EP4062817B1 - Cleaning assembly and cleaning robot - Google Patents

Cleaning assembly and cleaning robot Download PDF

Info

Publication number
EP4062817B1
EP4062817B1 EP22164247.3A EP22164247A EP4062817B1 EP 4062817 B1 EP4062817 B1 EP 4062817B1 EP 22164247 A EP22164247 A EP 22164247A EP 4062817 B1 EP4062817 B1 EP 4062817B1
Authority
EP
European Patent Office
Prior art keywords
connecting rod
cleaning
cleaning component
rotating body
main body
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.)
Active
Application number
EP22164247.3A
Other languages
German (de)
French (fr)
Other versions
EP4062817A1 (en
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 Intelligent Shenzhen Co Ltd
Yunjing Intelligence Innovation 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 Intelligent Shenzhen Co Ltd, Yunjing Intelligence Innovation Shenzhen Co Ltd filed Critical Yunjing Intelligent Shenzhen Co Ltd
Publication of EP4062817A1 publication Critical patent/EP4062817A1/en
Application granted granted Critical
Publication of EP4062817B1 publication Critical patent/EP4062817B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28Floor-scrubbing machines, motor-driven
    • A47L11/282Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4038Disk shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4052Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control 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.
  • CN110215166A relates to a brushing-plate lifting mechanism of an intelligent cleaning robot.
  • the brushing-plate lifting mechanism includes a first parallelogram four-bar linkage mechanism and a second parallelogram four-bar linkage mechanism, the first parallelogram four-bar linkage mechanism is combined with the second parallelogram four-bar linkage mechanism through a large linking bar to form an eight-linking-bar mechanism, and a brushing-plate assembly is fixedly installed on the eight-bar linkage mechanism.
  • two four-bar linkage mechanisms are adopted to enable the brushing-plate assembly to move a twice of a vertical distance, at the same time, a part of a left-right movement is counteracted.
  • the brushing-plate assembly is always in a horizontal state, so the brushing-plate assembly can move up and down in a limited space, at the same time, and a relative movement in the horizontal direction is reduced as much as possible. Therefore, the intelligent cleaning robot is compact, and it is conducive to the development of small-size and lightweight intelligent cleaning robot.
  • CN112168076 provides a sweeping robot which includes a main brush assembly, a rack assembly and a side brush assembly.
  • the side brush assembly and the main brush assembly are connected to a front end and a rear end of the rack assembly respectively.
  • the main brush assembly includes a main brush lifting assembly and a main brush roller.
  • the main brush lifting assembly includes a main brush steel wire rope and a main brush air cylinder.
  • the main brush roller is connected to an output end of the main brush air cylinder through the flexible main brush steel wire rope.
  • the side brush assembly includes a side brush lifting structure and a side brush connecting piece.
  • the side brush lifting structure includes a side brush steel wire rope and a side brush cylinder.
  • One end of the side brush connecting piece is rotatably connected to the rack assembly, the other end of the side brush connecting piece is connected to the output end of the side brush air cylinder through the flexible side brush steel wire rope.
  • EP2756787A1 provides a robot cleaner capable of moving in diverse directions and enhancing cleaning efficiency by increasing frictional force between a pad and a floor, which includes two or more driving units.
  • Each of the driving units includes plural motors, a first subframe connected to at least any one of the motors and configured to rotate by receiving rotational force from the motor, a rotating plate assembly mounted to the first subframe and configured to be slanted with respect to a floor by rotation of the first subframe and to rotate clockwise or counterclockwise by receiving rotational force from another motor, and a pad provided at the rotating plate assembly and configured to contact the floor.
  • the rotating plate assembly is slanted with respect to the floor, nonuniform frictional force is generated between the pad and the floor, through which the robot cleaner travels.
  • 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 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 cleaning assembly is mounted on the main body.
  • 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.
  • the driving device includes a rotating body, the rotating body is fixedly connected to the first connecting rod to drive the first connecting rod to rotate, so as to lift or lower the cleaning component.
  • 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 first 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.

