Self-moving cleaning equipment

Abstract

The utility model provides a self-moving cleaning device. The self-moving cleaning equipment comprises a main machine and a roller assembly which are assembled together. The roller assembly comprises a frame, a roller, a power source and a protective cover. The frame is attached to the host, and the drum is attached to the frame and is rotatable with respect to the frame about the central axis of the drum. The protective cover is in transmission connection with the power source which can drive the protective cover to move relative to the roller. And the protective cover can be positioned to a protective position for covering the bottom of the roller and a non-protective position for exposing the bottom of the roller in the moving process. In this way, the protective cover can prevent the bottom of the roller from polluting the carpet on the advancing face and protect the bottom of the roller, and the working efficiency of the self-moving cleaning equipment cannot be affected.

Description

Technical Field

[0001] The present disclosure relates to the structure of a self-moving cleaning device. 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] As a typical example of an autonomous mobile device, a self-moving cleaning device is not only capable of autonomously moving on a traveling surface such as a surface to be cleaned, but is also capable of performing dry cleaning operations and / or wet cleaning operations on the traveling surface as needed, and is therefore widely used in homes and offices. In order to achieve cleaning operations, the self-moving cleaning device needs to be provided with a dry cleaning assembly including dry cleaning parts such as a main brush and a wet cleaning assembly including wet cleaning parts such as a roller, a rag or a mop. However, carpets are often present in scenes such as homes and offices where self-moving cleaning devices are used, and the wet cleaning parts such as a roller, a rag or a mop are attached with cleaning liquid (such as water) and dirt after performing a wet cleaning operation, so the wet cleaning parts will contaminate the carpet after contacting the carpet. In order to avoid contamination of the carpet, some existing self-moving cleaning devices are provided with a lifting mechanism that can lift the wet cleaning parts relative to the main unit. However, even if the wet cleaning element is raised relative to the main body of the self-propelled cleaning device by a lifting mechanism to avoid direct contact with the carpet, it is still difficult to prevent the cleaning liquid and dirt attached to the wet cleaning element from falling onto the carpet. In addition, some existing self-propelled cleaning devices can detach the wet cleaning element to the base station, but this will affect the working efficiency of the self-propelled cleaning device. Utility Model Content

[0004] Based on the above problems of the prior art, the purpose of the present disclosure is to provide a self-moving cleaning device, which can prevent the roller of the self-moving cleaning device from causing contamination to the carpet when the self-moving cleaning device moves over the carpet without affecting the working efficiency of the self-moving cleaning device.

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

[0006] The present disclosure provides a self-moving cleaning device, comprising a main body and a roller assembly, wherein the roller assembly comprises:

[0007] a frame, which is mounted on a host computer;

[0008] a drum mounted on the frame and rotatable relative to the frame about its central axis;

[0009] a power source mounted on the frame or the host; and

[0010] A protective cover is connected to the power source, and the power source can drive the protective cover to move relative to the drum. During the movement, the protective cover can be positioned to a protective position covering the bottom of the drum and a non-protective position exposing the bottom of the drum.

[0011] In an optional solution, a reducer is further included, which is installed on the frame, and the power source is connected to the protective cover through the reducer, and

[0012] The speed reducer has a speed reduction ratio such that the protective cover can be locked by the speed reducer when the power source stops operating.

[0013] In another optional solution, it also includes an output gear, an intermediate gear and a sector gear.

[0014] The output gear is in transmission connection with the reducer.

[0015] The intermediate gear is always in mesh with the output gear.

[0016] The sector gear is always meshed with the intermediate gear, and the sector gear is fixedly connected to the protective cover or serves as a part of the protective cover, so that the torque from the power source is transmitted to the protective cover via the reducer, the output gear, the intermediate gear and the sector gear.

[0017] In another optional scheme, the frame is provided with a first limiting portion and a second limiting portion, and the first limiting portion and the second limiting portion are respectively located on both sides of the sector gear in the rotation direction of the sector gear, and the first limiting portion and the second limiting portion are respectively cooperated with the circumferential side end edges of the sector gear to limit the rotation range of the protective cover.

[0018] In another optional solution, both the first limiting portion and the second limiting portion are limiting protrusions or limit switches.

[0019] In another optional solution, the protective cover includes a cover body, a first bracket and a second bracket.

[0020] The cover is located on the radially outer side of the drum, and extends along the axial direction of the drum, spanning the entire drum and extending along the circumferential direction of the drum.

[0021] The first bracket and the second bracket are fixedly connected to both ends of the cover body. The first bracket and the second bracket are respectively located on both sides of the drum in the axial direction. The first bracket and the second bracket are both rotatably connected to the frame, so that the protective cover can rotate around the central axis.

[0022] In another optional solution, the power source drives the protective cover to rotate via the first bracket, the first bracket is a sector gear and is assembled with the first end of the cover body in a detachable manner, the second bracket is fixed to the second end of the cover body, and the second bracket is provided with a bearing.

[0023] The frame includes a frame body and a side support frame that are detachably assembled. The side support frame includes a side plate and a shaft portion that are fixed to each other. The side plate is detachably assembled with the frame body, and the shaft portion is inserted into the roller through the bearing.

