WO2020134505A1 - 一种清洁机器人 - Google Patents

一种清洁机器人 Download PDF

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Publication number
WO2020134505A1
WO2020134505A1 PCT/CN2019/113913 CN2019113913W WO2020134505A1 WO 2020134505 A1 WO2020134505 A1 WO 2020134505A1 CN 2019113913 W CN2019113913 W CN 2019113913W WO 2020134505 A1 WO2020134505 A1 WO 2020134505A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating member
sweeping
module
mopping
cleaning
Prior art date
Application number
PCT/CN2019/113913
Other languages
English (en)
French (fr)
Inventor
张峻彬
黄吉彪
林伟劲
Original Assignee
云鲸智能科技（东莞）有限公司
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 云鲸智能科技（东莞）有限公司 filed Critical 云鲸智能科技（东莞）有限公司
Priority to CA3125231A priority Critical patent/CA3125231A1/en
Priority to GB2110529.1A priority patent/GB2594218B/en
Priority to AU2019415834A priority patent/AU2019415834B2/en
Priority to EP19905718.3A priority patent/EP3888518A4/en
Priority to JP2021536317A priority patent/JP7157494B2/ja
Priority to KR1020217019570A priority patent/KR102525005B1/ko
Publication of WO2020134505A1 publication Critical patent/WO2020134505A1/zh
Priority to US17/359,012 priority patent/US20210321851A1/en

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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
    • A47L11/40—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
    • 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
    • A47L11/28—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
    • A47L11/40—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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/4072—Arrangement of castors or wheels
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present application relates to the technical field of cleaning equipment, and more specifically, to a cleaning robot.
  • cleaning robots have been welcomed by more and more people.
  • common cleaning robots in the prior art are sweeping robots.
  • the sweeping robot can only sweep the floor and clean it, and has a single function.
  • the cleaning robot realizes both sweeping and mopping functions.
  • the mopping module of the cleaning robot in the integrated sweeping and mowing mode mopping the ground
  • the ground will be moistened, which is not conducive to the sweeping work of the sweeping module on the ground.
  • the cleaning robot in the sweeping and dragging mode is very easy to cause a little dust and dust to be missed in the front sweeping.
  • the mop behind the cleaning robot will drag a lot of garbage, which will cause the mopping to be unclean, and after the ground is dragged, it is easy to be on the ground. Produce sewage stains.
  • the purpose of the embodiments of the present application is to provide a cleaning robot with multiple cleaning functions and good cleaning effects.
  • a cleaning robot including:
  • a robot body, and a sweeping rotating member and a dragging rotating member are provided at different positions on the bottom of the robot body;
  • a driving device provided on the robot main body, the driving device is used to drive the sweeping rotating member and the mopping rotating member to rotate;
  • a sweeping module and a mopping module that can be selectively installed on the robot body
  • the sweeping rotating member is arranged to be detachably connected with the sweeping module, and the sweeping module is used for sweeping and cleaning the ground;
  • the mopping rotating member is configured to be detachably connected with the mopping module, and the mopping module is used for mopping and cleaning the ground.
  • the sweeping rotating member and the mopping rotating member are provided at different positions on the bottom of the robot body, and the driving device can drive the sweeping rotating member and the mopping rotating member to rotate.
  • the sweeping rotating member can be selectively connected to the sweeping module. After the sweeping rotating member is connected to the sweeping module, the sweeping rotating member is transmitted to the sweeping module to realize the sweeping cleaning of the floor by the sweeping module.
  • the mopping rotating part can be connected to the mopping module, and after the mopping rotating part is connected to the mopping module, the mopping rotating part can be transmitted to the mopping module to realize the mop cleaning of the ground by the mopping module.
  • the cleaning robot of the embodiment of the present application can realize the sweeping and mopping functions using fewer components.
  • the cleaning robot uses the sweeping module, it can sweep the ground, and when the cleaning robot uses the sweeping module, it can sweep the ground.
  • the cleaning robot does not affect the floor cleaning and mopping cleaning of the ground, and can increase the cleaning effect of the sweeping module and the mopping module on the ground through the transmission of the sweeping rotating part and the mopping rotating part, so that the cleaning robot
  • the cleaning function is diverse and the cleaning effect is better.
  • FIG. 1 is a perspective schematic diagram of a cleaning robot provided by an embodiment of the present application
  • FIG. 2 is a bottom view of the robot body provided by the embodiment of the present application.
  • FIG. 3 is a bottom view of a robot body provided by another embodiment of this application.
  • FIG. 4 is a bottom view of a mopping module provided by an embodiment of this application.
  • FIG. 5 is a top view of a mopping module provided by an embodiment of this application.
  • FIG. 6 is a top view of a mopping module provided by another embodiment of this application.
  • FIG. 7 is a schematic diagram of the assembly of the robot main body and the mopping module in FIG. 5 provided by an embodiment of the present application;
  • FIG. 8 is a schematic diagram of the robot body provided in the embodiment of the present application after being connected with the mopping module in FIG. 5;
  • FIG. 9 is a top view of a sweeping module provided by an embodiment of this application.
  • FIG. 10 is a bottom view of a sweeping module provided by an embodiment of this application.
  • FIG. 11 is a schematic structural diagram of a sweeping module provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of the assembly of the robot main body and the sweeping module in FIG. 11 provided by an embodiment of the present application;
  • FIG. 13 is another assembly schematic diagram of the robot main body and the sweeping module in FIG. 11 provided by an embodiment of the present application;
  • FIG. 14 is another assembly diagram of the robot main body and the sweeping module in FIG. 11 provided by an embodiment of the present application;
  • 15 is a schematic structural diagram of a sweeping module provided by another embodiment of this application.
  • FIG. 16 is an assembly diagram of a robot main body and the sweeping module in FIG. 15 according to another embodiment of this application;
  • FIG. 17 is a schematic diagram of clearing blind areas in the prior art
  • FIG. 18 is a schematic structural diagram of a sleeve provided by an embodiment of the present application.
  • 19 is a bottom view of a shaft sleeve provided by an embodiment of this application.
  • FIG. 20 is a cross-sectional view of a sleeve provided by an embodiment of the present application.
  • 21 is a schematic structural diagram of a shaft end provided by an embodiment of the present application.
  • 22 is a schematic diagram of the assembly of the shaft sleeve and the shaft end provided by the embodiment of the present application;
  • FIG. 23 is a schematic structural diagram of a driving device provided by an embodiment of the present application.
  • FIG. 24 is a partial structural diagram of a driving device provided by an embodiment of the present application.
  • a1-Metal parts a2-Magnetic parts, b1-Card slot, b2-Card projection, c1-Shaft sleeve, c11-Guide groove, c0-Polygonal prism surface, C2-Shaft end, C21-Guide surface, d-Clean blind area .
  • the embodiment of the present application provides a cleaning robot 100, which can be used to automatically clean the ground.
  • the application scenarios of the cleaning robot 100 can be household indoor cleaning, cleaning of large places, and the like.
  • the type of the cleaning robot 100 provided in the embodiments of the present application is a cleaning robot with a switchable sweeping mode and a mopping mode.
  • the cleaning robot 100 includes a robot main body 101, and the robot main body 101 may be connected to a sweeping module 103 to achieve sweeping and cleaning of the ground; Or the robot body 101 may be connected to the mopping module 102 to clean the ground by mopping the floor.
  • the cleaning robot 100 includes a robot body 101 and a walking unit that drives the robot body 101 to move.
  • the robot body 101 may have a circular structure, a square structure, or the like.
  • the robot body 101 is D-shaped as an example for description.
  • the front part of the robot body 101 has a rounded rectangular structure, and the rear part has a semi-circular structure.
  • the robot body 101 has a bilaterally symmetric structure.
  • the walking unit is a component related to the movement of the cleaning robot 100, and the walking unit includes, for example, a driving wheel 1015 and a universal wheel 1011.
  • the universal wheel 1011 and the driving wheel 1015 cooperate to realize the steering and movement of the cleaning robot 100.
  • a drive wheel 1015 is provided on each of the left and right sides of the bottom surface of the robot body 101 near the rear.
  • the universal wheel 1011 is provided on the center line of the bottom surface of the robot body 101, and is located between the two cleaning members.
  • the cleaning robot 100 includes a cleaning element.
  • the cleaning element is used to clean the ground.
  • the cleaning element may be a component for cleaning the floor on the cleaning module 103, specifically a cleaning brush 1031 of the cleaning module 103, or the cleaning element may be on the mopping module 102.
  • the component for mopping the floor is, for example, mop 1021.
  • the cleaning member is provided at the bottom of the robot body 101.
  • each driving wheel 1015 is provided with a driving wheel motor, and driven by the driving wheel motor, the driving wheel 1015 rotates. After the driving wheel 1015 rotates, the cleaning robot 100 is driven to move. By controlling the rotation speed difference between the left and right drive wheels 1015, the steering angle of the cleaning robot 100 can be controlled.
  • the robot body 101 is also provided with a vacuum bin and a fan.
  • the vacuum port 1012 of the vacuum bin is located at the bottom of the robot body 101.
  • the fan rotates to form a negative pressure in the vacuum bin, and dust, paper scraps and other garbage are vacuumed.
  • the port 1012 enters the dust bin, and a dust box may be provided in the dust bin to store and temporarily store garbage through the dust box.
  • the cleaning robot 100 described in the embodiment of the present application is only a specific example, and does not specifically limit the cleaning robot 100 of the embodiment of the present application.
  • the cleaning robot 100 of the embodiment of the present application may also be implemented in other specific ways.
  • the cleaning robot may have more or fewer components than the cleaning robot 100 shown in FIG. 1.
  • the implementation manner of the cleaning robot provided by the following embodiments of the present application may refer to the implementation manner of the cleaning robot of the embodiment shown in FIG. 1 described above.
  • Embodiment 1 of the present application provides a cleaning robot 100 including a robot main body 101, and a sweeping rotating member 1013 and a mopping rotating member 1014 are provided at different positions on the bottom of the robot main body 101.
  • the cleaning robot 100 further includes a driving device 1016 provided on the robot main body 101, and the driving device 1016 is used to drive the sweeping rotating member 1013 and the mopping rotating member 1014 to rotate.
  • the sweeping rotating member 1013 is used for detachable connection with the sweeping module 103
  • the sweeping module 103 is used for sweeping and cleaning the ground.
  • the mopping rotating member 1014 is used for detachable connection with the mopping module 102, and the mopping module 102 is used for mopping and cleaning the ground.
  • the sweeping rotating member 1013 can be selectively connected to the sweeping module 103 according to actual needs. After the sweeping rotating member 1013 is connected to the sweeping module 103, the sweeping rotating member 1013 can drive the sweeping module 103 In order to clean the ground by the sweeping module 103.
  • the mopping turning part 1014 can be connected to the mopping module 102, and after the mopping turning part 1014 and the mopping module 102 are connected, the mopping turning part 1014 can be transmitted to the mopping module 102 to realize the mopping of the mopping module 102 to the ground To clean.
  • the user when cleaning the ground, the user may first choose to connect the sweeping rotating member 1013 to the sweeping module 103, and drive the sweeping rotating member 1013 to the sweeping module 103 to realize the sweeping module 103 to the ground
  • the user can detach the sweeping module 103 from the robot main body 101, and then choose to connect the mopping rotating part 1014 to the mopping module 102, by mopping the floor
  • the rotating member 1014 drives the mopping module 102 to realize mopping cleaning of the ground by the mopping module 102, so that the cleaning robot 100 can clean the mop.
  • the cleaning robot 100 provided by the embodiment of the present application avoids the situation that the sweeping module 103 and the mopping module 102 work at the same time, thereby avoiding the situation where the rubbing module 102 drags a lot of garbage, dust, and a lot of sewage stains during the mopping process. Sweeping or mopping the floor to achieve the maximum cleaning effect.
  • the sweeping module 103 and the mopping module 102 are connected to the robot main body 101 through the sweeping rotating member 1013 and the sweeping rotating member 1014, respectively, and the position of the sweeping rotating member 1013 and the position of the sweeping rotating member 1014 are different.
  • the position of the sweeping rotating member 1013 and the position of the sweeping rotating member 1014 are not limited to each other, and the position of the sweeping rotating member 1013 at the bottom of the robot main body 101 and the sweeping rotating member 1014 at the bottom of the robot main body 101 can be set according to actual needs
  • the position of the sweeping module 103 after being connected to the robot main body 101 and the position of the mopping module 102 after being connected to the robot main body 101 are set according to actual needs.
  • the sweeping rotating member 1013 is located in front of the sweeping rotating member 1014.
  • the sweeping rotating member 1013 is located in front of the sweeping rotating member 1014.
  • the first direction is the forward direction of the cleaning robot 100
  • the second direction is perpendicular to the forward direction of the cleaning robot 100
  • the second direction points to the target side of the robot body 101
  • the target side is along the forward direction of the cleaning robot 100 A side between the frontmost position and the last position of the robot body 101.
