Cleaning robot

Abstract

The present invention relates to a cleaning robot comprising: a mobile platform (110); a wet cleaning element (120); a support structure, wherein the wet cleaning element is supported beneath the mobile platform by the support structure, a first end of the support structure is connected to the mobile platform, the height between a second end of the support structure and the first end is variable between a first height and a second height, and the second height is less than the first height; a cord (140), the extension and retraction of which cause the height of the second end of the support structure to change relative to the first end; and a stop (135), wherein, when the height reaches the second height, the stop is in contact with the support structure to prevent the height from being less than the second height. Figure for the abstract: Figure 9

Description

Title of the invention: Cleaning robot technical field

[0001] This disclosure relates to the field of cleaning robot technology and, in particular, a cleaning robot. Technological background

[0002] In a cleaning robot such as a prior art sweeper / housekeeping robot, a wet cleaning element is supported under a moving platform of the cleaning robot to perform the cleaning function. To prevent the wet cleaning element from wetting a fuzzy floor such as a carpet, a lifting function is provided for the wet cleaning element. When it is necessary to avoid the fuzzy floor, the wet cleaning element can be raised. When it is necessary to mop, the wet cleaning element can be lowered. The distance between the wet cleaning element and the moving platform can be controlled by adjusting the length of a cord, thus controlling the raising and lowering of the wet cleaning element. Currently, the lifespan of existing cords is compromised. Summary of the present invention

[0003] The present document aims to solve at least one of the technical problems posed by the prior art or related art.

[0004] In light of this, the present disclosure provides a cleaning robot, comprising a stop and a support structure. A first end and a second end of the support structure are respectively connected to a moving platform and a wet cleaning element. The stop is in contact with the support structure when the height of the second end of the support structure relative to the first end reaches a maximum height, so as to prevent the height from continuously decreasing after reaching the second height. If the cleaning robot is turned over by the user for inspection, or if the wet cleaning element is jammed by an obstacle, etc., the absence of the stop will impose on the rope a force greater than the weight of the wet cleaning element.However, the presence of the stop compensates for the additional force through pressure and / or friction between the stop and the support structure without subjecting the cord to greater stress, thus extending its lifespan. Furthermore, the stop requires minimal space, which contributes to the miniaturization of the cleaning robot.

[0005] This disclosure proposes a cleaning robot, comprising:

[0006] - a mobile platform;

[0007] - a wet cleaning element;

[0008] - a support structure supporting the wet cleaning element under the plate mobile form, a first end of the support structure connected to the mobile platform, and a second end of the support structure of variable height relative to the first end between a first height and a second height, the second height being lower than the first height;

[0009] - a cord, the extension and retraction of which cause a variation in height of the second end of the support structure relative to the first end;

[0010] - a stop, which comes into contact with the support structure when the height reaches the second height, thus permanently limiting the height once the second height is reached.

[0011] In some embodiments, the stop is positioned on a trajectory of movement of the support structure to permanently limit the height once the second height is reached.

[0012] In some embodiments, the support structure includes a link system, in which a contact surface between the stop and the support structure forms an inclined plane with an angle of inclination corresponding to a target angle, said target angle corresponding to the angle of inclination of the link system when the height reaches the second height.

[0013] In some embodiments, the stop is fixedly connected to the moving platform or the wet cleaning element, and / or the two ends of the support structure are respectively articulated with respect to the moving platform and the wet cleaning element.

[0014] In certain embodiments, the cleaning robot further comprises a mounting plate integral with the wet cleaning element, the connection to the wet cleaning element comprising a connection to the mounting plate; and / or, further comprising a chassis integral with the mobile platform, the connection to the mobile platform comprising a connection to the support chassis.

[0015] In certain embodiments, a plane in which the fixed part is located is perpendicular to a plane in which the wet cleaning element is located; the support structure comprising the linkage system pivots on a first surface of the plane in which the fixed part is located; when the linkage system pivots, a lateral wall of the linkage system is perpendicular to the plane in which the fixed part is located; the stop being fixed relative to the fixed part, and the contact surface between the support structure and the stop is perpendicular to the plane in which the fixed part is located; the stop being positioned so as to guarantee that when the height reaches the second height, the contact surface is in contact with the side wall of the connecting rod system.

[0016] In some embodiments, at least one stop is arranged on the mounting plate and protrudes from the mounting plate in a direction perpendicular to the mounting plate.

[0017] In some embodiments, the two ends of the cord are connected separately to the mobile platform and to the wet cleaning element.

[0018] In some embodiments, the cord is continuously deployed to a specified length once the height of the second end relative to the first end has reached the second height.

[0019] In certain embodiments, the cleaning robot further comprises: the frame attached to the moving platform; a lifting drive part comprising a reel, in which the lifting drive part and at least one frame are distributed on two sides of the wet cleaning element in a direction of the width of the cleaning robot; and the separate connection of the two ends of the cord to the moving platform and to the wet cleaning element, comprises that: one end of the cord is attached to the support, the other end of the cord is attached to the reel, and the extension and retraction of the cord are controlled by piloting a number of turns of the cord wound around the reel.

[0020] The above description is only an overview of the technical solutions according to this disclosure. In order to better understand the technical means of this disclosure to enable implementation in accordance with the content of this specification and to make the objectives, features and benefits of this disclosure clearer and easier to understand, a detailed description of the embodiments of this disclosure is provided below. Brief description of the figures

[0021] To illustrate more clearly the technical solutions of the embodiments of this disclosure, the drawings used in the description of the embodiments are briefly presented below. It is evident that the drawings in the description below relate only to certain embodiments of this disclosure, and for those skilled in the art, other drawings can be derived from the drawings without creative effort.

[0022] [Fig. 1] is a perspective view of a cleaning robot according to an embodiment of the present disclosure.

[0023] [Fig.2] is a bottom view of a cleaning robot according to an embodiment of this disclosure.

[0024] [Fig.3] is a schematic view of a cleaning robot according to one of the embodiments of this disclosure.

[0025] [Fig.4A] is a schematic view of a first side of a wet cleaning element according to an embodiment of the present disclosure.

[0026] [Fig.4B] is a schematic view of a second side of a wet cleaning element according to an embodiment of the present disclosure.

[0027] [Fig.5] is a schematic view of three arrangements as examples of a stop according to one embodiment of the present disclosure.

[0028] [Fig.6] is a schematic view of a cord of a first length according to an embodiment of the present disclosure.

[0029] [Fig.7] is a schematic view of a cord between a first length and a second length according to an embodiment of the present disclosure.

[0030] [Fig.8A] is a schematic view of a cord of a second length according to an embodiment of the present disclosure.

[0031] [Fig.8B] is another schematic view of a cord of a second length according to an embodiment of the present disclosure.

[0032] [Fig.9] is a schematic view of a cord of a third length according to an embodiment of the present disclosure.

[0033] [Fig. 10] is a schematic view of a wet cleaning element in a lowered position according to an embodiment of the present disclosure.

[0034] [Fig. 11] is a schematic view of a wet cleaning element in a raised position according to an embodiment of the present disclosure.

[0035] Numerical references: 100: cleaning robot; 110: mobile platform; 120: wet cleaning element; 131: first frame; 1311: horizontal beam; 1312: vertical beam; 1313: through hole; 1314: blind groove; 1315: retaining slot; 132: second frame; 133: first set of connecting rods; 1331: first connecting rod; 1332: second connecting rod; 134: second set of connecting rods; 1341: third connecting rod; 1342: fourth connecting rod; 135: first stop; 136: second stop; 137: first mounting plate; 138: second mounting plate; 139: support beam; 1391: cable groove; 140: cord; 150: cable tray; 160: housing of the lifting drive part; 170: third stop. Description of examples of achievements

[0036] In order for those skilled in the art to more clearly understand this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and fully described below with reference to the drawings in the embodiments of this disclosure. It is understood that only some embodiments are described, and this is not an exhaustive list of the embodiments of this disclosure. Based on the embodiments of the This disclosure, all other embodiments achieved by persons skilled in the art without requiring creative effort fall within the scope of protection of this disclosure.

