CN209847088U - Cleaning robot - Google Patents

Abstract

The utility model discloses a cleaning robot, include: the garbage can comprises a machine body, a driving wheel module, a garbage box, a dust collection module and a side sweeping module, wherein the machine body is provided with a peripheral outline, the bottom of the machine body is provided with a dust collection port, the side sweeping module comprises a side sweeping assembly and a driving assembly, the side sweeping assembly comprises a base provided with a containing hole and brushes arranged around the base at intervals, a convex block is arranged on the inner side wall of the containing hole, the driving assembly comprises a motor and a clamping piece driven by the motor to rotate, the outer side wall of the clamping piece is provided with a clamping groove, and the clamping groove is provided with an; when inserting the buckle spare and installing in the holding hole, the lug is via opening section and bridging section in proper order to keep the lug in the section that stops through the bounce that acts on between base and the buckle spare, make the subassembly of sweeping the limit difficult drop, improved the stability when subassembly of sweeping the limit is rotatory.

Description

Cleaning robot

Technical Field

The utility model relates to a service robot technical field of family especially relates to a cleaning robot.

Background

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

In order to better clean the garbage at the corner, the left front side and/or the right front side of the bottom of the cleaning robot are often provided with the side sweeping assemblies, however, the conventional side sweeping assemblies are usually fixed on an output gear of a side sweeping motor by screws, and when the side sweeping assemblies need to be taken down, the side sweeping assemblies need to be disassembled and assembled by means of matched tools such as screwdrivers, and the operation is inconvenient.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides a cleaning robot aims at solving among the prior art limit and sweeps the inconvenient technical problem of subassembly dismouting operation.

In order to solve the above technical problem, an embodiment of the present invention provides the following technical solution: a cleaning robot, comprising:

the machine body is provided with a peripheral outline, and the bottom of the machine body is provided with a dust suction port;

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

a trash box for collecting and storing trash;

the dust collection module comprises a fan, and when the fan is started, the fan drives garbage on the ground to enter from the dust collection port, and the garbage is filtered by the filter and then is stored in the garbage box; and

the module is swept to limit includes:

the side sweeping assembly comprises a base provided with accommodating holes and brushes arranged around the base at intervals, and convex blocks are arranged on the inner side walls of the accommodating holes; and

the driving assembly comprises a motor and a clamping piece driven by the motor to rotate along an axis basically vertical to the ground, wherein the outer side wall of the clamping piece is provided with a clamping groove, and the clamping groove is provided with an opening section, a bridging section and a stopping section; when the buckle piece is inserted into the accommodating hole for installation, the lug passes through the opening section and the bridging section in sequence, and is kept in the stay section through the rebound force acting between the base and the buckle piece.

Optionally, an elastic mechanism is disposed in the accommodating hole formed in the base, and when the fastening piece is inserted into the accommodating hole for installation, the fastening piece extrudes the elastic mechanism to form the rebound force.

Optionally, the elastic mechanism includes a pressure spring disposed in the accommodating hole and a gland disposed on an upper portion of the pressure spring, and when the buckle element is inserted into the accommodating hole for installation, the buckle element extrudes the pressure spring through the gland to form the rebound force.

Optionally, the driving assembly further comprises a mounting seat for supporting the fastener and the motor; the buckle spare cover is equipped with the worm wheel, the output shaft of motor is connected with the worm, the worm with worm wheel transmission is connected.

In order to solve the above technical problem, another embodiment of the present invention provides the following technical solution: a cleaning robot, comprising:

the machine body is provided with a peripheral outline, and the bottom of the machine body is provided with a dust suction port;

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

a trash box for collecting and storing trash;

the dust collection module comprises a fan, and when the fan is started, the fan drives garbage on the ground to enter from the dust collection port, and the garbage is filtered by the filter and then is stored in the garbage box; and

the module is swept to limit includes:

the driving assembly comprises a motor and a clamping seat driven by the motor to rotate along an axis basically vertical to the ground, the clamping seat is provided with a containing hole, and the inner side wall of the containing hole is provided with a convex block; and

the side sweeping assembly comprises a base, a clamping part and brushes, wherein the clamping part is fixedly arranged in the middle of the base, the brushes are arranged around the base at intervals, a clamping groove is formed in the outer side wall of the clamping part, and the clamping groove is provided with an opening section, a bridging section and a stopping section; when the clamping part is inserted into the accommodating hole for installation, the lug passes through the opening section and the bridging section in sequence, and the lug is kept in the staying section through the rebound force acting between the clamping seat and the clamping part.

