阅读说明：本技术 升降组件、清洁机构及清洁机器人 (Lifting assembly, cleaning mechanism and cleaning robot ) 是由 陶海平 李孟钦 姚小飞 郑卓斌 王立磊 其他发明人请求不公开姓名 于 2021-09-18 设计创作，主要内容包括：本发明涉及一种升降组件、清洁机构和清洁机器人,用于使清洁机器人的托盘升降,所述升降组件包括：传动件、支撑件与第一驱动装置。传动件包括分布于其两端的连接端和配合端,通过连接端与托盘连接。支撑件用于支撑传动件,连接端与配合端分布于支撑件的不同侧。第一驱动装置用于驱动配合端运动,能够使连接端从第一位置运动到第二位置。传动件和支撑件构成一个简单的杠杆装置,利用简单的杠杆原理即可实现连接端从第一位置运动到第二位置。结构更简单、占用空间更小。应用该升降组件的清洁机器人具备快速地使托盘从接触工作面的位置运动至远离工作面的位置的能力。(The present invention relates to a lifting assembly, a cleaning mechanism and a cleaning robot for lifting a tray of the cleaning robot, the lifting assembly comprising: a transmission member, a support member and a first driving device. The driving medium is connected with the tray through the connecting end and the matching end which are distributed at the two ends of the driving medium. The supporting part is used for supporting the transmission part, and the connecting end and the matching end are distributed on different sides of the supporting part. The first driving means is adapted to drive the movement of the mating end to move the connecting end from the first position to the second position. The transmission element and the support element form a simple lever arrangement, with which the movement of the connecting end from the first position into the second position can be realized by means of a simple lever principle. The structure is simpler, and the occupied space is smaller. The cleaning robot applying the lifting assembly has the capability of rapidly moving the tray from a position contacting the working surface to a position far away from the working surface.)

1. A lifting assembly for lifting a tray of a cleaning robot, the lifting assembly comprising:

the transmission part comprises a connecting end and a matching end which are distributed at two ends of the transmission part, and the connecting end is connected with the tray;

the supporting piece is used for supporting the transmission piece, and the connecting end and the matching end are distributed on different sides of the supporting piece;

a first drive means for driving movement of the mating end to enable movement of the connecting end from a first position to a second position.

2. The lifting assembly as recited in claim 1 wherein the first drive mechanism comprises a first drive member and an intermediate member drivingly connected to the first drive member; the intermediate piece intermittently abuts against the mating end, and when the contact state of the intermediate piece and the mating end is switched from non-abutting to abutting, the connecting end moves from the first position to the second position.

3. The lift assembly of claim 2, wherein the intermediate member comprises a connecting arm and an interference bar; one end of the connecting arm is in transmission connection with the first driving piece, the other end of the connecting arm is connected with the touch rod, and an included angle smaller than 180 degrees is formed between the connecting arm and the touch rod; when the contact state of one end of the abutting rod away from the connecting arm and the mating end is switched from non-abutting to abutting, the connecting end moves from the first position to the second position.

4. The lifting assembly according to any one of claims 1 to 3, further comprising a reset member, wherein one end of the reset member is connected to the body, the other end of the reset member is connected to the transmission member, and the reset member is capable of switching the connection end from the second position to the first position or maintaining the first position.

5. The lifting assembly as recited in claim 1 wherein the first drive mechanism comprises a first drive member and an intermediate member drivingly connected to the first drive member; the intermediate piece is in butt joint with the matching end, and the intermediate piece is used for driving the connecting end to switch between the first position and the second position.

6. The lift assembly of claim 5, wherein the intermediate member is an eccentric wheel structure, the intermediate member including a center of rotation, a major diameter edge furthest from the center of rotation, and a minor diameter edge closest to the center of rotation; the first driving piece drives the middle piece to eccentrically rotate by taking the rotation center as a center, and the edge of the middle piece is always abutted with the matching end; when the major diameter edge abuts the mating end, the connection end is in the second position; when the minor diameter edge abuts the mating end, the connection end is in the first position.

7. A cleaning mechanism, comprising:

a lifting assembly as claimed in any one of claims 1 to 6;

a tray, the tray comprising:

disk body:

the neck is arranged on one side, far away from the working surface, of the tray body, one end of the neck is connected with the tray body, and the other end of the neck is connected with the connecting end of the lifting assembly;

the rotary driving device is in transmission connection with the neck of the tray and is used for driving the tray to rotate; and

the mop cloth is arranged on one side of the tray body close to the working surface.

