CN110710932A - Lifting mechanism, cleaning robot with same and working method thereof - Google Patents

Abstract

The present invention provides a lifting mechanism, a cleaning robot equipped with the lifting mechanism, and a working method thereof, so as to solve the problem that the current cleaning robot cannot selectively mop the indoor comprehensive environment. The lift mechanism includes a drive assembly, a lift assembly and a cleaning assembly that are connected in sequence; the drive assembly is used to drive the lift assembly; the lift assembly can make the cleaning assembly lift and lower relative to the surface to be cleaned; The cleaning assembly descends to contact the surface to be cleaned, and the cleaning assembly is configured to be able to perform cleaning processing on the surface to be cleaned; after the cleaning assembly is lifted, it can not contact the surface to be cleaned.

Description

Lifting mechanism, cleaning robot equipped with the lifting mechanism, and working method thereof

technical field

The invention relates to the technical field of cleaning robots, in particular to a lifting mechanism, a cleaning robot equipped with the lifting mechanism and a working method thereof.

Background technique

Cleaning robots are a kind of smart household appliances that can automatically complete the floor cleaning work in the room with certain artificial intelligence. Generally, brushing and vacuuming are used to absorb the ground debris into its own garbage storage box, so as to complete the function of ground cleaning. When users use the cleaning robot, they usually only need to put the cleaning robot on the ground, and the cleaning robot can roll and collect the dirt on the ground through the rotation of the brush, and then suck the dirt into the storage box through the suction port. However, the general cleaning robot can only clean the ground dust and some smaller and lighter dirt, and the cleaning effect for some stubborn stains is not ideal.

Currently on the market, by setting a rag at the bottom of the cleaning robot (see the previous cleaning robot mopping mechanism shown in Figure 7, 400 is a rag and 300 is a water tank), after mopping the floor for a long time, water and dirt will adhere to the If the tablet is dragged on it, it may cause secondary pollution to the ground in the subsequent ground cleaning process, but it will waste more time for the user. In addition, the cleaning of the tablet mop requires removing the rag for manual cleaning, which is time-consuming and labor-intensive, unsanitary and affects the user experience.

In particular, the current sweeping and mopping machine performs sweeping and mopping work at the same time, which has high requirements on the use environment. For example, there can be no objects that cannot be wetted like carpets in the use environment, and in the prior art, it is arranged at the bottom of the floor. The rag is designed to be level with the ground, the rag has less pressure on the ground, and the mopping effect is not ideal.

In addition, the current sweeping and dragging machine cannot select the mopping mode for different environments, cannot selectively mop the floor, and cannot separate the mopping of the bathroom or kitchen from the mopping of the living room or bedroom.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a lifting mechanism, a cleaning robot equipped with the lifting mechanism, and a working method thereof, so as to solve the problem that the current cleaning robot cannot selectively mop the indoor comprehensive environment.

In one aspect, a lifting mechanism for a cleaning robot, characterized in that,

Including a drive assembly, a lifting assembly and a cleaning assembly connected in sequence;

the drive assembly is used to drive the lift assembly;

The lifting assembly enables the cleaning assembly to be lifted and lowered relative to the surface to be cleaned;

When the cleaning assembly descends to contact the surface to be cleaned, the cleaning assembly is configured to be able to perform cleaning processing on the surface to be cleaned; after the cleaning assembly is lifted, it can not contact the surface to be cleaned.

The present invention adopts the above-mentioned structure, and can sweep and drag independently (for example, it can only drag without sweeping, only sweep without dragging, etc.); and can improve the ability to overcome obstacles, and can also apply pressure to mop the ground.

Preferably, the cleaning assembly is a flat mop, which is configured so that the cleaning work surface can be turned outward at a certain angle when it is lifted.

When the cleaning assembly swings and lifts to a certain angle with the rocker, it can make the mop easier to clean.

The cleaning assembly can be turned up and down at the same time, or it can be turned up and down after being lifted. The benefit of this arrangement is that the cleaning assembly can be easily cleaned or washed, or replaced.

Preferably, the lifting mechanism further comprises a processor and a driving assembly executing mechanism; the processor receives a trigger signal and judges the position of the cleaning assembly according to the position information, so as to transmit an execution signal to the driving assembly executing mechanism; The drive assembly actuator is used to control the drive assembly according to the acquired execution signal.

Preferably, the lifting mechanism further includes a position detection device, which is used for detecting the position of the cleaning assembly and feeding back a position signal to the processor.

Preferably, an identification module is also provided, the processor is connected to the identification module, the identification module can identify the surface to be cleaned, and transmit the information of the surface to be cleaned to the processor, and the processor can Information forms a cleaning strategy.

The drive assembly may be a motor assembly, a pneumatic assembly or a hydraulic assembly.

The lift assembly may be a link mechanism, a linear motion mechanism or a gear pair.

More preferably, the connecting rod mechanism may be a crank connecting rod mechanism, the crank connecting rod mechanism comprising a crank, a connecting rod and a rocker connected in sequence, and the crank is configured to be able to rotate a full circle under the action of the drive assembly , at least one of the connecting rod and the rocker is arranged to have displacement in the vertical direction, and the cleaning assembly is connected with the rod with displacement in the vertical direction.