[0037] Without contradiction, each feature of an embodiment can be implemented as an independent embodiment, and the different features can be combined arbitrarily. For example, a solution obtained by removing certain features of an embodiment can also be implemented as an independent embodiment, and the order of the features of an embodiment can be arbitrarily interchanged. Furthermore, optional implementations of an embodiment can be combined arbitrarily. In addition, embodiments can be combined arbitrarily. For example, some or all of the features of different embodiments can be arbitrarily combined, and an embodiment can be arbitrarily combined with optional implementations in other embodiments.

[0038] In the embodiments of this disclosure, unless otherwise indicated or in the event of a logical conflict, the terms and / or descriptions of the embodiments are consistent and may be used for mutual reference, and the technical features of different embodiments may be combined according to an intrinsic logical relationship to form a new embodiment.

[0039] Prefixes such as "first" and "second" in the embodiments of this disclosure are used solely to distinguish the different objects described and do not constitute a limitation on the position, order, priority, value, or content of the objects described. For a description of the objects described, reference may be made to the contextual description in the claims or embodiments, and the use of prefix words should not be interpreted as an unnecessary limitation. The connection in the embodiments of this disclosure may be direct or indirect.

[0040] Specific technical solutions are now described in detail with reference to the accompanying figures, which are not necessarily drawn to scale. Similar or identical reference numbers may be used to designate similar or identical parts in different figures. The use of similar or identical reference numbers in different drawings does not imply that all drawings with similar or identical reference numbers constitute a single embodiment. The drawings illustrate, in a general way, by way of example and without limitation, various embodiments discussed in this document.

[0041] Cleaning robots are becoming increasingly popular in homes because they greatly simplify daily household chores. As shown in Figures 1 and 2, a cleaning robot, such as a sweeper robot, a mop robot, or a combination sweeper and mop robot, is placed on a surface and can automatically move across it to clean it. The work surface can be a floor, tile, carpet, rug, etc. Carpet or rug can also include low-pile, high-pile, etc.

[0042] In some embodiments, the cleaning robot 100 comprises a mobile platform 110, a detection module, a controller, a drive module, a cleaning system, a power supply system, a human-machine interaction module, and the like. As shown in [Fig. 1], the mobile platform 110 comprises a front portion 111 and a rear portion 112, both of which are approximately circular (the front and rear are circular), and may also have other shapes, including, but not limited to, an approximately D-shaped shape with a rectangular front but a circular rear, and a rectangular or square shape with a rectangular front and a rectangular rear. The mobile platform 110 can move across the work surface to drive the cleaning system in order to clean the work surface.

[0043] The detection module comprises a positioning device located on the mobile platform 110, a collision sensor arranged on a front collision structure of the front part 111 of the mobile platform 110, a wall sensor located on a lateral edge of the mobile platform 110, a spike sensor arranged on a lower part of the mobile platform 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer arranged inside the mobile platform 110, and is configured to provide various position and motion status information of the cleaning robot to the controller. Furthermore, the positioning device can be configured to determine information about an obstacle, for example, dimensional information such as the height and width of the obstacle, in order to determine whether the robot can overcome the obstacle.The positioning device includes, among other things, a camera and a laser rangefinder (LDS). In some embodiments, the positioning device (e.g., a camera, a laser sensor, etc.) is located at the front of the mobile platform 110, i.e., at the most forward end of the front part 111, in order to more accurately detect the environment in front of the cleaning robot and obtain precise positioning.

[0044] The controller is arranged on a main electronic board in the mobile platform 110, and includes a computer processor, such as a central processing unit or an application processor, which communicates with a non-remote memory transient storage, such as a hard drive, flash memory, or RAM. The application processor draws a real-time map of the environment in which the 100 cleaning robot is located using a positioning algorithm, such as simultaneous localization and mapping (SLAM), based on obstacle information returned by the laser rangefinder.Furthermore, based on distance and speed information from detection devices such as the sensor on the front collision structure, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, and the pedometer, the current operating status and position of the 100 cleaning robot can be comprehensively determined. This includes situations such as crossing a door threshold, accessing a carpet, encountering a drop, getting stuck from above or below, having a full dustbin, or being picked up. Additionally, a specific strategy for the next action is provided for different scenarios, in order to provide the 100 cleaning robot with improved cleaning performance and a better user experience.

[0045] The drive module can manipulate the mobile platform 110 to move across the floor according to driving commands that include distance and angle information. The drive module includes a drive wheel module, and the drive wheel module can drive a left drive wheel and a right drive wheel. To control the robot's movement more precisely, the drive wheel module includes a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are arranged along a transverse axis defined by the mobile platform 110. To enable the cleaning robot 100 to move more stably across the floor or to have a greater range of motion, the cleaning robot 100 may include one or more drive wheels, including, but not limited to, universal wheels.The drive wheel module includes a drive motor and a control circuit to operate the drive motor, and can also be connected to a circuit for measuring a drive current and an odometer. Furthermore, the left and right drive wheels can be equipped with a spring suspension system that is flexibly connected, for example, mounted via a pivot joint on the mobile platform 110, receiving a downward spring force away from the mobile platform 110. The spring tension allows the drive wheel to remain in contact with the ground and maintain traction through a certain degree of ground grip, while a cleaning element of the cleaning robot 100 also makes contact with the ground under a certain pressure.

[0046] The cleaning system may include a dry cleaning system and / or a wet cleaning system. The dry cleaning system may include a A roller brush, a dustbin, a fan, and an air outlet are used. The roller brush, with some contact with the floor, sweeps debris from the floor and rolls it up to the front of a dust suction inlet located between the roller brush and the dustbin. The debris is then drawn into the dustbin by the suction airflow generated by the fan and passing through the dustbin. The dry cleaning system may also include a side brush whose rotating shaft is angled relative to the floor to move debris into the area of ​​the roller brush within the cleaning system.

[0047] The wet cleaning system may include a wet cleaning element 120, a lifting unit, a water supply mechanism, a liquid storage tank, etc. The wet cleaning element 120 can be arranged under the liquid storage tank, and the cleaning solution inside the liquid storage tank is conveyed to the wet cleaning element 120 by the water supply mechanism, so that the wet cleaning element 120 performs wet cleaning on the work surface. In some cases, the cleaning solution contained in the liquid storage tank can also be sprayed directly onto the surface to be cleaned, and the wet cleaning element 120 cleans the surface by applying the cleaning solution evenly.

[0048] In certain embodiments, when the wet cleaning element 120 is not temporarily participating in the operation, the wet cleaning element 120 can be moved away from the work surface by the lifting unit, and when the wet cleaning element 120 is required to participate in the operation, the wet cleaning element 120 can be lowered by the lifting unit to come into contact with the work surface. In some cases, when the cleaning robot 100 stops at a base station to clean the wet cleaning element, or encounters a work surface that should not be cleaned by the wet cleaning element 120, the wet cleaning element 120 does not temporarily participate in the operation.

[0049] In some embodiments, the wet cleaning element 120 can be supported at the bottom of the mobile platform 110, for example at the bottom of a rear part of the mobile platform 110. In this case, the wet cleaning element 120 is mounted on the rear part of the sweeping robot.

[0050] In some embodiments, the wet cleaning element 120 comprises a sweeping plate and a mop arranged on the sweeping plate. Alternatively, in some embodiments, the sweeping plate may further comprise a sweeping plate body and a support portion, the sweeping plate body being removably connected to the support portion, and the mop being arranged on the sweeping plate body.

