CN112847383A

CN112847383A - Robot

Info

Publication number: CN112847383A
Application number: CN201911191421.6A
Authority: CN
Inventors: 李建全; 赵宇昀; 王铮
Original assignee: Shenzhen Jinliang Life Technology Co ltd
Current assignee: Shenzhen Jinliang Life Technology Co ltd
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2021-05-28

Abstract

The invention relates to a robot comprising: a robot body; the judging unit is used for monitoring whether the robot body enters a dragging forbidding area or not; the workpiece is arranged in the robot body in a sliding manner; the lifting structure is arranged in the robot body, the lifting structure is in signal connection with the judging unit, the lifting structure is in mechanical connection with the workpiece, when the judging unit monitors that the robot body reaches the dragging forbidden area, the lifting structure receives signals of the judging unit to drive the workpiece to rise so as to enable the workpiece to be separated from the ground, and after the judging unit monitors that the robot body is separated from the dragging forbidden area, the lifting structure receives signals of the judging unit to drive the workpiece to descend so as to enable the workpiece to be in contact with the ground. The robot in this application can select to lift or fall down work piece according to the actual operational environment of robot, and convenient carries out work or only passes through a certain region according to actual conditions to a certain region.

Description

Robot

Technical Field

The invention relates to the technical field of automation equipment, in particular to a robot.

Background

With the development of sweeping robot technology, people tend to sweep the floor by replacing manpower with sweeping robots more and more.

The sweeping robot can walk according to a preset track during working, and sweep or drag the floor while walking. However, when the floor is continuously covered with a large water spot or a carpet, the sweeping robot sweeps the carpet after sweeping the water spot, so that the carpet is easily wetted and damaged.

Disclosure of Invention

In view of the above, it is necessary to provide a robot in order to solve the above-mentioned technical problems.

A robot, comprising:

a robot body;

the judging unit is used for monitoring whether the robot body enters a dragging forbidding area or not;

the workpiece is arranged in the robot body in a sliding manner;

the lifting structure is arranged in the robot body, the lifting structure is in signal connection with the judging unit, the lifting structure is in mechanical connection with the workpiece, the judging unit monitors that the robot body arrives at the forbidden dragging area, the lifting structure receives signals of the judging unit to drive the workpiece to rise so that the workpiece is separated from the ground, the judging unit monitors that the robot body leaves the forbidden dragging area, and the lifting structure receives signals of the judging unit to drive the workpiece to descend so that the workpiece is in contact with the ground.

In one embodiment, the workpiece is a mop structure, and the mop structure further comprises a mop box, and the mop structure is arranged in the mop box.

In one embodiment, the robot body is provided with a chute, the mop box is provided with a slide column slidably connected with the chute, and the lifting structure drives the mop box to slide in the chute so as to lift the mop box relative to the robot body.

In one embodiment, the sliding groove is obliquely arranged on the robot body.

In one embodiment, at least two sliding grooves are arranged, a plurality of sliding grooves are arranged on the robot body in an array mode, and the sliding columns correspond to the sliding grooves one to one.

In one embodiment, the chute comprises alternately connected inclined and horizontal sections.

In one embodiment, the robot further comprises a locking structure for locking the mop box on the robot body.

In one embodiment, the locking structure comprises a sliding key, a hook connected with the sliding key and a clamping groove arranged on the mop box, and the hook can be driven to hook or separate from the clamping groove by pulling the sliding key.

In one embodiment, the judging unit includes a camera recognition unit, the camera recognition unit includes a camera and an analysis unit connected to the camera, the camera collects images, and the analysis unit analyzes whether the position of the robot body is the drag prohibition area according to the images collected by the camera.

In one embodiment, the judging unit includes a radar positioning unit and a zone storage unit, the zone storage unit stores a working zone and a mopping prohibition zone, the radar positioning system positions the robot body, the lifting structure drives the mop structure to descend to contact the ground when the robot body is in the working zone, and drives the mop structure to ascend to separate the mop structure from the ground when the robot body is in the mopping prohibition zone.

