CN219109317U - Cleaning robot - Google Patents

Abstract

The application discloses a cleaning robot, which comprises a device main body, a travelling mechanism, at least two mopping components and at least two lifting components, wherein the travelling mechanism is connected with the device main body and is used for driving the device main body to travel on a working surface; at least two mopping components are arranged at the bottom of the device main body; the at least two lifting assemblies are respectively arranged on the device main body and are in one-to-one corresponding transmission connection with the at least two mopping assemblies; each lifting assembly comprises a first driving motor and a first transmission assembly in transmission connection with the first driving motor, the first transmission assembly is in transmission connection with the corresponding floor mopping assembly, and the first driving motor is used for driving the corresponding first transmission assembly to move so as to drive the corresponding floor mopping assembly to lift. By the mode, the application scene of the cleaning robot can be increased.

Description

Cleaning robot

Technical Field

The application relates to the technical field of intelligent cleaning equipment, in particular to a cleaning robot.

Background

With the development of scientific technology, intelligent home products are in the aspects of life of people. In the field of household appliances, the intelligent cleaning robot brings convenience for people, reduces the household burden of people and enters into thousands of households. Cleaning robots often rely on floor-cleaning assemblies to perform cleaning operations in a variety of settings, such as cleaning the floor of a room.

In the prior art, to facilitate cleaning activities, the floor mopping assembly often needs to be in contact with the work surface. However, in some cleaning situations, where the cleaning assembly is required to be moved away from the work surface, for example if the cleaning assembly is a wet mop, contact of the cleaning robot with the carpet or like silk fabric may cause damage to the carpet or like silk fabric as it passes over the carpet or like silk fabric area. For another example, the contact of the floor cleaning assembly with the work surface may cause an obstacle to the movement of the cleaning robot when the cleaning robot is climbing a short step.

Disclosure of Invention

The technical problem that this application mainly solves is to provide a cleaning robot, can increase cleaning robot's application scenario.

In order to solve the technical problems, the technical scheme adopted by the application is as follows: a cleaning robot is provided. The cleaning robot comprises a device main body, a travelling mechanism, at least two mopping components and at least two lifting components, wherein the travelling mechanism is connected with the device main body and is used for driving the device main body to travel on a working surface; at least two mopping components are arranged at the bottom of the device main body; the at least two lifting assemblies are respectively arranged on the device main body and are in one-to-one corresponding transmission connection with the at least two mopping assemblies; each lifting assembly comprises a first driving motor and a first transmission assembly in transmission connection with the first driving motor, the first transmission assembly is in transmission connection with the corresponding floor mopping assembly, and the first driving motor is used for driving the corresponding first transmission assembly to move so as to drive the corresponding floor mopping assembly to lift.

The beneficial effects of this application are: the cleaning robot comprises a device main body, a traveling mechanism, at least two mopping components, at least two lifting components, at least two cleaning robots and a cleaning mechanism, wherein the traveling mechanism is connected with the device main body and used for driving the device main body to travel on a working surface, the at least two mopping components are arranged at the bottom of the device main body and are respectively arranged on the device main body, the at least two lifting components are in transmission connection with the at least two mopping components in a one-to-one correspondence manner, each lifting component comprises a first driving motor and a first transmission component in transmission connection with the first driving motor, the first transmission component is in transmission connection with the corresponding mopping components, the first driving motor is used for driving the corresponding first transmission components to move so as to drive the corresponding mopping components to perform lifting movement, the at least two mopping components can be respectively close to or far away from the bottom of the device main body, the at least two mopping components can be independently lifted, the position of each mopping component on the lifting direction can be flexibly adjusted according to application scenes, so that the cleaning robot has various cleaning actions, and the application scenes of the cleaning robot can be increased.

Drawings

FIG. 1 is a schematic perspective view of an embodiment of a cleaning robot of the present application;

FIG. 2 is a schematic view of a bottom view of the cleaning robot of FIG. 1;

FIG. 3 is a schematic view of a portion of the cleaning robot of FIG. 1;

FIG. 4 is a schematic diagram showing a floor cleaning assembly in a raised and lowered state, respectively;

FIG. 5 is a schematic diagram of the connection structure of the floor mopping assembly and the lifting assembly;

FIG. 6 is a schematic top view of the connection structure of FIG. 5;

FIG. 7 is a schematic cross-sectional view of the connection structure of FIG. 6 taken along section line A-A;

FIG. 8 is a schematic perspective view of a floor mopping assembly;

FIG. 9 is an exploded view of the floor mopping assembly of FIG. 8;

FIG. 10 is a schematic cross-sectional view of the floor mopping assembly shown in FIG. 8 taken along section line B-B.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The inventor has long studied and found that cleaning robots often rely on floor-cleaning assemblies to perform cleaning operations in various settings, such as cleaning the floor of a room. To facilitate cleaning activities, the floor mopping assembly often needs to be in contact with the work surface. However, in some cleaning situations, where the cleaning assembly is required to be moved away from the work surface, for example if the cleaning assembly is a wet mop, contact of the cleaning robot with the carpet or like silk fabric may cause damage to the carpet or like silk fabric as it passes over the carpet or like silk fabric area. For another example, the contact of the floor cleaning assembly with the work surface may cause an obstacle to the movement of the cleaning robot when the cleaning robot is climbing a short step. In order to solve the above technical problems, the present application provides the following embodiments.

Fig. 1 is a schematic perspective view of an embodiment of the cleaning robot of the present application, showing the overall structure of the cleaning robot 1. As shown in fig. 1 to 3, the cleaning robot 1 described in the embodiments of the cleaning robot of the present application includes a device body 100, a traveling mechanism 110, and at least two floor mopping assemblies 200, wherein the traveling mechanism 110 is connected to the device body 100 and is used for driving the device body 100 to travel on a working surface. At least two mopping assemblies 200 are provided at the bottom of the apparatus body 100.