[0024] In another optional solution, the cover body extends along the circumferential direction across a central angle of 80 degrees to 120 degrees.

[0025] In another optional solution, the protective cover is mounted on the host and is formed into a flat structure, and the power source can drive the protective cover to perform reciprocating linear motion relative to the host, so that the protective cover can extend relative to the host in the protective position and retract relative to the host in the non-protective position.

[0026] In another optional solution, the protective cover includes a first split portion and a second split portion separated from each other and arranged on the host, the host is formed with a first guide groove and a second guide groove, one end of the first split portion is installed in the first guide groove, and one end of the second split portion is installed in the second guide groove.

[0027] The power source is capable of driving the first split part to reciprocate along the first guide groove, and the power source is capable of driving the second split part to reciprocate along the second guide groove, so that the first split part and the second split part can be extended relative to the main body in the protective position and retracted relative to the main body in the non-protective position.

[0028] In another optional solution, the central axis of the drum extends along the left-right direction of the self-moving cleaning device, and the self-moving cleaning device further includes a lifting mechanism, and the drum assembly is mounted on the main unit via the lifting mechanism.

[0029] In another optional solution, the lifting mechanism includes a lifting motor, a transmission member, a first connecting rod and a second connecting rod.

[0030] The motor shaft of the lifting motor is threadedly engaged with the transmission member, so that the transmission member can reciprocate along the motor shaft.

[0031] The first connecting rod is rotatably connected to both the main machine and the transmission member, and the second connecting rod is rotatably connected to both the transmission member and the roller assembly.

[0032] In another optional solution, the second connecting rod is rotatably connected to the front end of the frame of the roller assembly.

[0033] The rear end of the frame is rotatably connected to the main unit; or the lifting mechanism further includes a rotation support link, and the top of the frame is rotatably connected to the main unit via the rotation support link.

[0034] By adopting the above-mentioned technical solution, the present disclosure provides a self-propelled cleaning device. The self-propelled cleaning device includes a main unit and a roller assembly assembled together. The roller assembly includes a frame, a roller, a power source, and a protective cover. The frame is mounted to the main unit, and the roller is mounted to the frame and is capable of rotating relative to the frame about the central axis of the roller. The protective cover is transmission-connected to the power source, which is capable of driving the protective cover to move relative to the roller. During movement, the protective cover can be positioned between a protective position covering the bottom of the roller and a non-protective position exposing the bottom of the roller.

[0035] In this way, when it is necessary to prevent the bottom of the drum from contaminating a carpet on a running surface to be cleaned, for example, or when it is necessary to protect the bottom of the drum, the protective cover can be moved to a protective position covering the bottom of the drum; when it is necessary to use the bottom of the drum to clean the running surface, the protective cover can be moved to a non-protective position exposing the bottom of the drum, thereby allowing the bottom of the drum to clean the running surface. Furthermore, the above solution eliminates the need for repeated disassembly and assembly of the drum, thereby not affecting the working efficiency of the self-propelled cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1A 1 is a side schematic diagram showing a self-moving cleaning device according to a first embodiment of the present disclosure, wherein the roller assembly is in a lowered position relative to the main body and the protective cover is in a non-protective position.

[0037] Figure 1B It shows Figure 1A A side view schematic diagram of the assembly of the roller assembly and the lifting mechanism.

[0038] Figure 1C It shows Figure 1B Another side view of the assembly in FIG.

[0039] Figure 1D It shows Figure 1B Schematic diagram of the assembly in .

[0040] Figure 2A 1 is a side schematic diagram showing a self-moving cleaning device according to a first embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main body and the protective cover is in a non-protective position.

[0041] Figure 2B It shows Figure 2A A side view schematic diagram of the assembly of the roller assembly and the lifting mechanism.

[0042] Figure 2C It shows Figure 2B Another side view of the assembly in FIG.

[0043] Figure 2D It shows Figure 2B Schematic diagram of the assembly in .

[0044] Figure 3A 1 is a side schematic diagram showing a self-moving cleaning device according to a first embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main body and the protective cover is in a protective position.

[0045] Figure 3B It shows Figure 3A A side view schematic diagram of the assembly of the roller assembly and the lifting mechanism.

[0046] Figure 3C It shows Figure 3A Another side view of the assembly in FIG.

[0047] Figures 4A to 4D It shows Figure 3A A three-dimensional schematic diagram of the structure of the two side ends of the roller assembly.

[0048] Figures 5A to 5C It shows Figure 3A Schematic diagram of the assembly state of the power source, reducer, gear transmission mechanism and protective cover of the drum assembly.

[0049] Figures 6A to 6C It shows Figure 3A An illustrative schematic diagram of the assembly process of the drum assembly frame and the second bracket of the protective cover.

[0050] Figure 7A3D is a schematic perspective view showing an assembly of a roller assembly and a lifting mechanism of a self-moving cleaning device according to a second embodiment of the present disclosure, wherein the roller assembly is in a lowered position relative to the main body and the protective cover is in a non-protective position.

[0051] Figure 7B It shows Figure 7A Schematic side view of the assembly.

[0052] Figure 7C 1 is a perspective schematic diagram showing an assembly of a roller assembly and a lifting mechanism of a self-moving cleaning device according to a second embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main body and the protective cover is in a protective position.