8. The cleaning mechanism of claim 7, wherein the peripheral wall of the neck at the end of the tray body extends away from the cross-section of the neck to form a flange, the flange abutting the connection end.

9. The cleaning mechanism as recited in claim 8, wherein a mating groove is defined in a middle portion of the connecting end, and the neck portion is rotatable within the mating groove when the connecting end abuts against the flange.

10. The cleaning mechanism of claim 9, wherein the neck is disposed in a center of the tray.

11. The cleaning mechanism of claim 7, wherein the rotational drive device comprises a link and a second drive member that drives the link to rotate; the connecting piece comprises a first end and a second end, a first accommodating cavity is formed in the second driving piece, the first end is in sliding fit with the cavity wall of the first accommodating cavity, a second accommodating cavity matched with the second end is formed in one end, away from the disk body, of the neck, and the second end is connected with the cavity wall of the second accommodating cavity in a clamping mode.

12. The cleaning mechanism of claim 11, wherein the rotation driving device further comprises a floating member, the first end defines a third receiving cavity, and the floating member abuts between a bottom wall of the first receiving cavity and a bottom wall of the third receiving cavity.

13. A cleaning robot, characterized in that the cleaning robot comprises:

at least two cleaning mechanisms according to any one of claims 7 to 12; and

the cleaning mechanism comprises a machine body, wherein a mounting position is arranged at the front part or the rear part of one side, close to the working surface, of the machine body, and the cleaning mechanism is arranged on the mounting position.

14. The cleaning robot according to claim 13, wherein the cleaning robot includes two cleaning mechanisms, and the rotation directions of the trays of the two cleaning mechanisms are opposite.

15. A cleaning robot according to claim 14, characterized in that the two mops of both cleaning mechanisms are brought into tangential movement at least at a certain moment when both cleaning mechanisms are in normal operation.

Technical Field

The invention relates to the technical field of working surface cleaning, in particular to a lifting assembly, a cleaning mechanism and a cleaning robot.

Background

With the development of technology and the needs of people's home life, various intelligent robots rapidly rush to the market and permeate into the life of users. The cleaning robot is a typical representative thereof, and has functions of sweeping, sucking, dragging and washing singly or in combination.

In order to realize the cleaning function and ensure the cleaning effect of the cleaning robot, the cleaning piece on the chassis is required to be tightly attached to the ground when the cleaning robot performs cleaning operation. However, obstacles such as electric wires, carpets, non-slip mats and the like are generally unavoidable in the working environment, and when the cleaning robot tries to pass through the obstacles, the cleaning members on the chassis of the cleaning robot risk being caught by the obstacles.

In order to overcome the defect, the cleaning robot in the prior art generally realizes the active lifting of the cleaning piece through components such as a worm wheel, a worm, a driving motor and the like, but the structure is complex and the occupied space is large.

Disclosure of Invention

In view of the above, there is a need for a lifting assembly with a simple structure and a small space occupation.

In addition, a cleaning mechanism and a cleaning robot are also provided.

A lift assembly for lifting a tray of a cleaning robot, the lift assembly comprising:

the transmission part comprises a connecting end and a matching end which are distributed at two ends of the transmission part, and the connecting end is connected with the tray;

the supporting piece is used for supporting the transmission piece, and the connecting end and the matching end are distributed on different sides of the supporting piece;

a first drive means for driving movement of the mating end to enable movement of the connecting end from a first position to a second position.

The lifting assembly comprises a transmission part, a supporting part and a first driving device, the first driving device drives the matching end to drive the connecting end to move, and the connecting end is moved from the first position to the second position by using a simple lever principle. The transmission part and the support part form a simple lever device, and compared with a worm and gear lifting structure in the prior art, the structure is simpler and the occupied space is smaller. The cleaning robot applying the lifting assembly has the capability of quickly moving the tray from a position contacting with the working surface to a position far away from the working surface.

In one embodiment, the first driving device comprises a first driving piece and an intermediate piece in transmission connection with the first driving piece; the intermediate piece intermittently abuts against the mating end, and when the contact state of the intermediate piece and the mating end is switched from non-abutting to abutting, the connecting end moves from the first position to the second position.

In one embodiment, the intermediate member comprises a connecting arm and an interference rod; one end of the connecting arm is in transmission connection with the first driving piece, the other end of the connecting arm is connected with the touch rod, and an included angle smaller than 180 degrees is formed between the connecting arm and the touch rod; when the contact state of one end of the abutting rod away from the connecting arm and the mating end is switched from non-abutting to abutting, the connecting end moves from the first position to the second position.

