Scraper mechanism for robotic vacuum cleaner and robotic vacuum cleaner

Abstract

The invention relates to the technical field of sweeping machines, and discloses a scraping plate mechanism for a sweeping robot and the sweeping robot, and the scraping plate mechanism comprises a driving connecting part used for being connected with a sweeping robot body; the scraping plate part is in driving connection with the driving connection part, the scraping plate part has an avoiding state and a working state, and the scraping plate part comprises a scraping piece used for cleaning the ground; the driving connecting part is configured to drive the scraping plate part to move from the avoiding state to the working state, and the overall movement of the scraping plate part at least comprises a horizontal movement component in the reverse advancing direction of the sweeping robot and a vertical movement component towards the ground. According to the scraping plate mechanism and the sweeping robot, the structure of the scraping plate part and the driving connecting part is arranged on the robot body, and the configuration action of the scraping plate mechanism is combined, so that on one hand, the sweeping robot can sweep an area where the body cannot reach, and on the other hand, the sweeping robot can be retracted to avoid obstacles when the sweeping robot advances.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202610186768.5 (22) Application Date 2026.02.09 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Jiang Zhiwei, Li Shengban, Yong Wei, Xiaoxiang (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Yong Ding (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 282 (2006.01) A47L 11 / 284 (2006.01) (54) Invention Title: Scraper Mechanism for a Sweeping Robot and a Sweeping Robot (57) Abstract: This invention relates to the field of sweeping robot technology and discloses a scraper mechanism for a sweeping robot and a sweeping robot. The scraper mechanism includes: a drive connection part for connecting to the sweeping robot body; a scraper part for driving connection to the drive connection part, the scraper part having an avoidance state and a working state, the scraper part including a scraping component for cleaning the floor; the drive connection part is configured such that when the scraper part is driven to move from the avoidance state to the working state, the overall movement of the scraper part has at least a horizontal movement component in the opposite direction of the sweeping robot's movement and a vertical movement component towards the ground. This scraper mechanism and sweeping robot have a structure of a scraper part and a drive connection part on the robot body, and combined with the configuration action of the scraper mechanism, the sweeping robot can clean areas that the body cannot reach, and can also retract to avoid obstacles when the sweeping robot is moving. Claims 3 pages, Description 9 pages, Drawings 2 pages, CN 121714188 A 2026.03.24 CN 1 21 71 41 88 A 1. A scraper mechanism for a sweeping robot, characterized in that it comprises: a drive connection part for connecting to the sweeping robot body; a scraper part for drive connection with the drive connection part, the scraper part having an avoidance state and a working state, the scraper part including a scraping component for cleaning the floor; the drive connection part is configured such that when the scraper part is driven to move from the avoidance state to the working state, the overall movement of the scraper part has at least a horizontal movement component in the opposite direction of the sweeping robot's movement and a vertical movement component towards the ground. 2. The scraper mechanism according to claim 1, characterized in that, in the avoidance state, the scraper part is housed within the horizontal projection range of the sweeping robot body, and in the working state, the scraper part extends at least partially.3. The scraper mechanism according to claim 1, wherein the drive connection part includes a first drive unit, the first drive unit being used to drive the scraper part to generate a horizontal motion component in the opposite direction of the sweeping robot's movement. 4. The scraper mechanism according to claim 3, wherein the drive connection part further includes a drive link driven by the first drive unit, the drive link being hinged to the scraper part, the first drive unit driving the drive link to move in the opposite direction of the sweeping robot's movement, thereby causing the scraper part to generate a corresponding horizontal motion component. 5. The scraper mechanism according to claim 4, wherein the drive connection part further includes a passive link, the passive link being arranged parallel to the drive link, and both ends being connected to the sweeping robot body and the scraper part respectively, such that the drive link, the passive link, the scraper part and the sweeping robot body form a parallelogram linkage mechanism. 6. The scraper mechanism according to claim 1 or 3, wherein the scraper mechanism includes a second drive unit, the second drive unit being used to drive the scraper part to generate the vertical motion component towards the ground. 7. The scraper mechanism according to claim 1, wherein the scraper mechanism includes a second driving unit, the second driving unit applying a force to the scraper to cause it to contact the ground. 8. The scraper mechanism according to claim 7, wherein the scraper portion includes a scraper support rod and a scraper support shaft, the scraper is rotatably connected to the scraper support rod via the scraper support shaft, and the second driving unit drives the scraper to rotate around the scraper support shaft toward the ground to achieve ground contact in the working state. 9. The scraper mechanism according to claim 7, wherein the second driving unit is a torsion spring, the torsion spring being configured to release elastic force when the scraper portion moves from the avoidance state to the working state, driving the scraper to rotate toward the ground. 10. The scraper mechanism according to claim 1, wherein the horizontal motion component includes a backward motion component parallel to the opposite direction of the sweeping robot's movement and a lateral motion component perpendicular to the opposite direction of the sweeping robot's movement. 11. A sweeping robot, comprising a robot body, a cleaning unit disposed at the bottom of the body, and a scraper mechanism as described in any one of claims 1 to 9. 12. A scraper mechanism for a robotic vacuum cleaner, characterized in that it comprises: a first drive unit; a second drive unit; a scraper portion, which is driveably connected to the first drive unit and the second drive unit; the first drive unit is configured to drive the scraper portion to perform a first stage of motion to generate a lateral displacement that is primarily parallel to the ground and in the opposite direction of the robotic vacuum cleaner's movement; Claims 1 / 3 page 2 CN 121714188 AThe second drive unit is configured to drive the scraper portion to perform a second stage of movement to generate a vertical displacement mainly towards the ground; wherein the first stage and the second stage are executed sequentially or partially overlapped to cause the scraper portion to switch from an avoidance state to an operating state. 13. A sweeping robot, characterized in that it includes a robot body, a cleaning unit disposed at the bottom of the body, and a scraper mechanism as described in claim 12. 14. A sweeping robot, characterized in that it includes: a robot body having a traveling direction; a cleaning unit disposed at the bottom of the robot body; a scraper mechanism including a drive connection portion and a scraper portion; the drive connection portion is configured to drive the scraper portion to switch between an avoidance state and an operating state; when the scraper portion switches from the avoidance state to the operating state, the scraper portion generates a horizontal displacement away from the rear edge of the cleaning unit and in the opposite direction of travel, and at least a portion of the scraper portion reaches a position contacting or close to the ground. 15. The sweeping robot according to claim 14, wherein the drive connection part includes a first drive unit, the first drive unit being used to drive the scraper part to generate the horizontal displacement. 16. The sweeping robot according to claim 15, wherein the drive connection part includes a drive link and a passive link, the drive link being driven by the first drive unit to move in the opposite direction of travel, the drive link and the passive link being arranged parallel to each other, and both ends being hinged to the robot body and the scraper part respectively, forming a parallelogram linkage mechanism to drive the scraper part to smoothly generate a horizontal displacement. 17. The sweeping robot according to claim 15, wherein the drive connection part further includes a second drive unit, the second drive unit being used to drive the scraper component of the scraper part to move towards the ground, thereby achieving ground cleaning contact. 18. The sweeping robot according to claim 17, wherein the second drive unit is an elastic component, the second drive unit applying an elastic force to the scraper component, causing the scraper component to tend to contact the ground. 19. The sweeping robot according to claim 18, wherein the scraper portion further includes a scraper support rod and a scraper support shaft, the scraping member is rotatably connected to the scraper support rod via the scraper support shaft, and the second drive unit drives the scraping member to rotate around the scraper support shaft. 20. A sweeping robot, comprising: a robot body; a scraper mechanism mounted on the robot body, the scraper mechanism including a scraper portion; the scraper mechanism being movable between a clearance position and a working position; the scraper mechanism being configured to: drive the scraper portion from a clearance position to a working position along a predetermined, spatially continuous trajectory, the projection of the trajectory in the robot's travel direction pointing rearward, and the trajectory extending entirely towards the ground.21. The sweeping robot according to claim 20, wherein the continuous trajectory is arc-shaped. 22. The sweeping robot according to claim 20, wherein the scraper mechanism includes a first drive unit and a second drive unit, the first drive unit and the second drive unit being controlled to operate synchronously or according to a set timing sequence to synthesize the continuous trajectory. Claims 2 / 3 pages 3 CN 121714188 A 23. The sweeping robot according to claim 20, wherein the scraper mechanism includes a fixed part disposed on the robot body and a drive part connected to the scraper part, the fixed part having a curved guide groove, the drive part being able to slide within the curved guide groove, the shape of the curved guide groove defining the predetermined continuous trajectory, and the drive part being driven by the power unit of the scraper mechanism to move along the guide groove. Claims 3 / 3 pages 4 CN 121714188 A Scraper Mechanism for Sweeping Robot and Sweeping Robot Technical Field

