CN116831472A

CN116831472A - Cleaning mechanism of cleaning robot, cleaning robot and using method of cleaning robot

Info

Publication number: CN116831472A
Application number: CN202310951783.0A
Authority: CN
Inventors: 李胜; 叶力荣
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2023-07-31
Filing date: 2023-07-31
Publication date: 2023-10-03

Abstract

The application discloses a cleaning mechanism of a cleaning robot, the cleaning robot and a using method thereof. The cleaning mechanism comprises a driving assembly and a guiding assembly; the driving assembly comprises an axle center part which is rotationally connected with the main body, and the cleaning piece is arranged on the driving assembly; the guide assembly comprises a guide rail arranged on the main body and a movable structure movably arranged on the guide rail; the driving assembly further comprises a power output shaft capable of rotating positively and negatively, one end of the power output shaft is in transmission connection with the movable structure, and the other end of the power output shaft is used for driving the cleaning piece to rotate; when the power output shaft rotates along a first preset direction, the movable structure keeps a static state; when rotating along the second preset direction, the driving movable structure moves along the guide rail, the driving assembly is guided to drive the cleaning piece to swing in a direction away from the main body, and the first preset direction is opposite to the second preset direction. The mechanism design is ingenious, the extension and retraction of the cleaning piece are easily realized through the positive and negative rotation of the driving assembly, and the difficulty of the cleaning robot in the aspect of floor cleaning in the wall included angle area is solved.

Description

Cleaning mechanism of cleaning robot, cleaning robot and using method of cleaning robot

Technical Field

The application relates to the field of cleaning robots, in particular to a cleaning mechanism of a cleaning robot, the cleaning robot and a using method of the cleaning robot.

Background

The cleaning robot plays an important role in daily life, helps people to more easily maintain the cleaning of indoor environments, is an automatic device, and is used for cleaning an area to be cleaned through advanced technology, and the working principle of the cleaning robot is related to various aspects, including a sensor, a navigation system, cleaning components and a control system, and is introduced as follows: cleaning robots are typically equipped with various sensors to sense, sense and acquire environmental information. These sensors include touch sensors, visual sensors, acoustic sensors, ultrasonic sensors, infrared sensors, and the like. The sensor helps the robot to detect information such as the position, distance and shape of a wall, furniture, an obstacle and the surface to be cleaned; the cleaning robot determines its own position and determines the moving direction of the next step through a built-in navigation system. The navigation system can be based on inertial navigation technology, visual navigation technology, laser radar positioning technology or other positioning technologies, and the robot uses the navigation system to plan a cleaning path, avoid obstacles according to environmental information, traverse a room and identify an area to be cleaned; cleaning robots are equipped with various cleaning components, such as a roller brush, a rag, a dust collector, a water sprayer, etc., for cleaning different types of dirt. The rolling brush is used for cleaning dust and sundries on the ground, the rag is used for mopping the ground, the dust collector is used for collecting dust and absorbing fine dust, and the water sprayer is used for spraying a cleaning agent. These cleaning components can be replaced or adjusted according to the requirements of the cleaning task; the operation and control of the cleaning robot is taken care of by a built-in control system which decides the action and cleaning strategy of the robot based on the information provided by the sensors and the navigation system. It can adjust the behavior of the cleaning robot according to a preset program and algorithm, such as avoiding obstacles, planning an optimal cleaning path, adjusting the working mode of the cleaning member, etc.

However, the current cleaning robot has a general problem in floor mopping, because of design or structural limitations, a large gap exists between a cleaning member and a wall of the cleaning robot, which causes that the cleaning member (for a mop) cannot be tightly attached to the edge of the wall, so that the basement area cannot be thoroughly cleaned, and the cleaning robot is difficult to smoothly transition to the edge of the wall in the moving process.

Therefore, the current cleaning robot has the interval problem between cleaning member and wall when dragging and washing the basement region, leads to unable thoroughly washing the dirt near the basement, and long-time use can lead to the basement to form dirty trace along the limit to influence user's use experience, need innovative design and technical scheme, in order to ensure that the cleaning member can effectively press close to the wall edge, realize thoroughly wasing the basement region, improve cleaning effect.

Disclosure of Invention

Based on the problem that the floor cleaning of the corner area of the existing cleaning robot is inconvenient, the application provides a cleaning mechanism of the cleaning robot, the cleaning robot and a using method of the cleaning robot.

