CN213606140U - Cleaning robot - Google Patents

Abstract

The embodiment of the application provides a cleaning robot, which comprises a robot body, wherein a power device is arranged on the robot body; the cleaning assembly is connected to the machine body and comprises a water tank, a driving mechanism and a support used for fixing the cleaning piece, the support is located below the water tank, the driving mechanism is located outside the water tank and connected with the power device, and the driving mechanism drives the support to reciprocate along at least one direction under the driving of the power device. The technical scheme of this application embodiment can avoid power device to be moistened by water, avoids the potential safety hazard, can simulate artifical mopping, can clean stubborn spot more effectively, improves and drags the effect of wiping, improves clean effect.

Description

Cleaning robot

Technical Field

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

Background

With the improvement of living standard and the continuous progress of science and technology, more and more intelligent household appliances walk in people's families, wherein, the cleaning robot is the intelligent household appliance which is more and more popular in recent years.

Currently, cleaning robots on the market are generally equipped with a water tank. The bottom of the water tank is coated with cleaning cloth which is used for cleaning the ground after being wetted by water. However, the cleaning effect of the conventional cleaning robot is not ideal.

SUMMERY OF THE UTILITY MODEL

Embodiments of the present application provide a cleaning robot to solve or alleviate one or more technical problems in the prior art.

As an aspect of an embodiment of the present application, an embodiment of the present application provides a cleaning robot including:

the machine body is provided with a power device;

the cleaning assembly is connected to the machine body and comprises a water tank, a driving mechanism and a support used for fixing the cleaning piece, the support is located below the water tank, the driving mechanism is located outside the water tank and connected with the power device, and the driving mechanism drives the support to reciprocate along at least one direction under the driving of the power device.

In a possible implementation manner, the driving mechanism comprises a driven rod and a reciprocating driving wheel, the reciprocating driving wheel is connected with an output shaft of the power device, the reciprocating driving wheel is connected with the driven rod, the support is connected with the driven rod, and the reciprocating driving wheel rotates under the driving of the power device to drive the driven rod to drive the support to move in a reciprocating mode.

In a possible implementation manner, the driven rod is arranged along a direction parallel to the output shaft, and the reciprocating driving wheel comprises an eccentric mechanism which is abutted against the driven rod, and the eccentric mechanism is driven by the power device to rotate so as to drive the driven rod to reciprocate in a direction vertical to the output shaft.

In a possible implementation manner, the driving mechanism further comprises a first elastic mechanism, the first elastic mechanism and the eccentric mechanism are respectively arranged at two opposite sides of the driven rod, and the driven rod moves back and forth under the combined action of the first elastic mechanism and the eccentric mechanism.

In a possible implementation mode, the reciprocating driving wheel comprises a cam, a curve groove surrounding a cam central shaft is formed in the side surface of the cam, a protruding portion is arranged on the driven rod and matched with the curve groove, the protruding portion is embedded in the curve groove, the cam is driven by the power device to rotate to enable the protruding portion to slide in the curve groove, and the driven rod is driven to move in a reciprocating mode in the direction parallel to the output shaft.

In a possible implementation manner, the cleaning robot further comprises a speed reducing mechanism and a quick connection mechanism, the quick connection mechanism comprises a first quick connection plug connected with an output shaft of the power device and a second quick connection plug connected with an input end of the speed reducing mechanism, the reciprocating driving wheel is connected with the output end of the speed reducing mechanism, and the power device drives the reciprocating driving wheel to rotate on a plane parallel to the support through the speed reducing mechanism so as to drive the driven rod to move in a reciprocating mode.

In one possible implementation mode, the driven rod comprises a first connecting rod and a second connecting rod, the reciprocating driving wheel is located between the first connecting rod and the second connecting rod, a second elastic mechanism is arranged between the first connecting rod and the second connecting rod, and the first connecting rod and the second connecting rod are close to or far away from each other under the combined action of the rotation of the reciprocating driving wheel and the second elastic mechanism.

In one possible implementation, a pressure mechanism for applying a downward force to the carriage is provided between the carriage and the machine body.

In a possible implementation manner, the cleaning robot further comprises a control module and a dirt detection device for detecting the dirt condition of the surface to be cleaned, the control module is electrically connected with the dirt detection device and electrically connected with the power device, and the control module controls the power device to work according to the detection value of the dirt detection device.

In one possible implementation, the bracket is detachably connected to the driven rod in a manner of floating up and down.

