CN112842158A

CN112842158A - Self-moving robot and water tank dust box assembly

Info

Publication number: CN112842158A
Application number: CN202011643933.4A
Authority: CN
Inventors: 王国云; 罗存志; 曾嘉祥
Original assignee: Shenzhen Ruike Fashion Electronic Co ltd
Current assignee: Shenzhen Ruike Fashion Electronic Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-05-28

Abstract

The embodiment of the application provides a from mobile robot and water tank dirt box subassembly. Wherein, from mobile robot includes: robot main part and movable water tank. Wherein the robot main body has a front portion and a rear portion in a traveling direction; and the movable water tank is arranged on the robot main body and is positioned at the rear part of the robot main body. When the self-moving robot needs to work, the movable water tank moves relative to the robot main body to change the posture of the movable water tank, and the self-moving robot is assisted to move. Among the technical scheme that this application embodiment provided, directly design into movable water tank with the water tank at robot main part rear portion, for example, need hinder more or meet short barrier need avoid or enter into when narrow and small space from mobile robot, movable water tank can the perk. Therefore, the water tank is set as the movable water tank, the obstacle crossing, obstacle avoiding and escaping capabilities of the robot are improved, the robot is more intelligent and flexible, and the adaptability is stronger.

Description

Self-moving robot and water tank dust box assembly

Technical Field

The application relates to the technical field of robots, in particular to a self-moving robot and a water tank dust box assembly.

Background

In the existing self-moving robot, such as a sweeping robot, a mopping and sweeping integrated robot and the like, the whole robot is in a disc shape. If the robot enters a narrow space, the robot can continuously move back and forth to get rid of difficulties. Namely, the robot moves forwards after moving backwards and touching the obstacle, and moves backwards after moving forwards and touching the obstacle, so that the robot can not go out for a long time.

In addition, for the mopping and sweeping integrated robot, the cleaning cloth at the bottom of the robot is always in contact with the ground, so that the obstacle crossing capability of the mopping and sweeping integrated robot is weak.

Disclosure of Invention

Embodiments of the present application provide a self-moving robot and water tank dust box assembly, which can further improve the performance of the robot, such as obstacle crossing ability and difficulty getting-out ability.

In one embodiment of the present application, a self-moving robot is provided. This from mobile robot includes:

a robot main body having a front portion and a rear portion in a traveling direction;

the movable water tank is arranged on the self-moving robot main body and is positioned at the rear part of the self-moving robot main body;

when the self-moving robot needs to work, the movable water tank moves relative to the self-moving robot body to change the posture of the movable water tank, and assistance is provided for the self-moving robot to advance.

In another embodiment of the present application, a water tank dirt box assembly is provided. This water tank dirt box subassembly includes:

a support;

the dust box is arranged on the bracket;

the movable water tank is movably connected to the bracket;

wherein, the movable water tank can move relative to the dust box and the bracket so as to change the posture of the movable water tank.

In yet another embodiment of the present application, a self-moving robot is provided. This from mobile robot includes:

the movable tail is arranged on the self-moving robot main body and is positioned at the rear part of the self-moving robot main body;

when the self-moving robot needs to work, the movable tail part acts relative to the robot main body to provide assistance for the self-moving robot to advance.

In the technical scheme that an embodiment of this application provided, directly design into movable water tank with the water tank at robot main part rear portion when the robot work needs, movable water tank moves in order to change movable water tank gesture, and resistance robot advances for robot main part relatively. For example, when the robot needs to cross obstacles or meets low obstacles and needs to avoid or enter a narrow space, the movable water tank can be tilted. Therefore, according to the technical scheme provided by the embodiment of the application, the water tank is set as the movable water tank, the obstacle crossing, obstacle avoiding and escaping capabilities of the robot are improved, the robot is more intelligent and flexible, and the adaptability is stronger.

