CN217610851U

CN217610851U - Cleaning robot, swing subassembly

Info

Publication number: CN217610851U
Application number: CN202220828126.8U
Authority: CN
Inventors: 毕金廷; 班永; 王箭; 黄竹生
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2022-10-21
Anticipated expiration: 2032-04-11

Abstract

The present disclosure relates to a cleaning robot, swing assembly, the cleaning robot comprising a body, a swing mechanism comprising a movable cleaner having an initial position and a edgewise position; when the movable cleaner is located at the initial position, the edge of the movable cleaner is located in the largest edge of the machine body, and when the movable cleaner is located at the edgewise position, at least part of the edge of the movable cleaner is located outside the largest edge of the machine body; a drive mechanism configured to drive the swing mechanism to move the movable cleaner from the edgewise position to the initial position; when the drive mechanism is disengaged from the swing mechanism, the movable cleaner is configured to move to the edgewise position under the urging force of the elastic portion. The cleaning robot can realize comprehensive cleaning during cleaning work, and the working efficiency of the cleaning robot is improved.

Description

Cleaning robot, swing subassembly

Technical Field

The present disclosure relates to the field of cleaning, and more particularly, to a cleaning robot; the present disclosure also relates to a swing assembly.

Background

The cleaning robot is one kind of intelligent household cleaning appliance, and can complete the cleaning, dust collecting and floor wiping work automatically. Depending on the function of the application, there are a vacuum robot, a floor mopping robot, and a robot with integrated suction and suction. With the progress of scientific technology and the improvement of life quality of people, the cleaning robot has come into more and more people's lives.

At present, the cleaning coverage of cleaning robots on the market is limited, and it is difficult to achieve the problem of overall cleaning work, and if the cleaning module is designed to protrude from the product shape, although the problem of overall cleaning can be solved, the cleaning robot is trapped by touching obstacles during operation, and therefore a solution to the above problem is needed.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a cleaning robot, a swing assembly, for solving the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a cleaning robot including:

a body;

a swing mechanism including a movable cleaner having an initial position and a edgewise position; when the movable cleaner is located at the initial position, the edge of the movable cleaner is located in the largest edge of the machine body, and when the movable cleaner is located at the edgewise position, at least part of the edge of the movable cleaner is located outside the largest edge of the machine body;

a drive mechanism configured to drive the swing mechanism to move the movable cleaner from the edgewise position to the initial position;

when the drive mechanism is disengaged from the swing mechanism, the movable cleaner is configured to move to the edgewise position under the urging force of the elastic portion, and to move in a direction from the edgewise position to the initial position under the influence of an external force.

In one embodiment of the present disclosure, the swing mechanism further includes a swing portion, one end of the swing portion is rotatably connected with the machine body, and the other end of the swing portion is fixed with the movable cleaner; the swing portion is configured to swing the movable cleaner with respect to the body.

In one embodiment of the present disclosure, the elastic portion is disposed between the swing mechanism and the body, and is configured to drive the swing portion to move in a direction of the edgewise position under an own elastic force.

In one embodiment of the present disclosure, the output end of the driving mechanism is provided with a driving member configured to push the swing mechanism to move the movable cleaner from the edgewise position to the initial position.

In one embodiment of the present disclosure, a flange is provided on the movable cleaner for cooperating with the driving member; the driving piece is configured to push the flange to move towards the initial position or disengage from the flange during rotation.

In one embodiment of the disclosure, the movable cleaner comprises a gearbox arranged on the swinging part, a swabbing disc connected to the output end of the gearbox, and a rotating motor connected with the input end of the gearbox; the flange is provided on an outer wall of the transmission case or the rotary electric machine.

In one embodiment of the present disclosure, the driving mechanism is a driving motor mounted on the machine body, and a rotation axis of the driving motor is coaxial with a rotation axis of the swinging portion.

In one embodiment of the present disclosure, the body is provided with a swing rail configured to be guided and fitted with the swing mechanism.

In one embodiment of the present disclosure, the swing rail is a through hole provided on the body; the movable cleaner comprises a rotating shaft which is rotatably connected to the swinging part, and a wiping disc which is fixed on the rotating shaft; the rotating shaft penetrates through the through hole and is matched with the through hole in a guiding mode.

In one embodiment of the present disclosure, the swing track has two opposite ends, which are respectively referred to as an initial end and a marginal end; when the rotating shaft is located at the initial end, the movable cleaner is located at the initial position, and when the rotating shaft is located at the edge end, the movable cleaner is located at the edge position.

In one embodiment of the present disclosure, at least one movable cleaner is disposed at one side of the machine body, and at least one fixed cleaner is disposed at the other side of the machine body.

In one embodiment of the disclosure, a dust suction port is arranged at the bottom of the machine body, and a rolling brush is arranged at the dust suction port.

In one embodiment of the disclosure, the movable cleaner is a swabbing disc used for mopping water to clean the cleaning surface, and the movable cleaner is arranged behind the dust suction opening.

