CN-121987109-A - Cleaning robot

Abstract

The embodiment of the application provides a cleaning robot. The technical scheme provided by the embodiment of the application is that the cleaning robot comprises a machine body, a swinging arm, an auxiliary component and a clutch device. In the scheme of the embodiment of the application, the travelling wheel and the power device are arranged on the swing arm, and the auxiliary component and the clutch device are also arranged, so that the cleaning robot can smoothly travel on any travelling surface by changing the state of the clutch device. For example, when the swing arm swings down when the vehicle passes over a low obstacle, the clutch device can be in a separated state, and the power device drives the travelling wheel to pass through. When crossing higher barrier, the swing arm descends, and clutch can switch to the engaged state, and power device drives advancing wheel and auxiliary part simultaneously and rotates, and auxiliary part lower hem can assist advancing wheel to cross the barrier for cleaning robot's obstacle crossing ability will show improvement, and then can adapt to multiple complicated family environment, satisfies the clear needs of whole house.

Inventors

• REN XUSHENG
• SHI ZHIQIANG
• CHENG XIAOWEN
• TAO XIAOJUN
• HUANG DI
• CHEN CHAO
• Ji Lujing

Assignees

• 科沃斯家用机器人有限公司

Dates

Publication Date

20260508

Application Date

20250704

Priority Date

20241105

Claims (20)

