Turntable structure and robot

Abstract

The present disclosure provides a turntable structure and a robot, comprising a cleaning turntable, an adjusting component, and a pressure unit, wherein one side of the cleaning turntable is connected to a cleaning member; the adjusting component is slidably connected to the cleaning turntable along a target direction at a side of the cleaning turntable away from the cleaning member, the target direction being a direction parallel to the rotation axis of the cleaning turntable, and the side of the adjusting component away from the cleaning member is used to be connected to a driving mechanism of the robot to drive the cleaning turntable to rotate; the pressure unit is arranged between the cleaning turntable and the adjusting component, and when the target direction is perpendicular to a horizontal plane, the pressure unit is used to apply a vertical downward force to the cleaning turntable. In this way, the present disclosure can improve the cleaning effect on the ground.

Description

Technical Field

[0001] The present disclosure relates to the field of robots, and in particular to a turntable structure and a robot. Background Art

[0002] With the continuous development of science and technology, cleaning robots are widely used in production and life. According to different uses, cleaning robots can be divided into sweeping robots and mopping robots. Cleaning robots can meet users' needs for floor cleaning.

[0003] The existing cleaning robot realizes the cleaning operation of the ground through the cleaning parts. However, when facing the uneven ground, the cleaning parts of the cleaning robot cannot fit the ground, so the cleaning effect of the ground is poor. Summary of the invention

[0004] The present disclosure provides a turntable structure and a robot for improving the cleaning effect on the floor.

[0005] The first aspect of the disclosed embodiment provides a turntable structure, including a cleaning turntable, an adjusting component, and a pressure unit. One side of the cleaning turntable is connected to a cleaning member, and the cleaning member is used to clean the floor. The adjusting component is slidably connected to the cleaning turntable along a target direction on a side of the cleaning turntable away from the cleaning member, and the target direction is a direction parallel to the rotation axis of the cleaning turntable. The side of the adjusting component away from the cleaning member is used to connect to a driving mechanism of a robot to drive the cleaning turntable to rotate; and the pressure unit is arranged between the cleaning turntable and the adjusting component, and when the target direction is perpendicular to the horizontal plane, the pressure unit is used to apply a vertical downward force to the cleaning turntable.

[0006] Optionally, the turntable structure further includes a limiting structure, and the limiting structure is used to limit the sliding distance of the cleaning turntable relative to the adjusting component along the target direction.

[0007] Optionally, the cleaning turntable includes a accommodating cavity, the adjusting component is accommodated in the accommodating cavity, the outer side surface of the adjusting component and the inner wall of the accommodating cavity are slidably connected along the target direction; and the outer side surface of the adjusting component includes a first limiting surface, the inner wall of the accommodating cavity includes a second limiting surface, and the first limiting surface and the second limiting surface limit each other to limit the relative rotation of the adjusting component and the cleaning turntable.

[0008] Optionally, the cleaning turntable includes a connecting portion on a side away from the cleaning member, the adjusting member includes a accommodating cavity, the connecting portion is accommodated in the accommodating cavity, the outer side surface of the connecting portion and the inner wall of the accommodating cavity are slidably connected along a target direction; and the outer side surface of the connecting portion includes a first limiting surface, the inner wall of the accommodating cavity includes a second limiting surface, and the first limiting surface and the second limiting surface limit each other to limit the relative rotation of the adjusting member and the cleaning turntable.

[0009] Optionally, the limiting structure includes a limiting block and a limiting groove, the limiting block is accommodated in the limiting groove, the groove wall of the limiting groove is used to limit the moving distance of the limiting block along the target direction; and the limiting block and the limiting groove are arranged between the adjusting component and the cleaning turntable.

[0010] Optionally, the pressure unit is an elastic member or a gravity member, and the gravity member is a member having a weight greater than a preset weight.

[0011] The second aspect of the disclosed embodiment provides a robot, comprising a robot body, a mopping module, and a driving mechanism. The mopping module is arranged at the bottom of the robot body, and the mopping module comprises a turntable structure and a cleaning member, and the turntable structure is the turntable structure as described in the first aspect. Furthermore, the driving mechanism is installed on the robot body, the driving mechanism is connected to the adjusting member, and the driving mechanism is used to rotate the mopping module.

[0012] Optionally, the driving mechanism comprises a driving shaft connected to a side of the adjusting component away from the cleaning component, and the driving shaft is used to rotate the adjusting component;

[0013] The adjusting component can be swung relative to the driving shaft.

[0014] Optionally, the drive shaft and the adjusting component are connected via a shaft sleeve and a shaft end, the shaft end is sleeved in a groove of the shaft sleeve, the end of the shaft end is slidably connected to the bottom of the shaft sleeve, and the sliding direction of the end of the shaft end relative to the bottom of the shaft sleeve is in the same direction as the swinging direction of the adjusting component relative to the drive shaft;

[0015] There is a gap between the inner side of the sleeve and the outer side of the shaft end, and the gap decreases from the notch of the sleeve to the bottom of the sleeve, so that the adjustment component can swing relative to the drive shaft;

[0016] The limiting surface on the inner side of the sleeve and the limiting surface on the outer side of the shaft end limit each other to limit the relative rotation of the sleeve and the shaft end;

[0017] The shaft sleeve is arranged on the adjusting component, and the shaft end is arranged on the driving shaft; or, the shaft sleeve is arranged on the driving shaft, and the shaft end is arranged on the adjusting component.

[0018] Optionally, a magnetic unit is provided at the bottom of the sleeve, and the magnetic unit is used for magnetic connection with the shaft end.

[0019] Optionally, two driving wheels and a universal wheel are provided at the bottom of the robot, and the two driving wheels and the universal wheel are used to support the robot on the ground; the mopping module is arranged between the two driving wheels and the universal wheel; along the forward movement direction of the robot, the universal wheel is arranged in front of the mopping module.

[0020] Optionally, there are two mopping modules; the universal wheel is located between the two mopping modules, and the universal wheel intersects with the target tangent, which is the tangent that is perpendicular to the forward direction of the robot and tangent to at least one of the two mopping modules and is closest to the front of the forward direction of the robot.