According to a second aspect of the present disclosure, there is also provided a swing assembly comprising:

a swing mechanism including a movable cleaner having an initial position and a edgewise position; in the initial position, the movable cleaner is configured to move such that an edge thereof is located inside a maximum edge of the machine body, and in the edgewise position, the movable cleaner is configured to move such that at least a part of an edge thereof is located outside the maximum edge of the machine body; a driving mechanism configured to drive the swing mechanism to move the movable cleaner from the edgewise position to the initial position;

One advantageous effect of the present disclosure is that the cleaning robot of the present disclosure can achieve thorough cleaning. The movable cleaner is movable between an initial position and a edgewise position while the cleaning robot performs a cleaning work. And then when the movable cleaner moves to the edgewise position, the cleaning coverage of the cleaning robot can be increased, and comprehensive cleaning is realized. The movable cleaner can not be trapped by obstacles when the movable cleaner carries out cleaning work at the edgewise position through the arranged elastic part.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic view of a movable cleaner in an initial position according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a movable cleaner in an edgewise position according to one embodiment of the present disclosure;

fig. 3 is a front view of an internal structure of a cleaning robot provided in an embodiment of the present disclosure;

fig. 4 is a schematic perspective view illustrating an interior of a cleaning robot according to an embodiment of the disclosure;

fig. 5 is a front view of the interior of the cleaning robot provided by an embodiment of the present disclosure without showing the driving motor;

FIG. 6 is a top view of a movable cleaner provided in accordance with an embodiment of the present disclosure;

FIG. 7 is a perspective view of a movable cleaner provided in one embodiment of the present disclosure;

FIG. 8 is a bottom schematic view of a cleaning robot provided by an embodiment of the present disclosure;

fig. 9 is a schematic cross-sectional view of a cleaning robot provided in an embodiment of the present disclosure;

fig. 10 is a schematic perspective view of a cleaning robot provided in an embodiment of the present disclosure.

The one-to-one correspondence between component names and reference numbers in fig. 1 to 10 is as follows:

100. a body; 110. a swing track; 111. a through hole; 112. a main motor; 113. a water tank assembly; 114. a dust exhaust channel; 115. a water pumping assembly; 200. a swing mechanism; 210. a movable cleaner; 211. a flange; 220. a swing portion; 221. a rotating shaft; 222. a gearbox; 223. smearing a plate; 224. a rotating electric machine; 225. a drive section; 300. a drive mechanism; 301. a drive motor; 310. a drive member; 400. an elastic portion; 500. fixing a cleaner; 600. a dust suction port; 610. rolling and brushing; 620. a dust box; 630. an air inlet surface.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, and the premise that each other exists, and the like.

In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.

The present disclosure provides a cleaning robot capable of performing cleaning work on a work surface. The cleaning robot includes a body, a swing mechanism and a driving mechanism. Wherein the swing mechanism includes a movable cleaner having an initial position and an edgewise position, and the movable cleaner is movable between the initial position and the edgewise position.

When the movable cleaner is located at the initial position, the edge of the movable cleaner is located within the maximum edge of the body. When the movable cleaner is located at the edgewise position, at least a part of the edge of the movable cleaner is located outside the maximum edge of the body.

This allows the cleaning robot of the present disclosure to operate in a edgewise mode to clean edges in a room, such as the edges of walls, furniture, etc., since the movable cleaner can move beyond the maximum edge of the cleaning robot. When the edgewise mode is completed, the movable cleaner can be moved to an initial position, i.e., to a position where the edge of the movable cleaner is located within the maximum edge of the cleaning robot, and the cleaning robot cleans the floor or other work surface according to a predetermined route.

The cleaning robot of the present disclosure further includes a driving mechanism by which the movable cleaner is movable between an initial position and a edgewise position. When the driving mechanism is disengaged from the movable cleaner, the movable cleaner moves to the edgewise position under the elastic force of the elastic portion and moves from the edgewise position to the initial position under the action of the external force.

The cleaning robot of the present disclosure, the driving mechanism may drive the movable cleaner to press the elastic portion to deform to move the movable cleaner from the edgewise position to the initial position. When the edgewise cleaning is required, the driving mechanism is disengaged from the movable cleaner, and the driving mechanism is moved to the edgewise position under the action of the elastic portion to clean the edge of the cleaning surface. When the movable cleaner meets an obstacle, such as a table leg or a sofa leg, under the action of the obstacle, the elastic part is pressed by the movable cleaner to deform and move towards the direction of the initial position, so that the cleaning robot can pass over the obstacle and is prevented from being clamped by the obstacle. When the cleaning robot passes over the obstacle, the external force applied to the movable cleaner is removed, and the movable robot moves to the edge position under the action of the elastic part and continues to work in the edge mode.

For better understanding, the detailed structure of the cleaning robot and the working principle thereof will be described in detail below with reference to fig. 1 to 10 of the drawings.

Example 1

Referring to fig. 1 to 2, in one embodiment of the present disclosure, there is provided a cleaning robot including a body 100, a swing mechanism 200, a driving mechanism 300, and an elastic part 400. The swing mechanism 200 includes a movable cleaner 210, and the movable cleaner 210 has an initial position and an edgewise position. When the movable cleaner 210 is located at the initial position, the edge of the movable cleaner 210 is located within the maximum edge of the machine body 100. The maximum edge is determined by the traveling direction of the cleaning robot, for example, if the cleaning robot travels along the Y-axis direction, the maximum edge refers to the maximum edge position on both sides of the Y-axis of the body 100.

Referring to fig. 1, the body 100 is generally circular, and the maximum edge thereof refers to the widest position in the X-axis direction. The edge of movable cleaner 210 is located inside the maximum edge of machine body 100, which means that the outer contour of movable cleaner 210 does not exceed the maximum edge position of machine body 100 in the X-axis direction. In this embodiment, at least a portion of the edge of movable cleaner 210 may be located inside the edge of body 100 or outside the edge of body 100. When a part of the edge of the movable cleaner 210 is located outside the edge of the machine body 100, it is sufficient if the maximum edge of the machine body 100 is not exceeded.

