EP4062817A1 - Ensemble de nettoyage et robot de nettoyage - Google Patents

Ensemble de nettoyage et robot de nettoyage Download PDF

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Publication number
EP4062817A1
EP4062817A1 EP22164247.3A EP22164247A EP4062817A1 EP 4062817 A1 EP4062817 A1 EP 4062817A1 EP 22164247 A EP22164247 A EP 22164247A EP 4062817 A1 EP4062817 A1 EP 4062817A1
Authority
EP
European Patent Office
Prior art keywords
connecting rod
cleaning
cleaning component
rotating body
cleaning assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP22164247.3A
Other languages
German (de)
English (en)
Other versions
EP4062817B1 (fr
Inventor
Junbin Zhang
Weijing Lin
Xingyan LI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yunjing Intelligent Shenzhen Co Ltd
Yunjing Intelligence Innovation Shenzhen Co Ltd
Original Assignee
Yunjing Intelligence Technology Dongguan Co Ltd
Yunjing Intelligent Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yunjing Intelligence Technology Dongguan Co Ltd, Yunjing Intelligent Shenzhen Co Ltd filed Critical Yunjing Intelligence Technology Dongguan Co Ltd
Publication of EP4062817A1 publication Critical patent/EP4062817A1/fr
Application granted granted Critical
Publication of EP4062817B1 publication Critical patent/EP4062817B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to technical field of cleaning robots, and in particular to a cleaning assembly and a cleaning robot with the same.
  • the cleaning robot generally includes a cleaning component which is configured to clean the surface to be cleaned.
  • the cleaning component in related technologies cannot be lifted and held in a lift position, as a result, the cleaning robot using the cleaning component is short of adaptability.
  • One objective of the present disclosure is to provide a cleaning assembly which can lift or lower a component of a cleaning robot, thereby improving the adaptability of the cleaning robot.
  • Another objective of the present disclosure is to provide a cleaning robot using the cleaning assembly.
  • the present disclosure provides a cleaning assembly configured for mounting on a main body of a cleaning robot, and the cleaning assembly includes:
  • the cleaning component includes a mounting base connected with the first connecting rod and the second connecting rod, and a cleaning member fixedly or rotatably installed on the mounting base.
  • the link mechanism includes a four-bar linkage of a rhomboid.
  • a connection position between the cleaning component and the first connecting rod and a connection position between the cleaning component and the second connecting rod face to each other in a vertical direction
  • a connection position between the main body and the first connecting rod and a connection position between the main body and the second connecting rod face to each other in the vertical direction
  • the cleaning assembly further includes a torque applying device.
  • the cleaning component encounters an obstacle, the cleaning component is pushed upward to make the link mechanism transform, and transformation of the link mechanism allows the torque applying device to be pushed against by the link mechanism to store elastic potential energy; and the cleaning component falls back down under a release of the elastic potential energy of the torque applying device when the cleaning component is separated from the obstacle.
  • the driving device includes a transmission structure configured to drive the first connecting rod to rotate in a first direction to allow the cleaning component to be lifted upward by the link mechanism; the torque applying device is arranged on the transmission structure and configured to be driven by the transmission structure to push the first connecting rod to rotate in a second direction to allow the cleaning component to fall back down.
  • the transmission structure includes a rotating body on which the torque applying device is arranged; the first connecting rod is rotated in the first direction to lift the cleaning component upward when the rotating body is rotated in a third direction; and the first connecting rod is pushed by the torque applying device to rotate in the second direction to allow the cleaning component to fall back down when the rotating body is rotated in a fourth direction.
  • the torque applying device includes a torsion spring which includes a torsion spring body, and a first torsion arm and a second torsion arm connected to the torsion spring body.
  • the rotating body is provided with a shaft on which the torsion spring body is sleeved, the first torsion arm is engaged with the rotating body, and the second torsion arm is configured to act on the first connecting rod.
  • the second torsion arm is driven to press the first connecting rod down to allow the first connecting rod to rotate in the second direction; when the cleaning component encounters an obstacle, the second torsion arm is pushed by the first connecting rod due to a transformation of the link mechanism to allow the torsion spring to store elastic potential energy.
  • the rotating body is provided with a protrusion which is configured to push the first connecting rod to rotate in the first direction when the rotating body is rotated in the third direction.
  • the driving device includes a rotating body fixedly connected to the first connecting rod.
  • the cleaning assembly includes two cleaning components which are arranged side by side, and each of the two cleaning components is connected to the main body by the first connecting rod and the second connecting rod;
  • the driving device includes a driving motor, a transmission mechanism, a screw rod, a sliding seat, and two gears served as the rotating body;
