Sweeping robot

Abstract

The application relates to a sweeping robot, which comprises a robot main body, a mechanical arm and an execution mechanism, the bottom of the robot main body is provided with a walking mechanism; the first end of the mechanical arm is movably arranged on the robot main body; the number of the execution mechanism is multiple, which is used for realizing different cleaning additional functions; the execution mechanism is detachably connected to the second end of the mechanical arm, which is used for realizing the switching of the cleaning additional functions of the sweeping robot. The sweeping robot provided by the application has multiple execution mechanisms for realizing different cleaning additional functions, and the execution mechanism and the second end of the mechanical arm are detachably connected, so that the execution mechanisms with different functions can be conveniently arranged on the mechanical arm, the switching of the cleaning additional functions of the sweeping robot is realized, the function expansion and the efficiency improvement of the sweeping robot are facilitated, and the use experience of users is improved.

Description

Technical Field

[0001] This application relates to the field of automatic cleaning equipment technology, and more particularly to a sweeping robot. Background Technology

[0002] As people's living standards improve, robotic vacuum cleaners that can automatically clean have entered thousands of households, reducing the burden of housework caused by cleaning floors for users.

[0003] Traditional robotic vacuum cleaners are limited to basic functions, only removing debris and washing floors. They lack additional cleaning capabilities (such as moving or wiping indoor objects), making reliable cleaning difficult. For example, when objects are present on the floor, traditional robotic vacuum cleaners, lacking suitable gripping mechanisms, can only push them aside or go around them, failing to effectively clean and tidy up. Similarly, because they lack suitable actuation mechanisms for wiping objects, they struggle to efficiently clean furniture surfaces, window glass, and other surfaces.

[0004] Therefore, since existing robotic vacuum cleaners cannot easily expand their functions and improve their efficiency, users still need to cooperate to clean the whole house when the robotic vacuum cleaner is working, resulting in a poor user experience. Utility Model Content

[0005] This application provides a robotic vacuum cleaner to solve the technical problem that existing robotic vacuum cleaners cannot easily expand their functions and improve their efficiency, resulting in a poor user experience.

[0006] This application provides a robotic vacuum cleaner, including:

[0007] The robot body has a walking mechanism at its bottom;

[0008] The robotic arm has its first end movably mounted on the robot body.

[0009] The actuators are multiple and are used to perform different additional cleaning functions. The actuators are detachably connected to the second end of the robotic arm to switch between additional cleaning functions of the robot vacuum cleaner.

[0010] Optionally, the actuator includes at least two of the following: a clamping mechanism, a wiping mechanism, a collecting mechanism, and a spraying mechanism.

[0011] Optionally, the clamping mechanism includes an adsorption component and multiple gripper assemblies, with the multiple gripper assemblies arranged sequentially around the outer periphery of the adsorption component along the circumferential direction of the clamping mechanism.

[0012] Optionally, there may be two or more robotic arms, each equipped with an actuator.

[0013] Optionally, the robotic arm includes a first connecting arm, a second connecting arm, and a third connecting arm connected in sequence. The second connecting arm can rotate relative to the first connecting arm about a first direction, and the third connecting arm can rotate relative to the second connecting arm about a second direction. The first direction is perpendicular to the second direction.

[0014] Optionally, the robot body is provided with a storage cavity and a diffusion component. The storage cavity is located inside the robot body and is used to store insect repellent. The diffusion component is connected to the storage cavity and is used to diffuse the insect repellent to the space to be cleaned.

[0015] Optionally, the diffusion assembly includes an electrically heated assembly or a nozzle assembly.

[0016] Optionally, the robotic vacuum cleaner includes an intelligent monitoring module, which is mounted on the main body of the robot and is used to achieve obstacle avoidance and object detection.

[0017] Optionally, the intelligent monitoring module includes a lidar monitoring component, an infrared sensor monitoring component, and an image monitoring component.

[0018] Optionally, the walking mechanism includes a lifting assembly and a front wheel assembly, with the lifting assembly connected to the robot body and the front wheel assembly respectively.

