Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. The autonomous mobile device comprises a host, a lifted object and a lifting mechanism which are assembled together. The lifted object is installed on the main machine through the lifting mechanism. Further, the lifting mechanism comprises a power source, a transmission part, a first connecting rod and a second connecting rod, the transmission part is in transmission connection with the power source, the first connecting rod is rotationally connected with the main machine and the transmission part, and the second connecting rod is rotationally connected with the transmission part and the lifted object. In this way, in the process that the power source drives the transmission part to reciprocate, the transmission part drives the first connecting rod to rotate relative to the main machine and drives the second connecting rod to rotate relative to the lifted object, and then the lifted object is driven by the second connecting rod to rotate relative to the main machine; therefore, the lifted object ascends and descends relative to the main machine in the vertical direction in the rotating process of the lifted object. Therefore, the lifting of the lifted object relative to the main machine is realized through the mechanism which is compact in structure and relatively high in stability and reliability.

Description

Technical Field

[0001] The present disclosure relates to the structure of autonomous mobile devices. Background Art

[0002] Autonomous mobile devices are intelligent mobile devices that autonomously perform pre-set tasks and are capable of autonomously moving on a surface based on the sensing results of their sensors. Currently, autonomous mobile devices generally include, but are not limited to, self-propelled cleaning devices (e.g., intelligent sweepers, intelligent floor scrubbers, window cleaning robots), companion mobile robots (e.g., intelligent electronic pets, nanny robots), service mobile robots (e.g., reception robots for hotels, inns, and meeting places), intelligent industrial inspection devices (e.g., power inspection robots, intelligent forklifts), and security robots (e.g., intelligent guard robots for home or commercial use).

[0003] When an autonomous mobile device such as a self-mobile cleaning device is used in a household scenario, the wet cleaning parts (such as a roller, rag or mop) of the autonomous mobile device will be wet and have dirt attached to them after operation. Therefore, once the wet cleaning parts of the autonomous mobile device come into contact with the carpet, the carpet will be contaminated. In addition, the wet cleaning parts of the autonomous mobile device are always in contact with the traveling surface, which will have an adverse effect on its obstacle-crossing ability. Therefore, the autonomous mobile device such as a self-mobile cleaning device can be provided with a lifting mechanism that enables the wet cleaning parts to be raised and lowered relative to the main body of the autonomous mobile device, so as to achieve the rise and fall of the wet cleaning parts as needed. However, the lifting mechanism of the existing autonomous mobile device has a complex structure and can only make the wet cleaning parts rise to a limited extent, which in many cases cannot meet actual needs. Utility Model Content

[0004] In view of the above problems of the prior art, the present disclosure aims to provide an autonomous mobile device, which can achieve a relatively large lifting and lowering of a lifted object relative to a host in the autonomous mobile device with a relatively simple structure.

[0005] In order to achieve the above objectives, the present disclosure adopts the following technical solutions.

[0006] The present disclosure provides an autonomous mobile device, comprising a host, an object to be lifted, and a lifting mechanism, wherein the object to be lifted is mounted on the host via the lifting mechanism.

[0007] The lifting mechanism includes a power source, a transmission member, a first connecting rod and a second connecting rod. The transmission member is in transmission connection with the power source, the first connecting rod is rotationally connected to the main machine and the transmission member, and the second connecting rod is rotationally connected to the transmission member and the object to be lifted, so that the power source can drive the transmission member to perform reciprocating motion, and then drive the object to be lifted to rise and fall relative to the main machine in the upper and lower directions of the autonomous mobile device via the first connecting rod and the second connecting rod.

[0008] In an optional solution, the lifting mechanism includes a screw that is transmission-connected to the power source, the extension direction of the screw is perpendicular to the left-right direction of the autonomous mobile device, and the screw is inserted into the transmission member and is always threadedly engaged with the transmission member.

[0009] In another optional solution, the lifting mechanism further includes:

[0010] a first shaft extending along the left-right direction, the first shaft being mounted on an upper end portion of the first connecting rod and the main machine;

[0011] a second shaft extending in the left-right direction, the second shaft being located below the first shaft in the up-down direction, and the second shaft being mounted to the transmission member, the lower end of the first connecting rod, and the upper end of the second connecting rod; and

[0012] A third shaft extends in the left-right direction, is located below the second shaft in the up-down direction, and is attached to a lower end portion of the second link and the object to be lifted.

[0013] In another optional solution, the lifting mechanism also includes a fourth axis, which extends along the left and right directions of the autonomous mobile device. The power source is installed on the host via the fourth axis, so that the power source can rotate relative to the host around the fourth axis.

