CN214724257U - Cleaning robot - Google Patents

Abstract

The utility model relates to a cleaning robot, include: a body; the working head comprises a driving part and an eccentric motion plate positioned below the driving part, wherein the driving part comprises a driving shaft, the eccentric motion plate is connected to the driving shaft, a cleaning layer is arranged on the eccentric motion plate to execute preset cleaning work, the eccentric motion plate can be driven by the driving shaft to perform translation with fixed eccentricity in a plane perpendicular to the axis of the driving shaft, the rotating speed of the driving shaft is more than or equal to 1000r/min, and the mass of the driving part is more than or equal to 3 times of that of the eccentric motion plate. The reaction force of the friction force generated between the eccentric motion plate and the ground acts on the driving part above the eccentric motion plate, so that the effect that the vibration of the machine body is small even if the eccentric motion plate moves at high frequency can be achieved.

Description

Cleaning robot

Technical Field

The utility model relates to a cleaning device technical field especially relates to a cleaning robot.

Background

In order to improve the cleaning ability of the cleaning robot, some products with eccentrically moving working heads are on the market. The eccentric motion working head can cause the whole machine to vibrate along with the working head while improving the cleaning capability. That is to say, because the eccentric working head is installed on the cleaning robot, the vibration that the eccentric working head brought when working can make the complete machine follow the vibration, can influence the operation gesture and the navigation precision of robot, influence user experience.

Specifically, a related art cleaning robot 1 as shown in fig. 1 includes a body 101, a motor 102 movably disposed on the body 101, wherein an eccentric block 103 is fixed to a driving shaft of the motor 102, an eccentric moving plate 104 is fixed to the motor 102, the eccentric block 103 extends into a cavity 1041 on the eccentric moving plate 104, and a swinging foot 105 is further disposed on the body 101, and the swinging foot 105 is connected to the eccentric moving plate 104. When the cleaning robot 1 operates, the driving shaft of the motor 102 rotates, the eccentric motion block 103 rotates at a high speed, and the centrifugal force generated by the rotation moves the entire eccentric motion plate 104.

The above cleaning robot 1 has drawbacks in that: the frictional force caused by the movement of the eccentric moving plate 104 acts on the ground, which generates a reaction force that acts on the body 101. The eccentric motion plate 104 is unable to balance the ground reaction force, causing the whole machine to vibrate. In addition, since the reaction force generated from the floor may vary, the stroke of the eccentric moving plate 104 is varied, and the cleaning effect is unstable.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide an improved cleaning robot for solving the problem of vibration of the whole machine caused by the movement of the eccentric motion plate.

A cleaning robot, comprising: a body; the working head comprises a driving part and an eccentric motion plate positioned below the driving part, wherein the driving part comprises a driving shaft, the eccentric motion plate is connected to the driving shaft, a cleaning layer is arranged on the eccentric motion plate to execute preset cleaning work, the eccentric motion plate can be driven by the driving shaft to perform translation with fixed eccentricity in a plane perpendicular to the axis of the driving shaft, the rotating speed of the driving shaft is more than or equal to 1000r/min, and the mass of the driving part is more than or equal to 3 times of that of the eccentric motion plate.

According to the cleaning robot, the reaction force of the friction force generated by the eccentric motion plate and the ground acts on the driving part above the eccentric motion plate, so that on one hand, the effect that the vibration of the machine body is small even if the eccentric motion plate moves at high frequency can be achieved; on the other hand, the mass relation is realized by designing the weight distribution of the machine body, the mode of increasing the weight of the machine body is not needed, and the cleaning robot is miniaturized and lightened.

In one embodiment, the eccentric motion plate comprises a floor, and an eccentric bearing, wherein an outer ring of the eccentric bearing is fixed on the floor, an inner ring of the eccentric bearing is connected to the driving shaft, and an axis of the eccentric bearing is arranged eccentrically to an axis of the driving shaft.

In one embodiment, the cleaning robot further comprises a swing foot, the swing foot connects the mopping floor and the machine body, and the swing foot is a flexible member.

In one embodiment, the swing legs are respectively arranged on two sides of the axis of the driving shaft, and the swing legs on the two sides are symmetrically arranged.

In one embodiment, the floor is mopped with a resilient layer secured to the bottom of the floor, the resilient layer being capable of mounting the cleaning layer thereon.

In one embodiment, the eccentric motion plate further includes a weight fixed to the driving shaft, and a center of gravity of the weight and an axis of the eccentric bearing are located on both sides of the axis of the driving shaft, respectively.