The body 100 rotates when encountering an obstacle while traveling in a straight line. If the edge of movable cleaner 210 is located within the maximum edge of machine body 100, movable cleaner 210 does not come into contact with an obstacle. When movable cleaner 210 is located at the edgewise position, at least a part of the edge of movable cleaner 210 is located outside the maximum edge of machine body 100, so that the cleaning range of movable cleaner 210 can cover at least the widest position of machine body 100 in the orthographic projection of the working surface, thereby increasing the cleaning range of the cleaning robot and reducing the cleaning dead angle.

The movable cleaner 210 of the present disclosure is movable between the initial position and the edgewise position by the elastic part 400 and the driving mechanism 300. The driving mechanism 300 may drive the swing mechanism 200 to move the movable cleaner 210 from the edgewise position to the initial position. After the driving mechanism 300 is disengaged from the swing mechanism 200, the movable cleaner 210 moves to the edgewise position by the urging force of the elastic portion 400. When the movable cleaner 210 is located at the edgewise position, since at least a part of the edge of the movable cleaner 210 is located at the maximum edge position of the machine body 100, the movable cleaner 210 may encounter an obstacle and be caught by the obstacle during traveling. When the movable cleaner 210 contacts with an obstacle, the movable cleaner 210 is pressed against the obstacle under the action of the self power of the cleaning robot, and the movable cleaner 210 moves toward the initial position under the pressing action of the obstacle or against the elastic force of the elastic part 400, so that the movable cleaner 210 crosses the obstacle to avoid being trapped by the obstacle.

The movable cleaner 210 of the present disclosure performs an elastic movement by the elastic part 400, so that it can be closely attached to an obstacle such as furniture during a cleaning operation, thereby realizing a welting cleaning operation. The cleaning robot based on the arrangement not only enlarges the cleaning range, but also can avoid the situation that the cleaning robot is trapped, and improves the efficiency of cleaning work.

In a specific embodiment of the present disclosure, the body 100 is provided in a circular structure, whereby the cleaning robot can be prevented from being caught by obstacles such as corners, furniture, and the like when the cleaning robot turns. Further ensuring that the body 100 is not trapped by obstacles such as complex terrains, furniture, etc. during cleaning.

In other embodiments of the present disclosure, the body 100 may also be configured in any shape, such as a rectangle, an ellipse, a front circle and a rear circle, and is not limited herein.

Referring to fig. 3 to 7, in a specific embodiment of the present disclosure, a swing mechanism 200 of a cleaning robot includes a swing part 220. One end of the swing part 220 is rotatably coupled to the body 100, and the other end is fixed to the movable cleaner 210. At this time, when the driving mechanism 300 drives the swing portion 220 or drives the movable cleaner 210, the swing portion 220 may drive the movable cleaner 210 to swing with respect to the machine body 100. Specifically, the swing motion may be regarded as a circular motion, and the movable cleaner 210 is driven by the driving mechanism 300 to make the circular motion around the end of the swing portion 220 rotationally connected to the machine body 100 and the other end of the swing portion 220 fixedly connected to the movable cleaner 210.

In a specific embodiment of the present disclosure, the elastic part 400 is disposed between the swing mechanism 200 and the body 100, and the elastic part 400 can drive the swing part 220 to move in the direction of the edge position by its own elastic force. Specifically, the elastic portion 400 always applies a force to the swing portion 220 to move in the direction of the edgewise position. Moreover, since the elastic portion 400 has an elastic force, when the swing portion 220 receives an external force, the elastic portion 400 is also deformed by the corresponding force. And after the external force is released, the elastic part 400 drives the swing part 220 to move in the direction of the edge position by its own elastic force.

In this embodiment, one end of the elastic part 400 is connected to the body 100, and the other end can be connected to any component of the swing mechanism 200, such as the movable cleaner 210, or the swing part 220 of the swing mechanism 200, and those skilled in the art can design the elastic part according to actual requirements, and the invention is not limited thereto. The elastic part 400 is, for example, a spring provided between the body 100 and the swing part 220, or may be a torsion spring provided between the swing part and the body, and will not be described in detail here.

Referring to fig. 6 and 7, in an embodiment of the present disclosure, the output end of the driving mechanism 300 is provided with a driving member 310, and the driving member 310 can push the swing mechanism 200 to move the movable cleaner 210 from the edgewise position to the initial position. Specifically, when the cleaning robot does not need to perform the edgewise cleaning, the swing mechanism 200 may be pushed by the driving member 310 at the output end of the driving mechanism 300 to move the movable cleaner 210 in the direction of the initial position, so as to change the operation mode of the cleaning robot.

In this embodiment, the driving member 310 can push any component of the swing mechanism 200, such as the movable cleaner 210, and can also push the swing portion 220 of the swing mechanism 200, and those skilled in the art can design the component according to actual requirements, and the design is not limited herein.

In a specific embodiment of the present disclosure, referring to fig. 6 and 7, the movable cleaner 210 is provided with a flange 211 for cooperating with the driving member 310, and the driving member 310 can move the swing mechanism 200 toward the initial position by pushing the flange 211. When it is desired to disengage the drive mechanism 300 from the swing mechanism 200, this effect can be achieved by directly disengaging the drive member 310 from the flange 211.

In this embodiment, the flange 211 may be disposed on the movable cleaner 210 or on the swinging portion 220, and those skilled in the art may design the flange according to actual requirements, which is not limited herein.

In a specific embodiment of the present disclosure, the movable cleaner 210 includes a gear box 222 provided on the swing portion 220, a wipe tray 223 connected to an output end of the gear box 222, and a rotating motor 224 connected to an input end of the gear box 222. Specifically, the rotating motor 224 drives the gearbox 222, and the output end of the gearbox 222 can drive the swabbing disc 223 to perform self-rotation motion. Therefore, when the cleaning robot performs cleaning work, the working surface can be cleaned more cleanly through the rotation of the cleaning robot.