  • the target side surface may specifically be a left side surface or a right side surface between the frontmost position and the last position of the robot main body 101 in the forward direction of the cleaning robot 100.
  • the forward direction of the cleaning robot 100 is the direction when the cleaning robot 100 moves forward without turning.
  • the sweeping rotating member 1013 is located in front of the sweeping rotating member 1014, and the sweeping rotating member 1013 is closer to the edge of the head of the robot body 101 than the sweeping rotating member 1014.
  • the sweeping rotating member 1013 is located in front of the mopping rotating member 1014, and the sweeping rotating member 1013 is closer to the target side of the robot body 101 than the mopping rotating member 1014.
  • the target side surface is the left side surface between the frontmost position and the last position of the robot body 101 in the forward direction of the cleaning robot 100
  • the sweeping rotating member 1013 is closer to the left side surface than the mopping rotating member 1014.
  • the sweeping rotating member 1013 is closer to the right side surface than the mopping rotating member 1014. In other words, in the forward direction of the cleaning robot 100, the sweeping rotating member 1013 is located in front of the side of the sweeping rotating member 1014.
  • the cleaning module 103 includes the cleaning brush 1031
  • the rotation axis of the cleaning brush 1031 coincides with the rotation axis of the cleaning rotating member 1013
  • the rotation axis of the cleaning brush 1031 on the cleaning module 103 is closer to the head edge of the robot body 101 And the edge of the target side, to ensure that the length of the cleaning brush 1031 is more reasonable, the cleaning brush 1031 can be scanned to the surrounding position and avoids the length of the cleaning brush 1031 is too long.
  • the linear speed of the end of the cleaning brush 1031 will be high, so that when the end of the cleaning brush 1031 sweeps to the trash, it is easy to throw the trash out, that is, to throw the trash away from the cleaning robot 100.
  • the sweeping driving member 1032 in the forward direction of the cleaning robot 100, after the sweeping rotating member 1013 is located in front of the side of the mopping rotating member 1014, the sweeping driving member 1032 is closer to the edge of the robot body 101, so that the cleaning brush 1031 can be set more Close to the edge of the robot body 101, so that even if the bristles of the cleaning brush 1031 are small in length, the cleaning range of the cleaning brush 1031 can protrude from the edge of the robot body 101.
  • the length of the bristles of the cleaning brush 1031 is reasonably designed to prevent the trash from being thrown away from the cleaning robot 100 by the cleaning brush 1031.
  • the cleaning brush 1031 can sweep garbage to the dust suction port 1012 at the bottom of the cleaning robot 100, and suck from the dust suction port 1012 to the dust suction bin in the cleaning robot 100 for temporary storage, thereby improving Cleaning effect.
  • the sweeping rotating member 1013 may be located behind the mopping rotating member 1014 in the first direction, and/or, in the second direction, the sweeping rotating member 1013 may be located on the mopping floor
  • the rear of the rotating member 1014 is not specifically limited in this embodiment of the present application.
  • the rotation axis of the sweeping rotating member 1013 is perpendicular to the plane, and the rotation of the mopping rotating member 1014 The axis is also perpendicular to this plane.
  • the sweeping module 103 is connected to the robot main body 101, the sweeping rotating member 1013 is transmitted to the sweeping module 103, and the rotation plane of the cleaning brush 1031 of the sweeping module 103 is parallel to the above-mentioned plane, thus ensuring the rotation of the sweeping module 103
  • the balanced force also guarantees an even cleaning effect.
  • the rotation axis of the mopping rotation member 1014 is perpendicular to the aforementioned plane.
  • the mopping rotating member 1014 transmits to the mopping module 102, and the rotation plane of the mop 1021 of the mopping module 102 is parallel to the above plane, thus ensuring the rotation process of the mopping module 102
  • the force balance in the middle also guarantees an even cleaning effect.
  • the robot main body 101 is placed on a plane and the bottom surface of the robot main body 101 is opposite to the plane, that is, the robot main body 101 is placed on the plane when it is working, specifically, the walking set on the bottom of the robot main body 101
  • the unit is in contact with the plane, and the robot body 101 is supported on the plane by the walking unit.
  • the cleaning robot 100 can perform cleaning work on the plane.
  • the planar structure of the bottom surface of the robot body 101 when the robot body 101 is placed on a plane, the planar structure of the bottom surface of the robot body 101 may be parallel to the plane, and the rotation axis of the cleaning rotating member 1013 is perpendicular to the plane In the planar structure, the rotation axis of the mopping rotating member 1014 is also perpendicular to the planar structure.
  • the planar structure of the bottom surface of the robot body 101 may also be inclined to the plane on which the robot body 101 is placed.
  • the rotation axis of the sweeping rotating member 1013 may also be slightly inclined relative to the plane, and the rotation axis of the sweeping rotating member 1014 may also be slightly inclined relative to the plane, which is not specifically limited herein. .
  • the cleaning robot 100 further includes a mopping module 102 that is detachably connected to the mopping rotating member 1014.
  • the mopping module 102 includes a turntable 1022 and a mop 1021, wherein the mop 1021 is used for mopping the ground, and the mop 1021 is disposed on the turntable 1022.
  • the mop 1021 and the turntable 1022 may be detachably connected.
  • the turntable 1022 is detachably connected to the mopping rotating member 1014.
  • the mopping rotating member 1014 is used to drive the mopping module 102 to rotate after the turntable 1022 is connected to the mopping rotating member 1014.
  • the mopping rotating member 1014 drives the turntable 1022 to rotate, and then the turntable 1022 drives the mop 1021 to rotate, and the rotating mop 1021 rubs with the ground to realize the mopping of the mop 1021 to the ground Wipe clean.
  • the rotation axis of the mopping rotation member 1014 and the rotation axis of the turntable 1022 coincide.
  • the rotation axis of the mopping rotating member 1014 and the rotary axis of the turntable 1022 may also be parallel to each other and have different positions.
  • the gear and the dragging rotating member 1014 drive the gear to rotate, and the gear drives the turntable 1022 to rotate.
  • Example 1 The mopping module 102 and the robot main body 101 are connected by the turntable 1022 of the mopping module 102 and the mopping rotating member 1014.
  • the magnetic connection structure between the turntable 1022 and the mopping rotating member 1014 can be implemented. Disassembly connection, wherein the magnetic connection structure includes a magnetic piece and a metal piece, or the magnetic connection structure includes two magnetic pieces facing each other.
  • the magnetic member may be a permanent magnet, an electromagnet, or the like.
  • one of the magnetic member and the metal member is provided on the turntable 1022, and the other of the magnetic member and the metal member is provided on the mopping rotating member 1014.
  • the magnetic member and the metal member can be magnetically connected.
  • the part of the turntable 1022 for contacting the mopping rotating member 1014 is directly set as a magnetic part, and the part of the mopping rotating member 1014 for contacting the turntable 1022 is set as a metal part.
  • the mopping module 102 includes a turntable 1022, a mop 1021 and an installation body.
  • the mop 1021 is connected to the turntable 1022, the installation body is detachably connected to the robot body 101, and the turntable 1022 is rotatably connected to the installation body. That is, the turntable 1022 and the mop 1021 can rotate relative to the mounting body.
  • the turntable 1022 is connected to the mopping rotor 1014.
  • the mounting body can be directly detached from the robot body 101.
  • the mounting body includes position A and position B, and there is a preset distance between position A and position B, that is, position A and position B do not coincide.
  • the mounting body and the robot body 101 are snap-fitted by a snap-fit structure.
  • the mounting body and the robot body 101 are magnetically connected by a magnetic connection structure, where the magnetic connection structure includes a magnetic piece and a metal piece, or includes two magnetic pieces a2 and the like.
  • the clamping structure includes a locking groove and a locking protrusion, one of the locking groove and the locking protrusion is provided on the mounting body, and the other of the locking groove and the locking protrusion is provided on the robot body 101.
  • the card protrusion is a convex block, and the card slot is a groove structure.
  • the card protrusion is inserted into the card slot to achieve the connection between the mounting body and the robot body 101.
  • multiple sets of card slots and card protrusions may be provided.
  • a plurality of card protrusions may be provided on the mounting body, and a plurality of card slots may be provided on the robot body 101.
  • two turntables 1022 and two mops 1021 may be provided on the installation body, and the two turntables 1022 and two mops 1021 are both arranged symmetrically on the installation body.
  • the position A and the position B can be set according to actual needs, and are not specifically limited herein.
  • the A position and the B position can be coincident, for example, the clamping structure is set as a magnetic material, so that through the clamping structure, the mounting body and the robot body 101 simultaneously achieve clamping and magnetic connection.
  • the contact surface between the mop 1021 and the ground is the mop surface of the mop 1021, as shown in FIG. 4, the mop surface of the mop 1021 may be at an angle It is a triangular shape with rounded corners; as shown in Fig. 6, the dragging surface of the dragging module can also be round.
  • the rubbing surface of the mop 1021 can also be any shape, such as a regular polygon or an irregular figure.
  • the interconnected turntable 1022 and the mop 1021 included in the mopping module 102 may be one or more groups, which is not specifically limited in the embodiment of the present application.
  • the cleaning robot 100 includes two sets of interconnected turntables 1022 and mops 1021.
  • the rotation direction may be the same direction rotation or the reverse rotation.
  • the two mops 1021 can always be kept tangent, thus avoiding the existence of a blind area between the two mops 1021.
  • the end of the mopping rotating member 1014 includes one of the shaft end and the sleeve
  • the end of the turntable 1022 includes the other of the shaft end and the sleeve.
  • the shaft sleeve is a groove structure, and the shaft end can be sleeved into the groove of the shaft sleeve. In this way, the detachable connection between the mopping rotating member 1014 and the turntable 1022 can be achieved by inserting the shaft end and the shaft sleeve.
  • the inner side wall of the groove of the sleeve includes a non-cylindrical side
  • the outer side wall of the shaft end includes a non-cylindrical side
  • the non-cylindrical side of the inner wall of the groove of the sleeve and the outer side of the shaft end The non-cylindrical sides of the wall can abut against each other to realize the transmission of the sleeve and the shaft end, so that the mopping rotating member 1014 can drive toward the mopping module 102.
  • a shaft end is provided at the end of the mopping rotating member 1014, the shaft end is a regular polygonal cylinder, and the outer side wall of the shaft end is a polygonal cylinder surface.
  • a shaft sleeve is provided on the turntable 1022 of the mopping module 102, the groove structure of the shaft sleeve is a regular polygonal prism, and the inner side wall of the groove structure of the shaft sleeve is a polygonal prism surface.
  • the partial prism surface of the polygonal prism surface of the shaft end on the mopping rotor 1014 abuts the partial prism surface of the polygonal prism surface of the hub of the turntable 1022, restricting the mopping rotor 1014 and the turntable
  • the relative rotation of 1022 realizes the transmission of the mopping rotating member 1014 to the mopping module 102.
  • the detachable connection between the mopping rotating member 1014 and the turntable 1022 can also be achieved through screw connection, which is not limited herein.
  • the embodiment of the present application further provides Embodiment 3, which is an improved solution based on Embodiment 1 or Embodiment 2.
  • the cleaning robot 100 further includes a sweeping module 103, and the sweeping module 103 is detachably connected to the sweeping rotating member 1013.
  • the cleaning module 103 includes a cleaning brush 1031 and a transmission member 1032.
  • the cleaning brush 1031 is fixedly connected to the transmission member 1032.
  • the cleaning brush 1031 is used to clean the ground.
  • the transmission member 1032 is detachably connected to the sweeping rotating member 1013.
  • the sweeping rotating member 1013 is used to drive the cleaning brush 1031 and the transmission member 1032 to rotate after the sweeping rotating member 1013 is connected to the transmission member 1032.
  • the cleaning rotation member 1013 drives the transmission member 1032 to rotate, and then the transmission member 1032 drives the cleaning brush 1031 to rotate, and the cleaning brush 1031 rotates to clean the ground.
  • the rotation axis of the sweeping rotation member 1013 and the rotation axis of the transmission member 1032 coincide.
  • the rotation axis of the sweeping rotation member 1013 and the rotation axis of the transmission member 1032 may also be parallel to each other and have different positions, which is not specifically limited herein.
  • a gear is provided between the transmission member 1032 and the sweeping rotating member 1013.
  • the sweeping rotating member 1013 drives the gear to rotate, and the rotating gear drives the transmission member 1032.
  • the rotation axis of the sweeping rotating member 1013 and the rotation of the transmission member 1032 The axes are parallel to each other and the positions are different.
  • the sweeping module 103 further includes a module body 1033.
  • the module body 1033 is detachably connected to the robot body 101, and the cleaning brush 1031 and the transmission member 1032 are rotatably connected to the module body 1033.