Has the advantages that: the robot in this application can rise or fall down the work piece through elevation structure, corresponds the problem of background art, has dragged the regional back that big piece water stains when the work piece of robot, can rise the work piece through elevation structure, and the work piece can not clean the carpet, and then has avoided the work piece that has water stain to drench the carpet, causes the damage of carpet. The robot in this application can select to lift or fall down work piece according to the actual operational environment of robot, and convenient carries out work or only passes through a certain region according to actual conditions to a certain region.

Drawings

FIG. 1 is a schematic view of a robot in one embodiment of the present application;

FIG. 2 is a schematic view of a robot operating condition in an embodiment of the present application;

FIG. 3 is a block diagram of a robot in one embodiment of the present application;

FIG. 4 is a schematic diagram of a portion of a lifting structure included in the robot in one embodiment;

FIG. 5 is a schematic illustration of the structure of a mop cassette included in the robot in one embodiment of the present application;

fig. 6 is a schematic structural diagram of a robot according to an embodiment of the present application.

Reference numerals: 10. an active area; 11. a working area; 12. a dragging forbidden region; 101. a lifting structure; 100. a lifting drive member; 110. a drive wheel assembly; 110A, a first drive wheel; 110B, a second driving wheel; 111. a drive screw; 112. a base; 112A, a pull rod; 113. a locking key; 200. a robot body; 210A, a workpiece; 210. a mop structure; 211. a mop box; 211A, a spool; 212. a chute; 212A, an inclined section; 212B, a horizontal section; 220. a judgment unit; 230. a box body; 230A and a first cloth outlet; 230B and a second cloth outlet; 231A, a first rotating frame; 231B, a second rotating frame; 232A, a first mop scroll; 232B, a second mop scroll; 240. a locking structure; 241. a sliding key.

Detailed Description

To facilitate an understanding of the invention, the invention is described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Fig. 1 is a schematic structural diagram of a robot in an embodiment of the present application. If the robot is a cleaning robot, the robot can simultaneously perform cleaning operations such as dust collection and the like when walking on the ground. The cleaning is not limited to sweeping and dust collection, and can also refer to cleaning functions of mopping, polishing or waxing and the like. The robot can travel according to a program set in the robot. For example, fig. 2 is a schematic diagram of a working state of a robot according to an embodiment of the present application. The dotted line in fig. 2 is the trajectory of the robot walking. As shown in fig. 2, the active area 10 of the robot includes a working area 11 and a drag-forbidden area 12, the working area 11 is an area that the robot needs to clean, but the active area 10 of the robot may include a drag-forbidden area 12 such as a carpet, and the robot travels according to a predetermined trajectory from one working area 11 to another working area 11 after passing through the drag-forbidden area 12.

As shown in fig. 3, fig. 3 is a block diagram of a robot in an embodiment of the present disclosure, and as shown in fig. 3, the robot includes a robot body 200, a lifting structure 101, a determination unit 220, and a workpiece 210A. The working member 210A may be a polishing assembly, the working member 210A may be a waxing assembly, and as shown in fig. 1, the working member 210A may be a mop structure 210. The working member 210A can be lifted relative to the robot body 200, when the robot body 200 is in the working area 11, the working member 210A contacts with the ground to perform polishing, waxing or mopping activities, and when the robot body 200 is in the mopping prohibition area 12, the working member 210A is separated from the ground, so that the robot body 200 can smoothly pass through the mopping prohibition area 12. For example, the determination unit 220 is used to monitor whether the robot body 200 enters the drag prohibition area 12. The lifting structure 101 is arranged in the robot body 200, the lifting structure 101 is in signal connection with the judging unit 220, the lifting structure 101 is mechanically connected with the workpiece 210A, when the judging unit 220 monitors that the robot body 200 reaches the dragging-forbidden area 12 during operation, the lifting structure 101 receives a signal of the judging unit 220 to drive the workpiece 210A to lift so as to enable the workpiece 210A to be separated from the ground, and after the judging unit 220 monitors that the robot body 200 is separated from the dragging-forbidden area 12, the lifting structure 101 receives a signal of the judging unit 220 to drive the workpiece 210A to descend so as to enable the workpiece 210A to be in contact with the ground.