In one embodiment, the balance weight comprises a first part and a second part connected with the first part, the first part is sleeved on the driving shaft, and the eccentric bearing is sleeved on the first part; the second part extends into the eccentric motion plate, and the gravity center of the second part and the axis of the eccentric bearing are respectively positioned at two sides of the axis of the driving shaft.

In one embodiment, the driving part comprises a driving mechanism and a transmission mechanism connecting the driving mechanism and the driving shaft.

In one embodiment, the driving mechanism is a motor, and an axis of the motor is arranged in parallel with an axis of the driving shaft.

In one embodiment, the cleaning robot further comprises a lifting mechanism and a flexible part, the lifting mechanism is connected with the working head and used for driving the working head to switch between a first position and a second position, the working head presses the flexible part on the machine body at the first position, and the working head removes pressure on the flexible part at the second position.

In one embodiment, the rotation speed of the driving shaft ranges from 1000r/min to 4000 r/min.

In one embodiment, the rotational speed of the drive shaft is 2500 r/min.

In one embodiment, the mass of the driving part is 400g-1200 g.

In one embodiment, the mass of the driving portion is 600 g.

Drawings

Fig. 1 is a schematic cross-sectional view of a cleaning robot in the related art.

Fig. 2 is a schematic view of an overall structure of the cleaning robot according to an embodiment of the present invention.

Fig. 3 is an installation diagram of an eccentric motion plate in a cleaning robot according to an embodiment of the present invention.

Fig. 4 is a partial sectional view of a cleaning robot according to an embodiment of the present invention.

Fig. 5 is a sectional view of an eccentric motion plate of a cleaning robot according to an embodiment of the present invention.

Fig. 6 is a schematic structural view of a cleaning robot according to another angle of the present invention.

Fig. 7 is an exploded view of a working head and a frame in the cleaning robot according to an embodiment of the present invention.

Fig. 8 is a schematic structural view illustrating a second operation of the working head of the cleaning robot according to an embodiment of the present invention.

Fig. 9 is a schematic structural view of a cleaning robot according to an embodiment of the present invention, in which a working head is in a working state.

The relevant elements in the figures are numbered correspondingly as follows:

1. a cleaning robot; 101. a body; 102. a motor; 103. an eccentric block; 104. an eccentric motion plate; 1041. a cavity; 105. swinging the feet;

100. a cleaning robot; 10. a body;

20. an eccentric motion plate; 210. mopping the floor; 220. an eccentric bearing; 230. an elastic layer; 240. a cleaning layer; 250. a counterbalance; 251. a first portion; 252. a second portion;

30. a drive section; 310. a drive shaft; 320. a drive mechanism; 321. an output shaft; 330. a transmission mechanism; 331. a bull gear; 332. a pinion gear;

40. swinging the feet; 561. a first running wheel; 562. a second road wheel;

60. a lifting mechanism; 70. a flexible member.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "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, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

As described in the background art, in the related art cleaning robot 1, the eccentric moving plate 104 is fixed with a mop for cleaning the floor. During the use process, the following are found: the frictional force caused when the eccentric moving plate 104 thereof moves acts on the ground, which generates a reaction force acting on the body 101. The eccentric motion plate 104 cannot balance the reaction force of the ground, thereby causing the whole machine to vibrate. The main problem of the above cleaning robot is essentially the contradiction between the cleaning effect of the eccentric motion plate and the vibration of the machine body. The frequency of movement of the eccentric motion plate is determined by the rotational speed of the drive shaft. The higher the motion frequency of the eccentric motion plate is, the more the eccentric motion plate contacts with the ground in unit time, the better the cleaning effect is, but the vibration of the frame is increased. In the related cleaning robot, the rotation speed of the driving shaft is usually not lower than 8000r/min (revolutions per minute) to ensure a certain cleaning effect. However, in the related art cleaning robot 1, in order to reduce the amplitude of the overall machine vibration, the eccentric amount of the eccentric mass 103 is designed to be very small, which in turn results in poor cleaning effect. Therefore, the contradiction and the mutual restriction between the motion frequency and the eccentric amount of the eccentric motion plate and the vibration of the machine body become a troublesome problem in the field.

