Moving device and cleaning robot

Abstract

The utility model relates to the technical field of mobile robots, in particular to a mobile device and a cleaning robot. The moving device comprises a machine body, a first suction cup assembly and a second suction cup assembly. The first suction cup assembly is of a multi-stage lifting structure and is suitable for driving the machine body to ascend and descend. The second suction cup assembly is of a multi-stage lifting structure, the second suction cup assembly is suitable for driving the machine body to ascend and descend, the second suction cup assembly independently moves relative to the first suction cup assembly, and the second suction cup assembly and the first suction cup assembly are arranged at intervals. Thus, in the walking process, the first suction cup assembly can penetrate through the second suction cup assembly, the first suction cup assembly and the second suction cup assembly can continuously and alternately move to drive the machine body to continuously move, and the walking speed is increased. The first suction cup assembly and the second suction cup assembly are each of a multi-stage lifting structure, the moving device can cross obstacles of different heights conveniently, the lifting or lowering stroke of the first suction cup assembly and the second suction cup assembly is reduced, and the walking speed is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile robots, in particular to a mobile device and a cleaning robot. Background Art

[0002] Mobile robots can replace human labor to perform work in different environments. For example, cleaning robots can replace human labor to clean glass curtain walls of high-rise buildings; spraying robots can spray paint or remove rust on the surface of ship hulls or metal tanks. Mobile robots need to have high automatic performance, which requires mobile robots to have good ability to cross obstacles, such as obstacles and depressions on the moving plane, and go up or down stairs.

[0003] In the related art, the mobile device of the mobile robot has a plurality of movable legs, and the movement of the robot is achieved by the alternating movement of the plurality of legs. However, this type of mobile robot has low movement flexibility and insufficient obstacle crossing ability, and the mobile robot moves slowly during the obstacle crossing process. Utility Model Content

[0004] The utility model provides a mobile device and a cleaning robot, which are used to solve the defects of insufficient movement flexibility and obstacle-crossing ability of the mobile robot in the prior art, and achieve the improvement of the movement flexibility and obstacle-crossing ability of the mobile robot.

[0005] The utility model provides a mobile device, comprising:

[0006] A fuselage, wherein a first connecting plate, a second connecting plate, a first driving member and a second driving member are provided on the fuselage, wherein the first driving member is connected to the first connecting plate, and the second driving member is connected to the second connecting plate;

[0007] a first suction cup assembly, the first suction cup assembly is connected to the first driving member through the first connecting plate, so that the first suction cup assembly can translate relative to the fuselage, the first suction cup assembly is a multi-stage lifting structure, and the first suction cup assembly is suitable for driving the fuselage to lift;

[0008] The second suction cup assembly is connected to the second driving member through the second connecting plate so that the second suction cup assembly can be translated relative to the fuselage. The second suction cup assembly is a multi-stage lifting structure. The second suction cup assembly is suitable for driving the fuselage to lift and lower. The second suction cup assembly moves independently relative to the first suction cup assembly, and the second suction cup assembly is spaced apart from the first suction cup assembly.

[0009] According to a mobile device provided by the utility model, the first suction cup assembly includes:

[0010] A first mounting chassis, wherein a plurality of adsorption plates are provided on the first mounting chassis, and the adsorption plates are suitable for adsorbing walking surfaces;

[0011] A telescopic connecting rod, wherein the telescopic connecting rod is a telescopic rod, one end of the telescopic connecting rod is connected to the first mounting chassis, and the other end of the telescopic connecting rod is passed through the first connecting plate;

[0012] A first scissors assembly, wherein one end of the first scissors assembly is connected to the first mounting chassis, and the other end of the first scissors assembly is connected to the first connecting plate, and the first scissors assembly drives the first connecting plate to rise and fall relative to the first mounting chassis.

[0013] According to a mobile device provided by the utility model, the first scissor-type assembly is divided into two groups, and the two groups of the first scissor-type assembly are located on both sides of the telescopic connecting rod.

[0014] According to a mobile device provided by the utility model, the first mounting chassis is a circular disc, and a plurality of the adsorption discs are evenly distributed on the first mounting chassis.

[0015] According to a moving device provided by the utility model, a steering mechanism is provided at the other end of the telescopic connecting rod, and the steering mechanism is connected to the first connecting plate to drive the first connecting plate to rotate.

[0016] According to a mobile device provided by the utility model, the second suction cup assembly includes:

[0017] a second mounting chassis, wherein a plurality of adsorption plates are disposed on the second mounting chassis, and the adsorption plates are suitable for adsorbing walking surfaces;

[0018] A second scissors assembly, one end of the second scissors assembly is connected to the second mounting chassis, the other end of the second scissors assembly is connected to the second connecting plate, and the second scissors assembly drives the second connecting plate to rise and fall relative to the second mounting chassis.

[0019] According to a mobile device provided by the utility model, the second suction cup assembly is divided into two groups, and the first suction cup assembly is located between the two groups of the second suction cup assemblies.

[0020] According to a moving device provided by the utility model, at least one of the first driving member and the second driving member is a belt conveying structure, and the conveying directions of the first driving member and the second driving member are parallel to the translation direction of the fuselage.

[0021] According to a mobile device provided by the utility model, the body includes:

[0022] A frame body, wherein a first sliding track and a second sliding track are provided on the frame body, the first suction cup assembly moves along the first sliding track, and the second suction cup assembly moves along the second sliding track;

[0023] A mounting plate is connected to the frame body, and a driving motor of the first driving member and a driving motor of the second driving member are both connected to the mounting plate.

[0024] Preferably, the frame body comprises a first frame, a second frame, a third frame and a fourth frame connected end to end in sequence, the first frame and the third frame are opposite to each other, the extension direction of the first frame and the extension direction of the third frame are the same as the transmission direction of the first driving member, the second sliding track is provided on the side of the first frame away from the third frame and the side of the third frame away from the first frame, and the first sliding track is provided on the side of the first frame opposite to the third frame and the side of the third frame opposite to the first frame;

[0025] The mounting plate is fixedly connected to at least one of the second frame and the fourth frame.

[0026] Preferably, both ends of the first connecting plate are provided with a first sliding block, and the first sliding block is adapted to slide with the first sliding track;

[0027] Second sliding blocks are disposed at both ends of the second connecting plate, and the second sliding blocks are adapted to slide with the second sliding rail.

