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WO2025055451A1 - Robot de nettoyage - Google Patents

Robot de nettoyage Download PDF

Info

Publication number
WO2025055451A1
WO2025055451A1 PCT/CN2024/100712 CN2024100712W WO2025055451A1 WO 2025055451 A1 WO2025055451 A1 WO 2025055451A1 CN 2024100712 W CN2024100712 W CN 2024100712W WO 2025055451 A1 WO2025055451 A1 WO 2025055451A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
transmission member
move
cleaning robot
robot according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/100712
Other languages
English (en)
Chinese (zh)
Inventor
宣晓刚
陈超
赵海斌
师英豪
刘宇轩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202311188736.1A external-priority patent/CN119655665A/zh
Priority claimed from CN202311188714.5A external-priority patent/CN119606262A/zh
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Publication of WO2025055451A1 publication Critical patent/WO2025055451A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/32—Carpet-sweepers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • some cleaning robots on the market can move the cleaning part laterally relative to the body during operation, so as to clean edge positions such as walls and corners.
  • the cleaning part moves laterally relative to the body, if there is an obstacle in front of the cleaning part, it will collide with the obstacle, which is likely to cause structural damage.
  • a cleaning robot comprising a body and a cleaning assembly, wherein the cleaning assembly comprises a driving unit, a cleaning member and a lifting unit; the lifting unit comprises:
  • a first transmission member, the first transmission member is fixedly connected to the output shaft of the driving unit so as to be controlled to rotate by the output shaft;
  • a second transmission member configured to be fixedly connected to the cleaning member and is rotationally connected to the driving unit via a limiting sleeve, and the second transmission member is configured to be guided and fitted in the limiting sleeve in the axial direction;
  • the extension track has a lower dead point and an upper dead point, and when the first transmission member rotates in the first direction, the matching portion is configured to move along the extension track to the lower dead point, and the second transmission member is configured to drive the cleaning member to move to the avoidance position;
  • the extended track is a guide rail protruding from the mating surface of the first transmission member or the second transmission member, and blocking walls are provided at the ends of the lower dead point and the upper dead point of the guide rail, and the blocking walls are constructed to prevent the mating part from continuing to move.
  • the guide rail further includes a horizontal section disposed at the lower dead center and the upper dead center, and the horizontal section is configured to support the second transmission member along the axial direction when the matching portion is located at the horizontal section.
  • the matching portion is a protrusion or a cam
  • the protrusion is configured to slide along the extension track
  • the cam is configured to roll along the extension track
  • the lifting unit further includes a compression spring disposed between the second transmission member and the driving unit;
  • the second transmission member is configured to at least overcome the elastic force of the compression spring to drive the cleaning member to move to the avoidance position
  • the matching portion is configured to move along the extension track to the top dead center, and the second transmission member is configured to drive the cleaning member to move to the cleaning position at least under the elastic force of the compression spring.
  • the cleaning robot is configured to be located above the working surface
  • the second transmission member is configured to drive the cleaning member to move to the avoidance position under the action of the elastic force of the compression spring and the gravity of the second transmission member and the cleaning member;
  • the matching portion is constructed to move to the upper dead point along the extension track
  • the second transmission member is constructed to drive the cleaning member to move to the cleaning position under the action of the compression spring force and the gravity of the second transmission member and the cleaning member.
  • the limiting sleeve is configured to be sleeved on the outside of the second transmission member and is rotatably connected to the driving unit through a limiting bearing, and the limiting bearing is configured to provide rotational resistance along the first direction and the second direction to the second transmission member.
  • the limit bearing is configured to only allow the second transmission member to rotate along the second direction.
  • one of the outer side surface of the second transmission member and the inner side surface of the limiting sleeve is provided with a limiting edge extending along the axial direction, and the other is provided with a limiting groove corresponding to the position of the limiting edge, and the limiting edge is constructed to be guided and fitted in the limiting groove.
  • the limiting sleeve is configured to overcome the gravity of the second transmission member and the cleaning member through rotational resistance after the second transmission member drives the cleaning member to move to the avoidance position, so as to maintain the second transmission member and the cleaning member in the avoidance position.
  • the driving unit includes a cleaning motor, a reduction box and a housing, the cleaning motor and the reduction box are both arranged in the housing, the rotating shaft of the cleaning motor is fixedly connected to the input shaft of the reduction box, and the first transmission member is fixedly connected to the input shaft of the reduction box;
  • An installation cavity is arranged below the shell, the first transmission member is configured to be arranged in the installation cavity, and the outer ring of the limit bearing is fixedly arranged on the inner wall of the installation cavity.
  • it also includes a traveling component and a control unit, wherein the traveling component is configured to drive the cleaning robot to travel on a work surface, and the control unit is configured to control the lifting unit to drive the cleaning member to move to the avoidance position when the cleaning robot travels to the avoidance area.
  • a cleaning robot comprising:
  • a cleaning assembly the cleaning assembly is integrally rotatably connected to the machine body and comprises a cleaning mechanism and a moving mechanism;
  • the cleaning mechanism comprises a cleaning member, the moving mechanism is configured to drive the cleaning assembly to move between a first position and a second position, when in the first position, an edge of the cleaning member is within the range of an edge of the machine body, and when in the second position, at least a portion of the edge of the cleaning member exceeds the edge of the moving range of the machine body;
  • a reset elastic member is arranged between the machine body and the cleaning assembly; the cleaning assembly is constructed to move relative to the machine body under the action of an external force, and to reset under the action of the reset elastic member after the external force is removed.
  • the cleaning member when the cleaning member is located at the second position, the cleaning member is configured to overcome the force of the reset elastic member and move toward the inside of the machine body under the action of an external force, and to reset after the external force is removed.
  • the motion mechanism includes a rotating shaft and a rotating motor, the rotating shaft is rotatably connected to the machine body, the cleaning component is fixed on the rotating shaft, and the rotating motor is configured to drive the rotating shaft to rotate so as to drive the cleaning component to move on an arc between a first position and a second position relative to the machine body.
  • the output shaft of the rotating motor is parallel to the rotating shaft, a driving wheel is disposed at the top end of the output shaft, a driven wheel is disposed at the top end of the rotating shaft, and the driving wheel is transmission-connected to the driven wheel.
  • the motion mechanism further includes a rotating bracket, the rotating bracket is rotatably connected to the machine body, and the rotating shaft and the rotating motor are both fixedly disposed on the rotating bracket.
