CN109480712B

CN109480712B - Cleaning robot

Info

Publication number: CN109480712B
Application number: CN201811575926.8A
Authority: CN
Inventors: 张国栋; 周锋
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2018-12-22
Filing date: 2018-12-22
Publication date: 2024-05-31
Anticipated expiration: 2038-12-22
Also published as: CN109480712A

Abstract

The invention discloses a cleaning robot, comprising: the dust collection device comprises a machine body with a peripheral outline, a driving wheel module, a dust collection box, a dust collection module comprising a fan, a cliff detection sensor arranged at the bottom of the machine body and emitting light towards the ground, and a driven side brush arranged at the bottom of the machine body, wherein the side brush is provided with a plurality of long bristles which are arranged at intervals around a shaft, and the long bristles extend outwards and exceed the peripheral outline of the machine body and are used for guiding garbage which exceeds the coverage range of the peripheral outline on the ground to the dust collection opening position at the bottom of the machine body; when the side brush rotates along the shaft, the long brush hair passes between the cliff detection sensor and the ground, and one long brush hair, two long brush hair and one long brush hair are in turn periodically positioned on the light emitting path. Through reasonably arranging a plurality of long bristles and designing the density between adjacent bristles, the cleaning effect is improved on the premise that the normal work of the cliff detection sensor is not affected.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of home service robots, in particular to a cleaning robot.

Background

With the development of intelligent technology, various types of intelligent household appliances enter daily life of people, replace manual household work such as massage, washing clothes, cooking, sweeping and the like, greatly liberate hands of people and save time. The intelligent cleaning robot can be favored by young people more and more, and mainly because the intelligent cleaning robot can realize functions of obstacle avoidance, cleaning path planning, positioning, map construction, automatic charging and the like through various sensors configured by the intelligent cleaning robot, the intelligent degree is high.

In order to better clean the garbage at the corners, the left front side and/or the right front side of the bottom of the cleaning robot are often provided with edge brushes, however, the hair bundles of the traditional edge brushes are not reasonably arranged, so that the cleaning effect is poor, or the cleaning effect is too dense, and the normal operation of a cliff detection sensor at the bottom of the cleaning robot is affected, so that misjudgment occurs.

Disclosure of Invention

The invention aims to solve the technical problems that the hair bundles of the traditional side brush are unreasonably arranged or too densely arranged, and therefore, the invention provides a cleaning robot, which comprises:

A machine body having a peripheral profile;

a driving wheel module configured to drive the cleaning robot to travel on the floor;

The garbage box is used for collecting and storing garbage;

the dust collection module comprises a fan, when the fan is started, garbage on the ground is driven to enter from a dust collection opening formed in the bottom of the machine body, and the garbage is filtered by a filter and then remains in the garbage box;

A cliff detection sensor disposed at the bottom of the machine body and configured to emit light toward the ground and in response to a height drop above the ground;

A driven side brush disposed at the bottom of the machine body and configured to rotate along an axis substantially perpendicular to the ground, the side brush having a plurality of long bristles spaced around the axis, the long bristles extending outwardly beyond the peripheral contour of the machine body for directing debris on the ground beyond the coverage of the peripheral contour to a dust suction opening location at the bottom of the machine body; when the side brush rotates along the shaft, the long brush hair passes between the cliff detection sensor and the ground, and one long brush hair, two long brush hair and one long brush hair are periodically positioned in the light ray emission path in sequence. Through reasonably arranging a plurality of long bristles and designing the density between adjacent bristles, the cleaning effect is improved on the premise that the normal work of the cliff detection sensor is not affected.

Wherein a plurality of said long bristles are uniformly spaced about said axis at a first predetermined included angle.

Wherein the side brush comprises any one of 9 to 18 bundles of long bristles.

The plurality of long bristles comprise at least two bundles of first long bristles, and a first gap is reserved between two adjacent bundles of first long bristles in the at least two bundles of first long bristles; as the side brush rotates along the axis, a portion of the light is blocked by either one or both of the adjacent two first long bristles such that the light cannot pass completely through the first gap.

Wherein the plurality of long bristles further comprise second long bristles, and a second gap is formed between the second long bristles and the first long bristles adjacent to the second long bristles; the light can pass completely through the second gap as the side brush rotates along the axis.