[0021] In the turntable structure and robot disclosed herein, one side of the cleaning turntable is connected to the cleaning member, and the adjusting member on the other side of the cleaning turntable is slidably connected to the cleaning turntable along the target direction, so that the cleaning turntable can slide relative to the adjusting member. When the target direction is perpendicular to the horizontal plane, the pressure unit is used to apply a vertical downward force to the cleaning turntable, and because the cleaning turntable can slide relative to the adjusting member in the target direction, the cleaning member used to clean the ground can maintain contact with the ground, thereby improving the cleaning effect on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] For a more complete understanding of the present disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A three-dimensional schematic diagram of a mopping module and a driving mechanism provided in an embodiment of the present disclosure;

[0024] Figure 2 for Figure 1 An exploded view of the mopping module and the drive mechanism shown;

[0025] Figure 3 for Figure 1 A cross-sectional view of the mopping module and the driving mechanism shown;

[0026] Figure 4 for Figure 1 A cross-sectional view of the mopping module shown;

[0027] Figure 5 for Figure 1 Another cross-sectional view of the mopping module and the driving mechanism shown;

[0028] Figure 6 A three-dimensional schematic diagram of a mopping module provided in another embodiment of the present disclosure;

[0029] Figure 7 for Figure 6 An exploded view of the mopping module is shown;

[0030] Figure 8 for Figure 6 A cross-sectional view of the mopping module shown;

[0031] Fig. 9 for Figure 6 A three-dimensional schematic diagram of a cleaning turntable of a mopping module is shown;

[0032] Fig.10 A cross-sectional view of a mopping module and a driving mechanism provided in another embodiment of the present disclosure;

[0033] Fig.11 A three-dimensional schematic diagram of a mopping module provided in another embodiment of the present disclosure;

[0034] Fig.12 for Fig.11 An exploded view of the mopping module is shown;

[0035] Fig.13 for Fig.11 A cross-sectional view of the mopping module shown;

[0036] Fig.14 for Fig.11 A cross-sectional exploded view of the mopping module shown;

[0037] Fig.15 for Fig.11 A top view of the adjustment component of the mopping module shown;

[0038] Fig.16 for Fig.11 A three-dimensional schematic diagram of the adjustment component and the second turntable housing shown;

[0039] Fig.17 A bottom view of a robot provided in accordance with another embodiment of the present disclosure;

[0040] Fig.18 for Fig.17 A cross-sectional view of a partial structure of the robot shown;

[0041] Fig.19 for Fig.17 Another cross-sectional view of a portion of the robot structure is shown.

[0042] Among them, 1. mopping module; 11a, 11b, turntable structure;

[0043] 111a, 111b, 111c, cleaning turntable; 1111, first turntable housing; 1112, limit plate; 1113, second turntable housing; 1114, turntable bottom plate; 1115, connecting portion;

[0044] 112a, 112b, 112c, adjusting components;

[0045] 113a, magnetic unit; 113b, magnet;

[0046] 1141a, 1141b, limiting blocks; 1142a, 1142b, limiting grooves; 1143, sliding rod; 1144, limiting fixing block;

[0047] 115a, 115c elastic member; 115b, spring; 116, gravity member; 117, magnet fixing block; 12, cleaning member;

[0048] 2. Driving mechanism; 21. Driving shaft; 22. Bearing; 23. Worm gear; 24. Turbine housing; 25. Worm gear pin; 26. Worm motor;

[0049] 3. Robot body; 4. Driving wheel; 5. Universal wheel;

[0050] 61. shaft sleeve; 62. shaft end;

[0051] 7. Target tangent. DETAILED DESCRIPTION

[0052] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0053] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "include", "comprising", etc. used herein indicate the existence of the features, operations and / or components, but do not exclude the existence or addition of one or more other features, operations or components.

[0054] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0055] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). Those skilled in the art should also understand that any transitional conjunctions and / or phrases that substantially indicate two or more optional items, whether in the specification, claims, or drawings, should be understood to give the possibility of including one of these items, either of these items, or both of these items. For example, the phrase "A or B" should be understood to include the possibilities of "A" or "B", or "A and B".

[0056] The present disclosure provides a turntable structure, including a cleaning turntable, an adjusting component, and a pressure unit. One side of the cleaning turntable is connected to a cleaning member, and the cleaning member is used to clean the floor. The adjusting component is slidably connected to the cleaning turntable along a target direction on a side of the cleaning turntable away from the cleaning member, and the target direction is a direction parallel to the rotation axis of the cleaning turntable. The side of the adjusting component away from the cleaning member is used to connect to a driving mechanism of a robot to drive the cleaning turntable to rotate. The pressure unit is arranged between the cleaning turntable and the adjusting component, and when the target direction is perpendicular to the horizontal plane, the pressure unit is used to apply a vertical downward force to the cleaning turntable.

[0057] Generally, there are two types of application scenarios when using robots to clean the floor: one is when the floor is relatively flat, and the other is when the floor is uneven. In the former scenario, since the floor is relatively flat, the cleaning parts fit the floor better, and the robot has a better cleaning effect when walking on such a floor. However, in the latter scenario, since the floor is uneven, the cleaning parts fit the floor less, which affects the cleaning effect of the cleaning parts, and the robot has a poor cleaning effect when walking on such a floor.

[0058] After using the turntable structure with telescopic function provided by the present invention, even if the robot encounters an uneven ground, it can adjust the sliding relationship between the adjusting components and the cleaning turntable, and the pressure unit to adjust the fit between the cleaning piece and the ground, so that the cleaning piece and the ground can fit tightly, thereby ensuring the robot's cleaning effect on the ground.

[0059] It should be noted that the above scenarios are merely examples of scenarios in which the embodiments of the present disclosure can be applied, to help those skilled in the art understand the technical content of the present disclosure, but do not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios.

[0060] Embodiment 1

[0061] Embodiment 1 of the present disclosure provides a turntable structure.

[0062] Figure 1 This is a three-dimensional schematic diagram of the mopping module 1 and the driving mechanism 2 provided in the first embodiment of the present disclosure. Figure 2 for Figure 1 The exploded view of the mopping module 1 and the driving mechanism 2 is shown. Figure 3 for Figure 1 The cross-sectional view of the mopping module 1 and the driving mechanism 2 is shown.

[0063] like Figure 1-Figure 3 As shown, the turntable structure 11a includes: a cleaning turntable 111a, an adjustment component 112a and a pressure unit. Among them:

[0064] One side of the cleaning turntable 111a is connected to the cleaning member 12. The cleaning member 12 is used to clean the floor. The connection between the cleaning turntable 111a and the cleaning member 12 can be detachable or non-detachable, such as gluing, bolting, or Velcro. The cleaning member of the embodiment of the present disclosure can be a mop or a bristle brush, etc., which is not specifically limited in the embodiment of the present disclosure.

[0065] The adjusting member 112a is slidably connected to the cleaning disk 111a along a target direction on a side of the cleaning disk 111a away from the cleaning member, wherein the target direction is a direction parallel to the rotation axis of the cleaning disk 111a. For example, the target direction is as follows Figure 4 In the Y direction and the opposite direction of Y, after the adjusting component 112a is connected to the cleaning turntable 111a, the adjusting component 112a can slide relative to the cleaning turntable 111a along the Y direction or the opposite direction of Y. The side of the adjusting component 112a away from the cleaning member is used to be connected to the driving mechanism 2 of the robot to drive the cleaning turntable 111a to rotate. Specifically, the adjusting component 112a and the driving mechanism 2 can be detachably connected or fixedly connected. The driving mechanism 2 can transmit torque to the adjusting component 112a to rotate the adjusting component 112a. Driven by the adjusting component 112a, the cleaning turntable 111a can rotate, so that the cleaning member 12 connected to the cleaning turntable 111a rotates under the drive of the cleaning turntable 111a.