  • the resetting elastic member is a torsion spring sleeved on the rotating bracket, and one end of the torsion spring abuts against the rotating bracket, and the other end abuts against the machine body.
  • a connecting portion is provided on the cleaning component, a fixing hole is provided on the connecting portion, the rotating shaft passes through the fixing hole, and the connecting portion abuts against the top of the rotating bracket.
  • a receiving cavity is provided at the bottom of the rotating bracket, a fixed shaft fixedly connected to the body is provided in the receiving cavity, and a lower bearing is provided between the fixed shaft and the inner wall of the receiving cavity.
  • the rotating shaft is coaxially arranged with the fixed shaft; and the cleaning member is configured to move the entire cleaning assembly between a first position and a second position under the action of an external force.
  • the cleaning mechanism includes a shell and a cleaning motor located in the shell, the output shaft of the cleaning motor is drivingly connected to the cleaning member and is configured to drive the cleaning member to rotate on the work surface to clean the work surface.
  • a speed reduction mechanism is disposed in the housing, and the output shaft of the cleaning motor is drivingly connected to the cleaning member via the speed reduction mechanism.
  • the body has an inner cavity, and an arc-shaped through hole is arranged at the bottom of the body; the cleaning component is installed in the inner cavity of the body, and the output end of the deceleration mechanism is connected to the cleaning member through the arc-shaped through hole, and the cleaning member is constructed to move under the restriction of the arc-shaped through hole.
  • the cleaning component is installed on the machine body in a module manner.
  • the cleaning member is a movable rag disc, and at least one movable rag disc is provided on the machine body.
  • a cleaning assembly wherein the cleaning assembly is configured to be integrally rotatably connected to a body of a cleaning robot, and a reset elastic member is provided between the body and the cleaning assembly; the cleaning assembly is configured to move relative to the body under the action of an external force, and reset under the action of the reset elastic member after the external force is removed;
  • the cleaning component includes a cleaning mechanism and a moving mechanism; the cleaning mechanism includes a cleaning piece, and the moving mechanism is configured to drive the cleaning component to move between a first position and a second position, when in the first position, the edge of the cleaning piece is within the range of the edge of the machine body, and when in the second position, at least part of the edge of the cleaning piece exceeds the edge of the moving range of the machine body.
  • the cleaning component can rotate as a whole relative to the body under the action of external force, thereby avoiding the obstacle, and using the reset elastic part to buffer the impact force, thereby reducing the impact force on the cleaning component; and after the cleaning component passes through the obstacle, the reset elastic part can automatically drive the cleaning component to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.
  • FIG1 is an internal schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when a cleaning member is located at a first position;
  • FIG2 is an internal schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when a cleaning member is located at a second position;
  • FIG3 is a cross-sectional schematic diagram of a cleaning robot provided by an embodiment of the present disclosure.
  • FIG4 is a partially enlarged schematic diagram of FIG3 ;
  • FIG5 is an exploded schematic diagram of a cleaning assembly provided in an embodiment of the present disclosure.
  • FIG6 is a cross-sectional schematic diagram of another cleaning robot provided by an embodiment of the present disclosure.
  • FIG7 is a cross-sectional schematic diagram of a cleaning mechanism provided in an embodiment of the present disclosure.
  • FIG8 is an exploded schematic diagram of a cleaning mechanism provided by an embodiment of the present disclosure.
  • FIG9 is a perspective schematic diagram of the second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in a cleaning position;
  • FIG10 is a perspective schematic diagram of a second transmission member and a first transmission member provided by an embodiment of the present disclosure when the second transmission member is in an avoidance position;
  • FIG11 is a cross-sectional schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure.
  • FIG12 is an exploded schematic diagram of another cleaning mechanism provided by an embodiment of the present disclosure.
  • FIG. 13 is a perspective schematic diagram of another second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in a cleaning position;
  • FIG14 is a perspective schematic diagram of another second transmission member and the first transmission member provided by an embodiment of the present disclosure when the second transmission member is in an avoidance position;
  • FIG15 is a cross-sectional schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure.
  • FIG. 16 is an exploded schematic diagram of another cleaning mechanism provided in an embodiment of the present disclosure.
  • the present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.
  • a cleaning robot which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.
  • the cleaning robot at least includes a body, a cleaning component and a reset elastic member, wherein the cleaning component is integrally connected to the body and includes a cleaning mechanism and a motion mechanism; the cleaning mechanism includes a cleaning member, and the motion mechanism is configured to drive the cleaning component to move between a first position and a second position, when located at the first position, the edge of the cleaning member is located within the range of the edge of the body, and when located at the second position, at least part of the edge of the cleaning member exceeds the edge of the walking range of the body.
  • the cleaning member is arranged at the bottom of the body, and the cleaning member can clean the working surface by moving relative to the working surface.
  • the cleaning component is located in the first position, and the edge of the cleaning piece is within the range of the edge of the body. In this way, the cleaning component will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned.
  • the cleaning range of the cleaning piece can exceed the edge of the walking range of the body, thereby achieving comprehensive cleaning of the corners that the body cannot fit.
  • a reset elastic member is disposed between the body and the cleaning assembly, the cleaning assembly is integrally rotatably connected to the body, and is constructed to move relative to the body under the action of an external force, and to reset under the action of the reset elastic member after the external force is removed.
  • the cleaning component when the cleaning element extends to the outside of the body and collides with an obstacle on the side of the body or an object lower than the cleaning element appears in front of the cleaning robot,
  • the cleaning component can rotate as a whole relative to the machine body under the action of external force, thereby avoiding the obstacle, and utilizing the reset elastic component to buffer the impact force, thereby reducing the impact force on the cleaning component; and after the cleaning component passes through the obstacle, the reset elastic component can automatically drive the cleaning component to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.
  • the cleaning member when the cleaning member is located at the second position, the cleaning member is configured to overcome the action force of the reset elastic member and move toward the inside of the machine body under the action of an external force, and to reset after the external force is removed.
  • the cleaning component in order to fully clean the corners that the machine body cannot fit, when the cleaning component moves to the second position, when the cleaning component collides with an obstacle outside the machine body, the cleaning component can overcome the force of the reset elastic component under the action of external force and move toward the inside of the machine body to avoid the obstacle, and use the reset elastic component to buffer the impact force, thereby reducing the impact force on the cleaning component.
