Floor washing robot

Abstract

The invention provides a floor washing robot. The floor washing robot comprises a robot body, a garbage can, a mechanical arm assembly and a water sucking and pushing assembly. The garbage can is provided with a large garbage accommodating space and a small garbage accommodating space; the first supporting base is connected to the robot body, and the mechanical arm is driven by the joint supporting arm to move relative to the first supporting base and used for clamping large garbage and inputting the large garbage into a large garbage containing space of the garbage can under driving of the joint supporting arm; the second supporting seat is connected to the robot body, the movable seat is movably connected to the second supporting seat, and the water absorption scraper and the sweeping brush are both connected to the same movable seat; the water absorbing scraper is used for absorbing sewage on the ground; the sweeping brush is used for inputting small garbage on the ground into the small garbage containing space of the garbage can, so that different kinds of garbage can be contained through the garbage can, small garbage sweeping and large garbage clamping treatment are compatible, the situation that only small garbage can be swept is avoided, and the compatibility of the floor washing robot is improved.

Description

Technical Field

[0001] This invention relates to the technical field of floor cleaning robots, and more particularly to a floor cleaning robot. Background Technology

[0002] With the development of technology, floor cleaning robots are being used in shopping malls. These robots play a highly efficient cleaning role, reducing labor costs while improving work efficiency and cleanliness.

[0003] In the existing technology, existing floor cleaning robots include a robot body, a dustbin, and a sweeping brush. The dustbin is connected to the robot body, and the sweeping brush is rotatably connected to the robot body and arranged relative to the dustbin's inlet. However, it can only input small pieces of trash from the ground into the dustbin and cannot handle large pieces of trash, resulting in poor compatibility of existing floor cleaning robots. Summary of the Invention

[0004] The purpose of this invention is to provide a floor cleaning robot. The robot body is equipped with movable wheels that move relative to the ground. The robot body has a first receiving space. A trash can is disposed on the outside of the robot body. The trash can has a large trash receiving space and a small trash receiving space. The large trash receiving space is used to receive large trash, and the small trash receiving space is used to receive small trash. The robotic arm assembly includes a first support base, an articulated arm, and a robotic hand. The first support base is connected to the robot body, and the articulated arm is capable of moving in multiple dimensions. A first connecting end of the articulated arm is connected to the first support base, and a second connecting end of the articulated arm is connected to the robotic hand. The robotic hand moves relative to the first support base under the action of the articulated arm and can... The robotic arm extends to the outside of the robot body and is housed within the first receiving space; it is used to grip large pieces of trash and, driven by the articulated arm, feeds them into the large trash receiving space of the trash can; the squeegee assembly includes a second support base, a movable base, a squeegee, and a sweeping brush; the second support base is connected to the robot body, the movable base is movably connected to the second support base, and the squeegee and sweeping brush are both connected to the same movable base and arranged along the front-to-back direction; the squeegee is used to absorb wastewater on the ground; the sweeping brush is used to feed small pieces of trash from the ground into the small trash receiving space of the trash can, so that different types of trash can be collected through the trash can, making it compatible with both sweeping small trash and gripping large trash, avoiding the limitation of only being able to sweep small trash, and improving the compatibility of the floor cleaning robot.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a floor cleaning robot, comprising:

[0006] The robot body is equipped with movable wheels that move relative to the ground; the robot body also has a first storage space.

[0007] A trash can is located on the outside of the robot's main body; the trash can has a large trash-collecting space and a small trash-collecting space, the large trash-collecting space being used to collect large trash; the small trash-collecting space being used to collect small trash.

[0008] The robotic arm assembly includes a first support base, an articulated arm, and a robotic hand. The first support base is connected to the robot body, and the articulated arm is capable of movement along multiple dimensions. A first connecting end of the articulated arm is connected to the first support base, and a second connecting end of the articulated arm is connected to the robotic hand. The robotic hand moves relative to the first support base under the action of the articulated arm and can extend to the outside of the robot body and be housed within a first receiving space. The robotic hand is used to grasp large pieces of waste and, under the action of the articulated arm, input them into the large waste receiving space of the waste bin.

[0009] The squeegee assembly includes a second support base, a movable base, a squeegee, and a sweeping brush. The second support base is connected to the robot body, and the movable base is movably connected to the second support base. The squeegee and the sweeping brush are both connected to the same movable base and arranged along the front-to-back direction. The squeegee is used to absorb sewage on the ground. The sweeping brush is used to input small trash on the ground into the small trash collection space of the trash can.