Wherein short bristles are arranged between the adjacent long bristles, and the length of the short bristles is smaller than that of the long bristles.

Wherein the driving wheel module includes: the casing with install motor, gear train and the wheel that connect gradually on the casing, still include spring and dustcoat, the casing includes: the device comprises a motor mounting part for mounting a motor, a gear box part for mounting a gear set, a wheel cover part for mounting wheels and a rotating shaft part for pivoting with the outer cover, wherein the shell is pivoted with the outer cover through the rotating shaft part, a spring is mounted between the outer cover and the shell, and the shell always has a tendency of rotating towards the outer part of the outer cover under the action of the elasticity of the spring;

the side brush is arranged adjacent to the wheel, so that the projection of the side brush on the ground and the projection of the wheel on the ground have an overlapping part when the side brush rotates;

When the cleaning robot is lifted, the wheels further protrude to the outside of the outer cover under the action of the elasticity of the springs, and the side brushes are controlled to stop rotating so as to avoid the long bristles from touching the wheels;

When the cleaning robot is placed on the ground, the wheels retract towards the inside of the outer cover under the action of gravity of the cleaning robot, and the side brushes do not touch the wheels when rotating.

The cleaning robot comprises a shell, a cleaning robot and a touch rod, wherein the shell is provided with a position switch, the shell is provided with the touch rod matched with the position switch, and when the cleaning robot is lifted, the position switch is touched by the touch rod.

Wherein each bundle of long bristles comprises a plurality of filaments made of nylon.

Wherein, the bottom of the machine body is formed with a containing groove, and the dust collection opening is arranged on the inner wall of the containing groove; the cleaning robot further includes a driven roller brush detachably mounted to the receiving groove and configured to rotate along an axis parallel to the floor.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other variants can be obtained according to these drawings without the aid of inventive efforts to a person skilled in the art.

Fig. 1 is a schematic view of a bottom structure of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of the cleaning robot shown in FIG. 1 with the side brush removed;

fig. 3 and 4 are schematic diagrams of an assembling and disassembling structure of the dust collection module respectively;

fig. 5 is a schematic cross-sectional view of a cliff detection sensor according to an embodiment of the present invention;

FIGS. 6, 7 and 8 are schematic diagrams showing the positional relationship of the edge brushes with respect to light at different times;

fig. 9, 10, 11 and 12 are schematic diagrams of the positional relationship of the edge brush with respect to the light at different moments;

FIG. 13 is a schematic view of a side brush construction having long bristles and short bristles;

FIG. 14 is a schematic view of an assembled structure of a drive wheel module in an embodiment of the present invention;

FIG. 15 is a schematic view of the split construction of the drive wheel module of FIG. 14;

FIG. 16 is a schematic view of a portion of the drive wheel module of FIG. 15;

FIG. 17 is a split schematic of the structure of FIG. 16;

FIG. 18 is a schematic cross-sectional view of the drive wheel module of FIG. 14;

FIG. 19 is a simplified schematic of the projection of the side brush onto the ground and the projection of the wheels onto the ground as the side brush rotates;

FIG. 20 is a simplified schematic diagram of the relative position of the side brushes and wheels when the cleaning robot is placed on the floor;

fig. 21 is a simple schematic of the relative positional relationship of the side brushes and the wheels when the cleaning robot 100 is lifted.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In embodiments of the invention, singular expressions may include plural expressions where not explicitly antisense herein. Furthermore, the use of the terms "comprises" or "comprising," etc., do not denote the presence of a feature, a number, a step, an operation, a component, an element, or a combination thereof described in the specification, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, component, elements, or a combination thereof. Further, although terms including ordinal numbers such as "first", "second", and the like used in the present specification may be used to describe various components, the components are not limited by the terms described above, and the terms are used only to distinguish one component from other components.

Hereinafter, embodiments of the present invention disclosed are described in detail with reference to the accompanying drawings. The same reference numbers or symbols shown in the drawings may identify elements or components that perform substantially the same function.

