Cleaning robot

Abstract

The present disclosure discloses a cleaning robot, comprising: a mobile platform; a wet cleaning member; a support structure, the wet cleaning member being supported below the mobile platform by the support structure, a first end of the support structure being connected to the mobile platform, a second end of the support structure being adjustable in height relative to the first end between a first height and a second height, and the second height being less than the first height; a rope, extension and retraction of the rope driving the second end of the support structure to change in height relative to the first end; and a limiting block, the limiting block contacting the support structure when the height reaches the second height, so as to prevent the height from further decreasing beyond the second height. The limiting block enables an additional acting force to be counteracted by pressure and / or friction between the limiting block and the support structure without subjecting the rope to greater force, thereby prolonging the service life of the rope.

Description

Cleaning robots Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202422507024.8, filed on October 16, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning robot technology, and more particularly to a cleaning robot. Background Technology

[0003] In related technologies, cleaning robots such as sweeping / mopping robots use a wet cleaning component supported under the robot's moving platform to perform the mopping function. To prevent the wet cleaning component from wetting carpets and other plush surfaces, a lifting function is incorporated. The component rises to avoid plush surfaces and descends to mop when needed. The distance between the wet cleaning component and the moving platform is controlled by adjusting the length of the rope, thus controlling the lifting and lowering of the component. Currently, the rope's lifespan is relatively short. Summary of the Invention

[0004] This disclosure aims to address at least one of the technical problems existing in the prior art or related technologies.

[0005] In view of this, the present disclosure provides a cleaning robot, which includes a limiting block 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 component. The limiting block contacts the support structure when the second end of the support structure reaches its maximum height relative to the first end, preventing the height from decreasing further after reaching the second height. If the robot is turned over for inspection by the user, or the wet cleaning component gets stuck on an obstacle, without the limiting block, the rope would bear a greater force than the weight of the wet cleaning component. However, with the limiting block, this force is offset by the pressure and / or friction between the limiting block and the support structure, preventing the rope from bearing a greater force and thus improving its lifespan. Furthermore, the limiting block requires only a small amount of space, which is beneficial for the miniaturization of the cleaning robot.

[0006] This disclosure provides a pallet cleaning robot, the cleaning robot comprising:

[0007] Mobile platform;

[0008] Wet cleaning components;

[0009] The support structure supports the wet cleaning component below the mobile platform; the first end of the support structure is connected to the mobile platform, and the height of the second end of the support structure relative to the first end is variable between a first height and a second height, with the second height being less than the first height.

[0010] The rope, by extending and shortening it, drives a change in the height of the second end of the support structure relative to the first end; and

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

[0012] In some embodiments, the limiting block is positioned on the moving path of the support structure after the height reaches the second height, so that the height continues to decrease.

[0013] In some embodiments, the support structure is a linkage group, and the contact surface between the limiting block and the support structure is an inclined plane with an inclination angle of a target angle, which is the inclination angle of the linkage group when the height reaches the second height.

[0014] In some embodiments, the limiting block is fixedly connected to the moving platform or the wet cleaning component, and / or, the two ends of the support structure are respectively hinged to the moving platform and the wet cleaning component.

[0015] In some embodiments, the cleaning robot further includes a fixing part, which is fixedly connected to a wet cleaning component, and the connection with the wet cleaning component includes the connection with the fixing part; and / or, the cleaning robot further includes a support, which is fixedly connected to a mobile platform; the connection with the mobile platform includes the connection with the support.

[0016] In some embodiments, the plane where the fixing part is located is perpendicular to the plane where the wet cleaning component is located, the support structure is a linkage group, and the linkage group rotates on the surface of the fixing part; when the linkage group rotates, the side wall of the linkage group is perpendicular to the plane where the fixing part is located; the limiting block is fixed relative to the fixing part, and the contact surface of the limiting block and the support structure is perpendicular to the plane where the fixing part is located; the limiting block is positioned such that when the height reaches the second height, the contact surface contacts the side wall of the linkage group.

[0017] In some embodiments, at least one limiting block protrudes from the fixing portion in a direction perpendicular to the fixing portion.

[0018] In some embodiments, the two ends of the rope are connected to a mobile platform and a wet cleaning device, respectively.

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

[0020] In some embodiments, the cleaning robot further includes: a support frame fixedly connected to a mobile platform; a lifting drive unit including a spool; the lifting drive unit and at least one support frame distributed on both sides of the wet cleaning component along the width direction of the cleaning robot; and a rope with both ends connected to the mobile platform and the wet cleaning component respectively, including: one end of the rope fixedly connected to the support frame, and the other end of the rope fixedly connected to the spool, wherein the elongation and shortening of the rope are controlled by controlling the number of turns of the rope wound on the spool.

[0021] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 is a perspective view of a cleaning robot according to an embodiment of the present disclosure.

[0024] Figure 2 is a bottom view of a cleaning robot according to an embodiment of the present disclosure.

[0025] Figure 3 is a schematic diagram of a cleaning robot according to an embodiment of the present disclosure.

[0026] Figure 4A is a schematic diagram of the first side of a wet cleaning component according to an embodiment of the present disclosure.

[0027] Figure 4B is a schematic diagram of the second side of a wet cleaning component according to an embodiment of the present disclosure.

[0028] Figure 5 is a schematic diagram of three exemplary configurations of a limit block according to an embodiment of the present disclosure.

[0029] Figure 6 is a schematic diagram of a rope of a first length according to an embodiment of the present disclosure.

[0030] Figure 7 is a schematic diagram of a rope between a first length and a second length according to an embodiment of the present disclosure.

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

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

[0033] Figure 9 is a schematic diagram of a rope of a third length according to an embodiment of the present disclosure.

[0034] Figure 10 is a schematic diagram of a wet cleaning component in a descending position according to an embodiment of the present disclosure.

[0035] Figure 11 is a schematic diagram of a wet cleaning component in the raised position according to an embodiment of the present disclosure.

[0036] Reference numerals: 100 Cleaning robot, 110 Mobile platform, 120 Wet lifting module, 131 First support, 1311 Crossbeam, 1312 Longitudinal beam, 1313 Through hole, 1314 Blind slot, 1315 Slot, 132 Second support, 133 First linkage group, 1331 First link, 1332 Second link, 134 Second linkage group, 1341 Third link, 1342 Fourth link, 135 First limiting block, 136 Second limiting block, 137 First fixing part, 138 Second fixing part, 139 Support beam, 1391 Cable tray, 140 Rope, 150 Cable tray, 160 Housing of lifting drive unit, 170 Third limiting block. Detailed Implementation

[0037] To enable those skilled in the art to more clearly understand this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0038] Without contradiction, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, the solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. In addition, the optional implementation methods in a particular embodiment can be arbitrarily combined. Furthermore, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0039] In the embodiments disclosed herein, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0040] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not constitute restrictions on the position, order, priority, value, or content of the descriptive objects. For descriptions of the descriptive objects, please refer to the claims or the context of the embodiments. The use of prefixes should not constitute unnecessary restrictions. Connections in the embodiments of this disclosure can be direct or indirect.

