CN110495820A - A kind of clean robot - Google Patents
A kind of clean robot Download PDFInfo
- Publication number
- CN110495820A CN110495820A CN201910826456.6A CN201910826456A CN110495820A CN 110495820 A CN110495820 A CN 110495820A CN 201910826456 A CN201910826456 A CN 201910826456A CN 110495820 A CN110495820 A CN 110495820A
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- rotating member
- module
- robot body
- floor
- axle sleeve
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- 238000004140 cleaning Methods 0.000 claims abstract description 136
- 238000010408 sweeping Methods 0.000 claims abstract description 54
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- 239000000428 dust Substances 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 12
- 239000003795 chemical substances by application Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000007790 scraping Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
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- 238000005452 bending Methods 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of clean robot, which includes: robot body, and the bottom of the robot body is provided with the first rotating member；It sweeps the floor module, the module of sweeping the floor include the module bodies being detachably connected with the robot body, with the cleaning brush of module bodies rotation connection and can to the second rotating member of cleaning brush transmitting torque, the module bodies after being connect with the robot body first rotating member and the second rotating member realize and rotate coaxially；Driving device, the driving device are arranged inside the robot body and first rotating member can be driven to rotate.By the dismounting of sweep the floor module and robot body, facilitates and disassemble and install cleaning brush and robot body.
Description
Technical field
The present invention relates to cleaning equipment technical fields, more specifically to a kind of clean robot.
Background technique
With scientific and technological progress and improvement of living standard, clean robot has been subjected to the welcome of more and more people.Cleaning
Robot includes module of sweeping the floor, and module of sweeping the floor is for carrying out cleaning of sweeping the floor to ground, wherein module of sweeping the floor includes cleaning brush, clearly
Clean brush can clean ground.In the prior art, the shaft of cleaning brush generally passes through the shaft on screw and robot body
It is fixedly connected.It is arranged such, it has not been convenient to dismantle cleaning brush on slave device human agent.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of clean robot, for easily by cleaning brush and machine
Human agent disassembles and installs.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of clean robot, comprising:
Robot body, the bottom of the robot body are provided with the first rotating member；
Sweep the floor module, the module of sweeping the floor include the module bodies being detachably connected with the robot body, with it is described
Module bodies rotation connection cleaning brush and can to the cleaning brush transmitting torque the second rotating member, the module bodies with
First rotating member and the realization of the second rotating member rotate coaxially after robot body's connection；
Driving device, the driving device are arranged on the robot body, and the driving device is described for driving
The rotation of first rotating member.
Optionally, in above-mentioned clean robot, in the module bodies, between the cleaning brush and second rotating member
Every setting.
Optionally, in above-mentioned clean robot, the module of sweeping the floor further includes the third being arranged in the module bodies
Rotating member, the pivot center of the third rotating member is parallel to each other from the pivot center of second rotating member and position is different,
The third rotating member and second rotating member are sequentially connected, and the cleaning brush is rotated coaxially with the third rotating member.
Optionally, in above-mentioned clean robot, between second rotating member and third rotating member by belt, gear or
Rack gear realizes torque transmitting.
Optionally, in above-mentioned clean robot, along first direction, the pivot center of the cleaning brush is located at described first turn
The front of the pivot center of moving part；
In a second direction, the pivot center of the cleaning brush is located at the front of the pivot center of first rotating member；
The first direction is the Forward direction of the clean robot；
The second direction is perpendicular to the Forward direction of the clean robot, and the second direction is directed toward the machine
The target side of human agent, the target side be along the clean robot Forward direction described in robot body most before
One side between position and rearmost position.
Optionally, further include the module that mops floor in above-mentioned clean robot, the module that mops floor include mopping part and with it is described
4th rotating member of mopping part connection, the 4th rotating member with first rotating member for being detachably connected, and described the
Four rotating members realize rotating coaxially for the two after connecting with first rotating member.
Optionally, in above-mentioned clean robot, the end of first rotating member includes one in shaft end and axle sleeve, institute
It is removable with what is both realized that the end for stating the second rotating member includes another in shaft end and axle sleeve, the shaft end and axle sleeve grafting
Unload connection.
Optionally, in above-mentioned clean robot, the lateral wall of the shaft end includes multi-prismatic surface, the inner sidewall of the axle sleeve
Including multi-prismatic surface, the multi-prismatic surface of the shaft end and the multi-prismatic surface of the axle sleeve are mutually limited, with limit the shaft end and
The relative rotation of the axle sleeve.
Optionally, in above-mentioned clean robot, the mouth end of the axle sleeve is equipped with multiple guide grooves, and the guide groove includes two
The spacing of cell wall, two cell walls of the guide groove is gradually reduced from the direction of opening toward the bottom of the axle sleeve of the axle sleeve,
Two cell walls of the guide groove are intersected on the incline of the multi-prismatic surface of the axle sleeve；
The top of the shaft end is equipped with multiple guide surfaces, and the guide surface includes two sides, the two sides of the guide surface
Spacing be gradually increased from the direction of top toward the bottom end of the shaft end of the shaft end, the side of the guide surface and the axis
The incline of the multi-prismatic surface at end intersects.
Optionally, in above-mentioned clean robot, the cleaning brush is fixedly connected with second rotating member.
Optionally, the cleaning brush includes brush ontology and the bristle that is arranged on the brush ontology, it is described sweep the floor module with
The cleaning range of the bristle protrudes the edge of the robot body after robot body's connection.
Optionally, in above-mentioned clean robot, the module bodies include first position and the second position, and described first
Set has default spacing between the second position；
At the first position, the module bodies and the robot body are clamped by clamping structure；
In the second place, the module bodies and the robot body pass through magnetic connecting structure magnetic connects.
The clean robot of the embodiment of the present invention includes robot body, module of sweeping the floor and driving device.Wherein, robot
The bottom of main body is provided with the first rotating member.Module of sweeping the floor includes the module bodies being detachably connected with robot body and mould
The cleaning brush of block main body rotation connection and the second rotating member that torque can be transmitted to cleaning brush, module bodies and robot body
The first rotating member and the realization of the second rotating member rotate coaxially after connection, and driving device is arranged on robot body.Driving device
For driving the rotation of the first rotating member, so that the first rotating member drives cleaning brush to rotate by the second rotating member of driving, rotate
Cleaning brush can carry out cleaning of sweeping the floor to ground.Because module bodies and robot body are detachably connected, cleaning brush and module master
Body rotation connection realizes cleaning brush and the dismounting of robot body to pass through the dismounting of module bodies and robot body,
Because cleaning brush can opposed robots' main body and module rotation of sweeping the floor, and module of sweeping the floor passes through without opposed robots' body rotation
The dismounting of module of sweeping the floor and robot body, facilitates and disassembles and installs cleaning brush and robot body.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the stereoscopic schematic diagram of clean robot provided in an embodiment of the present invention；
Fig. 2 is the bottom view of robot body provided in an embodiment of the present invention；
Fig. 3 is the top view of module provided in an embodiment of the present invention of sweeping the floor；
Fig. 4 is the structural schematic diagram of module provided in an embodiment of the present invention of sweeping the floor；
Fig. 5 is module and the robot body's assembling schematic diagram provided in an embodiment of the present invention of sweeping the floor；
Fig. 6 is the bottom view after sweep the floor module and robot body's assembly provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram after sweep the floor module and robot body's assembly provided in an embodiment of the present invention；
Fig. 8 is the bottom view of the module provided in an embodiment of the present invention that mops floor；
Fig. 9 is the top view of the module provided in an embodiment of the present invention that mops floor；
Figure 10 be another embodiment of the present invention provides the module that mops floor top view；
Figure 11 is the assembling schematic diagram of the module that mops floor in robot body provided in an embodiment of the present invention and Fig. 9；
Figure 12 is the assembling schematic diagram of the module that mops floor in robot body provided in an embodiment of the present invention and Figure 10；
Figure 13 is the bottom view of axle sleeve provided in an embodiment of the present invention；
Figure 14 is the cross-sectional view of axle sleeve provided in an embodiment of the present invention；
Figure 15 is the structural schematic diagram of shaft end provided in an embodiment of the present invention；
Figure 16 is the assembling schematic diagram of axle sleeve provided in an embodiment of the present invention and shaft end.
