Cleaning robot walking lock control mechanism and cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, and discloses a cleaning robot walking lock control mechanism and a cleaning robot. The walking lock control mechanism comprises a limiting part which has an unlocking state and a locking state; the rotating part can rotate around a rotating shaft of the rotating part; the scraping strip can also move in the second direction; the device further comprises a first driving assembly and a second driving assembly, and when the scraping strip moves to a first preset position in the second direction, the first driving assembly enables the limiting piece to be switched to the unlocking state; when the scraping strip moves to a second preset position in the second direction, the second driving assembly enables the rotating part to rotate; or when the scraping strip moves to the first preset position in the second direction, the first driving assembly enables the limiting piece to be switched to the unlocking state, and the second driving assembly enables the rotating part to rotate; the cleaning robot comprises a scraping strip and a walking lock control mechanism. By means of the scheme, the technical problem that in the prior art, the pre-tightening force of the scraping strip of a cleaning robot is insufficient is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a walking locking control mechanism of a cleaning robot and the cleaning robot. Background Art

[0002] In the prior art, a cleaning robot cleans a cleaning surface by means of a scraper bar; however, the scraper bars of some cleaning robots have a problem of insufficient pre-tightening force, and during the cleaning process of the cleaning robot, the scraper bar is easily separated from the cleaning surface, resulting in incomplete cleaning.

[0003] Therefore, providing a cleaning robot walking locking control mechanism and a cleaning robot with sufficient pre-tightening force in a working state is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0004] The invention discloses a walking lock control mechanism of a cleaning robot and a cleaning robot, so as to solve the technical problem of insufficient pre-tightening force of a scraper strip of the cleaning robot in the related art.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions: In a first aspect, a walking lock control mechanism of a cleaning robot is disclosed, comprising: The limiting member has an unlocked state and a locked state; when the limiting member is in the unlocked state, the scraper strip can move freely in the first direction, and when the limiting member is in the locked state, the movement of the scraper strip in the first direction is restricted; The rotating part can rotate around its own rotating axis; when the rotating part rotates, the moving path of the distal end is at least partially located in the first direction, so that the distal end of the rotating part can abut against the scraper and drive the scraper to move in the first direction; The scraper strip can also move in a second direction; The invention also includes a first driving assembly and a second driving assembly. When the scraper strip moves to a first preset position along the second direction, the first driving assembly switches the limiter to an unlocked state. When the scraper strip moves to a second preset position along the second direction, the second driving assembly rotates the rotating part to drive the scraper strip to move in the first direction. Alternatively, when the scraper strip moves to the second preset position along the second direction, the first driving assembly switches the limiting member to an unlocked state, and the second driving assembly rotates the rotating part to drive the scraper strip to move in the first direction.

[0006] In some solutions, when the scraper moves to the second preset position along the second direction, the second driving assembly causes the rotating part to rotate to drive the scraper to move in the first direction, and the first driving assembly includes a linkage member, and two ends of the linkage member are respectively connected to the rotating part and the limit member; When the rotating part rotates, the limiting member is driven to switch to an unlocked state or a locked state through the linkage member.

[0007] In some embodiments, the second driving assembly includes a first impact portion; when the scraper bar moves to the second preset position, the proximal end of the rotating portion contacts the first impact portion, causing the rotating portion to rotate to drive the scraper bar to move in the first direction.

[0008] In some embodiments, the rotating portion has an abutment portion and a contact portion, the abutment portion is located at the distal end of the rotating member and extends toward the distal end of the first direction, and the contact portion is located at the proximal end of the rotating member; when the scraper strip moves along the second direction to a second preset position, the contact portion contacts the first impact portion, and the abutment portion contacts the scraper strip.

[0009] In some embodiments, the linkage member includes two first connecting rods, one end of the two first connecting rods is hinged to each other, the other end of one of the first connecting rods is hinged to the rotating part, and the other end of the other first connecting rod is hinged to the limiting member; Alternatively, the linkage member includes a second connecting rod and a slider, the slider is slidably connected to the limiting member, one end of the second connecting rod is hinged to the rotating part, and the other end is hinged to the slider.

[0010] In some embodiments, when the scraper moves along the second direction to the first preset position, the first drive assembly switches the limiter to the unlocked state, and when the scraper moves along the second direction to the second preset position, the second drive assembly rotates the rotating part, and the first drive assembly includes: The ejector pin is movable in a first direction and moves along with the scraper bar in a second direction; A trigger table, which cooperates with the end face of the ejector pin; When the scraper strip moves to the first preset position along the second direction, the end surface of the ejector pin contacts the triggering platform, and the limiting member is in an unlocked state.

[0011] In some aspects, the second drive assembly includes: The striker moves in the second direction following the scraper strip and can move freely in the second direction; when the striker contacts the driving part, the rotating part rotates; A second striking portion is disposed toward an end of the striker away from the rotating portion; When the scraper strip moves to the second preset position along the second direction, the striker contacts the second striking portion, so that the striker moves toward the driving portion along the second direction to drive the rotating portion to rotate.

[0012] In some embodiments, the limiting member includes two symmetrically arranged limiting portions, and the two limiting portions are driven by the first driving assembly to rotate toward or away from each other around their own rotation axes; A limiting space is formed between the two limiting portions, and the limiting space is used to limit the movement of the scraper strip in the first direction.

[0013] In some embodiments, a locking member is further included, and when the scraper strip moves away from the limiting member along the first direction to the high position, the locking member keeps the scraper strip in the high position.

[0014] In a second aspect, a cleaning robot is also provided, comprising a scraper bar and the cleaning robot walking locking control mechanism in the first aspect.

