CN212307721U

CN212307721U - Cleaning robot

Info

Publication number: CN212307721U
Application number: CN202020382907.XU
Authority: CN
Inventors: 夏昌太; 高哲鑫; 梁飞渡; 闫瑞君
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2020-03-24
Filing date: 2020-03-24
Publication date: 2021-01-08
Anticipated expiration: 2030-03-24

Abstract

The utility model discloses a cleaning robot, include: the robot comprises a robot main body, a walking mechanism, a cleaning assembly, a driving assembly and a control assembly, wherein the walking mechanism is arranged on the robot main body and used for driving the robot main body to move relative to a surface to be cleaned, the cleaning assembly is detachably connected to the robot main body and used for cleaning the surface to be cleaned, the driving assembly and the control assembly are arranged on the robot main body, the driving assembly is in driving connection with the cleaning assembly, and the control assembly is electrically connected with the driving assembly to adjust the driving mode of the driving assembly. Adopt the utility model discloses, have the clean mode of intelligent adjustment, adapt to the advantage on different grade type ground.

Description

Cleaning robot

Technical Field

The utility model relates to a cleaning robot.

Background

The existing cleaning robot can mostly set a cleaning assembly, the cleaning assembly is attached to the ground by means of the weight of the cleaning robot, the cleaning robot drives the cleaning assembly to clean the ground in the moving process, and therefore the cleaning robot is single in cleaning mode and cannot intelligently adapt to the grounds of different types.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a cleaning robot that can intelligent adjustment clean mode, adaptation different grade type ground is provided.

In order to solve the technical problem, the embodiment of the utility model adopts the following technical scheme:

the utility model provides a cleaning machines people, cleaning machines people includes robot main part, running gear, clean subassembly, drive assembly and control assembly, running gear set up in the robot main part, running gear is used for driving the robot main part and treats clean surface removal mutually, clean subassembly detachably connect in the robot main part, clean subassembly is used for the clearance to treat clean surface, drive assembly with control assembly all set up in the robot main part, drive assembly drive connection to clean subassembly, the control assembly electricity is connected drive assembly is with the adjustment drive assembly's drive mode.

Optionally, the cleaning assembly includes a cleaning body and at least one transmission part connected to the cleaning body, the cleaning body is connected to the robot main body through the at least one transmission part in a liftable manner, and the driving mode is configured as any one of the following modes: the driving assembly can drive the cleaning body to extend relative to the robot main body through the at least one transmission part so as to keep the cleaning body attached to the surface to be cleaned; the driving component can drive the cleaning body to contract relative to the robot main body through the at least one transmission part so as to adapt to the surface to be cleaned; the driving component can drive the cleaning body to vibrate relative to the robot main body through the at least one transmission part.

Optionally, the robot main body includes a chassis, the chassis is provided with at least one sliding hole, an extending direction of the at least one sliding hole is perpendicular to a plane of the chassis, the cleaning body is located on one side of the chassis close to a surface to be cleaned, and the at least one transmission part is respectively in sliding fit with the at least one sliding hole.

Optionally, the driving assembly includes at least one electromagnetic driver, the at least one electromagnetic driver is fixed on the chassis and respectively disposed corresponding to the at least one sliding hole, and the at least one electromagnetic driver drives the at least one transmission portion through electromagnetic force.

Optionally, the sliding hole has a first end close to the surface to be cleaned and a second end opposite to the first end, a magnet is disposed on one side of the transmission portion close to the second end, the electromagnetic driver is fixed to the second end, and the electromagnetic driver applies an attractive force or a repulsive force to the magnet through electromagnetic force.

Optionally, the chassis deviates from it is equipped with the bulge to treat clean surface one side, the bulge is equipped with the slide opening, electromagnetic drive includes around locating the motor drive winding of bulge, transmission portion include with motor drive winding complex magnet, motor drive winding can warp the magnet drive transmission portion is followed the slide opening rectilinear sliding.

Optionally, the cleaning body includes a bracket and a mop, the bracket is connected to the robot main body through the at least one transmission part, and the mop is attached to a side of the bracket away from the robot main body.

