Sweeper and control method thereof

Abstract

The invention discloses a sweeper and a control method thereof, a driving mechanism is used for driving a mop mechanism to ascend and descend and extend and retract in a translation manner, so that a normal cleaning mode and a corner cleaning mode can be realized; the controller automatically adjusts stretching and retracting of the mop mechanism according to distance information monitored by the first distance sensor and / or the second distance sensor, switching between a normal cleaning mode and a corner cleaning mode is completed, the end of the mop mechanism can be prevented from making contact with a wall or an obstacle, abrasion of the mop mechanism is avoided, smooth walking of the sweeper is facilitated, and the sweeping efficiency of the sweeper is improved. And the use experience of the user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of life household appliances, and in particular to a floor sweeping machine and a control method thereof. BACKGROUND

[0002] The floor sweeping machine on the market has the functions of dust collection and floor mopping. The floor sweeping machine also has a remote control function, and the user can control the floor sweeping machine on and off at any time to clean according to his own needs.

[0003] The machine body of the floor sweeping machine can also be referred to as a chassis or a housing. The machine body is configured with a walking mechanism, which includes rollers and a motor. The motor is installed in the machine body, and the rollers are installed at the bottom of the machine body through an axle. The machine body is also configured with a dust collection mechanism, which includes a dust collection box, a fan, a filter screen, etc. The dust collection box is detachably installed in the machine body, and a cover plate is arranged at the top of the machine body corresponding to the position of the dust collection box, so as to take and place the dust collection box. The dust collection port of the dust collection box is arranged at the bottom of the machine body, substantially at the middle position between the front and the back. The fan is installed in the machine body, and the air inlet of the fan is connected to the position of the filter screen in the dust collection box, so as to suck the dust into the dust collection box through the air inlet. The machine body is integrated with a controller or a control module for receiving instructions and controlling the switching of various electrical elements.

[0004] The Chinese utility model patent with publication number CN207940856U discloses a floor sweeping robot, which can solve the problem of cleaning dead angles. However, it cannot control the cleaning device to automatically extend or retract according to the actual scene. The end of the cleaning device will always be against the wall surface, which will cause wear and tear to the cleaning device and is not conducive to the smooth movement of the floor sweeping robot. The cleaning device of the floor sweeping robot in the above patent always extends from one end, and does not have the function of automatically switching different cleaning modes. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide a floor sweeping machine and a control method thereof. The floor sweeping machine can automatically switch between a normal cleaning state and a corner cleaning state according to the distance between the machine body and the wall surface or the obstacle during the cleaning process. When in the corner cleaning state, the end of the roller mop can be avoided from being in contact with the wall surface or the obstacle, thereby avoiding wear and tear of the roller mop and facilitating the smooth movement of the floor sweeping machine. The automatic switching of the cleaning mode can help improve the user experience.

[0006] The technical scheme of the present application provides a floor sweeping machine, which comprises a machine body having a controller and a mop mechanism, and a driving mechanism arranged in the machine body and capable of driving the mop mechanism to move up and down and translate, wherein the driving mechanism is signal-connected with the controller.

[0007] The bottom of the machine body is provided with a mop mounting slot, the mop mechanism is movably assembled in the mop mounting slot, the mop mechanism comprises a mechanism shell and a roller mop pivotally connected with the mechanism shell, the driving mechanism is connected with the mechanism shell and can drive the mechanism shell to move up and down and horizontally along the axial direction of the roller mop;

[0008] The side of the machine body is provided with a first distance sensor and / or the end of the mechanism shell is provided with a second distance sensor, the first distance sensor and the second distance sensor are respectively connected with the controller in signal;

[0009] When the sweeper is in the initial state and the dust collection state, the driving mechanism is in the initial state, the mop mechanism is in the raised state, and the roller mop is in the mop mounting slot and in the raised off-ground state;

[0010] When the sweeper is in the normal cleaning state, the driving mechanism drives the mop mechanism to descend in the mop mounting slot, and the roller mop is in the mop mounting slot and in the descending ground-contacting state;

[0011] When the sweeper is in the corner cleaning state, the driving mechanism drives the mop mechanism in the descending state to translate along the axial direction of the roller mop, one end of the roller mop extends outside the mop mounting slot, and the roller mop remains in the descending ground-contacting state.

[0012] In one of the optional technical solutions, the first distance sensor is arranged at the side notch of the mop mounting slot.

[0013] In one of the optional technical solutions, when the sweeper is in the normal cleaning state, if the first distance sensor detects that the distance between the side of the machine body and the obstacle is within the preset corner cleaning distance range, the driving mechanism drives the mop mechanism to translate, and the sweeper switches to the corner cleaning state.

[0014] In one of the optional technical solutions, when the driving mechanism drives the mop mechanism to translate outward, if the second distance sensor detects that the distance between the end of the mechanism shell and the obstacle is less than the preset corner cleaning limit distance, the driving mechanism stops operating or the driving mechanism reversely drives the mop mechanism to avoid the wall surface or the obstacle.

[0015] In one of the optional technical solutions, the driving mechanism comprises a driving motor fixedly connected with the machine body, a gear mounted on the rotating shaft of the driving motor, and a sliding rack engaged with the gear;

[0016] The sliding rack is arranged along the axial direction of the roller mop and is in sliding connection with the fuselage;

[0017] The top of the mechanism housing is provided with two connecting arms at intervals; the two ends of the sliding rack are respectively provided with a transmission frame for pushing the connecting arms to translate, and the transmission frame is provided with a guide rail for driving the connecting arms to lift;

[0018] The connecting arms extend into the transmission frame and are in sliding connection with the guide rail; when the connecting arms are at the ends of the guide rail, the end plates of the transmission frame block the connecting arms and can push the connecting arms to translate.