The application adopts the technical scheme that: a cleaning mechanism of a cleaning robot, the cleaning robot comprising a main body and a cleaning member, characterized in that the cleaning mechanism comprises:

the driving assembly comprises an axle center part which is rotationally connected with the main body, and the cleaning piece is arranged on the driving assembly;

the guide assembly comprises a guide rail arranged on the main body and a movable structure movably arranged on the guide rail;

the driving assembly further comprises a power output shaft capable of rotating positively and negatively, one end of the power output shaft is in transmission connection with the movable structure, the other end of the power output shaft is used for driving the cleaning piece to rotate, and a one-way bearing is further arranged between the power output shaft and the movable structure;

when the power output shaft rotates along a first preset direction, the movable structure keeps a static state;

when the power output shaft rotates along a second preset direction, the power output shaft drives the movable structure to move along the guide rail, and the guide driving assembly drives the cleaning piece to swing in a direction away from the main body, wherein the first preset direction is opposite to the second preset direction.

Specifically, the drive assembly comprises a tooth box and a drive unit, wherein the drive unit is arranged at the shaft center part, and the tooth box is in transmission connection with an output shaft of the drive unit.

Specifically, the other end of the power output shaft penetrates through the main body and is in transmission connection with the cleaning piece; and the main body is also provided with a movable groove for the power output shaft to move.

Specifically, the driving assembly swings relative to the main body to drive the cleaning piece to switch between an initial position and an extending position, the power output shaft is provided with a first position and a second position, the first position of the power output shaft corresponds to the initial position of the cleaning piece, the second position of the power output shaft corresponds to the extending position of the cleaning piece, the guide rail is in a circular shape, and the circle center of the guide rail is arranged between the first position and the second position.

Specifically, the movable structure comprises a support and a sliding piece, at least one rotating shaft sleeve is arranged on the support, the rotating shaft sleeve is arranged on the guide rail, a sliding groove is formed in the middle of the support, the sliding piece is arranged in the sliding groove, and the power output shaft is connected with the sliding piece.

Specifically, the inner ring of the guide rail is also provided with a limit groove matched with the rotating shaft sleeve.

Specifically, the cleaning mechanism further comprises an elastic reset piece, one end of the elastic reset piece is connected with the main body, and the other end of the elastic reset piece is connected with the end of the driving assembly, which is far away from the axial center.

Specifically, the cleaning mechanism further comprises a position sensor arranged on the main body, a first trigger point and a second trigger point which are arranged on the driving component, and when the position sensor detects the first trigger point or the second trigger point, the driving component stops rotating.

A cleaning robot comprising the cleaning mechanism described above.

A method of using a cleaning robot, comprising: when detecting that one side of the cleaning robot has an obstacle, the driving assembly drives the power output shaft to reversely rotate so as to drive the movable structure to move along the guide rail, the guide rail guides the driving assembly to move to the preset position outwards of the main body, and the moving assembly drives the power output shaft to positively rotate so as to drive the cleaning piece to clean the obstacle and the ground included angle area; when detecting that cleaning machine people one side is kept away from the barrier, drive assembly drive power output shaft reverse rotation is in order to drive the movable structure along the guided way removal, and guided way guide drive assembly moves to the preset position to the main part, and the normal rotation of power output shaft is driven in order to drive cleaning piece clean ground to the movable assembly.

Compared with the prior art, the cleaning mechanism of the application can realize: when detecting that there is the barrier on one side of cleaning robot, drive assembly drive power take off shaft reverse rotation is in order to drive movable structure and slide on the guided way, guided way guide drive assembly moves to the preset position outward the main part, then the positive rotation of moving assembly drive power take off shaft is in order to drive clean barrier of cleaning piece and ground contained angle district, can realize the extension and the withdrawal of cleaning piece through adopting the mode of drive assembly positive and negative rotation through such mechanism design, need not set up extra drive unit or mechanism and realize, its design benefit and simple structure have low cost and high practicality's characteristics, can just can solve the inconvenient problem of contained angle regional ground clearance between robot and the wall with very low cost.

When detecting that one side of the cleaning robot has an obstacle, the driving assembly drives the power output shaft to reversely rotate so as to drive the movable structure to slide on the guide rail, the guide rail guides the driving assembly to move to the preset position outwards of the main body, and the moving assembly drives the power output shaft to positively rotate so as to drive the cleaning piece to clean the obstacle and the ground included angle area; when detecting that cleaning machine people one side is kept away from the barrier, drive assembly drive power output shaft reverse rotation is in order to drive the movable structure to slide on the guided way, and guided way guide drive assembly moves to the preset position to the main part, and the normal rotation of power output shaft is driven in order to drive cleaning piece clean ground to the movable assembly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a cleaning mechanism in an extended state;

FIG. 2 is a schematic view of a cleaning mechanism according to the present application in a retracted state;

FIG. 3 is a schematic top view of a cleaning mechanism according to the present application;

FIG. 4 is a schematic view of an exploded view of the cleaning mechanism according to the present application at a first view angle;

FIG. 5 is a schematic view of an exploded view of the cleaning mechanism according to the present application at a second view angle;

FIG. 6 is a schematic view of the structure of the guide rail according to the present application;

FIG. 7 is a schematic view of the mounting structure of the driving assembly and the cleaning member according to the present application;

FIG. 8 is a schematic view of the cleaning elements of the present application in an extended position;

fig. 9 is a schematic view showing the structure of the cleaning member in the initial position according to the present application.