In a possible implementation mode, the cleaning assembly further comprises a water path plate located between the support and the water tank, the water path plate is communicated with the water tank, a plurality of water leaking ports are formed in one side, facing the support, of the water path plate, and a plurality of hollow-out structures are formed in the support.

By adopting the technical scheme, the embodiment of the application can realize the separation of the power device and the water tank, avoid the power device from being soaked by water in the water injection or water outlet process of the water tank and avoid potential safety hazards. The power device is separated from the water tank, the space of the water tank cannot be occupied, the size of the water tank is favorably reduced, the support can drive the cleaning piece to move back and forth on the surface to be cleaned, manual floor cleaning can be simulated, stubborn stains can be cleaned more effectively, the mopping effect is improved, and the cleaning effect is improved.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present application;

FIG. 2 is a schematic view of a portion of a cleaning robot according to an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view A-A of FIG. 1 in one embodiment;

FIG. 4 is a simplified illustration of a cleaning assembly in one embodiment;

FIG. 5 is an exploded view of a cleaning robot according to another embodiment of the present application;

FIG. 6 is a schematic cross-sectional view A-A of FIG. 1 in another embodiment;

FIG. 7 is a simplified view of another embodiment of a cleaning assembly;

fig. 8 is a schematic view showing an overall structure of a cleaning robot according to another embodiment of the present application;

FIG. 9 is a partially exploded schematic view of the cleaning robot of FIG. 8;

FIG. 10 is a schematic cross-sectional view of the B-B interface of FIG. 8;

FIG. 11 is an enlarged view of a portion of the structure of FIG. 9;

FIG. 12 is a schematic view of a cleaning assembly;

FIG. 13 is a schematic view of the separated structure of the water tank and the mop bracket;

fig. 14 is an exploded view of the cleaning assembly.

Description of reference numerals:

10. a whole machine main body; 11. a power plant; 12. a traveling device; 20. a cleaning assembly; 21. a water tank; 22. a drive mechanism; 221. a driven lever; 2211. a main body lever; 2212. a first fixed part; 2213. a second fixed part; 2214. a first link; 2215. a second link; 2216. a second elastic mechanism; 2217. perforating the pipe; 2218. a sliding post; 222. a reciprocating drive wheel; 23. a support; 24. a cleaning member; 25. a first elastic mechanism; 26. a water circuit board; 27. a pressure mechanism; 28. a slot structure; 30. a speed reduction mechanism; 31. a worm and gear mechanism; 32. a planetary gear mechanism; 40. a quick-connection mechanism; 41. a first fast-plug structure; 42. and a second fast-plug structure.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present application, fig. 2 is a partial structural view of the cleaning robot according to the embodiment of the present application, fig. 3 is a schematic sectional view taken along line a-a of fig. 1 in one embodiment, fig. 4 is a simplified view of a cleaning assembly in one embodiment, and a power unit is illustrated in fig. 4 for clarity. As shown in fig. 1 to 4, the cleaning robot may include a machine body 10 and a cleaning assembly 20. The machine body 10 is provided with a power unit 11. The cleaning assembly 20 is attached to the machine body 10. The cleaning assembly 20 may include a water tank 21, a drive mechanism 22, and a bracket 23. The holder 23 is used for holding cleaning elements 24, such as cleaning cloths or the like. The cleaning members 24 can clean the surface to be cleaned during travel of the cleaning robot. The bracket 23 is located below the water tank 21, and the driving mechanism 22 is located outside the water tank 21. The driving mechanism 22 is connected to the power device 11, and the driving mechanism 22 drives the bracket 23 to reciprocate along at least one direction under the driving of the power device 11.

In one embodiment, the power unit 11 may include electrical components, such as an electric motor or the like. The cleaning robot of this application embodiment, power device 11 sets up on machine body 10, and with the separation of water tank 21 phase, just so make cleaning robot's dry wet separation, avoided power device 11 to be wetted by the water in water tank 21 water injection or play water process, avoided the potential safety hazard. The power device 11 is separated from the water tank 21, so that the space of the water tank is not occupied, and the volume of the water tank is favorably reduced.

In the cleaning robot of the embodiment of the present application, the driving mechanism 22 drives the bracket 23 to reciprocate along at least one direction under the driving of the power device 11. The cleaning members 24 may be fixed at the bottom of the bracket 23 so that the cleaning members 24 can reciprocate in at least one direction along with the bracket 23. The cleaning piece 24 moves back and forth on the surface to be cleaned, so that manual floor wiping can be simulated, stubborn stains can be cleaned more effectively, the mopping effect is improved, and the cleaning effect is improved.