In one embodiment, the portable electronic device further comprises a resetting piece, one end of the resetting piece is connected with the body, the other end of the resetting piece is connected with the transmission piece, and the resetting piece can enable the connecting end to be switched from the second position to the first position or keep the first position.

In one embodiment, the first driving device comprises a first driving piece and an intermediate piece in transmission connection with the first driving piece; the intermediate piece is in butt joint with the matching end, and the intermediate piece is used for driving the connecting end to switch between the first position and the second position.

In one embodiment, the intermediate member is an eccentric wheel structure, and the intermediate member comprises a rotation center, a long diameter edge farthest from the rotation center and a short diameter edge closest to the rotation center; the first driving piece drives the middle piece to eccentrically rotate by taking the rotation center as a center, and the edge of the middle piece is always abutted with the matching end; when the major diameter edge abuts the mating end, the connection end is in the second position; when the minor diameter edge abuts the mating end, the connection end is in the first position.

A cleaning mechanism comprising:

the lifting assembly as described above;

a tray, the tray comprising:

disk body:

the neck is arranged on one side, far away from the working surface, of the tray body, one end of the neck is connected with the tray body, and the other end of the neck is connected with the connecting end of the lifting assembly;

the rotary driving device is in transmission connection with the neck of the tray and is used for driving the tray to rotate; and

the mop cloth is arranged on one side of the tray body close to the working surface.

The cleaning mechanism comprises a rotary driving device, a tray and a mop arranged on the tray, and the rotary driving device can drive the tray to rotate to drive the mop to clean a working surface. Because the cleaning mechanism uses the lifting assembly comprising the transmission part and the supporting part, compared with the cleaning mechanism using a worm and gear lifting structure in the prior art, the cleaning mechanism has the advantages of simpler structure and smaller occupied space. When the cleaning working surface meets a preset obstacle, the cleaning robot applying the cleaning mechanism has the capability of quickly lifting the tray from the position contacting the working surface to the position far away from the working surface.

In one embodiment, a fitting groove is formed in the middle of the connecting end, and when the connecting end abuts against the flange, the neck can rotate in the fitting groove.

In one embodiment, the neck is located at the center of the tray body.

In one embodiment, the rotation driving device comprises a connecting piece and a second driving piece for driving the connecting piece to rotate; the connecting piece comprises a first end and a second end, a first accommodating cavity is formed in the second driving piece, the first end is in sliding fit with the cavity wall of the first accommodating cavity, a second accommodating cavity matched with the second end is formed in one end, away from the disk body, of the neck, and the second end is connected with the cavity wall of the second accommodating cavity in a clamping mode.

In one embodiment, the rotation driving device further comprises a floating piece, the first end is provided with a third accommodating cavity, and the floating piece abuts between the bottom wall of the first accommodating cavity and the bottom wall of the third accommodating cavity.

A cleaning robot, comprising:

at least two cleaning mechanisms as described above; and

the cleaning mechanism comprises a machine body, wherein a mounting position is arranged at the front part or the rear part of one side, close to the working surface, of the machine body, and the cleaning mechanism is arranged on the mounting position.

The cleaning robot comprises the cleaning mechanism and a machine body, and can drive the tray to execute cleaning operation under the action of the rotary driving device; the tray of the cleaning robot can be quickly moved from a position contacting the working surface to a position far away from the working surface under the driving of the lifting assembly. The lifting function is realized by a lever structure comprising a transmission piece and a supporting piece, so that the lifting device is simple in structure and more beneficial to later maintenance; and secondly, the occupied space is smaller, the internal space of the machine is saved, and the layout in the machine and the light weight of the machine are facilitated. Compared with the lever structure applied by the invention, firstly, the worm gear structure is more complex, which is not beneficial to later maintenance; secondly, grease lubricant is required to be added into the worm gear, and the lubricant has the possibility of leaking to the mop cloth and even polluting the working surface, so that the cleaning effect is influenced; in addition, the worm gear structure occupies a larger space, needs to occupy more internal space of the machine, and is not beneficial to the layout and light weight inside the machine.

In one embodiment, the cleaning robot includes two cleaning mechanisms, and the rotation directions of the trays of the two cleaning mechanisms are opposite.

In one embodiment, the two mops of the two cleaning mechanisms move tangentially at least at some point in time when the two cleaning mechanisms are operating normally.