[0051] In certain embodiments, the wet cleaning system further comprises a reciprocating drive portion. This portion drives the mop in a high-frequency back-and-forth motion and generates high-frequency friction with the work surface in order to remove stains from the latter.

[0052] In some embodiments, the lifting unit may include a cord, a lifting drive portion, a frame, and a set of connecting rods. In some embodiments, the wet cleaning element 120 is supported at the bottom of the moving platform 110 by the frame. In some cases, when the wet cleaning element 120 is mounted on the rear of the cleaning robot, the wet cleaning element 120 is supported at the bottom of the rear of the moving platform 110 by the frame. In some embodiments, two ends of the connecting rod are rotatably mounted on the frame and on the wet cleaning element 120 (for example, the cleaning plate of the wet cleaning element 120 or the support portion of the wet cleaning element 120), and the lifting drive portion controls the length of the cord to raise and lower the wet cleaning element 120 relative to the support.

[0053] The power supply system includes a rechargeable battery, for example, a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected to a charge control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charge control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit. The central unit can be charged by connecting it to a load cell via charging electrodes arranged on the side or bottom of the machine body.

[0054] The human-machine interaction module includes a button on the control unit panel allowing the user to select a function; the human-machine interaction module may also include a display screen and / or an indicator light and / or a speaker, the display screen, indicator light, and speaker indicating to the user the machine's current mode or function options; the human-machine interaction module may further include a mobile phone client program. In the case of a navigation-based automatic cleaning robot 100, the mobile phone client can show the user a map of the environment in which the device is located and the machine's position, thus providing the user with more numerous and user-friendly function options.More specifically, the cleaning robot includes several modes, such as an operating mode and a self-cleaning mode. The operating mode refers to a mode within. in which the cleaning robot performs automatic cleaning operations, and the self-cleaning mode refers to a mode in which the cleaning robot removes dirt from the roller brush and side brush of the base and automatically picks up the dirt, and / or automatically cleans and dries the mop.

[0055] For ease of description, the directions are defined as follows: the cleaning robot 100 can be calibrated by setting the following three axes perpendicular to each other: a transverse axis Y, a front-to-back axis X, and a vertical axis Z. The direction in which the arrow of the front-to-back axis X points is called "back," and a direction opposite to the direction of the arrow of the front-to-back axis X is called "front." The transverse axis Y is substantially in the direction of the width of the cleaning robot 100. The direction of the arrow in the transverse axis Y is designated as "left," and a direction opposite to the direction of the arrow in the transverse axis Y is designated as "right." The direction perpendicular to the front-to-back axis X and to the transverse axis Y is the direction of the vertical axis Z.

[0056] In the cleaning robot 100, the wet cleaning element 120 can be supported at the bottom of the rear of the mobile platform 110 (i.e., supported on a lower housing of the cleaning robot's central unit). The distance between the wet cleaning element 120 and the mobile platform 110 can be controlled by the length-adjustable cord 140. When the cord 140 is retracted to a first length, the wet cleaning element 120 is in the raised position; when the cord 140 is extended to a second length, the wet cleaning element 120 is in the lowered position. The cord 140 supports the weight of the wet cleaning element 120.

[0057] The lifespan of the cord 140 is compromised because when the wet cleaning element 120 is in the lowered position and the cleaning robot 100 is turned over by the user for inspection, the cord 140 is subjected to the weight of the entire mobile platform and therefore bears a greater force than the weight of the wet cleaning element 120; when the wet cleaning element 120 is in the lowered position and is caught by an obstacle, the cord 140 also bears a greater force than the weight of the wet cleaning element 120, which affects the lifespan of the cord 140.

[0058] If the mobile platform 110 and the wet cleaning element 120 are respectively equipped with a suspension structure and an attachment point structure, and the cleaning robot 100 is turned over by the user for inspection, the suspension structure of the mobile platform 110 will come into contact with the attachment point structure of the wet cleaning element 12, and the weight of the mobile platform 110 will act on the attachment point structure, thus preventing the cord 140 from bearing excessive force. When the cleaning element When wet cleaning element 120 encounters an obstacle, the attachment point structure of the wet cleaning element 12 butts up against the suspension structure of the mobile platform 110. The resulting force from the obstacle towards the wet cleaning element 120 acts on the attachment point structure, preventing the cord 140 from bearing excessive force. However, the arrangement of the attachment point structure and the suspension structure requires a certain amount of space, which is not conducive to miniaturizing the cleaning robot.

[0059] The solutions in this disclosure can resolve the problem in such a way as to prevent the cord 140 from being subjected to excessive force via a reduced-size cord protection structure.

[0060] Figure 3 shows the wet cleaning element 120 and some related components. As shown in Figure 3, one embodiment of the present disclosure provides a cleaning robot 100. The cleaning robot 100 comprises: a mobile platform 110 (not shown in Figure 3), a wet cleaning element 120, a support structure, a cord 140, and a stop.

[0061] The wet cleaning element 120 can be switched between a raised and a lowered position. When the wet cleaning element 120 is in the raised position, it is closest to the moving platform 110 but furthest from the work surface, so as to avoid the work surface. When the wet cleaning element 120 is in the lowered position, it is furthest from the moving platform 110 but closest to the work surface, which allows it to clean part of the work surface.

[0062] The wet cleaning element 120 is supported under the mobile platform 110 by the support structure. A first end of the support structure is connected to the mobile platform 110, the height of a second end of the support structure relative to the first end is variable between a first height and a second height, and the second height is less than the first height.

[0063] The support structure serves to connect and support the wet cleaning element 120, and the movement (extension and retraction, translation, rotation, etc.) of the support structure influences 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 scissor type support structure, a mast type support structure, a socket type support structure, a parallelogram telescopic frame type support structure, or other.

[0064] The height of the second end of the support structure relative to the first end corresponds to the difference in height between the second end and the first end, and the height of the second end relative to the first end is variable between a maximum height (the first height) and a minimum height (the second height). When the height of the second end of the support structure relative to the first end (i.e., the difference in height between the second and first ends) is the maximum height (where the second end is highest), the wet cleaning element 120 is in the raised position; and when the height of the second end of the support structure relative to the first end (i.e., the difference in height between the second and first ends) is the minimum height (where the second end is lowest), the wet cleaning element 120 is in the lowered position. It will be appreciated if the positive and negative values ​​of the maximum and minimum heights, rather than the absolute values ​​of the heights, are considered here.For example, a height of -9 of the second end relative to the first end is less than a height of 2 of the second end relative to the first end. A positive value for the height of the second end relative to the first means that the second end is higher than the first, and a negative value means that the second end is lower than the first.

[0065] The extension and retraction of the cord 140 results in a variation in the height of the second end of the supporting structure relative to the first end.

[0066] The first end of the support mechanism is connected to the mobile platform 110. The height of the mobile platform 110 remains unchanged, and therefore the height of the first end remains unchanged. Extending and retracting the cord 140 changes the height of the second end of the support mechanism relative to the first end, allowing the wet cleaning element 120 to be raised or lowered vertically.

[0067] In certain embodiments, position detection can be performed on the wet cleaning element 120 during its raising and / or lowering. Position detection can be achieved by providing a position sensor or by detecting the cord length. In certain embodiments, upon detection that the wet cleaning element 120 has reached the raised position, the cord 140 is no longer retracted. In certain embodiments, when the cord 140 reaches a predefined extension length, the cord 140 is no longer extended.

[0068] The stop is in contact with the support structure when the height of the second end relative to the first end reaches the second height, so as to prevent the height of the second end relative to the first end from decreasing continuously after reaching the second height.

[0069] It is understood that reaching the second height here means a decrease up to the second height.

[0070] When the height of the second end relative to the first end changes, the position, angle, etc., of the support structure changes. The stop can be arranged in such a position that the stop does not come into contact with the support structure when the height of the second end relative to the first end does not reach the second height, and that the stop comes into contact with the support structure when the height of the second end relative to the first end reaches the second height, so as to prevent the height of the second end of the support structure relative to the first end from continuously decreasing.