  • the driving motor is connected to the screw rod through the transmission mechanism to drive the screw rod to rotate, the sliding seat is in threaded connection with the screw rod to be lifted or lowered by the screw rod, two gear racks are arranged on opposite sides of the sliding seat and each gear rack is engaged with a gear, and each of the two gears is configured to drive a corresponding first connecting rod.
  • the cleaning assembly includes two cleaning components which are arranged side by side, and each of the two cleaning components is connected to the main body by the first connecting rod and the second connecting rod;
  • the driving device includes a driving motor, a transmission mechanism, a worm, and two worm gears served as the rotating body, the driving motor is connected to the worm through the transmission mechanism to drive the worm to rotate, and each of the two worm gears is meshed on a side of opposite two sides of the worm and configured to drive a corresponding first connecting rod.
  • the present disclosure further provides a cleaning robot including the above cleaning assembly.
  • the present disclosure is provided with a driving device to drive the link mechanism to perform a reciprocating movement, so as to lift or lower the cleaning component. Accordingly, the cleaning robot using the cleaning assembly is adaptability improved since the cleaning component can be lifted or lowered.
  • FIGS. 1-7 show a cleaning assembly according to a first embodiment of the present disclosure.
  • the cleaning assembly is mounted on a main body 100 (see FIG. 13 ) of a cleaning robot, and includes a cleaning component 1, a first connecting rod 2, a second connecting rod 3 and a driving device.
  • the cleaning component 1 is configured to clean a surface, both ends of the first connecting rod 2 and both ends of the connecting rods 3 are swingingly connected to the cleaning component 1 and the main body 100, so that the first connecting rod 2, the cleaning component 1, the second connecting rod 3 and the main body 100 form a link mechanism, such as a four-bar linkage, and the four-bar linkage provides a reciprocating movement to lift or lower the cleaning component 1; and the driving device is configured to drive the four-bar linkage to make the reciprocating movement.
  • a link mechanism such as a four-bar linkage
  • the four-bar linkage provides a reciprocating movement to lift or lower the cleaning component 1
  • the driving device is configured to drive the four-bar linkage to make the reciprocating movement.
  • the cleaning robot of the present disclosure can lift or lower the cleaning component 1 as required, thereby improving the adaptability of the cleaning robot. For example, when the cleaning component 1 is too dirty, the cleaning robot needs to return to the base station to clean the cleaning component 1, the cleaning component 1 may be lifted to avoid secondary pollution to the cleaning component 1, meanwhile to facilitate the rapid travel of the cleaning robot.
  • both ends of the first connecting rod 2 and both ends of the second connecting rod 3 are pivotally connected to the cleaning component 1 and the main body 100 of the cleaning robot, respectively.
  • first connecting rod 2 and the second connecting rod 3 may be connected to a same structure of the main body 100 at the same time, or connected to different structures of the main body 100.
  • first connecting rod 2 and the second connecting rod 3 may be connected to the housing of the main body 100.
  • the cleaning component 1 includes a mounting base 10 and a cleaning member 11 mounted on the mounting base 10, and the cleaning component 1 is connected to the first connecting rod 2 and the second connecting rod 3 through the mounting base 10.
  • the mounting base 10 includes a mounting base body 101 and a third connecting rod 102.
  • the cleaning member 11 is mounted on the mounting base body 101, the third connecting rod 102 is fixedly connected to the mounting base body 101, and the mounting base 10 is respectively connected to the first connecting rod 2 and the second connecting rod 3 through the third connecting rod 102.
  • the cleaning member 11 is rotatably mounted on the mounting base 10, and the cleaning member may also be fixedly mounted on the mounting base 10.
  • a rotary drive motor 12 may be installed on the mounting base 10 and in transmission connection with the cleaning member 11.
  • the mounting base body 101 includes a substrate 103 and a side plate 104, the rotary drive motor 12 is mounted on the base body 103, and an output shaft 121 of the rotary drive motor 12 is extended downward from the substrate 103 to be connected with the cleaning member 11.
  • the third connecting rod 102 is installed on the side plate 104.
  • the cleaning member 11 may also be fixedly installed on the mounting base 10, which is not limited in the present disclosure.
  • the cleaning component 1 is a mopping module, which is not limited however.
  • the cleaning component 1 may also be a sweeping module.
  • the cleaning component 1 is not limited to any form.
  • the four-bar linkage is a rhomboid four-bar linkage.
  • connection position between the cleaning component 1 and the first connecting rod 2 and the connection position between the cleaning component 1 and the second connecting rod 3 face to each other in the vertical direction, and the connection position between the main body 100 and the first connecting rod 2 and the connection position between the main body 100 and the second connecting rod 3 face to each other in the vertical direction.
  • the cleaning component 1 can be lifted or lowered in the vertical direction.
  • the lifting/lowering direction of the cleaning component 1 is not limited.