Landscapes

  • Nozzles For Electric Vacuum Cleaners (AREA)

Description

    TECHNICAL FIELD
  • The present disclosure relates to technical field of cleaning robots, and in particular to a cleaning assembly and a cleaning robot with the same.
  • BACKGROUND
  • With the development of science and technology, more and more cleaning robots are used by peoples. The cleaning robot generally includes a cleaning component which is configured to clean the surface to be cleaned. However, 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.
  • CN110215166A relates to a brushing-plate lifting mechanism of an intelligent cleaning robot. The brushing-plate lifting mechanism includes a first parallelogram four-bar linkage mechanism and a second parallelogram four-bar linkage mechanism, the first parallelogram four-bar linkage mechanism is combined with the second parallelogram four-bar linkage mechanism through a large linking bar to form an eight-linking-bar mechanism, and a brushing-plate assembly is fixedly installed on the eight-bar linkage mechanism. Compared with the prior art, two four-bar linkage mechanisms are adopted to enable the brushing-plate assembly to move a twice of a vertical distance, at the same time, a part of a left-right movement is counteracted. The brushing-plate assembly is always in a horizontal state, so the brushing-plate assembly can move up and down in a limited space, at the same time, and a relative movement in the horizontal direction is reduced as much as possible. Therefore, the intelligent cleaning robot is compact, and it is conducive to the development of small-size and lightweight intelligent cleaning robot.
  • CN112168076 provides a sweeping robot which includes a main brush assembly, a rack assembly and a side brush assembly. The side brush assembly and the main brush assembly are connected to a front end and a rear end of the rack assembly respectively. The main brush assembly includes a main brush lifting assembly and a main brush roller. The main brush lifting assembly includes a main brush steel wire rope and a main brush air cylinder. The main brush roller is connected to an output end of the main brush air cylinder through the flexible main brush steel wire rope. The side brush assembly includes a side brush lifting structure and a side brush connecting piece. The side brush lifting structure includes a side brush steel wire rope and a side brush cylinder. One end of the side brush connecting piece is rotatably connected to the rack assembly, the other end of the side brush connecting piece is connected to the output end of the side brush air cylinder through the flexible side brush steel wire rope. When the main brush assembly and the side brush assembly sweep bumpy ground, the robot is lifted, and the main brush and side brush steel wire ropes become loose, to avoid damages to parts.
  • EP2756787A1 provides a robot cleaner capable of moving in diverse directions and enhancing cleaning efficiency by increasing frictional force between a pad and a floor, which includes two or more driving units. Each of the driving units includes plural motors, a first subframe connected to at least any one of the motors and configured to rotate by receiving rotational force from the motor, a rotating plate assembly mounted to the first subframe and configured to be slanted with respect to a floor by rotation of the first subframe and to rotate clockwise or counterclockwise by receiving rotational force from another motor, and a pad provided at the rotating plate assembly and configured to contact the floor. When the rotating plate assembly is slanted with respect to the floor, nonuniform frictional force is generated between the pad and the floor, through which the robot cleaner travels.
  • SUMMARY
  • 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.
  • To achieve the above objectives, the present disclosure provides a cleaning assembly configured for mounting on a main body of a cleaning robot, and the cleaning assembly includes:
    • a cleaning component;
    • a first connecting rod with one end swingingly connected to the cleaning component and the other end swingingly connected to the main body, and a second connecting rod with one end swingingly connected to the cleaning component and the other end swingingly connected to the main body, allowing the first connecting rod, the cleaning component, the second connecting rod, and the main body to form a link mechanism to lift or lower the cleaning component by a reciprocating movement of the link mechanism; and
    • a driving device, configured to drive the link mechanism to perform the reciprocating movement, the driving device includes a rotating body fixedly connected to the first connecting rod.
  • In some embodiments, 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.
  • In some embodiments, the link mechanism includes a four-bar linkage of a rhomboid.
  • In some embodiments, 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, and 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.
  • In some embodiments, the cleaning assembly further includes a torque applying device. When 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.
  • In some embodiments, 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.
  • In some embodiments, 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.