Fig. 1 is a schematic view of a bottom structure of a cleaning robot 100 according to an embodiment of the present invention, fig. 2 is a schematic view of a perspective structure of the cleaning robot 100 shown in fig. 1 after removing an edge brush 160, and fig. 3 and 4 are schematic views of an assembling and disassembling structure of a dust collection module, respectively.

The cleaning robot 100 includes: a driving wheel module 110, a machine body 120, a garbage box 130, a dust collection module 140, a cliff detection sensor 150, an edge brush 160 and a roller brush 170.

The machine body 120 has a peripheral contour 121. The driving wheel module 110 is disposed at the bottom of the machine body 120 and configured to drive the cleaning robot 100 to travel on the floor. In addition, in the embodiment of the present invention, the bottom of the machine body 120 is further provided with a universal wheel 180. The cliff detection sensor 150 is disposed at the bottom of the machine body 120, and the cliff detection sensor 150 emits light toward the ground and responds to a height drop on the ground when the cleaning robot 100 travels on the ground.

The dust collection module 140 includes: the housing 141, the fan 142, and the fan motor 143 are collectively referred to as a fan for convenience of description. In the embodiment of the present invention, the case cover 141 includes an upper case 141a and a lower case 141b detachably mounted together, and the upper case 141a and the lower case 141b may be coupled by a snap. The upper case 141a is provided with an air inlet channel 144, the air inlet channel 144 is communicated with a cavity for accommodating the fan 142, the upper case 141a and the lower case 141b jointly enclose an air outlet channel 145, and the air outlet channel 145 is communicated with the cavity for accommodating the fan 142. In practice, the air flow filtered through the filter enters from the air inlet channel 144 and exits from the air outlet channel 145.

The bottom of the machine body 120 is provided with a dust suction opening 122, and in the embodiment of the invention, the bottom of the machine body 120 may be further provided with a rolling brush 170 driven by a motor, for this purpose, a receiving groove (not shown in the figure) is formed at the bottom of the machine body 120, the dust suction opening 122 is provided on the inner wall of the receiving groove, and the rolling brush 170 is detachably mounted in the receiving groove and configured to rotate along an axis parallel to the ground. In the embodiment of the present invention, the garbage can 130 is detachably disposed on the top of the machine body 120. In other embodiments, the waste bin 130 may also be provided on the side of the machine body 120.

The garbage box 130 is used for collecting and storing garbage, and the garbage box 130 is provided with a dust inlet communicated with the dust collection opening 122 and an air outlet communicated with the air inlet channel 144 of the dust collection module 140. A filter is provided between the air outlet of the dust box 130 and the air inlet channel 144 of the dust collection module 140, and the filter may be mounted on the dust box 130 or the machine body 120. In the embodiment of the invention, the dust collection module 140 is disposed separately from the dust box 130, that is, the dust collection module 140 is fixedly mounted on the machine body 120, and the dust box 130 is detachably mounted on the machine body 120. In other embodiments, the dust collection module 140 and the dust bin 130 may be integrally fixed or removably mounted to the machine body 120. To mount the garbage can 130 on the machine body 120, in order to increase the tightness of the connection between the air outlet of the garbage can 130 and the air inlet channel 144 of the dust collection module 140, the dust collection module 140 may further include a sealing gasket 146, where the sealing gasket 146 is disposed at the opening of the air inlet channel 144 of the dust collection module 140.

In practical application, when the fan is started, the garbage on the ground is driven to enter from the dust collection opening 122 formed in the bottom of the machine body 120, and is filtered by the filter and then remains in the garbage box 130.

Referring again to fig. 1, a motor-driven side brush 160 is disposed at the bottom of the machine body 120 and is configured to rotate along an axis substantially perpendicular to the ground. The side brush 160 rotates in the direction of arrow A1. In an embodiment of the invention, the side brush 160 has a plurality of long bristles 161 spaced around the shaft, the long bristles 161 extending outwardly beyond the peripheral contour 121 of the machine body 120 for directing debris on the floor beyond the coverage of the peripheral contour 121 to a dust port location (e.g., the location of the roller brush 170 in fig. 1) at the bottom of the machine body 120. In the embodiment of the present invention, two side brushes 160 are disposed at the bottom of the machine body 120, and in other embodiments, one side brush 160 may be disposed at the bottom of the machine body 120.

