Lifting mechanism, cleaning robot equipped with the lifting mechanism and working method thereof

Abstract

The present invention provides a lifting mechanism, a cleaning robot equipped with the lifting mechanism and a working method thereof, so as to solve the problem that the current cleaning robot cannot selectively mop the indoor comprehensive environment. The lifting mechanism comprises a driving component, a lifting component and a cleaning component connected in sequence; the driving component is used to drive the lifting component; the lifting component can lift and lower the cleaning component relative to the surface to be cleaned; when the cleaning component is lowered to contact the surface to be cleaned, the cleaning component is configured to clean the surface to be cleaned; after the cleaning component is lifted, it can stop contacting the surface to be cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a lifting mechanism, a cleaning robot equipped with the lifting mechanism and a working method thereof. Background Art

[0002] A cleaning robot is a type of smart home appliance that can automatically clean the floor in a room with a certain degree of artificial intelligence. It usually uses brushing and vacuuming to absorb debris on the floor into its own garbage storage box, thereby completing the function of floor cleaning. When using a cleaning robot, users usually only need to place the cleaning robot on the ground, and the cleaning robot can roll and collect the dirt on the floor through the rotation of the brush, and then suck the dirt into the storage box through the suction port. However, general cleaning robots can only clean floor dust and some small and light dirt, and the cleaning effect is not ideal for some stubborn stains.

[0003] Currently on the market, by setting a rag at the bottom of the cleaning robot (see Figure 7 As shown in the figure, the mopping mechanism of the conventional cleaning robot, where 400 is the rag and 300 is the water tank), after mopping for a long time, water and dirt adhere to the flat mop, which may cause secondary pollution to the floor during the subsequent floor cleaning process, which will waste more time of the user. In addition, the cleaning of the flat mop requires the rag to be disassembled and cleaned manually, which is time-consuming and labor-intensive, unhygienic and affects the user experience.

[0004] In particular, the current sweeping and mopping machines can sweep and mop the floor at the same time, and have high requirements on the use environment. For example, there should be no objects that cannot be wetted, such as carpets, in the use environment. In addition, the rag set at the bottom of the machine in the prior art is designed to be flush with the ground, and the pressure of the rag on the ground is small, so the mopping effect is not ideal.

[0005] In addition, the current sweeping and mopping machines cannot select mopping modes for different environments, cannot mop the floor selectively, and cannot separate mopping the bathroom or kitchen from mopping the living room or bedroom. Summary of the invention

[0006] The purpose of the present invention is to provide a lifting mechanism, a cleaning robot equipped with the lifting mechanism and a working method thereof, so as to solve the problem that the current cleaning robot cannot selectively mop the indoor comprehensive environment.

[0007] On the one hand, a lifting mechanism for a cleaning robot is characterized in that:

[0008] It includes a driving assembly, a lifting assembly and a cleaning assembly which are connected in sequence;

[0009] The driving assembly is used to drive the lifting assembly;

[0010] The lifting assembly can lift and lower the cleaning assembly relative to the surface to be cleaned;

[0011] When the cleaning component is lowered to contact the surface to be cleaned, the cleaning component is configured to clean the surface to be cleaned; and when the cleaning component is raised, it can stop contacting the surface to be cleaned.

[0012] The present invention adopts the above structure, and can sweep and mop independently (for example, only mop without sweeping, only sweep without mopping, etc.); and can improve the obstacle crossing ability and can also apply pressure to mop the floor.

[0013] Preferably, the cleaning component is a flat mop, which is configured so that the cleaning work surface can be flipped outwards at a certain angle when lifted.

[0014] When the cleaning component is lifted to a certain angle along with the swing of the rocker, the mop can be cleaned more easily.

[0015] The cleaning assembly can be turned over while being lifted or lowered, or can be turned over after being lifted. The advantage of such arrangement is that the cleaning assembly can be easily cleaned or washed, or the cleaning assembly can be replaced.

[0016] Preferably, the lifting mechanism also includes a processor and a drive component actuator; the processor receives a trigger signal and determines the position of the cleaning component based on the position information, thereby transmitting an execution signal to the drive component actuator; the drive component actuator is used to control the drive component according to the acquired execution signal.

[0017] Preferably, the lifting mechanism further comprises a position detection device, and the position detection device is used to detect the position of the cleaning component and feed back a position signal to the processor.

[0018] Preferably, an identification module is further provided, the processor is connected to the identification module, the identification module can identify the surface to be cleaned and transmit the information of the surface to be cleaned to the processor, and the processor can form a cleaning strategy according to the information of the surface to be cleaned.

[0019] The driving assembly may be a motor assembly, a pneumatic assembly or a hydraulic assembly.

[0020] The lifting assembly can be a connecting rod mechanism, a linear motion mechanism or a gear pair.

[0021] More preferably, the connecting rod mechanism can be a crank-connecting rod mechanism, which includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate a full circle under the action of a driving assembly, at least one of the connecting rod and the rocker is configured to have a displacement in the vertical direction, and the cleaning assembly is connected to a rod with a displacement in the vertical direction.

[0022] Alternatively, the crank-connecting rod mechanism comprises a spatial connecting rod mechanism, and at least one spherical pair is included between the crank, the connecting rod and the rocker.