In one embodiment, the determining unit 220 comprises a camera recognition unit comprising a camera and an analyzing unit connected to the camera. The camera is used for collecting images, and the analysis unit analyzes whether the position where the robot body 200 is located is the drag prohibition area 12 according to the images collected by the camera. For example, the analysis unit stores an image of the drag prohibition area 12, the camera captures an image of the peripheral position of the robot main body 200 in real time, and when the image of the peripheral position of the robot main body 200 captured by the camera coincides with the image of the drag prohibition area 12 stored in the analysis unit, it is determined that the robot main body 200 has entered the drag prohibition area 12.

In one embodiment, the determining unit 220 includes a radar positioning unit and a region storage unit, the region storage unit stores the working region 11 and the drag prohibiting region 12, and the radar positioning unit can position the position of the activity region 10 where the robot body 200 is located, so as to obtain whether the robot body 200 is located in the working region 11 or the drag prohibiting region 12.

In the following embodiments, a robot is taken as an example of a cleaning robot, wherein the working member 210A is a mop structure 210, that is, the mop structure 210 is used for mopping the floor. Wherein the mop structure 210 is mechanically connected to the lifting structure 101, and the lifting structure 101 is used for driving the mop structure 210 to lift relative to the robot body 200. Fig. 4 is a partial structural view of the lifting structure 101 in one embodiment, the lifting structure 101 may include a base 112, a pull rod 112A is disposed on the base 112, and the pull rod 112A may be connected to the mop structure 210, so that the pull rod 112A moves to drive the mop structure 210 to lift. In one embodiment, the lifting structure 101 may further include a transmission screw 111, the transmission screw 111 is disposed on the base 112, and the transmission screw 111 moves synchronously with the base 112, so that when the transmission screw 111 moves, the base 112 and the pull rod 112A are driven to move, and the pull rod 112A drives the mop structure 210 to lift relative to the robot body 200. Further, the lifting structure 101 further comprises a lifting drive member 100 and a drive wheel assembly 110. The driving wheel assembly 110 is connected to the lifting driving member 100 and the driving screw 111, and the lifting driving member 100 drives the driving screw 111 to move through the driving wheel assembly 110, so that the driving screw 111 drives the base 112 to move, and further the pulling rod 112A on the base 112 drives the mop structure 210 to lift relative to the robot body 200.

In one embodiment, as shown in FIG. 1, the mop structure 210 is disposed within a mop caddy 211 that enables the mop structure 210 within the mop caddy 211 to move up and down relative to the robot body 200 as the mop caddy 211 is raised and lowered relative to the robot body 200. In other embodiments, the robot body 200 may not include the mop caddy 211, and the mop structure 210 is mounted directly within the robot body 200.

The mop structure 210 will be described below as an example, in which it is provided in a mop case 211. As shown in fig. 1, a chute 212 is provided on the robot body 200, a sliding column 211A slidably connected to the chute 212 is provided on the mop box 211, and referring to fig. 4, a pulling rod 112A of the lifting structure 101 is connected to the mop box 211, the lifting driving member 100 of the lifting structure 101 drives the pulling rod 112A to move through a driving screw 111, and the pulling rod 112A drives the mop box 211 to slide along the chute 212, so as to lift the mop box 211 relative to the robot body 200. Wherein the pull rod 112A can be connected with the mop box 211 by a flexible piece.