The applicant has conducted studies in view of the above problems. The applicant found that: in the related art cleaning robot, the eccentric motion plate 104 is moved in a flat manner by a centrifugal force generated when the eccentric mass 103 rotates. The translation amplitude of the eccentric motion plate can change according to the load (ground resistance), when the ground resistance is large, the translation amplitude is small, and when the load is small, the translation amplitude is large. Because the motion stroke of the eccentric motion plate is unstable, a systematic solution is difficult to provide when researching how to solve the contradiction and the restriction between the motion frequency of the eccentric motion plate and the vibration of the machine body. Considering that the higher the moving frequency of the eccentric moving plate is, the higher the cleaning effect is. In order to solve the above technical problems, a conventional idea is to find a balance point between the motion frequency of the eccentric motion plate and the vibration of the machine body, so that the cleaning effect of the eccentric motion plate is still acceptable, and the vibration amount of the machine body is acceptable. In order to better solve the above technical problems, the applicant has conducted intensive studies on the cause of the vibration of the body. As described above, the machine body vibrates because a reaction force acts on the machine body. The applicant believes that vibration may be considered essentially to be the momentary movement of the body relative to the ground, with greater vibration meaning greater amounts of such momentary movement. According to the theory of physics, the magnitude of the instantaneous motion amount can be represented by the magnitude of the acceleration of the object. Therefore, in particular, in the cleaning robot, the larger the vibration of the body, the larger the acceleration of the body.

Based on the research discovery, the embodiment of the utility model provides a cleaning robot. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 2, fig. 2 illustrates an overall structure of the cleaning robot 100 according to an embodiment of the present invention. As shown in fig. 3, fig. 3 illustrates a cross-sectional view of the cleaning robot 100. The cleaning robot 100 includes a body 10, an eccentric motion plate 20, and a driving part 30, wherein the driving part 30 is mounted on the body 10, the driving part 30 includes a driving shaft 310 rotatable about its axis, and the eccentric motion plate 20 is connected to the driving shaft 310 and is driven by the driving shaft 310 to perform a translational motion. The eccentric moving plate 20 is used to mount a cleaning layer to perform a predetermined cleaning work, and the eccentric moving plate 20 and the driving part 30 constitute a working head capable of performing the cleaning work.

As shown in fig. 2 and 5, the eccentric motion plate 20 is driven by the drive shaft 310 to translate by a fixed eccentricity e in a plane perpendicular to the axis of the drive shaft 310. When the cleaning robot 100 works, the eccentric motion plate 20 translates in a plane parallel to the ground, specifically: each point on the eccentric motion plate 20 makes a circular motion with a radius e, that is, the motion locus of each point is a circle with a radius e. The axis X of the drive shaft 310 is then in the vertical direction. The driving shaft 310 may be an output shaft 321 of the driving mechanism 320 directly or arranged in the machine body 10, such as a motor shaft of a motor, or the driving shaft 310 may be connected with the output shaft 321 of the driving mechanism 320 through a transmission mechanism 330. Here, the specific implementation of the driving mechanism 320 and the transmission mechanism 330 is not limited as long as the driving shaft 310 can output a rotational motion.

It can be understood that, in the present embodiment, since the eccentric moving plate 20 performs the translation of the fixed eccentric amount e, the correspondence relationship between the moving frequency of the eccentric moving plate 20 and the vibration amount of the machine body 10 becomes relatively simple, and therefore it becomes relatively easy to reduce the acceleration of the machine body 10 and thus the vibration amount of the machine body 10. As previously analyzed, when the moving frequency of the eccentric moving plate 20 is increased, although the cleaning effect is increased, the vibration of the body 10 is increased.

In addition, as previously analyzed, the related art cleaning robot 1 has a small eccentricity amount, a small movement amplitude of the eccentric moving plate, and a poor cleaning effect in order to control the vibration. It will be appreciated that a greater amount of eccentricity should be used in order to ensure cleaning.

Therefore, further research on the phenomenon that the vibration increases as the movement frequency of the eccentric movement plate 20 is increased by the eccentric amount e with a larger fixed value shows that when the movement frequency of the eccentric movement plate 20 is increased until the rotation speed of the driving shaft 310 is greater than or equal to 1000r/min (hereinafter, referred to as high-frequency movement of the eccentric movement plate 20), the reaction force on the ground cannot change instantaneously, and the influence of the reaction force on the machine body 10 becomes smaller, so that the machine body 10 does not have an unexpected phenomenon that the vibration is larger and the operation is unstable. In addition, when the eccentric motion plate 20 moves at a high frequency, the time for the eccentric motion plate 20 to attach to the ground when reciprocating each time is reduced, and the resistance for the whole machine to move forward and backward is small, so that the movement of the machine is facilitated. The embodiment of the utility model provides an in, the eccentricity e can be 1mm (millimeter), is far more than the eccentricity 0.5mm among the correlation technique.