Drawing reference numeral explanation:
100- clean robot, 101- robot body, 1011- universal wheel, 1012- suction inlet, 1013- first are rotated
Part, 1014- driving wheel；
102- sweep the floor module, 1021- module bodies, 1022- cleaning brush, 1023- third rotating member, 1024- second rotate
Part, 1025- entering-dust mouth, 1026- scraping blade；
103- mops floor module, 1031- mop, 1032- turntable, the 4th rotating member of 1033-；
C1- axle sleeve, c11- guide groove, c0- multi-prismatic surface, the shaft end c2-, c21- guide surface.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
Meanwhile the "and/or" that occurs in full text or " and/or " meaning be including three schemes, be with " A and/or B "
Example, including the scheme that A scheme or B scheme or A and B meet simultaneously.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
The embodiment of the invention provides a kind of clean robot 100, which can be used for carrying out certainly ground
The application scenarios of dynamic cleaning, clean robot 100 can be home interior cleaning, large-scale place cleaning etc..
The type of clean robot 100 provided in an embodiment of the present invention is the mode of sweeping the floor and the changeable cleaning of mode that mops floor
Robot, clean robot 100 include robot body 101, which can connect with module 102 of sweeping the floor, with
It realizes and sweeps the floor cleaning to ground；Or robot body 101 can connect with the module 103 that mops floor, with realize over the ground Orly it is clear
It is clean.Fig. 1 is the stereoscopic schematic diagram of clean robot 100 provided in an embodiment of the present invention, and Fig. 2 is looking up for robot body 101
Figure.
As depicted in figs. 1 and 2, clean robot 100 includes that robot body 101 and driving robot body 101 are mobile
Walking unit.Robot body 101 can be circular configuration, square structure etc..In embodiments of the present invention, with robot master
Body 101 be D character form structure for be illustrated.As shown in Figure 1,101 front of robot body is the rectangular configuration of rounded corner, after
Portion is semicircular structure.In embodiments of the present invention, robot body 101 is bilateral symmetry.
Walking unit is component relevant to the movement of clean robot 100, and walking unit is for example including driving wheel 1014
With universal wheel 1011.The steering and movement of clean robot 100 are realized in universal wheel 1011 and the cooperation of driving wheel 1014.In robot
The position at rear portion is leaned in the bottom surface of main body 101, and a driving wheel 1014 is respectively arranged in the right and left.Universal wheel 1011 is arranged in robot
On the center line of the bottom surface of main body 101, and it is located between two cleaning devices.Wherein, clean robot 100 includes cleaning device, clearly
Clean part is for cleaning ground, and cleaning device can be the component swept the floor in module 102 for sweeping the floor, module of specially sweeping the floor 102
Cleaning brush 1022, alternatively, cleaning device is the component to mop floor in module 103 for mopping floor, for example, mop 1031.Cleaning device setting
In the bottom of robot body 101.
Wherein, each driving wheel 1014 is equipped with driving wheel motor, under the drive of driving wheel motor, 1014 turns of driving wheel
It is dynamic.After driving wheel 1014 rotates, drive clean robot 100 mobile.By controlling the rotational speed difference of left and right sidesing driving wheel 1014, controllably
The steering angle of clean robot 100 processed.
Dust suction storehouse and blower are additionally provided with inside robot body 101, the suction inlet 1012 in dust suction storehouse is located at robot master
101 bottom of body, blower rotate so as to negative pressure be formed in dust suction storehouse, by rubbish such as dust, paper scraps through the sucking dust suction of suction inlet 1012
Storehouse may be provided with dirt box in dust suction storehouse, rubbish is stored and be kept in by dirt box.
It should be understood that the clean robot 100 of description of the embodiment of the present invention is a specific example, not to the present invention
The clean robot 100 of embodiment constitutes specific restriction, and the clean robot 100 of the embodiment of the present invention can also be other tools
Body implementation.For example, clean robot can have more than clean robot 100 shown in FIG. 1 in other implementations
More or less component.The implementation for the clean robot that the following each embodiments of the present invention provide can refer to above-mentioned Fig. 1 institute
Show the implementation of the clean robot 100 of embodiment.
As shown in Fig. 2-Fig. 3, the embodiment of the present invention one provides a kind of clean robot 100, the clean robot 100 packet
Include robot body 101, module of sweeping the floor 102 and driving device.Wherein, the bottom of robot body 101 is provided with the first rotation
Part 1013.Driving device is arranged on robot body 101, and driving device is for driving the rotation of the first rotating member 1013.
Module of sweeping the floor 102 includes module bodies 1021, cleaning brush 1022 and the second rotating member 1024.Module bodies 1021 with
Robot body 101 is detachably connected.Cleaning brush 1022 and module bodies 1021 are rotatablely connected, and rotation connection indicates connection and energy
Enough mutually rotations, i.e., cleaning brush 1022 is arranged in module bodies 1021, and cleaning brush 1022 can be relative to module bodies
1021 rotations.Second rotating member 1024 is also disposed in module bodies 1021, and the second rotating member 1024 is used for cleaning brush 1022
Transmit torque.First rotating member 1013 and the second rotating member 1024 are realized after module bodies 1021 are connect with robot body 101
It rotates coaxially.
Using the embodiment of the present invention one provide clean robot 100 when, due to module bodies 1021 and robot body
The first rotating member 1013 and the realization of the second rotating member 1024 rotate coaxially after 101 connections, therefore only need the second rotating member 1024
Pivot center is overlapped with the pivot center of the first rotating member 1013, and in other words, the position of the second rotating member 1024 is by robot
The limitation of 1013 position of the first rotating member in main body 101.Second rotating member 1024 to cleaning brush 1022 transmit torque, second turn
The pivot center of moving part 1024 and the pivot center position of cleaning brush 1022 can be the same or different, therefore cleaning brush 1022
Location arrangements do not limited by the first rotating member 1013 and the second rotating member 1024.It so can be according to actual needs by cleaning
1022 setting of brush in place, while can also rationally design the length of cleaning brush 1022, make cleaning brush 1022 both can be with
Sweep to peripheral position in turn avoid cleaning brush 1022 length it is too long.