[0014] In another optional solution, the object to be lifted includes a frame, the second connecting rod is rotatably connected to the front end of the frame, and the rear end of the frame is rotatably connected to the main machine.

[0015] In another optional solution, the lifting mechanism also includes a fifth axis, which extends along the left and right directions of the autonomous mobile device, and the fifth axis is located on the lower side of the second connecting rod in the up and down directions. The frame is mounted to the main unit via the fifth axis, so that the frame can rotate relative to the main unit around the fifth axis.

[0016] In another optional solution, the autonomous mobile device further includes a plurality of rotating support links parallel to each other, the object to be lifted includes a frame, one end of each rotating support link is rotatably connected to the frame and the other end is rotatably connected to the host, so that the object to be lifted is rotatably connected to the host via the plurality of rotating support links.

[0017] In another optional solution, the plurality of rotation support links are located above the object to be lifted in the up-down direction, and the extension direction of each rotation support link is perpendicular to the left-right direction of the autonomous mobile device.

[0018] The second link is rotatably connected to the front end of the frame, each of the rotation support links is rotatably connected to the rear end of the frame, and each of the rotation support links extends across the object to be lifted in the front-to-rear direction of the autonomous mobile device.

[0019] In another optional solution, every two rotating support links among the multiple rotating support links constitute a double-link assembly, different double-link assemblies are arranged at intervals in the left and right directions of the autonomous mobile device, and the rotating support links in each double-link assembly are located at the same position in the left and right directions.

[0020] In another optional solution, the autonomous moving device is a self-moving cleaning device, and the lifted object includes a wet cleaning element and / or a dry cleaning element.

[0021] By adopting the above technical solution, the present disclosure provides an autonomous mobile device. The autonomous mobile device includes a main body, an object to be lifted, and a lifting mechanism assembled together. The object to be lifted is installed on the main body through the lifting mechanism. Furthermore, the lifting mechanism includes a power source, a transmission member, a first connecting rod, and a second connecting rod. The transmission member is connected to the power source in a transmission manner, the first connecting rod is rotationally connected to both the main body and the transmission member, and the second connecting rod is rotationally connected to both the transmission member and the object to be lifted. In this way, in the process of the power source driving the transmission member to perform reciprocating motion, the transmission member drives the first connecting rod to rotate relative to the main body while driving the second connecting rod to rotate relative to the object to be lifted, and then the object to be lifted is driven by the second connecting rod to rotate relative to the main body, thereby causing the object to be lifted to rise and fall relative to the main body in the up and down directions during its rotation.

[0022] Thus, the present disclosure proposes a solution that enables a lifted object, for example, including dry cleaning elements and / or wet cleaning elements, to be raised and lowered relative to a main body as needed. The mechanism for implementing this solution is compact and has high stability and reliability. When the lifted object is in an ascending state relative to the main body, not only can the obstacle-crossing capability of the autonomous mobile device be improved, but the lifted object can also be separated from the travel surface on which the autonomous mobile device travels by a greater distance, and the lifted object will not cause contamination to the carpet on the travel surface. When the lifted object is in a descending state relative to the main body, the lifting mechanism can ensure that the lifted object, for example, including dry cleaning elements and / or wet cleaning elements, is in full contact with the travel surface, thereby performing effective dry cleaning and / or wet cleaning operations on the travel surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1A FIG1 is a perspective schematic diagram showing an autonomous mobile device according to the first embodiment of the present disclosure, in which some structures are omitted.

[0024] Figure 1B It shows Figure 1A Schematic top view of the autonomous mobile device in [1].

[0025] Figure 1C It shows Figure 1A Schematic diagram of an autonomous mobile device in which the object being lifted is in an elevated state relative to the host.

[0026] Figure 1D It shows Figure 1A Schematic side view of an autonomous mobile device in which the object being lifted is in an elevated state relative to the host.

[0027] Figure 1E It shows Figure 1A Schematic diagram of an autonomous mobile device in which the object being lifted is in a lowered state relative to the host.

[0028] Figure 1F It shows Figure 1A Schematic side view of an autonomous mobile device in which the object being lifted is in a lowered state relative to the host.

[0029] Figure 2A It shows Figure 1C A three-dimensional schematic diagram of an assembly of partial structures of an autonomous mobile device, wherein the lifted object is in an elevated state relative to the host.

[0030] Figure 2B and Figure 2C It shows Figure 2A Other three-dimensional schematic diagrams of the assembly.

[0031] Figure 2D It shows Figure 2A Schematic side view of the assembly.

[0032] Figure 2E It shows Figure 2A Schematic diagram of the main view of the assembly.

[0033] Figure 3A It shows Figure 1E A three-dimensional schematic diagram of an assembly of a partial structure of an autonomous mobile device, wherein the lifted object is in a lowered state relative to the host.