Optionally, the cleaning robot 1 may comprise a detection assembly (not labeled) and a processor (not shown). The detection assembly may include cliff sensors 120 for detecting cliff topography. The device body 100 may support and connect the running gear 110, the detection assembly, and the processor. The cleaning robot 1 can be moved on the work surface by the drive of the travelling mechanism 110. By means of the detection assembly, the cleaning robot 1 can detect areas of the work surface and send the detected information to the processor. The processor may analyze the detected information to determine attributes of each region of the work surface and adjust the cleaning mode of operation based on the attributes of each region.

For example, the detection assembly may include an ultrasonic sensor and a camera. In the moving process of the working surface, the cleaning robot 1 can detect that a silk fabric area such as a carpet exists in front of the moving direction through the ultrasonic sensor of the detecting component, and can also detect that a short step exists in the area in front of the moving direction through the camera of the detecting component.

As shown in fig. 4, the floor mopping assembly 200 can have a raised state and a lowered state. When the floor mopping assembly 200 is in the raised state, at least two floor mopping assemblies 200 can be respectively close to the bottom of the device body 100. When the floor mopping assembly 200 is in the lowered state, at least two floor mopping assemblies 200 can be respectively away from the bottom of the apparatus main body 100.

The floor cleaning assembly 200 is used to clean a work surface. During cleaning, the floor cleaning assembly 200 may be lowered and the floor cleaning assembly 200 may be brought into contact with the work surface and then pressurized and moved relative to the work surface to clean the work surface. The floor scrubbing assembly 200 may be in a raised state while the cleaning activity is stopped. The cleaning robot 1 may be in a raised state while passing through a region of silk fabric such as carpets or climbing a short step, for example.

As shown in fig. 5 to 7, the cleaning robot 1 includes at least two lifting assemblies 400. The at least two lifting assemblies 400 are respectively disposed on the device main body (not shown), and the at least two lifting assemblies 400 are in one-to-one transmission connection with the at least two mopping assemblies 200. Each lifting assembly 400 includes a first driving motor 410 and a first transmission assembly 420 in transmission connection with the first driving motor 410, the first transmission assembly 420 is in transmission connection with the corresponding floor mopping assembly 200, and the first driving motor 410 is used for driving the corresponding first transmission assembly 420 to move so as to drive the corresponding floor mopping assembly 200 to perform lifting movement.

The cleaning robot 1 can drive the floor mopping assembly 200 to perform lifting motion through the lifting assembly 400, so as to control the floor mopping assembly 200 to be in a lifting state or a descending state.

Alternatively, the two lifting assemblies 400 may be electrically connected to a processor, which may control the activation of the two first driving motors 410, thereby controlling the lifting state of the two floor mopping assemblies 200. For example, the processor may control one first driving motor 410 to drive the corresponding floor mopping assembly 200 to be in a raised state, and simultaneously control the other first driving motor 410 to drive the other floor mopping assembly 200 to be in a lowered state. Or the processor may control the two first driving motors 410 to drive the two floor mopping assemblies 200 to be in the ascending state or in the descending state.

Further, the processor may control the activation of the first driving motor 410, thereby controlling the distance of the floor mopping assembly 200 from the bottom of the device body 100. The cleaning robot 1 may have different distances from the bottom of the apparatus main body 100 according to different working surfaces during cleaning.

In some embodiments, the number of floor cleaning assemblies 200 may be 3 or 4, and correspondingly, the number of lifting assemblies 400 may be 3 or 4.

Further, the cleaning robot 1 includes two floor mopping assemblies 200 and two elevating assemblies 400. Each lifting assembly 400 can drive one floor mopping assembly 200 to perform lifting motion, and two lifting assemblies 400 can drive two floor mopping assemblies 200 to perform lifting motion. The two floor mopping assemblies 200 are spaced apart from each other at the bottom of the apparatus main body 100. Each first driving motor 410 is configured to drive the corresponding first transmission assembly 420 to move, so as to drive the corresponding floor mopping assembly 200 to perform lifting motion, so that the two floor mopping assemblies 200 can be respectively close to or far away from the bottom of the device main body 100. Specifically, the first driving motor 410 may output a rotational motion, and the first transmission assembly 420 may convert the rotational motion into a reciprocating linear motion, so as to drive the floor mopping assembly 200 to perform a lifting motion.

The two lift assemblies 400 may be the same or different. The two first driving motors 410 may be started at the same time, or only one may be started. Each lifting assembly 400 can independently drive the corresponding floor mopping assembly 200 to perform lifting motion, and accordingly, the two floor mopping assemblies 200 can be in different lifting states. That is, the lifting process of one lifting assembly 400 driving the corresponding floor mopping assembly 200 does not affect the lifting process of the other lifting assembly 400 driving the other floor mopping assembly 200.

For example, when a work surface has a narrow area in a strip shape that needs to be cleaned, one floor cleaning assembly 200 can be lifted up and the other floor cleaning assembly 200 can be lowered down, and the narrow area in a strip shape can be cleaned by using the floor cleaning assembly 200 in the lowered state.

Through the device main body 100, the running gear 110, running gear 110 is connected with the device main body 100, be used for driving the device main body 100 to walk on the working surface, at least two mopping subassembly 200, set up in the bottom of device main body 100, at least two lifting unit 400, set up in the device main body 100 respectively, at least two lifting unit 400 and at least two mopping subassembly 200 one-to-one transmission connection, wherein, every lifting unit 400 includes first driving motor 410 and the first transmission subassembly 420 that is connected with first driving motor 410 transmission, first transmission subassembly 420 is connected with corresponding mopping subassembly 200 transmission, first driving motor 410 is used for driving corresponding first transmission subassembly 420 motion, in order to drive corresponding mopping subassembly 200 and carry out elevating movement, and then make at least two mopping subassembly 200 can be close to or keep away from the bottom of device main body 100 respectively, realize at least two mopping subassembly 200 independently and carry out elevating movement, can adjust the position of every mopping subassembly 200 in the direction of lift, make cleaning machine 1 have diversified cleaning action according to the application scene and the diversified cleaning scene, can increase the application of cleaning machine 1 of cleaning scene.

Optionally, each lifting assembly 400 includes a movable member 430 fixedly connected to the corresponding floor mopping assembly 200, and the first transmission assembly 420 is in transmission connection with the movable member 430, so as to drive the corresponding floor mopping assembly 200 to perform lifting motion through the movable member 430.