Alternatively, the crank connecting rod mechanism includes a space connecting rod mechanism, and at least one spherical pair is included between the crank, the connecting rod and the rocker.

Preferably, the linear motion mechanism includes a screw rod and a nut that are matched and connected, and the screw rod is arranged to have displacement in a vertical direction.

Preferably, the cleaning assembly includes a rolling brush member.

Preferably, the cleaning assembly includes a flat plate member.

On the other hand, the present invention also provides a cleaning robot including the above-mentioned elevating mechanism.

Preferably, the cleaning robot is a household cleaning robot.

In addition, the present invention also provides a working method of the above-mentioned cleaning robot, comprising the following steps:

Step 1. The cleaning robot identifies the surface to be cleaned and transmits the information to the processor;

Step 2, the processor judges the cleaning strategy of the surface to be cleaned according to the received information;

Step 3. When the cleaning strategy in Step 2 is to sweep and not drag the surface to be cleaned, the processor transmits the first execution signal to the driving component, the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned, and the processor executes the second execution signal. The signal is transmitted to the sweeping module, and the sweeping module cleans the surface to be cleaned;

When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned The processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned;

When the cleaning strategy in step 2 is sweeping and mopping the surface to be cleaned, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned ground processing, the processor transmits the second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned;

When the cleaning strategy in step 2 is to not sweep or drag the surface to be cleaned, the processor transmits the first execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component separate from the surface to be cleaned, and the processor transmits the fourth execution signal to the A sweeping module, the sweeping module stops cleaning the surface to be cleaned.

As a result, the cleaning robot provided by the present invention can be independently controlled for sweeping and mopping (for example, it can only mop without sweeping, only sweep without mopping, etc.); and can improve the ability to overcome obstacles, and can also apply pressure to mop the floor.

In addition, the present invention also provides a working method of the above-mentioned cleaning robot, comprising the following steps:

It includes the following steps:

Step 1. The cleaning robot identifies the surface to be cleaned and transmits the information to the processor;

Step 2, the processor judges the cleaning strategy of the surface to be cleaned according to the received information;

Step 3. When the cleaning strategy in step 2 is mopping the surface to be cleaned, the processor sends a mopping execution signal to the driving component, and the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned; If the strategy is not to mop the surface to be cleaned, the processor sends a no mopping execution signal to the driving component, and the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned.

Thus, the present invention can simply mop the floor.

Another aspect of the present invention also provides a pressure mopping mechanism for a cleaning robot,

Including a drive assembly, a lifting assembly and a cleaning assembly connected in sequence;

The driving assembly is used to drive the lifting assembly; the lifting assembly can make the cleaning assembly lift and lower relative to the surface to be cleaned; when the cleaning assembly descends to contact the surface to be cleaned, the cleaning assembly is configured to be able to perform cleaning processing on the surface to be cleaned; when the cleaning assembly is lifted off the surface to be cleaned, the cleaning assembly is configured not to hinder the movement of the cleaning robot;

The elevating assembly has a telescopic mechanism, and the telescopic mechanism connects the elevating assembly and the cleaning assembly so as to make the cleaning assembly always fit the surface to be cleaned through its telescopic performance.

Preferably, the telescopic mechanism includes an elastic element.

Preferably, the lifting assembly includes a crank connecting rod mechanism, the crank connecting rod mechanism includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate in a full circle under the action of the driving assembly, the At least one of the connecting rod and the rocking lever is arranged to have displacement in the vertical direction, the cleaning assembly is connected with the rod with displacement in the vertical direction, and the telescopic mechanism is arranged on the connecting rod.

Preferably, the cleaning assembly includes a roller brush member or a flat mop member.

A working method for a pressure mopping mechanism for a cleaning robot, comprising the following steps:

Step 1, the lifting assembly drives the cleaning assembly down until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

In step 2, the lifting component drives the cleaning component to lift, and the cleaning component is separated from the surface to be cleaned.

Preferably, in step 1, after the cleaning component contacts the surface to be cleaned, the lifting component continues to drive the cleaning component to descend to a first height, and the elastic element in the telescopic mechanism compresses and deforms to apply the first cleaning component to the cleaning component. force.

Preferably, the lifting mechanism drives the cleaning assembly to lower the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the cleaning assembly from being excessively large due to the first force applied to the cleaning assembly. Correspondingly, the excessively large reaction force causes the cleaning robot to be lifted.

The cleaning components involved in this application may include active cleaning components (the cleaning components have a driving device to actively clean the surface to be cleaned, such as a roller brush with a driving motor), or may include passive cleaning components (with the help of a cleaning robot) walk to clean the surface to be cleaned).