The main reference numerals in the application are:

1. a main body; 2. a cleaning member; 3. a drive assembly; 31. a shaft center part; 4. a guide assembly; 41. a guide rail; 42. a movable structure; 43. a bracket; 44. a slider; 32. a power output shaft; 33. a one-way bearing; 34. a tooth box; 35. a driving unit; 11. a movable groove; 5. rotating the shaft sleeve; 431. a chute; 411. a limit groove; 6. an elastic reset piece; 7. a position sensor; 8. a first trigger point; 9. a second trigger point; 21. an initial position; 22. an extended position; 321. a first position; 322. a second position.

Detailed Description

Further advantages and effects of the present application will become apparent to those skilled in the art from the disclosure of the present application, which is described by the following specific examples.

In the following description, reference is made to the accompanying drawings which describe several embodiments of the application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "upper," and the like, may be used herein to facilitate a description of one element or feature as illustrated in the figures as being related to another element or feature.

Although the terms first, second, etc. may be used herein to describe various elements or parameters in some examples, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter. For example, a first end may be referred to as a second end, and similarly, a second end may be referred to as a first end, without departing from the scope of the various described embodiments. The first end and the second end are both at the depicted end, but they are not the same end unless the context clearly indicates otherwise. Similar situations also include the first shaft set and the second shaft set, or the first shaft joint and the second shaft joint.

Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or" and/or "as used herein are to be construed as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C). An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.

In order to solve the problem that the floor in the corner area is inconvenient to clean in the conventional cleaning robot, the application provides a cleaning mechanism of the cleaning robot, the cleaning robot and a using method of the cleaning robot.

The application adopts the main technical scheme that: a cleaning mechanism of a cleaning robot. The cleaning robot includes a main body and a cleaning member, which may be a tray-type mop assembly or a side brush. The cleaning mechanism includes: the driving assembly comprises an axle center part which is rotationally connected with the main body, and the cleaning piece is arranged on the driving assembly; the guide assembly comprises a guide rail arranged on the main body and a movable structure movably arranged on the guide rail, the driving assembly comprises a power output shaft capable of rotating positively and negatively, the movable structure is in transmission connection with one end of the power output shaft, a one-way bearing is further arranged between the power output shaft and the movable structure, the power output shaft rotates reversely to drive the movable structure to slide on the guide rail, and the guide rail guides the driving assembly to move outwards of the main body. It can realize: when detecting that there is the barrier on one side of cleaning robot, drive assembly drive power take off shaft reverse rotation is in order to drive movable structure and slide on the guided way, guided way guide drive assembly moves to the preset position outward the main part, then the positive rotation of moving assembly drive power take off shaft is in order to drive clean barrier of cleaning piece and ground contained angle district, can realize the extension and the withdrawal of cleaning piece through adopting the mode of drive assembly positive and negative rotation through such mechanism design, need not set up extra drive unit or mechanism and realize, its design benefit and simple structure have low cost and high practicality's characteristics, can just can solve the inconvenient problem of contained angle regional ground clearance between robot and the wall with very low cost. When detecting that one side of the cleaning robot has an obstacle, the driving assembly drives the power output shaft to reversely rotate so as to drive the movable structure to slide on the guide rail, the guide rail guides the driving assembly to move to the preset position outwards of the main body, and the moving assembly drives the power output shaft to positively rotate so as to drive the cleaning piece to clean the obstacle and the ground included angle area; when detecting that cleaning machine people one side is kept away from the barrier, drive assembly drive power output shaft reverse rotation is in order to drive the movable structure to slide on the guided way, and guided way guide drive assembly moves to the preset position to the main part, and the normal rotation of power output shaft is driven in order to drive cleaning piece clean ground to the movable assembly.

The present application proposes a cleaning mechanism for a cleaning robot, the cleaning robot comprising a main body 1 and a cleaning member 2, the main body 1 having built therein sensors, a navigation system, cleaning members, a control system, etc. for controlling the operation of the robot, the cleaning robot being generally equipped with various sensors to sense, sense and acquire environmental information. These sensors include touch sensors, visual sensors, acoustic sensors, ultrasonic sensors, infrared sensors, and the like. The sensor helps the robot to detect information such as the position, distance and shape of a wall, furniture, an obstacle and the surface to be cleaned; the cleaning robot determines its own position and determines the moving direction of the next step through a built-in navigation system. The navigation system can be based on inertial navigation technology, visual navigation technology, laser radar positioning technology or other positioning technologies, and the robot uses the navigation system to plan a cleaning path, avoid obstacles according to environmental information, traverse a room and identify an area to be cleaned; cleaning robots are equipped with various cleaning components, such as a roller brush, a rag, a dust collector, a water sprayer, etc., for cleaning different types of dirt. The rolling brush is used for cleaning dust and sundries on the ground, the rag is used for mopping the ground, the dust collector is used for collecting dust and absorbing fine dust, and the water sprayer is used for spraying a cleaning agent. These cleaning components can be replaced or adjusted according to the requirements of the cleaning task; the operation and control of the cleaning robot is taken care of by a built-in control system which decides the action and cleaning strategy of the robot based on the information provided by the sensors and the navigation system. It can adjust the behavior of the cleaning robot according to a preset program and algorithm, such as avoiding obstacles, planning an optimal cleaning path, adjusting the working mode of the cleaning member, etc.