1. 1. A cleaning robot, comprising: A body; The swing arm is rotatably connected to the machine body and is provided with a travelling wheel; An auxiliary member rotatably coupled to the swing arm; the clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary component; The clutch device is in a separation state and an engagement state, when the clutch device is in the separation state, the power device drives the traveling wheel to rotate, and when the clutch device is in the engagement state, the power device drives the traveling wheel to rotate and simultaneously drives the auxiliary component to execute actions so as to assist the traveling wheel to surmount an obstacle.
2. 2. The cleaning robot according to claim 1, wherein, When the swing arm swings to a first preset position along a first direction, the clutch device is switched from the separation state to the engagement state.
3. 3. The cleaning robot of claim 1, wherein the auxiliary component is periodically connected with the clutch device when the clutch device is in an engaged state such that the auxiliary obstacle surmounting assembly is periodically rotated.
4. 4. A cleaning robot as claimed in any one of claims 1 to 3, wherein the clutching means comprises a trigger assembly and a clutch connected; when the swing arm swings to a first preset position along a first direction, the trigger component acts to trigger the clutch to be switched from a separation state to an engagement state; When the swing arm swings to a second preset position along a second direction, the trigger component acts reversely to trigger the clutch to be switched from an engaged state to a disengaged state; wherein the first direction and the second direction are two different directions.
5. 5. The cleaning robot of claim 4, wherein the clutch comprises a first shaft, a clutch gear, a lifting gear, and a reset member; The clutch gear and the lifting gear are arranged on the first rotating shaft, the lifting gear is positioned below the clutch gear, and the reset piece is abutted with the top of the clutch gear; When the lifting gear ascends, the lifting gear can push the clutch gear to ascend, and after the clutch gear reaches the limit position, the clutch is switched to an engaged state; when the lifting gear descends, the reset piece drives the clutch gear to descend, and after the clutch gear reaches an initial position, the clutch is switched to a separated state.
6. 6. The cleaning robot of claim 5, wherein the lifting gear is provided with internal threads, the first rotating shaft is provided with external threads, and the lifting gear is in fit connection with the first rotating shaft; When the lifting gear rotates in different directions, the lifting gear can move up and down along the axial direction of the lifting gear relative to the first rotating shaft.
7. 7. The cleaning robot of claim 5, further comprising a transmission assembly comprising a sheave with a bar-shaped groove thereon; a deflector rod is arranged on the clutch gear, and synchronously rotates along with the clutch gear, and can be connected in the strip-shaped groove in a matching way; When the clutch is in an engaged state, the deflector rod is inserted into the bar-shaped groove after being lifted along with the clutch gear; And along with the rotation of the clutch gear, the deflector rod slides in the strip-shaped groove and simultaneously drives the grooved wheel to rotate.
8. 8. The cleaning robot according to claim 1, wherein the clutch means comprises a rotation shaft, a clutch member, an elastic member, a clutch gear, and a lever; the clutch piece is sleeved on the rotating shaft, the clutch piece can slide along the axis direction of the rotating shaft, and the elastic piece is abutted with the clutch piece; the clutch gear is sleeved on the rotating shaft, and the clutch piece can be connected with or separated from the clutch gear; the obstacle surmounting rod is connected to one end of the rotating shaft.
9. 9. The cleaning robot of claim 8, wherein one end of the deflector rod is connected with the trigger assembly, and the other end of the deflector rod is provided with a guide inclined plane; the clutch piece is provided with a convex column, and the trigger assembly can drive the deflector rod to be close to or far away from the convex column; when the deflector rod is far away from the clutch piece, the elastic piece drives the clutch piece to be switched into an engaged state; when the deflector rod is close to the clutch piece, the convex column slides along the guide inclined plane, and the clutch piece is switched to a separation state.
10. 10. The cleaning robot of claim 1, wherein the clutch device comprises: the trigger piece is used for triggering along with the travel of the machine body when touching the obstacle; The deflector rod is linked with the trigger piece; the clutch bracket is linked with the deflector rod; When the trigger piece is triggered by the obstacle, the deflector rod moves along with the trigger piece to push the clutch bracket to move to a position in an engaged state.
11. 11. The cleaning robot of claim 10, wherein the clutch device further comprises an elastic body, and the deflector rod returns under the action of the elastic body when the trigger piece is not triggered, so that the clutch bracket is in a separated state.
12. 12. The cleaning robot of claim 11, wherein the lever comprises a first lever and a second lever; the trigger piece and the deflector rod are arranged on the rotating shaft; In a projection perpendicular to the axis of the rotating shaft, the first rod and the second rod extend radially along the cross section of the rotating shaft at angles respectively, and the first rod is positioned between the trigger piece and the second rod; at least one limiting groove is formed in the clutch bracket; When the barrier is not present, the first rod returns under the action of the elastic body, the first rod is far away from the clutch support, the clutch support returns to the position in the separation state, and the second rod returns to the limit groove.
13. 13. The cleaning robot of claim 12, wherein at least one of the limiting grooves is provided with an upper inclined surface, and the clutch bracket is further provided with a lower inclined surface; the lower inclined surface is used for contacting with the end part of the first rod; the upper inclined surface is used for contacting with the end part of the second rod.
14. 14. The cleaning robot of claim 13, wherein the sidewall of the limit slot is an arcuate surface for guiding an end of the second rod into and out of the limit slot.
15. 15. The cleaning robot of claim 10, wherein the lever is a single lever; the clutch bracket is provided with a guide surface; the clutch bracket is also connected with an elastic piece; when the trigger piece is triggered, the deflector rod moves along with the trigger piece, the end part of the deflector rod is separated from the guide surface, and the clutch bracket moves to a position in an engaged state under the action of the elastic piece; When no obstacle exists, the shifting lever returns, the end part of the shifting lever contacts with the guide surface, the clutch bracket returns to be in a separation state under the action of the guide surface, and the elastic piece is deformed due to displacement of the clutch bracket.
16. 16. The cleaning robot according to claim 15, wherein the clutch bracket is a cylindrical bracket, the guide surface is a spiral guide surface around an outer periphery of the cylindrical bracket, or the guide surface includes a straight section and at least one inclined surface section having a different inclination, or the guide surface includes two or more inclined surface sections having a different inclination.
17. 17. The cleaning robot of claim 1, further comprising: The driving mechanism is connected with the universal wheel on the machine body and used for driving the universal wheel to descend relative to the machine body so that the front part of the robot is lifted; the detection device is arranged on the machine body and is used for detecting the obstacle; And the control device is electrically connected with the detection device and is used for controlling the driving mechanism to work when the obstacle is detected.
18. 18. The robot of claim 17, wherein a slider is provided on the body, and wherein the gimbal is coupled to the slider; the driving mechanism comprises a driver and a driving piece; The driver is connected with the driving piece and drives the driving piece to act so as to push the sliding piece to slide up and down relative to the machine body.
19. 19. The robot of claim 18, wherein the driving member comprises a pressing rod and a roller, wherein the roller is arranged at one end of the pressing rod, and the other end of the pressing rod is connected with the driver; and in the descending process of the universal wheel, the roller is contacted with the sliding piece.
20. 20. A cleaning robot, comprising: A body; The swing arm is rotatably connected to the machine body and is provided with a travelling wheel; An auxiliary member rotatably coupled to the swing arm; the clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary component; The auxiliary component is triggered along with the travel of the machine body when touching an obstacle, the clutch device is switched from the separation state to the engagement state in a follow-up mode, the power device drives the traveling wheel to rotate, and meanwhile, the auxiliary component is driven to perform actions to assist the traveling wheel to surmount an obstacle.