In one embodiment, the carriage 23 is reciprocally movable in at least one direction within a surface parallel to the surface to be cleaned under the drive of the drive mechanism 22. Therefore, no matter what the surface state of the cleaning robot is, the cleaning piece 24 can always move back and forth on the surface to be cleaned, so that the manual floor mopping is better simulated, and the cleaning effect is further improved.

In one embodiment, as shown in fig. 1 and 2, the water tank 21 may be located at an outer edge, such as a side surface, of the machine body 10. Thus, the separation of the water tank 21 from the machine body 10 and the filling of the water tank 21 can be facilitated.

In one embodiment, as shown in FIG. 2, the cleaning members 24 are removably secured to the frame 23. The cleaning member 24 may be attached to the bottom of the bracket 23 by a hook and loop fastener, or the cleaning member 24 may be fixed to the bottom of the bracket 23 by an elastic clip. Thus, after the cleaning members 24 have been in operation for a period of time, the cleaning members 24 can be removed and the cleaning members 24 cleaned.

In one embodiment, as shown in FIG. 2, the drive mechanism 22 may include a driven shaft 221 and a reciprocating drive wheel 222. The reciprocating drive wheel 222 may be coupled to an output shaft of the power unit 11. The reciprocating drive wheel 222 is connected to the driven rod 221. The reciprocating driving wheel 222 is driven by the power device 11 to rotate, so as to drive the driven rod 221 to reciprocate, and the bracket 23 is driven to reciprocate along at least one direction.

The driving mechanism is simple in structure, easy to implement, small in occupied space and beneficial to achieving miniaturization of the cleaning robot.

In one embodiment, as shown in fig. 3 and 4, the driven lever 221 is disposed in a direction parallel to the output shaft of the power unit 11, and the driven lever 221 is located above the bracket 23.

The reciprocating drive wheel 222 may include an eccentric mechanism 2221, such as an eccentric. As shown in fig. 3 and 4, the eccentric mechanism abuts on the driven lever 221. That is, the eccentric surface of the eccentric mechanism abuts against one side surface of the driven lever 221. The eccentric mechanism is rotated by the power unit 11, and thus, the eccentric surface of the eccentric mechanism may periodically push the driven rod 221 so that the driven rod 221 may reciprocate in a direction perpendicular to the output shaft of the power unit 11.

With such a structure, both the eccentric mechanism and the driven rod 221 can be made into a part with a smaller volume, so that the whole volume of the driving mechanism is ensured to be smaller, and the cleaning robot is favorably miniaturized. In addition, the driven rod and the eccentric mechanism such as an eccentric wheel are common mechanical parts, the manufacturing process is simple, the cost is low, and the cost of the cleaning robot is reduced.

As will be appreciated by those skilled in the art, the eccentric mechanism has a periodic variation in the eccentric surface trajectory during rotation.

In one embodiment, as shown in fig. 4, the driving mechanism may further include a first elastic mechanism 25, and the first elastic mechanism 25 and the eccentric mechanism 2221 are respectively disposed at opposite sides of the driven lever 221. The eccentric mechanism 2221 may generate a thrust force of the eccentric surface of the eccentric mechanism 2221 toward the side of the first elastic mechanism 25 toward the driven lever 221 in the last half period during rotation, so that the driven lever 221 moves toward the side of the first elastic mechanism 25. The first elastic mechanism 25 is compressed by the driven lever 221, and generates a thrust force toward the eccentric mechanism 2221 with respect to the driven lever 221. When the eccentric mechanism 2221 rotates to the next half period, the first elastic mechanism 25 may push the driven lever 221 to move toward the side of the eccentric mechanism 2221, and so on. Thus, the driven lever 221 is reciprocated by the cooperation of the first elastic mechanism 25 and the eccentric mechanism 2221, and the reciprocating movement of the driven lever 221 between the eccentric mechanism 2221 and the first elastic mechanism 25 is realized.

When the driven lever 221 moves toward the first elastic mechanism 25 side by the eccentric mechanism 2221 during the movement of the driven lever 221 between the eccentric mechanism 2221 and the first elastic mechanism 25, the first elastic mechanism 25 generates a reaction force to the driven lever 221 in a direction opposite to the movement direction; when the driven lever 221 is moved toward the eccentric mechanism 2221 side by the first elastic mechanism 25, since the eccentric surface of the eccentric mechanism 2221 is always in abutment with the surface of the driven lever 221, the eccentric mechanism 2221 generates a supporting force against the driven lever 221 in the moving direction. By the aid of the mechanism, the driven rod 221 can always bear acting forces in two opposite directions, stability of the driven rod 221 in the reciprocating process is guaranteed, loosening of the driven rod 221 in the reciprocating process is avoided, and cleaning effect is improved.