Drawings

FIG. 1 is an exploded view of a lift assembly according to one embodiment;

FIG. 2 is an exploded view of one embodiment of a cleaning mechanism;

FIG. 3 is an isometric view of the cleaning mechanism of FIG. 2 when the attachment end is in the first position;

FIG. 4 is an isometric view of the cleaning mechanism of FIG. 2 when the attachment end is in the second position;

FIG. 5 is a schematic isometric view of a cleaning robot provided in one embodiment;

FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5;

fig. 7 is a partial enlarged view of fig. 6 at B.

Reference numerals: 1. a cleaning robot; 10. a cleaning mechanism; 100. a lifting assembly; 110. a transmission member; 111. a connecting end; 111a, a mating groove; 112. a mating end; 120. a support member; 130. a first driving device; 131. a first driving member; 132. a middleware; 132a, connecting arm; 132b, an interference lever; 140. a reset member; 200. a cleaning device; 210. a tray; 211. a tray body; 212. a neck portion; 212a, a flange; 212b, a second accommodating cavity; 220. mop cloth; 300. a rotation driving device; 310. a connecting member; 311. a first end; 311a, a bump; 311b, a third accommodating cavity; 312. a second end; 320. a second driving member; 321. a first accommodating chamber; 330. a float member; 20. a fuselage.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1-2, fig. 1 shows an exploded view of a lifting assembly 100 according to an embodiment of the present invention, and fig. 2 shows an exploded view of a cleaning mechanism 10 according to an embodiment of the present invention.

An embodiment of the present invention provides a lifting assembly 100 for lifting a tray 210 of a cleaning robot 1. The lift assembly 100 includes: the driving member 110, the supporting member 120 and the first driving device 130.

The transmission member 110 includes a connection end 111 and a mating end 112 distributed at both ends thereof, and the transmission member 110 is connected to the tray 210 through the connection end 111.

The supporting member 120 is matched with the transmission member 110 for supporting the transmission member 110, and the connecting end 111 and the mating end 112 of the transmission member 110 are distributed on different sides of the supporting member 120.

The first driving means 130 is adapted to drive the movement of the mating end 112 to move the connecting end 111 from the first position to the second position. With such an arrangement, since the supporting member 120 is used for supporting the transmission member 110, and the connecting end 111 and the mating end 112 are distributed on different sides of the supporting member 120, when the first driving device 130 drives the mating end 112 to move, the connecting end 111 can move in a direction opposite to that of the mating end 112, so that the connecting end 111 can move from the first position to the second position, and the tray 210 can be lifted. It should be understood that the first position mentioned above refers to a position corresponding to the connecting end 111 when the tray 210 is close to the working surface; the second position is the position of the connection end 111 when the first driving device 130 drives the mating end 112 to move downward and the connection end 111 moves upward, thereby moving the tray 210 upward and raising.

The lifting assembly 100 includes a transmission member 110, a supporting member 120 and a first driving device 130, the first driving device 130 drives the mating end 112 to drive the connecting end 111 to move, and the connecting end 111 can be moved from the first position to the second position by using a simple lever principle. The transmission member 110 and the support member 120 constitute a simple lever device, which has a simpler structure and occupies a smaller space than the worm and gear elevating structure of the prior art. The cleaning robot 1 to which the above-described lifting assembly 100 is applied has a capability of rapidly moving the tray 210 from a position contacting the work surface to a position distant from the work surface.

Referring to fig. 1 to fig. 2 in combination with fig. 3 to fig. 4, in an embodiment, the first driving device 130 includes a first driving element 131 and an intermediate element 132 in transmission connection with the first driving element 131. The intermediate member 132 intermittently abuts the mating end 112. When the contact state of the intermediate member 130 with the mating end 112 is switched from non-abutting to abutting, the connection end 111 moves from the first position to the second position. When the contact state of the intermediate member 130 with the mating end 112 is switched from abutment to non-abutment, the connection end 111 moves from the second position to the first position under the influence of the gravity of the tray 210 itself. In the present embodiment, since the intermediate member 132 is in transmission connection with the first driving member 131, the intermediate member 132 can intermittently abut against the mating end 112. That is, when abutted, the connecting end 111 is in the second position, i.e., the tray 210 is in a position away from the work surface; when not abutting, the link end 111 is in the first position, i.e., the position where the tray 210 is in contact with the work surface. It should be understood that the connection end 111 is in the second position when the intermediate member 132 is in abutment with the mating end 112, meaning that when the intermediate member 132 is in transition from non-abutment to abutment with the mating end 112, the intermediate member 132 drives the mating end 112 to move by the action of the abutment against the mating end 112 to move the connection end 111 from the first position to the second position.