Optionally, an elastic mechanism is disposed in the accommodating hole formed in the card holder, and when the clamping portion is inserted into the accommodating hole for installation, the clamping portion presses the elastic mechanism to form the rebound force.

Optionally, the elastic mechanism includes a pressure spring disposed in the accommodating hole and a gland disposed at an upper portion of the pressure spring, and when the clamping portion is inserted into the accommodating hole for installation, the clamping portion extrudes the pressure spring through the gland to form the rebound force.

Optionally, a blocking portion is formed between the opening section, the bridging section and the staying section of the clamping groove, and a guide inclined surface is arranged on one side of the blocking portion facing the bridging section.

Optionally, the driving wheel module includes: the casing still includes spring and dustcoat with motor, gear train and the wheel of installing the connection in proper order on the casing, the casing includes: the shell is pivoted to the outer cover through the rotating shaft part, the spring is installed between the outer cover and the shell, and the shell always tends to rotate towards the outside of the outer cover under the action of the elastic force of the spring;

the side-sweep assembly is disposed adjacent to the wheel such that a projection of the brush onto the ground when rotated has an overlap with a projection of the wheel onto the ground;

when the cleaning robot is lifted, the wheels further protrude to the outside of the outer cover under the action of the elastic force of the spring, and the side sweeping component is controlled to stop rotating so as to avoid the brush from touching the wheels;

when the cleaning robot is placed on the ground, the wheels retract towards the interior of the outer cover under the action of the gravity of the cleaning robot, and the brush does not touch the wheels when rotating.

Optionally, a position switch is arranged on the outer cover, a contact rod matched with the position switch is arranged on the shell, and when the cleaning robot is lifted, the position switch is triggered by the contact rod.

Drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.

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

FIGS. 2 and 3 are schematic views of the assembled and disassembled structure of the dust suction module, respectively;

FIG. 4 is a schematic structural diagram of the edge-scan module assembled with the driving assembly;

FIG. 5 is a schematic view of the edge-scan module with the drive assembly detached from the edge-scan assembly;

FIG. 6 is a perspective and partially enlarged view of the edge-scan assembly;

FIG. 7 is an exploded view of the edge scan module;

FIG. 8 is a schematic view of the latch of the drive assembly;

FIG. 9 is a cross-sectional view of the edge scan module;

FIG. 10 is a schematic view of a side-scan module and a partially enlarged structure according to another embodiment of the present invention;

fig. 11 is a schematic view of an assembly structure of a driving wheel module according to an embodiment of the present invention;

FIG. 12 is a schematic illustration of a disassembled configuration of the drive wheel module of FIG. 11;

FIG. 13 is a schematic view of a portion of the drive wheel module of FIG. 12;

FIG. 14 is a schematic, disassembled view of the structure of FIG. 13;

FIG. 15 is a cross-sectional schematic view of the drive wheel module of FIG. 11;

FIG. 16 is a simplified schematic of the projection of the side brush onto the ground as it rotates and the wheel onto the ground;

FIG. 17 is a simplified schematic view of the brush in relation to the wheels when the cleaning robot is positioned on the floor;

fig. 18 is a simplified schematic diagram of the relative position of the brushes and wheels when the cleaning robot is lifted.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In embodiments of the invention, where an expression in the singular is not explicitly antisense in the context, an expression in the plural may be included. The terms "including" or "having" and the like used herein mean the presence of the features, numerals, steps, operations, constituent elements, components, or combinations thereof described in the specification, and do not preclude the presence or addition of one or more other features, numerals, steps, operations, constituent elements, components, or combinations thereof. Also, the terms including ordinal numbers such as "first", "second", and the like used in the present specification may be used to describe a plurality of kinds of constituent elements, but the constituent elements are not limited by the terms, and the terms are used only to distinguish one constituent element from other constituent elements.

