Cleaning robot

Abstract

The utility model discloses a cleaning robot. The cleaning robot comprises a moving platform; a wet cleaning member; the wet-type cleaning piece is supported below the moving platform by the supporting structure; the first end of the supporting structure is connected with the movable platform, the second end of the supporting structure is variable between a first height and a second height relative to the height of the first end, and the second height is smaller than the first height; the extension and retraction of the rope drive the height change of the second end of the supporting structure relative to the first end; and the limiting block is in contact with the supporting structure when the height reaches the second height so as to prevent the height from continuing to decrease after the height reaches the second height. In addition, the limiting block can enable extra acting force to be counteracted by pressure and / or friction force between the limiting block and the supporting structure, the rope cannot bear larger acting force, and therefore the service life of the rope can be prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular to a cleaning robot. Background Art

[0002] In related cleaning robots, such as sweeping / mopping robots, a wet cleaning element is supported beneath the robot's mobile platform to perform mopping. To prevent the wet cleaning element from wetting plush surfaces like carpets, a wet cleaning element lift function is provided. The wet cleaning element is raised to avoid plush surfaces and lowered to mop. The distance between the wet cleaning element and the mobile platform can be controlled by adjusting the length of the rope, thereby controlling the raising and lowering of the wet cleaning element. However, ropes currently have a short service life. Utility Model Content

[0003] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In view of this, the present application provides a cleaning robot, wherein the cleaning robot includes a limit block and a support structure, wherein the first end and the second end of the support structure are connected to the mobile platform and the wet cleaning part respectively; the limit block contacts the support structure when the height of the second end of the support structure relative to the first end reaches the maximum height, so as to prevent the height from continuing to decrease after reaching the second height. If the sweeping robot is turned over by the user for inspection, or the wet cleaning part is stuck by an obstacle, if the limit block is not provided, the rope will be subjected to a force greater than the gravity of the wet cleaning part. When the limit block is provided, the force is offset by the pressure and / or friction between the limit block and the support structure, and the rope will not be subjected to a greater force, thereby increasing the service life of the rope. In addition, the limit block only takes up a small amount of space, which is conducive to the miniaturization of the cleaning robot.

[0005] Specifically, the following technical solutions are included:

[0006] The present application provides a pallet cleaning robot, the cleaning robot comprising:

[0007] Mobile platforms;

[0008] Wet cleaning parts;

[0009] a support structure, wherein the wet cleaning element is supported by the support structure below the movable platform; a first end of the support structure is connected to the movable platform, and a second end of the support structure is variable in height relative to the first end between a first height and a second height, wherein the second height is less than the first height;

[0010] a rope, the extension and contraction of the rope driving a change in the height of the second end of the support structure relative to the first end;

[0011] The limiting block contacts the supporting structure when the height reaches the second height to prevent the height from continuing to decrease after reaching the second height.

[0012] Optionally, the limiting block is arranged on a moving path of the supporting structure so that the height continues to increase after the height reaches the second height.

[0013] Optionally, the supporting structure is a connecting rod group, and the contact surface between the limit block and the supporting structure is an inclined plane with a target angle, and the target angle is the inclination angle of the connecting rod group when the height reaches the second height.

[0014] Optionally, the limiting block is fixedly connected to the movable platform or the wet cleaning member, and / or both ends of the supporting structure are hinged to the movable platform and the wet cleaning member respectively.

[0015] Optionally, the cleaning robot further includes a fixed part, which is fixedly connected to the wet cleaning part, and the connection with the wet cleaning part includes the connection with the fixed part; and / or, the cleaning robot further includes a bracket, which is fixedly connected to the mobile platform; the connection with the mobile platform includes the connection with the bracket.

[0016] Optionally, the plane where the fixing portion is located is perpendicular to the plane where the wet cleaning part is located, the supporting structure is a connecting rod group, and the connecting rod group rotates on the first surface of the plane where the fixing portion is located; when the connecting rod group rotates, the side wall of the connecting rod group is perpendicular to the plane where the fixing portion is located; the limit block is relatively fixed to the fixing portion, and the contact surface between the limit block and the supporting structure is perpendicular to the plane where the fixing portion is located; the setting position of the limit block is such that when the height reaches the second height, the contact surface contacts the side wall of the connecting rod group.

[0017] Optionally, at least one limiting block is protruding from the fixing portion in a direction perpendicular to the fixing portion.

[0018] Optionally, both ends of the rope are connected to the moving platform and the wet cleaning element respectively.

[0019] Optionally, the rope continues to extend to a specified length after the height of the second end relative to the first end reaches a second height.

[0020] Optionally, the cleaning robot also includes: a bracket, which is fixedly connected to the mobile platform; a lifting drive unit, which includes a bobbin; the lifting drive unit and at least one bracket are distributed on both sides of the wet cleaning part along the width direction of the cleaning robot; the two ends of the rope are respectively connected to the mobile platform and the wet cleaning part, including: one end of the rope is fixedly connected to the bracket, and the other end of the rope is fixedly connected to the bobbin, and the elongation and shortening of the rope is controlled by controlling the number of turns of the rope wrapped around the bobbin.

[0021] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 is a perspective view of a cleaning robot according to one embodiment of the present application;

[0024] Figure 2 is a bottom view of a cleaning robot according to one embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a cleaning robot according to one embodiment of the present application;

[0026] Figure 4A is a schematic diagram of a first side of a wet cleaning element according to one embodiment of the present application;

[0027] Figure 4B is a schematic diagram of a second side of a wet cleaning element according to one embodiment of the present application;

[0028] Figure 5 Schematic diagram of three exemplary arrangements of a limit block according to an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of a rope having a first length according to an embodiment of the present application;

[0030] Figure 7 is a schematic diagram of a rope between a first length and a second length according to one embodiment of the present application;

[0031] Figure 8A is a schematic diagram of a rope having a second length according to an embodiment of the present application;

[0032] Figure 8B is another schematic diagram showing a rope of a second length according to an embodiment of the present application;

[0033] Figure 9 is a schematic diagram of a rope having a third length according to an embodiment of the present application;

[0034] Figure 10 is a schematic diagram of a wet cleaning element in a lowered position according to an embodiment of the present application;

[0035] Figure 11 FIG1 is a schematic diagram showing a wet cleaning element in a raised position according to an embodiment of the present application.

[0036] in, Figures 1 to 11 The corresponding relationship between the reference numerals and component names is as follows:

[0037] 100 cleaning robot, 110 mobile platform, 120 wet lifting module, 131 first bracket, 1311 crossbeam, 1312 longitudinal beam, 1313 through hole, 1314 blind groove, 1315 slot, 132 second bracket, 133 first connecting rod group, 1331 first connecting rod, 1332 second connecting rod, 134 second connecting rod group, 1341 third connecting rod, 1342 fourth connecting rod, 135 first limit block, 136 second limit block, 137 first fixing part, 138 second fixing part, 139 support beam, 1391 wiring trough, 140 rope, 150 wire trough, 160 housing of lifting drive unit, 170 third limit block. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to understand the present application more clearly, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of this application.

[0039] In the absence of contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined. In addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0040] In the embodiments of the present application, unless otherwise specified or provided for, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0041] The prefixes "first" and "second" in the embodiments of this application are used only to distinguish different description objects and do not limit the position, order, priority, value, or content of the description objects. For the description of the description objects, please refer to the context description in the claims or embodiments, and the use of prefixes should not constitute unnecessary restrictions. The connections in the embodiments of this application can be direct connections or indirect connections.