[0071] As shown in [Fig. 5], the hollow rectangles denote the support structure, the filled patterns denote the stop, the black arrows indicate the vertical direction of the support structure required for the continuous reduction of the height difference after the height difference between the second end and the first end has reached the second height, and the straight black lines denote the moving platform. [Fig. 5] shows a state in which the height of the second end of the support 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 stop does not affect the movement of the support structure, and once the second height is reached, if a continuous reduction of the height of the second end relative to the first end is expected, it will be prevented by the stop.Figure 5 illustrates three arrangements of the stop.

[0072] When the height of the second end relative to the first end reaches the second height, and the cleaning robot is turned over by the user for inspection, or the wet cleaning element is caught on an obstacle, etc., due to the presence of the stop, the height of the second end relative to the first end will not decrease further. The force is compensated by the pressure and / or friction between the stop and the support structure without subjecting the cord to greater force or stretching, thus extending the cord's lifespan. Furthermore, the stop requires minimal space, which is beneficial for miniaturizing the cleaning robot.

[0073] In one embodiment, the stop is arranged on a movement path of the support structure to permanently limit the height once the second height is reached.

[0074] The shape and size of the stop are not limited in this disclosure, as long as the displacement of the support structure can be restrained to prevent further reduction of the height difference. When the height of the second end relative to the first end changes, the position, angle, etc., of the structure support changes. In other words, at least some of the components of the support structure include a specific movement path, and it is sufficient to arrange the stop on the movement path of the support structure to permanently limit the height after the height has reached the second height, so as to permanently prevent the height from decreasing after reaching the second height.

[0075] In some embodiments, the support structure is a set of connecting rods. The angle of inclination of the connecting rod changes as the height difference changes, and when the height reaches the second height, the angle of inclination of the connecting rod corresponds to a target angle. In order to achieve miniaturization of the stop, the contact surface between the stop and the support structure can be configured as an inclined surface with an angle of inclination corresponding to the target angle. Figures 6 to 8A show the angles of inclination of the set of connecting rods when the height difference is at the first height, between the first and second heights, and at the second height. As shown in [Fig. 8A], a lower surface of the stop 135 can be configured as an inclined surface with an angle of inclination corresponding to the target angle.As shown in Figures 6 and 7, when the height difference is not reduced to the second height, the stop 135 is not in contact with the support structure 133.

[0076] Note that the connecting rod assembly may include one or more connecting rods, and the number of connecting rods in the drawings is only illustrative but is not intended to limit the number of connecting rods included in the connecting rod assembly in the embodiments of this disclosure.

[0077] In one embodiment, the stop is integral with the mobile platform 110 or the wet cleaning element 120, and / or two ends of the support structure are mounted in pivot connection separately on the mobile platform 110 and on the wet cleaning element 120.

[0078] Note that the connection referred to in the embodiments of this disclosure is a direct or indirect connection. A fixed connection between A and B should be interpreted broadly, and may mean that A and B are formed separately and then connected, or that A and B are formed as a single unit. The stop may be fixed to the moving platform 110, or fixed to the wet cleaning element 120.

[0079] The component to which the stop is attached can influence the position of the stop. In some embodiments, taking Figures 8A and 9 as examples, in [Fig. 8A], the stop is indirectly connected to the wet cleaning element, and when the height difference between the second end and the first end of the support structure reaches the second height, the stop is arranged on the upper side wall of the support structure to permanently prevent a decrease in the height difference. In [Fig. 8B], the stop is connected to the moving platform, and when the height difference between the second end and the first end of the support structure reaches the second height, the stop is arranged on the lower side wall of the support structure to permanently prevent a decrease in the height difference.

[0080] The two ends of the support structure are articulated separately with the mobile platform and with the wet cleaning element: one end of the support structure is directly or indirectly mounted by pivot joint on the mobile platform, and the other end is directly or indirectly mounted by pivot joint on the wet cleaning element. Thus, the height difference between the second and first ends of the support structure can be modified.

[0081] In one embodiment, the cleaning robot further comprises a mounting plate, the mounting plate being permanently connected to the wet cleaning element, and the connection to the wet cleaning element comprising a connection to the mounting plate; and / or the cleaning robot further comprises a frame, the frame being permanently connected to the mobile platform, and the connection to the mobile platform comprising a connection to the frame.

[0082] In certain embodiments, the cleaning robot may further comprise a mounting plate, the mounting plate being rigidly connected to the wet cleaning element, and the connection to the wet cleaning element described above includes a connection to the mounting plate. For example, the fixed connection between the stop and the wet cleaning element secures the stop to the mounting plate; the pivot joint between the support structure and the wet cleaning element is a pivot joint between the support structure and the mounting plate.

[0083] In certain embodiments, the cleaning robot may further comprise the frame, and the frame is fixed to the mobile platform. The connection to the mobile platform includes a connection to the frame; that is, the connection to the mobile platform described above includes a connection to the frame. In one embodiment, the fixed connection between the stop and the mobile platform includes a fixed connection between the stop and the frame. In another embodiment, the pivot joint between the support structure and the mobile platform includes a pivot joint between the support structure and the frame.

[0084] In some embodiments, the cleaning robot may further comprise both the mounting plate integral with the wet cleaning element and the frame integral with the mobile platform, and the corresponding connection relationship is not described here.

[0085] In one embodiment, the cleaning robot includes a mounting plate; a plane on which the mounting plate is located is perpendicular to a plane on which the wet cleaning element is located, the support structure is a set of connecting rods, and the set of connecting rods pivots on a surface of the mounting plate; when the set of connecting rods pivots, a side wall of the set of connecting rods is perpendicular to the plane on which the mounting plate is located; the stop and the mounting plate are fixed to each other, and the contact surface between the stop and the support structure is perpendicular to the plane on which the mounting plate is located; and the stop is arranged in a position such that the contact surface is in contact with the side wall of the set of connecting rods when the height reaches the second height.

[0086] As shown in Figures 6 to 8B, the plane on which the mounting plate 137 is located is perpendicular to the plane on which the wet cleaning element 120 is located. The mounting plate 137 has two surfaces (for example, the mounting plate 137 is a plate-shaped element and comprises two flat surfaces), and the connecting rod assembly pivots on one surface of the mounting plate 137. The connecting rod assembly comprises a connecting rod, the connecting rod has a certain thickness, and a surface forming the thickness of the connecting rod can be considered a side wall of the connecting rod. When the connecting rod assembly rotates, the side wall of the connecting rod assembly (more precisely, the connecting rod) is perpendicular to the plane on which the mounting plate is located. When the connecting rod rotates on the surface of the mounting plate 137, the position and angle of the side wall of the connecting rod change considerably.Therefore, the position of the stop can be configured so that when the difference in height of the stop reaches the second height, the contact surface of the stop is in contact with the side wall of the connecting rod.

[0087] In one embodiment, the number of support structures, frames (if any), or mounting plates (if any) may be greater than one, for example, two. To maintain the balance and stability of the lifting and lowering of the wet cleaning element 120 and to prevent the wet cleaning element 120 from tipping during lifting and lowering, two support structures, two frames, and two mounting parts may be provided. These two support structures, two frames, and two mounting parts are distributed on both sides of the wet cleaning element in the direction of the width of the cleaning robot. When the number of support structures, frames (if any), or mounting arms (if any) is greater than one, one or more stops may be present. When only one stop is present, the stop may also bear the operating force.When more than one stop is present, it is more advantageous to maintain the balance and stability of the lifting and lowering of the wet cleaning element 120.