[0053] Figure 7D It shows Figure 7C Schematic side view of the assembly.

[0054] Figure 8A 1 is a side schematic diagram showing a partial configuration of a self-moving cleaning device according to a third embodiment of the present disclosure, wherein the drum assembly is in a lowered position relative to the main body and the protective cover is in a non-protective position.

[0055] Figure 8B 1 is a side schematic diagram showing a partial structure of a self-moving cleaning device according to a third embodiment of the present disclosure, wherein the roller assembly is in a raised position relative to the main body and the protective cover is in a protective position.

[0056] Figure 9A 1 is a side schematic diagram showing a partial configuration of a self-moving cleaning device according to a fourth embodiment of the present disclosure, wherein the drum assembly is in a lowered position relative to the main body and the protective cover is in a non-protective position.

[0057] Figure 9B 1 is a side schematic diagram showing a partial structure of a self-moving cleaning device according to a fourth embodiment of the present disclosure, wherein the drum assembly is in a raised position relative to the main body and the protective cover is in a protective position.

[0058] Description of Reference Numerals

[0059] MB—host; c1—first boot slot; c2—second boot slot;

[0060] RA—roller assembly;

[0061] 1—frame; 11—frame body; 111—first limiting portion; 112—second limiting portion; 12—side support frame; 121—side plate; 122—shaft;

[0062] 2—drum;

[0063] 3—Power source;

[0064] 4—protective cover; 41—cover body; 42—first bracket; 43—second bracket; 44—bearing; 4a—first split part; 4b—second split part;

[0065] 5—reducer;

[0066] 61—output gear; 62—intermediate gear; 63—sector gear;

[0067] LM—lifting mechanism;

[0068] 71 - lifting motor; 72 - transmission member; 73 - first connecting rod; 74 - second connecting rod; 75 - rotation support connecting rod;

[0069] D1—up and down direction; D2—front and back direction. DETAILED DESCRIPTION

[0070] 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.

[0071] 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 self-moving cleaning device according to the present disclosure. Specifically, the self-moving cleaning device has a positive direction of movement (i.e., positive direction) when in normal operating state. The so-called "normal operating state" refers to the moving state of the self-moving cleaning device when performing a task, which is distinguished from the non-normal operating state of the self-moving cleaning device such as retreating and swinging in the escape mode. "Front (front side)" and "rear (rear side)" refer to the front and rear sides of the self-moving cleaning device in the positive forward direction when the self-moving cleaning device according to the present disclosure is in a normal operating state on the traveling surface (e.g., the surface to be cleaned), "left (left side)" and "right (right side)" refer to the left and right sides when viewed toward the front side in the positive forward direction, and "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 self-moving cleaning device according to the present disclosure is in a normal operating state on the traveling surface.

[0072] In the present disclosure, the self-moving cleaning device can move autonomously according to the control scheme preset in its processing unit. The traveling surface (e.g., the surface to be cleaned) on which the self-moving cleaning device moves autonomously can be a plane or a curved surface with a large radius of curvature, typically the floor of each room in a building. The processing unit in the present disclosure is a general term, and there is no restriction on the type, quantity, and form of the processing unit. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, GPU, or other types of hardware chips, processors, or software algorithms with data processing and computing capabilities. Furthermore, the processing unit can be a unified, unique processor for the self-moving cleaning device, or a collection of multiple processing units. The connection mode, function, and computing power distribution of the multiple processing units can be adjusted as needed. For example, in an optional solution, a first processing unit and a second processing unit can be included. In this case, the first processing unit and the second processing unit as a whole realize the various functions of the above-mentioned processing units. In addition, the processing unit of the self-moving cleaning device of the present disclosure can receive parameters from the sensing component and can perform relevant control on the self-moving cleaning device through a preset program stored in the storage unit. 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.

[0073] In the present disclosure, unless otherwise specified, "lifting" refers to the lifting and lowering of a lifted object, such as a roller assembly, of a self-moving cleaning device relative to the main body in the up and down directions.

[0074] 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.

[0075] The self-moving cleaning device according to the first embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0076] The self-moving cleaning device according to the first embodiment of the present disclosure has a wet cleaning component. Figures 1A to 1D As shown, the autonomous mobile device comprises a main unit MB, a roller assembly RA, and a lifting mechanism LM. In this embodiment, the roller assembly RA is mounted on the main unit MB and includes a roller 2, which serves as a wet cleaning element. Furthermore, the lifting mechanism LM is connected to the main unit MB and the roller assembly RA, enabling the roller assembly RA to be raised and lowered relative to the main unit MB in a vertical direction D1.

[0077] In this embodiment, the host MB may include a casing that is generally circular in a top view. The shape of the casing is not limited thereto, and in other optional schemes, the casing may also have other shapes, such as oval, D-shaped or square. When the self-moving cleaning device according to the embodiment of the present disclosure is in normal operating state, the bottom surface of the casing is opposite to the traveling surface (such as the surface to be cleaned), and the bottom surface of the casing is parallel to the traveling surface. Here, "parallel" not only includes that the bottom surface of the casing and the traveling surface have a geometric parallel relationship, but also includes the situation where the two are roughly parallel. The above-mentioned "roughly" means that within the reasonable error range recognized by those skilled in the art, it can be determined that the parallel relationship between the two is established. In addition, other components of the self-moving cleaning device can be arranged in the casing. In order to support and protect other components, most of the structures of the self-moving cleaning device are installed in the interior or surface of the casing, or have a connection relationship with the casing. The self-moving cleaning device can also be provided with a processing unit and a sensing component in the casing. The processing unit can obtain environmental parameters through the sensing component. Based on the obtained environmental parameters, the processing unit can control the wheel component to drive the entire self-moving cleaning device to move autonomously on the traveling surface, and in this process, the traveling surface can be cleaned by the wet cleaning component.