[0028] Preferably, rolling elements are provided between the first sliding track and the first suction cup assembly, and between the second sliding track and the second suction cup assembly.

[0029] The utility model also provides a cleaning robot, comprising the moving device as described above.

[0030] The mobile device provided by the utility model can independently move the first suction cup assembly and the second suction cup assembly through the first driving member and the second driving member. During walking, the first suction cup assembly can pass through the second suction cup assembly, or the second suction cup assembly can pass through the first suction cup assembly, and the first suction cup assembly and the second suction cup assembly can continuously move alternately, thereby driving the body to achieve continuous movement, improving the smoothness of the movement of the mobile device, avoiding jamming during the movement of the mobile device, and increasing the walking speed. The first suction cup assembly and the second suction cup assembly are both multi-stage lifting structures to adjust the distance between the body and the walking surface, so that the mobile device can cross obstacles, depressions, or go up and down stairs; when the mobile device moves on a walking surface with smaller surface undulations, the lifting or lowering stroke of the first suction cup assembly and the second suction cup assembly can be reduced, thereby increasing the walking speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is one of the structural schematic diagrams of the mobile device provided by the utility model.

[0033] Figure 2 It is a top view of the mobile device provided by the utility model.

[0034] Figure 3 It is a bottom view of the mobile device provided by the utility model.

[0035] Figure 4 This is the second structural schematic diagram of the mobile device provided by the utility model.

[0036] Figure 5 yes Figure 4 Partial magnification Figure Ⅰ .

[0037] Figure 6 It is a cross-sectional view of the mobile device provided by the utility model.

[0038] Figure 7 yes Figure 6 Partial magnification Figure II .

[0039] Figure 8 yes Figure 6 Partial magnification Figure III .

[0040] Fig. 9 It is a side view of the mobile device provided by the utility model.

[0041] Fig.10 This is one of the schematic diagrams of the obstacle surmounting process of the mobile device provided by the utility model.

[0042] Fig.11 This is the second schematic diagram of the obstacle surmounting process of the mobile device provided by the utility model.

[0043] Reference numerals:

[0044] 001, mobile device; 100, fuselage; 110, frame body; 111, first frame; 112, second frame; 113, third frame; 114, fourth frame; 115, first sliding track; 116, second sliding track; 120, mounting plate; 121, tensioning mechanism; 130, first connecting plate; 131, first sliding block; 132, first driving member;

[0045] 140, second connecting plate; 141, second sliding block; 142, second driving member; 143, avoidance gap; 150, rolling member; 200, first suction cup assembly; 210, first mounting chassis; 211, support plate; 212, mounting bottom plate; 213, connecting shaft; 214, slip ring; 215, support block; 220, first scissor assembly; 221, first lifting motor; 230, steering mechanism; 231, steering motor;

[0046] 300, second suction cup assembly; 310, second mounting chassis; 320, second scissor assembly; 321, first arm; 322, second arm; 323, pivot shaft; 324, second lifting motor; 325, transmission rack; 326, slider; 327, slide chute; 400, suction cup; 500, operating device. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0048] Combine the following Figure 1-Figure 11 The mobile device and cleaning robot of the utility model are described. It is understandable that the mobile robot can replace manual labor to perform work in different environments. For example, the cleaning robot can replace manual labor to clean the glass curtain wall of a high-rise building; the spraying robot can spray paint or remove rust on the surface of a ship or a metal tank. The mobile robot needs to have a high automatic performance, which requires the mobile robot to have a good ability to cross obstacles, such as crossing obstacles, depressions, and going up or down stairs on the moving plane.

[0049] See also Figure 1 and Figure 3 As shown, the mobile device 001 according to the embodiment of the present utility model includes: a body 100 , a first suction cup assembly 200 and a second suction cup assembly 300 .

[0050] Specifically, the first suction cup assembly 200 and the second suction cup assembly 300 can be adsorbed on the walking surface. The fuselage 100 is provided with a first connecting plate 130, a second connecting plate 140, a first driving member 132 and a second driving member 142. The first driving member 132 is connected to the first connecting plate 130, and the first driving member 132 can drive the first connecting plate 130 to move relative to the fuselage 100; the second driving member 142 is connected to the second connecting plate 140, and the second driving member 142 can drive the second connecting plate 140 to move relative to the fuselage 100.

[0051] The first driving member 132 or the second driving member 142 may be a conveyor belt driving device, such as a synchronous belt; the first driving member 132 or the second driving member 142 may also be a linear reciprocating driving device such as a motor-driven gear rack device, a motor-driven screw nut device, etc. Figure 7 As shown, the first connecting plate 130 and the first driving member 132 , and the second connecting plate 140 and the second driving member 142 can be fixedly connected via an L-shaped plate.

[0052] See also Figure 1 and Figure 2 As shown, the first suction cup assembly 200 is connected to the first driving member 132 through the first connecting plate 130, so that the first suction cup assembly 200 can be translated relative to the fuselage 100; the second suction cup assembly 300 is connected to the second driving member 142 through the second connecting plate 140, so that the second suction cup assembly 300 can be translated relative to the fuselage 100. The first driving member 132 and the second driving member 142 can both be provided with a first limiting point and a second limiting point, and the first suction cup assembly 200 and the second suction cup assembly 300 can be movable relative to the fuselage 100 between the first limiting point and the second limiting point. It can be understood that when the first suction cup assembly 200 is adsorbed on the walking surface, the first driving member 132 can drive the fuselage 100 to move relative to the first suction cup assembly 200, so as to realize the movement of the fuselage 100 relative to the walking surface. Similarly, the second driving member 142 can drive the fuselage 100 to move relative to the walking surface.

