CLEANING ROBOT

Abstract

A cleaning robot includes a main body and a cleaning module. The main body is configured to move on a floor along a travelling direction. The cleaning module includes a first shaft and some first roller sets. The first shaft is connected with the main body. The first shaft extends along a first axis perpendicular to the travelling direction. The first roller sets are separated from each other. Each first roller set includes a first bearing, a first tire and a first flexible structure. The first shaft penetrates through the first bearing. The first tire includes a first cleaning surface configured to abut against the floor. The first flexible structure includes a first inner surface and a first outer surface. The first inner surface abuts against the first bearing. The first outer surface abuts against the first tire. The first flexible structure has a first elasticity.

Description

RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application Ser. No. 63/292,600 filed Dec. 22, 2021, and Taiwan Application Serial Number 111144653, filed Nov. 22, 2022, the disclosures of which are incorporated herein by reference in their entireties.

BACKGROUND

Technical Field

The present disclosure relates to cleaning robots.

Description of Related Art

With the development of science and technology, cleaning robots have become one of the common appliances in every household. Due to its convenient and time-saving cleaning ability, cleaning robots are gradually used in clean rooms.

In order to meet the environmental requirements of the clean rooms, in addition to having a good cleaning ability, whether there will be a condition of raising dust during operation of a cleaning robot is also an important factor for users to consider.

Therefore, how to make a cleaning robot move smoothly on the ground and at the same time effectively avoid the condition of raising dust during operation of the cleaning robot is undoubtedly an issue that the industry highly concerns.

SUMMARY

A technical aspect of the present disclosure is to provide a cleaning robot, which can carry out effective cleaning to uneven floor and maintain a good smoothness when turning.

According to an embodiment of the present disclosure, a cleaning robot includes a main body and a cleaning module. The main body is configured to move on a floor along a travelling direction. The cleaning module includes a first shaft and a plurality of first roller sets. The first shaft is connected with the main body. The first shaft extends along a first axis perpendicular to the travelling direction. The first roller sets are separated from each other. Each of the first roller sets includes a first bearing, a first tire and a first flexible structure. The first shaft penetrates through the first bearing. The first tire includes a first cleaning surface configured to abut against the floor. The first flexible structure includes a first inner surface and a first outer surface. The first inner surface abuts against the first bearing. The first outer surface abuts against the first tire. The first flexible structure has a first elasticity.

In one or more embodiments of the present disclosure, each of the first flexible structures includes an inner ring, an outer ring and a plurality of elastic portions. A corresponding one of the first inner surfaces is located at the inner ring. A corresponding one of the first outer surfaces is located at the outer ring. The elastic portions elastically are connected between the inner ring and the outer ring. Two adjacent ones of the elastic portions define a through hole therebetween.

In one or more embodiments of the present disclosure, each of the through holes is of a parallelogram.

In one or more embodiments of the present disclosure, each of the through holes is of an arrow shape.

In one or more embodiments of the present disclosure, each of the first flexible structures includes an inner ring and a plurality of springs. A corresponding one of the first inner surfaces is located at the inner ring. The springs surround and are respectively connected with the inner ring. A corresponding one of the first outer surfaces includes a plurality of subsidiary outer surfaces. Each of the subsidiary outer surfaces is located at a side of a corresponding one of the springs away from the inner ring.

In one or more embodiments of the present disclosure, each of the first flexible structures includes an inner ring, an outer ring and an elastic body. A corresponding one of the first inner surfaces is located at the inner ring. A corresponding one of the first outer surfaces is located at the outer ring. The elastic body is elastically connected between the inner ring and the outer ring. The elastic body includes a plurality of annular elastic sheets. The annular elastic sheets are connected with each other and are respectively inclined to the inner ring and the outer ring.

In one or more embodiments of the present disclosure, each of the first tires includes a first sticky colloid and a first frame. A corresponding one of the first cleaning surfaces is located at the first sticky colloid. The first frame abuts between the first sticky colloid and a corresponding one of the first flexible structures. The first frame is harder than the first flexible structure.

In one or more embodiments of the present disclosure, the cleaning module further includes a second shaft and a plurality of second roller sets. The second shaft is connected with the main body. The second shaft extends along a second axis parallel with the first axis. The second roller sets are separated from each other. Each of the second roller sets includes a second bearing, a second tire and a second flexible structure. The second shaft penetrates through the second bearing. The second tire includes a second cleaning surface configured to abut against the floor. The second flexible structure includes a second inner surface and a second outer surface. The second inner surface abuts against the second bearing. The second outer surface abuts against the second tire. The second flexible structure has a second elasticity. Two adjacent ones of the second cleaning surfaces define a gap therebetween. Each of the gaps aligns with a corresponding one of the first cleaning surfaces along the travelling direction.

In one or more embodiments of the present disclosure, the main body includes a main frame. Two opposite ends of the first shaft are connected with the main frame. The cleaning robot further includes a sticky roller and a lifting mechanism. The sticky roller is configured to abut against and clean up the first tires. The lifting mechanism includes a supporting frame, a plurality of wheels, a first connecting portion, a second connecting portion, a driving device and a threaded rod. The wheels are disposed on the supporting frame and support the sticky roller. The first connecting portion is connected to a side of the supporting frame and is movably connected with the main frame. The second connecting portion is connected to another side of the supporting frame and has a screw hole. The driving device is disposed on the main frame. The threaded rod is coupled with the screw hole. The driving device is configured to rotate the threaded rod.