[0015] The technical solution adopted by the present invention can achieve the following beneficial effects: In the process of the scraper moving from the proximal end to the distal end along the second direction, the scraper is in a high position and has a gap with the cleaning surface, which is beneficial to reducing the friction of the scraper when it moves in a non-working state and reducing unnecessary wear of the scraper; when the scraper moves along the second direction to the distal end and reaches the working starting point, the scraper moves along the first direction, switches from a high position to a low position, and contacts the cleaning surface; at this time, the limiter switches to a locking state, limiting the movement of the scraper in the first direction, so that the scraper is close to the cleaning surface, so as to apply sufficient pre-tightening force to the scraper, thereby avoiding the scraper from separating from the cleaning surface during the cleaning process and ensuring the cleaning effect of the scraper; in the cleaning process, the scraper moves from the distal end to the proximal end along the second direction, brings back the garbage on the cleaning surface, and achieves cleaning Directional cleaning of the surface; when the scraper strip moves to the first preset position, it is linked with the first drive component, and the first drive component causes the limiter to switch to an unlocked state, thereby releasing the restriction on the scraper strip in the first direction; as the scraper strip continues to move in the second direction, when the scraper strip moves to the second preset position, it is linked with the second drive component, and the second drive component causes the rotating part to rotate, and the distal end of the rotating part abuts against the scraper strip, and drives the scraper strip to move in the first direction, so that the scraper strip returns to a high position, and the scraper strip is also in a high position when in standby state, so that the scraper strip can respond quickly and move to the working starting point; or, when the scraper strip moves to the first preset position along the second direction, the scraper strip is synchronously linked with the first drive component and the second drive component, so that the scraper strip returns to a high position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the structure of the cleaning robot of the present invention; Figure 2 This is a schematic diagram of the structure of the travel lock control mechanism of the present invention. Figure 1 ; Figure 3 yes Figure 2The enlarged view of point A in the middle; Figure 4 yes Figure 2 The enlarged view of point B in the middle; Figure 5 is a schematic structural diagram of the position limiting member of the present invention being in an unlocked state; Figure 6 It is a structural schematic diagram of the position limiting member of the present invention being in a locked state; Figure 7 It is a structural schematic diagram of the rotating part of the present invention; Figure 8 It is a structural schematic diagram of the limiting part of the present invention; Fig. 9 This is a schematic diagram of the structure of the travel lock control mechanism of the present invention. Figure 2 ; Fig.10 This is a schematic diagram of the structure of the travel lock control mechanism of the present invention. Figure 3 ; Fig.11 It is a schematic structural diagram of the locking member of the present invention.

[0018] In the figure: 100, cleaning robot; 101, installing inner plate; 1011, limiting groove; 102, installing outer plate; 104, cover plate; 110, scraper strip; 111, protrusion; 120, locking member; 121, locking portion; 1211, clamping protrusion; 1212, abutting protrusion; 1213, fourth guide surface; 232, rack; 400, walking lock control mechanism; 410, limiting member; 411, limiting portion; 4111, fourth block; 4112, fifth block; 412, protrusion; 4121, third guide surface; 420, rotating portion; 4201, first block; 4202, second block ; 4203, third block; 4204, abutment portion; 4205, contact portion; 430, first drive assembly; 431, ejector pin; 432, trigger platform; 4321, first guide surface; 4322, second guide surface; 433, impact block; 434, linkage member; 4341, first connecting rod; 4342, second connecting rod; 4343, slider; 440, second drive assembly; 441, striker; 442, first impact portion; 4421, mounting plate; 4422, impact plate; 4423, arc structure; 443, guide portion; 443, second impact portion; 500, cleaning surface. DETAILED DESCRIPTION

[0019] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0020] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0021] In each embodiment of the present application, "proximal end" and "distal end" refer to the position of each component relative to the user in the use environment, wherein the end closer to the user is designated as the "proximal end" and the end farther from the user is designated as the "distal end".

[0022] The inventor discovered during use that some cleaning robots 100 have the problem of insufficient pre-tightening force. During the cleaning process of the cleaning robot 100, the scraper bar 110 is easily separated from the cleaning surface 500, resulting in incomplete cleaning and affecting the cleaning effect; although some cleaning robots 100 have sufficient pre-tightening force and the scraper bar 110 is always in contact with the ground, when the cleaning robot 100 is in a non-working state and moves, the scraper bar 110 contacts the ground, which increases the friction, affects the movement of the cleaning robot 100, and easily causes wear to the scraper bar 110.

[0023] The following is combined with Figures 1 to 10 , a walking locking control mechanism 400 of a cleaning robot 100 and a cleaning robot 100 provided in the present application are described in detail through specific embodiments and their application scenarios.

[0024] Please refer to Figure 2 A walking lock control mechanism 400 of a cleaning robot 100 includes a limit member 410, a rotating part 420, a first driving component 430 and a second driving component 440.

[0025] The limiter 410 has an unlocked state and a locked state; when the limiter 410 is in the unlocked state, the scraper strip 110 can move freely in the first direction, and when the limiter 410 is in the locked state, the movement of the scraper strip 110 in the first direction is restricted; wherein the unlocked state is as follows Figure 5 As shown, the locking state is as follows Figure 6 As shown; The rotating portion 420 can rotate around its own rotating axis; when the rotating portion 420 rotates, the moving path of the distal end is at least partially located in the first direction, so that the distal end of the rotating portion 420 can abut against the scraper strip 110 and drive the scraper strip 110 to move in the first direction; The scraper strip 110 can also move in the second direction. In some embodiments, such as Figure 2 , Figure 5 and Figure 6 As shown, when the scraper 110 moves along the second direction to the first preset position, the first driving component 430 causes the limit member 410 to switch to an unlocked state; when the scraper 110 moves along the second direction to the second preset position, the second driving component 440 causes the rotating part 420 to rotate to drive the scraper 110 to move in the first direction.

