CN218870173U - Cleaning robot - Google Patents

Abstract

The utility model belongs to intelligence cleaning device field discloses a cleaning machines people, including the chassis and locate the cleaning module on it, cleaning module includes round brush module and limit brush module, and the round brush module includes first mounting bracket, second mounting bracket, installation bedplate, round brush subassembly, round brush driving piece, lift driving piece and link assembly. The first mounting frame is connected with the chassis; the second mounting frame is arranged below the first mounting frame; the mounting seat plate is connected with the second mounting frame, and the rolling brush assembly is arranged on the mounting seat plate; the rolling brush driving piece and the side brush modules are respectively arranged at the left end and the right end of the mounting seat plate, and the output end of the lifting driving piece is connected with the second mounting frame; the connecting rod assembly comprises two parallel first connecting arms with equal length, and two ends of the two first connecting arms are respectively hinged to the first mounting frame and the second mounting frame; the two groups of connecting rod assemblies are arranged in a bilateral symmetry mode by taking the reference surface as a symmetry plane, and the reference surface passes through the gravity center of the cleaning module. The rolling brush assembly and the side brush module are stable in lifting, not prone to tilting and good in cleaning effect.

Description

Cleaning robot

Technical Field

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

Background

Cleaning robots are suitable for use in various indoor environments, such as: market, office building, pavement and hotel etc. replace artifical clean, have reduced artifical intensity of labour, and clean efficient. The bottom of the cleaning robot is generally provided with a lifting rolling brush module and a side brush module. When the cleaning brush needs to be cleaned, the rolling brush module and the side brush module are descended to be in contact with the ground, the rolling brush and the side brush rotate to roll garbage on the floor sweeping surface, and meanwhile, the water spraying pipe sprays water to the ground to improve the cleaning effect. When cleaning is not needed, the rolling brush module and the side brush module are lifted, and rubbing in the walking process of the cleaning robot is avoided.

However, the lifting motion of the existing rolling brush module and the edge brush module is not stable enough, and the rolling brush module and the edge brush module are easy to incline during lifting. If the rolling brush module is inclined in a lifting state, the uniformity and the continuity of water spraying are influenced, and the ground brushing effect is influenced; if the rolling brush module inclines when in a descending state, the rolling brush is not uniformly contacted with the ground, and the ground brushing effect is poor. Similarly, if the side brush module is seriously inclined in a descending state, the side brush module can not be uniformly contacted with the ground, the ground brushing effect is poor, the side brush module is seriously abraded, and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a cleaning machines people, the round brush module and the limit brush module lift on it are steady, and the brush ground effect is good, and wearing and tearing are less.

In order to realize the purpose, the following technical scheme is provided:

a cleaning robot comprises a chassis and a cleaning module arranged on the chassis, wherein the cleaning module comprises a rolling brush module and an edge brush module arranged on the rolling brush module; the roll brush module includes:

the first mounting frame is connected with the chassis;

the second mounting frames are arranged below the first mounting frames at intervals;

the mounting seat plate is connected with the second mounting frame;

the rolling brush component is arranged at the lower side of the installation seat plate;

the rolling brush driving piece and the side brush module are respectively arranged at the left end and the right end of the installation seat plate;

the lifting driving piece is arranged on the chassis, and the output end of the lifting driving piece is connected with the second mounting rack;

the connecting rod assembly comprises two first connecting arms which are parallel and equal in length, and two ends of each of the two first connecting arms are respectively hinged to the first mounting frame and the second mounting frame; the connecting rod assemblies are arranged in two groups, the two groups of connecting rod assemblies are arranged in a bilateral symmetry mode by taking a reference surface as a symmetry plane, and the reference surface passes through the gravity center of the cleaning module.

Optionally, the connecting rod assembly further includes a second connecting arm, and two ends of the second connecting arm are respectively hinged to the first mounting rack and the second mounting rack; the second connecting arm is parallel to the plane where the two first connecting arms are located.