  • In some embodiments, 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. When the rotating body is rotated in the fourth direction, 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.
  • In some embodiments, 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.
  • In some embodiments, 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.
  • In some embodiments, 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 cleaning assembly is mounted on the main body.
  • 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. The driving device includes a rotating body, the rotating body is fixedly connected to the first connecting rod to drive the first connecting rod to rotate, so as to lift or lower the cleaning component.
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • The accompanying drawings facilitate an understanding of the various embodiments of the disclosure, wherein:
    • FIG. 1 is a perspective view of a cleaning assembly according to a first embodiment of the present disclosure;
    • FIG. 2 is another perspective view of the cleaning assembly of FIG. 1;
    • FIG. 3 is an exploded view of the cleaning assembly of FIG. 1;
    • FIG. 4 is a bottom view of the cleaning assembly of FIG. 1;
    • FIG. 5 is a cross-sectional view along the line A-A in FIG. 4;
    • FIG. 6 is a perspective view of the cleaning assembly of FIG. 1 with a part of components is hidden;
    • FIG. 7 is another perspective view of the cleaning assembly of FIG. 1 with a part of components is hidden;
    • FIG. 8 is a perspective view of a cleaning assembly according to a second embodiment of the present disclosure;
    • FIG. 9 is a bottom view of the cleaning assembly of FIG. 8;
    • FIG. 10 is a cross-sectional view along the line B-B in FIG. 9;
    • FIG. 11 is a cross-sectional view of a cleaning assembly according to a third embodiment of the present disclosure;
    • FIG. 12 is a perspective view of a cleaning assembly according to a fourth embodiment of the present disclosure; and
    • FIG. 13 is a perspective view of a cleaning assembly and a main body according to an embodiment of the present disclosure.
    Reference signs
  • 1 cleaning component 10 mounting base
    101 mounting base body 102 third connecting rod
    103 substrate 104 side plate
    11 cleaning member 12 rotary drive motor
    121 output shaft 2 first connecting rod
    21 notch 3 second connecting rod
    4 rotating body 41 first shaft
    42 buckle hole 43 protrusion
    5 torsion spring 51 torsion spring body
    52 first torsion arm 53 second torsion arm
    6 driving motor 7 transmission mechanism
    8 worm 81 second shaft
    G cover G1 shaft hole
    a, b, c, d rotating shaft 4' rotating body
    6' driving motor 7' transmission mechanism
    8' screw rod 9' sliding seat
    91' gear rack 92' guide rod
    G' cover G1' screw hole
    G2' guide rod hole a' rotating shaft
    T spring 1' cleaning component
    100 main body
  • DETAILED DESCRIPTION OF ILLUSTRATED EMBODIMENTS
  • In order to explain in detail the technical content, construction features, the purpose and effect achieved by the present disclosure, the following combined with the embodiment and the attached drawings are described in detail.
  • 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. Specifically, 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.
  • When the driving device drives the four-bar linkage to reciprocate, the position of the main body 100 of the four-bar linkage is relatively fixed. The first connecting rod 2 and the second connecting rod 3 are rotated back and forth around their respective connection positions on the main body 100 of the cleaning robot, and the cleaning component 1 is lifted or lowered with the reciprocating movement of the four-bar linkage. Thus, 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.
  • In this embodiment, 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.
  • Optionally, the 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. In an exemplary embodiment, the first connecting rod 2 and the second connecting rod 3 may be connected to the housing of the main body 100.
  • In this embodiment, 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.
  • Referring to FIG. 1, specifically, 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. In order to rotate the cleaning member 11, a rotary drive motor 12 may be installed on the mounting base 10 and in transmission connection with the cleaning member 11.
  • Referring to FIGS. 1 and 5, in an exemplary embodiment, 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.
  • Of course, the cleaning member 11 may also be fixedly installed on the mounting base 10, which is not limited in the present disclosure.
  • In an exemplary embodiment, the cleaning component 1 is a mopping module, which is not limited however. For example, the cleaning component 1 may also be a sweeping module.
  • In short, for the present disclosure, the cleaning component 1 is not limited to any form.
  • In this embodiment, the four-bar linkage is a rhomboid four-bar linkage.
  • The 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. In such a way, the cleaning component 1 can be lifted or lowered in the vertical direction. Of course, the lifting/lowering direction of the cleaning component 1 is not limited.
  • In an exemplary embodiment, 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.