In one or more embodiments of the present disclosure, the second connecting portion further includes a first subsidiary connecting portion, a second subsidiary connecting portion and a connecting piece. The first subsidiary connecting portion is connected with the supporting frame. The screw is located at the second subsidiary connecting portion. The connecting piece has a first end and a second end opposite to the first end. The first end is pivotally connected with the first subsidiary connecting portion. The second end is pivotally connected with the second subsidiary connecting portion.

In one or more embodiments of the present disclosure, the first connecting portion is pivotally connected with the main frame.

In one or more embodiments of the present disclosure, the main body further includes a guiding rod. The guiding rod is connected with the main frame and is parallel with the threaded rod. The first connecting portion has a through hole. The guiding rod penetrates through the through hole.

In one or more embodiments of the present disclosure, the first connecting portion includes two connecting rods. The connecting rods are arranged in parallel. Each of the connecting rods has a first end and a second end opposite to the first end. The first end is pivotally connected with the supporting frame. The second end is pivotally connected with the main frame.

According to an embodiment of the present disclosure, a cleaning robot includes a main body and a cleaning module. The main body is configured to move on a floor along a travelling direction. The cleaning module includes a shaft and a plurality of roller sets. The shaft is connected with the main body. The shaft extends along an axis perpendicular to the travelling direction. The roller sets are separated from each other. Each of the roller sets includes a bearing, a tire and a flexible structure. The shaft penetrates through the bearings. The tire includes a cleaning surface. The cleaning surface is configured to abut against the floor. The tire has a center. The flexible structure is connected between the bearing and the tire. The flexible structure is deformable such that the center is movable relative to the axis.

In one or more embodiments of the present disclosure, each of the flexible structures includes an inner ring, an outer ring and a plurality of elastic portions. The inner ring is connected with the bearing. The outer ring is connected with the tire. The elastic portions are elastically connected between the inner ring and the outer ring. Two adjacent ones of the elastic portions define a through hole therebetween.

In one or more embodiments of the present disclosure, each of the through holes is shaped with at least one acute angle.

In one or more embodiments of the present disclosure, each of the flexible structures includes an inner ring and a plurality of springs. The inner ring is connected with the bearing. The springs evenly surround the inner ring. The springs are respectively connected with the inner ring. The springs abut against the tire.

In one or more embodiments of the present disclosure, each of the flexible structures includes an inner ring, an outer ring and an elastic body. The inner ring is connected with the bearing. The outer ring is connected with the tire. The elastic body elastically is connected between the inner ring and the outer ring. The elastic body includes a plurality of annular elastic sheets. The annular elastic sheets are connected with each other. The annular elastic sheets are respectively inclined to the inner ring and the outer ring.

In one or more embodiments of the present disclosure, each of the tires includes a sticky colloid and a frame. A corresponding one of the cleaning surfaces is located at the sticky colloid. The frame is connected between the sticky colloid and a corresponding one of the flexible structures. The flexible structures are more flexible than the frames.

According to an embodiment of the present disclosure, a cleaning robot includes a main body, a cleaning module, a sticky roller and a lifting mechanism. The main body is configured to move on a floor along a travelling direction. The main body has a main frame. The cleaning module includes a shaft and a plurality of roller sets. The shaft extends along an axis perpendicular to the travelling direction. Two opposite ends of the shaft are connected with the main frame. The roller sets are separated from each other. The shaft penetrates through the roller sets. Each of the roller sets has a cleaning surface configured to abut against the floor. The sticky roller is configured to abut against and clean up the cleaning surfaces. The lifting mechanism includes a supporting frame, a plurality of wheels, a first connecting portion, a second connecting portion, a driving device and a threaded rod. The wheels are disposed on the supporting frame. The wheels support the sticky roller. The first connecting portion is connected to a side of the supporting frame. The first connecting portion is movably connected with the main frame. The second connecting portion is connected to another side of the supporting frame. The second connecting portion has a screw hole. The driving device is disposed on the main frame. The threaded rod is coupled with the screw hole. The driving device is configured to rotate the threaded rod relative to the main frame.

The above-mentioned embodiments of the present disclosure have at least the following advantages:

(1) Since the first flexible structure has a first elasticity in a radial direction of the first shaft, when the cleaning robot moves along the travelling direction and encounters an obstacle, the first flexible structure inside each of the first roller sets corresponding to the obstacle can elastically deform relative to the first shaft, such that the first tires of the first roller sets can move over the obstacle and clean up the surface of the obstacle. Furthermore, since the first roller sets are separated from each other, the first roller sets passing by the obstacle are not influenced by the first roller sets moving over the obstacle and can still abut against the floor to clean up the floor. In this way, the first roller sets, which are separated from each other and can respectively and elastically deform relative to the first shaft, are suitable to carry out effective cleaning to the floor which is uneven. Hence, the cleaning robot can provide a good cleaning effect.

(2) Since the first roller sets are separated from each other and the second roller sets are separated from each other, when the cleaning robot turns, the rotational speeds of the first roller sets can be different from each other and are not influenced by each other, while the rotational speeds of the second roller sets can also be different from each other and are not influenced by each other. Thus, the condition that first roller sets or the second roller sets rub against the floor due to insufficient rotational speeds can be avoided. Therefore, the smoothness of the cleaning robot when turning is effectively enhanced.