Fig. 5 is a schematic cross-sectional structure of a cliff detection sensor 150 according to an embodiment of the present invention, in which the cliff detection sensor 150 includes an infrared emitting tube 151 and an infrared receiving tube 152, and the infrared emitting tube 151 and the infrared receiving tube 152 are disposed on a base 153 at an angle. The cliff detection sensor 150 is disposed at the bottom of the machine body 120, in practical application, the light ray 151A emitted by the infrared emitting tube 151 is received by the infrared receiving tube 152 after being reflected by the ground, the control system in the cleaning robot 100 can determine the height drop on the ground according to the intensity of the light ray 151A received by the infrared receiving tube 152 after being reflected by the ground, and the control system in the cleaning robot 100 can also determine the height drop on the ground according to the time (using the TOF principle) of the light ray 151A received by the infrared receiving tube 152 after being reflected by the ground. For example, when it is determined that the height drop on the floor is greater than a preset range or preset value, the cleaning robot 100 takes a backward action.

As the side brush 160 rotates along the axis, the long bristles 161 pass between the cliff detection sensor 150 and the ground. In addition, when the side brush 160 rotates along the axis, one long bristle, two long bristles, and one long bristle are periodically located in the light emitting path in this order.

To explain "one long bristle, two long bristles, one long bristle periodically in the emission path of light as the side brush 160 rotates along the axis", there is one long bristle in turn, "as illustrated below:

Example one:

Referring to fig. 6,7 and 8, the side brush rotates in the direction of arrow A1, a first positional relationship of the side brush with respect to the light ray 151A is shown in fig. 6 at a first time, a second positional relationship of the side brush with respect to the light ray 151A is shown in fig. 7 at a second time, and a third positional relationship of the side brush with respect to the light ray 151A is shown in fig. 8 at a third time. In fig. 6 at the first time, one long bristle 161A is located in the emission path of the light ray 151A, in fig. 7 at the second time, two long bristles 161A and 161B are located in the emission path of the light ray 151A, and in fig. 8 at the third time, one long bristle 161B is located in the emission path … … of the light ray 151A, one long bristle, two long bristles, and one long bristle are located in the emission path of the light ray 151A in this order periodically.

As shown in fig. 7, there is a first gap D1 between the long bristles 161A and 161B, and when the side brush rotates along the axis, a portion of the light 151A is blocked by two adjacent bundles of long bristles (i.e., the long bristles 161A and 161B), so that the light 151A cannot completely pass through the first gap D1, in other words, the light 151A is partially blocked by the long bristles 161A and 161B, and the light 151A partially passes through the first gap D1.

Fig. 6 to 8 show that in the embodiment of the present invention, the multiple bundles of long bristles 161 are uniformly arranged at intervals around the axis of the side brush according to the first preset included angle C1, it is easy to understand that when the side brush rotates, the space swept by the long bristles 161 forms an intangible space curved surface, the light ray 151A and the space curved surface have an intersection surface, and the first preset included angle C1 can be adjusted according to the size of the intersection surface, the distance between the intersection surface and the axis of the side brush, and other factors, so as to ensure that one bundle of long bristles, two bundles of long bristles and one bundle of long bristles are periodically located in the emission path of the light ray 151A. The side brush may include any number of 9 to 18 bundles of long bristles 161, and in an embodiment of the present invention, the number of long bristles 161 is 12 bundles.

Example two:

Referring to fig. 9, 10, 11 and 12, the side brush of fig. 9 to 12 includes two bundles of first long bristles (first long bristles 1611 and first long bristles 1612). The side brush rotates in the direction of arrow A1, and at a first time, the first positional relationship of the side brush with respect to the light ray 151A is shown in fig. 9, at a second time, the second positional relationship of the side brush with respect to the light ray 151A is shown in fig. 10, and at a third time, the third positional relationship of the side brush with respect to the light ray 151A is shown in fig. 11. In fig. 9 at the first time, the first long bristle 1611 is in the emission path of the light ray 151A, in fig. 10 at the second time, the first long bristle 1611 and the first long bristle 1612 are in the emission path of the light ray 151A, and in fig. 11 at the third time, the first long bristle 1612 is in the emission path … … of the light ray 151A, and thus one long bristle, two long bristles, and one long bristle are in the emission path of the light ray 151A in this order periodically.