[0010] Optionally, the trash can is connected to the squeegee; the large trash-collecting space is located above the small trash-collecting space and is stacked along the vertical direction.

[0011] The sweeping brush rotates relative to the movable seat, and during the rotation, it feeds small pieces of trash from the ground into the small trash inlet of the trash can's small trash collection space.

[0012] Optionally, the second support base is pivotally connected to the robot body, and the second support base is provided with a pivot axis, which is pivotally sleeved on the robot body and pivots along the axis of the pivot axis;

[0013] The movable seat adjusts its position in the left and right directions as the second support seat swings.

[0014] Optionally, the movable seat is connected to the second support seat via a linkage module, and its position is adjusted along the vertical direction under the action of the linkage module;

[0015] A first power module is provided between the movable seat and the second support seat. The connection end of the first power module is connected to the second support seat, and the output end of the first power module is connected to the movable seat, thereby driving the movable seat to move relative to the second support seat.

[0016] Optionally, the movable seat is connected to a second power module, the output end of which is connected to the sweeping brush and drives the sweeping brush to rotate; the sweeping brush is rotatably connected to the movable seat and rotates along its own axis; during rotation, the sweeping brush inputs small debris into the small debris collection space.

[0017] Optionally, the trash can is equipped with a water filter, which is located below the small trash collection space and connected to the small trash collection space;

[0018] The squeegee is located in front of the filter inlet and is used to absorb sewage from the ground or sewage discharged through the filter holes.

[0019] The wastewater outlet of the squeegee is located on the outside of the trash can and is used to connect to the wastewater receiving space of the robot body;

[0020] The opening of the large waste receiving space is provided with a first guide surface, and the large waste detached by the robotic arm is guided to the large waste receiving space along the first guide surface; the small waste input port is arranged horizontally and receives the small waste output by the sweeping brush; the input direction of the large waste relative to the large waste receiving space and the input direction of the small waste relative to the small waste receiving space are not in the same direction, and are arranged along the up-down or front-back directions respectively.

[0021] Optionally, the first receiving space is provided with a first opening, which is located on the outer side wall of the robot body;

[0022] The articulated arm is connected to a cover plate. When the robotic arm is housed in the first receiving space, the cover plate closes to the first opening and covers the articulated arm and the robotic arm.

[0023] Optionally, the articulated arm has multiple joints, with two adjacent joints hinged together, and one joint is movably connected to the first support base; the robotic arm is movably connected to another joint.

[0024] Optionally, the robotic arm has a mechanical body and two gripping parts, the mechanical body being movably connected to another joint; the two gripping parts are movable relative to the mechanical body and can move closer or further away to grip or release large garbage.

[0025] Optionally, the floor cleaning robot also includes a disc brush module, which includes a connecting seat and a disc brush. The connecting seat is connected to the robot body, and the disc brush is rotatably connected to the connecting seat and rotates along its own axis to clean the floor.

[0026] In the floor cleaning robot, the robot moves forward and identifies the ground based on its vision sensors, distinguishing between large and small pieces of trash. If large trash is detected, the robot arm is triggered to move to the location of the large trash and pick it up, then outputs the large trash to the large trash collection space.

[0027] If small pieces of trash are detected, the floor cleaning robot will move toward the location of the trash and use its sweeping brush to move the trash into the trash collection space.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] This invention provides a floor cleaning robot. The robot body is equipped with movable wheels that move relative to the ground. The robot body has a first receiving space. A trash can is disposed on the outside of the robot body. The trash can has a large trash receiving space and a small trash receiving space. The large trash receiving space is used to receive large trash, and the small trash receiving space is used to receive small trash. The robotic arm assembly includes a first support base, an articulated arm, and a robotic hand. The first support base is connected to the robot body, and the articulated arm is capable of moving in multiple dimensions. A first connecting end of the articulated arm is connected to the first support base, and a second connecting end of the articulated arm is connected to the robotic hand. The robotic hand moves relative to the first support base under the action of the articulated arm and can extend... The robot body is located on the outside and housed within a first receiving space. A robotic arm is used to grip large pieces of trash and, driven by the articulated support arm, feeds them into the large trash receiving space of the trash can. The squeegee assembly includes a second support base, a movable base, a squeegee, and a sweeping brush. The second support base is connected to the robot body, and the movable base is movably connected to the second support base. The squeegee and sweeping brush are both connected to the same movable base and arranged along the front-to-back direction. The squeegee is used to absorb wastewater from the ground. The sweeping brush is used to feed small pieces of trash from the ground into the small trash receiving space of the trash can, facilitating the collection of different types of trash through the trash can. This design allows for the handling of both small and large trash, avoiding the limitation of only being able to sweep small trash and improving the compatibility of the floor cleaning robot. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0032] Figure 1 A schematic diagram of a floor cleaning robot according to one embodiment of this application is shown.