[0088] In one embodiment, at least one stop is arranged on the mounting plate and extends from the mounting plate in a direction perpendicular to the mounting plate. As described above, the stop may be fixed to the moving platform or fixed to the wet cleaning element. When fixed to the wet cleaning element, the stop may also be fixed to the mounting plate, or may be fixed to other components that are fixed in position relative to the wet cleaning element, such as the lifting drive portion described below.In some embodiments, at least one stop is arranged on the mounting plate and protrudes from the mounting plate in a direction perpendicular to the mounting plate, so that the contact surface of the stop is in contact with the side wall of the connecting rod assembly, thus ensuring the miniaturization of the stop.

[0089] In one embodiment, the two ends of the cord are connected separately to the moving platform and the wet cleaning element, and the extension and retraction of the cord cause a change in the height of the second end of the support structure relative to the first end. When the cord is extended, the height difference between the second end and the first end of the support structure decreases to the second height. When the cord is retracted, the height difference between the second end and the first end of the support structure increases to the first height.

[0090] In one embodiment, the cord extends continuously to a specified length once the height of the second end relative to the first end has reached the second height. In other words, the cord is continuously extended once the height difference between the second end and the first end of the support structure decreases to the second height. In this case, however, due to the presence of the stop, the height of the second end relative to the first end is not permanently decreased once the second height is reached, and a slack is present in the cord, as shown in [Fig. 9]. The specified length can be that in which the slack in the cord is 1 mm.

[0091] In one embodiment, the cleaning robot further comprises: the frame attached to the mobile platform, and the lifting drive unit including a reel. The lifting drive unit and at least one frame are distributed on both sides of the wet cleaning element in the direction of the width of the cleaning robot. The two ends of the cord are connected separately to the mobile platform and the wet cleaning element. More specifically, one end of the cord is attached to the support, the other end of the cord is attached to the reel, and the extension and the Cord retraction is controlled by adjusting the number of turns the cord is wound around the reel.

[0092] The cleaning robot according to the embodiments of this disclosure is described below with reference to specific examples.

[0093] It should be noted that when the wet cleaning element is in the raised position, the lowered position, or a position between the raised and lowered positions, the relative positions of one end and the other end of the connecting rod change, and the position and angle of inclination of an upper surface of the connecting rod change. By adjusting the shape, position, and size of the stop, the stop can adapt to the position and angle of inclination of the upper surface of the connecting rod when the wet cleaning element 120 is in the lowered position, thus ensuring that the stop bears against the upper surface of the connecting rod when the wet cleaning element 120 is in the lowered position, and that the stop does not bear against the connecting rod when the wet cleaning element 120 is in other positions.

[0094] In certain embodiments, as illustrated in [Fig. 6], when the wet cleaning element 120 is in the raised position, the first end of the connecting rod assembly is lower than the second end, and the slope of the projection of the plane on which the upper surface of the connecting rod assembly lies onto a projection plane corresponding to the surface of the sheet on which the figure is shown is k1. As shown in [Fig. 8A], when the wet cleaning element is in the lowered position, the first end of the connecting rod is higher than the second, and the slope of the projection of the plane on which the upper surface of the connecting rod lies onto a projection plane corresponding to the surface of the sheet on which the figure is shown is k2. As shown in [Fig.7], when the wet cleaning element is located between the raised position and the lowered position, the first end of the connecting rod may 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 is located on a projection plane corresponding to the surface of the sheet on which the figure is represented is between k1 and k2.At least part of the lower surface of the stop may be an inclined surface (for example, part of the lower surface of the stop is an inclined surface, and part of the lower surface is a horizontal surface parallel to the working surface), and the slope of the projection of the inclined surface onto a surface of the sheet on which the figure is shown is k2, so as to correspond to the slope of the upper surface of the connecting rod assembly when the wet cleaning element is in the lowered position. It will be understood that when the wet cleaning element is raised and lowered, the connecting rod pivots within a certain area of ​​the horizontal surface, and the... A stop can be positioned above the area to limit the position of the connecting rod. The size of the stop should be as small as possible to meet the miniaturization requirements of the cleaning robot, while still being sufficient to form a stable boundary on the upper surface of the connecting rod. For example, the width of the stop can match the width of the connecting rod, and the length of the portion of the stop bearing against the connecting rod can be between 1 / 3 and 3 / 4 of the connecting rod's length. Note that the connecting rod assembly can consist of two connecting rods arranged vertically, the two rods forming a parallelogram, with the width of the connecting rod assembly being the width of a single connecting rod, and the length of the connecting rod assembly being the length of a single connecting rod.Thus, the size of the stop is minimal, the stop is arranged above the connecting rod assembly, and the connecting rod assembly is generally arranged on the inside side of the wet cleaning element (i.e., the projection of the connecting rod assembly onto the work surface is located inside the projection of the moving platform onto the work surface, rather than near the edge of the projection of the moving platform onto the work surface), so that the stop occupies only a small space between the connecting rod assembly and the moving platform, which is beneficial for the miniaturization of the cleaning robot.

[0095] Note that when the extension length of the cord 140 is sufficient, the wet cleaning element reaches the lowered position, and the stop bears against the upper surface of the connecting rod assembly. In this case, if the cord 140 is extended further, the wet cleaning element will not be lowered further because the stop bears against the upper surface of the connecting rod; that is, the stop prevents the wet cleaning element from being lowered to a position lower than the lowered position.

[0096] In this case, if the cleaning robot 100 is turned over by the user for inspection, the weight of the moving platform pulls the connecting rod assembly downwards, so that the upper surface of the connecting rod assembly rests against the stop. Thus, the stop can support the weight of the moving platform, preventing the cord from being stressed. If the wet cleaning element 120 is jammed by an obstacle, the stop will also bear the resistance of the obstacle, thus preventing the cord from being stressed.

[0097] In one embodiment of this disclosure, the sweeping robot includes a stop arranged between the linkage assembly and the moving platform, and when the wet cleaning element is in the lowered position, the stop bears against the upper surface of the linkage assembly. If the sweeping robot is turned over by the user for inspection, or if the wet cleaning element is jammed by an obstacle, etc., the stop can be stressed to prevent stress on The cord, which extends its lifespan. In addition, the stop occupies only a small space between the connecting rod assembly and the moving platform, which contributes to the miniaturization of the cleaning robot.

[0098] In one embodiment, when the cord is of a first length, the wet cleaning element is located in the raised position, and the cord is taut; when the cord is of a second length, the wet cleaning element is located in the lowered position, and the cord is taut; when the cord is of a third length, the wet cleaning element is located in the lowered position, and the cord is slack; the first length is less than the second length, and the second length is less than the third length.

[0099] In one embodiment, as shown in [Fig.6], when the cord 140 is of the first length, the wet cleaning element 120 is located in the raised position, and the cord 140 is taut; as shown in [Fig.8A], when the cord 140 is of the second length, the wet cleaning element 120 is located in the lowered position, and the cord 140 is taut; as shown in [Fig.9], when the cord 140 is of the third length, the wet cleaning element 120 is located in the lowered position, and the cord 140 is slack; the first length is less than the second length, and the second length is less than the third length.

[0100] In other words, once the wet cleaning element 120 has reached the lowered position, the cord 140 can be further extended, for example by 1 mm, so that there is some leeway in the cord length. In this case, since the stop rests against the upper surface of the connecting rod, even if the cord is extended, the wet cleaning element 120 cannot be lowered any further. Thus, when the wet cleaning element is in the lowered position and the sweeping robot is turned over by the user for inspection, or when the wet cleaning element gets caught on an obstacle, etc.