[0026] When the scraper strip 110 moves to the first preset position, it is linked with the first driving component 430, and the first driving component 430 causes the limit member 410 to switch to the unlocked state, thereby releasing the restriction on the scraper strip 110 in the first direction; as the scraper strip 110 continues to move in the second direction, when the scraper strip 110 moves to the second preset position, it is linked with the second driving component 440, and the second driving component 440 causes the rotating part 420 to rotate, and the distal end of the rotating part 420 abuts against the scraper strip 110, and drives the scraper strip 110 to move in the first direction, so that the scraper strip 110 returns to the high position, and the scraper strip 110 is also in the high position when in the standby state, so that the scraper strip 110 can quickly respond and move to the working starting point.

[0027] In some embodiments, Fig. 9 and Fig.10 As shown, when the scraper strip 110 moves to the second preset position along the second direction, the first driving assembly 430 switches the stopper 410 to the unlocked state, and the second driving assembly 440 rotates the rotating portion 420 to drive the scraper strip 110 to move in the first direction.

[0028] When the scraper strip 110 moves to the second preset position, it is linked with the first drive component 430 and the second drive component 440 at the same time. The first drive component 430 causes the limit member 410 to switch to an unlocked state, thereby releasing the restriction on the scraper strip 110 in the first direction. The second drive component 440 causes the rotating part 420 to rotate. The distal end of the rotating part 420 abuts against the scraper strip 110 and drives the scraper strip 110 to move in the first direction, thereby restoring the scraper strip 110 to a high position. The scraper strip 110 is also in a high position when in standby state, so that the scraper strip 110 can respond quickly and move to the starting point of the work.

[0029] Regardless of whether the scraper bar 110 is linked with the first drive assembly 430 at the first preset position and with the second drive assembly 440 at the second preset position, or whether the scraper bar 110 is linked with the first drive assembly 430 and the second drive assembly 440 at the second preset position, the scraper bar 110 is in a high position during the process of moving from the proximal end to the distal end along the second direction, and there is a gap between the scraper bar 110 and the cleaning surface 500, which is conducive to reducing the friction force of the scraper bar 110 when it moves in a non-working state and reducing unnecessary wear of the scraper bar 110. When the scraper bar 110 moves along the second direction to the distal end and reaches the working starting point, the scraper bar 110 moves along the first direction, switches from a high position to a low position, and contacts the cleaning surface 500. At this time, the stopper 410 switches to a locked state, limiting the movement of the scraper bar 110 in the first direction, so that the scraper bar 110 is closely attached to the cleaning surface 500, so as to apply sufficient pre-tightening force to the scraper bar 110, thereby preventing the scraper bar 110 from being separated from the cleaning surface 500 during the cleaning process, and ensuring the cleaning effect of the scraper bar 110. During the cleaning process, the scraper bar 110 moves from the far end to the near end along the second direction, bringing back the garbage on the cleaning surface 500, and realizing directional cleaning of the cleaning surface 500.

[0030] Furthermore, when the scraper bar 110 returns to the near end (initial standby position), the scraper bar 110 automatically returns to the high position, and the scraper bar 110 processes the high position in both the initial state and the standby state. When the cleaning robot 100 moves to the working starting point along the second direction, it is not necessary to first move the position of the scraper bar 110 and then drive the cleaning robot 100 to move in the second direction. Instead, the cleaning robot 100 can be directly driven to move in the second direction, which greatly increases the response speed of the cleaning robot 100. At the same time, the scraper bar 110 can also be switched between the high position and the low position without power, which reduces the power source and reduces the cost.

[0031] In this embodiment, Figure 1 As shown, a three-dimensional coordinate system is established with the width direction of the cleaning robot 100 as the X-axis, the height direction of the cleaning robot 100 as the Y-axis, and the length direction of the cleaning robot 100 as the Z-axis; wherein the first direction refers to the Y-axis, and the second direction refers to the X-axis.

[0032] It should be noted that the first preset position refers to the position of the scraper 110 when the scraper 110 moves along the second direction and interacts with the first drive component 430; the second preset position refers to the position of the scraper 110 when the scraper 110 moves along the second direction and interacts with the second drive component 440; wherein the second preset position is closer to the proximal end than the first preset position.

[0033] It should be noted that the scraper bar 110 is mounted on the cleaning robot 100. The scraper bar 110 can move in the first direction means that the scraper bar 110 and the cleaning robot 100 slide in the first direction, so that the scraper bar 110 can move along the first direction. The scraper bar 110 can move in the second direction means that the scraper bar 110 is mounted on the cleaning robot 100, and the cleaning robot 100 can move in the second direction under the drive of its own walking mechanism, so that the scraper bar 110 can move in the second direction.

[0034] It should be noted that the high position means that the wiper strip 110 is located at an upper position in the first direction. Figure 5 As described above, when the scraper strip 110 is in the high position, there is a gap between the bottom of the scraper strip 110 and the cleaning surface 500; the low position means that the scraper strip 110 is located at a lower position in the first direction, such as Figure 6 As shown, when the scraper strip 110 is in the low position, the bottom of the scraper strip 110 contacts the cleaning surface 500 .