[0042] The specific technical solutions will now be described in detail with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different figures. The use of similar or identical reference numerals in different figures does not imply that all figures including similar or identical reference numerals constitute a single or identical embodiment. The accompanying drawings generally illustrate various embodiments discussed in this application by way of example and not limitation.

[0043] Cleaning robots are becoming more and more popular in users' homes, and they greatly simplify daily cleaning tasks. Figure 1-2 As shown, a cleaning robot 100, such as a sweeping robot, a mopping robot, or a sweeping and mopping robot, can automatically move on an operating surface to clean the operating surface. The operating surface can be a floor surface, a tile surface, a carpet, etc. The carpet can also include short-pile carpets and long-pile carpets.

[0044] Exemplarily, the cleaning robot 100 includes a mobile platform 110, a sensing module, a controller, a driving module, a cleaning system, an energy system, and a human-computer interaction module. Figure 1 As shown, the movable platform 110 includes a forward portion 111 and a rearward portion 112, and has a substantially circular shape (both the front and rear portions are circular). Other shapes are also possible, including but not limited to a substantially D-shaped shape with a front and rear portion being circular, and a rectangular or square shape with a front and rear portion being rectangular. The movable platform 110 can move on the work surface to drive the cleaning system to clean the work surface.

[0045] The perception module includes a position determination device located on the mobile platform 110, a collision sensor provided on the front collision structure of the forward portion 111 of the mobile platform 110, a proximity sensor (wall sensor) located on the side of the mobile platform 110, a cliff sensor provided at the bottom of the mobile platform 110, and a magnetometer, accelerometer, gyroscope, odometer and other sensing devices provided inside the mobile platform 110, which are used to provide the controller with various position information and motion state information of the cleaning robot. In addition, the position determination device can also be used to determine information about obstacles, such as the height, width and other dimensional information of the obstacles, to determine whether the robot can cross them. The position determination device includes but is not limited to a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor). In some preferred implementations, the position determination device (such as a camera, laser sensor, etc.) is located on the front side of the mobile platform 110, that is, at the very front end of the forward portion 111, so as to be able to more accurately sense the environment in front of the cleaning robot and achieve precise positioning.

[0046] The controller is located on a circuit board within the mobile platform 110 and includes a computing processor, such as a central processing unit or an application processor, that communicates with non-transitory memory, such as a hard disk, flash memory, or random access memory. The application processor utilizes a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back by the laser rangefinder to create a real-time map of the environment in which the cleaning robot 100 is located. Furthermore, the application processor combines distance and speed information fed back by sensors, such as sensors on the front impact structure, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers, to comprehensively determine the current operating state and location of the cleaning robot 100, as well as its current posture, such as when crossing a threshold, on a carpet, on a cliff, stuck above or below, when the dust box is full, or when it has been lifted up. The application processor also provides specific next-step action strategies for different situations, thereby improving cleaning performance and user experience for the cleaning robot 100.

[0047] The drive module can manipulate the mobile platform 110 to travel across the ground based on a drive command with distance and angle information. The drive module includes a drive wheel module, which can control a left drive wheel and a right drive wheel. In order to more accurately control the movement of the robot, it is preferred that the drive wheel include a left drive wheel module and a right drive wheel module respectively. The left and right drive wheel modules are arranged along the transverse axis defined by the mobile platform 110. In order to enable the cleaning robot 100 to move more stably or have stronger mobility on the ground, the cleaning robot 100 may include one or more driven wheels, including but not limited to universal wheels. The drive wheel module includes a drive motor and a control circuit that controls the drive motor. The drive wheel module can also be connected to a circuit and an odometer that measure the drive current. In addition, the left and right drive wheels can have a biased drop-down suspension system, which is fastened in a movably manner, for example, rotatably attached to the mobile platform 110 and receives a spring bias that biases downward and away from the mobile platform 110. The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 100 also contact the ground with a certain pressure.

[0048] The cleaning system may include a dry cleaning system and / or a wet cleaning system. The dry cleaning system may include a roller brush, a dust box, a fan, and an air outlet. The roller brush, which has some contact with the ground, sweeps up debris from the ground and carries it to the front of the dust suction port between the roller brush and the dust box. The air is then drawn into the dust box by the suction force generated by the fan and passing through the dust box. The dry cleaning system may also include a side brush with a rotating shaft that is angled relative to the ground to move debris into the roller brush area of ​​the cleaning system.

[0049] The wet cleaning system may include: a wet cleaning unit 120, a lifting unit, a water supply mechanism, a liquid storage tank, etc. The wet cleaning unit 120 may be positioned below the liquid storage tank. Cleaning liquid within the liquid storage tank is transferred to the wet cleaning unit 120 via the water supply mechanism, enabling the wet cleaning unit 120 to wet clean the work surface. In some preferred embodiments, the cleaning liquid within the liquid storage tank may be sprayed directly onto the surface to be cleaned, with the wet cleaning unit 120 evenly applying the cleaning liquid to the surface.

[0050] For example, when the wet cleaning element 120 is temporarily not involved in the work, the lifting unit can be used to lift the wet cleaning element 120 away from the operating surface. When the wet cleaning element 120 is needed to participate in the work, the lifting unit can be used to lower the wet cleaning element 120 to contact the operating surface. For example, when the cleaning robot 100 is docked at the base station to clean the wet cleaning element, or when encountering an operating surface that cannot be cleaned by the wet cleaning element 120, the wet cleaning element 120 is temporarily not involved in the work.

[0051] For example, the wet cleaning element 120 may be supported on the bottom of the mobile platform 110 , for example, on the bottom of the rear portion of the mobile platform 110 . In this case, the wet cleaning element 120 is installed at the tail of the cleaning robot.

[0052] Exemplarily, the wet cleaning member 120 includes a drag plate and a mop disposed on the drag plate. Alternatively, the drag plate may further include a drag plate body and a support portion, wherein the drag plate body is detachably connected to the support portion, and the mop is disposed on the drag plate body.

[0053] Exemplarily, the wet cleaning system further includes a reciprocating motion driving unit, which drives the mop to perform high-frequency reciprocating motion, generating high-frequency friction with the operating surface, thereby removing stains on the operating surface.

[0054] Exemplarily, the lifting unit may include a rope, a lifting drive unit, a bracket, and a connecting rod group. Exemplarily, the wet cleaning member 120 is supported to the bottom of the mobile platform 110 by the bracket. Exemplarily, when the wet cleaning member 120 is installed at the tail of the sweeping robot, the wet cleaning member 120 is supported to the bottom of the rear portion of the mobile platform 110 by the bracket. Exemplarily, the two ends of the connecting rod pair are respectively rotatably connected to the bracket and the wet cleaning member 120 (for example, the drag plate of the wet cleaning member 120 or the support portion of the wet cleaning member 120), and the lifting drive unit controls the length of the rope, thereby driving the wet cleaning member 120 to rise and fall relative to the bracket.

[0055] The energy system includes rechargeable batteries, such as nickel-metal hydride and lithium-ion batteries. These batteries are connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to the microcontroller control circuit. The main unit is charged via charging electrodes located on the side or bottom of the device, connected to a charging station.