[0078] In this embodiment, if Figures 1A to 1D As shown, the drum assembly RA includes a frame 1, a drum 2, a power source 3, a protective cover 4, a speed reducer 5 and a gear transmission mechanism (an output gear 61, an intermediate gear 62 and a sector gear 63) assembled together.

[0079] In this embodiment, if Figures 1B to 1D As shown, the frame 1 includes a frame body 11 and a side support frame 12 that are assembled in a detachable manner. The frame body 11 is used for mounting other components and supporting other components. The frame body 11 can have various shapes and structures as needed, and is not limited to the shapes and structures shown in the figure. In addition, in order to utilize the lifting mechanism LM to drive the roller assembly RA to rise and fall relative to the main machine MB, the front end of the frame body 11 is rotatably connected to the lifting mechanism LM (second connecting rod 74), and the rear end of the frame body 11 is rotatably connected to the main machine MB. In addition, as shown Figures 6A to 6C As shown, the side support frame 12 includes a side plate 121 and a shaft portion 122, which are fixed to each other. The side plate 121 is assembled with the frame body 11 in a removable manner. When the side plate 121 is assembled with the frame body 11, the shaft portion 122 passes through the bearing 44 of the second bracket 43 and is inserted into the drum 2. The shaft portion 122 is arranged coaxially with the drum 2, so that the second bracket 43 is rotatably connected to the frame 1 via the shaft portion 122, thereby enabling the second bracket 43 to rotate about the central axis of the drum 2.

[0080] In this embodiment, if Figures 1A to 1DAs shown, the drum 2 is cylindrical and can rotate relative to the main machine MB about its own central axis, which extends in the left-right direction of the main machine MB. During operation, the spray device of the autonomous mobile device sprays a cleaning liquid, such as water, onto the running surface or the drum 2. The drum 2 contacts the running surface and rotates, thereby wet-cleaning the running surface.

[0081] In this embodiment, the power source 3 is a motor. Figure 1D As shown, the power source 3 is fixedly mounted on the frame body 11. The motor shaft of the motor is directly connected to the reducer 5, so that the torque from the motor can be directly transmitted to the reducer 5 and increased by the reducer 5.

[0082] In this embodiment, if Figures 1A to 1D as well as Figures 4A to 4D As shown, the protective cover 4 is connected to the power source 3 via a speed reducer 5. The power source 3 can drive the protective cover 4 to rotate relative to the drum 2. During the rotation, the protective cover 4 can be positioned to a protective position that covers the bottom of the drum 2 and a non-protective position that exposes the bottom of the drum 2. It can be understood that in the present disclosure, the "bottom of the drum 2" can be divided into its corresponding range on the drum 2 according to actual needs, but it does not exceed half of the overall structure of the drum 2 (that is, the outer peripheral surface corresponding to the bottom does not exceed half of the entire outer peripheral surface of the drum 2). Specifically, the protective cover 4 includes a cover body 41, a first bracket 42 and a second bracket 43 fixed to each other.

[0083] In order to fully protect the bottom of the drum 2, the cover 41 is formed into an arc structure and is located radially outside the drum 2. In other words, the cover 41 is always separated from the drum 2 by a certain distance to avoid interference with the drum 2 during the rotation of the protective cover 4. The cover 41 extends along the axial direction of the drum 2 (from the left and right direction of the self-moving cleaning device) across the entire drum 2 while extending along the circumferential direction of the drum 2. Specifically, the cover 41 extends circumferentially across a central angle of 80 to 120 degrees. This is because if the range over which the cover 41 extends circumferentially in the drum 2 is too large (greater than a central angle of 120 degrees), the cover 41 needs to rotate a very large range to expose the bottom of the drum 2. This will cause the mechanism for rotating the cover 41 to occupy too much space. If the circumferential extension of the cover 41 in the drum 2 is too small (less than an 80-degree central angle), the cover 41 cannot fully cover the bottom of the drum 2, resulting in the possibility that the drum 2 may come into contact with the carpet on the running surface even when the protective cover 4 is in the protective position. Therefore, the cover 41 has a certain size in the axial and circumferential directions of the drum 2, thereby being able to provide the required coverage of the bottom of the drum 2 in the protective position.