[0035] As a preferred embodiment of the present invention, the number of the stopper 410, the rotating part 420, the first driving assembly 430 and the second driving assembly 440 are all two, which are respectively located on the opposite sides of the scraper bar 110 along the third direction; by providing two stoppers 410, the scraper bar 110 can be locked on both sides at the same time, and compared with the method of using one stopper 410, the scraper bar 110 can be prevented from tilting due to uneven force on the scraper bar 110, thereby ensuring the cleaning effect of the scraper bar 110. Accordingly, by providing two rotating parts 420, two first driving assemblies 430 and two second driving assemblies 440, compared with the method of using one rotating part 420, the first driving assembly 430 and the second driving assembly 440, the scraper bar 110 can be better driven to move along the first direction, and the scraper bar 110 is always parallel to the cleaning surface 500, thereby avoiding the scraper bar 110 from tilting during the movement of the scraper bar 110 along the first direction, thereby ensuring the reliability of the structure.

[0036] In this embodiment, if Figure 1 and Figure 2As shown, the cleaning robot 100 has an inner mounting plate 101 and an outer mounting plate 102, and an mounting space is formed between the inner mounting plate 101 and the outer mounting plate 102. The limit member 410, the rotating part 420, the first drive assembly 430 and the second drive assembly 440 are all located in the mounting space. The outer mounting plate 102 protects the limit member 410, the rotating part 420, the first drive assembly 430 and the second drive assembly 440, and prevents the limit member 410, the rotating part 420, the first drive assembly 430 and the second drive assembly 440 from being exposed to the outside.

[0037] A limiting groove 1011 is provided on the top of the inner plate 101, and the limiting groove 1011 extends along a first direction. Figure 3 As shown, the scraper strip 110 has protrusions 111 at both ends along the third direction, and the protrusions 111 are slidably matched with the limiting grooves 1011 along the first direction. Figure 2 and Figure 3 As shown, the limiting groove 1011 guides the movement of the scraper bar 110 in the first direction. The width of the limiting groove 1011 along the second direction is equal to the width of the protrusion 111 along the second direction, so as to limit the scraper bar 110 in the second direction, so that the scraper bar 110 cannot move relative to the cleaning robot 100 in the second direction, thereby avoiding the scraper bar 110 colliding with the cleaning robot 100 in the second direction and making noise when the cleaning robot 100 moves in the second direction.

[0038] The protrusion 111 also extends outward through the limiting groove 1011 along the third direction and cooperates with the limiting member 410 and the rotating portion 420. Figure 2 As shown; when the limit member 410 is in the locked state, the limit member 410 and the protrusion 111 produce motion interference, thereby achieving the locking of the scraper strip 110; when the limit member 410 is in the unlocked state, the distal end of the rotating portion 420 abuts against the protrusion 111, thereby driving the scraper strip 110 to move in the first direction.

[0039] In the embodiment where the scraper strip 110 is linked with the first drive assembly 430 at the first preset position and is linked with the second drive assembly 440 at the second preset position, the first drive assembly 430 includes a pin 431 and a triggering platform 432, such as Figure 2 and Figure 4 shown.

[0040] The ejector pin 431 can move in the first direction and follow the scraper strip 110 to move in the second direction; the trigger platform 432 cooperates with the end surface of the ejector pin 431; when the scraper strip 110 moves along the second direction to the first preset position, the end surface of the ejector pin 431 contacts the trigger platform 432, and the limit member 410 is in the unlocked state.

[0041] Specifically, the ejector pin 431 slides along the first direction to cooperate with the cleaning robot 100, and the trigger platform 432 is set on the ground near the proximal end and is located below the ejector pin 431; when the cleaning robot 100 moves from the distal end to the proximal end, when it moves to the first preset position, the trigger platform 432 contacts the end surface of the ejector pin 431, so that the ejector pin 431 moves along the first direction close to the limit member 410, and pushes open the limit member 410, so that the limit member 410 switches from the locked state to the unlocked state.

[0042] The trigger platform 432 and / or the ejector pin 431 have an inclined first guide surface 4321; when the scraper strip 110 moves along the second direction to the first preset position, the ejector pin 431 contacts the first guide surface 4321, or the trigger platform 432 contacts the first guide surface 4321, or the two first guide surfaces 4321 contact, so that the ejector pin 431 moves along the first direction toward the limit member 410.

[0043] As a preferred first mode of this embodiment, one side of the top of the trigger platform 432 has an inclined first guide surface 4321, and the first guide surface 4321 is inclined upward from the distal end to the proximal end; when the ejector pin 431 contacts the trigger platform 432, and as the cleaning robot 100 continues to move in the second direction toward the proximal end, under the action of the first guide surface 4321, the ejector pin 431 moves toward the limit member 410 in the first direction, so that the limit member 410 switches to an unlocked state.

[0044] As a second preferred method of this embodiment, one side of the bottom of the ejector pin 431 has an inclined first guide surface 4321, and the first guide surface 4321 is inclined upward from the distal end to the proximal end; when the ejector pin 431 contacts the trigger platform 432, and as the cleaning robot 100 continues to move in the second direction toward the proximal end, under the action of the first guide surface 4321, the ejector pin 431 moves toward the limit member 410 in the first direction, so that the limit member 410 switches to an unlocked state.

[0045] As a third preferred method of this embodiment, the bottom side of the ejector pin 431 and the top side of the trigger platform 432 both have an inclined first guide surface 4321, and the two first guide surfaces 4321 are inclined upward from the distal end to the proximal end; when the ejector pin 431 contacts the trigger platform 432, and as the cleaning robot 100 continues to move in the second direction toward the proximal end, the two first guide surfaces 4321 fit together, and under the interaction of the two first guide surfaces 4321, the ejector pin 431 moves toward the limit member 410 in the first direction, so that the limit member 410 switches to an unlocked state.

