WO2022121426A1 - 扫拖模组及具有其的清洁机器人 - Google Patents

扫拖模组及具有其的清洁机器人 Download PDF

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Publication number
WO2022121426A1
WO2022121426A1 PCT/CN2021/118586 CN2021118586W WO2022121426A1 WO 2022121426 A1 WO2022121426 A1 WO 2022121426A1 CN 2021118586 W CN2021118586 W CN 2021118586W WO 2022121426 A1 WO2022121426 A1 WO 2022121426A1
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WO
WIPO (PCT)
Prior art keywords
mopping
sweeping
floating
rotating assembly
assembly
Prior art date
Application number
PCT/CN2021/118586
Other languages
English (en)
French (fr)
Inventor
李行
成盼
米长
林翔
段传林
周永飞
黄金虎
Original Assignee
北京石头世纪科技股份有限公司
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
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Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Publication of WO2022121426A1 publication Critical patent/WO2022121426A1/zh

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    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—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
    • A47L11/40—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
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • 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

Definitions

  • the present disclosure relates to the field of smart home technology, and in particular, to a sweeping and mopping module and a cleaning robot having the same.
  • the sweeping and mopping integrated cleaning robot includes a sweeping roller brush and a flat mop, with the sweeping roller brush in front and the flat mop behind, that is, when the sweeping and mopping integrated cleaning robot is working, both the sweeping roller brush and the flat mop are in working positions.
  • the present disclosure provides a sweeping and mopping module and a cleaning robot having the same, so as to realize the independent use of sweeping parts and mopping parts.
  • a sweeping and mopping module comprising:
  • the rotating assembly is arranged on the fixed bracket
  • the sweeping piece is arranged on the rotating assembly
  • the mopping piece, the mopping piece is arranged on the rotating assembly;
  • the rotating assembly is rotatably arranged on the fixed bracket, so that the sweeping member or the mopping member is in the working position.
  • a sweeping and mopping module comprising:
  • the rotating assembly is arranged on the fixed bracket
  • the sweeping piece is arranged on the rotating assembly
  • the mopping piece, the mopping piece is arranged on the rotating assembly;
  • the driving mechanism drives the rotating assembly to rotate relative to the fixed bracket, so that the sweeping member or the mopping member is in the working position, and the driving mechanism drives the sweeping member and the mopping member to work.
  • the drive mechanism includes:
  • the first drive assembly is connected with the mopping member to drive the mopping member to work;
  • the second drive assembly drives the sweeping member or the mopping member to be in the working position, and can drive the sweeping member to work.
  • the sweeping and mopping module further includes:
  • the turntable, the two ends of the connecting shaft are respectively connected to the rotating assembly and the turntable;
  • a floating piece which is movably arranged on the connecting shaft to connect or separate from the turntable;
  • the connecting rod shaft, the two ends of the connecting rod shaft are respectively connected to the fixed bracket and the turntable, and the center line of the connecting shaft does not coincide with the center line of the connecting rod shaft;
  • the blocking rod is arranged on the fixed bracket, and the blocking rod is provided with a gap;
  • the housing part is connected with the rotating assembly
  • the connecting shaft is connected with the housing part, so that the connecting shaft is connected with the rotating assembly through the housing part, and the first driving assembly is arranged on the housing part;
  • the second driving component is connected with the floating member, so as to drive the floating member to rotate and move along the connecting shaft at the same time.
  • the floating member includes a first helical gear segment and an output gear segment
  • the second drive assembly includes:
  • the first transmission gear includes a second helical gear segment, and the second helical gear segment meshes with the first helical gear segment to drive the floating member to rotate;
  • the first output gear is connected to the sweeping member, and the output gear segment meshes with the first output gear to drive the first output gear to rotate;
  • the floating member is movably arranged along the second helical gear segment and the first output gear.
  • the housing member includes a first segment and a second segment, and the first drive assembly and the second drive assembly are both disposed within the first segment and the second segment;
  • first section and the second section are detachably connected.
  • the sweeping and mopping module further includes:
  • An adapter assembly the first drive assembly is connected with the mopping member through the adapter assembly.
  • the switching component includes:
  • the output sleeve is spline-connected with the first driving component, and the output sleeve is spline-connected with the floor mopping piece.
  • the output sleeve is rotatably disposed on the housing member, and the adapter assembly further includes:
  • the first seal is located between the output sleeve and the first drive assembly
  • a second seal is located between the output sleeve and the housing part.
  • the drive mechanism includes:
  • the first drive assembly is connected with the mopping member to drive the mopping member to work;
  • the second drive assembly is connected with the sweeping member to drive the sweeping member to work;
  • the third driving component drives the rotating component to rotate relative to the fixed bracket, so that the sweeping member or the mopping member is in the working position.
  • the third drive assembly includes a third power source and a drive gear
  • the sweeping and mopping module further includes:
  • the turntable, the two ends of the connecting shaft are respectively connected to the rotating assembly and the turntable;
  • the floating piece is rotatably arranged on the connecting shaft, and the second driving component is drivingly connected with the floating piece;
  • the connecting rod shaft, the two ends of the connecting rod shaft are respectively connected to the fixed bracket and the turntable, and the center line of the connecting shaft does not coincide with the center line of the connecting rod shaft;
  • the housing part the housing part is connected with the rotating assembly, the connecting shaft is connected with the housing part, so that the connecting shaft is connected with the rotating assembly through the housing part, and the first driving assembly and the second driving assembly are both arranged in the housing on the piece;
  • the driving gear is meshed with the turntable, and the third power source drives the turntable to rotate through the driving gear, so as to drive the sweeping member or the mopping member to be in the working position.
  • the sweeping and mopping module further includes:
  • a side brush assembly which is arranged on the rotating assembly and/or the fixed bracket;
  • the side brush assembly when the sweeping member is in the working position, the side brush assembly is also in the working position.
  • a sweeping and mopping module comprising:
  • cover plate member is rotatably connected with the floating bracket, and the cover plate member and the floating bracket form a first accommodating cavity and a second accommodating cavity;
  • the sweeping member and the mopping member are respectively disposed in the first accommodating cavity and the second accommodating cavity, and are rotatably disposed.
  • one end of the cover member is hinged with the floating bracket, and the other end of the cover member is detachably connected with the floating bracket.
  • the other end of the cover member is connected with the floating bracket in a latching manner.
  • the cover plate member is provided with anti-rolling teeth and scraping strips, and the anti-rolling teeth and scraping strips are located at the front and the rear of the sweeping member, respectively.
  • the sweeping and mopping module further includes:
  • the fixed bracket and the floating bracket are rotatably arranged on the fixed bracket, so that the sweeping element or the mopping element is in the working position.
  • the cover plate member is in an obtuse-angled V-shape, and the two surfaces of the V-shape are in working positions corresponding to the sweeping member and the mopping member, respectively.
  • the sweeping and mopping module further includes:
  • the side brush assembly when the sweeping member is in the working position, the side brush assembly is also in the working position.
  • the side brush assembly is located outside the cover member.
  • a cleaning robot including the above-mentioned sweeping and mopping module.
  • the sweeping member and the mopping member are installed on the rotating assembly, and the rotating assembly is rotatably arranged on the fixed bracket, so that the sweeping member or the mopping member can be switched in the working position, so as to This ensures that the sweeper and mop can be used independently.
  • FIG. 1A is a first exploded schematic diagram of a mopping and mopping module according to an exemplary embodiment
  • FIG. 1B is a schematic diagram of an exploded structure of a sweeping and mopping module according to another exemplary embodiment
  • FIG. 1C is a schematic cross-sectional structure diagram of a sweeping and mopping module according to another exemplary embodiment
  • FIG. 2 is a second exploded schematic diagram of a mopping and mopping module according to an exemplary embodiment
  • FIG. 3 is a schematic structural diagram of a first viewing angle of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 4 is a schematic structural diagram from a second perspective of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 5 is a schematic structural diagram of a sweeping member of a sweeping and mopping module in a station position according to an exemplary embodiment
  • Fig. 6 is the structural representation that the mopping part of a kind of sweeping and mopping module shown according to an exemplary embodiment is in the station position;
  • FIG. 7 is a schematic structural diagram of a first viewing angle of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 8 is a schematic structural diagram of a second viewing angle of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 9 is a schematic structural diagram of a third viewing angle of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 10 is an exploded schematic diagram of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 11 is a schematic structural diagram showing the separation of a floating member from a turntable of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 12 is a schematic structural diagram showing that a floating member of a position adjustment mechanism of a sweeping and mopping module is connected to a turntable according to an exemplary embodiment
  • FIG. 13 is a schematic structural diagram of a cleaning robot according to an exemplary embodiment
  • 14A is a schematic structural diagram of a first viewing angle of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment
  • 14B is a schematic structural diagram of a second viewing angle of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment
  • FIG. 14C is a schematic structural diagram from a third perspective of a position adjustment mechanism of a sweeping and mopping module according to an exemplary embodiment.
  • the sweeping and mopping module includes: a fixed bracket 100; , the sweeping member 120 is disposed on the rotating assembly 110; the mopping member 130, the mopping member 130 is disposed on the rotating assembly 110; wherein, the rotating assembly 110 is rotatably disposed on the fixed bracket 100, for example: by respectively placing the rotating assembly 110 on the rotating assembly 110
  • the two ends and the corresponding positions of the fixing bracket 100 are provided with corresponding rotating shafts and shaft holes to achieve installation and rotation, so that the sweeping member 120 or the mopping member 130 is in the working position.
  • the sweeping member 120 and the mopping member 130 are installed on the rotating assembly 110, and the rotating assembly 110 is rotatably disposed on the fixed bracket 100, so that the sweeping member 120 or the mopping member 100 can be rotatably arranged.
  • the floor piece 130 is switched in the working position, so as to ensure that the floor sweeping piece 120 and the floor mopping piece 130 can be used independently.
  • the sweeping member 120 and the mopping member 130 are used to clean the surface to be cleaned, such as the ground.
  • the position of the sweeping member 120 is the working position, as shown in FIG. 5 ; correspondingly, when the sweeping member 120 is in contact with the surface to be cleaned
  • the position where the mopping member 130 is located is the working position, as shown in FIG. 6 .
  • the working position is a position that indicates that cleaning can be achieved, that is, the sweeping member 120 or the mopping member 130 of the sweeping and mopping module can achieve cleaning of the surface to be cleaned.
  • the sweeping member 120 is a sweeping roller brush
  • the mopping member 130 is a mopping roller brush
  • both the sweeping member 120 and the mopping member 130 are rotatably disposed relative to the rotating assembly 110.
  • the sweeping roller brush may be a cleaning mechanism such as a brush
  • the mopping roller brush may include mopping components such as a mop.
  • the mopping piece can also be a flat mop with a certain area, so as to achieve the purpose of washing the floor.
  • the mopping roller brush may include a mopping cloth and a main body structure, the mopping cloth is wrapped around the main body structure, and the mopping cloth is detachably arranged on the main body structure, so that when the mopping cloth is very dirty and can no longer be cleaned, it can be torn off for replacement.
  • New mop it is not excluded that the mop can be multi-layered, that is, after tearing off one layer, another layer can be used. For a flat mop, it can also be a multi-layer mop stacking and pasting setting, use one layer to tear off the other.
  • the mopping roller brush can include an aquifer, the aquifer is used to store a certain amount of moisture, the aquifer can be one or more layers, and the aquifer is arranged around the inner core of the mopping roller brush, Depending on how other components are arranged, it can be fixed around the inner core in either a full cylindrical or a partial cylindrical form.
  • the mopping roller brush may also include a cylindrical water tank, the cylindrical water tank is wrapped on the inner core of the mopping roller brush, the mopping cloth wraps the cylindrical water tank, and the cylindrical water tank is provided with The water inlet can be communicated with the external water supply structure to supply water to the cylindrical water tank through the external water supply structure.
  • water seepage ports evenly distributed on the cylindrical water tank, which are used for water seepage to the mop.
  • the water seepage holes can be directly opened on the outer periphery of the water tank, or a certain structure of water seepage passages can be formed on the inner side of the water tank outer wall to connect the water seepage holes.
  • the purpose of the above setting is to achieve the uniform distribution of water, and the specific form is not limited.
  • the mopping roller brush can include a heating mechanism, and the heating mechanism can be a heating strip, a heating sheet, etc. along the axial direction of the mopping roller brush, so as to realize the drying of the mopping roller brush, which can be heated by thermal resistance or ultrasonic wave. The form of atomization to remove water.
  • the heating mechanism can dry the mopping roller brush.
  • the heating mechanism may also be disposed at the bottom of the cleaning robot near the mopping roller brush.
  • heating mechanisms may be provided on both the mopping roller brush and the cleaning robot.
  • a drying system may also be provided on the base station, so as to realize drying of the mopping roller brush.
  • drying of the mopping roller brush can be completed when the cleaning robot is charging on the base station, and of course, it can also be performed in other states, which is not limited here.
  • centerlines of the sweeping member 120 and the mopping member 130 may be on the same plane, that is, the extension direction of the sweeping member 120 and the extending direction of the mopping member 130 are consistent, and the The axes of rotation are parallel.
  • the rotation of the rotating assembly 110 relative to the fixed bracket 100 may be driven by a drive mechanism in the related art.
  • the drive mechanism includes a telescopic rod, and the telescopic rod is connected to the rotating assembly 110, and the extension of the telescopic rod
  • the driving of the rotating assembly 110 is realized with the retraction, so that the rotating assembly 110 is rotated relative to the fixed bracket 100 .
  • the driving mechanism includes a driving shaft, which is connected to the rotating assembly 110 , so that the rotating assembly 110 can be driven through the forward rotation and reverse rotation of the driving shaft, so that the rotating assembly 110 rotates relative to the fixed bracket 100 .
  • the rotating assembly 110 has a first accommodating cavity 113 and a second accommodating cavity 114 , the sweeping member 120 is disposed in the first accommodating cavity 113 , and the mopping member 130 is disposed in the second accommodating cavity 114; wherein, at least part of the first accommodating cavity 113 and the second accommodating cavity 114 are independently set to prevent interference between the sweeping member 120 and the mopping member 130, and ensure that the sweeping member 120 and the mopping member 130 work normally.