[0084] The first bracket 42 and the second bracket 43 are fixedly connected to the two ends of the cover body 41 respectively. The first bracket 42 and the second bracket 43 are respectively located on both sides of the drum 2 in the axial direction of the drum 2. The first bracket 42 and the second bracket 43 are both rotatably connected to the frame 1, so that the protective cover 4 can rotate around the central axis of the drum 2. The two brackets 42 and 43 can stably support the cover body 41 during the rotation of the protective cover 4, thereby preventing the protective cover 4 from tilting. In this embodiment, as shown in FIG. Figure 4A and Figure 4B As shown, the sector gear 63 of the gear transmission mechanism serves as the first bracket 42, and the first bracket 42 is rotatably connected to the frame body 11. The power source 3 can drive the protective cover 4 to rotate via the first bracket 42, and the first bracket 42 and the first end of the cover body 41 are assembled together in a detachable manner. In addition, the second bracket 43 and the second end of the cover body 41 can be always fixed to each other by welding or bonding, and the second bracket 43 is provided with a bearing 44. As described above, the shaft 122 of the side support frame 12 of the frame 1 is inserted into the drum 2 through the bearing 44, so that the second bracket 43 is supported by the bearing 44 of the side support frame 12. Therefore, when the power source 3 drives the first bracket 42 to rotate, the first bracket 42 can drive the entire protective cover 4 to rotate. During the rotation of the protective cover 4, the second bracket 43 plays a role in following and maintaining the stable rotation of the cover body 41. Moreover, by utilizing the detachable connection structure between the side support frame 12 and the frame body 11 and the detachable connection structure between the cover body 41 and the first bracket 42, the protective cover 4 is assembled with the drum 2 and the frame 1 in a structure that is easy to disassemble, thereby facilitating the maintenance and cleaning of the drum assembly RA.

[0085] like Figure 1D As shown, the reducer 5 is mounted on the frame 1, and the power source 3 is connected to the protective cover 4 via the reducer 5 and the gear transmission mechanism. The reducer 5 is a gear reducer and may include a planetary gear and / or multiple pairs of gear pairs meshing with each other, thereby increasing the torque from the power source 3. In addition, the reducer 5 has a reduction ratio that enables the protective cover 4 to be locked by the reducer 5 when the power source 3 stops running, because the reducer 5 can provide sufficient resistance to lock the protective cover 4 when the reduction ratio is large enough. In this way, after the torque is increased by the reducer 5 to be transmitted to the protective cover 4, the cover body 41 can be smoothly converted between different positions. The use of a reducer 5 with a larger reduction ratio can achieve the function of locking the cover body 41, so that the cover body 41 can be locked in the desired position.

[0086] like Figure 1C as well as Figures 5A to 5CAs shown, the gear transmission mechanism includes an output gear 61, an intermediate gear 62 and a sector gear 63. The output gear 61 is mounted on the output shaft of the reducer 5 and is directly connected to the reducer 5 for receiving the torque from the reducer 5. The intermediate gear 62 is mounted on the frame body 11 and is rotationally connected to the frame body 11, and the intermediate gear 62 is always engaged with the output gear 61. The sector gear 63 serving as the first bracket 42 is always engaged with the intermediate gear 62, and the rotation axis of the sector gear 63 is consistent with the central axis of the drum 2. The sector gear 63 is fixedly connected to the protective cover 4, so that the torque from the power source 3 is transmitted to the protective cover 4 via the reducer 5, the output gear 61, the intermediate gear 62 and the sector gear 63. By utilizing gears other than the reducer 5, the reduction ratio can be further changed as needed, and it is beneficial to flexibly adjust the structural layout of the drum assembly RA.

[0087] In this embodiment, if Figures 1A to 1D As shown, the roller assembly RA is mounted on the main body MB via a lifting mechanism LM, and the lifting mechanism LM is configured to enable the roller assembly RA to rise and fall relative to the main body MB in the vertical direction D1, so that the self-moving cleaning device can be applied to more application scenarios. Figure 1DAs shown, the lifting mechanism LM includes a lifting motor 71, a transmission member 72, a first connecting rod 73, and a second connecting rod 74. The motor shaft of the lifting motor 71 is threadedly engaged with the transmission member 72, enabling reciprocating motion on the motor shaft. The lifting motor 71 is mounted on the main machine MB. The motor shaft of the lifting motor 71 is threaded and permanently engaged with the transmission member 72, forming a screw-nut mechanism. As the lifting motor 71 operates, the transmission member 72 is driven by the motor shaft to reciprocate linearly along the motor shaft. The first connecting rod 73 is rotationally connected to the main machine MB and to the transmission member 72. The second connecting rod 74 is rotationally connected to the frame 1 and to the transmission member 72. Furthermore, as described above, the frame body 11 is rotationally connected to the main machine MB, enabling the frame 1 to rotate relative to the main machine MB within a predetermined range. Consequently, when the transmission member 72 drives the frame 1 via the linkage mechanism formed by the first connecting rod 73 and the second connecting rod 74, the frame 1 drives the roller assembly RA to rotate relative to the main machine MB, thereby enabling the roller assembly RA to be raised and lowered in the vertical direction D1 relative to the main machine MB. It will be appreciated that after the roller assembly RA is raised and lowered relative to the main machine MB, a signal can be sent to the processing unit via a limit switch or motor encoder, which controls the operation and stopping of the lifting motor 71. Thus, utilizing the aforementioned lifting mechanism LM, the roller assembly RA can be raised and lowered relative to the main machine MB as needed, achieving a compact structure with high stability and reliability. Consequently, when the roller assembly RA is raised relative to the main machine MB, it not only improves the obstacle-crossing capability of the self-propelled cleaning device but also allows the roller assembly RA to maintain a greater distance from the travel surface, preventing contamination of the travel surface by the roller 2 of the roller assembly RA.