Each floor mopping assembly 200 and the corresponding movable member 430 are relatively fixed in the lifting direction, so that when the first transmission assembly 420 drives the movable member 430 to perform lifting movement, the floor mopping assembly 200 is driven by the movable member 430 to perform lifting movement.

Alternatively, each of the floor mopping assemblies 200 and the corresponding movable member 430 are rotatable relative to each other in a circumferential direction, such that the floor mopping assembly 200 is rotatable relative to the apparatus main body 100 when the movable member 430 is fixed relative to the apparatus main body 100.

The first transmission assembly 420 of each elevating assembly 400 can output a reciprocating linear motion, so that the movable member 430 and the floor mopping assembly 200 can be driven to reciprocate in the same direction. The direction approaching or separating from the bottom of the apparatus main body 100 is set as the direction in which the first transmission assembly 420 outputs the reciprocating rectilinear motion, and the reciprocating rectilinear motion performed by the floor mopping assembly 200 is the lifting motion approaching or separating from the bottom of the apparatus main body 100.

In some embodiments, the direction of the lifting motion is a vertical direction. In other embodiments, the direction of the lifting motion is at an angle within 90 degrees of vertical.

Optionally, each first transmission assembly 420 includes a screw 421 and a screw nut 422, the screw nut 422 is fixed relative to the movable member 430, the screw 421 and the screw nut 422 are screwed with each other, and the first driving motor 410 is used for driving the screw 421 to rotate, so as to drive the screw nut 422 and the movable member 430 to move along the axial direction of the screw 421, and further drive the corresponding floor-cleaning assembly 200 to perform lifting movement.

The screw-nut pair consisting of the screw 421 and the screw nut 422 is a transmission device for realizing the mutual conversion between the rotary motion and the linear motion. For the screw 421 and the screw nut 422 screwed to each other, when the screw 421 is set to be fixed in the axial direction and the screw nut 422 is set to be fixed in the circumferential direction, the screw 421 is driven to perform a rotational movement, and the screw nut 422 is movable in the axial direction. When the rotation direction of the screw 421 is changed, the movement direction of the screw nut 422 is also changed.

The lead screw nut 422 is fixedly connected with the corresponding movable member 430. When the screw nut 422 moves along the axis direction of the screw 421, the corresponding movable member 430 can be driven to move along the axis direction of the screw 421, and in turn, the floor mopping assembly 200 can be driven to perform lifting motion. The first driving motor 410 may output a rotation motion, and the screw rod 421 and the screw rod nut 422 may convert the rotation motion into a linear motion, so as to drive the movable member 430 and the floor mopping assembly 200 to perform a lifting motion.

Optionally, the lifting assembly 400 further includes a guide bar 460 extending along the lifting direction of the floor mopping assembly 200. The lead screw nut 422 is provided with a guide hole 432, and the guide rod 460 is movably inserted into the guide hole 432.

Alternatively, the lead screw nut 422 performs a lifting movement in the axial direction of the guide bar 460 in synchronization with the movable member 430. The guide bar 460 axis is disposed parallel to the lead screw 421 axis.

Alternatively, the movable member 430 is provided in a plate shape, and the screw nut 422 is fixedly inserted into the movable member 430. The lead screw 421 is movably inserted into the corresponding lead screw nut 422 in the thickness direction of the movable member 430. When the screw 421 rotates, the screw nut 422 can drive the movable member 430 to move along the thickness direction of the movable member 430.

Optionally, each first transmission assembly 420 includes a screw rod 421, the movable member 430 is provided with an internal thread 431 matching with an external thread of the screw rod 421, the screw rod 421 is in transmission connection with the movable member 430, and the first driving motor 410 is used for driving the screw rod 421 to rotate so as to drive the movable member 430 to move along an axis direction of the screw rod 421, and further drive the corresponding floor mopping assembly 200 to perform lifting movement.

Specifically, the screw rod 421 is threaded through the internal thread 431, and the external thread of the screw rod 421 and the internal thread 431 are screwed together. The rotation of the movable member 430 is restricted and the movement of the screw 421 in the axial direction is restricted, and when the screw 421 rotates, the movable member 430 can move in the axial direction of the screw 421.

The movable member 430 and the corresponding floor mopping assembly 200 are relatively fixed in the axial direction of the screw 421, and when the movable member 430 moves along the axial direction of the screw 421, the corresponding floor mopping assembly 200 is driven to move up and down.

Alternatively, the movable member 430 is provided in a plate shape, and the axial direction of the internal thread 431 may be the thickness direction of the movable member 430. When the first driving motor 410 drives the screw 421 to rotate through the first transmission assembly 420, the screw 421 can drive the movable member 430 to move along the thickness direction of the movable member 430.

Optionally, the lifting assembly 400 further includes a guide bar 460 extending along the lifting direction of the floor mopping assembly 200. The movable member 430 is further provided with a guide hole 432, and the guide rod 460 is slidably disposed through the guide hole 432.

Alternatively, the movable member 430 performs a lifting movement in the axial direction of the guide bar 460. The guide bar 460 axis is disposed parallel to the lead screw 421 axis.

Optionally, each first transmission assembly 420 includes a first gear change mechanism 450. The first speed change mechanism 450 is in transmission connection with the screw 421, and the first driving motor 410 is in transmission connection with the first speed change mechanism 450 for driving the screw 421 to rotate through the first speed change mechanism 450.

Alternatively, the first speed change mechanism 450 may include a first output gear 443, a first transfer gear 452, a second transfer gear 453, and a lead screw gear 441. The first output gear 443 can be coaxially and fixedly arranged with the first output shaft 411, the first transmission gear 452 and the first output gear 443 are meshed with each other, and the first output gear 443 can drive the first transmission gear 452 to rotate. The first transmission gear 452 may be coaxially and fixedly disposed with the second transmission gear 453, and the lead screw gear 441 may be coaxially and fixedly disposed with the lead screw 421. When the first transmission gear 452 rotates, the second transmission gear 453 rotates synchronously, and the second transmission gear 453 drives the screw rod gear 441 to rotate, so as to drive the screw rod 421 to rotate.