As Figure 3-Figure 4, in above-described embodiment one, in module bodies 1021, cleaning brush 1022 and the second rotation
The setting of the interval of part 1024.It in other words, include preset space length between cleaning brush 1022 and the second rotating member 1024.At this point, clear
The pivot center of clean brush 1022 and the pivot center position of the second rotating member 1024 are different.Cleaning brush 1022 and the second rotating member
1024 be transmission connection, can arbitrarily be passed by belt, gear etc. between the shaft of cleaning brush 1022 and the second rotating member 1024
Dynamic component connection.The pivot center of the pivot center of cleaning brush 1022 and the second rotating member 1024 can be parallel to each other.For example, In
Gear is respectively and fixedly provided in the shaft of cleaning brush 1022 and on the second rotating member 1024, cleaning brush 1022 is realized in two gear engagements
It is driven between shaft and the second rotating member 1024, or is fixed in the shaft of cleaning brush 1022 and on the second rotating member 1024
There is belt pulley, is realized and be driven by belt between two belt pulleys.According to the shaft of cleaning brush 1022 and the second rotating member 1024
Specific setting position, can be adjusted the size of gear, or adjust to the length of belt, the size of belt pulley
It is whole.
Further, module of sweeping the floor 102 further includes third rotating member 1023, and third rotating member 1023 is arranged in module bodies
On 1021, and the pivot center of the pivot center of third rotating member 1023 and the second rotating member 1024 be parallel to each other and position not
Together, third rotating member 1023 and the second rotating member 1024 are sequentially connected, and cleaning brush 1022 and coaxial turn of third rotating member 1023
It is dynamic.After robot body 101 connect with module bodies 1021, the first rotating member 1013 is driven to the second rotating member 1024, the
Two rotating members 1024 are driven to third rotating member 1023, and then third rotating member 1023 and cleaning brush 1022 rotate coaxially.
It can realize that torque passes by belt, gear or rack gear between second rotating member 1024 and third rotating member 1023
It passs.Specifically, gear, the tooth on the second rotating member 1024 can be respectively provided on the second rotating member 1024 and third rotating member 1023
Wheel is engaged to realize that third rotating member 1023 and the second rotating member 1024 are sequentially connected, such as with the gear on third rotating member 1023
This power transmission is more stable.
For example, as shown in Figure 3 and Figure 4, gear is socketed on the second rotating member 1024, the two can rotate coaxially.
Gear is socketed on three rotating members 1023, the two can rotate coaxially.Gear and the third rotation being socketed on second rotating member 1024
The gear engagement being socketed on part 1023, in this way, the second rotating member 1024 and third rotating member 1023 can phases by meshed gears
Mutually transmission.
Certainly, the shaft of cleaning brush 1022 can also be connect with the second rotating member 1024 with direct-drive, be not limited thereto.
For example, cleaning brush 1022 is fixedly connected with the second rotating member 1024, and cleaning brush 1022 and the second rotating member 1024 can be with respect to moulds
Block main body 1021 rotates.
Optionally, in above-described embodiment one, along first direction, the pivot center of cleaning brush 1022 is located at the first rotating member
The front of 1013 pivot center.And in a second direction, the pivot center of cleaning brush 1022 is located at the first rotating member 1013
The front of pivot center.Wherein, first direction is the Forward direction of clean robot 100, and second direction is perpendicular to cleaning machine
The Forward direction of people 100, and second direction is directed toward the target side of robot body 101, target side is along clean robot
One side between the front position and rearmost position of 100 Forward direction robot body 101.Target side mask body can be with
For left side or the right side between the front position and rearmost position of the Forward direction robot body 101 of clean robot 100
Side.The Forward direction of clean robot 100 refers to the direction moved forward when clean robot 100 is not turned.For example, in target
Side is the left side between the Forward direction of clean robot 100, the front position and rearmost position of robot body 101
When, the pivot center of cleaning brush 1022 than the first rotating member 1013 pivot center closer to the left side.It is in target side
When right side between the Forward direction of clean robot 100, the front position and rearmost position of robot body 101, clearly
The pivot center of clean brush 1022 than the first rotating member 1013 pivot center closer to the right side.
In this way, along first direction, before the pivot center of cleaning brush 1022 is located at the pivot center of the first rotating member 1013
Side, then the pivot center of cleaning brush 1022 is than the pivot center of the first rotating member 1013 closer to the head of robot body 101
Edge.In a second direction, the pivot center of cleaning brush 1022 is located at the front of the pivot center of the first rotating member 1013, then cleans
The pivot center of brush 1022 than the first rotating member 1013 pivot center closer to the target side of robot body 101.Change speech
It, along the Forward direction of clean robot 100, the pivot center of cleaning brush 1022 is located at the pivot center of the first rotating member 1013
Side in front of.
So set, the pivot center for the cleaning brush 1022 for sweep the floor in module 102 turns than the first rotating member 1013
Shaft line guarantees the length of cleaning brush 1022 more closer to the head edge of robot body 101 and the edge of target side
Adduction reason, cleaning brush 1022 can both sweep to peripheral position in turn avoid cleaning brush 1022 length it is too long.If cleaning brush 1022
Length it is too long, the linear velocity that will lead to 1022 end of cleaning brush is higher, thus when rubbish is swept in 1022 end of cleaning brush, holds
Easily rubbish is thrown out, i.e., rubbish is thrown away into clean robot 100.In the present embodiment one, along the Forward side of clean robot 100
To after the pivot center of cleaning brush 1022 is located in front of the side of the pivot center of the first rotating member 1013, cleaning brush 1022 turns
Shaft line closer to the edge of robot body 101, even if in this way, the bristle length of cleaning brush 1022 is smaller, cleaning brush 1022
Cleaning range can also protrude the edge of robot body 101.In this way, make the Design of length of the bristle of cleaning brush 1022 reasonable,
Rubbish is avoided to throw away clean robot 100 by cleaning brush 1022.In embodiments of the present invention, cleaning brush 1022 can sweep to rubbish
The suction inlet 1012 of 100 bottom of clean robot, and it is drawn into the dust suction storehouse in clean robot 100 from suction inlet 1012, with
It is kept in, to improve cleaning effect.
It should be understood that in other specific implementations of embodiment one, can also along first direction, cleaning brush 1022
Pivot center is located at the rear of the pivot center of the first rotating member 1013；In a second direction, the pivot center position of cleaning brush 1022
In the rear of the pivot center of the first rotating member 1013, the present invention is not especially limit this.
In embodiments of the present invention, after module 102 of sweeping the floor being installed on robot body 101, during cleaning, cleaning
When 1022 rotation of brush, the cleaning range of cleaning brush 1022 is border circular areas, robot body 101 when cleaning the positions such as corner,
Cleaning blind area can be generated.Blind area is cleaned in order to avoid generating, optionally, in above-described embodiment one, cleaning brush 1022 includes brushing this
Body and the bristle being arranged on brush ontology, the cleaning range of bristle protrudes machine after module of sweeping the floor 102 is connect with robot body 101
The edge of device human agent 101.So it is more convenient for cleaning corner, the furniture corner that nearby etc. robot bodies 101 are not achieved
Rubbish.