Optionally, the first mounting frame comprises two first mounting sub-frames, and the second mounting frame comprises two second mounting sub-frames;

the two first mounting sub-frames and the two second mounting sub-frames are arranged in bilateral symmetry by taking the reference plane as a symmetry plane;

one group of the connecting rod assemblies is connected with the first mounting sub-frame and the second mounting sub-frame on the left side of the reference surface, and the other group of the connecting rod assemblies is connected with the first mounting sub-frame and the second mounting sub-frame on the right side of the reference surface.

Optionally, the chassis comprises a first connection portion and a first guide portion;

the first installation sub-frame comprises a second connecting portion and a second guide portion, the second guide portion is inserted into the first guide portion in a sliding mode, and the second connecting portion is detachably connected with the first connecting portion.

Optionally, the first guide part is a guide rail; the first installation sub-frame comprises an installation plate, the second connecting portion is a first folded edge arranged on the installation plate, the second guide portion is a second folded edge arranged on the installation plate, the second folded edge is slidably inserted into the guide rail, and the first folded edge is bolted to the first connecting portion.

Optionally, a first limiting portion is arranged on the first mounting sub-frame, a second limiting portion is arranged on the second mounting sub-frame, and when the second limiting portion is attached to the first limiting portion, the rolling brush assembly descends to the lowest point.

Optionally, the second mounting rack further includes a first hooking element, the first hooking element is located between the two second mounting sub-racks, a second hooking element is provided at an output end of the lifting driving element, and the second hooking element is hooked with the first hooking element up and down.

Optionally, the projection centers of the hooking areas of the first hooking member and the second hooking member in the vertical direction coincide with the center of gravity of the cleaning module.

Optionally, the first hooking part comprises an installation part and a hooking part, the installation part is connected with the rolling brush assembly, and the hooking part is hooked with the second hooking part; the second hooking piece and the hooking part are L-shaped.

Optionally, the elastic member is further included, two ends of the elastic member are respectively connected to the first mounting frame and the second mounting frame, and the elastic member applies a downward elastic force to the second mounting frame.

The utility model has the advantages that:

the utility model provides a cleaning machines people, whole clean module sets up in cleaning machines people advancing direction's front side, mainly treats the large granule rubbish on the cleaning surface and cleans. Specifically, when needing to clean, the lift driving piece drive second mounting bracket and the round brush subassembly and the decline of limit brush module on it, round brush subassembly and limit brush module with treat the cleaning surface contact to treat the rubbish on the cleaning surface and roll up and sweep. When cleaning is not needed, the lifting driving piece drives the second mounting frame, the rolling brush assembly and the side brush module on the second mounting frame to lift so as to leave the surface to be cleaned, and rubbing of the cleaning robot in the walking process is avoided. The rolling brush driving piece and the side brush modules are respectively arranged at the left end and the right end of the installation seat plate to balance the gravity center of the whole structure, so that the gravity center of the cleaning module is close to or positioned in the middle position in the left-right direction, and the inclination in the lifting process is reduced. Two first connecting arms are parallel and equal in length, and the two ends of the two first connecting arms are hinged to the first mounting frame and the second mounting frame respectively, so that the two first connecting arms, the first mounting frame and the second mounting frame form a parallel double-crank mechanism. Two sets of link mechanism bilateral symmetry set up, form two bilateral symmetry's parallel double crank mechanism promptly in the great left and right direction of round brush subassembly size to guarantee that second mounting bracket and round brush subassembly and limit brush module on it can be in the stable lift of the drive of lift driving piece under, reduce the emergence of lift in-process slope, guarantee to clean the effect.

Drawings

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

Fig. 1 is a schematic view of a chassis, a rolling brush module and a side brush module provided in an embodiment of the present invention;

fig. 2 is a first isometric view of a chassis provided by an embodiment of the present invention;

fig. 3 is a second isometric view of a chassis provided by an embodiment of the present invention;

fig. 4 is a schematic view illustrating an installation of a first installation frame on a chassis according to an embodiment of the present invention;

FIG. 5 is a schematic view of a portion of the structure of FIG. 4;

fig. 6 is a schematic view of the mounting plate, the second mounting bracket, the link assembly and the elastic member according to the embodiment of the present invention;

figure 7 is a first isometric view of a mounting plate and a second mounting bracket provided in accordance with an embodiment of the present invention;

fig. 8 is a second isometric view of the mounting plate and second mounting bracket provided in accordance with an embodiment of the present invention;

fig. 9 is a first isometric view of a first mounting sub-frame according to an embodiment of the present invention;

fig. 10 is a first isometric view of a first mounting sub-frame according to an embodiment of the present invention;

fig. 11 is a schematic view of a lifting driving member and a first hooking member provided in an embodiment of the present invention.