In this embodiment, the flange 211 is disposed on the movable cleaner 210, and specifically, the flange 211 may be disposed on an outer wall of the transmission case 222, referring to fig. 7, or an outer wall of the rotating electrical machine 224, and those skilled in the art may design the flange according to actual requirements, and the flange is not limited herein.

In one specific embodiment of the present disclosure, the driving mechanism 300 is a driving motor 301 mounted on the machine body 100. Specifically, the driving motor 301 may perform forward and reverse rotation, such as a servo motor. Further, according to different cleaning requirements, the driving motor 301 can be selectively rotated in different directions to control the position of the movable cleaner 210 in the swing mechanism 200. The movable cleaner 210 is moved between the initial position and the edgewise position.

Specifically, when the edge, corner, etc. position needs to be cleaned, the movable cleaner 210 needs to be located at the edge position, and at this time, the rotation direction of the driving motor 301 is adjusted to disengage the driving element 310 at the output end of the driving motor 301 from the flange 211, so that the movable cleaner 210 can move to the edge position under the elastic force of the elastic part 400, so as to clean the edge, corner, etc. position. When the cleaning robot operates in the normal mode, the driving member 310 may drive the flange 211 by adjusting the rotation direction of the driving motor 301, and thus the movable cleaner 210 may be moved to the initial position. By changing the position of the movable cleaner 210, the cleaning robot can be adapted to more work scenes.

In this embodiment, the rotation axis of the driving motor 301 is provided coaxially with the rotation axis of the swing portion 220. Specifically, when the driving motor 301 pushes the flange 211 on the swing portion 220 through the driving member 310, the driving member and the swing portion 220 may be rotated in synchronization.

In a specific embodiment of the present disclosure, the rotation axis of the driving motor 301 is offset from the rotation axis of the swinging portion 220, and those skilled in the art can design the driving motor according to actual requirements, and the driving motor is not limited herein.

It is obvious to those skilled in the art that the driving mechanism 300 can also be a rack and pinion, a sprocket chain, a link or other mechanism known to those skilled in the art, as long as it can drive the swinging portion 220 to deflect, which is not illustrated herein.

In a specific embodiment of the present disclosure, the body 100 is provided with a swing rail 110, and the swing rail 110 and the swing mechanism 200 are guided to cooperate together. Specifically, the swing track 110 is consistent with the motion track of the swing mechanism 200, and the swing track 110 limits the motion position of the swing mechanism 200 so that it can only move in the swing track 110. It is further ensured that the swing mechanism 200 can only move between the initial position and the edgewise position to avoid movement of the swing mechanism 200 to other positions.

In a specific embodiment of the present disclosure, the swing rail 110 is a through hole 111 formed in the machine body 100, the through hole 111 penetrates through upper and lower ends of the machine body 100, so that the transmission case 222, the rotating motor 224 and other components can be disposed on the upper portion of the machine body 100, and the wiper 223 is disposed below the machine body 100. In a specific application structure, the rotating shaft 221 of the gearbox 222 passes through the through hole 111 and is fixedly connected with the swabbing disc 223 positioned below the machine body 100. Specifically, the rotating shaft 221 passes through the through hole 111 and is guided and fitted in the through hole 111, and the wiping plate 223 and the swing part 220 are respectively located at the upper and lower ends of the machine body 100 through the rotating shaft 221.

In a specific embodiment of the present disclosure, the swing rail 110 may be a recess provided at an edge of the body 100. The movable cleaner 210 includes a rotation shaft 221 rotatably coupled to the swing portion 220 and a wipe tray 223 fixed to the rotation shaft 221. The amplitude of the oscillation of the oscillating portion 220 can also be limited by the recess.

In a specific embodiment of the present disclosure, the swing rail 110 has two opposite ends, which are respectively referred to as an initial end and a marginal end. Both ends of the swing rail 110 correspond to the initial position and the edgewise position of the movable cleaner 210. Specifically, when the rotating shaft 221 is located at the initial end, the movable cleaner 210 is also located at the initial position, and when the rotating shaft 221 is located at the edgewise end, the movable cleaner 210 is located at the edgewise position. Further, it can be ensured that the movable cleaner 210 can move along the swing track 110 in the optimal moving direction, and at this time, the maximum and minimum cleaning ranges of the cleaning robot can be kept stable, which is beneficial for the cleaning robot to determine where the movable cleaner 210 should be located and adjust when performing cleaning work.

In one embodiment of the present disclosure, referring to fig. 1, 2, 4, and 5, the body 100 is provided at least one movable cleaner 210 at one side thereof and at least one fixed cleaner 500 at the other side thereof. Specifically, the number of the movable cleaners 210 and/or the stationary cleaners 500 may be one, two or more, and those skilled in the art can design them according to actual needs, and is not limited herein.

In a specific embodiment of the present disclosure, only one movable cleaner 210 is provided at one side of the machine body 100. Specifically, the movable cleaner 210 has an initial position and an edge position, and when the body 100 travels, the side where the edge position is located is always cleaned near the corner. So that the cleaner can clean the wall and the corner, and the cleaner can clean the wall and the corner completely.

In one embodiment of the present disclosure, referring to fig. 1 and 2, a dust suction port 600 for sucking dust on the ground by using wind is provided at the bottom of the machine body 100. The rolling brush 610 for sweeping is installed at the dust suction opening 600, and the machine body 100 can sweep and suck in dirt on the working surface during the traveling process.