[0041] Specific technical solutions will now be described in detail with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different figures. The use of similar or identical reference numerals in different figures does not imply that all figures including similar or identical reference numerals constitute a single or the same embodiment. The accompanying drawings illustrate the various embodiments discussed in this disclosure in a generalized, illustrative, and not restrictive manner.

[0042] Cleaning robots are becoming increasingly popular in households, greatly simplifying daily cleaning tasks. As shown in Figure 1-2, cleaning robots 100, such as robotic vacuum cleaners, robotic mops, and robotic vacuum and mop combos, can automatically move across a surface to clean it. The surface can be a floor, tile, carpet, etc., and carpets may include both short-pile and long-pile carpets.

[0043] In some embodiments, the cleaning robot 100 includes a mobile platform 110, a sensing module, a controller, a drive module, a cleaning system, an energy system, and a human-machine interaction module. As shown in FIG1, the mobile platform 110 includes a forward portion 111 and a backward portion 112, both of which have an approximately circular shape (both front and back are circular), but may also have other shapes, including but not limited to an approximately D-shaped shape with a circular front and rear, and a rectangular or square shape with a circular front and rear. The mobile platform 110 can move on the operating surface to drive the cleaning system to clean the operating surface.

[0044] The perception module includes a position determination device on the mobile platform 110, a collision sensor on the forward collision structure of the forward portion 111 of the mobile platform 110, a proximity sensor (wall sensor) on the side of the mobile platform 110, a cliff sensor on the lower part of the mobile platform 110, and sensors such as a magnetometer, accelerometer, gyroscope, and odometry installed inside the mobile platform 110. These sensors provide the controller with various position and motion status information of the cleaning robot. Furthermore, the position determination device can also be used to determine obstacle information, such as the height and width of the obstacle, to determine whether the robot can cross it. The position determination device includes, but is not limited to, a camera and a laser distance sensor (LDS). In some implementations, the position determination device (such as a camera or laser sensor) is located at the front of the mobile platform 110, that is, at the very front of the forward portion 111, to more accurately sense the environment in front of the cleaning robot and achieve precise positioning.

[0045] The controller is located on the main circuit board within the mobile platform 110. It includes non-transitory memory such as hard drives, flash memory, and random access memory, and a computing processor such as a central processing unit and application processor. The application processor uses localization algorithms, such as Simultaneous Localization and Mapping (SLAM), to create a real-time map of the environment in which the cleaning robot 100 is located, based on obstacle information fed back by the laser rangefinder. Furthermore, it combines distance and speed information fed back by sensors on the front-end structure, such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometry, to comprehensively determine the current working state, location, and pose of the cleaning robot 100. This includes situations such as crossing a threshold, stepping onto a carpet, being on a cliff, being stuck above or below, a full dustbin, or being picked up. It also provides specific next action strategies for different situations, resulting in better cleaning performance and a better user experience for the cleaning robot 100.

[0046] The drive module can manipulate the mobile platform 110 to travel across the ground based on drive commands with distance and angle information. The drive module includes a drive wheel module that controls the left and right drive wheels. To more precisely control the robot's movement, the drive wheel module includes both a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are arranged along a lateral axis defined by the mobile platform 110. To enable the cleaning robot 100 to move more stably on the ground or to have stronger mobility, the cleaning robot 100 may include one or more driven wheels, including but not limited to omnidirectional wheels. The drive wheel module includes a drive motor and control circuitry for controlling the drive motor. The drive wheel module may also be connected to circuitry for measuring drive current and an odometer. Additionally, the left and right drive wheels may have an offset drop suspension system, movably secured, for example, rotatably attached to the mobile platform 110, and biased downwards and away from the mobile platform 110 by springs. Spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 100 also contact the ground with a certain pressure.

[0047] Cleaning systems may include dry cleaning systems and / or wet cleaning systems. Dry cleaning systems may include a roller brush, dustbin, fan, and air outlet. The roller brush, with some interference from the ground, sweeps up debris and carries it to the suction port between the roller brush and the dustbin, where it is then drawn into the dustbin by suction-generated air from the fan. Dry cleaning systems may also include side brushes with a rotating axis at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning system.

[0048] The wet cleaning system may include a wet cleaning component 120, a lifting unit, a water delivery mechanism, and a liquid storage tank. The wet cleaning component 120 may be positioned below the liquid storage tank. Cleaning fluid inside the tank is delivered to the wet cleaning component 120 via the water delivery mechanism, enabling the wet cleaning component 120 to perform wet cleaning on the work surface. In some embodiments, the cleaning fluid inside the tank may also be directly sprayed onto the surface to be cleaned, and the wet cleaning component 120 cleans the surface by evenly spreading the cleaning fluid.

[0049] In some embodiments, when the wet cleaning component 120 is not temporarily engaged in operation, it can be raised away from the operating surface by a lifting unit. When the wet cleaning component 120 is required to engage in operation, it can be lowered to contact the operating surface by the lifting unit. In some embodiments, when the cleaning robot 100 docks at a base station to clean the wet cleaning component, or when encountering an operating surface that cannot be cleaned using the wet cleaning component 120, the wet cleaning component 120 is temporarily not engaged in operation.

[0050] In some embodiments, the wet cleaning component 120 may be supported on the bottom of the mobile platform 110, for example, on the bottom of the rear portion of the mobile platform 110, in which case the wet cleaning component 120 is mounted on the tail of the robot vacuum cleaner.

[0051] In some embodiments, the wet cleaning component 120 includes a mop and a mop cloth disposed on the mop. Alternatively, in some embodiments, the mop may further include a mop body and a support, the mop body being detachably connected to the support, and the mop cloth being disposed on the mop body.

[0052] In some embodiments, the wet cleaning system further includes a reciprocating motion drive unit, which drives the mop to reciprocate at high frequency and generate high-frequency friction with the operating surface, thereby removing stains from the operating surface.

[0053] In some embodiments, the lifting unit may include a rope, a lifting drive, a bracket, and a linkage assembly. In some embodiments, the wet cleaning component 120 is supported on the bottom of the mobile platform 110 by the bracket. In some embodiments, when the wet cleaning component 120 is installed at the tail of the robotic vacuum cleaner, the wet cleaning component 120 is supported on the bottom of the rear portion of the mobile platform 110 by the bracket. In some embodiments, the two ends of the linkage pair are rotatably connected to the bracket and the wet cleaning component 120 (e.g., the drag plate of the wet cleaning component 120 or the support portion of the wet cleaning component 120), respectively, and the lifting drive controls the length of the rope, thereby driving the wet cleaning component 120 to rise and fall relative to the bracket.

[0054] The energy system includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion batteries. The rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit can be charged by connecting to a charging station via charging electrodes located on the side or bottom of the device.

[0055] The human-machine interface (HMI) module includes buttons on the main control panel for user function selection. It may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine mode or available function options. The HMI module may also include a mobile client application. For the path-navigation type automatic cleaning robot 100, the mobile client can display a map of the robot's environment and its location, providing users with richer and more user-friendly functions. Specifically, the cleaning robot has multiple modes, such as a working mode and a self-cleaning mode. The working mode refers to the mode in which the cleaning robot performs automatic cleaning operations, while the self-cleaning mode refers to the mode in which the cleaning robot removes dirt from the roller brush and side brushes on the base, automatically collects the dirt, and / or automatically washes and dries the mop.