Further, the axis of the first output shaft 411 of the first driving motor 410 may be parallel to the axis of the screw 421, and the first output gear 443, the first transmission gear 452, the second transmission gear 453 and the screw gear 441 are all cylindrical gears.

In some embodiments, the cleaning robot may include a cleaning module (not labeled). The cleaning module includes at least two floor mopping assemblies 200 and a lifting assembly 400. At least two mopping assemblies 200 are spaced apart from each other at the bottom of the apparatus body 100. The lifting assembly 400 is disposed on the device body 100, and includes a first driving motor 410 and a first transmission assembly 420.

Alternatively, the floor mopping assembly 200 is rotatably provided to the apparatus body 100.

Optionally, at least two floor mopping assemblies 200 are rotatably disposed about a predetermined axis with respect to the apparatus body 100, respectively. The predetermined axis may be the axis of the mop shaft 220.

Further, the two floor mopping assemblies 200 are rotatably disposed about preset axes with respect to the apparatus main body 100, respectively. The cleaning robot 1 comprises two second transmission assemblies 600 which are arranged at intervals, and the two second transmission assemblies 600 are in one-to-one transmission connection with the two mopping assemblies 200. The second driving motor 500 is in transmission connection with the two second transmission assemblies 600 to correspondingly drive the at least two mopping assemblies 200 to rotate through the two second transmission assemblies 600.

Alternatively, the axial direction of the screw 421 may be parallel to the axial direction of the rotational movement of the floor mopping assembly 200.

Alternatively, the direction of the lifting motion of the floor mopping assembly 200 can be parallel to the axis of the rotational motion of the floor mopping assembly 200. The second driving motor 500 can still drive the floor mopping assembly 200 to rotate in the stroke range of the floor mopping assembly 200 for lifting and lowering.

Alternatively, the mopping assembly 200 includes a mopping shaft 220, a tray 233 and a mop 232, one side of the tray 233 is detachably connected to the mop 232, the other side of the tray 233 is connected to the mop shaft 220, and one end of the mop shaft 220 away from the tray 233 is connected to the movable member 430.

Specifically, the floor mopping assembly 200 includes a mopping shaft 220 and a cleaning implement assembly 230. One end of the mop shaft 220 is detachably connected with the cleaning performing assembly 230, and the other end of the mop shaft 220 is in transmission connection with the second driving motor 500, so as to drive the cleaning performing assembly 230 to rotate relative to the apparatus main body 100 when being driven to rotate. During the cleaning process, the cleaning executing component 230 can rotate relative to the working surface under the driving of the mop shaft 220, so as to clean the working surface.

The cleaning implement assembly 230 includes a mop 232 and a tray 233, the mop 232 being attached to one side of the tray 233, one end of the mop shaft 220 being detachably connected to the side of the tray 233 facing away from the mop 232. The cleaning implement 230 may contact the work surface via the mop 232, and during the cleaning process, the mop shaft 220 rotates the tray 233, which in turn rotates the mop 232 synchronously, and the mop 232 cleans the work surface by rotating relative to the work surface.

Alternatively, the mop 232 may comprise a soft material that absorbs water, and the wet mop 232 may contact and rotate relative to the work surface during cleaning, thereby cleaning the work surface, so that the mopping function of the cleaning robot 1 may be achieved. The mop 232 may be a mop or other means for mopping the floor.

Optionally, the axial direction of the mop shaft 220 is parallel to the lifting direction of the floor assembly 200. That is, the elevation assembly drives the floor mopping assembly 200 to perform an elevation motion in the axial direction of the mop shaft 220.

Optionally, the cleaning robot 1 includes a second driving motor 500 and at least two second transmission assemblies 600, where the at least two second transmission assemblies 600 are in one-to-one transmission connection with the mop shafts 220 of the at least two mopping assemblies 200, and the second driving motor 500 is in transmission connection with the at least two second transmission assemblies 600, so as to correspondingly drive the respective corresponding mop shafts 220 to rotate through the at least two second transmission assemblies 600, and further drive the at least two mopping assemblies 200 to rotate.

Optionally, the second drive motor 500 has a second output shaft 501, the second output shaft 501 being in driving connection with at least two second transmission assemblies 600 simultaneously.

Further, the second driving motor 500 has a second output shaft 501 extending from opposite sides thereof, one end of the second output shaft 501 is in transmission connection with at least one second transmission assembly 600, and the other end of the second output shaft 501 is in transmission connection with at least another second transmission assembly 600. Alternatively, when the second driving motor 500 rotates, the two ends of the second output shaft 501 rotate synchronously, so as to drive the two floor mopping assemblies 200 to rotate simultaneously. When the second driving motor 500 is stopped, the two floor mopping assemblies 200 stop rotating at the same time.

Alternatively, the axial direction of the mop shaft 220 is perpendicular to the axial direction of the second output shaft 501.

Alternatively, the second output shaft 501 of the second drive motor 500 may be arranged perpendicular to the central axis of the mop shaft 220. The second transmission assembly 600 may have a worm gear pair configuration (not labeled) and a spur gear pair configuration (not labeled). The cylindrical gear pair structure can comprise an input gear 604 and a transmission gear 601, and the input gear 604 and the transmission gear 601 can be straight teeth or helical teeth. The worm 603 is fixedly connected with the second output shaft 501 coaxially, the worm wheel 602 is fixedly arranged coaxially with the input gear 604, and the transmission gear 601 is coaxially arranged and arranged to synchronously rotate with the mop shaft 220. When the second driving motor 500 rotates, the second output shaft 501 drives the worm 603 to rotate, the worm 603 drives the worm wheel 602 to rotate at the same time, the input gear 604 and the worm wheel 602 synchronously rotate and drive the transmission gear 601 to rotate, and finally the transmission gear 601 drives the cloth dragging shaft 220 to rotate around the central axis.

In some embodiments, the second transmission assembly 600 may have a bevel gear pair configuration and a spur gear pair configuration.

Optionally, each lifting assembly 400 includes a bearing 433, and the bearing 433 is fixedly sleeved on the outer circumference of the mop shaft 220. The movable member 430 is fixedly sleeved on the outer circumference of the bearing 433 so that the mop shaft 220 can rotate relative to the movable member 430 through the bearing 433.