[0033] Figure 2 An exploded view of a floor cleaning robot according to one embodiment of this application is shown.

[0034] Figure 3 A cross-sectional view of the trash can of a floor cleaning robot according to one embodiment of this application is shown.

[0035] Figure 4 A schematic diagram of the robotic arm assembly of a floor cleaning robot according to one embodiment of this application is shown.

[0036] Figure 5 A schematic diagram of a squeegee assembly of a floor cleaning robot according to an embodiment of this application is shown.

[0037] Figure Labels

[0038] 100. Floor cleaning robot;

[0039] 10. Robot body; 10a. First containment space; 10b. First opening; 11. Wheels;

[0040] 20. Trash can; 20a. Large trash can; 20b. Small trash can; 20c. Drainage outlet; 21. Partition; 22. Flip-top; 221. One-way flip-top;

[0041] 30. Robotic arm assembly; 31. First support base; 32. Articulated arm; 321. Cover plate; 322. Joint; 33. Robotic hand; 331. Mechanical body; 332. Gripping part;

[0042] 40. Squeegee assembly; 41. Second support base; 411. Swing shaft; 42. Movable base; 43. Squeegee; 44. Sweeping brush; 45. First power module; 46. Second power module; 461. First motor; 462. Synchronous belt drive module;

[0043] 50. Disc brush module; 51. Connector; 52. Disc brush; 53. Second motor. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0045] Please refer to the attached document. Figures 1-5This application provides a floor cleaning robot 100, which performs efficient cleaning and removes large and small garbage from the ground.

[0046] Please refer to the attached document. Figures 1-5 In this embodiment, the floor cleaning robot 100 includes a robot body 10, a trash can 20, a robotic arm assembly 30, and a squeegee assembly 40. The robot body 10 is provided with movable wheels 11, which move relative to the ground. The robot body 10 has a first receiving space 10a. The trash can 20 is disposed on the outside of the robot body 10. The trash can 20 has a large trash receiving space 20a and a small trash receiving space 20b. The large trash receiving space 20a is used to receive large trash, and the small trash receiving space 20b is used to receive small trash. The robotic arm assembly 30 includes a first support base 31, an articulated arm 32, and a robotic hand 33. The first support base 31 is connected to the robot body 10, and the articulated arm 32 can move in multiple directions. The first connecting end of the articulated arm 32 is connected to the first support base 31, and the second connecting end of the articulated arm 32 is connected to the robotic hand 33. The robotic hand 33 is located on the articulated arm 32. Driven by the first support base 31, the robot arm 33 moves and extends to the outside of the robot body 10 and is housed in the first receiving space 10a. The robotic arm 33 is used to pick up large debris and, driven by the articulated arm 32, inputs it into the large debris receiving space 20a of the trash can 20. The squeegee assembly 40 includes a second support base 41, a movable base 42, a squeegee 43, and a sweeping brush 44. The second support base 41 is connected to the robot body 10, and the movable base 42 is movably connected to the second support base 41. The squeegee 43 and the sweeping brush 44 are both connected to the same movable base 42 and arranged along the front-back direction. The squeegee 43 is used to absorb sewage on the ground. The sweeping brush 44 is used to input small debris on the ground into the small debris receiving space 20b of the trash can 20, so that different types of debris can be received through the trash can 20. This allows for the handling of both small debris and large debris, avoiding the limitation of only being able to sweep small debris and improving the compatibility of the floor cleaning robot 100.

[0047] Please refer to the attached document. Figures 1-5 In this embodiment, the robot body 10 is provided with movable wheels 11, which move relative to the ground to facilitate the robot body 10's transfer relative to the ground. The robot body 10 is provided with a first receiving space 10a; the first receiving space 10a serves as the internal space of the robot body 10.