  • the first accommodating cavity 113 and the second accommodating cavity 114 are set independently, that is, the sweeping member 120 and the mopping member 130 do not affect each other, and when the sweeping member 120 sweeps the floor, dust will not enter the second accommodating cavity 114 in large quantities, To prevent the mopping member 130 from becoming dirty, and the mopping member 130 itself will have a certain amount of moisture, it is also possible to prevent the moisture on the mopping member 130 from entering the first accommodating cavity 113 .
  • the rotating assembly 110 includes: a floating bracket 111 , the floating bracket 111 is rotatably disposed on the fixed bracket 100 ; a cover member 112 , which is connected to the floating bracket 111 , The cover plate member 112 and the floating bracket 111 form the first accommodating cavity 113 and the second accommodating cavity 114, which can not only ensure the relative isolation of the sweeping member 120 and the mopping member 130, but also ensure the installation stability of the sweeping member 120 and the mopping member 130. .
  • the bottom surface of the cover member 112 forms two planes that are approximately at an included angle, and the sweeping member 120 protrudes from the opening of the cover member 112.
  • the first plane of the cover member 112 is roughly parallel to the ground and sweeps the floor.
  • the mopping member 120 is driven by the driving mechanism to sweep and clean; the mopping member 130 protrudes from another opening of the cover member 112.
  • the second plane of the cover member 112 is substantially parallel to the ground, and the mopping
  • the floor piece 130 is driven by the driving mechanism to perform mopping cleaning.
  • the above first plane and the second plane form an obtuse angle.
  • this angle needs to ensure that when the sweeping member 120 or the mopping member 130 is working, another cleaning member will not interfere with the normal operation of the current cleaning member.
  • the sweeping member 120 is sweeping and cleaning
  • the above obtuse angle is set too large, such as 160° or 170°
  • the height of the mopping member 130 protruding from another opening will be less than or equal to the height between the mopping member 130 and the ground.
  • the mopping part will also touch the ground when sweeping the floor, which will interfere with the work of the sweeping part.
  • the above examples are only for illustration, and different sizes of the sweeping member 120 and the mopping member 130 can be set according to the actual situation, which is not specifically limited here.
  • both the sweeping member 120 and the mopping member 130 can be rotatably disposed on the floating bracket 111, and the sweeping member 120 and the mopping member 130 can be detachably installed on the floating bracket 111, while the cover member 112 and the floating bracket 111 is detachably connected, that is, the sweeping member 120 and the mopping member 130 can be easily replaced.
  • center line of the sweeping member 120 and the center line of the mopping member 130 may be parallel.
  • the cover member 112 is snapped, bonded or connected with the floating bracket 111 , that is, on the basis of ensuring that the cover member 112 and the floating bracket 111 are detachable, the cover member 112 is not limited Connection with the floating bracket 111 .
  • both the sweeping member 120 and the mopping member 130 are non-detachably mounted on the floating bracket 111 , and the cover member 112 and the floating bracket 111 may also be non-detachably connected.
  • the extending direction of the first accommodating cavity 113 is parallel to the extending direction of the second accommodating cavity 114
  • the cover plate 112 is provided with anti-roll teeth 1121 , and the anti-roll teeth 1121 It is disposed toward the cavity opening of the first accommodating cavity 113 , so that large objects can be prevented from being drawn into the first accommodating cavity 113 by the sweeping piece 120 when the sweeping piece 120 is working.
  • the plurality of anti-roll teeth 1121 are arranged on the cover member 112 at intervals, that is, the plurality of anti-roll teeth 1121 are arranged in sequence along the extending direction of the first accommodating cavity 113, so as to ensure large objects The sweeper 120 will not be caught in the first accommodating cavity 113 .
  • the anti-roll teeth 1121 extend in an arc shape from the cover plate 112 to the sweeping member 120 side, and are formed to substantially cover the sweeping member 120 .
  • the cover member 112 is provided with a scraper 1122 , the scraper 1122 is disposed on the side of the cover member 112 away from the second accommodating cavity 114 , and the scraper 1122 can be used for scraping Garbage on surfaces to be cleaned.
  • the mopping and mopping module further includes: a vacuuming channel 160 , one end of the vacuuming channel 160 is communicated with the first accommodating cavity 113 , and the other end of the vacuuming channel 160 is connected to the first accommodating cavity 113 .
  • the fixed brackets 100 are connected; wherein, the dust suction channel 160 is a flexible member, so that when the sweeping member 120 is in the working position, the dust suction channel 160 is in an open state. When the sweeping member 120 is working, the dust suction channel 160 is used to form an air duct so as to absorb dust.
  • the dust suction channel 160 does not need to work, and when the rotating assembly 110 rotates, it will make dust suction The channel 160 is deformed, and at this time, the dust suction channel 160 does not need to be used as an air channel, so it can be in a closed state.
  • the two ends of the dust suction channel 160 are respectively connected to the rotating assembly 110 and the fixed bracket 100. Therefore, when the rotating assembly 110 rotates relative to the fixed bracket 100, the sweeping member 120 and the mopping member 130 are switched between the working positions. At the same time, the dust suction channel 160, which is a flexible member, is deformed along with the rotating assembly 110, so as to ensure that the normal rotation of the rotating assembly 110 will not be hindered.
  • the dust suction channel 160 when the mopping member 130 is in the working position, the dust suction channel 160 may be in a closed state. Alternatively, when the mopping member 130 is in the working position, the dust suction channel 160 may also be in an open state.
  • the wiper bar 1122 is disposed adjacent to the dust suction channel 160, that is, the wiper bar 1122 can also make the gap between the dust suction channel 160 and the first accommodating cavity 113 on the basis of scraping the garbage on the surface to be cleaned. A better seal is formed between them, so as to ensure that the dust cleaned by the sweeping member 120 enters the dust suction passage 160 under the action of suction.
  • the mopping and mopping module further includes a power component, and the wind generated by the power component can suck the dust cleaned by the sweeping member 120 into the dust suction channel 160 .
  • the power component may be a fan.
  • the sweeping and mopping module further includes: a side brush assembly 150 , and the side brush assembly 150 is disposed on the rotating assembly 110 and/or the fixed bracket 100 ; When in the working position, the side brush assembly 150 is also in the working position, so that the side brush assembly 150 can be used to move the dust outside the sweeping member 120 into the area of the sweeping member 120 to ensure the cleaning range.
  • the side brush assembly 150 is located on one side of the sweeping member 120 , that is, the side brush assembly 150 and the sweeping member 120 occupy the first area of the rotating assembly 110 to form the first cleaning area, while the mopping member 130 occupies the first area of the rotating assembly 110
  • the two areas form the second cleaning area.
  • the first cleaning area and the surface to be cleaned are set opposite to each other, that is, the side brush assembly 150 and the sweeping member 120 are in the working position, which can be used for cleaning the to-be-cleaned surface. surface.
  • the second cleaning area is opposite to the surface to be cleaned, that is, the mopping member 130 is in the working position, it can be used for mopping the surface to be cleaned.
  • the plane where the first cleaning area is located and the plane where the second cleaning area is located are not coplanar, and they form a certain
  • the included angle is actually an obtuse angle at a certain angle.
  • the angle formed by the plane where the first cleaning area is located and the plane where the second cleaning area is located ensures that when the first cleaning area above works in the first cleaning mode (such as sweeping mode), it protrudes out of the second cleaning area.
  • the plane mopping member 130 where the area is located will not interfere with the first cleaning mode.
  • the sweeping member 120 and the side brush assembly 150 in the first cleaning area are parallel to the cleaning surface during cleaning, because the above included angle is too large (such as 160°, 170°), the mopping member 130 will also interfere with the cleaning surface; similarly, when the second cleaning area is parallel to the cleaning surface and is in the working state of the second cleaning mode (such as mopping mode), the above included angle
  • the arrangement should ensure that the sweeper 120 and side brush assembly 150 located in the first cleaning zone do not come into contact with the cleaning surface.
  • the side brush assembly 150 includes a separate driving mechanism, and the brush is driven to rotate by the driving mechanism, so as to realize cleaning.
  • the drive mechanism includes a motor.
  • the rotating assembly 110 when the plane where the first cleaning area is located is parallel to the cleaning surface, and the sweeping member 120 and the side brush assembly 150 are in the working state and operate in the first cleaning mode, since the rotating assembly 110 is driven to When the above state is in place, the rotating assembly 110 actually has a certain movement margin, which can provide the rotating assembly 110 to float relative to the obstacle when the cleaning robot is in the first cleaning mode and when the obstacle is overcome, improving the The robot's ability to overcome obstacles.
  • the above movable margin is generated when the rotating assembly 110 is rotated in place, the connecting shaft 10 is disengaged from the notch 71 of the blocking rod 70, and the floating member 30 moves away from the turntable 20. At this time, the stepped member on the connecting shaft 10 prevents the connecting shaft 10 from moving. Enter into the notch 71 to form a limit, but the rotating assembly 110 can also be rotated away from the blocking rod 70 by a certain angle, and this part forms the above movable margin.
  • the cleaning robot further includes: a side brush tufting mechanism 151 , the side brush tufting mechanism 151 is rotatably disposed on the rotating assembly 110 , and has substantially the same characteristics as the side brush assembly 150 .
  • the side brush bristle mechanism 151 can rotate relative to the rotating assembly 110 away from the surface, and during this process, the side brushes of the side brush assembly 150 can be picked up in a direction substantially parallel to the axis of the side brush assembly 150; doing so
  • the purpose is to prevent the cover member 112 from interfering with the side bristles during the closing process after opening the cover member 112 to press the side bristles into the cover member 112.
  • the cover member 112 When the cover member 112 is closed, the cover member 112 It will timely touch the interference protrusion on the top of the annular member on the side brush hair removal mechanism 151, and further press the interference protrusion when the cover member 112 is closed, thereby driving the side brush hair removal mechanism 151 to rotate along its rotational axis where the assembly 110 is located. During this process, the interference of the side brush bristles picked up by the side brush brush mechanism 151 is further released. When the cover member 112 is closed and locked, the side brush bristle mechanism 151 is also fully engaged with the rotating assembly 110, and the cover member 112 will not press the side brush bristles.
  • the present disclosure also provides an embodiment, between the fixed bracket 100 and the floating bracket 111, a tension spring and a grounding pressure block assembly 115 for installing the tension spring are provided, the grounding pressure block assembly 115 includes a tension spring bracket, and one end of the tension spring bracket is fixed on the On the fixed bracket 100, the tension spring is sleeved into the tension spring bracket from the other end; the floating bracket 111 is provided with a tension spring bracket sleeve, and the tension spring can provide a reverse force to the floating bracket 111, so that the The cleaning assemblies (ie, the sweeping member 120 and the mopping member 130) can be pressed against the cleaning surface.
  • the grounding pressure block assembly 115 includes a tension spring bracket, and one end of the tension spring bracket is fixed on the On the fixed bracket 100, the tension spring is sleeved into the tension spring bracket from the other end; the floating bracket 111 is provided with a tension spring bracket sleeve, and the tension spring can provide a reverse force to the floating bracket 111, so
  • the sweeping and mopping module further includes: a position adjusting mechanism 140 .
  • the position adjusting mechanism 140 is connected with the rotating assembly 110 to drive the rotating assembly 110 to rotate.
  • the position adjustment mechanism 140 is used to realize the rotation of the rotating assembly 110, that is, it can be a driving mechanism in the related art.
  • the position adjustment mechanism 140 includes a telescopic rod, and the telescopic rod is connected with the rotating assembly 110. Through the extension of the telescopic rod The rotating assembly 110 is driven to be driven out and retracted, so that the rotating assembly 110 is rotated relative to the fixed bracket 100 .
  • the position adjustment mechanism 140 includes a drive shaft, which is connected to the rotating assembly 110 , so that the rotating assembly 110 can be driven through the forward rotation and reverse rotation of the driving shaft, so that the rotating assembly 110 rotates relative to the fixed bracket 100 .
  • the position adjustment mechanism 140 includes: a connecting shaft 10 ; a turntable 20 , two ends of the connecting shaft 10 are respectively connected to the rotating assembly 110 and the turntable 20 ;
  • the connecting shaft 10 is movably arranged on the connecting shaft 10 so as to be connected or separated from the turntable 20;
  • the centerlines of the shafts 40 do not coincide; wherein, when the floating member 30 is connected to the turntable 20 and the floating member 30 rotates, the turntable 20 rotates relative to the fixed bracket 100 with the connecting rod shaft 40 as a fixed point, thereby causing the rotating assembly 110 to rotate around
  • the shaft connected to the fixed bracket 100 rotates relative to the fixed bracket 100 .
  • one end of the connecting rod shaft 40 connected to the fixed bracket 100 forms a rotating fulcrum
  • the two ends of the rotating assembly 110 and the fixed bracket 100 are respectively provided with a corresponding connecting shaft and a rotating shaft hole, and the connecting rotating shaft and the rotating shaft hole are mutually It is matched so that the rotating assembly 110 can rotate relative to the fixed bracket 100 .
  • the position adjustment mechanism 140 can make the rotating assembly 110 rotate relative to the fixed bracket 100 through the connecting shaft 10 , the turntable 20 , the floating member 30 and the connecting rod shaft 40 , and the rotating assembly 110 needs to be guaranteed to float before the rotating assembly 110 rotates relative to the fixed bracket 100 .
  • the floating member 30 is connected to the turntable 20, that is, the floating member 30 needs to be moved along the connecting shaft 10 to be connected with the turntable 20, so that the rotation of the floating member 30 can drive the turntable 20 to rotate, thereby driving the adapter member 50 to rotate.
  • One end of the shaft 40 is fixedly connected to the fixed bracket 100.
  • the floating member 30 and the turntable 20 have two states of connection and separation, when the floating member 30 and the turntable 20 are in the separated state, if the floating member 30 needs to drive the rotating assembly 110 to rotate relative to the fixed bracket 100, Then, it is necessary to ensure that the floating member 30 and the turntable 20 move from the separated state to the connected state. At this time, the floating member 30 rotates, so that the turntable 20 can be driven to rotate relative to the fixed bracket 100 with the connecting rod shaft 40 as the fixed point, while the floating member 30 and the turntable can be driven to rotate relative to the fixed bracket 100. 20 are connected to the connecting shaft 10, and the connecting shaft 10 is connected with the rotating assembly 110, so the connecting shaft 10 can drive the rotating assembly 110 to rotate.