Optionally, the robot main body is provided with an inclined surface on a side close to the surface to be cleaned, the inclined surface has a first edge relatively close to the surface to be cleaned and a second edge relatively far away from the surface to be cleaned, the cleaning body includes a rotating connecting portion arranged opposite to the transmission portion, the rotating connecting portion is close to the first edge and rotatably connected with the robot main body, so that the cleaning body can rotate relative to the robot to be far away from or close to the second edge.

Optionally, the cleaning robot includes an elastic member elastically connecting the robot main body and the cleaning body, the elastic member applying an elastic force to the cleaning body away from the second edge.

Optionally, the control assembly includes a controller and a detector, the controller is electrically connected to the traveling mechanism, the detector and the driving assembly, the detector is configured to monitor a traveling state of the traveling mechanism and output a feedback signal to the controller, and the controller determines a driving mode of the driving assembly according to the feedback signal to adjust a cleaning mode of the cleaning assembly.

Optionally, the detector includes a current collecting unit electrically connected to the traveling mechanism and an abnormality determining unit electrically connected to the current collecting unit, the current collecting unit is configured to collect a load current of the traveling mechanism, and the abnormality determining unit outputs an abnormality feedback signal to the controller when detecting that the load current exceeds a preset threshold.

Compared with the prior art, the utility model discloses technical scheme has following beneficial effect at least:

the embodiment of the utility model provides an in, through cleaning assembly detachably connect in the robot main part, cleaning assembly is used for the clearance to wait to clean the surface, and through drive assembly drive connection to cleaning assembly, the control assembly electricity is connected drive assembly is in order to adjust drive assembly's drive pattern, thereby control assembly can adjust adaptively drive assembly's drive pattern (reduce drive power or change modes such as drive direction), adjust cleaning assembly's cleaning pattern, thereby cleaning robot can adjust the various types of ground of adaptation.

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 side view of a cleaning robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic cross-sectional view of a cleaning robot provided in an embodiment of the present application;

FIG. 3 is an exploded schematic view of a robot body and cleaning assembly provided by embodiments of the present application;

FIG. 4 is a schematic side view of a cleaning robot according to another embodiment;

FIG. 5 is a schematic diagram of the connection of a detector, a controller, a driving assembly, and the like provided in the embodiments of the present application;

FIG. 6 is an enlarged schematic view A of FIG. 2 according to an embodiment of the present disclosure;

FIG. 7 is an enlarged schematic view A of FIG. 2 according to an embodiment of the present disclosure;

FIG. 8 is an enlarged schematic view at A of FIG. 2 provided in accordance with another embodiment;

FIG. 9 is an exploded schematic view of a cleaning assembly provided by an embodiment of the present application;

FIG. 10 is a schematic view of a cleaning robot having a cleaning body in an extended state according to another embodiment;

fig. 11 is a schematic structural view of a cleaning robot with a contracted cleaning body according to another embodiment.

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.

Referring to fig. 1, 2 and 3, the cleaning robot 100 according to an embodiment of the present disclosure includes a robot main body 10, a traveling mechanism 20, a cleaning assembly 30, a driving assembly 40 and a control assembly 50, where the traveling mechanism 20 is disposed on the robot main body 10, the traveling mechanism 20 is configured to drive the robot main body 10 to move relative to a surface to be cleaned, the cleaning assembly 30 is detachably connected to the robot main body 10, the cleaning assembly 30 is configured to clean the surface to be cleaned, the driving assembly 40 and the control assembly 50 are both disposed on the robot main body 10, the driving assembly 40 is connected to the cleaning assembly 30 in a driving manner, and the control assembly 50 is electrically connected to the driving assembly 40 to adjust a driving mode of the driving assembly 40.

It is understood that the cleaning robot 100 may be any one of a floor sweeping robot, a floor mopping robot, a window cleaning robot, a dust collecting robot, etc., and is not limited thereto.

in the embodiment of the present invention, the cleaning assembly 30 is detachably connected to the robot main body 10, the cleaning assembly 30 is used for cleaning the surface to be cleaned, and is connected to the cleaning assembly through the driving assembly 40, the control assembly 50 is electrically connected to the driving assembly 40 to adjust the driving mode of the driving assembly 40, so that the control assembly 50 can adaptively adjust the driving mode of the driving assembly 40 (reducing the driving power or changing the driving direction, etc.) to adjust the cleaning mode of the cleaning assembly 30, thereby the cleaning robot can adjust and adapt to various types of ground.