[0056] For ease of description, the following directional definitions are used: The cleaning robot 100 can be calibrated using the following three mutually perpendicular axes: the lateral axis Y, the front-to-back axis X, and the vertical axis Z. The direction indicated by the arrow along the front-to-back axis X is labeled "backward," and the direction opposite to the arrow along the front-to-back axis X is labeled "forward." The lateral axis Y is essentially along the width of the cleaning robot 100; the direction indicated by the arrow along the lateral axis Y is labeled "leftward," and the direction opposite to the arrow along the lateral axis Y is labeled "rightward." The direction perpendicular to both the front-to-back axis X and the lateral axis Y is the direction of the vertical axis Z.

[0057] In the cleaning robot 100, the wet cleaning component 120 is supported at the bottom of the rear of the mobile platform 110 (i.e., supported by the lower shell of the main body of the cleaning robot). The distance between the wet cleaning component 120 and the mobile platform 110 can be controlled by an adjustable rope 140. When the rope 140 is shortened to a first length, the wet cleaning component 120 is in an ascending position; when the rope 140 is extended to a second length, the wet cleaning component 120 is in a descending position. The rope 140 bears the weight of the wet cleaning component 120.

[0058] The rope 140 has a short service life. The reason is that when the wet cleaning component 120 is in the descending position, if the cleaning robot 100 is turned over by the user for inspection, the weight of the entire moving platform will act on the rope 140, causing it to bear a greater force than the weight of the wet cleaning component 120. When the wet cleaning component 120 is in the descending position, if the wet cleaning component 120 is stuck by an obstacle, the rope 140 will also bear a greater force than the weight of the wet cleaning component 120, thus affecting the service life of the rope 140.

[0059] If a mounting platform structure and a hanging point structure are respectively set on the mobile platform 110 and the wet cleaning component 120, when the cleaning robot 100 is flipped over for inspection by the user, the mounting platform structure of the mobile platform 110 and the hanging point structure of the wet cleaning component 120 abut against each other. The gravity of the mobile platform 110 will act on the hanging point structure, thereby preventing the rope 140 from bearing excessive force. When the wet cleaning component 120 is stuck by an obstacle, the hanging point structure of the wet cleaning component 120 and the mounting platform structure of the mobile platform 110 abut against each other. The dragging of the wet cleaning component 120 by the obstacle will act on the mounting platform structure, thereby preventing the rope 140 from bearing excessive force. However, the setting of the hanging point structure and the mounting platform structure requires a certain amount of space, which is not conducive to the miniaturization of the cleaning robot.

[0060] The solution disclosed herein can solve the problem of how to prevent excessive stress on rope 140 using a rope protection structure that occupies less space.

[0061] Figure 3 shows the wet cleaning component 120 and some related components. As shown in Figure 3, one embodiment of this disclosure provides a cleaning robot 100, which includes: a mobile platform 110 (not shown in Figure 3), a wet cleaning component 120, a support structure, a rope 140, and a limiting block.

[0062] The wet cleaning component 120 can switch between an upward position and a downward position. When the wet cleaning component 120 is in the upward position, it is closest to the moving platform 110 and furthest from the operating surface, thus avoiding the operating surface. When the wet cleaning component 120 is in the downward position, it is furthest from the moving platform 110 and closest to the operating surface, thus cleaning a portion of the operating surface.

[0063] The wet cleaning component 120 is supported by a support structure below the mobile platform 110. The first end of the support structure is connected to the mobile platform 110, and the height of the second end of the support structure relative to the first end is variable between a first height and a second height, with the second height being less than the first height.

[0064] The support structure connects and supports the wet cleaning component 120. The movement (extension, translation, rotation, etc.) of the support structure affects the height of the second end relative to the first end. The support structure can be a linkage-type support structure, a scissor-type support structure, a mast-type support structure, a sleeve-type support structure, a parallelogram telescopic frame type, etc.

[0065] The height of the second end of the support structure relative to the first end is the height difference between the two ends. This height varies between a maximum height (first height) and a minimum height (second height). When the height of the second end of the support structure relative to the first end (i.e., the height difference between the two ends) is at its maximum (when the second end is at its highest), the wet cleaning component 120 is in the raised position; when the height of the second end of the support structure relative to the first end (i.e., the height difference between the two ends) is at its minimum (when the second end is at its lowest), the wet cleaning component 120 is in the lowered position. It is important to understand that the maximum and minimum heights here take into account both positive and negative values, not just the absolute value of the height. For example, a height of -9 relative to the first end is less than a height of 2 relative to the first end. A positive height of the second end relative to the first end means the second end is higher than the first end, and a negative height means the second end is lower than the first end.

[0066] The elongation and shortening of rope 140 drives the second end of the support structure to change its height relative to the first end.

[0067] The first end of the support mechanism is connected to the mobile platform 110. The height of the mobile platform 110 remains constant, and the height of the first end remains constant. The elongation and shortening of the rope 140 cause the height of the second end of the support mechanism to change relative to the first end, thereby realizing the vertical rise or fall of the wet cleaning component 120.

[0068] In some embodiments, the wet cleaning component 120 can be detected to be in position during its ascent and / or descent. This detection can be performed using a position sensor or by detecting the length of the rope. In some embodiments, in response to detecting that the wet cleaning component 120 has reached the ascending position, the rope 140 is no longer shortened. In some embodiments, in response to detecting that the elongation length of the rope 140 has reached a preset length, the rope 140 is no longer extended.

[0069] The limiting block contacts the supporting 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 continuing to decrease after reaching the second height.

[0070] Understandably, reaching the second altitude here means reducing to the second altitude.

[0071] When the height of the second end relative to the first end changes, the position and angle of the support structure change. The limiting block can be set in such a position that when the height of the second end relative to the first end has not reached the second height, the limiting block does not contact the support structure, and when the height of the second end relative to the first end reaches the second height, the limiting block contacts the support structure to prevent the height of the second end relative to the first end of the support structure from continuing to decrease.

[0072] As shown in Figure 5, the hollow rectangle represents the support structure, and the filled shape represents the limiting block. The black arrow indicates the direction of movement of the support structure required to further reduce the height difference after the height difference between the second end and the first end reaches the second height. The black straight line represents the moving platform. Figure 5 shows the state when the height difference between the second end and the first end of the support structure reaches the second height. When the height difference between the second end and the first end has not reached the second height, the limiting block does not affect the movement of the support structure. After reaching the second height, if it is desired to further reduce the height difference between the second end and the first end, it will be prevented by the limiting block. Figure 5 illustrates three ways of setting the limiting block.

[0073] When the height of the second end relative to the first end reaches a certain level, if the robot vacuum is flipped over for inspection by the user, or if the wet cleaning component gets stuck on an obstacle, the rope may experience greater force. However, due to the presence of the limiting block, the height of the second end relative to the first end will not decrease further. This force is offset by the pressure and / or friction between the limiting block and the supporting structure. The rope will not experience greater force or be stretched, thus extending its lifespan. Furthermore, the limiting block requires only a small amount of space, which is beneficial for the miniaturization of cleaning robots.