(3) When the cleaning robot turns such that the rotational speeds of the first roller sets and the rotational speeds of the second roller sets are different from each other, through the operation of the lifting mechanism, the sticky roller can temporarily leave from the first cleaning surfaces of the first tires and the second cleaning surfaces of the second tires. Apart from avoiding the sticky roller from rubbing to damage by the first cleaning surfaces or the second cleaning surfaces due to the different rotational speeds of the first roller sets or the different rotational speeds of the second roller sets, the rotational speeds of the first roller sets and the rotational speeds of the second roller sets are not influenced due to the sticky roller rubbing against the first cleaning surfaces and the second cleaning surfaces. Thus, the smoothness of the cleaning robot when turning is effectively enhanced.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure can be more fully understood by reading the following detailed description of the embodiments, with reference made to the accompanying drawings as follows:

FIG. 1 is a side view of a cleaning robot according to an embodiment of the present disclosure;

FIG. 2 is a partially bottom view of the cleaning robot of FIG. 1;

FIG. 3 is a sectional view of the first roller sets of FIGS. 1-2;

FIG. 4 is a sectional view of the second roller sets of FIGS. 1-2;

FIG. 5 is a front view of application of the first roller sets of FIGS. 1-2 moving along the travelling direction;

FIG. 6 is a front view of one of the first flexible structures of FIG. 3;

FIG. 7 is a front view of a first flexible structure according to another embodiment of the present disclosure;

FIG. 8 is a front view of a first flexible structure according to a further embodiment of the present disclosure;

FIG. 9 is a three-dimensionally sectional view of a first flexible structure according to another embodiment of the present disclosure;

FIG. 10 is a top view of application of the cleaning module of FIGS. 1-2;

FIG. 11 is a schematic view of action of the lifting mechanism of FIG. 1;

FIGS. 12-13 are schematic views of action of a lifting mechanism according to another embodiment of the present disclosure; and

FIGS. 14-15 are schematic views of action of a lifting mechanism according to a further embodiment of the present disclosure.

DETAILED DESCRIPTION

Drawings will be used below to disclose embodiments of the present disclosure. For the sake of clear illustration, many practical details will be explained together in the description below. However, it is appreciated that the practical details should not be used to limit the claimed scope. In other words, in some embodiments of the present disclosure, the practical details are not essential. Moreover, for the sake of drawing simplification, some customary structures and elements in the drawings will be schematically shown in a simplified way. Wherever possible, the same reference numbers are used in the drawings and the description to refer to the same or like parts.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meanings as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Reference is made to FIGS. 1-2. FIG. 1 is a side view of a cleaning robot 100 according to an embodiment of the present disclosure. FIG. 2 is a partially bottom view of the cleaning robot 100 of FIG. 1. In this embodiment, as shown in FIGS. 1-2, a cleaning robot 100 includes a main body 110 and a cleaning module 120. For the sake of drawing simplification, the appearance of the main body 110 is drawn by hidden lines in FIG. 1. The main body 110 is configured to move on a floor 300 along a travelling direction DT. The main body 110 includes a main frame 111, and the cleaning module 120 includes a first shaft 121, a plurality of first roller sets 122, a second shaft 126 and a plurality of second roller sets 127. Two opposite ends of the first shaft 121 are connected with the main frame 111 of the main body 110, and the first shaft 121 extends along a first axis X1. Two opposite ends of the second shaft 126 are also connected with the main frame 111 of the main body 110, and the second shaft 126 extends along a second axis X2. The second axis X2 is parallel with the first axis X1. The first axis X1 and the second axis X2 are respectively perpendicular to the travelling direction DT. The first roller sets 122 are separated from each other and are connected with the first shaft 121. The second roller sets 127 are also separated from each other and are connected with the second shaft 126. Both of the first roller sets 122 and the second roller sets 127 are configured to abut against the floor 300, such that the cleaning robot 100 cleans up the floor 300 during movement.

Reference is made to FIG. 3. FIG. 3 is a sectional view of the first roller sets 122 of FIGS. 1-2. To be specific, in this embodiment, as shown in FIG. 3, each of the first roller sets 122 includes a first bearing 1221, a first tire 1222 and a first flexible structure 1223. The first shaft 121 penetrates through the first bearings 1221 along the first axis X1. Each of the first tires 1222 includes a first cleaning surface 1222a. Each of the first cleaning surfaces 1222a is configured to abut against the floor 300 (please see the floor 300 in FIG. 1). To be specific, each of the first cleaning surfaces 1222a is sticky, such that the first cleaning surfaces 1222a can stick up the dust on the floor 300 in order to clean up the floor 300, for example, through the mechanism of static electricity. This way of operation by sticking up the dust to clean up the floor 300 can effectively avoid the condition of raising dust. Moreover, each of the first flexible structures 1223 includes a first inner surface 1223a and a first outer surface 1223b. The first inner surface 1223a abuts against the first bearing 1221. The first outer surface 1223b abuts against the first tire 1222. It is worth to note that, in this embodiment, the first flexible structure 1223 has a first elasticity in a radial direction of the first shaft 121. In this way, when the first tire 1222 is pressed by an external force, the first flexible structure 1223 can be elastically compressed, such that the point of the first tire 1222 at which the first tire 1222 is pressed moves close to the first bearing 1221.

To be more specific, in this embodiment, as shown in FIG. 3, each of the first flexible structures 1223 includes an inner ring 1224, an outer ring 1225 and an elastic portion 1226. The elastic portion 1226 is elastically connected between the inner ring 1224 and the outer ring 1225. The first inner surface 1223a is located at a side of the inner ring 1224 away from the outer ring 1225. The first outer surface 1223b is located at a side of the outer ring 1225 away from the inner ring 1224.