  • the floating member 30 when the floating member 30 rotates relative to the connecting shaft 10 , the floating member 30 will drive the turntable 20 to rotate, and the turntable 20 is connected to the fixed bracket 100 through the connecting rod shaft 40 , and the center line of the connecting shaft 10 and the center of the connecting rod shaft 40 are The lines do not overlap, so driven by the floating member 30, the turntable 20 rotates relative to the connecting shaft 10 and also rotates relative to the fixed bracket 100 using the connecting rod shaft 40 as a fixed point, that is, the turntable 20 and the floating member 30 are completed at the same time.
  • Autorotate and revolve so as to realize the rotation of the rotating assembly 110 relative to the fixed bracket 100 .
  • the floating member 30 can rotate relative to the connecting shaft 10 .
  • the floating member 30 can also be circumferentially fixed with the connecting shaft 10 , that is, the floating member 30 can drive the connecting shaft 10 to rotate relative to the rotating assembly 110 .
  • the floating member 30 can be driven by an external driving mechanism to realize the movement relative to the connecting shaft 10.
  • the external driving mechanism can include a telescopic rod, and the telescopic rod is connected with the floating member 30. The length and retraction enable movement of the floating member 30 along the connecting shaft 10 .
  • the external driving mechanism can rotate synchronously with the floating member 30 .
  • a transmission mechanism in the related art can be used to ensure that the floating member 30 can rotate, for example, a gear transmission mechanism, a chain transmission mechanism or a belt transmission mechanism can be used, here It is not limited, as long as it is ensured that the transmission mechanism can drive the floating member 30 to rotate and move axially, and can rotate relative to the connecting rod shaft 40 simultaneously with the floating member 30 .
  • the connecting rod shaft 40 can be directly connected to the turntable 20 , that is, no switching mechanism is required between the connecting rod shaft 40 and the turntable 20 , and it is only necessary to ensure that the center line of the connecting shaft 10 and the center line of the connecting rod shaft 40 are It is not necessary to overlap, so that the turntable 20 can be rotated relative to the fixed bracket 100 with the connecting rod shaft 40 as a fixed point.
  • the connecting rod shaft 40 is fixedly connected to the turntable 20, that is, the connecting rod shaft 40 is offset from the connecting shaft 10, and the connecting rod shaft 40 is rotatable relative to the fixed bracket 100, so that the floating member 30 is connected to the turntable 20, and the floating member When the 30 rotates, the turntable 20 will drive the connecting rod shaft 40 to rotate relative to the fixed bracket 100 .
  • the turntable 20 is similar to an eccentric disk.
  • the connecting rod shaft 40 and the turntable 20 can be rotatably connected, and the connecting rod shaft 40 is fixedly connected with the fixing bracket 100 .
  • the position adjustment mechanism further includes: an adapter 50 , two ends of the adapter 50 are respectively connected to the turntable 20 and the link shaft 40 , so that the link shaft 40 passes through
  • the adapter 50 is connected with the turntable 20, so that the positional relationship between the connecting rod shaft 40 and the turntable 20 is not particularly limited, so as to ensure a reasonable layout of the components.
  • the adapter 50 may be a connecting plate, and the connection point between the adapter 50 and the turntable 20 is deviated from the centerline of the turntable 20 , that is, deviated from the centerline of the connecting shaft 10 .
  • the connecting rod shaft 40 is fixedly connected to the fixing bracket 100 , and the two ends of the adapter 50 are respectively hinged to the turntable 20 and the connecting rod shaft 40 , so that when the turntable 20 rotates, the adapter 50 can be relative to the turntable 20 . and the connecting rod shaft 40 to rotate to prevent jamming.
  • the side of the turntable 20 facing the floating member 30 is provided with a first protrusion 21
  • the side of the floating member 30 facing the turntable 20 is provided with a second protrusion 31 , so that the When the floating member 30 is connected to the turntable 20 , the first protruding portion 21 is in limited contact with the second protruding portion 31 , thereby ensuring that the floating member 30 can drive the turntable 20 to rotate.
  • first protruding portions 21 there may be multiple first protruding portions 21 , the multiple first protruding portions 21 are arranged at intervals along the circumferential direction of the floating member 30 , and there are also multiple second protruding portions 31 .
  • the raised portions 31 are arranged at intervals along the circumferential direction of the turntable 20 .
  • the first raised portions 21 and the second raised portions 31 may be staggered to form a relative fixed relationship.
  • one of the first protruding portion 21 and the second protruding portion 31 is formed with a groove, and the other is inserted into the groove to form a relative fixed relationship.
  • the limiting connection relationship between the first protruding portion 21 and the second protruding portion 31 is not limited, as long as it is ensured that the limiting and separation can be achieved.
  • the plurality of first protrusions 21 may form a helical external gear with the turntable 20
  • the plurality of second protrusions 31 may form a helical internal gear with the floating member 30
  • a plurality of first protrusions The portion 21 may form a helical internal gear with the turntable 20
  • the plurality of second protruding portions 31 may form a helical external gear with the floating member 30, and the helical external gear meshes with the helical internal gear.
  • the floating member 30 is rotatably arranged in both the first direction and the second direction; wherein, when the floating member 30 rotates in the first direction, the floating member 30 moves to connect with the turntable 20 and rotates The assembly 110 is rotated relative to the fixed bracket 100 by a preset angle, and the mopping member 130 is in the working position; when the floating member 30 rotates in the second direction, the floating member 30 moves to be separated from the turntable 20 and the sweeping member 120 is in the working position.
  • the floating member 30 rotates in the first direction
  • the floating member 30 moves in a direction close to the turntable 20, and moves to connect with the turntable 20, as shown in FIG. 12, at this time, the floating member 30 continues to maintain the first Therefore
  • the turntable 20 is driven to rotate, so that the rotating assembly 110 rotates relative to the fixed bracket 100 from the first position to the second position, the mopping member 130 is switched from the non-working position to the working position, and the sweeping member 120 is driven by the working position.
  • the bit position is switched to the non-station position.
  • the floating member 30 When the floating member 30 rotates in the second direction, the floating member 30 will drive the turntable 20 to rotate, and make the rotating assembly 110 rotate relative to the fixed bracket 100 from the second position to the first position, and the floating member 30 will be in contact with the turntable 20 . Separated, as shown in FIG. 11 , so that the sweeping member 120 is switched from the non-working position to the working position, and the mopping member 130 is switched from the working position to the non-working position.
  • the position adjustment mechanism 140 further includes: a blocking rod 70 , the blocking rod 70 is arranged on the fixing bracket 100 , and the blocking rod 70 is provided with a notch 71 ; the notch 71 includes an opening The oblique opening at the end and the opening that extends behind the oblique opening, wherein the oblique opening is the floating limit when the sweeping member 120 is in the station position, and the opening behind the oblique opening is used to connect when the sweeping member 120 and the mopping member 130 are switched between stations. The travel of the shaft 10 is avoided, see FIG. 22 .
  • the second power source 85 rotates in the second direction to drive the sweeping member 120 to rotate and work, and the floating member 30 and the turntable 20 are at this time. Disengaged from each other, the sleeve sleeved on the connecting shaft 10 is facing the gap 71, so that the oblique opening of the gap 71 prevents the sleeve from entering the gap 71 to form a limit; when it is necessary to switch the position of the cleaning piece, the second power source 85 starts. Rotate in the first direction opposite to the second direction.
  • the floating member 30 moves toward the turntable 20 and the sleeve and the notch 71 are staggered.
  • the rotating assembly 110 rotates relative to the fixed bracket 100, the connecting shaft 10 enters the notch 71 on the blocking rod 70, and the sweeping member 120 and the mopping member 130 complete the station position conversion, that is, the rotating assembly 110 is completed from the first position to the first position.
  • the first power source 63 starts to rotate to drive the mopping member 130 to work; when it is necessary to switch the position of the cleaning member again, the second power source 85 starts to rotate in the first direction.
  • the floating member 30 and the turntable 20 is in a combined state
  • the connecting shaft 10 is located in the gap 71 and held
  • the blocking rod 70 hinders the floating member 30 from moving along the axis of the connecting shaft 10
  • the floating member 30 and the turntable 20 continue to rotate in the combined state until the connecting rod shaft 40 reaches again.
  • the rotating assembly 110 starts to rotate relative to the fixed bracket 100.
  • the connecting shaft 10 withdraws from the notch 71 of the blocking rod 70 along with the rotation of the rotating assembly 110.
  • the connecting shaft 10 When completely withdrawn, the connecting shaft 10 begins to move along the The floating member 30 moves away from the turntable 20 until it is completely separated, completing the station position switching of the mopping member 130 and the sweeping member 120, that is, the switching of the rotating assembly from the second position to the first position is completed, after which the second power source 85 continues Rotating in the first direction drives the sweeping member 120 to work normally.
  • the station position switching is realized by the forward and reverse rotation of the second power source 85
  • the normal operation of the sweeping member 120 is also realized by the second power source 85
  • the normal operation of the floor mopping member 130 is realized by the first power source Source 63 implementation.
  • the position can be determined by the sensor 72 at this time, thereby effectively controlling the two
  • the starting, stopping and turning of each power source makes the floating member 30 stop rotating and the cleaning member works in the working position, that is, the rotation of the mopping member 130 to the working position is controlled by the sensor 72 .
  • the sensor 72 may be a position switch assembly, for example, an optocoupler switch, or a distance measuring sensor.
  • the rotating assembly 110 is provided with a buffer pad 116 , and the buffer pad 116 is disposed opposite to the sensor 72 , so as to prevent the sensor 72 from being hard contacted after the sensor 72 is rotated in place, so as to play a protective role.
  • the rotating assembly 110 is rotated from the second position to the first position, that is, the sweeping member 120 is switched from the non-working position to the working position, at this time, the sweeping member 120 can rely on the counterweight on the floating bracket 111 and the ground pressing block assembly 115 After the pressure of the tension spring hits the ground, start sweeping.
  • the position adjustment mechanism 140 includes a first drive assembly 80 and a second drive assembly 60 .
  • the first drive assembly 80 is connected to the mopping member 130 , and the mopping member 130 is located at the position of the mopping member 130 . In the working position, the first driving assembly 80 drives the mopping member 130 to work.
  • the second driving assembly 60 is connected with the sweeping member 120 , and when the sweeping member 120 is in the working position, the second driving assembly 60 drives the sweeping member 120 to work.
  • the position adjustment mechanism 140 includes: a second drive assembly 60 , the second drive assembly 60 is connected with the floating member 30 to drive the floating member 30 to rotate and move along the connecting shaft 10 at the same time;
  • the second drive assembly 60 rotates relative to the fixed bracket 100 synchronously with the turntable 20 , that is, the second drive assembly 60 can maintain the connection relationship with the floating member 30 , thereby ensuring power transmission.
  • the floating member 30 can move relative to the connecting shaft 10 while rotating, that is, the second driving assembly 60 needs to provide the floating member 30 with an axial direction force and a circumferential direction force at the same time. It is not excluded here that the second driving assembly 60 includes two sets of relatively independent driving mechanisms, which respectively provide forces in two directions to the floating member 30 .
  • the floating member 30 includes a first helical gear segment 32
  • the second driving assembly 60 includes: a first transmission gear 61
  • the first transmission gear 61 includes a second helical gear segment 611
  • the first transmission gear 61 includes a second helical gear segment 611 .
  • the two helical gear segments 611 mesh with the first helical gear segment 32 to drive the floating member 30 to rotate; wherein, the floating member 30 can be moved relative to the axial direction of the second helical gear segment 611 .
  • the second helical gear segment 611 can move toward the first helical gear segment 32 .
  • Forces in two directions are provided to ensure that the first helical gear segment 32 rotates and moves synchronously, so that the floating member 30 can be connected or disconnected from the turntable 20 .
  • the floating member 30 After the floating member 30 is connected to the turntable 20, due to the limitation of the turntable 20, the floating member 30 will not continue to move along the connecting shaft 10, but still rotate under the driving of the second helical gear segment 611, thereby driving the turntable 20 to rotate.
  • the second drive assembly 60 further includes: a second transmission gear 62 meshing with the first transmission gear 61 ; a first power source 63 , a A power source 63 is connected with the second transmission gear 62 to drive the second transmission gear 62 to rotate.
  • the first power source 63 may be a motor, and the first transmission gear 61 is driven to rotate by driving the second transmission gear 62 to rotate, thereby transmitting the power to the floating member 30 through the first transmission gear 61 .
  • the first power source 63 can be a motor, and the motor can realize forward rotation and reverse rotation.
  • the first power source 63 can also be directly connected with the first transmission gear 61 to drive the first transmission gear 61 to rotate.
  • other transmission gears may be provided between the first power source 63 and the second transmission gear 62 to meet the requirements of the transmission ratio.
  • the floating member 30 further includes an output gear segment 33
  • the second driving assembly 60 further includes: a first output gear 64 , which is used for connecting the sweeping member 120 , the output gear segment 33 meshes with the first output gear 64 to drive the first output gear 64 to rotate; wherein, the floating member 30 can move relative to the axis direction of the first output gear 64 .
  • the floating member 30 can be used to drive the turntable 20 to rotate, that is, to realize the rotation of the rotating assembly 110 relative to the fixed bracket 100, and the floating member 30 can also be used to drive the sweeping member 120 to work when it rotates, that is, one power member realizes two function, which can reduce the settings of power components to a certain extent.
  • the rotation of the floating member 30 will cause the rotating assembly 110 to rotate relative to the fixed bracket 100. Therefore, after the floating member 30 is connected to the turntable 20, the rotation of the floating member 30 can also drive the rotation of the floating member 30.
  • the sweeping member 120 and the mopping member 130 switch positions. After the floating member 30 is separated from the turntable 20 , the rotation of the floating member 30 can drive the sweeping member 120 to work, that is, the floating member 30 can rotate in two directions.
  • the floating member 30 can move relative to the connecting shaft 10, the floating member 30 can move relative to the first transmission gear 61 and the first output gear 64 meshing with it, but the moving distance has a fixed limit. Therefore, it is ensured that the floating member 30 and the first transmission gear 61 are in a state of constant meshing, and the floating member 30 and the first output gear 64 are also in a state of constant meshing.