[0074] In one embodiment, the limiting block is positioned on the moving path of the support structure after the height reaches the second height, so that the height continues to decrease.

[0075] This disclosure does not limit the shape and size of the limiting block, as long as it can prevent the support structure from moving and further reducing the height difference. When the height of the second end relative to the first end changes, the position, angle, etc. of the support structure change, that is, at least some components of the support structure have a specific movement path. By simply placing the limiting block on the movement path of the support structure that will cause the height to continue to decrease after the height reaches the second height, it can prevent the height from continuing to decrease after reaching the second height.

[0076] In some embodiments, the support structure is a linkage group. The tilt angle of the linkage group changes with the height difference, and the tilt angle of the linkage group when the height reaches the second height is the target angle. To achieve miniaturization of the limiting block, the contact surface between the limiting block and the support structure can be set as an inclined surface with the target angle. Figures 6-8A show the tilt angles of the linkage group when the height difference is at the first height, between the first and second heights, and at the second height. As shown in Figure 8A, the lower surface of the limiting block 135 can be set as an inclined surface with the target angle. As shown in Figures 6 and 7, when the height difference has not decreased to the second height, the limiting block 135 does not contact the support structure 133.

[0077] It is understood that a linkage group may include one or more links, and the number of links in the accompanying drawings is only illustrative and is not intended to limit the number of links included in the linkage group in the embodiments of this disclosure.

[0078] In one embodiment, the limiting block is fixedly connected to the mobile platform 110 or the wet cleaning component 120, and / or, the two ends of the support structure are respectively hinged to the mobile platform 110 and the wet cleaning component 120.

[0079] It is understood that the connection referred to in the embodiments of this disclosure is a direct or indirect connection. The fixed connection between A and B can be interpreted broadly as either A and B being formed separately and then connected, or A and B being formed as a single piece. The limiting block can be fixedly connected to the mobile platform 110 or to the wet cleaning component 120.

[0080] The component to which the limiting block is fixedly connected may affect its position. In some embodiments, taking Figures 8A and 9 as examples, in Figure 8A, the limiting block is indirectly connected to the wet cleaning component. When the height difference between the second end and the first end of the support structure reaches a second height, placing the limiting block on the upper sidewall of the support structure can prevent the height difference from decreasing further. In Figure 8B, the limiting block is connected to the moving platform. When the height difference between the second end and the first end of the support structure reaches a second height, placing the limiting block on the lower sidewall of the support structure can prevent the height difference from decreasing further.

[0081] The support structure is hinged at both ends to the moving platform and the wet cleaning component, respectively. One end of the support structure is directly or indirectly hinged to the moving platform, and the other end is directly or indirectly hinged to the wet cleaning component. This allows for a change in the height difference between the second and first ends of the support structure.

[0082] In one embodiment, the cleaning robot further includes a fixing part, which is fixedly connected to a wet cleaning component, and the connection with the wet cleaning component includes the connection with the fixing part; and / or, the cleaning robot further includes a support, which is fixedly connected to a mobile platform; the connection with the mobile platform includes the connection with the support.

[0083] In some embodiments, the cleaning robot may further include a fixing part, which is fixedly connected to the wet cleaning component. The connection to the wet cleaning component mentioned above includes the connection to the fixing part. For example, the fixed connection between the limiting block and the wet cleaning component is the fixed connection between the limiting block and the fixing part; the hinge between the support structure and the wet cleaning component is the hinge between the support structure and the fixing part.

[0084] In some embodiments, the cleaning robot may further include a support frame, which is fixedly connected to the mobile platform; the connection to the mobile platform includes the connection to the support frame, that is, the connection to the mobile platform mentioned above includes the connection to the support frame. In one embodiment, the fixed connection between the limiting block and the mobile platform includes the fixed connection between the limiting block and the support frame. The hinge connection between the support structure and the mobile platform includes the hinge connection between the support structure and the support frame.

[0085] In some embodiments, the cleaning robot may also include a fixed part that is fixedly connected to the wet cleaning component and a bracket that is fixedly connected to the mobile platform; the corresponding connection relationship will not be described in detail.

[0086] In one embodiment, the cleaning robot includes a fixed part, the plane of which is perpendicular to the plane of the wet cleaning component, and a support structure consisting of a linkage assembly that rotates on the surface of the fixed part. When the linkage assembly rotates, the sidewall of the linkage assembly is perpendicular to the plane of the fixed part. A limiting block is fixed relative to the fixed part, and the contact surface of the limiting block and the support structure is perpendicular to the plane of the fixed part. The limiting block is positioned such that when the height reaches a second height, the contact surface contacts the sidewall of the linkage assembly.

[0087] As shown in Figures 6-8B, the plane containing the fixing part 137 is perpendicular to the plane containing the wet cleaning component 120. The fixing part 137 has two surfaces (for example, the fixing part 137 is a plate-shaped component with two flat surfaces), and the linkage assembly rotates on one surface of the fixing part 137. The linkage assembly includes a connecting rod, which has a certain thickness. The surface forming the thickness of the connecting rod can be considered as the side wall of the connecting rod. When the linkage assembly rotates, the side wall of the linkage assembly (specifically the connecting rod) is perpendicular to the plane containing the fixing part. When the linkage assembly rotates on the surface of the fixing part 137, the position and angle of the side wall of the linkage assembly change significantly. Therefore, a limiting block can be positioned so that when the height difference reaches a second height, the contact surface of the limiting block contacts the side wall of the linkage assembly.

[0088] In one embodiment, the number of support structures, brackets (if including brackets), and fixing parts (if including fixing parts) can be multiple, for example, two. To maintain the balance and stability of the wet cleaning component 120 during lifting and lowering, and to prevent tilting during the lifting and lowering process, the number of support structures, brackets, and fixing parts can all be set to two, with the two support structures, brackets, and fixing parts distributed on both sides of the wet cleaning component along the width direction of the cleaning robot. When the number of support structures, brackets (if including brackets), and fixing parts (if including fixing parts) is multiple, there can be one or more limiting blocks. Even with only one limiting block, it can still withstand the applied force. When there are multiple limiting blocks, it is more beneficial to maintain the balance and stability of the wet cleaning component 120 during lifting and lowering.

[0089] In one embodiment, at least one limiting block protrudes from the fixing portion in a direction perpendicular to the fixing portion. As mentioned above, the limiting block can be fixedly connected to the moving platform or to the wet cleaning component. When the limiting block is fixedly connected to the wet cleaning component, it can also be fixedly connected to the fixing portion or to other components that are fixed in position relative to the wet cleaning component, such as the lifting drive unit mentioned later. In some embodiments, at least one limiting block protrudes from the fixing portion in a direction perpendicular to the fixing portion to facilitate contact between the contact surface of the limiting block and the side wall of the linkage assembly, and to ensure the miniaturization of the limiting block.