  • the cleaning component 1 is pivoted with the first connecting rod 2 and the second connecting rod 3, respectively; the main body 100 is pivoted with the first connecting rod 2 and the second connecting rod 3, respectively.
  • the cleaning assembly further includes a torque applying device which acts on the first connecting rod 2 and/or the second connecting rod 3.
  • a torque applying device which acts on the first connecting rod 2 and/or the second connecting rod 3.
  • the driving device includes a transmission structure which is configured to drive the first connecting rod 2 to rotate in a first direction so that the cleaning component 1 is lifted upward under an action of the four-bar linkage.
  • the torque applying device is arranged on the transmission structure and is configured to push the first connecting rod 2 to rotate in a second direction under the drive of the transmission structure, so as to make the cleaning component 1 to return downward under an action of the four-bar linkage.
  • the first connecting rod 2 is defined as a connecting rod driven by the driving device, which may be any one of the two connecting rods between the cleaning component 1 and the main body 100 of the cleaning robot.
  • the first connecting rod 2 and the second connecting rod 3 may be simultaneously driven by the driving device.
  • the first connecting rod 2 is located above the second connecting rod 3, which is not limited however.
  • the transmission structure may have various embodiments, as long as it can drive the first connecting rod 2 to rotate in the first direction, and drive the torque applying device to push the first connecting rod 2 to rotate in the second direction.
  • the first connecting rod 2 and the second connecting rod 3 may be simultaneously pushed by the torque applying device.
  • the torque applying device By arranging the torque applying device on the transmission structure, on the one hand, it is beneficial to achieve the adaptive floating of the cleaning component 1 through the cooperation of the torque applying device and the first connecting rod 2, on the other hand, it facilitates the installation of the torque applying device.
  • the torque applying device in the present disclosure is not limited to being provided on the transmission structure. It's feasible that, the torque applying device only plays a role in facilitating the self-adaptive floating of the cleaning component 1.
  • the transmission structure includes a rotating body 4 on which the torque applying device is arranged.
  • the rotating body 4 When the rotating body 4 is rotated in a third direction, the first connecting rod 2 is rotated in the first direction to lift up the cleaning component 1.
  • the rotating body 4 When the rotating body 4 is rotated in a fourth direction, the second connecting rod 2 is rotated in the second direction under the push of the torque applying device to make the cleaning component 1 to return downward.
  • the first connecting rod 2 may be configured to be directly driven by the rotating body 4 to rotate in the first direction, which is not limited however.
  • the transmission structure may include other structures for driving the first connecting rod 2 to rotate in the first direction.
  • the first connecting rod 2 and the second connecting rod 3 may be directly driven by the rotating body 4, and/or directly pushed by the torque applying device in other embodiments.
  • the rotation axis of the first connecting rod 2 and the rotation axis of the rotating body 4 are substantially coincident, which is not limited however.
  • the first connecting rod 2 is pivotally connected to the main body 100 of the cleaning robot through a rotating shaft a, and the rotating body 4 is rotatably arranged on the rotating shaft a, for example, the rotating body 4 is in clearance fit with the rotating shaft a.
  • the torque applying device includes a torsion spring 5 which includes a torsion spring body 51, a first torsion arm 52 and a second torsion arm 53 which are both connected to the torsion spring body 51.
  • the rotating body 4 is provided with a first shaft 41, and the torsion spring body 51 is sleeved on the first shaft 41.
  • the first torsion arm 52 is engaged on the rotating body 4, and the second torsion arm 53 is configured to act on the first connecting rod 2.
  • the second torsion arm 53 is driven to press the first connecting rod 2 to rotate in the second direction.
  • the second torsion arm 53 When the cleaning component 1 encounters an obstacle, the second torsion arm 53 is pushed by the first connecting rod 2 due to the transformation of the four-bar linkage, so that the torsion spring 5 stores elastic potential energy.
  • the first connecting rod 2 When the cleaning component 1 is free from obstacles, the first connecting rod 2 is pressed by the torsion spring 5 by means of its elastic potential energy to facilitate the downward return of the cleaning component 1.
  • the torsion spring 5 can be stably configured on the rotating body 4, and the torsion spring 5 and the first connecting rod 2 can be stably cooperated with one another.
  • torsion spring 5 may be configured to act on both the first connecting rod 2 and the second connecting rod 3.
  • the rotating body 4 In order to stably install the torsion spring 5 on the rotating body 4, the rotating body 4 is provided with a buckle hole 42 for buckling with the first torsion arm 52 of the torsion spring 5.
  • the rotating body 4 is provided with a protrusion 43 which is configured to push the first connecting rod 4 to rotate in the first direction when the rotating body 4 is rotated in the third direction. In such a way, the first connecting rod 2 can be reliably pushed.