[0056] The human-computer interaction module includes buttons on the host panel, which are used by the user to select functions; it may also include a display screen and / or indicator lights and / or speakers, which display the current mode of the machine or the function selection items to the user; it may also include a mobile client program. For the path navigation type automatic cleaning robot 100, the mobile client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide the user with more abundant and humanized functions. Specifically, the cleaning robot has multiple modes, such as working mode, self-cleaning mode, etc. Among them, the working mode refers to the mode in which the cleaning robot performs automatic cleaning operations, and the self-cleaning mode refers to the mode in which the cleaning robot removes dirt from the roller brush and side brush on the base, automatically collects dirt, and / or automatically washes and dries the mop.

[0057] For ease of description, the following direction definitions are made: the cleaning robot 100 can be calibrated by defining the following three mutually perpendicular axes: the transverse axis Y, the front-to-back axis X, and the vertical axis Z. The direction indicated by the arrow along the front-to-back axis X is marked as "backward", and the direction opposite to the arrow direction along the front-to-back axis X is marked as "forward". The transverse axis Y is essentially along the width of the cleaning robot 100. The direction of the arrow along the transverse axis Y is marked as "left", and the direction opposite to the arrow along the transverse axis Y is marked as "right". The direction perpendicular to both the front-to-back axis X and the transverse axis Y is the direction of the vertical axis Z.

[0058] In the cleaning robot, the wet cleaning member 120 can be supported at the bottom of the rear portion of the mobile platform 110 (i.e., supported on the lower housing of the cleaning robot's main body). The distance between the wet cleaning member 120 and the mobile platform 110 can be controlled by a length-adjustable rope 140. When the rope 140 is shortened to a first length, the wet cleaning member 120 is in an ascending position; when the rope 140 is extended to a second length, the wet cleaning member 120 is in a descending position. The rope 140 supports the weight of the wet cleaning member 120.

[0059] The service life of the rope 140 is not long. The reason is that when the wet cleaning part 120 is in the lowered position, if the cleaning robot 100 is turned over by the user for inspection, the gravity of the entire mobile platform will act on the rope 140, causing it to bear a greater force than the gravity of the wet cleaning part 120; when the wet cleaning part 120 is in the lowered position, if the wet cleaning part 120 is stuck by an obstacle, the rope 140 will also be subjected to a greater force than the gravity of the wet cleaning part 120, thereby affecting the service life of the rope 140.

[0060] If a hanging platform structure and a hanging point structure are respectively provided on the mobile platform 110 and the wet cleaning component 120, when the cleaning robot 100 is turned over by the user for inspection, the hanging platform structure of the mobile platform 110 and the hanging point structure of the wet cleaning component 12 will abut against each other, and the gravity of the mobile platform 110 will act on the hanging point structure, thereby preventing the rope from being subjected to excessive force; when the wet cleaning component 120 is stuck by an obstacle, the hanging point structure of the wet cleaning component 12 will abut against the hanging platform structure of the mobile platform 110, and the drag of the obstacle on the wet cleaning component 120 will act on the hanging platform structure, thereby preventing the rope from being subjected to excessive force. However, the installation of the hanging point structure and the hanging platform requires a certain amount of space, which is not conducive to the miniaturization of the cleaning robot.

[0061] The solution of the present application can solve the problem of how to prevent the rope 140 from being subjected to excessive force by using a rope protection structure that occupies a relatively small space.

[0062] Figure 3 The wet cleaning element 120 and some of its related components are shown. Figure 3As shown, one embodiment of the present application provides a cleaning robot 100, which includes:

[0063] Mobile platform 110( Figure 3 not shown).

[0064] Wet cleaning element 120 .

[0065] The wet cleaning member 120 can be switched between an ascending position and a descending position. When the wet cleaning member 120 is in the ascending position, it is closest to the movable platform 110 and farthest from the operating surface, allowing it to avoid the operating surface. When the wet cleaning member 120 is in the descending position, it is farthest from the movable platform 110 and closest to the operating surface, allowing it to clean a portion of the operating surface.

[0066] The wet cleaning element is supported by the supporting structure below the mobile platform; the first end of the supporting structure is connected to the mobile platform, and the height of the second end of the supporting structure relative to the first end is variable between a first height and a second height, and the second height is smaller than the first height.

[0067] The support structure connects and supports the wet cleaning element 120. Movement of the support structure (e.g., telescoping, translation, rotation) affects the height of the second end of the support structure relative to the first end. The support structure may be a connecting rod type support structure, a scissors type support structure, a mast type support structure, a sleeve type support structure, a parallelogram type support structure, etc.

[0068] The height of the second end of the support structure relative to the first end is the height difference between the second end and the first end. The height of the second end relative to the first end can vary between a maximum height (first height) and a minimum height (second height). When the height of the second end of the support structure relative to the first end (i.e., the height difference between the second end and the first end) is at its maximum height (the second end is at its highest point), the wet cleaning member 120 is in an ascending position. When the height of the second end of the support structure relative to the first end (i.e., the height difference between the second end and the first end) is at its minimum height (the second end is at its lowest point), the wet cleaning member 120 is in a descending position. It is understood that the maximum and minimum heights herein are considered positive and negative, not just absolute values. For example, a height of -9 relative to the first end of the second end is less than a height of 2 relative to the first end. The height of the second end relative to the first end can be a positive number, meaning the second end is higher than the first end, and a negative number, meaning the second end is lower than the first end.

[0069] The rope 140, the extension and contraction of the rope drives the change in height of the second end of the support structure relative to the first end.

[0070] The first end is connected to the mobile platform 110, the height of the mobile platform 110 remains unchanged, the height of the first end remains unchanged, and the extension and shortening of the rope 140 causes the height of the second end of the support mechanism relative to the first end to change, thereby realizing the vertical rise or fall of the wet cleaning member 120.

[0071] For example, the wet cleaning element 120 can be detected in position during its ascent and / or descent. This detection can be performed by providing a position sensor or by detecting the length of the rope. For example, upon detecting that the wet cleaning element 120 has reached the ascending position, the rope 140 is no longer shortened. For example, upon detecting that the rope 140 has reached a preset length, the rope 140 is no longer extended.

[0072] The limiting block contacts the support structure when the height of the second end relative to the first end reaches a second height, so as to prevent the height of the second end relative to the first end from continuing to decrease after reaching the second height.

[0073] It can be understood that reaching the second height here refers to decreasing to the second height.

[0074] When the height of the second end relative to the first end changes, the position, angle, etc. of the supporting structure change. The limit block can be set at such a position that when the height of the second end relative to the first end does not reach the second height, the limit block does not contact the supporting structure. When the height of the second end relative to the first end reaches the second height, the limit block contacts the supporting structure to prevent the height of the second end of the supporting structure from continuing to decrease relative to the first end.

[0075] like Figure 5 As shown, the hollow rectangle is the support structure, the filled figure is the limit block, the black arrow indicates the moving direction of the support structure required to further reduce the height difference after the height difference between the second end and the first end reaches the second height, and the black straight line indicates the moving platform. Figure 5 It shows the state when the height of the second end of the supporting structure relative to the first end reaches the second height. When the height difference between the second end and the first end does not reach the second height, the limit block does not affect the movement of the supporting structure. After reaching the second height, if the height of the second end relative to the first end is to continue to decrease, it will be blocked by the limit block. Figure 5 The following examples illustrate three ways to set limit blocks.