In this embodiment, the control assembly 50 includes a controller 51 and a detector 52, the controller 51 is electrically connected to the traveling mechanism 20, the detector 52 and the driving assembly 40, the detector 52 is configured to monitor a traveling state of the traveling mechanism 20 and output a feedback signal to the controller 51, and the controller 51 determines a driving mode of the driving assembly 40 according to the feedback signal to adjust a cleaning mode of the cleaning assembly 30.

The detector 52 monitors the walking state of the walking mechanism 20, and outputs a feedback signal to the controller 51, the controller 51 may determine the driving mode of the driving assembly 40 according to the feedback signal to adjust the cleaning mode of the cleaning assembly 30, for example, when the cleaning robot 100 encounters a walking difficulty, the controller 51 receives a feedback signal corresponding to the walking difficulty, the controller 51 determines a suitable driving mode according to the feedback signal, and the suitable driving mode may include a mode of reducing driving power or changing driving direction, etc., so as to correspondingly adjust the damping effect of the cleaning assembly 30 on the surface to be cleaned, which is beneficial to helping the cleaning robot 100 get rid of the trouble, and thus the cleaning robot 100 may be adjusted to adapt to various types of floors.

In the present embodiment, the robot main body 10 may include a chassis 11 and an upper cover 332, the upper cover 332 being detachably mounted on the chassis 11 to protect various functional components inside the cleaning robot 100 from being damaged by violent impact or liquid unintentionally dropped during use; the chassis 11 and/or the upper cover 332 are used to carry and support various functional components. In an alternative embodiment, the body of the cleaning robot 100 may also have other design configurations, for example, the body is an integrally molded structure, and a structure disposed separately from the left and right, and the material, shape, structure, etc. of the body are not limited in the embodiment of the present invention.

The traveling mechanism 20 is connected to the robot main body 10 and configured to drive the cleaning robot 100 to move on the floor, for example, the cleaning robot 100 may be designed to autonomously plan a path on the floor or may be designed to move on the floor in response to a remote control command. In the embodiment of the present application, the traveling mechanism 20 includes two wheels, at least one universal wheel, and a motor for driving the wheels to rotate, the wheels and the universal wheel at least partially protrude out of the bottom of the chassis 11, for example, the two wheels may be partially hidden in the chassis 11 under the action of the self weight of the cleaning robot 100. In an alternative embodiment, the travel mechanism 20 may further include any one of a track triangle, a Mecanum wheel, and the like.

The cleaning assembly 30 includes a cleaning body 31 and at least one transmission part 32 connected to the cleaning body 31, the cleaning body 31 is liftably connected to the robot main body 10 through the at least one transmission part 32, and the driving mode is configured as any one of the following modes:

in the first driving mode, the driving assembly 40 can drive the cleaning body 31 to extend relative to the robot main body 10 through the at least one transmission part 32 so as to maintain the cleaning body 31 to be attached to the surface to be cleaned;

in the second driving mode, the driving assembly 40 can drive the cleaning body 31 to contract relative to the robot main body 10 through the at least one transmission part 32 so as to adapt to the surface to be cleaned;

in the third driving mode, the driving assembly 40 can drive the cleaning body 31 to vibrate relative to the robot main body 10 through the at least one transmission part 32.

It is understood that the cleaning robot 100 may apply one of the above-mentioned driving modes according to the walking state of the walking mechanism 20, and accordingly implement one of the following cleaning modes:

in the first cleaning mode, when the cleaning body 31 is in an extended state relative to the robot main body 10, the cleaning body 31 can be kept in contact with the surface to be cleaned, so that the damping force of the cleaning body 31 relative to the surface to be cleaned is ensured, the cleaning effect on the surface to be cleaned which is not flat is further ensured, and the normal cleaning effect is realized;

in the second cleaning mode, when the cleaning body 31 is in a retracted state relative to the robot, the cleaning body 31 may be separated from contact with the surface to be cleaned or may be lifted a distance relative to the surface to be cleaned, so as to eliminate a part of the walking resistance of the cleaning robot 100, and facilitate the cleaning robot 100 to leave from the surface (e.g. carpet surface) with a large friction force, or avoid a protruding obstacle on the surface to be cleaned, so as to avoid the obstacle from being stuck and realize the action of getting rid of the trouble;