  • the reset elastic component can automatically drive the cleaning component to reset to the second position through its own elastic force, thereby continuing to clean the corners that the machine body cannot fit, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.
  • the present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.
  • a cleaning robot which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.
  • the cleaning robot at least includes a body, a cleaning component and a reset elastic member, wherein the cleaning component is integrally connected to the body and includes a cleaning mechanism and a motion mechanism; the cleaning mechanism includes a cleaning member, and the motion mechanism is configured to drive the cleaning component to move between a first position and a second position, when located at the first position, the edge of the cleaning member is located within the range of the edge of the body, and when located at the second position, at least part of the edge of the cleaning member exceeds the edge of the walking range of the body.
  • the cleaning member is arranged at the bottom of the body, and the cleaning member can clean the working surface by moving relative to the working surface.
  • the cleaning component is located in the first position, and the edge of the cleaning piece is within the range of the edge of the body. In this way, the cleaning component will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned.
  • the cleaning range of the cleaning piece can exceed the edge of the walking range of the body, thereby achieving comprehensive cleaning of the corners that the body cannot fit.
  • a reset elastic member is disposed between the body and the cleaning assembly, the cleaning assembly is integrally rotatably connected to the body, and is constructed to move relative to the body under the action of an external force, and to reset under the action of the reset elastic member after the external force is removed.
  • the cleaning component can rotate as a whole relative to the body under the action of external force, thereby avoiding the obstacle, and using the reset elastic part to buffer the impact force, thereby reducing the impact force on the cleaning component; and after the cleaning component passes through the obstacle, the reset elastic part can automatically drive the cleaning component to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.
  • the cleaning member when the cleaning member is located at the second position, the cleaning member is configured to overcome the action force of the reset elastic member and move toward the inside of the machine body under the action of an external force, and to reset after the external force is removed.
  • the cleaning component in order to fully clean the corners that the machine body cannot fit, when the cleaning component moves to the second position, when the cleaning component collides with an obstacle outside the machine body, the cleaning component can overcome the force of the reset elastic component under the action of external force and move toward the inside of the machine body to avoid the obstacle, and use the reset elastic component to buffer the impact force, thereby reducing the impact force on the cleaning component.
  • the reset elastic component can automatically drive the cleaning component to reset to the second position through its own elastic force, thereby continuing to clean the corners that the machine body cannot fit, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.
  • the present invention also provides a cleaning component.
  • the cleaning component is introduced together with the cleaning robot in this article, and it is no longer described separately.
  • the present disclosure provides a cleaning robot, which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. for cleaning the floor, or a window cleaning robot, etc. for cleaning windows or glass curtain walls.
  • a cleaning robot which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. for cleaning the floor, or a window cleaning robot, etc. for cleaning windows or glass curtain walls.
  • the cleaning robot at least includes a body 30, a cleaning component 10 and a reset elastic member 20, wherein the cleaning component 10 is integrally rotatably connected to the body 30 and includes a cleaning mechanism 1 and a moving mechanism 2; the cleaning mechanism 1 includes a cleaning member 11, and the moving mechanism 2 is configured to drive the cleaning component 10 to move between a first position and a second position, when located at the first position, the edge of the cleaning member 11 is within the range of the edge of the body 30, and when located at the second position, at least part of the edge of the cleaning member 11 exceeds the edge of the walking range of the body 30.
  • the cleaning member 11 is disposed at the bottom of the body 30, and the cleaning member 11 can move relative to the working surface to clean the working surface. It is understandable that the body 30 may also be provided with a driving wheel, which is used to drive the cleaning robot disclosed in the present invention to move on the working surface. The cleaning member 11 can move upward and turn, so that the cleaning member 11 can clean everywhere on the work surface.
  • the cleaning member 11 is a movable rag disc, and at least one movable rag disc is provided on the body 30, and the movable rag disc can be moistened with a cleaning liquid.
  • the cleaning component 10 can control the movable rag disc to rotate and work on the surface in a wiping and mopping manner.
  • the bottom of the body 30 is further provided with a dust suction port for sucking away ground garbage by wind force, and the movable rag disc is arranged behind the dust suction port.
  • a roller brush for sweeping the floor can be installed at the dust suction port, and the body 30 realizes a cleaning sequence of sweeping first and then wiping during the moving process.
  • the cleaning component 10 is a sweeping disc for sweeping the floor, and the cleaning component 10 is arranged in front of the dust suction port, and the body 30 realizes a cleaning sequence of sweeping first and then sucking during the moving process.
  • the cleaning mechanism 1 includes a housing 131 and a cleaning motor 132 located in the housing 131, the output shaft of the cleaning motor 132 is connected to the cleaning member 11 by transmission, and is configured to drive the cleaning member 11 to rotate on the working surface to clean the working surface, so that the cleaning motor 132 can drive the cleaning member 11 to rotate on the working surface to clean the working surface.
  • a reduction box 133 is provided in the housing 131, and the output shaft of the cleaning motor 132 is connected to the cleaning member 11 by transmission through the reduction box 133.
  • the output shaft of the cleaning motor 132 is connected to the cleaning member 11 by transmission through the reduction box 133, the output torque of the cleaning motor 132 and the required torque of the cleaning member 11 can be effectively adapted by reducing the output speed of the cleaning motor 132, thereby reducing the output torque requirement of the cleaning motor 132, thereby reducing the occupied volume of the cleaning motor 132. Moreover, this can also make the cleaning motor 132 located on the side of the output shaft of the reduction box 133, thereby effectively reducing the overall height size of the cleaning mechanism 1.
  • the body 30 has an inner cavity 31, and an arc-shaped through hole 32 is provided at the bottom of the body 30; the cleaning assembly 10 is installed in the inner cavity 31 of the body 30, and the output end of the reduction box 133 passes through the arc-shaped through hole 32 to connect the cleaning member 11, and the cleaning member 11 is configured to move under the restriction of the arc-shaped through hole 32.
  • the cleaning component 10 is located in the first position, and the edge of the cleaning piece 11 is located within the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned.
  • the cleaning range of the cleaning piece 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corners that the body 30 cannot fit.