  • the floating member 30 includes a first helical gear segment 32 and an output gear segment 33
  • the second driving assembly 60 includes: a first transmission gear 61, the first transmission gear 61 includes a second helical gear segment 611, a second The helical gear segment 611 meshes with the first helical gear segment 32 to drive the floating member 30 to rotate; the first output gear 64, the first output gear 64 is connected to the sweeping member 120, and the output gear segment 33 meshes with the first output gear 64, In order to drive the first output gear 64 to rotate; wherein, the floating member 30 is movably arranged along the second helical gear segment 611 and the first output gear 64 .
  • the floating member 30 drives the rotating assembly 110 to rotate relative to the fixed bracket 100 through the turntable 20, so that the sweeping member 120 and the mopping member 130 are switched between the working positions, and when the sweeping member 120 is in the working position, the floating member 30 can also pass through the first An output gear 64 drives the sweeping member 120 to work.
  • the floating member 30 when the floating member 30 rotates in the second direction, the floating member 30 drives the sweeping member 120 to work, and the position adjustment mechanism 140 further includes: a first driving assembly 80 connected to the mopping member 130 , so as to drive the mopping member 130 to work, that is, after the mopping member 130 is switched to the working position, the first driving assembly 80 can drive the mopping member 130 to work.
  • a first driving assembly 80 connected to the mopping member 130 , so as to drive the mopping member 130 to work, that is, after the mopping member 130 is switched to the working position, the first driving assembly 80 can drive the mopping member 130 to work.
  • the position adjustment mechanism 140 further includes: a housing part 90 , the housing part 90 is connected with the rotating assembly 110 , and the connecting shaft 10 is connected with the housing part 90 , so that the connecting shaft 10 is connected with the rotating assembly 110 through the casing member 90, and the first driving assembly 80 is arranged on the casing member 90; wherein, the connecting shaft 10 rotates from the outside of the notch 71 to be clamped in the notch 71, and makes the mopping member 130 After being in the working position, the floating member 30 stops rotating, the first driving assembly 80 drives the mopping member 130 to work, and after the floating member 30 is in limited contact with the blocking rod 70, the floating member 30 can continue to rotate in the second direction.
  • the floating member 30 when the floating member 30 rotates in the first direction, the floating member 30 is used to drive the rotating assembly 110 to rotate relative to the fixed bracket 100 , that is, the rotating assembly 110 moves from the first position to the second position.
  • the floating member 30 rotates in the second direction, after the floating member 30 drives the rotating assembly 110 to move from the second position to the first position, the floating member 30 is mainly used to drive the cleaning member 120 to work.
  • the rotating assembly 110 when the rotating assembly 110 is in the first position, the sweeping member 120 is in the working position, that is, the floating member 30 rotates in the second direction to realize the operation of the sweeping member 120 .
  • the mopping member 130 is in the working position, and the mopping member 130 is driven to work by the first driving assembly 80 .
  • the position adjustment mechanism includes a first drive assembly 80 and a second drive assembly 60.
  • the second drive assembly 60 realizes the rotation of the rotating assembly 110 relative to the fixed bracket 100, and can be used to drive the sweeping member 120 to work.
  • the first driving assembly 80 is used to drive the mopping member 130 to work.
  • Both the first drive assembly 80 and the second drive assembly 60 are arranged on the housing part 90 .
  • the first transmission gear 61 is composed of a second helical gear segment 611 and a transmission gear segment 612
  • the floating member 30 is composed of a first helical gear segment 32 and an output gear segment 33
  • the second transmission gear 62 meshes with the transmission gear segment 612 to realize the rotation of the first transmission gear 61
  • the second helical gear segment 611 meshes with the first helical gear segment 32 for driving the movement and rotation of the floating member 30
  • the output gear segment 33 meshes with the first output gear 64, thereby driving the sweeping member 120 to work through the first output gear 64.
  • a plurality of output gears may be included between the first output gear 64 and the sweeping member 120 , that is, to meet the transmission ratio requirement.
  • the first output gear 64 is meshed with the second output gear 65
  • the second output gear 65 is meshed with the third output gear 66
  • the third output gear 66 is meshed with the fourth output gear 67.
  • the four output gears 67 are connected with the sweeping member 120 so as to drive the sweeping member 120 to rotate.
  • the first drive assembly 80 includes a second power source 85, and the second power source 85 is drivingly connected with the first gear 81, thereby driving the first gear 81 to rotate, and the first gear 81 can be used to drive the mopping member 130 works, and a plurality of gears may be arranged between the first gear 81 and the mopping member 130 to satisfy the transmission ratio.
  • the first gear 81 meshes with the second gear 82
  • the second gear 82 meshes with the third gear 83
  • the third gear 83 meshes with the fourth gear 84
  • the fourth gear 84 meshes with the mopping floor
  • the mopping member 130 is connected to drive the mopping member 130 to rotate.
  • the second power source 85 may be a motor.
  • the second power source 85 may be a motor, and the motor realizes forward rotation and reverse rotation.
  • the housing member 90 includes a first segment 91 and a second segment 92 , and the first drive assembly 80 and the second drive assembly 60 are both disposed on the first segment 91 and the second segment 92
  • the inner, ie, the first section 91 and the second section 92 are used to enclose the internal components of the position adjustment mechanism 140 .
  • the first section 91 and the second section 92 are detachably connected.
  • the first driving assembly 80 is connected with the mopping member 130 through the adapter assembly.
  • the adapter assembly includes an output sleeve 93 , a first seal 94 , a second seal 95 and a bearing 96 .
  • Two ends of the output sleeve 93 are respectively connected to the first drive assembly 80 and the mopping member 130 .
  • Both ends of the output sleeve 93 respectively have a first installation hole and a second installation hole
  • the fourth gear 84 of the first drive assembly 80 may be provided with an external spline 841
  • the first mounting hole is provided with an internal spline
  • the external spline is provided in the first mounting hole.
  • connection between the mopping member 130 and the second installation hole can also be spline connection, that is, the mopping member 130 can be provided with external splines, and the second installation hole is provided with internal splines.
  • the spline connection is full-tooth-tooth surface contact, which increases the torsional contact area and reduces the stress, so the torsional resistance is increased.
  • the spline connection makes the backlash small, and each tooth is meshed, so the center is good.
  • the output sleeve 93 is rotatably arranged in the second section 92, and the output sleeve 93 and the second section 92 are provided with a second seal 95 and a bearing 96, so as to ensure that the output sleeve 93 is rotatably arranged in the second section 92
  • the bearing 96 can be a copper bearing
  • the second sealing member 95 can be a felt
  • the felt is wool or wool. The felt prevents or reduces foreign matter such as dust and hair from entering the housing member 90 and avoids damage to the oil seal.
  • the second driving assembly 60 may also be connected to the sweeping member 120 through an adapter assembly.
  • the specific structure of the adapter assembly can refer to the above-mentioned embodiment, which will not be repeated here.
  • the second drive assembly 60 and the sweeping member 120 cooperate with it, that is, the fourth output gear 67 and the sweeping member 120 may be provided with external splines.
  • the rotating assembly 110 may be driven by a first motor to rotate relative to the fixed bracket 100 , so that the sweeping member 120 and the mopping member 130 can be switched between working positions.
  • the sweeping member 120 may be driven by the second motor to rotate and work.
  • the mopping member 130 can be driven by the third motor to realize the rotation, so as to work.
  • the first driving assembly 80 drives the rotation of the mopping member 130 relative to the rotation of the rotating assembly 110 and the sweeping member 120 driven by the second driving assembly 60 .
  • the rotation of the mopping member 130 can still be driven by the first driving component 80 , and the specific process is the same as that in the above-mentioned embodiment, which will not be repeated here.
  • the driving gear 23 is meshed with the turntable 20, so that the third power source 22 drives the turntable 20 to realize forward rotation and reverse rotation through the driving gear 23, so that the sweeper 120 and The mopping element 130 is switched in the working position.
  • the floating member 30 in this embodiment does not move axially, but is directly driven to rotate by the second driving component 60, so that the fourth output gear is finally driven by the corresponding gear transmission. 67 rotates, so that the fourth output gear 67 drives the sweeping member 120 to rotate, and the final realization of the rotation distance of the fourth output gear 67 is also consistent with the above-mentioned embodiment, which will not be repeated here.
  • the axial movement of the floating member 30 can be omitted, and the blocking rod 70 can be eliminated.
  • An embodiment of the present disclosure further provides a sweeping and mopping module, the sweeping and mopping module includes: a fixed bracket 100; a rotating assembly 110, the rotating assembly 110 is arranged on the fixed bracket 100; The mopping member 130 is arranged on the rotating assembly 110 , and the mopping member 130 is rotatably disposed on the rotating assembly 110 .
  • both the sweeping member 120 and the mopping member 130 are rotatably mounted on the rotating assembly 110, so that the surface to be cleaned can be effectively cleaned.
  • the sweeping member 120 is a sweeping roller brush
  • the mopping member 130 is a mopping roller brush.
  • the center line of the sweeping member 120 and the center line of the mopping member 130 are parallel.
  • the sweeping member 120 and the mopping member 130 may be in the working position at the same time, that is, sweeping and mopping are performed simultaneously.
  • the sweeping member 120 and the mopping member 130 can rotate synchronously, that is, the sweeping member 120 and the mopping member 130 are simultaneously driven to rotate by one driving mechanism.
  • the synchronous driving of the sweeping member 120 and the mopping member 130 can be realized through a gear transmission set.
  • the sweeping member 120 and the mopping member 130 may be driven by two independent driving mechanisms respectively, so as to realize independent rotation.
  • two independent first drive assemblies 80 in the above-mentioned sweeping and mopping module may be used to drive the sweeping member 120 and the mopping member 130 to rotate respectively.
  • the sweeping member 120 and the mopping member 130 may be driven by two independent driving mechanisms respectively, and at the same time, a driving mechanism may be provided to realize the rotation of the rotating assembly 110 in the sweeping and mopping module relative to the fixed bracket 100 , so as to realize the switching of the working positions of the sweeping member 120 and the mopping member 130 . That is, in this embodiment, the sweeping member 120, the mopping member 130, and the sweeping and mopping switching are all driven by separate driving mechanisms, such as motors, thereby reducing the complexity of the transmission assembly, and the failure rate will be lower and more convenient. for overhaul.
  • the sweeping member 120, the mopping member 130, and the sweeping and mopping switching can also be unifiedly driven by using a single driving mechanism and a more complex transmission assembly.
  • the driving mechanism can drive the rotation of the sweeping member 120 and the mopping member 130 and the switching of the sweeping and mopping states according to the state of the sweeping and mopping module respectively during the forward rotation: when the sweeping member 120 touches the ground, the driving mechanism drives the sweeping member 120 through the gearbox.
  • the rotating assembly 110 is rotatably disposed on the fixed bracket 100 so that the sweeping member 120 or the mopping member 130 is in the working position, that is, the sweeping member 120 and the mopping member 130 cannot be in the working position at the same time.
  • An embodiment of the present disclosure also provides a sweeping and mopping module.
  • the sweeping and mopping module includes: a fixed bracket 100; The second accommodating cavity 114; the sweeping member 120, the sweeping member 120 is arranged in the first accommodating cavity 113; the mopping member 130, the mopping member 130 is placed in the second accommodating cavity 114; One end is communicated with the first accommodating cavity 113, and the other end of the dust suction channel 160 is connected with the fixing bracket 100; wherein, the rotating assembly 110 is rotatably arranged on the fixing bracket 100, so that the sweeping member 120 or the mopping member 130 is in the In the working position, when the sweeping member 120 is in the working position, the dust suction channel 160 is in an open state, and when the mopping member 130 is in the working position, the dust suction channel 160 is in a closed state.
  • the dust suction channel 160 is a flexible member, so that the dust suction channel 160 is deformed during the rotation of the rotating assembly 110 .
  • the above-mentioned fixing bracket 100 may be an independent structure independent of the body 200 of the cleaning robot, or the fixing bracket 100 may be a part of the body 200, that is, the rotating assembly 110 may be directly arranged on the fixing bracket 100. It is not limited, and can be selected according to actual needs.
  • An embodiment of the present disclosure also provides a cleaning robot, including the above-mentioned sweeping and mopping module.
  • the cleaning robot further includes a main body 200 , the mopping and mopping module is installed on the main body 200 , and at least two walking wheel assemblies 205 are provided on the main body 200 .
  • the mobile and cleaning robot also includes a universal wheel 206, and the universal wheel 206 can be used to realize flexible steering and the like of the cleaning robot.