In one embodiment, as shown in fig. 4, the number of the first elastic mechanisms 25 may be multiple, for example, 2 or 4, and the specific number may be determined according to actual needs. The plurality of first elastic mechanisms 25 can be distributed at the two opposite ends of the driven rod 221, so that the driven rod is stably stressed.

Exemplarily, the first elastic mechanism 25 may include a spring, and the number of the first elastic mechanism 25 is 4.

For example, as shown in fig. 3, the cleaning robot may include a traveling mechanism 12 located at the bottom of the machine body 10, the traveling mechanism 12 being used to drive the machine body 10 to move on the surface to be cleaned, so as to realize the cleaning of the surface to be cleaned by the cleaning assembly. The bracket 23 is located on the front or rear side of the traveling mechanism 12.

In one embodiment, as shown in FIG. 4, the driven lever 221 is disposed along the length of the carriage 23. Therefore, the driven rod 221 can drive the bracket 23 in a longer length in the reciprocating movement process, so that the stress uniformity of the bracket 23 in the length direction is improved, the bracket is prevented from deviating in the reciprocating movement process, the supporting and wiping uniformity of the cleaning piece is improved, and the supporting and wiping effect is further improved.

In one embodiment, as shown in fig. 4, the driven lever 221 may include a main body lever 2211 and first and second fixing portions 2212 and 2213 at both ends of the main body lever 2211. The first fixing portion 2212 and the second fixing portion 2213 are fixed to both ends of the main body bar 2211, respectively. The first fixing portion 2212 is fixed to an end of the main body rod 2211 close to the eccentric mechanism 2221, and the second fixing portion 2213 is fixed to an end far from the eccentric mechanism 2221. The eccentric mechanism 2221 abuts against a surface of the first fixing portion 2212.

In one embodiment, the support 23 is removably attached to the driven shaft 221 so as to float up and down. The bracket 13 is connected to the driven rod 221 in a vertically floating manner, so that the bracket 13 can float upwards according to the concave-convex condition of the surface to be cleaned in the supporting and wiping process, and has a good obstacle crossing function, so that the cleaning piece can always contact with the surface to be cleaned, a non-contact area is avoided, the supporting and wiping uniformity is improved, and the supporting and wiping effect is improved.

Illustratively, the bracket 13 may be connected to the driven rod 221 by a hook structure that is slidable up and down. In one embodiment, the driven rod 221 may have a vertical sliding slot, and the bracket 13 may have a hook adapted to the sliding slot, the hook being locked in the sliding slot, and the hook being capable of sliding up and down in the sliding slot. For example, the first fixing portion 2212 and the second fixing portion 2213 may be provided with vertical sliding grooves, respectively. The bracket 13 is provided with a hook matched with the chute, and the hook is clamped in the chute and can slide up and down in the chute.

The holder 23 is detachably attached to the driven lever 221, so that the holder 23 can be easily detached for immediate cleaning of the cleaning member.

It will be understood by those skilled in the art that the bracket 23 is connected to the driven rod 221 so as to be able to float up and down, and is not limited to a hook and groove structure. In other embodiments, a pipe through hole may be formed in the driven rod, a sliding rod adapted to the through hole may be disposed on the bracket, the sliding rod may penetrate through the through hole, a hook may be disposed at an upper end of the sliding rod to prevent the bracket from falling off, and the sliding rod may move up and down in the through hole when the bracket floats up and down.

Fig. 5 is an exploded view schematically illustrating a cleaning robot according to another embodiment of the present application, fig. 6 is a sectional view taken along line a-a of fig. 1 in another embodiment, and fig. 7 is a simplified view illustrating a cleaning assembly in another embodiment, and fig. 7 illustrates a power unit for better clarity.

In one embodiment, as shown in fig. 7, the reciprocating drive wheel 222 may include a cam 2222. The cam 2222 has a side surface formed with a curved groove 2223, and the curved groove 2223 is disposed around a central axis of the cam 2222. The driven lever 221 is provided with a projection (not shown in the drawings). The projection fits into the curved slot 2223. The projection is embedded in the curved groove 2223. The cam 2222 is rotated by the power unit 11 so that the projection slides in the curved groove 2223, driving the driven lever 221 to reciprocate in a direction parallel to the output shaft of the power unit.