[0023] Preferably, the linear motion mechanism includes a screw rod and a nut that are matched and connected, and the screw rod is configured to have a displacement in a vertical direction.

[0024] Preferably, the cleaning assembly comprises a roller brush component.

[0025] Preferably, the cleaning assembly comprises a plate member.

[0026] On the other hand, the present invention also provides a cleaning robot having the above-mentioned lifting mechanism.

[0027] Preferably, the cleaning robot is a household cleaning robot.

[0028] In addition, the present invention also provides a working method of the cleaning robot, comprising the following steps:

[0029] Step 1: The cleaning robot identifies the surface to be cleaned and transmits the information to the processor;

[0030] Step 2: The processor determines a cleaning strategy for the surface to be cleaned based on the received information;

[0031] Step 3: When the cleaning strategy in step 2 is to only sweep but not mop the surface to be cleaned, the processor transmits a first execution signal to the driving component, the driving component drives the lifting component and causes the cleaning component to separate from the surface to be cleaned, and the processor transmits a second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned;

[0032] When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep it, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned, the cleaning component performs mopping on the surface to be cleaned, and the processor transmits the fourth execution signal to the sweeping module, the sweeping module stops sweeping the surface to be cleaned;

[0033] When the cleaning strategy in step 2 is to sweep and mop the surface to be cleaned, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned, the cleaning component mops the surface to be cleaned, and the processor transmits the second execution signal to the sweeping module, the sweeping module sweeps the surface to be cleaned;

[0034] When the cleaning strategy in step 2 is not to sweep or mop the surface to be cleaned, the processor transmits a first execution signal to the driving component, the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned, and the processor transmits a fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned.

[0035] Therefore, the sweeping and mopping of the cleaning robot provided by the present invention can be independently controlled (for example, it can only mop without sweeping, or only sweep without mopping, etc.); and the obstacle surmounting capability can be improved, and pressure can be applied for mopping.

[0036] In addition, the present invention also provides a working method of the cleaning robot, comprising the following steps:

[0037] The steps include:

[0038] Step 1: The cleaning robot identifies the surface to be cleaned and transmits the information to the processor;

[0039] Step 2: The processor determines a cleaning strategy for the surface to be cleaned based on the received information;

[0040] Step three, when the cleaning strategy in step two is to mop the surface to be cleaned, the processor sends a mopping execution signal to the driving component, and the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned; when the cleaning strategy in step two is not to mop the surface to be cleaned, the processor sends a non-mopping execution signal to the driving component, and the driving component drives the lifting component and makes the cleaning component separate from the surface to be cleaned.

[0041] Thus, the present invention can be used for just mopping the floor.

[0042] Another aspect of the present invention provides a pressure mopping mechanism for a cleaning robot.

[0043] It includes a driving assembly, a lifting assembly and a cleaning assembly which are connected in sequence;

[0044] The driving assembly is used to drive the lifting assembly; the lifting assembly can lift and lower the cleaning assembly relative to the surface to be cleaned; when the cleaning assembly is lowered to contact the surface to be cleaned, the cleaning assembly is configured to clean the surface to be cleaned; when the cleaning assembly is lifted to be separated from the surface to be cleaned, the cleaning assembly is configured not to hinder the movement of the cleaning robot;

[0045] The lifting assembly has a telescopic mechanism, which connects the lifting assembly and the cleaning assembly so that the cleaning assembly always fits the surface to be cleaned through its telescopic performance.

[0046] Preferably, the telescopic mechanism comprises an elastic element.

[0047] Preferably, the lifting assembly includes a crank-connecting rod mechanism, which includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate a full circle under the action of the driving assembly, at least one of the connecting rod and the rocker is configured to have a displacement in the vertical direction, the cleaning assembly is connected to a rod with a displacement in the vertical direction, and the telescopic mechanism is arranged on the connecting rod.

[0048] Preferably, the cleaning assembly includes a rolling brush component or a flat mop component.

[0049] A working method of a pressure mopping mechanism for a cleaning robot comprises the following steps:

[0050] Step 1: The lifting assembly drives the cleaning assembly to descend until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

[0051] Step 2: The lifting assembly drives the cleaning assembly to lift, and the cleaning assembly is separated from the surface to be cleaned.

[0052] Preferably, in step one, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly to descend to a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply a first force to the cleaning assembly.

[0053] Preferably, the lifting mechanism drives the cleaning component to descend to the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the cleaning robot from being lifted due to excessive first force applied to the cleaning component and corresponding excessive reaction force.

[0054] The cleaning components involved in the present application may include active cleaning components (the cleaning components have a driving device to actively clean the surface to be cleaned, such as a roller brush with a driving motor), and may also include passive cleaning components (cleaning the surface to be cleaned by means of a cleaning robot walking).

[0055] The description "the cleaning component is configured to clean the surface to be cleaned" used in this application should be understood as follows: the cleaning component itself can actively clean the surface to be cleaned, and the cleaning component can clean the surface to be cleaned under the drive of an external force (see the embodiments described in detail below). The above and other purposes, features and advantages of the present invention will be better understood based on the following specific embodiments and with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic structural diagram of a lifting mechanism for a cleaning robot according to an embodiment of the present invention.