Hereinafter, embodiments of the present invention disclosed will be described in detail with reference to the accompanying drawings. The same reference numerals or symbols shown in the drawings may denote components or constituent elements performing substantially the same functions.

The first embodiment is as follows:

fig. 1 is a bottom structure schematic diagram of a cleaning robot according to an embodiment of the present invention, and fig. 2 and 3 are respectively a structure schematic diagram of an assembly and a disassembly of a dust collection module.

The cleaning robot 100 includes: a driving wheel module 110, a machine body 120, a garbage box 130, a dust suction module 140 and a side-sweeping module.

The machine body 120 has a peripheral contour 121. The driving wheel module 110 is disposed at the bottom of the machine body 120 and configured to drive the cleaning robot 100 to travel on the ground, and the universal wheels 180 are further disposed at the bottom of the machine body 120.

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

The bottom of the machine body 120 is provided with a dust suction port (not shown in the figure), in the embodiment of the present invention, the bottom of the machine body 120 can be further provided with a rolling brush 170 driven by a motor, for this reason, the bottom of the machine body 120 is formed with a holding tank, the dust suction port is provided on the inner wall of the holding tank, and the rolling brush 170 is detachably installed in the holding tank and configured to rotate along an axis parallel to the ground. In the embodiment of the present invention, the garbage box 130 is detachably disposed at the rear portion of the machine body 120. In other embodiments, the trash bin 130 may be disposed on the top of the machine body 120.

The garbage box 130 is used for collecting and storing garbage, and the garbage box 130 is provided with a dust inlet communicated with the dust suction port and an air outlet communicated with the air inlet channel 144 of the dust suction module 140. A filter is disposed between the air outlet of the garbage box 130 and the air inlet channel 144 of the dust collection module 140, and the filter may be mounted on the garbage box 130 or the machine body 120. In the embodiment of the present invention, the dust suction module 140 and the garbage box 130 are separately disposed, that is, the dust suction module 140 is fixedly installed on the machine body 120, and the garbage box 130 is detachably installed on the machine body 120. In other embodiments, the dust suction module 140 and the garbage bin 130 may be integrally fixed or detachably mounted to the machine body 120. The trash box 130 is mounted on the machine body 120, and in order to increase the sealing performance between the air outlet of the trash box 130 and the air inlet channel 144 of the dust collection module 140, the dust collection module 140 may further include a sealing gasket 146, and the sealing gasket 146 is disposed at the opening of the air inlet channel 144 of the dust collection module 140.

In practical applications, when the blower is started, the blower drives the garbage on the ground to enter from the dust suction port formed at the bottom of the machine body 120, and the garbage is filtered by the filter and then stored in the garbage box 130.

Fig. 4 is a schematic structural diagram of a side-sweeping module assembled by a side-sweeping assembly and a driving assembly according to an embodiment of the present invention, and fig. 5 is a schematic structural diagram of a side-sweeping assembly and a driving assembly in the side-sweeping module.

In the embodiment of the present invention, the side-sweeping module includes a side-sweeping component 20 and a driving component 30, the side-sweeping component 20 can be detached and mounted from and to the driving component 30, and the side-sweeping component 20 can be mounted at the bottom of the machine body 120 and configured to be rotated by the driving component 30 along an axis substantially perpendicular to the ground.