[0046] Among them, although all three methods can achieve the purpose of the ejector pin 431 cooperating with the trigger platform 432 so that the ejector pin 431 moves toward the stopper 410; however, the first method is preferably used in this embodiment. For the second method, since the ejector pin 431 is shorter in the second direction, it is more difficult to process the first guide surface 4321 at the bottom of the ejector pin 431, and the slope of the first guide surface 4321 is larger, causing the ejector pin 431 to quickly hit the stopper 410, affecting the service life of the ejector pin 431 and the stopper 410; and only setting the first guide surface 4321 on one side of the top of the trigger platform 432, firstly, the processing difficulty is lower, and secondly, the inclination slope of the first guide surface 4321 is lower, so that the ejector pin 431 can slowly move toward the stopper 410 in the first direction. For the third method, both the bottom side of the ejector pin 431 and the top side of the trigger platform 432 have an inclined first guide surface 4321, which requires relatively high precision of fit and increases the difficulty of processing. However, by only providing the first guide surface 4321 on the top side of the trigger platform 432, there is no need to consider the problem of precision of fit and the degree of adaptability is higher.

[0047] The triggering platform 432 also has a second guide surface 4322, such as Figure 4 As shown, the second guide surface 4322 is parallel to the second direction; when the end surface of the ejector pin 431 contacts the second guide surface 4322, the ejector pin 431 remains relatively stationary in the first direction.

[0048] The head of the second guide surface 4322 is connected to the tail of the first guide surface 4321. When the ejector pin 431 moves to the tail of the first guide surface 4321, the limit member 410 is switched to the unlocked state. As the cleaning robot 100 moves along the second direction toward the proximal end, the bottom of the ejector pin 431 contacts the second guide surface 4322. Since the second guide surface 4322 is parallel to the second direction, the position of the ejector pin 431 in the first direction will not change, and the limit member 410 remains unlocked.

[0049] like Figure 2 As shown, the second driving assembly 440 includes a striker 441 and a second impact portion 443; the striker 441 moves along the second direction with the scraper strip 110 and can move freely in the second direction; when the striker 441 contacts the driving portion, the rotating portion 420 rotates, and the second impact portion 443 is arranged toward an end of the striker 441 away from the rotating portion 420; when the scraper strip 110 moves along the second direction to a second preset position, the striker 441 contacts the second impact portion 443, so that the striker 441 moves toward the driving portion along the second direction, driving the rotating portion 420 to rotate.

[0050] The striker 441 slides with the cleaning robot 100 along the second direction, that is, the striker 441 can not only move with the cleaning robot 100 in the second direction, but also move relative to the cleaning robot 100 in the second direction; when the cleaning robot 100 moves along the second direction, the striker 441 and the cleaning robot 100 are relatively stationary in the second direction, and when the cleaning robot 100 moves to the second preset position along the second direction, the proximal end of the striker 441 contacts the second impact part 443, so that the striker 441 moves toward the driving part along the second direction, and applies a force to the rotating part 420 to make it rotate, thereby driving the scraper bar 110 to move in the first direction, so that the scraper bar 110 returns to the high position.

[0051] In this embodiment, the second impact part 443 includes a mounting plate 4421 and an impact plate 4422, the mounting plate 4421 is perpendicular to the impact plate 4422, and the connection has an arc structure 4423; the mounting plate 4421 is installed on the top of the proximal end of the rack 232 of the cleaning robot 100 by welding, bolt connection, etc., and the impact plate 4422 is used to contact the impact pin 441; when the impact pin 441 hits the impact plate 4422, the force on the impact plate 4422 is transmitted to the mounting plate 4421, and the firm connection between the mounting plate 4421 and the rack 232 offsets the impact of the impact pin 441 on the impact plate 4422, thereby ensuring the stability of the structure; at the same time, the arc structure 4423 at the connection between the mounting plate 4421 and the impact plate 4422 further increases the bending resistance of the impact plate 4422.

[0052] In this embodiment, the structure of the rotating part 420 is close to a Z-shape, and is integrally formed by a first block 4201, a second block 4202, and a third block 4203 connected in sequence. Figure 7 wherein the first block 4201 is used for rotation, the second block 4202 is used for contacting the striker 441, and the third block 4203 is used for contacting the protrusion 111 of the scraper strip 110. By adopting the rotating part 420 of the above structure, it can better cooperate with the scraper strip 110 and the second driving assembly 440.

[0053] The angle between the first block 4201, the second block 4202 and the third block 4203 may be any one of an acute angle, a right angle and an obtuse angle, which is not limited in this embodiment.

[0054] The second driving assembly 440 further includes a guide portion 443, which is installed in cooperation with the striker 441 so that the striker 441 can only move in the second direction. The guide portion 443 is installed on the mounting inner plate 101 of the cleaning robot 100, and has a guide groove along the second direction, and the striker 441 is slidably fitted in the guide groove, thereby guiding the movement of the striker 441.

[0055] In this embodiment, the top of the guide portion 443 extends upward along the first direction and is rotatably connected to the first block 4201 of the rotating portion 420; compared with the method in which the first block 4201 is rotatably set on the installation inner plate 101, the first block 4201 is rotatably set on the guide portion 443, which can save more installation space and make the structure more compact.