Optionally, the end of brush ontology is bent soft structures, and when cleaning encounters the obstructions such as wall, footpost, is brushed
Hard collision just will not occur for the end bending of ontology.Above-mentioned soft structures can be silica gel structure or rubber structure.Alternatively, can also
With the edge of only bristle protrusion robot body 101, bristle is soft material, and encountering barrier bristle can deform.
In example 1, the end of the first rotating member 1013 includes one in shaft end c2 and axle sleeve c1, the second rotation
The end of part 1024 includes another in shaft end c2 and axle sleeve c1, wherein axle sleeve c1 is groove structure, and shaft end c2 can be inserted in axis
In the groove for covering c1, in this way, by shaft end c2 and axle sleeve c1 grafting to realize the first rotating member 1013 and the second rotating member 1024
Be detachably connected.
It include non-cylinder side on the groove inner sidewall of axle sleeve c1, and in shaft end to realize the transmitting of torque
It include non-cylinder side, the non-cylinder side of the groove inner sidewall of axle sleeve c1 and the lateral wall of shaft end c2 on the lateral wall of c2
Non-cylinder side can mutually abut, limit axle sleeve c1 and shaft end c2 relative rotation, to realize axle sleeve c1's and shaft end c2
Transmission, so that the first rotating member 1013 can be driven to the module 103 that mops floor.
For example, being equipped with shaft end c2 in the end of the first rotating member 1013, shaft end c2 is positive multiedge cylinder, shaft end c2's
Lateral wall is multi-prismatic surface c0.It is equipped with axle sleeve c1 in the end of the second rotating member 1024, the groove structure of axle sleeve c1 is positive more
Prism, the inner sidewall of the groove structure of axle sleeve c1 are multi-prismatic surface c0.After shaft end c2 to be inserted in the groove structure of axle sleeve c1,
Realize being detachably connected for the first rotating member 1013 and the second rotating member 1024.In the rotation of the first rotating member 1013, first
The polygon prism of the axle sleeve c1 of the part prismatic surface of the multi-prismatic surface c0 of shaft end c2 on rotating member 1013 and the second rotating member 1024
The part prismatic surface of face c0 abuts, and limits the relative rotation of the first rotating member 1013 and the second rotating member 1024, to realize the
One rotating member 1013 is by driving transmission of second rotating member 1024 to module 102 of sweeping the floor.
Certainly, in above-described embodiment one, screw can also be passed through between the first rotating member 1013 and the second rotating member 1024
The modes such as connection, which are realized, to be detachably connected, and is not limited thereto.
About there are many module bodies 1021 and the connection type of robot body 101, in a concrete implementation mode
In, module bodies 1021 include first position and the second position, there is default spacing between first position and the second position, i.e., the
One position and the second position are not overlapped.At first position, module bodies 1021 and robot body 101 pass through clamping structure card
It connects；In the second place, module bodies 1021 and robot body 101 pass through magnetic connecting structure magnetic connects.Wherein, magnetic connects knot
Structure may include magnetic part and metalwork, alternatively, magnetic connecting structure includes the opposite magnetic part etc. of two south poles.Magnetic part can
To be permanent magnet or electromagnet etc., the present invention is not especially limit this.
For example, one be provided in module bodies 1021 in magnetic part and metalwork, it is provided on robot body 101
Another in magnetic part and metalwork, it is alternatively possible to magnetic part be arranged in module bodies 1021, in robot body
Metalwork is set on 101, is acted on by the attraction of magnetic part and metalwork and realizes module bodies 1021 and robot body 101
Magnetic connects.In order to guarantee the stability of magnetic connects, two symmetrical metalworks can be set on robot body 101,
Two magnetic parts corresponding with two metalworks on robot body 101 respectively are set in module bodies 1021.
Clamping structure includes card slot and card convex, one be provided in card slot and card convex in module bodies 1021, robot
Another in card slot and card convex is provided in main body 101.Wherein, card convex is convex block, and card slot is groove structure, is inserted by card convex
Enter into card slot the clamping realized between module bodies 1021 and robot body 101, optionally, settable multiple groups card slot and card
It is convex.In a concrete implementation mode, multiple card convexs can be set in module bodies 1021, set on robot body 101
Set multiple card slots.
Above-mentioned first position can be located at the edge of module bodies 1021, and module bodies 1021 and robot body 101 connect
After being directly directed at 1021 edge of module bodies with the corresponding position of robot body 101 when connecing, by module bodies 1021 and machine
Device human agent 101 is clamped by clamping structure, then passes through magnetic connecting structure again for module bodies 1021 and robot body 101
Magnetic connects.Optionally, first position is the posterior edges of module bodies 1021.The bottom of robot body 101 can be set with
The matched holding tank of module bodies 1021, after module bodies 1021 are connect with robot body 101, module bodies 1021, which are located at, to be held
It receives inside slot, at this point, card convex may be provided at the side of module bodies 1021, card slot is arranged on the cell wall of holding tank.
Said second position can be arranged close to the front side of module bodies 1021.The front side of module bodies 1021 is that its is close
The side on 101 head of robot body, the rear side of module bodies 1021 are its side far from 101 head of robot body.
It should be noted that two the second rotating members 1024 and two cleaning brush can be set in module bodies 1021
1022, and two the second rotating members 1024 and two cleaning brush 1022 are symmetrical set in module bodies 1021.
Certainly, the first position and the second position of module bodies 1021 can be arbitrarily arranged, and be not specifically limited herein.
In another concrete implementation mode, can all it be set in the first position of module bodies 1021 and the second place
Clamping structure is set, alternatively, magnetic connecting structure is all arranged.
In another concrete implementation mode, clamping structure and magnetic connects are set in the same position of module bodies 1021
Structure, for example, clamping structure is made using magnetic material, thus, module bodies 1021 and robot are realized by clamping structure
The clamping and magnetic connects of main body 101.
In another concrete implementation mode, module bodies 1021 can also pass through spiral shell between robot body 101
The realizations such as nail are detachably connected.
Optionally, button hand position can also be set in the module bodies 1021 of the embodiment of the present invention, button hand position is, for example, module
Close to the projection cube structure of aforementioned first position in main body 1021.When dismantling module bodies 1021 from robot body 101, user
The magnetic part for making magnetic connecting structure and metalwork point can be realized in the button hand position and force that module bodies 1021 need to be only clasped with hand
From then detaching card convex from card slot can be disassembled module bodies 1021.
In addition, module 102 of sweeping the floor further includes the entering-dust mouth 1025 for cooperating the suction inlet 1012 of robot body 101 to use,
Scraping blade 1026 can be set in the rear side of entering-dust mouth 1025.Scraping blade 1026 and ground face contact can prevent from missing rubbish.In order to anti-
Ground is only scratched, above-mentioned scraping blade 1026 can be soft scraping blade, and specifically scraping blade 1026 can be silica gel material or rubber material.