In one embodiment, as shown in FIG. 5, FIG. 5 is a schematic view of the mop cassette 211 of one embodiment of the present application. The mop swab holder 211 comprises a holder body 230, the lateral cross-section of which has an outer contour which is substantially trapezoidal, the upper side being short and the lower side being long. A first cloth outlet 230A and a second cloth outlet 230B are provided at the left and right waists of the trapezoid, respectively. One end of the mop structure 210 can extend out of the case 230 from the first cloth outlet 230A, then pass down around the bottom of the case 230, and return to the case 230 from the second cloth outlet 230B. The mop magazine 211 further comprises a first 231A and a second 231B rotating frame pivotally connected to the magazine 230, for example, the first 231A is located in the left half of the magazine 230 and the second 231B is located in the right half of the magazine 230. The upper end of the first rotating frame 231A can be rotated out of the cartridge 230 from the first cloth outlet 230A, and the upper end of the second rotating frame 231B can be rotated out of the cartridge from the second cloth outlet 230B, thereby facilitating replacement of the mop structure 210 on the first rotating frame 231A or the second rotating frame 231B. The mop cassette 211 further comprises two mop spools, a first mop spool 232A and a second mop spool 232B, respectively, the first mop spool 232A being detachably connected to the first rotating frame 231A and the second mop spool 232B being detachably connected to the second rotating frame 231B. The detachable connection is to enable the mop scroll to be detached from the corresponding rotating frame, and the replacement is convenient. Further, the mop swab holder 211 further comprises a mop swab structure 210, wherein one end of the mop swab structure 210 is fixedly connected with a first mop roller 232A, and the mop swab structure 210 is fixedly connected with a second mop roller 232B after passing around the bottom of the holder 230. The portion of the mop structure 210 at the bottom of the cartridge 230 can be used to mop the floor. The mop structure 210 is wound on a mop scroll and, after the mop structure 210 is gradually paid out from the primary mop scroll 232A, the mop structure 210 can be wound on the secondary mop scroll 232B. For example, the mop structure 210 wound on the first mop spool 232A is unused (i.e. not mopped over, so it is clean), and the mop structure 210 is wound down around the bottom of the cartridge 230 and then onto the second mop spool 232B. When the mop structure 210 at the bottom of the case 230 is dirty, it is wound around the second mop roller 232B, and the clean mop structure 210 on the first mop roller 232A moves to the bottom of the case 230, so that mopping can be continued.

Fig. 6 is a schematic structural view of a robot according to an embodiment of the present invention, and referring to fig. 1 and 6, a slide column 211A is provided on the mop case 211, a slide groove 212 is provided on the robot body 200, as shown in fig. 1, the slide groove 212 is obliquely provided on the robot body 200, the slide column 211A of the mop case 211 is slidably connected to the slide groove 212, and when the lifting driving member 100 drives the mop case 211 to move, the mop case 211 can slide along a track of the slide groove 212, thereby achieving lifting of the mop case 211 relative to the robot body 200.

In one embodiment, as shown in fig. 1, at least two sliding grooves 212 are provided, and a plurality of sliding grooves 212 are arranged in the robot body 200 in an array, for example, two sliding grooves 212 in fig. 1 are arranged in an array along the horizontal direction. The sliding columns 211A correspond to the sliding grooves 212 one by one, so that the sliding stability of the mop box 211 relative to the robot body 200 is effectively guaranteed.

In one embodiment, the sliding slot 212 can be formed in various shapes, such as a straight slot extending obliquely upward, or an arc slot extending obliquely upward. As another example, as shown in fig. 1, the chute 212 extends upward and slantingly as a whole, but the chute 212 includes several sections, specifically, the chute 212 includes a slant section 212A and a horizontal section 212B alternately connected. Therefore, the mop box 211 has different lifting gears relative to the robot body 200, the use is more flexible, different lifting gears can be selected according to different ground surfaces, and the operation efficiency is improved.