By the aid of the driving mechanism, the support 23 can move in a reciprocating mode in the length direction parallel to the support 23, so that the support 23 can drive the cleaning piece to move in a reciprocating mode in the length direction parallel to the support 23, the surface to be cleaned can be wiped in a reciprocating mode in the other direction, and the wiping effect is improved.

The driving mechanism of the embodiment of the application has the advantages of simple structure, easiness in realization and cost reduction.

Those skilled in the art will appreciate that in other embodiments, other arrangements may be used such as a lead screw and nut arrangement to drive the driven rod to reciprocate parallel to the length of the carriage 23. The power device can be a screw rod motor, a nut is sleeved on the screw rod and fixed on the driven rod, and the reciprocating movement of the driven rod is driven through the forward and reverse rotation of the screw rod motor.

In one embodiment, as shown in fig. 2 and 5, the cleaning assembly 20 may also include a circuit board 26. The waterway plate 26 is positioned between the bracket 23 and the tank 21, and the waterway plate 26 may have a flat plate shape parallel to the bracket 23. The side of the waterway plate 26 facing the water tank 21 is communicated with the water tank 21, and the side of the waterway plate 25 facing the bracket 23 is provided with a plurality of water leakage ports. Therefore, the cleaning water in the water tank 21 can flow into the water path plate 26 and wet the cleaning member 24 through the water leaking port, so that the cleaning member 24 is in a wet state, and the wiping effect of the cleaning member is improved.

Through setting up the water route board to set up a plurality of mouths that leak on water route board orientation support side surface, can make the cleaning water evenly drip to the cleaning member, make the cleaning member can be soaked by lasting even, further improve and hold in the palm the effect of wiping.

In one embodiment, the plurality of weep holes are evenly distributed on the surface of the waterway plate 25 on the side facing the support.

In one embodiment, as shown in figures 4 and 7, the support 23 is of a plate-like configuration, and the support 23 is adapted to press the cleaning elements against the surface to be cleaned under the influence of gravity. The bracket 23 is provided with a plurality of hollow structures. By the aid of the support, cleaning water dripped by the water path plate can drip onto the cleaning piece through the hollow part, and the cleaning piece is wetted. In addition, the hollow structure can reduce the gravity of the bracket 23, reduce the weight of the whole machine and facilitate the realization of light weight of the cleaning robot. In addition, the hollow structure is arranged, so that air can conveniently enter the cleaning piece through the hollow structure, and the cleaning piece is prevented from being adsorbed on the surface to be cleaned in the supporting and wiping process.

Exemplarily, the hollow structure may be a strip-shaped hollow, and the plurality of strip-shaped hollows are uniformly distributed.

In one embodiment, as shown in fig. 4 and 7, the cleaning assembly may further include a pressure mechanism 27, and the pressure mechanism 27 may be disposed between the carriage 23 and the machine body. The pressure mechanism 27 is arranged to apply a downward force to the support 23, thereby increasing the friction between the cleaning elements and the surface to be cleaned and improving the wiping effect.

Illustratively, the pressure mechanism 27 may include a pressure spring. The cleaning piece can always apply downward acting force to the support along with the concave-convex state of the surface to be cleaned in the up-and-down floating process, so that the friction force between the cleaning piece and the surface to be cleaned can be increased, the stability of the support can be kept, the support is prevented from jumping up and down on the convex surface, and the supporting and wiping uniformity and the supporting and wiping effect are further improved.

Illustratively, the pressure spring may be a constant pressure spring, and the number of the constant pressure springs may be 2. In the process of supporting and wiping the surface to be cleaned, the constant-pressure spring can continuously provide stable pressure for the bracket, and the dirt supporting and wiping capability is improved.

Fig. 8 is a schematic overall structure view of a cleaning robot according to another embodiment of the present application, fig. 9 is a partially exploded structure view of the cleaning robot shown in fig. 8, fig. 10 is a schematic sectional structure view of B-B in fig. 8, and fig. 11 is an enlarged view of a portion of the structure shown in fig. 9.

In one embodiment, as shown in fig. 8, 9 and 10, the driving mechanism may further include a speed reduction mechanism 30 and a quick-connect mechanism 40. The quick-connect mechanism 40 includes a first quick-connect structure 41 and a second quick-connect structure 42. The first quick-insertion structure 41 is connected with an output shaft of the power unit 11. The reduction mechanism 30 includes an input end and an output end. The second quick-insertion structure 42 is connected to the input end of the reduction mechanism 30. The first quick-insertion structure 41 and the second quick-insertion structure 42 are connected in a quick-insertion manner, so that the speed reduction mechanism 30 is connected to the power unit 11.