The cleaning member 2 is provided at the bottom of the main body 1 for cleaning the floor, as shown with reference to fig. 1 to 3, in one embodiment: the cleaning mechanism comprises a driving component 3 and a guiding component 4, the driving component 3 comprises an axle center part 31 which is rotationally connected with the main body 1 and is used for mounting the cleaning piece 2 on the main body 1, the guiding component 4 comprises a guiding rail 41 which is arranged on the main body 1 and a movable structure 42 which is movably arranged on the guiding rail 41, the guiding rail 41 is used for guiding the driving component 3 to move outwards of the main body 1, the driving component 3 further comprises a power output shaft 32 which can rotate forwards and backwards, one end of the power output shaft 32 is in transmission connection with the movable structure 42, a one-way bearing 33 is arranged between the power output shaft 32 and the movable structure 42, the one-way bearing 33 is used for allowing the power output shaft 32 to rotate reversely and driving the movable structure 42 to slide on the guiding rail 41, the driving component 3 is mounted on the main body 1 of the cleaning robot, the axle center part 31 is guaranteed to be rotationally connected with the main body 1, the cleaning piece 2 is mounted on the driving component 3 so that the cleaning piece can be dragged through the driving component 3, the guiding rail 41 is mounted on the main body 1, the movable structure 42 is placed on the guiding rail 41, the movable structure is guaranteed to slide freely on the rail, one end of the power output shaft 32 is in transmission connection with one end of the movable structure 42, the one-way bearing 32 can rotate freely, and one end of the power output shaft 32 can rotate on the movable structure is guaranteed, when the one end of the movable structure is controlled to rotate on the movable structure, and can slide on the main body, and can rotate.

The driving component 3 is a core part of the cleaning mechanism, and needs to be designed and manufactured accurately, in the design stage, the connection mode of the driving component 3 and the main body 1 and the shape and the size of the shaft center part 31 of the driving component 3 need to be determined, so as to adapt to the requirements of different floors and working conditions, the design and the manufacture of the guiding component 4 are also important, the driving component 3 can slide stably on the guiding rail 41, the shape and the size of the guiding rail 41 need to ensure that the driving component 3 can slide freely on the guiding rail 41, certain positioning accuracy is maintained, and the manufacture of the guiding component 4 needs to ensure that the movable structure 42 can adapt to the guiding rail 41 well and realize stable sliding motion; the design of the power transmission and the one-way bearing 33 is an important connection part between the driving assembly 3 and the movable structure 42, the power output shaft 32 ensures that the power transmission and the movable structure 42 can be reliably connected in a transmission way, the one-way bearing 33 ensures that the relative rotation direction between the power output shaft 32 and the movable structure 42 is unique, and the sliding mechanism can be synchronously driven to act when the power output shaft 32 reversely rotates. In the actual installation and debugging process, the driving component 3 is installed on the main body 1, the tight and reliable rotation connection between the shaft center 31 and the main body 1 is ensured, the movable structure 42 is installed on the guide rail 41 and is in transmission connection with the power output shaft 32, in the installation process, the movable structure 42 is ensured to stably slide, a certain friction force is kept between the movable structure 42 and the guide rail 41, the movement performance of the cleaning mechanism is adjusted and tested, and the driving component 3 is ensured to stably slide on the guide rail 41 and realize the external movement of the main body 1.

The cleaning mechanism in the application can realize: when detecting that there is the barrier on one side of cleaning robot, drive assembly 3 drive power take off shaft 32 reverse rotation is in order to drive movable structure 42 to slide on guided way 41, guided way 41 guide drive assembly 3 moves to preset position outside main part 1, then drive assembly drive power take off shaft 32 forward rotation is in order to drive the clean object of cleaning 2 and ground contained angle district, through the design of this kind of mechanism, can realize the extension and the withdrawal of clean object 2 through adopting the mode of drive assembly 3 forward and backward rotation, need not set up extra drive unit 35 or mechanism and realize, its design benefit and simple structure have the characteristics of low cost and high practicality, can just can solve the inconvenient problem of contained angle regional ground clearance between robot and the wall with very low cost.