Another embodiment of this application provides a water tank dirt box subassembly, and this water tank dirt box subassembly includes dirt box, support and activity water tank, and wherein the activity water tank can be relative dirt box and support activity to change the gesture of activity water tank. The water tank and the dust box are taken as detachable components to be conveniently mounted on the robot together, the water tank and the dust box can be mounted at the rear of the robot, and the water tank acts to change the posture of the water tank so as to provide assistance for the robot when the robot works, so that the obstacle crossing, obstacle avoiding and trapped getting-off capabilities of the robot are improved.

According to the technical scheme provided by the further embodiment of the application, a movable tail is arranged at the rear part of a robot main body of the self-moving robot, and when the self-moving robot needs to work, the movable tail can act relative to the robot main body to assist the self-moving robot to move; for example, when the self-moving robot needs to cross obstacles or meets low obstacles and needs to avoid or enter a narrow space, the movable tail part can be tilted. Therefore, according to the technical scheme provided by the embodiment of the application, the movable tail is arranged, the obstacle crossing, obstacle avoiding and escaping capabilities of the self-moving robot are improved, and the self-moving robot is more intelligent and flexible and has stronger adaptive capacity.

The self-moving robot provided by the embodiment of the application can be any type of robot, such as a sweeping robot, a mopping and sweeping integrated robot and the like. The robot with the movable water tank can be a mopping and sweeping integrated robot, a floor mopping robot, a sewage collecting robot and the like.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is an external view schematically illustrating a robot having a movable tail according to an embodiment of the present disclosure;

FIG. 2 is a side view of a robot with a movable tail according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a movable tail tilting of a robot according to an embodiment of the present disclosure;

FIG. 4a is a schematic view of a robot provided with a mopping assembly at the bottom of a movable tail according to an embodiment of the present disclosure;

fig. 4b is a schematic view illustrating a movable tail of a robot driving a mop assembly to tilt according to an embodiment of the present application;

fig. 5a is a schematic view of a movable tail of a robot driving a lower swing of a mopping assembly according to an embodiment of the present application;

fig. 5b is a schematic view illustrating that a movable tail of the robot drives a front end of the mop assembly to tilt according to an embodiment of the present application;

FIG. 6 is a side view of a robot with a movable water tank provided by an embodiment of the present application;

FIG. 7a is a schematic diagram of a tilt of a movable water tank of a robot according to an embodiment of the present disclosure;

FIG. 7b is a schematic view of a robot provided with a mop assembly at the bottom of a movable water tank according to an embodiment of the present disclosure;

fig. 7c is a schematic view illustrating that a movable water tank of the robot drives the mop assembly to tilt according to an embodiment of the present disclosure;

fig. 7d is a schematic view of a movable water tank of the robot driving the lower swing of the mopping assembly according to an embodiment of the present disclosure;

FIG. 8 is a schematic cross-sectional view of a water box dirt tray assembly according to one embodiment of the present application;

FIG. 9a is a schematic view of a movable water tank swinging downward relative to a frame in a water tank and dirt box assembly according to an embodiment of the present application;

FIG. 9b is a schematic view of a movable water tank in a water tank and dirt box assembly tilted upward relative to a bracket according to an embodiment of the present disclosure;

FIG. 10 is an exploded view of a robot body and water tank dirt box assembly according to one embodiment of the present application;

FIG. 11 is an exploded view of a water box dirt tray assembly according to one embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 and fig. 2 show schematic structural diagrams of a self-moving robot provided in an embodiment of the present application. As shown in fig. 1 and 2, the self-moving robot includes: a robot main body 1 and a movable tail 2. Wherein the robot main body 1 has a front and a rear in a traveling direction (as shown in fig. 1). The movable tail part 2 is arranged on the robot main body 1 and is positioned at the rear part of the robot main body 1. When the robot works and needs, the movable tail part 2 acts relative to the robot main body 1 to provide assistance for the robot (such as a self-moving robot) to travel.

The robot provided by the embodiment can be a self-moving robot or a service type robot, such as a robot which needs to travel according to instructions in hotels, shopping malls and banks and provides services for corresponding users.