The description used in this application that "the cleaning component is configured to be able to clean the surface to be cleaned" should be understood as follows: the cleaning component itself can actively clean the surface to be cleaned, and the cleaning component can be driven by an external force to clean the surface to be cleaned. Cleaning treatment (see the examples described in detail later). The above and other objects, features and advantages of the present invention will be better understood from the following detailed description and with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a schematic structural diagram of a lifting mechanism for a cleaning robot according to an embodiment of the present invention.

FIG. 2 is a schematic view of the overturning of the cleaning assembly in the embodiment shown in FIG. 1 .

FIG. 3 is a schematic diagram showing the first limit position M. FIG.

FIG. 4 is a schematic diagram showing the second limit position N. FIG.

5 and 6 are schematic structural diagrams of a lifting mechanism for a cleaning robot according to another embodiment of the present invention.

FIG. 7 is a schematic structural diagram of a conventional cleaning robot mopping mechanism.

Figure 8 shows the state of the crank linkage when the cleaning assembly is in contact with the ground, ie lowered to the lowest position.

Fig. 9 shows the highest position of the lift of the crank link mechanism.

Figure 10 and Figure 11 show schematic diagrams with springs, Figure 10 shows that the cleaning assembly is in contact with the ground, and the lifting assembly has not yet descended to the lowest position; Figure 11 shows that on the basis of Figure 10, the lifting mechanism is further lowered, and the elastic element ( spring) deforms and compresses, applying pressure to the cleaning assembly.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and the following embodiments. It should be understood that the accompanying drawings and the following embodiments are only provided for teaching the best form of the present invention to those skilled in the art, rather than limiting the present invention. . The same or corresponding reference numerals in the respective drawings denote the same components, and repeated explanations are omitted.

Aiming at the problems in the prior art that the sweeping and mopping integrated machine performs sweeping and mopping at the same time, which has high requirements on the use environment, the present invention discloses a lifting mechanism for a cleaning robot, which includes a drive assembly, a lifting assembly and a a cleaning assembly; the driving assembly is used to drive the lifting assembly; the lifting assembly can enable the cleaning assembly to lift and descend relative to the surface to be cleaned; when the cleaning assembly descends to contact the surface to be cleaned, the The cleaning assembly is configured to be capable of cleaning the surface to be cleaned; the cleaning assembly can not contact the surface to be cleaned after being lifted.

Preferably, after the cleaning assembly is lifted, its lowest position is higher than the bottom surface of the cleaning robot, so as to improve the obstacle-surmounting ability of the cleaning robot after it is lifted.

The lifting structure is applied in the field of cleaning robots, and solves the problem that the technical solution of the combination of the water tank and the rag in the prior art cannot adapt to the indoor comprehensive environment, especially the more complex household indoor environment, and by adjusting the cleaning components and the surface to be cleaned. Pressure can be applied to stubborn stains and mopping the floor, which achieves unexpected beneficial effects compared to the prior art.

The lifting structure has good expansion performance, especially after being combined with artificial intelligence, it can choose whether to clean the surface to be cleaned according to the indoor environment and the surface to be cleaned.

【Realization of lifting action】

In one embodiment, it also includes a processor and a drive assembly actuator, the processor receives a trigger signal (including a lift trigger signal and a drop trigger signal) and obtains the trigger signal according to the position information (including the preset position information or obtained from the position detection device) position information) to judge the position of the cleaning assembly, and transmit the execution signal (including the lifting execution signal and the lowering execution signal) to the driving assembly execution mechanism; the driving assembly execution mechanism is used to obtain the execution signal according to the Control the drive assembly (to make the lifting assembly realize lifting and lowering actions) until the processor obtains the adjusted position information again (including the preset adjusted position information and the adjusted position detected from the position detection device, etc. information), the processor transmits the signal to stop the execution to the actuator of the drive assembly.

Here, the adjusted position information should be interpreted as: the position information of the lift assembly after the lifting or lowering action, the information may be the stored preset position information or the position information obtained by the position detection device.

In the case where the position information is preset position information, the preset position information includes lifting position information and descending position information, respectively corresponding to the cleaning components being located at the ascending position and the descending position. The position of the cleaning component is pre-adjusted to be consistent with the preset position information, and this process can be adjusted during the factory setting.

When the position information is detected by, for example, a position detection device, the position information includes lifting position information and descending position information, and the processor combines the trigger signal and the position information to give a lifting or lowering execution signal. The drive assembly actuator controls the drive assembly and drives the lift assembly to lift the cleaning assembly after acquiring the lift execution signal. Correspondingly, the drive assembly actuator controls the drive assembly and drives the lift assembly to descend the cleaning assembly after obtaining the descent execution signal.