As shown in fig. 10, there is a first gap D2 between the first long bristles 1611 and the first long bristles 1612, and when the side brush rotates along the axis, a portion of the light 151A is blocked by two adjacent bundles of long bristles (i.e., the first long bristles 1611 and the first long bristles 1612), so that the light 151A cannot completely pass through the first gap D2, in other words, the light 151A is partially blocked by the first long bristles 1611 and the first long bristles 1612, and the light 151A partially passes through the first gap D2.

Fig. 9 to 12 show that in the embodiment of the present invention, a first preset included angle C2 is formed between the first long bristle 1611 and the first long bristle 1612, it is easy to understand that, when the side brush rotates, the space swept by the first long bristle 1611 and the first long bristle 1612 forms an intangible space curved surface, the light ray 151A has an intersection surface with the space curved surface, and the first preset included angle C2 can be adjusted according to factors such as the size of the intersection surface, the distance between the intersection surface and the axis of the side brush, and ensure that there is one long bristle, two long bristles, and one long bristle periodically located on the emission path of the light ray 151A in sequence.

Referring again to fig. 9, 10, 11 and 12, the side brush of fig. 9-12 further includes second long bristles 1613, in embodiments of the present invention, second long bristles 1613 are adjacent to first long bristles 1611, and second long bristles 1613 are also adjacent to first long bristles 1612. Taking the second long bristles 1613 and the first long bristles 1612 having a second included angle C3 and a second gap D3 as an example, when the side brush rotates along the axis, the light 151A can completely pass through the second gap D3, which is easily understood that the second included angle C3 is greater than the first preset included angle C2.

As can be seen from the illustration of the first and second embodiments, the technical problem to be solved by the embodiment of the present invention can be satisfied as long as the situation that "one bundle of long bristles, two bundles of long bristles, one bundle of long bristles are in the emission path of the light ray 151A in sequence" appears once in the process of one rotation of the side brush; of course, in the process of rotating the side brush for one circle, the situation that a bundle of long bristles, two bundles of long bristles and a bundle of long bristles are positioned on the emitting path of the light ray 151A appears for multiple times is satisfied, which also satisfies the technical problem to be solved by the embodiment of the invention.

As shown in fig. 13, short bristles 191 may be further provided between adjacent long bristles 161, the short bristles 191 having a length smaller than the long bristles 161.

In the above embodiments, each bundle of long bristles mentioned above includes a plurality of filaments made of nylon, so that the side brush has better flexibility and wear resistance. In other embodiments, each bundle of long bristles mentioned above may also comprise a plurality of filaments of PET (polyethylene terephthalate, polythylene terephthalate) material.

Fig. 14 is a schematic diagram of an assembled structure of the driving wheel module 110 in the embodiment of the present invention, fig. 15 is a schematic diagram of an disassembled structure of the driving wheel module 110 in fig. 14, fig. 16 is a schematic diagram of a portion of the driving wheel module 110 in fig. 15, fig. 17 is a schematic diagram of an disassembled structure of the driving wheel module 110 in fig. 16, and fig. 18 is a schematic diagram of a cross section of the driving wheel module 110 in fig. 14.

The driving wheel module 110 includes: the casing 1 and the motor 2, the gear set 3 (the gear set 3 is preferably a reduction gear set) and the wheel 4 which are installed on the casing 1 and are connected in sequence, and further comprises a spring 5 and an outer cover 6, wherein the casing 1 comprises: the housing 1 is pivotally connected to the housing 6 via a pivot portion 14, and the spring 5 is mounted between the housing 6 and the housing 1, the motor mounting portion 11 for mounting the motor 2, the gear box portion 12 for mounting the gear set 3, the wheel housing portion 13 for mounting the wheels 4, and the pivot portion 14 for pivotally connecting to the housing 6.