[0076] When the height of the second end relative to the first end reaches the second height, if the robot vacuum is turned over for inspection by the user, or if the wet cleaning element becomes stuck on an obstacle, the rope may be subjected to a greater force. However, due to the presence of the stopper, the height of the second end relative to the first end will not increase further. This force is offset by the pressure and / or friction between the stopper and the support structure, preventing the rope from being subjected to greater force and being stretched, thereby increasing its service life. Furthermore, the stopper only takes up a small amount of space, which facilitates the miniaturization of the cleaning robot.

[0077] In a feasible embodiment, the limiting block is provided on the moving path of the supporting structure so as to continue to increase the height after the height reaches the second height.

[0078] The shape and size of the stop block are not limited; they only need to prevent the support structure from moving in a manner that further reduces the height difference. When the height of the second end relative to the first end changes, the position and angle of the support structure change, meaning that at least some components of the support structure have a specific movement path. Simply placing the stop block on the movement path where the support structure continues to increase in height after reaching the second height can prevent the height from decreasing further after reaching the second height.

[0079] For example, the support structure is a connecting rod assembly, and the inclination angle of the connecting rod assembly changes when the height difference changes. When the height reaches the second height, the inclination angle of the connecting rod assembly reaches the target angle. To achieve miniaturization of the limit block, the contact surface between the limit block and the support structure can be configured as an inclined surface with an inclination angle of the target angle. Figure 6-8A It shows the tilt angle of the connecting rod group when the height difference is the first height, between the first height and the second height, and the second height. Figure 8A As shown, the lower surface of the limit block 135 can be set as a slope with a target angle. Figure 6 and Figure 7 As shown, when the height difference is not reduced to the second height, the limiting block 135 is not in contact with the supporting structure 133 .

[0080] It is understandable that the connecting rod group may include one or more connecting rods, and the number of connecting rods in the drawings is only for illustration and is not intended to limit the number of connecting rods included in the connecting rod group in the embodiment of the present application.

[0081] In a feasible embodiment, the limiting block is fixedly connected to the movable platform 110 or the wet cleaning component 120, and / or both ends of the supporting structure are hinged to the movable platform and the wet cleaning component respectively.

[0082] It is understood that the connection referred to in the embodiments of this application refers to direct or indirect connection. The fixed connection between A and B is broadly understood, and can be formed separately and then connected, or A and B can be integrally formed. The limit block can be fixedly connected to the mobile platform 110 or to the wet cleaning element 120.

[0083] The component to which the stop block is fixedly connected may affect the position of the stop block. Figure 8A and Figure 9 For example, Figure 8A In the embodiment, the limiting member is indirectly connected to the wet cleaning member. When the height difference between the second end and the first end of the supporting structure reaches a second height, arranging the limiting block on the upper side wall of the supporting structure can prevent the height difference from continuing to decrease. Figure 8B In the embodiment, the limiting member is connected to the mobile platform. When the height difference between the second end and the first end of the supporting structure reaches a second height, setting the limiting block on the lower side wall of the supporting structure can prevent the height difference from continuing to decrease.

[0084] The two ends of the support structure are respectively hinged to the mobile platform and the wet cleaning member, including one end of the support structure being directly or indirectly hinged to the mobile platform and the other end being directly or indirectly hinged to the wet cleaning member. In this way, the height difference between the second end and the first end of the support structure can be changed.

[0085] In a feasible embodiment, the cleaning robot further comprises a fixing portion, the fixing portion being fixedly connected to the wet cleaning element, and the connection with the wet cleaning element comprises a connection with the fixing portion;

[0086] And / or, the cleaning robot further comprises a bracket, which is fixedly connected to the mobile platform; and the connection with the mobile platform comprises a connection with the bracket.

[0087] Exemplarily, the cleaning robot may further include a fixed part, which is fixedly connected to the wet cleaning part. The connection with the wet cleaning part mentioned above includes a connection with the fixed part; for example, the fixed connection between the limit block and the wet cleaning part is the fixed connection between the limit block and the fixed part; the articulation between the support structure and the wet cleaning part is the articulation between the support structure and the fixed part.

[0088] Exemplarily, the cleaning robot may further include a bracket, which is fixedly connected to the mobile platform; the connection with the mobile platform includes the connection with the bracket, that is, the connection with the mobile platform mentioned above includes the connection with the bracket. For example, in one embodiment, the fixed connection of the limit block to the mobile platform includes the fixed connection of the limit block to the bracket. The support structure and the mobile platform include the hinged connection between the support structure and the bracket.

[0089] Exemplarily, the cleaning robot may also include a fixing portion fixedly connected to the wet cleaning element and a bracket fixedly connected to the mobile platform, and the corresponding connection relationships are not described in detail.

[0090] In a feasible embodiment, the cleaning robot includes a fixed part, the plane where the fixed part is located is perpendicular to the plane where the wet cleaning part is located, the supporting structure is a connecting rod group, and the connecting rod group rotates on the first surface of the plane where the fixed part is located; when the connecting rod group rotates, the side wall of the connecting rod group is perpendicular to the plane where the fixed part is located; the limit block is relatively fixed to the fixed part, and the contact surface between the limit block and the supporting structure is perpendicular to the plane where the fixed part is located; the setting position of the limit block is such that when the height reaches the second height, the contact surface contacts the side wall of the connecting rod group.

[0091] like Figure 6-8B As shown, the plane where the fixing portion 137 is located is perpendicular to the plane where the wet cleaning element 120 is located. The plane where the fixing portion 137 is located has two surfaces. The connecting rod assembly rotates on the surface of the plane where the fixing portion 137 is located. When the connecting rod assembly rotates, the connecting rod has a certain thickness. The surface that forms the connecting rod thickness can be considered the side wall of the connecting rod. The side wall of the connecting rod assembly is perpendicular to the plane where the fixing portion is located. When the connecting rod assembly rotates on the surface of the plane where the fixing portion 137 is located, the position and angle of the side wall of the connecting rod assembly change significantly. Therefore, the position of the limit block can be set so that when the height difference of the limit block reaches the second height, the contact surface of the limit block contacts the side wall of the connecting rod assembly.

[0092] In one feasible embodiment, the number of the support structure, bracket (if included), and fixing portion (if included) can be multiple, for example, two. To maintain the balance and stability of the wet cleaning member 120 during lifting and lowering and to prevent the wet cleaning member 120 from tilting during lifting and lowering, the number of the support structure, bracket, and fixing portion can be set to two, and the two support structures, brackets, and fixing portions can be distributed on both sides of the wet cleaning member along the width direction of the cleaning robot. When the number of the support structure, bracket (if included), and fixing portion (if included) can be multiple, the limit blocks can be one or more. When there is only one limit block, it can also withstand the applied force. When there are multiple limit blocks, it is more conducive to maintaining the balance and stability of the wet cleaning member 120 during lifting and lowering.

[0093] In one feasible embodiment, at least one limit block is provided on the fixed portion, protruding in a direction perpendicular to the fixed portion. As previously mentioned, the limit block can be fixedly connected to the mobile platform or to the wet cleaning member. When the limit block is fixedly connected to the wet cleaning member, it can also be fixedly connected to the fixed portion, or it can be fixedly connected to other components that are fixed in position relative to the wet cleaning member, such as the lifting drive unit mentioned below. In one example, at least one limit block is provided on the fixed portion, protruding in a direction perpendicular to the fixed portion, so that the contact surface of the limit block contacts the side wall of the connecting rod assembly, and the miniaturization of the limit block is ensured.