In a concrete implementation mode, entering-dust mouth 1025 is the component being independently arranged.In another concrete implementation mode, entering-dust mouth
1025 are arranged in module bodies 1021.As shown in Fig. 3, Fig. 4 and Fig. 5, module bodies 1021 are equipped with entering-dust mouth 1025, in machine
Air duct is equipped in device human agent 101, the other end in the dust suction storehouse in air duct one end communicating machine human agent 101, the air duct connects
Suction inlet 1012 on the bottom of logical robot body 101.After module 102 of sweeping the floor is installed on robot body 101, into dirt
Mouth 1025 is opposite with suction inlet 1012 and is connected to.So that clean robot sweep the floor when work, the rubbish on ground is cleaned
Robot suction, passes sequentially through entering-dust mouth 1025, suction inlet 1012 and air duct, subsequently into the dirt box being arranged in dust suction storehouse
In kept in.
Optionally, in a concrete implementation mode, module of sweeping the floor 102 includes being detachably connected with robot body 101
Module bodies 1021, cleaning brush 1022 and the second rotating member 1024.The end of first rotating member 1013 include shaft end c2 and
One in axle sleeve c1, the end of the second rotating member 1024 includes another in shaft end c2 and axle sleeve c1.For example, the first rotation
The end of part 1013 includes axle sleeve c1, and the end of the second rotating member 1024 includes shaft end c2, and shaft end c2 is inserted in the groove of axle sleeve c1
In structure.Wherein, the groove structure of axle sleeve c1 is multiedge cylinder structure, and shaft end c2 is also multiedge cylinder structure, at this point, in order to just
In assembly, the mouth end of axle sleeve c1 can be equipped with multiple guide groove c11, and guide groove c11 includes two cell walls, two slots of guide groove c11
The spacing of wall is gradually reduced from the direction of opening toward the bottom of axle sleeve c1 of axle sleeve c1, and two cell walls of guide groove c11 are intersected in axis
On the incline for covering the multi-prismatic surface c0 of c1.
The top of shaft end c2 is equipped with multiple guide surface c21, and guide surface c21 includes two sides, the two sides of guide surface c21
Spacing is gradually increased from the top of shaft end c2 toward the direction of the bottom end of shaft end c2, the side of guide surface c21 and more ribs of shaft end c2
The incline of cylinder c0 intersects.Wherein, guide surface c21 can be curved surface.
In above scheme, multiple guide groove c11 are circumferentially distributed along the opening of axle sleeve c1, and multiple guide surface c21 are along axis
Hold the top of c2 circumferentially distributed, multiple guide surface c21 cooperate with multiple guide groove c11 respectively, and the module that will sweep the floor 102 is assembled to machine
When on device human agent 101, the guide surface c21 of shaft end c2 is moved and is rotated along guide groove c11, to move closer to the bottom of axle sleeve c1
End.Detailed process is that the cell wall of guide groove c11 and the side of guide surface c21 mutually abut and generate active force, for example, the work
Firmly perpendicular to the cell wall of guide groove c11, thus the active force have one perpendicular to axle sleeve c1 and shaft end c2 pivot center point
Power, under the action of the component, axle sleeve c1 and shaft end c2 are relatively rotated.Because one in shaft end c2 and axle sleeve c1 is arranged first
On rotating member 1013, another setting in shaft end c2 and axle sleeve c1 on the second rotating member 1024, thus, in the active force
Under effect, shaft end c2 can be rotated relative to axle sleeve c1 namely the second rotating member 1024 is rotated relative to the first rotating member 1013.
Because two cell walls of guide groove c11 are intersected on the incline of the multi-prismatic surface c0 of axle sleeve c1 and the side of guide surface c21
Side is intersected with the incline of the multi-prismatic surface c0 of shaft end c2, under the guidance of the side of the cell wall and guide surface c21 of guide groove c11,
Shaft end c2 and axle sleeve c1 is relatively rotated, until the multi-prismatic surface c0 of the multi-prismatic surface c0 and axle sleeve c1 of shaft end c2 is opposite, so that axis
End c2 is inserted in the groove structure of axle sleeve c1.At this point, shaft end c2 and axle sleeve c1 realizes circumferentially positioned, limitation by multi-prismatic surface c0
The relative rotation of shaft end c2 and axle sleeve c1.
The installation steps for module 102 of sweeping the floor are illustrated below, wherein in this example, in module bodies
1021 side is equipped with card convex, and magnet is equipped in module bodies 1021 apart from the card convex pre-determined distance.The module 102 of sweeping the floor
Installation steps are as follows: first will be in the card slot of the card convex insertion robot body 101 for module 102 of sweeping the floor, wherein card slot is arranged in machine
On the side wall of the holding tank of the bottom of human agent 101.Then, using the clamping position of card convex and card slot as fulcrum, by module of sweeping the floor
102 under 101 direction turn buckle of robot body.The shaft end c2 of second rotating member 1024 includes guide surface c21, the first rotating member
1013 axle sleeve c1 includes guide groove c11, under the guidance of guide groove c11 and guide surface c21, the opposite mould of the second rotating member 1024
After block main body 1021 rotates by a certain angle, the shaft end c2 of the second rotating member 1024 is embedded in the axle sleeve c1 of the first rotating member 1013.
The gold on magnet and robot body 101 when module bodies 1021 and robot body 101 are bonded, in module bodies 1021
Belong to part and generate magnetic connects, under the clamping of the magnetic connects and card convex and card slot, module bodies 1021 and robot body 101 stablize
Connection.
Correspondingly, 102 demounting procedure of module of sweeping the floor are as follows: due to the magnetic force of magnet and off-design very big, need to will only sweep
Ground module 102 and robot body 101 are stably connected with, and user is from the button hand position being arranged among 1021 side of module bodies
Module bodies 1021 are detained from robot body 101, the i.e. magnetic connects of detachable module main body 1021 and robot body 101,
Then after 1021 certain angle of rotating module main body, the card convex for module 102 of sweeping the floor is extracted out of card slot, it can be from robot master
Module 102 of sweeping the floor is dismantled on body 101.