Referring to fig. 1 to 4, in one embodiment, the intermediate member 132 includes a connecting arm 132a and an interference rod 132 b. One end of the connecting arm 132a is drivingly connected to the first driving member 131, the other end of the connecting arm 132a is connected to the interference rod 132b, and the connecting arm 132a and the interference rod 132b form an included angle smaller than 180 °. When the contact state of the end of the interference lever 132b remote from the connection arm 132a with the mating end 112 is switched from non-abutting to abutting, the connection end 111 moves from the first position to the second position. That is, when the end of the interference rod 132b away from the connecting arm 132a abuts against the mating end 112, the connecting end 111 is in the second position, i.e., the tray 210 is in a position away from the working surface; when the end of the abutting rod 132b remote from the connecting arm 132a is not abutted against the mating end 112, the connecting end 111 is in the first position, i.e., the position where the tray 210 is in contact with the work surface.

Specifically, the contact rod 132b contacts and presses the mating end 112, so that the mating end 112 on the transmission member 110 is lowered, that is, the mating end 112 rotates by a certain angle relative to the supporting member 120, and further the connecting end 111 of the transmission member 110 is raised, and since the connecting end 111 is connected with the tray 210, the connecting end 111 can transmit the raising motion to the tray 210, so as to raise the tray 210; when the first driving member 131 drives the middle member 132 to rotate continuously by a certain angle, the interference of the contact rod 132b to the mating end 112 is gradually reduced until the contact rod 132b is separated from the mating end 112, at this time, the contact rod 132b loses the interference to the mating end 112, and the tray 210 can be restored to the state of contacting with the working surface under the self-gravity, i.e., the descending process of the tray 210 is completed. And the connection end 111 can be returned from the second position to the first position during the descending process of the tray 210.

In the preferred embodiment shown in fig. 1-4, the angle between the connecting arm 132a and the interference lever 132b is 90 °. By setting the angle between the connecting arm 132a and the interference rod 132b to 90 °, the radius of rotation of the interference rod 132b about the connecting arm 132a can be relatively increased, i.e., the distance that the mating end 132b moves when the interference rod 132b drives the mating end 112 to move can be relatively increased. In other words, under the condition that the same distance of movement of the driving mating end 112 of the abutting rod 132b is ensured, compared with the other angles that the included angle between the connecting arm 132a and the abutting rod 132b is smaller than 180 °, the included angle of 90 ° can make the structure of the connecting arm 132a smaller and the space occupied by the intermediate member 132 smaller. Of course, it should be understood that the angle between the connecting arm 132a and the interference lever 132b can also be adaptively adjusted according to the interference prevention between structures or other requirements.

Referring to fig. 1 in conjunction with fig. 6 and 7, in a preferred embodiment, the lifting assembly 100 further includes a restoring member 140. One end of the reset element 140 is connected to the body 20, the other end of the reset element 140 is connected to the transmission element 110, and the reset element 140 can switch the connecting end 111 from the second position to the first position or maintain the first position. Specifically, the other end of the reset element 140 may be selectively disposed in connection with the connection end 111 or with the mating end 112. When the other end of the restoring member 140 is connected to the connection end 111, the restoring member 140 may be a tension restoring member, such as a compression spring; when the other end of the reset member 140 is configured to couple with the mating end 112, the reset member 140 may be a tension reset member, such as a tension spring. With this arrangement, when the intermediate member 132 is out of contact with the mating end 112 but the connection end 111 cannot or cannot be automatically returned to the first position, the connection end 111 can be returned from the second position to the first position by the reset member 140, and is held at the first position.

In another embodiment, the first driving device 130 includes a first driving member 131 and an intermediate member 132 drivingly connected to the first driving member 131. The intermediate piece 132 is held in abutment with the mating end 112, the intermediate piece 132 being used to drive the connection end 111 between the first and second positions. By maintaining the intermediate member 132 in abutment with the mating end 112, i.e., the intermediate member 132 acting against the mating end 112 at all times, the intermediate member 132 can facilitate continuous and smooth driving of the mating end 112, and avoid subjecting the tray 210 to large impact forces when the intermediate member 132 is acting against the mating end 112.