[0101] As shown in [Fig. 6], when the cord 140 is at its first length, the wet cleaning element 120 is raised, and in this case, the cord 140 is taut under the weight of the wet cleaning element 120. As the cord 140 is gradually extended, the wet cleaning element 120 is gradually lowered, as shown in [Fig. 7]. Until the cord 140 reaches its second length, the wet cleaning element 120 is lowered to a limit position, and in this case, the cord 140 is taut under the weight of the wet cleaning element 120, as illustrated in [Fig. 8A]. In this case, the stop bears against the upper surface of the connecting rod adjusted to clamp the wet cleaning element 120, so as to prevent the wet cleaning element 120 from being lowered continuously.In this case, even if cord 140 is permanently extended by a third length greater than the second length, the excess length of cord 140. will accumulate due to the limit imposed by the stop of the connecting rod assembly bearing against the stop. As shown in [Fig. 9], the cord 140 will not be tensioned by the weight of the wet cleaning element 120.

[0102] In one embodiment, as shown in Figures 3, 4A, and 4B, the cleaning robot 100 further includes the frame attached to the mobile platform 110. The first end of the connecting rod assembly is mounted in a pivot joint on the mobile platform 110 via the frame; the wet cleaning element 120 is supported under the mobile platform 110 through the frame and the connecting rod assembly; the attachment of a third end of the cord relative to the mobile platform 110 includes the connection of the third end of the cord to the frame.

[0103] In one embodiment, the cleaning robot is provided with a frame attached to the mobile platform, and the connecting rod assembly and the cord are connected to the mobile platform via the frame. The pivot joint between the first end of the connecting rod assembly and the mobile platform can be a pivot joint between the first end of the connecting rod assembly and the mobile platform 110 via the frame; the second end of the connecting rod assembly is mounted via a pivot joint on the wet cleaning element 120, i.e., the wet cleaning element 120 is supported under the mobile platform 110 via the frame and the connecting rod assembly. The attachment of the third end of the cord to the mobile platform 110 includes the connection of the third end of the cord to the frame. Two frames can be present and arranged on either side of the wet cleaning element 120 in the direction of the width of the cleaning robot.Correspondingly, two sets of connecting rods, each rotationally linked to a frame, may be present, and the third end of the cord may be made fixed to one of the two frames.

[0104] Figure 4A is a partial schematic view illustrating the positions of a first frame 131, a first set of connecting rods 133, and a first stop 135 according to an embodiment of the present disclosure. In one embodiment, as illustrated in Figure 4A, the frame comprises the first frame 131, the set of connecting rods comprises the first set of connecting rods 133, and the stop comprises the first stop 135. The first stop 135 is wedge-shaped and is arranged above the first set of connecting rods 133, and a lower surface of the first stop 135 is an inclined surface. When the wet cleaning element 120 is in the lowered position, the lower surface of the first stop 135 comes to rest against an upper surface of the first connecting rod 133. At least part of the first stop 135 can be, for example, wedge-shaped with a horizontal upper surface and an inclined lower surface.

[0105] In one embodiment, as illustrated in [Fig. 4A], the cleaning robot 100 further comprises a first mounting plate 137. The first mounting plate of The fixing 137 is integral with the wet cleaning element 120 and is perpendicular to the working surface; the second end of the first set of connecting rods is rotationally connected to the first fixing plate; the first stop 135 is arranged on the first fixing plate and protrudes from the first fixing plate in a first direction perpendicular to the first fixing plate.

[0106] In some embodiments, the first mounting plate 137 may be formed integrally with the wet cleaning element 120, or formed separately from the wet cleaning element 120 and then attached to it. The second end of the first connecting rod is connected by a pivot joint to the first mounting plate; that is, the first connecting rod is connected by a pivot joint to the wet cleaning element. In some embodiments, the first mounting plate 137 may be a plate-shaped element. The first mounting plate comprises two surfaces, and at least a portion of the first connecting rod pivots on one surface of the first mounting plate. The first stop 135 extends from the first mounting plate 137 in a direction perpendicular to a plane on which the first mounting plate 137 is located.Note that two directions perpendicular to the plane on which the first mounting plate 137 is located are present, and the projecting direction of the first stop 135 corresponds to the direction towards the first set of connecting rods or the surface on which the first set of connecting rods is located, so that the first stop 135 can limit the position of the first set of connecting rods. The first stop can be located above the first mounting plate 137 to limit the position of the first connecting rod when the wet cleaning element 120 is in the lowered position. The first stop can be formed as a single piece with the first mounting plate.

[0107] In one embodiment, the first frame 131 comprises a horizontal beam 1311 and a vertical beam 1312, and the first end of the first set of connecting rods is mounted in pivot connection on the vertical beam.

[0108] In one embodiment, an upper surface of the first stop is substantially a horizontal surface, and the first stop 135 is located between the first set of connecting rods and the horizontal beam. When the wet cleaning element is in the raised position, the upper surface of the first stop abuts against a lower surface of the horizontal beam.

[0109] As shown in Figures 4A and 6 to 9, the horizontal beam 1311 and the vertical beam 1312 can be perpendicular to each other. The first end of the first set of connecting rods is mounted on the vertical beam via a pivot joint. A connecting structure is arranged on the horizontal beam, and the first frame 131 is attached to the mobile platform 110 by means of the connecting structure.

[0110] Horizontal beams and vertical beams that are perpendicular to each other can form a semi-enclosed structure. In some embodiments, to save more space, the first set of connecting rods and the first mounting plate 137 can be located within the semi-enclosed structure. At least a portion of the first connecting rod is connected by a pivot joint to the surface of the first mounting plate and pivots on the surface of the first mounting plate. The first stop can be arranged between the first set of connecting rods and the horizontal beam and can be located above the first mounting plate 137, as illustrated in [Fig. 4A]. When the wet cleaning element is in the raised position, the upper surface of the first stop can abut against the lower surface of the horizontal beam.

[0111] In one embodiment, an upper surface of the horizontal beam 1311 is provided with a blind groove 1314. A through hole 1313 is arranged at the end of the blind groove 1314 located away from the vertical beam 1312, and a retaining slot 1315 is arranged at the end of the blind groove 1314 on the side of the vertical beam. The cord 140 passes through the through hole 1313. The third end of the cord 140 is arranged in the retaining slot 1315, and the portion of the cord 140 between the through hole 1313 and the retaining slot 1315 is located in the blind groove 1314. Thus, the third end of the cord 140 is integral with the first frame 131.

[0112] The cord 140 comprises a third end and a fourth end, and the third end of the cord 140 is integral with the first frame 131. To prevent the cord 140 from moving and affecting the operation of other components, the through hole 1313 and the retaining slot 1315 are arranged separately at two ends of the horizontal beam 1311 of the first frame 131. The retaining slot 1315 is located at the end of the horizontal beam 1311 on the side of the vertical beam 1312, and the through hole 1313 is located at the end of the horizontal beam 1311 opposite the vertical beam 1312. The through hole 1313 and the retaining slot 1315 communicate through the blind groove 1315.After passing through the horizontal beam 1311 from the upper end of the through hole 1313, the third end of the cord 140 is disposed in the blind groove 1314 and held in the retaining slot 1315, so that the third end of the cord 140 is integral with the first frame 131. The first frame 131 being integral with the movable platform 110, the retraction and extension of the cord 140 can cause the wet cleaning member 120 to rise and fall.

[0113] In one embodiment, the cleaning robot further comprises a support beam. The support beam is integral with the wet cleaning element and is arranged below the horizontal beam. A cable groove is arranged on the beam. The support is configured to accommodate the cable. A cable groove exit is located below the through hole.

[0114] The cleaning robot 100 also includes the support beam 139. The support beam 139 is arranged under the horizontal beam and is perpendicular to the working surface. The support beam 139 and the vertical beam 1312 of the first frame 131 are arranged on two opposite sides of the first integral part. The support beam 139 may be provided with a surface located on the side of the first set of connecting rods / first stop and a surface located on the opposite side of the first set of connecting rods / first stop.The cable groove 1391 is formed in the surface of the support beam 139 located on the side of the first set of connecting rods / first stop, and the cable groove 1391 communicates with a cable track 150 on the wet cleaning element, so that the cord 140 passes sequentially through the cable track 150, the cable groove 1391, the through hole 1313 and the blind groove 1314 on the horizontal beam 1311, and finally, the third end of the cord 140 is held in the retaining slot 1315, so that the cord 140 drives the raising and lowering of the wet cleaning element 120.