In embodiments of the present invention, cleaning brush 1022 and the second rotating member 1024 are arranged in module bodies 1021, sweep the floor
Module 102 is realized by module bodies 1021 and robot body 101 is detachably connected, and module bodies 1021 include opposite
First face and the second face, after module bodies 1021 are installed on robot body 101, the first face of module bodies 1021 and machine
The opposite fitting (can be and directly fit or be bonded with a gap) in the bottom surface of device human agent 101, the second of module bodies 1021
Facing towards the outside of robot body 101.At this point, side of second rotating member 1024 in the first face close to module bodies 1021
Be sequentially connected with the first rotating member 1013, because user is when module 102 is swept the floor in installation, the second face of module bodies 1021 towards with
Family is not easy to so that user is difficult to observe the link position of the first rotating member 1013 and the second rotating member 1024 by shaft end c2's
The multi-prismatic surface c0 of multi-prismatic surface c0 and axle sleeve c1 is opposite, still, guide groove c11 is arranged at the mouth end of axle sleeve c1, and in axis
After holding the top setting guide surface c21 of c2, generation is mutually abutted using the cell wall of guide groove c11 and the side of guide surface c21
Active force shaft end c2 and axle sleeve c1 are relatively rotated, to correct position of the shaft end c2 with respect to axle sleeve c1, in user by module
When main body 1021 is installed on robot body 101, even if user does not observe the first rotating member 1013 and the second rotating member
1024 rigging position also can guarantee that the multi-prismatic surface c0 of shaft end c2 is smoothly inserted in the multi-prismatic surface c0 of axle sleeve c1, especially exist
Module bodies 1021 and robot body 101 are detachably connected by the clamping of clamping structure and the magnetic connects realization of magnetic connecting structure
When connecing, user can first make the clamping structure be clamped, and module bodies 1021 and robot body 101 is allowed to position, then to be clamped knot
Structure is fulcrum, and module bodies 1021 are rotated to robot body 101, because realizing 1021 He of module bodies by clamping structure
The relative positioning of robot body 101, when module bodies 1021 are affixed to robot body 101, the first rotating member 1013 and
The position of two rotating members 1024 obtains Primary Location, and then, the first rotating member 1013 and the second rotating member 1024 pass through shaft end c2
Axle sleeve c1 realization is inserted in be detachably connected, during in shaft end, c2 is inserted in axle sleeve c1, the cell wall and guide surface of guide groove c11
The side of c21 cooperates so that shaft end c2 and axle sleeve c1 precise positioning, to easily facilitate connection procedure bottom bracket axle c1 and shaft end c2
Installation and circumferentially positioned.
As shown in Fig. 8-Figure 12, the embodiment of the invention also provides embodiment two, embodiment based on embodiment second is that changed
Into scheme.In example 2, clean robot 100 further includes the module 103 that mops floor, the module that mops floor 103 include mopping part and
The 4th rotating member 1033 connecting with mopping part, the 4th rotating member 1033 are fixedly connected with mopping part.4th rotating member 1033 is used
Be detachably connected in the first rotating member 1013, and the 4th rotating member 1033 connect with the first rotating member 1013 after realize both
It rotates coaxially.After 4th rotating member 1033 is connect with the first rotating member 1013, the pivot center and the 4th of the first rotating member 1013
The pivot center of rotating member 1033 is overlapped, and the first rotating member 1013 is driven to the 4th rotating member 1033, and then the 4th rotating member
1033 drive the rotation of mopping part, and it is right to realize mop 1031 for phase mutual friction between the mop 1031 rotated and ground on mopping part
The mopping on ground cleans.
Wherein, mopping part includes turntable 1032 and mop 1031, and mop 1031 is used for mopping floor, mop 1031 and turntable
1032 can be to be detachably connected, and the 4th rotating member 1033 is fixedly connected with turntable 1032.Turntable 1032 is used to support mop
1031 shape, so that mop 1031 keeps stable shape in mopping floor.
In example 2, selectively the first rotating member 1013 is connect with module 102 of sweeping the floor according to actual needs, the
After one rotating member 1013 is connect with module 102 of sweeping the floor, the first rotating member 1013 is to the transmission of module 102 of sweeping the floor to realize module of sweeping the floor
The cleaning of sweeping the floor on 102 pairs of ground；Or the first rotating member 1013 can be connect with the module 103 that mops floor, the first rotating member 1013
After connecting with the module 103 that mops floor, the first rotating member 1013 is to the transmission of module 103 that mops floor to realize the module 103 that mops floor to ground
Mop floor cleaning.
User using clean robot 100 a specific example in, when being cleaned to ground, user can first select by
First rotating member 1013 is connect with module 102 of sweeping the floor, and is swept the floor by the first rotating member 1013 to the transmission of module 102 is swept the floor with realizing
Sweep the floor cleaning of the module 102 to ground, after having cleaned the rubbish and dust on ground, user can will sweep clean robot 100
Ground module 102 separates robot body 101, and then, the first rotating member 1013 is connect by selection with the module 103 that mops floor, by the
One rotating member 1013 is driven to the module 103 that mops floor to realize mop floor cleaning of the module 103 to ground that mop floor, thus clean robot
100 can realize the cleaning that mops floor over the ground.
Clean robot 100 provided by Embodiment 2 of the present invention avoids sweep the floor module 102 and mop floor module 103 while work
The case where making, and then avoid mopping floor and be dragged to many rubbish, dust and the feelings for generating many sewage stains during module 103 mops floor
Condition realizes maximized cleaning effect by sweeping the floor or mopping floor simple function.
In the present embodiment two, there are many connection types between the module that mops floor 103 and robot body 101, below i.e.
Enumerate wherein several examples:
Example one: pass through the 4th rotating member 1033 of the module 103 that mops floor between the module that mops floor 103 and robot body 101
It realizes and connects with the first rotating member 1013, specifically, being connected between the 4th rotating member 1033 and the first rotating member 1013 by magnetic
The realization of binding structure is detachably connected, wherein magnetic connecting structure includes magnetic part and metalwork, alternatively, magnetic connecting structure includes two
The opposite magnetic part etc. of a south poles.In embodiments of the present invention, magnetic part can be permanent magnet or electromagnet etc..For example, In
One in magnetic part and metalwork is arranged on 4th rotating member 1033, magnetic part and metal are set on the first rotating member 1013
Another in part.In this way, when the 4th rotating member 1033 and the first rotating member 1013 are attached, the magnetic part and the metal
Part can produce magnetic connects.Alternatively, directly the 4th rotating member 1033 is used to set with the position that the first rotating member 1013 contacts
It is set to magnetic part, is used for the first rotating member 1013 to be set as metalwork with the position that the 4th rotating member 1033 contacts.
Example two: the module that mops floor 103 includes the 4th rotating member 1033, turntable 1032, mop 1031 and mounting body, mop
1031 and turntable 1032 connect, the 4th rotating member 1033 be arranged on turntable 1032, mounting body and robot body 101 are removable
Connection is unloaded, turntable 1032 and mounting body are rotatablely connected.I.e. turntable 1032 and mop 1031 can be rotated relative to mounting body.
After mounting body is connect with robot body 101, the 4th rotating member 1033 is connect with the first rotating member 1013.Carry out the module that mops floor
When 103 disassembly, directly mounting body is dismantled from robot body 101 lower.
Further, mounting body includes location A and B location, has between location A and B location and presets spacing, i.e. and A
It sets and is not overlapped with B location.At location A, mounting body and robot body 101 are clamped by clamping structure.At B location,
Mounting body and robot body 101 pass through magnetic connecting structure magnetic connects, wherein magnetic connecting structure includes magnetic part and metal
Part, alternatively, magnetic connecting structure includes the opposite magnetic part etc. of two south poles.
Clamping structure includes card slot and card convex, one be provided in card slot and card convex in mounting body, robot body
Another in card slot and card convex is provided on 101.It is inserted into card slot by card convex and realizes mounting body and robot body
Clamping between 101, optionally, settable multiple groups card slot and card convex.It, can be in mounting body in concrete implementation mode
Multiple card convexs are set, multiple card slots are set on robot body 101.
Optionally, two turntables 1032 and two mops 1031, and two turntables 1032 can be set in mounting body
It is symmetrical set in mounting body with two mops 1031.