Reference numerals are as follows:

100. a chassis;

101. a first connection portion; 102. a reinforcing rib plate; 103. a support rib; 104. a guide rail;

10. a side brush module; 20. a roll brush module;

1. a first mounting bracket;

11. a first mounting sub-frame;

111. mounting a plate; 1111. a first folded edge; 1112. a second folded edge; 1113. a first limiting part;

112. a first mounting seat; 113. a second mounting seat;

2. a second mounting bracket;

21. a second mounting sub-frame; 211. a second limiting part; 212. a first mounting seat portion; 213. a second mounting seat portion; 214. a third connecting portion;

22. a first hooking member; 221. an installation part; 222. a hooking part;

32. a roll brush assembly; 31. mounting a seat plate; 33. a rolling brush drive;

4. a lifting drive member;

5. a connecting rod assembly; 51. a first connecting arm; 52. a second connecting arm;

6. a second hook member;

7. an elastic member.

Detailed Description

In order to make the technical problems, technical solutions adopted and technical effects achieved by the present invention clearer, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 6, the present embodiment provides a cleaning robot including a chassis 100 and a cleaning module disposed on the chassis 100, the cleaning module including a rolling brush module 20 and an edge brush module 10 disposed on the rolling brush module 20. The rolling brush module 20 includes a first mounting bracket 1, a second mounting bracket 2, a mounting base plate 31, a rolling brush assembly 32, a rolling brush driving member 33, a link assembly 5, and a lifting driving member 4. The first mounting bracket 1 is connected to the chassis 100. The second mounting rack 2 is arranged below the first mounting rack 1 at intervals and is connected with the first mounting rack 1 through a connecting rod assembly 5. The installation seat plate 31 is connected with the second installation frame 2, and the rolling brush assembly 32 is arranged at the lower side of the installation seat plate 31. The rolling brush driving member 33 and the side brush modules 10 are respectively provided at both left and right ends of the installation seat plate 31. The rolling brush driving member 33 is used for driving the rolling brush assembly 32 to rotate so as to roll and sweep the garbage on the surface to be cleaned. The edge brush module 10 is used to sweep the waste inwardly and rearwardly to gather the waste on the front side of the roller brush assembly 32. The side brush module 10 is mounted on the mounting plate 31 to be lifted and lowered simultaneously with the roll brush assembly 32. The lifting driving member 4 is disposed on the chassis 100, and an output end of the lifting driving member 4 is connected to the second mounting frame 2, and the lifting driving member 4 drives the second mounting frame 2, and the rolling brush assembly 32 and the side brush module 10 thereon to lift. The connecting rod assembly 5 comprises two parallel first connecting arms 51 with equal length, and two ends of each of the two first connecting arms 51 are respectively hinged to the first mounting frame 1 and the second mounting frame 2; the two groups of connecting rod assemblies 5 are symmetrically arranged left and right by taking the reference surface as a symmetry plane, and the reference surface passes through the gravity center of the cleaning module.

The first mounting frame 1 and the second mounting frame 2 are connected through the connecting rod assembly 5, so that the second mounting frame 2 can be driven by the lifting driving piece 4 to lift relative to the first mounting frame 1. Specifically, when cleaning is needed, the lifting driving member 4 drives the second mounting frame 2 and the rolling brush assembly 32 and the side brush module 10 thereon to descend, and the rolling brush assembly 32 and the side brush module 10 are both in contact with the surface to be cleaned so as to roll and clean the garbage on the surface to be cleaned. When cleaning is not needed, the lifting driving piece 4 drives the second mounting frame 2 and the rolling brush assembly 32 and the side brush module 10 thereon to lift so as to leave the surface to be cleaned, and rubbing of the cleaning robot in the walking process is avoided. Illustratively, the lift drive 4 is a push rod motor.