[0034] Figure 3B and Figure 3C It shows Figure 3A Other three-dimensional schematic diagrams of the assembly.

[0035] Figure 3D It shows Figure 3A Schematic side view of the assembly.

[0036] Figure 3E It shows Figure 3A Schematic diagram of the main view of the assembly.

[0037] Figure 4A FIG1 is a perspective schematic diagram showing an autonomous mobile device according to a second embodiment of the present disclosure, in which some structures are omitted.

[0038] Figure 4B It shows Figure 4A Schematic top view of the autonomous mobile device in [1].

[0039] Figure 4C It shows Figure 4A Schematic diagram of an autonomous mobile device in which the object being lifted is in an elevated state relative to the host.

[0040] Figure 4D It shows Figure 4A Schematic side view of an autonomous mobile device in which the object being lifted is in an elevated state relative to the host.

[0041] Figure 4E It shows Figure 4A Schematic diagram of an autonomous mobile device in which the object being lifted is in a lowered state relative to the host.

[0042] Figure 4F It shows Figure 4A Schematic side view of an autonomous mobile device in which the object being lifted is in a lowered state relative to the host.

[0043] Figure 5A It shows Figure 4CA three-dimensional schematic diagram of an assembly of partial structures of an autonomous mobile device, wherein the lifted object is in an elevated state relative to the host.

[0044] Figure 5B and Figure 5C It shows Figure 5A Other three-dimensional schematic diagrams of the assembly.

[0045] Figure 5D It shows Figure 5A Schematic side view of the assembly.

[0046] Figure 5E It shows Figure 5A Schematic diagram of the main view of the assembly.

[0047] Figure 6A It shows Figure 4E A three-dimensional schematic diagram of an assembly of a partial structure of an autonomous mobile device, wherein the lifted object is in a lowered state relative to the host.

[0048] Figure 6B and Figure 6C It shows Figure 6A Other three-dimensional schematic diagrams of the assembly.

[0049] Figure 6D It shows Figure 6A Schematic side view of the assembly.

[0050] Figure 6E It shows Figure 6A Schematic diagram of the main view of the assembly.

[0051] Description of Reference Numerals

[0052] 1—Host;

[0053] 2—object to be lifted; 21—frame; 211—rotating part; 22—drum;

[0054] 3—lifting mechanism; 31—power source; 32—transmission member; 33—first connecting rod; 34—second connecting rod; 35—screw; 36a—first shaft; 36b—second shaft; 36c—third shaft; 36d—fourth shaft; 36e—fifth shaft;

[0055] 4—rotate the supporting link;

[0056] D1—up and down direction; D2—left and right direction; D3—front and back direction. DETAILED DESCRIPTION

[0057] The following describes embodiments of the present disclosure with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements whose sizes and scales are different from the actual sizes and scales.

[0058] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "up (upper side)", and "down (lower side)" are all relative to the normal operating state of the autonomous mobile device according to the present disclosure. Specifically, the autonomous mobile device has a positive direction of movement (i.e., the positive direction) when in normal operating state. The so-called "normal operating state" refers to the moving state of the autonomous mobile device when performing a task, which is distinguished from non-normal operating states such as backward or swinging of the autonomous mobile device in the escape mode. "Front (front side)" and "rear (rear side)" refer to the front and rear sides of the autonomous mobile device in the positive forward direction when the autonomous mobile device according to the present disclosure is in normal operating state on a traveling surface (e.g., a surface to be cleaned). "Left (left side)" and "right (right side)" refer to the left and right sides when viewed from the front side in the positive forward direction. "Up (upper side)" and "Down (lower side)" refer to the upper and lower sides in the height direction perpendicular to the traveling surface when the autonomous mobile device according to the present disclosure is in normal operating state on the traveling surface.

[0059] In the present disclosure, an autonomous mobile device is capable of autonomous movement according to a control scheme preset in its processing unit. The surface on which the autonomous mobile device moves autonomously can be a flat surface or a curved surface with a large radius of curvature, typically the floor of a room in a building. The processing unit in the present disclosure is a general term, and the type, quantity, and form of the processing unit are not limited. Specifically, the processing unit can be one or more of an MCU, DSP, FPGA, or GPU, or other hardware chips, processors, or software algorithms with data processing and computing capabilities. Furthermore, the processing unit can be a unified, single processor for the autonomous mobile device, or a collection of multiple processing units. The connection method, functions, and computing power distribution of the multiple processing units can be adjusted as needed. For example, in one optional solution, the device may include a first processing unit and a second processing unit. In this case, the first and second processing units collectively implement the various functions of the aforementioned processing units. Furthermore, the processing unit of the autonomous mobile device of the present disclosure can receive parameters from the sensing component and, through a preset program stored in a storage unit, can control the autonomous mobile device. In the present disclosure, the data, information, and programs required by the processing unit during processing can be stored in a storage unit and retrieved from the storage unit as needed. The processing unit can then store the processed data, information, etc. again in the storage unit. The storage unit can be RAM, ROM, etc., or a device and / or equipment with storage capabilities such as a cloud / server / mobile terminal connected via a wired / wireless network.