As shown in fig. 3, when the robot needs to avoid a short object during the retreating process of the robot during the escaping, the movable tail 2 can be tilted to avoid a short obstacle behind the robot in fig. 3, and the escaping power of the robot is higher. Alternatively, the robot of the embodiment is a floor mopping robot with a mopping assembly (or rag), or a sweeping and mopping integrated robot, and the mopping assembly is in contact with a traveling surface (such as a ground surface or a table surface) when the robot works normally. As shown in fig. 4a, in the present embodiment, the bottom surface of the movable tail 2 is the mopping component (or the rag) which contacts with the traveling surface to clean the traveling surface; when the robot meets an obstacle and needs to cross the obstacle, if the movable tail part 2 is still kept to be in contact with the traveling surface, the pressure of the movable tail part contacting the traveling surface is partial reaction force of the gravity of the whole machine, and if the movable tail part 2 tilts in a mode shown in fig. 4b, the pressure of the movable tail part 2 contacting the traveling surface is partial reaction force of the gravity of the movable tail part 2. Compared with the movable tail part 2 which is not moved, the acting force of the movable tail part 2 contacting with the advancing surface after tilting is reduced. When the obstacle crossing performance of the robot is greatly improved, the smaller the acting force of the movable tail part 2 contacting with the traveling surface is, the less the positive pressure of the traveling wheel of the robot is easy to slip.

That is, in one embodiment, the movable tail 2 in this embodiment may have two operational states. When the movable tail part 2 acts relative to the robot main body 1, the two working postures can be changed; the two working postures comprise a first working posture and a second working posture. In the first working posture, the bottom surface of the movable tail part 2 is in contact with the running surface or has a gap (as shown in fig. 2). In particular, the clearance between the mobile tail 2 and the running surface will be relatively small. In the second working posture, part of the bottom surface of the movable tail part 2 is far away from the running surface (shown as 3).

Specifically, when the obstacle crossing and obstacle avoidance are performed, the movable tail part 2 is in the second working posture. When the robot is getting rid of difficulties, the robot can continuously move back and forth. When the robot moves backwards and touches the gap which is higher than the distance between the movable tail part 2 and the advancing surface, the movable tail part 2 can tilt as shown in figure 3, so that the robot can continue to move backwards, and the success rate of getting rid of the trouble of the robot can be greatly improved.

The movable tail part 2 has a third working posture in addition to the two working postures. And when the third working posture is adopted, part of the bottom surface of the movable tail part 2 is deformed due to abutting contact with the advancing surface. As shown in fig. 5a, the bottom surface of the movable tail 2 is a wiping component (e.g., a wiping cloth). In the third working posture, the movable tail part 2 moves to the posture shown in fig. 5a, and a partial area of the mopping assembly of the movable tail part 2 generates deformation compression, namely, the pressure on the traveling surface is increased, at this time, the cleaning strength on the traveling surface can be enhanced, and the cleaning effect of the robot is improved.

That is, in the travel direction, the movable tail 2 has opposite connecting and movable ends; the connecting end is movably connected with the robot main body 1; when the robot works, the movable end 1 swings in a direction perpendicular to the traveling surface.

Here, only the way of the movable tail part 2 swinging in the direction perpendicular to the traveling surface is shown, in fact, the movable tail part 2 may also adopt other action ways, such as moving up or down as a whole, and so on.