The wheel 4 is easy to roll up dust, debris and other substances on the ground when walking on the ground, and the outer cover 6 is covered above the shell 1, so that the dust, debris and other substances rolled up by the wheel 4 can be prevented from entering the cleaning robot 100 to cause short circuit of electronic equipment, and the outer cover 6 has a dustproof function. The housing 1 is pivotally connected to the housing 6 side via a pivot portion 14, and the housing 6 side is provided with a pivot supporting portion 621 to which the pivot portion 14 is attached. The rotating shaft portion 13 includes a rotating arm 14A connected to the motor mounting portion 11, a through hole 14B for mounting the rotating shaft 17 is provided at the end thereof, and a rotating shaft supporting portion 621 is provided at both sides of the rotating shaft portion 13 for supporting the rotating shaft 17 to rotate. The rotation shaft 17 is inserted into the rotation shaft supporting portion 621 and the through hole 14B at the time of installation. A first hook 111 is arranged on one side, close to the top of the outer cover 6, of the motor mounting part 11, a second hook 6A is arranged on the top of the outer cover 6, and two ends of the spring 5 are respectively hooked on the first hook 111 and the second hook 6A. Under the action of the spring 5, the housing 1 always has a tendency to rotate towards the outside of the casing 6.

The housing 6 is provided with a first limiting portion 6B, in this embodiment, the limiting portion 612 is a bump (as shown by a dotted line in fig. 15) disposed on the inner side of the housing 6, and the casing 1 is provided with a second limiting portion 15 that is matched with the first limiting portion 6B, in this embodiment, the second limiting portion 15 is a bump disposed at the end of the wheel cover 13. The outer cover 6 can also be provided with a position switch 7, and the shell 1 is provided with a feeler lever 16 matched with the position switch 7. When the cleaning robot 100 is lifted, the position switch 7 is touched by the feeler lever 16, and the first limiting portion 6B also abuts against the second limiting portion 15, so as to prevent the housing 1 from continuing to rotate outside the housing 6.

In the embodiment of the present invention, the housing 6 includes a housing upper case 61 and a housing lower case 62, and the rotation shaft portion 14 is mounted to one side of the housing lower case 62. The upper housing 61 and the lower housing 62 may be fixedly connected by threaded fasteners or by snap fasteners. The outer side of the upper shell 61 of the outer cover is provided with a recess 613, the micro switch 7 is arranged on the recess 613, and one side of the recess 613 is provided with a window 614 for the contact rod 16 to touch the micro switch 7.

Since the housing 1 is pivotally connected to the outer cover 6, the housing 1 can rotate inwardly or outwardly about the outer cover 6, so that the wheel 4 can rotate about the outer cover 6 (within the range defined by the first limiting portion 6B), and the spring 5 always provides an elastic force during rotation of the housing 1. When the driving wheel module 110 is disposed at the bottom of the cleaning robot 100, the position switch 7 and the motor 2 are electrically connected to a control system of the cleaning robot 100. Under the action of gravity of the cleaning robot 100, the wheels 4 are moved into the housing 6 by the reaction force of the ground, the feeler lever 16 is separated from the position switch 7, and the wheel housing portion 13 isolates the wheels 4 from the housing 6 so that the wheels 4 do not rub against the housing 6 when rotating. In such a case, the cleaning robot 100 operates normally; when the cleaning robot 100 encounters an emergency, for example, when the cleaning robot 100 is lifted manually, the wheels 4 are ejected outwards under the action of the elastic force of the springs 5, the feeler lever 16 touches the position switch 7, and the control system of the cleaning robot 100 can obtain a signal from the position switch 7, so that the driving wheel module 110 is controlled to stop working, and the cleaning robot 100 is convenient for a user to operate or carry.

Fig. 19 is a simplified schematic diagram of the projection P1 on the ground and the projection P2 of the wheel 4 on the ground when the side brush 160 rotates. As can be seen from fig. 1, the side brush 160 is arranged adjacent to the wheel 4 such that the projection P1 of the side brush 160 onto the ground and the projection P2 of the wheel 4 onto the ground have an overlapping portion P12 when the side brush 160 rotates (see fig. 19).

As shown in fig. 20, when the cleaning robot 100 is placed on the floor, the wheels 4 retract toward the inside of the housing 6 under the gravity of the cleaning robot 100, and the side brush 160 does not touch the wheels 4 when rotating, i.e., the long bristles 161 do not touch the wheels 4, so that the side brush 160 does not touch the wheels 4 when the cleaning robot 100 travels on the floor.