Description

Cleaning robot The present application requests priority from the following patent application documents: Application number Title: Date of filling 202411570984.7Cleaning robot and obstacle surmounting travelling wheel device2024-11-05 202411824241.8Cleaning robot and obstacle surmounting device2024-12-11 202411824711.0Robot work method and robot2024-12-11 202411796031.2Cleaning robot and obstacle surmounting travelling wheel device2024-12-06 The contents of all of the above application documents are incorporated herein. Technical Field The application relates to the technical field of robots, in particular to a cleaning robot. Background With the development of technology, the cleaning robot is more and more intelligent, and the cleaning robot can automatically identify the area range of the ground to be cleaned and then clean the surface to be cleaned by independently planning the travelling path. The cleaning robot is more and more popular in the market because of high intelligent level and good cleaning effect. However, as the complexity of the home environment increases, the cleaning robot cannot smoothly cross over the obstacles such as a higher threshold and a sliding rail, which limits the cleaning range of the cleaning robot and cannot meet the requirement of smoothly crossing over high obstacles to realize the cleaning of the whole house. In yet another case, there are obstacles, the higher the robot can be. However, the robot is reversed or retreated because the collision plate of the robot collides with the obstacle first, and the robot is not selected to surmount the obstacle. It can be seen that improving the obstacle surmounting capability of the cleaning robot is a problem that needs to be solved at present. At present, some schemes for improving the obstacle crossing capability of the robot exist, namely an active driving wheel lifting system is arranged on a machine body. For example, a lifting motor is additionally arranged on the machine body, and the lifting motor is specially used for controlling a driving wheel lifting system to realize lifting of the driving wheel so as to complete integral adjustment of the height of the machine body. The machine body is integrally and horizontally lifted in the lifting process. According to the existing scheme, the active driving wheel lifting system can improve obstacle crossing capability of the robot to a certain extent by lifting the body to the ground, but has limited capability lifting, and still has the condition that obstacles cannot be smoothly passed; in addition, the lifting system is additionally arranged, so that the machine body structure is more complex, and the cost is high. Disclosure of Invention In view of the above problems, the present application has been made to solve the above problems or a cleaning robot that at least partially solves the above problems. In an embodiment of the application, a cleaning robot is provided. The cleaning robot includes: A body; The swing arm is rotatably connected to the machine body and is provided with a traveling wheel and a power device; An auxiliary member rotatably coupled to the swing arm; The clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary component; The clutch device is in a separation state and an engagement state, when the clutch device is in the separation state, the power device drives the traveling wheel to rotate, and when the clutch device is in the engagement state, the power device drives the traveling wheel to rotate and simultaneously drives the auxiliary component to execute actions so as to assist the traveling wheel to surmount an obstacle. In another embodiment of the present application, a cleaning robot is provided. The cleaning robot includes a body; The swing arm is rotatably connected to the machine body and is provided with a travelling wheel; An auxiliary member rotatably coupled to the swing arm; the clutch device is arranged on the swing arm and is in transmission connection with the power device, the travelling wheel and the auxiliary component; The auxiliary component is triggered along with the travel of the machine body when touching an obstacle, the clutch device is switched from the separation state to the engagement state in a follow-up mode, the power device drives the traveling wheel to rotate, and meanwhile, the auxiliary component is driven to perform actions to assist the traveling wheel to surmount an obstacle. In the technical scheme of the embodiment of the application, the travelling wheel and the power device are arranged on the swing arm, and the auxiliary component and the clutch device are also arranged in addition, so that the cleaning robot can smoothly travel on any travelling surface by changing the state of the clutch device. For example, when the swing arm swings down when the vehicle passes over a low obstacle, the clutch device can be in a separa