The roller brush assembly 32 includes a pod and a roller brush. The pod is connected to the mounting plate 31. The rolling brush is arranged on the inner side of the air guide sleeve. The rolling brush comprises a rolling shaft and brush hair coated on the outer surface of the rolling shaft. The rolling shaft is in a long cylindrical shape. The plurality of brush hairs are arranged on the cylindrical surface of the rolling shaft in a spiral winding or interval dislocation mode. The entire roller brush assembly 32 is disposed in the left and right direction of the cleaning robot, i.e., the axial direction of the roller is parallel to the left and right direction of the cleaning robot. The roller brush assembly 32 has a large dimension in the left-right direction, and a relatively small dimension in the up-down and front-rear directions. The rolling brush driving member 33 and the side brush modules 10 are respectively disposed at the left and right ends of the mounting base plate 31 to balance the center of gravity of the entire structure, so that the center of gravity of the cleaning module is close to or located at the middle position in the left-right direction, thereby reducing the inclination occurring in the lifting process.

The round brush module 20 is further including setting up the spray pipe subassembly on installation bedplate 31, and the spray pipe subassembly is located the front side of kuppe for to waiting to clean the face shower water or cleaning solution, with softening or dissolving the rubbish that adheres to waiting to clean the face, the operation is swept to the book of cooperation round brush, improves the effect of sweeping the floor. The chassis 100 can also be optionally provided with a water absorption raking assembly, the water absorption raking assembly is positioned at the rear side of the rolling brush assembly 3, and the water absorption raking assembly is used for collecting dirty liquid which cannot be collected by rolling and sweeping of the rolling brush, so that the surface to be cleaned is clean and has no water mark.

In link assembly 5, two first connecting arms 51 are parallel and length equals, and two ends of two first connecting arms 51 are equallyd divide and are articulated respectively in first mounting bracket 1 and second mounting bracket 2 to two first connecting arms 51, first mounting bracket 1 and second mounting bracket 2 four form parallel double crank mechanism. Further, two sets of link mechanism bilateral symmetry sets up, form two bilateral symmetry's parallel double crank mechanism promptly in the great left and right direction of round brush subassembly 32 size, to guarantee that second mounting bracket 2 and round brush subassembly 32 and limit brush module 10 thereon can stably go up and down under the drive of lift driving piece 4, reduce the emergence of the in-process slope that goes up and down, make the round brush keep with treat the state that cleans the face parallel, make limit brush module 10 and treat that clean the face keeps stable effective contact simultaneously, thereby guarantee to clean the effect.

It should be noted that, because the rolling brush assembly 32 and the whole cleaning module have large sizes in the left-right direction, the left-right direction inclination is mainly easy to occur during the lifting process, and therefore, the two link assemblies 5 are symmetrically arranged in the left-right direction in the embodiment, so as to reduce the left-right direction inclination of the cleaning module as much as possible.

Illustratively, both ends of the first connecting arm 51 are respectively connected to the first mounting frame 1 and the second mounting frame 2 through a rotating shaft (e.g., a pin). In order to ensure the smooth rotation of the first connecting arm 51, a certain installation gap exists between the rotating shaft and the first mounting frame 1 and the second mounting frame 2, and the existence of the installation gap can influence the lifting stability of the rolling brush assembly 3. For this purpose, the connecting rod assembly 5 further comprises a second connecting arm 52, two ends of the second connecting arm 52 are respectively hinged to the first mounting frame 1 and the second mounting frame 2, and the second connecting arm 52 is parallel to the plane of the two first connecting arms 51. In this way, the second connecting arm 52 is additionally arranged, and the second mounting frame 2 is further balanced, coordinated and limited relative to the movement of the first mounting frame 1 through the second connecting arm 52, so that the lifting stability of the rolling brush assembly 32 and the side brush module 10 is further improved. In this embodiment, the second connecting arm 52 and the two first connecting arms 51 are disposed in a front-back staggered manner, so that the situation of front-back inclination occurring during the lifting process of the second mounting frame 2, the roller brush assembly 32 and the side brush module 10 can be reduced.