Referring to fig. 6, the edge-brush assembly 20 includes a base 21 and a plurality of brushes 22, a receiving hole 211 is formed in a middle portion of the base 21, and a protrusion 212 is formed on an inner sidewall of the receiving hole 211. The brushes 22 are spaced around the base 21 and extend outwardly beyond the peripheral profile 121 of the machine body 120 for directing refuse on the floor beyond the coverage of the peripheral profile 121 to the suction opening location at the bottom of the machine body 120 (e.g., the location of the roller brush 170 in fig. 1). In the embodiment of the present invention, the bottom of the machine body 120 is provided with one edge scanning module, and in other embodiments, the bottom of the machine body 120 may also be provided with two edge scanning modules.

As shown in fig. 7, the driving assembly 30 includes a motor 31 and a latch 32 rotated by the motor 31 along an axis substantially perpendicular to the ground. In the embodiment of the present invention, the driving assembly 30 further includes a mounting seat 33, the mounting seat 33 is used for supporting the motor 31 and the fastener 32, specifically, the mounting seat 33 includes an upper mounting seat 331 and a lower mounting seat 332 which are assembled together, and can be assembled by a threaded fastener, a buckle, and the like. The fastener 32 is sleeved with a worm wheel 34, an output shaft of the motor 31 is connected with a worm 35, and the worm 35 is in transmission connection with the worm wheel 34. In other embodiments, the motor 31 and the fastener 32 may be connected by a belt transmission.

As shown in fig. 8, a clamping groove 40 is formed on an outer side wall of the fastener 32, the clamping groove 40 has an opening section 41, a bridging section 42 and a staying section 43, and the opening section 41 and the staying section 43 are communicated through the bridging section 42. The opening section 41 starts from the end face of one end of the fastener 32 and extends toward the other end of the fastener 32; since the stay section 43 does not extend to the end surface of one end of the fastener 32, the stay section 43 has a blocking wall near the end surface of one end of the fastener 32.

Referring to fig. 8 and 9, in practical application, when the fastener 32 is inserted into the receiving hole 211 for installation, the protrusion 212 passes through the opening section 41 and the bridging section 42 in sequence, and the protrusion 212 is retained in the retaining section 43 by the resilient force acting between the base 21 and the fastener 32. To visually indicate the movement of the bump 212 along the card slot 40, please refer to the dotted lines and arrows in fig. 8 and 9, the dotted lines indicate the moving path of the bump 212, and the arrows indicate the moving direction of the bump 212.

In the embodiment of the present invention, a blocking portion 44 is formed between the opening section 41, the bridging section 42 and the stopping section 43 of the slot 40, and the blocking portion 44 has a guiding inclined plane 44A toward one side of the bridging section 42. Wherein the guiding bevel 44A belongs to a side wall of the bridging section 42. The function of the guide ramp 44A is to facilitate movement of the tab 212 along the bridge section 42.

In the embodiment of the present invention, the elastic mechanism is disposed in the accommodating hole 211 formed in the base 21, and when the fastening member 32 is inserted into the accommodating hole 211 for installation, the fastening member 32 extrudes the elastic mechanism to form a rebound force. Specifically, the elastic mechanism may include a compression spring 213 disposed in the accommodating hole 211 and a pressing cover 214 disposed on an upper portion of the compression spring 213, and when the latch 32 is inserted into the accommodating hole 211 for installation, the latch 32 may form a repulsive force by pressing the compression spring 213 with the pressing cover 214. In other embodiments, the elastic mechanism may also be a metal spring, an elastic rubber block, or the like. In an alternative embodiment, the elastic mechanism may also be disposed on the locking member 32, for example, an end surface of the locking member 32 is connected with an elastic mechanism such as a spring, a spring plate, an elastic rubber block, and the like.

When pressure spring 213 and gland 214 need be blocked in the bottom of accommodation hole 211, in order to conveniently get and put pressure spring 213 and gland 214, in the embodiment of the present invention, base 21 includes base body 215 and fastener 216, and accommodation hole 211 has been seted up at the middle part of fastener 216, and fastener 216 detachably fixes in the middle part of base body 215, for example, through modes such as buckle, threaded fastener.