Specifically, the lift assembly 400 includes at least two bearings 433. Each floor mopping assembly 200 can be drivingly connected to the movable member 430 by a bearing 433. The floor mopping assembly 200 is fixedly connected to the inner ring of the bearing 433, the outer ring of the bearing 433 can be fixed relative to the movable element 430, and the floor mopping assembly 200 can rotate relative to the movable element 430 through the bearing 433. The bearing 433, the movable element 430 and the floor mopping assembly 200 are relatively fixed in the axial direction, and the movable element 430 can drive the floor mopping assembly 200 to perform axial movement, namely lifting movement, through the bearing 433.

Optionally, each second transmission assembly 600 includes a transmission gear 601, the transmission gear 601 is sleeved on the periphery of the mop shaft 220 and is spaced from the bearing 433, the transmission gear 601 and the mop shaft 220 can slide relatively in the axial direction of the mop shaft 220, and the second driving motor 500 is used for driving the transmission gear 601 to rotate, so as to drive the mop shaft 220 to rotate.

Alternatively, the transmission gear 601 is fixed to the apparatus body 100 in the lifting direction, and the mop shaft 220 is displaced relative to the transmission gear 601 when performing the lifting movement.

Optionally, the cleaning robot 1 includes at least two mounting brackets 700, the at least two mounting brackets 700 are fixedly connected to the device body 100, and the at least two floor mopping assemblies 200 are connected to the at least two mounting brackets 700 in a one-to-one correspondence, each floor mopping assembly 200 being capable of moving relative to the corresponding mounting bracket 700 in a lifting direction of the floor mopping assembly 200 and being capable of rotating relative to the corresponding mounting bracket 700. At least two lifting assemblies 400 are disposed on at least two mounting brackets 700 in a one-to-one correspondence, each first driving motor 410 is disposed on a corresponding mounting bracket 700, and each first transmission assembly 420 is disposed on a corresponding mounting bracket 700. At least two second transmission assemblies 600 are disposed on at least two mounting brackets 700 in a one-to-one correspondence, and the second driving motor 500 is supported between at least two mounting brackets 700.

Further, the cleaning robot 1 includes two mounting brackets 700, the two mounting brackets 700 fixedly connect the device body 100, and the two floor mopping assemblies 200 are connected to the two mounting brackets 700 in one-to-one correspondence. The two lifting assemblies 400 are disposed on the two mounting brackets 700 in a one-to-one correspondence. The two second transmission assemblies 600 are disposed on the two mounting brackets 700 in a one-to-one correspondence, and the second driving motor 500 is supported between the at least two mounting brackets 700.

Alternatively, each mounting bracket 700 may include a connection bracket 720 and a bracket body 710 fixedly connected to each other. Each of the holder bodies 710 may be fixedly coupled to the device body 100 through a corresponding coupling frame 720. The holder body 710 may include an upper housing 711 and a lower housing 712. One side of the upper housing 711 may be fixedly coupled with the coupling frame 720, the other side of the upper housing 711 may be detachably coupled with the lower housing 712, and a bracket cavity 713 may be formed inside the bracket body 710 after the upper housing 711 and the lower housing 712 are coupled.

The worm gear 602, the input gear 604 and the transmission gear 601 of the second transmission assembly 600, and the first output gear 443, the first transmission gear 452, the second transmission gear 453 and the lead screw gear 441 of the first driving motor 410 may be disposed in the corresponding bracket cavity 713. For each screw 421, one end thereof is rotatably connected to the connection frame 720 and the other end thereof is rotatably connected to the lower case 712.

As shown in fig. 8 to 10, the mop shaft 220 is provided to have elasticity in the direction of its rotation axis so as to be able to bring the mop 232 to have a telescopic stroke on the rotation axis. During cleaning, the length of the mop shaft 220 may vary with the change of the working surface due to its elasticity, so that the cleaning implement assembly 230 maintains a state of being attached to the working surface. For example, if there is a raised portion of the working surface, the length of the mop shaft 220 located on the raised portion will be shortened. For another example, if the working surface is present at a depressed location, the length of the mop shaft 220 located at the depressed location may be increased.

When the mop shaft 220 is elastically deformed in the direction of its rotation axis, the cleaning implement 230 can be moved in the direction of the elastic deformation of the mop shaft 220. When the mop shaft 220 is deformed and restored in the direction of the rotation axis thereof, the cleaning implement assembly 230 can be moved in the direction of the deformed and restored mop shaft 220.

The cleaning robot 1 may include two floor mopping assemblies 200. When the work surface is a flat floor, the two floor mopping assemblies 200 can perform the same cleaning action on the work surface. When the working surface is uneven ground with undulation, the cleaning executing component 230 of the mopping component 200 positioned on different positions of the ground can have different telescopic strokes in the direction of the rotation axis, so as to better attach to the ground and achieve better cleaning effect.

Optionally, the mop assembly 200 includes a connector 240, and one end of the mop shaft 220 is detachably connected to the cleaning implement assembly 230 by the connector 240. In some embodiments, the attachment 240 may be removably attachable to both the mop shaft 220 and the attachment 240, thereby enabling removable attachment of the mop shaft 220 and the cleaning implement assembly 230. In other embodiments, the attachment 240 may be fixedly coupled to the mop shaft 220 while being detachably coupled to the cleaning implement assembly 230, thereby enabling the detachable coupling of the mop shaft 220 and the cleaning implement assembly 230.

In this embodiment, the connection member 240 may be fixedly connected with the cleaning implement 230 while being detachably connected with the mop shaft 220, thereby achieving detachable connection of the mop shaft 220 and the cleaning implement 230.

Optionally, the connecting piece 240 is a magnetic piece, one end of the mop shaft 220 has ferromagnetism, the connecting piece 240 is fixedly arranged on the cleaning executing component 230, and one end of the mop shaft 220 is magnetically connected with the connecting piece 240. The connecting piece 240 can magnetically attract one end of the mop shaft 220 to realize detachable connection with the mop shaft 220.