[0060] In the present disclosure, unless otherwise specified, "lifting" refers to the lifting of an object of an autonomous mobile device rising and falling relative to a host device in the up and down directions.

[0061] In the present disclosure, “rotationally connected” between two components includes the following: the two components are directly connected and can rotate relative to each other; and the two components are connected via other components and can rotate relative to each other.

[0062] The autonomous mobile device according to the first embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0063] The autonomous mobile device according to the first embodiment of the present disclosure is a self-moving cleaning device having a wet cleaning component. Figures 1A to 1F As shown, the autonomous mobile device includes a host 1, a lifted object 2 and a lifting mechanism 3 assembled together. In this embodiment, as shown in FIG. Figures 1C to 1F As shown, the object 2 to be lifted includes a wet cleaning member, and the lifting mechanism 3 is used to achieve lifting of the object 2 in the up-down direction D1 relative to the host 1 .

[0064] In this embodiment, if Figure 1A and Figure 1BAs shown, the main unit 1 may include a housing having an overall generally circular shape. The shape of the housing is not limited thereto; in alternative embodiments, the housing may also have other shapes, such as an elliptical, D-shaped, or square shape. When the autonomous mobile device according to an embodiment of the present disclosure is in normal operation, the bottom surface of the housing faces the travel surface (e.g., the surface to be cleaned) and is parallel to the travel surface. Here, "parallel" not only includes the bottom surface of the housing and the travel surface being geometrically parallel, but also includes the situation where the two are approximately parallel. The above "approximately" means that within a reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. In addition, other components of the autonomous mobile device may be disposed in the housing. To support and protect these other components, the majority of the autonomous mobile device's structure is mounted within or on the surface of the housing, or is connected to the housing. The autonomous mobile device may also be provided with a processing unit and a sensing component within the housing. The processing unit can obtain environmental parameters through the sensing component. Based on the obtained environmental parameters, the processing unit can control the wheel assembly to drive the entire autonomous mobile device to autonomously move on the travel surface.

[0065] In this embodiment, if Figures 1A to 1F As shown, the object 2 to be lifted is mounted on the host 1 via the lifting mechanism 3. The object 2 to be lifted can rise relative to the host 1 in the vertical direction D1 of the autonomous mobile device (see Figure 1C and Figure 1D ) and decline (see Figure 1E and Figure 1F ). Specifically, Figure 2A and Figure 2B As shown, the object 2 to be lifted includes a frame 21 and a roller 22 assembled together.

[0066] like Figure 2A and Figure 2B As shown, the upper part of the front end of the frame 21 is rotatably connected to the second connecting rod 34, so that the second connecting rod 34 and the frame 21 can rotate relative to each other. The lower part of the rear end of the frame 21 is provided with a rotating part 211, which is rotatably connected to the main unit 1, so that the frame 21 and the main unit 1 can rotate relative to each other. The roller 22 is formed in a cylindrical shape, and the central axis of the roller 22 extends along the left-right direction D2. The roller 22 is mounted on the frame 21 and can rotate relative to the main unit 1 around its central axis. In this embodiment, the roller 22 is used as a wet cleaning member of the autonomous mobile device for wet cleaning of the traveling surface. During operation, the spray device of the autonomous mobile device sprays cleaning liquid on the traveling surface or the roller 22, and the roller 22 contacts the traveling surface and rotates to wet clean the traveling surface.

[0067] In this embodiment, if Figures 2A to 2DAs shown, the lifting mechanism 3 includes a power source 31, a transmission member 32, a first connecting rod 33, a second connecting rod 34, a screw 35 and five shafts (a first shaft 36a, a second shaft 36b, a third shaft 36c, a fourth shaft 36d and a fifth shaft 36e).