[0090] In one embodiment, the two ends of the rope are connected to a mobile platform and a wet cleaning component, respectively. The rope drives the height of a second end of a support structure relative to a first end to change by extending and shortening. When the rope extends, the height difference between the second end of the support structure and the first end decreases until it decreases to a second height. When the rope shortens, the height difference between the second end of the support structure and the first end increases until the height difference increases to a first height.

[0091] In one embodiment, the rope continues to extend to a specified length after the height difference between the second end and the first end reaches a second height. That is, the rope continues to extend after the height difference between the second end and the first end of the support structure decreases until it reaches the second height. However, due to the presence of the limiting block, the height difference between the second end and the first end will not decrease further after reaching the second height, resulting in rope redundancy, as shown in Figure 9. The specified length can be a rope redundancy of 1 mm.

[0092] In one embodiment, the cleaning robot further includes: a support frame fixedly connected to a mobile platform; and a lifting drive unit including a spool. The lifting drive unit and at least one support frame are distributed on both sides of the wet cleaning component along the width direction of the cleaning robot. Two ends of a rope are connected to the mobile platform and the wet cleaning component, respectively. Specifically, one end of the rope is fixedly connected to the support frame, and the other end of the rope is fixedly connected to the spool. The extension and shortening of the rope are controlled by controlling the number of turns the rope makes around the spool.

[0093] The cleaning robot of this invention is described below with specific examples.

[0094] Understandably, when the wet cleaning component is in the raised position, lowered position, or a position between the raised and lowered positions, the relative positions of the first and second ends of the linkage assembly change, as do the positions and tilt angles of the upper surface of the linkage assembly. By setting the shape, position, and size of the limiting block, it can be made to adapt to the position and tilt angle of the upper surface of the linkage assembly when the wet cleaning component 120 is in the lowered position. This ensures that when the wet cleaning component 120 is in the lowered position, the limiting block abuts against the upper surface of the linkage assembly, while when the wet cleaning component 120 is in other positions, the limiting block does not abut against the linkage assembly.

[0095] In some embodiments, as shown in FIG6, when the wet cleaning component 120 is in the raised position, the first end of the linkage assembly is lower than the second end, and the slope of the projection of the plane containing the upper surface of the linkage assembly onto the paper is k1. As shown in FIG8A, when the wet cleaning component is in the lowered position, the first end of the linkage assembly is higher than the second end, and the slope of the projection of the plane containing the upper surface of the linkage assembly onto the paper is k2. As shown in FIG7, when the wet cleaning component is in a position between the raised and lowered positions, the first end of the linkage assembly may be higher than, lower than, or at the same height as the second end, and the slope of the projection of the plane containing the upper surface of the linkage assembly onto the paper is between k1 and k2. At least a portion of the lower surface of the limiting block may be an inclined plane (e.g., a portion of the lower surface of the limiting block is an inclined plane, and a portion of the lower surface is a plane parallel to the operating surface), and the slope of the projection of this inclined plane onto the paper is k2, to match the slope of the upper surface of the linkage assembly when the wet cleaning component is in the lowered position. Understandably, when the wet cleaning component rises and falls, the linkage assembly rotates within a certain area of ​​the plane. A limiting block can be positioned above this area to limit the movement of the linkage assembly. The size of the limiting block should be as small as possible to meet the miniaturization requirements of the cleaning robot, sufficient to provide stable limitation on the upper surface of the linkage assembly. For example, the width of the limiting block can match the width of the linkage assembly, and the length of the portion of the limiting block that abuts against the linkage assembly can be 1 / 3 to 3 / 4 of the length of the linkage assembly. Understandably, the linkage assembly can include two links arranged along the height direction, forming a parallelogram. The width of the linkage assembly is the width of a single link, and the length of the linkage assembly is the length of a single link. Thus, the limiting block itself is small in size, and the limiting block is set above the linkage assembly, while the linkage assembly is usually set inside the wet cleaning component (that is, the projection of the linkage assembly on the operating surface is located inside the projection of the moving platform on the operating surface, rather than near the edge of the projection of the moving platform on the operating surface), so that the limiting block occupies only a small amount of space between the linkage assembly and the moving platform, which is beneficial to the miniaturization of the cleaning robot.

[0096] Understandably, when the rope 140 is extended long enough, the wet cleaning component reaches the descent position, and the limiting block abuts against the upper surface of the linkage assembly. If the rope 140 is extended further at this point, the wet cleaning component cannot descend further because the limiting block abuts against the upper surface of the linkage assembly. In other words, the limiting block prevents the wet cleaning component from descending below the descent position.

[0097] If the cleaning robot 100 is turned over for inspection by the user, the gravity of the moving platform will pull down the linkage assembly, causing the upper surface of the linkage assembly to abut against the limiting block. In this way, the limiting block can bear the gravity of the moving platform, thus preventing the ropes from being stressed. If the wet cleaning component 120 is stuck by an obstacle, the limiting block will also bear the resistance of the obstacle, thus preventing the ropes from being stressed.

[0098] In this embodiment, the cleaning robot includes a limiting block disposed between the linkage assembly and the moving platform. When the wet cleaning component is in the descending position, the limiting block abuts against the upper surface of the linkage assembly. If the robot is turned over for inspection by the user, or the wet cleaning component gets stuck by an obstacle, the limiting block can bear the force, thus preventing the rope from being stressed and improving the rope's lifespan. Furthermore, the limiting block occupies only a small amount of space between the linkage assembly and the moving platform, which is beneficial for the miniaturization of the cleaning robot.

[0099] In one embodiment, when the rope is of a first length, the wet cleaning component is in an ascending position and the rope is in a taut state; when the rope is of a second length, the wet cleaning component is in a descending position and the rope is in a taut state; when the rope is of a third length, the wet cleaning component is in a descending position and the rope is in a slack state; the first length is less than the second length, and the second length is less than the third length.

[0100] In one embodiment, as shown in FIG6, when the rope 140 is at its first length, the wet cleaning component 120 is in the rising position and the rope 140 is in a taut state; as shown in FIG8A, when the rope 140 is at its second length, the wet cleaning component 120 is in the falling position and the rope 140 is in a taut state; as shown in FIG9, when the rope 140 is at its third length, the wet cleaning component 120 is in the falling position and the rope 140 is in a slack state; the first length is less than the second length, and the second length is less than the third length.

[0101] In other words, after the wet cleaning component 120 reaches the descending position, the rope 140 will extend further, for example, by 1mm, to provide redundant rope length. At this point, because the limiting block abuts against the upper surface of the linkage assembly, even with the rope extension, the wet cleaning component 120 cannot descend further. Thus, when the wet cleaning component is in the descending position, if the robot vacuum is turned over for inspection by the user, or if the wet cleaning component gets stuck by an obstacle, the force can be entirely borne by the limiting block, not the rope.