[0019] In an optional technical solution, the transmission frame includes a first end plate and a second end plate arranged at intervals along the axial direction of the roller mop, the first end of the guide rail is connected with the first end plate, the second end of the guide rail is connected with the second end plate, and the guide rail gradually rises in the direction from the first end to the second end of the guide rail;

[0020] The upper end of the connecting arm has a hanging plate that is latched on the guide rail and can slide relative to the guide rail;

[0021] When the hanging plate is at the first end of the guide rail, the first end plate blocks the hanging plate;

[0022] When the hanging plate is at the second end of the guide rail, the second end plate blocks the hanging plate.

[0023] In an optional technical solution, the transmission frame is provided with two guide rails arranged at intervals, and a guide groove is formed between the two guide rails;

[0024] The connecting arm passes through the guide groove, and the hanging plate is latched on the two guide rails.

[0025] In an optional technical solution, when the driving mechanism is in an initial state, the gear is in the middle of the two transmission frames in the axial direction of the roller mop.

[0026] In an optional technical solution, the fuselage includes a mounting rack, and the mop mounting groove is arranged at the bottom of the mounting rack;

[0027] The driving motor is connected with the mounting rack;

[0028] A guide groove extending along the axial direction of the roller mop is arranged at the top of the mounting rack, and the bottom plate of the guide groove is provided with a guide limiting hole extending along the axial direction of the roller mop;

[0029] The sliding rack clearance fits in the guide groove, and the connecting arm clearance passes through the guide limiting hole.

[0030] The application also provides a control method of the sweeper, including the following operation modes:

[0031] The normal cleaning mode, the driving mechanism drives the mop mechanism to descend in the mop mounting groove, the roller mop is in the mop mounting groove and in the descending ground state, to perform normal cleaning mopping;

[0032] The corner cleaning mode, the driving mechanism drives the mop mechanism in the descending state to translate along the axial direction of the roller mop, one end of the roller mop extends outside the mop mounting groove, and the roller mop remains in the descending ground state to perform corner cleaning mopping.

[0033] The above technical scheme has the following beneficial effects:

[0034] The sweeper and the control method thereof provided by the application drive the lifting and translation of the mop mechanism by the driving mechanism, so that the normal cleaning mode and the corner cleaning mode can be realized, when the sweeper is in the mopping cleaning mode, the controller automatically adjusts the extension and retraction of the mop mechanism according to the distance information monitored by the first distance sensor and / or the second distance sensor, completes the switching between the normal cleaning mode and the corner cleaning mode, avoids the end of the mop mechanism from touching the wall or the obstacle, avoids the abrasion of the mop mechanism, is beneficial to the smooth walking of the sweeper, and improves the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0035] The disclosure will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the application. In the drawings:

[0036] Figure 1 A perspective view of the sweeper provided by an embodiment of the application;

[0037] Figure 2 A bottom view of the sweeper provided by an embodiment of the application;

[0038] Figure 3 A schematic view of the signal connection between the controller and various electrical elements;

[0039] Figure 4 A perspective view of the assembly of the mop mechanism, the driving mechanism and the mounting frame;

[0040] Figure 5 A Figure 4 An exploded view of the mounting frame, the mop mechanism and the driving mechanism shown in the figure;

[0041] Figure 6 Fig. 1 is a schematic view of the mopping mechanism in the extended position; Figure 4

[0042] Figure 7 Fig. 2 is a sectional view along the A-A direction; Figure 4

[0043] Figure 8 Fig. 3 is a perspective view of the mounting frame from the top view;

[0044] Figure 9 Fig. 4 is a perspective view of the mounting frame from the bottom view;

[0045] Figure 10 Fig. 5 is a perspective view of the mopping mechanism;

[0046] Figure 11 Fig. 6 is a perspective view of the driving mechanism;

[0047] Figure 12 Fig. 7 is a perspective view of the sliding rack with the transmission frame installed at both ends;

[0048] Figure 13 Fig. 8 is a sectional view along the B-B direction; Figure 12

[0049] Fig. 9 is a schematic view of the cooperation between the mopping assembly and the driving mechanism when the driving mechanism is in the initial state; Figure 14

[0050] Fig. 10 is a schematic view of the cooperation between the mopping assembly and the driving mechanism when the driving mechanism drives the mopping mechanism to translate. Figure 15 DETAILED DESCRIPTION

[0051] The specific embodiments of the present application will be further described below with reference to the accompanying drawings. Identical parts are denoted by identical reference numerals in the description below. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inner" and "outer" refer to the directions towards or away from the geometric center of a specific part.

[0052] As shown in Fig. 1, an embodiment of the present application provides a mopping machine, which comprises a machine body 1 with a controller 2 and a mopping mechanism 5, and a driving mechanism 6 arranged in the machine body 1 and capable of driving the mopping mechanism 5 to move up and down and translate, wherein the driving mechanism 6 is in signal connection with the controller 2. Figures 1-6

[0053] ​​​​The bottom of the machine body 1 is provided with a mop mounting slot 14, and the mop mechanism 5 is movably assembled in the mop mounting slot 14. The mop mechanism 5 comprises a mechanism housing 51 and a roller mop 52 pivotally connected with the mechanism housing 51. The driving mechanism 6 is connected with the mechanism housing 51 and can drive the mechanism housing 51 to move up and down and horizontally along the axial direction of the roller mop 52.