  • the first connecting rod 2 and the second connecting rod 3 are both plate-shaped. Two ends of the first connecting rod 2 are respectively provided with rotating shafts a and b, and two ends of the second connecting rod 3 are respectively provided with rotating shafts c and d. Two ends of each of the rotating shafts a, b, c, and d are pivotally connected to the main body 100 and the cleaning component 1 respectively.
  • a notch 21 is formed on one end of the first connecting rod 2, and the rotating body 4 is partially located at the notch 21 and is in clearance fit with the rotating shaft a.
  • the two side walls of the rotating body 4 are respectively provided with a protrusion 43. Of course, the location of the protrusion 43 is not limited.
  • the rotating body 4 is a worm gear.
  • the rotating body 4 is not limited to the form of a worm gear.
  • the rotating body 4 is a gear.
  • the cleaning assembly includes two cleaning components 1 arranged side by side, the first connecting rod 2 and the second connecting rod 3 are respectively connected between each cleaning component 1 and the main body 100.
  • the driving device includes a driving motor 6, a transmission mechanism 7, a worm 8, and two worm gears served as the rotating body 4.
  • the driving motor 6 is connected to the worm 8 through the transmission mechanism 7 to drive the worm 8 to rotate, and the two worm gears are respectively meshed on opposite sides of the worm 8 and configured to drive the respective first connecting rod 2. In such a way, the four-bar linkage can be reliably driven to reciprocate.
  • a cover G is provided above the two worm gears and the worm 8, a shaft hole G1 is formed on the cover G, and the top of the worm 8 is provided with a second shaft 81 that is in a rotation fit with the shaft hole G1.
  • FIGS. 8 to 10 show a cleaning assembly according to a second embodiment of the present disclosure.
  • the main difference between this embodiment and the first embodiment is the driving device.
  • the cleaning assembly includes two cleaning components 1 arranged side by side, the first connecting rod 2 and the second connecting rod 3 are respectively connected between each cleaning components 1 and the main body 100.
  • the driving device includes a driving motor 6', a transmission mechanism 7', a screw rod 8', a sliding seat 9' and two gears served as the rotating body 4'.
  • the driving motor 6' is connected to the screw rod 8' through the transmission mechanism 7' to drive the screw rod 8' to rotate, the sliding seat 9' is in threaded connection with the screw rod 8' to be lifted or lowered by the screw rod 8'.
  • Two gear racks 91' are formed on opposite sides of the sliding seat 9' to be respectively connected with the two gears, and the two gears are respectively configured to drive the respective first connecting rod 2. In such a way, the four-bar linkage can be reliably driven to reciprocate.
  • the sliding seat 9' is slidably arranged on a guide rod 92' to ensure the reliable sliding of the sliding seat 9'.
  • the rotating body 4' plays the same role as the rotating body 4 in the first embodiment.
  • a cover G' is provided above the two gears and the sliding seat 9', and a screw hole G1' and a guide rod hole G2' are formed on the cover G', the top of the screw rod 8' is arranged in the screw hole G1', and the guide rod 92' is arranged in the guide rod hole G2'.
  • FIG. 11 shows a cleaning assembly according to a third embodiment of the present disclosure.
  • no torque applying device is configured on the rotating body 4, and the rotating body 4 is fixedly connected to the first connecting rod 2 to drive the first connecting rod 2 to rotate in the first direction and the second direction, so as to cause the four-bar linkage be reciprocated to realize the lifting and lowering of the cleaning component 1'.
  • the rotating body 4 may be both fixedly connected to the first connecting rod 2 and the second connecting rod 3, respectively.
  • the first connecting rod 2 is pivotally connected to the main body 100 of the cleaning robot through a rotating shaft a', and the rotating body 4 is arranged on the rotating shaft a', preferably in the form of a key connection.
  • the rotating body 4 rotates, the first connecting rod 2 is driven to rotate by the rotating shaft a'.
  • a spring T is built into the cleaning component 1' in the present embodiment.
  • a torque applying device may be provided to act on the four-bar linkage.
  • FIG. 12 shows a cleaning assembly according to a fourth embodiment of the present disclosure.
  • the main difference between this embodiment and the second embodiment is that, no torque applying device is provided on the rotating body 4', and the rotating body 4' is fixedly connected to the first connecting rod 2 to drive the first connecting rod 2 to rotate in the first direction and the second direction, so as to cause the four-bar linkage be reciprocated to realize the lifting and lowering of the cleaning component 1'. It is not excluded that the rotating body 4' may be both fixedly connected to the first connecting rod 2 and the second connecting rod 3, respectively.
  • the first connecting rod 2 is pivotally connected to the main body 100 of the cleaning robot through a rotating shaft a', and the rotating body 4' is arranged on the rotating shaft a', preferably in the form of a key connection.
  • the rotating body 4 rotates, the first connecting rod 2 is driven to rotate by the rotating shaft a'.
  • a spring T is built into the cleaning component 1' in the present embodiment.
  • a torque applying device may be provided to act on the four-bar linkage.
  • the present disclosure also discloses a cleaning robot including the above-mentioned cleaning assembly.