[0102] As shown in Figure 6, when the rope 140 is at its first length, the wet cleaning component 120 is in an ascending state, and the rope 140 is taut under the weight of the wet cleaning component 120. The rope 140 gradually extends, and the wet cleaning component 120 gradually descends, as shown in Figure 7. Until the rope 140 reaches its second length, the wet cleaning component 120 descends to its limit position, and the rope 140 is taut under the weight of the wet cleaning component 120, as shown in Figure 8A. At this point, the limiting block abuts against the upper surface of the linkage assembly, limiting the wet cleaning component 120 and preventing it from descending further. In this situation, even if the rope 140 continues to extend to a third length greater than the second length, due to the abutment and limiting effect of the linkage assembly and the limiting block, the excess length of the rope 140 will accumulate, as shown in Figure 9, and the rope 140 will not be taut under the weight of the wet cleaning component 120.

[0103] In one embodiment, as shown in Figures 3, 4A, and 4B, the cleaning robot 100 further includes: a support frame, which is fixedly connected to the mobile platform 110; a first end of a linkage assembly is rotatably connected to the mobile platform 110 via the support frame; a wet cleaning component 120 is supported below the mobile platform 110 via the support frame and the linkage assembly; and the third end of a rope is fixed relative to the mobile platform 110, including: the third end of the rope is fixedly connected to the support frame.

[0104] In this embodiment, the cleaning robot is equipped with a bracket fixedly connected to a mobile platform. Linkages and ropes are connected to the mobile platform via the bracket. The first end of the linkage is rotatably connected to the mobile platform 110 via the bracket; the second end of the linkage is rotatably connected to the wet cleaning component 120, meaning the wet cleaning component 120 is supported below the mobile platform 110 by the bracket and linkage. The third end of the rope is fixed relative to the mobile platform 110 by being fixedly connected to the bracket. There can be two brackets, arranged on both sides of the wet cleaning component 120 along the width direction of the cleaning robot. Correspondingly, there can be two linkages, each rotatably connected to one bracket, and the third end of the rope can be fixedly connected to one of the two brackets.

[0105] Figure 4A shows a partial structural diagram of the first support 131, the first linkage group 133, and the first limiting block 135 in an embodiment of this disclosure. In one embodiment, as shown in Figure 4A, the support includes the first support 131, the linkage group includes the first linkage group 133, and the limiting block includes the first limiting block 135. The first limiting block 135 is wedge-shaped and disposed above the first linkage group 133, with its lower surface being an inclined plane. When the wet cleaning component 120 is in the descending position, the lower surface of the first limiting block 135 abuts against the upper surface of the first linkage group 133. At least a portion of the first limiting block 135 can be, for example, a wedge shape with a flat upper surface and an inclined lower surface.

[0106] In one embodiment, as shown in FIG4A, the cleaning robot 100 further includes: a first fixing part 137, which is fixed relative to the wet cleaning component 120 and is perpendicular to the operating surface; the second end of the first linkage group is rotatably connected to the first fixing part; and a first limiting block 135 protrudes from the first fixing part in a direction perpendicular to the first fixing part.

[0107] In some embodiments, the first fixing part 137 can be integrally formed with the wet cleaning component 120 or separately formed and then fixedly connected. The second end of the first linkage group is rotatably connected to the first fixing part, that is, the first linkage group is rotatably connected to the wet cleaning component. In some embodiments, the first fixing part 137 can be a plate-shaped member, the first fixing part includes two surfaces, and at least a portion of the first linkage group rotates on one surface of the first fixing part. The first limiting block 135 protrudes from the first fixing part 137 in a direction perpendicular to the plane of the first fixing part 137. It is understood that the direction perpendicular to the plane of the first fixing part 137 is two directions, and the direction in which the first limiting block 135 protrudes is towards the first linkage group or the surface of the first linkage group, so that the first limiting block 135 can limit the first linkage group. The first limiting block can be located above the first fixing part 137 to limit the first linkage group when the wet cleaning component 120 is in the descending position. The first limiting block can be integrally formed with the first fixing part.

[0108] In one embodiment, the first support 131 includes a crossbeam 1311 and a longitudinal beam 1312, and the first end of the first linkage group is rotatably connected to the longitudinal beam.

[0109] In one embodiment, the upper surface of the first limiting block is generally flat, and the first limiting block 135 is located between the first connecting rod assembly and the crossbeam. When the wet cleaning component is in the raised position, the upper surface of the first limiting block abuts against the lower surface of the crossbeam.

[0110] As shown in Figures 4A and 6-9, the crossbeam 1311 and the longitudinal beam 1312 can be perpendicular to each other. The first end of the first linkage group is rotatably connected to the longitudinal beam. A connecting structure is provided on the crossbeam, and the first bracket 131 is fixed to the mobile platform 110 through the connecting structure.

[0111] The perpendicular crossbeams and longitudinal beams can form a semi-enclosed structure. In some embodiments, to further save space, the first linkage assembly and the first fixing part 137 can be located within this semi-enclosed structure, with at least a portion of the first linkage assembly located within the surface of the first fixing part and rotating on the surface of the first fixing part. A first limiting block can be disposed between the first linkage assembly and the crossbeam, and the first limiting block can be located above the first fixing part 137, as shown in FIG4A. When the wet cleaning component is in the raised position, the upper surface of the first limiting block can abut against the lower surface of the crossbeam.

[0112] In one embodiment, a blind groove 1314 is formed on the upper surface of the crossbeam 1311. A through hole 1313 is provided at the end of the blind groove 1314 away from the longitudinal beam 1312, and a locking groove 1315 is provided at the end of the blind groove 1314 near the longitudinal beam. A rope 140 passes through the through hole 1313, and the third end of the rope 140 is located in the locking groove 1315. The portion of the rope 140 between the through hole 1313 and the locking groove 1315 is located within the blind groove 1314. Thus, the third end of the rope 140 is fixedly connected to the first bracket 131.

[0113] The rope 140 includes a third end and a fourth end. The third end of the rope 140 is fixedly connected to the first support 131. To prevent the rope 140 from shifting and affecting the operation of other components, through holes 1313 and slots 1315 are respectively provided at both ends of the crossbeam 1311 of the first support 131. The slots 1315 are located at the end of the crossbeam 1311 closer to the longitudinal beam 1312, and the through holes 1313 are located at the end of the crossbeam 1311 away from the longitudinal beam 1312. The through holes 1313 and slots 1315 are connected by blind slots 1315. The third end of the rope 140 passes through the upper end of the through hole 1313 and exits the crossbeam 1311, and is placed in the blind slots 1314. The third end is then engaged in the slots 1315, thus achieving a fixed connection between the third end of the rope 140 and the first support 131. Since the first support 131 is fixedly connected to the mobile platform 110, the raising and lowering of the rope 140 can drive the wet cleaning component 120 to rise and fall.

[0114] In one embodiment, the cleaning robot further includes a support beam, which is fixed relative to the wet cleaning component and disposed below the crossbeam. The support beam is provided with a cable routing groove for accommodating ropes, and the outlet of the cable routing groove is located below the through hole.