Therefore, in the embodiment of the present invention, the rotation speed of the driving shaft 310 is set to be greater than or equal to 1000r/min, so that the eccentric motion plate 20 moves at a high frequency, and thus the reaction force of the ground cannot change instantaneously, thereby reducing the vibration of the machine body 10.

However, as described above, the reaction force of the friction force generated between the eccentric motion plate 20 and the ground is applied to the machine body 10, and the working condition is not controllable in practice, so that the vibration becomes serious once it occurs. Therefore, it is necessary to ensure that the vibration of the body 10 is small when the eccentric motion plate 20 moves at high frequency, which is a key index when the eccentric motion plate 20 moves at high frequency.

Based on the aforementioned results of research, the applicant has therefore proposed to achieve the above-mentioned object by reducing the acceleration of the body 10 against the ground reaction force. It will be appreciated that the greater the mass of the article, the lower its acceleration of movement, with no change in force. When the eccentric motion plate 20 is located in the working system of the cleaning robot 100, the reaction force of the friction force generated between the eccentric motion plate 20 and the ground acts on the entire body 10, and the acceleration of the body 10 is smaller when the weight of the body 10 is larger than the mass of the eccentric motion plate 20, so that the vibration of the entire body 10 is reduced. Increasing the weight of the body may increase the power consumption of the cleaning robot 100 on the one hand; on the other hand, timing of eliminating the influence of the reaction force is important, and a later attenuation of the reaction force may cause local vibration of the body 10, resulting in failure to achieve the intended effect even if the weight is increased.

In this regard, the applicant has further studied that the reaction force of the friction force generated between the eccentric motion plate 20 and the ground acts on the entire machine body 10, but it acts mainly on the driving part 30 and is transmitted to the machine body 10 through the driving part 30. Therefore, in the embodiment of the present invention, the mass of the driving portion 30 is heavier rather than the entire body 10. The driving portion 30 serves as a direct and main stressed member, and the acceleration when the mass is larger is smaller, so that the influence of the ground reaction force can be directly weakened, and further, the acceleration of the whole body 10 is smaller, and the vibration is smaller. In concrete implementation, the mass of the driving portion 30 is set to be 3 times or more of the mass of the eccentric motion plate 20, and in this case, even if the eccentric motion plate 20 moves at a high frequency, the vibration of the machine body 10 is small.

In the cleaning robot 100, the reaction force of the friction force generated between the eccentric motion plate 20 and the floor is applied to the driving part 30, so that the vibration of the body 10 is reduced even if the eccentric motion plate 20 moves at a high frequency; on the other hand, it is advantageous to realize the above-described mass relationship by designing the weight distribution of the machine body 10 without simply adopting a method of increasing the weight of the machine body 10, and it is advantageous to realize the miniaturization and the weight reduction of the cleaning robot 100.

Preferably, the rotation speed of the driving shaft 310 ranges from 1000r/min to 4000 r/min. Preferably, the rotational speed of the drive shaft is 2500 r/min. Preferably, the mass of the driving part is 400g (g) to 1200 g. Preferably, the first and second electrodes are formed of a metal,

the mass of the drive portion is 600 g. Specifically, in some embodiments, as shown in fig. 4, the eccentric moving plate 20 includes a mop plate 210, and an eccentric bearing 220 having an outer ring fixed to the mop plate 210, wherein the inner ring of the eccentric bearing 220 is connected to a driving shaft 310, and an axis of the eccentric bearing 220 is eccentric to an axis of the driving shaft 310. As shown in fig. 2 and 5, the axes of the eccentrically disposed fingers both have an eccentricity e. When the driving shaft 310 rotates, the eccentric moving plate 20 is moved by the eccentric bearing 220.