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  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

一种扫拖模组及具有其的清洁机器人，扫拖模组包括固定支架（100）、转动组件（110）、扫地件（120）、拖地件（130），转动组件（110）设置在固定支架（100）上；扫地件（120）设置在转动组件（110）上；拖地件（130）设置在转动组件（110）上；其中，转动组件（110）可转动地设置在固定支架（100）上，以使扫地件（120）或拖地件（130）处于工作位置。通过将扫地件（120）和拖地件（130）安装于转动组件（110）上，且通过将转动组件（110）可转动地设置在固定支架（100），从而能够使得扫地件（120）或拖地件（130）在工作位置进行切换，以此保证扫地件（120）和拖地件（130）能够独立使用。

Description

扫拖模组及具有其的清洁机器人
交叉引用
本公开要求于2020年12月11日提交的申请号为202011458411.7、名称为“扫拖模组及具有其的清洁机器人”的中国专利申请的优先权，该中国专利申请的全部内容通过引用全部并入本文。
技术领域
本公开涉及智能家居技术领域，尤其涉及一种扫拖模组及具有其的清洁机器人。
背景技术
相关技术中，扫拖一体清洁机器人包括扫地滚刷和平面拖布，扫地滚刷在前，平面拖布在后，即在扫拖一体清洁机器人工作时，扫地滚刷和平面拖布均处于工作位置。
由于在使用过程中扫地和拖地同时进行，如果地面较脏，扫地一遍后直接进行拖地会使拖布很快变脏，因此需求频繁更换平面拖布。
发明内容
本公开提供一种扫拖模组及具有其的清洁机器人，以实现扫地件和拖地件的独立使用。
根据本公开的第一个方面，提供了一种扫拖模组，包括：
固定支架；
转动组件，转动组件设置在固定支架上；
扫地件，扫地件设置在转动组件上；
拖地件，拖地件设置在转动组件上；
其中，转动组件可转动地设置在固定支架上，以使扫地件或拖地件处于工作位置。
根据本公开的第二个方面，提供了一种扫拖模组，包括：
固定支架；
转动组件，转动组件设置在固定支架上；
扫地件，扫地件设置在转动组件上；
拖地件，拖地件设置在转动组件上；
驱动机构，驱动机构驱动转动组件相对于固定支架转动，以使扫地件或拖地件处于工作位置，且驱动机构驱动扫地件和拖地件工作。
在本公开的一个实施例中，驱动机构包括：
第一驱动组件，第一驱动组件与拖地件连接，以驱动拖地件工作；
第二驱动组件，第二驱动组件驱动扫地件或拖地件处于工作位置，且能够驱动扫地件工作。
在本公开的一个实施例中，扫拖模组还包括：
连接轴；
转盘，连接轴的两端分别连接转动组件和转盘；
浮动件，浮动件可移动地设置在连接轴上，以与转盘相连接或相分离；
连杆轴，连杆轴的两端分别连接固定支架和转盘，连接轴的中心线与连杆轴的中心线不重合；
挡杆，挡杆设置在固定支架上，挡杆上设置有缺口；
壳体件，壳体件与转动组件相连接，连接轴与壳体件相连接，以使连接轴通过壳体件与转动组件相连接，第一驱动组件设置在壳体件上；
其中，第二驱动组件与浮动件相连接，以驱动浮动件转动的同时沿连接轴移动。
在本公开的一个实施例中，浮动件包括第一斜齿轮段和输出齿轮段，第二驱动组件包括：
第一传动齿轮，第一传动齿轮包括第二斜齿轮段，第二斜齿轮段与第一斜齿轮段相啮合，以驱动浮动件转动；
第一输出齿轮，第一输出齿轮连接扫地件，输出齿轮段与第一输出齿轮相啮合，以驱动第一输出齿轮转动；
其中，浮动件沿第二斜齿轮段和第一输出齿轮均可移动地设置。
在本公开的一个实施例中，壳体件包括第一段和第二段，第一驱动组件和第二驱动组件均设置在第一段和第二段内；
其中，第一段和第二段可拆卸地相连接。
在本公开的一个实施例中，扫拖模组还包括：
转接组件，第一驱动组件通过转接组件与拖地件相连接。
在本公开的一个实施例中，转接组件包括：
输出套，输出套的两端分别连接第一驱动组件和拖地件；
其中，输出套与第一驱动组件花键连接，输出套与拖地件花键连接。
在本公开的一个实施例中，输出套可转动地设置在壳体件上，转接组件还包括：
第一密封件，第一密封件位于输出套与第一驱动组件之间；
第二密封件，第二密封件位于输出套与壳体件之间。
在本公开的一个实施例中，驱动机构包括：
第一驱动组件，第一驱动组件与拖地件连接，以驱动拖地件工作；
第二驱动组件，第二驱动组件与扫地件连接，以驱动扫地件工作；
第三驱动组件，第三驱动组件驱动转动组件相对固定支架转动，从而使扫地件或拖地件处于工作位置。
在本公开的一个实施例中，第三驱动组件包括第三动力源和驱动齿轮，扫拖模组还包括：
连接轴；
转盘，连接轴的两端分别连接转动组件和转盘；
浮动件，浮动件可转动地设置在连接轴上，第二驱动组件与浮动件驱动连接；
连杆轴，连杆轴的两端分别连接固定支架和转盘，连接轴的中心线与连杆轴的中心线不重合；
壳体件，壳体件与转动组件相连接，连接轴与壳体件相连接，以使连接轴通过壳体件与转动组件相连接，第一驱动组件和第二驱动组件均设置在壳体件上；
其中，驱动齿轮与转盘相啮合，第三动力源通过驱动齿轮驱动转盘转动，以驱动扫地件或拖地件处于工作位置。
在本公开的一个实施例中，扫拖模组还包括：
边刷组件，边刷组件设置在转动组件和/或固定支架上；
其中，当扫地件处于工作位置时，边刷组件也处于工作位置。
根据本公开的第三个方面，提供了一种扫拖模组，包括：
浮动支架；
盖板件，盖板件可转动地与浮动支架相连接，盖板件与浮动支架形成第一容纳腔和第二容纳腔；
扫地件以及拖地件，扫地件和拖地件分别设置于第一容纳腔和第二容纳腔内，且可转动地设置。
在本公开的一个实施例中，盖板件的一端与浮动支架铰接，盖板件的另一端与浮动支 架可拆卸地相连接。
在本公开的一个实施例中，盖板件的另一端与浮动支架以闩锁的方式连接。
在本公开的一个实施例中，盖板件上设置有防卷齿和刮条，防卷齿和刮条分别位于扫地件的前部和后部。
在本公开的一个实施例中，扫拖模组还包括：
固定支架，浮动支架可转动地设置在固定支架上，以使扫地件或拖地件处于工作位置。
在本公开的一个实施例中，盖板件成钝角V型，V型的两个面分别对应于扫地件和拖地件处于工作位置。
在本公开的一个实施例中，扫拖模组还包括：
边刷组件，边刷组件设置在浮动支架上；
其中，当扫地件处于工作位置时，边刷组件也处于工作位置。
在本公开的一个实施例中，边刷组件位于盖板件的外侧。
根据本公开的第四个方面，提供了一种清洁机器人，包括上述的扫拖模组。
本公开的扫拖模组通过将扫地件和拖地件安装于转动组件上，且通过将转动组件可转动地设置在固定支架，从而能够使得扫地件或拖地件在工作位置进行切换，以此保证扫地件和拖地件能够独立使用。
附图说明
通过结合附图考虑以下对本公开的优选实施方式的详细说明，本公开的各种目标，特征和优点将变得更加显而易见。附图仅为本公开的示范性图解，并非一定是按比例绘制。在附图中，同样的附图标记始终表示相同或类似的部件。其中：
图1A是根据一示例性实施方式示出的一种扫拖模组的第一个分解结构示意图；
图1B是根据另一示例性实施方式示出的一种扫拖模组的分解结构示意图；
图1C是根据另一示例性实施方式示出的一种扫拖模组的剖面结构示意图；
图2是根据一示例性实施方式示出的一种扫拖模组的第二个分解结构示意图；
图3是根据一示例性实施方式示出的一种扫拖模组的第一个视角的结构示意图；
图4是根据一示例性实施方式示出的一种扫拖模组的第二个视角的结构示意图；
图5是根据一示例性实施方式示出的一种扫拖模组的扫地件处于工位位置的结构示意图；
图6是根据一示例性实施方式示出的一种扫拖模组的拖地件处于工位位置的结构示 意图；
图7是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的第一个视角的结构示意图；
图8是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的第二个视角的结构示意图；
图9是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的第三个视角的结构示意图；
图10是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的分解结构示意图；
图11是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的浮动件与转盘相分离的结构示意图；
图12是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的浮动件与转盘相连接的结构示意图；
图13是根据一示例性实施方式示出的一种清洁机器人的结构示意图；
图14A是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的第一个视角的结构示意图；
图14B是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的第二个视角的结构示意图；
图14C是根据一示例性实施方式示出的一种扫拖模组的位置调节机构的第三个视角的结构示意图。
附图标记说明如下：
100、固定支架；110、转动组件；111、浮动支架；112、盖板件；1121、防卷齿；1122、刮条；113、第一容纳腔；114、第二容纳腔；115、着地压块组件；116、缓冲垫；120、扫地件；130、拖地件；140、位置调节机构；150、边刷组件；151、边刷撸毛机构；160、吸尘通道；200、本体；205、行走轮组件；206、万向轮；
10、连接轴；20、转盘；21、第一凸起部；22、第三动力源；23、驱动齿轮；30、浮动件；31、第二凸起部；32、第一斜齿轮段；33、输出齿轮段；40、连杆轴；50、转接件；60、第二驱动组件；61、第一传动齿轮；611、第二斜齿轮段；612、传动齿轮段；62、第二传动齿轮；63、动力源；64、第一输出齿轮；65、第二输出齿轮；66、第三输出齿轮；67、第四输出齿轮；70、挡杆；71、缺口；72、感应器；80、第一驱动组件；81、第一齿 轮；82、第二齿轮；83、第三齿轮；84、第四齿轮；841、外花键；85、第二动力源；90、壳体件；91、第一段；92、第二段；93、输出套；94、第一密封件；95、第二密封件；96、轴承。
具体实施方式
体现本公开特征与优点的典型实施例将在以下的说明中详细叙述。应理解的是本公开能够在不同的实施例上具有各种的变化，其皆不脱离本公开的范围，且其中的说明及附图在本质上是作说明之用，而非用以限制本公开。
在对本公开的不同示例性实施方式的下面描述中，参照附图进行，附图形成本公开的一部分，并且其中以示例方式显示了可实现本公开的多个方面的不同示例性结构，系统和步骤。应理解的是，可以使用部件，结构，示例性装置，系统和步骤的其他特定方案，并且可在不偏离本公开范围的情况下进行结构和功能性修改。而且，虽然本说明书中可使用术语“之上”，“之间”，“之内”等来描述本公开的不同示例性特征和元件，但是这些术语用于本文中仅出于方便，例如根据附图中的示例的方向。本说明书中的任何内容都不应理解为需要结构的特定三维方向才落入本公开的范围内。
本公开的一个实施例提供了一种扫拖模组，请参考图1A至图12，扫拖模组包括：固定支架100；转动组件110，转动组件110设置在固定支架100上；扫地件120，扫地件120设置在转动组件110上；拖地件130，拖地件130设置在转动组件110上；其中，转动组件110可转动地设置在固定支架100上，例如：通过分别在转动组件110两端和固定支架100相应的位置设置对应的转轴和轴孔的方式实现安装和转动，以使扫地件120或拖地件130处于工作位置。
本公开一个实施例的扫拖模组通过将扫地件120和拖地件130安装于转动组件110上，且通过将转动组件110可转动地设置在固定支架100，从而能够使得扫地件120或拖地件130在工作位置进行切换，以此保证扫地件120和拖地件130能够独立使用。
需要说明的是，扫地件120和拖地件130用于清洁待清洁表面，例如地面。当扫地件120与待清洁表面相接触，而拖地件130与待清洁表面相分离时，扫地件120所处位置为工作位置，如图5所示；相应地，当扫地件120与待清洁表面相分离，而拖地件130与待清洁表面相接触时，拖地件130所处位置为工作位置，如图6所示。工作位置是一个表征可以实现清洁的位置，即扫拖模组的扫地件120或拖地件130可以实现清洁待清洁表面。
在一个实施例中，扫地件120为扫地滚刷，拖地件130为拖地滚刷，扫地件120和拖 地件130均相对于转动组件110可转动地设置。扫地滚刷可以是毛刷等用于清扫的机构，而拖地滚刷可以包括拖布等拖地部件。当然，拖地件也可以为具有一定面积的平板形拖布，以此达到洗地的目的。
可选的，拖地滚刷可以包括拖布和主体结构，拖布缠绕在主体结构上，拖布可拆卸地设置在主体结构上，从而在拖布很脏且无法再清洗干净时，可以撕掉，以更换新的拖布。在某些实施例中，不排除拖布可以为多层，即撕掉一层后可以使用另外一层。对于平板形拖布，也可以是多层拖布堆叠粘贴设置，用掉一层撕掉一层。
可选的，拖地滚刷可以包括蓄水层，蓄水层用于保存一定量的水分，蓄水层可以为一层或者多层，该蓄水层围绕拖地滚刷的内芯设置，根据其他部件的设置方式，可以采用整体圆筒型或部分圆筒型绕内芯固定。在某些实施例中，拖地滚刷也可以包括一个圆筒型水箱，将圆筒型水箱包裹在拖地滚刷内芯上，拖布包裹圆筒型水箱，在圆筒型水箱上设置有进水口，进水口可以与外部供水结构相连通，以通过外部供水结构向圆筒型水箱供水。并且圆筒型水箱上还均布有一定数量的渗水口，用于向拖布渗水，渗水口可以直接是在水箱外周开设的小孔，也可以在水箱外壁内侧形成一定结构的渗水通路连通渗水口形成，以上设置的目的只要达到能够均布施水即可，具体形式不作限定。
可选的，拖地滚刷可以包括加热机构，加热机构可以是沿拖地滚刷轴向的加热条、加热片等，以实现对拖地滚刷的烘干，可以通过热阻加热或超声雾化除水的形式。进一步的，清洁机器人在基站上清洗完毕后，加热机构可以实现对拖地滚刷的烘干。在某些实施例中，加热机构也可以是设置在清洁机器人的底部靠近拖地滚刷的位置。在某些实施例中，拖地滚刷和清洁机器人上可以均设置有加热机构。在某些实施例中，基站上也可以设置有烘干系统，从而实现对拖地滚刷的烘干。