[0115] More specifically, the wet cleaning element 120 is provided with the cable track 150, and the part between the third end and the fourth end of the cord is arranged in the cable track 150. On the one hand, the configuration ensures that the cord is held in position to prevent irregular arrangement of the cord and thus interaction with other electrical wires, and on the other hand, a cannula is made integral with the cable track 150, and the cord 140 is arranged in the cannula, so as to soften the extension and retraction of the cord, thus reducing wear on the cord.

[0116] In one embodiment, as illustrated in Figures 3, 10 and 11, the frame comprises the first frame 131 and a second frame 132. The connecting rod assembly comprises the first set of connecting rods 133 and a second set of connecting rods 134. The first end of the first set of connecting rods is mounted by pivot joint on the first frame, the second end of the first set of connecting rods is mounted by pivot joint on the wet cleaning element, a first end of the second set of connecting rods is mounted by pivot joint on the second frame, and a second end of the second set of connecting rods is mounted by pivot joint on the wet cleaning element.

[0117] Two frames and two sets of connecting rods are provided, and the two frames can be distributed on both sides of the wet cleaning element according to the direction of the width of the cleaning robot, so that the wet cleaning element 12 can be supported more stably under the moving platform 110, so as to maintain the balance and stability of the wet cleaning element 120 during lowering, and to prevent the wet cleaning element 120 from tipping into the raised and lowered positions.

[0118] In certain embodiments, as illustrated in Figures 3 and 4B, the two frames each comprise a horizontal beam and a vertical beam. The vertical beam of the first frame is connected by a pivot joint to the first set of connecting rods, and the vertical beam of the second frame is connected by a pivot joint to the second set of connecting rods. The first frame is secured to the mobile platform 110 by means of a connecting structure arranged on the horizontal beam of the first frame, and the second frame is secured to the mobile platform 110 by means of a connecting structure arranged on the horizontal beam of the second frame. In certain embodiments, as shown in [Fig. 3], the second frame 132 comprises two vertical beams, and the two vertical beams and the horizontal beam form an open rectangular structure (for example, in the shape of an inverted U).Note that the sizes and shapes of the first and second frames can be asymmetrical. In a specific implementation, the third end of the cord is attached to the first frame, and the first frame may be provided with a retaining slot, a blind groove, a through hole, or other structures for the passage and securing of the cord. Consequently, the first frame has a more complex structure, a larger size, and a position that must correspond to the cable channel on the wet cleaning element 120. The second frame may be used solely to connect the moving platform and the connecting rod, and may have a simpler structure, a smaller size, and a larger adjustment range.

[0119] In some embodiments, each set of connecting rods may comprise two connecting rods arranged in the vertical direction, and the two connecting rods form a parallelogram structure. For example, the first set of connecting rods comprises a first connecting rod 1331 and a second connecting rod 1332, and the first connecting rod 1331 and the second connecting rod 1332 form a parallelogram. The second set of connecting rods comprises a third connecting rod 1341 and a fourth connecting rod 1342, and the third connecting rod 1341 and the fourth connecting rod 1342 form a parallelogram. Such an arrangement promotes the lifting and lowering of the wet cleaning element 120 in the vertical direction, so as to avoid jamming of the wet cleaning element 120 due to deviations of the wet cleaning element 120 during lifting and lowering, thus improving the operating reliability of the wet cleaning element 120.

[0120] In certain embodiments, when the wet cleaning element is in the raised position, the first end of the first set of connecting rods is lower than the second end of the first set of connecting rods, and when the cleaning element When the wet cleaning element is in the lowered position, the first end of the first set of connecting rods is higher than the second end of the first set of connecting rods; and / or, when the wet cleaning element is in the raised position, the first end of the second connecting rod is lower than the second end of the second connecting rod, and when the wet cleaning element is in the lowered position, the first end of the second connecting rod is higher than the second end of the second connecting rod.

[0121] Fig. 4B is a partial schematic view illustrating the positions of the second frame 132, the second set of connecting rods 134, and a second stop 136 according to an embodiment of the present disclosure.

[0122] In one embodiment, as illustrated in [Fig. 4B], the stop comprises the second stop 136. The second stop 136 is wedge-shaped and is arranged above the second set of connecting rods 134. A lower surface of the second stop 136 is inclined. When the wet cleaning element 120 is in the lowered position, the lower surface of the second stop 136 bears against the upper surface of the second set of connecting rods and, together with the first stop 135, prevents the wet cleaning element from being lowered below the lowered position. Thus, the two stops are arranged to limit the positions of the two sets of connecting rods, so that the force can be applied uniformly to the stops. In some embodiments, the upper surface of the second stop 136 may be a flat surface parallel to the working surface.

[0123] For design considerations regarding the size, shape, and position of the second stop, refer to the description of the first stop. The second stop is smaller in size and occupies an internal space within the wet cleaning element 120, thus contributing to the miniaturization of the cleaning robot.

[0124] In one embodiment, the cleaning robot 110 further includes a second mounting plate 138. The second mounting plate 138 is integral with the wet cleaning element 120 and is perpendicular to the working surface; the second end of the second set of connecting rods 134 is mounted in a pivot joint on the second mounting plate.

[0125] In some embodiments, the second mounting plate 138 may be formed integrally with the wet cleaning element 120, or formed separately and then made integral with the wet cleaning element 120. The second end of the second set of connecting rods is pivotally mounted on the second mounting plate 138, i.e., the second set of connecting rods is pivotally mounted on the wet cleaning element 120. In some embodiments, similarly to the first mounting plate 137, the second mounting plate 138 may be a plate-shaped element comprising two surfaces, and at least one Part of the second set of connecting rods pivots on a surface of the second mounting plate. The surface of the first mounting plate on which the first set of connecting rods is located and the surface of the second mounting plate on which the second set of connecting rods is located can be arranged opposite each other.

[0126] Note that the arrangement of the first fixing plate and the second fixing plate allows the first set of connecting rods and the second set of connecting rods to pivot simultaneously on the surfaces.

[0127] In certain embodiments, the second stop can be arranged in a position similar to that of the first stop, for example, arranged above the second mounting plate 138, so as to limit the second set of connecting rods when the wet cleaning element 120 is in the lowered position. In this case, the second stop can be formed as a single unit with the second mounting plate.

[0128] In some embodiments, the second stop can also be arranged in another more advantageous position for miniaturizing the cleaning robot. In one embodiment, as illustrated in [Fig. 4B], the cleaning robot 100 includes a lifting drive portion configured to drive the retraction and extension of the cord, the second stop is integral with a housing 160 of the lifting drive portion, and the housing of the lifting drive portion is integral with the wet cleaning element.

[0129] Note that the second stop can be formed as a single unit with the housing 160 of the lifting drive part, or formed separately from the housing 160 of the lifting drive part, and then made integral with it.

[0130] It should be noted that the cleaning robot 100 also includes additional structures such as a lifting drive unit, a water supply structure, and a gearbox. These structures can be distributed on both sides of the wet cleaning element along the width of the cleaning robot and arranged on the outer side of the support. In some embodiments, the gearbox is arranged on the outer side of the first frame, and the lifting drive unit is arranged on the outer side of the second frame. When designing the position of the stop, it can be arranged on the mounting plate or on an additional structure adjacent to the mounting plate, such as the lifting drive unit and the gearbox, depending on considerations such as the limiting effect, the miniaturization requirements of the cleaning robot, and manufacturing complexity.In a specific implementation, the first stop is integral with the first mounting plate, and the second stop is integral with the housing of the lifting drive part.