In detail:

1. When the trigger signal is a lift trigger signal, the position detection device detects that the position information of the cleaning assembly is the descending position, and the processor sends a lifting execution signal to the drive assembly actuator; until the processor obtains the position information of the cleaning assembly as the lifting position, processing The controller sends a stop execution signal to the actuator of the drive assembly;

2. When the trigger signal is a drop trigger signal, the position detection device detects that the position information of the cleaning assembly is the raised position, and the processor sends a downward execution signal to the drive assembly actuator; until the processor obtains the position information of the cleaning assembly as the downward position, processing The controller sends a stop execution signal to the actuator of the drive assembly;

3. When the trigger signal is a lift trigger signal, the position detection device detects that the position information of the cleaning assembly is the lift position, and the processor does not send an execution signal to the actuator of the drive assembly;

4. When the trigger signal is a drop trigger signal, the position detection device detects the position information of the cleaning assembly as the drop position, and the processor does not send an execution signal to the drive assembly actuator;

The beneficial effect of the above setting is that the action of the lifting assembly is consistent with the purpose of the trigger signal, and misoperation is avoided, see the third and fourth situations above, for example, when the trigger signal is a lift trigger signal, and the cleaning assembly is in a lifted position , at this time, if the processor does not judge the position of the cleaning component, but directly sends a lifting command to the actuator of the driving component, the cleaning component will continue to perform the lifting action from the lifting position, which will destroy the lifting mechanism.

Wherein, the position information of the cleaning assembly can be acquired and transmitted to the processor by a position detection device (position sensor), wherein the position detection device is preferably a Hall sensor (see Figure 1, which shows the lifting position Hall sensor A and the lowering position Hall sensor B).

【Structure of Lifting Assembly】

In the present invention, the lifting assembly can be any movement mechanism capable of realizing the lifting action. The lift assembly has a lift that can be displaced in a vertical direction (perpendicular to the surface to be cleaned). The cleaning assembly is connected to the lifter. Displacement in the vertical direction includes linear displacement in the vertical direction, or displacement with a component in the vertical direction.

The lift assembly may be a link mechanism, a linear motion mechanism (eg, a screw mechanism) or a gear pair having a lift portion that generates displacement in a vertical direction. The connecting rod mechanism may be a space connecting rod mechanism or a plane connecting rod mechanism, wherein when the connecting rod mechanism is a space connecting rod mechanism, at least one spherical pair is included between the crank, the connecting rod and the rocker.

Example 1 (the lifting component is a crank connecting rod mechanism, and the cleaning component is a flat mop or a roller brush)

1-4 are schematic structural diagrams of a lifting mechanism for a cleaning robot according to an embodiment of the present invention, wherein the cleaning component in FIGS. 1 and 2 is a flat mop, and the cleaning component in FIGS. 3 and 4 is a roller brush. The driving component adopted in this embodiment is a motor component, and the motor component includes a motor actuator, a motor and a reduction box, and the reduction box is used to adjust the rotational speed output by the motor. The lifting assembly is a crank connecting rod mechanism. The cleaning assembly may include, for example, a flat mop or a roller brush member.

In the embodiment shown in FIGS. 1-4, the cleaning robot may be connected to the cleaning assembly through at least one crank-link mechanism. The number of crank connecting rod mechanisms arranged along the cleaning assembly can be determined according to the length of the cleaning assembly. Preferably, there are two crank connecting rod mechanisms, which are respectively connected to both ends of the cleaning assembly. The crank connecting rod mechanism includes a crank 2, a connecting rod assembly 3 and a rocker that are connected in sequence. The crank link mechanism has a lift rod that is displaced in a vertical direction. The lifting rod is provided with a lifting part, and the cleaning assembly is connected with the lifting part.

The motor drives the reduction box 1 , the output shaft of the reduction box 1 drives the crank 2 to rotate, and the crank 2 drives the connecting rod assembly to move to realize the swing of the cleaning assembly 4 .

Specifically, the motor output shaft is connected to the reduction box 1 . The output shaft of the reduction box 1 is connected with the crank 2, and the crank 2 can rotate 360 degrees with the output shaft of the reduction box 1. The other end of the crank 2 is connected with the connecting rod assembly 3, and the connecting rod assembly 3 and the crank 2 can rotate relative to each other. The connecting rod assembly 3 is connected with the cleaning assembly 4 and can rotate relatively. At least one of the linkage assembly and the rocker (cleaning assembly 4) is set to have displacement in the vertical direction (see Figures 3-4), the cleaning assembly is connected with the rod with displacement in the vertical direction, and the cleaning assembly can be is lifted from the second limit position N to the first limit position M. In this embodiment, the cleaning assembly 4 is located on the rocker. The cleaning assembly may be fixed in the "middle" of the rocker or integrally formed with the rocker. Among the two ends of the rocker, the first end is rotatably connected with the connecting rod, and the second end is rotatably connected with the body. The position of the cleaning component can be determined by position detection devices such as limit switches, infrared sensors or Hall sensors.

Preferably, the crank connecting rod mechanism is two symmetrically arranged plane connecting rod mechanisms, which are respectively connected with both ends of the cleaning assembly. The crank connecting rod mechanism includes a crank, a connecting rod and a rocker that are connected in sequence (the connecting part of the cleaning robot is used as a frame), and the rocker is used as a lifting rod. It is arranged to be able to rotate in a full circle under the action of the driving assembly, and the continuous rotation of the crank can be transformed into the reciprocating motion of the rocker, and the rocker is arranged to swing in the vertical direction.