需要说明的是，对于拖地滚刷的烘干可以是在清洁机器人在基站上进行充电时完成，当然，也可以是在其他状态下进行，此处不作限定。
需要说明的是，扫地件120和拖地件130的中心线可以在同一个平面上，即扫地件120的延伸方向和拖地件130的延伸方向相一致，扫地件120和拖地件130的转轴相平行。
在一个实施例中，转动组件110相对于固定支架100的转动可以通过相关技术中的驱动机构进行驱动，例如，驱动机构包括伸缩杆，伸缩杆与转动组件110相连接，通过伸缩杆的伸出与缩回实现对转动组件110的驱动，从而使得转动组件110相对于固定支架100转动。或者，驱动机构包括驱动轴，驱动轴与转动组件110相连接，从而通过驱动轴的正转以及反转能够实现对转动组件110的驱动，使得转动组件110相对于固定支架100转动。
在一个实施例中，如图2所示，转动组件110具有第一容纳腔113和第二容纳腔114，扫地件120设置于第一容纳腔113内，拖地件130设置于第二容纳腔114内；其中，第一容纳腔113和第二容纳腔114的至少部分独立设置，以此防止扫地件120和拖地件130出现干涉等问题，保证扫地件120和拖地件130正常工作。
具体的，第一容纳腔113和第二容纳腔114独立设置，即扫地件120和拖地件130相互不影响，在扫地件120扫地时，灰尘不至于大量进入到第二容纳腔114内，避免拖地件130变脏，而拖地件130本身会有一定的水分，因此也可以避免拖地件130上的水分进入到第一容纳腔113内。
在一个实施例中，如图1A所示，转动组件110包括：浮动支架111，浮动支架111可转动地设置在固定支架100上；盖板件112，盖板件112与浮动支架111相连接，盖板件112与浮动支架111形成第一容纳腔113和第二容纳腔114，不仅可以保证扫地件120和拖地件130相对隔离，且能够保证扫地件120和拖地件130的安装稳定性。
盖板件112的底面形成两个大致呈夹角的平面，扫地件120从盖板件112的开口凸出，当机器人处于扫地状态时，盖板件112的第一平面大致平行于地面，扫地件120在驱动机构的驱动下进行扫地清洁；拖地件130从盖板件112的另一个开口凸出，当机器人处于拖地状态时，盖板件112的第二平面大致平行于地面，拖地件130在驱动机构的驱动下进行拖地清洁。以上第一平面和第二平面之间形成钝角，当然可以理解的是，该角度的设置需要确保扫地件120或拖地件130在工作时，另一清洁部件不会干涉当前清洁部件的正常工作。例如，当扫地件120在进行扫地清洁时，以上钝角角度如果设置得过大，比如为160°或170°，则拖地件130由于其凸出于另一开口的高度小于或等于其与地面的垂直距离，则会在扫地时，拖地件也触地，则会对扫地件的工作形成干涉。当然以上举例只是为了说明，对于不同尺寸的扫地件120和拖地件130，可以根据实际情况进行设定，在此不作具体限定。
具体的，扫地件120和拖地件130均可转动地设置在浮动支架111上，且扫地件120和拖地件130均可拆卸地安装在浮动支架111上，而盖板件112与浮动支架111为可拆卸地相连接，即可以方便地更换扫地件120和拖地件130。
需要说明的是，扫地件120的中心线和拖地件130的中心线可以相平行。
在本实施例中，盖板件112与浮动支架111卡接、粘结或者通过紧固件相连接，即在保证盖板件112与浮动支架111可拆卸的基础上，不限定盖板件112与浮动支架111的连接方式。
在一个实施例中，扫地件120和拖地件130均不可拆卸地安装在浮动支架111上，而盖板件112与浮动支架111也可以是不可拆卸地相连接。
在一个实施例中，如图2和图3所示，第一容纳腔113的延伸方向平行于第二容纳腔114的延伸方向，盖板件112上设置有防卷齿1121，防卷齿1121朝向第一容纳腔113的腔口设置，从而可以避免扫地件120工作时，大物体被扫地件120卷入第一容纳腔113。
具体的，防卷齿1121可以是多个，多个防卷齿1121间隔地设置盖板件112上，即多个防卷齿1121沿第一容纳腔113的延伸方向依次布置，从而保证大物体不会被扫地件120卷入第一容纳腔113。
需要说明的是，防卷齿1121从盖板件112上向扫地件120一侧呈弧状延伸，形成大致上包覆扫地件120的形式。
在一个实施例中，如图3所示，盖板件112上设置有刮条1122，刮条1122设置在盖板件112远离第二容纳腔114的一侧，刮条1122可以用于刮除待清洁表面的垃圾。
在一个实施例中，如图3和图4所示，扫拖模组还包括：吸尘通道160，吸尘通道160的一端与第一容纳腔113相连通，吸尘通道160的另一端与固定支架100相连接；其中，吸尘通道160为柔性件，以在扫地件120处于工作位置时，吸尘通道160处于打开状态。在扫地件120工作时，吸尘通道160用于形成风道从而实现对灰尘的吸收，而在拖地件130工作时，吸尘通道160无需工作，且在转动组件110转动时会使得吸尘通道160产生变形，此时吸尘通道160无需作为风道使用，因此可以处于关闭状态。
具体的，吸尘通道160的两端分别连接转动组件110和固定支架100，因此在转动组件110相对于固定支架100转动时，即使得扫地件120和拖地件130在工作位置进行切换，此时作为柔性件的吸尘通道160随着转动组件110发生变形，以此保证不会妨碍转动组件110的正常转动。
在一个实施例中，拖地件130处于工作位置时，吸尘通道160可以处于关闭状态。或者，拖地件130处于工作位置时，吸尘通道160也可以处于打开状态。
在一个实施例中，刮条1122与吸尘通道160相邻设置，即刮条1122在用于刮除待清洁表面的垃圾的基础上，还可以使得吸尘通道160和第一容纳腔113之间形成更好的密封，保证扫地件120清扫的灰尘在吸力的作用下进入吸尘通道160。
在一个实施例中，扫拖模组还包括动力部件，动力部件产生的风能够将扫地件120清扫的灰尘吸入吸尘通道160。动力部件可以是风机。
在一个实施例中，如图1A至图4所示，扫拖模组还包括：边刷组件150，边刷组件 150设置在转动组件110和/或固定支架100上；其中，当扫地件120处于工作位置时，边刷组件150也处于工作位置，从而能够使得边刷组件150用于将扫地件120之外的灰尘移动到扫地件120的区域中，保证清扫范围。
具体的，边刷组件150位于扫地件120的一侧，即边刷组件150和扫地件120占据转动组件110的第一区域从而形成第一清洁区域，而拖地件130占据转动组件110的第二区域形成第二清洁区域，通过转动组件110相对于固定支架100的转动，使得第一清洁区域和待清洁表面相对设置，即边刷组件150和扫地件120处于工作位置，可用于清扫待清洁表面。当第二清洁区域和待清洁表面相对设置，即拖地件130处于工作位置，可用于拖净待清洁表面。由于第一清洁区域和第二清洁区域以择一的方式与待清洁表面接触实施不同的清洁模式，第一清洁区域所在的平面与第二清洁区域所在的平面并不是共面的，它们形成一定的夹角，实际上是成一定角度的钝角。具体而言，第一清洁区域所在的平面与第二清洁区域所在的平面所形成的夹角保证以上第一清洁区域以第一种清洁模式(比如扫地模式)工作时，凸出于第二清洁区域所在的平面拖地件130不会对第一种清洁模式形成干涉，例如：第一清洁区域的扫地件120和边刷组件150在清洁时与清洁表面平行，由于以上夹角太大(比如160°、170°)，拖地件130也会与清洁表面干涉；同样，当第二清洁区域与清洁表面平行并处于第二清洁模式(比如拖地模式)的工作状态时，以上夹角的设置应对确保位于第一清洁区域的扫地件120和边刷组件150不会与清洁表面接触。
在一个实施例中，边刷组件150包括单独的驱动机构，通过驱动机构驱动毛刷转动，以此实现清扫。驱动机构包括电机。
在一个实施例中，当以上第一清洁区域所在的平面平行于清洁表面，且扫地件120和边刷组件150处于工作状态并以第一种清洁模式运行时，由于转动组件110在被驱动至以上状态并到位时，转动组件110实际上还有一定的活动余量，该活动余量可以在清洁机器人进行第一种清洁模式并在越障时，提供转动组件110相对障碍物的浮动，提高机器人的越障能力。
以上活动余量的产生是当转动组件110转动到位，连接轴10从挡杆70的缺口71中脱离，且浮动件30远离转盘20运动，此时连接轴10上的台阶状构件阻止连接轴10进入到缺口71中，从而形成限位，但是转动组件110还可以向远离挡杆70的方向转动一定角度，这一部分形成了以上活动余量。
在一个实施例中，如图1A所示，清洁机器人还包括：边刷撸毛机构151，边刷撸毛机构151可转动地设置在转动组件110上，其具有与边刷组件150大致相同的圆环状构件， 边刷撸毛机构151可相对于转动组件110离面转动，在此过程中能够将边刷组件150的边刷毛沿大致平行于边刷组件150的轴线方向撸起；这样做的目的是为了在打开盖板件112之后的关闭过程中，盖板件112不会与边刷毛发生干涉从而将边刷毛压入盖板件112，在关闭盖板件112时，盖板件112会适时触及边刷撸毛机构151上圆环状构件顶部的干涉凸起，在关闭盖板件112时进一步按压干涉凸起，从而带动边刷撸毛机构151沿其转轴向转动组件110所在的平面移动，在这个过程中，边刷撸毛机构151对边刷毛的撸起干涉进一步释放。当盖板件112关闭并锁止时，边刷撸毛机构151也与转动组件110完全扣合，而且盖板件112也不会将边刷毛压住。
本公开还提供了一个实施例，在固定支架100和浮动支架111之间设置有拉簧及安装其的着地压块组件115，该着地压块组件115包括拉簧支架，拉簧支架一端固定于固定支架100上，拉簧从另一端套入拉簧支架；在浮动支架111上设置有拉簧支架套，通过拉簧可向浮动支架111提供反向作用力，使安装在浮动支架111上的清洁组件(即扫地件120和拖地件130)能够压向清洁表面。通过设置该着地压块组件115，可以显著减小浮动支架111质量，并且不影响清洁组件与清洁表面的结合力。在一个实施例中，如图1和图2所示，扫拖模组还包括：位置调节机构140，位置调节机构140与转动组件110相连接，以驱动转动组件110转动。
具体的，位置调节机构140用于实现转动组件110的转动，即可以是相关技术中的驱动机构，例如，位置调节机构140包括伸缩杆，伸缩杆与转动组件110相连接，通过伸缩杆的伸出与缩回实现对转动组件110的驱动，从而使得转动组件110相对于固定支架100转动。或者，位置调节机构140包括驱动轴，驱动轴与转动组件110相连接，从而通过驱动轴的正转以及反转能够实现对转动组件110的驱动，从而使得转动组件110相对于固定支架100转动。
在一个实施例中，如图7至图12所示，位置调节机构140包括：连接轴10；转盘20，连接轴10的两端分别连接转动组件110和转盘20；浮动件30，浮动件30可移动地设置在连接轴10上，以与转盘20相连接或相分离；连杆轴40，连杆轴40的两端分别连接固定支架100和转盘20，连接轴10的中心线与连杆轴40的中心线不重合；其中，当浮动件30与转盘20相连接，且浮动件30转动时，转盘20以连杆轴40为固定点相对于固定支架100转动，进而使转动组件110绕其与固定支架100相连的转轴相对于固定支架100转动。需要说明的是，连杆轴40连接至固定支架100的一端形成一个转动支点，而转动组件110和固定支架100的两端分别设置有对应的连接转轴和转轴孔，该连接转轴和转轴孔相互配 合以使得转动组件110可相对固定支架100转动。具体的，位置调节机构140通过连接轴10、转盘20、浮动件30以及连杆轴40能够使得转动组件110相对于固定支架100转动，且在转动组件110相对于固定支架100转动前需要保证浮动件30与转盘20相连接，即需要使得浮动件30沿连接轴10移动至与转盘20相连接，从而能够形成浮动件30的转动带动转盘20转动，进而带动转接件50转动，由于连杆轴40一端固定连接至固定支架100，当转接件50转动至某一位置时便不能再继续转动，此时相当于转接件50被卡住，而浮动件30继续提供传动的啮合扭矩，此时可以理解的是：由于转接件50处于卡死位置，导致转盘20也不能继续转动，即浮动件30提供的以上扭矩不能再使转盘20转动，唯一的结果就是这个扭矩反过来作用于整个转动组件110，带动转动组件110绕与固定支架100相连的转轴沿与浮动件30转动相反的方向转动。
需要说明的是，由于浮动件30与转盘20具有连接和分离两个状态，因此在浮动件30与转盘20处于分离状态时，如果需要通过浮动件30驱动转动组件110相对于固定支架100转动，则需要保证浮动件30与转盘20由分离状态移动至连接状态，此时浮动件30转动，从而可以驱动转盘20以连杆轴40为固定点相对于固定支架100转动，而浮动件30和转盘20均连接于连接轴10上，且连接轴10与转动组件110相连接，因此可以使得连接轴10带动转动组件110转动。
考虑到浮动件30相对于连接轴10转动时，浮动件30会驱动转盘20转动，而转盘20通过连杆轴40与固定支架100连接，且连接轴10的中心线与连杆轴40的中心线不重合，因此在浮动件30的带动下，转盘20在相对于连接轴10转动的同时也会以连杆轴40为固定点相对于固定支架100转动，即转盘20和浮动件30同时完成自转与公转，以此实现转动组件110相对于固定支架100转动。
需要注意的是，浮动件30可以相对于连接轴10转动，当然浮动件30也可以与连接轴10周向固定，即浮动件30可以带动连接轴10相对于转动组件110转动。
在一个实施例中，浮动件30可以通过外部驱动机构驱动以实现相对于连接轴10的移动，例如，外部驱动机构可以包括一个伸缩杆，伸缩杆与浮动件30相连接，通过伸缩杆的伸长与缩回能够实现浮动件30沿连接轴10的移动。而在浮动件30转动时，外部驱动机构可以与浮动件30同步转动。
对于浮动件30的转动和相对于连接轴10的轴向移动，可以采用相关技术中的传动机构保证浮动件30能够实现转动，例如可以采用齿轮传动机构、链传动机构或者带传动机构，此处不作限定，只要保证传动机构能够驱动浮动件30实现转动和轴向移动，且可以 随浮动件30同时相对于连杆轴40转动即可。