in the third cleaning mode, the cleaning body 31 is in a vibrating state relative to the robot main body 10, and the cleaning body 31 intermittently contacts the surface to be cleaned, on one hand, the walking resistance of the cleaning robot 100 can be reduced, so that the cleaning robot 100 can leave from the surface (such as a carpet surface) with a large friction force, or avoid a protruding obstacle on the surface to be cleaned, avoid being stuck, and realize a trap removal action, on the other hand, the cleaning body 31 can still maintain the cleaning action on the surface to be cleaned, and can satisfy the cleaning effect on the ground (such as a carpet surface) with a large friction force.

In the prior art, when the cleaning robot 100 works, the cleaning body 31 and the ground directly rub to clean the ground, the friction force between the cleaning body 31 and the ground may be too large, when the cleaning robot runs, the load current of the cleaning robot is too large, a false alarm can be generated, and the cleaning robot stops, or the cleaning robot works in an environment with a large ground drop, the cleaning robot should retreat in time on the edge of the cliff to avoid falling and damaging the cleaning robot, but the friction between the mopping piece 34 and the ground is large, so that the cleaning robot cannot retreat normally, and the cleaning robot is trapped on the edge of the cliff.

In this embodiment, when the cleaning robot 100 cleans the floor, the walking state of the walking mechanism 20 is monitored by the detector 52, if the walking mechanism 20 drives the robot main body 10 to walk normally, the detector 52 outputs a first feedback signal, the control component 50 determines that no abnormal condition occurs according to the first feedback signal, the cleaning robot 100 may determine that the driving component 40 applies a first driving mode according to the first feedback signal, an artificial voice command, an internal preset command, a remote controller command, or the like, so as to ensure efficient cleaning of an uneven surface to be cleaned, or the control component 50 may control the driving component 40 to stop working according to the first feedback signal; if the walking mechanism 20 has a walking difficulty condition, the detector 52 outputs a second feedback signal, the second feedback signal is different from the first feedback signal, the control component 50 determines that an abnormal condition occurs according to the second feedback signal, and the cleaning robot 100 can determine that the driving component 40 applies the second driving mode or the third driving mode according to the second feedback signal, so as to reduce the walking resistance of the cleaning robot 100.

Optionally, when the control assembly 50 receives the second feedback signal for the first time, the control assembly 50 determines, according to the second feedback signal, that the driving assembly 40 applies the third driving mode, so that the cleaning robot 100 cleans the floor in the third cleaning mode to reduce the walking resistance preliminarily, and then, if the control assembly 50 receives the second feedback signal again, the control assembly 50 determines, according to the second feedback signal, that the driving assembly 40 applies the second driving mode, so that the cleaning robot 100 adopts the second cleaning mode, that is, the cleaning assembly 30 is adapted to the surface to be cleaned, and the cleaning assembly 30 is prevented from colliding with an obstacle on the surface to be cleaned, so as to further reduce the walking resistance, which is beneficial to helping the cleaning robot 100 get rid of the obstacle smoothly.

In this embodiment, the cleaning assembly 30 is a mop assembly. The mopping component can be attached to the bottom of the chassis 11, and when the mopping component moves along with the cleaning robot 100 relative to the surface to be cleaned, the surface to be cleaned is wiped, so that the floor mopping function is realized. The driving component 40 is connected to the mopping component in a driving manner, so that the mopping component can be connected with the robot main body 10 in a lifting manner.

Optionally, the cleaning robot 100 may further include a middle-sweep assembly. The middle sweeping assembly comprises at least one middle sweeping brush, the at least one middle sweeping brush can comprise one or two of a middle sweeping brush and a middle sweeping glue brush, the at least one middle sweeping brush can be arranged in an accommodating groove formed in the bottom of the chassis 11, a dust suction opening is formed in the accommodating groove and communicated with the dust collection box and the dust collection fan, so that when the middle sweeping brush rotates, the dust and garbage on the ground are stirred up, and the dust and garbage are sucked into the dust collection box from the dust suction opening by utilizing the suction force generated by the dust collection fan.