[0068] like Figure 2A and Figure 2B As shown, the power source 31 is a motor. The motor shaft of the motor is a lead screw 35 or is rigidly connected to the lead screw 35. Thus, the motor and lead screw 35 are drivingly connected to form a T-type lead screw motor, allowing the motor's torque to be transmitted to the lead screw 35 and driving the lead screw 35 to rotate. The lead screw 35 is inserted into the transmission member 32 and is permanently threadedly engaged with the transmission member 32. As a result, during operation of the power source 31, the lead screw 35 can drive the transmission member 32 to reciprocate along the lead screw 35. Thus, the lead screw 35, which is drivingly connected to the power source 31, and the transmission member 32, which is threadedly engaged with the lead screw 35, form a lead screw-nut mechanism, thereby achieving reciprocating motion of the transmission member 32 along the lead screw 35 with a relatively simple and reliable structure. Furthermore, when the power source 31 is not operating, the lead screw-nut mechanism can lock the transmission member 32 in a desired position, preventing undesirable movement of the transmission member 32. Furthermore, in this embodiment, the lead screw 35 extends linearly in a direction perpendicular to the left-right direction D2 of the autonomous mobile device. In fact, during the operation of the lifting mechanism 3, since the power source 31 is configured to rotate relative to the main body 1, the extension direction of the screw 35 may change, but the extension direction of the screw 35 is always perpendicular to the left-right direction D2.

[0069] It can be understood that in order to realize the reciprocating motion of the transmission member 32, in other optional solutions, other mechanisms such as a gear rack mechanism can be used to replace the screw and nut mechanism to achieve the same function.

[0070] like Figure 2A and Figure 2BAs shown, the first connecting rod 33 and the second connecting rod 34 constitute a connecting rod mechanism. The power source 31 drives the connecting rod mechanism via the above-mentioned screw and nut mechanism, thereby achieving the lifting of the object 2 in the vertical direction D1 relative to the main unit 1. Specifically, the first shaft 36a extends along the left-right direction D2 and is mounted on the upper end of the first connecting rod 33 and the main unit 1. The first connecting rod 33 and the main unit 1 are rotationally connected via the first shaft 36a, allowing the first connecting rod 33 and the main unit 1 to rotate relative to each other. The second shaft 36b extends along the left-right direction D2 and is located below the first shaft 36a in the vertical direction D1. The second shaft 36b is mounted on the transmission member 32, the lower end of the first connecting rod 33, and the upper end of the second connecting rod 34. The first connecting rod 33, the second connecting rod 34, and the transmission member 32 are rotatably connected via the second shaft 36b, enabling relative rotation between the first connecting rod 33 and the transmission member 32, relative rotation between the second connecting rod 34 and the transmission member 32, and relative rotation between the first connecting rod 33 and the second connecting rod 34. The third shaft 36c extends along the left-right direction D2 and is located below the second shaft 36b in the up-down direction D1. The third shaft 36c is attached to the lower end of the second connecting rod 34 and the object 2 to be lifted. The second connecting rod 34 and the object 2 to be lifted are rotatably connected via the third shaft 36c, enabling relative rotation between the second connecting rod 34 and the object 2 to be lifted. In this way, the first shaft 36a and the second shaft 36b are used to rotationally connect the first connecting rod 33 with the main unit 1 and the transmission member 32; the second shaft 36b and the third shaft 36c are used to rotationally connect the second connecting rod 34 with the lifted object 2 and the transmission member 32. Thus, the above-mentioned structure can reliably convert the reciprocating operation of the transmission member 32 into the lifting movement of the lifted object 2.

[0071] like Figure 2A and Figure 2B As shown, the fourth axis 36d extends along the left-right direction D2. The upper end of the housing of the power source 31 is mounted to the main unit 1 via the fourth axis 36d, allowing the power source 31 to rotate relative to the main unit 1 about the fourth axis 36d. As a result, as the power source 31 drives the transmission member 32, which in turn drives the linkage mechanism formed by the first and second connecting rods 33 and 34, the power source 31 can adjust its posture in accordance with the relative positions of the two connecting rods 33 and 34 in the linkage mechanism, eliminating the risk of the entire lifting mechanism 3 becoming stuck.

[0072] like Figure 2C and Figure 2DAs shown, the fifth axis 36e extends along the left-right direction D2 and is located below the connection between the second link 34 and the frame 21 in the up-down direction D1. The rotating portion 211 of the frame 21 is mounted to the main unit 1 via the fifth axis 36e, enabling the frame 21 to rotate relative to the main unit 1 about the fifth axis 36e. This allows the relatively compact structure to further increase the lifting range of the object 2 relative to the main unit 1. Furthermore, the object 2 is lifted and lowered without shaking, resulting in relatively high reliability and stability.