[0057] Figure 2 yes Figure 1 A schematic diagram of the cleaning component flipping in the embodiment shown.

[0058] Figure 3 2 is a schematic diagram showing the first limit position M.

[0059] Figure 4 is a schematic diagram showing the second limit position N.

[0060] Figure 5 and Figure 6 It is a schematic structural diagram of a lifting mechanism for a cleaning robot according to another embodiment of the present invention.

[0061] Figure 7 It is a structural schematic diagram of a conventional cleaning robot mopping mechanism.

[0062] Figure 8 The state of the crank connecting rod mechanism is shown when the cleaning component is in contact with the ground, that is, it is lowered to the lowest position.

[0063] Fig. 9 Indicates the highest position of the crank-connecting rod mechanism.

[0064] Fig.10 and Fig.11 A schematic diagram showing a spring, Fig.10 Indicates that the cleaning component is in contact with the ground, and the lifting component has not yet dropped to the lowest position; Fig.11 Indicates that in Fig.10 On the basis of this, the lifting mechanism further descends, the elastic element (spring) is deformed and compressed, and pressure is applied to the cleaning component. DETAILED DESCRIPTION

[0065] The present invention is further described below in conjunction with the accompanying drawings and the following embodiments. It should be understood that the accompanying drawings and the following embodiments are only provided to teach the best mode of implementing the present invention to those skilled in the art, and are not intended to limit the present invention. The same or corresponding reference numerals in the various figures represent the same components, and repeated descriptions are omitted.

[0066] In view of the problems in the prior art that the sweeping and mopping machines can sweep and mop the floor at the same time and have high requirements on the use environment, the present invention discloses a lifting mechanism for a cleaning robot, comprising a driving assembly, a lifting assembly and a cleaning assembly connected in sequence; the driving assembly is used to drive the lifting assembly; the lifting assembly can lift and lower the cleaning assembly relative to the surface to be cleaned; when the cleaning assembly is lowered to contact the surface to be cleaned, the cleaning assembly is configured to clean the surface to be cleaned; and the cleaning assembly can stop contacting the surface to be cleaned after being lifted.

[0067] Preferably, after the cleaning component is lifted, its lowest position is higher than the bottom surface of the cleaning robot, thereby improving the obstacle-crossing capability of the cleaning robot after it is lifted.

[0068] The lifting structure is applied in the field of cleaning robots, solving the problem that the technical solution of the water tank and rag combination in the prior art cannot adapt to the comprehensive indoor environment, especially the more complex home indoor environment. Moreover, by adjusting the pressure of the cleaning component and the surface to be cleaned, stubborn stains can be mopped with pressure, achieving unexpected beneficial effects compared with the prior art.

[0069] The lifting structure has good expansion performance, especially when combined with artificial intelligence, it can choose whether to clean the surface to be cleaned according to the indoor environment and the surface to be cleaned.

[0070] [Realization of lifting action]

[0071] In one embodiment, it also includes a processor and a drive component actuator, the processor receives a trigger signal (including a lifting trigger signal and a lowering trigger signal) and determines the position of the cleaning component according to the position information (including the preset position information or the position information obtained from the position detection device), and transmits the execution signal (including the lifting execution signal and the lowering execution signal) to the drive component actuator; the drive component actuator is used to control the drive component according to the acquired execution signal (to enable the lifting component to perform lifting and lowering actions) until the processor obtains the adjusted position information again (including the preset adjusted position information and the adjusted position information detected from the position detection device, etc.), and the processor transmits a signal to stop execution to the drive component actuator.

[0072] Here, the adjusted position information should be interpreted as: information about the position of the lifting component after the lifting or lowering action, which can be stored preset position information or position information obtained by a position detection device.

[0073] When the position information is preset position information, the preset position information includes lifting position information and lowering position information, corresponding to the cleaning component being located at the lifting position and the lowering position, respectively. The position of the cleaning component is pre-adjusted to be consistent with the preset position information, and the process can be adjusted during factory settings.

[0074] In the case where the position information is position information detected by, for example, a position detection device, the position information includes lifting position information and lowering position information, and the processor combines the trigger signal and the position information to give a lifting or lowering execution signal. After obtaining the lifting execution signal, the driving component actuator controls the driving component and drives the lifting component to lift the cleaning component. Correspondingly, after obtaining the lowering execution signal, the driving component actuator controls the driving component and drives the lifting component to lower the cleaning component.

[0075] In detail:

[0076] 1. When the trigger signal is a lifting trigger signal, the position detection device detects that the position information of the cleaning component is in the descending position, and the processor sends a lifting execution signal to the driving component actuator; until the processor obtains that the position information of the cleaning component is in the lifting position, the processor sends a stop execution signal to the driving component actuator;

[0077] 2. When the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning component is a raised position, and the processor sends a descending execution signal to the driving component actuator; until the processor obtains that the position information of the cleaning component is a descending position, the processor sends a stop execution signal to the driving component actuator;

[0078] 3. When the trigger signal is a lifting trigger signal, the position detection device detects that the position information of the cleaning component is a lifting position, and the processor does not send an execution signal to the driving component actuator;

[0079] 4. When the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning component is a descending position, and the processor does not send an execution signal to the driving component actuator;

[0080] The beneficial effect of the above-mentioned arrangement is that the action of the lifting component is consistent with the purpose of the trigger signal, thereby avoiding misoperation. Refer to the third and fourth cases above. For example, when the trigger signal is a lifting trigger signal and the cleaning component is in the lifting position, if the processor does not determine the position of the cleaning component and directly sends a lifting instruction to the drive component actuator, the cleaning component will continue to perform the lifting action from the lifting position, which will damage the lifting mechanism.