The state where the roller brush assembly 32 is parallel to the surface to be cleaned means that the axial direction of the roller is parallel to the surface to be cleaned, and the axial direction of the roller is always parallel to the left-right direction of the cleaning robot, and the roller does not tilt in the left-right direction and the front-back direction. The side brush module 10 is in effective uniform contact with the surface to be cleaned, which means that the included angle between the bottom surface of the side brush module 10 and the surface to be cleaned is basically kept unchanged.

Alternatively, referring to fig. 4-8, the first mounting frame 1 comprises two first mounting sub-frames 11 and the second mounting frame 2 comprises two second mounting sub-frames 21; the two first mounting sub-frames 11 and the two second mounting sub-frames 21 are arranged in bilateral symmetry by taking the reference plane as a symmetry plane; one set of connecting rod assemblies 5 connects the first mounting sub-frame 11 and the second mounting sub-frame 21 on the left side of the reference surface, and the other set of connecting rod assemblies 5 connects the first mounting sub-frame 11 and the second mounting sub-frame 21 on the right side of the reference surface. Therefore, the first mounting frame 1 and the second mounting frame 2 are both in a bilateral symmetry structure, and the lifting stability of the rolling brush assembly 32 and the side brush module 10 is further improved.

Optionally, the chassis 100 comprises a first connection portion 101 and a first guide portion; the first mounting sub-frame 11 comprises a second connecting portion and a second guiding portion, the second guiding portion is slidably inserted into the first guiding portion, and the second connecting portion is detachably connected with the first connecting portion 101. The sliding insertion of the second guide portion and the first guide portion improves the assembly accuracy and the assembly convenience of the second mount 2 and the chassis 100. The round brush is a consumable part and is detachably connected with the first connecting part 101 through the second connecting part, so that the round brush module 20 and the chassis 100 can be quickly disassembled and assembled, and the round brush module 20 can be conveniently maintained and replaced.

Alternatively, referring to fig. 3, 5, 9 and 10, the first guide is a guide rail 104. The first mounting sub-frame 11 includes a mounting plate 111, the second connecting portion is a first folded edge 1111 disposed on the mounting plate 111, the second guiding portion is a second folded edge 1112 disposed on the mounting plate 111, the second folded edge 1112 is slidably inserted into the guide rail 104, and the first folded edge 1111 is bolted to the first connecting portion 101. In this embodiment, the front end of the chassis 100 is a plate shape that rises upward, and a reinforcement rib plate 102 is provided at the bottom thereof. The reinforcing rib plate 102 is provided with a support rib 103, the support rib 103 is opposite to the chassis 100 at intervals, and a U-shaped guide rail 104 is formed by surrounding the support rib 103, the reinforcing rib plate 102 and the chassis 100. The second connecting portion and the second guide portion are formed by bending and folding the mounting plate 111, and are simple to manufacture and high in structural strength. The first folding edge 1111 is located at the rear end of the mounting plate 111 in the inserting direction, and the first connecting portion 101 is located at the foremost end of the chassis 100; when the first mounting sub-frame 11 is mounted, the first mounting sub-frame 11 is pushed into the bottom side of the chassis 100 from front to back, and the second flange 1112 slides along the slide rail until the first flange 1111 abuts against the first connecting portion 101. The first folded edge 1111 is bolted to the first connection portion 101, so that connection is firm and disassembly and assembly are convenient. In other embodiments, the first connecting portion 101 and the second connecting portion may be detachably connected by a snap or the like, which is not limited herein.

Optionally, two second guide portions are provided on two sides of the mounting plate 111 in the inserting direction, and two guide rails 104 are correspondingly provided, so that the assembling accuracy of the mounting plate 111 is improved.

Optionally, the first mounting sub-frame 11 is provided with a first limiting portion 1113, the second mounting sub-frame 21 is provided with a second limiting portion 211, and when the second limiting portion 211 abuts against the first limiting portion 1113, the rolling brush assembly 3 descends to the lowest point. Through setting up first spacing portion 1113 and the spacing portion 211 of second, limit round brush subassembly 3's the biggest decline stroke, avoid round brush subassembly 32 and limit brush module 10 and treat that the cleaning surface is too crowded and damage with higher speed, adopt mechanical limit structure, the security is higher. In this embodiment, the first limiting portion 1113 is an L-shaped plate formed by continuously bending the mounting plate 111. The second limiting portion 211 is formed by bending the side edge of the second mounting sub-frame 21.