[0001] This invention relates to the field of sweeping robot technology, specifically to a scraper mechanism for sweeping robot and a sweeping robot. Background Art

[0002] Sweeping robots are mainly used for autonomous cleaning of floors and are currently an important electrical appliance for indoor floor cleaning. Most mainstream sweeping robots currently clean floors using rollers or vacuum cleaners at the bottom of the machine. This structure of sweeping robots has a drawback: they cannot clean areas that they cannot reach themselves using the bottom rollers or vacuum cleaners, which limits their cleaning range. Summary of the Invention

[0003] The embodiments of the present invention provide a scraper mechanism for a sweeping robot and a sweeping robot that can improve the cleaning range of the sweeping robot.

[0004] To achieve the above objective, a first aspect of the present invention provides a scraper mechanism for a sweeping robot, comprising: a drive connection portion for connecting to the sweeping robot body; a scraper portion for drive connection to the drive connection portion, the scraper portion having an avoidance state and an operating state, the scraper portion including a scraping member for cleaning the floor; the drive connection portion being configured such that when the scraper portion is driven to move from the avoidance state to the operating state, the overall movement of the scraper portion has at least a horizontal movement component in the opposite direction of the sweeping robot's movement and a vertical movement component toward the ground.

[0005] Optionally, in the avoidance state, the scraper portion is contained within the horizontal projection range of the sweeping robot body, and in the operating state, the scraper portion extends at least partially beyond the horizontal projection range.

[0006] Optionally, the drive connection portion includes a first drive unit, the first drive unit being used to drive the scraper portion to generate a horizontal movement component in the opposite direction of the sweeping robot's movement.

[0007] Optionally, the drive connection part further includes a drive link driven by the first drive unit. The drive link is hinged to the scraper part. The first drive unit drives the drive link to move in the opposite direction of the sweeping robot's movement, thereby causing the scraper part to generate a corresponding horizontal motion component.

[0008] Optionally, the drive connection part further includes a passive link. The passive link is arranged parallel to the drive link, and its two ends are respectively connected to the sweeping robot body and the scraper part, so that the drive link, the passive link, the scraper part and the sweeping robot body form a parallelogram linkage mechanism.

[0009] Optionally, the scraper mechanism includes a second drive unit. The second drive unit is used to drive the scraper part to generate the vertical motion component towards the ground.

[0010] Optionally, the scraper mechanism includes a second drive unit. The second drive unit applies a force to the scraper to make it tend to contact the ground.

[0011] Optionally, the scraper portion includes a scraper support rod and a scraper support shaft. The scraping member is rotatably connected to the scraper support rod via the scraper support shaft. The second drive unit drives the scraping member to rotate around the scraper support shaft toward the ground to achieve ground contact in the working state.

[0012] Optionally, the second drive unit is a torsion spring, which is configured to release elastic force when the scraper portion moves from the avoidance state to the working state, driving the scraping member to rotate toward the ground.

[0013] Optionally, the horizontal motion component includes a backward motion component parallel to the opposite direction of the sweeping robot's movement and a lateral motion component perpendicular to the opposite direction of the sweeping robot's movement.

[0014] In a second aspect, the present invention also provides a sweeping robot, including a robot body, a cleaning unit disposed at the bottom of the body, and a scraper mechanism as described in any of the above.