  • the transmission member 1032 is connected to the sweeping rotation member 1013.
  • the module body 1033 can be directly removed from the robot body 101.
  • the module body 1033 includes a first position and a second position, and there is a preset distance between the first position and the second position, namely The first position and the second position do not coincide.
  • the module body 1033 and the robot body 101 are snap-fitted by a snap-fit structure.
  • the module body 1033 and the robot body 101 are magnetically connected by a magnetic connection structure.
  • the magnetic connection structure may include a magnetic member a2 and a metal member a1, or the magnetic connection structure includes two magnetic members a2 opposite to each other.
  • the magnetic member a2 may be a permanent magnet, an electromagnet, or the like, which is not specifically limited in the embodiments of the present application.
  • one of the magnetic piece a2 and the metal piece a1 is provided on the module body 1033, and the other of the magnetic piece a2 and the metal piece a1 is provided on the robot body 101.
  • the magnetic piece may be provided on the module body 1033 a2, a metal piece a1 is provided on the robot main body 101, and the magnetic connection between the module main body 1033 and the robot main body 101 is realized by the suction action of the magnetic piece a2 and the metal piece a1.
  • the robot main body 101 may be provided with two symmetrical metal pieces a1
  • the module main body 1033 may be provided with two magnetic pieces a2 corresponding to the two metal pieces a1 on the robot body 101, respectively.
  • the clamping structure includes a locking slot b1 and a locking protrusion b2, one of the locking slot b1 and the locking protrusion b2 is provided on the module body 1033, and the other of the locking slot b1 and the locking protrusion b2 is provided on the robot body 101.
  • the card protrusion b2 is a convex block
  • the card slot b1 is a groove structure.
  • the card protrusion b2 is inserted into the card slot b1 to realize the snap connection between the module body 1033 and the robot body 101.
  • multiple sets of cards can be provided The groove b1 and the card protrusion b2.
  • a plurality of card protrusions b2 may be provided on the module body 1033, and a plurality of card slots b1 may be provided on the robot body 101.
  • the above-mentioned first position may be located at the edge of the module body 1033.
  • the module body 1033 and the robot body 101 are directly aligned with the corresponding positions of the module body 1033 and the robot body 101, the module body 1033 and the robot body 101 are connected by a snap structure
  • the module body 1033 and the robot body 101 are magnetically connected by a magnetic connection structure.
  • the first position is the rear edge of the module body 1033.
  • the bottom of the robot body 101 may be provided with a receiving slot matching the module body 1033. After the module body 1033 is connected to the robot body 101, the module body 1033 is located inside the receiving slot.
  • the card protrusion b2 may be provided on the side of the module body 1033.
  • the card slot b1 is provided on the slot wall of the receiving slot.
  • the above-mentioned second position may be provided near the front side of the module body 1033.
  • the front side of the module body 1033 is the side close to the head of the robot body 101
  • the rear side of the module body 1033 is the side away from the head of the robot body 101.
  • two transmission members 1032 and two cleaning brushes 1031 may be provided on the module body 1033, and the two transmission members 1032 and two cleaning brushes 1031 are symmetrically arranged on the module body 1033.
  • the first position and the second position of the module body 1033 can be set arbitrarily, which is not specifically limited here.
  • the first position and the second position of the module body 1033 may be provided with a clamping structure, or both may be provided with a magnetic connection structure.
  • a clamping structure and a magnetic connection structure are provided at the same position of the module body 1033, for example, a magnetic material is used to make the clamping structure, so that the module body 1033 and the robot body 101 are realized by the clamping structure Card connection and magnetic connection.
  • the module body 1033 can also be detachably connected to the robot body 101 by screw connection or the like.
  • the module body 1033 of the embodiment of the present application may also be provided with a clasp position, for example, a bump structure on the module body 1033 close to the foregoing first position.
  • the user When detaching the module body 1033 from the robot body 101, the user only needs to buckle the buckle position of the module body 1033 with his hand and apply force to separate the magnetic part a2 and the metal part a1 of the magnetic connection structure, and then the card protrusion
  • the module body 1033 can be removed by b2 being pulled away from the card slot b1.
  • the sweeping module 103 may not include the module body 1033.
  • the sweeping module 103 includes a transmission member 1032 and a cleaning brush 1031, and the transmission member 1032 is fixedly connected to the cleaning brush 1031
  • the detachable connection between the transmission member 1032 and the sweeping rotating member 1013 for example, through a magnetic connection structure, or through screw connection.
  • a magnetic member a2 is provided at a portion where the transmission member 1032 contacts the sweeping rotating member 1013
  • a metal member a1 is provided at a portion where the sweeping rotating member 1013 contacts the transmission member 1032.
  • the sweeping module 103 further includes a dust inlet 1034 used in conjunction with the dust inlet 1012 of the robot body 101, and a wiper blade 1035 may be provided on the rear side of the dust inlet 1034.
  • the contact of the blade 1035 with the ground can prevent the leakage of garbage.
  • the above-mentioned blade 1035 may be a soft blade, specifically, the blade 1035 may be made of silicone or rubber.
  • the dust inlet 1034 is an independent component.
  • the dust inlet 1034 is provided on the module body 1033.
  • the cleaning brush 1031 includes a brush body fixedly connected to the transmission member 1032 and bristles provided on the brush body, and the cleaning range of the bristles protrudes after the cleaning module 103 is connected to the robot body 101 The edge of the robot body 101. In this way, it is more convenient to clean up the garbage in corners, near furniture, and other corners that the robot main body 101 cannot reach.
  • the end of the sweeping rotating member 1013 includes one of the shaft end c2 and the sleeve c1
  • the end of the transmission member 1032 includes the shaft end c2 and the end of the sleeve c1 another.
  • the shaft sleeve c1 is a groove structure, and the shaft end c2 can be sleeved into the groove of the shaft sleeve c1, so that the shaft end c2 and the shaft sleeve c1 are inserted to realize the detachable connection of the sweeping rotating member 1013 and the transmission member 1032 .
  • the non-cylindrical side is included on the inner wall of the groove of the sleeve c1
  • the non-cylindrical side is included on the outer side wall of the shaft end c2
  • the sleeve c1 The non-cylindrical side of the inner side wall of the groove and the non-cylindrical side of the outer side wall of the shaft end c2 can abut each other, which can restrict the relative rotation of the sleeve c1 and the shaft end c2, thereby realizing the sweeping rotating member 1013 to the transmission member 1032 transmission.
  • the end of the sweeping rotating member 1013 includes a sleeve c1
  • the end of the transmission member 1032 includes a shaft end c2.
  • the outer side wall of the shaft end c2 includes a polygonal prism surface c0
  • the inner side wall of the groove structure of the sleeve c1 includes a polygonal prism surface c0
  • the polygonal prism surface c0 of the shaft end c2 and the polygonal prism surface c0 of the sleeve c1 are mutually limited to limit the relative rotation of the shaft end c2 and the sleeve c1.
  • one of the protrusions and grooves may be provided on the outer side wall of the shaft end c2, and the other of the protrusions and grooves may be provided on the inner side wall of the sleeve c1.
  • the relative rotation of the shaft end c2 and the sleeve c1 is restricted.
  • the embodiment of the present application is not specifically limited herein.
  • the sweeping module 103 includes a module body 1033 detachably connected to the robot body 101, a cleaning brush 1031, and a transmission member 1032 fixedly connected to the cleaning brush 1031.
  • the end of the sweeping rotating member 1013 includes one of the shaft end c2 and the sleeve c1, and the end of the transmission member 1032 includes the other of the shaft end c2 and the sleeve c1.
  • the end of the sweeping rotating member 1013 includes a shaft sleeve c1
  • the end of the transmission member 1032 includes a shaft end c2
  • the shaft end c2 is sleeved into the groove structure of the shaft sleeve c1.
  • the groove structure of the sleeve c1 is a polygonal prism structure, and the shaft end c2 is also a polygonal prism structure.
  • a plurality of guide grooves c11 and guide grooves c11 may be provided at the mouth end of the sleeve c1 Including two groove walls, the distance between the two groove walls of the guide groove c11 gradually decreases from the opening of the sleeve c1 to the bottom of the sleeve c1, and the two groove walls of the guide groove c11 converge on the polygonal cylindrical surface c0 of the sleeve c1 On the side edges.
  • the top end of the shaft end c2 is provided with a plurality of guide surfaces c21, and the guide surface c21 includes two sides.
  • the distance between the two sides of the guide surface c21 gradually increases from the top end of the shaft end c2 to the bottom end of the shaft end c2.
  • the side of c21 intersects the side of the polygonal cylindrical surface c0 of the axial end c2.
  • a plurality of guide grooves c11 are circumferentially distributed along the opening of the sleeve c1
  • a plurality of guide surfaces c21 are circumferentially distributed along the top end of the shaft end c2
  • the plurality of guide surfaces c21 cooperate with the plurality of guide grooves c11, respectively.
  • the specific process is that the groove wall of the guide groove c11 and the side of the guide surface c21 abut each other and generate a force, because one of the shaft end c2 and the sleeve c1 is provided on the transmission member 1032, and the shaft end c2 and the sleeve c1 The other of them is provided in the sweeping rotating member 1013, and the transmission member 1032 can relatively rotate with respect to the module body 1033, so that under the action of the force, the shaft end c2 can rotate relative to the sleeve c1, that is, the transmission member 1032 and the sweeping unit
  • the rotating member 1013 rotates relatively.
  • the shaft end c2 and the sleeve c1 rotate relatively until the polygonal cylindrical surface c0 of the shaft end c2 and the polygonal cylindrical surface c0 of the sleeve c1 face each other, so that the shaft end c2 fits into the shaft Set in the groove structure of c1.
  • the shaft end c2 and the sleeve c1 are circumferentially positioned by the polygonal cylindrical surface c0, and the relative rotation of the shaft end c2 and the sleeve c1 is restricted.
  • the sweeping module 103 includes a module body 1033, and a protrusion b2 is provided on the side of the module body 1033 at a preset distance from the protrusion b2
  • the module body 1033 is provided with a magnet.
  • the installation steps of the cleaning module 103 are as follows: As shown in FIG. 13, first, the card protrusion b2 of the cleaning module 103 is inserted into the card slot b1 of the robot body 101, wherein the card slot b1 is provided in the receiving slot of the bottom of the robot body 101 On the side wall.
  • the shaft end c2 of the transmission member 1032 includes a guide surface c21
  • the sleeve c1 of the sweeping rotating member 1013 includes a guide groove c11.
  • the guide groove c11 acts a force on the guide surface c21 because The transmission member 1032 and the cleaning brush 1031 are fixedly connected.
  • the shaft end c2 of the transmission member 1032 is embedded in the sleeve c1 of the sweeping rotating member 1013 Inside.
  • the magnet on the module main body 1033 and the metal piece a1 on the robot main body 101 are magnetically connected. After the magnetic connection is engaged with the locking protrusion b2 and the locking groove b1, the module main body 1033 and the robot body 101 are stably connected.
  • the disassembling steps of the sweeping module 103 are: since the magnetic force of the magnet is not designed to be very large, it is only necessary to stably connect the sweeping module 103 and the robot main body 101, and the user will change When the module body 1033 is buckled away from the robot body 101, the magnetic connection between the module body 1033 and the robot body 101 can be separated. Then, after rotating the module body 1033 at a certain angle, the locking protrusion b2 of the cleaning module 103 can be pulled out from the locking slot b1. The cleaning module 103 is detached from the robot body 101.
  • the cleaning brush 1031 and the transmission member 1032 are provided on the module body 1033.
  • the cleaning module 103 is detachably connected to the robot body 101 through the module body 1033.
  • the module body 1033 includes opposite first surfaces and On both sides, when the module body 1033 is mounted on the robot body 101, the first surface of the module body 1033 is opposed to the bottom surface of the robot body 101, for example, the first surface of the module body 1033 is attached to the bottom surface of the robot body 101 or the module body 1033 There is a gap between the first surface of the first body and the bottom surface of the robot main body 101, and the second surface of the module main body 1033 faces the outside of the robot main body 101.
  • the transmission member 1032 is connected to the sweeping rotating member 1013 on the side close to the first surface of the module body 1033.
  • the second surface of the module body 1033 faces the user, making it difficult for the user to observe the transmission
  • the connection position of the member 1032 and the sweeping rotating member 1013 it is not easy to face the polygonal cylindrical surface c0 of the shaft end c2 and the polygonal cylindrical surface c0 of the sleeve c1, but the guide groove c11 is provided at the mouth end of the sleeve c1 and the shaft
  • the shaft end c2 and the sleeve c1 can be relatively rotated by the force generated by the groove wall of the guide groove c11 and the side of the guide surface c21 abutting each other to correct the shaft end c2 relative to the shaft
  • the sweeping module 103 and the robot body 101 can also be realized between the sweeping rotating member 1013 and the transmission member 1032 by screws, etc.