As an alternative, the intermediate member 132 is not limited to the connecting arm 132a and the interference rod 132b in the above-mentioned embodiment, and the intermediate member 132 may also be an eccentric wheel structure (not shown, the same applies below), and the intermediate member 132 includes a rotation center, a long diameter edge farthest from the rotation center, and a short diameter edge closest to the rotation center. The first driving member 131 drives the intermediate member 132 to eccentrically rotate about the rotation center, and the edge of the intermediate member 132 is always in contact with the mating end 112. When the major diameter edge abuts the mating end 112, the connection end 111 is in the second position. When the minor diameter edge abuts the mating end 112, the connection end 111 is in the first position. Since the middle member 132 eccentrically moves about the center of rotation and the edge of the middle member 132 is always in contact with the mating end 112, when the first driving member 131 drives the middle member 132 to eccentrically rotate, the portion of the middle member 132 in contact with the mating end 112 is cyclically switched between the short-diameter edge and the long-diameter edge. Thereby changing the position of the mating end 112 from the center of rotation and thereby switching the connecting end 111 between the first position and the second position.

It will be appreciated that the above-described design in which the edges of the intermediate member 132 are in constant abutment with the mating end 112 may be achieved by providing mating engagement teeth on both edges.

Further, since the mating end 112 is held in abutment with the intermediate member 132 and the intermediate member 132 includes the long diameter edge and the short diameter edge, the distance of the edge of the intermediate member 132 in abutment with the mating end 112 from the center of rotation can be controlled by controlling the angle through which the intermediate member 132 is rotated. Therefore, the moving distance of the mating end 112, that is, the moving distance of the connecting end 111 is controlled, and further, the precise control of the lifting distance of the tray 210 can be realized by controlling the moving distance of the connecting end 111.

It should be understood that the intermediate member 132 is not limited to the above-mentioned embodiments, but may also be a cam structure or other eccentric structure capable of performing similar functions, which is not limited herein and is set according to actual requirements.

Referring to fig. 2, a cleaning mechanism 10 includes the lifting assembly 100, the tray 210, the rotary driving device 300 and the mop cloth 220 in any of the above embodiments.

The tray 210 includes a tray body 211 and a neck 212. The neck 212 is disposed on one side of the tray body 211 away from the working surface, one end of the neck 212 is connected to the tray body 211, and the other end of the neck 212 is connected to the connection end 111 of the lifting assembly 100. Specifically, the neck 212 and the tray body 211 may be either integrally formed pieces or separate pieces that are connected together in various conventional ways.

The mop cloth 220 is arranged on one side of the tray body 211 close to the working surface. Specifically, the mop 220 and the tray body 211 are connected by at least one of adhesion, magnetic attraction, sleeving and clamping.

The rotary driving device 300 is in transmission connection with the neck 212 of the tray 210 and is used for driving the tray 210 to rotate. The tray 210 is driven to rotate by the rotary driving device 300, and the mop cloth 220 arranged on one side of the tray body 211 close to the working surface is driven to rotate, so that the mop cloth 220 finishes the cleaning action.

The cleaning mechanism 10 has a simpler structure and occupies a smaller space than the prior art cleaning mechanism using the worm and gear lifting structure because the lifting assembly 100 including the transmission member 110 and the supporting member 120 of the above embodiment is used. The cleaning robot 1 to which the above-described cleaning mechanism 10 is applied has a capability of quickly raising the tray 210 from a position contacting the work surface to a position away from the work surface when the cleaning work surface encounters a predetermined obstacle.

Referring to fig. 2, in one embodiment, the outer peripheral wall of the neck 212 at the end away from the disc 211 extends to form a flange 212a in a direction away from the cross-section of the neck 212, and the flange 212a abuts against the connecting end 111. Since the flange 212a is formed to extend on the outer circumferential wall of the neck 212, and the neck 212 is a part of the tray 210, the lifting assembly 100 can change the position of the tray 210 by driving the flange 212a upward, thereby lifting the tray 210.

Referring to fig. 2, in an embodiment, a fitting groove 111a is formed in a middle portion of the connection end 111, and when the connection end 111 abuts against the flange 212a, the neck 212 can rotate in the fitting groove 111 a. By forming the engagement groove 111a in the middle of the connection end 111, the neck portion 212 can rotate in the engagement groove 111a, and thus the connection end 111 can be prevented from interfering with the neck portion 212 of the tray 210 when the tray 210 rotates to perform a cleaning operation. In other words, the engagement groove 111a prevents the rotation of the tray 210 from being interfered by the connection end 111 when the tray 210 performs the cleaning operation.