[0015] In a third aspect, the present invention also provides a scraper mechanism for a sweeping robot, comprising: a first drive unit; a second drive unit; and a scraper portion, which is driveably connected to the first drive unit and the second drive unit; the first drive unit is configured to drive the scraper portion to perform a first stage of movement to generate a lateral displacement mainly parallel to the ground and in the opposite direction of the sweeping robot's movement; the second drive unit is configured to drive the scraper portion to perform a second stage of movement to generate a vertical displacement mainly towards the ground; wherein the first stage and the second stage are performed sequentially or partially overlapped to cause the scraper portion to transition from an avoidance state to a working state.

[0016] In a fourth aspect, the present invention also provides a sweeping robot, comprising a robot body, a cleaning unit disposed at the bottom of the body, and a scraper mechanism as described above.

[0017] In a fifth aspect, the present invention also provides a sweeping robot, comprising:A robot body has a traveling direction; a cleaning unit is disposed at the bottom of the robot body; a scraper mechanism includes a drive connection part and a scraper part; the drive connection part is configured to drive the scraper part to switch between an avoidance state and a working state; when the scraper part switches from the avoidance state to the working state, the scraper part generates a horizontal displacement away from the rear edge of the cleaning unit and in the opposite direction of travel, and at least a portion of the scraper part reaches a position in contact with or close to the ground.

[0018] Optionally, the drive connection part includes a first drive unit, which is used to drive the scraper part to generate the horizontal displacement.

[0019] Optionally, the drive connection part includes a drive link and a passive link, the drive link is driven by the first drive unit to move in the opposite direction of travel, the drive link and the passive link are arranged parallel to each other, and both ends are respectively hinged to the robot body and the scraper part to form a parallelogram linkage mechanism, so as to drive the scraper part to generate a smooth horizontal displacement.

[0020] Optionally, the drive connection portion further includes a second drive unit, which drives the scraping member of the scraper portion to move towards the ground, so as to achieve ground cleaning contact.

[0021] Optionally, the second drive unit is an elastic member, which applies an elastic force to the scraping member, causing the scraping member to tend to contact the ground.

[0022] Optionally, the scraper portion further includes a scraper support rod and a scraper support shaft, the scraping member is rotatably connected to the scraper support rod through the scraper support shaft, and the second drive unit drives the scraping member to rotate around the scraper support shaft. Instruction manual, pages 2 / 9, CN 121714188 A

[0023] In a sixth aspect, the present invention also provides a sweeping robot, comprising: a robot body; a scraper mechanism mounted on the robot body, the scraper mechanism including a scraper portion; the scraper mechanism being movable between an avoidance position and a working position; the scraper mechanism being configured to drive the scraper portion from an avoidance position along a predetermined, spatially continuous trajectory to a working position, the projection of the trajectory in the robot's travel direction pointing backward, and the trajectory extending entirely toward the ground.

[0024] Optionally, the continuous trajectory is arc-shaped.

[0025] Optionally, the scraper mechanism includes a first drive unit and a second drive unit, the first drive unit and the second drive unit being controlled to operate synchronously or according to a set timing sequence to synthesize the continuous trajectory.

[0026] Optionally, the scraper mechanism includes a fixed part disposed on the robot body and a driving part connected to the scraper part. The fixed part is provided with a curved guide groove, and the driving part can slide within the curved guide groove. The shape of the curved guide groove defines the predetermined continuous trajectory, and the driving part is driven by the power unit of the scraper mechanism to move along the guide groove.

[0027] Through the above technical solution, the embodiments of the present invention provide a scraper mechanism for a sweeping robot and a sweeping robot. The scraper mechanism and the sweeping robot have a structure in which a scraper part and a drive connection part are provided on the robot body. Combined with the configuration and action of the scraper mechanism, the sweeping robot can clean areas that the main body cannot reach, and can also retract to avoid obstacles when the sweeping robot is moving. Brief Description of the Drawings

[0028] Figure 1 is a structural schematic diagram of the working state of the scraper mechanism for a sweeping robot according to an embodiment of the present invention; Figure 2 is a structural schematic diagram of the avoidance state of the scraper mechanism for a sweeping robot according to an embodiment of the present invention; Figure 3 is a structural schematic diagram of the scraper mechanism for a sweeping robot according to an embodiment of the present invention.

[0029] Explanation of reference numerals 10, drive connection part; 11, drive link; 12, passive link; 20, scraper part; 21, scraping component; 22, scraper support rod; 23, scraper support shaft; 24, torsion spring; 25, contact part. Detailed Implementation

[0030] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of laws and regulations. In the embodiments of this application, some software, components, models, and other existing solutions in the industry may be mentioned. They should be considered as exemplary, and their purpose is only to illustrate the feasibility of the implementation of the technical solution of this application, but it does not mean that the applicant has used or necessarily used the solution.

[0031] In this application, unless otherwise explicitly defined, the directional terms are defined as follows: Based on the posture of the sweeping robot when it is moving forward normally, its forward direction is defined as "forward" or "positive", and the opposite direction is defined as "rear" or "reverse". The direction perpendicular to the front-back direction and parallel to the cleaning surface is defined as "lateral". Specifically, when facing forward, the left side is "left side", and the right side is "right side". The term "lateral extension" should be understood to include, but is not limited to: extension along a pure left-right direction, oblique extension at an acute angle with the front-back direction (i.e., having both a rearward component and a lateral component), and any extension movement that causes the scraper part to extend beyond the side contour of the robot body. Instruction manual, pages 3 / 9, CN 121714188 A

[0032] Sweeping robots are mainly used for autonomous cleaning of floors and are currently important electrical appliances for indoor floor cleaning. Currently, mainstream sweeping robots mainly clean the floor using rollers or vacuum cleaners at the bottom of the machine. This structure of sweeping robots has a drawback: for areas that the sweeping robot cannot reach itself, it is difficult to clean using the rollers or vacuum cleaners at the bottom, which limits the cleaning range of the sweeping robot.