In addition to the three working positions described above, the movable tail 2 may also have a fourth working position. When the movable tail part 2 is in the fourth working posture, the movable tail part 2 tilts backwards, and the bottom surface of the front end of the movable tail part 2 tilts to form a gap with the traveling surface, which is shown in fig. 5 b. For example, the robot is a self-moving robot, and the bottom surface of the movable tail part is the bottom surface of the mopping component. In the normal cleaning process of the self-moving robot, the movable tail part is horizontal, and the mopping component is contacted with the ground for cleaning. When the self-moving robot finishes cleaning and returns to the base station or the storage position, the movable tail part of the self-moving robot can be inclined backwards in a mode like that of fig. 5b, the mopping assembly is tilted upwards, and the part contacting the ground is reduced (namely the fourth working posture). The self-moving robot returns to the base station or the storage position by adopting the fourth working posture, and the resistance caused by the dragging and wiping component is reduced because the small part of the dragging and wiping component is contacted with the ground, so that the self-moving robot can move more easily, and the energy consumption is reduced. For another example, the robot may adopt the fourth working posture when it detects that the robot passes through a crack section in front. The crack is not flat enough, barbs and the like which are easy to hang the dragging and wiping component may exist, the robot adopts a fourth working posture, the contact area between the dragging and wiping component and the crack section is reduced, and the hanging probability is reduced; secondly, the crack area is uneven, the friction between the crack area and the ground can be reduced by adopting the fourth working posture, the traveling resistance is reduced, and the self-moving robot can travel more easily.

The movable tail 2 in the embodiment can be any functional part or a combination of multiple functional parts on the robot. For example, the movable tail 2 may be a water tank and a mopping assembly of the robot, or the movable tail 2 may be a dust box; or the tail shell of the movable tail part is internally provided with electric elements such as a motor, a circuit board and the like.

The movable tail 2 including the water tank and the mop assembly will be described as an example. In this embodiment, the mopping assembly 22 is arranged at the bottom of the water tank 21; the bottom surface of the movable tail part 2 is the mopping surface of the mopping component 22. Further, the robot of the present embodiment, such as a self-moving robot, may further include a dust box. The dust box is connected to the robot main body through a bracket; along the advancing direction, the dust box is located at the front side of the water tank. The structure of the dirt box, bracket and water tank will be described in detail below.

The following embodiments provide a robot with a moving water tank. Specifically, as shown in fig. 6, the robot includes: robot body 1 and movable water tank 3. A robot main body 1 having a front portion and a rear portion in a traveling direction. The movable water tank 3 is disposed on the robot main body 1 and located at the rear portion of the robot main body 1. When the robot needs to work, the movable water tank 3 moves relative to the robot body 1 to change the posture of the movable water tank 3, so that the robot is assisted to move.

In specific implementation, the movable water tank 3 may be a structure of the movable tail 2 shown in fig. 1-5 b, that is, the movable water tank 3 is disposed at the rear of the whole robot. Of course, for a more concise and aesthetic appearance of the robot, as shown in fig. 6, the upper cover of the robot main body may be extended to the rear to be located above the movable water tank 3. Looking down from the top of the robot, the movable water tank 3 is hidden under the upper cover of the robot body.

Of course, for the movable water tank 3 to be movable, a certain distance is provided between the movable water tank 3 and the upper cover of the robot main body. The distance can be set by the actual working site characteristics of the robot, and the like, and the embodiment does not specifically limit the distance.

As shown in fig. 7a, when the robot needs to avoid a short object during the process of backing when getting out of the trouble, the movable water tank 3 can be tilted to avoid a short obstacle behind the robot in fig. 7a, so that the power for getting out of the trouble of the robot is higher. Alternatively, the robot of the present embodiment is a floor mopping robot with a mopping assembly (or a mop cloth), a sweeping and mopping integrated robot, or the like. The mopping component 4 is arranged at the bottom of the movable water tank 3. The mopping assembly 4 is in contact with a moving surface (e.g., the ground or a table) during normal operation of the robot. As shown in fig. 7b, in the present embodiment, the wiping component 4 (or wiping cloth) at the bottom of the movable water tank 3 contacts with the traveling surface to clean the traveling surface; when the robot meets an obstacle and needs to cross the obstacle, if the movable water tank 3 is still kept to be in contact with the traveling surface, the pressure of the movable water tank 3 in contact with the traveling surface is partial reaction force of the gravity of the whole robot, and if the movable water tank 3 is tilted according to the mode shown in fig. 7c, the pressure of the movable water tank 3 in contact with the traveling surface (or the pressure of the dragging component 4 in contact with the traveling surface) is partial reaction force of the gravity of the movable water tank 3. Compared with the movable water tank 3 which is not moved, the acting force of the movable water tank 3 contacting with the advancing surface after tilting is reduced. When the obstacle is crossed, the smaller the acting force of the movable water tank 3 contacting with the traveling surface (namely, the smaller the acting force of the dragging component 4 contacting with the traveling surface), the less the positive pressure of the traveling wheel of the robot is easy to slip, and the obstacle crossing performance of the robot is greatly improved.