[0054] The side of the machine body 1 is provided with a first distance sensor 7, and / or the end of the mechanism housing 51 is provided with a second distance sensor 8. The first distance sensor 7 and the second distance sensor 8 are respectively signal connected with the controller 2.

[0055] When the sweeper is in the initial state and the dust collection state, the driving mechanism 6 is in the initial state, the mop mechanism 5 is in the raised state, and the roller mop 52 is in the mop mounting slot 14 and in the raised off-ground state.

[0056] When the sweeper is in the normal cleaning state, the driving mechanism 6 drives the mop mechanism 5 to descend in the mop mounting slot 14, and the roller mop 52 is in the mop mounting slot 14 and in the descending ground-contacting state.

[0057] When the sweeper is in the corner cleaning state, the driving mechanism 6 drives the mop mechanism 5 in the descending state to translate along the axial direction of the roller mop 52, one end of the roller mop 52 extends outside the mop mounting slot 14, and the roller mop 52 remains in the descending ground-contacting state.

[0058] For the convenience of description, the advancing direction of the sweeper is referred to as the longitudinal direction or the front-rear direction in the present application; the direction of the extension and retraction of the mop mechanism 5 is referred to as the transverse direction or the left-right direction; the end of a component extending towards the mop mechanism 5 is referred to as the proximal end, and the corresponding side is referred to as the proximal side; and the end of a component extending away from the mop mechanism 5 is referred to as the distal end, and the corresponding side is referred to as the distal side.

[0059] The sweeper comprises a machine body 1, which comprises a machine body front part 11 and a machine body rear part 12. The mop mounting slot 14 is preferably arranged in the machine body rear part 12. The mop mounting slot 14 extends along the transverse direction or the left-right direction or the width direction of the machine body rear part 12 and is open at least at one end to allow the end of the mop mechanism 5 to extend out. The bottom of the mop mounting slot 14 is a long strip-shaped opening for the roller mop 52 of the mop mechanism 5 to descend and ground-contact for cleaning.

[0060] The controller 2 is integrated in the machine body 1 and is used to accept instructions and control the switching and operation of various electrical components. The controller 2 can be a control circuit board, a chip, a microprocessor, etc.

[0061] The machine body 1 is provided with a walking mechanism 3 for driving the machine body to walk. The walking mechanism 3 comprises rollers and roller driving motors, the roller driving motors are arranged in the cavity of the machine body 1 and are connected with the controller 2 through wires. The rollers are installed on the bottom of the machine body through shafts.

[0062] The machine body 1 is provided with a dust collection mechanism 4 for dust collection. The dust collection mechanism 4 comprises a dust collection box, a filter screen and a fan, etc. The dust collection box and the fan are respectively installed in the machine body 1, and the machine body 1 is provided with an end cover at the position corresponding to the dust collection box on the top thereof, so as to dismount the dust collection box. The dust collection port 41 of the dust collection box is located at the bottom of the machine body, and the air suction port of the fan is connected with the dust collection box. The fan is connected with the controller 2 through wires.

[0063] The mop installation slot 14 is located at the rear side of the dust collection port 41, and the mop mechanism 5 is correspondingly arranged at the rear side of the dust collection port 41, so as to avoid that the mop wetting the floor affects the dust collection.

[0064] The mop mechanism 5 is movably installed in the mop installation slot 14, and can move up and down and move horizontally in the mop installation slot 14. The mop mechanism 5 comprises a mechanism housing 51 and a roller mop 52. The roller mop 52 is connected with the mechanism housing 51 through a rotating shaft, and a motor for driving the roller mop to rotate is further connected in the mechanism housing 51 or on the rotating shaft.

[0065] The driving mechanism 6 is installed in the machine body 1, the output end of the driving mechanism 6 is connected with the mechanism housing 51, and the driving mechanism 6 can drive the mechanism housing 51 to move up and down and horizontally along the axial direction of the roller mop 52 in the mop installation slot 14.

[0066] The driving mechanism 6 can adopt a motor driving mechanism, a piston driving mechanism, etc., as long as it can realize the up and down movement and horizontal movement of the mechanism housing 51. The driving mechanism 6 is signal connected with the controller 2, and can be specifically connected with the controller 2 through wires to realize signal transmission. The controller 2 controls the operation of the driving mechanism 6.

[0067] When the driving mechanism 6 is in the initial state, the whole mop mechanism 5 is located in the mop installation slot 14, and the mop mechanism 5 is in the raised state, and the roller mop 52 is in the raised state away from the ground. At this time, the sweeping robot can be in the default state or the initial state (for example, homing charging), or can be in the dust collection state or the dust collection mode, at this time, the sweeping robot only collects dust and does not mop the floor, so as to meet different cleaning requirements of the user.

[0068] The cleaning robot has two cleaning modes or two cleaning states when performing mopping cleaning. The first cleaning mode or the first cleaning state is a normal cleaning mode or a normal cleaning state, in which the driving mechanism 6 only drives the mop mechanism 5 to descend, the roller mop 52 is in the mop mounting groove 14 and descends to mop the floor, and neither end of the roller mop 52 extends out of the mop mounting groove 14. The roller mop 52 mops the floor along with the movement of the cleaning robot, and the mopping range of the roller mop 52 does not exceed the body 1 of the cleaning robot. The second cleaning mode or the second cleaning state is a corner cleaning mode or a corner cleaning state, which is used to clean the sanitary dead angle between the floor and the wall or obstacle. Generally, the cleaning robot first performs the normal cleaning mode and then performs the corner cleaning mode. Of course, the cleaning robot can directly perform the corner cleaning mode according to the need. When the cleaning robot performs the corner cleaning mode or is in the corner cleaning state, the driving mechanism 6 not only drives the mop mechanism 5 to descend, but also drives the mop mechanism 5 to move laterally, so that one end of the roller mop 52 extends out of one side opening of the mop mounting groove 14, thereby cleaning the sanitary dead angle. If the cleaning robot performs the normal cleaning mode first and then performs the corner cleaning mode, the controller 2 controls the driving mechanism 6 to drive the mop mechanism 5 in the descending state to move laterally toward the far side (one side opening of the mop mounting groove 14) until the mop mechanism 5 moves to the desired length. If the cleaning robot directly performs the corner cleaning mode from the initial state, the controller 2 controls the driving mechanism 6 to drive the mop mechanism 5 to descend and move laterally. The descending and moving laterally actions can be performed synchronously or in a preset order.