In addition, as shown in FIG. 3, each of the first tires 1222 includes a first sticky colloid 12221 and a first frame 12222. The first frame 12222 is abutted between the first sticky colloid 12221 and the first flexible structure 1223. The first cleaning surface 1222a is located at a side of the first sticky colloid 12221 away from the first frame 12222. The first outer surface 1223b of the first flexible structure 1223 abuts against the first frame 12222. In practical applications, both of the first bearing 1221 and the first frame 12222 of the first tire 1222 are harder than the first flexible structure 1223. This means the first flexible structure 1223 has a higher elasticity than the first frame 12222 and the first bearing 1221.

Reference is made to FIG. 4. FIG. 4 is a sectional view of the second roller sets 127 of FIGS. 1-2. To be specific, in this embodiment, as shown in FIG. 4, each of the second roller sets 127 includes a second bearing 1271, a second tire 1272 and a second flexible structure 1273. The second shaft 126 penetrates through the second bearings 1271 along the second axis X2. Each of the second tires 1272 includes a second cleaning surface 1272a. Each of the second cleaning surfaces 1272a is configured to abut against the floor 300 (please see the floor 300 in FIG. 1). To be specific, each of the second cleaning surfaces 1272a is sticky, such that the second cleaning surfaces 1272a can stick up the dust on the floor 300 in order to clean up the floor 300, for example, through the mechanism of static electricity. This way of operation by sticking up the dust to clean up the floor 300 can effectively avoid the condition of raising dust. Moreover, each of the second flexible structures 1273 includes a second inner surface 1273a and a second outer surface 1273b. The second inner surface 1273a abuts against the second bearing 1271. The second outer surface 1273b abuts against the second tire 1272. It is worth to note that, in this embodiment, the second flexible structure 1273 has a first elasticity in a radial direction of the second shaft 126. In this way, when the second tire 1272 is pressed by an external force, the second flexible structure 1273 can be elastically compressed, such that the point of the second tire 1272 at which the second tire 1272 is pressed moves close to the second bearing 1271.

To be more specific, in this embodiment, as shown in FIG. 4, each of the second flexible structures 1273 includes an inner ring 1274, an outer ring 1275 and an elastic portion 1276. The elastic portion 1276 is elastically connected between the inner ring 1274 and the outer ring 1275. The second inner surface 1273a is located at a side of the inner ring 1274 away from the outer ring 1275. The second outer surface 1273b is located at a side of the outer ring 1275 away from the inner ring 1274.

In addition, as shown in FIG. 4, each of the second tires 1272 includes a second sticky colloid 12721 and a second frame 12722. The second frame 12722 is abutted between the second sticky colloid 12721 and the second flexible structure 1273. The second cleaning surface 1272a is located at a side of the second sticky colloid 12721 away from the second frame 12722. The second outer surface 1273b of the second flexible structure 1273 abuts against the second frame 12722. In practical applications, both of the second bearing 1271 and the second frame 12722 of the second tire 1272 are harder than the second flexible structure 1273. This means the second flexible structure 1273 has a higher elasticity than the second frame 12722 and the second bearing 1271.

On the other hand, as shown in FIGS. 2-3, two adjacent ones of the first cleaning surfaces 1222a define a first gap G1 therebetween. As shown in FIG. 2, each of the first gaps G1 aligns with a corresponding one of the second cleaning surfaces 1272a along the travelling direction DT, and each of the second cleaning surfaces 1272a is wider than the first gap G1. Relatively, as shown in FIGS. 2 and 4, two adjacent ones of the second cleaning surfaces 1272a define a second gap G2 therebetween. As shown in FIG. 2, each of the second gaps G2 aligns with a corresponding one of the first cleaning surfaces 1222a along the travelling direction DT, and each of the first cleaning surfaces 1222a is wider than the second gap G2. In this way, when the cleaning robot 100 moves along the travelling direction DT, the areas of the floor 300 corresponding to the first gaps G1 can be cleaned up by the second cleaning surfaces 1272a, while the areas of the floor 300 corresponding to the second gaps G2 can be cleaned up by the first cleaning surfaces 1222a. Thus, the cleaning effect of the cleaning robot 100 can be effectively enhanced.

Reference is made to FIG. 5. FIG. 5 is a front view of application of the first roller sets 122 of FIGS. 1-2 moving along the travelling direction DT. As mentioned above, since the first flexible structure 1223 has a first elasticity in a radial direction of the first shaft 121, when the cleaning robot 100 moves along the travelling direction DT and encounters an obstacle 310, the first flexible structure 1223 inside each of the first roller sets 122 corresponding to the obstacle 310 can elastically deform relative to the first shaft 121, such that the first tires 1222 of the first roller sets 122 can move over the obstacle 310 and clean up the surface of the obstacle 310. Furthermore, as mentioned above, since the first roller sets 122 are separated from each other, the first roller sets 122 passing by the obstacle 310 are not influenced by the first roller sets 122 moving over the obstacle 310 and can still abut against the floor 300 to clean up the floor 300, as shown in FIG. 5. In this way, the first roller sets 122, which are separated from each other and can respectively and elastically deform relative to the first shaft 121, are suitable to carry out effective cleaning to the floor 300 which is uneven. Hence, the cleaning robot 100 can provide a good cleaning effect. On the other hand, the second roller sets 127 can move over the obstacle 310 by the same principle, and the details are not repeatedly described here.