Further, the first mounting sub-frame 11 further includes a first mounting seat 112 and a second mounting seat 113 disposed at the bottom side of the mounting plate 111, and the second mounting sub-frame 21 includes a first mounting seat portion 212 and a second mounting seat portion 213. One end of the first connecting arm 51 is rotatably connected to the first mounting seat 112 via a rotating shaft, and the other end is rotatably connected to the first mounting seat 212 via a rotating shaft. One end of the second connecting arm 52 is rotatably connected to the second mounting seat 113 via a rotating shaft, and the other end is rotatably connected to the second mounting seat 213 via a rotating shaft.

Further, the second mounting sub-frame 21 further comprises two third connecting portions 214, and the second mounting sub-frame 21 is bolted to the mounting seat plate 31 of the roller brush assembly 32 through the two third connecting portions 214. The second mounting sub-frame 21 may be cast, injection molded or stamped and formed integrally.

Optionally, referring to fig. 6, 7 and 11, the second mounting frame 2 further includes a first hooking member 22, the output end of the lifting driving member 4 is provided with a second hooking member 6, and the second hooking member 6 is hooked with the first hooking member 22 up and down, that is, the output end is not rigidly locked with the second mounting frame 2, so that the second mounting frame 2 and the output end can be conveniently detached. Because the first mounting sub-frame 11 is detachably connected with the second connecting part on the chassis 100 through the first connecting part 101, and the second mounting frame 2 is hooked with the output end of the lifting driving part 4, the whole rolling brush module 20 can be quickly disassembled and assembled, and is convenient to maintain and replace.

Optionally, the projection center of the hooking area of the first hooking member 22 and the second hooking member 6 in the vertical direction coincides with the center of gravity of the cleaning module, that is, the direction of the force of the push rod motor on the rolling brush assembly 32 and the side brush module 10 coincides with the center of gravity of the cleaning module, and the rolling brush assembly 32 and the side brush module 10 can be lifted more stably.

Optionally, the first hooking member 22 includes a mounting portion 221 and a hooking portion 222, the mounting portion 221 is connected to the mounting seat plate 31 of the roller brush assembly 32, and the hooking portion 222 is hooked to the second hooking member 6; the second hooking member 6 and the hooking portion 222 are both L-shaped, so that the hooking is convenient, and the hooking stability is high. In other embodiments, the first hooking member 22 and the hooking portion 222 may have other shapes, and are not limited herein; for example, the second hooking member 6 is an inverted T-shape, the two hooking portions 222 are still L-shaped and are disposed, and the two hooking portions 222 are hooked on two ends of the bottom of the second hooking member 6 respectively.

Optionally, the cleaning robot further includes an elastic member 7, both ends of the elastic member 7 are respectively connected to the first mounting frame 1 and the second mounting frame 2, and the elastic member 7 applies a downward elastic force to the second mounting frame 2. When the rolling brush assembly 32 descends to be in contact with the surface to be cleaned, the gravity of the rolling brush assembly 32 and the second mounting frame 2 alone is not enough to enable the rolling brush to have enough pressure on the surface to be cleaned, if the pressure is too small, the rolling brush is not in complete contact with the surface to be cleaned, and the cleaning effect is poor. The elastic force towards the second mounting frame 2 is applied through the elastic piece 7, the enough pressure of the rolling brush and the surface to be cleaned is guaranteed, and the cleaning effect is further guaranteed.