Further, referring to fig. 4 and 5, the driving assembly 3 is composed of a gear box 34 and a driving unit 35, the gear box 34 is a gear box, a gear set is disposed inside the gear box, so that the output rotation speed of the driving unit 35 can reach a preset requirement, the driving unit 35 is located at the shaft center 31, and the gear box 34 is in transmission connection with the output shaft of the driving unit 35, so that the driving unit 35 can transmit driving force to the gear box 34, and the cleaning mechanism is started, the guiding assembly 4 comprises a guiding rail 41 and a movable structure 42, the guiding rail 41 is fixed on the main body 1, the movable structure 42 can freely move on the guiding rail 41, the movable structure 42 is in transmission connection with one end of the power output shaft 32 of the driving assembly 3, and reverse rotation transmission of the power output shaft 32 is realized through a one-way bearing 33, so that when the power output shaft 32 reversely rotates, the movable structure 42 slides on the guiding rail 41, and drives the mopping robot to move outwards. The other end of the power output shaft 32 passes through the main body 1 and is in transmission connection with the cleaning member 2, so that power can be transmitted from the power output shaft 32 to the cleaning member 2, the cleaning member 2 can be subjected to mopping operation, in the embodiment, the power output shaft 32 can drive the cleaning member 2 to rotate to mopping in the forward rotation, the power can not be transmitted to the movable structure 42 when the power output shaft 32 rotates in the forward rotation, the power can be transmitted to the movable structure 42 when the power output shaft 32 rotates in the reverse rotation, the driving assembly 3 is synchronously moved outwards through the action of the guide rail 41, the cleaning member 2 extends out to a part to clean a corner area, the cleaning member 2 still rotates at the same time, the cleaning effect of the ground is ensured, the main body 1 is further provided with the movable groove 11, the power output shaft 32 is allowed to freely move in the mopping process, and the movable groove 11 ensures the movement of the power output shaft 32 on the main body 1 in the mopping process.

In one particular embodiment:

referring to fig. 6 to 9, the cleaning mechanism of the present application is very smart in design, in which the guide rail 41 plays a vital role in guiding, the driving assembly swings relative to the main body to drive the cleaning member to switch between the initial position 21 and the extended position 22, the power output shaft has a first position 321 and a second position 322, the first position 321 of the power output shaft corresponds to the initial position 21 of the cleaning member, the second position 322 of the power output shaft corresponds to the extended position 22 of the cleaning member, the guide rail 41 adopts a circular ring shape, and the center of the circle of the guide rail is located in the direction in which the driving assembly 3 moves outside the main body 1. This design not only ensures the stability and balance of the cleaning mechanism during travel, but also effectively guides the outward displacement and return of the drive assembly 3. First, describing in detail the shape and position of the guide rail 41, which is a circular ring fixed to the cleaning member 2 of the cleaning robot, the center of the guide rail 41 is located in the direction in which the driving assembly 3 moves outward of the main body 1, which means that when the driving assembly 3 starts to move outward, the movable structure 42 slides along the periphery of the guide rail 41, the shape of the guide rail 41 is very critical, and it has the following advantages because of the circular ring shape: first, the circular ring shape can provide a 360 degree guide path, allowing the drive assembly 3 to move in any direction, which increases the flexibility and applicability of the mechanism, making it suitable for a variety of different cleaning tasks; secondly, the circular shape also ensures that the movable structure 42 always maintains a close contact with the guide rail 41, thereby providing a stable guiding force, avoiding lateral movement or shaking of the driving assembly 3 during movement. During operation of the cleaning mechanism, when the movable structure 42 slides on the guide rail 41 to the extreme position (the farthest position), it cannot continue to drive the driving assembly 3 to move outwards, at this time, the movable structure 42 will continue to slide on the guide rail 41, but due to the effect of the guide rail 41, it will be guided back to the initial position, which achieves resetting and retracting of the driving assembly 3. By guiding the guide rail 41, the cleaning mechanism can be rapidly switched between different positions, and flexible cleaning operation is realized. Such a mechanism is quickly adaptable, whether facing corners, furniture legs or other obstructions, and enables movement and retraction of the drive assembly 3 by sliding of the movable structure 42 on the guide rail 41.

In summary, the guide rail 41 plays an important role in guiding the cleaning mechanism, and is in the shape of a circular ring, which is located in the direction in which the driving assembly 3 moves out of the main body 1, thereby ensuring the stability and balance of the mechanism. The guide rail 41 is shaped and positioned so that the movable structure 42 can slide thereon and be guided back to the initial position in the extreme position, effecting the resetting and retraction of the drive assembly 3. This design increases the applicability and flexibility of the cleaning mechanism, enabling it to handle a variety of complex cleaning tasks, providing efficient and convenient results.