[0033] Example 1: To overcome the above technical problems, this embodiment of the invention provides a scraper motor for sweeping robots.As shown in Figure 1, the scraper mechanism may include a drive connection part 10 and a scraper part 20. The drive connection part 10 can be connected to the main body of the sweeping robot. The scraper part 20 can be connected to the drive connection part 10 and has an avoidance state and an operating state (wherein the operating state is shown in Figure 1 and the avoidance state is shown in Figure 2). The scraper part 20 may include a scraping element 21 for cleaning the floor. The drive connection part 10 can be configured such that when the scraper part 20 moves from the avoidance state to the operating state, the overall movement of the scraper part 20 has at least a horizontal movement component in the opposite direction of the sweeping robot's travel and a vertical movement component towards the ground.

[0034] With the scraper mechanism shown in FIG1, when cleaning is required, the drive connection part 10 can drive the scraper part 20 from the avoidance state to the working state. At this time, the overall movement of the scraper part 20 has at least a horizontal movement component in the opposite direction of the sweeping robot's movement and a vertical movement component towards the ground. The horizontal movement component in the opposite direction of the sweeping robot's movement can make the scraper part 20 move away from the robot body, while the vertical movement component towards the ground can make the sweeping robot contact the ground, thereby starting the cleaning work on the ground. Conversely, when the scraper part 20 switches from the working state to the avoidance state, the scraper part 20, on the one hand, achieves separation from the ground through the vertical movement component away from the ground, thereby stopping the cleaning of the ground; on the other hand, it retracts through at least the horizontal movement component in the same direction as the sweeping robot's movement, thereby achieving the technical effect of avoiding external objects.

[0035] As an optional implementation, the scraper part 20 can be housed within the horizontal projection range of the robot body in the avoidance state, and the scraper part 20 extends at least partially beyond the horizontal projection range in the working state. Since the avoidance state is mainly used to avoid the scraper part 20 from colliding with external obstacles when the robot moves, considering that the robot needs to pass through low and narrow areas such as under tables, beds, and shelves when moving, the scraper part 20 can be housed within the horizontal projection range of the robot body in the avoidance state. Conversely, in order to achieve the technical effect of cleaning the outside that the robot body cannot reach, the scraper part 20 needs to extend at least partially beyond the horizontal projection range in the working state to clean the outside.

[0036] As an optional implementation, the specific structure for driving the horizontal movement component of the robot can be of various forms known to those skilled in the art. In one example of the present invention, the drive connection portion 10 may include a first drive unit, which can be used to drive the scraper portion 20 to generate a horizontal motion component in the opposite direction of the sweeping robot's movement. Further, in one example of the present invention, the drive connection portion 10 may also include components derived from the first drive unit...The drive link 11 of the first drive unit can be hinged to the scraper section 20. The first drive unit can drive the drive link 11 to move in the opposite direction of the sweeping robot's movement, thereby causing the scraper section 20 to generate a corresponding horizontal motion component. When the drive link 11 is hinged to the scraper section 20, the scraper section 20 is driven to move in the opposite direction of the sweeping robot's movement due to the hinge between the scraper section 20 and the drive link 11. The drive link 11 and the hinged connection between the drive link 11 and the scraper section 20 have the characteristics of small design volume and simple and durable mechanical structure, which makes the horizontal motion component function of the scraper section 20 more durable and stable. Furthermore, the drive connection 10 may also include a passive link 12, which may be arranged parallel to the drive link 11, and its two ends are respectively connected to the robot body and the scraper part 20, so that the drive link 11, the passive link 12, the scraper part 20 and the robot body constitute a parallelogram linkage mechanism. Through the arrangement of the passive link 12, the scraper part 20 can move more stably in the horizontal motion component, and the design of the parallelogram linkage mechanism not only ensures the stability of the relative distance between the scraper part 20 and the ground when moving horizontally, but also ensures the stability of the overall state of the scraper part 20 relative to the robot body when moving horizontally.

[0037] As an optional embodiment, the specific structure for driving the vertical motion component of the robot can be of various forms known to those skilled in the art. In one example of the present invention, the scraper mechanism may include a second drive unit, which can be used to drive the scraper part 20 to generate a vertical motion component toward the ground.

[0038] As an optional embodiment, the scraper mechanism may include a second drive unit, which applies a force to the scraper member 21 to make it tend to contact the ground. Since the scraper member 21 is used to clean the ground, the force applied by the second drive unit to the scraper member 21 to make it tend to contact the ground will cause it to start cleaning work. Further, in one example of the present invention, as shown in FIG3, the scraper part 20 may include a scraper support rod 22 and a scraper support shaft 23. The scraper member 21 is rotatably connected to the scraper support rod 22 through the scraper support shaft 23. The second drive unit drives the scraper member 21 to rotate toward the ground around the scraper support shaft 23 to achieve ground contact in the working state. The rotating structure between the scraper support rod 22, the scraper support shaft 23, and the scraper component 21 allows the scraper component 21 to contact or detach from the ground by rotating. Compared to conventional lifting structures, this rotating structure achieves this solely through a rotating shaft, resulting in a smaller design volume and higher durability.Usability. In another example of the present invention, as shown in FIG3, the second drive unit can be a torsion spring 24, which can be configured to release elastic force when the scraper part 20 moves from the avoidance state to the working state, driving the scraper 21 to rotate toward the ground. Since the torsion spring 24 drives the scraper 21 to rotate by the elastic force in its natural state, this avoids the problem of structural complexity caused by adding an additional active drive mechanism (e.g., motor, cylinder, hydraulic cylinder, etc.), and due to the simple structure of the torsion spring 24, this makes the operation of the second drive unit more durable and has a lower failure rate. Furthermore, the scraper mechanism can also include a contact part 25, which can be used to compress the torsion spring when the scraper part 20 switches from the working state to the avoidance state, thereby rotating the scraper 21 away from the ground.

[0039] As an optional embodiment, the horizontal motion component can include a backward motion component parallel to the opposite direction of the sweeping robot's movement and a lateral motion component perpendicular to the opposite direction of the sweeping robot's movement. The scraper part 20 can achieve the purpose of cleaning the front and back of the sweeping robot by a backward movement component parallel to the opposite direction of the sweeping robot's movement, while the lateral movement component perpendicular to the opposite direction of the sweeping robot's movement enables the scraper part 20 to clean the sides of the sweeping robot. Through the combination of the backward movement component and the lateral movement component, the scraper part 20 can clean the rear and sides of the sweeping robot, achieving comprehensive cleaning of the sweeping robot and its surroundings, and increasing the cleaning area of ​​the sweeping robot.