[0066] The pressure unit is arranged between the cleaning turntable 111a and the adjusting component 112a, and when the target direction is perpendicular to the horizontal plane, the pressure unit is used to apply a vertical downward force to the cleaning turntable 111a. The cleaning turntable 111a can slide along the target direction relative to the adjusting component 112a. Among them, the specific sliding direction of the cleaning turntable 111a is related to the force applied to the cleaning turntable 111a. For example, when the target direction is perpendicular to the horizontal plane, during operation, when the force applied to the cleaning turntable 111a by the local surface is greater than the sum of the gravity of the cleaning turntable 111a and the force applied to the cleaning turntable 111a by the pressure unit, the cleaning turntable 111a slides upward relative to the adjusting component 112a; when the force applied to the cleaning turntable 111a by the local surface is less than the sum of the gravity of the cleaning turntable 111a and the force applied to the cleaning turntable 111a by the pressure unit, the cleaning turntable 111a slides downward relative to the adjusting component 112a.

[0067] In a specific example, the pressure unit of the embodiment of the present disclosure is an elastic member 115a, and the elastic member 115a is specifically a spring. When using a robot equipped with the turntable structure 11a of the first embodiment of the present disclosure, in the forward direction of the robot, when the robot encounters a concave ground, if the force of the ground on the cleaning turntable 111a is less than the sum of the gravity of the cleaning turntable 111a and the force applied to the cleaning turntable by the elastic member 115a, at this time, the cleaning turntable 111a slides downward relative to the adjustment component 112a. If the robot encounters a convex ground, the force of the ground on the cleaning turntable 111a is greater than the sum of the gravity of the cleaning turntable 111a and the force applied to the cleaning turntable 111a by the elastic member 115a, then the cleaning turntable 111a slides upward relative to the adjustment component 112a.

[0068] It can be understood that the "upper" and "lower" in the first embodiment of the present disclosure can be understood as Figure 3 The upper and lower positions in the middle.

[0069] It can be understood that the cleaning turntable 111 a of the embodiment of the present disclosure is a rotatable structure, and during the cleaning process, the cleaning turntable 111 a may rotate or may not rotate.

[0070] It can be understood that the floor surface of the embodiment of the present disclosure can be a wooden surface, a tile surface, a cement surface, etc., and the embodiment of the present disclosure does not specifically limit this.

[0071] It can be understood that the target direction of the embodiment of the present disclosure can be perpendicular to the horizontal plane, or it can have a certain inclination angle relative to the horizontal plane. When the target direction is inclined to the horizontal plane, the rotation axis of the cleaning turntable 111a is inclined to the horizontal plane. In some embodiments, when the target direction is inclined to the horizontal plane, the force applied by the pressure unit to the cleaning turntable is vertically downward. In other words, the force applied by the pressure unit to the cleaning turntable does not change with the angle between the target direction and the horizontal plane, and the force applied by the pressure unit to the cleaning turntable remains vertically downward. In other embodiments, when the target direction is inclined to the horizontal plane, the force applied by the pressure unit to the cleaning turntable is inclined to the horizontal plane. For example, the direction of the force applied by the pressure unit to the cleaning turntable is parallel to the target direction.

[0072] In the embodiment of the present disclosure, the rotation axis is a geometric straight line around which the rotating body rotates. For example, the cleaning disk 111a rotates around its rotation axis.

[0073] According to the embodiment of the present disclosure, because the turntable structure 11a with a telescopic function is adopted, the technical problem of poor cleaning effect of the cleaning robot in the prior art can be at least partially solved, and the purpose of keeping the cleaning piece in close contact with the ground during use can be achieved, thereby improving the cleaning effect of the robot. In addition, the solution of the embodiment of the present disclosure also avoids the vibration of the robot caused by the imbalance of the cloth of the cleaning piece during the cleaning process.

[0074] Figures 1 to 5 The schematic diagram of the turntable structure 11a provided in the first embodiment of the present disclosure is shown in the following figure. In the first embodiment, the cleaning turntable 111a includes a first turntable housing 1111 and a limit plate 1112. The limit plate 1112 is connected to the slotted end of the first turntable housing 1111. The specific connection method may be a snap connection or a threaded connection. The adjustment component 112a is accommodated in the cavity formed by the limit plate 1112 and the first turntable housing 1111.

[0075] As an optional embodiment, Figure 3 and Figure 5 As shown, the turntable structure 11a also includes a limiting structure.

[0076] The limiting structure is used to limit the sliding distance of the cleaning turntable 111a relative to the adjusting component 112a along the target direction. Thus, the cleaning turntable 111a slides relative to the adjusting component 112a within the distance range limited by the limiting structure. When the target direction is the vertical direction, under the limiting effect of the limiting structure, the cleaning turntable can slide up and down relative to the adjusting component within a certain sliding distance.

[0077] According to the embodiments of the present disclosure, by adopting the technical means of using a limiting structure in conjunction with a cleaning turntable 111a with a telescopic function and an adjusting component 112a, it is possible to prevent the turntable mechanism from being too telescopic during use, causing the robot to be unable to walk stably, or to prevent the turntable mechanism from being too telescopic during use, causing the cleaning part 12 to have insufficient fit with the ground, thereby affecting the cleaning effect.

[0078] There are many specific connection methods between the cleaning turntable 111a and the adjusting component 112a, and the following example 1 and example 2 are two examples.

[0079] Example 1: Figure 3 As shown, the cleaning turntable 111a includes a receiving cavity, the adjusting component 112a is received in the receiving cavity, and the outer side surface of the adjusting component 112a and the inner wall of the receiving cavity are slidably connected along the target direction. The outer side surface of the adjusting component 112a includes a first limiting surface, and the inner wall of the receiving cavity includes a second limiting surface. The first limiting surface and the second limiting surface limit each other to limit the relative rotation of the adjusting component and the cleaning turntable.

[0080] Specifically, the first limit surface and the second limit surface can be non-cylindrical surfaces. For example, the first limit surface and the second limit surface are planes extending outward along the rotation center of the cleaning turntable. When the adjusting component rotates, the first limit surface of the adjusting component and the second limit surface of the accommodating cavity abut against each other, so that the relative rotation of the adjusting component and the cleaning turntable is restricted.

[0081] For example, Figure 3 In the cleaning turntable of the illustrated embodiment, after the adjusting component 112a is inserted into the first turntable housing 1111 of the cleaning turntable 111a, the adjusting component 112a is accommodated in the accommodating cavity of the cleaning turntable 111a. The cleaning turntable 111a can slide relative to the adjusting component 112a along the target direction. On a plane perpendicular to the target direction, the cleaning turntable 111a and the adjusting component 112a are fixedly connected, and when the adjusting component 112a is driven to rotate by the driving shaft 21, a part of the non-cylindrical surface on the outer surface of the adjusting component 112a (i.e., the first limiting surface) and a part of the non-cylindrical surface on the inner wall of the accommodating cavity of the cleaning turntable 111a (i.e., the second limiting surface) abut against each other, thereby limiting the relative rotation of the cleaning turntable 111a and the adjusting component 112a.