In the embodiment of the present invention, in order to maintain the balance and stability of the side-sweeping assembly 20, two slots 40 are disposed on the outer side wall of the fastening member 32, and the two slots 40 are disposed oppositely; of course, the inner sidewall of the containing hole 211 is also correspondingly provided with two protrusions 212, and the two protrusions 212 are oppositely arranged.

When the edge-sweep assembly 20 is actually mounted to the driving assembly 30, the edge-sweep assembly 20 is picked up, the latch 32 is aligned with and inserted into the receiving hole 211, the edge-sweep assembly 20 is rotated as the projection 212 reaches the top thereof along the opening section 41, so that the projection 212 continues to move along the bridging section 42, the edge-sweep assembly 20 is released as the projection 212 reaches the other end thereof along the bridging section 42, the projection 212 is held in the stay section 43 by the repulsive force of the compression spring 213, the edge-sweep assembly 20 is not easily detached, and the stability of the edge-sweep assembly 20 during rotation is improved.

The embodiment of the utility model provides a pair of cleaning robot, include: the garbage can comprises a machine body, a driving wheel module, a garbage box, a dust collection module and a side sweeping module, wherein the machine body is provided with a peripheral outline, the bottom of the machine body is provided with a dust collection port, the side sweeping module comprises a side sweeping assembly and a driving assembly, the side sweeping assembly comprises a base provided with a containing hole and brushes arranged around the base at intervals, a convex block is arranged on the inner side wall of the containing hole, the driving assembly comprises a motor and a clamping piece driven by the motor to rotate, the outer side wall of the clamping piece is provided with a clamping groove, and the clamping groove is provided with an; when inserting the buckle spare and installing in the holding hole, the lug is via opening section and bridging section in proper order to keep the lug in the section that stops through the bounce that acts on between base and the buckle spare, make the subassembly of sweeping the limit difficult drop, improved the stability when subassembly of sweeping the limit is rotatory.

Example two:

the greatest difference between this example two and the above-described example one is the edge-scanning module, and therefore, please refer to example one for other structural components of the cleaning robot in this example two, which is not described herein again. The following description focuses on the edge scan module of example two.

Fig. 10 is a schematic structural diagram of an edge-scanning module according to another embodiment of the present invention. The edge-sweeping module in this embodiment includes a driving assembly 50 and an edge-sweeping assembly 70, the driving assembly 50 includes a motor 51 and a clamping seat 52 driven by the motor 51 to rotate along an axis substantially perpendicular to the ground, a receiving hole 521 is formed in the middle of the clamping seat 52, and a protrusion 522 is formed on the inner side wall of the receiving hole 521. The edge-sweep assembly 70 includes: the brush holder comprises a base 71, a clamping part 72 fixedly arranged in the middle of the base 71 and brushes 73 arranged at intervals around the base 71, wherein a clamping groove 80 is formed in the outer side wall of the clamping part 72, the clamping groove 80 is provided with an opening section 81, a bridging section 82 and a stopping section 83, and the opening section 81 is communicated with the stopping section 83 through the bridging section 82. The opening section 81 starts at an end face of one end of the catch 72 and extends toward the base 71; since the staying section 83 does not extend to the end surface of the one end of the catch 72, the staying section 83 has a blocking wall that is close to the end surface of the one end of the catch 72.

In practical applications, when the retainer 72 is inserted into the receiving hole 521 for installation, the projection 522 passes through the opening section 81 and the bridging section 82 in sequence, and the projection 522 is held in the holding section 83 by the resilient force acting between the holder 52 and the retainer 72. To visually identify the movement of the protrusion 522 along the slot 80, please refer to the dashed line and the arrow in the slot 80 in fig. 10, the dashed line indicates the moving path of the protrusion 522, and the arrow indicates the moving direction of the protrusion 522.

In the present embodiment, a blocking portion 84 is formed between the opening section 81, the bridging section 82 and the staying section 83 of the card slot 80, and a side of the blocking portion 84 facing the bridging section 82 has a guiding inclined surface (not shown in fig. 10, refer to the guiding inclined surface 44A).