[0040] Embodiment 2: In a second aspect, the present invention also provides a sweeping robot, which may include a robot body, a cleaning unit disposed at the bottom of the body, and a scraper mechanism as described above. Specifically, the scraper mechanism may include a drive connection part 10 and a scraper part 20. The drive connection part 10 can be used to connect to the sweeping robot body. The scraper section 20 can be connected to the drive connection section 10. The scraper section 20 has an avoidance state and a working state (wherein, the working state is shown in FIG1, and the avoidance state is shown in FIG2). The scraper section 20 may include a scraping member 21 for cleaning the floor. The drive connection section 10 can be configured such that when the scraper section 20 is driven from the avoidance state to the working state, the overall movement of the scraper section 20 has at least a horizontal movement component in the opposite direction of the sweeping robot's movement and a vertical movement component toward the ground.

[0041] Through the scraper mechanism shown in FIG1, when cleaning is required, the drive connection section 10 can drive the scraper section 20 from the avoidance state to the working state. At this time, the overall movement of the scraper section 20 has at least a horizontal movement component in the opposite direction of the sweeping robot's movement and a vertical movement component toward the ground, and a horizontal movement component in the opposite direction of the sweeping robot's movement.The component of vertical motion allows the scraper part 20 to move away from the robot body, while the component of vertical motion towards the ground allows the sweeping robot to contact the ground and begin cleaning. Conversely, when the scraper part 20 switches from the working state to the avoidance state, the scraper part 20 detaches from the ground by moving away from the ground, thus stopping the cleaning; on the other hand, it retracts by moving horizontally at least in the same direction as the sweeping robot's movement, thus achieving the technical effect of avoiding external obstacles.

[0042] As an optional embodiment, in the avoidance state, the scraper part 20 can be housed within the horizontal projection range of the sweeping robot body, and in the working state, the scraper part 20 extends at least partially beyond this horizontal projection range. Since the avoidance state is mainly used to prevent the scraper part 20 from colliding with external obstacles when the sweeping robot is moving, considering that the sweeping robot needs to pass through low and narrow areas such as under tables, beds, and shelves when it is moving, the scraper part 20 can be housed within the horizontal projection range of the sweeping robot body in the avoidance state. Conversely, in order to achieve the technical effect of cleaning the outside that the sweeping robot body cannot reach, the scraper part 20 needs to extend at least partially beyond the horizontal projection range in the working state to clean the outside.

[0043] As an optional implementation, the specific structure for driving the horizontal motion component of the sweeping robot can be of various forms known to those skilled in the art. In one example of the present invention, the drive connection part 10 may include a first drive unit, which can be used to drive the scraper part 20 to generate a horizontal motion component in the opposite direction of the sweeping robot's movement. Furthermore, in one example of the present invention, the drive connection 10 may further include a drive link 11 driven by a first drive unit. The drive link 11 is hinged to the scraper section 20. The first drive unit can drive the drive link 11 to move in the opposite direction of the sweeping robot's movement, thereby causing the scraper section 20 to generate a corresponding horizontal motion component. Since the drive link 11 is hinged to the scraper section 20, when the first drive unit drives the drive link 11, the scraper section 20 is driven to move in the opposite direction of the sweeping robot's movement due to the hinge between the scraper section 20 and the drive link 11. The drive link 11 and the hinged connection between the drive link 11 and the scraper section 20 have the characteristics of a small design volume and a simple and durable mechanical structure, which makes the horizontal motion component function of the scraper section 20 more durable and stable. Furthermore, the drive connection 10 may also include a passive link 12, which can be arranged parallel to the drive link 11, and its two ends are respectively connected to the robot body and the scraper part 20, so that the drive link 11, the passive link 12, the scraper part 20, and the robot body can be connected together.The main body forms a parallelogram linkage mechanism. Through the arrangement of this passive linkage 12, the scraper part 20 can move more stably in the horizontal motion component. The design of the parallelogram linkage mechanism not only ensures the stability of the relative distance between the scraper part 20 and the ground during horizontal movement, but also ensures the stability of the overall state of the scraper part 20 relative to the main body of the sweeping robot during horizontal movement.

[0044] As an optional embodiment, the specific structure for driving the vertical motion component of the sweeping robot can be of various forms known to those skilled in the art. In one example of the present invention, the scraper mechanism may include a second drive unit, which can be used to drive the scraper part 20 to generate a vertical motion component towards the ground.

[0045] As an optional embodiment, the scraper mechanism may include a second drive unit, which applies a force to the scraper member 21 to make it tend to contact the ground. Since the scraper member 21 is used to clean the ground, the force applied by the second drive unit to the scraper member 21 to make it tend to contact the ground will cause it to begin cleaning work. Further, in one example of the present invention, as shown in FIG3, the scraper section 20 may include a scraper support rod 22 and a scraper support shaft 23. The scraping member 21 is rotatably connected to the scraper support rod 22 via the scraper support shaft 23. The second drive unit drives the scraping member 21 to rotate around the scraper support shaft 23 toward the ground to achieve ground contact in the working state. The rotational structure between the scraper support rod 22, the scraper support shaft 23, and the scraping member 21 allows the scraping member 21 to achieve contact or disengagement with the ground by rotation. Compared with the conventional lifting structure described on pages 6 / 9 of the specification (CN 121714188 A), this rotational structure is achieved only through a rotating shaft, which obviously has a smaller design volume and higher durability. In another example of the present invention, as shown in FIG3, the second drive unit may be a torsion spring 24. The torsion spring 24 may be configured to release elastic force when the scraper section 20 moves from the self-avoidance state to the working state, driving the scraping member 21 to rotate toward the ground. Since the torsion spring 24 drives the scraper 21 to rotate by relying on its natural elasticity, this avoids the structural complexity caused by adding an additional active drive mechanism (such as a motor, cylinder, hydraulic cylinder, etc.). Furthermore, due to the simple structure of the torsion spring 24, the second drive unit has higher durability and a lower failure rate. Further, the scraper mechanism may also include a contact portion 25, which can be used to compress the torsion spring when the scraper portion 20 switches from the working state to the avoidance state, thereby rotating the scraper 21 away from the ground.