[0115] The cleaning robot 100 also includes a support beam 139, which is located below the crossbeam and perpendicular to the operating surface. The support beam 139 is positioned opposite the longitudinal beam 1312 of the first support 131 on both sides of the first fixed part. The support beam 139 may have a side near the first linkage group / first limiting block and a side away from the first linkage group / first limiting block. A cable routing groove 1391 is provided on the side of the support beam 139 near the first linkage group / first limiting block. The cable routing groove 1391 communicates with the cable groove 150 on the wet cleaning component, allowing the rope 140 to pass sequentially through the cable groove 150, the cable routing groove 1391, the through hole 1313 on the crossbeam 1311, and the blind groove 1314, ultimately causing the third end of the rope 140 to be engaged in the slot 1315, thereby enabling the rope 140 to drive the wet cleaning component 120 to rise and fall.

[0116] Specifically, the wet cleaning component 120 is provided with a cable groove 150. The portion between the third and fourth ends of the rope is located in the cable groove 150. On the one hand, this ensures the fixation of the rope position and avoids the irregular placement of the rope, which would affect the arrangement of other electrical wires. On the other hand, a sleeve is fixedly provided in the cable groove 150, and the rope 140 is located in the sleeve, making the rope winding and unwinding smoother and reducing wear.

[0117] In one embodiment, as shown in Figures 3, 10, and 11, the support includes a first support 131 and a second support 132, and the linkage group includes a first linkage group 133 and a second linkage group 134. The first end of the first linkage group is rotatably connected to the first support, the second end of the first linkage group is rotatably connected to the wet cleaning component, the first end of the second linkage group is rotatably connected to the second support, and the second end of the second linkage group is rotatably connected to the wet cleaning component.

[0118] Two supports and two linkages are provided. The two supports can be distributed on both sides of the wet cleaning component along the width direction of the cleaning robot, so that the wet cleaning component 12 can be more stably supported under the mobile platform 110, maintaining the balance and stability of the wet cleaning component 120 when it descends, and preventing the wet cleaning component 120 from tilting when it rises and falls.

[0119] In some embodiments, as shown in Figures 3 and 4B, both supports include a crossbeam and a longitudinal beam. The longitudinal beam of the first support is rotatably connected to the first linkage group, and the longitudinal beam of the second support is rotatably connected to the second linkage group. The first support is fixedly connected to the mobile platform 110 via a connecting structure on its crossbeam, and the second support is fixedly connected to the mobile platform 110 via a connecting structure on its crossbeam. In some embodiments, as shown in Figure 3, the second support 132 includes two longitudinal beams, which, together with the crossbeam, form a U-shaped structure. It is understood that the size and shape of the first and second supports may be asymmetrical. In one specific embodiment, the third end of the rope is fixed to the first support. The first support may be provided with slots, blind slots, through holes, etc., for the rope to pass through and be fixed. Therefore, the first support has a more complex structure, can be larger in size, and its position needs to match the groove on the wet cleaning component 120. The second support may only be used to connect the mobile platform and the linkage group, and its structure can be simpler, its size smaller, and its position can have greater adjustment space.

[0120] In some embodiments, each linkage group may include two links arranged along the height direction, the two links forming a parallelogram structure. For example, the first linkage group includes a first link 1331 and a second link 1332, and the first link 1331 and the second link 1332 form a parallelogram. The second linkage group includes a third link 1341 and a fourth link 1342, and the third link 1341 and the fourth link 1342 form a parallelogram. This arrangement facilitates the vertical ascent and descent of the wet cleaning component 120, avoiding jamming of the wet cleaning component 120 due to deviation during descent and descent, thereby improving the reliability of the wet cleaning component 120's operation.

[0121] In some embodiments, when the wet cleaning component is in the raised position, the first end of the first linkage group is lower than the second end of the first linkage group; when the wet cleaning component is in the lowered position, the first end of the first linkage group is higher than the second end of the first linkage group; and / or, when the wet cleaning component is in the raised position, the first end of the second linkage group is lower than the second end of the second linkage group; when the wet cleaning component is in the lowered position, the first end of the second linkage group is higher than the second end of the second linkage group.

[0122] Figure 4B shows a partial structural diagram of the second support 132, the second connecting rod group 134, and the second limiting block 136 in an embodiment of this disclosure.

[0123] In one embodiment, as shown in FIG4B, the limiting block includes a second limiting block 136, which is wedge-shaped and disposed above the second linkage assembly 134. The lower surface of the second limiting block 136 is inclined. When the wet cleaning component 120 is in the descending position, the lower surface of the second limiting block 136 abuts against the upper surface of the second linkage assembly, together with the first limiting block 135, preventing the wet cleaning component from descending below the descending position. Thus, by setting two limiting blocks to limit the two linkage assemblies, the force on the limiting blocks can be more evenly distributed. In some embodiments, the upper surface of the second limiting block 136 can be a plane parallel to the operating surface.

[0124] The design considerations for the size, shape, and position of the second limiting block are the same as those for the description of the first limiting block. The second limiting block itself is small in size and occupies only the internal space of the wet cleaning component 120, which is beneficial for the miniaturization of the cleaning robot.

[0125] In one embodiment, the cleaning robot 110 further includes a second fixing part 138, which is fixed relative to the wet cleaning component 120. The second fixing part 138 is perpendicular to the operating surface, and the second end of the second linkage group 134 is rotatably connected to the second fixing part.

[0126] In some embodiments, the second fixing part 138 can be integrally formed with the wet cleaning component 120 or separately formed and then fixedly connected. The second end of the second linkage assembly is rotatably connected to the second fixing part 138, that is, the second linkage assembly is rotatably connected to the wet cleaning component 120. In some embodiments, similar to the first fixing part 137, the second fixing part 138 can be a plate-shaped member, which includes two surfaces, and at least a portion of the second linkage assembly rotates on one surface of the second fixing part. The surface of the first fixing part containing the first linkage assembly and the surface of the second fixing part containing the second linkage assembly can be disposed opposite to each other.

[0127] Understandably, the arrangement of the first and second fixing parts allows the first and second linkage groups to rotate stably in the plane.

[0128] In some embodiments, the second limiting block may be positioned similarly to the first limiting block, such as above the second fixing part 138, to limit the second linkage assembly when the wet cleaning component 120 is in the descending position. In this case, the second limiting block may be integrally formed with the second fixing part.

[0129] In some embodiments, the second limiting block may also be located in other positions that are more conducive to miniaturization of the cleaning robot. In one embodiment, as shown in FIG4B, the cleaning robot 100 includes a lifting drive unit for driving the shortening and extension of the rope, the second limiting block and the housing 160 of the lifting drive unit are fixedly connected, and the housing of the lifting drive unit is fixedly connected to the wet cleaning component.

[0130] Understandably, the second limiting block can be integrally formed with the outer shell 160 of the lifting drive unit or separately formed and then fixedly connected.

[0131] Understandably, the cleaning robot 100 also includes additional structures such as a lifting drive unit, a water delivery structure, and a gearbox. These structures can be distributed along the width direction of the cleaning robot on both sides of the wet cleaning component and disposed on the outer side of the support. In some embodiments, the gearbox is disposed on the outer side of the first support, and the lifting drive unit is disposed on the outer side of the second support. When designing the position of the limiting block, considering the limiting effect, the need for miniaturization of the cleaning robot, and the manufacturing difficulty, it can be disposed on the fixed part or on the adjacent lifting drive unit, gearbox, or other additional structures. In one specific embodiment, the first limiting block is fixedly connected to the first fixed part, and the second limiting block is fixedly connected to the outer shell of the lifting drive unit.