In one specific embodiment of the present disclosure, the movable cleaner 210 is a wiping tray 223 for wiping the floor, and the movable cleaner 210 is disposed at the rear of the dust suction port 600. Specifically, the movable cleaner 210 can be used for attaching water and wet-mopping on the floor to be cleaned, and the machine body 100 realizes a cleaning sequence of sweeping and sucking the floor first and then mopping the floor during the traveling process, so that the cleaning effect and the cleaning capability of the cleaning robot are further enhanced.

In a specific embodiment of the present disclosure, the movable cleaner 210 may be installed adjacent to a rear end edge of the machine body 100. The cleaning robot has the advantages that the reasonable layout arrangement is beneficial to installation of other functional components of the cleaning robot and determination of the cleaning sequence of the cleaning robot, and accordingly the cleaning effect is stable.

In a specific embodiment of the present disclosure, the wiping tray 223 is detachably connected, so that when the wiping tray 223 is dirty or broken, the use can be continued by replacing the wiping tray 223. And the functional disks with different functionalities can be selected and installed according to requirements, so that different working effects are realized.

Example 2

In one embodiment of the present disclosure, a swing assembly is disclosed that may be assembled in an assembly on a cleaning robot. Specifically, the swing assembly includes a swing mechanism 200 and a drive mechanism 300.

The swing mechanism 200 includes a movable cleaner 210, and the movable cleaner 210 has an initial position and an edgewise position. In detail, when the movable cleaner 210 is located at the initial position, the movable cleaner 210 is configured to move such that an edge thereof is located inside the maximum edge of the machine body 100, and when the movable cleaner 210 is located at the edgewise position, the movable cleaner 210 is configured to move such that at least a part of an edge thereof is located outside the maximum edge of the machine body 100.

The driving mechanism 300 is configured to drive the swing mechanism 200, and the movable cleaner 210 is movable from the edgewise position to the initial position by driving the driving mechanism 300. When the driving mechanism 300 is disengaged from the swing mechanism 200, the movable cleaner 210 can be moved to the edgewise position by the urging force of the elastic portion 400. Specifically, the movable cleaner 210 can be controlled to move between the initial position and the edgewise position by adjusting the driving mechanism 300 according to the cleaning task of the cleaning work. When movable cleaner 210 moves to the edgewise position by the force of elastic part 400, movable cleaner 210 moves accordingly according to the degree of deformation of elastic part 400. It can be understood that, at this time, when the cleaning operation is performed, the movable cleaner 210 will cling to obstacles such as furniture to perform the cleaning operation, and will not be trapped by the obstacles, so as to ensure the working efficiency, and after the cleaning robot moves to the place where there are no obstacles such as furniture, the movable cleaner 210 will move to the position along the edge again, so as to continue the overall cleaning operation at the edge.

The swing assembly of the present disclosure may be applied to other apparatuses requiring swing adjustment besides the cleaning robot, and is not illustrated here.

Example 3

As shown in fig. 8, the present disclosure provides a cleaning robot including a body 100, a dust suction assembly, and a cleaning assembly. The machine body 100 serves as a carrier configured to mount various functional elements required for the cleaning robot, depending on the function and structure of the cleaning robot. It should be noted that fig. 8 and 9 of the present disclosure only show a partial structure of the body 100 of the cleaning robot, and the rest is substantially the same as the body 100 of the existing cleaning robot, and the rest can be fully implemented by those skilled in the art based on the prior art, so that the detailed description is omitted here. In one embodiment of the present disclosure, the functional elements include at least a cleaning assembly and a dust extraction assembly.

The dust suction assembly includes a main motor 112, a dust suction port 600, a drum brush 610, and a dust box 620. The dust suction opening 600 is disposed on the chassis of the machine body 100, one end of the inner cavity of the dust box 620 communicates with the dust suction opening 600, and dust or foreign matter on the working surface can be sucked into the dust box 620 through the dust suction opening 600 for storage. The main motor 112 is communicated with the dust box 620, when the main motor 112 works, a negative pressure can be formed in the dust box 620, and the garbage on the working surface can enter the dust box 620 through the dust suction port 600 under the action of the negative pressure. A filter may be disposed in the dust box 620 or in an air duct communicating with the dust box 620, and the garbage introduced into the dust box 620 is deposited in the dust box 620 and does not flow out of the dust box.

As shown in fig. 9, in one embodiment of the present disclosure, the dust suction assembly further includes a roller brush 610, and the roller brush 610 is rotatably coupled to the machine body 100 for cleaning a work surface. Specifically, as shown in fig. 9, a holding groove of the rolling brush 610 is formed in the chassis, the rolling brush 610 cleans the bottom surface by rotating relative to the working surface, and the dust suction port 600 is formed in a groove wall of the holding groove, so that garbage can be better sucked.

In the cleaning robot of the present disclosure, two cleaning assemblies are included, each of which includes a movable cleaner 210 and a driving part 225. The movable cleaner 210 may be a dished or other dished cleaning structure known to those skilled in the art, with the central axis L of the movable cleaner 210 being perpendicular to the work surface, as shown in fig. 9. The driving unit 225 is used to drive the movable cleaner 210 to rotate on the working surface, and when the movable cleaner 210 rotates, the working surface can be cleaned. As shown in fig. 9, in each cleaning assembly, the movable cleaner 210 and the corresponding drive portion 225 at least partially overlap in projection on the horizontal plane; therefore, the single movable cleaner 210 can be controlled by the single driving part 225 without arranging a double-output transmission unit, so that the overall cost of the cleaning robot can be effectively reduced, the layout of cleaning components can be optimized, and the layout of the cleaning robot is more compact.