在一个实施例中，连杆轴40可以直接与转盘20相连接，即连杆轴40与转盘20之间无需转接机构，只需要保证连接轴10的中心线与连杆轴40的中心线不重合即可，由此可以使得转盘20以连杆轴40为固定点相对于固定支架100转动。例如，连杆轴40与转盘20固定连接，即连杆轴40偏离连接轴10设置，而连杆轴40相对于固定支架100可转动，从而在浮动件30与转盘20相连接，且浮动件30转动时，转盘20则会带动连杆轴40相对于固定支架100转动，此时转盘20类似偏心盘。当然，连杆轴40与转盘20可以转动连接，而连杆轴40与固定支架100固定连接。
在一个实施例中，如图7至图9所示，位置调节机构还包括：转接件50，转接件50的两端分别连接转盘20和连杆轴40，以使连杆轴40通过转接件50与转盘20相连接，从而能够使得连杆轴40与转盘20之间的位置关系不会受到特别的限定，保证部件之间的合理布局。
具体的，结合图7，转接件50可以是一个连接板，且转接件50与转盘20的连接点偏离转盘20的中心线设置，即偏离连接轴10的中心线设置。
在一个实施例中，连杆轴40与固定支架100固定连接，转接件50的两端分别铰接转盘20和连杆轴40，从而在转盘20转动时，转接件50能够相对于转盘20和连杆轴40转动，防止出现卡死现象。
具体的，由于浮动件30和转盘20同时进行自转与公转，因此需要保证转接件50不会出现卡死状态，故需要使得转接件50的两端均为铰接端。
在一个实施例中，如图7所示，转盘20朝向浮动件30的一侧设置有第一凸起部21，浮动件30朝向转盘20的一侧设置有第二凸起部31，以在浮动件30与转盘20相连接时，第一凸起部21与第二凸起部31限位接触，从而保证浮动件30能够带动转盘20实现转动。
具体的，第一凸起部21可以为多个，多个第一凸起部21沿浮动件30的周向方向间隔设置，而第二凸起部31也为多个，多个第二凸起部31沿转盘20的周向方向间隔设置，在浮动件30与转盘20相连接时，第一凸起部21和第二凸起部31可以是交错设置的，从而形成相对固定关系。或者第一凸起部21和第二凸起部31中的一个上形成有凹槽，而另一个插设在凹槽内从而形成相对固定关系。对于第一凸起部21和第二凸起部31的限位连接关系不作限定，只要保证能够实现限位，且能够分离即可。在本实施例中，多个第一凸起部21可以与转盘20形成螺旋外齿轮，而多个第二凸起部31可以与浮动件30形成螺旋内齿轮，或者，多个第一凸起部21可以与转盘20形成螺旋内齿轮，而多个第二凸起部31 可以与浮动件30形成螺旋外齿轮，螺旋外齿轮与螺旋内齿轮相啮合。
在一个实施例中，浮动件30沿第一方向和第二方向均可转动地设置；其中，当浮动件30沿第一方向转动时，浮动件30移动至与转盘20相连接，并使转动组件110相对于固定支架100转动预设角度，拖地件130处于工作位置；当浮动件30沿第二方向转动时，浮动件30移动至与转盘20相分离，扫地件120处于工作位置。
具体的，浮动件30沿第一方向转动时，浮动件30沿靠近转盘20的方向移动，并移动至与转盘20相连接，如图12所示，此时，浮动件30继续保持沿第一方向转动，因此会驱动转盘20转动，从而使得转动组件110相对于固定支架100由第一位置转动至第二位置，拖地件130由非工作位置切换至工位位置，而扫地件120由工位位置切换至非工位位置。而在浮动件30沿第二方向转动时，浮动件30会带动转盘20转动，并使得转动组件110相对于固定支架100由第二位置转动至第一位置，且浮动件30会与转盘20相分离，如图11所示，从而使得扫地件120由非工作位置切换至工位位置，而拖地件130由工位位置切换至非工位位置。
在一个实施例中，如图10至图12所示，位置调节机构140还包括：挡杆70，挡杆70设置在固定支架100上，挡杆70上设置有缺口71；该缺口71包括开口端的斜口及斜口后顺延的开口，其中斜口是当扫地件120处于工位位置时的浮动限位、斜口后边的开口用于在扫地件120和拖地件130工位切换时连接轴10的行程避位，参见图22。如下，以几种情形详细说明：当扫地件120处于工位位置并正常工作时，第二动力源85以第二方向旋转，用于驱动扫地件120旋转工作，此时浮动件30与转盘20相互脱离，连接轴10上套设的套筒正对于缺口71，使得缺口71的斜口阻止套筒进入缺口71，形成限位；当需要切换清洁件工位位置时，第二动力源85开始以相反于第二方向的第一方向旋转，在旋转过程中：浮动件30向转盘20运动、同时套筒与缺口71错开，当浮动件30结合转盘20并带动连杆轴40转动至卡死位置时，转动组件110相对固定支架100旋转、连接轴10进入到挡杆70上的缺口71，扫地件120和拖地件130完成工位位置转换，即完成转动组件110从第一位置向第二位置的切换，第一动力源63开始转动从而驱动拖地件130工作；当需要再次切换清洁件工位位置时，第二动力源85开始以第一方向旋转，此时浮动件30与转盘20处于结合状态，连接轴10位于缺口71内并保持，挡杆70的阻碍浮动件30沿连接轴10轴线方向移动，浮动件30与转盘20继续以结合状态转动，直至连杆轴40再次到达卡死位置，则转动组件110开始相对固定支架100转动，在该转动过程中连接轴10随着转动组件110的转动从挡杆70的缺口71退出，当完全退出后，连接轴10开始沿着浮 动件30脱离转盘20的方向运动直至完全脱离，完成拖地件130和扫地件120的工位位置切换，即完成转动组件从第二位置向第一位置的切换，此后第二动力源85继续以第一方向旋转带动扫地件120正常工作。
以上实施例中，工位位置切换是由第二动力源85的正反转来实现的，扫地件120的正常工作也由第二动力源85实现，拖地件130的正常工作由第一动力源63实现。
需要说明的是，当转动组件110由第一位置转动至第二位置后，即拖地件130由非工作位置切换至工位位置，此时可以通过感应器72来确定位置，从而有效控制两个动力源的启停和转向使得浮动件30停止转动和处于工位位置清洁件的工作，即拖地件130转动到工位位置是由感应器72来控制的。而转动组件110由第二位置转动至第一位置后，由于浮动件30已经脱离转盘20，因此不会使得转动组件110继续相对于固定支架100发生转动。其中，感应器72可以是到位开关组件，例如，光耦开关，也可以是测距传感器。在一些实施例中，转动组件110上设置有缓冲垫116，缓冲垫116与感应器72相对设置，以在感应器72转动到位后可以避免感应器72出现硬接触，起到保护作用。当转动组件110由第二位置转动至第一位置后，即扫地件120由非工作位置切换至工位位置，此时，扫地件120可以依靠浮动支架111上的配重和着地压块组件115的拉簧压力着地后，开始扫地。
在一个实施例中，如图7和图8所示，位置调节机构140包括第一驱动组件80和第二驱动组件60，第一驱动组件80与拖地件130连接，在拖地件130位于工作位置时，第一驱动组件80驱动拖地件130工作。第二驱动组件60与扫地件120连接，在扫地件120位于工作位置时，第二驱动组件60驱动扫地件120工作。
在一个实施例中，如图7所示，位置调节机构140包括：第二驱动组件60，第二驱动组件60与浮动件30相连接，以驱动浮动件30转动的同时沿连接轴10移动；其中，第二驱动组件60与转盘20同步相对于固定支架100转动，即第二驱动组件60能够保持与浮动件30的连接关系，从而保证动力传递。
需要注意的是，浮动件30在转动的同时可以相对于连接轴10移动，即第二驱动组件60需要向浮动件30同时提供轴向方向的力和周向方向的力。此处不排除第二驱动组件60包括两组相对独立的驱动机构，分别向浮动件30提供两个方向的力。
在一个实施例中，如图9所示，浮动件30包括第一斜齿轮段32，第二驱动组件60包括：第一传动齿轮61，第一传动齿轮61包括第二斜齿轮段611，第二斜齿轮段611与第一斜齿轮段32相啮合，以驱动浮动件30转动；其中，浮动件30可相对于第二斜齿轮段611的轴线方向移动设置。
具体的，通过调整第二斜齿轮段611与第一斜齿轮段32的斜齿轮配合设置，从而能够在第二斜齿轮段611转动时，使第二斜齿轮段611向第一斜齿轮段32提供两个方向的力，保证第一斜齿轮段32实现转动和移动同步进行，从而使得浮动件30与转盘20实现连接或脱离。浮动件30与转盘20连接后，由于转盘20的限定，则浮动件30不会继续沿连接轴10移动，但依然在第二斜齿轮段611的驱动下进行转动，从而带动转盘20实现转动。
在一个实施例中，如图8和图9所示，第二驱动组件60还包括：第二传动齿轮62，第二传动齿轮62与第一传动齿轮61相啮合；第一动力源63，第一动力源63与第二传动齿轮62相连接，以驱动第二传动齿轮62转动。
具体的，第一动力源63可以是马达，通过驱动第二传动齿轮62转动由此带动第一传动齿轮61转动，从而通过第一传动齿轮61将动力传递至浮动件30。在本实施例中，第一动力源63可以是电机，电机可以实现正转和反转。
在一个实施例中，第一动力源63也可以直接与第一传动齿轮61相连接，以驱动第一传动齿轮61转动。或者第一动力源63与第二传动齿轮62之间还可以设置有其他传动齿轮，以此满足传动比的需求。
在一个实施例中，如图8和图9所示，浮动件30还包括输出齿轮段33，第二驱动组件60还包括：第一输出齿轮64，第一输出齿轮64用于连接扫地件120，输出齿轮段33与第一输出齿轮64相啮合，以驱动第一输出齿轮64转动；其中，浮动件30可相对第一输出齿轮64的轴线方向移动设置。
具体的，浮动件30能够用于驱动转盘20转动，即实现转动组件110相对于固定支架100的转动，且浮动件30转动时还能够用于驱动扫地件120工作，即一个动力件实现两个功能，一定程度上能够减少动力部件的设置。
需要注意的是，由于浮动件30与转盘20连接后，浮动件30转动则会使得转动组件110相对于固定支架100转动，因此在浮动件30与转盘20连接后，浮动件30转动也可以带动扫地件120和拖地件130切换位置。而在浮动件30与转盘20分离后，浮动件30转动可以带动扫地件120工作，即浮动件30可以进行两个方向的转动。
需要说明的是，由于浮动件30可以相对于连接轴10移动，因此浮动件30能够相对于与其相啮合的第一传动齿轮61和第一输出齿轮64可移动，但移动的距离具有固定的限值，从而保证浮动件30与第一传动齿轮61处于一直啮合状态，并且浮动件30与第一输出齿轮64也处于一直啮合状态。
在一个实施例中，浮动件30包括第一斜齿轮段32和输出齿轮段33，第二驱动组件60包括：第一传动齿轮61，第一传动齿轮61包括第二斜齿轮段611，第二斜齿轮段611与第一斜齿轮段32相啮合，以驱动浮动件30转动；第一输出齿轮64，第一输出齿轮64连接扫地件120，输出齿轮段33与第一输出齿轮64相啮合，以驱动第一输出齿轮64转动；其中，浮动件30沿第二斜齿轮段611和第一输出齿轮64均可移动地设置。浮动件30通过转盘20驱动转动组件110相对于固定支架100转动，从而使得扫地件120和拖地件130在工作位置进行切换，且在扫地件120位于工作位置时，浮动件30还可以通过第一输出齿轮64驱动扫地件120工作。
在一个实施例中，当浮动件30沿第二方向转动时，浮动件30驱动扫地件120工作，位置调节机构140还包括：第一驱动组件80，第一驱动组件80与拖地件130连接，以驱动拖地件130工作，即在拖地件130切换至工作位置后，第一驱动组件80可以驱动拖地件130工作。
在一个实施例中，如图10所示，位置调节机构140还包括：壳体件90，壳体件90与转动组件110相连接，连接轴10与壳体件90相连接，以使连接轴10通过壳体件90与转动组件110相连接，第一驱动组件80设置在壳体件90上；其中，连接轴10从缺口71外转动至卡设于缺口71内，且使得拖地件130位于工作位置后，浮动件30停止转动，第一驱动组件80驱动拖地件130工作，浮动件30与挡杆70限位接触后，浮动件30能够继续沿第二方向转动。
具体的，浮动件30在沿第一方向转动时，浮动件30用于驱动转动组件110相对于固定支架100转动，即转动组件110由第一位置移动至第二位置。在浮动件30在沿第二方向转动时，浮动件30驱动转动组件110由第二位置移动至第一位置后，浮动件30开始主要用于驱动扫地件120进行工作。在本实施例中，转动组件110位于第一位置时，扫地件120处于工作位置，即浮动件30沿第二方向转动可以实现扫地件120的工作。而转动组件110位于第二位置后，拖地件130处于工作位置，则通过第一驱动组件80驱动拖地件130工作。
在一个实施例中，位置调节机构包括第一驱动组件80和第二驱动组件60，第二驱动组件60实现转动组件110相对于固定支架100的转动，且可以用于驱动扫地件120工作。而第一驱动组件80用于驱动拖地件130工作。第一驱动组件80和第二驱动组件60均设置在壳体件90上。
具体的，结合图7至图9，第一传动齿轮61由第二斜齿轮段611和传动齿轮段612 组成，浮动件30由第一斜齿轮段32和输出齿轮段33组成，第二传动齿轮62与传动齿轮段612相啮合，从而实现第一传动齿轮61的转动，而第二斜齿轮段611与第一斜齿轮段32相啮合，用于驱动浮动件30的移动与转动，输出齿轮段33通过与第一输出齿轮64相啮合，从而通过第一输出齿轮64驱动扫地件120工作。
需要说明的是，第一输出齿轮64与扫地件120之间可以包括多个输出齿轮，即满足传动比要求。在本实施例中，第一输出齿轮64与第二输出齿轮65相啮合，第二输出齿轮65与第三输出齿轮66相啮合，而第三输出齿轮66与第四输出齿轮67相啮合，第四输出齿轮67与扫地件120相连接，从而驱动扫地件120转动。
在一个实施例中，第一驱动组件80包括第二动力源85，第二动力源85与第一齿轮81驱动连接，从而驱动第一齿轮81转动，第一齿轮81可以用于驱动拖地件130工作，而第一齿轮81与拖地件130之间可以设置有多个齿轮以此满足传动比。在本实施例中，第一齿轮81与第二齿轮82相啮合，第二齿轮82与第三齿轮83相啮合，第三齿轮83与第四齿轮84相啮合，而第四齿轮84与拖地件130相连接，从而驱动拖地件130转动。其中，第二动力源85可以是马达。在本实施例中，第二动力源85可以是电机，电机实现正转和反转。
可选的，如图1B和1C所示，壳体件90包括第一段91和第二段92，第一驱动组件80和第二驱动组件60均设置在第一段91和第二段92内，即第一段91和第二段92用于封闭位置调节机构140的内部部件。第一段91和第二段92可拆卸地相连接。