[0056] As a preferred embodiment of the present invention, an elastic member is provided in the guide groove, and one end of the elastic member is also connected to the circumferential side wall of the striker 441; by providing the elastic member, when the cleaning robot 100 moves along the second direction, the elastic member can provide resistance to the striker 441, so as to avoid the striker 441 from being relatively displaced with the cleaning robot 100 in the second direction under the action of inertia or other forces; when the striker 441 strikes the second impact part 443, the elastic member compresses and stores elastic potential energy, and when the striker 441 separates from the second impact part 443, the elastic member recovers its deformation and releases elastic potential energy, driving the striker 441 to quickly recover. Accordingly, after the striker 441 recovers, the rotating part 420 rotates downward under the action of gravity or the pressure of the scraper strip 110.

[0057] Further, such as Figure 2 As shown, a locking member 120 is further included. When the scraper strip 110 moves away from the limiting member 410 along the first direction, the locking member 120 contacts the scraper strip 110 and limits the movement of the scraper strip 110 in the first direction.

[0058] When the scraper bar 110 moves to the second preset position, the rotating part 420 drives the scraper bar 110 to move in the first direction, so that the scraper bar 110 returns to the high position. At this time, the locking member 120 contacts the scraper bar 110, so that the scraper bar 110 always maintains the high position in the standby state. When the cleaning robot 100 reaches the working starting point, the locking member 120 separates from the scraper bar 110, and the scraper bar 110 moves toward the limiter 410 along the first direction under the action of gravity and is locked by the limiter 410.

[0059] In this embodiment, the cleaning robot 100 is connected to the cover plate 104 via a hinge. Figure 1 As shown, the cover plate 104 can cover the scraper strip 110 to prevent the scraper strip 110 from being exposed in the air, thereby protecting the scraper strip 110 ; wherein the locking member 120 is disposed at the inner top of the cover plate 104 and is located above the scraper strip 110 .

[0060] As a preferred method of this embodiment, the locking member 120 includes a plurality of electromagnets, and correspondingly, the scraper strip 110 has a magnetic structure; when the scraper strip 110 is in a high position, the plurality of electromagnets are energized to generate magnetism and adsorb the scraper strip 110, thereby limiting the movement of the scraper strip 110 in the first direction, so that the scraper strip 110 always maintains a high position; when the plurality of electromagnets are de-energized, the scraper strip 110 can move along the first direction under the action of gravity.

[0061] As another preferred embodiment of the present invention, the locking member 120 includes a plurality of clamps; when the scraper strip 110 is in a high position, the plurality of clamps are retracted to clamp the scraper strip 110, thereby limiting the movement of the scraper strip 110 in the first direction, so that the scraper strip 110 always maintains a high position; when the plurality of clamps are opened, the scraper strip 110 can move along the first direction under the action of gravity.

[0062] Among them, although both methods can achieve the high position state of the scraper strip 110, the first method is preferably used in this embodiment. For the second method, the use of a clamp requires a larger installation space, while the use of an electromagnet only requires a smaller installation space, which can make the structure of the cleaning robot 100 more compact.

[0063] In addition to the above two methods, the locking member 120 of this embodiment further includes a locking portion 121, such as Fig.11 As shown. The locking part 121 is rotatably arranged on the cleaning robot 100 through an elastic member, and can rotate around its own axis. A snap-in protrusion 1211 is provided on the side of the locking part 121 close to the scraper strip 110, and a snap-in groove is provided on the side of the scraper strip 110 corresponding to the snap-in protrusion 1211. An inclined fourth guide surface 1213 is also provided at the bottom of the snap-in protrusion 1211, and the fourth guide surface 1213 is inclined upward from the locking part 121 to the scraper strip 110. When the rotating part 420 rotates and drives the scraper strip 110 to move to the high position, the top of the scraper strip 110 contacts the fourth guide surface 1213 and gradually drives the locking part 121 to rotate. When the snap-in groove is aligned with the snap-in protrusion 1211, the elastic member drives the locking part 121 to rotate, and the snap-in protrusion 1211 enters the snap-in groove, completing the locking of the high position of the locking part 121.

[0064] A contact protrusion 1212 is provided on the side of the locking portion 121 away from the scraper strip 110. When the cleaning robot 100 moves to the far end, the contact protrusion 1212 collides with other components, causing the rotating portion 420 to rotate toward the far end and the clamping protrusion 1211 to separate from the clamping groove. Under the action of gravity, the scraper strip 110 moves downward from a high position to a low position.

[0065] In the embodiment in which the scraper strip 110 is linked with the first drive assembly 430 and the second drive assembly 440 at the second preset position, the first drive assembly 430 includes a linkage member 434, and the two ends of the linkage member 434 are respectively connected to the rotating part 420 and the limiting member 410. When the rotating part 420 rotates, the limiting member 410 is driven to switch to an unlocked state or a locked state through the linkage member 434.

[0066] In some embodiments, Fig. 9 As shown, the linkage member 434 includes two first connecting rods 4341, one end of the two first connecting rods 4341 is hinged to each other, the other end of one of the first connecting rods 4341 is hinged to the rotating part 420, and the other end of the other first connecting rod 4341 is hinged to the stopper 410. When the scraper strip 110 moves to the second preset position, the second driving assembly 440 causes the rotating part 420 to rotate, and during the rotation of the rotating part 420, the stopper 410 is driven to switch to an unlocked state or a locked state through the two first connecting rods 4341.

[0067] In some embodiments, Fig.10 As shown, the linkage member 434 includes a second connecting rod 4342 and a slider 4343. The slider 4343 is slidably connected to the stopper 410. One end of the second connecting rod 4342 is hinged to the rotating part 420, and the other end is hinged to the slider 4343. When the scraper strip 110 moves to the second preset position, the second driving assembly 440 causes the rotating part 420 to rotate. During the rotation of the rotating part 420, the second connecting rod 4342 drives the slider 4343 to slide, and the slider 4343 drives the stopper to switch to an unlocked state or a locked state.