  • the connection of disassembly is not limited herein by the embodiments of the present application.
  • the scheme of the setting of the off-axis is: sweeping the floor along the first direction
  • the rotating member 1013 is located in front of the mopping rotating member 1014.
  • the sweeping rotating member 1013 is located in front of the sweeping rotating member 1014.
  • the first direction is the forward direction of the cleaning robot 100.
  • the second direction is perpendicular to the forward direction of the cleaning robot 100 and points to the target side of the robot body 101, and the target side is the side between the frontmost position and the last position of the robot body 101 in the first direction.
  • the sweeping rotating member 1013 and the sweeping rotating member 1014 are arranged off-axis, along the forward direction of the cleaning robot 100, the sweeping rotating member 1013 is located in front of the side of the sweeping rotating member 1014, and the sweeping rotating member 1013 is closer to the robot than the sweeping rotating member 1014 The edge of the main body 101.
  • the rotation axis of the cleaning brush 1031 coincides with the rotation axis of the sweeping rotating member 1013, that is, the transmission member 1032 of the sweeping module 103 and the cleaning brush 1031 are fixedly connected, the transmission member 1032 and the sweeping rotating member 1013 are detachably connected, and the sweeping rotating member 1013
  • the rotation drives the transmission member 1032 and the cleaning brush 1031 to rotate.
  • the length of the cleaning brush 1031 can be set to be shorter, and the cleaning range of the cleaning brush 1031 can be protruded from the edge of the robot body 101, thereby avoiding the end linear velocity caused by the length of the side brush of the cleaning brush 1031 being too long
  • the larger size prevents the cleaning brush 1031 from throwing garbage out of the coverage area of the bottom of the robot body 101 at the end.
  • the cleaning range of the cleaning brush 1031 is a circular area.
  • the cleaning range of the mop 1021 is also a circular area.
  • the cleaning rotating part 1014 is also used to connect the transmission part 1032 of the sweeping module 103, so that the mopping rotating part 1014, the transmission part 1032 and the cleaning brush 1031 rotate coaxially, then the cleaning range of the cleaning brush 1031 is a circle And the length of the cleaning brush 1031 is not suitable to be set longer, so that a cleaning blind area d as shown in FIG. 17 will be generated.
  • the cleaning blind area d may cause the corner position of the corner to not be cleaned.
  • the sweeping rotating member 1013 and the mopping rotating member 1014 are arranged off-axis.
  • the sweeping rotating member 1013 is located in front of the side of the mopping rotating member 1014.
  • the sweeping rotating member 1013 is closer to the edge of the robot main body 101 than the mopping rotating member 1014.
  • the cleaning range of the cleaning brush 1031 may also protrude from the edge of the robot body 101 to cover the cleaning blind area d shown in FIG. 17, thereby reducing the leakage cleaning area of the cleaning robot 100 to the ground.
  • the portion of the cleaning brush 1031 protruding from the edge of the robot body 101 is bristles.
  • the bristles collide with an obstacle, the bristles can be deformed, so that the cleaning work of the cleaning brush 1031 is not affected by the collision with the obstacle.
  • the cleaning robot 100 may use the same driving motor 10161 to drive the sweeping rotating member 1013 and the mopping rotating member 1014 to reduce the use of components of the cleaning robot 100.
  • the present application also provides Embodiment 4, which is based on the improvement of any one of Embodiments 1 to 3 above.
  • the driving device 1016 includes a driving motor 10161 and a power transmission structure drivingly connected to the output end of the driving motor 10161.
  • the driving motor 10161 is used to drive the sweeping rotating member 1013 and the mopping rotating member 1014 to rotate through the power transmitting structure.
  • the power is transmitted between the sweeping rotating member 1013 and the output end of the driving motor 10161, and between the dragging rotating member 1014 and the output end of the driving motor 10161 through the power transmission structure, and finally the power of the driving motor 10161 is transmitted to the sweeping rotation
  • the member 1013 and the mopping rotating member 1014 drive the sweeping rotating member 1013 and the mopping rotating member 1014 to rotate.
  • the power transmission structure includes a gear set and a worm 10162.
  • the worm 10162 is used to drive the gear set to rotate; the gear set is in driving connection with the sweeping rotating member 1013 and the dragging rotating member 1014, respectively.
  • the worm 10162 and the output end of the drive motor 10161 are fixedly connected to obtain the power output by the drive motor 10161.
  • the rotation of the output end of the driving motor 10161 drives the worm 10162 to rotate, and then the worm 10162 drives the gear set to rotate.
  • the gear set includes a plurality of gears interlocking with each other, at least one of the gears of the gear set is linked with the sweeping rotating member 1013, and at least one of the gears of the gear set is linked with the sweeping rotating member 1014 to rotate the gear set
  • the sweeping rotating member 1013 and the dragging rotating member 1014 are driven to rotate.
  • the gear set includes a first gear and a second gear 10163
  • the first gear includes a first sub gear 10164 and a second sub gear 10165 fixedly connected to the first sub gear 10164
  • the first sub gear 10164 and the second sub gear The rotation axis of the gear 10165 coincides.
  • the first sub gear 10164 and the second gear 10163 mesh, and the second sub gear 10165 and the worm 10162 mesh. That is, the first sub-gear 10164 and the second sub-gear 10165 are coaxially arranged and rotate synchronously.
  • the first gear and the sweeping rotating member 1013 are connected so that the first gear and the sweeping rotating member 1013 are coaxially linked, and the second gear 10163 and the sweeping rotating member 1014 are connected to make the second gear 10163 and the sweeping member
  • the rotating member 1014 is coaxially linked.
  • the sweeping rotating member 1013 can serve as a rotating shaft of the first gear, and the sweeping rotating member 1013 is driven when the first gear rotates.
  • the first sub-gear 10164 of the first gear is connected to the cleaning rotating member 1013.
  • the mopping rotating member 1014 can serve as a rotating shaft of the second gear 10163. When the second gear 10163 rotates, the mopping rotating member 1014 is driven.
  • the first gear and the mopping rotating member 1014 are connected so that the first gear and the mopping rotating member 1014 are coaxially linked, and the second gear 10163 and the sweeping rotating member 1013 are connected so that the second gear 10163 and The sweeping rotating member 1013 is coaxially linked.
  • the mopping rotating member 1014 can be used as a rotating shaft of the first gear, and the motive rotating member 1014 is driven when the first gear rotates.
  • the first sub gear 10164 or the second sub gear 10165 of the first gear is connected to the mopping rotating member 1014, or both the first sub gear 10164 and the second sub gear 10165 are connected to the mopping rotating member 1014.
  • the sweeping rotating member 1013 can be used as a rotating shaft of the second gear 10163.
  • the first gear includes a first sub-gear 10164 and a second sub-gear 10165 arranged in two layers, wherein the second sub-gear 10165 and the worm 10162 mesh, and the first sub-gear 10164 is provided At the upper part of the second sub gear 10165, the first sub gear 10164 and the second sub gear 10165 are fixedly connected.
  • the middle portion of the first gear is sleeved on the mopping rotating member 1014, the first gear and the mopping rotating member 1014 are fixedly connected, and the rotation axes of the first sub gear 10164, the second sub gear 10165 and the mopping rotating member 1014 are three coincide.
  • the first sub-gear 10164 and the second gear 10163 mesh with each other, the second gear 10163 and the cleaning rotor 1013 are fixedly connected, and the rotation axes of the second gear 10163 and the cleaning rotor 1013 coincide.
  • the driving motor 10161 drives the worm 10162 to rotate
  • the worm 10162 drives the second sub-gear 10165 to rotate the first sub-gear 10164 and the second sub-gear 10165 together, that is, the worm 10162 drives the first gear to rotate, so that the drag rotating member 1014 follows The first gear rotates.
  • the rotating first sub-gear 10164 drives the second gear 10163 to rotate, so that the cleaning rotating member 1013 follows the second gear 10163 to rotate.
  • first gear and the second gear 10163 it is possible to drive the sweeping rotating member 1013 and the dragging rotating member 1014, respectively.
  • first gear and the second gear 10163 can be adjusted according to the specific installation positions of the sweeping rotating member 1013 and the dragging rotating member 1014.
  • the size of the first gear and the second gear 10163 is adjusted according to the distance between the sweeping rotating member 1013 and the mopping rotating member 1014 to ensure transmission between the first gear and the second gear 10163.
  • the sweeping rotating member 1013 and the sweeping rotating member 1014 share the same driving motor 10161.
  • the cleaning robot 100 includes two sweeping rotating parts 1013 and two mopping rotating parts 1014
  • the two sweeping rotating parts 1013 and two mopping rotating parts 1014 are arranged symmetrically at the bottom of the robot body 101, and can be set at this time
  • the driving motor 10161 can be a double-headed motor, and one set of gear sets drives the left sweeping rotating member 1013 And the mopping rotating member 1014 rotates, and another set of gear sets drives the sweeping rotating member 1013 and the mopping rotating member 1014 on the right side to rotate.
  • two driving motors 10161 may be provided, one of which drives the sweeping rotating member 1013 and the dragging rotating member 1014 on the left side through the power transmission structure, and the other driving motor 10161 drives the right side on the power transmission structure
  • the sweeping rotating member 1013 and the sweeping rotating member 1014 rotate.
  • the power transmission structure may also be implemented in other ways, such as a belt and other structures.
  • the output end of the driving motor 10161 includes two coaxial transmission wheels. One transmission wheel is connected by a belt and a sweeping rotating member 1013, and the other transmission wheel is connected by a belt and a sweeping rotating member 1014, so that the driving motor 10161 can The sweeping rotating member 1013 and the sweeping rotating member 1014 are driven to rotate.
  • the sweeping rotating member and the mopping rotating member are provided at different positions on the bottom of the robot body, and the driving device can drive the sweeping rotating member and the mopping rotating member to rotate.
  • the sweeping rotating member can be selectively connected to the sweeping module. After the sweeping rotating member is connected to the sweeping module, the sweeping rotating member is transmitted to the sweeping module to realize the sweeping cleaning of the floor by the sweeping module.
  • the mopping rotating part can be connected to the mopping module, and after the mopping rotating part is connected to the mopping module, the mopping rotating part can be transmitted to the mopping module to realize the mop cleaning of the ground by the mopping module.
  • the cleaning robot of the embodiment of the present application can realize the sweeping and mopping functions using fewer components.
  • the cleaning robot uses the sweeping module, it can sweep the ground, and when the cleaning robot uses the sweeping module, it can sweep the ground.
  • the cleaning robot does not affect the floor cleaning and mopping cleaning of the ground, and can increase the cleaning effect of the sweeping module and the mopping module on the ground through the transmission of the sweeping rotating part and the mopping rotating part, so that the cleaning robot
  • the cleaning function is diverse and the cleaning effect is better.