The connecting piece 240 is a magnetic piece, and can generate a magnetic field to attract ferromagnetic substances such as iron, nickel, cobalt and the like. The material of one end of the mop shaft 220 may include a ferromagnetic material such as iron, nickel, cobalt, etc., so as to be attracted by the connection member 240. The connecting member 240 is fixed to the cleaning execution assembly 230, and the connecting member 240 can generate magnetic attraction to the mop shaft 220, so that the mop shaft 220 can be kept connected with the cleaning execution assembly 230 under the action of the magnetic attraction.

In some embodiments, the connecting member 240 is a magnetic member, one end of the mop shaft 220 is provided with another magnetic member, the connecting member 240 is fixedly disposed on the cleaning executing assembly 230, and the other magnetic member is magnetically connected with the connecting member 240. The other magnetic member may be fixedly arranged with the mop shaft 220, while the other magnetic member is in attractive connection with the connection member 240, so as to realize the detachable connection of the connection member 240 with the mop shaft 220. In some embodiments, the other magnetic member may be integrally formed with the swab shaft 220.

When the separation effect of the external force applied to the mop shaft 220 and the cleaning implement assembly 230 is greater than the connection effect of the magnetic attraction, the cleaning implement assembly 230 can be disassembled. The disassembled cleaning implement assembly 230 may still be reattached to the mop shaft 220.

Optionally, the mop shaft 220 is provided with a hall sensor 250 for being triggered by the connection 240 to detect whether the cleaning implement assembly 230 is connected to the mop shaft 220.

Hall sensor 250 is a magnetic field sensor fabricated based on the hall effect. The hall effect is due to the deflection of charged particles, which are essentially moving, under the action of lorentz forces in a magnetic field, which deflection results in the accumulation of positive and negative charges in the direction of the vertical current and magnetic field when the charged particles (electrons or holes) are confined in a solid material, thus creating an additional transverse electric field.

The connection member 240 is fixed to the cleaning performing assembly 230 and is capable of generating a magnetic field, and the hall sensor 250 senses the magnetic field generated by the connection member 240 when the cleaning performing assembly 230 is connected to the cloth shaft 220. The hall sensor 250 may convert the magnetic signal into an electrical signal after sensing the magnetic field and then send the electrical signal to the processor. The processor can determine from the electrical signal that the cleaning implement 230 is in a connected state with the mop shaft 220.

When the cleaning performing assembly 230 is not connected to the mop shaft 220, the hall sensor 250 does not sense the magnetic field generated by the connector 240, and the processor does not receive the electric signal corresponding to the magnetic signal, and the processor may send a prompt message to prompt the user that the cleaning performing assembly 230 is not connected to the mop shaft 220. For example, when the cleaning performing assembly 230 is not installed or is detached by an external force, the processor may acquire information that the cleaning performing assembly 230 is not connected to the cloth dragging shaft 220 through the detection of the hall sensor 250, and may issue a prompt message. By the detection function of the hall sensor 250 for the connection state of the cleaning performing assembly 230 with the mop shaft 220, the cleaning robot 1 can avoid ineffective cleaning caused by the non-installation of the cleaning performing assembly 230.

Alternatively, the hall sensor 250 may be disposed at an end of the mop shaft 220 away from the connection member 240 and fixedly disposed with the device body, in which case the hall sensor 250 does not rotate with the mop shaft 220. Further, the mop shaft 220 may have a ferromagnetic material such as iron, nickel, cobalt, etc. continuously distributed in the axial direction, and the magnetic signal emitted from the connection member 240 may be introduced to the hall sensor 250 through the mop shaft 220. The ferromagnetic substance facilitates the conduction of magnetic signals, and increases the conduction distance of the magnetic signals emitted from the connector 240.

Alternatively, the cleaning performing assembly 230 is provided with a mounting groove 231, and the connection member 240 is fixedly disposed in the mounting groove 231, and one end of the cloth dragging shaft 220 is inserted into the mounting groove 231 to be magnetically connected with the connection member 240. Further, the cleaning performing assembly 230 includes a tray 233. The mounting groove 231 may be provided in the tray 233, and the mop shaft 220 is inserted into the mounting groove 231 and is relatively fixed to the tray 233 by the connection 240.

Alternatively, the shape of the portion of the mop shaft 220 inserted into the mounting groove 231 is matched with the shape of the mounting groove 231. The mounting groove 231 can limit the relative displacement of the mop shaft 220 and the cleaning implement assembly 230 perpendicular to the axial direction. The mop shaft 220 and the cleaning implement 230 are relatively fixed in the circumferential direction by the mating mop shaft 220 and the mounting groove 231, and the cleaning implement 230 is rotated together when the mop shaft 220 is rotated.

Optionally, the mop shaft 220 comprises an elastic member 222, a first connection shaft 223 and a second connection shaft 224. Both ends of the elastic member 222 are connected to the first connection shaft 223 and the second connection shaft 224, respectively. The first connection shaft 223 and the second connection shaft 224 are detachably connected along the rotation axis, the first connection shaft 223 is drivingly connected with the second driving motor 500, and the second connection shaft 224 is detachably connected with the cleaning performing assembly 230.

The first connection shaft 223 and the second connection shaft 224 may be relatively fixed in the circumferential direction, and the second driving motor 500 may rotate the cleaning performing assembly 230 through the first connection shaft 223 and the second connection shaft 224. Further, the first connecting shaft 223 and the second connecting shaft 224 may be disposed with a central axis, and the central axis coincides with the rotation axis.

In particular, the second transmission assembly 600 may be in transmission connection with the mop shaft 220. Further, the second transmission assembly 600 may include a transmission gear 601 in driving connection with the mop shaft 220. The transmission gear 601 can rotate to drive the first connecting shaft 223 to rotate. The transmission gear 601 may be provided with a square through hole (not labeled) along the axial direction, the square through hole and the transmission gear 601 share a central axis, the first connecting shaft 223 may be sleeved on the square through hole, and a part of an outer contour of the first connecting shaft 223 located in the square through hole is matched with the square through hole. The transmission gear 601 rotates and drives the first connection shaft 223 to rotate through the square through hole under the driving of the second driving motor 500.