Referring again to fig. 2, in one embodiment, the neck 212 is disposed in the center of the disk 211. By arranging the neck 212 at the center of the tray body 211, on one hand, the connecting end 111 drives the tray 210 to ascend through the flange 212a and the neck 212; on the other hand, the neck 212 is provided at the center of the tray body 211, as opposed to the other position of the neck 212, so that the rotation of the tray 210 by the rotation driving device 300 via the neck 212 is facilitated, and the tray 210 is prevented from shaking when the rotation driving device 300 drives the tray 210 to rotate.

Referring again to fig. 2, in one embodiment, the rotation driving device 300 includes a connecting member 310 and a second driving member 320 for driving the connecting member 310 to rotate.

Referring to fig. 2 in combination with fig. 7, further, the connecting member 310 includes a first end 311 and a second end 312, the second driving member 320 has a first accommodating cavity 321, the first end 311 is slidably engaged with a cavity wall of the first accommodating cavity 321, one end of the neck portion 212 away from the disc body 211 has a second accommodating cavity 212b engaged with the second end 312, and the second end 312 is engaged with a cavity wall of the second accommodating cavity 212 b. Specifically, the connecting member 310 connects the connecting member 310 between the second driving member 320 and the neck portion 212 through the first end 311 slidably engaged with the first accommodating cavity 321 and the second end 312 engaged with the cavity wall of the second accommodating cavity 212 b. And the second driving member 320 can drive the tray 210 to rotate through the connection member 310 due to the snap connection between the cavity wall of the second accommodating cavity 212b and the second end 312. And since the first end 311 is slidably engaged with the rotary driving device 300, that is, the connecting member 310 and the tray 210 can slide together relative to the second driving member 320, that is, the connecting member 310 and the tray 210 can float together.

In the above embodiment, the second end 312 can be in interference fit with the wall of the second accommodating cavity 212 b. Specifically, the second end 312 may be configured to match the shape of the second receiving cavity 212b, such as a hexagonal structure or a gear-like structure, so that the tray 210 can be rotated by the connecting member 310.

It should be understood that in some embodiments, the connection manner of the second end 312 and the wall of the second accommodating cavity 212b can be adjusted according to the requirement. Specifically, for example, welding, bonding, or integral molding may be employed.

Referring again to fig. 2 in conjunction with fig. 7, in one embodiment, at least one protrusion 311a is disposed on a side surface of the first end 311 of the connecting member 310 that is slidably engaged with the wall of the first accommodating cavity 321. The wall of the first accommodating cavity 321 is provided with sliding grooves (not shown, the same applies below) slidably engaged with the protrusions 311a, the number of the sliding grooves corresponds to the number of the protrusions 311a, and the protrusions 311a can abut against the side walls of the sliding grooves. Accordingly, the second driving member 320 can drive the link 310 and the tray 210 connected to the link 310 to rotate by the contact action of the slide groove and the protrusion 311 a. And the sliding fit of the sliding groove and the protrusion 311a can be used to enable the connecting member 310 and the tray 210 connected with the connecting member 310 to float and lift relative to the second driving member 320. Since the rotation driving device 300 is connected to the body 20, the tray 210 can rotate and move up and down with respect to the second driving member 320, that is, can rotate with respect to the body 20 and move up and down with respect to the body 20.

Referring again to FIG. 2, in one embodiment, the rotational drive apparatus 300 further comprises a float 330. The first end 311 defines a third accommodating cavity 311b, and the floating member 330 abuts between the bottom wall of the first accommodating cavity 321 and the bottom wall of the third accommodating cavity 311 b. Because the first end 311 of the connecting member 310 is provided with the third accommodating cavity 311b and the connecting member 310 is connected with the tray 210 in a clamping manner, and because the floating member 330 abuts between the bottom wall of the first accommodating cavity 321 and the bottom wall of the third accommodating cavity 311b, the connecting member 310 and the tray 210 connected with the connecting member 310 in a clamping manner can float relative to the second driving member 320. Therefore, when the working surface is uneven, the tray 210 can float relative to the second driving member 320, so that the uneven working surface can be passively adapted, and the working surface can be cleaned more thoroughly. The first floating member 330 may be an elastic member such as a spring.

Referring to fig. 5 to 7, a cleaning robot 1 includes at least two cleaning mechanisms 10 and a main body 20 according to any one of the embodiments. The front or rear part of the body 20 near the working surface is provided with a mounting position (not shown, the same applies below), and the cleaning mechanism 10 is arranged on the mounting position. The cleaning mechanism 10 may be installed as a whole in a module on the installation position of the main body 20, or the components of the cleaning mechanism 10 may be installed separately on the installation position of the main body 20. The supporting member 120 of the lifting assembly 100 is also mounted on the mounting position of the body 20 to support the transmission member 110.