When the lift assembly is a crank link mechanism, the rocker swings in the vertical direction,

As shown in Figures 3-4, in this embodiment, the cleaning assembly includes a roller brush, the roller brush includes a roller brush cover and a roller brush, the roller brush is a hollow sleeve structure, the mop is wrapped around the outer surface of the hollow sleeve, and the roller brush Brush cover and rocker connection. Preferably, the brush cover and the rocker are integrally formed. The rocker swing has two extreme positions. When the rocker is at the first extreme position M (see Figure 3), the roller brush is lifted to the highest position, and when the rocker is at the second extreme position N (see Figure 4), the rolling brush The bristles touch the surface to be cleaned.

The two ends of the roller brush and the two ends of the roller brush cover are connected by bearings, and one end of the roller brush is provided with a drive shaft connected with the motor, so as to drive the roller brush to rotate.

In the embodiment shown in FIG. 1-FIG. 2, the cleaning component is a flat mop, and the flat mop and the rocker are integrally formed, so that the flat mop can be lifted and lowered in the vertical direction. The flat mop includes a flat support and a mop connected to the lower surface of the flat support. The connection method is preferably Velcro bonding, so that the mop can be easily replaced. The swing of the rocker has two extreme positions. When the rocker is at the first extreme position (see Figure 2, flip angle θ), the tablet is lifted to the highest position, and when the rocker is at the second extreme position (see Figure 1), the tablet Drag parallel to and in contact with the surface to be cleaned.

When the cleaning component is a flat mop, when it swings and lifts to a certain angle with the rocker, it can make the mop easier to clean.

Example 2 (the lifting component is a lead screw, and the cleaning component is a flat mop or a roller brush)

5-6 are schematic structural diagrams of a lifting mechanism for a cleaning robot according to another embodiment of the present invention. The linear motion mechanism is preferably a lead screw, and the lead screw includes a screw 12 and a nut 11 that are matched and connected, and the screw 12 is set to have displacement in the vertical direction. The cleaning assembly 14 is connected to the lower end of the screw 12 .

There can be multiple lead screws connected to the cleaning assembly, and the lead screws are distributed along the length of the cleaning assembly. Preferably, one lead screw is connected to the cleaning assembly, and the lead screw moves in the vertical direction. From the principle of the lead screw mechanism, it can be known that, When the motor drives the screw nut 11 to rotate clockwise or counterclockwise, the screw can move up or down in the vertical direction accordingly.

As shown in FIG. 5 , in this embodiment, the cleaning assembly 14 is a flat mop, and the flat mop is connected to the lower end of the screw. Preferably, the flat mop and the lower end of the screw are hinged. The advantage of this setting is that when the screw moves vertically downward When the surface to be cleaned has a certain slope, the flat mop can better fit the surface to be cleaned.

As shown in FIG. 6 , when the screw 12 moves vertically upward, the flat mop can be turned outward around an axis parallel to the lateral direction of the cleaning robot. Preferably, the cleaning robot is provided with a stopper 15. When the screw rod moves vertically upward, the inner side of the flatbed drag is held against the stopper 15, so that the outer side of the flatbed drag can be rotated around the hinge, so that the flatbed dragger can be turned outward. .

In one embodiment, the cleaning component is a roller brush, the roller brush includes a roller brush cover and a roller brush, the roller brush is a hollow sleeve structure, the mop is wrapped around the outer surface of the hollow sleeve, and the roller brush cover is connected to the lower end of the screw.

The linear movement of the screw in the vertical direction has two extreme positions. When the screw is at the first extreme position, the roller brush is lifted to the highest position, and when the screw is at the second extreme position, the roller brush is lowered to contact the surface to be cleaned.

Example 3 (pressing and mopping the floor)

In another embodiment, the elevating assembly has a telescopic mechanism, and the telescopic mechanism connects the elevating assembly and the cleaning assembly so that the cleaning assembly can always fit the surface to be cleaned through its telescopic performance. The telescopic assembly includes an elastic element.

On the basis of the embodiment of the crank connecting rod, a telescopic mechanism is provided on the connecting rod.

On the basis of the embodiment of the screw mechanism, a telescopic mechanism is provided on the screw.

How pressure mopping works:

Step 1, the lifting assembly drives the cleaning assembly down until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

In step 2, the lifting component drives the cleaning component to lift, and the cleaning component is separated from the surface to be cleaned.

In step 1, after the cleaning component contacts the surface to be cleaned, the lifting component continues to drive the cleaning component to descend to a first height, and the elastic element in the telescopic mechanism compresses and deforms to apply a first force to the cleaning component.

The lifting mechanism drives the cleaning assembly to lower the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the corresponding Excessive reaction force causes the cleaning robot to be lifted.

The maximum working deformation does not exceed the maximum compressive deformation of the elastic element.

Example 4 Control of lifting motion (timing judgment of trigger signal, manual trigger, automatic trigger)

Manual triggering: including a remote control device capable of transmitting a trigger signal to the processor.

Automatic trigger: visual recognition module, the processor is connected to the visual recognition module, the visual recognition module can identify the surface to be cleaned, and transmit the information of the surface to be cleaned to the processor, and the processor can Information forms a cleaning strategy.