Referring to fig. 4, in other embodiments, the cleaning assembly 30 can also be a mid-sweep assembly. The driving assembly 40 can also be connected to the middle-sweeping assembly in a driving manner, so that the middle-sweeping assembly can be connected to the robot main body 10 in a lifting manner.

Referring to fig. 5, optionally, the detector 52 includes a current collecting unit 53 electrically connected to the traveling mechanism 20 and an abnormality determining unit 54 electrically connected to the current collecting unit 53, where the current collecting unit 53 is configured to collect a load current of the traveling mechanism 20, and when the abnormality determining unit 54 detects that the load current exceeds a preset threshold, an abnormality feedback signal is output to the controller 51.

When the cleaning robot 100 normally walks, the load current of the traveling mechanism 20 is at a normal level, that is, the abnormality determining unit 54 detects that the load current of the traveling mechanism 20 is less than or equal to a preset threshold, and outputs a first feedback signal to the controller 51, the control component 50 determines that an abnormal condition does not occur according to the first feedback signal, and the cleaning robot 100 can determine that the driving component 40 applies a first driving mode according to the first feedback signal, an artificial voice instruction, an internal preset instruction, a remote controller instruction, or the like, so as to ensure efficient cleaning of an uneven surface to be cleaned, or the control component 50 controls the driving component 40 to stop working according to the first feedback signal;

when the cleaning robot 100 has a walking difficulty condition, the load of the walking mechanism 20 is too large, which causes the load current to increase to an abnormal level, that is, the abnormality determining unit 54 detects that the load current exceeds a preset threshold, the detector 52 outputs a second feedback signal, which is the abnormal feedback signal, the second feedback signal is different from the first feedback signal, the control component 50 determines that an abnormal condition occurs according to the second feedback signal, and the cleaning robot 100 may determine that the driving component 40 applies the second driving mode or the third driving mode according to the second feedback signal, so as to reduce the walking resistance of the cleaning robot 100.

Referring to fig. 2 and 6, optionally, the chassis 11 is provided with at least one sliding hole 12, an extending direction of the at least one sliding hole 12 is perpendicular to a plane of the chassis 11, the cleaning body 31 is located on one side of the chassis 11 close to a surface to be cleaned, and the at least one transmission portion 32 is respectively in sliding fit with the at least one sliding hole 12.

In this embodiment, the cleaning body 31 is plate-shaped, the transmission portion 32 is columnar, and the transmission portion 32 is protruded on a side of the cleaning body 31 close to the chassis 11. The number of the transmission parts 32 is the same as that of the sliding holes 12, and the sliding holes 12 can guide the transmission parts 32 to slide along a direction perpendicular to the plane of the chassis 11, that is, guide the cleaning body 31 to slide along a direction perpendicular to the surface to be cleaned, so as to drive the cleaning body 31 to lift relative to the robot body, and adjust the fitting degree of the cleaning body 31 and the surface to be cleaned. The matching structure is simple, does not relate to a complex connecting rod mechanism, and is convenient for realizing lifting adjustment at low cost.

The number of the transmission parts 32 and the number of the sliding holes 12 may be two, and the two transmission parts 32 are spaced apart from each other in the cleaning body 31. The two transmission parts 32 are respectively matched with the two sliding holes 12, so that the displacement of the cleaning body 31 in the horizontal direction can be limited, and the horizontal swinging of the cleaning body 31 relative to the robot main body 10 is avoided. In other embodiments, the number of the transmission portions 32 and the number of the slide holes 12 may be one or more than two.

The cleaning assembly 30 also includes at least one resilient catch 38. The at least one elastic buckle 38 is vertically arranged on one side of the cleaning body 31 close to the chassis 11. The number of the elastic buckles 38 is the same as that of the transmission parts 32, each elastic buckle 38 is disposed adjacent to each transmission part 32, and each elastic buckle 38 is used for elastically abutting against the inner side wall of the sliding hole 12, so as to appropriately increase the relative damping force between the transmission part 32 and the inner side wall of the sliding hole 12, and keep the cleaning body 31 stable relative to the chassis 11. Each elastic buckle 38 can pass through the chassis 11, and an inverted buckle 381 is arranged at the end, so that the elastic buckle 38 is limited to be separated from the chassis by the inverted buckle 381.