[0053] The first suction cup assembly 200 is a multi-stage lifting structure, and the first suction cup assembly 200 is suitable for driving the fuselage 100 to rise and fall; the second suction cup assembly 300 is a multi-stage lifting structure, and the second suction cup assembly 300 is suitable for driving the fuselage 100 to rise and fall. The multi-stage lifting structure can be a retractable electric push rod, or the multi-stage lifting structure can be a scissor structure. The multi-stage lifting structure can adjust the telescopic length of the first suction cup assembly 200 or the second suction cup assembly 300 to adjust the distance between the fuselage 100 and the walking surface, so that the mobile device 001 can easily cross obstacles of different heights, cross depressions, go up or down steps; when moving on a walking surface with small surface undulations, the lifting or lowering stroke of the first suction cup assembly 200 and the second suction cup assembly 300 can be reduced to increase the walking speed. It should be noted that the length of the first suction cup assembly 200 or the second suction cup assembly 300 corresponding to each level of the multi-stage lifting structure can be a fixed value or a range value, and accordingly, the distance between the fuselage 100 and the walking surface corresponding to each level can be a fixed value or a range value.

[0054] The second suction cup assembly 300 moves independently relative to the first suction cup assembly 200, and the second suction cup assembly 300 is spaced apart from the first suction cup assembly 200, so as to avoid the first suction cup assembly 200 and the second suction cup assembly 300 from interfering with each other and causing movement jamming during walking. In some embodiments, the first driving member 132 and the second driving member 142 can be arranged parallel to each other, and the second suction cup assembly 300 and the first suction cup assembly 200 are spaced apart. In this way, during walking, the first suction cup assembly 200 can pass through the second suction cup assembly 300, or the second suction cup assembly 300 can pass through the first suction cup assembly 200, and the first suction cup assembly 200 and the second suction cup assembly 300 can continuously move alternately, thereby driving the fuselage 100 to achieve continuous movement and avoiding jamming during the movement of the mobile device 001.

[0055] During walking, the first suction cup assembly 200 is adsorbed on the walking surface, the second suction cup assembly 300 is detached from the walking surface, and the first driving member 132 drives the fuselage 100 to move relative to the first suction cup assembly 200. At the same time, the second driving member 142 drives the second suction cup assembly 300 to move forward in the moving direction of the fuselage 100 relative to the fuselage 100, and the second suction cup assembly 300 can move to the front of the first suction cup assembly 200.

[0056] When the second suction cup assembly 300 moves to its extreme position in front of the fuselage 100, the second driving member 142 drives the second suction cup assembly 300 in the reverse direction, and the speed at which the second driving member 142 drives the second suction cup assembly 300 to move relative to the fuselage 100 is equal to the speed at which the first driving member 132 drives the fuselage 100 relative to the first suction cup assembly 200. Thus, the second suction cup assembly 300 can be stationary relative to the walking surface, that is, in a hovering state. At this time, the second suction cup assembly 300 moves to a predetermined position, the second suction cup assembly 300 contacts and adsorbs on the walking surface, and the first suction cup assembly 200 is separated from the walking surface. The second driving member 142 drives the fuselage 100 to move relative to the second suction cup assembly 300. At the same time, the first driving member 132 drives the first suction cup assembly 200 to move relative to the fuselage 100 in the moving direction of the fuselage 100, and the first suction cup assembly 200 can surpass the second suction cup assembly 300 and move to the front of the second suction cup assembly 300.

[0057] Similarly, when the first suction cup assembly 200 moves to its extreme position in front of the fuselage 100, the first driving member 132 drives the first suction cup assembly 200 in the reverse direction, and the speed at which the first driving member 132 drives the first suction cup assembly 200 to move relative to the fuselage 100 is equal to the speed at which the second driving member 142 drives the fuselage 100 relative to the second suction cup assembly 300. Thus, the first suction cup assembly 200 can be stationary relative to the walking surface, that is, in a hovering state. At this time, the first suction cup assembly 200 moves to a predetermined position, the first suction cup assembly 200 contacts and adsorbs on the walking surface, and the second suction cup assembly 300 detaches from the walking surface and moves. In this way, the first suction cup assembly 200 and the second suction cup assembly 300 move alternately, thereby driving the mobile device 001 to move as a whole. Furthermore, during the alternation of the first suction cup assembly 200 and the second suction cup assembly 300 , since the first driving member 132 and the second driving member 142 act synchronously and the suction cups are alternately adsorbed, the body 100 can continuously move forward, thereby achieving the continuity of the overall movement of the mobile device 001 .

[0058] See also Fig. 9 As shown, the first suction cup assembly 200 and the second suction cup assembly 300 move independently of each other. During the change of the adsorption state of the first suction cup assembly 200 and the second suction cup assembly 300, the first driving member 132 and the second driving member 142 can maintain the running state, so that the fuselage 100 can keep moving and avoid pauses, and the movement of the mobile device 001 is smoother. The above-mentioned predetermined position can be set with reference to the distance between the first suction cup assembly 200 or the second suction cup assembly 300 and the first limit point, or the predetermined position can be set with reference to the distance between the first suction cup assembly 200 or the second suction cup assembly 300 and the second limit point. The predetermined position can be at any position between the first limit point and the second limit point, or the predetermined position can be located at the first limit point or the second limit point.

[0059] According to the mobile device 001 of the embodiment of the utility model, the first suction cup assembly 200 and the second suction cup assembly 300 can move independently through the first driving member 132 and the second driving member 142. During the walking process, the first suction cup assembly 200 can pass through the second suction cup assembly 300, or the second suction cup assembly 300 can pass through the first suction cup assembly 200, and the first suction cup assembly 200 and the second suction cup assembly 300 can continuously move alternately, thereby driving the fuselage 100 to achieve continuous movement, improving the smoothness of the movement of the mobile device 001, avoiding the jamming of the movement process of the mobile device 001, and improving the walking speed. The first suction cup assembly 200 and the second suction cup assembly 300 are both multi-stage lifting structures to adjust the distance between the fuselage 100 and the walking surface, so that the mobile device 001 can cross obstacles, depressions, or go up and down stairs; when the mobile device 001 moves on a walking surface with small surface undulations, the lifting or lowering stroke of the first suction cup assembly 200 and the second suction cup assembly 300 can be reduced, thereby improving the walking speed.