In this embodiment, the accommodating hole 521 formed in the card holder 52 may be provided with an elastic mechanism, so that when the holding portion 72 is inserted into the accommodating hole 521 for installation, the holding portion 72 extrudes the elastic mechanism to form a rebound force. The elastic mechanism may include a compression spring (not shown in fig. 10, refer to the compression spring 213) disposed in the accommodating hole 521 and a pressing cover (not shown in fig. 10, refer to the pressing cover 214) disposed at an upper portion of the compression spring, and when the catch 72 is inserted into the accommodating hole 521 for installation, the catch 72 forms a repulsive force by pressing the compression spring by the pressing cover. In other embodiments, the elastic mechanism may also be a metal spring, an elastic rubber block, or the like. In an alternative embodiment, the elastic mechanism may also be disposed on the holding portion 72, for example, the end surface of the holding portion 72 is connected with an elastic mechanism such as a spring, a spring sheet, an elastic rubber block, etc.

In the present embodiment, in order to maintain the balance stability of the side-sweep assembly 70, two slots 80 are disposed on the outer side wall of the retaining portion 72, and the two slots 80 are disposed oppositely; of course, the inner sidewall of the accommodating hole 521 is also provided with two protrusions 522, and the two protrusions 522 are disposed oppositely. The inner sidewall of the accommodating hole 521 is also correspondingly provided with two protrusions 522, and the two protrusions 522 are oppositely arranged.

In this embodiment, to support the motor 51 and the cartridge 52, the driving assembly 50 further includes a mount 53 (refer to the mount 33). The clamping seat 52 is sleeved with a worm wheel (not shown in fig. 10, refer to the worm wheel 34), the output shaft of the motor 51 is connected with a worm (not shown in fig. 10, refer to the worm 35), and the worm of the driving assembly 50 is in transmission connection with the worm wheel. In other embodiments, the motor 51 and the clamping seat 52 can be connected by a belt drive.

The utility model discloses another embodiment provides a cleaning robot, include: the garbage can comprises a machine body with a peripheral outline and a dust collection port formed at the bottom, a driving wheel module, a garbage box, a dust collection module and a side sweeping module comprising a side sweeping component and a driving component, wherein the driving component comprises a motor and a clamping seat driven by the motor to rotate, the clamping seat is provided with a containing hole, and the inner side wall of the containing hole is provided with a convex block; the side sweeping assembly comprises a base, a clamping part fixedly arranged in the middle of the base and brushes arranged at intervals around the base, wherein the outer side wall of the clamping part is provided with a clamping groove, and the clamping groove is provided with an opening section, a bridging section and a stopping section; when the clamping part is inserted into the accommodating hole for installation, the lug passes through the opening section and the bridging section in sequence, and the lug is kept in the stay section through the rebound force acting between the clamping seat and the clamping part, so that the edge sweeping component is not easy to fall off, and the stability of the edge sweeping component during rotation is improved.

Fig. 11 is a schematic assembly structure diagram of a driving wheel module 110 according to an embodiment of the present invention, fig. 12 is a schematic disassembly structure diagram of the driving wheel module 110 in fig. 11, fig. 13 is a schematic partial structure diagram of the driving wheel module 110 in fig. 12, fig. 14 is a schematic disassembly structure diagram of the structure in fig. 13, and fig. 15 is a schematic cross-sectional view of the driving wheel module 110 in fig. 11.

The driving wheel module 110 includes: the casing 1 and install motor 2, gear train 3 (this gear train 3 is preferably the reduction gear train) and wheel 4 connected gradually on casing 1, still include spring 5 and dustcoat 6, and casing 1 includes: the motor mounting part 11 for mounting the motor 2, the gear box part 12 for mounting the gear set 3, the wheel cover part 13 for mounting the wheel 4 and the rotating shaft part 14 for pivoting with the outer cover 6, the shell 1 is pivoted with the outer cover 6 through the rotating shaft part 14, and the spring 5 is mounted between the outer cover 6 and the shell 1.