[0094] In one possible embodiment, a rope is connected at each end to the mobile platform and the wet cleaning element, respectively. Extension and contraction of the rope drive a change in the height of the second end of the support structure relative to the first end. When the rope is extended, the height difference between the second end of the support structure and the first end decreases until it reaches the second height. When the rope is shortened, the height difference between the second end of the support structure and the first end increases until it reaches the first height.

[0095] In a feasible embodiment, the rope continues to extend to the specified length after the height of the second end relative to the first end reaches the second height. That is, the rope continues to extend after the height difference of the second end relative to the first end of the support structure decreases until it decreases to the second height. However, due to the presence of the stopper, the height does not continue to decrease after reaching the second height. At this time, the rope becomes redundant, such as Figure 9 As shown. The specified length can be redundant 1mm.

[0096] In a feasible embodiment, the cleaning robot further includes: a bracket, the bracket being fixedly connected to the mobile platform;

[0097] The lifting drive unit includes a bobbin; the lifting drive unit and at least one bracket are distributed on both sides of the wet cleaning part along the width direction of the cleaning robot; the two ends of the rope are respectively connected to the mobile platform and the wet cleaning part, including: one end of the rope is fixedly connected to the bracket, and the other end of the rope is fixedly connected to the bobbin, and the elongation and shortening of the rope are controlled by controlling the number of turns of the rope wrapped around the bobbin.

[0098] The cleaning robot according to the embodiment of the present invention is described below with reference to specific examples.

[0099] It is understood that when the wet cleaning member is in the raised position, the lowered position, or a position between the raised and lowered positions, the relative position of the first and second ends of the connecting rod assembly changes, and the position and inclination angle of the upper surface of the connecting rod assembly change. The shape, position, and size of the stop block can be adjusted to match the position and inclination angle of the upper surface of the connecting rod assembly when the wet cleaning member 120 is in the lowered position, thereby ensuring that the stop block abuts the upper surface of the connecting rod assembly when the wet cleaning member 120 is in the lowered position; and that the stop block does not abut the connecting rod assembly when the wet cleaning member 120 is in other positions.

[0100] For example, Figure 6 As shown, when the wet cleaning element is in the raised position, the first end of the connecting rod group is lower than the second end, and the slope of the projection of the plane where the upper surface of the connecting rod group is located on the paper is k1; Figure 8A As shown in FIG, when the wet cleaning element is in the lowered position, the first end of the connecting rod assembly is higher than the second end, and the slope of the projection of the plane where the upper surface of the connecting rod assembly is located on the paper is k2; Figure 7As shown, when the wet cleaning member is in a position between the raised position and the lowered position, the first end of the connecting rod assembly can be higher, lower, or at the same height as the second end, and the slope of the projection of the plane on which the upper surface of the connecting rod assembly is located on the paper is between k1 and k2. At least a portion of the lower surface of the stop block can be a slope (for example, a portion of the lower surface of the stop block is a slope, and a portion of the lower surface is a plane parallel to the operating surface), and the slope of the projection of the slope on the paper is k2 to match the slope of the upper surface of the connecting rod assembly when the wet cleaning member is in the lowered position. It is understood that when the wet cleaning member is raised and lowered, the connecting rod assembly rotates within a certain area of ​​the plane, and the stop block can be located above this area to form a limit for the connecting rod assembly. The size of the stop block should be as small as possible to meet the miniaturization requirements of the cleaning robot, and it should be sufficient to form a stable limit on the upper surface of the connecting rod assembly. For example, the width of the stop block can match the width of the connecting rod assembly, and the length of the portion where the stop block and the connecting rod assembly form abutment can be 1 / 3 to 3 / 4 of the length of the connecting rod assembly. It is understood that the linkage group may include two linkages arranged in the height direction, the two linkages forming a parallelogram, the width of the linkage group being equal to the width of a single linkage, and the length of the linkage group being equal to the length of a single linkage. In this way, the limit block itself is relatively small in size and is located above the linkage group, which is typically located on the inner side of the wet cleaning component (i.e., the projection of the linkage group on the operating surface is located inside the projection of the mobile platform on the operating surface, rather than near the edge of the projection of the mobile platform on the operating surface). This means that the limit block only occupies a small amount of space between the linkage group and the mobile platform, which is conducive to the miniaturization of the cleaning robot.

[0101] It is understandable that when the extension length of the rope 140 is long enough, the wet cleaning piece reaches the lowering position and the limit block abuts against the upper surface of the connecting rod group. At this time, if the rope 140 is further extended, the wet cleaning piece cannot be lowered further due to the abutment of the limit block against the upper surface of the connecting rod group, that is, the limit block prevents the wet cleaning piece from descending to a position below the lowering position.

[0102] At this time, if the cleaning robot 100 is turned over by the user for inspection, the gravity of the mobile platform will pull down the connecting rod assembly, causing the upper surface of the connecting rod assembly to abut against the stop block. In this way, the stop block can bear the weight of the mobile platform, thereby preventing the rope from being stressed. If the wet cleaning element 120 is stuck on an obstacle, the stop block will also bear the resistance of the obstacle, thereby preventing the rope from being stressed.

[0103] In an embodiment of the present application, the cleaning robot includes a limit block arranged between the connecting rod group and the mobile platform. When the wet cleaning part is in the lowered position, the limit block abuts against the upper surface of the connecting rod group. If the sweeping robot is turned over by the user for inspection, or the wet cleaning part is stuck by an obstacle, the limit block can be subjected to force to avoid the rope being subjected to force, thereby increasing the service life of the rope. At the same time, the limit block only occupies a small amount of space between the connecting rod group and the mobile platform, which is conducive to the miniaturization development of the cleaning robot.

[0104] In a feasible embodiment, when the rope is of a first length, the wet cleaning element is in an ascending position and the rope is in a taut state; when the rope is of a second length, the wet cleaning element is in a descending position and the rope is in a taut state; when the rope is of a third length, the wet cleaning element is in a descending position and the rope is in a relaxed state; the first length is smaller than the second length, and the second length is smaller than the third length.

[0105] In one possible implementation, Figure 6 As shown, when the rope 140 is at a first length, the wet cleaning member 120 is in an ascending position and the rope 140 is in a tensioned state; Figure 8A As shown, when the rope 140 is at the second length, the wet cleaning member 120 is in the lowered position and the rope 140 is in a tensioned state; Figure 9 As shown, when the rope 140 is at the third length, the wet cleaning member 120 is in the lowered position and the rope 140 is in a relaxed state; the first length is smaller than the second length, and the second length is smaller than the third length.

[0106] That is, after the wet cleaning unit 120 reaches the lowered position, the rope 140 will further extend, for example, by 1 mm, making the rope length redundant. At this point, because the stopper abuts the upper surface of the connecting rod assembly, the wet cleaning unit 120 cannot descend further even if the rope extends. This allows the wet cleaning unit 120 to be completely supported by the stopper, rather than the rope, if the user turns the robot vacuum over for inspection or if the wet cleaning unit becomes stuck.

[0107] Among them, such as Figure 6 As shown, when the rope 140 is at a first length, the wet cleaning member 120 is in an ascending state. At this time, the rope 140 is taut under the action of the gravity of the wet cleaning member 120. As the rope 140 gradually stretches, the wet cleaning member 120 gradually descends. Figure 7 until the rope 140 is a second length, the wet cleaning member 120 drops to the limit position, at which time the rope 140 is taut under the action of gravity in the wet cleaning member 120, as shown Figure 8AAs shown; at this time, the limit block abuts against the upper surface of the connecting rod group, forming a limiting effect on the wet cleaning member 120 so that it cannot continue to descend. At this time, even if the rope 140 continues to extend to a third length greater than the second length, due to the abutment limit of the connecting rod group and the limit block, the excess length of the rope 140 will accumulate, such as Figure 9 As shown, the cord 140 is not pulled tight by the weight of the wet cleaning element 120 .