[0082] Example 2: The present disclosure also provides another implementation method of cleaning the turntable, such as Figure 6-Figure 9As shown, the cleaning turntable 111c includes a connecting portion 1115 on the side away from the cleaning member 12, the adjusting component 112c includes a accommodating cavity, the connecting portion 1115 is accommodated in the accommodating cavity, the outer side surface of the connecting portion 1115 and the inner wall of the accommodating cavity are slidably connected along the target direction; and the outer side surface of the connecting portion 1115 includes a first limiting surface, the inner wall of the accommodating cavity includes a second limiting surface, the first limiting surface and the second limiting surface limit each other to limit the relative rotation of the adjusting component 112c and the cleaning turntable 111c.

[0083] Specifically, the first limiting surface and the second limiting surface can be non-cylindrical surfaces. For example, the first limiting surface and the second limiting surface are partial side surfaces of a cylinder whose cross-section is a regular polygon. When the adjusting component rotates, the first limiting surface of the adjusting component 112c and the second limiting surface of the accommodating cavity abut against each other, so that the relative rotation of the adjusting component 112c and the cleaning turntable 111c is restricted.

[0084] Figure 6-Figure 9 The example shown is Figure 3 An alternative to the example of how the cleaning disc and the adjustment component are connected is shown. Figure 6-Figure 9 In the example shown, the cross-section of the connecting portion 1115 on the cleaning turntable 111c and the cross-section of the accommodating cavity of the adjusting component 112c are both regular polygons, so that after the connecting portion 1115 is inserted into the accommodating cavity, when the adjusting component 112c rotates, part of the side surface of the connecting portion 1115 abuts against part of the inner wall of the accommodating cavity, thereby limiting the relative rotation of the adjusting component 112c and the cleaning turntable 111c around the rotating axis of the cleaning turntable 111c.

[0085] There are many ways to implement the limiting structure. For example, based on the implementation of the above-mentioned example 1 or example 2, there can be many ways to implement the limiting structure.

[0086] In a specific implementation, Figure 3 and Figure 5 As shown, the limiting structure includes a limiting block 1141a and a limiting groove 1142a, wherein the limiting block 1141a is accommodated in the limiting groove 1142a, and the groove wall of the limiting groove 1142a is used to limit the moving distance of the limiting block 1141a along the target direction. In the embodiment of the present disclosure, the limiting block 1141a and the limiting groove 1142a are arranged between the adjusting component 112a and the cleaning turntable 111a.

[0087] For example, in the embodiments of the present disclosure, Figure 3 and Figure 5As shown, the limit block 1141a is arranged on the outer side of the adjusting component 112a, and the limit groove 1142a is arranged on the inner wall of the accommodating cavity of the cleaning turntable 111a. When the direction of the rotating axis of the cleaning turntable 111a is vertical, the force exerted by the ground on the cleaning turntable 111a is greater than the sum of the force exerted by the elastic member 115a on the cleaning turntable 111a and the gravity of the cleaning turntable 111a, so that the cleaning turntable 111a slides upward relative to the adjusting component 112a until the limit block 1141a and the lower groove wall of the limit groove 1142a abut against each other, and the upward sliding of the cleaning turntable 111a relative to the adjusting component 112a stops. This state is shown in FIG. Figure 3 When the force acting on the cleaning disc 111a is less than the sum of the force acting on the cleaning disc 111a by the elastic member 115a and the gravity of the cleaning disc 111a, the cleaning disc 111a slides downward relative to the adjusting member 112a until the limiting block 1141a abuts against the upper groove wall of the limiting groove 1142a, and the cleaning disc 111a stops sliding downward relative to the adjusting member 112a. This state is shown in FIG. Figure 5 It can be understood that in the embodiment of the present invention, Figure 3 and Figure 5 As shown, the cleaning turntable 111a includes a first turntable housing 1111 and a limiting plate 1112, and the limiting groove 1142a is formed by a part of the inner surface of the first turntable housing 1111 and a part of the upper surface of the limiting plate 1112. Therefore, the limiting block 1141a abuts against the lower groove wall of the limiting groove 1142a, that is, the limiting block 1141a abuts against the limiting plate 1112; and the limiting block 1141a abuts against the upper groove wall of the limiting groove 1142a, that is, the limiting block 1141a abuts against the first turntable housing 1111.

[0088] In other alternative embodiments, the limiting groove 1142a may be disposed on the outer side surface of the adjusting component 112a, and the limiting block 1141a may be disposed on the inner wall of the accommodating cavity of the cleaning rotary disk 111a.

[0089] It can be understood that the limiting structure can also be other specific implementation methods. For example, in the specific implementation method of Example 1 above, in the accommodating cavity of the cleaning turntable, the opening end of the accommodating cavity is provided with a baffle extending into the interior of the accommodating cavity. The baffle, the wall surface of the accommodating cavity, and the bottom of the accommodating cavity constitute a limiting structure. The adjusting component is restricted by the limiting structure, so that the moving distance of the cleaning turntable relative to the adjusting component along the target direction is the distance between the baffle and the bottom of the accommodating cavity.

[0090] For example, in Figure 6-Figure 9In the implementation shown, the limiting structure includes the surface of the cleaning turntable 111c, the slide bar 1143, and the limiting fixed block 1144. After the through hole on the adjusting component 112c is inserted into the slide bar 1143, the limiting fixed block 1144 and one end of the slide bar 1143 are fixedly connected, so that the adjusting component 112c can slide along the slide bar 1143 between the limiting fixed block 1144 and the surface of the cleaning turntable 111c. In other words, the sliding distance of the cleaning turntable 111c relative to the adjusting component 112c is the distance between the limiting fixed block 1144 and the surface of the cleaning turntable 111c. It can be understood that in Figure 6-Figure 9 In the example of , the limiting structure can also be a limiting block and a limiting groove. In this case, the limiting block and the limiting groove are located between the connecting portion of the cleaning turntable and the groove of the adjusting component. For example, the limiting groove is arranged on the outer side of the connecting portion. The limiting block is arranged on the inner wall surface of the groove of the adjusting component, and the limiting block is arranged in the limiting groove for movement.

[0091] It can be understood that the pressure unit of the embodiment of the present disclosure can be implemented in many ways, and two examples are given below:

[0092] Example 1: If Figure 2-Figure 5 As shown, the pressure unit may be an elastic member 115a, and the elastic member 115a may be, for example, a spring, a bellows, a leaf spring, etc. Figure 6-Figure 9 In the implementation shown, the pressure unit is an elastic member 115c, and the elastic member 115c is located between the cleaning disc 111c and the adjustment member 112c. When the pressure unit is an elastic member, the direction of the force applied by the pressure unit to the cleaning disc is parallel to the target direction. Figure 3 As shown, the elastic member 115a is a coil spring, one end of which abuts against the adjusting component, and the other end of which abuts against the cleaning rotary disk. In order to increase the expansion and contraction amount of the coil spring, an annular cavity is provided on the adjusting component, and the coil spring is sheathed in the annular cavity.