[0048] The trash can 20 is located on the outside of the robot body 10; the trash can 20 has a large trash-collecting space 20a and a small trash-collecting space 20b, the large trash-collecting space 20a is used to collect large trash; the small trash-collecting space 20b is used to collect small trash; so as to realize the collection of different types of trash.

[0049] The robotic arm assembly 30 includes a first support base 31, an articulated arm 32, and a robotic hand 33. The first support base 31 is connected to the robot body 10 so that the robotic arm assembly 30 can be fixed to the robot body 10 through the first support base 31. The articulated arm 32 can move in multiple directions. The first connecting end of the articulated arm 32 is connected to the first support base 31, and the second connecting end of the articulated arm 32 is connected to the robotic hand 33. The robotic hand 33 moves relative to the first support base 31 under the action of the articulated arm 32 so as to adjust the position of the robotic hand 33 relative to the first support base 31. The robotic hand 33 can extend to the outside of the robot body 10 and be housed in the first receiving space 10a. The robotic hand 33 is used to pick up large waste and, under the action of the articulated arm 32, input it into the large waste receiving space 20a of the waste bin 20 to realize automated cleaning of large waste.

[0050] The squeegee assembly 40 includes a second support base 41, a movable base 42, a squeegee 43, and a sweeping brush 44. The second support base 41 is connected to the robot body 10 so that the squeegee assembly 40 can be fixed to the robot body 10 via the second support base 41. The movable base 42 is movably connected to the second support base 41 so that the position of the movable base 42 relative to the second support base 41 can be adjusted. The squeegee 43 and the sweeping brush 44 are both connected to the same movable base 42 and arranged along the front-back direction so that the squeegee 43 and the sweeping brush 44 can move with the movement of the movable base 42. The squeegee 43 is used to absorb sewage on the ground to clean the sewage on the ground. The sweeping brush 44 is used to input small debris on the ground into the small debris receiving space 20b of the trash can 20 to realize the automatic cleaning of small debris. It is compatible with the handling of sweeping small debris and picking up large debris, avoiding the limitation of only sweeping small debris and improving the compatibility of the floor cleaning robot 100.

[0051] Please refer to the attached document. Figures 1-3In this embodiment, the trash can 20 is positioned above the squeegee 43 and connected to the squeegee 43 so that the trash can 20 is fixed to the upper side of the squeegee 43, making full use of the upper space of the squeegee 43. The large trash collection space 20a is positioned above the small trash collection space 20b and is stacked along the vertical direction. The sweeping brush 44 is positioned relative to the small trash inlet of the small trash collection space 20b. The sweeping brush 44 rotates relative to the movable seat 42 and, during the rotation, inputs small trash from the ground into the small trash inlet of the small trash collection space 20b of the trash can 20, so that the small trash is swept into the small trash collection space 20b by the sweeping brush 44, thereby achieving the sweeping brush 44 sweeping away the small trash from the ground.

[0052] The trash can 20 is detachably connected to the squeegee 43. The trash can 20 is detachably connected to the squeegee 43 by a snap-fit ​​mechanism, so that the trash can 20 can be connected to or detached from the squeegee 43, thereby facilitating the robotic arm 33 to pick up the trash can 20 and empty the trash.

[0053] The trash can 20 is equipped with a partition 21, which is positioned between the large trash receiving space 20a and the small trash receiving space 20b, separating them to allow for independent arrangement of the two spaces and preventing excessive large trash from clogging the small trash inlet of the small trash receiving space 20b. The partition 21 is capable of swinging upwards relative to the trash can 20.

[0054] The trash can 20 is equipped with a swingable flip cover 22, which can close or open the large trash inlet of the large trash receiving space 20a. When the trash can 20 is tilted, small trash in the small trash receiving space 20b can enter the large trash receiving space 20a. The flip cover 22 opens the large trash inlet of the large trash receiving space 20a, so that the trash can 20 can empty trash of all sizes.

[0055] The flip cover 22 is provided with a one-way flip cover 221, which can swing downward relative to the flip cover 22 so that the one-way flip cover 221 can close or open part of the large waste inlet of the large waste receiving space 20a, thereby facilitating the placement of large waste picked up by the robotic arm 33 into the large waste receiving space 20a through the one-way flip cover 221.