When the wheels 4 walk on the ground, substances such as dust and debris on the ground are easily rolled up, the outer cover 6 is covered above the shell 1, and the substances such as the dust and the debris rolled up by the wheels 4 can be prevented from entering the cleaning robot 100 to cause short circuit of electronic equipment, so that the outer cover 6 has a dustproof function. The housing 1 is pivoted to the cover 6 side by the rotating shaft 14, and a rotating shaft supporting portion 621 for mounting the rotating shaft 14 is provided on the cover 6 side. The rotating shaft portion 13 includes a rotating arm 14A connected to the motor mounting portion 11, a through hole 14B for mounting the rotating shaft 17 is formed at the end thereof, and the rotating shaft supporting portion 621 is disposed at both sides of the rotating shaft portion 13 to support the rotating shaft 17 to rotate. When the device is installed, the rotating shaft 17 is inserted into the rotating shaft supporting portion 621 and the through hole 14B. One side that is close to 6 tops of dustcoat on the motor installation department 11 is equipped with first couple 111, and 6 tops of dustcoat are equipped with second couple 6A, and the both ends of spring 5 are hooked respectively and are located on first couple 111 and the second couple 6A. The housing 1 always tends to rotate outside the housing 6 by the spring 5.

The outer cover 6 is provided with a first position-limiting portion 6B, in this embodiment, the position-limiting portion 612 is a protrusion (shown by a dotted line in fig. 12) disposed on the inner side of the outer cover 6, the housing 1 is provided with a second position-limiting portion 15 matched with the first position-limiting portion 6B, in this embodiment, the second position-limiting portion 15 is a protrusion disposed at the end of the wheel cover portion 13. The outer cover 6 can also be provided with a position switch 7, and the shell 1 is provided with a contact rod 16 matched with the position switch 7. When the cleaning robot 100 is lifted, the position switch 7 is triggered by the touch bar 16, and the first position-limiting portion 6B also abuts against the second position-limiting portion 15, so as to prevent the housing 1 from continuing to rotate toward the outside of the housing 6.

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

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

Figure 16 is a simple schematic view of the projection P1 on the ground when the brush 22 is rotated and the projection P2 of the wheel 4 on the ground. As can be seen in fig. 1, the brush 22 is arranged adjacent to the wheel 4 such that the projection P1 of the brush 22 on the ground when rotated has an overlap P12 with the projection P2 of the wheel 4 on the ground (see fig. 16).

As shown in fig. 17, when the cleaning robot 100 is placed on the ground, the wheels 4 retract into the housing 6 under the gravity of the cleaning robot 100, and the brush 22 rotates without touching the wheels 4, thereby ensuring that the brush 22 does not touch the wheels 4 when the cleaning robot 100 travels on the ground.

As shown in fig. 18, when the cleaning robot 100 is lifted, the wheels 4 protrude further to the outside of the housing 6 by the elastic force of the spring 5, in this case, if the brush 22 rotates, the brush 22 may contact the wheels 4, and therefore, the rotation of the brush 22 needs to be controlled to be stopped to prevent the brush 22 from contacting the wheels 4.

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

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims (10)

1. A cleaning robot, characterized by comprising:

the machine body is provided with a peripheral outline, and the bottom of the machine body is provided with a dust suction port;

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

a trash box for collecting and storing trash;

the dust collection module comprises a fan, and when the fan is started, the fan drives garbage on the ground to enter from the dust collection port, and the garbage is filtered by the filter and then is stored in the garbage box; and

the module is swept to limit includes:

the side sweeping assembly comprises a base provided with accommodating holes and brushes arranged around the base at intervals, and convex blocks are arranged on the inner side walls of the accommodating holes; and

the driving assembly comprises a motor and a clamping piece driven by the motor to rotate along an axis basically vertical to the ground, wherein the outer side wall of the clamping piece is provided with a clamping groove, and the clamping groove is provided with an opening section, a bridging section and a stopping section; when the buckle piece is inserted into the accommodating hole for installation, the lug passes through the opening section and the bridging section in sequence, and is kept in the stay section through the rebound force acting between the base and the buckle piece.