[0093] When the pressure unit is an elastic member 115 a , since the elastic member 115 a has a shock-absorbing effect, the upward sliding of the cleaning rotary disk 111 a relative to the adjusting member 112 a can be relatively gentle.

[0094] Example 2: Fig.10 This is a cross-sectional view of another mopping module and driving mechanism provided by an embodiment of the present disclosure. Fig.10 As shown, the pressure unit can also be a weight member 116, wherein the weight member 116 is a component with a weight greater than a preset weight. At this time, the direction of the force applied by the pressure unit to the cleaning turntable is maintained vertically downward. The material of the weight member 116 can be metal, ceramic, plastic, etc., and the embodiment of the present disclosure does not specifically limit this. For example, Fig.10As shown, the gravity member 116 is a cylindrical metal block, which is accommodated in an annular cavity provided on the adjusting component. The gravity block abuts against the cleaning turntable under the action of gravity and applies a vertical downward force to the cleaning turntable.

[0095] In summary, in the turntable structure 11a provided by the present disclosure, one side of the cleaning turntable 111a is connected to the cleaning member 12, and on the other side of the cleaning turntable 111a, the adjusting member 112a is connected to the cleaning turntable 111a in a sliding manner along the target direction, so that the cleaning turntable 111a can slide relative to the adjusting member 112a. When the target direction is perpendicular to the horizontal plane, the pressure unit is used to apply a vertical downward force to the cleaning turntable 111a, and because the cleaning turntable 111a can slide relative to the adjusting member 112a in the target direction, the cleaning member 12 used to clean the ground can maintain contact with the ground, thereby improving the cleaning effect on the ground.

[0096] Embodiment 2

[0097] In order to have a more intuitive understanding of the turntable structure provided by the embodiment of the present disclosure, Figure 11-Figure 16 The example shown in the figure describes in detail one specific example of a turntable structure 11b provided by an embodiment of the present disclosure:

[0098] like Fig.11 , Fig.12 and Fig.13 As shown, the turntable structure 11b provided in the embodiment of the present disclosure includes a cleaning turntable 111b, an adjusting component 112b and a spring 115b. The cleaning turntable 111b includes a second turntable housing 1113 and a turntable bottom plate 1114, and the turntable bottom plate 1114 and the bottom of the second turntable housing 1113 are fixedly connected by screws. The side of the turntable bottom plate 1114 away from the second turntable housing 1113 is connected to the cleaning member 12, and the cleaning member 12 is a mop, which is used to clean the floor, and the mop and the turntable bottom plate 1114 are attached by Velcro provided between the mop and the turntable bottom plate 1114. The adjusting component 112b is accommodated in the accommodating cavity formed by the second turntable shell 1113 and the turntable bottom plate 1114. During the installation process, the adjusting component 112b is inserted into the second turntable shell 1113 from the bottom of the second turntable shell 1113, and then the second turntable shell 1113 and the turntable bottom plate 1114 are fixed from the extended part of the second turntable shell 1113 using screws.

[0099] The adjusting member 112b can slide relative to the second turntable housing 1113 along the direction of the rotation axis of the cleaning turntable 111b. Specifically, the outer side surface of the adjusting member 112b is located inside the inner side surface of the second turntable housing 1113 and the two can abut against each other, and the outer side surface of the adjusting member 112b can slide relative to the inner side surface of the second turntable housing 1113 in a direction parallel to the rotation axis of the cleaning turntable 111b. In the direction perpendicular to the rotation axis of the cleaning turntable 111b, the adjusting member 112b is restricted from moving by the second turntable housing 1113. Fig.16 As shown, a first limiting surface is provided on the outer side of the adjusting component 112b, and a second limiting surface is provided on the inner side of the second turntable housing 1113. Both the first limiting surface and the second limiting surface are non-cylindrical surfaces, so that the first limiting surface and the second limiting surface limit the relative rotation of the adjusting component 112b and the second turntable housing 1113, that is, limit the relative rotation of the adjusting component 112b and the cleaning turntable 111b. In this way, when the driving mechanism of the robot drives the adjusting component 112b to rotate, the first limiting surface on the adjusting component 112b and the second limiting surface on the cleaning turntable 111b abut against each other, and the adjusting component 112b drives the cleaning turntable 111b to rotate.

[0100] like Fig.13 As shown, a limit block 1141b is provided on the outer side surface of the adjusting component 112b, and a limit groove 1142b is provided in the cavity formed by the second turntable shell 1113 and the turntable bottom plate 1114, the upper groove wall of the limit groove 1142b is located on the second turntable shell 1113, and the lower groove wall of the limit groove 1142b is located on the turntable bottom plate 1114, so that after the limit block 1141b is located in the limit groove 1142b, the limit block 1141b moves between the upper groove wall of the limit groove 1142b and the lower groove wall of the limit groove 1142b, because the limit block 1141b and the adjusting component 112b are fixedly connected, the sliding distance of the cleaning turntable 111b relative to the adjusting component 112b is the distance between the upper groove wall of the limit groove 1142b and the lower groove wall of the limit groove 1142b. In this way, the sliding distance of the cleaning rotary disk 111b relative to the adjusting component 112b along the direction parallel to its rotation axis is limited by the limiting structure of the limiting block 1141b and the limiting groove 1142b.

[0101] In this embodiment, the spring 115b is arranged between the cleaning turntable 111b and the adjusting component 112b. In this embodiment, one end of the spring 115b abuts against the adjusting component 112b, and the other end of the spring 115b abuts against the turntable bottom plate 1114, so that the spring 115b applies an elastic force to the turntable bottom plate 1114, thereby applying a force to the cleaning turntable 111b. In this embodiment, the position change of the adjusting component 112b and the cleaning turntable 111b can cause the position change of the spring 115b, and the elastic force of the spring 115b is parallel to the rotation axis of the cleaning turntable 111b, and the angle of the rotation axis of the cleaning turntable 111b relative to the horizontal plane is equal to the angle of the elastic force of the spring 115b relative to the horizontal plane.

[0102] For example, when the rotating axis of the cleaning turntable 111b is inclined with the ground, the elastic force of the spring 115b forms an angle with the ground; or, when the rotating axis of the cleaning turntable 111b is perpendicular to the horizontal plane, the elastic force of the spring 115b is also perpendicular to the horizontal plane, so that the spring 115b applies a vertical downward force to the cleaning turntable 111b.

[0103] In this example, a groove is provided at one end of the adjusting component 112b away from the cleaning member 12, and the groove is used for the drive shaft 21 of the driving mechanism 2 to be inserted therein, so that the drive shaft 21 transmits torque to the adjusting component 112b. A magnet 113b is provided at the bottom of the groove of the adjusting component 112b. Specifically, the magnet 113b is sealed at the bottom of the adjusting component 112b by a magnet sealing ring, and a magnet fixing block 117 is used to insert the bottom of the adjusting component 112b so that the magnet 113b is fixed at the bottom of the adjusting component 112b, that is, the bottom of the aforementioned groove.