[0068] Specifically, the second driving assembly 440 includes a first impact portion 442 . When the scraper strip 110 moves to the second preset position, the proximal end of the rotating portion 420 contacts the first impact portion 442 , so that the rotating portion 420 rotates to drive the scraper strip 110 to move in the first direction.

[0069] The structure of the first impact part 442 is the same as that of the second impact part 443 , and will not be described in detail herein.

[0070] like Fig. 9 and Fig.10 As shown, the rotating portion 420 has an abutment portion 4204 and a contact portion 4205, the abutment portion 4204 is located at the distal end of the rotating member and extends toward the distal end of the first direction, and the contact portion 4205 is located at the proximal end of the rotating member; when the scraper strip 110 moves along the second direction to the second preset position, the contact portion 4205 contacts the second impact portion 443 and the abutment portion 4204 contacts the scraper strip 110.

[0071] like Figure 3As shown, the limiting member 410 includes two symmetrically arranged limiting portions 411, which are driven by the first driving assembly 430 to rotate toward or away from each other around their own rotation axes; a limiting space is formed between the two limiting portions 411, and the limiting space is used to limit the movement of the scraper strip 110 in the first direction.

[0072] It should be noted that the two limiting portions 411 are symmetrically arranged on opposite sides of the limiting groove 1011 with the plane where the ejector pin 431 is located along the third direction as a symmetry plane, so as to achieve cooperation with the protruding portion 111 .

[0073] It should also be noted that when the limit member 410 is switched to a locked state, it means that: the two limit portions 411 rotate toward each other, so that the size of the opening of the limit space is smaller than the width of the protrusion 111 in the second direction, thereby limiting the movement of the scraper 110 in the first direction; when the limit member 410 is switched to an unlocked state, it means that: the two limit portions 411 rotate away from each other, so that the size of the opening of the limit space is larger than the width of the protrusion 111 in the second direction, thereby allowing the scraper 110 to move freely in the first direction.

[0074] The two limiting parts 411 have the same structure, which is close to an L shape, and are integrally formed by a fourth block 4111 and a fifth block 4112 connected in sequence. Figure 8 As shown; the connection between the fourth block 4111 and the fifth block 4112 is rotatably connected to the mounting inner plate 101.

[0075] In an embodiment in which the scraper strip 110 is linked with the first drive assembly 430 at the first preset position and with the second drive assembly 440 at the second preset position, when the ejector pin 431 moves toward the limit member 410, the end of the ejector pin 431 is synchronously contacted with the ends of the two fourth blocks 4111, pushing the two fourth blocks 4111 to rotate upward, thereby causing the two limit portions 411 to rotate in opposite directions and switch to an unlocked state; when the end of the ejector pin 431 is separated from the ends of the two fourth blocks 4111, the scraper strip 110, under the action of gravity, presses the two fourth blocks 4111 to rotate downward, thereby causing the two limit portions 411 to rotate toward each other and switch to a locked state.

[0076] In this embodiment, if Figure 3 As shown, a collision block 433 is also provided at the top of the ejector pin 431, and the width of the collision block 433 in the second direction is greater than the width of the ejector pin 431 in the second direction, so that the end of the ejector pin 431 can better contact with the two fourth blocks 4111 synchronously, and better drive the two limit parts 411 to rotate towards each other.

[0077] The impact block 433 can be connected to the ejector pin 431 by threading, welding, gluing or other connection methods, which is not limited in this embodiment.

[0078] At least one of the facing surfaces of the two limiting portions 411 has a protrusion 412 . When the scraper strip 110 is located in the limiting space, the protrusion 412 abuts against the scraper strip 110 .

[0079] The protrusions 412 are respectively located on the facing surfaces of the fifth block 4112 . When the scraper strip 110 is in the limiting space and the limiting member 410 is in the locked state, the protrusions 412 abut against the upper end surface of the protrusion 111 , further increasing the locking force of the limiting member 410 .

[0080] The end surfaces of the protrusion 412 away from the first driving assembly 430 respectively have inclined third guide surfaces 4121; the third guide surfaces 4121 are inclined from the top to the bottom toward the inside; when the scraper strip 110 moves along the first direction toward the limiting member 410, the end of the scraper strip 110 contacts the two third guide surfaces 4121, so that the limiting portion 411 rotates in the opposite direction.

[0081] When the scraper strip 110 returns to the high position and the ejector pin 431 is separated from the two limiting portions 411, the two limiting portions 411 may spontaneously rotate inwardly due to their own gravity and turn into a locked state; therefore, the top end surfaces of the two protrusions 412 respectively face the limiting groove 1011 and have a downwardly inclined third guide surface 4121. When the scraper strip 110 moves from the high position to the low position, the protrusion 111 first contacts the two third guide surfaces 4121, and under the action of the two third guide surfaces 4121, the two limiting portions 411 rotate back to back, thereby opening the opening of the limiting space, so that the protrusion 111 can enter the limiting space.

[0082] In an embodiment in which the scraper strip 110 is linked with the first drive assembly 430 and the second drive assembly 440 at the second preset position, the linkage member 434 is connected to a limiting portion 411 near the proximal end, and the limiting portion 411 is rotated under the drive of the rotating portion 420 and switched to an unlocked state; when the rotating portion 420 is separated from the first impact portion 442, the rotating portion 420 rotates under the action of gravity, and drives the limiting portion 411 to rotate through the linkage member 434, and switches to a locked state.