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Abstract

一种清洁机器人（100），包括：机器人主体（101），在机器人主体（101）的底部的不同位置设置有扫地转动件（1013）和拖地转动件（1014）；设置在机器人主体（101）上的驱动装置（1016），驱动装置（1016）用于驱动扫地转动件（1013）和拖地转动件（1014）转动；其中，扫地转动件（1013）用于和扫地模块（103）可拆卸连接，扫地模块（103）用于对地面扫地清洁；拖地转动件（1014）用于和拖地模块（102）可拆卸连接，拖地模块（102）用于对地面拖地清洁。这样，清洁机器人清洁（100）功能多样且清洁效果较好。

Description

一种清洁机器人 技术领域
本申请涉及清扫设备技术领域，更具体地说，涉及一种清洁机器人。
背景技术
随着科技进步和生活水平的提高，清洁机器人已经受到越来越多人的欢迎。但是，现有技术中的清洁机器人常见的是扫地机器人，扫地机器人只能对地面进行扫地清洁，功能单一。
现有的清洁机器人中还有扫拖一体模式，即通过清洁机器人前端扫地同时利用后端拖地来实现扫拖功能。如此清洁机器人同时实现扫地和拖地两种功能。但是，扫拖一体模式的清洁机器人的拖地模块对地面进行拖地时，会将地面拖湿润，从而不利于扫地模块对地面的扫地工作。另外，扫拖一体模式的清洁机器人极易导致前面扫地稍微遗漏一点垃圾和灰尘，清洁机器人后面的拖布会拖到很多垃圾，这样会导致拖地拖不干净，而且地面拖过之后，容易在地面产生污水渍。
申请内容
有鉴于此，本申请实施例的目的在于提供一种清洁机器人，该清洁机器人清洁功能多样且清洁效果较好。
为了达到上述目的，本申请提供如下技术方案：
一种清洁机器人，包括：
机器人主体，在所述机器人主体的底部的不同位置设置有扫地转动件和拖地转动件；
设置在所述机器人主体上的驱动装置，所述驱动装置用于驱动所述扫地转动件和所述拖地转动件转动；
可择一地安装在所述机器人主体的扫地模块和拖地模块；
其中，所述扫地转动件设置为和所述扫地模块可拆卸连接，所述扫地模块用于对地面扫地清洁；
所述拖地转动件设置为和所述拖地模块可拆卸连接，所述拖地模块用于对地面拖地清洁。
应用本申请实施例提供的清洁机器人时，机器人主体的底部的不同位置设置有扫地转动件和拖地转动件，驱动装置可驱动扫地转动件和拖地转动件转动。根据实际需求可选择地将扫地转动件与扫地模块连接，扫地转动件与扫地模块连接后，扫地转动件向扫地模块传动以实现扫地模块对地面的扫地清洁。或者，可以将拖地转动件与拖地模块连接，拖地转动件和拖地模块连接后，拖地转动件向拖地模块传动以实现拖地模块对地面的拖地清洁。这样，本申请实施例的清洁机器人使用较少的部件即可实现扫地和拖地功能，在清洁机器人使用扫地模块时可对地面扫地清洁，在清洁机器人使用拖地模块时可对地面拖地清洁，这样，清洁机器人对地面的扫地清洁和拖地清洁互不影响，且能通过扫地转动件和拖地转动件的传动，增大扫地模块和拖地模块对地的清洁效果，从而该清洁机器人清洁功能多样且清洁效果较好。
附图说明
图1为本申请实施例提供的清洁机器人的立体示意图；
图2为本申请实施例提供的机器人主体的仰视图；
图3为本申请另一实施例提供的机器人主体的仰视图；
图4为本申请一种实施例提供的拖地模块的仰视图；
图5为本申请一种实施例提供的拖地模块的俯视图；
图6为本申请另一种实施例提供的拖地模块的俯视图；
图7为本申请实施例提供的机器人主体与图5中的拖地模块的装配示意图；
图8为本申请实施例提供的机器人主体与图5中的拖地模块连接后的示意图；
图9为本申请一种实施例提供的扫地模块的俯视图；
图10为本申请一种实施例提供的扫地模块的仰视图；
图11为本申请一种实施例提供的扫地模块的结构示意图；
图12为本申请实施例提供的机器人主体与图11中的扫地模块的装配示意图；
图13为本申请实施例提供的机器人主体与图11中的扫地模块的另一装配示意图；
图14为本申请实施例提供的机器人主体与图11中的扫地模块的另一装配示意图；
图15为本申请另一种实施例提供的扫地模块的结构示意图；
图16为本申请另一实施例提供的机器人主体与图15中的扫地模块的装配示意图；
图17为现有技术中清扫盲区的示意图；
图18为本申请实施例提供的轴套的结构示意图；
图19为本申请实施例提供的轴套的仰视图；
图20为本申请实施例提供的轴套的剖视图；
图21为本申请实施例提供的轴端的结构示意图；
图22为本申请实施例提供的轴套与轴端的装配示意图；
图23为本申请实施例提供的驱动装置的结构示意图；
图24为本申请实施例提供的驱动装置的局部结构示意图。
在图1-24中：
100-清洁机器人、101-机器人主体、1011-万向轮、1012-吸尘口、1013-扫地转动件、1014-拖地转动件、1015-驱动轮、1016-驱动装置、10161-驱动电机、10162-蜗杆、10163-第二齿轮、10164-第一子齿轮、10165-第二子齿轮；
102-拖地模块、1021-拖布、1022-转盘；
103-扫地模块、1031-清洁刷、1032-传动件、1033-模块主体、1034-进尘口、1035-刮片；
a1-金属件、a2-磁性件、b1-卡槽、b2-卡凸、c1-轴套、c11-导向槽、c0-多棱柱面、c2-轴端、c21-导向面、d-清洁盲区。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。
本申请实施例提供了一种清洁机器人100，该清洁机器人100可用于对地面进行自动清洁，清洁机器人100的应用场景可以为家庭室内清洁、大型场所清洁等。
本申请实施例提供的清洁机器人100的类型为扫地模式和拖地模式可切换的清洁机器人，清洁机器人100包括机器人主体101，该机器人主体101可以与扫地模块103连接，以实现对地面扫地清洁；或者机器人主体101可以与拖地模块102连接，以实现对地面拖地清洁。如图1和图2所示，清洁机器人100包括机器人主体101和驱动机器人主体101移动的行走单元。机器人主体101可以为圆形结构、方形结构等。在本申请实施例中，以机器人主体101为D字形结构为例进行说明。如图1所示，机器人主体101前部为倒圆角的矩形结构，后部为半圆形结构。在本申请实施例中，机器人主体101为左右对称结构。
行走单元为与清洁机器人100的移动相关的部件，行走单元例如包括驱动轮1015和万向轮1011。万向轮1011和驱动轮1015配合实现清洁机器人100的转向和移动。在机器人主体101的底面靠后部的位置，左右两边各设置一个驱动轮1015。万向轮1011设置在机器人主体101的底面的中心线上，且位于两个清洁件之间。其中，清洁机器人100包括清洁件，清洁件用于清洁地面，清洁件可以为扫地模块103上用于扫地的部件，具体为扫地模块103的清洁刷1031，或者，清洁件为拖地模块102上用于拖地的部件，例如为拖布1021。清洁件设置在机器人主体101的底部。
其中，每一驱动轮1015上设有驱动轮电机，在驱动轮电机的带动下，驱动轮1015转动。驱动轮1015转动后，带动清洁机器人100移动。通过控制左右驱动轮1015的转速差，可控制清洁机器人100的转向角度。
机器人主体101内部还设置有吸尘仓和风机，吸尘仓的吸尘口1012位于机器人主体101的底部，风机转动以使吸尘仓内形成负压，将灰尘、纸屑等垃圾经吸尘口1012进入吸尘仓，在吸尘仓内可设置有尘盒，以通过尘盒对垃圾进行收纳和暂存。
应该理解，本申请实施例描述的清洁机器人100只是一个具体示例，并不对本申请实施例的清洁机器人100构成具体限定，本申请实施例的清洁机器人100还可以为其它的具体实现方式。例如，在其它的实现方式中，清洁机器人可以比图1所示的清洁机器人100有更多或更少的部件。
本申请下述各个实施例提供的清洁机器人的实现方式可参考上述图1所示实施例的清洁机器人的实现方式。
如图2所示，本申请实施例一提供了一种清洁机器人100，该清洁机器人100包括机器人主体101，在机器人主体101的底部的不同位置设置有扫地转动 件1013和拖地转动件1014，清洁机器人100还包括设置在机器人主体101上的驱动装置1016，驱动装置1016用于驱动扫地转动件1013和拖地转动件1014转动。其中，扫地转动件1013用于和扫地模块103可拆卸连接，扫地模块103用于对地面扫地清洁。拖地转动件1014用于和拖地模块102可拆卸连接，拖地模块102用于对地面拖地清洁。
应用本申请实施例一提供的清洁机器人100时，根据实际需求可选择地将扫地转动件1013与扫地模块103连接，扫地转动件1013与扫地模块103连接后，扫地转动件1013向扫地模块103传动以实现扫地模块103对地面的扫地清洁。或者，可以将拖地转动件1014与拖地模块102连接，拖地转动件1014和拖地模块102连接后，拖地转动件1014向拖地模块102传动以实现拖地模块102对地面的拖地清洁。
在用户使用清洁机器人100的一具体示例中，对地面进行清洁时，用户可先选择将扫地转动件1013与扫地模块103连接，通过扫地转动件1013向扫地模块103传动以实现扫地模块103对地面的扫地清洁，清洁机器人100在将地面上的垃圾和灰尘清扫干净后，用户可将扫地模块103拆离机器人主体101，然后，选择将拖地转动件1014与拖地模块102连接，通过拖地转动件1014向拖地模块102传动以实现拖地模块102对地面的拖地清洁，从而清洁机器人100可实现对地拖地清洁。
本申请实施例提供的清洁机器人100避免了出现扫地模块103和拖地模块102同时工作的情况，进而避免拖地模块102拖地过程中拖到很多垃圾、灰尘以及产生很多污水渍的情况，通过扫地或拖地单一功能来实现最大化的清洁效果。
上述实施例一中，由于扫地模块103和拖地模块102分别通过扫地转动件1013和拖地转动件1014与机器人主体101连接，而且扫地转动件1013的位置和拖地转动件1014的位置不同，扫地转动件1013的位置与拖地转动件1014的位置之间相互不受限制，可以根据实际需求自行设定扫地转动件1013在机器人主体101底部的位置和拖地转动件1014在机器人主体101底部的位置，进而实现了根据实际需求自行设置与机器人主体101连接后扫地模块103的位置以及与机器人主体101连接后拖地模块102的位置。
可选地，如图2和图3所示，沿第一方向，扫地转动件1013位于拖地转动件1014的前方。以及，沿第二方向，扫地转动件1013位于拖地转动件1014的 前方。其中，第一方向为清洁机器人100的前移方向，第二方向垂直于清洁机器人100的前移方向，且第二方向指向机器人主体101的目标侧面，目标侧面为沿清洁机器人100的前移方向机器人主体101的最前位置和最后位置之间的一侧面。目标侧面具体可以为沿清洁机器人100的前移方向，机器人主体101的最前位置和最后位置之间的左侧面，或者右侧面。其中，清洁机器人100的前移方向即清洁机器人100向前移动且不转弯时的方向。
这样，沿第一方向，扫地转动件1013位于拖地转动件1014的前方，则扫地转动件1013比拖地转动件1014更靠近机器人主体101的头部边缘。沿第二方向，扫地转动件1013位于拖地转动件1014的前方，则扫地转动件1013比拖地转动件1014更靠近机器人主体101的目标侧面。例如，在目标侧面为沿清洁机器人100的前移方向，机器人主体101的最前位置和最后位置之间的左侧面时，扫地转动件1013比拖地转动件1014更靠近该左侧面。在目标侧面为沿清洁机器人100的前移方向，机器人主体101的最前位置和最后位置之间的右侧面时，扫地转动件1013比拖地转动件1014更靠近该右侧面。换言之，沿清洁机器人100的前移方向，扫地转动件1013位于拖地转动件1014的侧前方。
如此设置，在扫地模块103包括清洁刷1031，且清洁刷1031的转动轴线和扫地转动件1013的转动轴线重合时，使得扫地模块103上的清洁刷1031的转轴更加靠近机器人主体101的头部边缘和目标侧面的边缘，保证清洁刷1031的长度更加合理，清洁刷1031既可以扫到周边位置又避免了清洁刷1031的长度过长。若清洁刷1031的长度过长则会导致清洁刷1031末端的线速度较高，从而清洁刷1031末端扫到垃圾时，容易把垃圾甩出去，即将垃圾甩离清洁机器人100。本实施例一中，沿清洁机器人100的前移方向，扫地转动件1013位于拖地转动件1014的侧前方后，扫地传动件1032更靠近机器人主体101的边缘，从而清洁刷1031可以设置得更靠近机器人主体101的边缘，这样，清洁刷1031的刷毛即使长度较小，清洁刷1031的清洁范围也能凸出机器人主体101的边缘。这样，让清洁刷1031的刷毛的长度设计合理，避免垃圾被清洁刷1031甩离清洁机器人100。在本申请实施例中，清洁刷1031可将垃圾扫到清洁机器人100底部的吸尘口1012，并从吸尘口1012抽吸到清洁机器人100内的吸尘仓，以进行暂存，从而提高清洁效果。