[0073] It will be appreciated that the scheme for achieving the rotational connection between the two components using the aforementioned axes can be adjusted as needed. Specifically, taking the first axis 36a as an example, the first axis 36a can be fixed to the upper end of the first connecting rod 33, and the portion of the first axis 36a protruding from the first connecting rod 33 can be inserted into the mounting slot of the main unit 1, thereby enabling the first connecting rod 33 to rotate relative to the main unit 1 about the first axis 36a. Alternatively, the first axis 36a can be fixed to the main unit 1, and the portion of the first axis 36a protruding from the main unit 1 can be inserted into the upper end of the first connecting rod 33, thereby enabling the first connecting rod 33 to rotate relative to the main unit 1 about the first axis 36a. Alternatively, the first axis 36a is not fixed to either the first connecting rod 33 or the main unit 1, and the first axis 36a is inserted into both the first connecting rod 33 and the main unit 1, thereby enabling the first connecting rod 33 to rotate relative to the main unit 1 about the first axis 36a. In other words, there are multiple options for the rotational connection between the first connecting rod 33 and the main unit 1 via the first axis 36a, which can be adjusted as needed. In addition, the solutions for realizing the rotational connection of different components on other shafts are similar to those of the first shaft 36a and will not be described in detail here.

[0074] It can be understood that after the object 2 is lifted and lowered relative to the main machine 1, a signal can be sent to the processing unit through the limit switch or the motor encoder, and the processing unit controls the power source 31 to perform corresponding actions.

[0075] The following reference Figures 1A to 3E The working process of the autonomous mobile device according to the first embodiment of the present disclosure is described.

[0076] When the autonomous mobile device detects an obstacle or a carpet on the traveling surface, the processing unit of the autonomous mobile device controls the power source 31 to start running, and the power source 31 drives the transmission member 32 to move along the screw 35 toward the power source 31 via the screw nut mechanism. As the transmission member 32 moves, the first connecting rod 33 and the second connecting rod 34 move from Figures 3A to 3E The expanded state gradually changes to Figures 2A to 2E During this process, the object 2 being lifted rotates relative to the main body 1 around the portion connected to the main body 1 (for example, the fifth axis 36e). Finally, the object 2 being lifted is in the state as shown in FIG. Figure 1C and Figure 1D The state shown is raised relative to host 1.

[0077] When the autonomous mobile device needs to wet clean the travel surface, for example, the processing unit of the autonomous mobile device controls the power source 31 to start running, and the power source 31 drives the transmission member 32 to move away from the power source 31 along the screw 35 via the screw nut mechanism. Figures 2A to 2E The folded state gradually transforms into Figures 3A to 3E In the unfolded state, the object 2 is rotated relative to the main body 1 around the part connected to the main body 1 (such as the fifth axis 36e). Figure 1E and Figure 1F Shown is a descending state relative to host 1.

[0078] By adopting the above-described solution, in this embodiment, the transmission member 32 is transmission-connected to the power source 31, enabling the power source 31 to drive the transmission member 32 to reciprocate. The first connecting rod 33 is rotationally connected to both the main unit 1 and the transmission member 32, and the second connecting rod 34 is rotationally connected to both the transmission member 32 and the object 2 being lifted. Furthermore, the housing of the power source 31 is rotationally connected to the main unit 1, enabling relative rotation between the power source 31 and the main unit 1. Furthermore, the frame 21 of the object 2 being rotationally connected to the main unit 1 allows the object 2 to rotate relative to the main unit 1. Thus, the above-described structure enables the object 2 to have a wide rotation range relative to the main unit 1, that is, a wide lifting range relative to the main unit 1. This improves the obstacle-crossing capability of the autonomous mobile device when the object 2 is elevated relative to the main unit, and allows the object 2 to maintain a greater distance from the travel surface on which the autonomous mobile device traverses, preventing the object 2 from contaminating the travel surface (e.g., carpet). When the object to be lifted 2 is in a descending state relative to the main body, the lifting mechanism 3 can apply sufficiently large pressure to the object to be lifted 2, which includes, for example, dry cleaning parts and / or wet cleaning parts, so that the object to be lifted 2 is in full contact with the traveling surface, thereby performing an effective wet cleaning operation on the traveling surface.

[0079] The autonomous mobile device according to the second embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0080] The structure of the autonomous mobile device according to the second embodiment of the present disclosure is substantially the same as that of the autonomous mobile device according to the first embodiment of the present disclosure, and the differences between the two are mainly described below.

[0081] In this embodiment, the frame 21 of the object 2 to be lifted is not rotatably connected to the main machine 1 via a shaft. Figure 5A and Figure 5B Shown and see Figure 4C The autonomous mobile device includes four rotating support links 4, which are located above the object 2 to be lifted in the vertical direction D1. Each rotating support link 4 extends in a direction perpendicular to the left-right direction D2 and is parallel to one another. One end of each rotating support link 4 is rotationally connected to the frame 21, and the other end is rotationally connected to the main unit 1, so that the object 2 to be lifted is rotationally connected to the main unit 1 via the multiple rotating support links 4. In addition, the second link 34 is rotationally connected to the front end of the frame 21, and each rotating support link 4 is rotationally connected to the rear end of the frame 21. Each rotating support link 4 has the same length and extends across the object 2 to be lifted in the front-to-back direction D3. This allows the lifting range of the object to be lifted relative to the main unit 1 to be larger, and the object 2 to have a smaller relative displacement in the front-to-back direction D3 during rotation, thereby saving space occupied by the mechanism for lifting the object 2 to be lifted.