[0081] The position information of the cleaning component can be obtained by a position detection device (position sensor) and transmitted to the processor, wherein the position detection device is preferably a Hall sensor (see Figure 1 , which shows the lifting position Hall sensor A and the lowering position Hall sensor B).

[0082] [Structure of lifting components]

[0083] In the present invention, the lifting assembly can be any motion mechanism capable of achieving lifting action. The lifting assembly has a lifting part capable of generating displacement in a vertical direction (perpendicular to the surface to be cleaned). The cleaning assembly is connected to the lifting part. Generating displacement in the vertical direction includes: generating a linear displacement in the vertical direction, or a displacement having a component in the vertical direction.

[0084] The lifting assembly may be a connecting rod mechanism, a linear motion mechanism (such as a screw mechanism) or a gear pair having a lifting part that generates displacement in the vertical direction. The connecting rod mechanism may be a spatial connecting rod mechanism or a planar connecting rod mechanism, wherein when the connecting rod mechanism is a spatial connecting rod mechanism, at least one spherical pair is included between the crank, the connecting rod and the rocker.

[0085] Embodiment 1 (the lifting component is a crank-connecting rod mechanism, and the cleaning component is a flat mop or a roller brush)

[0086] Figure 1-Figure 4 1 is a schematic diagram of a lifting mechanism for a cleaning robot according to an embodiment of the present invention, wherein: Figure 1 and Figure 2 The middle cleaning component is a flat mop. Figure 3 and Figure 4 The cleaning component is a roller brush. The driving component used in this embodiment is a motor component, which includes a motor actuator, a motor and a reduction box, and the reduction box is used to adjust the speed of the motor output. The lifting component is a crank connecting rod mechanism. The cleaning component may include a flat mop or a roller brush component.

[0087] Figure 1-4 In the embodiment shown, the cleaning robot can be connected to the cleaning assembly through at least one crank-connecting rod mechanism. The number of crank-connecting rod mechanisms arranged along the cleaning assembly can be determined according to the length of the cleaning assembly. Preferably, there are two crank-connecting rod mechanisms, which are respectively connected to the two ends of the cleaning assembly. The crank-connecting rod mechanism includes a crank 2, a connecting rod assembly 3 and a rocker connected in sequence. The crank-connecting rod mechanism has a lifting rod that generates displacement in the vertical direction. The lifting rod has a lifting part, and the cleaning assembly is connected to the lifting part.

[0088] The motor drives the reduction box 1 , the output shaft of the reduction box 1 drives the crank 2 to rotate, and the crank 2 drives the connecting rod assembly to move, so that the cleaning assembly 4 swings.

[0089] Specifically, the motor output shaft is connected to the reduction box 1. The output shaft of the reduction box 1 is connected to the crank 2, and the crank 2 can rotate 360 ​​degrees with the output shaft of the reduction box 1. The other end of the crank 2 is connected to the connecting rod assembly 3, and the connecting rod assembly 3 and the crank 2 can rotate relative to each other. The connecting rod assembly 3 is connected to the cleaning assembly 4 and can rotate relative to each other. At least one of the connecting rod assembly and the rocker (cleaning assembly 4) is configured to have a vertical displacement (see Figure 3-4), the cleaning assembly is connected to a rod having a vertical displacement, and the cleaning assembly can be lifted from the second limit position N to the first limit position M. In this embodiment, the cleaning assembly 4 is located on the rocker. The cleaning assembly can be fixed in the "middle" of the rocker or formed integrally with the rocker, and the first end of the two ends of the rocker is rotatably connected to the connecting rod, and the second end is rotatably connected to the body. The position of the cleaning assembly can be determined by a position detection device such as a limit switch, an infrared sensor or a Hall sensor.

[0090] Preferably, the crank-connecting rod mechanism is two symmetrically arranged planar connecting rod mechanisms, which are respectively connected to the two ends of the cleaning assembly. The crank-connecting rod mechanism comprises a crank, a connecting rod and a rocker (the connecting part of the cleaning robot is used as a frame) connected in sequence, and the rocker is used as a lifting rod. According to the principle of the crank-connecting rod mechanism, when the crank is set as a prime mover to be able to rotate a full circle under the action of the driving assembly, the continuous rotation of the crank can be converted into the reciprocating motion of the rocker, and the rocker is set to swing in the vertical direction.

[0091] When the lifting assembly is a crank-connecting rod mechanism, the rocker swings in the vertical direction.

[0092] like Figure 3-4 As shown, in this embodiment, the cleaning assembly includes a roller brush, which includes a roller brush cover and a roller brush. The roller brush is a hollow sleeve structure, and the mop is wrapped around the outer surface of the hollow sleeve. The roller brush cover is connected to the rocker. Preferably, the roller brush cover and the rocker are integrally formed. The rocker has two extreme positions. The rocker is in the first extreme position M (see Figure 3 ), the roller brush is lifted to the highest position, and the rocker is in the second limit position N (see Figure 4 ), the bristles of the roller brush come into contact with the surface to be cleaned.