That is, in one embodiment, the bottom of the movable water tank 3 is provided with a mopping assembly 4; when the movable water tank 3 moves relative to the robot main body, the dragging and wiping component 4 is driven to move so as to change the contact posture of the dragging and wiping component 4 and the advancing surface of the robot main body.

In particular, the movable tank 3 has two working positions. When the movable water tank 3 moves relative to the robot main body 1, the two working postures can be changed; the two working postures comprise a first working posture and a second working posture. As shown in fig. 7b, when the movable water tank 3 is in the first working posture, the bottom surface of the mopping assembly 4 is in contact with the traveling surface. As shown in fig. 7c, when the movable water tank 3 is in the second working posture, part of the bottom surface of the mopping assembly 4 is far away from the travelling surface. When the movable water tank 3 is in the first working state, the pressure of the mopping component 4 contacting the advancing surface is partial reaction force of the gravity of the whole robot. When the movable water tank 3 is in the second working state, the acting force of the mopping component 4 against the advancing surface is partial reaction force of the gravity of the movable water tank 3.

As shown in fig. 7d, the movable water tank 3 also has a third working posture; when the movable water tank 3 is in the third working posture, part of the bottom surface of the dragging and wiping component 4 is deformed due to abutting contact with the advancing surface, so that the acting force of the dragging and wiping component 4 on the advancing surface is increased. The acting force of the mopping component 4 on the running surface is increased, and the cleaning effect on the running surface can be improved.

In summary, when the robot is over the obstacle or avoiding the obstacle, the movable water tank 3 is in the second working posture, as shown in fig. 7 c. When the robot is cleaning, the movable water tank 3 is in the first working posture, as shown in fig. 7 b. When the robot enhances cleaning, the movable water tank 3 is in the third working posture, as shown in fig. 7 d. In addition to the three working positions, a fourth working position is also possible. Namely, when the movable water tank is in the fourth working posture, the movable water tank tilts backwards, a gap is formed between the tilting of the front end of the dragging and wiping component and the advancing surface, and similarly to the above-mentioned fig. 5b, the movable tail part 2 in fig. 5b is regarded as the movable water tank and the dragging and wiping component arranged at the bottom of the movable water tank.

Further, the robot provided by the present embodiment further includes a support 5, as shown in fig. 6 and fig. 7a to 7 d. Specifically, as shown in fig. 8, the movable water tank 3 is connected to the robot main body 1 through the bracket 5; the bracket 5 is provided with a rotating shaft 7, and the movable water tank 3 is rotatably connected to the rotating shaft 7 to perform a swing motion in a direction perpendicular to the traveling surface by rotating around the rotating shaft 7, as shown in fig. 7c and 7d, and fig. 9a and 9 b. More specifically, the movable water tank 3 may include an upper water tank cover 31 and a lower water tank cover 32, and the upper water tank cover 31 and the lower water tank cover 32 may be connected and sealed by a snap-fit structure.

The robot also includes a dust box 6, as shown in fig. 8, 9a and 9 b. The dust box 6 is connected to the bracket 5. The dust box 6, the bracket 5 and the movable water tank 3 form a water tank dust box assembly 8. As shown in fig. 10, the water tank dust box assembly 8 is detachably attached to the robot main body 1.

Specifically, along the robot traveling direction, the dust box 6 is located on the front side of the movable water tank 3.