  • the motion mechanism 2 includes a rotating shaft 21 and a rotating motor 22, the rotating shaft 21 is rotatably connected to the body 30, the cleaning component 10 is fixed on the rotating shaft 21, and the rotating motor 22 is configured to drive the rotating shaft 21 to rotate, so as to drive the cleaning component 10 to move on an arc between the first position and the second position relative to the body 30.
  • a connecting portion 12 is provided on the cleaning mechanism 1, and a fixing hole is provided on the connecting portion 12, and the rotating shaft 21 passes through the fixing hole, and the cross section of the rotating shaft 21 located inside the fixing hole and the fixing hole are both waist-shaped holes, so that when the rotating shaft 21 rotates, it can drive the cleaning assembly 10 to rotate.
  • the rotating shaft 21 can also be fixedly connected to the cleaning assembly 10 by other means, so that the purpose of the rotating shaft 21 driving the cleaning assembly 10 to rotate can also be achieved, which will not be repeated here.
  • the output shaft of the rotating motor 22 is parallel to the rotating shaft 21 , a driving wheel 23 is disposed at the top end of the output shaft, a driven wheel 24 is disposed at the top end of the rotating shaft 21 , and the driving wheel 23 is transmission-connected to the driven wheel 24 .
  • the rotating motor 22 can be set on one side of the rotating shaft 21 without being fixed to the rotating shaft 21, thereby effectively reducing the overall length of the motion mechanism 2 and effectively utilizing the space in the body 30.
  • the driving wheel 23 and the driven wheel 24 can both be gears, and the driving wheel 23 and the driven wheel 24 are meshed with each other.
  • the driving wheel 23 and the driven wheel 24 may also be pulleys or sprockets, and power is transmitted between the driving wheel 23 and the driven wheel 24 through devices such as a transmission chain and a synchronous belt.
  • the output shaft of the rotating motor 22 can directly serve as the aforementioned rotating shaft 21 or be fixedly connected to the rotating shaft 21 , so that the power loss of the rotating motor 22 can be effectively reduced.
  • the rotary motor 22 of the present disclosure can drive the rotating shaft 21 to rotate, thereby driving the cleaning assembly 10 to move on an arc between the first position and the second position relative to the machine body 30.
  • a telescopic mechanism can also be provided, and the telescopic mechanism can drive the cleaning assembly 10 to move on a straight line between the first position and the second position relative to the machine body 30. The principle is relatively simple and will not be described in detail here.
  • the reset elastic member 20 is arranged between the body 30 and the cleaning component 10.
  • the cleaning component 10 is integrally rotatably connected to the body 30 and is constructed to move relative to the body 30 under the action of external force, and to reset under the action of the reset elastic member 20 after the external force is removed.
  • the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.
  • the cleaning member 11 when the cleaning member 11 is located at the second position, the cleaning member 11 is configured to overcome the force of the reset elastic member 20 and move toward the inside of the body 30 under the action of an external force, and to reset after the external force is removed.
  • the cleaning component 10 can overcome the force of the reset elastic member 20 under the action of external force and move toward the inside of the machine body 30 to avoid the obstacle, and use the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10.
  • the reset elastic member 20 can automatically drive the cleaning component 10 to reset to the second position through its own elastic force, so as to continue cleaning the corners that the machine body 30 cannot fit, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.
  • the cleaning component 10 is installed on the body 30 in a module manner, which can effectively reduce the difficulty of installing the cleaning component 10 and facilitate the modular design of the cleaning robot.
  • the rotating motor 22 when the cleaning component 10 moves to the second position, the rotating motor 22 can maintain a self-locking state. In this way, the cleaning member 11 can overcome the force of the reset elastic member 20 under the action of an external force and move toward the inside of the machine body 30.
  • the driven gear will not be driven to rotate through the rotating shaft 21, and the output shaft of the rotating motor 22 will not be driven to rotate. This can avoid the driving motor from being subjected to the impact force, but the entire cleaning component 10 is subjected to the impact force, thereby reducing the risk of damage to the driving motor due to force impact.
  • the motion mechanism 2 also includes a rotating bracket 25, the rotating bracket 25 is rotatably connected to the machine body 30, the rotating motor 22 is fixedly arranged on the rotating bracket 25, and the rotating shaft 21 is rotatably connected to the rotating bracket 25.
  • the rotating bracket 25 can be rotated relative to the machine body 30 to drive the cleaning component 10 to rotate in the direction of the machine body 30, thereby avoiding obstacles.
  • the reset elastic member 20 can automatically drive the rotating bracket 25 to rotate through its own elastic force, thereby driving the cleaning component 10 to reset to the second position, thereby continuing to clean the corners that the machine body 30 cannot fit.
  • the output shaft of the rotating motor 22 and the rotating shaft 21 have the same rotation direction and speed, and the moving direction and speed of the rotating motor 22 and the cleaning assembly 10 are also the same, so that the rotating shaft 21 and the rotating bracket 25 rotate synchronously, so there is no need to set the upper bearing 27. That is, during the operation of the rotating motor 22 of the present disclosure, when the rotating shaft 21 and the rotating bracket 25 rotate synchronously, there is no need to set the upper bearing 27, and when the rotating shaft 21 and the rotating bracket 25 rotate asynchronously, the upper bearing 27 needs to be set.
  • connection portion 12 of the cleaning mechanism 1 abuts against the top of the rotating bracket 25. Since the connection portion 12 abuts against the top of the rotating bracket 25, the rotating bracket 25 can support the connection portion 12, so that the cleaning assembly 10 is maintained at a preset height. The cleaning member 11 can fit the working surface and the connecting portion 12 is prevented from being bent due to excessive force.
  • a receiving chamber is provided at the bottom of the rotating bracket 25, and a fixed shaft 26 fixedly connected to the machine body 30 is provided in the receiving chamber, and a lower bearing 28 is provided between the fixed shaft 26 and the inner wall of the receiving chamber.
  • the rotating bracket 25 can be rotatably connected to the machine body 30 through the lower bearing 28, and then in the process that the cleaning component 10 can move in the direction of the machine body 30 under the action of external force, the rotating bracket 25 can be rotated relative to the machine body 30, driving the cleaning component 10 to rotate in the direction of the machine body 30, thereby avoiding obstacles.
  • the reset elastic member 20 can automatically drive the rotating bracket 25 to rotate relative to the machine body 30 through its own elastic force, and then drive the cleaning component 10 to reset to the second position, so as to continue to clean the corner position that the machine body 30 cannot fit.