Reference is made to FIG. 6. FIG. 6 is a front view of one of the first flexible structures 1223 of FIG. 3. In this embodiment, as shown in FIG. 6, the quantity of the elastic portion 1226 of the first flexible structure 1223 is plural, and two adjacent ones of the elastic portion 1226s define a through hole H1 therebetween. In practical applications, for example, each of the through holes H1 is of a parallelogram in shape. Each of the acute angles & of the parallelogram can be ranged between 30 degrees and 60 degrees. The smaller the acute angles &, the higher the elasticity of the elastic portions 1226 will be. Similarly, in this embodiment, the second flexible structure 1273 can be structurally the same as the first flexible structure 1223, and the details are not repeatedly described here.

Reference is made to FIG. 7. FIG. 7 is a front view of a first flexible structure 1223 according to another embodiment of the present disclosure. In this embodiment, as shown in FIG. 7, the quantity of the elastic portion 1226 of the first flexible structure 1223 is plural, and two adjacent ones of the elastic portions 1226 define a through hole H1 therebetween. In practical applications, for example, each of the through holes H1 is of an arrow shape. Similarly, in this embodiment, the second flexible structure 1273 can be structurally the same as the first flexible structure 1223, and the details are not repeatedly described here.

Reference is made to FIG. 8. FIG. 8 is a front view of a first flexible structure 1223 according to a further embodiment of the present disclosure. In this embodiment, as shown in FIG. 8, the first flexible structure 1223 includes an inner ring 1224 and a plurality of springs 1227. The first inner surface 1223a is located at the inner ring 1224. The springs 1227 surround and are respectively connected with the inner ring 1224. The first outer surface 1223b includes a plurality of subsidiary outer surfaces 1223b′. Each of the subsidiary outer surfaces 1223b′ is located at a side of a corresponding one of the springs 1227 away from the inner ring 1224, and the subsidiary outer surfaces 1223b′ respectively abut against the first frame 12222 (please see FIG. 3 for the first frame 12222) of the first tire 1222. Similarly, in this embodiment, the second flexible structure 1273 can be structurally the same as the first flexible structure 1223, and the details are not repeatedly described here.

Reference is made to FIG. 9. FIG. 9 is a three-dimensionally sectional view of a first flexible structure 1223 according to another embodiment of the present disclosure. In this embodiment, as shown in FIG. 9, the first flexible structure 1223 includes an inner ring 1224, an outer ring 1225 and an elastic body 1228. The first inner surface 1223a is located at a side of the inner ring 1224 away from the outer ring 1225. The first outer surface 1223b is located at a side of the outer ring 1225 away from the inner ring 1224. The elastic body 1228 is elastically connected between the inner ring 1224 and the outer ring 1225. The elastic body 1228 includes a plurality of annular elastic sheets 1229. The annular elastic sheets 1229 are connected with each other and are respectively inclined to the inner ring 1224 and the outer ring 1225. To be more specific, the inner ring 1224, the outer ring 1225 and the annular elastic sheets 1229 are mutually concentric. Similarly, in this embodiment, the second flexible structure 1273 can be structurally the same as the first flexible structure 1223, and the details are not repeatedly described here.

Reference is made to FIG. 10. FIG. 10 is a top view of application of the cleaning module 120 of FIGS. 1-2. In this embodiment, since the first roller sets 122 are separated from each other and the second roller sets 127 are also separated from each other, when the cleaning robot 100 turns, the rotational speeds of the first roller sets 122 can be different from each other and are not influenced by each other, while the rotational speeds of the second roller sets 127 can also be different from each other and are not influenced by each other. Thus, the condition that first roller sets 122 or the second roller sets 127 rub against the floor 300 due to insufficient rotational speeds can be avoided. Therefore, the smoothness of the cleaning robot 100 when turning is effectively enhanced. Take the first roller sets 122 as an example, as shown in FIG. 10, when the cleaning module 120 rotates on the floor 300 about a center of rotation CR of the cleaning robot 100, the moving distance U of the first roller set 122 away from the center of rotation CR on the floor 300 is longer than moving distance V of the first roller set 122 close to the center of rotation CR. Thus, the rotational speed of the first roller set 122 away from the center of rotation CR is faster than the rotational speed of the first roller set 122 close to the center of rotation CR.

Reference is made to FIGS. 1 and 11. FIG. 11 is a schematic view of action of the lifting mechanism 140 of FIG. 1. In this embodiment, as shown in FIGS. 1 and 11, the cleaning robot 100 further includes a sticky roller 130 and a lifting mechanism 140. The sticky roller 130 is configured to abut against the first cleaning surfaces 1222a of the first tires 1222 and the second cleaning surfaces 1272a of the second tires 1272, and to remove the dust stuck on the first cleaning surfaces 1222a and the second cleaning surfaces 1272a, so as to clean up the first cleaning surfaces 1222a and the second cleaning surfaces 1272a. The lifting mechanism 140 includes a supporting frame 141, a plurality of wheels 142, a first connecting portion 143, a second connecting portion 144, a driving device 145 and a threaded rod 146 (please see FIG. 11 for the second connecting portion 144 and the threaded rod 146 since they are blocked by the main frame 111 in FIG. 10). The wheels 142 are disposed on the supporting frame 141 and support the sticky roller 130. Due to the support by the wheels 142, the sticky roller 130 can rotate relative to the supporting frame 141. The first connecting portion 143 is connected to a side of the supporting frame 141 and is movably connected with the main frame 111 of the main body 110. The second connecting portion 144 is connected to another side of the supporting frame 141 and has a screw hole HS (please see FIG. 11 for the screw hole HS). The driving device 145 is disposed on the main frame 111. The threaded rod 146 is connected with the driving device 145. The screw hole HS of the second connecting portion 144 is coupled with the threaded rod 146. The driving device 145 is configured to rotate the threaded rod 146.