[0104] In summary, one side of the cleaning disc 111b is connected to the cleaning member 12, and the adjusting member 112b is slidably connected to the cleaning disc 111b along the target direction on the other side of the cleaning disc 111b, so that the cleaning disc 111b can slide relative to the adjusting member 112b. When the target direction is perpendicular to the horizontal plane, the spring 115b is used to apply a vertical downward force to the cleaning disc 111b, and because the cleaning disc 111b can slide relative to the adjusting member 112b along the target direction, the cleaning member 12 used to clean the floor can maintain contact with the floor, thereby improving the cleaning effect on the floor.

[0105] Embodiment 3

[0106] Embodiment 3 of the present disclosure also provides a robot.

[0107] Fig.17 A bottom view of a robot according to an embodiment of the present disclosure is schematically shown.

[0108] As shown in Figure 17, the robot comprises: a mopping module 1, a driving mechanism 2 and a robot body 3. Among them:

[0109] The mopping module 1 is disposed at the bottom of the robot body 3 , and includes a turntable structure 11 a and a cleaning member 12 .

[0110] The turntable structure may be the turntable structure in any of the aforementioned embodiments, which will not be described in detail herein. Fig.18 , Fig.19 In order to make the description more intuitive, the turntable structure 11a of the first embodiment is taken as an example for explanation.

[0111] In this embodiment, the cleaning member 12 is used to clean the floor, and the cleaning member 12 may be a specific cleaning structure such as a mop or a brush.

[0112] It should be understood that the cleaning member 12 can be mounted to the turntable structure 11a in a variety of ways, which are not limited here. For example, the cleaning member 12 and the turntable structure 11a can be connected by magnet adsorption, gluing, bolt connection, or Velcro.

[0113] The driving mechanism 2 is mounted on the robot body 3. Figure 3 As shown, the driving mechanism 2 is connected to the adjusting component 112 a , and the driving mechanism 2 is used to rotate the mopping module 1 .

[0114] In the embodiment of the present disclosure, because a turntable structure 11a with a telescopic function is adopted, the technical problem of poor ground cleaning effect of the cleaning robot in the related art can be at least partially solved, so that the cleaning part 12 can maintain a close fit with the ground when the robot is working, thereby improving the cleaning effect of the robot.

[0115] As an optional embodiment, Figure 3 As shown, the driving mechanism 2 includes a driving shaft 21, which is connected to the side of the adjusting component 112a away from the cleaning member 12, and the driving shaft 21 is used to rotate the adjusting component 112a. In this way, the driving shaft 21 realizes the connection between the driving mechanism 2 and the adjusting component 112a, and the driving mechanism 2 drives the mopping module 1 to rotate. In addition, the driving shaft 21 can also provide a force parallel to the rotation axis of the driving shaft 21 to the adjusting component 112a, for example, Figure 3 In the example shown, the driving shaft 21 provides a force to the adjusting member 112 a , and the force is opposite in direction to the force of the elastic member 115 a on the adjusting member 112 a .

[0116] In the embodiment of the present disclosure, the adjusting component 112 a can also swing relative to the driving shaft 21 .

[0117] When the robot is working, the adjusting component 112a is slidably connected with the cleaning turntable 111a along the target direction, so that the cleaning member 12 arranged on the cleaning turntable 111a can move along the target direction. In addition, the adjusting component 112a can also swing relative to the driving shaft 21. Since the cleaning turntable 111a is connected to the driving shaft 21 through the adjusting component 112a, the cleaning turntable 111a and the cleaning member 12 arranged on the cleaning turntable 111a can swing relative to the driving shaft 21. In this way, when the target direction is perpendicular to the horizontal plane, the cleaning member 12 can move up and down, and can also swing relative to the driving shaft, so that the cleaning member 12 can adapt to the uneven and inclined ground for cleaning, thereby improving the cleaning effect.

[0118] As an optional embodiment, the specific connection method between the driving shaft 21 and the adjusting component 112a can be as follows: Figure 3 As shown, the drive shaft 21 and the adjusting component 112a are connected through the shaft sleeve 61 and the shaft end 62, and the shaft end 62 is sleeved in the groove of the shaft sleeve 61. The end of the shaft end 62 is slidably connected to the bottom of the shaft sleeve 61, and the sliding direction of the end of the shaft end 62 relative to the bottom of the shaft sleeve 61 is in the same direction as the swing direction of the adjusting component 112a relative to the drive shaft 21. For example, the end face of the end of the shaft end 62 is a hemispherical surface, and the bottom of the shaft sleeve 61 is a hemispherical surface. After the two hemispherical surfaces abut, the shaft end 62 can slide relative to the shaft sleeve 61 along the trajectory of the hemispherical surface, thereby driving the adjusting component 112a to swing relative to the drive shaft 21, and the swinging trajectory is a trajectory on the hemispherical surface.

[0119] There is a gap between the inner side of the sleeve 61 and the outer side of the shaft end 62, and the gap changes from large to small from the notch of the sleeve 61 to the bottom of the sleeve 61, so that the adjustment component 112a can swing relative to the drive shaft 21. After the shaft end 62 is inserted into the sleeve 61, the gap between the inner side of the sleeve 61 and the outer side of the shaft end 62 changes from large to small from the notch of the sleeve 61 to the bottom of the sleeve 61, so that in the relative swing of the shaft end 62 and the sleeve 61, the swing amplitude at the notch of the sleeve 61 is greater than the swing amplitude at the bottom of the sleeve 61, so that the relative swing amplitude of the shaft end 62 and the sleeve 61 can be set to be larger, so that the swing amplitude of the adjustment component 112a relative to the drive shaft 21 can be larger.

[0120] A limiting surface is provided on the inner side surface of the sleeve 61, and a limiting surface is provided on the outer side surface of the shaft end 62. The limiting surface on the inner side surface of the sleeve 61 and the limiting surface on the outer side surface of the shaft end 62 are mutually limited to limit the relative rotation of the sleeve 61 and the shaft end 62. For example, the cross section of the shaft end 62 and the cross section of the sleeve 61 have the same shape but different sizes. The cross section of the shaft end 62 and the cross section of the sleeve 61 can be a regular polygon. When the shaft end 62 is inserted into the sleeve 61, when the shaft end 62 rotates, the side surface where the shaft end 62 and the sleeve 61 are in contact is the limiting surface of the shaft end 62 and the sleeve 61, thereby limiting the relative rotation of the sleeve 61 and the shaft end 62, so that the shaft end 62 transmits torque to the sleeve 61, so that the drive shaft 21 drives the adjustment component 112a to rotate.

[0121] In one example, the sleeve 61 is disposed on the adjusting member 112a, and the shaft end 62 is disposed on the driving shaft 21. Fig.18 ,and Fig.19 As shown, a groove structure is provided on the side of the adjusting component 112a away from the cleaning member 12, and the groove structure is the above-mentioned shaft sleeve 61. The shaft end 61 and the driving shaft 21 are fixedly connected or are an integral structure, and the shaft end 62 can be sleeved into the shaft sleeve 61.