[0056] Please refer to the attached document. Figures 1-25. In this embodiment, the second support base 41 is pivotally connected to the robot body 10 to facilitate adjustment of the position of the second support base 41 relative to the robot body 10. The second support base 41 is provided with a pivot shaft 411, which is pivotally sleeved on the robot body 10 and pivots along the axis of the pivot shaft 411, so that the second support base 41 can achieve a pivoting effect relative to the robot body 10 through the pivot shaft 411. The movable seat 42 adjusts its position in the left and right directions as the second support base 41 pivots, thereby adjusting the left and right position of the movable seat 42.

[0057] Please refer to the attached document. Figure 5 In this embodiment of the application, the movable seat 42 is connected to the second support seat 41 through a linkage module, and its position is adjusted along the vertical direction under the action of the linkage module; so as to adjust the vertical position of the movable seat 42 relative to the second support seat 41.

[0058] A first power module 45 is provided between the movable seat 42 and the second support seat 41. The connecting end of the first power module 45 is connected to the second support seat 41, and the output end of the first power module 45 is connected to the movable seat 42, driving the movable seat 42 to move relative to the second support seat 41, so that the power output by the first power module 45 can be transmitted to the movable seat 42, thereby facilitating the automatic vertical adjustment of the movable seat 42. Optionally, the first power module 45 is a push rod motor.

[0059] Please refer to the attached document. Figure 5 In this embodiment, a second power module 46 is connected to the movable base 42. The output end of the second power module 46 is connected to the sweeping brush 44 and drives the sweeping brush 44 to rotate. The sweeping brush 44 is rotatably connected to the movable base 42 and rotates along its own axis. During rotation, the sweeping brush 44 inputs small debris into the small debris receiving space 20b, so that the power output by the second power module 46 drives the sweeping brush 44 to rotate automatically, thereby realizing the automatic sweeping of small debris by the sweeping brush 44. The second power module 46 includes a first motor 461 and a synchronous belt drive module 462. The connection end of the first motor 461 is connected to the movable base 42, and the output end of the first motor 461 is connected to one end of the synchronous belt drive module 462. The other end of the synchronous belt drive module 462 is connected to the sweeping brush 44, so that the first motor 461 drives the sweeping brush 44 to rotate via the synchronous belt drive module 462.

[0060] Please refer to the attached document. Figures 1-3 In this embodiment of the application, the trash can 20 is provided with a water filter 20c, which is located below the small trash receiving space 20b and is connected to the small trash receiving space 20b; so that the sewage in the small trash receiving space 20b can flow from top to bottom to the external ground through the water filter 20c, thereby filtering out the sewage in the small trash receiving space 20b.

[0061] The squeegee 43 is located on the front side of the filter port 20c and is used to absorb sewage from the ground or sewage discharged through the filter holes. The sewage outlet of the squeegee 43 is located on the outside of the garbage bin 20 and is used to connect to the sewage collection space of the robot body 10 so that the sewage on the ground can be collected by the squeegee 43 into the sewage collection space of the robot body 10, thereby cleaning the sewage on the ground.

[0062] The opening of the large waste receiving space 20a is provided with a first guide surface. The large waste detached by the robot arm 33 is guided to the large waste receiving space 20a along the first guide surface, so that the large waste can enter the large waste receiving space 20a smoothly under the guidance of the first guide surface. The small waste input port is arranged horizontally and receives the small waste output by the sweeping brush 44. The input direction of the large waste relative to the large waste receiving space 20a is not in the same direction as the input direction of the small waste relative to the small waste receiving space 20b, and they are arranged along the up-down or front-back directions respectively.

[0063] Please refer to the attached document. Figures 1-4 In this embodiment of the application, the first receiving space 10a is provided with a first opening 10b, which is located on the outer side wall of the robot body 10. Optionally, the first opening 10b is located on the side wall of the robot body 10 facing the trash can 20. The articulated arm 32 is connected to a cover plate 321. When the robotic arm 33 is received in the first receiving space 10a, the cover plate 321 covers the first opening 10b and shields the articulated arm 32 and the robotic arm 33, so that the cover plate 321 can cooperate with the robot body 10 to protect the articulated arm 32 and the robotic arm 33 and prevent the articulated arm 32 and the robotic arm 33 from being directly impacted by external objects.

[0064] Please refer to the attached document. Figure 4 In this embodiment, the articulated arm 32 is provided with a plurality of joints 322, and two adjacent joints 322 are hinged together. One joint 322 is movably connected to the first support base 31; the manipulator 33 is movably connected to another joint 322, so as to realize the articulated arm 32 to move in multiple dimensions, thereby improving the flexibility of the manipulator 33.