To be more specific, as shown in FIGS. 1 and 11, the second connecting portion 144 further includes a first subsidiary connecting portion 1441, a second subsidiary connecting portion 1442 (please see FIG. 11) and a connecting piece 1443. The first subsidiary connecting portion 1441 is connected with the supporting frame 141. The screw hole HS is located at the second subsidiary connecting portion 1442. The connecting piece 1443 has a first end 1443a and a second end 1443b opposite to the first end 1443a. The first end 1443a is pivotally connected with the first subsidiary connecting portion 1441. The second end 1443b is pivotally connected with the second subsidiary connecting portion 1442.

When the driving device 145 rotates the threaded rod 146, since the screw hole HS of the second subsidiary connecting portion 1442 is coupled with the threaded rod 146 and the second subsidiary connecting portion 1442 does not rotate with the threaded rod 146 due to the connection with the connecting piece 1443, the second subsidiary connecting portion 1442 moves along the threaded rod 146. The second subsidiary connecting portion 1442 then drives the movement of the connecting piece 1443 and the first subsidiary connecting portion 1441. For example, as shown in FIG. 11, when the second subsidiary connecting portion 1442 moves towards the driving device 145 along the threaded rod 146, the second subsidiary connecting portion 1442 then drives the movement of the connecting piece 1443 and the first subsidiary connecting portion 1441, such that the supporting frame 141 moves with the first subsidiary connecting portion 1441 and leaves from the first tires 1222 and the second tires 1272. Thus, the sticky roller 130 supported by the supporting frame 141 also leaves from the first cleaning surfaces 1222a of the first tires 1222 and the second cleaning surfaces 1272a of the second tires 1272. This means the sticky roller 130 no longer abuts against the first cleaning surfaces 1222a and the second cleaning surfaces 1272a. In this way, when the cleaning robot 100 turns such that the rotational speeds of the first roller sets 122 and the rotational speeds of the second roller sets 127 are different from each other, through the operation of the lifting mechanism 140 as mentioned above, the sticky roller 130 can temporarily leave from the first cleaning surfaces 1222a of the first tires 1222 and the second cleaning surfaces 1272a of the second tires 1272. Apart from avoiding the sticky roller 130 from rubbing to damage by the first cleaning surfaces 1222a or the second cleaning surfaces 1272a due to the different rotational speeds of the first roller sets 122 or the different rotational speeds of the second roller sets 127, the rotational speeds of the first roller sets 122 and the rotational speeds of the second roller sets 127 are not influenced due to rubbing of the sticky roller 130 against the first cleaning surfaces 1222a and the second cleaning surfaces 1272a. Thus, the smoothness of the cleaning robot 100 when turning is effectively enhanced.

Moreover, when replacement is requirement for the sticky roller 130 or the first roller sets 122 and/or the second roller sets 127 of the cleaning module 120, through the operation of the lifting mechanism 140 as mentioned above, the sticky roller 130 can temporarily leave from the first cleaning surfaces 1222a of the first tires 1222 and the second cleaning surfaces 1272a of the second tires 1272, which facilitates the replacement of the sticky roller 130, the first roller sets 122 or the second roller sets 127.

Furthermore, as shown in FIGS. 1 and 11, the first connecting portion 143 includes two connecting rods 1431. The two connecting rods 1431 are arranged in parallel. Each of the connecting rods 1431 has a first end 1431 a and a second end 1431b opposite to the first end 1431a. The first end 1431a is pivotally connected with the supporting frame 141. The second end 1431b is pivotally connected with the main frame 111. In this way, the first ends 1431a and the second ends 1431b of the two connecting rods 1431 together form a parallelogram. When the supporting frame 141 is driven by the driving device 145 to leave from the first tires 1222 and the second tires 1272, the two connecting rods 1431 respectively rotate about the corresponding first end 1431a and the second end 1431b, such that the first ends 1431a and the second ends 1431b of the two connecting rods 1431 can maintain the shape of a parallelogram. In this way, when the supporting frame 141 moves relative to the main frame 111, the supporting frame 141 does not incline relative to the main frame 111.

Reference is made to FIGS. 12-13. FIGS. 12-13 are schematic views of action of a lifting mechanism 140 according to another embodiment of the present disclosure. In this embodiment, as shown in FIGS. 12-13, the first connecting portion 143 of the lifting mechanism 140 is pivotally connected with the main frame 111. When the supporting frame 141 is driven by the driving device 145 to leave from the first tires 1222 and the second tires 1272, the supporting frame 141 rotates with the first connecting portion 143 relative to the main frame 111, such that the supporting frame 141 is inclined relative to the main frame 111.