[0069] By configuring the first distance sensor 7 and / or the second distance sensor 8 as described below, the cleaning robot can switch between the normal cleaning mode and the corner cleaning mode at will.

[0070] The first distance sensor 7 is arranged on the side of the body 1 and can be arranged at the widest position of the body 1. The first distance sensor 7 is used to monitor the distance between the body 1 and the wall or obstacle. The first distance sensor 7 is in signal connection with the controller 2, and the signal transmission can be achieved by wire connection. The first distance sensor 7 can transmit the monitored distance to the controller 2, and the controller 2 determines whether to switch from the normal cleaning mode to the corner cleaning mode or from the corner cleaning mode to the normal cleaning mode according to the distance information.

[0071] When the controller 2 determines that the cleaning robot needs to switch from the normal cleaning mode to the corner cleaning mode according to the distance information, the controller 2 controls the driving mechanism 6 to drive the mop mechanism 5 to move laterally to ensure that the end of the mop mechanism 5 does not touch the wall or obstacle.

[0072] For example, when the distance L between the machine body 1 and the wall or obstacle is ≤ L1, the robot cleaner automatically switches from the normal cleaning mode to the corner cleaning mode; when the distance L between the machine body 1 and the wall or obstacle is > L1, the robot cleaner automatically switches from the corner cleaning mode to the normal cleaning mode. L1 can be set according to actual needs, for example, 10 cm, 8 cm, 5 cm, etc.

[0073] When the robot cleaner is in the normal cleaning mode, when the first distance sensor 7 monitors that the distance L between the machine body 1 and the wall or obstacle is ≤ L1, it sends a first distance signal to the controller 2, and after the controller 2 receives the first distance signal, it determines that the cleaning mode needs to be switched, and controls the driving mechanism 6 to drive the mop mechanism 5 to move laterally or translationally to the distal side until the mechanism housing 51 and / or the roller mop 52 extends by the required length L2 from the mop installation slot 14. Assuming that the distance between the side slot of the mop installation slot 14 and the first distance sensor 7 in the lateral direction or along the width direction of the robot cleaner is L3, in order to avoid the end of the mechanism housing 51 and / or the roller mop 52 from colliding and rubbing against the wall or obstacle, a certain gap a needs to be left between the end of the extended mechanism housing 51 and / or the roller mop 52 and the wall or obstacle, and the value of a can be set according to needs, for example, a can be selected to be between 2-5 mm. Then L2 = L3 + L1 - a. In this way, the roller mop 51 can not only complete the dead corner cleaning, but also avoid abrasion caused by touching the wall or obstacle. The robot cleaner is generally equipped with a side brush, which can completely sweep the dust in the area of the above-mentioned gap a to the lower side of the robot cleaner, although the roller mop 51 does not completely clean the bottom corner of the wall or obstacle, it is also sufficient to meet the needs of dead corner cleaning.

[0074] When the robot cleaner is in the corner cleaning mode, when the first distance sensor 7 monitors that the distance L between the machine body 1 and the wall or obstacle is > L1, it sends a second distance signal to the controller 2, and after the controller 2 receives the second distance signal, it determines that the cleaning mode needs to be switched, and controls the driving mechanism 6 to drive the extended mop mechanism 5 to reset, and the roller mop 52 is retracted into the mop installation slot 14.

[0075] According to needs, the second distance sensor 8 can be arranged at the end of the mechanism shell 51, and the second distance sensor 8 is used for directly monitoring the real-time distance L4 between the end of the mechanism shell 51 and the wall surface or the obstacle, and at this time, the above-mentioned L3 does not need to be referred to. The second distance sensor 8 is in signal connection with the controller 2, and specifically, the signal transmission can be realized through wire connection. The second distance sensor 8 can transmit the monitored real-time distance L4 to the controller 2, and the controller 2 determines the extension length L2=L4-a of the mechanism shell 51 and / or the roller mop 52 according to the real-time distance L4. In the case of arranging the second distance sensor 8, the sweeper first monitors L1 by the above-mentioned first distance sensor 7 to judge whether it is necessary to switch the cleaning mode, and when it is necessary to switch from the normal cleaning mode to the corner cleaning mode, the extension length L2 of the shell 51 and / or the roller mop 52 is adjusted in real time by controlling the driving mechanism 6 to act, so as to ensure that L2=L4-a.

[0076] In summary, the sweeper provided by the application can realize the normal cleaning mode and the corner cleaning mode by driving the lifting and translation extension and retraction of the mop mechanism 5 through the driving mechanism 6. When the sweeper is in the mop cleaning mode, the controller 2 automatically adjusts the extension and retraction of the mop mechanism 5 according to the distance information monitored by the first distance sensor 7 and / or the second distance sensor 8, completes the switching of the normal cleaning mode and the corner cleaning mode, avoids the end of the mop mechanism 5 from touching the wall surface or the obstacle, avoids the abrasion of the mop mechanism 5, is beneficial to the smooth walking of the sweeper, and improves the user experience.