  • a rotating shaft 21 and a fixed shaft 26 are provided; the cleaning member 11 is configured to move the entire cleaning assembly 10 between a first position and a second position under the action of an external force. It is understood that when the rotating motor 22 is working, the rotation axis of the cleaning mechanism 1 during the rotation of the rotating shaft 21 is the rotating shaft 21, and the rotation axis of the entire cleaning assembly 10 after the cleaning member 11 is subjected to an external force is the fixed shaft 26.
  • the rotating shaft 21 and the fixed shaft 26 are provided, when the rotating motor 22 is working, the rotation axis of the cleaning mechanism 1 and the rotation axis of the entire cleaning assembly 10 after the cleaning member 11 is subjected to an external force can be made to be the same, thereby effectively saving the space provided in the machine body 30. Moreover, since the cleaning member 11 moves between the first position and the second position under the action of an external force, the entire cleaning assembly 10 and the reset elastic member 20 can be subjected to an impact force, thereby reducing the risk of damage caused by excessive impact force on a single structure such as the rotating motor 22 or the cleaning member 11.
  • the reset elastic member 20 is a torsion spring sleeved on the rotating bracket 25, and one end of the torsion spring abuts on the rotating bracket 25, and the other end abuts on the body 30.
  • the two ends of the torsion spring can be compressed, and when the cleaning component 10 passes through an obstacle and the external force is removed, the torsion spring can automatically relax by its own elastic force to drive the rotating bracket 25 to rotate, thereby driving the cleaning component 10 to reset to the second position.
  • the two ends of the torsion spring when the cleaning component 10 moves and rotates in the direction of the body 30 through the rotating bracket 25 under the action of external force, the two ends of the torsion spring can be stretched, and when the cleaning component 10 passes through an obstacle and the external force is removed, the torsion spring can automatically retract by its own elastic force, and can automatically shrink by its own elastic force to drive the rotating bracket 25 to rotate, thereby driving the cleaning component 10 to reset to the second position.
  • the principles of the two embodiments are similar and will not be repeated here.
  • the rotating shaft 21 may be directly rotatably connected to the machine body 30 , and the rotating bracket 25 may be rotatably connected to the rotating shaft 21 .
  • the above functions may also be achieved, which will not be described in detail herein.
  • a clamping elastic member 29 is provided between the cleaning component 10 and the rotating bracket 25, and the clamping elastic member 29 is used to eliminate the fitting clearance between the cleaning component 10 and the rotating bracket 25, thereby ensuring that when the cleaning component 10 is rotated to any position along the rotating shaft 21, no shaking occurs between the cleaning component 10 and the rotating bracket 25.
  • the cleaning component of the present disclosure may also include a cover body 40, which is fixed to the machine body, and each structure in the motion mechanism 2 of the present disclosure is arranged in the cover body 40, one end of the elastic member 20 abuts against the rotating bracket 25, and the other end abuts against the cover body 40, and the rotating shaft 21 is rotatably arranged in the shell.
  • the cleaning assembly 10 includes a driving unit 13, a cleaning member 11 and a lifting unit 14.
  • the driving unit 13 includes a cleaning motor 132, a reduction box 133 and a housing 131, and the cleaning motor 132 and the reduction box 133 are both disposed in the housing 131.
  • the lifting unit 14 includes a first transmission member 141 and a second transmission member 142.
  • the first transmission member 141 is fixedly connected to the output shaft 1331 of the driving unit 13 to be controlled by the rotation of the output shaft 1331.
  • the driving unit 13 includes a cleaning motor 132 and a reduction box 133
  • the first transmission member 141 is fixedly connected to the output shaft 1331 of the reduction box 133, and the cleaning motor 132 drives the first transmission member 141 to rotate through the reduction box 133.
  • the first transmission member 141 can be fixedly connected to the output shaft 1331 by a fixing member such as a screw.
  • the second transmission member 142 is configured to be fixedly connected to the cleaning member 11, and is rotationally connected to the driving unit 13 through a limiting sleeve 151, and the second transmission member 142 is configured to be guided and matched in the limiting sleeve 151 in the axial direction.
  • one of the first transmission member 141 and the second transmission member 142 is provided with a matching portion 144, and the other is provided with an extension track 143, wherein the extension track 143 includes an inclined section 1431 extending obliquely in the height direction along the side wall of the first transmission member 141 or the second transmission member 142; the first transmission member 141 is configured to move the matching portion 144 along the extension track 143 during the rotation process, so as to drive the second transmission member 142 to move between the cleaning position and the avoidance position in the height direction.
  • the height direction refers to the extension direction from the machine body 30 to the working surface. When the working surface is a horizontal surface, the height direction is the vertical direction, and when the working surface is a vertical surface, the height direction is the horizontal direction.
  • the driving assembly can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move downward in the height direction relative to the limiting shaft sleeve 151 to the cleaning position, and then drive the second transmission member 142 to rotate relative to the body 30, so as to drive the cleaning member 11 to move relative to the working surface to clean the working surface;
  • the driving assembly can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move downward in the height direction relative to the limiting shaft sleeve 151 to the cleaning position, and then drive the second transmission member 142 to rotate relative to the body 30, so as to drive the cleaning member 11 to move relative to the working surface to clean the working surface;
  • the driving assembly can drive the first transmission member 141 to rotate to drive the second transmission member 142 to move upward in the height direction to the avoid
  • the driving unit 13 can effectively drive the cleaning member 11 to move between the cleaning position and the avoidance position along the height direction through the lifting unit 14 to cope with different cleaning scenes.
  • the cleaning component 10 of the present disclosure can achieve the lifting and rotation of the cleaning member 11 and relative to the working surface only through the driving component, without the need to set a separate structure for lifting and lowering the cleaning member 11. In this way, the overall structure of the cleaning component 10 is compact, highly integrated, and occupies little space.
  • the extension track 143 has a lower dead point 1433 and an upper dead point 1434.
  • the matching portion 144 is configured to move along the extension track 143 to the lower dead point 1433, and the second transmission member 142 is configured to drive the cleaning member 11 to move to the avoidance position;
  • the matching portion 144 is configured to move along the extension track 143 to the upper dead point 1434, and the second transmission member 142 is configured to drive the cleaning member 11 to move to the cleaning position; and when in the cleaning position, the first transmission member 141 is configured to drive the second transmission member 142 and the cleaning member 11 to rotate synchronously along the second direction, so as to clean the working surface through the cleaning member 11.