[0093] The two ends of the roller brush and the two ends of the roller brush cover are connected through bearings, and one end is provided with a driving shaft connected to the motor, so as to drive the roller brush to rotate.

[0094] exist Figure 1-Figure 2 In the embodiment shown, the cleaning component is a flat mop, and the flat mop and the rocker are integrally formed, so that the flat mop can be lifted and lowered in the vertical direction. The flat mop includes a flat support and a mop cloth connected to the lower surface of the flat support. The connection method is preferably Velcro bonding, so that the mop cloth can be easily replaced. The rocker has two extreme positions. When the rocker is in the first extreme position (see Figure 2 , flip angle θ), the tablet is lifted to the highest point, and the joystick is at the second limit position (see Figure 1 ), the flat mop is parallel to and in contact with the surface to be cleaned.

[0095] When the cleaning component is a flat mop, when it is lifted to a certain angle along with the swing of the rocker, the mop can be cleaned more easily.

[0096] Embodiment 2 (the lifting component is a lead screw, and the cleaning component is a flat mop or a roller brush)

[0097] Figure 5-Figure 6 1 is a schematic diagram of a lifting mechanism for a cleaning robot according to another embodiment of the present invention. The linear motion mechanism is preferably a lead screw, which includes a screw rod 12 and a nut 11 that are connected in a matching manner, and the screw rod 12 is configured to have a vertical displacement. The cleaning assembly 14 is connected to the lower end of the screw rod 12.

[0098] There can be multiple lead screws connected to the cleaning component, and the lead screws are distributed along the length direction of the cleaning component. Preferably, one lead screw is connected to the cleaning component, and the lead screw moves in the vertical direction. From the principle of the lead screw mechanism, it can be seen that when the motor drives the lead screw nut 11 to rotate clockwise or counterclockwise, the screw can move upward or downward in the vertical direction accordingly.

[0099] like Figure 5 As shown, in this embodiment, the cleaning component 14 is a flat mop, which is connected to the lower end of the screw. Preferably, the flat mop and the lower end of the screw are hinged. The advantage of this arrangement is that when the screw moves vertically downward, when the surface to be cleaned has a certain slope, the flat mop can better fit the surface to be cleaned.

[0100] like Figure 6 As shown, when the screw rod 12 moves vertically upward, the flatbed mop can flip outward around an axis parallel to the horizontal direction of the cleaning robot. Preferably, a stopper 15 is provided on the cleaning robot, and when the screw rod moves vertically upward, the inner side of the flatbed mop is pressed by the stopper 15, so that the outer side of the flatbed mop can rotate around the hinge, so that the flatbed mop flips outward.

[0101] In one embodiment, the cleaning component is a roller brush, which includes a roller brush cover and a roller brush. The roller brush is a hollow sleeve structure, the mop is wrapped around the outer surface of the hollow sleeve, and the roller brush cover is connected to the lower end of the screw.

[0102] The linear motion of the screw in the vertical direction has two extreme positions. When the screw is in the first extreme position, the roller brush is lifted to the highest position. When the screw is in the second extreme position, the roller brush is lowered to contact the surface to be cleaned.

[0103] Example 3 (Pressure Mopping)

[0104] In another embodiment, the lifting assembly has a telescopic mechanism, which connects the lifting assembly and the cleaning assembly so that the cleaning assembly always fits the surface to be cleaned through its telescopic performance. The telescopic assembly includes an elastic element.

[0105] Based on the embodiment of the crank connecting rod, a telescopic mechanism is arranged on the connecting rod.

[0106] Based on the embodiment of the screw mechanism, a telescopic mechanism is arranged on the screw rod.

[0107] Working method of pressure mopping:

[0108] Step 1: The lifting assembly drives the cleaning assembly to descend until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

[0109] Step 2: The lifting assembly drives the cleaning assembly to lift, and the cleaning assembly is separated from the surface to be cleaned.

[0110] In step 1, after the cleaning component contacts the surface to be cleaned, the lifting component continues to drive the cleaning component to descend to a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply a first force to the cleaning component.

[0111] The lifting mechanism drives the cleaning component to descend to the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the cleaning robot from being lifted due to excessive first force applied to the cleaning component and corresponding excessive reaction force.

[0112] The maximum working deformation shall not exceed the maximum compression deformation of the elastic element.

[0113] Example 4 Control of lifting motion (timing judgment of trigger signal, manual triggering, automatic triggering)

[0114] Manual trigger: includes a remote control device that can transmit a trigger signal to the processor.

[0115] Automatic triggering: a visual recognition module, the processor is connected to the visual recognition module, the visual recognition module can recognize the surface to be cleaned, and transmit the information of the surface to be cleaned to the processor, and the processor can form a cleaning strategy according to the information of the surface to be cleaned.