应该理解，在实施例一的其它具体实现方式中，也可以沿第一方向，扫地转动件1013位于拖地转动件1014的后方，和/或，沿第二方向，扫地转动件1013位于拖地转动件1014的后方，本申请实施例对此不作具体限定。
可选地，在上述实施例一中，当机器人主体101放置在平面上且机器人主体101的底面和该平面相对时，扫地转动件1013的转动轴线垂直于该平面，拖地转动件1014的转动轴线也垂直于该平面。此时，当扫地模块103与机器人主体101连接后，扫地转动件1013向扫地模块103传动，扫地模块103的清洁刷1031所在的转动平面与上述平面平行，如此既保证了扫地模块103转动过程中的受力平衡，也保证了均匀的清洁效果。
以及，当机器人主体101放置在平面上以进行工作时，拖地转动件1014的转动轴线垂直于前述平面。当拖地模块102与机器人主体101连接后，拖地转动件1014向拖地模块102传动，拖地模块102的拖布1021所在的转动平面与上述平面平行，如此既保证了拖地模块102转动过程中的受力平衡，也保证了均匀的清洁效果。
在本申请实施例中，机器人主体101放置在平面上且机器人主体101的底面和该平面相对，即机器人主体101在工作时，放置在该平面上，具体为，设置在机器人主体101底部的行走单元与该平面接触，通过行走单元在该平面上支撑机器人主体101。此时，清洁机器人100可对该平面进行清洁工作。
其中，在机器人主体101的底面包括平面结构的实现方式中，当机器人主体101放置在平面上时，机器人主体101的底面的平面结构可以与该平面平行，扫地转动件1013的转动轴线垂直于该平面结构，拖地转动件1014的转动轴线也垂直于该平面结构。当然，在有的示例中，机器人主体101的底面的平面结构也可以与放置机器人主体101的平面倾斜。当然，当机器人主体101放置在平面上时，扫地转动件1013的转动轴线也可以相对于该平面略微倾斜，拖地转动件1014的转动轴线也可以相对于该平面略微倾斜，在此不作具体限定。
如图4-图8所示，本申请实施例还提供了实施例二，实施例二是基于实施例一改进的方案。在实施例二中，清洁机器人100还包括拖地模块102，拖地模块102与拖地转动件1014可拆卸连接。拖地模块102包括转盘1022和拖布1021，其中拖布1021用于拖擦地面，并且拖布1021设置在转盘1022上。拖布1021和转盘1022可以为可拆卸连接。转盘1022与拖地转动件1014可拆卸连接，拖地转动件1014用于在转盘1022与拖地转动件1014连接后带动拖地模块102 转动。换言之，转盘1022与拖地转动件1014连接后，拖地转动件1014带动转盘1022转动，进而转盘1022带动拖布1021转动，转动的拖布1021与地面之间相互摩擦，实现了拖布1021对地面的拖擦清洁。
在实施例二中，转盘1022与拖地转动件1014连接后，拖地转动件1014的转动轴线和转盘1022的转动轴线重合。当然，转盘1022与拖地转动件1014传动连接后，拖地转动件1014的转动轴线和转盘1022的转动轴线也可以相互平行且位置不同，例如，在转盘1022与拖地转动件1014之间设置齿轮，拖地转动件1014带动齿轮转动，齿轮带动转盘1022转动。
在本实施例二中，拖地模块102与机器人主体101之间的连接方式有多种，下面即举出其中几个示例：
示例一：拖地模块102与机器人主体101之间通过拖地模块102的转盘1022和拖地转动件1014实现连接，具体为，在转盘1022和拖地转动件1014之间通过磁连接结构实现可拆卸连接，其中，磁连接结构包括磁性件和金属件，或者，磁连接结构包括两个南北极相对的磁性件等。在本申请实施例中，磁性件可以是永磁铁、或电磁铁等。例如，在转盘1022上设置磁性件和金属件中的一个，在拖地转动件1014上设置磁性件和金属件中的另一个。这样，将转盘1022和拖地转动件1014进行连接时，该磁性件和该金属件即可产生磁连接。或者，直接将转盘1022的用于与拖地转动件1014接触的部位设置为磁性件，将拖地转动件1014的用于与转盘1022接触的部位设置为金属件。
示例二：拖地模块102包括转盘1022、拖布1021和安装主体，拖布1021和转盘1022连接，安装主体与机器人主体101可拆卸连接，转盘1022与安装主体转动连接。即转盘1022和拖布1021能够相对于安装主体转动。安装主体与机器人主体101连接后，转盘1022与拖地转动件1014连接。进行拖地模块102的拆卸时，直接将安装主体从机器人主体101上拆卸下即可。
进一步地，安装主体包括A位置和B位置，A位置和B位置之间具有预设间距，即A位置和B位置不重合。在A位置处，安装主体和机器人主体101通过卡接结构卡接。在B位置处，安装主体和机器人主体101通过磁连接结构磁连接，其中，磁连接结构包括磁性件和金属件，或者包括两个磁性件a2等。卡接结构包括卡槽和卡凸，安装主体上设置有卡槽和卡凸中的一个，机器人主体101上设置有卡槽和卡凸中的另一个。其中，卡凸为凸块，卡槽为凹槽结构，通过卡凸插入到卡槽中实现安装主体和机器人主体101之间的卡 接，可选地，可设置多组卡槽和卡凸。在具体的实现方式中，可以在安装主体上设置多个卡凸，在机器人主体101上设置多个卡槽。
可选地，安装主体上可以设置两个转盘1022和两个拖布1021，并且两个转盘1022和两个拖布1021均在安装主体上左右对称设置。应该理解，A位置和B位置可以根据实际需求自行设置，在此不作具体限定。在有的示例中，A位置和B位置可以重合，例如将卡接结构设置为磁性材料，这样，通过该卡接结构，安装主体和机器人主体101同时实现卡接和磁连接。
在本申请实施例中，拖地模块102的拖布1021拖擦地面时，拖布1021与地面的接触面为拖布1021的拖擦面，如图4所示，拖布1021的拖擦面可以为夹角为倒圆角的三角形状；如图6所示，拖擦模块的拖擦面也可以为圆形。当然，拖布1021的拖擦面还可以为任意形状，例如规则的多边形或者不规则图形等。
在本申请实施例中，拖地模块102包括的相互连接的转盘1022和拖布1021可以为一组或多组，本申请实施例对此不作具体限定。例如，如图4和图8所示，清洁机器人100包括两组相互连接的转盘1022和拖布1021，其中，两个转盘1022转动时，转动方向可以为同向转动，也可以为反向转动。另外，两个转盘1022转动时可始终保持两个拖布1021相切，如此避免了两个拖布1021之间存在拖擦盲区。
在上述实施例二中，拖地转动件1014的端部包括轴端和轴套中的一个，转盘1022的端部包括轴端和轴套中的另一个。其中，轴套为凹槽结构，轴端可套入轴套的凹槽内，这样，通过轴端和轴套插接以实现拖地转动件1014和转盘1022的可拆卸连接。
为了实现扭矩的传递，在轴套的凹槽内侧壁上包括非圆柱体侧面，以及在轴端的外侧壁上包括非圆柱体侧面，轴套的凹槽内侧壁的非圆柱体侧面和轴端的外侧壁的非圆柱体侧面可相互抵接，以实现轴套和轴端的传动，从而拖地转动件1014可向拖地模块102传动。
例如，在拖地转动件1014的端部设有轴端，该轴端为正多棱柱体，该轴端的外侧壁为多棱柱面。在拖地模块102的转盘1022上设有轴套，该轴套的凹槽结构为正多棱柱体，该轴套的凹槽结构的内侧壁为多棱柱面。将轴端套入轴套的凹槽结构后，实现了转盘1022和拖地转动件1014的可拆卸连接。在拖地转动件1014转动时，拖地转动件1014上的轴端的多棱柱面的部分棱 柱面和转盘1022的轴套的多棱柱面的部分棱柱面抵接，限制拖地转动件1014和转盘1022的相对转动，从而实现拖地转动件1014向拖地模块102的传动。
当然，上述实施例二中，拖地转动件1014与转盘1022之间也可以通过螺钉连接等方式实现可拆卸连接，在此不作限定。
如图8-图11所示，本申请实施例还提供了实施例三，实施例三是基于实施例一或实施例二改进的方案。在实施例三中，清洁机器人100还包括扫地模块103，扫地模块103与扫地转动件1013可拆卸连接。扫地模块103包括清洁刷1031和传动件1032，清洁刷1031与传动件1032固定连接，清洁刷1031用于清扫地面。传动件1032与扫地转动件1013可拆卸连接，扫地转动件1013用于在扫地转动件1013与传动件1032连接后带动清洁刷1031和传动件1032转动。换言之，传动件1032与扫地转动件1013连接后，扫地转动件1013带动传动件1032转动，进而传动件1032带动清洁刷1031转动，清洁刷1031转动实现对地面的清扫清洁。
实施例三中，传动件1032与扫地转动件1013连接后，扫地转动件1013的转动轴线和传动件1032的转动轴线重合。当然，传动件1032与扫地转动件1013传动连接后，扫地转动件1013的转动轴线和传动件1032的转动轴线也可以相互平行且位置不同，在此不作具体限定。例如，在传动件1032与扫地转动件1013之间设有齿轮，扫地转动件1013带动该齿轮转动，转动的齿轮带动传动件1032，此时，扫地转动件1013的转动轴线和传动件1032的转动轴线相互平行且位置不同。
如图9-图13所示，在实施例三中，扫地模块103还包括模块主体1033，模块主体1033与机器人主体101可拆卸连接，清洁刷1031和传动件1032均与模块主体1033转动连接。转动连接表示连接且能够相互转动。即传动件1032和清洁刷1031均和模块主体1033连接，并且传动件1032和清洁刷1031均能够相对于模块主体1033转动。模块主体1033与机器人主体101连接后，传动件1032与扫地转动件1013连接。进行扫地模块103的拆卸时，直接将模块主体1033从机器人主体101上拆卸下即可。
关于模块主体1033和机器人主体101的连接方式有多种，在一个具体的实现方式中，模块主体1033包括第一位置和第二位置，第一位置和第二位置之间具有预设间距，即第一位置和第二位置不重合。在第一位置处，模块主体1033和机器人主体101通过卡接结构卡接。在第二位置处，模块主体1033 和机器人主体101通过磁连接结构磁连接。其中，磁连接结构可以包括磁性件a2和金属件a1，或者，磁连接结构包括两个南北极相对的磁性件a2等。磁性件a2可以是永磁铁、或电磁铁等，本申请实施例对此不作具体限定。
例如，模块主体1033上设置有磁性件a2和金属件a1中的一个，机器人主体101上设置有磁性件a2和金属件a1中的另一个，可选地，可以在模块主体1033上设置磁性件a2，在机器人主体101上设置金属件a1，通过磁性件a2和金属件a1吸力作用实现模块主体1033和机器人主体101的磁连接。为了保证磁连接的稳定性，机器人主体101上可以设置两个左右对称的金属件a1，模块主体1033上设置两个分别与机器人主体101上的两个金属件a1对应的磁性件a2即可。
卡接结构包括卡槽b1和卡凸b2，模块主体1033上设置有卡槽b1和卡凸b2中的一个，机器人主体101上设置有卡槽b1和卡凸b2中的另一个。其中，卡凸b2为凸块，卡槽b1为凹槽结构，通过卡凸b2插入到卡槽b1中实现模块主体1033和机器人主体101之间的卡接，可选地，可设置多组卡槽b1和卡凸b2。在具体的实现方式中中，可以在模块主体1033上设置多个卡凸b2，在机器人主体101上设置多个卡槽b1。
上述第一位置可以位于模块主体1033的边缘，模块主体1033与机器人主体101连接时直接将模块主体1033边缘与机器人主体101的对应位置对准后，将模块主体1033和机器人主体101通过卡接结构卡接，然后再通过磁连接结构将模块主体1033和机器人主体101磁连接。可选地，第一位置为模块主体1033的后侧边缘。机器人主体101的底部可以设置与模块主体1033匹配的容纳槽，模块主体1033与机器人主体101连接后，模块主体1033位于容纳槽内部，此时，卡凸b2可设置在模块主体1033的侧边，卡槽b1设置在容纳槽的槽壁上。
上述第二位置可以靠近模块主体1033的前侧设置。模块主体1033的前侧为其靠近机器人主体101头部的一侧，模块主体1033的后侧为其背离机器人主体101头部的一侧。需要说明的是，模块主体1033上可以设置两个传动件1032和两个清洁刷1031，并且两个传动件1032和两个清洁刷1031均在模块主体1033上左右对称设置。当然，模块主体1033的第一位置和第二位置可以任意设置，在此不作具体限定。
在另一个具体的实现方式中，在模块主体1033的第一位置和第二位置处可以都设置卡接结构，或者，都设置磁连接结构。在另一个具体的实现方式 中，在模块主体1033的同一位置设置卡接结构和磁连接结构，例如，使用磁性材料制作卡接结构，从而，通过卡接结构实现模块主体1033和机器人主体101的卡接和磁连接。在另一个具体的实现方式中，模块主体1033还可以与机器人主体101之间通过螺钉连接等方式实现可拆卸连接。可选地，本申请实施例的模块主体1033上还可以设置扣手位，扣手位例如为模块主体1033上靠近前述第一位置的凸块结构。从机器人主体101上拆卸模块主体1033时，用户只需用手扣住模块主体1033的扣手位并施力，即可实现使磁连接结构的磁性件a2和金属件a1分离，然后将卡凸b2从卡槽b1中抽离即可实现拆卸模块主体1033。