[0108] In one possible implementation, Figure 3 、 Figure 4A and Figure 4B As shown, the cleaning robot 100 also includes: a bracket, which is fixedly connected to the mobile platform 110; the first end of the connecting rod group is rotatably connected to the mobile platform 110 through the bracket; the wet cleaning element 120 is supported below the mobile platform 110 through the bracket and the connecting rod group; the third end of the rope is relatively fixed to the mobile platform 110, including: the third end of the rope is fixedly connected to the bracket.

[0109] In an embodiment, the cleaning robot is provided with a bracket fixedly connected to a mobile platform, and a connecting rod assembly and a rope are connected to the mobile platform via the bracket. The first end of the connecting rod assembly is rotatably connected to the mobile platform 110 via the bracket; the second end of the connecting rod assembly is rotatably connected to the wet cleaning member 120, that is, the wet cleaning member 120 is supported below the mobile platform 110 via the bracket and the connecting rod assembly. The third end of the rope is fixed relative to the mobile platform 110, which includes the third end of the rope being fixedly connected to the bracket. There may be two brackets, disposed on either side of the wet cleaning member 120 along the width of the cleaning robot. Accordingly, there may be two connecting rod assemblies, each rotatably connected to a bracket, and the third end of the rope may be fixedly connected to one of the two brackets.

[0110] Figure 4A FIG. 1 shows a partial structural diagram of the first bracket 131, the first connecting rod group 133, and the first limit block 135 in the embodiment of the present application. In a feasible embodiment, as Figure 4A As shown, the bracket includes a first bracket 131, the connecting rod assembly includes a first connecting rod assembly 133, and the limiting block includes a first limiting block 135. The first limiting block 135 is wedge-shaped and is disposed above the first connecting rod assembly 133. The lower surface of the first limiting block 135 is an inclined surface. When the wet cleaning element 120 is in the lowered position, the lower surface of the first limiting block 135 abuts the upper surface of the first connecting rod assembly 133. At least a portion of the first limiting block 135 can be wedge-shaped, for example, with a flat upper surface and an inclined lower surface.

[0111] In one possible implementation, Figure 4AAs shown, the cleaning robot 100 also includes: a first fixed part 137, the first fixed part 137 is relatively fixed to the wet cleaning part 120, and the first fixed part 137 is perpendicular to the operating surface; the second end of the first connecting rod group is rotatably connected to the first fixed part; the first limit block 135 is protruded on the first fixed part in a direction perpendicular to the first fixed part.

[0112] Illustratively, the first fixing portion 137 can be integrally formed with the wet cleaning element 120 or separately formed and then fixedly connected. The second end of the first connecting rod assembly is rotatably connected to the first fixing portion, meaning that the first connecting rod assembly is rotatably connected to the wet cleaning element. Illustratively, the first fixing portion 137 can be a flat surface, including two surfaces, and at least a portion of the first connecting rod assembly rotates on one surface of the first fixing portion. The first stopper 135 protrudes from the first fixing portion 137 in a direction perpendicular to the plane of the first fixing portion 137. It is understood that the directions perpendicular to the plane of the first fixing portion 137 are two directions, and the direction in which the first stopper 135 protrudes is in a direction close to the surface of the first connecting rod assembly, so that the first stopper 135 can limit the position of the first connecting rod assembly. The first stopper can be located above the first fixing portion 137 to limit the position of the first connecting rod assembly when the wet cleaning element 120 is in the lowered position. The first stopper can be integrally formed with the first fixing portion.

[0113] In a feasible implementation manner, the first bracket 131 includes a transverse beam 1311 and a longitudinal beam 1312 , and the first end of the first connecting rod assembly is rotatably connected to the longitudinal beam.

[0114] In a feasible embodiment, the upper surface of the first limit block is substantially flat. The first limit block 135 is located between the first connecting rod group and the crossbeam. When the wet cleaning element is in the raised position, the upper surface of the first limit block abuts against the lower surface of the crossbeam.

[0115] like Figure 4A 、 Figure 6-9 As shown, the crossbeam 1311 and the longitudinal beam 1312 can be perpendicular to each other, the first end of the first connecting rod group is rotatably connected to the longitudinal beam, and a connecting structure is provided on the crossbeam, and the first bracket 131 is fixed to the mobile platform 110 through the connecting structure.

[0116] The vertical crossbeam and longitudinal beam can form a semi-enclosed structure. For example, to further save space, the first connecting rod group and the first fixing portion 137 can be located in the semi-enclosed structure, at least part of the first connecting rod group is located in the surface of the first fixing portion and rotates on the surface of the first fixing portion, and the first limit block can be provided between the first connecting rod group and the crossbeam, and the first limit block can be located above the first fixing portion 137, as shown in FIG. Figure 4A As shown, when the wet cleaning element is in the raised position, the upper surface of the first limiting block can abut against the lower surface of the crossbeam.

[0117] In one feasible embodiment, a blind groove 1314 is formed on the upper surface of the crossbeam 1311. A through hole 1313 is formed at the end of the blind groove 1314 away from the longitudinal beam 1312. A latching slot 1315 is formed at the end of the blind groove 1314 close to the longitudinal beam. The rope 140 is passed through the through hole 1313. The third end of the rope 140 is disposed in the latching slot 1315. The portion of the rope 140 between the through hole 1313 and the latching slot 1315 is located within the blind groove 1314. In this manner, the third end of the rope 140 is fixedly connected to the first bracket 131.

[0118] The rope 140 includes a third end and a fourth end. The third end of the rope 140 is fixedly connected to the first bracket 131. To prevent the rope 140 from moving and affecting the operation of other components, a through hole 1313 and a slot 1315 are respectively provided at each end of the crossbeam 1311 of the first bracket 131. The slot 1315 is located at the end closer to the longitudinal beam 1312, while the through hole 1313 is located at the end farther from the longitudinal beam 1312. The through hole 1313 and the slot 1315 are connected by a blind slot 1315. After the third end of the rope 140 passes through the crossbeam 1311 at the lower end of the through hole 1313, it is arranged in the blind slot 1314 and then engaged in the slot 1315, thereby fixing the third end of the rope 140 to the first bracket 131. Since the first bracket 131 is fixedly connected to the movable platform 110, the retraction and extension of the rope 140 can drive the wet cleaning element 120 to rise and fall.

[0119] In a feasible embodiment, the cleaning robot also includes: a support beam, which is fixed relatively to the wet cleaning part and is arranged below the crossbeam. A wiring groove is provided on the support beam, and the wiring groove is used to accommodate the rope. The outlet of the wiring groove is located below the through hole.

[0120] The cleaning robot 100 also includes a support beam 139. For example, the support beam 139 is arranged below the cross beam, and the support beam 139 is arranged perpendicular to the operating surface. The support beam 139 and the longitudinal beam 1312 of the first bracket 131 are arranged on both sides of the first fixed part relative to each other. The support beam 139 may have a side close to the first connecting rod group / first limit block and a side away from the first connecting rod group / first limit block. A wiring groove 1391 is provided on the side of the support beam 139 close to the first connecting rod group / first limit block. The wiring groove 1391 is connected to the wiring groove 150 on the wet cleaning part, so that the rope 140 passes through the wiring groove 150, the wiring groove 1391, the through hole 1313 and the blind groove 1314 on the cross beam 1311 in sequence, and finally the third end of the rope 140 is clamped in the clamping groove 1315, so that the rope 140 drives the wet cleaning part 120 to rise and fall.