[0116] Step 1: The cleaning robot identifies the surface to be cleaned and transmits the information to the processor;

[0117] Step 2: The processor determines the cleaning strategy of the surface to be cleaned according to the received information; (for example, the surface to be cleaned is image-recognized by a camera, and whether the surface to be cleaned is an object that can be swept or mopped is determined according to the result of the image recognition. When the surface to be cleaned has objects that cannot be swept, such as water and pet feces, the cleaning strategy is not to sweep; when the surface to be cleaned has objects that cannot be mopped, such as carpets and pet feces, the cleaning strategy is not to mop)

[0118] Step 3: When the cleaning strategy in step 2 is to only sweep but not mop the surface to be cleaned, the processor transmits a first execution signal to the driving component, the driving component drives the lifting component and causes the cleaning component to separate from the surface to be cleaned, and the processor transmits a second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned;

[0119] When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep it, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned, the cleaning component performs mopping on the surface to be cleaned, and the processor transmits the fourth execution signal to the sweeping module, the sweeping module stops sweeping the surface to be cleaned;

[0120] When the cleaning strategy in step two is to both sweep and mop the surface to be cleaned, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, the cleaning component mops the surface to be cleaned, and the processor transmits the second execution signal to the sweeping module, and the sweeping module sweeps the surface to be cleaned; when the cleaning strategy in step two is not to sweep or mop the surface to be cleaned, the processor transmits the first execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component separate from the surface to be cleaned, the processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops sweeping the surface to be cleaned.

[0121] The cleaning robot provided by the present invention is equipped with the above-mentioned lifting mechanism. Wherein, as a preferred form, the cleaning robot can be a household cleaning robot.

[0122] The cleaning components of the cleaning robots currently on the market are all flat rags, which are connected to the bottom of the water tank and supply water to the rags through the water tank. In order to increase the water supply time and water supply, the water tank and rags basically occupy all the space on one side of the cleaning robot. However, the distance between the rag and the ground cannot be adjusted, and the sweeping and mopping processes cannot be performed independently. Figure 7 This is a schematic diagram of the structure of the mopping mechanism of a previous cleaning robot. 400 is a rag and 300 is a water tank. It can be seen that the previous mopping mechanisms all have water tanks and no space for the lifting mechanism. The present invention is equipped with a lifting mechanism, etc. The spatial arrangement is specifically in the position of the original water tank and cleaning component, removing the water tank, and only setting the lifting mechanism and cleaning component. In addition, the sweeping module is the same as the prior art, generally including a cleaning component and a vacuum suction.

[0123] Compared with previous household cleaning robots, the cleaning robot provided by the present invention has the above-mentioned lifting mechanism, so that it can sweep and mop independently (for example, it can only mop without sweeping, only sweep without mopping, etc.); and it can improve the obstacle crossing ability and can also apply pressure to mop the floor.

[0124] The present invention also provides a working method of the cleaning robot, comprising the following steps:

[0125] Step 1: The cleaning robot can identify the surface to be cleaned through a sensor (such as a camera) and transmit the information to a processor;

[0126] Step 2: The processor determines a cleaning strategy for the surface to be cleaned based on the received information;

[0127] Step 3: When the cleaning strategy in step 2 is to only sweep but not mop the surface to be cleaned, the processor transmits a first execution signal to the driving component, the driving component drives the lifting component and causes the cleaning component to separate from the surface to be cleaned, and the processor transmits a second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned;

[0128] When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep it, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned, the cleaning component performs mopping on the surface to be cleaned, and the processor transmits the fourth execution signal to the sweeping module, the sweeping module stops sweeping the surface to be cleaned;

[0129] When the cleaning strategy in step 2 is to sweep and mop the surface to be cleaned, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned, the cleaning component mops the surface to be cleaned, and the processor transmits the second execution signal to the sweeping module, the sweeping module sweeps the surface to be cleaned;

[0130] When the cleaning strategy in step 2 is not to sweep or mop the surface to be cleaned, the processor transmits a first execution signal to the driving component, the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned, and the processor transmits a fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned.

[0131] The present invention also provides a working method of a cleaning robot that only mops the floor:

[0132] Step 1: The cleaning robot can identify the surface to be cleaned through a sensor (such as a camera) and transmit the information to a processor;

[0133] Step 2: The processor determines a cleaning strategy for the surface to be cleaned based on the received information;

[0134] Step three, when the cleaning strategy in step two is to mop the surface to be cleaned, the processor sends a mopping execution signal to the driving component, and the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned; when the cleaning strategy in step two is not to mop the surface to be cleaned, the processor sends a non-mopping execution signal to the driving component, and the driving component drives the lifting component and makes the cleaning component separate from the surface to be cleaned.

[0135] On the other hand, the present invention also provides a pressure-mopping mechanism for a cleaning robot, comprising a driving component, a lifting component and a cleaning component connected in sequence; the driving component is used to drive the lifting component; the lifting component can lift and lower the cleaning component relative to the surface to be cleaned; when the cleaning component is lowered to contact the surface to be cleaned, the cleaning component is configured to clean the surface to be cleaned; when the cleaning component is lifted to be separated from the surface to be cleaned, the cleaning component is configured not to hinder the movement of the cleaning robot; the lifting component has a telescopic mechanism, which connects the lifting component and the cleaning component so that the cleaning component can always fit the surface to be cleaned through its telescopic performance and can apply a certain pressure to the surface to be cleaned.