Alternatively, a gap may be left between the swab shaft 220 and the square through hole so that the swab shaft 220 may move axially in the square through hole. The mop shaft 220 has a moving stroke when moving along the axial direction in the square through hole, and in the moving stroke range, the outer contour of the part of the mop shaft 220 positioned in the square through hole is matched with the square through hole, and the transmission gear 601 can drive the mop shaft 220 to rotate through the square through hole.

The first connecting shaft 223 can synchronously rotate the cleaning executing component 230 through the second connecting shaft 224. Optionally, the other end of the second connection shaft 224 is provided with a connection part 2243, the cleaning performing assembly 230 is provided with a mounting groove 231, the shape of the connection part 2243 is matched with the shape of the mounting groove 231, and the connection part 2243 is detachably disposed in the mounting groove 231. Further, the outer profile of the connection part 2243 and the inner profile of the installation groove 231 are provided in a non-cylindrical shape to restrict the relative rotation of the connection part 2243 and the installation groove 231.

The first connection shaft 223 and the second connection shaft 224 are relatively displaceable in the rotation axis direction by the elastic member 222. The elastic deformation of the cloth dragging shaft 220 is realized by means of the elastic deformation of the elastic member 222. The elastic member 222 may be a spring, or may be elastic silica gel, elastic rubber, or the like. The elastic member 222 is connected to the first connection shaft 223 and the second connection shaft 224 at both ends thereof in an elastic direction, respectively. When an external force is applied, a relative displacement in an elastic direction is generated between the first connection shaft 223 and the second connection shaft 224, and the elastic member 222 is elastically deformed.

After the elastic member 222 is elastically deformed, the elastic member tends to return to the undeformed state. For example, during cleaning, the elastic member 222 may be in a compressed state where the mop shaft 220 has a tendency to lengthen in length so that the cleaning implement assembly 230 contacts and applies pressure to the work surface. As the working surface rises and falls, the resilient member 222 deforms accordingly, and the mop shaft 220 changes in length accordingly, so that the cleaning implement assembly 230 can maintain a state of contacting and applying pressure to the working surface.

Optionally, the mop shaft 220 comprises a positioning member 225. The positioning member 225 connects the first connection shaft 223 and the second connection shaft 224 for allowing relative displacement of the first connection shaft 223 and the second connection shaft 224 on the rotation axis while restricting relative rotation of the first connection shaft 223 and the second connection shaft 224 in the circumferential direction so that the first connection shaft 223 and the second connection shaft 224 rotate in synchronization.

When the elastic member 222 is in a compressed state, an axial force is applied to the first connecting shaft 223 and the second connecting shaft 224, so that the first connecting shaft 223 and the second connecting shaft 224 have a tendency to be disconnected, and the first connecting shaft 223 and the second connecting shaft 224 can be connected by the positioning member 225 to avoid disconnection of the first connecting shaft 223 and the second connecting shaft 224.

Alternatively, the positioning member 225 may be provided to be fixed relative to both the first connecting shaft 223 and the second connecting shaft 224 in the circumferential direction. When the first connecting shaft 223 rotates, the second connecting shaft 224 can be driven to rotate by the positioning member 225.

Alternatively, one end of the first connecting shaft 223 is provided with a receiving groove 2231 along an axial direction thereof, and one end of the second connecting shaft 224 is movably inserted into the receiving groove 2231. One end of the second connecting shaft 224 inserted into the accommodating groove 2231 can slide in the accommodating groove 2231 along the axial direction, so that the first connecting shaft 223 and the second connecting shaft 224 can generate relative displacement along the axial direction.

Alternatively, the receiving groove 2231 may be a cylindrical hole opened along an axial direction, and a portion of the outer contour of the second connection shaft 224 inserted into the receiving groove 2231 may be configured as a cylinder matched with the receiving groove 2231 to limit the relative displacement of the first connection shaft 223 and the second connection shaft 224 in a direction perpendicular to the axial direction.

The elastic member 222 is accommodated in the accommodating groove 2231, and one end of the elastic member 222 is connected to the bottom of the accommodating groove 2231, and the other end of the elastic member 222 is connected to one end of the second connecting shaft 224. When one end of the second connecting shaft 224 inserted into the accommodating groove 2231 slides in the axial direction in the accommodating groove 2231, the elastic member 222 has different degrees of elastic deformation. The elastic member 222 is accommodated in the accommodating groove 2231, and the accommodating groove 2231 can protect the connection between the elastic member 222 and the first connecting shaft 223 and the second connecting shaft 224.

The outer periphery of one end of the second connecting shaft 224 is provided with a positioning hole 2241, the outer periphery of one end of the first connecting shaft 223 is provided with a strip-shaped hole 2232 which extends along the axial direction of the first connecting shaft and is communicated with the accommodating groove 2231, the positioning piece 225 is inserted into the positioning hole 2241 through the strip-shaped hole 2232, and the positioning piece 225 and the strip-shaped hole 2232 are matched to limit the stroke of the relative displacement of the first connecting shaft 223 and the second connecting shaft 224 on the rotating axis.

The positioning member 225 and the positioning hole 2241 may be engaged with each other, so that the positioning member 225 and the second connection shaft 224 are relatively fixed in the circumferential direction. The bar-shaped hole 2232 and the positioning member 225 may be engaged with each other in the width direction, so that the positioning member 225 and the first connecting shaft 223 are relatively fixed in the circumferential direction. By means of the positioning member 225, the first connecting shaft 223 and the second connecting shaft 224 can be fixed relative to each other in the circumferential direction, and rotated together during cleaning.

The positioning member 225 and the positioning hole 2241 cooperate with each other such that the positioning member 225 and the second connection shaft 224 are relatively fixed in the axial direction. The width of the bar-shaped hole 2232 in the axial direction may be set to be greater than the width of the positioning member 225 in the axial direction so that the positioning member 225 can slide in the bar-shaped hole 2232 in the axial direction. The first connection shaft 223 and the second connection shaft 224 may be relatively displaced in the axial direction while the positioning member 225 slides in the bar-shaped hole 2232. The stroke of the relative displacement of the first connecting shaft 223 and the second connecting shaft 224 in the axial direction corresponds to the sliding stroke of the positioning member 225 in the bar-shaped hole 2232, and also corresponds to the length change of the mop shaft 220 and the telescopic stroke provided by the cleaning implement assembly 230.