[0060] In some embodiments, the mobile device 001 further includes a negative pressure device, which is connected to the first suction cup assembly 200 or the second suction cup assembly 300, so that the first suction cup assembly 200 or the second suction cup assembly 300 generates a negative pressure adsorption force, and the magnitude of the negative pressure adsorption force can be controlled by the negative pressure device, so that the mobile device 001 can be adsorbed on the walking surface through the first suction cup assembly 200 and the second suction cup assembly 300. There can be one negative pressure device, which is connected to both the first suction cup assembly 200 and the second suction cup assembly 300; or, there can be multiple negative pressure devices, which are both provided on the first suction cup assembly 200 and the second suction cup assembly 300, and each negative pressure device is connected to the corresponding first suction cup assembly 200 or the second suction cup assembly 300.

[0061] See also Figure 4 As shown, according to some embodiments of the present invention, the fuselage 100 includes a frame body 110 and a mounting plate 120. Figure 8 In the example of FIG. 1 , the frame body 110 is provided with a first sliding track 115 and a second sliding track 116. The first suction cup assembly 200 moves along the first sliding track 115, and the first sliding track 115 can support the first suction cup assembly 200. The second suction cup assembly 300 moves along the second sliding track 116, and the second sliding track 116 can support the second suction cup assembly 300. The mounting plate 120 is connected to the frame body 110, see Figure 1 As shown, mounting plates 120 are provided at both ends of the frame body 110 , and the driving motor of the first driving member 132 and the driving motor of the second driving member 142 are both connected to the mounting plates 120 .

[0062] See also Figure 1 and Figure 2 As shown, according to some embodiments of the utility model, at least one of the first driving member 132 and the second driving member 142 is a belt transmission structure, and the transmission direction of the first driving member 132 and the second driving member 142 is parallel to the translation direction of the fuselage 100. The first driving member 132 and the second driving member 142 can both be synchronous belt mechanisms, the first connecting plate 130 is fixedly connected to the synchronous belt of the first driving member 132, and the first connecting plate 130 can move following the synchronous belt of the first driving member 132; the second connecting plate 140 is fixedly connected to the synchronous belt of the second driving member 142, and the second connecting plate 140 can move following the synchronous belt of the second driving member 142. The driving motor of the first driving member 132 and the driving motor of the second driving member 142 are both arranged on the mounting plate 120, and the synchronous belt is located between the two mounting plates 120.

[0063] See also Figure 2 and Figure 3 As shown, the first driving member 132 and the second driving member 142 may both be provided with a tensioning mechanism 121, which is provided on the mounting plate 120. The tensioning mechanism 121 is used to tension the synchronous belt to prevent it from loosening. The tensioning mechanism 121 may be a tensioning wheel or a spring self-tensioning mechanism. Figure 2 In the example, the second connecting plate 140 is provided with an avoidance notch 143, and the position of the avoidance notch 143 corresponds to the position of the tensioning mechanism 121. When the second suction cup assembly 300 moves close to the mounting plate 120, the tensioning mechanism 121 can be embedded in the avoidance notch 143 to avoid contact between the tensioning mechanism 121 and the second connecting plate 140. The avoidance notch 143 avoids the tensioning mechanism 121, so as to avoid interference between the tensioning mechanism 121 and the second connecting plate 140.

[0064] See also Figure 4 As shown, according to some embodiments of the utility model, the frame body 110 includes a first frame 111, a second frame 112, a third frame 113 and a fourth frame 114 which are connected end to end in sequence. The first frame 111 and the third frame 113 are opposite, and the extension direction of the first frame 111 and the extension direction of the third frame 113 are the same as the transmission direction of the first driving member 132. The mounting plate 120 is fixedly connected to at least one of the second frame 112 and the fourth frame 114. The mounting plate 120 can be set at the position of the second frame 112, or the mounting plate 120 can be set at the position of the fourth frame 114, or the mounting plate 120 can be set at both the second frame 112 and the fourth frame 114.

[0065] See also Figure 6 and Figure 8As shown, a first sliding track 115 is provided on a side of the first frame 111 opposite to the third frame 113 and a side of the third frame 113 opposite to the first frame 111; a second sliding track 116 is provided on a side of the first frame 111 away from the third frame 113 and a side of the third frame 113 away from the first frame 111.

[0066] See also Figure 5 and Figure 8 As shown, both ends of the first connecting plate 130 are provided with first sliding blocks 131, which are adapted to slide with the first sliding track 115; both ends of the second connecting plate 140 are provided with second sliding blocks 141, which are adapted to slide with the second sliding track 116. In this way, both ends of the first connecting plate 130 and both ends of the second connecting plate 140 can be mounted on the first frame 111 and the third frame 113 to support the first suction cup assembly 200 and the second suction cup assembly 300, so that the structure of the mobile device 001 is more stable.

[0067] See also Figure 8 As shown, the first sliding block 131 and the second sliding block 141 can both be made of aluminum alloy to reduce weight. The cross section of the first sliding block 131 and the cross section of the second sliding block 141 can both be provided with a labyrinth pattern to match the first sliding track 115 or the second sliding track 116. In some embodiments, a rolling member 150 is provided between the first sliding track 115 and the first suction cup assembly 200, and between the second sliding track 116 and the second suction cup assembly 300.

[0068] See also Figure 8 As shown, the rolling member 150 is arranged on the first sliding block 131 or the second sliding block 141, and the rolling member 150 has a rolling wheel and a central axis, the rolling wheel is sleeved on the central axis, and the outer peripheral surface of the rolling member 150 has a mating surface recessed toward the axis of the rolling member 150, and the first sliding track 115 and the second sliding track 116 both have protrusions, and the mating surface cooperates with the surface of the protrusion to limit the rolling member 150 from rolling along the first sliding track 115 or the second sliding track 116.

[0069] A plurality of rolling members 150 may be provided on the first sliding block 131 or the second sliding block 141. For example, three rolling members 150 may be provided on each of the first sliding block 131 and the second sliding block 141, and the top end, the bottom end and the side of the first sliding track 115 or the second sliding track 116 are all matched and connected with the corresponding rolling members 150 to limit the first sliding block 131 and the second sliding block 141 in two orthogonal directions in the transverse cross-section of the first frame 111 and the third frame 113.