The reciprocating driving wheel 222 is connected with the output end of the speed reducing mechanism 30, and the reciprocating driving wheel 222 is connected with the output shaft of the power device 11 through the speed reducing mechanism 30. Thus, the power unit 11 drives the reciprocating drive wheel 222 to rotate on a plane parallel to the support 23 through the speed reduction mechanism 30 to drive the driven rod to reciprocate.

Such actuating mechanism, first insert structure 41 and second fast and insert the structure 42 fast and insert the connection, not only can realize the transmission of moment of torsion, insert structure 41 and second fast moreover and insert the structure 42 fast and insert the connection, easy dismouting has made things convenient for the separation of clean subassembly and machine body, has made things convenient for the maintenance.

In addition, the reciprocating driving wheel 222 is connected with the power device 11 through the speed reducing mechanism 30, and the speed reducing mechanism 30 can change the power transmission direction, so that the power device 11 and the reciprocating driving wheel 222 are convenient to install, the compact layout of the cleaning robot is facilitated, and the miniaturization of the cleaning robot is facilitated.

In one embodiment, as shown in fig. 8, 9 and 10, a through groove structure 28 is provided at an intermediate position of the water tank 21, and the speed reduction mechanism 30 is provided in the groove structure 28. The power device 11 is arranged on the machine body 10, the first fast inserting structure 41 is sleeved on an output shaft of the power device 11, the second fast inserting structure 42 is sleeved on an input end of the speed reducing mechanism 30, and the first fast inserting structure 41 and the second fast inserting structure 42 are connected in an inserting mode.

For example, as shown in fig. 11, the first quick-plug structure 41 may be a male plug, and the second quick-plug structure 42 may be a female plug. The first quick-insertion structure 41 may be provided with a plurality of teeth 411 on an outer surface thereof, as shown in fig. 11, the plurality of teeth 411 being evenly arranged around the output shaft of the power unit 11. The shape of the second fast inserting structure 42 is matched with that of the first fast inserting structure 41, and the second fast inserting structure 42 is provided with a groove matched with the convex tooth 411. After the first quick-connect connector 41 and the second quick-connect connector 42 are plugged, the convex teeth 411 are matched with the grooves.

Illustratively, the protruding teeth 411 may be spiral curved protruding teeth, so that the first fast inserting structure 41 and the second fast inserting structure 42 may be matched with a spiral curved surface, which is beneficial to the transmission of torque and is convenient for disassembly and assembly.

In one embodiment, as shown in fig. 11, the reduction mechanism 30 may include a primary worm gear mechanism 31 and a secondary planetary gear mechanism 32. Thus, the reduction mechanism 30 includes two stages of reduction, and the two reduction modules can achieve a large reduction ratio while occupying a small volume. The reciprocating drive wheel 222 is mounted on the output shaft of the secondary planetary gear mechanism. As shown in fig. 9, the power unit is horizontally disposed on the machine body. In the embodiment of the present application, the speed reduction mechanism 30 employs two-stage speed reduction, and the output direction of the motor can be adjusted vertically by a horizontal adjustment, so that the reciprocating driving wheel can rotate on a plane parallel to the support, and the two-stage speed reduction is employed, which is more favorable for adjusting a suitable speed reduction ratio.

In one embodiment, the power means may comprise a reduction motor, whereby the reduction mechanism may comprise a one-stage worm gear mechanism or a one-stage bevel gear mechanism, allowing for a two-stage reduction between the motor and the reciprocating drive wheel.

Fig. 12 is a schematic structural view of the cleaning assembly, fig. 13 is a schematic structural view of a separation structure of the water tank and the bracket, and fig. 14 is a schematic structural view of an exploded cleaning assembly. In one embodiment, as shown in fig. 12, 13 and 14, the driven link 221 may include a first link 2214 and a second link 2215, the first link 2214 and the second link 2215 being located on opposite sides of the reciprocating drive wheel 221, respectively, that is, the reciprocating drive wheel 221 is located between the first link 2214 and the second link 2215. A second elastic mechanism 2216 is connected between the first link 2214 and the second link 2215. The first link 2214 and the second link 2215 approach each other by the pulling action of the second elastic mechanism 2216. The power device drives the reciprocating driving wheel 221 to rotate through the speed reducing mechanism 30, and during the rotation process, the reciprocating driving wheel 221 applies a horizontal acting force to the first link 2214 or the second link 2215, so that the first link 2214 and the second link 2215 are away from each other. For example, the reciprocating driving wheel 221 drives the first link 2214 and the second link 2215 away from each other in the first half period, and the first link 2214 and the second link 2215 approach each other under the pulling action of the second elastic mechanism 2216 in the second half period of the reciprocating driving wheel 221. Therefore, the first link 2214 and the second link 2215 move closer to or away from each other under the combined action of the rotation of the reciprocating driving wheel and the second elastic mechanism, so as to drive the support to reciprocate.