When the mop shaft 220 is in a compressed state, the mop assembly 200 can contact with the working surface and generate pressure perpendicular to the contact surface, the mop assembly 200 is at different distances from the bottom of the cleaning robot 1, and the compression state of the elastic member 222 is different. The cleaning implement assembly 230 may have a telescoping stroke controlled to a range such that the pressure between the floor cleaning assembly 200 and the work surface is maintained to a range.

Alternatively, the positioning hole 2241 opened at one end of the second connection shaft 224 may be provided as a through hole. The outer circumference of one end of the first connection shaft 223 may be provided with two bar-shaped holes 2232 extending along the axial direction thereof and communicating with the receiving groove 2231, and the two bar-shaped holes 2232 are opposite and may communicate with each other through the receiving groove 2231. When one end of the second connecting shaft 224 is inserted into the accommodating groove 2231, two ends of the positioning hole 2241 may be respectively connected to one bar-shaped hole 2232, and the positioning member 225 may be simultaneously inserted into the two bar-shaped holes 2232 and the positioning hole 2241. Further, the positioning hole 2241 axis is perpendicular to the second connection shaft 224 axis.

Optionally, one end of the second connecting shaft 224 is provided with a boss portion 2242, and the other end of the elastic member 222 is sleeved on the boss portion 2242 and is connected with the second connecting shaft 224. Alternatively, the other end of the elastic member 222 may abut against a portion of the second connecting shaft 224 other than the boss 2242 when sleeved on the boss 2242. The boss 2242 has a positioning function on the elastic member 222, and can limit the relative displacement of the elastic member 222 and the second connecting shaft 224 in the direction perpendicular to the axis.

In summary, the telescopic movement of the floor mopping assembly 200 of the cleaning robot 1 in the lifting direction can be realized in the embodiment, the floor mopping assembly 200 can be flexibly attached to the working surface in the cleaning process, the stability and reliability of the cleaning effect are improved, and meanwhile, the lifting movement of the different floor mopping assemblies 200 in the lifting direction is driven by different lifting assemblies 400, so that the cleaning robot 1 has diversified cleaning actions, and the diversified cleaning requirements of different working surfaces can be met.

The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims (10)

1. A cleaning robot, comprising:

a device body;

the travelling mechanism is connected with the device main body and is used for driving the device main body to travel on a working surface;

at least two mopping components arranged at the bottom of the device main body;

the at least two lifting assemblies are respectively arranged on the device main body, and the at least two lifting assemblies are in one-to-one corresponding transmission connection with the at least two mopping assemblies; each lifting assembly comprises a first driving motor and a first transmission assembly in transmission connection with the first driving motor, the first transmission assembly is in transmission connection with the corresponding floor mopping assembly, and the first driving motor is used for driving the corresponding first transmission assembly to move so as to drive the corresponding floor mopping assembly to lift.

2. The cleaning robot of claim 1, wherein:

each lifting assembly comprises a movable piece fixedly connected with the corresponding floor mopping assembly, and the first transmission assembly is in transmission connection with the movable piece so as to drive the corresponding floor mopping assembly to lift through the movable piece.

3. The cleaning robot of claim 2, wherein:

each first transmission assembly comprises a screw rod and a screw rod nut, the screw rod nuts are fixed relative to the movable piece, the screw rod and the screw rod nuts are mutually screwed, and the first driving motor is used for driving the screw rod to rotate so as to drive the screw rod nuts and the movable piece to move along the axis direction of the screw rod, and further drive the corresponding floor mopping assembly to perform lifting movement.

4. The cleaning robot of claim 2, wherein:

each first transmission assembly comprises a screw rod, the movable piece is provided with an internal thread matched with the external thread of the screw rod, the screw rod is in transmission connection with the movable piece, the first driving motor is used for driving the screw rod to rotate so as to drive the movable piece to move along the axis direction of the screw rod, and then the corresponding floor mopping assembly is driven to move up and down.

5. The cleaning robot of any one of claims 2-4, wherein:

the lifting assembly further comprises a guide rod extending along the lifting direction of the mopping assembly; the movable piece is also provided with a guide hole, and the guide rod is slidably arranged in the guide hole in a penetrating mode.

6. The cleaning robot of claim 2, wherein:

the mopping assembly comprises a mopping shaft, a tray and a mop, one side of the tray is detachably connected with the mop, the other side of the tray is connected with the mop shaft, and one end, far away from the tray, of the mop shaft is connected with the movable piece.

7. The cleaning robot of claim 6, wherein:

the cleaning robot comprises a second driving motor and at least two second transmission assemblies, wherein the at least two second transmission assemblies are in one-to-one corresponding transmission connection with mop shafts of the at least two mopping assemblies, and the second driving motor is in transmission connection with the at least two second transmission assemblies so as to correspondingly drive the respective corresponding mop shafts to rotate through the at least two second transmission assemblies, and further drive the at least two mopping assemblies to rotate.

8. The cleaning robot of claim 7, wherein:

each lifting assembly comprises a bearing, and the bearing is fixedly sleeved on the periphery of the cloth dragging shaft; the movable piece is fixedly sleeved on the periphery of the bearing, so that the mop shaft can rotate relative to the movable piece through the bearing;

each second transmission assembly comprises a transmission gear, the transmission gears are sleeved on the periphery of the mop shaft and are arranged with the bearings at intervals, the transmission gears and the mop shaft can slide relatively in the axial direction of the mop shaft, and the second driving motor is used for driving the transmission gears to rotate so as to drive the mop shaft to rotate.

9. The cleaning robot of claim 7, wherein:

the second driving motor is provided with a second output shaft which is simultaneously connected with at least two second transmission assemblies in a transmission way.

10. The cleaning robot of claim 7, wherein:

the mop shaft is arranged to have elasticity in the direction of its rotational axis so as to be able to bring the mop to a telescopic travel on the rotational axis.

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