Referring to fig. 8, 9a, 9b and 11, the movable water tank 3 is provided with: a protruding member 33 protruding in a direction away from the movable water tank 3, and a coupling hole 34 provided on the protruding member 33. The connecting hole 34 is sleeved on the rotating shaft 7. A first limiting structure 51 for limiting the upper swing limit of the movable water tank 3 and a second limiting structure 52 for limiting the lower swing limit of the movable water tank 3 are arranged on the bracket 5; the first limiting structure 51 and the second limiting structure 52 are respectively located at the upper side and the lower side of the protruding part 33. As shown in fig. 9a and 9b, the first limit structure 51 may be a first limit slope; the second limit formation 52 may be a second limit ramp. Certainly, in specific implementation, the first limiting structure 51 may not be provided, for example, as shown in fig. 6, the upper cover of the robot above the movable water tank 3 may play a limiting role, that is, when the movable water tank 3 tilts up to abut against the upper cover, the upper cover cannot be tilted up.

In an embodiment, the first limiting slope is a slope with an angle of 4-6 degrees to the horizontal plane; the second limiting inclined plane is an inclined plane which forms an angle of 1-3 degrees with the horizontal plane. In actual implementation, the setting may be performed according to a working site of the robot, design requirements, and the like, and this embodiment is not particularly limited.

As shown in fig. 10, the water tank and the dust box in the present embodiment can be used as an alternative. Specifically, as described above, the present embodiment provides a water dirt box assembly. The water tank dust box component is detachably connected with external equipment. The external device may be other devices besides the robot mentioned above, such as a vehicle, and the like, which is not specifically limited in this embodiment. Specifically, as shown in fig. 8, 9a, 9b, and 11, the water tank dust box assembly includes: support 5, dirt box 6 and activity water tank 3. Wherein the dust box 6 is arranged on the bracket 5. The movable water tank 3 is movably connected to the bracket 5; wherein, the movable water tank 3 can move relative to the dust box 6 and the bracket 5 so as to change the posture of the movable water tank 3.

Specifically, the dust box 6 and the movable water tank 3 are located on two opposite sides of the bracket 5. The support 5 is provided with a rotating shaft 7, and the movable water tank 3 is rotatably connected with the rotating shaft 7 so as to rotate around the rotating shaft 7 to swing in the direction vertical to the horizontal plane.

In the market of the existing sweeper, the sweeper with the sweeping and sweeping integrated function is the mainstream trend, and the sweeping and sweeping integrated dust box is widely applied. For the existing mopping and sweeping integrated dust box, due to the existence of the water tank and the cleaning cloth, when obstacles are crossed, the water tank and the cleaning cloth can be in contact with the ground and bear part of the gravity of the machine body, so that the pressure borne by the side wheels is reduced and the side wheels slip, and the obstacle crossing performance of the machine is greatly reduced. In addition, the water tank dirt box is limited in volume, if the volume of the water tank dirt box is increased, the water tank is inevitably required to be arranged outside the main body of the machine, and the water tank is relatively large in volume, so that the obstacle crossing performance and the difficulty removal performance of the machine can be influenced. In order to satisfy the big volume of water tank, ensure crossing the barrier and getting rid of poverty performance of machine, this application is used and is born.

See each embodiment in the above, the original fixed mode of dirt box and water tank has been changed to this application, through leg joint dirt box and water tank, and the water tank can be around the pivot on the support do the luffing motion of certain angle. When the machine is used for obstacle crossing and getting rid of the difficulty, the water tank can swing upwards for a certain angle, and the obstacle crossing and getting rid of the difficulty capability of the machine is improved. The water tank dirt box subassembly that this application embodiment discloses, the biggest characteristics of this structure lie in: the water tank can rotate relative to the dust box, when the obstacle is crossed and the trouble is removed, the water tank and the ground contact force is reduced through rotation of the adjusting water tank relative to an existing dust box and water tank integrated assembly, and the obstacle crossing performance of the machine is improved.