Reference is made to FIGS. 14-15. FIGS. 14-15 are schematic views of action of a lifting mechanism 140 according to a further embodiment of the present disclosure. In this embodiment, as shown in FIGS. 14-15, the screw hole HS is located at the second connecting portion 144, and the main body 110 further includes a guiding rod 112. The guiding rod 112 is connected with the main frame 111 and is parallel with the threaded rod 146 of the lifting mechanism 140. The first connecting portion 143 of the lifting mechanism 140 has a through hole H2, and the guiding rod 112 penetrates through the through hole H2 of the first connecting portion 143. When the driving device 145 rotates the threaded rod 146, since the screw hole HS of the second connecting portion 144 is coupled with the threaded rod 146 and the second connecting portion 144 does not rotate with the threaded rod 146 due to the connection with the supporting frame 141, the second connecting portion 144 moves along the threaded rod 146. For example, as shown in FIG. 15, when the second connecting portion 144 moves towards the driving device 145 along the threaded rod 146, the second connecting portion 144 then drives the movement of the supporting frame 141, such that the supporting frame 141 also moves with the second connecting portion 144 to leave from the first tires 1222 and the second tires 1272. Thus, the sticky roller 130 supported by the supporting frame 141 also leaves from the first cleaning surfaces 1222a of the first tires 1222 and the second cleaning surfaces 1272a of the second tires 1272. This means the sticky roller 130 no longer abuts against the first cleaning surfaces 1222a and the second cleaning surfaces 1272a. Moreover, as mentioned above, since the guiding rod 112 penetrates through the through hole H2 of the first connecting portion 143, the guiding rod 112 can provide guidance to the movement of the supporting frame 141 relative to the main frame 111.

In conclusion, the aforementioned embodiments of the present disclosure have at least the following advantages:

(1) Since the first flexible structure has a first elasticity in a radial direction of the first shaft, when the cleaning robot moves along the travelling direction and encounters an obstacle, the first flexible structure inside each of the first roller sets corresponding to the obstacle can elastically deform relative to the first shaft, such that the first tires of the first roller sets can move over the obstacle and clean up the surface of the obstacle. Furthermore, since the first roller sets are separated from each other, the first roller sets passing by the obstacle are not influenced by the first roller sets moving over the obstacle and can still abut against the floor to clean up the floor. In this way, the first roller sets, which are separated from each other and can respectively and elastically deform relative to the first shaft, are suitable to carry out effective cleaning to the floor which is uneven. Hence, the cleaning robot can provide a good cleaning effect.

(2) Since the first roller sets are separated from each other and the second roller sets are separated from each other, when the cleaning robot turns, the rotational speeds of the first roller sets can be different from each other and are not influenced by each other, while the rotational speeds of the second roller sets can also be different from each other and are not influenced by each other. Thus, the condition that first roller sets or the second roller sets rub against the floor due to insufficient rotational speeds can be avoided. Therefore, the smoothness of the cleaning robot when turning is effectively enhanced.

(3) When the cleaning robot turns such that the rotational speeds of the first roller sets and the rotational speeds of the second roller sets are different from each other, through the operation of the lifting mechanism, the sticky roller can temporarily leave from the first cleaning surfaces of the first tires and the second cleaning surfaces of the second tires. Apart from avoiding the sticky roller from rubbing to damage by the first cleaning surfaces or the second cleaning surfaces due to the different rotational speeds of the first roller sets or the different rotational speeds of the second roller sets, the rotational speeds of the first roller sets and the rotational speeds of the second roller sets are not influenced due to the sticky roller rubbing against the first cleaning surfaces and the second cleaning surfaces. Thus, the smoothness of the cleaning robot when turning is effectively enhanced.

Although the present disclosure has been described in considerable detail with reference to certain embodiments thereof, other embodiments are possible. Therefore, the spirit and scope of the appended claims should not be limited to the description of the embodiments contained herein.

It will be apparent to the person having ordinary skill in the art that various modifications and variations can be made to the structure of the present disclosure without departing from the scope or spirit of the present disclosure. In view of the foregoing, it is intended that the present disclosure cover modifications and variations of the present disclosure provided they fall within the scope of the following claims.

Claims

1. A cleaning robot, comprising:

a main body configured to move on a floor along a travelling direction; and

a cleaning module, comprising: a first shaft connected with the main body, the first shaft extending along a first axis perpendicular to the travelling direction; and a plurality of first roller sets separated from each other, each of the first roller sets comprising: a first bearing, the first shaft penetrating through the first bearing; a first tire comprising a first cleaning surface configured to abut against the floor; and a first flexible structure comprising a first inner surface and a first outer surface, the first inner surface abutting against the first bearing, the first outer surface abutting against the first tire, the first flexible structure having a first elasticity.

2. The cleaning robot of claim 1, wherein each of the first flexible structures comprises:

an inner ring, a corresponding one of the first inner surfaces is located at the inner ring;

an outer ring, a corresponding one of the first outer surfaces is located at the outer ring; and

a plurality of elastic portions elastically connected between the inner ring and the outer ring, two adjacent ones of the elastic portions define a through hole therebetween.

3. The cleaning robot of claim 2, wherein each of the through holes is of a parallelogram.

4. The cleaning robot of claim 2, wherein each of the through holes is of an arrow shape.

5. The cleaning robot of claim 1, wherein each of the first flexible structures comprises:

an inner ring, a corresponding one of the first inner surfaces is located at the inner ring; and

a plurality of springs surrounding and respectively connected with the inner ring, a corresponding one of the first outer surfaces comprises a plurality of subsidiary outer surfaces, each of the subsidiary outer surfaces is located at a side of a corresponding one of the springs away from the inner ring.