It should be understood that location A and B location can self-setting according to actual needs, be not specifically limited herein.
In embodiments of the present invention, when 1031 mopping floor of mop of the module that mops floor 103, contact of the mop 1031 with ground
Face is the mopping face of mop 1031, as shown in figure 8, the mopping face of mop 1031 can be the triangle that angle is rounded corner；
As shown in Figure 10, the mopping face of mopping module may be circle.Certainly, the mopping face of mop 1031 can also be arbitrary shape
Shape, such as regular polygon or irregular figure etc..
In embodiments of the present invention, the turntable interconnected 1032 and mop 1031 that the module that mops floor 103 includes can be
One or more groups of, the present invention is not especially limit this.For example, as is illustrated by figs. 11 and 12, clean robot 100 wraps
Include two groups of turntables 1032 and mop 1031 interconnected, wherein when two turntables 1032 rotate, rotation direction can be in the same direction
Rotation, or rotate backward.In addition, two turntables 1032 remain that two mops 1031 are tangent when rotating, so keep away
Exempt between two mops 1031 that there are mopping blind areas.
Optionally, in above-described embodiment two, when robot body 101 places in the plane and robot body 101
When bottom surface is opposite with the plane, the pivot center of the first rotating member 1013 is perpendicular to the plane.At this point, when sweep the floor module 102 with
After robot body 101 connects, the first rotating member 1013 is driven to module 102 of sweeping the floor, 1022 institute of cleaning brush of module of sweeping the floor 102
Rotational plane it is parallel with above-mentioned plane, so both ensure that the stress balance in 102 rotation process of module of sweeping the floor, also guaranteed
Uniform cleaning effect.
And when robot body 101 places in the plane to work.As module 103 and the robot master of mopping floor
After body 101 connects, the first rotating member 1013 is driven to the module 103 that mops floor, and the rotation where the mop 1031 of the module that mops floor 103 is flat
Face is parallel with above-mentioned plane, so both ensure that the stress balance in 103 rotation process of module that mops floor, and also ensures uniform clear
Clean effect.
In embodiments of the present invention, robot body 101 places in the plane and the bottom surface of robot body 101 is flat with this
Face is opposite, i.e., robot body 101 at work, places on this plane, specifically, being arranged in 101 bottom of robot body
Walking unit and the plane contact, support robot body 101 on this plane by walking unit.At this point, cleaning machine
People 100 can carry out cleaning to the plane.
Wherein, in the implementation that the bottom surface of robot body 101 includes planar structure, when robot body 101 is put
When setting in the plane, the planar structure of the bottom surface of robot body 101 can be parallel with above-mentioned plane, the first rotating member 1013
Pivot center is perpendicular to the planar structure.Certainly, in the example having, the planar structure of the bottom surface of robot body 101 can also
To be tilted with the plane for placing robot body 101.
Certainly, when robot body 101 places in the plane, the pivot center of the first rotating member 1013 can also be opposite
It is slightly slanted, is not specifically limited herein in the plane.
Optionally, in above-described embodiment two, the end of the first rotating member 1013 includes for one in shaft end and axle sleeve
The end of four rotating members 1033 includes another in shaft end and axle sleeve, wherein shaft end is rod-like structure, and axle sleeve is groove knot
Structure, shaft end can be inserted in the groove of axle sleeve, in this way, by shaft end and axle sleeve grafting to realize the first rotating member 1013 and the 4th turn
Moving part 1033 is detachably connected.
It include non-cylinder side on the groove inner sidewall of axle sleeve, and in shaft end to realize the transmitting of torque
It include non-cylinder side, the non-cylindrical of the lateral wall of the non-cylinder side and shaft end of the groove inner sidewall of axle sleeve on lateral wall
Body side surface can be abutted mutually, limit the relative rotation of axle sleeve and shaft end, to realize the transmission of axle sleeve and shaft end, thus the first rotation
Part 1013 is driven to the 4th rotating member 1033.
For example, being equipped with shaft end in the end of the first rotating member 1013, which is positive multiedge cylinder, the lateral wall of the shaft end
For multi-prismatic surface.It is equipped with axle sleeve in the end of the 4th rotating member 1033 of the module 103 that mops floor, the groove structure of the axle sleeve is positive more
Prism, the inner sidewall of the groove structure of the axle sleeve are multi-prismatic surface.After shaft end to be inserted in the groove structure of axle sleeve, is realized
One rotating member 1013 and the 4th rotating member 1033 are detachably connected.In the rotation of the first rotating member 1013, the first rotating member
The part prismatic surface of the multi-prismatic surface of the axle sleeve of the part prismatic surface and turntable 1032 of the multi-prismatic surface of shaft end on 1013 abuts,
The relative rotation of the first rotating member 1013 and the 4th rotating member 1033 is limited, to realize the first rotating member 1013 to the module that mops floor
103 transmission.
Certainly, in above-described embodiment two, screw can also be passed through between the first rotating member 1013 and the 4th rotating member 1033
The modes such as connection, which are realized, to be detachably connected, and is not limited thereto.
Certainly, in other implementations, one in protrusion and groove can also be arranged on the lateral wall of shaft end,
Another in protrusion and groove is set in the inner sidewall of axle sleeve, protrusion is stuck in groove, limits shaft end and the opposite of axle sleeve is revolved
Turn.About the connection type of axle sleeve and shaft end, the embodiment of the present invention is not specifically limited herein.
In above-described embodiment one or two, cleaning brush 1022 can also be fixedly connected with the second rotating member 1024.Specifically, clearly
It is clean brush 1022 can be fixed with same shaft with the second rotating member 1024 or cleaning brush 1022 directly with the second rotating member 1024
It is fixedly connected, is not limited thereto.
In above-described embodiment one or embodiment two, driving device includes driving motor and is driven with the output end of driving motor
The power transfer structure of connection, driving motor are used to drive the rotation of the first rotating member 1013 by power transfer structure.In other words,
The transmission of power is realized between the rotation of first rotating member 1013 and the output end of driving motor by power transmission arrangment, it is final real
The power of existing driving motor is transferred to the first rotating member 1013, and drives the rotation of the first rotating member 1013.
Optionally, power transfer structure includes gear and worm screw, and worm screw is used for band moving gear and rotates；Gear and the first rotation
Part 1013 is sequentially connected.Worm screw is fixedly connected with the output end of driving motor, to obtain the power of driving motor output.Driving electricity
The output end of machine drives worm screw rotation, and then worm screw band moving gear rotates.The gear can be socketed on the first rotating member 1013, should
Gear and the first rotating member 1013 are fixedly connected, so that worm screw band moving gear rotates, the gear of rotation drives the first rotating member
1013 rotations.
When the clean robot 100 includes two the first rotating members 1013, two the first rotating members 1013 are in robot
101 bottom of main body is symmetrical set, and can be set two worm screws and two groups of teeth wheel at this time, two groups of teeth wheel respectively with two snails
Bar engagement, driving motor can be double end motor, wherein one group of gear drives first rotating member 1013 in left side to rotate, another group
Gear drives the first rotating member 1013 rotation on right side.