The cleaning robot 100 further includes a swing foot 40, the swing foot 40 connects the mopping floor 210 and the machine body 10, and the swing foot 40 is a flexible member. As shown in fig. 1, two ends of the swing foot 40 are fixedly connected to the mop plate 210 and the machine body 10, respectively, and the connection manner is not limited, and for example, a bolt may be used for fixing connection. When the driving shaft 310 rotates, under the restriction of the eccentric bearing 220 and the swing foot 40, the eccentric moving plate 20 cannot rotate the axis of the driving shaft 310, but does a translational motion with an eccentric amount e as a radius, and each point on the eccentric moving plate 20 makes a circular motion with a radius e, that is, the motion track of each point is a circle with a radius e. Generally, when the eccentric amount e is 1mm, the length of the swing foot 40 is 30 mm. It should be noted that the length of the swing leg 40 may be different depending on the deformability of the swing leg 40.

Further, as shown in fig. 3, the swing legs 40 are respectively disposed on both sides of the axis of the driving shaft 310, and the swing legs 40 on both sides are symmetrically disposed. By providing the swing legs 40 at both sides of the driving shaft 310, both left and right sides of the eccentric motion plate 20 are stressed during the reciprocating motion of the eccentric motion plate 20, thereby making the operation more stable and facilitating the reduction of the vibration of the machine body 10.

As shown in FIG. 4, the elastic layer 230 is fixed to the bottom of the mopping plate 210 of the eccentric moving plate 20, and the cleaning layer 240 is fixed to the elastic layer 230. The cleaning layer 240 cleans the floor surface as the eccentric motion plate 20 translates. Preferably, the cleaning layer 240 is configured to be removable. When the cleaning layer 240 is attached to the elastic layer 230, the elastic layer 230 has elasticity, and when the cleaning layer 240 contacts the ground, the elastic layer 230 is deformed by compression, so that the reaction force of the ground can be buffered, which is beneficial to reducing the vibration of the machine body 10. In one example, the resilient layer 230 is a rubber pad and the cleaning layer 240 is a mop cloth, such as a cotton mop cloth. It is to be understood that the elastic layer 230 is not limited to a rubber pad, and the type of the cleaning layer 240 is not limited to a mop cloth.

As shown in fig. 4, the eccentric motion plate 20 further includes a weight 250 fixed to the driving shaft 310, and the center of gravity of the weight 250 and the axis of the eccentric bearing 220 are located at both sides of the axis of the driving shaft 310, respectively. That is, the vertical line passing through the center of gravity of the balance weight 250 and the axis of the eccentric bearing 220 are located on both sides of the axis of the drive shaft 310, and are offset in opposite directions with respect to the axis of the drive shaft 310. The balance weight 250 is utilized to compensate for the mass imbalance of the mop plate 210, the eccentric bearing 220, and the cleaning layer 240 of the elastic layer 230 when rotating around the axis of the eccentric bearing 220, which is beneficial to make the movement of the eccentric motion plate 20 smooth.

As shown in fig. 4, the weight 250 includes a first portion 251 and a second portion 252 connected to the first portion 251, and the first portion 251 and the second portion 252 are both hollow tubular portions. Wherein, the first part 251 is sleeved on the driving shaft 310, the gravity center of the first part 251 is firstly overlapped with the shaft of the driving shaft 310, and the eccentric bearing 220 is sleeved on the first part 251; the second portion 252 extends into the cavity of the eccentric motion plate 20, wherein the center of gravity of the second portion 251 and the axis of the eccentric bearing 220 are located on both sides of the axis of the driving shaft 310.

In some embodiments, the driving portion 30 includes a driving shaft 310, a driving mechanism 320, and a transmission mechanism 330 connecting the driving mechanism 320 and the driving shaft 310, and the driving mechanism 320 and the transmission mechanism 330 are located right above the eccentric moving plate 20. As illustrated in fig. 1 and 4, the driving mechanism 320 may be embodied as a motor, and the transmission mechanism 330 includes a large gear 331 and a small gear 332, wherein the small gear 332 is fixed to a motor shaft of the motor, and the large gear 331 is fixed to the driving shaft 310. In the cleaning robot 100, the mass of the driving mechanism 320 and the mass of the transmission mechanism 330 are both large elements, which is favorable for achieving the goal that the mass of the driving part 30 is 3 times or more the mass of the eccentric motion plate 20. The driving mechanism 320 and the transmission mechanism 330 are both disposed to be located right above the eccentric moving plate 20.

Further, in practical implementation, the driving mechanism 320 is a motor, and an axis Z of the motor is parallel to an axis of the driving shaft 310. Thus, as shown in fig. 4, along a plane perpendicular to the axis of the driving shaft 310, i.e., along the moving plane of the eccentric moving plate 20, the mass distribution of the driving part 30 is more uniform, and the cleaning robot 100 can more easily and smoothly walk while moving on the floor.