[0019] The technical solutions provided in this application have the following advantages compared with the prior art:

[0020] The robotic vacuum cleaner provided in this application has multiple actuators for implementing different additional cleaning functions, and the actuators are detachably connected to the second end of the robotic arm. This allows for the installation of different functional actuators on the robotic arm, thereby enabling the switching of additional cleaning functions of the robotic vacuum cleaner. This facilitates the expansion of the robotic vacuum cleaner's functions and the improvement of its efficiency, thereby enhancing the user experience. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0024] Figure 1 A schematic diagram of the structure of the sweeping robot provided in the embodiments of this application. Figure 1 ;

[0025] Figure 2 A schematic diagram of the structure of the sweeping robot provided in the embodiments of this application. Figure 2 ;

[0026] Figure 3 A schematic diagram of the structure of the sweeping robot provided in the embodiments of this application. Figure 3 ;

[0027] Figure 4 This is a schematic diagram of the structure of the robotic arm provided in the embodiments of this application;

[0028] Figure 5 A partial cross-sectional view of the sweeping robot provided in the embodiments of this application;

[0029] Figure 6 This is a schematic diagram of the structure of the robot body and intelligent monitoring module provided in the embodiments of this application;

[0030] Figure 7 This is a schematic diagram of a sweeping robot walking on a stepped structure, as provided in an embodiment of this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Robot body; 11. Storage cavity; 12. Diffusion assembly; 13. Cleaning assembly; 14. Receptacle;

[0033] 2. Walking mechanism; 21. Lifting assembly; 22. Front wheel assembly; 23. Rear wheel assembly;

[0034] 3. Robotic arm; 31. First connecting arm; 32. Second connecting arm; 33. Third connecting arm; 34. Connecting part; 35. First hinge assembly; 36. Second hinge assembly; 37. Third hinge assembly;

[0035] 4. Clamping mechanism; 41. Adsorption assembly; 42. Gripper assembly;

[0036] 5. Wiping mechanism;

[0037] 6. Intelligent monitoring module; 61. LiDAR monitoring component; 62. Infrared sensing monitoring component;

[0038] 7. Ground. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0041] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0042] To address the technical problem that existing robotic vacuum cleaners cannot easily expand their functions and improve their efficiency, resulting in a poor user experience, this application provides a robotic vacuum cleaner with multiple actuators for implementing different additional cleaning functions. The actuators are detachably connected to the second end of the robotic arm 3, which facilitates the installation of different functional actuators on the robotic arm 3, thereby enabling the switching of additional cleaning functions of the robotic vacuum cleaner. This facilitates the expansion of the robotic vacuum cleaner's functions and improves its efficiency, thus enhancing the user experience.

[0043] Please see Figures 1 to 7 This application provides a robotic vacuum cleaner, including a robot body 1, a robotic arm 3, and an actuator, such as... Figure 1 and Figure 2 As shown.

[0044] The robot body 1 has a walking mechanism 2 at its bottom to facilitate the robot's movement within the space to be cleaned, ensuring that the cleaning range meets usage requirements. The first end of the robotic arm 3 is movably mounted on the robot body 1, allowing the robotic arm 3 to move relative to the robot body 1, thereby expanding the range of motion of the second end of the robotic arm 3.

[0045] The robot has multiple actuators to perform various additional cleaning functions, such as picking up, moving, or wiping items. The actuators are detachably connected to the second end of the robotic arm 3, allowing for easy replacement of the actuators at the second end of the robotic arm 3. This enables the robot to switch between additional cleaning functions, facilitating the expansion of its functionality. By integrating multiple cleaning functions into a single robot, the robot's efficiency is improved, enhancing the user experience.

[0046] It should be noted that the detachable connection between the actuator and the robotic arm 3 can be achieved by means of screw connection, threaded connection or snap-fit ​​connection, etc. As long as the switching of the actuator can be conveniently realized, the purpose of this application can be achieved.

[0047] In some embodiments of this application, please refer to Figure 1 , Figure 2 and Figure 3 The actuator includes at least two of the following: a gripping mechanism 4, a wiping mechanism 5, a collection mechanism, and a spraying mechanism. The gripping mechanism 4 can be used to grasp and move objects to remove obstacles in the cleaning path or to transport larger pieces of trash directly to the trash can. The wiping mechanism 5 can be used to wipe the surfaces of items (such as dining tables, cabinets, etc.), expanding the cleaning function of the robot vacuum cleaner beyond the ground. The collection mechanism can collect the grasped objects for bulk transfer by the robot vacuum cleaner. The spraying mechanism can spray cleaning fluid, disinfectant, or insect repellent into the space to be cleaned, ensuring efficient and uniform spraying of these liquids.