In a further solution, the movable structure 42 specifically includes a support 43 and a sliding member 44, at least one rotating shaft sleeve 5 is disposed on the support 43, the rotating shaft sleeve 5 is disposed on the guide rail 41, a sliding groove 431 is disposed in the middle of the support 43, the sliding member 44 is made in the sliding groove 431, and the power output shaft 32 is connected with the sliding member 44, the support 43 is a main frame of the movable structure 42, it provides a stable base and a base of a connecting component, the support 43 is provided with the rotating shaft sleeve 5 to allow the movable structure 42 to rotate around the guide rail 41, the rotating shaft sleeve 5 is closely adapted to the guide rail 41 to ensure stable movement of the movable structure 42 on the guide rail 41, a sliding groove 431 is disposed in the middle of the support 43, the sliding member 44 is disposed in the sliding groove 431, the sliding groove 431 is designed to enable the sliding member 44 to freely move therein, a unidirectional bearing 33 is disposed between the sliding member 44 and the power output shaft 32, the sliding member 44 is driven to move in the sliding groove 431 by reverse rotation of the power output shaft 32, in order to ensure that the sliding member 44 can only slide in the sliding groove 431, and the sliding member 431 is required to be adapted to the sliding member 431 in a shape, and the sliding member 44 is only in the sliding shape is required to be adapted to the sliding member 431.

In addition, besides the circular shape and guiding function of the guide rail 41, the inner ring and the outer ring of the guide rail are also provided with limit grooves 411, which are matched with the rotating shaft sleeve 5, the limit grooves 411 are used for limiting the movement range of the movable structure 42, ensuring that the movable structure is accurately positioned and stably moved on the guide rail 41, the limit grooves 411 are designed very accurately, and are matched with the size and shape of the rotating shaft sleeve 5, during the operation of the mechanism, when the rotating shaft sleeve 5 is driven to the limit position, the movable structure falls into the limit grooves 411, once the rotating shaft sleeve 5 enters the limit grooves 411, the movable structure does not continue to move on the guide rail 41, because the limit grooves 411 are designed to ensure that the movable structure is not influenced by external force, the cleaning member 2 can be kept stable after extending out of the main body 1 through the effect of the limit grooves 411, and once the rotating shaft sleeve 5 is fixed in the limit grooves 411, the movable structure is not continued, so that the stability and the reliability of the cleaning mechanism are ensured. This is critical to providing a good cleaning result, since a stable structure can ensure that the cleaning member 2 effectively cleans the area of the obstacle and the ground, the cleaning mechanism can provide a higher level of accurate positioning and stable movement by the design of the inner annular limit groove 411 of the guide rail 41, and the limit groove 411 ensures the accurate positioning of the movable structure 42 on the guide rail 41, thereby realizing the control of the forward and reverse rotation of the driving assembly 3, so that the cleaning member 2 can be extended and retracted as needed. Meanwhile, the limiting groove 411 can also prevent excessive movement or unnecessary vibration, ensuring reliability and life of the cleaning mechanism.

In summary, the inner ring limiting groove 411 of the guide rail 41 in the cleaning mechanism is matched with the rotating shaft sleeve 5 for use, so as to provide accurate positioning and stable movement for the mechanism. The limit groove 411 limits the movement range of the movable structure 42 during the operation of the mechanism, ensures that the cleaning member 2 can be kept stable when it is extended and retracted, and provides a superior cleaning effect.

The above arrangement has the following benefits: the stability is enhanced, the design of the movable structure 42 enables the floor cleaning robot to be more stable when the cleaning piece 2 is dragged, the bracket 43 provides a firm foundation, and the adaptation between the rotating shaft sleeve 5 and the guide rail 41 ensures the stability of the structure, so that the robot can perform floor cleaning operation without losing balance; the optimized guiding performance is further enhanced by the existence of the limit groove 411 through the combination of the guiding rail 41 and the rotating shaft sleeve 5, the movable structure 42 can slide along a preset path, so that the movement of the robot is more accurate, the target area can be better cleaned, and repeated cleaning or missing cleaning is avoided.

The above embodiment is only one preferred example among many examples, and the structure of the guide assembly 4 includes, but is not limited to, in other embodiments, the guide rail 41 may be a circular ring structure, an internal gear is disposed inside the ring structure, and the sliding assembly is disposed in an inner ring of the ring structure and engaged with the internal gear, while the shaft center portion 31 of the driving assembly 3 is kept concentric with the center of the ring structure, so that when the power output shaft 32 of the driving assembly 3 rotates, the driving assembly 3 is kept engaged with the ring structure, and the shaft center portion 31 is rotated circularly, so that the power output shaft 32 of the driving assembly 3 changes positions in a rotating manner, and the cleaning member 2 is driven to achieve the extending and retracting effects. Of course, in other embodiments, the guide rail 41 may be configured as a circular track, the sliding member 44 is built in the track, and the driving principle of the sliding member is referred to the above manner, so that the effect that the power output shaft 32 reversely rotates to drive the movable structure 42 to slide on the guide rail 41, and the guide rail 41 guides the driving assembly 3 to move outside the main body 1 can also be achieved.

