extended position, the lateral translation drive assembly is controlled to stop driving the wet cleaning component 15.

[0173] In response to the detection of a retrieval command, the drive motor 8 is controlled to reverse to drive the wet cleaning component 15 to translate from the extended position to the retrieval position, including: in response to the position sensor detecting that the wet cleaning component 15 is in the retrieval position, the lateral translation drive assembly is controlled to stop driving the wet cleaning component 15.

[0174] Furthermore, when the position sensor includes a first positioning sensor and a second positioning sensor, a position baffle 23 is provided, with the position baffle 23 positioned at a first position, the first positioning sensor positioned at the first position, and the second positioning sensor positioned at a second position. The method includes: determining that the wet cleaning component 15 has moved to the retraction position when feedback information is received from the first positioning sensor, and determining that the wet cleaning component 15 has moved to the extension position when feedback information is received from the second positioning sensor.

[0175] Furthermore, when the position baffle 23 includes a first baffle and a second baffle, a positioning sensor is set at a first position, the first baffle is set at the first position, and the second baffle is set at a second position. The method includes: acquiring the initial position of the wet cleaning component 15 and the cumulative number of feedback messages received from the positioning sensor; based on a pre-set judgment rule, determining whether the wet cleaning component 15 has moved to the retracted position or the extended position according to the initial position of the wet cleaning component 15 and the cumulative number of feedback messages received from the positioning sensor. For example, if the initial position of the wet cleaning component 15 is the retracted position, the pre-set judgment rule is that if the cumulative number of feedback messages received from the positioning sensor is odd, the wet cleaning component 15 is determined to move to the retracted position; if the cumulative number of feedback messages received from the positioning sensor is even, the wet cleaning component 15 is determined to move to the extended position.

[0176] Specifically, the lateral translation mechanism includes a lifting drive unit and a translation bracket 11; the method includes: in response to detecting a lifting command, controlling the lifting drive unit to drive the wet cleaning component 15 to move up and down relative to the translation bracket 11.

[0177] Furthermore, the lifting drive unit includes a lifting drive component, a gear, and a rack. The rack is mounted on the wet cleaning component 15. The lifting drive component is a drive motor mounted on the translation bracket 11. The gear is mounted on the drive shaft of the drive component. The method includes controlling the drive component to drive the gear to rotate, and the gear drives the wet cleaning component 15 to move up and down through the rack.

[0178] Furthermore, the lifting drive unit includes a lifting drive component and a sling. The lifting drive component is a drive motor and is mounted on the translation bracket 11. The sling connects the drive shaft of the lifting drive component and the wet cleaning component 15. The method includes controlling the lifting drive component to drive the extension or retraction of the sling, and the sling drives the wet cleaning component 15 to move up and down.

[0179] In this embodiment, the control method within one operating cycle includes:

[0180] Upon receiving feedback information from the first sensor, it is determined that the wet cleaning component 15 is located in the recycling position;

[0181] The control drive motor 8 drives the lead screw 5 to rotate in the forward direction. As the lead screw 5 rotates, the elastic element 3 between the lead screw nut 6 and the guide plate is compressed. At the same time, the guide rod 4 slides relative to the guide plate under the drive of the lead screw nut 6. The compression force of the elastic element 3 drives the translation bracket 11 to move the wet cleaning part 15 to the extension position within the operating surface.

[0182] Upon receiving feedback information from the second sensor, it is determined that the wet cleaning component 15 is in the extended position, and the drive motor 8 is controlled to stop.

[0183] When the wet cleaning component 15 is in the extended position and is subjected to the force of the obstacle, the wet cleaning component 15 is translated in the opposite direction of the second direction under the action of the obstacle, so that the length of the guide rod 4 between the screw nut 6 and the guide plate becomes shorter and the elastic component 3 is further compressed relative to the initial compressed state.

[0184] When the force of the obstacle is removed, the elastic element 3 rebounds, and the translation bracket 11 moves in the second direction under the action of the elastic force of the elastic element 3, driving the wet cleaning element 15 back to the extended position.

[0185] When cleaning is complete, the control drive motor 8 drives the lead screw 5 to rotate in the opposite direction. As the lead screw 5 rotates, the translation bracket 11, driven by the lead screw nut 6, drives the wet cleaning component 15 to move in the operating surface toward the recycling position.

[0186] Upon receiving feedback information from the first sensor, it is determined that the wet cleaning component 15 is in the recycling position, and the drive motor 8 is controlled to stop.

[0187] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "a plurality" refers to two or more unless otherwise expressly defined.