[0070] See also Figure 3 and Figure 6As shown, according to some embodiments of the utility model, the first suction cup assembly 200 includes: a first mounting chassis 210 and a first scissor assembly 220. A plurality of suction cups 400 are provided on the first mounting chassis 210, and the suction cups 400 are suitable for adsorbing walking surfaces. A negative pressure device may be provided on the mobile device 001, and the suction cups 400 may be connected to the negative pressure device, and the suction cups 400 may be controlled to adsorb or desorb from the walking surface by the negative pressure device. One or more suction cups 400 may be provided, and when a plurality of suction cups 400 are provided, the plurality of suction cups 400 may be arranged at intervals to improve the adsorption force of the first suction cup assembly 200. See FIG. Figure 3 As shown, the first mounting chassis 210 may be a disc, and a plurality of adsorption plates 400 are evenly distributed on the first mounting chassis 210 . The plurality of adsorption plates 400 may be distributed along the edge of the first mounting chassis 210 , or may be arranged and distributed on the first mounting chassis 210 .

[0071] One end of the first scissor assembly 220 is connected to the first mounting chassis 210, and the other end of the first scissor assembly 220 is connected to the first connecting plate 130. Fig. 9 As shown, the first scissor assembly 220 includes a first lifting motor 221, and the first lifting motor 221 can drive the scissor structure of the first scissor assembly 220 to swing to adjust the height of the first scissor assembly 220. In this way, the first scissor assembly 220 drives the first connecting plate 130 to rise and fall relative to the first mounting chassis 210, thereby driving the fuselage 100 to rise and fall. In some embodiments, the first scissor assembly 220 is divided into two groups, and the two groups of first scissor assemblies 220 are symmetrically arranged on the first mounting chassis 210 to support the weight of the mobile device 001 and make the lifting process smoother to avoid tilting. Of course, this is just an example of a structure for achieving lifting, and its structure is not limited to this. The first connecting plate 130 can also be driven to rise and fall relative to the first mounting chassis 210 by other structures, such as an electric push rod structure.

[0072] See also Figure 6 As shown, according to some embodiments of the utility model, the first suction cup assembly 200 is provided with a steering mechanism 230, and the steering mechanism 230 is used to drive the fuselage 100 to rotate relative to the walking surface, so as to realize the turning of the mobile device 001 during walking. The first mounting chassis 210 includes a support plate 211, a mounting base plate 212 and a connecting shaft 213. The steering mechanism 230 is fixedly connected to the support plate 211, and the first scissor assembly 220 is connected to the support plate 211. The suction plate 400 is arranged on the mounting base plate 212, and the connecting shaft 213 is passed through the support plate 211, and one end of the connecting shaft 213 is fixedly connected to the mounting base plate 212, and the other end of the connecting shaft 213 is rotatably connected to the steering mechanism 230. The steering mechanism 230 is used to drive the support plate 211 to rotate relative to the mounting base plate 212.

[0073] See also Figure 6 and Figure 7 As shown, the steering mechanism 230 may include a steering motor 231, a first transmission member, and a second transmission member. The steering motor 231 is connected to the first transmission member, and the first transmission member and the second transmission member are connected to transmit the power of the drive motor to the second transmission member. The second transmission member is fixedly connected to the support plate 211 and the second transmission member is rotatably connected to the connecting shaft 213. The steering motor 231 drives the first transmission member to move to drive the second transmission member to rotate, thereby driving the support plate 211 to rotate relative to the connecting shaft 213 and the mounting base plate 212. The support plate 211 is connected to the fuselage 100 through the first scissor assembly 220 and the first connecting plate 130. Therefore, the support plate 211 can be driven to rotate by the steering motor 231, thereby driving the fuselage 100 to rotate relative to the mounting base plate 212. The steering mechanism 230 can be a synchronous belt mechanism or a motor-driven rack and pinion mechanism.

[0074] In some embodiments, the support plate 211 is covered with the mounting base plate 212, and a support block 215 may be provided between the support plate 211 and the mounting base plate 212 to support the support plate 211. The support block 215 may be sleeved on the connecting shaft 213, the support block 215 is fixedly connected to the mounting base plate 212, and the support block 215 is rotatably connected to the support plate 211, for example, one of the support block 215 and the support plate 211 is provided with an annular groove, and the other of the support block 215 and the support plate 211 is provided with an annular protrusion, both of the annular groove and the annular protrusion are coaxially arranged with the connecting shaft 213, and the annular protrusion and the annular groove are matched and connected to limit the relative position between the support plate 211 and the support block 215 when the two rotate relative to each other.

[0075] See also Figure 6 As shown, according to some embodiments of the utility model, the connecting shaft 213 can be a hollow shaft, one end of the connecting shaft 213 is fixedly connected to the mounting base plate 212, the other end of the connecting shaft 213 is provided with a slip ring 214, the slip ring 214 is embedded in the connecting shaft 213 and a part of the structure of the slip ring 214 can rotate relative to the connecting shaft 213, and the steering mechanism 230 is fixedly connected to the slip ring 214. The slip ring 214 can be a rotating connector, and the slip ring 214 can keep the circuit on the first mounting base plate 210 connected, and can simplify the circuit of the mobile device. For example, during the steering process, the rotor of the slip ring 214 rotates with the steering mechanism 230, and the stator of the slip ring 214 and the connecting shaft 213 remain relatively stationary. During the rotation of the rotor relative to the stator, the electrical components are electrically connected to the rotor through the side wall of the stator, so that the electrical components on the mounting base plate 212 are connected to the power supply of the mobile device 001, and the line winding can be avoided.

[0076] When the mobile device 001 turns, the first suction cup assembly 200 is attached to the walking surface, and the second suction cup assembly 300 is separated from the walking surface; the steering mechanism 230 drives the support plate 211 to rotate a certain angle relative to the mounting base plate 212, and drives the fuselage 100 to rotate through the first scissor assembly 220 and the first connecting plate 130, and the second suction cup assembly 300 rotates with the fuselage 100. In some embodiments, an angle detection device, such as a Hall sensor, is provided on the steering mechanism 230 to facilitate the control of the steering of the mobile device 001.