[0065] Please refer to the attached document. Figure 4In this embodiment, the robotic arm 33 includes a mechanical body 331 and two gripping parts 332. The mechanical body 331 is movably connected to another joint 322 to adjust its position relative to the joint 322, thus facilitating the movable connection between the robotic arm 331 and the joint 322. The two gripping parts 332 are movable relative to the mechanical body 331 and can move closer to or further away from it to grip or release large debris. This allows the two gripping parts 332 to grip large debris on the ground and release it towards the large debris receiving space 20a under the action of the joint arm 32, thereby cleaning up large debris on the ground. Optionally, the robotic arm 33 can also press buttons, wipe tables, or wipe windows, improving the functionality of the floor cleaning robot 100.

[0066] Please refer to the attached document. Figures 1-2 In this embodiment, the floor cleaning robot 100 further includes a disc brush module 50, which includes a connecting base 51 and a disc brush 52. The connecting base 51 is connected to the robot body 10, and the disc brush 52 is rotatably connected to the connecting base 51 and rotates along its own axis to clean the floor, so that the floor cleaning robot 100 can be compatible with both sweeping and mopping effects. The disc brush module 50 also includes a second motor 53, the connecting end of which is connected to the connecting base 51, and the output end of which is connected to the disc brush 52, driving the disc brush 52 to rotate, so as to realize the automatic cleaning of the floor by the disc brush 52.

[0067] In the floor cleaning robot 100, the floor cleaning robot 100 moves forward and identifies the ground based on the vision sensor of the floor cleaning robot 100, and determines large and small garbage; if large garbage is detected, the robot arm 33 is triggered to move to the location of the large garbage, and the robot arm 33 picks up the large garbage and outputs the large garbage to the large garbage collection space 20a.

[0068] If small pieces of trash are detected, the floor cleaning robot 100 is triggered to move toward the location of the small pieces of trash and uses the sweeping brush 44 to output the small pieces of trash to the small trash collection space 20b.

[0069] Compared with the prior art, the beneficial effects of the present invention are:

[0070] This invention provides a floor cleaning robot 100. The robot body 10 is equipped with movable wheels 11, which move relative to the ground. The robot body 10 has a first receiving space 10a. A trash can 20 is disposed on the outside of the robot body 10. The trash can 20 has a large trash receiving space 20a and a small trash receiving space 20b. The large trash receiving space 20a is used to receive large trash, and the small trash receiving space 20b is used to receive small trash. A robotic arm assembly 30 includes a first support base 31, an articulated arm 32, and a robotic hand 33. The first support base 31 is connected to the robot body 10, and the articulated arm 32 can move along multiple dimensions. The first connecting end of the articulated arm 32 is connected to the first support base 31, and the second connecting end of the articulated arm 32 is connected to the robotic hand 33. The robotic hand 33 moves relative to the first support base 31 under the action of the articulated arm 32. The robot arm 33 can extend to the outside of the robot body 10 and be housed in the first receiving space 10a; the robotic arm 33 is used to pick up large garbage and, driven by the articulated arm 32, input it into the large garbage receiving space 20a of the garbage bin 20; the squeegee assembly 40 includes a second support base 41, a movable base 42, a squeegee 43, and a sweeping brush 44; the second support base 41 is connected to the robot body 10, the movable base 42 is movably connected to the second support base 41, the squeegee 43 and the sweeping brush 44 are both connected to the same movable base 42 and arranged along the front-back direction; the squeegee 43 is used to absorb sewage on the ground; the sweeping brush 44 is used to input small garbage on the ground into the small garbage receiving space 20b of the garbage bin 20, so that different types of garbage can be received through the garbage bin 20, which is compatible with the processing of sweeping small garbage and picking up large garbage, avoiding the limitation of only sweeping small garbage and improving the compatibility of the floor cleaning robot 100.