[0046] As an optional embodiment, the horizontal motion component may include a backward motion component parallel to the opposite direction of the sweeping robot's movement and a lateral motion component perpendicular to the opposite direction of the sweeping robot's movement. The scraper portion 20 rotates the scraper 21 by moving it parallel to the opposite direction of the sweeping robot's movement.The backward motion component in the opposite direction of the sweeping robot's movement enables the sweeping robot to clean the front and back, while the lateral motion component perpendicular to the opposite direction of the sweeping robot's movement enables the scraper part 20 to clean the sides of the sweeping robot. Through the combination of these backward and lateral motion components, the scraper part 20 can clean the rear and sides of the sweeping robot, achieving comprehensive cleaning of the sweeping robot and its surroundings, and increasing the sweeping area.

[0047] Embodiment 3: In a third aspect, the present invention also provides a scraper mechanism for a sweeping robot, which may include a first drive unit, a second drive unit, and a scraper part 20. The scraper part 20 can be driveably connected to the first drive unit and the second drive unit. The first drive unit can be configured to drive the scraper part 20 to perform a first stage of movement to generate a lateral displacement mainly parallel to the ground and in the opposite direction of the sweeping robot's movement. The second drive unit can be configured to drive the scraper part 20 to perform a second stage of movement to generate a vertical displacement mainly towards the ground. The first stage and the second stage are executed sequentially or partially overlapped to allow the scraper section 20 to transition from a avoidance state to a working state.

[0048] Through this scraper mechanism, the first drive unit and the second drive unit are executed sequentially or partially overlapped, so that the scraper section 20 can move mainly parallel to the ground or remain stationary when moving towards the ground. This allows the scraper section 20 to freely clean the horizontal projection area it has swept, and at the same time, it can avoid the ground when cleaning is not required. For example, when the first drive unit needs to move the scraper part 20 laterally in the opposite direction of the sweeping robot's movement, the second drive unit can be inactive. At this time, the scraper part 20 does not contact the ground and avoids pushing the dust off the ground away from the sweeping robot. When the scraper part 20 moves to its furthest point or needs to be cleaned, the second drive unit can drive the scraper part 20 to move vertically, so that the scraper part 20 contacts the ground and begins cleaning. Furthermore, as the scraper part 20 cleans, the first drive unit can also drive the scraper part 20 to move horizontally, thereby thoroughly cleaning the horizontal projection area it covers.

[0049] Embodiment 4: In a fourth aspect, the present invention also provides a sweeping robot, including a robot body, a cleaning unit disposed at the bottom of the body, and a scraper mechanism as described above. The scraper mechanism may include a first drive unit, a second drive unit, and a scraper part 20. The scraper part 20 can be connected to the first drive unit and the second drive unit in a transmission manner. The first drive unit can be configured to drive the scraper section 20 to perform a first stage of motion, generating a lateral displacement that is primarily parallel to the ground and in the opposite direction of the sweeping robot's movement. The second drive unit can be configured to drive the scraper section 20 to perform a second stage of motion, generating...The main vertical displacement is towards the ground. The first stage and the second stage are executed sequentially or partially overlapped to change the scraper part 20 from a avoidance state to a working state. Specification 7 / 9 pages 11 CN 121714188 A

[0050] Through this scraper mechanism, the first drive unit and the second drive unit are executed sequentially or partially overlapped, so that when the scraper part 20 moves towards the ground, it can move mainly parallel to the ground or remain stationary. This allows the scraper part 20 to freely clean the horizontal projection area it has swept, and at the same time, it can avoid the ground when cleaning is not required. For example, when the first drive unit needs to move the scraper part 20 laterally in the opposite direction of the sweeping robot's movement, the second drive unit can be inactive. At this time, the scraper part 20 does not contact the ground and avoids the ground, thereby preventing the dust and debris from being pushed away from the sweeping robot. When the scraper part 20 moves to its furthest point or needs to be cleaned, the second drive unit can drive the scraper part 20 to move vertically, thereby making the scraper part 20 contact the ground and starting the cleaning process. Furthermore, as the scraper part 20 cleans, the first drive unit can also drive the scraper part 20 to move horizontally, thereby thoroughly cleaning the horizontal projection area it covers.

[0051] Embodiment 5: In a fifth aspect, the present invention also provides a sweeping robot, which may include a robot body, a cleaning unit, and a scraper mechanism. The robot body may have a moving direction. The cleaning unit may be disposed at the bottom of the robot body. The scraper mechanism may include a drive connection part 10 and a scraper part 20. The drive connection 10 can be configured to drive the scraper 20 to switch between an avoidance state and a working state. When the scraper 20 switches from the avoidance state to the working state, the scraper 20 generates a horizontal displacement away from the rear edge of the cleaning unit and in the opposite direction of travel, and at least a portion of the scraper 20 reaches a position that contacts or is close to the ground.

[0052] When the sweeping robot is working, when the scraper 20 switches from the avoidance state to the working state, the scraper 20 generates a horizontal displacement away from the rear edge of the cleaning unit and in the opposite direction of travel, and at least a portion of the scraper 20 reaches a position that contacts or is close to the ground. Since the scraper 20 needs to switch from the avoidance state to the working state before it can start working, and the scraper 20 needs to move to a position far away from the cleaning unit before it can start working, the scraper 20 can switch from the avoidance state to the working state before it reaches the position where it can start working, thus saving the time of a single cleaning cycle.

[0053] As an optional implementation, the specific structure for driving the sweeping robot to perform horizontal displacement can be of various forms known to those skilled in the art. In one example of the present invention, the drive connection part 10 may include a firstA drive unit, the first drive unit can be used to drive the scraper part 20 to generate horizontal displacement. Further, in an example of the present invention, the drive connection part 10 may include a drive link 11 and a passive link 12. The drive link 11 can be driven by the first drive unit to move in the opposite direction of travel. The drive link 11 and the passive link 12 are arranged in parallel, and their two ends are respectively hinged to the robot body and the scraper part 20 to form a parallelogram linkage mechanism to drive the scraper part 20 to generate horizontal displacement smoothly. Through the arrangement of the drive link 11 and the passive link 12, the scraper part 20 can move more stably in the horizontal motion component. The design of the parallelogram linkage mechanism not only ensures the stability of the relative distance between the scraper part 20 and the ground when moving horizontally, but also ensures the stability of the overall state of the scraper part 20 relative to the body of the sweeping robot when moving horizontally.