[0077] In one of the embodiments, the first distance sensor 7 is arranged at the side notch of the mop mounting groove 14, and the distance L1 monitored by the first distance sensor 7 is the maximum distance that the mechanism shell 51 and / or the roller mop 52 can extend, and the required extension length L2=L1-a of the mechanism shell 51 and / or the roller mop 52 can ensure that the roller mop 51 can complete the dead angle cleaning and can avoid touching the wall surface or the obstacle to cause abrasion.

[0078] In one of the embodiments, when the sweeper is in the normal cleaning state, if the first distance sensor 7 monitors that the distance between the side of the machine body 1 and the obstacle is within the preset corner cleaning distance range, the driving mechanism 6 drives the translation of the mop mechanism 5, and the sweeper switches to the corner cleaning state.

[0079] The preset corner cleaning distance range can be set according to needs, for example, the preset corner cleaning distance range is set as b, and 0<b≤L1. As long as the first distance sensor 7 monitors that the distance L between the machine body 1 and the wall surface or the obstacle is less than L1, the sweeper automatically switches to the corner cleaning mode.

[0080] In one of the embodiments, when the second distance sensor 8 monitors that the distance between the end of the mechanism housing 51 and the obstacle is less than the preset corner cleaning limit distance, the driving mechanism 6 stops running or reverses the driving of the mop mechanism 5 to avoid the wall surface or the obstacle.

[0081] The limit distance can be set according to the need, which is used to ensure that the end of the mop mechanism 5 does not touch the wall surface or the obstacle. The limit distance can refer to the above-mentioned parameter a.

[0082] When the second distance sensor 8 monitors that the distance L4 between the end of the mechanism housing 51 and the obstacle is less than a, the driving mechanism 6 immediately stops running and no longer drives the mop mechanism 5 to extend, and the mop mechanism 5 stays at the specified length. Preferably, the driving mechanism 6 reverses the driving of the mop mechanism 5 to retract a certain distance, so that L4=a, to avoid the wall surface or the obstacle.

[0083] In one of the embodiments, as shown in Figures 4-7 and Figures 10-15 The driving mechanism 6 includes a driving motor 61 fixedly connected with the machine body 1, a gear 62 installed on the rotating shaft of the driving motor 61, and a sliding rack 63 engaged with the gear 62.

[0084] The sliding rack 63 is arranged along the axial direction of the roller mop 52 and is slidingly connected with the machine body 1.

[0085] The top of the mechanism housing 51 is provided with two connecting arms 53 at intervals. The two ends of the sliding rack 63 are respectively provided with a transmission frame 64 for pushing the connecting arms 53 to translate, and the transmission frame 64 is provided with a guide rail 65 for driving the connecting arms 53 to lift.

[0086] The connecting arms 53 extend into the transmission frame 64 and are slidingly connected with the guide rail 65. When the connecting arms 53 are at the ends of the guide rail 65, the end plate of the transmission frame 64 blocks the connecting arms 53 and can push the connecting arms 53 to translate.

[0087] In this embodiment, the driving mechanism 6 adopts a motor driving mechanism, which includes a driving motor 61, a gear 62, and a sliding rack 63. The driving motor 61 is fixedly installed in the machine body 1 through a connecting structure, and the gear 62 is installed on the rotating shaft of the driving motor 61. The sliding rack 63 is arranged transversely and extends along the axial direction of the roller mop 52. The sliding rack 63 is slidingly assembled with the machine body 1 and can slide along the length direction of the mop installation groove 14. The sliding rack 63 can be assembled below the top plate of the mop installation groove 14 or above the top plate of the mop installation groove 14.

[0088] The top of the mechanism housing 51 is provided with two connecting arms 53, and the two ends of the sliding rack 63 are respectively provided with a transmission frame 64 for cooperating with the connecting arms 53 to transmit power. The upper end of the connecting arm 53 is located in the transmission frame 64, and when the sliding rack 63 translates, the end plate of the transmission frame 64 pushes the connecting arm 53 to translate.

[0089] When the roller mop 52 needs to be extended, the driving motor 61 is operated in the forward direction, so that the sliding rack 63 moves towards the end slot of the mop installation slot 14, the end plate of the transmission frame 64 pushes the connecting arm 53 to move synchronously, the connecting arm 53 drives the mechanism housing 51 to move synchronously, and the mechanism housing 51 drives the roller mop 52 to extend from the end slot of the mop installation slot 14 to clean the sanitary dead angle.

[0090] When the roller mop 52 needs to be reset, the driving motor 61 is operated in the reverse direction, so that the sliding rack 63 moves from the end slot of the mop installation slot 14 to the middle to reset, the end plate of the transmission frame 64 pushes the connecting arm 53 to move synchronously, the connecting arm 53 drives the mechanism housing 51 to move synchronously, and the mechanism housing 51 drives the roller mop 52 to retract into the mop installation slot 14.

[0091] The transmission frame 64 is provided with a guide rail 65 for driving the connecting arm 53 to rise and fall. The guide rail 65 can adopt a convex rail with one end high and the other end low, or a guide rail groove with one end high and the other end low. The connecting arm 53 is slidably connected with the convex rail or the guide rail groove. When the connecting arm 53 slides from the lower end of the guide rail 65 to the higher end, the connecting arm 53 drives the mop mechanism 5 to rise as a whole. When the connecting arm 53 slides from the higher end of the guide rail 65 to the lower end, the connecting arm 53 drives the mop mechanism 5 to fall as a whole.