[0077] See also Figure 1 and Figure 4 As shown, according to some embodiments of the utility model, the second suction cup assembly 300 includes a second mounting chassis 310 and a second scissor assembly 320. A plurality of adsorption discs 400 are provided on the second mounting chassis 310, and the adsorption discs 400 are suitable for adsorbing walking surfaces. One end of the second scissor assembly 320 is connected to the second mounting chassis 310, and the other end of the second scissor assembly 320 is connected to the second connecting plate 140. The second scissor assembly 320 drives the second connecting plate 140 to rise and fall relative to the second mounting chassis 310, thereby driving the fuselage 100 to rise and fall. In some embodiments, the structure that drives the second connecting plate 140 to rise and fall relative to the second mounting chassis 310 can also be an electric push rod or a gear rack structure.

[0078] See also Figure 5 As shown, the second scissor assembly 320 may include a first arm 321, a second arm 322, and a second lifting motor 324. One end of the first arm 321 is swingably connected to the second mounting chassis 310, and the other end of the first arm 321 is movably connected to the second sliding block 141 on the second connecting plate 140. One end of the second arm 322 is swingably connected to the second sliding block 141 on the second connecting plate 140, and the other end of the second arm 322 is movably connected to the second mounting chassis 310. The second lifting motor 324 is connected to the first arm 321 to drive the first arm 321 to swing relative to the second mounting chassis 310, and drive the second arm 322 to swing relative to the second connecting plate 140, so that the second connecting plate 140 is lifted and lowered relative to the second mounting chassis 310. The first arm 321 and the second arm 322 are rotatably connected. For example, the middle of the first arm 321 and the middle of the second arm 322 are connected by a pivot shaft 323 , and the first arm 321 can rotate relative to the second arm 322 around the pivot shaft 323 .

[0079] See also Figure 5As shown, a slide groove 327 is provided on the second sliding block 141, and a slider 326 is provided at the other end of the first arm 321, and the slider 326 can slide along the slide groove 327. The second lifting motor 324 is connected to the slider 326 through a transmission rack 325, and the second lifting motor 324 can drive the rack to move in a direction parallel to the extending direction of the slide groove 327. The transmission rack 325 is fixedly connected to the slider 326 to drive the slider 326 to slide along the slide groove 327, thereby driving the first arm 321 and the second arm 322 to swing, so as to finally drive the second mounting chassis 310 to rise and fall in a direction perpendicular to the side of the fuselage 100 facing the walking surface.

[0080] See also Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, the second suction cup assembly 300 is divided into two groups, and the first suction cup assembly 200 is located between the two groups of second suction cup assemblies 300. The two ends of the first connecting plate 130 are respectively connected to the first frame 111 and the third frame 113, and are located between the first frame 111 and the third frame 113. One side of the first connecting plate 130 is connected to the first driving member 132, and the first suction cup assembly 200 is located on the other side of the first connecting plate 130; the second connecting plate 140 spans the first frame 111 and the third frame 113, and the second connecting plate 140 is located on the side where the first connecting plate 130 is connected to the first driving member 132, and is spaced apart from the first connecting plate 130. The two groups of second suction cup assemblies 300 are respectively connected to the first frame 111 and the second frame 112. In this way, when the first suction cup assembly 200 or the second suction cup assembly 300 supports the fuselage 100 alone, the mobile device 001 can move smoothly. Furthermore, the first suction cup assembly 200 and the first connecting plate 130 can move across the second connecting plate 140, and the first suction cup assembly 200 and the second suction cup assembly 300 can move independently.

[0081] According to an embodiment of the utility model, the cleaning robot includes the mobile device 001 as described above. The mobile device 001 can drive the cleaning robot to move on a vertical wall, and can cross obstacles, depressions, etc. on the walking surface, thereby improving the automation level of the cleaning robot and broadening the application scenarios of the cleaning robot. In some embodiments, the cleaning robot is also provided with a detection sensor to detect obstacles, depressions, etc. in the direction of movement of the cleaning robot. The detection sensor can be a camera, a laser rangefinder, or an ultrasonic rangefinder.

[0082] See also Figure 1 and Fig. 9As shown, according to some embodiments of the utility model, the cleaning robot further includes an operating device 500, and the operating device 500 is arranged on the body. The operating device 500 can be arranged on the second frame 112 or the fourth frame 114 of the mobile device 001. Of course, the operating device 500 can be arranged on both the second frame 112 and the fourth frame 114 of the mobile device 001. The operating device 500 can be a cleaning device or a painting device, such as a roller brush structure or a scraper structure.

[0083] In some embodiments, a lifting device, such as an electric push rod or a hydraulic lifting device, is provided on the working device 500, one end of the lifting device is connected to the body 100 of the mobile device 001, and the other end of the lifting device is connected to the working device 500. The working device 500 can adjust the distance between the working device 500 and the working surface, so that the mobile device 001 can cross obstacles.

[0084] A pre-pressure buffer device may also be provided on the working device 500 to buffer the impact force between the working device 500 and the working plane and provide a pressing force so that the working device 500 can be closely attached to the working surface to perform working. The pre-pressure buffer device includes a guide rod, a guide sleeve and a buffer member, one end of the guide rod is connected to the moving device 001, one end of the guide sleeve is connected to the working device 500, and the other end of the guide sleeve is slidably connected to the other end of the guide rod, and the guide rod is slidable relative to the guide sleeve along the length direction of the guide sleeve.

[0085] The buffer is disposed between the guide rod and the guide sleeve. The buffer may be a spring or a cylinder. The buffer may buffer the movement impact between the guide rod and the guide sleeve. In addition, the buffer may provide pre-pressure so that the operation device 500 can keep in contact with the operation surface when operating. In this way, when the cleaning robot operates on an uneven surface, the pre-pressure buffer device may enable the operation device 500 to automatically fine-tune according to the changes in the operation surface, so that the operation device 500 can keep in contact with the operation surface to operate.

[0086] See also Fig.10 and Fig.11 As shown, the arrows in the figure indicate the movement direction or extension direction of the corresponding components. According to the obstacle control method of the mobile device of the embodiment of the utility model, the obstacle control method is applied to the mobile device 001 as described above, and the obstacle control method includes: the first suction cup assembly 200 is separated from the walking surface, the second suction cup assembly 300 is adsorbed on the walking surface, and the fuselage 100 is raised to a predetermined height; the fuselage 100 continues to move, and the first suction cup assembly 200 and the second suction cup assembly 300 alternately cross obstacles.