For example, the second elastic mechanisms may be tension springs, and the number of the second elastic mechanisms may be 2, and 2 second elastic mechanisms are respectively disposed at opposite sides of the reciprocating driving wheel 221. Thereby, the pulling force between the first connecting rod and the second connecting rod is uniform. The extension spring not only can provide pulling force, and the length of extension spring can be along with the distance change between first connecting rod and the second connecting rod moreover, and easy assembly is low cost.

In the embodiment of the application, the support can be detachably connected to the first connecting rod or the second connecting rod in a vertically floating manner. Illustratively, as shown in fig. 14, the stent may include a first sub-stent 231 and a second sub-stent 232. The first sub-frame 231 is provided with a first sliding column 2218 and a second sliding column 2219, and the second sub-frame 232 is provided with a third sliding column 2231 and a fourth sliding column 2232. The first 2218, the second 2219, the third 2231 and the fourth 2232 sliding columns each comprise two thin-walled shells separated from each other, barbs are respectively arranged at the upper ends of the four sliding columns, and the four sliding columns each have certain elasticity. One end of the first link 2214 is provided with a first through hole 2217, and the first link 2214 is provided with a strip-shaped through hole. One end of the first link 2215 is provided with a second through hole. The first sliding column 2218 is matched with the first through hole 2217, the second sliding column 2219 and the fourth sliding column 2232 are matched with the strip-shaped through holes, and the third sliding column 2231 is matched with the second through holes. The sliding column can be inserted into the corresponding through hole, and the barb of the sliding column can hook the upper end of the through hole to prevent the support from falling off. The sliding columns can slide up and down in the corresponding through holes, so that the first support can be connected to the first sub-connecting rod in a vertically floating mode, and the second sub-support can be connected to the first sub-connecting rod and the second sub-connecting rod in a vertically floating mode.

As shown in fig. 14, in the process that the first link 2214 and the second link 2215 are far away from each other, the first link 2214 drives the first sub-bracket 231 to move leftward, and the second link 2215 drives the second sub-bracket 232 to move rightward; when the first link 2214 and the second link 2215 approach each other, the first link 2214 drives the first sub-mount 231 to move rightward, and the second link 2215 drives the second sub-mount 232 to move leftward. Thereby, the reciprocating movement of the first sub-mount 231 and the reciprocating movement of the second sub-mount 232 are achieved. The bar-shaped through hole formed in the first link 2214 can support and guide the second sliding column 2219 and the fourth sliding column 2232, so as to realize the reciprocating movement of the second sub-bracket 232.

In this structure, the cleaning member may be provided in two pieces, one of which is fixed to the bottom of the first sub-frame 231 and the other of which is fixed to the bottom of the second sub-frame 232. The two cleaning pieces move back and forth together, so that the surface to be cleaned can be cleaned together, and the cleaning effect is further improved.

Those skilled in the art will appreciate that in other embodiments, the bracket can be coupled to the first link and/or the second link in other ways, for example, the bracket can be coupled to the first link, or the bracket can be coupled to the second link, as long as the reciprocating movement of the bracket can be achieved during the approaching and departing of the first link 2214 and the second link 2215.

When the support needs to be detached, pressure towards the center of the sliding column can be applied to the two thin-walled shells of the sliding column 2218, so that the sliding column 2218 is separated from the tube through hole 2217, and the support is detachably connected with the driven rod.

In one embodiment, the cleaning robot may further include a contamination detection device and a control module. The contamination detection means may detect a contamination condition of the surface to be cleaned. The contamination detection device may be electrically connected to the control module. The control module is electrically connected with the power device and can control the work of the power device. The control module controls the power device to work according to the detection value of the dirt detection device. Illustratively, when the dirt value of the surface to be cleaned detected by the dirt detection device is higher than a first threshold value, the control module controls the power device to work, and the power device drives the support to move back and forth in one direction through the driving mechanism. When the dirt value of the surface to be cleaned, which is detected by the dirt detection device, is lower than a first threshold value, the control module controls the power device to stop working, so that the support does not move back and forth any more.