Referring to fig. 2 and fig. 6, optionally, the driving assembly 40 includes at least one electromagnetic driver 41, the at least one electromagnetic driver 41 is fixed on the chassis 11 and is respectively disposed corresponding to the at least one sliding hole 12, and the at least one electromagnetic driver 41 drives the at least one transmission portion 32 through electromagnetic force.

Wherein the at least one electromagnetic driver 41 is electrically connected to the controller 51. The at least one electromagnetic driver 41 may attract or repel the at least one transmission part 32 through electromagnetic force, wherein the controller 51 controls the at least one electromagnetic driver 41 to apply repulsive force to the at least one transmission part 32 through electromagnetic force, so that the cleaning body 31 is extended relative to the robot main body 10, that is, a driving mode one is implemented; the controller 51 controls at least one electromagnetic driver 41 to apply an attractive force to the at least one transmission part 32 through an electromagnetic force, so that the cleaning body 31 is contracted relative to the robot main body 10, that is, a second driving mode is realized; the controller 51 controls at least one electromagnetic driver 41 to drive the at least one transmission part 32 to reciprocate along the slide hole 12 through electromagnetic force, so that the cleaning body 31 vibrates relative to the robot, i.e., a driving mode three is realized.

In the present embodiment, the number of the electromagnetic drivers 41 is two. In other embodiments, the number of the electromagnetic drivers 41 may be one or more than two.

Referring to fig. 2 and 7, in a first embodiment, the slide hole 12 has a first end 15 close to the surface to be cleaned and a second end 16 opposite to the first end 15, a magnet 36 is disposed on the transmission portion 32 close to the second end 16, the electromagnetic driver 41 is fixed to the second end 16, and the electromagnetic driver 41 applies an attractive force or a repulsive force to the magnet 36 by an electromagnetic force. In the present embodiment, the first end 15 may be an open end, and the second end 16 may be an open end or a closed end. The magnet 36 may be any one of magnets such as a neodymium iron boron magnet, a samarium cobalt magnet, an alnico magnet, and a ferrite magnet, which is not limited herein. In other embodiments, the magnet 36 may be replaced with a metal piece.

Referring to fig. 2 and 7, optionally, the cleaning robot 100 further includes a hall sensor 70, the hall sensor 70 is disposed at the second end 16, when the electromagnetic driver 41 stops working, the hall sensor 70 can sense the magnetic field strength of the magnet 36, if the controller 51 detects that the magnetic field strength exceeds a preset strength threshold, the transmission portion 32 is close to the hall sensor 70 under an external action, which indicates that the cleaning body 31 may press an obstacle on a surface to be cleaned, and further, the controller 51 can control the electromagnetic driver 41 to drive the cleaning body 31 to contract relative to the robot body, so as to prevent the cleaning robot 100 from being stuck by the obstacle.

Referring to fig. 2 and 8, in a second embodiment, a protruding portion 14 is disposed on a side of the chassis 11 away from the surface to be cleaned, the protruding portion 14 is disposed with the slide hole 12, the electromagnetic driver 41 includes a motor driving winding 42 wound around the protruding portion 14, the transmission portion 32 includes a magnet 36 engaged with the motor driving winding 42, and the motor driving winding 42 can drive the transmission portion 32 to slide linearly along the slide hole 12 via the magnet 36. In the present embodiment, the motor driving winding 42 and the magnet 36 are combined to form a linear motor mechanism, the motor driving winding 42 serves as a stator, the magnet 36 serves as a mover, the motor driving winding 42 generates a traveling magnetic field in the slide hole 12 by introducing an alternating current to the motor driving winding 42, and the traveling-wave magnet 36 generates a linear thrust or a linear tension to the magnet 36. The driving structure described above has a relatively low requirement for installation height, which is advantageous for reducing the occupation of the inner space of the cleaning robot 100.

Referring to fig. 2 and 9, optionally, the cleaning body 31 includes a bracket 33 and a mop 34, the bracket 33 is connected to the robot main body 10 through the at least one transmission part 32, and the mop 34 is attached to a side of the bracket 33 facing away from the robot main body 10.