  • the matching portion 144 when the matching portion 144 is disposed on the first transmission member 141 and the extension track 143 is disposed on the second transmission member 142, during the process of the first transmission member 141 rotating in the first direction, the matching portion 144 rotates in the first direction, and the extension track 143 and the second transmission member 142 move in the height direction relative to the limiting sleeve 151 until the matching portion 144 moves to the lower dead center 1433 along the inclined section 1431 of the extension track 143, at which time, the second transmission member 142 drives the cleaning member 11 to move to the avoidance position.
  • the matching portion 144 rotates in the second direction, and the extension track 143 and the second transmission member 142 move in the height direction until the matching portion 144 moves to the upper dead center 1434 along the inclined section 1431 of the extension track 143 relative to the limiting sleeve 151, and the second transmission member 142 drives the cleaning member 11 to move to the cleaning position.
  • the second transmission member 142 drives the cleaning member 11 to move to the cleaning position
  • the first transmission member 141 continues to rotate in the second direction, it can drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member 11.
  • the extension track 143 rotates in the second direction, and the matching portion 144 and the second transmission member 142 move in the height direction until the matching portion 144 moves relative to the limiting sleeve 151 in the inclined section 1431 of the extension track 143 to the upper dead center 1434, and the second transmission member 142 drives the cleaning member 11 to move to the cleaning position.
  • the second transmission member 142 drives the cleaning member 11 to move to the cleaning position, when the first transmission member 141 continues to rotate in the second direction, it can drive the second transmission member 142 and the cleaning member 11 to rotate synchronously in the second direction, so as to clean the working surface through the cleaning member 11.
  • the second transmission member 142 can easily drive the cleaning member 11 to the cleaning position or the avoidance position, thereby facilitating the cleaning robot to cope with different scenarios.
  • the second transmission member 142 may be sleeved on the outside of the first transmission member 141, so that the mating surface of the first transmission member 141 is the outer side of the first transmission member 141, and the mating surface of the second transmission member 142 is the outer side of the second transmission member 142.
  • the second transmission member 142 may be sleeved on the outside of the first transmission member 141, so that the mating surface of the first transmission member 141 is the outer side of the first transmission member 141, and the mating surface of the second transmission member 142 is the outer side of the second transmission member 142.
  • the extension track 143 can have various forms. As shown in Figures 8 to 10, in one embodiment of the present disclosure, the extension track 143 is a guide groove opened on the matching surface of the first transmission member 141 or the second transmission member 142, and the matching portion 144 is configured to move along the guide groove between the lower dead point 1433 and the upper dead point 1434 of the guide groove. In this way, in the process of adjusting the height of the cleaning member 11, when the first transmission member 141 rotates, the matching portion 144 can be moved along the guide groove to the lower dead point 1433 or the upper dead point 1434, so that the second transmission member 142 drives the cleaning member 11 to reach the cleaning position or the avoidance position.
  • the guide groove passes through the side of the first transmission member 141 or the side of the second transmission member 142. Since the guide groove passes through the side of the first transmission member 141 or the side of the second transmission member 142, the processing difficulty of the guide groove can be reduced, thereby saving the processing cost of the lifting unit 14.
  • the extension track 143 is a guide rail protruding from the mating surface of the first transmission member 141 or the second transmission member 142, and a blocking wall 1435 is provided at the end of the lower stop point 1433 and the end of the upper stop point 1434 of the guide rail, and the blocking wall 1435 is constructed to prevent the mating part 144 from continuing to move.
  • the matching portion 144 can be moved along the guide rail.
  • the second transmission member 142 drives the cleaning member 11 to reach the cleaning position or the avoidance position.
  • the matching part 144 moves along the guide rail to the blocking wall 1435 at the end of the lower dead point 1433, the second transmission member 142 drives the cleaning member 11 to reach the avoidance position. At this time, the matching part 144 stops moving due to the blocking resistance of the blocking wall 1435, preventing the first transmission part from continuing to drive the second transmission member 142 to idle.
  • the guide rail further includes a horizontal section 1432 disposed at the bottom dead center 1433 and the top dead center 1434, and the horizontal section 1432 is configured to support the second transmission member 142 along the axial direction when the matching portion 144 is located at the horizontal section 1432.
  • the horizontal section 1432 of the guide rail can support the second transmission member 142 along the axial direction.
  • the matching portion 144 when the guide rail is disposed on the outer side of the first transmission member 141, the matching portion 144 is disposed on the inner side of the second transmission member 142, and the matching portion 144 is located above the guide rail, when the matching portion 144 reaches the horizontal section 1432 disposed at the lower dead point 1433, the horizontal section 1432 of the guide rail can axially support the second transmission member 142, thereby ensuring that the cleaning member 11 can be maintained in the avoidance position under the support of the horizontal section 1432, preventing the second transmission member 142 from sliding off the inclined section 1431 of the guide rail due to gravity, and preventing the cleaning member 11 from sliding off the avoidance position to the cleaning position.
  • the principles of other situations are similar and will not be repeated here.
  • the matching portion 144 may also have various forms. As shown in FIG8 , in one embodiment of the present disclosure, the matching portion 144 is a protrusion, which is configured to slide along the extension track 143. As shown in FIG12 , in another embodiment of the present disclosure, the matching portion 144 is a cam, which is configured to roll along the extension track 143, so that the resistance of the matching portion 144 when moving along the extension track 143 can be effectively reduced.
  • a wheel groove may be provided on the guide rail so that the cam can move along the wheel groove to limit the relative sliding of the first transmission member 141 and the second transmission member 142 in the radial direction, thereby ensuring the coaxial alignment of the first transmission member 141 and the second transmission member 142.
  • a groove may be provided on the mating surface of the mounting cam to partially accommodate the cam, which can ensure the size of the cam and effectively reduce the radial size of the lifting unit 14 .
  • the lifting unit 14 further includes a compression spring 17 disposed between the second transmission member 142 and the driving unit 13; during the rotation of the first transmission member 141 in the first direction, the second transmission member 142 is configured to at least overcome the elastic force of the compression spring 17 to drive the cleaning member 11 to move to the avoidance position; during the rotation of the first transmission member 141 in the second direction, the matching portion 144 is configured to move to the upper dead center 1434 along the extension track 143, and the second transmission member 142 is configured to at least drive the cleaning member 11 to move to the cleaning position under the elastic force of the compression spring 17.