Specifically, in one embodiment of the present disclosure, as shown in fig. 9 and 10, the driving part 225 is configured to be disposed coaxially with the movable cleaner 210, the driving part 225 includes a rotating electrical machine 224 and a gear box 222 between the rotating electrical machine 224 and the movable cleaner 210, and the gear box 222 is configured to transmit power provided by the rotating electrical machine 224 to the movable cleaner 210 and adjust the rotation speed and torque output by the rotating electrical machine 224 as needed. Specifically, the projections of the rotary electric machine 224, the transmission case 222, and the movable cleaner 210 in the vertical direction overlap. Also understood are the rotary electric machine 224, the gearbox 222 and the movable cleaner 210. An output shaft of the rotating electric machine 224 communicates with an input end of the transmission case 222, and an output end of the transmission case 222 is connected to the movable cleaner 210 through a rotating shaft. Since the driving portion 225 is disposed coaxially with the movable cleaner 210, the central axes of the driving portion 225 and the movable cleaner 210 can be made to coincide, thereby saving the space occupied by the driving portion 225.

Of course, in another embodiment of the present disclosure, the rotary motor 224, the gear box 222 and the movable cleaner 210 in the driving part 225 may be arranged non-coaxially, but staggered with respect to each other in the horizontal direction, i.e., in a horizontal structure, which is relatively simple in structure, reliable in transmission relationship and low in cost.

It should be noted that the above description of the dust suction assembly and the cleaning assembly is only one specific embodiment, and in other embodiments of the present disclosure, the dust suction assembly and the cleaning assembly may include other structures as long as the dust suction assembly includes the above-mentioned main motor 112, and the cleaning assembly includes the above-mentioned movable cleaner 210 and the driving part 225.

The two driving parts 225 are configured to be distributed in the X-axis direction and located at both sides of the main motor 112, taking the direction in which the cleaning robot moves as the Y-axis direction, and the direction perpendicular to the Y-axis direction and in the same horizontal plane as the Y-axis direction as the X-axis direction. Referring to fig. 8, the cleaning robot moves forward toward the upper side as shown, and the up-down direction of the cleaning robot is denoted as the X-axis direction and the left-right direction of the cleaning robot is denoted as the Y-axis direction. The two driving portions 225 are located on the left and right sides of the main motor 112.

In the cleaning robot of the present disclosure, the two movable cleaners 210 are respectively driven by the two driving parts 225, and the two driving parts 225 are located at two sides of the main motor 112, so that the layout of the main motor 112 and the cleaning assembly is more reasonable, the main motor 112 is prevented from occupying the area of the cleaning assembly, and meanwhile, the largest cleaning working surface of the cleaning assembly can be ensured.

In one embodiment of the present disclosure, with continued reference to fig. 8, the dust suction port 600 is configured to extend in the X-axis direction and is disposed at one side in the advancing direction of the main motor 112; because the dust suction opening 600 extends along the X-axis direction, under the condition that the length of the dust suction opening 600 is fixed, the orthographic projection length of the dust suction opening 600 in the X-axis direction is longest, and the swept area is also largest, so that more garbage on the working surface can be sucked.

In one embodiment of the present disclosure, as shown in fig. 8 and 10, the dust suction assembly further includes an air intake surface 630, the air intake surface 630 is configured to extend in the X-axis direction, and the main motor 112 is configured to form a negative pressure at the air intake surface 630; the two driving portions 225 and the main motor 112 are both located on the side of the air intake surface 630 facing away from the advancing direction.

Two drive division 225, main motor 112 all are located the air inlet face 630 and deviate from one side of advancing direction to can practice thrift the space that the air inlet face 630 is located one side of advancing direction, make the dust box 620 can do bigger, promote the rubbish reserves of dust box 620.

As shown in fig. 8, the central line of the machine body 100 in the Y-axis direction is taken as the Y-axis, the axis passing through the air intake surface 630 is taken as the X-axis, and in the rectangular coordinate system established by the X-axis and the Y-axis, the driving parts 225 are respectively located on both sides of the Y-axis and located in the region deviated from the X-axis by a predetermined angle. In the above-mentioned established coordinate system, the origin is the point O on the graph, the half axes on both sides of the X axis are rotated to the Y axis direction by the preset angle (i.e. the angle a and the angle B in fig. 8), and the two swept areas are the areas of the preset angle. In one embodiment of the present disclosure, the two driving parts 225 are respectively located in regions of a predetermined angle at both sides of the Y axis. Since the driving parts 225 are respectively located in the regions of the predetermined angle on both sides of the Y axis, it is possible to prevent the movable cleaners 210 from interfering with each other due to an excessively large offset angle to affect normal cleaning, and it is also possible to prevent a region from being omitted due to an excessively long distance between two movable cleaners 210 due to a small offset angle.

In one embodiment of the present disclosure, the predetermined angle is 0 to 75 °. When the predetermined angle is in the range of 0 to 75 °, the cleaning area of the movable cleaner 210 is ensured, and the influence on the normal cleaning due to the mutual interference of the movable cleaners 210 caused by the excessively large offset angle can be effectively avoided.

In one embodiment of the present disclosure, as shown in fig. 8, two driving parts 225 are configured to be symmetrically distributed with respect to the Y axis. Since the driving parts 225 are symmetrically distributed with respect to the Y-axis, the weights of both sides of the machine body 100 can be balanced, thereby preventing the cleaning robot from being deviated when moving.