  • In this embodiment, the cleaning assembly further includes a torque applying device which acts on the first connecting rod 2 and/or the second connecting rod 3. When the cleaning component 1 encounters an obstacle, the cleaning component 1 is pushed upward to make the four-bar linkage transform, such that the torque applying device is pushed against by the four-bar linkage to store elastic potential energy. When the cleaning component 1 is separated from the obstacle, the cleaning component 1 returns downward under the release of the elastic potential energy of the torque applying device. The arrangement of the torque applying device facilitates the self-adaptive floating of the cleaning component 1 when the cleaning robot is cleaning an uneven surface.
  • The specific form and arrangement of the "torque applying device" are not limited in the present disclosure.
  • 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.
  • In the present disclosure, 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. Of course, it does not rule out the possibility that the first connecting rod 2 and the second connecting rod 3 may be simultaneously driven by the driving device. In an exemplary embodiment, 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. Of course, it does not rule out the possibility that the first connecting rod 2 and the second connecting rod 3 may be simultaneously pushed by 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.
  • Of course, 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.
  • In an exemplary embodiment, the transmission structure includes a rotating body 4 on which the torque applying device is arranged. 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. When the rotating body 4 is rotated in a fourth direction, the first 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. By arranging the torque applying device on the rotating body 4, it is convenient to drive the torque applying device to push the first connecting rod 2.
  • It should be noted that, when the rotating body 4 is rotated in the third direction, 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. For example, the transmission structure may include other structures for driving the first connecting rod 2 to rotate in the first direction. In addition, it is not excluded here that 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.
  • In some 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.
  • Referring to FIGS. 3 and 6, in an exemplary embodiment, 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. When the rotating body 4 is rotated in the fourth direction, the second torsion arm 53 is driven to press the first connecting rod 2 to rotate in the second direction.
  • 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. 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. In such a way, 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.
  • It should be noted that, it is not excluded here that the torsion spring 5 may be configured to act on both the first connecting rod 2 and the second connecting rod 3.
  • 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.
  • Referring to FIG. 7, in an exemplary embodiment, 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.
  • Referring to FIGS. 6 and 7, in an exemplary embodiment, 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.
  • In an exemplary embodiment, the rotating body 4 is a worm gear. However, the rotating body 4 is not limited to the form of a worm gear. For example, in a second embodiment of the present disclosure, the rotating body 4 is a gear.
  • Referring to FIG. 6, in an exemplary embodiment, 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.
  • Referring to FIGS. 1 and 3. In an exemplary embodiment, 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.
  • In an exemplary embodiment, 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.
  • In an exemplary embodiment, the sliding seat 9' is slidably arranged on a guide rod 92' to ensure the reliable sliding of the sliding seat 9'.
  • In this embodiment, the rotating body 4' plays the same role as the rotating body 4 in the first embodiment.
  • Referring to FIGS. 8 and 9, in an exemplary 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. The main difference between this embodiment and the first embodiment is that, 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'. 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. When the rotating body 4 rotates, the first connecting rod 2 is driven to rotate by the rotating shaft a'.
  • In order to further realize the self-adaptive floating cleaning of the cleaning component 1', a spring T is built into the cleaning component 1' in the present embodiment. Of course, other manners may also be utilized to realize the self-adaptive floating cleaning, for example, 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. When the rotating body 4 rotates, the first connecting rod 2 is driven to rotate by the rotating shaft a'.
  • In order to further realize the self-adaptive floating cleaning of the cleaning component 1', a spring T is built into the cleaning component 1' in the present embodiment. Of course, other manners may also be utilized to realize the self-adaptive floating cleaning, for example, a torque applying device may be provided to act on the four-bar linkage.
  • In addition, the present disclosure also discloses a cleaning robot including the above-mentioned cleaning assembly.