[0121] Specifically, a wire groove 150 is provided on the wet cleaning element 120, and the part between the third end and the fourth end of the rope should be arranged in the wire groove 150. On the one hand, it can ensure the fixed position of the rope and avoid the irregular arrangement of the rope, which affects the arrangement of other electrical wires; on the other hand, a sleeve is fixed in the wire groove 150, and the rope 140 is arranged in the sleeve, which makes the rope retraction and release smoother and reduces wear.

[0122] In a feasible implementation, Figure 3 、 Figure 10 、 Figure 11 As shown, the bracket includes a first bracket 131 and a second bracket 132, and the connecting rod group includes a first connecting rod group 133 and a second connecting rod group 134. The first end of the first connecting rod group is rotatably connected to the first bracket, and the second end of the first connecting rod group is rotatably connected to the wet cleaning member; the first end of the second connecting rod group is rotatably connected to the second bracket, and the second end of the second connecting rod group is rotatably connected to the wet cleaning member.

[0123] There are two brackets and two connecting rod groups, and the two brackets can be distributed on both sides of the wet cleaning part along the width direction of the cleaning robot, so that the wet cleaning part 12 can be more stably supported under the mobile platform 110, maintaining the balance and stability of the wet cleaning part 120 when it descends, and avoiding the wet cleaning part 120 from tilting when it rises and falls.

[0124] For example, Figure 3 As shown, both brackets include a crossbeam and a longitudinal beam. The longitudinal beam of the first bracket is rotatably connected to the first connecting rod group, and the longitudinal beam of the second bracket is rotatably connected to the second connecting rod group. The first bracket is fixedly connected to the mobile platform 110 via a connection structure provided on its crossbeam, and the second bracket is fixedly connected to the mobile platform 110 via a connection structure provided on its crossbeam. For example, Figure 3 As shown, the second bracket 132 includes two longitudinal beams, which together with the transverse beam form a "F" structure. It is understood that the sizes and shapes of the first bracket and the second bracket may be asymmetrical. For example, in one embodiment, the third end of the rope is fixed to the first bracket, and the first bracket may be provided with a slot, a blind slot, a through hole, or the like for passing and fixing the rope. As a result, the first bracket has a more complex structure, can be larger, and needs to be positioned to match the wire groove on the wet cleaning member 120. The second bracket can be used only to connect the mobile platform and the connecting rod assembly, and can have a simpler structure, a smaller size, and greater room for position adjustment.

[0125] For example, each linkage group may include two linkages arranged in a height direction, with the two linkages forming a parallelogram structure. For example, the first linkage group includes a first linkage 1331 and a second linkage 1332, and the first linkage 1331 and the second linkage 1332 form a parallelogram. The second linkage group includes a third linkage 1341 and a fourth linkage 1342, and the third linkage 1341 and the fourth linkage 1342 form a parallelogram. This arrangement facilitates the vertical ascent and descent of the wet cleaning member 120, prevents the wet cleaning member 120 from becoming stuck due to deviation during descent and ascent, and thereby improves the reliability of the wet cleaning member 120.

[0126] Exemplarily, when the wet cleaning member is in the raised position, the first end of the first link group is lower than the second end of the first link group; when the wet cleaning member is in the lowered position, the first end of the first link group is higher than the second end of the first link group, and / or, when the wet cleaning member is in the raised position, the first end of the second link group is lower than the second end of the second link group; when the wet cleaning member is in the lowered position, the first end of the second link group is higher than the second end of the second link group.

[0127] Figure 4B A schematic diagram of the local structure of the second bracket 132, the second connecting rod group 134, and the first limit block 136 in the embodiment of the present application is shown.

[0128] In one possible implementation, Figure 4B As shown, the stop block includes a second stop block 136; the second stop block 136 is wedge-shaped and positioned above the second connecting rod assembly 134. The lower surface of the second stop block 136 is inclined. When the wet cleaning member 120 is in the lowered position, the lower surface of the second stop block 120 abuts the upper surface of the second connecting rod assembly, and together with the first stop block 135, prevents the wet cleaning member from descending below the lowered position. Thus, providing two stop blocks to limit the two connecting rod assemblies can ensure more uniform force applied to the stop blocks. For example, the upper surface of the second stop block 136 can be a plane parallel to the operating surface.

[0129] The design considerations of the size, shape and position of the second limit block refer to the description of the first limit block. The second limit block itself is relatively small and occupies the internal space of the wet cleaning member 120, which is conducive to the miniaturization of the cleaning robot.

[0130] In a feasible embodiment, the cleaning robot 110 further includes a second fixing portion 138 , which is fixed relative to the wet cleaning element 120 and perpendicular to the operating surface; the second end of the second connecting rod assembly 134 is rotatably connected to the second fixing portion.

[0131] Illustratively, the second fixing portion 138 can be integrally formed with the wet cleaning member 120 or separately formed and then fixedly connected. The second end of the second connecting rod assembly is rotatably connected to the second fixing portion 138, thereby rotatably connecting the second connecting rod assembly to the wet cleaning member 120. Illustratively, similar to the first fixing portion 137, the second fixing portion 138 can be a planar surface having two surfaces, and at least a portion of the second connecting rod assembly rotates on one surface of the second fixing portion. The surface of the first fixing portion where the first connecting rod assembly is located and the surface of the second fixing portion where the second connecting rod assembly is located can be arranged opposite each other.

[0132] It is understandable that the provision of the first fixing portion and the second fixing portion can enable the first connecting rod group and the second connecting rod group to rotate stably within a plane.

[0133] For example, the second limit block can be set at a position similar to the first limit block, such as above the second fixing portion 138, to limit the second connecting rod group when the wet cleaning component 120 is in the lowered position. At this time, the second limit block can be integrally formed with the second fixing portion.

[0134] For example, the second limit block can also be set at other positions that are more conducive to the miniaturization of the cleaning robot. Figure 4B As shown, the cleaning robot 100 includes a lifting drive unit for driving the rope to shorten and extend, the second limit block is fixedly connected to the shell 160 of the lifting drive unit, and the shell of the lifting drive unit is fixedly connected to the wet cleaning member.

[0135] It is understandable that the second limiting block can be integrally formed with the housing 160 of the lifting drive unit or can be formed separately and then fixedly connected.

[0136] It is understandable that the cleaning robot 100 also includes additional structures such as a lifting drive unit, a water supply structure, and a gear box. These structures can be arranged on both sides of the wet cleaning part distributed along the width direction of the cleaning robot and arranged on the outside of the bracket. For example, the gear box is arranged on the outside of the first bracket, and the lifting drive unit is arranged on the outside of the second bracket. When designing the position of the limit block, taking into account the limiting effect, the need for miniaturization of the cleaning robot and the difficulty of processing, it can be arranged on the fixed part or on the additional structure such as the lifting drive unit, gear box, etc. adjacent to it. In a specific embodiment, the first limit block is fixedly connected to the first fixed part, and the second limit block is fixedly connected to the outer shell of the lifting drive unit.