[0188] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0189] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lateral translation mechanism, applied in a cleaning robot, wherein, The cleaning robot includes a base and a wet cleaning component; the wet cleaning component reciprocates relative to the operating surface to clean the operating surface; The lateral translation mechanism includes a lateral translation drive assembly, which is connected to the bottom shell and the wet cleaning component. The lateral translation drive assembly is used to drive the wet cleaning component to translate relative to the bottom shell between a retracted position and an extended position. When the wet cleaning component is in the extended position, the union of the projection of the wet cleaning component on the operating surface and the projection of the bottom shell on the operating surface is greater than the union of the projection of the wet cleaning component on the operating surface and the projection of the bottom shell on the operating surface when the wet cleaning component is in the retracted position. The direction of translation of the wet cleaning component relative to the bottom shell is the width direction of the cleaning robot.

2. The lateral translation mechanism according to claim 1, wherein, The outer contour of the wet cleaning component is a chamfered arc shape, and at least a portion of the outer contour of the wet cleaning component is parallel to the forward direction of the cleaning robot; and / or, the number of the wet cleaning components is one.

3. A lateral translation mechanism according to claim 1, wherein, The lateral translation drive assembly includes a drive motor, a rotary assembly, and a linear motion assembly. The rotary assembly and the linear motion assembly are connected by a transmission connection and are used to convert the rotation of the drive motor into translation. The drive shafts of the rotary assembly and the drive motor are coupled together. The drive motor is mounted on the bottom shell, and the linear motion assembly is connected to the wet cleaning component to drive the wet cleaning component to translate. The wet cleaning component is supported below the bottom shell. or, The lateral translation mechanism further includes a translation bracket; the lateral translation drive assembly includes a drive motor, a rotary assembly, and a linear motion assembly, the rotary assembly and the linear motion assembly being drivenly connected, the rotary assembly and the linear motion assembly being used to convert the rotation of the drive motor into translation; the drive shaft of the rotary assembly and the drive motor are coupled; the drive motor is mounted on the bottom shell, the linear motion assembly is connected to the translation bracket to drive the translation bracket to translate, and the wet cleaning component is supported below the translation bracket.

4. A lateral translation mechanism according to claim 3, wherein, The rotary component includes a lead screw, and the linear motion component includes a lead screw nut, wherein the lead screw nut and the lead screw are connected by threads; Alternatively, the rotary component includes a gear, and the linear motion component includes a rack, with the gear and the rack meshing and drivingly connected; Alternatively, the rotating assembly includes a first synchronous pulley and a second synchronous pulley, and the linear motion assembly includes a synchronous belt, which is sleeved on the first synchronous pulley and the second synchronous pulley.

5. A lateral translation mechanism according to claim 3, wherein, The translation bracket is connected to the bottom shell via a support member, and the support member is fixed to the bottom shell; The translation bracket has a limiting hole, the central axis of the limiting hole is perpendicular to the operating surface, and the length extension direction of the limiting hole is parallel to the translation direction of the wet cleaning component. The support member and the limiting hole are engaged. When the translation bracket is translated, the limiting hole is translated relative to the support member along the length extension direction of the limiting hole.

6. A lateral translation mechanism according to claim 5, wherein, The wall of the limiting hole includes a side wall, and the support member rolls against the side wall; and / or, the wall of the limiting hole includes a top wall, and the support member rolls against the top wall.

7. A lateral translation mechanism according to claim 3, wherein, The linear motion assembly also includes a guide; the translation bracket is provided with a guide groove, and the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning component; The guide member is located within the guide groove, and the guide member and the guide groove are slidably connected.

8. A lateral translation mechanism according to claim 3, wherein, The lateral translation mechanism also includes a guide rod and an elastic element; The wet cleaning component includes a guide plate perpendicular to the translation direction, or the translation bracket includes a guide plate perpendicular to the translation direction; The length direction of the guide rod is parallel to the translation direction; The first end of the guide rod is fixedly connected to the linear motion component, the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected. The elastic element is sleeved on the outer periphery of the portion of the guide rod located between the linear motion assembly and the guide plate; The elastic element is in a compressed state between the linear motion assembly and the guide plate; or, the elastic element is in a stretched state between the linear motion assembly and the guide plate.