[0082] Furthermore, if Figure 5A and Figure 5B As shown, every two of the four rotation support links 4 form a double-link assembly. The different double-link assemblies are spaced apart in the left-right direction D2, and the rotation support links 4 in each double-link assembly are located at the same position in the left-right direction D2. Using multiple double-link assemblies to support the object 2 to be lifted can improve the structural stability of the mechanism that performs the lifting function of the object 2 to be lifted.

[0083] The following reference Figures 4A to 6E The working process of the autonomous mobile device according to the second embodiment of the present disclosure is described.

[0084] When the autonomous mobile device detects an obstacle or a carpet on the traveling surface, the processing unit of the autonomous mobile device controls the power source 31 to start running, and the power source 31 drives the transmission member 32 to move along the screw 35 toward the power source 31 via the screw nut mechanism. As the transmission member 32 moves, the first connecting rod 33 and the second connecting rod 34 move from Figures 6A to 6E The expanded state gradually changes to Figures 5A to 5E In the folded state, during this process, the object 2 is rotated relative to the main body 1 via the four rotating support links 4. Finally, the object 2 is in the folded state. Figure 4C and Figure 4D The state shown is raised relative to host 1.

[0085] When the autonomous mobile device needs to wet clean the travel surface, for example, the processing unit of the autonomous mobile device controls the power source 31 to start running, and the power source 31 drives the transmission member 32 to move away from the power source 31 along the screw 35 via the screw nut mechanism. Figures 5A to 5E The folded state gradually transforms into Figures 6A to 6E In the unfolded state, during this process, the object 2 is rotated relative to the main body 1 via the four rotating support links 4. Finally, the object 2 is in the unfolded state. Figure 4E and Figure 4F Shown is a descending state relative to host 1.

[0086] Therefore, in this embodiment, the same technical effects as those described in the first embodiment can be achieved, and the object 2 to be lifted can be lifted to a greater extent relative to the host 1 than in the first embodiment.

[0087] It should be understood that the above embodiments are merely exemplary and are not intended to limit the present disclosure. Those skilled in the art may, under the guidance of the present disclosure, make various modifications and alterations to the above embodiments without departing from the scope of the present disclosure. The following supplementary explanations are provided for the technical solutions of the present disclosure.

[0088] i. It can be understood that in addition to the examples of self-moving cleaning devices described in the above specific embodiments, the technical concepts of the present disclosure can also be applied to other autonomous mobile devices. The above-mentioned autonomous mobile devices generally refer to intelligent mobile devices that autonomously perform preset tasks, including self-moving cleaning devices that implement similar functions to the self-moving cleaning devices described in the above embodiments (such as intelligent sweepers, intelligent floor scrubbers, window cleaning robots), companion mobile robots (such as intelligent electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent equipment (such as power inspection robots, intelligent forklifts, etc.), security robots (such as household or commercial intelligent guard robots), etc., which are two-dimensional planar mobile robots with wheels or tracks as drive units. Of course, the solution of the present disclosure can also be applied to other fields, which will not be exhaustively explained.

[0089] ii. In the above specific embodiments, the autonomous mobile device is described as a self-propelled cleaning device and includes a wet cleaning assembly, wherein the wet cleaning assembly includes a roller 22 as a wet cleaning member. However, the present disclosure is not limited thereto. For example, in an alternative embodiment, the wet cleaning assembly may also use a mop or rag in place of the roller 22.

[0090] In the above specific embodiments, it is described that the lifted object 2 includes a wet cleaning part of the self-mobile cleaning device, but the present disclosure is not limited to this. For example, in an optional solution, the lifted object 2 may also include a dry cleaning part of the self-mobile cleaning device. To this end, the self-mobile cleaning device may also include a dry cleaning component provided on the main unit 1 and may include, for example, dry cleaning parts such as a main brush, as well as side brushes (side brushes) and a suction device. In the front-to-back direction D3, the dry cleaning part may be located in front of the wet cleaning part. Thus, when the autonomous mobile device is traveling on the traveling surface, the surface to be cleaned may be cleaned by the dry cleaning component and / or the wet cleaning component. In different working modes, the cleaning operations performed by the autonomous mobile device include, but are not limited to, one or more of sweeping, mopping, vacuuming, and the like.