[0087] In some embodiments, the obstacle control method may further include: the first suction cup assembly 200 and the second suction cup assembly 300 approach the obstacle. In this way, when an obstacle is detected, the mobile device 001 can move across the obstacle by alternately moving the first suction cup assembly 200 and the second suction cup assembly 300; the mobile device 001 may also be driven to approach the obstacle, and then the first suction cup assembly 200 and the second suction cup assembly 300 move across the obstacle alternately, so that the first suction cup assembly 200 and the second suction cup assembly 300 can cross the obstacle within the moving range.

[0088] The mobile device 001 may have multiple motion modes, at least one of which is used for the mobile device 001 to walk on a surface with relatively small undulations, at which time, the lifting structure of the first suction cup assembly 200 and the second suction cup assembly 300 is at the first level; at least one of which is used for the mobile device 001 to cross an obstacle, at which time, the lifting structure of the first suction cup assembly 200 and the second suction cup assembly 300 is at the second level. The distance between the fuselage 100 and the walking surface when the lifting structure is at the second level is greater than or equal to the distance between the fuselage 100 and the walking surface when the lifting structure is at the first level. In this way, when the mobile device 001 walks on a surface with relatively small undulations, the telescopic length of the first suction cup assembly 200 and the second suction cup assembly 300 is relatively small, which facilitates rapid movement; when the mobile device 001 encounters an obstacle during movement, the first suction cup assembly 200 and the second suction cup assembly 300 extend to cross the obstacle.

[0089] According to some embodiments of the utility model, in the step in which the fuselage 100 continues to move and the first suction cup assembly 200 and the second suction cup assembly 300 alternately cross the obstacle, the first suction cup assembly 200 and the second suction cup assembly 300 alternately cross the obstacle specifically include: the fuselage 100 continues to move, and the first suction cup assembly 200 moves relative to the fuselage 100 and toward the obstacle; after the first suction cup assembly 200 crosses the obstacle, the first suction cup assembly 200 absorbs the walking surface; the second suction cup assembly 300 detaches from the walking surface, the fuselage 100 continues to move forward relative to the first suction cup assembly 200, and the second suction cup assembly 300 moves relative to the fuselage 100 and toward the obstacle until the second suction cup assembly 300 crosses the obstacle.

[0090] When the mobile device 001 crosses an obstacle, the first suction cup assembly 200 or the second suction cup assembly 300 moves toward the obstacle, and the first suction cup assembly 200 or the second suction cup assembly 300 moves to a position against the obstacle, or the first suction cup assembly 200 or the second suction cup assembly 300 moves to a position at a certain distance from the obstacle, so that the first suction cup assembly 200 or the second suction cup assembly 300 can cross the obstacle. It can be understood that a distance measuring sensor can be set on the mobile device 001, and the distance measuring sensor can measure the distance of the obstacle or pit in front of the moving direction of the mobile device 001, and thereby control the timing and position of the mobile device 001 to cross the obstacle.

[0091] After the first suction cup assembly 200 and the second suction cup assembly 300 approach the obstacle, the first suction cup assembly 200 is separated from the walking surface, and the second suction cup assembly 300 remains adsorbed on the walking surface to support the fuselage 100. After the first suction cup assembly 200 is separated from the walking surface, the lifting structure of the second suction cup assembly 300 drives the fuselage 100 to rise to a certain height to ensure that the height of the fuselage 100 is greater than the height of the obstacle. In this process, the lifting structure of the first suction cup assembly 200 can be retracted so that the distance between the lower end of the first suction cup assembly 200 and the walking surface is greater than the height of the obstacle. It can be understood that the order in which the first suction cup assembly 200 and the second suction cup assembly 300 move can be changed.

[0092] The second driving member 142 can drive the fuselage 100 to move relative to the second suction cup assembly 300, and the first driving member 132 drives the first suction cup assembly 200 to move relative to the fuselage 100. In this way, the first suction cup assembly 200 can move quickly across obstacles. When the first suction cup assembly 200 moves across obstacles or reaches a predetermined position, the first suction cup assembly 200 extends and adsorbs on the walking surface, the second suction cup assembly 300 detaches from the walking surface, the first driving member 132 drives the fuselage 100 to move relative to the first suction cup assembly 200, and the second driving member 142 drives the second suction cup assembly 300 to move relative to the fuselage 100 and cross the obstacle.

[0093] The first driving member 132 and the second driving member 142 are both provided with a first limiting point and a second limiting point, and the first suction cup assembly 200 and the second suction cup assembly 300 move relative to the fuselage 100 between the first limiting point and the second limiting point. During the obstacle crossing process, the fuselage 100 continues to move.

[0094] For example, when the second suction cup assembly 300 is adsorbed on the walking surface, the first suction cup assembly 200 is separated from the walking surface and moves relative to the fuselage 100 toward the first limit point, and the second suction cup assembly 300 moves relative to the fuselage 100 toward the second limit point, when the second suction cup assembly 300 is a certain distance away from the second limit point, the first suction cup assembly 200 extends to be adsorbed on the walking surface. During the extension of the first suction cup assembly 200, the first driving member 132 can maintain a driving state. In this way, the fuselage 100 can keep moving relative to the walking surface, and when the first suction cup assembly 200 is adsorbed on the walking surface, the second suction cup assembly 300 is separated from the walking surface and moves to cross the obstacle.

[0095] According to the obstacle control method of a mobile device of an embodiment of the utility model, the method includes: the fuselage continues to move, and after the first suction cup assembly 200 moves forward relative to the fuselage 100, the first suction cup assembly 200 is lowered by a preset height relative to the fuselage 100 to be attached to the descending step plane; when the first suction cup assembly 200 is adsorbed and fixed to the descending step plane, the second suction cup assembly 300 is desorbed and moves forward relative to the fuselage 100, and the second suction cup assembly 300 is lowered by a preset height relative to the fuselage 100 and is adsorbed and fixed to the descending step plane.

[0096] When the mobile device 001 goes down the steps, the body 100 continues to move, the second suction cup assembly 300 is adsorbed on the upper step plane, and the first suction cup assembly 200 moves toward the descending step plane relative to the body 100. After reaching the predetermined position, the first suction cup assembly 200 extends, and the lower end of the first suction cup assembly 200 is at a preset height relative to the body 100, so that the first suction cup assembly 200 can contact and adsorb on the descending step plane.