By the arrangement mode, the cleaning robot can be switched between the reciprocating mopping mode and the common mopping mode according to the household environment or the dirty condition of the surface to be cleaned, and the utilization efficiency of the cleaning robot is improved. The cleaning robot of this application embodiment, reciprocating motion mops ground mode and ordinary mopping ground mode and can share a water tank, compares in the scheme that two kinds of modes in prior art configured two sets of water tanks, and reduce cost by a wide margin has improved cleaning robot's intellectuality, has improved user experience.

In the above embodiment, the driving mechanism employs the reciprocating driving wheel to realize the reciprocating movement of the driven rod. Those skilled in the art will appreciate that the reciprocating motion may be achieved with more than a reciprocating drive wheel. In other embodiments, a cam mechanism, for example, may be used to reciprocate the carriage.

Other configurations of the driving mechanism for driving the support to reciprocate in at least one direction according to the above embodiments can be adopted in various technical solutions known to those skilled in the art now and in the future, and will not be described in detail herein.

In the description of the present specification, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (11)

1. A cleaning robot, characterized by comprising:

the machine comprises a machine body, wherein a power device is arranged on the machine body;

the cleaning assembly is connected on the machine body and comprises a water tank, a driving mechanism and a support used for fixing a cleaning piece, the support is located below the water tank, the driving mechanism is located outside the water tank, the driving mechanism is connected with the power device, and the driving mechanism drives the support to reciprocate along at least one direction under the driving of the power device.

2. The cleaning robot as claimed in claim 1, wherein the driving mechanism includes a driven rod and a reciprocating driving wheel, the reciprocating driving wheel is connected to an output shaft of the power unit, the reciprocating driving wheel is connected to the driven rod, the support is connected to the driven rod, and the reciprocating driving wheel is rotated by the power unit to drive the driven rod to drive the support to reciprocate.

3. The cleaning robot as claimed in claim 2, wherein the driven lever is disposed in a direction parallel to the output shaft, and the reciprocating drive wheel includes an eccentric mechanism abutting against the driven lever, the eccentric mechanism being rotated by the power unit to drive the driven lever to reciprocate in a direction perpendicular to the output shaft.

4. The cleaning robot as claimed in claim 3, wherein the driving mechanism further includes a first elastic mechanism, the first elastic mechanism and the eccentric mechanism being disposed at opposite sides of the driven lever, respectively, the driven lever being reciprocated by the cooperation of the first elastic mechanism and the eccentric mechanism.

5. The cleaning robot as claimed in claim 2, wherein the reciprocating driving wheel includes a cam, a curved groove is formed on a side surface of the cam around a central axis of the cam, a protrusion is disposed on the driven rod, the protrusion fits the curved groove, the protrusion is embedded in the curved groove, and the cam is driven by the power device to rotate so that the protrusion slides in the curved groove to drive the driven rod to reciprocate in a direction parallel to the output shaft.

6. The cleaning robot as claimed in claim 2, further comprising a speed reducing mechanism and a quick-coupling mechanism, wherein the quick-coupling mechanism comprises a first quick-coupling head connected with an output shaft of the power device and a second quick-coupling head connected with an input end of the speed reducing mechanism, the reciprocating driving wheel is connected with the output end of the speed reducing mechanism, and the power device drives the reciprocating driving wheel to rotate on a plane parallel to the bracket through the speed reducing mechanism so as to drive the driven rod to reciprocate.

7. The cleaning robot as claimed in claim 6, wherein the driven link includes a first link and a second link, the reciprocating drive wheel is located between the first link and the second link, a second elastic mechanism is provided between the first link and the second link, and the first link and the second link come close to or come away from each other by a combined action of the rotation of the reciprocating drive wheel and the second elastic mechanism.

8. The cleaning robot according to any one of claims 1 to 7, wherein a pressure mechanism for applying a downward force to the holder is provided between the holder and the machine body.

9. The cleaning robot as claimed in any one of claims 1 to 7, further comprising a control module and a dirt detection device for detecting a dirt condition of a surface to be cleaned, wherein the control module is electrically connected with the dirt detection device, the control module is electrically connected with the power device, and the control module controls the power device to operate according to a detection value of the dirt detection device.

10. The cleaning robot as claimed in any one of claims 1 to 7, wherein the holder is detachably attached to the follower lever to be floatable up and down.

11. The cleaning robot as claimed in any one of claims 1 to 7, wherein the cleaning assembly further comprises a waterway plate located between the support and the water tank, the waterway plate is communicated with the water tank, a side of the waterway plate facing the support is provided with a plurality of drainage holes, and the support is provided with a plurality of hollowed-out structures.

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