In one embodiment of the present disclosure, as shown in fig. 8, orthographic projections of the main motor 112 and the two driving parts 225 on the Y axis at least partially overlap. Because the orthographic projections of the main motor 112 and the two driving parts 225 on the Y axis are at least partially overlapped, the motor and the two driving parts 225 can save part of space in the Y axis direction, so that the dust box 620 can be made larger, and the garbage storage amount of the dust box 620 is increased.

In one embodiment of the present disclosure, as shown in fig. 8 and 9, the cleaning robot of the present disclosure further includes a water tank assembly 113, the water tank assembly 113 being disposed on a side of the machine body 100 facing away from the advancing direction of the machine body 100. Referring to the view direction of fig. 8, the water tank assembly 113 is disposed at a lower side edge, or a rear side edge, of the machine body 100. The driving part 225 and the main motor 112 are disposed at a position between the water tank assembly 113 and the dust suction port 600. Because two drive division 225 and main motor 112 press from both sides the position of locating between water tank set spare 113 and dust absorption mouth 600, not only can practice thrift partial space, promote water tank set spare 113's reserves, can also make water tank set spare 113 set up in the edge of organism 100, make water tank set spare 113 dismantle and install more easily.

In one embodiment of the present disclosure, as shown in fig. 8, the cleaning robot of the present disclosure further includes a dust exhaust passage 114 communicating with the dust box 620 in the dust suction assembly, the dust exhaust passage 114 extending to one end of the through water tank assembly 113 and configured to be docked with the dust suction passage on the base station. Referring to fig. 8, one end of the dust discharge passage 114 communicates with the dust box 620, and the other end extends to pass through the water tank assembly 113. When the cleaning robot disclosed by the disclosure performs dust collection, the outlet of the dust discharge channel 114 is in butt joint with the dust collection channel on the base station, the base station starts negative pressure to suck out the garbage and the dust in the dust box 620 from the dust box 620, and the garbage and the dust sequentially pass through the dust discharge channel, the dust discharge channel 114 and the dust collection channel and finally reach the main dust box 620 on the base station.

Further, in an embodiment of the present disclosure, as shown in fig. 8, a dust blocking valve (not shown) may be further disposed at the dust outlet of the dust box 620 to prevent the dust or dirt in the dust box 620 from flying out of the dust box 620 to contaminate the cleaned work surface during normal operation of the cleaning robot.

As shown in fig. 8, one of the driving parts 225 is disposed in an area surrounded by the dust exhaust channel 114, the water tank assembly 113, the main motor 112, and the dust suction opening 600, so that a part of space can be saved, and the dust exhaust channel 114 and the water tank assembly 113 can be made larger, thereby not only making the movement of the garbage in the dust exhaust channel 114 smoother during dust collection, but also increasing the storage capacity of the water tank assembly 113.

In one embodiment of the present disclosure, as shown in fig. 8, the cleaning robot of the present disclosure further includes a water pumping assembly 115 disposed on the body 100 adjacent to the other end of the water tank assembly 113, the water pumping assembly 115 communicates with the water tank assembly 113, and a water spray is disposed above or adjacent to the movable cleaner 210. During operation of the cleaning robot of the present disclosure, the water pumping assembly 115 pumps water in the water tank assembly 113 onto the movable cleaner 210 so that the wetted movable cleaner 210 can clean a work surface.

As shown in fig. 8, another driving part 225 is disposed in an area surrounded by the water pumping assembly 115, the main motor 112, and the dust suction port 600, so that a part of space can be saved, thereby increasing the range of possible layouts of the water pumping assembly 115, and making it larger with the water tank assembly 113, thereby increasing the storage capacity of the water tank assembly 113.

Application scenario 1

The cleaning robot of the present disclosure may be a floor mopping robot, and the cleaning device of the floor mopping robot is used to clean the work surface while the floor mopping robot is in operation. When the mopping robot moves to be close to a wall body, a corner and the like for cleaning, the driving mechanism can drive the movable cleaner 210 to move to the position along the edge, so that dead corners which are not easy to clean, such as the wall body, the corner and the like, can be cleaned, and comprehensive cleaning is realized. When the machine body 100 travels, since the movable cleaner 210 is located at the edgewise position and protrudes out of the machine body 100, after the movable cleaner 210 encounters an obstacle such as furniture, the movable cleaner 210 is pushed by the obstacle to move in the direction of the initial position against the action of the elastic part 400, that is, in the direction inside the edge of the machine body 100, so that the movable cleaner 210 can easily cross the obstacle without being trapped by the obstacle.

Specifically, movable cleaner 210 may move a certain distance in the initial position direction according to the magnitude of the external force after receiving the external force, and at this time, movable cleaner 210 may closely contact the outer edge of movable cleaner 210 contacting the obstacle under the action of elastic portion 400 to perform the cleaning operation, thereby further reducing the cleaning dead angle, enlarging the cleaning area, avoiding the cleaning robot from being trapped by the obstacles such as furniture, and ensuring the cleaning efficiency.

When the cleaning robot needs to clean other positions, the driving mechanism may drive the movable cleaner 210 to move from the edgewise position to the initial position, so that the movable cleaner 210 moves to have its edge located within the largest edge of the machine body 100, and the cleaning robot walks forward to clean the floor.