[0137] For example, in one feasible embodiment, the lifting drive unit is a motor, and the fourth end of the rope 140 is fixedly connected to the motor. The forward and reverse rotation of the motor output shaft realizes the retraction and extension of the rope 140. In order to ensure the stability of the rope 140 pulling the wet cleaning element 120 up and down, the third and fourth ends of the rope 140 are distributed on both sides of the wet cleaning element 120 along the width direction of the cleaning robot. Since the first bracket 131 is located on one side of the wet cleaning element 120, the third end of the rope 140 fixed to the first bracket 131 is also located on this side of the wet cleaning element 120. Therefore, the motor connected to the fourth end of the rope 140 is naturally arranged on the other side of the wet cleaning element 120.

[0138] In one possible implementation, Figure 10 and Figure 11 As shown, a third limit block 170 may be provided, the third limit block 170 being provided on the second fixing portion 138 and protruding in a direction perpendicular to the second fixing portion, and the third limit block being located below the second fixing portion, as shown in FIG. Figure 11 As shown, when the wet cleaning member 120 is in the lowered position, the third limiting block limits the second connecting rod assembly. For example, the third limiting block 170 can be fixedly connected to the second fixing portion by integral molding or other methods.

[0139] Figure 10 A specific example of the state of the two brackets, two connecting rod groups, two limit blocks, two fixing parts, the mobile platform 110, and the wet cleaning member 120 when the wet cleaning member 120 is in the lowered position is shown. Figure 11 A specific example of the state of the two brackets, two connecting rod groups, two limit blocks, two fixing parts, the mobile platform 110, and the wet cleaning member 120 when the wet cleaning member 120 is in the raised position is shown below. Figure 10 and Figure 11 It is understood that Figure 10 and Figure 11 The schematic diagram is a schematic diagram of the first fixing portion 137 and the second fixing portion 138 after rotation. In practice, the positions of the first fixing portion 137 and the second fixing portion 138 are relatively set, and the schematic diagram is only for the convenience of understanding and explanation.

[0140] Specifically, if Figure 3 and Figure 4A As shown, a first limiting block 135 is provided on a first side of the wet cleaning member 120, a first connecting rod group 133 is provided between the first limiting block 135 and the wet cleaning member 120, and a first bracket 131 is fixedly connected to the mobile platform 110; Figure 3 and Figure 4BAs shown, a second stopper 136 is provided on the second side of the wet cleaning member 120, a second link assembly 134 is provided between the second stopper 136 and the wet cleaning member 120, and the second bracket 132 is fixedly connected to the mobile platform 110. Figure 9 As shown, when the rope 140 is at the first length, that is, when the wet cleaning member 120 is in the ascending position, the upper surface of the first limit block 135 abuts against the first bracket 131; Figure 10 As shown, when the length of the rope 140 is greater than or equal to the second length, that is, when the wet cleaning part 120 is in the descending position, the lower surface of the first limit block 135 abuts against the upper surface of the first connecting rod group 133, and at the same time, the lower surface of the second limit block 136 abuts against the upper surface of the second connecting rod group 134, thereby limiting the lowering position of the wet cleaning part 120. At this time, if the sweeping robot is turned over by the user for inspection or the wet cleaning part is stuck by an obstacle, the limit block can be used to bear the force, thereby avoiding direct force on the rope 140, thereby effectively improving the service life of the rope 140.

[0141] like Figure 6 and Figure 11 As shown, the first end of the first connecting rod group 133 is rotatably connected to the first bracket 131, and the second end of the first connecting rod group 133 is rotatably connected to the wet cleaning member 120. The first bracket 131 and the movable platform 110 are fixed. When the wet cleaning member 120 rises, the second end of the first connecting rod group 133 connected to the wet cleaning member 120 moves upward, so that when the wet cleaning member 120 is in the raised position, the first end of the first connecting rod group 133 is located below the second end of the first connecting rod group 133; Figure 8A 、 Figure 9 and Figure 10 As shown, when the wet cleaning member 120 descends, the second end of the first connecting rod group 133 connected to the wet cleaning member 120 moves downward, so that when the wet cleaning member 120 is in the descending position, the first end of the first connecting rod group 133 is located above the second end of the first connecting rod group 133.

[0142] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the present invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only.

[0143] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: Mobile platforms; Wet cleaning parts; a support structure, wherein the wet cleaning element is supported by the support structure below the mobile platform; a first end of the support structure is connected to the mobile platform, and a second end of the support structure is variable in height relative to the first end between a first height and a second height, wherein the second height is less than the first height; a rope, wherein the extension and contraction of the rope drives a change in the height of the second end of the support structure relative to the first end; A limiting block is provided, wherein the limiting block contacts the supporting structure when the height reaches the second height, so as to prevent the height from continuing to decrease after reaching the second height.

2. The cleaning robot according to claim 1, characterized in that: The limiting block is arranged on a moving path of the supporting structure so as to continue increasing the height after the height reaches the second height.

3. The cleaning robot according to claim 1, characterized in that: The supporting structure is a connecting rod group, and the contact surface between the limit block and the supporting structure is an inclined plane with a target angle, which is the inclination angle of the connecting rod group when the height reaches the second height.

4. The cleaning robot according to any one of claims 1 to 3, characterized in that: The limiting block is fixedly connected to the movable platform or the wet cleaning member, and / or both ends of the supporting structure are hinged to the movable platform and the wet cleaning member respectively.

5. The cleaning robot according to claim 4, characterized in that: The cleaning robot further comprises a fixing portion, wherein the fixing portion is fixedly connected to the wet cleaning member, and the connection with the wet cleaning member comprises a connection with the fixing portion; And / or, the cleaning robot further comprises a bracket, wherein the bracket is fixedly connected to the mobile platform; and the connection with the mobile platform comprises the connection with the bracket.

6. The cleaning robot according to claim 5, characterized in that: The plane where the fixing portion is located is perpendicular to the plane where the wet cleaning element is located, and the supporting structure is a connecting rod group, and the connecting rod group rotates on the first surface of the plane where the fixing portion is located; when the connecting rod group rotates, the side wall of the connecting rod group is perpendicular to the plane where the fixing portion is located; The limiting block is fixed relative to the fixing portion, and the contact surface between the limiting block and the supporting structure is perpendicular to the plane where the fixing portion is located; The position at which the limit block is arranged is such that when the height reaches the second height, the contact surface contacts the side wall of the connecting rod assembly.

7. The cleaning robot according to claim 6, characterized in that: At least one of the limiting blocks is protruded from the fixing portion in a direction perpendicular to the fixing portion.

8. The cleaning robot according to claim 1, characterized in that: Both ends of the rope are respectively connected to the moving platform and the wet cleaning member.

9. The cleaning robot according to claim 8, characterized in that: The rope continues to extend to a specified length after the height of the second end relative to the first end reaches the second height.

10. The cleaning robot according to claim 8, characterized in that: The cleaning robot further comprises: a bracket, the bracket being fixedly connected to the mobile platform; A lifting drive unit, the lifting drive unit including a bobbin; The lifting drive unit and at least one of the brackets are distributed on both sides of the wet cleaning member along the width direction of the cleaning robot; The two ends of the rope are respectively connected to the mobile platform and the wet cleaning member, including: One end of the rope is fixedly connected to the bracket, and the other end of the rope is fixedly connected to the spool. The lengthening and shortening of the rope can be controlled by controlling the number of turns of the rope wound around the spool.

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