[0132] In one embodiment, the lifting drive is a motor, and the fourth end of the rope 140 is fixedly connected to the motor. The rope 140 is retracted and extended by the forward and reverse rotation of the motor output shaft. To ensure the stability of the rope 140 in pulling the wet cleaning component 120 up and down, the third and fourth ends of the rope 140 are distributed on both sides of the wet cleaning component 120 along the width direction of the cleaning robot. Since the first bracket 131 is located on one side of the wet cleaning component 120, the third end of the rope 140 fixed to the first bracket 131 is also located on that side of the wet cleaning component 120. Therefore, the motor connected to the fourth end of the rope 140 is naturally located on the other side of the wet cleaning component 120.

[0133] In one embodiment, as shown in Figures 10 and 11, a third limiting block 170 may be provided. The third limiting block 170 protrudes from the second fixing part 138 in a direction perpendicular to the second fixing part, and is located at the lower part of the second fixing part. As shown in Figure 11, when the wet cleaning component 120 is in the lowered position, the third limiting block limits the second linkage assembly. In some embodiments, the third limiting block 170 may be fixedly connected to the second fixing part by means of integral molding or the like.

[0134] Figure 10 shows a specific example of the state of the two supports, two linkage groups, two limit blocks, two fixing parts, moving platform 110, and wet cleaning component 120 when the wet cleaning component 120 is in the lowered position. Figure 11 shows a specific example of the state of the two supports, two linkage groups, two limit blocks, two fixing parts, moving platform 110, and wet cleaning component 120 when the wet cleaning component 120 is in the raised position. The following description is based on Figures 10 and 11 and other accompanying drawings. It is understood that the schematic diagrams in Figures 10 and 11 are schematic diagrams after the first fixing part 137 and the second fixing part 138 have been rotated. In reality, the positions of the first fixing part 137 and the second fixing part 138 are relatively arranged (as shown in Figure 3). The schematic diagrams are only for ease of understanding and explanation.

[0135] Specifically, as shown in Figures 3 and 4A, a first limiting block 135 is provided on the first side of the wet cleaning component 120, a first connecting rod group 133 is provided between the first limiting block 135 and the wet cleaning component 120, and a first bracket 131 is fixedly connected to the moving platform 110; as shown in Figures 3 and 4B, a second limiting block 136 is provided on the second side of the wet cleaning component 120, a second connecting rod group 134 is provided between the second limiting block 136 and the wet cleaning component 120, and a second bracket 132 is fixedly connected to the moving platform 110. As shown in Figure 9, when the rope 140 is at its first length, i.e., when the wet cleaning component 120 is in the upward position, the upper surface of the first limiting block 135 abuts against the first bracket 131. As shown in Figure 10, when the length of the rope 140 is greater than or equal to the second length, i.e., when the wet cleaning component 120 is in the downward position, the lower surface of the first limiting block 135 abuts against the upper surface of the first connecting rod assembly 133, while the lower surface of the second limiting block 136 abuts against the upper surface of the second connecting rod assembly 134, thus limiting the extreme position of the downward position of the wet cleaning component 120. At this time, if the robot vacuum cleaner is turned over for inspection by the user or the wet cleaning component is stuck by an obstacle, the limiting block can bear the force, avoiding direct force on the rope 140 and effectively improving the service life of the rope 140.

[0136] As shown in Figures 6 and 11, the first end of the first linkage group 133 is rotatably connected to the first bracket 131, and the second end of the first linkage group 133 is rotatably connected to the wet cleaning component 120. The first bracket 131 is fixed to the moving platform 110. When the wet cleaning component 120 rises, the second end of the first linkage group 133 connected to the wet cleaning component 120 moves upward, so that when the wet cleaning component 120 is in the rising position, the first end of the first linkage group 133 is below the second end of the first linkage group 133. As shown in Figures 8A, 9 and 10, when the wet cleaning component 120 falls, the second end of the first linkage group 133 connected to the wet cleaning component 120 moves downward, so that when the wet cleaning component 120 is in the falling position, the first end of the first linkage group 133 is above the second end of the first linkage group 133.

[0137] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0138] The above are merely preferred embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A cleaning robot, characterized in that, The cleaning robot includes: Mobile platform; Wet cleaning components; A support structure is provided, in which the wet cleaning component is supported below the mobile platform; a first end of the support structure is connected to the mobile platform, and the height of the second end of the support structure relative to the first end is variable between a first height and a second height, wherein the second height is less than the first height; A rope, the elongation and shortening of which drive a change in the height of a second end of the support structure relative to the first end; and A limiting block is provided, which contacts the support structure when the height reaches the second height to prevent the height from decreasing further after reaching the second height.

2. The cleaning robot according to claim 1, characterized in that, The limiting block is positioned on the moving path of the support structure after the height reaches the second height, so that the height continues to decrease.

3. The cleaning robot according to claim 1 or 2, characterized in that, The support structure is a linkage assembly, and the contact surface between the limiting block and the support structure is an inclined plane with an inclination angle of a target angle, which is the inclination angle of the linkage assembly when the height reaches the second height.

4. The cleaning robot according to any one of claims 1-3, characterized in that, The limiting block is fixedly connected to the mobile platform or the wet cleaning component, and / or, the two ends of the support structure are respectively hinged to the mobile platform and the wet cleaning component.

5. The cleaning robot according to claim 4, characterized in that, The cleaning robot further includes a fixing part, which is fixedly connected to the wet cleaning component, and the connection to the wet cleaning component includes the connection to the fixing part; and / or The cleaning robot also includes a support frame, which is fixedly connected to the mobile platform; the connection to the mobile platform includes the connection to the support frame.

6. The cleaning robot according to claim 5, characterized in that, The plane where the fixing part is located is perpendicular to the plane where the wet cleaning component is located. The support structure is a linkage assembly, which rotates on the surface of the fixing part. When the linkage assembly rotates, the sidewall of the linkage assembly is perpendicular to the plane where the fixing part is located. The limiting block is fixed relative to the fixing part, and the contact surface of the limiting block with the supporting structure is perpendicular to the plane where the fixing part is located; and The limiting block is positioned such that when the height reaches the second height, the contact surface contacts the side wall of the connecting rod assembly.

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

8. The cleaning robot according to any one of claims 1-7, characterized in that, The two ends of the rope are connected to the mobile platform and the wet cleaning component, respectively.

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

10. The cleaning robot according to claim 8 or 9, characterized in that, The cleaning robot also includes a support frame, which is fixedly connected to the mobile platform. A lifting drive unit, the lifting drive unit including a bobbin; The lifting drive unit and at least one of the brackets are distributed along the width direction of the cleaning robot on both sides of the wet cleaning component; and The rope is connected at both ends to the mobile platform and the wet cleaning component, respectively, and includes: One end of the rope is fixedly connected to the bracket, and the other end of the rope is fixedly connected to the spool. The lengthening and shortening of the rope are controlled by controlling the number of turns of the rope around the spool.

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