The cleaning robot 1 includes the cleaning mechanism 10 and the main body 20 of any of the embodiments, and can drive the cleaning device 200 to perform cleaning operation under the action of the rotation driving device 300; the tray on the cleaning device 200 can be quickly lifted from a position contacting the work surface to a position away from the work surface by the driving of the lifting assembly 100. Because the lifting function is realized by a lever structure comprising the transmission part 110 and the supporting part 120, the lifting device has a simple structure and is more beneficial to later maintenance; secondly, the occupied space is smaller, the internal space of the machine body 20 is saved, and the internal layout of the machine body 20 and the light weight of the machine are facilitated.

Compared with the lifting assembly 100 with the lever result, the lifting structure in the prior art is usually realized through a worm gear, and firstly, the worm gear is more complex in structure and is not beneficial to later maintenance; secondly, grease lubricant is required to be added into the worm gear, and the lubricant has the possibility of leaking to the mop cloth and even polluting the working surface, so that the cleaning effect is influenced; in addition, the worm gear structure occupies a larger space, needs to occupy more internal space of the machine, and is not beneficial to the layout and light weight inside the machine.

With continued reference to fig. 5-7, in a preferred embodiment, the cleaning robot 1 includes two cleaning mechanisms 10, and the rotation directions of the trays 210 of the two cleaning mechanisms 10 are opposite. The cleaning range of the cleaning robot 1 can be enlarged by arranging the two cleaning mechanisms 10, and the cleaning efficiency is improved; the moving directions of the two trays 210 are opposite, so that the opposite acting forces brought to the body 20 by the two trays can be mutually balanced, and the cleaning robot 1 can run more stably.

Further, when the two cleaning mechanisms 10 are in normal operation, the two mops 220 of the two cleaning mechanisms 10 are caused to move tangentially at least at some point in time. That is, the two cleaning mechanisms 10 can be cleaned without dead points and omission.

It is to be understood that the cleaning robot 1 of each of the above embodiments includes a control system, a sensor system, a driving system, a power supply system, and the like, which are not shown in the drawings, in addition to the above-described cleaning mechanism 10. The control system is used for controlling the equipment to execute specific tasks or actions according to a preset program or a signal returned by the sensor system. The sensor system is used for detecting the working state information of each part of the equipment, the external environment state of the equipment and the position information of the equipment in the environment and sending the information to the control system. The driving system is used for driving the driving wheel to drive the machine to move on the working surface. The power supply system provides a source of energy for the various systems of the device. The above systems are not the focus of the improvement of the present invention, and therefore, the technical solutions of the embodiments of the present invention are not described in a focus.

The procedure of performing the cleaning work of the cleaning robot 1 disclosed herein is as follows:

the cleaning robot performs various cleaning operations including the rotation of the cleaning mechanism 10 on the working surface under the driving of the driving system according to a certain path plan (such as arc cleaning, spiral cleaning, three-in two-out cleaning, etc.). When the sensor system detects an obstacle signal and transmits the obstacle signal to the control system, the control system judges whether the obstacle detected by the sensor system is a preset obstacle (such as a carpet, a blanket and the like) or not according to a preset program. If the determination result is yes, the control system controls the second driving member 320 to stop driving the cleaning device 210, and at the same time, the control system controls the lifting assembly 100 to work for a period of time and lock, so that the tray 210 of the cleaning device 200 is lifted for a certain distance; at this time, if the cleaning robot 1 is provided with other cleaning functional components such as a side brush, a suction port, and a roll brush, these components can continue to perform the cleaning operation accordingly. Until the obstacle signal detected by the sensor system is transmitted to the control system and is judged not to be a predetermined obstacle, the first driving device 130 of the lifting assembly 100 is unlocked, and the cleaning device 200 is lowered from the lifted state to the state of contacting the working surface under the action of self gravity. In addition, when the cleaning mechanism 10 of the cleaning robot 1 performs a cleaning operation through a rotational motion, if the cleaning mechanism encounters uneven ground (e.g., aged and raised wood floor), the tray 210 can be floated appropriately through the first accommodating cavity 321, the floating member 330, and the third accommodating cavity 311 b.

It will be appreciated that the components performing the cleaning function may include other cleaning function components known in the art, such as a mid-sweep (roller and/or suction), side-brush, etc., in addition to the cleaning mechanism 10 described above. The cleaning functional components are matched with each other to complete various cleaning operations such as sweeping, sucking, mopping, washing and the like.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.