  • the elastic force of the compression spring 17 can drive the cleaning member 11 to move to the cleaning position, so that the cleaning member 11 is pressed against the working surface by the compression spring 17 to improve the cleaning effect of the cleaning member 11 on the working surface.
  • the cleaning robot is configured to be located above the working surface; during the process of the first transmission member 141 rotating along the first direction, the second transmission member 142 is configured to overcome the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11, and drive the cleaning member 11 to move to the avoidance position; during the process of the first transmission member 141 rotating along the second direction, the matching portion 144 is configured to move to the upper dead center 1434 along the extension track 143, and the second transmission member 142 is configured to drive the cleaning member 11 to move to the cleaning position under the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11.
  • the cleaning member 11 can be driven to move to the cleaning position by the elastic force of the compression spring 17 and the gravity of the second transmission member 142 and the cleaning member 11, so that the cleaning effect of the cleaning member 11 on the working surface can be improved by using the compression spring 17 and pressing the cleaning member 11 against the working surface.
  • the limiting sleeve 151 is configured to be sleeved on the outside of the second transmission member 142, and is rotatably connected to the driving unit 13 via a limiting bearing 152, and the limiting bearing 152 is configured to provide rotation resistance to the second transmission member 142.
  • the limiting bearing 152 can be a load bearing, which can bear the load in the axial direction, and can also bear the gravity of the limiting sleeve 151.
  • the limiting bearing 152 can provide rotation resistance to the second transmission member 142, when the height of the cleaning member 11 needs to be adjusted, the first transmission member 142 can be rotated by the second transmission member 142.
  • the limiting bearing 152 provides a rotational resistance to the second transmission member 142, so that the first transmission member 141 can avoid driving the second transmission member 142 to rotate idly, and the second transmission member 142 can be moved up and down along the limiting sleeve 151 first until it moves to the cleaning position and the avoidance position.
  • the first transmission member 141 overcomes the rotational resistance of the limiting bearing 152, and drives the second transmission member 142 and the cleaning member 11 to rotate synchronously, so that the cleaning member 11 moves relative to the working surface to clean the working surface.
  • the limiting bearing 152 is configured to only allow the second transmission member 142 to rotate in the second direction. That is, the limiting bearing 152 can allow the second transmission member 142 to rotate in the first direction. In this way, when the first transmission member 141 rotates in the first direction, it can drive the second transmission member 142 to move to the avoidance position. After the second transmission member 142 moves to the avoidance position, under the action of the limiting bearing 152, the first transmission member 141 cannot synchronously drive the second transmission member 142 to rotate in the first direction, thereby effectively preventing the second transmission member 142 and the cleaning member 11 from idling in the avoidance position.
  • one of the outer side surface of the second transmission member 142 and the inner side surface of the limiting sleeve 151 is provided with a limiting rib 161 extending in the axial direction, and the other is provided with a limiting groove 162 corresponding to the position of the limiting rib 161, and the limiting rib 161 is configured to guide and fit in the limiting groove 162. Since the limiting rib 161 is configured to guide and fit in the limiting groove 162, the second transmission member 142 can be guided and fit in the limiting sleeve 151 in the axial direction.
  • the outer side surface of the second transmission member 142 is provided with a limiting rib 161 extending in the axial direction
  • the inner side surface of the limiting sleeve 151 is provided with a limiting groove 162 corresponding to the position of the limiting rib 161.
  • the inner side surface of the limiting sleeve 151 is provided with a limiting rib 161 extending in the axial direction
  • the outer side surface of the second transmission member 142 is provided with a limiting groove 162 corresponding to the position of the limiting rib 161.
  • the extended track 143 only includes the inclined section 1431, when the second transmission member 142 and the cleaning member 11 are in the avoidance position, the second transmission member 142 and the cleaning member 11 may rotate and slide from the avoidance position to the cleaning position under the action of their own gravity or the resistance of the compression spring 17.
  • the limiting sleeve 151 is configured to overcome the gravity of the second transmission member 142 and the cleaning member 11 through the rotation resistance after the second transmission member 142 drives the cleaning member 11 to move to the avoidance position, so that the second transmission member 142 and the cleaning member 11 are maintained in the avoidance position.
  • the second transmission member 142 and the cleaning member 11 need to rotate in the first direction to rotate and slide from the avoidance position to the cleaning position.
  • the limiting bearing 152 can provide rotation resistance, the free rotation of the second transmission member 142 and the cleaning member 11 can be limited by the limiting sleeve 151, so that the second transmission member 142 and the cleaning member 11 can be prevented from rotating and sliding from the avoidance position to the cleaning position under the self-gravity of the second transmission member 142 and the cleaning member 11 or the resistance of the compression spring 17, so as to ensure that the second transmission member 142 and the cleaning member 11 can be maintained in the avoidance position.
  • a mounting cavity 134 is provided below the housing 131, the first transmission member 141 is configured to be disposed in the mounting cavity 134, and the outer ring of the limiting bearing 152 is fixedly disposed on the inner wall of the mounting cavity 134.
  • the outer wall of the mounting cavity 134 can also prevent external dirt from splashing onto the first transmission member 141 and the second transmission member 142, thereby ensuring the normal operation of the lifting unit 14.
  • the radial movement of the cleaning member 11 can be effectively limited, thereby ensuring the coaxial alignment between the cleaning member 11 and the output shaft 1331, and the outer wall of the mounting cavity 134 and the limiting sleeve 151 can jointly prevent external dirt from splashing to the first transmission member 141 and the second transmission member 142, further ensuring the normal operation of the lifting unit 14.
  • the cleaning robot of the present disclosure can store the corresponding position of the avoidance area in advance by means of pre-map construction or manual input by the user, and when the cleaning robot moves to the avoidance area, the control unit controls the lifting unit 14 to drive the cleaning member 11 to move to the avoidance position, thereby avoiding contamination of the carpet or other malfunctions.
  • a detection sensor for detecting work restricted areas such as carpets can be set on the cleaning robot of the present disclosure. When the detection sensor detects that the cleaning robot is about to move to work restricted areas such as carpets, the control unit can control the lifting unit 14 to drive the cleaning member 11 to move to the avoidance position, thereby avoiding contamination of the carpet or other malfunctions.