Illustratively, referring to fig. 6, the elastic member 7 is a spring, which is easy to obtain, low in cost, and easy to install. In this embodiment, two elastic members 7 are provided, one elastic member 7 is connected to the first mounting sub-frame 11 and the second mounting sub-frame 21 on the left side of the reference surface, and the other elastic member 7 is connected to the first mounting sub-frame 11 and the second mounting sub-frame 21 on the right side of the reference surface.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (10)

1. A cleaning robot, characterized by comprising a chassis (100) and a cleaning module arranged on the chassis (100), the cleaning module comprising a rolling brush module (20) and an edge brush module (10) arranged on the rolling brush module (20); the roll brush module (20) includes:

a first mounting frame (1) connected with the chassis (100);

the second mounting rack (2) is arranged below the first mounting rack (1) at intervals;

the mounting seat plate (31) is connected with the second mounting frame (2);

a rolling brush assembly (32) arranged at the lower side of the mounting seat plate (31);

the rolling brush driving piece (33) and the side brush module (10) are respectively arranged at the left end and the right end of the installation seat plate (31);

the lifting driving piece (4) is arranged on the chassis (100), and the output end of the lifting driving piece (4) is connected with the second mounting rack (2);

the connecting rod assembly (5) comprises two parallel first connecting arms (51) with equal length, and two ends of the two first connecting arms (51) are hinged to the first mounting frame (1) and the second mounting frame (2) respectively; the two groups of connecting rod assemblies (5) are arranged, the two groups of connecting rod assemblies (5) are arranged in a bilateral symmetry mode by taking a reference surface as a symmetry plane, and the reference surface passes through the gravity center of the cleaning module.

2. The cleaning robot according to claim 1, characterized in that said link assembly (5) further comprises a second connecting arm (52), said second connecting arm (52) being hinged at both ends to said first mounting frame (1) and to said second mounting frame (2), respectively; the second connecting arm (52) is parallel to the plane of the two first connecting arms (51).

3. The cleaning robot according to claim 2, characterized in that the first mounting frame (1) comprises two first mounting subracks (11) and the second mounting frame (2) comprises two second mounting subracks (21);

the two first mounting sub-frames (11) and the two second mounting sub-frames (21) are arranged in a bilateral symmetry mode by taking the reference surface as a symmetry plane;

one group of the connecting rod assemblies (5) is connected with the first mounting sub-frame (11) and the second mounting sub-frame (21) on the left side of the reference surface, and the other group of the connecting rod assemblies (5) is connected with the first mounting sub-frame (11) and the second mounting sub-frame (21) on the right side of the reference surface.

4. A cleaning robot according to claim 3, characterized in that the chassis (100) comprises a first connection part (101) and a first guiding part;

the first installation sub-frame (11) comprises a second connecting portion and a second guiding portion, the second guiding portion is inserted with the first guiding portion in a sliding mode, and the second connecting portion is detachably connected with the first connecting portion (101).

5. The cleaning robot according to claim 4, wherein the first guide portion is a guide rail (104); first installation divides frame (11) to include mounting panel (111), the second connecting portion be for set up in first hem (1111) on mounting panel (111), the second guide part be for set up in second hem (1112) on mounting panel (111), second hem (1112) slip cartridge guide rail (104), first hem (1111) with first connecting portion (101) bolt.

6. The cleaning robot as claimed in claim 3, wherein the first mounting sub-frame (11) is provided with a first limiting portion (1113), the second mounting sub-frame (21) is provided with a second limiting portion (211), and when the second limiting portion (211) abuts against the first limiting portion (1113), the rolling brush assembly (32) descends to the lowest point.

7. The cleaning robot as claimed in any one of claims 3-6, characterized in that the second mounting frame (2) further comprises a first hooking member (22), the first hooking member (22) is located between the two second mounting sub-frames (21), a second hooking member (6) is arranged at the output end of the lifting driving member (4), and the second hooking member (6) is hooked with the first hooking member (22) up and down.

8. A cleaning robot as claimed in claim 7, characterized in that the centre of projection of the hooking areas of the first and second hooking members (22, 6) in the vertical direction coincides with the centre of gravity of the cleaning module.

9. The cleaning robot according to claim 7, wherein the first hooking member (22) includes a mounting portion (221) and a hooking portion (222), the mounting portion (221) is connected with the brush roll assembly (32), and the hooking portion (222) is hooked with the second hooking member (6); the second hooking piece (6) and the hooking part (222) are both L-shaped.

10. The cleaning robot according to any one of claims 1-6, further comprising an elastic member (7), wherein both ends of the elastic member (7) are connected to the first mounting bracket (1) and the second mounting bracket (2), respectively, and the elastic member (7) applies a downward elastic force to the second mounting bracket (2).

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