As shown in fig. 6, the bottom of the machine body 10 is further provided with a traveling mechanism, the traveling mechanism includes a first traveling wheel 561 and a second traveling wheel 562 on two sides of the eccentric motion disk 20, wherein the second traveling wheel 162 is a universal wheel.

As shown in fig. 7, in an embodiment, the eccentric motion plate 20 and the driving portion 30 form a working head capable of performing a cleaning operation and are connected to the machine body 10 in a relatively movable manner, and a flexible connecting member 60 is disposed between the working head and the machine body 10 for buffering the vibration caused to the machine body 10 when the eccentric motion plate 20 of the working head moves.

Specifically, the cleaning robot 1 further includes a lifting mechanism 70, where the lifting mechanism 70 is configured to drive the working head to switch between a first position (shown in fig. 8) and a second position (shown in fig. 9), where the working head presses the flexible member on the machine body to buffer the vibration caused to the machine body 10 when the eccentric motion plate 20 of the working head moves; in the second position, the working head removes pressure on the flexible member 60. The specific type of the lifting mechanism 70 is not limited, and may be a worm gear mechanism driven by a motor, a rack and pinion mechanism, or the like. In particular arrangements, the flexible member 60 may be attached to the machine body 10 or to the working head, such as to the drive section 30, and in particular to the drive mechanism 320, such as to the housing of the motor. The flexible member 60 may be provided in plural, such as a plurality of flexible members 60 provided around the driving portion 30.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (14)

1. A cleaning robot, characterized by comprising:

a body;

the working head comprises a driving part and an eccentric motion plate positioned below the driving part, wherein the driving part comprises a driving shaft, the eccentric motion plate is connected to the driving shaft, a cleaning layer is arranged on the eccentric motion plate to execute preset cleaning work, the eccentric motion plate can be driven by the driving shaft to perform translation with fixed eccentricity in a plane perpendicular to the axis of the driving shaft, the rotating speed of the driving shaft is more than or equal to 1000r/min, and the mass of the driving part is more than or equal to 3 times of that of the eccentric motion plate.

2. The cleaning robot as claimed in claim 1, wherein the eccentric moving plate includes a floor, an eccentric bearing having an outer race fixed to the floor, an inner race connected to the driving shaft, and an axis of the eccentric bearing being eccentric to an axis of the driving shaft.

3. The cleaning robot of claim 2, further comprising a swing foot connecting the mopping floor and the body, the swing foot being a flexible member.

4. The cleaning robot as claimed in claim 3, wherein the swing legs are provided at both sides of the axis of the driving shaft, respectively, and the swing legs at both sides are symmetrically provided.

5. The cleaning robot as claimed in claim 2, wherein an elastic layer is fixed to a bottom of the floor mopping plate, and the cleaning layer can be mounted on the elastic layer.

6. The cleaning robot according to claim 2, wherein the eccentric motion plate further includes a weight fixed to the drive shaft, and a center of gravity of the weight and an axis of the eccentric bearing are located on both sides of the axis of the drive shaft, respectively.

7. The cleaning robot of claim 6, wherein the counterweight includes a first portion, a second portion connected to the first portion, the first portion being nested over the drive shaft, the eccentric bearing being nested over the first portion; the second part extends into the eccentric motion plate, and the gravity center of the second part and the axis of the eccentric bearing are respectively positioned at two sides of the axis of the driving shaft.

8. The cleaning robot according to claim 1, wherein the driving portion includes a driving mechanism, and a transmission mechanism connecting the driving mechanism and the driving shaft.

9. The cleaning robot as claimed in claim 8, wherein the driving mechanism is a motor having an axis arranged in parallel with an axis of the driving shaft.

10. The cleaning robot as claimed in claim 1, further comprising a lifting mechanism and a flexible member, wherein the lifting mechanism is connected to the working head, the lifting mechanism is configured to drive the working head to switch between a first position and a second position, the first position presses the flexible member against the body, and the second position releases the pressure on the flexible member.

11. The cleaning robot of claim 1, wherein the drive shaft has a rotational speed in a range of 1000r/min to 4000 r/min.

12. The cleaning robot as claimed in claim 1, wherein the rotation speed of the driving shaft is 2500 r/min.

13. The cleaning robot according to claim 1, wherein the mass of the driving part is 400g to 1200 g.

14. The cleaning robot according to claim 13, wherein the mass of the driving portion is 600 g.

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