9. A lateral translation mechanism according to any one of claims 3-8, wherein, The lateral translation mechanism also includes a guide rod, and the linear motion component is connected to the translation bracket via the guide rod; The rotary component includes a lead screw, and the linear motion component includes a lead screw nut, wherein the lead screw nut and the lead screw are connected by threads; The lead screw nut has a lead screw hole and guide rod holes on both sides of the lead screw hole. The axis of the guide rod hole is parallel to the axis of the lead screw hole. The lead screw and the lead screw hole are threaded together. The guide rod hole and the guide rod are correspondingly arranged. The first end of the guide rod is fixedly connected to the guide rod hole, and the second end of the guide rod is connected to the translation bracket.

10. A lateral translation mechanism according to claim 1, wherein, The lateral translation mechanism also includes a position sensor for detecting whether the wet cleaning component is in the recycling position and / or whether the wet cleaning component is in the extended position.

11. A lateral translation mechanism according to claim 3, wherein, The translation support is equipped with a mounting structure; the cleaning robot also includes: The lifting bracket is fixedly connected to the mounting structure. A retractable support structure, one end of which is connected to the lifting bracket and the other end of which is connected to the wet cleaning component; The wet cleaning component is supported below the translational bracket by the lifting bracket and the supporting structure.

12. A lateral translation mechanism according to claim 11, wherein, The translation bracket includes a clearance structure for the lifting bracket. The clearance structure includes a first clearance groove for accommodating the lifting bracket and / or a stepped portion recessed towards the bottom shell. The distance between the stepped portion and the wet cleaning component is greater than the distance between the non-stepped portion of the translation bracket and the wet cleaning component. The stepped portion and the wet cleaning component form an accommodating space for the lifting bracket.

13. A lateral translation mechanism according to claim 12, wherein, The lifting bracket passes through the first clearance groove, and the bottom shell has a second clearance groove. The second clearance groove is used to accommodate the lifting bracket that passes through the first clearance groove. When the wet cleaning component moves, the lifting bracket moves in the second clearance groove along the length extension direction of the second clearance groove.

14. A lateral translation mechanism according to claim 3, wherein, The outer contour of the wet cleaning component is a chamfered arc shape, and at least a portion of the outer contour of the wet cleaning component is parallel to the forward direction of the cleaning robot; the projection of the translation bracket on the operating surface is a chamfered arc shape that matches the projection of the wet cleaning component on the operating surface.

15. A lateral translation mechanism according to claim 11, wherein, The translation support includes a clearance structure for the lifting support. The clearance structure includes a stepped portion recessed towards the bottom shell for accommodating the lifting support. The distance between the stepped portion and the wet cleaning component is greater than the distance between the non-stepped portion of the translation support and the wet cleaning component. A clearance space for the lifting support is formed between the stepped portion and the wet cleaning component. The outer contour of the wet cleaning component is a chamfered arc shape, and at least a portion of the outer contour of the wet cleaning component is parallel to the forward direction of the cleaning robot; the projection of the translation bracket on the operating surface is a chamfered arc shape that matches the projection of the wet cleaning component on the operating surface; the projection of the bottom shell on the operating surface is a chamfered arc shape, and the projection of the bottom shell on the operating surface and the projection of the step portion of the translation bracket on the operating surface together form a chamfered arc shape that matches the projection of the wet cleaning component on the operating surface.

16. A cleaning robot, wherein, The device includes the lateral translation mechanism as described in any one of claims 1-15, and further includes a base and a wet cleaning component.

17. A control method for a lateral translation mechanism, wherein, Applied to the lateral translation mechanism as described in any one of claims 1 to 15 or the cleaning robot as described in claim 16, the lateral translation drive assembly includes a drive motor, and the method includes: In response to the detection of an extension command, the drive motor is controlled to rotate forward to drive the wet cleaning component to translate within the operating surface from the retraction position to the extension position; In response to the detection of a recycling command, the drive motor is controlled to reverse so as to drive the wet cleaning component to translate from the extended position to the recycling position within the operating surface.

18. The control method according to claim 17, wherein, The lateral translation drive assembly further includes a rotary assembly and a linear motion assembly, which are connected by a transmission mechanism. The rotary assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation. The rotary assembly is coupled to the drive shaft of the drive motor. The drive motor is mounted on the bottom shell. The lateral translation mechanism includes a translation support; The lateral translation mechanism further includes a guide rod and an elastic element, and the translation bracket is provided with a guide plate perpendicular to the translation direction; the length direction of the guide rod is parallel to the translation direction; The first end of the guide rod is fixedly connected to the linear motion assembly, the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected; the elastic element is sleeved on the outer periphery of the portion of the guide rod located between the linear motion assembly and the guide plate; When the wet cleaning component is in the retracted position, the elastic component is in an initial compressed state between the linear motion assembly and the guide plate; The step of controlling the drive motor to rotate forward to drive the wet cleaning component to translate from the retraction position to the extension position includes: controlling the drive motor to rotate forward, causing the rotating component to rotate in a first direction, the linear motion component to translate in a second direction, the distance between the linear motion component and the guide plate to tend to decrease, the elastic component to tend to be further compressed relative to the initial compressed state, and the compression force of the elastic component to drive the translation bracket to translate in the second direction, thereby driving the wet cleaning component to translate in the second direction.