Step 1. The cleaning robot identifies the surface to be cleaned and transmits the information to the processor;

Step 2: The processor judges the cleaning strategy of the surface to be cleaned according to the received information; (for example, the camera performs image recognition on the surface to be cleaned, and according to the result of the image recognition, it is judged whether the surface to be cleaned is an object that can be swept and dragged, and when the surface to be cleaned is to be cleaned. If the surface has objects that cannot be cleaned, such as water and pet feces, the cleaning strategy is not to sweep; when the surface to be cleaned has objects that cannot be mopped, such as carpets and pet feces, the cleaning strategy is not to mop)

Step 3. When the cleaning strategy in Step 2 is to sweep and not drag the surface to be cleaned, the processor transmits the first execution signal to the drive assembly, and the drive assembly drives the lift assembly and separates the cleaning assembly from the surface to be cleaned, and the processor executes the second execution signal. The signal is transmitted to the sweeping module, and the sweeping module cleans the surface to be cleaned;

When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned The processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned;

When the cleaning strategy in step 2 is sweeping and mopping the surface to be cleaned, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned The processor transmits the second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned; when the cleaning strategy in step 2 is to not sweep or drag the surface to be cleaned, the processor transmits the first execution signal to the driver component, the driving component drives the lifting component and makes the cleaning component separate from the surface to be cleaned, the processor transmits a fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned.

The cleaning robot provided by the present invention includes the above-mentioned elevating mechanism. Wherein, as a preferred form, the cleaning robot can be a household cleaning robot.

The cleaning components of the cleaning robots currently on the market are flat rags, which are connected to the bottom of the water tank and supply water to the rag through the water tank. In order to increase the water supply time and water supply, the water tank and the rag basically occupy all the side of the cleaning robot. space. However, the distance between the rag and the ground cannot be adjusted, and the sweeping and mopping processes cannot be performed independently. FIG. 7 is a schematic structural diagram of a conventional cleaning robot mopping mechanism. 400 of them are rags and 300 are water tanks. It can be seen that the previous mopping mechanism has a water tank, and there is no space for arranging the lifting mechanism. The present invention is equipped with a lifting mechanism and the like, and the spatial arrangement is specifically in the position of the original water tank and cleaning components. The water tank is removed, and only the lifting mechanism and cleaning components are provided. In addition, the sweeping module is the same as the prior art, generally including cleaning components and vacuum suction.

Compared with the previous household cleaning robot, the cleaning robot provided by the present invention has the above-mentioned lifting mechanism, so that it can sweep and drag independently (for example, it can only drag without sweeping, only sweep without dragging, etc.); and can improve the ability to overcome obstacles and also Can be mopped under pressure.

The present invention also provides a working method of the above-mentioned cleaning robot, comprising the following steps:

Step 1. The cleaning robot can identify the surface to be cleaned through a sensor (such as a camera), and transmit the information to the processor;

Step 2, the processor judges the cleaning strategy of the surface to be cleaned according to the received information;

Step 3. When the cleaning strategy in Step 2 is to sweep and not drag the surface to be cleaned, the processor transmits the first execution signal to the driving component, the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned, and the processor executes the second execution signal. The signal is transmitted to the sweeping module, and the sweeping module cleans the surface to be cleaned;

When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned The processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned;

When the cleaning strategy in step 2 is sweeping and mopping the surface to be cleaned, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned ground processing, the processor transmits the second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned;

When the cleaning strategy in step 2 is to not sweep or drag the surface to be cleaned, the processor transmits the first execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component separate from the surface to be cleaned, and the processor transmits the fourth execution signal to the A sweeping module, the sweeping module stops cleaning the surface to be cleaned.

The present invention also provides a working mode of the cleaning robot that only mops the floor:

Step 1. The cleaning robot can identify the surface to be cleaned through a sensor (such as a camera), and transmit the information to the processor;

Step 2, the processor judges the cleaning strategy of the surface to be cleaned according to the received information;

Step 3. When the cleaning strategy in step 2 is mopping the surface to be cleaned, the processor sends a mopping execution signal to the driving component, and the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned; The strategy is that the surface to be cleaned is not mopped, and the processor sends a no mopping execution signal to the driving component, and the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned.

Another aspect of the present invention also provides a pressure mopping mechanism for a cleaning robot, comprising a drive assembly, a lift assembly and a cleaning assembly connected in sequence; the drive assembly is used to drive the lift assembly; the lift assembly can The cleaning assembly is lifted and lowered relative to the surface to be cleaned; when the cleaning assembly descends to contact the surface to be cleaned, the cleaning assembly is configured to be able to clean the surface to be cleaned; when the cleaning assembly is lowered to contact the surface to be cleaned The cleaning assembly is lifted to disengage the surface to be cleaned, the cleaning assembly is arranged so as not to hinder the movement of the cleaning robot; the lifting assembly has a telescopic mechanism that connects the lifting assembly and the cleaning assembly so as to Through its telescopic performance, the cleaning assembly always fits the surface to be cleaned, and can exert a certain pressure on the surface to be cleaned.