[0122] In another example, the sleeve is disposed on the drive shaft 21, and the shaft end is disposed on the adjusting component 112a. For example, a groove structure is disposed at one end of the drive shaft 21 close to the mopping module, and the groove structure is a sleeve, and a shaft end is disposed on one side of the adjusting component 112a close to the drive shaft 21.

[0123] Thus, through the gap connection between the shaft end 62 and the shaft sleeve 61, the adjusting member 112a can swing around relative to the driving shaft 21, thereby driving the cleaning member 12 connected to the cleaning rotary disk 111a to swing around relative to the driving shaft 21. Fig.18 and Fig.19 As shown, a shaft sleeve 61 is provided on the side of the adjusting component 112a away from the cleaning member 12, and the shaft end 62 is fixedly connected to the driving shaft 21. The shaft end 62 is inserted into the shaft sleeve 61, and there is a gap between the inner side of the shaft sleeve 61 and the outer side of the shaft end 62. From the notch of the shaft sleeve 61 to the bottom of the shaft sleeve 61, the gap changes from large to small. Therefore, the shaft end 62 can swing relative to the shaft sleeve 61, and accordingly, the cleaning turntable 111a can swing relative to the driving shaft 21. Taking the robot's forward direction as the front, in Fig.18 In the embodiment, the cleaning disc 111a swings forward relative to the driving shaft 21. Fig.19 In the process, the cleaning disk 111a swings backward relative to the driving shaft 21.

[0124] In some embodiments, when the axis of the drive shaft 21 coincides with the rotation axis of the cleaning turntable 111a, the cleaning member 12 connected to the cleaning turntable 111a can move in a target direction and swing in a direction perpendicular to the target direction. The target direction is a direction parallel to the rotation axis of the cleaning turntable 111a. Thus, the cleaning member 12 can be extended and retracted to adapt to the up and down bumps of the ground, and can swing to adapt to the inclination of the ground, so that the cleaning member 12 can fit the ground, thereby improving the cleaning effect of the cleaning member 12 on the ground.

[0125] As an optional embodiment, Figure 2 and Figure 3 As shown, a magnetic unit 113a (such as a magnet) is provided at the bottom of the sleeve 61, and the magnetic unit 113a is used to be magnetically connected to the shaft end 62. Therefore, there is a magnetic connection between the adjustment component 112a and the drive shaft 21. Since the mopping module 1 and the robot body 3 are connected through the adjustment component 112a and the drive shaft 21, the mopping module 1 and the robot body 3 are magnetically connected, which facilitates the user to disassemble and assemble the mopping module 1 and the robot body 3, and also makes the connection between the mopping module 1 and the robot body 3 have a certain stability. Moreover, even if used for a long time, the magnetic force of the magnetic unit 113a can still be maintained, especially when the magnetic unit 113a is a magnet, the magnetic unit 113a will not be worn due to long-term use and the relative movement between the sleeve 61 and the shaft end 62.

[0126] There are many ways to configure the magnetic unit 113a. For example, please refer to the above description. Fig.11 and Fig.12 A detailed description of the turntable structure is shown. Alternatively, Figure 3 In the turntable structure 11a shown, the magnetic unit 113a (such as a magnet) is arranged at the bottom of the adjusting component 112a, that is, the bottom of the groove of the adjusting component 112a. The magnetic unit 113a can be embedded in the installation groove on the adjusting component 112a, or sealed in the installation groove by other components.

[0127] In some embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the entire drive mechanism can be composed of the following parts: a drive shaft 21, a bearing 22, a worm wheel 23, a turbine housing 24, a worm wheel pin 25 and a worm motor 26. Among them, the worm of the worm motor 26 extends into the turbine housing 24, and the drive shaft 21 extends from the turbine housing 24. In the turbine housing 24, a bearing 22, a worm wheel pin 25 and a turbine 23 are arranged. Specifically, the turbine 23 is arranged between the two bearings 22, the drive shaft 21 passes through the two bearings 22 and the turbine 23, and the drive shaft 21 and the inner ring of the bearing 22 are clamped, and the drive shaft 21 can rotate relative to the outer ring of the bearing 22. The drive shaft 21 is fixedly connected to the worm wheel 23 through the worm wheel pin 25.

[0128] When the robot is in use, the worm motor 26 drives the worm wheel 23, the worm wheel 23 drives the drive shaft 21 to rotate, the drive shaft 21 drives the adjusting component 112a, and the adjusting component 112a transmits the rotational motion to the cleaning turntable 111a, thereby driving the cleaning member 12 to rotate. The drive shaft 21 and the adjusting component 112a are swung in the horizontal direction through the gap between the sleeve 61 and the shaft end 62, so that the cleaning member 12 can adapt to the ground with different flatness. The cleaning turntable 111a can slide relative to the adjusting component 112a along the target direction, which is a direction parallel to the rotation axis of the cleaning turntable 111a.

[0129] As an optional embodiment, Fig.17 As shown, two driving wheels 4 and a universal wheel 5 are provided at the bottom of the robot. The two driving wheels 4 and the universal wheel 5 are used to support the robot on the ground. The mopping module 1 is arranged between the two driving wheels 4 and the universal wheel 5, and the universal wheel 5 is arranged before the mopping module 1 along the forward direction of the robot. In the embodiment disclosed in the present invention, the driving wheel 4 can obtain power from the power device of the robot body 3 to rotate, thereby driving the robot to move. Along the forward direction of the robot, the universal wheel 5 is arranged before the mopping module 1, so that the universal wheel 5 can enable the robot to turn in multiple directions.

[0130] In the embodiment of the present disclosure, in the rotary disc structure 11a in the mopping module 1, the cleaning rotary disc 111a can slide relative to the adjustment component 112a in the target direction, so that the pressure of the cleaning rotary disc 111a on the ground can be adjusted. By adjusting the pressure on the ground, not only the cleaning effect on the ground can be ensured, but also the rear wheel drive can be prevented from slipping due to excessive pressure.

[0131] In the robot provided by the present disclosure, the two rear driving wheels 4 and the front universal wheel 5 can form a three-point grounding layout, so the overall posture of the robot is determined by the two driving wheels 4 and the one universal wheel 5, so that the robot can walk smoothly on the ground.

[0132] In addition, the robot provided by the embodiment of the present disclosure can enhance the obstacle-crossing capability of the robot because the universal wheels 5 are arranged in front of the mopping module 1 along the forward moving direction of the robot.

[0133] It can be understood that the driving and traveling mode of the robot of the embodiment of the present disclosure may be other modes besides the above-mentioned combination of two driving wheels 4 and one universal wheel 5. For example, the driving and traveling mode of the robot is to set 2, 4 or more wheels at the bottom of the robot, or to set a crawler mechanism at the bottom of the robot, or other implementation methods, and the embodiment of the present disclosure does not make any specific restrictions on this.

[0134] It can be understood that the number of mopping modules of the present disclosure can be one, two, or more, and the embodiments of the present disclosure do not specifically limit this.