[0091] iii. In order to achieve autonomous movement of the autonomous mobile device, the self-moving cleaning device according to the present disclosure includes a wheel assembly. The wheel assembly can be mounted on the main unit 1 and protrude relative to the bottom surface of the main unit 1, and is used to drive the entire autonomous mobile device to move on the travel surface under the control of the processing unit. By making the wheels (drive wheels) of the two wheel assemblies rotate at the same speed and in the same direction (for example, rotating clockwise or counterclockwise at the same time), the autonomous mobile device can be driven to move linearly along the forward direction; by making the drive wheels of the two wheel assemblies rotate at different speeds and / or different directions (for example, one drive wheel rotates clockwise and the other drive wheel rotates counterclockwise), the autonomous mobile device can be driven to turn in a direction different from the forward direction. The autonomous mobile device may also include a universal wheel provided on the main unit 1, so that no matter how the drive wheel rolls on the travel surface, the universal wheel can provide support for the entire autonomous mobile device.

Claims

1. An autonomous mobile device, characterized in that It includes a main machine, an object to be lifted and a lifting mechanism, wherein the object to be lifted is mounted on the main machine through the lifting mechanism. The lifting mechanism includes a power source, a transmission member, a first connecting rod and a second connecting rod. The transmission member is in transmission connection with the power source, the first connecting rod is rotationally connected to the main machine and the transmission member, and the second connecting rod is rotationally connected to the transmission member and the object to be lifted, so that the power source can drive the transmission member to perform reciprocating motion, and then drive the object to be lifted to rise and fall relative to the main machine in the upper and lower directions of the autonomous mobile device via the first connecting rod and the second connecting rod.

2. The autonomous mobile device according to claim 1, characterized in that The lifting mechanism includes a lead screw that is transmission-connected to the power source, the extension direction of the lead screw is perpendicular to the left-right direction of the autonomous mobile device, and the lead screw is inserted into the transmission member and is always threadedly engaged with the transmission member.

3. The autonomous mobile device according to claim 2, characterized in that The lifting mechanism further comprises: a first shaft extending along the left-right direction, the first shaft being mounted on an upper end portion of the first connecting rod and the main machine; a second shaft extending in the left-right direction, the second shaft being located below the first shaft in the up-down direction, and the second shaft being mounted to the transmission member, the lower end of the first connecting rod, and the upper end of the second connecting rod; and A third shaft extends in the left-right direction, is located below the second shaft in the up-down direction, and is attached to a lower end portion of the second link and the object to be lifted.

4. The autonomous mobile device according to claim 1, wherein: The lifting mechanism further includes a fourth axis extending along the left-right direction of the autonomous mobile device, and the power source is mounted on the host via the fourth axis so that the power source can rotate relative to the host around the fourth axis.

5. The autonomous mobile device according to any one of claims 1 to 4, characterized in that The object to be lifted includes a frame, the second connecting rod is rotatably connected to the front end of the frame, and the rear end of the frame is rotatably connected to the main machine.

6. The autonomous mobile device according to claim 5, characterized in that The lifting mechanism also includes a fifth axis, which extends along the left and right directions of the autonomous mobile device. The fifth axis is located on the lower side of the second connecting rod in the up and down directions. The frame is installed on the main unit via the fifth axis so that the frame can rotate relative to the main unit around the fifth axis.

7. The autonomous mobile device according to any one of claims 1 to 4, characterized in that The autonomous mobile device also includes a plurality of rotating support links parallel to each other, the object to be lifted includes a frame, one end of each rotating support link is rotatably connected to the frame and the other end is rotatably connected to the host, so that the object to be lifted is rotatably connected to the host via the plurality of rotating support links.

8. The autonomous mobile device according to claim 7, characterized in that The plurality of rotation support links are located above the object to be lifted in the up-down direction, and the extending direction of each rotation support link is perpendicular to the left-right direction of the autonomous mobile device. The second link is rotatably connected to the front end of the frame, each of the rotation support links is rotatably connected to the rear end of the frame, and each of the rotation support links extends across the object to be lifted in the front-to-rear direction of the autonomous mobile device.

9. The autonomous mobile device according to claim 8, characterized in that Every two rotation support links among the plurality of rotation support links constitute a double link assembly, different double link assemblies are arranged at intervals in the left-right direction, and the rotation support links in each double link assembly are located at the same position in the left-right direction.

10. The autonomous mobile device according to any one of claims 1 to 4, characterized in that The autonomous moving device is a self-moving cleaning device, and the lifted object includes a wet cleaning piece and / or a dry cleaning piece.

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