Preferably, the telescopic mechanism includes an elastic element.

Preferably, the lifting assembly includes a crank connecting rod mechanism, the crank connecting rod mechanism includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate in a full circle under the action of the driving assembly, the At least one of the connecting rod and the rocking lever is arranged to have displacement in the vertical direction, the cleaning assembly is connected with the rod with displacement in the vertical direction, and the telescopic mechanism is arranged on the connecting rod.

Specifically, as shown in Figures 8-11, Figure 8 shows the state of the crank connecting rod mechanism when the cleaning assembly is in contact with the ground, that is, it is lowered to the lowest position. Fig. 9 shows the highest position of the lift of the crank link mechanism. In this embodiment, the telescopic mechanism is a spring. Figure 10 and Figure 11 show schematic diagrams with springs, Figure 10 shows that the cleaning assembly is in contact with the ground, and the lifting assembly has not yet descended to the lowest position; Figure 11 shows that on the basis of Figure 10, the lifting mechanism is further lowered, and the elastic element ( spring) deforms and compresses, applying pressure to the cleaning assembly.

Preferably, the cleaning assembly includes a roller brush member or a flat mop member.

In addition, the present invention also provides a working method for the pressure mopping mechanism of the cleaning robot, comprising the following steps:

Step 1, the lifting assembly drives the cleaning assembly down until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

In step 2, the lifting component drives the cleaning component to lift, and the cleaning component is separated from the surface to be cleaned.

Preferably, in step 1, after the cleaning component contacts the surface to be cleaned, the lifting component continues to drive the cleaning component to descend to a first height, and the elastic element in the telescopic mechanism compresses and deforms to apply the first cleaning component to the cleaning component. a force. The maximum height of the drop is preferably such that the robot cannot be lifted.

Preferably, the lifting mechanism drives the cleaning assembly to lower the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the cleaning assembly from being excessively large due to the first force applied to the cleaning assembly. Correspondingly, the excessively large reaction force causes the cleaning robot to be lifted.

In this way, lifting and mopping, mopping cloth can be cleaned, and pressure mopping can be realized, and the pressure can be adjusted according to the situation.

Various modifications and other embodiments of the present invention will be apparent to those skilled in the art from the above description. Therefore, the above description should be construed only as an illustration, and it is provided for teaching the best mode for carrying out the present invention to those skilled in the art. The details of one or more of its construction and function may be substantially changed without departing from the spirit of the invention.

Claims (24)