  • the present disclosure also provides a cleaning assembly 10, which is configured to be integrally rotatably connected to a body 30 of a cleaning robot, and a reset elastic member 20 is provided between the body 30 and the cleaning assembly 10; the cleaning assembly 10 is configured to move relative to the body 30 under the action of an external force, and to reset under the action of the reset elastic member 20 after the external force is removed;
  • the cleaning component 10 is located in the first position, and the edge of the cleaning piece 11 is within the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned.
  • the cleaning range of the cleaning piece 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corners that the body 30 cannot fit.
  • the cleaning component 10 When the cleaning member 11 extends to the outside of the body 30 and collides with an obstacle on the side of the body 30 or an obstacle lower than the bottom surface of the body 30 appears in front of the cleaning robot, and the cleaning member 11 collides with the obstacle, the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.
  • the driving component can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move downward in the height direction relative to the limiting shaft sleeve 151 to a cleaning position, and then drive the second transmission member 142 to rotate relative to the body 30, so as to drive the cleaning member 11 to move relative to the working surface to clean the working surface; when it is necessary to avoid obstacles such as carpets and other working surfaces that need to be avoided or thresholds, the driving component can drive the first transmission member 141 to rotate, so as to drive the second transmission member 142 to move upward in the height direction to an avoidance position, so as to avoid the cleaning member 11 from contacting obstacles such as carpets and other working surfaces that need to be avoided or thresholds, thereby preventing contamination of carpets and other working surfaces that need to be avoided, and protecting the cleaning member 11 to avoid damage caused by collision.
  • the driving unit 13 can effectively drive the cleaning member 11 to move between the cleaning position and the avoidance position along the height direction through the lifting unit 14 to cope with different cleaning scenes.
  • the cleaning component 10 of the present disclosure can achieve the lifting and rotation of the cleaning member 11 and relative to the working surface only through the driving component, without the need to set a separate structure for lifting and lowering the cleaning member 11. In this way, the overall structure of the cleaning component 10 is compact, highly integrated, and occupies little space.
  • the present disclosure provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.
  • a cleaning robot which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like for cleaning floors, or a window cleaning robot or the like for cleaning windows or glass curtain walls.
  • the cleaning component 10 is located in the first position, and the edge of the cleaning piece 11 is located within the edge of the body 30. In this way, the cleaning component 10 will not be stuck by objects such as furniture on the ground during operation; and due to the limited accuracy of the edge sensor of the cleaning robot, the body 30 cannot fit tightly with the wall corners, furniture legs, window frames, etc. in the area to be cleaned.
  • the cleaning range of the cleaning piece 11 can exceed the edge of the walking range of the body 30, thereby achieving comprehensive cleaning of the corners that the body 30 cannot fit.
  • the reset elastic member 20 is arranged between the body 30 and the cleaning component 10.
  • the cleaning component 10 is integrally rotatably connected to the body 30 and is constructed to move relative to the body 30 under the action of external force, and to reset under the action of the reset elastic member 20 after the external force is removed.
  • the cleaning component 10 can rotate as a whole relative to the body 30 under the action of external force, thereby avoiding the obstacle, and using the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10; and after the cleaning component 10 passes the obstacle, the reset elastic member 20 can automatically drive the cleaning component 10 to reset through its own elastic force, thereby ensuring that the cleaning robot continues to perform cleaning work, thereby effectively improving the user experience.
  • the cleaning member 11 when the cleaning member 11 is located at the second position, the cleaning member 11 is configured to overcome the force of the reset elastic member 20 and move toward the inside of the machine body 30 under the action of an external force, and to reset after the external force is removed.
  • the cleaning component 10 can overcome the force of the reset elastic member 20 under the action of external force and move toward the inside of the machine body 30 to avoid the obstacle, and use the reset elastic member 20 to buffer the impact force, thereby reducing the impact force on the cleaning component 10.
  • the reset elastic member 20 can automatically drive the cleaning component 10 to reset to the second position through its own elastic force, so as to continue cleaning the corners that the machine body 30 cannot fit, ensuring that the cleaning robot can work normally, thereby effectively improving the user experience.

Landscapes

  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

Est divulgué dans la présente divulgation un robot de nettoyage. Le robot de nettoyage comprend un corps de robot et un ensemble de nettoyage, l'ensemble de nettoyage comprenant une unité d'entraînement, un élément de nettoyage et une unité de levage ; l'unité de levage comprend un premier élément de transmission et un second élément de transmission ; le premier élément de transmission est relié à demeure à un arbre de sortie de l'unité d'entraînement de façon à être commandé par l'arbre de sortie pour tourner ; le second élément de transmission est configuré pour être relié à demeure à l'élément de nettoyage, et pour être relié en rotation à l'unité d'entraînement au moyen d'un manchon d'arbre de limitation ; le second élément de transmission est configuré pour être guidé axialement et ajusté dans le manchon d'arbre de limitation ; l'un parmi le premier élément de transmission et le second élément de transmission est pourvu d'une partie d'ajustement, et l'autre élément parmi le premier élément de transmission et le second élément de transmission est pourvu d'une voie d'extension ; la voie d'extension comprend une section inclinée s'étendant obliquement dans une direction de hauteur le long d'une paroi latérale du premier élément de transmission ou du second élément de transmission ; et le premier élément de transmission est configuré pour amener la partie d'ajustement à se déplacer le long de la piste d'extension pendant la rotation de façon à entraîner le déplacement du second élément de transmission entre une position de nettoyage et une position de dégagement dans la direction de hauteur.
PCT/CN2024/100712 2023-09-14 2024-06-21 Robot de nettoyage Pending WO2025055451A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202311188736.1A CN119655665A (zh) 2023-09-14 2023-09-14 清洁机器人及清洁组件
CN202311188736.1 2023-09-14
CN202311188714.5 2023-09-14
CN202311188714.5A CN119606262A (zh) 2023-09-14 2023-09-14 清洁机器人

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WO2025055451A1 true WO2025055451A1 (fr) 2025-03-20

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WO (1) WO2025055451A1 (fr)

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CN217744249U (zh) * 2022-06-14 2022-11-08 追觅创新科技(苏州)有限公司 清洁设备

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CN120251671A (zh) * 2025-06-09 2025-07-04 合肥昊翔智能科技股份有限公司 传动齿轮结构及用于车辆视觉装置的折叠装置

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