19. The control method according to claim 17, wherein, The lateral translation drive assembly further includes a rotary assembly and a linear motion assembly, which are connected by a transmission mechanism. The rotary assembly and the linear motion assembly are used to convert the rotation of the drive motor into translation. The rotary assembly is coupled to the drive shaft of the drive motor. The drive motor is mounted on the bottom shell. The lateral translation mechanism includes a translation support; The lateral translation mechanism further includes a guide rod and an elastic element; the translation bracket is provided with a guide plate perpendicular to the translation direction; the length direction of the guide rod is parallel to the translation direction; The first end of the guide rod is fixedly connected to the linear motion assembly, the second end of the guide rod passes through the guide plate, and the guide rod and the guide plate are slidably connected; the elastic element is sleeved on the outer periphery of the portion of the guide rod located between the linear motion assembly and the guide plate; When the wet cleaning component is in the retracted position, the elastic element is in an initial stretched state between the linear motion assembly and the guide plate; The step of controlling the drive motor to rotate forward to drive the wet cleaning component to translate from the retraction position to the extension position includes: controlling the drive motor to rotate forward, causing the rotating component to rotate in a first direction, the linear motion component to translate in a second direction, the distance between the linear motion component and the guide plate to tend to increase, the elastic element to tend to be further stretched relative to the initial stretched state, and the stretching force of the elastic element to drive the translation bracket to translate in the second direction, thereby driving the wet cleaning component to translate in the second direction.

20. The control method according to any one of claim 18 or 19, wherein, The linear motion assembly further includes a guide member; the translation bracket is provided with a guide groove, the length extension direction of the guide groove is parallel to the translation direction of the wet cleaning component; the guide member is located within the guide groove; Controlling the drive motor to reverse in order to drive the wet cleaning component to translate from the extended position to the retracted position includes: controlling the drive motor to reverse in order to make the rotating component rotate in a third direction, the linear motion component translate in a fourth direction, the guide component abuts against the guide groove and drives the translation bracket to translate in the fourth direction, thereby driving the wet cleaning component to translate in the fourth direction; The third direction is opposite to the first direction, and the fourth direction is opposite to the second direction.

21. The control method according to claim 18, wherein, The method further includes: When the wet cleaning component is in the extended position and is subjected to the force of the obstacle, the translation bracket translates in the opposite direction of the second direction under the force of the obstacle, so that the length of the guide rod between the linear motion component and the guide plate becomes shorter and the elastic element is further compressed relative to the initial compressed state; When the force of the obstacle is removed, the elastic element rebounds, and the translation bracket moves in the second direction under the elastic force of the elastic element, driving the wet cleaning component back to the extended position.

22. The control method according to claim 19, wherein, The method further includes: When the wet cleaning component is in the extended position and is subjected to the force of the obstacle, the translation bracket translates in the opposite direction to the second direction under the force of the obstacle, so that the length of the guide rod between the linear motion component and the guide plate becomes longer and the elastic element is further stretched relative to the initial stretched state. When the force of the obstacle is removed, the elastic element rebounds, and the translation bracket moves in the second direction under the elastic force of the elastic element, driving the wet cleaning component back to the extended position.

23. The control method according to claim 17, wherein, The lateral translation mechanism also includes a position sensor, which is used to detect whether the wet cleaning component is in the retracted position and whether the wet cleaning component is in the extended position; In response to detecting an extension command, controlling the drive motor to rotate forward to drive the wet cleaning component to translate from the retraction position to the extension position includes: in response to the position sensor detecting that the wet cleaning component is in the extension position, controlling the lateral translation drive assembly to stop driving the wet cleaning component; In response to detecting a retrieval command, controlling the drive motor to reverse to drive the wet cleaning component to translate from the extended position to the retrieval position includes: in response to the position sensor detecting that the wet cleaning component is in the retrieval position, controlling the lateral translation drive assembly to stop driving the wet cleaning component.

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