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.

What is claimed is: 
     
         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.