[0054] As an optional embodiment, the specific structure for driving the sweeping robot to contact or approach the ground can be of various forms known to those skilled in the art. In one example of the present invention, the drive connection portion 10 may further include a second drive unit, which can be used to drive the scraper member 21 of the scraper portion 20 to move towards the ground, so as to achieve ground cleaning contact. Further, the second drive unit may be an elastic member. The second drive unit can be used to apply an elastic force to the scraper member 21, causing the scraper member 21 to tend towards contact with the ground. Since the elastic member drives the scraper member 21 to rotate by its natural elastic force, this avoids the structural complexity caused by adding an additional active drive mechanism (e.g., a motor, cylinder, hydraulic cylinder, etc.). Furthermore, due to the simple structure of the elastic member, the working tool of the second drive unit has higher durability and a lower failure rate. Further still, the scraper portion 20 may also include a scraper support rod 22 and a scraper support shaft 23. The scraper member 21 can be rotatably connected to the scraper support rod 22 via the scraper support shaft 23, and the second drive unit drives the scraper member 21 to rotate around the scraper support shaft 23. The rotating structure between the scraper support rod 22, the scraper support shaft 23, and the scraper component 21 allows the scraper component 21 to contact or detach from the ground by rotating. Compared with conventional lifting structures, this rotating structure is achieved only through a rotating shaft, which obviously has a smaller design volume and higher durability.

[0055] Embodiment 6: In a sixth aspect, the present invention also provides a sweeping robot, including a robot body and a scraper mechanism. The scraper mechanism can be installed on the robot body and can include a scraper part 20. The scraper mechanism can move between a recusal position and a working position. The scraper mechanism can be configured to drive the scraper part 20 from a recusal position along a predetermined spatial path.The robot moves along a continuous trajectory to a working position. The projection of the trajectory in the robot's direction of travel points backward, and the entire trajectory extends towards the ground.

[0056] Based on this sweeping robot, the scraper part 20 can move from a avoidance position along a predetermined, spatially continuous trajectory to a working position. The projection of the trajectory in the robot's direction of travel points backward, and the entire trajectory extends towards the ground, so that it completes the horizontal displacement of its body during the switching process from the avoidance state to the working state, saving the time of a single cleaning and thus improving the cleaning efficiency.

[0057] As an optional implementation, in order to make the movement of the scraper part 20 smoother, the continuous trajectory can be arc-shaped.

[0058] As an optional implementation, the structure for implementing the continuous trajectory can be various that are known to those skilled in the art. In one example of the present invention, the scraper mechanism may include a first drive unit and a second drive unit, which can be controlled to operate synchronously or according to a set timing sequence to synthesize a continuous trajectory. Compared to the complex trajectory control of a single drive unit or the multi-instruction control of multiple (three or more) drive units, the synchronous driving of the first drive unit and the driving according to a set timing sequence has a more moderate implementation effect and lower control difficulty.

[0059] As an optional embodiment, the scraper mechanism may include a fixed part disposed on the robot body and a drive part connected to the scraper part 20. The fixed part is provided with a curved guide groove, and the drive part can slide in the curved guide groove. The shape of the curved guide groove defines a predetermined continuous trajectory. The drive part is driven by the power unit of the scraper mechanism to move along the guide groove. The curved guide groove can directly define the continuous trajectory, which avoids the problem of complex control instructions for motion synthesis using a single or multiple drive units, and also reduces the occurrence of faults caused by the slow response of a single drive unit during actual operation.

[0060] Through the above technical solution, the embodiments of the present invention provide a scraper mechanism for a sweeping robot and a sweeping robot. The scraper mechanism and the sweeping robot have a structure in which a scraper part and a drive connection part are provided on the robot body. Combined with the configuration action of the scraper mechanism, the sweeping robot can clean areas that the main body cannot reach, and can also retract to avoid obstacles when the sweeping robot is moving.

[0061] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention. This includes combining various specific technical features in any suitable manner. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be regarded as the contents disclosed in the present invention and all fall within the protection scope of the present invention. Specification 9 / 9 pages 13 CN121714188 A FIG. 1 FIG. 2 DESCRIPTION OF THE DRAWINGS 1 / 2 PAGE 14 CN 121714188 A FIG. 3 DESCRIPTION OF THE DRAWINGS 2 / 2 PAGE 15 CN 121714188 A SCRAPER MECHANISM FOR ROBOTIC VACUUM CLEANER AND ROBOTIC VACUUM CLEANER Abstract The present invention relates to the technical field of robot sweepers, and discloses a scraper mechanism for a robotic vacuum cleaner and a robotic vacuum cleaner. The scraper mechanism includes a driving connection portion and a scraper portion. The driving connection portion is configured to be connected to a main body of the robotic vacuum cleaner. The scraper portion is drivingly connected to the driving connection portion, and has an avoidance state and a working state. The scraper portion is provided with a scraping element for cleaning the ground. The driving connection portion is configured such that when driving the scraper portion to move from the avoidance state to the working state, the overall movement of the scraper portion at least has a horizontal movement component opposite to the traveling directionof the robotic vacuum cleaner and a vertical movement component toward the ground. With the structure in which the driving connection portion and the scraper portion are arranged on the main body of the robotic vacuum cleaner and through the configured motion of the scraper mechanism, the robotic vacuum cleaner can clean areas unreachable by the main body on one hand, and can be retracted to avoid obstacles during traveling on the other hand. 12 11 10 22 21 24 23 20 25

Claims

1. A squeegee mechanism for a robotic floor cleaning machine, comprising: Comprising: a driving connection part for connecting with a robot body; a squeegee part drivingly connected with the driving connection part, the squeegee part having a retracted state and a working state, the squeegee part comprising a squeegee member for cleaning the floor; the driving connection part is configured to drive the squeegee part to move from the retracted state to the working state, the squeegee part having at least a horizontal movement component in the opposite direction of the robot's travel and a vertical movement component towards the floor.