[0092] When the connecting arm 53 is at the lower end of the guide rail 65, one side end plate of the transmission frame 64 blocks the connecting arm 53 and can push the connecting arm 53 to translate towards the side slot of the mop installation slot 14, thereby driving the mop mechanism 5 to move outward as a whole, so that the roller mop 52 extends out of the mop installation slot 14 in the falling state to clean the sanitary dead angle between the floor and the wall.

[0093] When the connecting arm 53 is at the higher end of the guide rail 65, the other side end plate of the transmission frame 64 blocks the connecting arm 53 and can push the connecting arm 53 to translate towards the middle of the mop installation slot 14, thereby driving the mop mechanism 5 to move inward as a whole, so that the roller mop 52 returns to the mop installation slot 14 in the rising state and resets to the initial state.

[0094] In one embodiment, as shown in Figures 10-15As shown, the transmission frame 64 includes a first end plate 641 and a second end plate 642 arranged axially along the roller mop 52, the first end 651 of the guide rail 65 is connected with the first end plate 641, and the second end 652 of the guide rail 65 is connected with the second end plate 642. In the direction from the first end 651 to the second end 652 of the guide rail 65, the guide rail 65 gradually rises.

[0095] The upper end of the connecting arm 53 has a hanging plate 531 which is placed on the guide rail 65 and can slide relative to the guide rail 65.

[0096] When the hanging plate 531 is at the first end 651 of the guide rail 65, the first end plate 641 blocks the hanging plate 531.

[0097] When the hanging plate 531 is at the second end 652 of the guide rail 65, the second end plate 642 blocks the hanging plate 531.

[0098] In the embodiment, the transmission frame 64 includes the first end plate 641, the second end plate 642 and two side plates 643. The first end plate 641 and the second end plate 642 are arranged axially along the roller mop 52, and the side plates 643 extend along the length direction of the mop mounting groove 14 or along the axial direction of the roller mop 52. The first end plate 641 and the second end plate 642 are connected between the two ends of the two side plates 643.

[0099] Taking the extension direction of the mop mechanism 5 as the standard, the end of the sliding rack 63 towards the extension direction of the mop mechanism 5 is defined as the proximal end, and the end of the sliding rack 63 away from the extension direction of the mop mechanism 5 is defined as the distal end. The second end plate 642 of the transmission frame 64 on the distal end side of the sliding rack 63 is connected with the distal end of the sliding rack 63, and the first end plate 641 of the transmission frame 64 on the proximal end side of the sliding rack 63 is connected with the proximal end of the sliding rack 63.

[0100] The guide rail 65 is connected with the side plates 643, and in the extension direction of the mop mechanism 5, the guide rail 65 gradually rises. Specifically, the guide rail 65 includes a lower first end 651 and a higher second end 652, the first end 651 is connected with the first end plate 641, and the second end 652 is connected with the second end plate 642. The first end 651 and the second end 652 can adopt a flat plate, and the guide rail body connected before the first end 651 and the second end 652 can adopt an inclined plate.

[0101] The upper end of the connecting arm 53 has a hanging plate 531 which is placed on the guide rail 65 and can slide relative to the guide rail 65.

[0102] When the hanging plate 531 is at the first end 651 of the guide rail 65, the first end plate 641 blocks the hanging plate 531, and the hanging plate 531 is pushed to move laterally to the proximal end side, so as to finally drive the roller mop 52 to extend out. When the hanging plate 531 is at the second end 652 of the guide rail 65, the second end plate 642 blocks the hanging plate 531, and the hanging plate 531 is pushed to move laterally to the distal end side, so as to drive the roller mop 52 to retract.

[0103] When the mop mechanism 5 is in the initial state, the roller mop 52 is in the raised off-ground state, and the roller mop 52 is accommodated in the mop mounting groove 14. At this time, the gear 62 is approximately at the middle position of the sliding rack 63, and the hanging plate 531 is at the second end 652 of the guide rail 65.

[0104] When the driving mechanism 6 drives the mop mechanism 5 to descend, the sliding rack 63 is driven to move to the proximal end side, and the guide rail 65 moves integrally until the hanging plate 531 falls on the first end 651 of the guide rail 65. At this time, the mop mechanism 5 is in the descending state, and the roller mop 52 is in the descending ground-contacting state in the mop mounting groove 14.

[0105] When it is necessary to reset the mop mechanism 5 in the above state, the driving motor 61 is reversely operated to drive the sliding rack 63 to move to the distal end side, and the guide rail 65 moves integrally until the hanging plate 531 falls on the second end 652 of the guide rail 65, and the rising reset is completed.

[0106] When the driving mechanism 6 continues to drive the sliding rack 63 to move to the proximal end side, the first end plate 641 blocks the hanging plate 531, and the hanging plate 531 is pushed to move laterally to the proximal end side, so as to finally drive the roller mop 52 to extend out.

[0107] When it is necessary to reset the mop mechanism 5 in the above state, the driving motor 61 is reversely operated to drive the sliding rack 63 to move to the distal end side, and the guide rail 65 moves integrally until the hanging plate 531 falls on the second end 652 of the guide rail 65, and the rising reset is completed. At this time, the second end plate 642 blocks the hanging plate 531, and the driving motor 61 continues to be reversely operated. The second end plate 642 blocks the hanging plate 531, and the hanging plate 531 is pushed to move laterally to the distal end side, so as to finally drive the end of the roller mop 52 to retract into the mop mounting groove 14, and the retraction lateral reset is completed.