Further, the cleaning mechanism of the present application further includes an elastic reset member 6, one end of the elastic reset member 6 is connected with the main body 1, and the other end is connected with an end of the driving component 3 away from the shaft center 31, by setting the elastic reset member 6, a traction force is provided for the driving component 3 by means of an elastic force of the elastic reset member 6, when the driving component 3 moves outwards, the elastic reset member 6 receives the traction force, so that the driving component 3 is pulled inwards until the rotating shaft sleeve 5 moves into the limiting groove 411, thereby realizing positioning of the rotating shaft sleeve 5, and at this time, ensuring that the driving component 3 is stable in position without being subjected to an external force. When the driving component 3 is retracted, the elastic reset piece 6 is in a small stretching state, the tooth box 34 rotates the shaft sleeve 5 to slide to the bottom in the U-shaped groove under the action of elasticity, and the center of the circular track groove is offset, so that the cleaning piece 2 retraces to the ground plane body; when the driving assembly 3 stretches out, the elastic reset piece 6 is in a larger stretching state, and the tooth box 34 returns to the center of the track ring under the action of elastic force.

Preferably, the elastic restoring member 6 is a spring.

In addition, the cleaning mechanism further comprises a position sensor 7 arranged on the main body 1, and a first trigger point 8 and a second trigger point 9 arranged on the driving component 3, when the position sensor 7 detects the first trigger point 8 or the second trigger point 9, the driving component 3 stops rotating, and the operation mode is as follows: when detecting that an obstacle exists on one side of the cleaning robot, the driving assembly 3 drives the power output shaft 32 to reversely rotate so as to drive the movable structure 42 to slide on the guide rail 41, the guide rail 41 guides the driving assembly 3 to move to a preset position outside the main body 1, the position sensor 7 corresponds to the first trigger point 8 at the moment, so that a detection signal is detected, the detection signal is transmitted to the control system, the control system controls the driving assembly 3 to drive the power output shaft 32 to positively rotate so as to drive the cleaning element 2 to clean an included angle area between the obstacle and the ground, and the driving assembly 3 cannot continuously move to the position; when it is detected that one side of the cleaning robot is far away from an obstacle, the driving assembly 3 drives the power output shaft 32 to reversely rotate so as to drive the movable structure 42 to continuously slide on the guide rail 41, the guide rail 41 guides the driving assembly 3 to move into the main body 1 to a preset position, the position sensor 7 corresponds to the second trigger point 9 at the moment, and accordingly another detection signal is detected, the signal is transmitted to the control system, the control system controls the driving assembly 3 to drive the power output shaft 32 to positively rotate so as to drive the cleaning member 2 to clean the ground, at the moment, the driving assembly 3 does not continuously move, and the tooth box 34 is returned to the center position of the track ring under the action of the elastic reset member 6.

Preferably, the position sensor 7 in the present application is a hall switch.

Further, the application also provides a cleaning robot which comprises the cleaning mechanism.

The working principle of the cleaning robot in the application is as follows: when the robot detects an obstacle, the robot respectively controls the driving assembly 3 of any one set of the two sets of cleaning mechanisms to drive the power output shaft 32 to reversely rotate so as to drive the movable structure 42 to slide on the guide rail 41, the guide rail 41 guides the driving assembly 3 to move to a preset position outwards of the main body 1, then the driving assembly drives the power output shaft 32 to positively rotate so as to drive the cleaning member 2 to clean the obstacle and the ground included angle area, the extension and retraction of the cleaning member 2 can be realized by adopting the positive and negative rotation mode of the driving assembly 3 through the mechanism design, and the cleaning member is realized without arranging an additional driving unit 35 or mechanism.

Through the design, the cleaning mechanism realizes the efficient floor mopping function. The cooperation of the driving assembly 3 and the guide assembly 4 enables the floor mopping robot to smoothly move on the floor and perform a floor mopping operation through the cleaning member 2. The arrangement of the movable groove 11 ensures the flexibility and the free mobility of the power output shaft 32, and further improves the cleaning effect and the performance of the robot.

The application further provides a use method of the cleaning robot, which comprises the following steps: when detecting that an obstacle exists on one side of the cleaning robot, the driving assembly 3 drives the power output shaft 32 to reversely rotate so as to drive the movable structure 42 to slide on the guide rail 41, the guide rail 41 guides the driving assembly 3 to move to a preset position outwards of the main body 1, and the driving assembly drives the power output shaft 32 to positively rotate so as to drive the cleaning piece 2 to clean the obstacle and the ground included angle area; when detecting that one side of the cleaning robot is far away from an obstacle, the driving assembly 3 drives the power output shaft 32 to reversely rotate so as to drive the movable structure 42 to slide on the guide rail 41, the guide rail 41 guides the driving assembly 3 to move into the main body 1 to a preset position, and the driving assembly drives the power output shaft 32 to positively rotate so as to drive the cleaning piece 2 to clean the ground.