In one embodiment, as shown in fig. 6, a locking structure 240 for locking the mop cassette 211 in the robot body 200 is further included. In the embodiment shown in fig. 6, the locking structure 240 includes a sliding key 241, a hook connected to the sliding key 241, and a slot provided on the mop case 211, and the hook can be driven to hook or disengage from the slot by pulling the sliding key 241. Of course, in other embodiments, the locking structure 240 may be other locking structures.

In one embodiment, the mop structure 210 may be mounted directly within the robot body 200 if the robot body 200 does not include the mop caddy 211. The structure of the mop with mop case 211 may be changed as follows: the slide post 211A is positioned directly on the mop structure 210.

For another example, in some embodiments, a chute 212 can be provided on the mop structure 210, and a slide post 211A can be provided on the robot body 200, the slide post 211A slidably engaging the chute 212 to enable the mop structure 210 to be raised and lowered relative to the robot body 200.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A robot, comprising:

a robot body (200);

the judging unit (220) is used for monitoring whether the robot body (200) enters a drag forbidding area (12);

a working member (210A) slidably disposed within the robot body (200);

the lifting structure (101) is arranged in the robot body (200), the lifting structure (101) is in signal connection with the judging unit (220), the lifting structure (101) is in mechanical connection with the workpiece (210A), when the judging unit (220) monitors that the robot body (200) reaches the dragging-forbidden area (12), the lifting structure (101) receives a signal of the judging unit (220) to drive the workpiece (210A) to ascend so that the workpiece (210A) is separated from the ground, after the judging unit (220) monitors that the robot body (200) is separated from the dragging-forbidden area (12), the lifting structure (101) receives a signal of the judging unit (220) to drive the workpiece (210A) to descend so that the workpiece (210A) is in contact with the ground.

2. Robot according to claim 1, characterized in that the working piece (210A) is a mop structure (210) and further comprises a mop magazine (211), the mop structure (210) being arranged in the mop magazine (211).

3. Robot according to claim 2, characterized in that a chute (212) is provided on the robot body (200), a slide post (211A) slidably connected to the chute (212) is provided on the mop cassette (211), and the lifting structure (101) drives the mop cassette (211) to slide in the chute (212) to lift the mop cassette (211) relative to the robot body (200).

4. Robot according to claim 3, characterized in that the chute (212) is arranged obliquely to the robot body (200).

5. The robot according to claim 3, wherein there are at least two sliding grooves (212), a plurality of the sliding grooves (212) are arranged in the robot body (200) in an array, and the sliding columns (211A) correspond to the sliding grooves (212) one by one.

6. Robot according to claim 3, characterized in that the chute (212) comprises alternately connected inclined segments (212A) and horizontal segments (212B).

7. Robot according to claim 2, characterized in that it further comprises a locking structure (240) for locking the mop cassette (211) to the robot body (200).

8. Robot according to claim 7, characterized in that the locking structure (240) comprises a sliding key (241), a hook connected to the sliding key (241) and a catch provided on the mop case (211), the hook being able to be driven to hook or disengage the catch by toggling the sliding key (241).

9. The robot according to any one of claims 2-8, wherein the determining unit (220) comprises a camera recognition unit, the camera recognition unit comprises a camera and an analyzing unit connected with the camera, the camera collects images, and the analyzing unit analyzes whether the position where the robot body (200) is located is the drag prohibiting area (12) according to the images collected by the camera.

10. Robot according to claim 9, characterized in that the decision unit (220) comprises a radar positioning unit and a zone storage unit, the zone storage unit storing a working zone (11) and a no-drag zone (12), the radar positioning system positioning the position of the robot body (200), the lifting structure (101) driving the mop structure (210) down to bring the mop structure (210) into contact with the ground when the robot body (200) is in the working zone (11), the lifting structure (101) driving the mop structure (210) up to bring the mop structure (210) out of contact with the ground when the robot body (200) is in the no-drag zone (12).