Claims (12)

  1. A cleaning assembly, configured for mounting on a main body (100) of a cleaning robot, the cleaning assembly comprising:
    a cleaning component (1, 1');
    a first connecting rod (2) with one end swingingly connected to the cleaning component (1, 1') and the other end swingingly connected to the main body (100), and a second connecting rod (3) with one end swingingly connected to the cleaning component (1, 1') and the other end swingingly connected to the main body (100), allowing the first connecting rod (2), the cleaning component (1, 1'), the second connecting rod (3), and the main body (100) to form a link mechanism to lift or lower the cleaning component (1, 1') by a reciprocating movement of the link mechanism; and
    a driving device, configured to drive the link mechanism to perform the reciprocating movement;
    characterized in that, the driving device comprises a rotating body (4, 4') fixedly connected to the first connecting rod (2).
  2. The cleaning assembly as claimed in claim 1, wherein the cleaning component (1, 1') comprises a mounting base (10) connected with the first connecting rod (2) and the second connecting rod (3), and a cleaning member (11) fixedly or rotatably installed on the mounting base (10).
  3. The cleaning assembly as claimed in claim 1, wherein the link mechanism comprises a four-bar linkage of a rhomboid.
  4. The cleaning assembly as claimed in claim 1, wherein a connection position between the cleaning component (1, 1') and the first connecting rod (2) and a connection position between the cleaning component (1, 1') and the second connecting rod (3) face to each other in a vertical direction, and a connection position between the main body (100) and the first connecting rod (2) and a connection position between the main body (100) and the second connecting rod (3) face to each other in the vertical direction.
  5. The cleaning assembly as claimed in claim 1, further comprising a torque applying device; wherein,
    when the cleaning component (1, 1') encounters an obstacle, the cleaning component (1, 1') 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 (1, 1') falls back down under a release of the elastic potential energy of the torque applying device when the cleaning component (1, 1') is separated from the obstacle.
  6. The cleaning assembly as claimed in claim 5, wherein the driving device comprises a transmission structure configured to drive the first connecting rod (2) to rotate in a first direction to allow the cleaning component (1, 1') 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 (2) to rotate in a second direction to allow the cleaning component (1, 1') to fall back down.
  7. The cleaning assembly as claimed in claim 6, wherein the transmission structure comprises a rotating body (4, 4') on which the torque applying device is arranged;
    the first connecting rod (2) is rotated in the first direction to lift the cleaning component (1, 1') upward when the rotating body (4, 4') is rotated in a third direction; and
    the first connecting rod (2) is pushed by the torque applying device to rotate in the second direction to allow the cleaning component (1, 1') to fall back down when the rotating body (4, 4') is rotated in a fourth direction.
  8. The cleaning assembly as claimed in claim 7, wherein
    the rotating body (4, 4') is provided with a shaft, and
    the torque applying device comprises a torsion spring (5) comprising:
    a torsion spring body (51) sleeved on the shaft, and
    a first torsion arm (52) connected to the torsion spring body (51) and engaged with the rotating body (4, 4'); and
    a second torsion arm (53) connected to the torsion spring body (51) and configured to act on the first connecting rod (2);
    the second torsion arm (53) is driven to press the first connecting rod (2) down to allow the first connecting rod (2) to rotate in the second direction when the rotating body (4, 4') is rotated in the fourth direction; and
    the second torsion arm (53) is pushed by the first connecting rod (2) due to transformation of the link mechanism to allow the torsion spring (5) to store elastic potential energy when the cleaning component (1, 1') encounters an obstacle.
  9. The cleaning assembly as claimed in claim 7, wherein the rotating body (4, 4') is provided with a protrusion (43) configured to push the first connecting rod (2) to rotate in the first direction when the rotating body (4, 4') is rotated in the third direction.
  10. The cleaning assembly as claimed in any one of claims 7-9, wherein the cleaning assembly comprises two cleaning components (1') which are arranged side by side, and each of the two cleaning components (1') are connected to the main body (100) by the first connecting rod (2) and the second connecting rod (3);
    the driving device comprises 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 arranged on opposite sides of the sliding seat (9') and each gear rack (91') is engaged with a gear, and each of the two gears is configured to drive a corresponding first connecting rod (2).
  11. The cleaning assembly as claimed in any one of claims 7-9, wherein the cleaning assembly comprises two cleaning components (1) which are arranged side by side, and each of the two cleaning components (1) is connected to the main body (100) by the first connecting rod (2) and the second connecting rod (3);
    the driving device comprises 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 each of the two worm gears is meshed on a side of opposite two sides of the worm (8) and configured to drive a corresponding first connecting rod (2).
  12. A cleaning robot, wherein the cleaning robot comprises the cleaning assembly as claimed in any one of claims 1-11, the cleaning assembly is mounted on the main body.
EP22164247.3A 2021-03-25 2022-03-24 Cleaning assembly and cleaning robot Active EP4062817B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110323260.2A CN112914431B (en) 2021-03-25 2021-03-25 Cleaning assembly and cleaning robot

Publications (2)

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

Family

ID=76176117

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22164247.3A Active EP4062817B1 (en) 2021-03-25 2022-03-24 Cleaning assembly and cleaning robot

Country Status (3)

Country Link
US (1) US20220304536A1 (en)
EP (1) EP4062817B1 (en)
CN (1) CN112914431B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN214678799U (en) * 2020-06-29 2021-11-12 宁波富佳实业股份有限公司 Rag lifting drive, rag actuating mechanism and dust catcher
CN113467482A (en) * 2021-08-12 2021-10-01 深圳市伽利略机器人有限公司 Cleaning path planning method of self-cleaning robot and cleaning robot
CN115769996B (en) * 2021-09-06 2023-11-07 追觅创新科技(苏州)有限公司 Cleaning device and cleaning equipment
WO2023138708A1 (en) * 2022-01-21 2023-07-27 橙色云互联网设计有限公司 Cleaning apparatus and cleaning robot