[0088] By adopting the above solution, when it is necessary to prevent the bottom of the drum 2 from contaminating the carpet on the running surface or when it is necessary to protect the bottom of the drum 2, the protective cover 4 can be rotated and positioned to a protective position covering the bottom of the drum 2. When it is necessary to clean the running surface with the bottom of the drum 2, the protective cover 4 can be rotated and positioned to a non-protective position, exposing the bottom of the drum 2, thereby allowing the bottom of the drum 2 to clean the running surface. Moreover, the above solution does not require repeated disassembly and assembly of the drum 2, thereby not affecting the working efficiency of the self-propelled cleaning device.

[0089] The following describes the working method of the self-moving cleaning device according to the first embodiment of the present disclosure. The working method may include a determination step, a first execution step, and a second execution step.

[0090] In the determination step, the parameters obtained by the sensing component of the self-mobile cleaning device are used to determine whether there is a carpet on the moving surface in the moving direction of the self-mobile cleaning device. The sensing component can be a camera set on the host MB, and the parameters obtained can be images or videos captured by the camera.

[0091] In the first execution step, after determining that a carpet is present in the determination step, the drum assembly RA is controlled to be in an elevated position relative to the host MB and / or the protective cover 4 of the drum assembly RA is controlled to be in a protective position. It is understood that when the drum assembly RA is in an elevated position relative to the host MB and the protective cover 4 of the drum assembly RA is in a non-protective position (see FIG. Figures 2A to 2D ), can improve the obstacle-crossing capability of the self-moving cleaning device, and can reduce the possibility of the drum 2 causing pollution to the carpet. When the drum assembly RA is in a raised position relative to the main body MB and the protective cover 4 of the drum assembly RA is in a protective position (see Figures 3A to 3C ), which can more fully prevent the cleaning liquid and dirt in the drum 2 from contaminating the carpet.

[0092] In the second execution step, the self-mobile cleaning device is in the wet cleaning mode and after it is determined in the determination step that a carpet is present, the roller assembly RA is controlled to be in a lowered position relative to the main body MB and the roller assembly RA is in a non-protective position (see FIG. Figures 1A to 1D ). Thus, the roller 2 can contact the travel surface and perform a wet cleaning operation on the travel surface.

[0093] It can be understood that the self-moving cleaning device according to the present disclosure repeatedly performs the judgment step during autonomous movement, and can selectively perform the first execution step and the second execution step after the judgment step, thereby adopting different schemes according to the actual working mode of the self-moving cleaning device.

[0094] This allows the self-propelled cleaning device to have multiple operating modes to suit different work scenarios. Specifically, when the roller assembly RA is lowered relative to the main body MB and the protective cover 4 is in the non-protective position, the roller assembly RA can clean the travel surface. When the roller assembly RA is raised relative to the main body MB and the protective cover 4 is in the non-protective position, the self-propelled cleaning device can traverse obstacles and reduce the possibility of the roller 2 contaminating the carpet. When the roller assembly RA is raised relative to the main body MB and the protective cover 4 is in the protective position, it not only facilitates the self-propelled cleaning device to traverse obstacles but also effectively prevents the roller assembly RA from contaminating, for example, carpets.

[0095] The autonomous mobile device according to the second embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0096] 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.

[0097] In this embodiment, if 7A to 7DAs shown, the lifting mechanism LM includes four rotational support links 75 located above the roller assembly RA in the vertical direction D1. Each rotational support link 75 extends perpendicular to the horizontal direction and parallel to one another. One end of each rotational support link 75 is pivotally connected to the top of the frame 1 and the other end is pivotally connected to the main unit 1. This allows the roller assembly RA to be pivotally connected to the main unit 1 via the multiple rotational support links 75. Furthermore, a second link 74 is pivotally connected to the front end of the frame 1, and each rotational support link 75 is pivotally connected to the rear end of the frame 1. Each rotational support link 75 has the same length and extends across the roller assembly RA in the front-to-back direction D2. This allows the roller assembly RA to have a wider range of movement relative to the main unit 1, while minimizing the relative displacement of the roller assembly RA in the front-to-back direction D3 during rotation. This reduces the space occupied by the mechanism for lifting the object 2 being lifted.

[0098] In addition, in this embodiment, 7A to 7D As shown, the frame body 11 is provided with a first limit portion 111 and a second limit portion 112 corresponding to the first bracket 42 (sector gear 63). The first limit portion 111 and the second limit portion 112 are respectively located on both sides of the corresponding first bracket 42 in the rotation direction of the first bracket 42 (the circumference of the drum 2). The first limit portion 111 and the second limit portion 112 respectively cooperate with the circumferential end edges of the first bracket 42 to limit the rotation range of the protective cover 4 in the circumferential direction. In this embodiment, the first limit portion 111 and the second limit portion 112 are both limit protrusions, but the present disclosure is not limited to this. The first limit portion 111 and the second limit portion 112 can also be mechanical limit switches. The mechanical limit switch can be connected to the processing unit signal. Therefore, when the first bracket 42 triggers the limit switch, the processing unit can control the power source 3 to stop, and can accurately limit the rotation range of the protective cover 4 through the first limit portion 111 and the second limit portion 112, thereby positioning the protective cover 4 while preventing the protective cover 4 from rotating excessively.