The technical solutions provided in the embodiments of the present application will be described below with reference to specific application scenarios.

Scene one, service robot

The service robot walks in places such as hotels, shopping malls, restaurants and the like to provide corresponding services for the clients according to the received instructions. The chassis of the service robot has a movable tail. The service robot mistakenly judges that the service robot enters the narrow space, and the service robot moves forwards and backwards back and forth in the narrow space to get rid of difficulties. At the moment, the movable tail part of the service robot tilts up, so that a short obstacle can be avoided, and the probability of getting rid of the trouble is increased.

Scene two, drag and sweep integrative robot

The mopping and sweeping integrated robot mops and sweeps the ground at the home of a user. The mopping and sweeping integrated robot firstly sucks away impurities on the ground, and then the rag positioned at the dust suction port wets and drags the ground. In the cleaning process, the mopping and sweeping integrated robot enters a bedroom from a living room, and a threshold is arranged at the entrance of the bedroom. Due to the fact that cleaning cloth of the mopping and sweeping integrated robot is in contact with a traveling surface, when the robot gets over an obstacle, a driving wheel of the robot is easy to slip, and the obstacle-crossing failure is caused. Therefore, the movable water tank of the mopping and sweeping integrated robot is tilted upwards, the pressure of the cleaning cloth contacting the ground is reduced, the positive pressure of the driving wheels is increased, the slipping phenomenon is not easy to occur, and the obstacle crossing capability of the robot is greatly improved.

Scene three-in-one robot with mopping and sweeping functions

The mopping and sweeping integrated robot mops and sweeps the ground at the home of a user. The mopping and sweeping integrated robot firstly sucks away impurities on the ground, and then the rag positioned at the dust suction port wets and drags the ground. In the cleaning process, when the mopping and sweeping integrated robot mops and sweeps an area, the dirt degree of the current area is determined to be higher through a visual detection technology or a dirt sensing technology, and the cleaning is difficult to clean by adopting normal mopping pressure. At the moment, the movable water tank of the mopping and sweeping integrated robot is downwards swung to a third working posture, namely, the partial bottom surface of the cleaning cloth is deformed due to the increase of the contact force. The mopping and sweeping integrated robot adopts the third working posture to mop and clean the area, so that the cleaning effect can be improved.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A self-moving robot, comprising:

when the self-moving robot needs to work, the movable water tank moves relative to the self-moving robot body to change the posture of the movable water tank, and the self-moving robot is assisted to move.

2. The robot as claimed in claim 1, wherein the bottom of the movable water tank is provided with a mopping assembly;

when the movable water tank moves relative to the self-moving robot body, the movable water tank drives the mopping component to move so as to change the contact posture of the mopping component and the advancing surface of the self-moving robot body.

3. The self-moving robot according to claim 2, wherein the movable water tank has two working attitudes;

when the movable water tank acts relative to the self-moving robot body, the movable water tank can be changed between the two working postures; the two working postures comprise a first working posture and a second working posture;

when the movable water tank is in the first working posture, the bottom surface of the mopping component is in contact with the travelling surface;

when the movable water tank is in the second working posture, part of the bottom surface of the mopping assembly is far away from the travelling surface.

4. The self-moving robot according to claim 3,

when the movable water tank is in the first working state, the pressure of the mopping component contacting the advancing surface is partial reaction force of the gravity of the whole self-moving robot;

when the movable water tank is in the second working state, the acting force of the mopping component against the advancing surface is partial reaction force of the gravity of the movable water tank.

5. The self-moving robot according to claim 3, wherein the movable water tank further has a third working attitude and/or a fourth working attitude;

when the movable water tank is in the third working posture, part of the bottom surface of the dragging and wiping component is deformed due to abutting contact with the advancing surface, so that the acting force of the dragging and wiping component on the advancing surface is increased;

when the movable water tank is in the fourth working posture, the movable water tank tilts backwards, and a gap is formed between the tilting of the front end of the dragging component and the advancing surface.