[0097] After the first suction cup assembly 200 is fixedly attached to the descending step plane, the second suction cup assembly is de-attached to the upper step plane and moves forward relative to the fuselage 100, the second suction cup assembly 300 reaches a predetermined position, and the second suction cup assembly 300 descends relative to the fuselage 100 and is fixedly attached to the descending step plane. During the descent of the second suction cup assembly 300, the second suction cup assembly 300 can be extended and the lower end of the second suction cup assembly 300 descends relative to the fuselage 100; or, the second suction cup assembly 300 is extended and the lower end of the second suction cup assembly 300 descends relative to the fuselage 100, and at the same time, the first suction cup assembly 200 contracts to make the fuselage 100 and the second suction cup assembly 300 descend.

[0098] It is understandable that, in the above-mentioned process of descending the step, the action sequence of the first suction cup assembly 200 and the second suction cup assembly 300 can be interchanged.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A mobile device (001), characterized in that: include: A fuselage (100), wherein the fuselage (100) is provided with a first connecting plate (130), a second connecting plate (140), a first driving member (132) and a second driving member (142), wherein the first driving member (132) is connected to the first connecting plate (130), and the second driving member (142) is connected to the second connecting plate (140); a first suction cup assembly (200), the first suction cup assembly (200) being connected to the first driving member (132) via the first connecting plate (130), so that the first suction cup assembly (200) can be translated relative to the body (100), the first suction cup assembly (200) being a multi-stage lifting structure, and the first suction cup assembly (200) being suitable for driving the body (100) to be lifted or lowered; The second suction cup assembly (300) is connected to the second driving member (142) via the second connecting plate (140) so that the second suction cup assembly (300) can be translated relative to the body (100); the second suction cup assembly (300) is a multi-stage lifting structure; the second suction cup assembly (300) is suitable for driving the body (100) to lift and lower; the second suction cup assembly (300) moves independently relative to the first suction cup assembly (200), and the second suction cup assembly (300) is spaced apart from the first suction cup assembly (200).

2. The mobile device (001) according to claim 1, characterized in that: The first suction cup assembly (200) comprises: A first mounting chassis (210), wherein a plurality of adsorption plates (400) are provided on the first mounting chassis (210), and the adsorption plates (400) are suitable for adsorbing walking surfaces; A telescopic connecting rod (220), wherein the telescopic connecting rod (220) is a telescopic rod, one end of the telescopic connecting rod (220) is connected to the first mounting chassis (210), and the other end of the telescopic connecting rod (220) is passed through the first connecting plate (130); A first scissor assembly (240), one end of the first scissor assembly (240) is connected to the first mounting chassis (210), the other end of the first scissor assembly (240) is connected to the first connecting plate (130), and the first scissor assembly (240) drives the first connecting plate (130) to rise and fall relative to the first mounting chassis (210).

3. The mobile device (001) according to claim 2, characterized in that: The first scissor-type assemblies (240) are in two groups, and the two groups of the first scissor-type assemblies (240) are located on both sides of the telescopic connecting rod (220).

4. The mobile device (001) according to claim 2, characterized in that: The first mounting chassis (210) is a circular disk, and a plurality of adsorption disks (400) are evenly distributed on the first mounting chassis (210).

5. The mobile device (001) according to claim 2, characterized in that: The other end of the telescopic connecting rod (220) is provided with a steering mechanism (230), and the steering mechanism (230) is connected to the first connecting plate (130) to drive the first connecting plate (130) to rotate.

6. The mobile device (001) according to claim 1, characterized in that: The second suction cup assembly (300) comprises: A second mounting chassis (310), wherein a plurality of adsorption plates (400) are provided on the second mounting chassis (310), and the adsorption plates (400) are suitable for adsorbing walking surfaces; A second scissor assembly (320), one end of the second scissor assembly (320) is connected to the second mounting chassis (310), the other end of the second scissor assembly (320) is connected to the second connecting plate (140), and the second scissor assembly (320) drives the second connecting plate (140) to rise and fall relative to the second mounting chassis (310).

7. The mobile device (001) according to claim 6, characterized in that: The second suction cup assemblies (300) are in two groups, and the first suction cup assembly (200) is located between the two groups of the second suction cup assemblies (300).

8. The mobile device (001) according to claim 1, characterized in that: At least one of the first driving member (132) and the second driving member (142) is a belt conveying structure, and the conveying directions of the first driving member (132) and the second driving member (142) are parallel to the translation direction of the fuselage (100).

9. The mobile device (001) according to claim 8, characterized in that: The fuselage (100) comprises: A frame body (110), wherein a first sliding track (115) and a second sliding track (116) are provided on the frame body (110), the first suction cup assembly (200) moves along the first sliding track (115), and the second suction cup assembly (300) moves along the second sliding track (116); A mounting plate (120), the mounting plate (120) being connected to the frame body (110), and the driving motor of the first driving member (132) and the driving motor of the second driving member (142) being both connected to the mounting plate (120); The frame body (110) comprises a first frame (111), a second frame (112), a third frame (113) and a fourth frame (114) which are connected end to end in sequence; the first frame (111) and the third frame (113) are opposite to each other; the extension direction of the first frame (111) and the extension direction of the third frame (113) are the same as the transmission direction of the first driving member (132); the second sliding track (116) is provided on the side of the first frame (111) which is away from the third frame (113) and the side of the third frame (113) which is away from the first frame (111); the first sliding track (115) is provided on the side of the first frame (111) which is opposite to the third frame (113) and the side of the third frame (113) which is opposite to the first frame (111); The mounting plate (120) is fixedly connected to at least one of the second frame (112) and the fourth frame (114); Both ends of the first connecting plate (130) are provided with first sliding blocks (131), and the first sliding blocks (131) are adapted to slide with the first sliding track (115); Both ends of the second connecting plate (140) are provided with second sliding blocks (141), and the second sliding blocks (141) are adapted to slide with the second sliding track (116); Rolling elements (150) are provided between the first sliding track (115) and the first suction cup assembly (200), and between the second sliding track (116) and the second suction cup assembly (300).

10. A cleaning robot, characterized in that: It comprises a mobile device (001) according to any one of claims 1-9.

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