[0099] It can be understood that the first limiting portion 111 and the second limiting portion 112 can be formed by using other structures fixed to the frame body 111 (such as the shell of the reducer 5), or the first limiting portion 111 and the second limiting portion 112 can be formed by using the structure of the frame body 111 itself.

[0100] The autonomous mobile device according to the third embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0101] The structure of the autonomous mobile device according to the third 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.

[0102] In this embodiment, if Figure 8A and Figure 8B As shown, the power source can be fixedly mounted on the main machine MB, and the protective cover 4 is mounted on the main machine MB and is formed into a flat plate structure. The power source can drive the protective cover 4 to reciprocate linearly relative to the main machine MB, so that the protective cover 4 can extend relative to the main machine MB and be located below the bottom of the drum 2 in the protective position (see Figure 8B ), and the protective cover 4 is retracted relative to the host MB in the non-protective position (see Figure 8A ). In this way, the lifting and lowering of the drum 2 relative to the host MB will not be affected.

[0103] Thus, in this embodiment, the same effect as the autonomous mobile device of the first embodiment can be achieved. It is understood that in this embodiment, a solenoid valve can be provided to cooperate with a power source to drive the protective cover 4, or other transmission mechanisms can be used as needed to achieve reciprocating linear motion of the protective cover 4 relative to the host MB.

[0104] The autonomous mobile device according to the fourth embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0105] The structure of the autonomous mobile device according to the fourth 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.

[0106] In this embodiment, if Figure 9A and Figure 9B As shown, the power source can be fixedly mounted on the main body MB, and the protective cover 4 includes a first split portion 4a and a second split portion 4b that are separated from each other and placed on the main body MB. The main body MB is formed with a first guide groove c1 and a second guide groove c2, one end of the first split portion 4a is mounted in the first guide groove c1, and one end of the second split portion 4b is mounted in the second guide groove c2. The same power source can drive the first split portion 4a to reciprocate along the first guide groove c1 while driving the second split portion 4b to reciprocate along the second guide groove c2, so that the first split portion 4a and the second split portion 4b can extend and close together relative to the main body MB in the protective position (see Figure 9B ), and are retracted relative to the host MB and separated from each other in the non-protective position (see Figure 9A ). In this way, the lifting and lowering of the drum 2 relative to the host MB will not be affected.

[0107] Thus, in this embodiment, the same effects as the autonomous mobile device of the first embodiment can be achieved. It will be appreciated that in this embodiment, a solenoid valve can be provided in conjunction with a power source to drive the two separate parts 4a, 4b of the protective cover 4, or other transmission mechanisms can be employed as needed to achieve reciprocating motion of the protective cover 4 relative to the main body MB. Furthermore, the configuration of the two separate parts 4a, 4b, as well as the transmission mechanism for closing and separating the two separate parts 4a, 4b, can be configured and adjusted as needed, so long as the protective cover 4 covers the bottom of the drum 2 in the protective position and exposes the bottom of the drum 2 in the non-protective position.

[0108] 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.

[0109] i. It is understood that the technical solutions of the present disclosure can be applied not only to the self-moving cleaning devices described in the above embodiments, but can also be applied to autonomous mobile devices that perform similar functions as needed. Such autonomous mobile devices may include companion mobile robots (e.g., smart electronic pets, nanny robots), service mobile robots (e.g., reception robots for hotels, inns, and meeting places), industrial inspection intelligent equipment (e.g., power inspection robots, smart forklifts, etc.), security robots (e.g., household or commercial intelligent security robots), and other two-dimensional planar mobile robots with wheels or tracks as drive units. Of course, the solutions of the present disclosure can also be applied to other fields, which will not be exhaustively described.

[0110] ii. It is understood that as long as there is no contradiction, the technical features in different embodiments can be combined with each other, and different solutions can be obtained as needed.

[0111] iii. In the above specific embodiments, it is described that the self-moving cleaning device includes a wet cleaning component, and the wet cleaning component includes a roller 2 as a wet cleaning member, but the present disclosure is not limited to this. The self-moving cleaning device may also include a dry cleaning component provided on the host MB and may include dry cleaning members such as a main brush and side brushes (side brushes) and a suction device. In the front-to-back direction D2, the dry cleaning member may be located in front of the wet cleaning member. Thus, when the autonomous mobile device is moving on the traveling surface, the traveling surface may be cleaned by the dry cleaning component and / or the wet cleaning component. In different working modes, the cleaning operations performed by the self-moving cleaning device include but are not limited to one or more of operations such as sweeping, mopping, and vacuuming.