In this way, passing through the use of two groups of teeth wheel, it can be driven respectively to two the first rotating members 1013.In addition,
Position is specifically set according to two the first rotating members 1013, two groups of teeth wheel can be adjusted.For example, according to two first
The distance between rotating member 1013 adjusts the size of two groups of teeth wheel or the quantity of sub- gear.
Alternatively it is also possible to which two driving motors are arranged, one of driving motor is driven left by power transfer structure
First rotating member 1013 of side rotates, another driving motor drives first rotating member 1013 on right side by power transfer structure
Rotation.
It should be understood that power transfer structure can also be other implementations, for example, structures such as belt.For example, driving
The output end of dynamic motor includes driving wheel, and driving wheel is sequentially connected by belt and the first rotating member 1013, thus driving motor
The first rotating member 1013 can be driven to rotate.
In conclusion the clean robot of the embodiment of the present invention includes robot body, module of sweeping the floor and driving device.
Wherein, the bottom of robot body is provided with the first rotating member.Module of sweeping the floor includes the mould being detachably connected with robot body
Block main body, the cleaning brush being rotatablely connected with module bodies and the second rotating member that torque can be transmitted to cleaning brush, module bodies
The first rotating member and the realization of the second rotating member rotate coaxially after connecting with robot body, and driving device is arranged in robot body
On.Driving device is for driving the rotation of the first rotating member, so that the first rotating member drives cleaning by the second rotating member of driving
Brush rotation, the cleaning brush of rotation can carry out cleaning of sweeping the floor to ground.Because module bodies and robot body are detachably connected, cleaning
Brush is rotatablely connected with module bodies, to pass through the dismounting of module bodies and robot body, realizes cleaning brush and robot
The dismounting of main body, because cleaning brush can opposed robots' main body and module rotation of sweeping the floor, and module of sweeping the floor is without opposed robots master
Body rotation, by the dismounting of sweep the floor module and robot body, facilitates and disassembles and installs cleaning brush and robot body.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing is merely alternative embodiments of the invention, are not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (12)
1. a kind of clean robot characterized by comprising
Robot body, the bottom of the robot body are provided with the first rotating member；
Sweep the floor module, the module of sweeping the floor include the module bodies being detachably connected with the robot body, with the module
Body rotation connection cleaning brush and can to the cleaning brush transmitting torque the second rotating member, the module bodies with it is described
First rotating member and the realization of the second rotating member rotate coaxially after robot body's connection；
Driving device, the driving device are arranged on the robot body, and the driving device is for driving described first
Rotating member rotation.
2. clean robot according to claim 1, which is characterized in that in the module bodies, the cleaning brush and
The setting of second rotating member interval.
3. clean robot according to claim 2, which is characterized in that the module of sweeping the floor further includes being arranged in the mould
The pivot center of third rotating member in block main body, the pivot center of the third rotating member and second rotating member is mutually flat
Row and position difference, the third rotating member and second rotating member are sequentially connected, and the cleaning brush and the third turn
Moving part rotates coaxially.
4. clean robot according to claim 3, which is characterized in that between second rotating member and third rotating member
Torque transmitting is realized by belt, gear or rack gear.
5. clean robot according to claim 2, which is characterized in that along first direction, the rotation axis of the cleaning brush
Line is located at the front of the pivot center of first rotating member；
In a second direction, the pivot center of the cleaning brush is located at the front of the pivot center of first rotating member；
The first direction is the Forward direction of the clean robot；
The second direction is perpendicular to the Forward direction of the clean robot, and the second direction is directed toward the robot master
The target side of body, the target side are the front position of the robot body described in direction that moves forward along the clean robot
One side between rearmost position.
6. clean robot according to claim 2, which is characterized in that it further include the module that mops floor, the module packet that mops floor
The 4th rotating member for including mopping part and connecting with the mopping part, the 4th rotating member are used for removable with first rotating member
Unload connection, and the 4th rotating member connect with first rotating member after both realize rotate coaxially.
7. clean robot according to claim 1, which is characterized in that the end of first rotating member include shaft end and
One in axle sleeve, the end of second rotating member includes another in shaft end and axle sleeve, the shaft end and axle sleeve grafting
To realize being detachably connected for the two.
8. clean robot according to claim 7, which is characterized in that the lateral wall of the shaft end includes multi-prismatic surface,
The inner sidewall of the axle sleeve includes multi-prismatic surface, and the multi-prismatic surface of the shaft end and the multi-prismatic surface of the axle sleeve mutually limit,
To limit the relative rotation of the shaft end and the axle sleeve.
9. clean robot according to claim 8, which is characterized in that the mouth end of the axle sleeve is equipped with multiple guide grooves,
The guide groove includes two cell walls, the bottom of the past axle sleeve of opening of spacing from the axle sleeve of two cell walls of the guide groove
Direction be gradually reduced, two cell walls of the guide groove are intersected on the incline of the multi-prismatic surface of the axle sleeve；
The top of the shaft end is equipped with multiple guide surfaces, and the guide surface includes two sides, between the two sides of the guide surface
Direction away from the top from the shaft end toward the bottom end of the shaft end is gradually increased, the side of the guide surface and the shaft end
The incline of multi-prismatic surface intersects.
10. clean robot according to claim 1, which is characterized in that the cleaning brush and second rotating member are solid
Fixed connection.
11. clean robot according to claim 1, which is characterized in that the cleaning brush includes that brush ontology and setting exist
Bristle on the brush ontology, the cleaning range of the bristle protrudes the machine after the module of sweeping the floor is connect with robot body
The edge of device human agent.
12. clean robot described in any one of -11 according to claim 1, which is characterized in that the module bodies include the
One position and the second position have default spacing between the first position and the second position；
At the first position, the module bodies and the robot body are clamped by clamping structure；
In the second place, the module bodies and the robot body pass through magnetic connecting structure magnetic connects.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822276751 | 2018-12-28 | ||
| CN2018222767512 | 2018-12-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110495820A true CN110495820A (en) | 2019-11-26 |
Family
ID=68591104
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921456594.1U Active CN210810810U (en) | 2018-12-28 | 2019-08-30 | Cleaning robot |
| CN201910826456.6A Pending CN110495820A (en) | 2018-12-28 | 2019-08-30 | A kind of clean robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921456594.1U Active CN210810810U (en) | 2018-12-28 | 2019-08-30 | Cleaning robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN210810810U (en) |
| TW (1) | TWI741378B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112802314A (en) * | 2020-12-31 | 2021-05-14 | 国网山西省电力公司信息通信分公司 | Multifunctional inspection robot for communication machine room |
| CN114098509A (en) * | 2021-12-02 | 2022-03-01 | 韩开敏 | House cleaning dust device capable of turning automatically for building |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210810810U (en) * | 2018-12-28 | 2020-06-23 | 云鲸智能科技（东莞）有限公司 | Cleaning robot |
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| CN114098509A (en) * | 2021-12-02 | 2022-03-01 | 韩开敏 | House cleaning dust device capable of turning automatically for building |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201946583A (en) | 2019-12-16 |
| CN210810810U (en) | 2020-06-23 |
| TWI741378B (en) | 2021-10-01 |
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