[0048] In some embodiments of this application, please refer to Figure 3The clamping mechanism 4 includes an adsorption component 41 and multiple gripper components 42. The multiple gripper components 42 are arranged sequentially around the outer periphery of the adsorption component 41 along the circumference of the clamping mechanism 4. The multiple gripper components 42 can achieve multi-point and uniform clamping of the outer surface of the object being clamped, while the adsorption component 41 can adsorb the outer surface of the object being clamped, improving the connection reliability between the clamping mechanism 4 and the object being clamped, and preventing the object being clamped from falling off during the movement of the sweeping robot.

[0049] In some embodiments of this application, the gripper assembly 42 adopts a linkage mechanism, and the opening and closing of multiple gripper assemblies 42 are realized by a servo motor set inside the housing of the gripping mechanism 4, which can be used to grasp objects of various shapes.

[0050] In some embodiments of this application, the adsorption component 41 may include a vacuum suction cup or a magnetic suction element. To improve the applicability of the adsorption component 41, it is preferable that the adsorption component 41 includes a vacuum suction cup, which is suitable for adsorbing objects of various materials. For example, when the surface of the object being clamped is spherical, the adsorption component 41 adsorbs and fixes the surface of the spherical object, so that the clamping mechanism 4 always maintains a stable connection with the object being clamped during the gripping and moving process, which can improve the reliability of the clamping mechanism 4.

[0051] In some embodiments of this application, please refer to Figure 1 , Figure 2 and Figure 3 There are two or more robotic arms 3, and each robotic arm 3 is equipped with an actuator, which can multiply the cleaning capacity or achieve coordinated cooperation between different cleaning functions.

[0052] In some embodiments of this application, please refer to Figure 1 and Figure 3 When both robotic arms 3 are equipped with gripping mechanisms 4, the two gripping mechanisms 4 can grasp both sides of the object, and the two gripping mechanisms 4 can work together to transport large objects.

[0053] In some embodiments of this application, please refer to Figure 2 When both robotic arms 3 are equipped with wiping mechanisms 5, different areas can be wiped and cleaned through the wiping mechanisms 5 on both robotic arms 3, thereby doubling the wiping and cleaning efficiency.

[0054] In some embodiments of this application, when the two robotic arms 3 are respectively equipped with a gripping mechanism 4 and a collection mechanism, the object can be gripped by the gripping mechanism 4 and placed in the collection mechanism. This is suitable for collecting toys and other items scattered on the ground during the cleaning process, which can reduce the user's housework burden.

[0055] In some embodiments of this application, please refer to Figures 1 to 4 The robotic arm 3 includes a first connecting arm 31, a second connecting arm 32, and a third connecting arm 33 connected in sequence. The second connecting arm 32 can rotate relative to the first connecting arm 31 about a first direction, and the third connecting arm 33 can rotate relative to the second connecting arm 32 about a second direction. The first direction is perpendicular to the second direction, which allows the robotic arm 3 to have multiple degrees of freedom in multiple directions, thereby improving the movement freedom of the actuator set at the second end of the robotic arm 3. By adjusting the posture of the robotic arm 3, multi-directional grasping, wiping, or spraying effects can be achieved.

[0056] In some embodiments of this application, the first direction is the left-right direction and the second direction is the up-down direction. When the second connecting arm 32 can rotate relative to the first connecting arm 31 in the left-right direction, that is, when the second connecting arm 32 rotates relative to the first connecting arm 31 in the left-right direction (such as the X-axis or Y-axis), the second connecting arm 32 can rotate in the vertical plane. When the third connecting arm 33 can rotate relative to the second connecting arm 32 in the up-down direction, that is, when the third connecting arm 33 rotates relative to the second connecting arm 32 in the up-down direction (such as the Z-axis), the third connecting arm 33 can rotate in the horizontal plane. This allows the robotic arm 3 to have both up-down rotational freedom and left-right rotational freedom, which can improve the flexibility of the actuator position adjustment and help reduce cleaning dead corners caused by the robot's own structure.