Application scenario 2

The cleaning robot of the present disclosure is provided with two cleaning assemblies, each of which includes a movable cleaner 210 rotatably coupled to the machine body 100, and a driving part 225 for driving the movable cleaner 210 to rotate, respectively. Each movable cleaner 210 is driven by the respective driving portion 225, whereby the coupling position and the coupling relationship between the driving portion 225 and the movable cleaner 210 can be appropriately arranged. The two driving parts 225 are respectively arranged at both sides of the main motor, so that the layout of the main motor and the cleaning components can be more reasonable, and the two cleaning components can have larger cleaning surfaces, thereby ensuring the cleaning efficiency of the cleaning robot.

Taking the center line of the machine body 100 in the Y axis direction as the Y axis, taking the axis passing through the air intake surface 630 as the X axis, in a rectangular coordinate system established by the X axis and the Y axis, the origin is the point O on the figure, the half axes on both sides of the X are respectively rotated to the Y axis direction by a preset angle (namely, the angle a and the angle B in fig. 1), the two swept areas are preset areas, and the two driving parts 225 are respectively located in the preset areas on both sides of the Y axis. Since the two driving portions 225 are respectively located in predetermined areas on both sides of the Y axis, it is possible to avoid the influence on the arrangement of the main motor 112 due to an excessively large offset angle, and also to avoid the omission of a part of the cleaning area due to an excessively long distance between the two movable cleaners 210 due to a small offset angle.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the market, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cleaning robot, characterized by comprising:

a body (100);

a swing mechanism (200), the swing mechanism (200) comprising a movable cleaner (210), the movable cleaner (210) having an initial position and an edgewise position; in the initial position, the edge of the movable cleaner (210) is positioned in the maximum edge of the machine body (100), and in the edgewise position, at least part of the edge of the movable cleaner (210) is positioned outside the maximum edge of the machine body (100);

a drive mechanism (300), the drive mechanism (300) being configured to drive the swing mechanism (200) to move the movable cleaner (210) from the edgewise position to the initial position;

when the drive mechanism (300) is disengaged from the swing mechanism (200), the movable cleaner (210) is configured to move to the edgewise position under the urging force of the elastic portion (400), and to move in a direction from the edgewise position to the initial position under the urging force of the external force.

2. The cleaning robot according to claim 1, wherein the swing mechanism (200) further comprises a swing portion (220), one end of the swing portion (220) is rotatably connected to the body (100), and the other end is fixed to the movable cleaner (210); the swing portion (220) is configured to bring the movable cleaner (210) into swing motion relative to the machine body (100).

3. The cleaning robot according to claim 2, wherein the elastic portion (400) is provided between the swing mechanism (200) and the body (100) and is configured to drive the swing portion (220) to move in a direction of a edgewise position by its own elastic force.

4. The cleaning robot as claimed in claim 2, wherein the output end of the driving mechanism (300) is provided with a driving member (310), and the driving member (310) is configured to push the swing mechanism (200) to move the movable cleaner (210) from the edgewise position to the initial position.

5. The cleaning robot as claimed in claim 4, wherein the movable cleaner (210) is provided with a flange (211) for engaging with the driving member (310); the driving member (310) is configured to push the flange (211) to move towards the initial position or disengage from the flange (211) during rotation.

6. The cleaning robot according to claim 5, wherein the movable cleaner (210) comprises a gear box (222) provided on the swing part (220), a swabbing disc (223) connected to an output end of the gear box (222), and a rotating motor (224) connected to an input end of the gear box (222); the flange (211) is provided on an outer wall of the transmission case (222) or the rotary electric machine (224).

7. The cleaning robot according to claim 4, characterized in that the driving mechanism (300) is a driving motor (301) mounted on the machine body (100), and a rotation axis of the driving motor (301) is coaxial with a rotation axis of the swinging part (220).

8. The cleaning robot according to claim 2, wherein the body (100) is provided with a swing rail (110), and the swing rail (110) is configured to be guide-fitted with the swing mechanism (200).

9. The cleaning robot according to claim 8, wherein the swing rail (110) is a through hole (111) provided on the machine body (100); the movable cleaner (210) comprises a rotating shaft (221) rotatably connected to the swinging part (220), and a wiping disc (223) fixed on the rotating shaft (221); the rotating shaft (221) penetrates through the through hole (111) and is matched with the through hole (111) in a guiding mode.

10. The cleaning robot as recited in claim 9, characterized in that the oscillating track (110) has opposite ends, respectively designated as an initial end and a marginal end; when the rotating shaft (221) is located at the initial end, the movable cleaner (210) is located at the initial position, and when the rotating shaft (221) is located at the edgewise end, the movable cleaner (210) is located at the edgewise position.

11. The cleaning robot as claimed in claim 1, wherein said body (100) is provided with at least one movable cleaner (210) on one side and at least one fixed cleaner (500) on the other side.

12. The cleaning robot according to claim 1, wherein a dust suction opening (600) is provided at a bottom of the machine body (100), and a roll brush (610) is provided at the dust suction opening (600).

13. The cleaning robot as claimed in claim 12, wherein the movable cleaner (210) is a wiper (223) for catching water and mopping floor to clean a cleaning surface, the movable cleaner (210) being disposed at the rear of the dust suction port (600).

14. A swing assembly, comprising:

a swing mechanism (200), the swing mechanism (200) including a movable cleaner (210), the movable cleaner (210) having an initial position and a edgewise position; in the initial position, the movable cleaner (210) is configured to move such that an edge thereof is located inside a maximum edge of the machine body (100), and in the edgewise position, the movable cleaner (210) is configured to move such that at least a part of an edge thereof is located outside the maximum edge of the machine body (100);

when the drive mechanism (300) is disengaged from the swing mechanism (200), the movable cleaner (210) is configured to move to the edgewise position under the urging force of the elastic portion (400) and to move in the direction from the edgewise position to the initial position under the urging force.