The foregoing description of the preferred embodiment of the application is not intended to limit the application to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the application.

Claims

1. A cleaning mechanism of a cleaning robot, the cleaning robot comprising a main body (1) and a cleaning member (2), characterized in that the cleaning mechanism comprises:

the driving assembly (3), the driving assembly (3) comprises an axle center part (31) rotationally connected with the main body (1), and the cleaning piece (2) is arranged on the driving assembly (3);

the guide assembly (4), the said guide assembly (4) includes locating the guide rail (41) on the said main body (1) and locating the movable structure (42) on the said guide rail (41) movably;

the driving assembly (3) further comprises a power output shaft (32) capable of rotating positively and negatively, one end of the power output shaft (32) is in transmission connection with the movable structure (42), the other end of the power output shaft (32) is used for driving the cleaning piece (2) to rotate, and a one-way bearing (33) is further arranged between the power output shaft (32) and the movable structure (42);

when the power output shaft (32) rotates along a first preset direction, the movable structure (42) keeps a static state;

when the power output shaft (32) rotates along a second preset direction, the power output shaft (32) drives the movable structure (42) to move along the guide rail (41), and the driving assembly (3) is guided to drive the cleaning piece (2) to swing in a direction away from the main body (1), wherein the first preset direction is opposite to the second preset direction.

2. The cleaning mechanism according to claim 1, characterized in that the drive assembly (3) comprises a gearbox (34) and a drive unit (35), the drive unit (35) being provided in the shaft portion (31), the gearbox (34) being in driving connection with an output shaft of the drive unit (35).

3. A cleaning mechanism according to claim 2, characterized in that the other end of the power take-off shaft (32) passes through the main body (1) and is in driving connection with the cleaning member (2); and the main body (1) is also provided with a movable groove (11) for the power output shaft (32) to move.

4. A cleaning mechanism according to claim 1, characterized in that the driving assembly (3) swings relative to the main body (1) to drive the cleaning member (2) to switch between an initial position (21) and an extended position (22), the power output shaft (32) has a first position (321) and a second position (322), the first position (321) of the power output shaft (32) corresponds to the initial position (21) of the cleaning member (2), the second position (322) of the power output shaft (32) corresponds to the extended position (22) of the cleaning member (2), the guide rail (41) is circular, and the center of the guide rail (41) is arranged between the first position (321) and the second position (322).

5. The cleaning mechanism according to claim 4, wherein the movable structure (42) comprises a bracket (43) and a sliding piece (44), at least one rotating shaft sleeve (5) is arranged on the bracket (43), the rotating shaft sleeve (5) is arranged on the guide rail (41), a sliding groove (431) is arranged in the middle of the bracket (43), the sliding piece (44) is arranged in the sliding groove (431), and the power output shaft (32) is connected with the sliding piece (44).

6. The cleaning mechanism according to claim 5, characterized in that the inner ring of the guide rail (41) is further provided with a limit groove (411) adapted to the rotating shaft sleeve (5).

7. A cleaning mechanism according to claim 1, characterized in that it further comprises an elastic return element (6), one end of the elastic return element (6) being connected to the main body (1) and the other end being connected to the end of the drive assembly (3) remote from the hub (31).

8. The cleaning mechanism according to claim 1, further comprising a position sensor (7) provided on the main body (1) and a first trigger point (8) and a second trigger point (9) provided on the drive assembly (3), the drive assembly (3) stopping rotation when the position sensor (7) detects the first trigger point (8) or the second trigger point (9).

9. A cleaning robot comprising the cleaning mechanism according to any one of claims 1 to 7.

10. A method of using the cleaning robot of claim 9, comprising: when an obstacle is detected on one side of the cleaning robot, the driving assembly (3) drives the power output shaft (32) to reversely rotate so as to drive the movable structure (42) to move along the guide rail (41), the guide rail (41) guides the driving assembly (3) to move to a preset position outwards of the main body (1), and the moving assembly drives the power output shaft (32) to positively rotate so as to drive the cleaning piece (2) to clean an obstacle and ground included angle area; when detecting that one side of the cleaning robot is far away from an obstacle, the driving assembly (3) drives the power output shaft (32) to reversely rotate so as to drive the movable structure (42) to move along the guide rail (41), the guide rail (41) guides the driving assembly (3) to move towards the main body (1) to a preset position, and the moving assembly drives the power output shaft (32) to positively rotate so as to drive the cleaning piece (2) to clean the ground.