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102835939A (en) * 2011-06-24 2012-12-26 广东白云清洁科技有限公司 Force applying device used for ground washing vehicle wiper on ground
KR102015319B1 (en) * 2013-01-16 2019-08-29 삼성전자주식회사 Robot cleaner
AT516710B1 (en) * 2015-05-15 2016-08-15 K + S Gmbh Floor-cleaning device
US10130231B2 (en) * 2015-07-31 2018-11-20 Diversey, Inc. Floor cleaning apparatus and method of cleaning a floor
CN107083753A (en) * 2017-05-17 2017-08-22 佛山市威洁特清洁设备科技有限公司 The mechanical arm configuration of electric floor sweeping car side brush
DE102017126414A1 (en) * 2017-11-10 2019-05-16 Vorwerk & Co. Interholding Gmbh Moist cleaning device for cleaning a surface
KR102440144B1 (en) * 2018-06-08 2022-09-05 포시텍 파워 툴스(소주) 컴퍼니. 리미티드. Robot vacuum cleaner, control method thereof, and robot cleaner system
CN109176566B (en) * 2018-09-21 2023-12-08 清华大学 Self-adaptive robot finger device with gear chute and connecting rod linearly clamped in parallel
CN110215166B (en) * 2019-07-09 2024-01-23 苏州高之仙自动化科技有限公司 Intelligent cleaning robot brushes dish elevating system
CN112168076B (en) * 2020-09-25 2022-08-05 合肥哈工澳汀智能科技有限公司 Floor sweeping robot

Also Published As

Publication number Publication date
CN112914431B (en) 2022-06-21
CN112914431A (en) 2021-06-08
EP4062817A1 (en) 2022-09-28
US20220304536A1 (en) 2022-09-29

Similar Documents

Publication Publication Date Title
EP4062817B1 (en) Cleaning assembly and cleaning robot
WO2021023048A1 (en) Cleaning robot chassis structure and cleaning robot
EP3612325A1 (en) Systems and methods for cleaning arrays of solar panels
CN210871312U (en) Lifting type floor sweeping mechanism of cleaning robot
EP4042918B1 (en) Cleaning assembly and cleaning robot
CN113509103A (en) Robot
WO2023040340A1 (en) Driving mechanism, cleaning device, and cleaning apparatus
EP4042917B1 (en) Cleaning assembly and cleaning apparatus
CN110485341A (en) A kind of brush of scavenging vehicle variable-angle
CN217429884U (en) Cleaning assembly and cleaning equipment
CN215305510U (en) Cleaning assembly and cleaning robot
CN212473405U (en) Multi-angle freely-changing cleaning brush and unmanned vehicle cleaning equipment
CN211890878U (en) Manipulator device with multiple working heads
CN210784195U (en) Brush disc lifting mechanism of intelligent cleaning robot
EP4042919B1 (en) Cleaning assembly and cleaning robot
CN217185995U (en) Cleaning device and cleaning robot
CN216474732U (en) Cleaning device capable of being adjusted in multiple directions
CN217659589U (en) Walking wheel subassembly and cleaning machines people
CN217013839U (en) Cleaning structure and robot of sweeping floor
CN114847814B (en) Cleaning equipment
CN219766114U (en) Peristaltic adsorption type cleaning robot
CN220045789U (en) Autonomous mobile device
CN215650864U (en) Cleaning robot
CN218074812U (en) Cleaning device of sweeper
CN217852735U (en) Cleaning mechanism and cleaning equipment

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220324

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: A47L 11/283 20060101ALI20230227BHEP

Ipc: A47L 11/40 20060101AFI20230227BHEP

INTG Intention to grant announced

Effective date: 20230316

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: YUNJING INTELLIGENCE (SHENZHEN) CO., LTD.

Owner name: YUNJING INTELLIGENCE INNOVATION (SHENZHEN) CO., LTD.

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230630

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: DE

Ref legal event code: R096

Ref document number: 602022000336

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230816

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1599185

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230816

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231117

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231218

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231116

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231216

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231117

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230816

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240304

Year of fee payment: 3

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602022000336

Country of ref document: DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240305

Year of fee payment: 3