[0112] Furthermore, in order to achieve autonomous movement of the self-moving cleaning 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 MB and protrude relative to the bottom surface of the main unit MB, and is used to drive the entire self-moving cleaning device to move on the travel surface under the control of the processing unit. By rotating the wheels (driving wheels) of the two wheel assemblies at the same speed and in the same direction (for example, rotating clockwise or counterclockwise at the same time), the self-moving cleaning device can be driven to move linearly along the forward direction; by rotating the driving wheels of the two wheel assemblies at different speeds and / or in different directions (for example, one driving wheel rotates clockwise and the other driving wheel rotates counterclockwise), the self-moving cleaning device can be driven to perform steering movements in directions different from the forward direction. The self-moving cleaning device may also include a universal wheel provided on the main unit MB, so that no matter how the driving wheel rolls on the travel surface, the universal wheel can support the entire self-moving cleaning device.

Claims

1. A self-moving cleaning device, characterized in that: It includes a main unit and a drum assembly, wherein the drum assembly includes: a frame, which is mounted on a host computer; a drum mounted on the frame and rotatable relative to the frame about its central axis; a power source mounted on the frame or the host; and A protective cover is connected to the power source, and the power source can drive the protective cover to move relative to the drum. During the movement, the protective cover can be positioned to a protective position covering the bottom of the drum and a non-protective position exposing the bottom of the drum.

2. The self-moving cleaning device according to claim 1, characterized in that The utility model further comprises a speed reducer which is mounted on the frame, wherein the power source is in transmission connection with the protective cover via the speed reducer, and the speed reducer has a reduction ratio such that the protective cover can be locked by the speed reducer when the power source stops running.

3. The self-moving cleaning device according to claim 2, characterized in that It also includes output gears, intermediate gears and sector gears. The output gear is in transmission connection with the reducer. The intermediate gear is always in mesh with the output gear. The sector gear is always meshed with the intermediate gear, and the sector gear is fixedly connected to the protective cover or serves as a part of the protective cover, so that the torque from the power source is transmitted to the protective cover via the reducer, the output gear, the intermediate gear and the sector gear.

4. The self-moving cleaning device according to claim 3, characterized in that The frame is provided with a first limiting portion and a second limiting portion, and the first limiting portion and the second limiting portion are respectively located on both sides of the sector gear in the rotation direction of the sector gear, and the first limiting portion and the second limiting portion are respectively cooperated with the circumferential side end edges of the sector gear to limit the rotation range of the protective cover.

5. The self-moving cleaning device according to claim 4, characterized in that The first limiting portion and the second limiting portion are both limiting protrusions or limit switches.

6. The self-moving cleaning device according to any one of claims 1 to 5, characterized in that: The protective cover includes a cover body, a first bracket and a second bracket, The cover is located on the radially outer side of the drum, and extends along the axial direction of the drum, spanning the entire drum and extending along the circumferential direction of the drum. The first bracket and the second bracket are fixedly connected to both ends of the cover body. The first bracket and the second bracket are respectively located on both sides of the drum in the axial direction. The first bracket and the second bracket are both rotatably connected to the frame, so that the protective cover can rotate around the central axis.

7. The self-moving cleaning device according to claim 6, characterized in that The power source drives the protective cover to rotate via the first bracket, the first bracket is a sector gear and is assembled with the first end of the cover body in a detachable manner, the second bracket is fixed to the second end of the cover body, and the second bracket is provided with a bearing. The frame includes a frame body and a side support frame that are detachably assembled. The side support frame includes a side plate and a shaft portion that are fixed to each other. The side plate is detachably assembled with the frame body, and the shaft portion is inserted into the roller through the bearing.

8. The self-moving cleaning device according to claim 6, characterized in that The cover extends along the circumferential direction across a central angle of 80 degrees to 120 degrees.

9. The self-moving cleaning device according to claim 1, characterized in that The protective cover is mounted on the host and is formed into a flat plate structure. The power source can drive the protective cover to perform reciprocating linear motion relative to the host, so that the protective cover can extend relative to the host in the protective position and retract relative to the host in the non-protective position.

10. The self-moving cleaning device according to claim 1, characterized in that The protective cover includes a first split portion and a second split portion that are separated from each other and disposed on the host. The host is formed with a first guide groove and a second guide groove. One end of the first split portion is installed in the first guide groove, and one end of the second split portion is installed in the second guide groove. The power source is capable of driving the first split part to reciprocate along the first guide groove, and the power source is capable of driving the second split part to reciprocate along the second guide groove, so that the first split part and the second split part can be extended relative to the main body in the protective position and retracted relative to the main body in the non-protective position.

11. The self-moving cleaning device according to any one of claims 1 to 5, characterized in that: The central axis of the drum extends along the left-right direction of the self-moving cleaning device. The self-moving cleaning device further includes a lifting mechanism, and the drum assembly is mounted on the main body via the lifting mechanism.

12. The self-moving cleaning device according to claim 11, characterized in that The lifting mechanism includes a lifting motor, a transmission member, a first connecting rod and a second connecting rod. The motor shaft of the lifting motor is threadedly engaged with the transmission member, so that the transmission member can reciprocate along the motor shaft. The first connecting rod is rotatably connected to the main machine and the transmission member, and the second connecting rod is rotatably connected to the transmission member and the roller assembly.

13. The self-moving cleaning device according to claim 12, characterized in that The second connecting rod is rotatably connected to the front end of the frame of the roller assembly. The rear end of the frame is rotatably connected to the main unit; or the lifting mechanism further includes a rotation support link, and the top of the frame is rotatably connected to the main unit via the rotation support link.

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