[0057] In some embodiments of this application, please refer to Figure 4 The first connecting arm 31 has a first hinge assembly 35 and a second hinge assembly 36 at both ends. The first hinge assembly 35 is used to achieve the hinge between the robotic arm 3 and the robot body 1, and the second hinge assembly 36 is used to achieve the hinge between the first connecting arm 31 and the second connecting arm 32. The third connecting arm 33 has a third hinge assembly 37 and a connecting part 34 at both ends. The third hinge assembly 37 is used to achieve the hinge between the third connecting arm 33 and the second connecting arm 32, and the connecting part 34 is used to achieve a detachable connection between the third connecting arm 33 and the actuator.

[0058] In some embodiments of this application, please refer to Figure 1 , Figure 2 and Figure 6 Since the multiple connecting arms are hinged in pairs, the robotic arm 3 can be folded by the relative rotation of the multiple connecting arms after the robot stops working. The upper surface of the robot body 1 is provided with a receiving groove 14, which can be used to store the folded robotic arm 3, thereby reducing the space occupied by the robot.

[0059] It should be noted that the receiving slot 14 can partially or completely store the robotic arm 3, depending on the structural arrangement of the hinge components between the multiple connecting arms.

[0060] Specifically, when the first connecting arm 31, the second connecting arm 32, and the third connecting arm 33 can all rotate relative to each other in the vertical direction, the robotic arm 3 can be completely folded, allowing for concealed storage (i.e., complete storage). When the first connecting arm 31 and the second connecting arm 32 can rotate vertically, while the third connecting arm 33 and the second connecting arm 32 can only rotate horizontally, the first connecting arm 31 and the second connecting arm 32 can be folded for storage, resulting in partial storage of the robotic arm 3.

[0061] In some embodiments of this application, please refer to Figure 5 and Figure 6 The robot body 1 is provided with a storage cavity 11 and a diffusion component 12. The storage cavity 11 is located inside the robot body 1 and is used to store insect repellent. The diffusion component 12 is connected to the storage cavity 11 and is used to diffuse the insect repellent to the space to be cleaned. During the robot's movement, the insect repellent can be diffused to all parts of the space to be cleaned through the diffusion component 12, thus repelling mosquitoes while cleaning.

[0062] In some embodiments of this application, please refer to Figure 5 and Figure 6 The diffusion assembly 12 includes an electric heating assembly or a nozzle assembly. The electric heating assembly can heat up the insect repellent and allow it to evaporate, thereby diffusing it to various parts of the space to be cleaned. The nozzle assembly can evenly spray the insect repellent from the storage cavity 11, thereby achieving uniform diffusion of the repellent.

[0063] In some embodiments of this application, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 6 The robotic vacuum cleaner includes an intelligent monitoring module 6, which is set on the main body 1 of the robot and is used to realize obstacle avoidance and object detection, so as to accurately realize the cleaning path planning, object grabbing and wiping functions of the robotic vacuum cleaner.

[0064] In some embodiments of this application, please refer to Figure 3 and Figure 6 The intelligent monitoring module 6 includes a lidar monitoring component 61, an infrared sensor monitoring component 62, and an image monitoring component.

[0065] The lidar monitoring component 61 acquires three-dimensional information of the surrounding environment by emitting a laser beam and measuring the time of reflected light. It can perceive the 3D shape and position of objects, offering advantages in high precision and high resolution, which is beneficial for object recognition and accurate grasping. The infrared sensing monitoring component 62 can detect the distance and temperature of objects, suitable for near-range obstacle detection and temperature measurement. It can also be used to monitor live creatures such as mosquitoes inside the space to be cleaned, enabling targeted spraying of pesticides. The image monitoring component includes a line sensor, a surface sensor, and a camera (not shown in the figure), which can be used to take photos and videos, enabling the recognition of pits or obstacles, thereby achieving obstacle avoidance functionality for the robot vacuum cleaner.

[0066] In some preferred embodiments of this application, the intelligent monitoring module 6 is integrated on the front side of the robot body 1 to realize the identification and obstacle avoidance of objects in the direction of the sweeping robot's movement.

[0067] In some specific embodiments of this application, the intelligent monitoring module 6 can perform point cloud detection on the field of view within a 180° range in front of the sweeping robot, accurately calculate the distance and orientation of objects, and accurately find the shortest distance through the intelligent monitoring module 6 and the control chip of the sweeping robot, thereby placing the object into the specified area.