[0108] In one embodiment, two guide rails 65 are arranged in the transmission frame 64, and the two guide rails 65 are arranged at intervals to form a guide groove 66 therebetween. The connecting arm 53 passes through the guide groove 66, and the hanging plate 531 is arranged on the two guide rails 65.

[0109] In this embodiment, a guide rail 65 is arranged on the inner side of each of the two side plates 643, and a guide groove 66 is formed between the two guide rails 65. The hanging plate 531 is connected with the connecting arm 53 in a T shape, the connecting arm 53 passes through the guide groove 66, and the guide groove 66 can guide the movement of the connecting arm 53. The hanging plate 531 is placed on the two guide rails 65, and the stability of the sliding of the hanging plate 531 relative to the guide rails 65 is improved.

[0110] In one of the embodiments, as shown in Figure 14 , when the driving mechanism 6 is in the initial state, the gear 62 is in the middle of the two transmission frames 64 in the axial direction of the roller mop 52, which facilitates the structural arrangement and also ensures that the mop mechanism 5 can continue to be driven to move horizontally and extend after the mop is lowered.

[0111] In one of the embodiments, as shown in Figure 7 and Figure 10 , the mechanism housing 51 is provided with an elastic pressing member 54 between the sliding rack 63 and / or the machine body 1. When the mop mechanism 5 is driven to be lowered, the elastic pressing member 54 plays a power-assisted role and also plays a role in keeping the roller mop 52 in contact with the ground for cleaning.

[0112] The elastic pressing member 54 can be an elastic sheet, a spring, or the like, which is connected between the mechanism housing 51 and the sliding rack 63. The transmission frame 64 is considered as a part of the sliding rack 63, and the elastic pressing member 54 can also be directly connected between the mechanism housing 51 and the transmission frame 64.

[0113] The elastic pressing member 54 is a spring, which is sleeved on the connecting arm 53. Specifically, the upper end of the spring is connected to the bottom of the transmission frame 64, the lower end of the spring is connected to the top of the mechanism housing 51, and the connecting arm 53 passes through the spring. The lifting of the mop mechanism 5 depends entirely on the relative position between the connecting arm 53 and the transmission frame 64 and the guide rail 65, and the spring sleeved on the connecting arm 53 can have a better and more direct pressing effect.

[0114] In one of the embodiments, as shown in Figure 2 , Figure 4 and Figures 6-9 , the machine body 1 includes a mounting bracket 13, and the mop mounting groove 14 is arranged at the bottom of the mounting bracket 13.

[0115] The driving motor 61 is connected with the mounting bracket 13.

[0116] A guide groove 15 extending in the axial direction of the roller mop 52 is arranged at the top of the mounting bracket 13, and the bottom plate of the guide groove 15 is provided with a guide limiting hole 16 extending in the axial direction of the roller mop 52.

[0117] The sliding rack 63 is clearance-fitted in the guide groove 15, and the connecting arm 53 is clearance-fitted through the guide limiting hole 16.

[0118] In this embodiment, a mounting frame 13 is arranged in the rear part 12 of the machine body 1, and the mounting frame 13 is connected to the housing of the machine body 1 by a clamping structure. A mop mounting groove 14 is arranged at the bottom of the mounting frame 13. A motor mounting groove is arranged on the mounting frame 13, and a driving motor 61 is arranged in the motor mounting groove.

[0119] A guide groove 15 is arranged at the top of the mounting frame 13, and the guide groove 15 is arranged on the top plate of the mop mounting groove 14. The guide groove 15 extends along the length direction of the mop mounting groove 14, and a sliding rack 63 is clearance fitted in the guide groove 15. The guide groove 15 guides the lateral translation of the sliding rack 63.

[0120] The bottom plate of the guide groove 15 is the top plate of the mop mounting groove 14. In order to limit the lateral translation of the mop mechanism 5, a guide limiting hole 16 is arranged on the bottom plate of the guide groove 15, and the guide limiting hole 16 extends along the length direction of the mop mounting groove 14. During assembly, the connecting arm 53 is clearance fitted through the guide limiting hole 16 and cooperates with the sliding rack 63.

[0121] Taking the right extension as an example: when the connecting arm 53 is driven to move to the right, the roller mop 52 is driven to extend to the right. When the connecting arm 53 contacts the hole wall on the right side of the guide limiting hole 16, it cannot continue to move to the right, which means that the roller mop 52 has extended to the maximum length. When the roller mop 52 is driven to reset to the left, when the connecting arm 53 contacts the hole wall on the left side of the guide limiting hole 16, it cannot continue to move to the left, which means that the roller mop 52 has been retracted to the limit position, and the roller mop 52 has been completely arranged in the mop mounting groove 14.

[0122] An embodiment of the present application provides a control method of a sweeping robot, which includes the following operation modes:

[0123] In the normal cleaning mode, the mop mechanism 5 is driven to descend in the mop mounting groove 14 by the driving mechanism 6, and the roller mop 52 is arranged in the mop mounting groove 14 and is in the descending ground state, so as to perform normal cleaning mopping.

[0124] In the corner cleaning mode, the mop mechanism 5 in the descending state is driven to translate along the axial direction of the roller mop 52 by the driving mechanism 6, one end of the roller mop 52 extends outside the mop mounting groove 14, and the roller mop 52 remains in the descending ground state, so as to perform corner cleaning mopping.