如图15-图16所示，上述实施例三中，扫地模块103也可以不包括模块主体1033，此时，扫地模块103包括传动件1032和清洁刷1031，传动件1032与清洁刷1031固定连接，传动件1032与扫地转动件1013之间可拆卸连接，例如通过磁连接结构磁连接，或者通过螺钉等方式连接。例如，传动件1032与扫地转动件1013接触的部位设置磁性件a2，扫地转动件1013与传动件1032接触的部位设置金属件a1。
另外，扫地模块103还包括配合机器人主体101的吸尘口1012使用的进尘口1034，在进尘口1034的后侧可以设置刮片1035。刮片1035与地面接触可以防止漏掉垃圾。为了防止刮伤地面，上述刮片1035可以为软刮片，具体地刮片1035可以为硅胶材质或者橡胶材质。在一具体的实现方式中，进尘口1034为独立设置的部件。在另一具体的实现方式中，进尘口1034设置在模块主体1033上。
在本申请实施例中，如图17所示，在机器人主体101上安装扫地模块103后，在清洁过程中，清洁刷1031转动时，清洁刷1031的清洁范围为圆形区域，机器人主体101在清洁墙角等位置时，会产生清洁盲区d。为了避免产生清洁盲区d，上述实施例三中，清洁刷1031包括与传动件1032固定连接的刷本体和设置在刷本体上的刷毛，扫地模块103与机器人主体101连接后刷毛的清洁范围凸出机器人主体101的边缘。如此更便于清扫墙角、家具附近等机器人主体101达不到的角落处的垃圾。如图18-图22所示，上述实施例三中，扫地转动件1013的端部包括轴端c2和轴套c1中的一个，传动件1032的端部包括轴端c2和轴套c1中的另一个。其中，轴套c1为凹槽结构，轴端 c2可套入轴套c1的凹槽内，这样，通过轴端c2和轴套c1插接以实现扫地转动件1013和传动件1032的可拆卸连接。
为了实现扫地转动件1013和传动件1032之间扭矩的传递，在轴套c1的凹槽内侧壁上包括非圆柱体侧面，以及在轴端c2的外侧壁上包括非圆柱体侧面，轴套c1的凹槽内侧壁的非圆柱体侧面和轴端c2的外侧壁的非圆柱体侧面可相互抵接，可限制轴套c1和轴端c2的相对转动，从而实现扫地转动件1013向传动件1032传动。
例如，实施例二和实施例三中，在扫地转动件1013的端部包括轴套c1，在传动件1032的端部包括轴端c2，为了保证轴套c1和轴端c2之间的周向定位，轴端c2的外侧壁包括多棱柱面c0，轴套c1的凹槽结构的内侧壁包括多棱柱面c0，轴端c2的多棱柱面c0与轴套c1的多棱柱面c0相互限位，以限制轴端c2和轴套c1的相对旋转。
当然，在其它的实现方式中，还可以在轴端c2的外侧壁上设置凸起和凹槽中的一个，在轴套c1的内侧壁设置凸起和凹槽中的另一个，凸起卡在凹槽内，限制轴端c2和轴套c1的相对旋转。关于轴套c1和轴端c2的连接方式，本申请实施例在此不作具体限定。
可选地，在一具体的实现方式中，扫地模块103包括与机器人主体101可拆卸连接的模块主体1033、清洁刷1031、以及与清洁刷1031固定连接的传动件1032。扫地转动件1013的端部包括轴端c2和轴套c1中的一个，传动件1032的端部包括轴端c2和轴套c1中的另一个。例如，扫地转动件1013的端部包括轴套c1，传动件1032的端部包括轴端c2，轴端c2套入轴套c1的凹槽结构内。其中，轴套c1的凹槽结构为多棱柱体结构，轴端c2也为多棱柱体结构，此时，为了便于装配，轴套c1的口端可以设有多个导向槽c11，导向槽c11包括两槽壁，导向槽c11的两槽壁的间距从轴套c1的开口往轴套c1的底部的方向逐渐减小，导向槽c11的两槽壁交汇于轴套c1的多棱柱面c0的侧棱上。轴端c2的顶端设有多个导向面c21，导向面c21包括两侧边，导向面c21的两侧边的间距从轴端c2的顶端往轴端c2的底端的方向逐渐增大，导向面c21的侧边与轴端c2的多棱柱面c0的侧棱相交。
上述方案中，多个导向槽c11沿着轴套c1的开口周向分布，多个导向面c21沿着轴端c2的顶端周向分布，多个导向面c21分别与多个导向槽c11配合，将扫地模块103装配到机器人主体101上时，轴端c2的导向面c21沿着导向槽c11移动 且旋转，以逐渐靠近轴套c1的底端。具体过程为，导向槽c11的槽壁和导向面c21的侧边相互抵接并产生作用力，因轴端c2和轴套c1中的一个设置在传动件1032上，轴端c2和轴套c1中的另一个设置在扫地转动件1013，而传动件1032可相对模块主体1033相对转动，从而，在该作用力的作用下，轴端c2可相对轴套c1转动，也即传动件1032和扫地转动件1013相对转动。
因导向槽c11的两槽壁交汇于轴套c1的多棱柱面c0的侧棱上，以及导向面c21的侧边与轴端c2的多棱柱面c0的侧棱相交，在导向槽c11的槽壁和导向面c21的侧边的引导下，轴端c2和轴套c1相对转动，直至轴端c2的多棱柱面c0和轴套c1的多棱柱面c0相对，以使轴端c2套入轴套c1的凹槽结构内。此时，轴端c2和轴套c1通过多棱柱面c0实现周向定位，限制轴端c2和轴套c1的相对转动。
下面对扫地模块103的安装步骤进行示例性说明，其中，在该示例中，扫地模块103包括模块主体1033，在模块主体1033的侧边设有卡凸b2，距离该卡凸b2预设距离在模块主体1033上设有磁铁。该扫地模块103的安装步骤为：如图13所示，先将扫地模块103的卡凸b2插入机器人主体101的卡槽b1内，其中，卡槽b1设置在机器人主体101的底部的容纳槽的侧壁上。然后，以卡凸b2和卡槽b1相交的位置为支点，将扫地模块103向机器人主体101方向旋转扣下。传动件1032的轴端c2包括导向面c21，扫地转动件1013的轴套c1包括导向槽c11，在导向槽c11和导向面c21的引导下，导向槽c11向导向面c21作用一作用力，因传动件1032和清洁刷1031固定连接，在该作用力的作用下，传动件1032和清洁刷1031相对模块主体1033旋转一定角度后，传动件1032的轴端c2嵌入扫地转动件1013的轴套c1内。在模块主体1033和机器人主体101贴合时，模块主体1033上的磁铁和机器人主体101上的金属件a1产生磁连接，在该磁连接和卡凸b2和卡槽b1的卡接下，模块主体1033和机器人主体101稳定连接。
相应地，扫地模块103拆卸步骤为：由于磁铁的磁力并非设计的非常大，只需将扫地模块103和机器人主体101稳定连接即可，用户从设置在模块主体1033侧边中间的扣手位将模块主体1033扣离机器人主体101，即可分离模块主体1033和机器人主体101的磁连接，然后转动模块主体1033一定角度后，将扫地模块103的卡凸b2从卡槽b1内拔出，即可从机器人主体101上拆卸扫地模块103。
在本申请实施例中，清洁刷1031和传动件1032设置在模块主体1033上，扫地模块103通过模块主体1033实现和机器人主体101的可拆卸连接，模块主 体1033包括相背的第一面和第二面，当模块主体1033安装到机器人主体101上后，模块主体1033的第一面和机器人主体101的底面相对，例如模块主体1033的第一面和机器人主体101的底面贴合或者模块主体1033的第一面和机器人主体101的底面之间具有空隙且相对，模块主体1033的第二面朝向机器人主体101的外部。此时，传动件1032在靠近模块主体1033的第一面的一侧和扫地转动件1013传动连接，因用户在安装扫地模块103时，模块主体1033的第二面面向用户，从而用户难以观察传动件1032和扫地转动件1013的连接位置，不易于将轴端c2的多棱柱面c0和轴套c1的多棱柱面c0相对，但是，在轴套c1的口端设置导向槽c11，以及在轴端c2的顶端设置导向面c21后，可利用导向槽c11的槽壁和导向面c21的侧边相互抵接产生的作用力使得轴端c2和轴套c1相对转动，以校正轴端c2相对轴套c1的位置，在用户将模块主体1033安装到机器人主体101上时，即使用户观察不到传动件1032和扫地转动件1013的装配位置，也能保证轴端c2的多棱柱面c0顺利套入轴套c1的多棱柱面c0内，尤其在模块主体1033和机器人主体101通过卡接结构的卡接和磁连接结构的磁连接实现可拆卸连接时，用户可先使得该卡接结构卡接，让模块主体1033和机器人主体101定位，如图13所示，再以卡接结构为支点，将模块主体1033向机器人主体101转动，因通过卡接结构实现了模块主体1033和机器人主体101的相对定位，在模块主体1033贴向机器人主体101时，传动件1032和扫地转动件1013的位置得到初步定位，然后，传动件1032和扫地转动件1013通过轴端c2套入轴套c1实现可拆卸连接，在轴端c2套入轴套c1的过程中，导向槽c11的槽壁和导向面c21的侧边配合使得轴端c2和轴套c1精准定位，从而更加便于连接过程中轴套c1和轴端c2的安装和周向定位。
当然，上述实施例三中，除了通过模块主体1033实现扫地模块103和机器人主体101的连接，扫地转动件1013与传动件1032之间也可以通过螺钉等方式实现扫地模块103和机器人主体101的可拆卸连接，本申请实施例在此不作限定。
下面，基于扫地模块103和拖地模块102的使用，对扫地转动件1013和拖地转动件1014异轴设置的方案的效果进行说明，其中，异轴设置的方案为：沿第一方向，扫地转动件1013位于拖地转动件1014的前方。沿第二方向，扫地转动件1013位于拖地转动件1014的前方。第一方向为清洁机器人100的前移方向。第二方向垂直于清洁机器人100的前移方向，且指向机器人主体101的 目标侧面，目标侧面为沿第一方向机器人主体101的最前位置和最后位置之间的侧面。
扫地转动件1013和拖地转动件1014异轴设置，沿清洁机器人100的前移方向，扫地转动件1013位于拖地转动件1014的侧前方，扫地转动件1013比拖地转动件1014更靠近机器人主体101的边缘。在清洁刷1031的转动轴线和扫地转动件1013的转动轴线重合时，即扫地模块103的传动件1032和清洁刷1031固定连接，传动件1032和扫地转动件1013可拆卸连接，扫地转动件1013的转动带动传动件1032和清洁刷1031转动。此时，清洁刷1031的长度可以设置得较短，也能保证清洁刷1031的清洁范围凸出机器人主体101的边缘，从而避免了清洁刷1031的边刷的长度过长导致的端部线速度较大，从而避免了清洁刷1031在端部将垃圾甩飞出机器人主体101的底部的覆盖区域。
清洁机器人100在清洁过程中，清洁刷1031转动时，清洁刷1031的清洁范围为圆形区域。拖地模块102的拖布1021在转动时，拖布1021的清洁范围也为圆形区域。在将拖地模块102安装到机器人主体101上后，为了避免在清洁过程中，拖地模块102的边缘与障碍物发生碰撞，拖地模块102的边缘在机器人主体101的边缘内。若将拖地转动件1014也用于连接扫地模块103的传动件1032，以使拖地转动件1014、传动件1032和清洁刷1031三者同轴转动，则因为清洁刷1031的清洁范围为圆形区域，且清洁刷1031的长度不适宜设置得较长，从而会产生如图17所示的清洁盲区d。清洁机器人100在清洁墙角等位置时，该清洁盲区d会导致不能清洁墙角的顶点位置。
为此，扫地转动件1013和拖地转动件1014异轴设置，扫地转动件1013位于拖地转动件1014的侧前方，扫地转动件1013比拖地转动件1014更靠近机器人主体101的边缘，从而清洁刷1031的长度设置得较短时，清洁刷1031的清洁范围也可凸出机器人主体101的边缘，以覆盖图17所示的清洁盲区d，从而减少清洁机器人100对地面的漏清洁区域。
在有的示例中，清洁刷1031凸出机器人主体101边缘的部分为刷毛，这些刷毛碰撞到障碍物后，刷毛可变形，从而清洁刷1031的清洁工作不因与障碍物相碰而受影响。
在本申请实施例中，清洁机器人100可以使用同一的驱动电机10161驱动扫地转动件1013和拖地转动件1014，以减少清洁机器人100的器件的使用。
如图23-图24所示，本申请还提供了实施例四，实施例四是基于上述实施例一至三中任一实施例的改进。在实施例四中，驱动装置1016包括驱动电机10161和与驱动电机10161的输出端传动连接的动力传送结构，驱动电机10161用于通过动力传送结构带动扫地转动件1013和拖地转动件1014转动。换言之，扫地转动件1013与驱动电机10161的输出端之间、拖地转动件1014与驱动电机10161的输出端之间通过动力传动结构实现动力的传输，最终实现驱动电机10161的动力传递至扫地转动件1013和拖地转动件1014，以带动扫地转动件1013和拖地转动件1014转动。