第一驱动组件80通过转接组件与拖地件130相连接。如图1B和1C所示，转接组件包括输出套93、第一密封件94、第二密封件95以及轴承96，输出套93的两端分别连接第一驱动组件80和拖地件130。输出套93的两端分别具有第一安装孔和第二安装孔，第一驱动组件80的第四齿轮84上可以设置有外花键841，第一安装孔内设置有内花键，外花键与内花键相连接，且第一密封件94位于第四齿轮84和第一安装孔的端部，第一密封件94可以为密封软胶。相应的，拖地件130与第二安装孔的连接方式也可以采用花键连接，即拖地件130上可以设置有外花键，而第二安装孔内设置有内花键。花键连接为全齿齿面接触，增大了扭转的接触面积，减小应力，故抗扭能力增大，同时因为花键连接使得侧隙小，每个齿均啮合，故对中心好。
输出套93可转动地设置在第二段92内，且输出套93和第二段92内设置有第二密封件95以及轴承96，在保证输出套93可转动地设置在第二段92内的基础上，可以保证可靠地密封性能。轴承96可以为铜轴承，而第二密封件95可以为毛毡，毛毡为羊毛或毛纤 质地，毛毡避免或减少灰尘、发丝等异物进入壳体件90内部及避免油封的损坏。
可选的，第二驱动组件60也可以通过转接组件与扫地件120相连接。转接组件的具体结构可以参见上述实施例，此处不作赘述，第二驱动组件60以及扫地件120与之相配合，即第四输出齿轮67以及扫地件120上可以设置有外花键。
可选的，转动组件110可以通过第一电机驱动，以实现相对于固定支架100的转动，从而使得扫地件120和拖地件130在工作位置进行切换。扫地件120可以通过第二电机驱动，以实现转动，从而进行工作。而拖地件130可以通过第三电机驱动，以实现转动，从而进行工作。
具体的，结合图14A至图14C所示，相对于通过第二驱动组件60驱动转动组件110以及扫地件120的转动，第一驱动组件80驱动拖地件130的转动。本实施例中，依然可以通过第一驱动组件80驱动拖地件130的转动，具体过程与上述实施例相一致，此处不作赘述。通过增加第三动力源22和驱动齿轮23，使得驱动齿轮23与转盘20相啮合，从而使得第三动力源22通过驱动齿轮23驱动转盘20实现正转和反转，以此实现扫地件120和拖地件130在工作位置进行切换。而相对于上述实施例中，本实施例中的浮动件30不进行轴向移动，而是通过第二驱动组件60直接驱动其进行转动，以此通过相应的齿轮传动，最终使得第四输出齿轮67转动，从而使得第四输出齿轮67带动扫地件120转动，对于最终实现第四输出齿轮67转动的远离与上述实施例也相一致，此处不作赘述。本实施例中，通过增加第三动力源22和驱动齿轮23，可以省去浮动件30的轴向运动，且可以去除挡杆70。
本公开的一个实施例还提供了一种扫拖模组，扫拖模组包括：固定支架100；转动组件110，转动组件110设置在固定支架100上；扫地件120，扫地件120可转动地设置在转动组件110上；拖地件130，拖地件130可转动地设置在转动组件110上。
本公开一个实施例的扫拖模组通过将扫地件120和拖地件130均可转动地安装于转动组件110上，从而能够实现对待清洁表面的有效清洁。
在一个实施例中，扫地件120为扫地滚刷，拖地件130为拖地滚刷。扫地件120的中心线和拖地件130的中心线相平行。
在一个实施例中，扫地件120和拖地件130可以同时处于工作位置，即扫地和拖地同时进行。
在一些实施例中，扫地件120和拖地件130可以同步转动，即通过一个驱动机构同时驱动扫地件120和拖地件130转动。例如，可以通过齿轮传动组实现对扫地件120和拖地 件130的同步驱动。
在一些实施例中，扫地件120和拖地件130可以分别由两个独立的驱动机构驱动，以此实现独立的转动。例如，可以采用上述扫拖模组中两个独立的第一驱动组件80分别驱动扫地件120和拖地件130转动。
在另一个实施例中，扫地件120和拖地件130可以分别由两个独立的驱动机构驱动，同时还可以设置一个驱动机构用于实现扫拖模组中转动组件110相对固定支架100的转动，以此实现扫地件120和拖地件130的工作位切换。亦即在该实施例中，扫地件120、拖地件130、以及扫拖切换均分别用单独的驱动机构，例如电机驱动，从而减少了传动组件的复杂性、故障率会更低且更方便于检修。
在另一个实施例中，也可以通过采用单一的驱动机构以及更复杂的传动组件来实现扫地件120、拖地件130、以及扫拖切换的统一驱动。例如驱动机构在正转时可以按照扫拖模组的状态分别驱动扫地件120和拖地件130的转动以及扫拖状态的切换：当扫地件120着地时，驱动机构通过齿轮箱驱动扫地件120转动扫地；当需要切换扫拖状态时，齿轮箱的啮合齿进行切换，从而驱动机构能够通过齿轮箱驱动扫拖状态切换；当切换完成后，齿轮箱的啮合齿再次切换，从而驱动机构能够通过齿轮箱驱动拖地件130转动。而当需要再次切换扫拖状态时，齿轮箱的啮合齿再次切换，同时马达反转，完成扫拖状态的切换。
在另一个实施例中，转动组件110可转动地设置在固定支架100上，以使扫地件120或拖地件130处于工作位置，即扫地件120和拖地件130不能同时处于工位位置。
对于本实施例中的扫拖模组的其他结构可以参考上述扫拖模组的具体结构，此处不作赘述。
本公开的一个实施例还提供了一种扫拖模组，扫拖模组包括：固定支架100；转动组件110，转动组件110设置在固定支架100上，转动组件110具有第一容纳腔113和第二容纳腔114；扫地件120，扫地件120设置于第一容纳腔113内；拖地件130，拖地件130置于第二容纳腔114内；吸尘通道160，吸尘通道160的一端与第一容纳腔113相连通，吸尘通道160的另一端与固定支架100相连接；其中，转动组件110可转动地设置在固定支架100上，以使扫地件120或拖地件130处于工作位置，在扫地件120处于工作位置时，吸尘通道160处于打开状态，拖地件130处于工作位置时，吸尘通道160处于关闭状态。
在一个实施例中，吸尘通道160为柔性件，从而在转动组件110转动过程中会带动吸尘通道160变形。
对于本实施例中的扫拖模组的其他结构可以参考上述扫拖模组的具体结构，此处不作 赘述。
需要注意的是，上述的固定支架100可以是独立于清洁机器人的本体200的独立结构，或者固定支架100可以是本体200的一部分，即相当于转动组件110可以直接设置在固定支架100上，此处不作限定，可以根据实际需求进行选择。
本公开的一个实施例还提供了一种清洁机器人，包括上述的扫拖模组。
在一个实施例中，请参考图13，清洁机器人还包括本体200，扫拖模组安装在本体200上，本体200上设置有至少两个行走轮组件205，通过行走轮组件205实现清洁机器人的移动，且清洁机器人还包括万向轮206，万向轮206可用于实现清洁机器人灵活转向等。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和示例实施方式仅被视为示例性的，本公开的真正范围和精神由前面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (15)

  1. 一种扫拖模组，其特征在于，包括：
    固定支架(100)；
    转动组件(110)，所述转动组件(110)设置在所述固定支架(100)上；
    扫地件(120)，所述扫地件(120)设置在所述转动组件(110)上；
    拖地件(130)，所述拖地件(130)设置在所述转动组件(110)上；
    其中，所述转动组件(110)可转动地设置在所述固定支架(100)上，以使所述扫地件(120)或所述拖地件(130)处于工作位置。
  2. 根据权利要求1所述的扫拖模组，其特征在于，所述转动组件(110)具有第一容纳腔(113)和第二容纳腔(114)，所述扫地件(120)设置于所述第一容纳腔(113)内，所述拖地件(130)设置于所述第二容纳腔(114)内；
    其中，所述第一容纳腔(113)和所述第二容纳腔(114)的至少部分独立设置。
  3. 根据权利要求2所述的扫拖模组，其特征在于，所述转动组件(110)包括：
    浮动支架(111)，所述浮动支架(111)可转动地设置在所述固定支架(100)上；
    盖板件(112)，所述盖板件(112)与所述浮动支架(111)相连接，所述盖板件(112)与所述浮动支架(111)形成所述第一容纳腔(113)和所述第二容纳腔(114)。
  4. 根据权利要求3所述的扫拖模组，其特征在于，所述第一容纳腔(113)的延伸方向平行于所述第二容纳腔(114)的延伸方向，所述盖板件(112)上设置有防卷齿(1121)，所述防卷齿(1121)朝向所述第一容纳腔(113)的腔口设置。
  5. 根据权利要求3所述的扫拖模组，其特征在于，所述盖板件(112)上设置有刮条(1122)，所述刮条(1122)设置在所述盖板件(112)远离所述第二容纳腔(114)的一侧，所述扫拖模组还包括：
    吸尘通道(160)，所述吸尘通道(160)的一端与所述第一容纳腔(113)相连通，所述吸尘通道(160)的另一端与所述固定支架(100)相连接，所述刮条(1122)与所述吸尘通道(160)相邻设置；
    其中，所述吸尘通道(160)为柔性件，以在所述扫地件(120)处于所述工作位置时，所述吸尘通道(160)处于打开状态。
  6. 根据权利要求1所述的扫拖模组，其特征在于，所述扫拖模组还包括：
    边刷组件(150)，所述边刷组件(150)设置在所述转动组件(110)和/或所述固定 支架(100)上；
    其中，当所述扫地件(120)处于所述工作位置时，所述边刷组件(150)也处于所述工作位置。
  7. 根据权利要求1至6中任一项所述的扫拖模组，其特征在于，所述扫拖模组还包括：
    位置调节机构(140)，所述位置调节机构(140)与所述转动组件(110)相连接，以驱动所述转动组件(110)转动。
  8. 根据权利要求7所述的扫拖模组，其特征在于，所述位置调节机构(140)包括：
    连接轴(10)；
    转盘(20)，所述连接轴(10)的两端分别连接所述转动组件(110)和所述转盘(20)；
    浮动件(30)，所述浮动件(30)可移动地设置在所述连接轴(10)上，以与所述转盘(20)相连接或相分离；
    连杆轴(40)，所述连杆轴(40)的两端分别连接所述固定支架(100)和所述转盘(20)，所述连接轴(10)的中心线与所述连杆轴(40)的中心线不重合；
    其中，当所述浮动件(30)与所述转盘(20)相连接，且所述浮动件(30)转动时，所述转盘(20)以所述连杆轴(40)为固定点相对于所述固定支架(100)转动，以使所述转动组件(110)相对于所述固定支架(100)转动。
  9. 根据权利要求8所述的扫拖模组，其特征在于，所述浮动件(30)沿第一方向和第二方向均可转动地设置；
    其中，当所述浮动件(30)沿所述第一方向转动时，所述浮动件(30)移动至与所述转盘(20)相连接，并使所述转动组件(110)相对于所述固定支架(100)转动预设角度，所述拖地件(130)处于所述工作位置；当所述浮动件(30)沿所述第二方向转动时，所述浮动件(30)移动至与所述转盘(20)相分离，所述扫地件(120)处于所述工作位置。
  10. 根据权利要求9所述的扫拖模组，其特征在于，所述位置调节机构(140)还包括：
    挡杆(70)，所述挡杆(70)设置在所述固定支架(100)上，所述挡杆(70)上设置有缺口(71)；
    其中，当所述浮动件(30)沿所述第一方向转动，并使得所述转动组件(110)相对于所述固定支架(100)转动所述预设角度后，所述连接轴(10)卡设于所述缺口(71)内；当所述浮动件(30)沿所述第二方向转动，并使得所述连接轴(10)脱离所述缺口(71)后，所述浮动件(30)移动至与所述转盘(20)相分离。
  11. 根据权利要求10所述的扫拖模组，其特征在于，当所述浮动件(30)沿所述第二 方向转动时，所述浮动件(30)驱动所述扫地件(120)工作，所述位置调节机构(140)还包括：
    第一驱动组件(80)，所述第一驱动组件(80)与所述拖地件(130)连接，以驱动所述拖地件(130)工作。
  12. 根据权利要求11所述的扫拖模组，其特征在于，所述位置调节机构(140)还包括：
    壳体件(90)，所述壳体件(90)与所述转动组件(110)相连接，所述连接轴(10)与所述壳体件(90)相连接，以使所述连接轴(10)通过所述壳体件(90)与所述转动组件(110)相连接，所述第一驱动组件(80)设置在所述壳体件(90)上；
    其中，所述连接轴(10)卡设于所述缺口(71)内后，所述浮动件(30)停止转动，所述第一驱动组件(80)驱动所述拖地件(130)工作，所述浮动件(30)与所述挡杆(70)限位接触后，所述浮动件(30)能够沿所述第二方向转动。
  13. 根据权利要求9至12中任一项所述的扫拖模组，其特征在于，所述位置调节机构(140)还包括：
    第二驱动组件(60)，所述第二驱动组件(60)与所述浮动件(30)相连接，以驱动所述浮动件(30)转动的同时沿所述连接轴(10)移动；
    其中，所述第二驱动组件(60)与所述转盘(20)同步相对于所述固定支架(100)转动。
  14. 根据权利要求13所述的扫拖模组，其特征在于，所述浮动件(30)包括第一斜齿轮段(32)和输出齿轮段(33)，所述第二驱动组件(60)包括：
    第一传动齿轮(61)，所述第一传动齿轮(61)包括第二斜齿轮段(611)，所述第二斜齿轮段(611)与所述第一斜齿轮段(32)相啮合，以驱动所述浮动件(30)转动；
    第一输出齿轮(64)，所述第一输出齿轮(64)连接所述扫地件(120)，所述输出齿轮段(33)与所述第一输出齿轮(64)相啮合，以驱动所述第一输出齿轮(64)转动；
    其中，所述浮动件(30)沿所述第二斜齿轮段(611)和所述第一输出齿轮(64)均可移动地设置。
  15. 一种清洁机器人，其特征在于，包括权利要求1至14中任一项所述的扫拖模组。
PCT/CN2021/118586 2020-12-11 2021-09-15 扫拖模组及具有其的清洁机器人 WO2022121426A1 (zh)

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