[0071] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0072] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0073] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0074] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A floor cleaning robot, characterized in that, include: The robot body is equipped with movable wheels that move relative to the ground; the robot body is provided with a first storage space. A trash can is located on the outside of the robot's main body; the trash can has a large trash-collecting space and a small trash-collecting space, the large trash-collecting space being used to collect large trash; the small trash-collecting space being used to collect small trash. The robotic arm assembly includes a first support base, an articulated arm, and a robotic hand. The first support base is connected to the robot body, and the articulated arm is capable of movement along multiple dimensions. A first connecting end of the articulated arm is connected to the first support base, and a second connecting end of the articulated arm is connected to the robotic hand. The robotic hand moves relative to the first support base under the action of the articulated arm and can extend to the outside of the robot body and be housed within a first receiving space. The robotic hand is used to grasp large pieces of waste and, under the action of the articulated arm, inputs them into the large waste receiving space of the waste bin. The squeegee assembly includes a second support base, a movable base, a squeegee, and a sweeping brush; the second support base is connected to the robot body, the movable base is movably connected to the second support base, the squeegee and the sweeping brush are both connected to the same movable base and arranged along the front-back direction; the squeegee is used to absorb sewage on the ground; the sweeping brush is used to input small trash on the ground into the small trash collection space of the trash can.

2. The floor cleaning robot according to claim 1, characterized in that, The trash can is connected to the squeegee; the large trash collection space is located above the small trash collection space and is stacked along the vertical direction. The sweeping brush rotates relative to the movable seat, and during the rotation, it feeds small pieces of trash from the ground into the small trash inlet of the trash can's small trash collection space.

3. The floor cleaning robot according to claim 2, characterized in that, The second support base is swayably connected to the robot body. The second support base is provided with a swing shaft, which is swayably sleeved on the robot body and swings along the axis of the swing shaft. The movable seat adjusts its position in the left and right directions as the second support seat swings.

4. The floor cleaning robot according to claim 3, characterized in that, The movable seat is connected to the second support seat through a linkage module, and its position is adjusted along the vertical direction under the action of the linkage module. A first power module is provided between the movable seat and the second support seat. The connection end of the first power module is connected to the second support seat, and the output end of the first power module is connected to the movable seat, thereby driving the movable seat to move relative to the second support seat.

5. The floor cleaning robot according to claim 4, characterized in that, The movable seat is connected to a second power module, the output end of which is connected to the sweeping brush and drives the sweeping brush to rotate; the sweeping brush is rotatably connected to the movable seat and rotates along its own axis; during rotation, the sweeping brush inputs small debris into the small debris collection space.

6. The floor cleaning robot according to claim 2, characterized in that, The trash can is equipped with a water filter, which is located on the lower side of the small trash collection space and is connected to the small trash collection space; The squeegee is located in front of the filter inlet and is used to absorb sewage from the ground or sewage discharged through the filter holes. The wastewater outlet of the squeegee is located on the outside of the trash can and is used to connect to the wastewater receiving space of the robot body; The opening of the large waste receiving space is provided with a first guide surface, and the large waste detached by the robotic arm is guided to the large waste receiving space along the first guide surface; the small waste input port is arranged horizontally and receives the small waste output by the sweeping brush; the input direction of the large waste relative to the large waste receiving space and the input direction of the small waste relative to the small waste receiving space are not in the same direction, and are arranged along the up-down or front-back directions respectively.

7. The floor cleaning robot according to claim 1, characterized in that, The first receiving space is provided with a first opening, which is located on the outer side wall of the robot body; The articulated arm is connected to a cover plate. When the robotic arm is housed in the first receiving space, the cover plate closes to the first opening and covers the articulated arm and the robotic arm.

8. The floor cleaning robot according to claim 7, characterized in that, The articulated arm has multiple joints, with two adjacent joints hinged together. One joint is movably connected to the first support base; the robotic arm is movably connected to another joint.

9. The floor cleaning robot according to claim 1, characterized in that, The robotic arm has a mechanical body and two gripping parts. The mechanical body is movably connected to another joint. The two gripping parts are movable relative to the mechanical body and can move closer to or further away from it to grip or release large garbage.

10. The floor cleaning robot according to claim 1, characterized in that, The floor cleaning robot also includes a disc brush module, which includes a connecting seat and a disc brush. The connecting seat is connected to the robot body, and the disc brush is rotatably connected to the connecting seat and rotates along its own axis to clean the floor. In the floor cleaning robot, the robot moves forward and identifies the ground based on its vision sensors, distinguishing between large and small pieces of trash. If large trash is detected, the robot arm is triggered to move to the location of the large trash and pick it up, then outputs the large trash to the large trash collection space. If small pieces of trash are detected, the floor cleaning robot will move toward the location of the trash and use its sweeping brush to move the trash into the trash collection space.

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