1. a lifting mechanism for cleaning robot, is characterized in that, Including a drive assembly, a lifting assembly and a cleaning assembly connected in sequence; the drive assembly is used to drive the lift assembly; The lifting assembly enables the cleaning assembly to be lifted and lowered relative to the surface to be cleaned; When the cleaning assembly descends to contact the surface to be cleaned, the cleaning assembly is configured to be able to perform cleaning processing on the surface to be cleaned; after the cleaning assembly is lifted, it can not contact the surface to be cleaned. 2. The lifting mechanism according to claim 1, characterized in that, The cleaning assembly is a flat mop, which is set so that the cleaning work surface can be turned outward at a certain angle when it is lifted. 3. The lifting mechanism according to claim 1, characterized in that, The lift mechanism also includes a processor and a drive assembly actuator; The processor receives the trigger signal and judges the position of the cleaning assembly according to the position information, so as to transmit the execution signal to the actuator of the drive assembly; The drive assembly actuator is used to control the drive assembly according to the acquired execution signal. 4. The lifting mechanism according to claim 3, characterized in that, The execution signal includes a lift execution signal and a drop execution signal; The drive assembly actuator is configured to control the drive assembly according to the acquired lift execution signal or the descent execution signal, so that the lift assembly can be lifted or lowered until the processor obtains the adjusted position again information, the processor transmits a stop execution signal to the drive assembly actuator. 5. The lifting mechanism according to claim 3, characterized in that, The lifting mechanism further includes a position detection device, which is used for detecting the position of the cleaning assembly and feeding back the position information to the processor, and the processor is based on the feedback from the position detection device. The location information is used to determine the location of the cleaning component. 6. The lifting mechanism according to claim 3, characterized in that, In the case that the position information is preset position information, the position of the cleaning component is pre-adjusted to be consistent with the preset position information. 7. The lifting mechanism according to claim 3, characterized in that, There is also an identification module, the processor is connected to the identification module, the identification module can identify the surface to be cleaned, and transmit the information of the surface to be cleaned to the processor, and the processor can form a cleaning method according to the information of the surface to be cleaned. Strategy. 8. The lifting mechanism according to any one of claims 1 to 7, wherein, The drive assembly is one or more of a motor assembly, a pneumatic assembly or a hydraulic assembly. 9. The lifting mechanism according to any one of claims 1 to 7, wherein, The lifting assembly is one or more of a link mechanism, a linear motion mechanism or a gear pair. 10. The lifting mechanism according to claim 9, characterized in that, When the lifting assembly is the connecting rod mechanism, it includes a crank connecting rod mechanism, and the crank connecting rod mechanism includes a crank, a connecting rod and a rocker that are connected in sequence, and the crank is configured to be able to operate under the action of the driving assembly During a full rotation, at least one of the connecting rod and the rocker is arranged to have displacement in the vertical direction, and the cleaning assembly is connected with the rod having the displacement in the vertical direction. 11. The lifting mechanism according to claim 10, characterized in that, The crank connecting rod mechanism is a space connecting rod mechanism, and at least one spherical pair is included between the crank, the connecting rod and the rocker. 12. The lifting mechanism according to claim 9, characterized in that, When the elevating assembly is a linear motion mechanism, it includes a screw rod and a nut that are matched and connected, and the screw rod is arranged to have displacement in the vertical direction. 13. The lifting mechanism according to any one of claims 1 to 7, wherein, The cleaning assembly includes a roller brush part or a flat plate drag part. 14 . A cleaning robot comprising the elevating mechanism according to claim 1 . 14 . 15. The cleaning robot according to claim 14, wherein the cleaning robot is a household cleaning robot. 16. A working method of a cleaning robot according to claim 14 or 15, characterized in that it comprises the following steps: step 1, the cleaning robot identifies the surface to be cleaned, and transmits the information to the processor; Step 2, the processor judges the cleaning strategy of the surface to be cleaned according to the received information; Step 3. When the cleaning strategy in Step 2 is to sweep and not drag the surface to be cleaned, the processor transmits the first execution signal to the driving component, the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned, and the processor executes the second execution signal. The signal is transmitted to the sweeping module, and the sweeping module cleans the surface to be cleaned; When the cleaning strategy in step 2 is to only mop the surface to be cleaned but not sweep, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned The processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops cleaning the surface to be cleaned; When the cleaning strategy in step 2 is sweeping and mopping the surface to be cleaned, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface to be cleaned ground processing, the processor transmits the second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned; When the cleaning strategy in step 2 is to not sweep or drag the surface to be cleaned, the processor transmits the first execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component separate from the surface to be cleaned, and the processor transmits the fourth execution signal to the A sweeping module, the sweeping module stops cleaning the surface to be cleaned. 17. A working method of a cleaning robot according to claim 14 or 15, characterized in that, comprising the steps of: Step 1. The cleaning robot identifies the surface to be cleaned and transmits the information to the processor; Step 2, the processor judges the cleaning strategy of the surface to be cleaned according to the received information; Step 3. When the cleaning strategy in step 2 is mopping the surface to be cleaned, the processor sends a mopping execution signal to the driving component, and the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned; If the strategy is not to mop the surface to be cleaned, the processor sends a no mopping execution signal to the driving component, and the driving component drives the lifting component and separates the cleaning component from the surface to be cleaned. 18. A lifting mechanism for a cleaning robot, characterized in that: Including a drive assembly, a lifting assembly and a cleaning assembly connected in sequence; The driving assembly is used to drive the lifting assembly; the lifting assembly can make the cleaning assembly lift and lower relative to the surface to be cleaned; when the cleaning assembly descends to contact the surface to be cleaned, the cleaning assembly is configured to be able to perform cleaning processing on the surface to be cleaned; when the cleaning assembly is lifted off the surface to be cleaned, the cleaning assembly is configured not to hinder the movement of the cleaning robot; The elevating assembly has a telescopic mechanism, and the telescopic mechanism connects the elevating assembly and the cleaning assembly so as to make the cleaning assembly always fit the surface to be cleaned through its telescopic performance. 19. The lifting mechanism of claim 18, wherein The telescopic mechanism includes elastic elements. 20. The lifting mechanism according to claim 18 or 19, characterized in that, The lift assembly includes a crank connecting rod mechanism, the crank connecting rod mechanism includes a crank, a connecting rod and a rocker that are connected in sequence, the crank is configured to be able to rotate a full circle under the action of the driving assembly, the connecting rod and At least one of the rockers is arranged to have displacement in a vertical direction, the cleaning assembly is connected with a rod that has displacement in a vertical direction, and the telescopic mechanism is arranged on the link. 21. The lifting mechanism according to claim 18 or 19, characterized in that, The cleaning assembly includes a roller brush part or a flat plate drag part. 22. A working method of the lifting mechanism according to any one of claims 18 to 21, characterized in that, comprising the steps of: Step 1, the lifting assembly drives the cleaning assembly down until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned; In step 2, the lifting component drives the cleaning component to lift, and the cleaning component is separated from the surface to be cleaned. 23. The working method of the lifting mechanism according to claim 22, wherein, In step 1, after the cleaning component contacts the surface to be cleaned, the lifting component continues to drive the cleaning component to descend to a first height, and the elastic element in the telescopic mechanism compresses and deforms to apply a first force to the cleaning component. 24. The working method of the lifting mechanism according to claim 23, wherein, The lifting mechanism drives the cleaning assembly to lower the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the corresponding Excessive reaction force causes the cleaning robot to be lifted.

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