2. The flight mechanism of claim 1, wherein, the squeegee part is retracted within the horizontal projection of the robot body in the retracted state, and at least partially extends out of the horizontal projection in the working state.

3. The flight mechanism of claim 1, wherein, the driving connection part comprises a first driving unit for driving the squeegee part to generate the horizontal movement component in the opposite direction of the robot's travel.

4. The flight mechanism of claim 3, wherein, the driving connection part further comprises a driving link driven by the first driving unit, the driving link is hingedly connected with the squeegee part, the first driving unit drives the driving link to move in the opposite direction of the robot's travel, thereby driving the squeegee part to generate the corresponding horizontal movement component.

5. The flight mechanism of claim 4, wherein, the driving connection part further comprises a passive link, the passive link is arranged in parallel with the driving link, and both ends of the passive link are connected with the robot body and the squeegee part respectively, so that the driving link, the passive link, the squeegee part and the robot body form a parallelogram linkage.

6. The flight mechanism of claim 1 or 3, wherein, the squeegee mechanism comprises a second driving unit for driving the squeegee part to generate the vertical movement component towards the floor.

7. The flight mechanism of claim 1, wherein, the squeegee mechanism comprises a second driving unit for applying a force to the squeegee member to make it tend to contact the floor.

8. The flight mechanism of claim 7, wherein, the squeegee part comprises a squeegee support rod and a squeegee strip support shaft, the squeegee member is rotatably connected to the squeegee support rod through the squeegee strip support shaft, the second driving unit drives the squeegee member to rotate around the squeegee strip support shaft towards the floor to realize the floor contact in the working state.

9. The flight mechanism of claim 7, wherein, the second driving unit is a torsional spring, the torsional spring is configured to release elastic force when the squeegee part moves from the retracted state to the working state, and drives the squeegee member to rotate towards the floor.

10. The flight mechanism of claim 1, wherein, the horizontal movement component comprises a backward movement component parallel to the opposite direction of the robot's travel and a lateral movement component perpendicular to the opposite direction of the robot's travel.

11. A robot vacuum cleaner, characterized in that comprising a robot body, a cleaning unit arranged at the bottom of the body, and a squeegee mechanism as claimed in any one of claims 1 to 9.

12. A squeegee mechanism for a robotic floor cleaning machine, comprising: Comprising: a first driving unit; a second driving unit; a squeegee part drivingly connected with the first driving unit and the second driving unit; the first driving unit is configured to drive the squeegee part to perform a first stage of movement to generate a lateral displacement mainly parallel to the floor and in the opposite direction of the robot's travel; the second driving unit is configured to drive the squeegee part to perform a second stage of movement to generate a vertical displacement mainly towards the floor; wherein the first stage and the second stage are sequentially performed or partially overlapped to make the squeegee part switch from a retracted state to a working state.

13. A robot vacuum cleaner characterised in that, The robot comprises a robot body, a cleaning unit arranged at the bottom of the robot body, and a squeegee mechanism as claimed in claim 12.

14. A robot vacuum cleaner characterised in that, The robot comprises: a robot body having a direction of travel; a cleaning unit arranged at the bottom of the robot body; a squeegee mechanism comprising a driving connection part and a squeegee part; the driving connection part is configured to drive the squeegee part to switch between a retracted state and a working state; when the squeegee part switches from the retracted state to the working state, the squeegee part generates a horizontal displacement away from the rear edge of the cleaning unit in the opposite direction of travel, and at least a part of the squeegee part reaches a position of contacting or approaching the ground.

15. The robotic vacuum cleaner of claim 14, wherein, the driving connection part comprises a first driving unit for driving the squeegee part to generate the horizontal displacement.

16. The robotic vacuum cleaner of claim 15, wherein, the driving connection part comprises a driving link and a passive link, the driving link is driven by the first driving unit to move in the opposite direction of travel, the driving link and the passive link are arranged in parallel, and both ends are hinged to the robot body and the squeegee part respectively, forming a parallelogram linkage to drive the squeegee part to generate a smooth horizontal displacement.

17. The robotic vacuum cleaner of claim 15, wherein, the driving connection part further comprises a second driving unit for driving a scraping member of the squeegee part to generate a movement towards the ground to achieve ground cleaning contact.

18. The robotic vacuum cleaner of claim 17, wherein, the second driving unit is an elastic member, and the second driving unit applies an elastic force to the scraping member to promote the scraping member to contact the ground.

19. The robotic vacuum cleaner of claim 18, wherein, the squeegee part further comprises a squeegee support rod and a squeegee strip support shaft, the scraping member is rotationally connected to the squeegee support rod through the squeegee strip support shaft, and the second driving unit drives the scraping member to rotate around the squeegee strip support shaft.

20. A robot vacuum cleaner comprising: The robot comprises: a robot body; a squeegee mechanism mounted on the robot body, the squeegee mechanism comprising a squeegee part; the squeegee mechanism can move between a retracted position and a working position; the squeegee mechanism is configured to drive the squeegee part to move along a predetermined, spatially continuous trajectory from a retracted position to a working position, the projection of the trajectory in the direction of robot travel points backward, and the trajectory as a whole extends towards the ground.

21. The robot vacuum of claim 20, wherein, the continuous trajectory is arc-shaped.

22. The robot of claim 20, wherein, the squeegee mechanism comprises a first driving unit and a second driving unit, the first driving unit and the second driving unit are controlled to act synchronously or in a set time sequence to form the continuous trajectory.

23. The robot vacuum of claim 20, wherein, the squeegee mechanism comprises a fixed part arranged on the robot body and a driving part connected to the squeegee part, the fixed part is provided with a curved guide groove, the driving part can slide in the curved guide groove, the shape of the curved guide groove defines the predetermined continuous trajectory, and the driving part is driven by a power unit of the squeegee mechanism to move along the guide groove.

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