As shown in fig. 21, when the cleaning robot 100 is lifted, the wheels 4 protrude further to the outside of the housing 6 by the elastic force of the springs 5, in which case, if the side brush 160 rotates, it touches the wheels 4, and thus, the side brush 160 needs to be controlled to stop rotating to avoid touching the long bristles 161 with the wheels 4.

According to the design, the side brush 160 is kept close enough to the wheels 4 without affecting the operation of the side brush 160, the cleaning robot 100 is compact in structure and reasonable in layout, long bristles 161 with long lengths can be adopted, and the cleaning coverage of the long bristles 161 is increased.

According to the cleaning robot 100 provided by the embodiment of the invention, when the side brush 160 rotates along the shaft, the long brush hair passes through the gap between the cliff detection sensor 150 and the ground, and one long brush hair, two long brush hair bundles and one long brush hair bundle are periodically positioned on the light emitting path in sequence, and the cleaning effect is improved on the premise that the normal operation of the cliff detection sensor 150 is not influenced by reasonably arranging the long brush hair bundles and designing the density between the adjacent brush hair bundles.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "examples," "particular examples," or "an alternative embodiment," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.

Claims

1. A cleaning robot, comprising:

A machine body having a peripheral profile;

The garbage box is used for collecting and storing garbage;

A cliff detection sensor disposed at the bottom of the machine body and configured to emit light toward the ground and to take a backward action by the cleaning robot in response to a height drop on the ground when the height drop on the ground is greater than a preset range or preset value;

A driven side brush disposed at the bottom of the machine body and configured to rotate along an axis substantially perpendicular to the ground, the side brush having a plurality of long bristles spaced around the axis, the long bristles extending outwardly beyond the peripheral contour of the machine body for directing debris on the ground beyond the coverage of the peripheral contour to a dust suction opening location at the bottom of the machine body; when the side brush rotates along the shaft, the long brush hair passes between the cliff detection sensor and the ground, and one long brush hair, two long brush hair and one long brush hair are periodically positioned in the light ray emission path in sequence.

2. The cleaning robot of claim 1, wherein a plurality of the long bristles are uniformly spaced around the shaft at a first predetermined included angle.

3. The cleaning robot of claim 2, wherein the side brush comprises any number of long bristles from 9 to 18 bundles.

4. The cleaning robot of claim 1, wherein a plurality of the long bristles includes at least two first long bristles, and wherein a first gap is provided between two adjacent first long bristles of the at least two first long bristles; as the side brush rotates along the axis, a portion of the light is blocked by either one or both of the adjacent two first long bristles such that the light cannot pass completely through the first gap.

5. The cleaning robot of claim 4, wherein a plurality of the long bristles further comprises a second long bristle, and wherein a second gap is provided between the second long bristle and the first long bristle adjacent thereto; the light can pass completely through the second gap as the side brush rotates along the axis.

6. The cleaning robot of claim 1, wherein short bristles are disposed between adjacent ones of the long bristles, the short bristles having a length less than the long bristles.

7. The cleaning robot of any one of claims 1-6, wherein the drive wheel module comprises: the casing with install motor, gear train and the wheel that connect gradually on the casing, still include spring and dustcoat, the casing includes: the device comprises a motor mounting part for mounting a motor, a gear box part for mounting a gear set, a wheel cover part for mounting wheels and a rotating shaft part for pivoting with the outer cover, wherein the shell is pivoted with the outer cover through the rotating shaft part, a spring is mounted between the outer cover and the shell, and the shell always has a tendency of rotating towards the outer part of the outer cover under the action of the elasticity of the spring;

8. The cleaning robot of claim 7, wherein a position switch is provided on the housing, and a feeler lever is provided on the housing to cooperate with the position switch, the position switch being touched by the feeler lever when the cleaning robot is lifted.

9. The cleaning robot of claim 1, wherein each bundle of the long bristles comprises a plurality of filaments of nylon material.

10. The cleaning robot of claim 1, wherein a receiving groove is formed in the bottom of the machine body, and the dust suction opening is formed in the inner wall of the receiving groove; the cleaning robot further includes a driven roller brush detachably mounted to the receiving groove and configured to rotate along an axis parallel to the floor.