[0125] The control method of the sweeping machine provided by the application can drive the lifting and translation extension and retraction of the mop mechanism 5 through the driving mechanism 6, so that the normal cleaning mode and the corner cleaning mode can be realized. When the sweeping machine is in the mop cleaning mode, the controller 2 automatically adjusts the extension and retraction of the mop mechanism 5 according to the distance information monitored by the first distance sensor 7 and / or the second distance sensor 8, completes the switching of the normal cleaning mode and the corner cleaning mode, avoids the end of the mop mechanism 5 from touching the wall or the obstacle, avoids the abrasion of the mop mechanism 5, is beneficial to the smooth walking of the sweeping machine, and improves the use experience of the user.

[0126] According to the needs, the above technical solutions can be combined to achieve the best technical effect.

[0127] The above is only the principle and the preferred embodiment of the application. It should be noted that, for those skilled in the art, on the basis of the principle of the application, a number of other variations can also be made, which should also be considered as the protection scope of the application.

Claims

1. A robot vacuum cleaner, characterized in that, The machine body comprises a controller and a mop mechanism, and a driving mechanism arranged in the machine body and capable of driving the mop mechanism to move up and down and to move horizontally along the axis of the mop; The bottom of the machine body is provided with a mop mounting slot, and the mop mechanism is movably assembled in the mop mounting slot, the mop mechanism comprises a mechanism housing and a roller mop pivotally connected to the mechanism housing, and the driving mechanism is connected to the mechanism housing and capable of driving the mechanism housing to move up and down and to move horizontally along the axis of the roller mop; The side of the machine body is provided with a first distance sensor and / or the end of the mechanism housing is provided with a second distance sensor, and the first distance sensor and the second distance sensor are respectively connected to the controller; When the sweeper is in the initial state and the dust collection state, the driving mechanism is in the initial state, the mop mechanism is in the raised state, and the roller mop is in the mop mounting slot and in the raised off-ground state; When the sweeper is in the normal cleaning state, the driving mechanism drives the mop mechanism to descend in the mop mounting slot, and the roller mop is in the mop mounting slot and in the descending ground-contacting state; When the sweeper is in the corner cleaning state, the driving mechanism drives the mop mechanism in the descending state to move horizontally along the axis of the roller mop, one end of the roller mop extends outside the mop mounting slot, and the roller mop remains in the descending ground-contacting state.

2. The robot of claim 1, wherein, The first distance sensor is arranged at the side notch of the mop mounting slot.

3. The robot of claim 1, wherein, When the sweeper is in the normal cleaning state, if the first distance sensor detects that the distance between the side of the machine body and the obstacle is within the preset corner cleaning distance range, the driving mechanism drives the mop mechanism to move horizontally, and the sweeper switches to the corner cleaning state.

4. The robot of claim 1, wherein, When the driving mechanism drives the mop mechanism to move horizontally outward, if the second distance sensor detects that the distance between the end of the mechanism housing and the obstacle is less than the preset corner cleaning limit distance, the driving mechanism stops or reverses to drive the mop mechanism to avoid the wall or obstacle.

5. The robot vacuum cleaner of any one of claims 1-4, wherein, The driving mechanism comprises a driving motor fixedly connected to the machine body, a gear mounted on the rotating shaft of the driving motor, and a sliding rack engaged with the gear; The sliding rack is arranged along the axis of the roller mop and is slidingly connected to the machine body; The top of the mechanism housing is provided with two connecting arms at intervals; the two ends of the sliding rack are respectively provided with a transmission frame for pushing the connecting arms to move horizontally, and the transmission frame is provided with a guide rail for driving the connecting arms to move up and down; The connecting arms extend into the transmission frame and are slidingly connected to the guide rail, and when the connecting arms are at the ends of the guide rail, the end plate of the transmission frame blocks the connecting arms and can push the connecting arms to move horizontally.

6. The robot of claim 5, wherein, The transmission frame comprises a first end plate and a second end plate arranged axially along the roller mop, the first end of the guide rail is connected with the first end plate, the second end of the guide rail is connected with the second end plate, and the guide rail gradually rises in the direction from the first end to the second end of the guide rail; The upper end of the connecting arm is provided with a hanging plate which is arranged on the guide rail and can slide relative to the guide rail; When the hanging plate is at the first end of the guide rail, the first end plate blocks the hanging plate; When the hanging plate is at the second end of the guide rail, the second end plate blocks the hanging plate.

7. The robot of claim 6, wherein, Two guide rails are arranged in the transmission frame, and the two guide rails are arranged in a spaced manner, and a guide groove is formed between the two guide rails; The connecting arm passes through the guide groove, and the hanging plate is arranged on the two guide rails.

8. The robot of claim 5, wherein, When the driving mechanism is in the initial state, the gear is arranged in the middle of the two transmission frames in the axial direction of the roller mop.

9. The robot of claim 5, wherein, The machine body comprises a mounting rack, and the mop mounting groove is arranged at the bottom of the mounting rack; The driving motor is connected with the mounting rack; A guide groove extending along the axial direction of the roller mop is arranged at the top of the mounting rack, and the bottom plate of the guide groove is provided with a guide limiting hole extending along the axial direction of the roller mop; The sliding rack is fitted in the guide groove, and the connecting arm passes through the guide limiting hole.

10. A control method of the sweeper according to any one of claims 1 to 9, characterized by, The operation modes include: Normal cleaning mode, the driving mechanism drives the mop mechanism to descend in the mop mounting groove, the roller mop is arranged in the mop mounting groove and is in a descending grounding state, and normal cleaning mopping is performed; Corner cleaning mode, the driving mechanism drives the mop mechanism in the descending state to translate along the axial direction of the roller mop, one end of the roller mop extends outside the mop mounting groove, and the roller mop remains in the descending grounding state to perform corner cleaning mopping.

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