[0136] Preferably, the telescopic mechanism comprises an elastic element.

[0137] Preferably, the lifting assembly includes a crank-connecting rod mechanism, which includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate a full circle under the action of the driving assembly, at least one of the connecting rod and the rocker is configured to have a displacement in the vertical direction, the cleaning assembly is connected to a rod with a displacement in the vertical direction, and the telescopic mechanism is arranged on the connecting rod.

[0138] Specific as Figure 8-11 As shown, Figure 8 The state of the crank connecting rod mechanism is shown when the cleaning component is in contact with the ground, that is, it is lowered to the lowest position. Fig. 9 Indicates the highest position of the crank-connecting rod mechanism. In this embodiment, the telescopic mechanism is a spring. Fig.10 and Fig.11 A schematic diagram showing a spring, Fig.10 Indicates that the cleaning component is in contact with the ground, and the lifting component has not yet dropped to the lowest position; Fig.11 Indicates that in Fig.10 On the basis of this, the lifting mechanism further descends, the elastic element (spring) is deformed and compressed, and pressure is applied to the cleaning component.

[0139] Preferably, the cleaning assembly includes a rolling brush component or a flat mop component.

[0140] In addition, the present invention also provides a working method of a pressure mopping mechanism for a cleaning robot, comprising the following steps:

[0141] Step 1: The lifting assembly drives the cleaning assembly to descend until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

[0142] Step 2: The lifting assembly drives the cleaning assembly to lift, and the cleaning assembly is separated from the surface to be cleaned.

[0143] Preferably, in step 1, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly to descend to a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply a first force to the cleaning assembly. The maximum descending height is preferably such that the robot cannot lift it.

[0144] Preferably, the lifting mechanism drives the cleaning component to descend to the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the cleaning robot from being lifted due to excessive first force applied to the cleaning component and corresponding excessive reaction force.

[0145] In this way, lifting and lowering mopping, washable mop cloth and pressure mopping can be achieved, and the pressure can be adjusted according to the situation.

[0146] Those skilled in the art can understand various improvements or other embodiments of the present invention based on the above description. Therefore, the above description should be interpreted only as an example, which is provided to teach those skilled in the art to perform the best mode of the present invention. The details of one or more aspects of its structure and function can be substantially changed without departing from the spirit of the present invention.

Claims

1. A lifting mechanism for a cleaning robot, characterized in that: It includes a driving assembly, a lifting assembly and a cleaning assembly which are connected in sequence; The driving assembly is used to drive the lifting assembly; The lifting assembly can lift and lower the cleaning assembly relative to the surface to be cleaned; When the cleaning component is lowered to contact the surface to be cleaned, the cleaning component is configured to clean the surface to be cleaned; The cleaning component can be lifted without contacting the surface to be cleaned; The cleaning component is configured so that the cleaning work surface can be flipped outwards at a certain angle when lifted; The lifting mechanism also includes a processor and a drive assembly actuator; The processor receives the trigger signal and determines the position of the cleaning component according to the position information, thereby transmitting the execution signal to the driving component execution mechanism; The driving component actuator is used to control the driving component according to the acquired execution signal; It also has an identification module, the processor is connected to the identification module, the identification module can identify the surface to be cleaned, and transmit the information of the surface to be cleaned to the processor, and the processor can form a cleaning strategy according to the information of the surface to be cleaned; The cleaning strategies include sweeping without mopping, mopping without sweeping, mopping and sweeping, and neither mopping nor sweeping; The cleaning component is a flat mop; The lifting assembly includes a connecting rod mechanism or a linear motion mechanism; When the lifting assembly is the connecting rod mechanism, the connecting rod structure includes a crank-connecting rod mechanism, the crank-connecting rod mechanism includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate a full circle under the action of the driving assembly, at least one of the connecting rod and the rocker is configured to have a displacement in the vertical direction, and the flatbed drag is connected to a rod with a displacement in the vertical direction; The flat mop and the rocker are integrally formed, and the rocker has two extreme positions for swinging. When the rocker is at the first extreme position, the flat mop flips outward, and when the rocker is at the second extreme position, the flat mop is parallel to the surface to be cleaned and in contact with it; When the lifting assembly is the linear motion mechanism, the linear motion mechanism comprises a screw rod and a nut which are matched and connected, and the screw rod is configured to have a displacement in a vertical direction; The lower end of the screw is hinged to the flat drag. When the screw moves vertically downward, the flat drag can fit the surface to be cleaned; when the screw moves vertically upward, the inner side of the flat drag is supported by a stopper provided on the cleaning robot, so that the outer side of the flat drag can rotate around the hinge and the flat drag is flipped outward.

2. The lifting mechanism according to claim 1, characterized in that: The execution signal includes a lifting execution signal and a lowering execution signal; The drive component actuator is used to control the drive component according to the obtained lifting execution signal or the lowering execution signal to enable the lifting component to be lifted or lowered, until the processor obtains the adjusted position information again, and the processor transmits a stop execution signal to the drive component actuator.

3. The lifting mechanism according to claim 1, characterized in that: The lifting mechanism further includes a position detection device, which is used to detect the position of the cleaning component and feed back the position information to the processor. The processor determines the position of the cleaning component according to the position information fed back by the position detection device.