6. The cleaning robot of claim 1, wherein each of the first flexible structures comprises:

an inner ring, a corresponding one of the first inner surfaces is located at the inner ring;

an outer ring, a corresponding one of the first outer surfaces is located at the outer ring; and

an elastic body elastically connected between the inner ring and the outer ring, the elastic body comprises a plurality of annular elastic sheets connected with each other and respectively inclined to the inner ring and the outer ring.

7. The cleaning robot of claim 1, wherein each of the first tires comprises:

a first sticky colloid, a corresponding one of the first cleaning surfaces is located at the first sticky colloid; and

a first frame abutting between the first sticky colloid and a corresponding one of the first flexible structures, the first frame is harder than the first flexible structure.

8. The cleaning robot of claim 1, wherein the cleaning module further comprises:

a second shaft connected with the main body, the second shaft extends along a second axis parallel with the first axis; and

a plurality of second roller sets separated from each other, each of the second roller sets comprises: a second bearing, the second shaft penetrates through the second bearing; a second tire comprising a second cleaning surface configured to abut against the floor; and a second flexible structure comprising a second inner surface and a second outer surface, the second inner surface abuts against the second bearing, the second outer surface abuts against the second tire, the second flexible structure has a second elasticity,

wherein two adjacent ones of the second cleaning surfaces define a gap therebetween, each of the gaps aligns with a corresponding one of the first cleaning surfaces along the travelling direction.

9. The cleaning robot of claim 1, wherein the main body comprises a main frame, two opposite ends of the first shaft are connected with the main frame, the cleaning robot further comprises:

a sticky roller configured to abut against and clean up the first tires; and

a lifting mechanism, comprises: a supporting frame; a plurality of wheels disposed on the supporting frame and supporting the sticky roller; a first connecting portion connected to a side of the supporting frame and movably connected with the main frame; a second connecting portion connected to another side of the supporting frame and having a screw hole; a driving device disposed on the main frame; and a threaded rod coupled with the screw hole, the driving device is configured to rotate the threaded rod.

10. The cleaning robot of claim 9, wherein the second connecting portion further comprises:

a first subsidiary connecting portion connected with the supporting frame;

a second subsidiary connecting portion, the screw is located at the second subsidiary connecting portion; and

a connecting piece having a first end and a second end opposite to the first end, the first end is pivotally connected with the first subsidiary connecting portion, the second end is pivotally connected with the second subsidiary connecting portion.

11. The cleaning robot of claim 9, wherein the first connecting portion is pivotally connected with the main frame.

12. The cleaning robot of claim 9, wherein the main body further comprises a guiding rod connected with the main frame and parallel with the threaded rod, the first connecting portion has a through hole, the guiding rod penetrates through the through hole.

13. The cleaning robot of claim 9, wherein the first connecting portion comprises two connecting rods arranged in parallel, each of the connecting rods has a first end and a second end opposite to the first end, the first end is pivotally connected with the supporting frame, the second end is pivotally connected with the main frame.

14. A cleaning robot, comprising:

a main body configured to move on a floor along a travelling direction; and

a cleaning module, comprising: a shaft connected with the main body, the shaft extending along an axis perpendicular to the travelling direction; and a plurality of roller sets separated from each other, each of the roller sets comprising: a bearing, the shaft penetrating through the bearings; a tire comprising a cleaning surface configured to abut against the floor, the tire having a center; and a flexible structure connecting between the bearing and the tire, the flexible structure being deformable such that the center is movable relative to the axis.

15. The cleaning robot of claim 14, wherein each of the flexible structures comprises:

an inner ring connecting with the bearing;

an outer ring connecting with the tire; and

a plurality of elastic portions elastically connected between the inner ring and the outer ring, two adjacent ones of the elastic portions define a through hole therebetween.

16. The cleaning robot of claim 15, wherein each of the through holes is shaped with at least one acute angle.

17. The cleaning robot of claim 14, wherein each of the flexible structures comprises:

an inner ring connecting with the bearing; and

a plurality of springs evenly surrounding and respectively connected with the inner ring, the springs abutting against the tire.

18. The cleaning robot of claim 14, wherein each of the flexible structures comprises:

an inner ring connected with the bearing;

an outer ring connected with the tire; and

an elastic body elastically connected between the inner ring and the outer ring, the elastic body comprises a plurality of annular elastic sheets connected with each other and respectively inclined to the inner ring and the outer ring.

19. The cleaning robot of claim 14, wherein each of the tires comprises:

a sticky colloid, a corresponding one of the cleaning surfaces is located at the sticky colloid; and

a frame connecting between the sticky colloid and a corresponding one of the flexible structures, the flexible structures are more flexible than the frames.

20. A cleaning robot, comprising:

a main body configured to move on a floor along a travelling direction, the main body having a main frame;

a cleaning module, comprising: a shaft extending along an axis perpendicular to the travelling direction, two opposite ends of the shaft are connected with the main frame; and a plurality of roller sets separated from each other, the shaft penetrating through the roller sets, each of the roller sets having a cleaning surface configured to abut against the floor;

a sticky roller configured to abut against and clean up the cleaning surfaces; and

a lifting mechanism, comprising: a supporting frame; a plurality of wheels disposed on the supporting frame and supporting the sticky roller; a first connecting portion connected to a side of the supporting frame and movably connected with the main frame; a second connecting portion connected to another side of the supporting frame and having a screw hole; a driving device disposed on the main frame; and a threaded rod coupled with the screw hole, the driving device being configured to rotate the threaded rod relative to the main frame.