In this embodiment, the bracket 33 is provided with the at least one transmission part 32, and the bracket 33 is connected to the chassis 11 through the at least one transmission part 32 in a liftable manner. The mopping piece 34 can be attached to one side of the bracket 33 departing from the chassis 11 through magic tape, glue bonding or snap connection.

The bracket 33 includes a lower cover 331 and an upper cover 332 covering the lower cover 331. A container space 335 is formed between the lower cap 331 and the upper cap 332, and the container space 335 may serve to store water or other cleaning liquid. The at least one transmission portion 32 is protruded from a side of the upper cover 332 facing away from the lower cover 331, and the at least one transmission portion 32 may be integrally disposed with the upper cover 332 or may be designed as a detachable component, which is not limited herein. The upper cover 332 is further provided with an opening 336 communicated with the container space 335, the rubber plug 333 is inserted into the opening 336 to prevent the liquid in the container space 335 from leaking, and the rubber plug 333 can be detached from the upper cover 332 to facilitate the addition of water or other liquid through the opening 336. The lower cap 331 is provided with a drain opening 337 isolated from the container space 335. The water guiding member 334 is located between the upper cover 332 and the lower cover 331, a part of the water guiding member 334 is located in the container space 335, a part of the water guiding member 334 is located at the water leaking opening 337, and the water guiding member 334 is used for guiding the water in the container space 335 to the water leaking opening 337 through capillary action. The mopping piece 34 can be attached to the lower cover 331 through a hook and loop fastener, a glue bond or a snap connection, and the mopping piece 34 covers the water leakage opening 337, so that the mopping piece 34 can be wetted by the moisture from the water leakage opening 337, and the mopping function can be conveniently realized.

Referring to fig. 10 and 11, optionally, an inclined surface 13 is disposed on a side of the robot main body 10 close to the surface to be cleaned, the inclined surface 13 has a first edge 17 relatively close to the surface to be cleaned and a second edge 18 relatively far from the surface to be cleaned, the cleaning body 31 includes a rotation connecting portion 35 disposed opposite to the transmission portion 32, and the rotation connecting portion 35 is adjacent to the first edge 17 and rotatably connected to the robot main body 10, so that the cleaning body 31 can rotate relative to the robot to be far from or close to the second edge 18.

In this embodiment, the chassis 11 is provided with the inclined surface 13 and a horizontal bottom surface 19. The traveling mechanism 20 is provided on the horizontal bottom surface 19. Inclined plane 13 is relative horizontal bottom surface 19 is the contained angle setting, makes inclined plane 13 and the space increase between the surface of treating to clean to increase the lift adjustment clean component 30's space avoids setting up the recess on the chassis 11 and occuping the machine inner space.

The at least one sliding hole 12 penetrates the inclined surface 13, and the extending direction of the at least one sliding hole 12 is perpendicular to the horizontal bottom surface, or the extending direction of the at least one sliding hole 12 is perpendicular to the inclined surface 13. The at least one transmission 32 is arranged at the cleaning body 31 near the second edge 18. The cleaning body 31 is away from the second edge 18 and the inclined surface 13 in a state that the cleaning body 31 is extended relative to the chassis 11; when the cleaning body 31 is contracted relative to the chassis 11, the cleaning body 31 is close to the second edge 18 and attached to the inclined surface 13.

Referring to fig. 10 and 11, optionally, the cleaning robot 100 includes an elastic member 60 elastically connecting the robot main body 10 and the cleaning body 31, and the elastic member 60 applies an elastic force to the cleaning body 31 away from the second edge 18. In this embodiment, the elastic member 60 may be a structural member having elasticity, such as a spring, a metal spring, a torsion spring, a silicone member, or a rubber member. The elastic member 60 elastically connects the chassis 11 and the transmission part 32, and the elastic member 60 is elastically compressible between the driving assembly 40 and the transmission part 32. The driving assembly 40 drives the cleaning assembly 30 to contract relative to the chassis 11, and the cleaning body 31 can completely fit the inclined surface 13, so that the product structure is compact; when the driving assembly 40 drives the cleaning assembly 30 to extend relative to the chassis 11, or stops working, the elastic member 60 can apply an elastic force to the cleaning body 31 to rotate relative to the chassis 11 away from the inclined surface 13, so as to keep the cleaning body 31 attached to the surface to be cleaned.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to 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

1. The utility model provides a cleaning machines people, its characterized in that, cleaning machines people includes robot main part, running gear, clean subassembly, drive assembly and control assembly, running gear set up in the robot main part, running gear is used for driving the robot main part and treats clean surface removal relatively, clean subassembly detachably connect in the robot main part, clean subassembly is used for the clearance to treat clean surface, drive assembly with control assembly all set up in the robot main part, drive assembly drive connection to clean subassembly, the control assembly electricity is connected drive assembly is with the adjustment drive assembly's drive mode.