[0083] A cleaning robot 100, such as Figure 1 and Figure 2 As shown, it includes a scraper strip 110 and the travel locking mechanism 400 in embodiment 1.

[0084] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0085] In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0086] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A walking lock control mechanism for a cleaning robot, characterized in that: include: The limiting member (410) has an unlocked state and a locked state; When the limiting member (410) is in an unlocked state, the scraper strip (110) can move freely in a first direction; when the limiting member (410) is in a locked state, the movement of the scraper strip (110) in the first direction is restricted; The rotating portion (420) is rotatable about its own rotating axis; when the rotating portion (420) rotates, the moving path of the distal end is at least partially located in the first direction, so that the distal end of the rotating portion (420) can abut against the scraper (110) and drive the scraper (110) to move in the first direction; The scraper strip (110) can also move in a second direction; It also comprises a first driving component (430) and a second driving component (440); when the scraper strip (110) moves along the second direction to a first preset position, the first driving component (430) causes the limiting member (410) to switch to an unlocked state; when the scraper strip (110) moves along the second direction to a second preset position, the second driving component (440) causes the rotating part (420) to rotate, so as to drive the scraper strip (110) to move in the first direction; Alternatively, when the scraper strip (110) moves to a second preset position along the second direction, the first driving component (430) causes the limiting member (410) to switch to an unlocked state, and the second driving component (440) causes the rotating portion (420) to rotate, so as to drive the scraper strip (110) to move in the first direction.

2. A cleaning robot walking lock control mechanism according to claim 1, characterized in that: When the scraper strip (110) moves to a second preset position along the second direction, the second driving assembly (440) causes the rotating portion (420) to rotate to drive the scraper strip (110) to move in the first direction, and the first driving assembly (430) comprises a linkage member (434), two ends of which are respectively connected to the rotating portion (420) and the limiting member (410); When the rotating part (420) rotates, the limiting member (410) is driven to switch to an unlocked state or a locked state through the linkage member (434).

3. A cleaning robot walking lock control mechanism according to claim 2, characterized in that: The second driving component (440) comprises a first impact portion (442); when the scraper strip (110) moves to a second preset position, the proximal end of the rotating portion (420) contacts the first impact portion (442), causing the rotating portion (420) to rotate, thereby driving the scraper strip (110) to move in a first direction.

4. A walking lock control mechanism for a cleaning robot according to claim 3, characterized in that: The rotating part (420) comprises an abutment part (4204) and a contact part (4205), wherein the abutment part (4204) is located at the distal end of the rotating member and extends towards the distal end of the first direction, and the contact part (4205) is located at the proximal end of the rotating member; When the scraper strip (110) moves to a second preset position along the second direction, the contact portion (4205) contacts the first impact portion (442), and the abutment portion (4204) contacts the scraper strip (110).

5. A cleaning robot walking lock control mechanism according to claim 3, characterized in that: The linkage member (434) comprises two first connecting rods (4341), one end of the two first connecting rods (4341) being hinged to each other, the other end of one of the first connecting rods (4341) being hinged to the rotating part (420), and the other end of the other first connecting rod (4341) being hinged to the limiting member (410); Alternatively, the linkage member (434) comprises a second connecting rod (4342) and a slider (4343), the slider (4343) being slidably connected to the limiting member (410), one end of the second connecting rod (4342) being hinged to the rotating portion (420), and the other end being hinged to the slider (4343).

6. A cleaning robot walking lock control mechanism according to claim 1, characterized in that: When the scraper strip (110) moves along the second direction to a first preset position, the first driving component (430) causes the limiting component (410) to switch to an unlocked state; when the scraper strip (110) moves along the second direction to a second preset position, the second driving component (440) causes the rotating part (420) to rotate. The first driving component (430) comprises: The ejector pin (431) is movable in a first direction and moves along with the scraper strip (110) in a second direction; A trigger platform (432) cooperates with the end surface of the ejector pin (431); When the scraper strip (110) moves to a first preset position along the second direction, the end surface of the ejector pin (431) contacts the trigger platform (432), and the limiting member (410) is in an unlocked state.

7. A walking lock control mechanism for a cleaning robot according to claim 4, characterized in that: The second driving assembly (440) comprises: The striker (441) moves in the second direction following the scraper strip (110) and can move freely in the second direction; when the striker (441) contacts the driving portion, the rotating portion (420) is caused to rotate; A second striking portion (443) is disposed toward an end of the striking pin (441) away from the rotating portion (420); When the scraper strip (110) moves along the second direction to a second preset position, the striker (441) contacts the second impact portion (443), causing the striker (441) to move along the second direction toward the driving portion, thereby driving the rotating portion (420) to rotate.

8. A walking lock control mechanism for a cleaning robot according to any one of claims 1 to 7, characterized in that: The limiting member (410) comprises two symmetrically arranged limiting portions (411), and the two limiting portions (411) are driven by the first driving assembly (430) to rotate towards or away from each other around their own rotation axes; A limiting space is formed between the two limiting portions (411), and the limiting space is used to limit the movement of the scraper strip (110) in the first direction.

9. A walking lock control mechanism for a cleaning robot according to any one of claim 8, characterized in that: It also comprises a locking member (120), and when the scraper strip (110) moves away from the limiting member (410) along the first direction to a high position, the locking member (120) enables the scraper strip (110) to remain in the high position.

10. A cleaning robot, characterized in that: It comprises a scraper strip (110) and a walking lock control mechanism (400) of a cleaning robot (100) as claimed in any one of claims 1 to 9.

Images