[0131] In one embodiment, the lifting drive part is a motor. The fourth end of the cord 140 is rigidly connected to the motor, and the retraction and The extension of the cord 140 is achieved by the forward and backward rotation of a motor output shaft. To ensure the stability of the lifting and lowering of the wet cleaning element 120 driven by the cord 140, the third and fourth ends of the cord 140 are distributed on both sides of the wet cleaning element 120 in the direction of the cleaning robot's width. Since the first frame 131 is located on one side of the wet cleaning element 120, the third end of the cord 140, attached to the first frame 131, is also located on the same side of the wet cleaning element 120, and the motor connected to the fourth end of the cord 140 is arranged accordingly on the other side of the wet cleaning element 120.

[0132] In one embodiment, as illustrated in Figures 10 and 11, a third stop 170 may be provided. The third stop 170 is arranged on the second mounting plate and extends beyond the second mounting plate in a direction perpendicular to the second mounting plate 138, and the third stop is located in a lower portion of the second mounting plate. As shown in [Fig. 11], when the wet cleaning element 120 is in the lowered position, the third stop limits the position of the second set of connecting rods. In some embodiments, the third stop 170 may be integrally molded to the second mounting plate or similarly.

[0133] Figure 10 shows a specific example of the states of the two frames, the two sets of connecting rods, the two limiting blocks, the two fastening parts, the movable platform 110, and the wet cleaning element 120 when the wet cleaning element 120 is in the lowered position. Figure 11 shows a specific example of the states of the two frames, the two sets of connecting rods, the two stops, the two fastening parts, the movable platform 110, and the wet cleaning element 120 when the wet cleaning element 120 is in the raised position. The following description is made with reference to Figures 10 and 11, and to other figures. It should be noted that the schematic views in Figures 10 and 11 are schematic views of the first mounting plate 137 and the second mounting plate 138 fixed after pivoting.In practice, the positions of the first fixing plate 137 and the second fixing plate 138 are arranged opposite each other (as illustrated in [Fig.3]), and the schematic views serve only to facilitate understanding and description.

[0134] More specifically, as shown in Figures 3 and 4A, the first stop 135 is arranged on one side of the wet cleaning element 120, the first set of connecting rods 133 is arranged between the first stop 135 and the wet cleaning element 120, and the first frame 131 is integral with the movable platform 110. As shown in Figures 3 and 4B, the second stop 136 is arranged on a second side of the wet cleaning element 120, the second set of connecting rods 134 is arranged between the second stop 136 and the wet cleaning element 120, and the second frame 132 is integral with the mobile platform 110. As shown in [Fig. 9], when the cord 140 is of the first length, i.e. when the wet cleaning element 120 is in the raised position, the upper surface of the first stop 135 bears against the first frame 131. As illustrated in [Fig.

[10] when the cord 140 is of a length greater than or equal to the second length, i.e. when the wet cleaning element 120 is in the lowered position, the lower surface of the first stop 135 comes against the upper surface of the first set of connecting rods 133, and the lower surface of the second stop 136 comes against the upper surface of the second set of connecting rods 134, thus limiting the limit position of the lowered position of the wet cleaning element 120. In this case, if the sweeping robot is turned over by the user for inspection or if the wet cleaning element is caught by an obstacle, the force can be applied to the limiting blocks, so as to avoid the direct force on the cord 140 and to effectively extend the service life of the cord 140.

[0135] As shown in Figures 6 and 11, the first end of the first set of connecting rods 133 is connected by a pivot joint to the first frame 131, the second end of the first set of connecting rods 133 is connected by a pivot joint to the wet cleaning element 120, and the first frame 131 and the moving platform 110 are fixed together. When the wet cleaning element 120 is raised, the second end of the first set of connecting rods 133 connected to the wet cleaning element 120 moves upwards, so that when the wet cleaning element 120 is in the raised position, the first end of the first set of connecting rods 133 is located below the second end of the first set of connecting rods 133.As shown in Figures 8A, 9, and 10, when the wet cleaning element 120 is lowered, the second end of the first connecting rod 133 connected to the wet cleaning element 120 moves downwards, so that when the wet cleaning element 120 is in the lowered position, the first end of the first connecting rod 133 is located above the second end of the first connecting rod 133.

[0136] Other embodiments of the present invention may appear obvious to those skilled in the art, in consideration of the description and knowledge of the present invention disclosed herein. This description is intended to cover all variations, uses, or adaptations of the present invention in accordance with the general principles of this description and including common knowledge or customary technical means not disclosed in the art of this description. The description and embodiments should be considered only as examples of embodiments.

[0137] The above descriptions are merely preferred embodiments of the present invention and shall not be construed as limiting the present invention, and all modifications, equivalents, improvements and others which are made in the spirit and principle of this description shall be included in the scope of protection of the present invention.

Claims

Demands

1. Cleaning robot, characterized in that the cleaning robot comprises: - a mobile platform; - a wet cleaning element; - a support structure supporting the wet cleaning element under the mobile platform, a first end of the support structure connected to the mobile platform, and a second end of the support structure of variable height relative to the first end between a first height and a second height, the second height being lower than the first height; - a cord, the extension and retraction of which causes a variation in height of the second end of the support structure relative to the first end; - a stop, which comes into contact with the support structure when the height reaches the second height, permanently limiting the height once the second height is reached.

2. Cleaning robot according to claim 1, wherein the stop is positioned on a path of movement of the support structure to permanently limit the height once the second height is reached.

3. Cleaning robot according to claim 1, wherein the support structure comprises a linkage system, wherein a contact surface between the stop and the support structure forms an inclined plane with an angle of inclination corresponding to a target angle, said target angle corresponding to the angle of inclination of the linkage system when the height reaches the second height.

4. Cleaning robot according to any one of claims 1 to 3, wherein the stop is fixedly connected to the moving platform or the wet cleaning element, and / or the two ends of the support structure are respectively articulated with respect to the moving platform and the wet cleaning element.

5. Cleaning robot according to claim 4, further comprising a mounting plate integral with the wet cleaning element, the connection to the wet cleaning element comprising a connection to the mounting plate; and / or, including further a chassis integral with the mobile platform, the connection to the mobile platform including a connection to the support chassis.

6. Cleaning robot according to claim 5 depending on claim 3, wherein a plane in which the fixed part is located is perpendicular to a plane in which the wet cleaning element is located; the support structure comprising the linkage system pivoting on a first surface of the plane in which the fixed part is located; when the linkage system pivots, a side wall of the linkage system is perpendicular to the plane in which the fixed part is located; the stop being fixed relative to the fixed part, and the contact surface between the support structure and the stop is perpendicular to the plane in which the fixed part is located; the stop being positioned so as to ensure that when the height reaches the second height, the contact surface is in contact with the side wall of the linkage system.

7. Cleaning robot according to claim 6, wherein the stop is arranged on the mounting plate and protrudes from the mounting plate in a direction perpendicular to the mounting plate.

8. Cleaning robot according to any one of claims 1 to 7, wherein the two ends of the cord are connected separately to the moving platform and the wet cleaning element.

9. Cleaning robot according to claim 8, wherein the cord is permanently deployed to a specified length once the height of the second end relative to the first end has reached the second height.

10. The cleaning robot according to claim 8 or 9, further comprising: the frame integral with the moving platform; a lifting drive portion comprising a spool, wherein the lifting drive portion and at least one frame are distributed on two sides of the wet cleaning element in a direction of the width of the cleaning robot; and the separate connection of the two ends of the cord to the moving platform and to the wet cleaning element, comprising that: one end of the cord is integrally connected to the support, the other end of the cord is integrally connected to the spool, and the extension and retraction of the cord are controlled by controlling the number of turns of the cord wound around the spool.

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