[0068] In some embodiments of this application, please refer to Figure 3 and Figure 7 The walking mechanism 2 includes a lifting component 21 and a front wheel component 22. The lifting component 21 is connected to the robot body 1 and the front wheel component 22 respectively, which can realize the lifting of the front wheel component 22 relative to the robot body 1, thereby facilitating the sweeping robot to realize the function of going up and down steps, and enabling the sweeping robot to clean complex floors.

[0069] In some embodiments of this application, please refer to Figure 3 and Figure 7 The walking mechanism 2 also includes two rear wheel assemblies 23, which are arranged in a triangular shape with the front wheel assembly 22, which can improve the stability of the sweeping robot walking on the ground.

[0070] In some embodiments of this application, please refer to Figure 3 and Figure 5 The bottom of the robot body 1 is also equipped with a cleaning component 13, which can be used to clean the ground, thereby realizing the basic functions of the sweeping robot.

[0071] For details, please refer to Figure 3 and Figure 7The cleaning component 13 is movably mounted on the bottom of the robot body 1 and can be raised and lowered relative to the ground to achieve contact and separation between the cleaning component 13 and the ground. During the cleaning process, the cleaning component 13 abuts against the ground and can apply a certain degree of pressure (such as 5N) to the ground 7, so that the cleaning component 13 cleans the stains on the ground through relative friction.

[0072] Please see Figures 1 to 7 In some embodiments of this application, the working process of the above-mentioned sweeping robot is as follows:

[0073] Step 1: Select a suitable actuator and install it on the robotic arm 3 according to the additional cleaning function requirements;

[0074] Step 2: The robot vacuum moves within the space to be cleaned via the walking mechanism 2. The intelligent monitoring module 6 identifies objects and plans cleaning paths within the space. The actuator performs functions such as object grabbing, transporting, and wiping. Meanwhile, during the robot vacuum's movement, the insect repellent inside the storage cavity 11 can be diffused to various parts of the space to be cleaned via the diffusion component 12.

[0075] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0076] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0077] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A robotic vacuum cleaner, characterized in that, include: The robot body (1) has a walking mechanism (2) at its bottom; the robot body (1) has a storage cavity (11) and a diffusion component (12). The storage cavity (11) is located inside the robot body (1) and is used to store insect repellent. The diffusion component (12) is connected to the storage cavity (11) and is used to diffuse the insect repellent to the space to be cleaned. A robotic arm (3), the first end of which is movably mounted on the robot body (1); The actuators are multiple and are used to implement different additional cleaning functions; the actuators are detachably connected to the second end of the robotic arm (3) and are used to switch the additional cleaning functions of the sweeping robot.

2. The sweeping robot according to claim 1, characterized in that, The actuator includes at least two of the following: clamping mechanism (4), wiping mechanism (5), collecting mechanism, and spraying mechanism.

3. The sweeping robot according to claim 2, characterized in that, The clamping mechanism (4) includes an adsorption component (41) and multiple gripper components (42), with the multiple gripper components (42) arranged sequentially around the outer periphery of the adsorption component (41) along the circumferential direction of the clamping mechanism (4).

4. The sweeping robot according to claim 1, characterized in that, The number of robotic arms (3) is two or more, and each robotic arm (3) is provided with the execution mechanism.

5. The sweeping robot according to any one of claims 1 to 4, characterized in that, The robotic arm (3) includes a first connecting arm (31), a second connecting arm (32) and a third connecting arm (33) connected in sequence. The second connecting arm (32) can rotate relative to the first connecting arm (31) about a first direction, and the third connecting arm (33) can rotate relative to the second connecting arm (32) about a second direction. The first direction is perpendicular to the second direction.

6. The sweeping robot according to any one of claims 1 to 4, characterized in that, The diffusion assembly (12) includes an electric heating assembly or a nozzle assembly.

7. The sweeping robot according to any one of claims 1 to 4, characterized in that, It also includes an intelligent monitoring module (6), which is installed on the robot body (1) and is used to achieve obstacle avoidance and object monitoring.

8. The sweeping robot according to claim 7, characterized in that, The intelligent monitoring module (6) includes a lidar monitoring component (61), an infrared sensor monitoring component (62), and an image monitoring component.

9. The sweeping robot according to any one of claims 1 to 4, characterized in that, The walking mechanism (2) includes a lifting assembly (21) and a front wheel assembly (22), wherein the lifting assembly (21) is connected to the robot body (1) and the front wheel assembly (22) respectively.

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