可选地，动力传送结构包括齿轮组和蜗杆10162，蜗杆10162用于带动齿轮组旋转；齿轮组分别和扫地转动件1013和拖地转动件1014传动连接。蜗杆10162和驱动电机10161的输出端固定连接，以获取驱动电机10161输出的动力。驱动电机10161的输出端转动带动蜗杆10162转动，进而蜗杆10162带动齿轮组旋转。齿轮组包括多个相互联动的齿轮，齿轮组的多个齿轮中至少一个与扫地转动件1013联动，且齿轮组的多个齿轮中至少一个与拖地转动件1014联动，以使齿轮组旋转过程中带动扫地转动件1013和拖地转动件1014转动。
可选地，齿轮组包括第一齿轮和第二齿轮10163，第一齿轮包括第一子齿轮10164和与第一子齿轮10164固定连接的第二子齿轮10165，第一子齿轮10164和第二子齿轮10165的转动轴线重合。第一子齿轮10164和第二齿轮10163啮合，第二子齿轮10165和蜗杆10162啮合。即第一子齿轮10164和第二子齿轮10165同轴设置且同步转动，蜗杆10162转动时带动第二子齿轮10165转动，第二子齿轮10165转动带动第一子齿轮10164转动，第一子齿轮10164转动带动第二齿轮10163转动。
一种方案中，第一齿轮和扫地转动件1013连接，以使第一齿轮和扫地转动件1013同轴联动，第二齿轮10163和拖地转动件1014连接，以使第二齿轮10163和拖地转动件1014同轴联动。扫地转动件1013可以作为第一齿轮的转轴，第一齿轮转动时带动扫地转动件1013。具体地，第一齿轮的第一子齿轮10164与扫地转动件1013连接。拖地转动件1014可以作为第二齿轮10163的转轴，第二齿轮10163转动时带动拖地转动件1014。
另一种方案中，第一齿轮和拖地转动件1014连接，以使第一齿轮和拖地转动件1014同轴联动，第二齿轮10163和扫地转动件1013连接，以使第二 齿轮10163和扫地转动件1013同轴联动。在一些示例中，拖地转动件1014可以作为第一齿轮的转轴，第一齿轮转动时带动拖地转动件1014。具体地，第一齿轮的第一子齿轮10164或第二子齿轮10165与拖地转动件1014连接，或者，第一子齿轮10164和第二子齿轮10165都与拖地转动件1014连接。扫地转动件1013可以作为第二齿轮10163的转轴，第二齿轮10163转动时带动扫地转动件1013。例如，如图23和图24所示，第一齿轮包括上下两层设置的第一子齿轮10164和第二子齿轮10165，其中，第二子齿轮10165和蜗杆10162啮合，第一子齿轮10164设置在第二子齿轮10165的上部，且第一子齿轮10164和第二子齿轮10165固定连接。第一齿轮的中部套接在拖地转动件1014上，第一齿轮和拖地转动件1014固定连接，且第一子齿轮10164、第二子齿轮10165和拖地转动件1014三者的转动轴线重合。第一子齿轮10164和第二齿轮10163啮合，第二齿轮10163和扫地转动件1013固定连接，且第二齿轮10163和扫地转动件1013二者的转动轴线重合。这样，驱动电机10161带动蜗杆10162转动，蜗杆10162通过带动第二子齿轮10165使得第一子齿轮10164和第二子齿轮10165一起转动，即蜗杆10162带动第一齿轮转动，从而拖地转动件1014跟随第一齿轮转动。转动的第一子齿轮10164带动第二齿轮10163转动，从而扫地转动件1013跟随第二齿轮10163转动。
这样，通过第一齿轮和第二齿轮10163的使用，即可以分别向扫地转动件1013和拖地转动件1014进行传动。另外，根据扫地转动件1013和拖地转动件1014具体的设置位置，可以对第一齿轮和第二齿轮10163进行调整。例如，根据扫地转动件1013和拖地转动件1014之间的距离调整第一齿轮和第二齿轮10163的大小，保证第一齿轮和第二齿轮10163间的传动。
在实施例四中，扫地转动件1013和拖地转动件1014共用同一驱动电机10161。当该清洁机器人100包括两个扫地转动件1013和两个拖地转动件1014时，两个扫地转动件1013和两个拖地转动件1014均在机器人主体101底部左右对称设置，此时可以设置两根蜗杆10162和两组齿轮组，两组齿轮组的第二子齿轮10165分别与两根蜗杆10162啮合，驱动电机10161可以为双头电机，其中一组齿轮组带动左侧的扫地转动件1013和拖地转动件1014转动，另一组齿轮组带动右侧的扫地转动件1013和拖地转动件1014转动。
可选地，也可以设置两个驱动电机10161，其中一个驱动电机10161通过动力传送结构带动左侧的扫地转动件1013和拖地转动件1014转动，另一个驱 动电机10161通过动力传送结构带动右侧的扫地转动件1013和拖地转动件1014转动。
应该理解，动力传送结构还可以是其它的实现方式，例如为皮带等结构。例如，驱动电机10161的输出端包括两个同轴的传动轮，一个传动轮通过皮带和扫地转动件1013传动连接，另一个传动轮通过皮带和拖地转动件1014传动连接，从而驱动电机10161可带动扫地转动件1013和拖地转动件1014转动。
综上所述，应用本申请实施例提供的清洁机器人时，机器人主体的底部的不同位置设置有扫地转动件和拖地转动件，驱动装置可驱动扫地转动件和拖地转动件转动。根据实际需求可选择地将扫地转动件与扫地模块连接，扫地转动件与扫地模块连接后，扫地转动件向扫地模块传动以实现扫地模块对地面的扫地清洁。或者，可以将拖地转动件与拖地模块连接，拖地转动件和拖地模块连接后，拖地转动件向拖地模块传动以实现拖地模块对地面的拖地清洁。这样，本申请实施例的清洁机器人使用较少的部件即可实现扫地和拖地功能，在清洁机器人使用扫地模块时可对地面扫地清洁，在清洁机器人使用拖地模块时可对地面拖地清洁，这样，清洁机器人对地面的扫地清洁和拖地清洁互不影响，且能通过扫地转动件和拖地转动件的传动，增大扫地模块和拖地模块对地的清洁效果，从而该清洁机器人清洁功能多样且清洁效果较好。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (12)

  1. 一种清洁机器人，其特征在于，包括：
    机器人主体(101)，在所述机器人主体(101)的底部的不同位置设置有扫地转动件(1013)和拖地转动件(1014)；
    设置在所述机器人主体(101)上的驱动装置(1016)，所述驱动装置(1016)用于驱动所述扫地转动件(1013)和所述拖地转动件(1014)转动；
    可择一地安装在所述机器人主体(101)的扫地模块(103)和拖地模块(102)；
    其中，所述扫地转动件(1013)设置为和所述扫地模块(103)可拆卸连接，所述扫地模块(103)用于对地面扫地清洁；所述拖地转动件(1014)设置为和所述拖地模块(102)可拆卸连接，所述拖地模块(102)用于对地面拖地清洁。
  2. 根据权利要求1所述的清洁机器人，其特征在于，沿第一方向，所述扫地转动件(1013)位于所述拖地转动件(1014)的前方；
    沿第二方向，所述扫地转动件(1013)位于所述拖地转动件(1014)的前方；
    所述第一方向为所述清洁机器人的前移方向；
    所述第二方向垂直于所述清洁机器人的前移方向，且所述第二方向指向所述机器人主体(101)的目标侧面，所述目标侧面为沿所述清洁机器人的前移方向所述机器人主体(101)的最前位置和最后位置之间的一侧面。
  3. 根据权利要求1所述的清洁机器人，其特征在于，当所述机器人主体(101)放置在平面上且所述机器人主体(101)的底面和所述平面相对时，所述扫地转动件(1013)的转动轴线垂直于所述平面，所述拖地转动件(1014)的转动轴线垂直于所述平面。
  4. 根据权利要求1-3任一项所述的清洁机器人，其特征在于，所述拖地模块(102)包括转盘(1022)和设置在所述转盘(1022)上的用于拖擦地面的拖布(1021)，所述转盘(1022)与所述拖地转动件(1014)可拆卸连接，所述拖地转动件(1014)设置为在所述转盘(1022)与所述拖地转动件(1014)连接后带动所述拖地模块(102)转动。
  5. 根据权利要求1-3任一项所述的清洁机器人，其特征在于，所述扫地模块(103)包括清洁刷(1031)和与所述清洁刷(1031)固定连接的传动件(1032)，所述传动件(1032)与所述扫地转动件(1013)可拆卸连接，所述扫地转动件(1013)设置为在所述扫地转动件(1013)与所述传动件(1032)连接后带动所述清洁刷(1031)和所述传动件(1032)转动。
  6. 根据权利要求5所述的清洁机器人，其特征在于，所述扫地模块(103)还包括与所述机器人主体(101)可拆卸连接的模块主体(1033)，所述清洁刷(1031)和所述传动件(1032)均与所述模块主体(1033)转动连接。
  7. 根据权利要求6所述的清洁机器人，其特征在于，所述扫地转动件(1013)的端部包括轴端(c2)和轴套(c1)中的一个，所述传动件(1032)的端部包括轴端(c2)和轴套(c1)中的另一个，所述轴套(c1)的凹槽结构和所述轴端(c2)为多棱柱体结构，所述轴套(c1)的口端设有多个周向分布的导向槽(c11)，所述导向槽(c11)包括两槽壁，所述导向槽(c11)的两槽壁的间距从所述轴套(c1)的开口往所述轴套(c1)的底部的方向逐渐减小，所述导向槽(c11)的两槽壁交汇于所述轴套(c1)的多棱柱面(c0)的侧棱上，所述轴端(c2)的顶端设有多个周向分布的导向面(c21)，所述导向面(c21)包括两侧边，所述导向面(c21)的两侧边的间距从所述轴端(c2)的顶端往所述轴端(c2)的底端的方向逐渐增大，所述导向面(c21)的侧边与所述轴端(c2)的多棱柱面(c0)的侧棱相交，所述轴端(c2)和轴套(c1)可在所述导向槽(c11)的槽壁和所述导向面(c21)的侧边的配合引导下相对转动，直至所述轴端(c2)的多棱柱面(c0)和所述轴套(c1)的多棱柱面(c0)相对。
  8. 根据权利要求6所述的清洁机器人，其特征在于，所述模块主体(1033)包括第一位置和第二位置，所述第一位置和所述第二位置之间具有预设间距；
    在所述第一位置处，所述模块主体(1033)和所述机器人主体(101)通过卡接结构卡接；
    在所述第二位置处，所述模块主体(1033)和所述机器人主体(101)通过磁连接结构磁连接。
  9. 根据权利要求5所述的清洁机器人，其特征在于，所述清洁刷(1031)包括与所述传动件(1032)固定连接的刷本体和设置在所述刷本体上的刷毛，所述扫地模块(103)与所述机器人主体(101)连接后所述刷毛的清洁范围凸出所述机器人主体(101)的边缘。
  10. 根据权利要求1-3任一项所述的清洁机器人，其特征在于，所述驱动装置(1016)包括驱动电机(10161)和与所述驱动电机(10161)的输出端传动连接的动力传送结构，所述驱动电机(10161)用于通过所述动力传送结构带动所述扫地转动件(1013)和所述拖地转动件(1014)转动。
  11. 根据权利要求10所述的清洁机器人，其特征在于，所述动力传送结构包括齿轮组和蜗杆(10162)，所述蜗杆(10162)用于带动所述齿轮组旋转；所述齿轮组分别与所述扫地转动件(1013)和所述拖地转动件(1014)传动连接；
    所述蜗杆(10162)和所述驱动电机(10161)的输出端固定连接，以获取所述驱动电机(10161)输出的动力。
  12. 根据权利要求11所述的清洁机器人，其特征在于，所述齿轮组包括第一齿轮和第二齿轮(10163)；所述第一齿轮包括第一子齿轮(10164)和与所述第一子齿轮(10164)固定连接的第二子齿轮(10165)，所述第一子齿轮(10164)和所述第二子齿轮(10165)的转动轴线重合；所述第一子齿轮(10164)和所述第二齿轮(10163)啮合，所述第二子齿轮(10165)和所述蜗杆(10162)啮合；
    所述第一齿轮和所述扫地转动件(1013)连接，以使所述第一齿轮和所述扫地转动件(1013)同轴联动，所述第二齿轮(10163)和所述拖地转动件(1014)连接，以使所述第二齿轮(10163)和所述拖地转动件(1014)同轴联动；或者，
    所述第一齿轮和所述拖地转动件(1014)连接，以使所述第一齿轮和所述拖地转动件(1014)同轴联动，所述第二齿轮(10163)和所述扫地转动件(1013)连接，以使所述第二齿轮(10163)和所述扫地转动件(1013)同轴联动。
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AU2019415834A1 (en) 2021-07-29

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