[0135] As an optional embodiment, there are two mopping modules 1. In this case, the universal wheel 5 is located between the two mopping modules 1, and the universal wheel 5 intersects with the target tangent 7. The target tangent 7 is the tangent that is perpendicular to the robot's forward direction and tangent to at least one of the two mopping modules 1 and is closest to the front of the robot's forward direction. In other words, there may be one or more tangents that are perpendicular to the robot's forward direction and are tangent to at least one of the two mopping modules 1. The tangent that is closest to the front of the robot's forward direction is the target tangent 7. For example, Fig.17 In the robot shown, the cleaning member 12 of the mopping module 1 is a round mop. Two identical mopping modules 1 are provided on the robot. The target tangent 7 is perpendicular to the forward direction of the robot and tangent to the two mopping modules 1 , and the universal wheel 5 intersects with the target tangent 7 .

[0136] In other examples, the cleaning piece of the mopping module 1 may be a mop of other shapes, such as a polygon, an irregular shape, etc. During the rotation of the mopping module 1, there may be multiple tangents perpendicular to the forward direction of the robot and tangent to the mopping module 1. Among the multiple tangents, the tangent closest to the front along the forward direction of the robot is the target tangent.

[0137] In this way, when the robot is working, along the forward direction of the robot, the mopping module 1 is located in front of the two mopping modules 1, so that when encountering an obstacle, the universal wheel contacts the obstacle before the mopping module 1, and the universal wheel 5 facilitates the robot to cross the obstacle. In addition, the universal wheel 5 is located between the two mopping modules 1, and the universal wheel 5 intersects with the target tangent, so that the universal wheel 5 can be set closer to the mopping module 1. Because the universal wheel 5 is closer to the mopping module 1, the edge of the head of the robot can be closer to the mopping module 1, reducing the distance between the edge of the head of the robot and the mopping module 1. In this way, when the head of the robot collides with an obstacle, the distance between the edge of the head of the robot and the mopping module 1 is a cleaning blind area, that is, an area that the mopping module 1 cannot clean, and the mopping module 1 of the robot in the embodiment of the present invention is closer to the edge of the head of the robot, that is, the mopping module 1 can be closer to the obstacle, so that the mopping module 1 can clean more areas during work.

[0138] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0139] Although the present disclosure has been shown and described with reference to specific exemplary embodiments of the present disclosure, it should be understood by those skilled in the art that various changes in form and details may be made to the present disclosure without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents. Therefore, the scope of the present disclosure should not be limited to the above-mentioned embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A turntable structure, characterized in that: include: A cleaning turntable, one side of which is connected to a cleaning member, the cleaning member is used to clean the floor, and the cleaning member is a mop; An adjusting component, wherein the adjusting component is slidably connected with the cleaning turntable along a target direction at a side of the cleaning turntable away from the cleaning member, the target direction being a direction parallel to the rotation axis of the cleaning turntable, the side of the adjusting component away from the cleaning member is used to be connected with a driving mechanism of the robot to drive the cleaning turntable to rotate, wherein the driving mechanism comprises a driving shaft, the driving shaft is connected to a side of the adjusting component away from the cleaning member, the driving shaft and the adjusting component are connected via a shaft sleeve and a shaft end, the shaft end is sleeved in a groove of the shaft sleeve, the driving shaft is used to rotate the adjusting component, and the adjusting component is provided with an annular cavity; and a pressure unit, the pressure unit being disposed between the cleaning turntable and the adjusting component, and being used for applying a vertical downward force to the cleaning turntable when the target direction is perpendicular to a horizontal plane; The pressure unit is a spring, and the spring is inserted into the annular cavity.

2. The turntable structure according to claim 1, characterized in that: The turntable structure further includes a limiting structure, and the limiting structure is used to limit the sliding distance of the cleaning turntable relative to the adjusting component along the target direction.

3. The turntable structure according to claim 2, characterized in that: The cleaning turntable comprises a containing cavity, the adjusting component is contained in the containing cavity, and the outer side surface of the adjusting component and the inner wall of the containing cavity are slidably connected along the target direction; as well as The outer side surface of the adjusting component includes a first limiting surface, and the inner wall of the accommodating cavity includes a second limiting surface. The first limiting surface and the second limiting surface limit each other to limit the relative rotation of the adjusting component and the cleaning turntable.

4. The turntable structure according to claim 2, characterized in that: The cleaning turntable includes a connecting portion at a side away from the cleaning member, the adjusting component includes a receiving cavity, the connecting portion is received in the receiving cavity, and the outer side surface of the connecting portion and the inner wall of the receiving cavity are slidably connected along the target direction; and The outer side surface of the connecting portion includes a first limiting surface, and the inner wall of the accommodating cavity includes a second limiting surface. The first limiting surface and the second limiting surface limit each other to limit the relative rotation of the adjusting component and the cleaning turntable.

5. The turntable structure according to claim 3 or 4, characterized in that: The limiting structure comprises a limiting block and a limiting groove, the limiting block is accommodated in the limiting groove, and the groove wall of the limiting groove is used to limit the moving distance of the limiting block along the target direction; and The limiting block and the limiting groove are arranged between the adjusting component and the cleaning turntable.

6. A robot, characterized in that: include: Robot body; A mopping module, the mopping module being arranged at the bottom of the robot body, the mopping module comprising a turntable structure and a cleaning member, the turntable structure being the turntable structure according to any one of claims 1 to 5; as well as A driving mechanism is installed on the robot body, the driving mechanism is connected to the adjusting component, and the driving mechanism is used to rotate the mopping module.

7. The robot according to claim 6, characterized in that: The end of the shaft end is slidably connected to the bottom of the sleeve, and the sliding direction of the end of the shaft end relative to the bottom of the sleeve is in the same direction as the swinging direction of the adjusting component relative to the driving shaft; There is a gap between the inner side of the sleeve and the outer side of the shaft end, and the gap decreases from the notch of the sleeve to the bottom of the sleeve, so that the adjustment component can swing relative to the drive shaft; The limiting surface on the inner side surface of the sleeve and the limiting surface on the outer side surface of the shaft end limit each other to limit the relative rotation of the sleeve and the shaft end; The bushing is arranged on the adjusting component, and the shaft end is arranged on the driving shaft; or, the bushing is arranged on the driving shaft, and the shaft end is arranged on the adjusting component.

8. The robot according to claim 7, characterized in that: A magnetic unit is disposed at the bottom of the sleeve, and the magnetic unit is used for magnetic connection with the shaft end.

9. The robot according to any one of claims 6 to 8, characterized in that: The bottom of the robot is provided with two driving wheels and a universal wheel, and the two driving wheels and the universal wheel are used to support the robot on the ground; The mopping module is arranged between the two driving wheels and the universal wheel; Along the forward moving direction of the robot, the universal wheel is arranged in front of the mopping module.

10. The robot according to claim 9, characterized in that: The number of the mopping modules is two; The universal wheel is located between the two mopping modules, and the universal wheel intersects with a target tangent, which is a tangent that is perpendicular to the forward moving direction of the robot and tangent to at least one of the two mopping modules and is closest to the front of the robot along the forward moving direction.

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