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  • Nozzles For Electric Vacuum Cleaners (AREA)
EP22164247.3A 2021-03-25 2022-03-24 Ensemble de nettoyage et robot de nettoyage Active EP4062817B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110323260.2A CN112914431B (zh) 2021-03-25 2021-03-25 清洁组件及清洁机器人

Publications (2)

Publication Number Publication Date
EP4062817A1 true EP4062817A1 (fr) 2022-09-28
EP4062817B1 EP4062817B1 (fr) 2023-08-16

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EP22164247.3A Active EP4062817B1 (fr) 2021-03-25 2022-03-24 Ensemble de nettoyage et robot de nettoyage

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US (1) US20220304536A1 (fr)
EP (1) EP4062817B1 (fr)
CN (1) CN112914431B (fr)

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CN214678799U (zh) * 2020-06-29 2021-11-12 宁波富佳实业股份有限公司 一种抹布升降驱动、抹布驱动机构及吸尘器
CN113467482A (zh) * 2021-08-12 2021-10-01 深圳市伽利略机器人有限公司 一种自清洁的清洁机器人清扫路径规划方法及清洁机器人
CN115769996B (zh) * 2021-09-06 2023-11-07 追觅创新科技(苏州)有限公司 清洁装置及清洁设备
WO2023138708A1 (fr) * 2022-01-21 2023-07-27 橙色云互联网设计有限公司 Appareil de nettoyage et robot de nettoyage

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CN112914431B (zh) 2022-06-21

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