6. The self-moving robot according to claim 5,

when the self-moving robot crosses or avoids the obstacle, the movable water tank is in the second working posture;

when the self-moving robot cleans, the movable water tank is in the first working posture;

when the self-moving robot strengthens cleaning, the movable water tank is in the third working posture.

7. A self-moving robot according to any of claims 1 to 6, further comprising a stand;

the movable water tank is connected to the self-moving robot main body through the bracket;

the support is provided with a rotating shaft, and the movable water tank is rotatably connected with the rotating shaft so as to rotate around the rotating shaft to swing in the direction perpendicular to the traveling surface.

8. The self-moving robot according to claim 7, further comprising a dust box;

the dust box is connected to the bracket;

the dust box, the bracket and the movable water tank form a water tank dust box component;

the water tank dust box assembly is detachably connected to the self-moving robot main body.

9. The self-moving robot according to claim 8,

along the advancing direction of the self-moving robot, the dust box is positioned on the front side of the water tank.

10. The self-moving robot as claimed in claim 8, wherein the movable water tank is provided with: the water tank comprises a protruding piece protruding in a direction away from the movable water tank and a connecting hole arranged on the protruding piece;

the connecting hole is sleeved on the rotating shaft;

the bracket is provided with a first limiting structure for limiting the upper swing limit of the movable water tank and a second limiting structure for limiting the lower swing limit of the movable water tank;

the first limiting structure and the second limiting structure are respectively positioned on the upper side and the lower side of the extension piece.

11. A water tank dirt box assembly, comprising:

a support;

the dust box is arranged on the bracket;

the movable water tank is movably connected to the bracket;

12. The water tank dirt box assembly of claim 11, wherein the dirt box and the movable water tank are located on opposite sides of the bracket.

13. The water tank and dirt box assembly of claim 11 or 12, wherein the bracket has a pivot shaft, and the movable water tank is rotatably coupled to the pivot shaft to perform a swinging motion in a direction perpendicular to a horizontal plane by rotating about the pivot shaft.

14. A self-moving robot, comprising:

the movable tail is arranged on the robot main body and is positioned at the rear part of the robot main body;

when the self-moving robot works and needs, the movable tail part acts relative to the robot main body so as to assist the self-moving robot to move.

15. The self-moving robot of claim 14, wherein the movable tail has two working poses;

when the movable tail part acts relative to the robot main body, the movable tail part can be changed between the two working postures; the two working postures comprise a first working posture and a second working posture;

when the first working posture is adopted, the bottom surface of the movable tail part is in contact with the advancing surface or a gap exists between the bottom surface of the movable tail part and the advancing surface;

and when the second working posture is carried out, part of the bottom surface of the movable tail part is far away from the travelling surface.

16. The self-moving robot according to claim 15,

and when the robot crosses or avoids the obstacle, the movable tail part is in the second working posture.

17. The self-moving robot according to claim 15, wherein the movable tail further has a third working attitude and/or a fourth working attitude;

when the third working posture is adopted, part of the bottom surface of the movable tail part is in contact with the advancing surface in a propping manner to generate deformation;

and in the fourth working posture, the movable tail part tilts backwards, and the bottom surface of the front end of the movable tail part tilts and forms a gap with the traveling surface.

18. A robot as claimed in any of claims 14 to 17,

the movable tail has opposite connecting and movable ends along the travel direction;

the connecting end is movably connected with the robot main body;

when the robot works and needs, the movable end swings in the direction vertical to the traveling surface.

19. The self-moving robot according to any one of claims 14 to 17, wherein the movable tail comprises a water tank and a mopping assembly of the self-moving robot;

the mopping component is arranged at the bottom of the water tank;

the bottom surface of the movable tail part is a mopping surface of the mopping component.

20. The self-moving robot according to claim 19, further comprising a dust box;

the dust box is connected to the robot main body through a bracket;

along the advancing direction, the dust box is located at the front side of the water tank.