2. A cleaning robot, characterized by comprising:

the machine body is provided with a peripheral outline, and the bottom of the machine body is provided with a dust suction port;

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

a trash box for collecting and storing trash;

the dust collection module comprises a fan, and when the fan is started, the fan drives garbage on the ground to enter from the dust collection port, and the garbage is filtered by the filter and then is stored in the garbage box; and

the module is swept to limit includes:

the driving assembly comprises a motor and a clamping seat driven by the motor to rotate along an axis basically vertical to the ground, the clamping seat is provided with a containing hole, and the inner side wall of the containing hole is provided with a convex block; and

the side sweeping assembly comprises a base, a clamping part and brushes, wherein the clamping part is fixedly arranged in the middle of the base, the brushes are arranged around the base at intervals, a clamping groove is formed in the outer side wall of the clamping part, and the clamping groove is provided with an opening section, a bridging section and a stopping section; when the clamping part is inserted into the accommodating hole for installation, the lug passes through the opening section and the bridging section in sequence, and the lug is kept in the staying section through the rebound force acting between the clamping seat and the clamping part.

3. The cleaning robot as claimed in claim 1, wherein an elastic mechanism is disposed in the receiving hole of the base, and when the fastening member is inserted into the receiving hole for installation, the fastening member presses the elastic mechanism to form the resilient force.

4. The cleaning robot of claim 3, wherein the elastic mechanism includes a compression spring disposed in the receiving hole and a pressing cover disposed on an upper portion of the compression spring, and when the buckle is inserted into the receiving hole for installation, the buckle presses the compression spring through the pressing cover to form the repulsive force.

5. The cleaning robot of claim 1, wherein the drive assembly further comprises a mount for supporting the catch and the motor; the buckle spare cover is equipped with the worm wheel, the output shaft of motor is connected with the worm, the worm with worm wheel transmission is connected.

6. The cleaning robot as claimed in claim 2, wherein an elastic mechanism is disposed in the receiving hole of the holder, and when the retaining portion is inserted into the receiving hole for installation, the retaining portion presses the elastic mechanism to form the resilient force.

7. The cleaning robot as claimed in claim 6, wherein the elastic mechanism includes a pressure spring disposed in the receiving hole and a pressing cover disposed at an upper portion of the pressure spring, and when the catching portion is inserted into the receiving hole for installation, the catching portion presses the pressure spring by the pressing cover to form the repulsive force.

8. The cleaning robot as claimed in claim 1 or 2, wherein a blocking portion is formed between the opening section, the bridging section and the staying section of the catching groove, and a side of the blocking portion facing the bridging section has a guide slope.

9. The cleaning robot according to claim 1 or 2, wherein the driving wheel module includes: the casing still includes spring and dustcoat with motor, gear train and the wheel of installing the connection in proper order on the casing, the casing includes: the shell is pivoted to the outer cover through the rotating shaft part, the spring is installed between the outer cover and the shell, and the shell always tends to rotate towards the outside of the outer cover under the action of the elastic force of the spring;

the side-sweep assembly is disposed adjacent to the wheel such that a projection of the brush onto the ground when rotated has an overlap with a projection of the wheel onto the ground;

when the cleaning robot is lifted, the wheels further protrude to the outside of the outer cover under the action of the elastic force of the spring, and the side sweeping component is controlled to stop rotating so as to avoid the brush from touching the wheels;

when the cleaning robot is placed on the ground, the wheels retract towards the interior of the outer cover under the action of the gravity of the cleaning robot, and the brush does not touch the wheels when rotating.

10. The cleaning robot as claimed in claim 9, wherein a position switch is provided on the housing, and a touch bar cooperating with the position switch is provided on the housing, the position switch being activated by the touch bar when the cleaning robot is lifted.