4. The lifting mechanism according to claim 1, characterized in that: In the case where the position information is preset position information, the position of the cleaning component is pre-adjusted to be consistent with the preset position information.

5. The lifting mechanism according to claim 1, characterized in that: The crank-connecting rod mechanism is a spatial connecting rod mechanism, and at least one spherical pair is included between the crank, the connecting rod and the rocker.

6. A cleaning robot, characterized in that: A lifting mechanism according to any one of claims 1 to 5 is provided.

7. The cleaning robot according to claim 6, characterized in that: The cleaning robot is a household cleaning robot.

8. A working method of the cleaning robot according to claim 6 or 7, characterized in that: The steps include: Step 1: The cleaning robot identifies the surface to be cleaned and transmits the information to the processor; Step 2: The processor determines a cleaning strategy for the surface to be cleaned based on the received information; Step 3: When the cleaning strategy in step 2 is to only sweep but not mop the surface to be cleaned, the processor transmits a first execution signal to the driving component, the driving component drives the lifting component and causes the cleaning component to separate from the surface to be cleaned, and the processor transmits a second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned; When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep it, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned, the cleaning component performs mopping on the surface to be cleaned, and the processor transmits the fourth execution signal to the sweeping module, the sweeping module stops sweeping the surface to be cleaned; When the cleaning strategy in step 2 is to sweep and mop the surface to be cleaned, the processor transmits the third execution signal to the driving component, the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned, the cleaning component mops the surface to be cleaned, and the processor transmits the second execution signal to the sweeping module, the sweeping module sweeps the surface to be cleaned; When the cleaning strategy in step 2 is not to sweep or mop the surface to be cleaned, the processor transmits a first execution signal to the driving component, the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned, and the processor transmits a fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned.

9. A working method of the cleaning robot according to claim 6 or 7, characterized in that: The steps include: Step 1: The cleaning robot identifies the surface to be cleaned and transmits the information to the processor; Step 2: The processor determines a cleaning strategy for the surface to be cleaned based on the received information; Step 3: When the cleaning strategy in step 2 is to mop the surface to be cleaned, the processor sends a mopping execution signal to the driving component, and the driving component drives the lifting component to make the cleaning component contact the surface to be cleaned; When the cleaning strategy in step 2 is not to mop the surface to be cleaned, the processor sends a no-mopping execution signal to the driving component, and the driving component drives the lifting component to separate the cleaning component from the surface to be cleaned.

10. A lifting mechanism for a cleaning robot, characterized in that: It includes a driving assembly, a lifting assembly and a cleaning assembly which are connected in sequence; The driving assembly is used to drive the lifting assembly; The lifting assembly can lift and lower the cleaning assembly relative to the surface to be cleaned; when the cleaning assembly is lowered to contact the surface to be cleaned, the cleaning assembly is configured to clean the surface to be cleaned; When the cleaning component is lifted to be separated from the surface to be cleaned, the cleaning component is configured not to hinder the movement of the cleaning robot; The lifting assembly has a telescopic mechanism, and the telescopic mechanism connects the lifting assembly and the cleaning assembly so that the cleaning assembly always fits the surface to be cleaned through its telescopic performance; The cleaning component is a flat mop; The lifting assembly includes a connecting rod mechanism or a linear motion mechanism; When the lifting assembly is the connecting rod mechanism, the connecting rod structure includes a crank-connecting rod mechanism, the crank-connecting rod mechanism includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate a full circle under the action of the driving assembly, at least one of the connecting rod and the rocker is configured to have a displacement in the vertical direction, and the flatbed drag is connected to a rod with a displacement in the vertical direction; The flat mop and the rocker are integrally formed, and the rocker has two extreme positions for swinging. When the rocker is at the first extreme position, the flat mop flips outward, and when the rocker is at the second extreme position, the flat mop is parallel to the surface to be cleaned and in contact with it; When the lifting assembly is the linear motion mechanism, the linear motion mechanism comprises a screw rod and a nut which are matched and connected, and the screw rod is configured to have a displacement in a vertical direction; The lower end of the screw is hinged to the flat drag. When the screw moves vertically downward, the flat drag can fit the surface to be cleaned; when the screw moves vertically upward, the inner side of the flat drag is supported by a stopper provided on the cleaning robot, so that the outer side of the flat drag can rotate around the hinge and the flat drag is flipped outward.

11. The lifting mechanism according to claim 10, characterized in that: The telescopic mechanism comprises an elastic element.

12. The lifting mechanism according to claim 10 or 11, characterized in that: The telescopic mechanism is arranged on the connecting rod.

13. A working method of the lifting mechanism according to any one of claims 10 to 12, characterized in that: The steps include: Step 1: The lifting assembly drives the cleaning assembly to descend until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned; Step 2: The lifting assembly drives the cleaning assembly to lift, and the cleaning assembly is separated from the surface to be cleaned.

14. The working method of the lifting mechanism according to claim 13, characterized in that: In step 1, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly to descend to a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply a first force to the cleaning assembly.

15. The working method of the lifting mechanism according to claim 14, characterized in that: The lifting mechanism drives the cleaning component to descend to the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the cleaning robot from being lifted due to excessive first force applied to the cleaning component and corresponding excessive reaction force.

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