2. The cleaning robot according to claim 1, wherein the cleaning assembly includes a cleaning body and at least one transmission part connected to the cleaning body, the cleaning body is liftably connected to the robot main body through the at least one transmission part, and the driving mode is configured as any one of the following modes: the driving assembly can drive the cleaning body to extend relative to the robot main body through the at least one transmission part so as to keep the cleaning body attached to the surface to be cleaned; the driving component can drive the cleaning body to contract relative to the robot main body through the at least one transmission part so as to adapt to the surface to be cleaned; the driving component can drive the cleaning body to vibrate relative to the robot main body through the at least one transmission part.

3. The cleaning robot as claimed in claim 2, wherein the robot body includes a chassis, the chassis is provided with at least one sliding hole, the at least one sliding hole extends in a direction perpendicular to a plane of the chassis, the cleaning body is located on a side of the chassis adjacent to the surface to be cleaned, and the at least one transmission part is slidably engaged with the at least one sliding hole respectively.

4. The cleaning robot as claimed in claim 3, wherein the driving assembly includes at least one electromagnetic driver fixed to the chassis and disposed corresponding to the at least one sliding hole, respectively, the at least one electromagnetic driver driving the at least one transmission part by electromagnetic force.

5. The cleaning robot as claimed in claim 4, wherein the slide hole has a first end adjacent to the surface to be cleaned and a second end disposed opposite to the first end, a magnet is disposed on a side of the transmission portion adjacent to the second end, and the electromagnetic driver is fixed to the second end, and the electromagnetic driver applies an attractive force or a repulsive force to the magnet by an electromagnetic force.

6. The cleaning robot as claimed in claim 4, wherein a protrusion is provided on a side of the chassis facing away from the surface to be cleaned, the protrusion is provided with the slide hole, the electromagnetic driver includes a motor driving winding wound around the protrusion, the transmission portion includes a magnet cooperating with the motor driving winding, and the motor driving winding can drive the transmission portion to slide linearly along the slide hole via the magnet.

7. The cleaning robot as claimed in claim 2, wherein the cleaning body includes a bracket connected to the robot main body through the at least one transmission part, and a wiping member attached to a side of the bracket facing away from the robot main body.

8. The cleaning robot as claimed in claim 2, wherein the robot main body is provided with an inclined surface on a side close to the surface to be cleaned, the inclined surface having a first edge relatively close to the surface to be cleaned and a second edge relatively far from the surface to be cleaned, the cleaning body includes a rotation connecting portion provided opposite to the transmission portion, the rotation connecting portion being adjacent to the first edge and rotatably connecting the robot main body so that the cleaning body is rotatable relative to the robot to be far from or close to the second edge.

9. The cleaning robot of claim 8, comprising an elastic member elastically connecting the robot main body and the cleaning body, the elastic member applying an elastic force to the cleaning body away from the second edge.

10. The cleaning robot as claimed in any one of claims 1 to 9, wherein the control assembly includes a controller and a detector, the controller electrically connects the traveling mechanism, the detector and the driving assembly, the detector is configured to monitor a traveling state of the traveling mechanism and output a feedback signal to the controller, and the controller determines a driving mode of the driving assembly according to the feedback signal to adjust the cleaning mode of the cleaning assembly.

11. The cleaning robot as claimed in claim 10, wherein the detector includes a current collecting unit electrically connected to the traveling mechanism and an abnormality determining unit electrically connected to the current collecting unit, the current collecting unit is configured to collect a load current of the traveling mechanism, and the abnormality determining unit outputs an abnormality feedback signal to the controller when detecting that the load current exceeds a preset threshold.