CN113509103A

CN113509103A - Robot

Info

Publication number: CN113509103A
Application number: CN202110425697.7A
Authority: CN
Inventors: 李振; 吉沐园; 马祥革; 韩璞; 彭中美; 王生贵; 程昊天
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2021-10-19

Abstract

The invention discloses a robot, which comprises a moving mechanism, a robot body and a robot body, wherein the moving mechanism comprises a chassis; the floor sweeping component and the floor washing component are arranged on the chassis; the sweeping component comprises a first cleaning piece arranged on the lower surface of the chassis; the floor washing assembly comprises a second cleaning piece arranged on the lower surface of the chassis; first cleaning member locates the second cleaning member front side along the direction of advance of robot to realize sweeping earlier the back and wash, improve and clean the effect.

Description

Robot

Technical Field

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

Background

The floor cleaning robot is one kind of intelligent household appliance, and can automatically complete the floor cleaning work in the field by means of certain artificial intelligence. The development direction of the floor cleaning robot is to achieve higher cleaning effect, higher cleaning efficiency and larger cleaning area due to higher artificial intelligence.

However, the existing floor washing robot has a single structure and is not suitable for various cleaning environments, so that the floor washing effect of the existing floor washing robot cannot meet the increasingly cleaning requirements of consumer groups.

Disclosure of Invention

The purpose of the invention is: the utility model provides a robot, its including locate the front side sweep the floor the subassembly and locate the rear side wash the ground subassembly, through sweeping earlier the structure of washing afterwards, effectively improve cleaning performance.

In order to achieve the above object, the present invention provides a robot comprising:

a movement mechanism comprising a chassis;

the floor sweeping component and the floor washing component are arranged on the chassis;

the sweeping assembly comprises a first cleaning piece arranged on the lower surface of the chassis;

the floor washing assembly comprises a second cleaning piece arranged on the lower surface of the chassis;

the first cleaning piece is arranged on the front side of the second cleaning piece along the advancing direction of the robot, and the arrangement directions of the first cleaning piece and the second cleaning piece are respectively vertical to the advancing direction of the robot;

through the structure of sweeping the back and washing before setting up, can effectively improve the cleaning performance.

In a preferred embodiment, the sweeping assembly further comprises:

the first cleaning piece is at least partially embedded in the first garbage box and matched with the ground;

a first motor connected with the first cleaning member and driving the first cleaning member to rotate;

the dust collection pipe is connected with the first garbage box;

improve the effect of sweeping the floor through optimizing the subassembly structure of sweeping the floor.

In a preferred embodiment, the sweeping assembly further comprises a first transmission synchronous pulley and a first synchronous belt;

the first cleaning piece penetrates through the first garbage box and is connected with the first transmission synchronous belt wheel;

one end of the first synchronous belt is sleeved on the output end of the first motor, and the other end of the first synchronous belt is sleeved on the first transmission synchronous belt wheel;

the first motor drives the first cleaning piece by arranging the first synchronous belt.

In a preferred embodiment, the robot further includes a first lifting motor, the first lifting motor is disposed on the upper surface of the chassis, and an output end of the first lifting motor is connected to the sweeping assembly;

realize sweeping the floor the lift of subassembly through setting up first elevator motor to change the relative distance on first cleaning member and ground, adapt to different ground.

In a preferred embodiment, the floor washing assembly further comprises:

the second body is connected with the chassis, the second garbage box is detachably connected with the second body, the second body and the second garbage box are matched to form a cavity for accommodating garbage, and at least part of the second cleaning piece is embedded in the second garbage box and matched with the ground;

a second motor connected with the second cleaning member and driving the second cleaning member to rotate;

a spray unit cooperating with the second cleaning member; the ground cleaning function of the second cleaning piece is realized by arranging the second motor and the spraying unit.

In a preferred embodiment, the ground washing assembly further comprises a second transmission synchronous pulley and a second synchronous belt;

the second cleaning piece penetrates through the second garbage box and is connected with the second transmission synchronous belt wheel;

one end of the second synchronous belt is sleeved on the output end of the second motor, and the other end of the second synchronous belt is sleeved on the second transmission synchronous belt pulley;

the second motor is used for driving the second cleaning piece through the second synchronous belt.

In a preferred embodiment, the floor washing assembly further comprises a self-cleaning roller brush arranged in parallel with the second cleaning member, the self-cleaning roller brush and the second cleaning member rotating at different angular speeds;

the second synchronous belt is sleeved at one end of the self-cleaning rolling brush to drive the self-cleaning rolling brush to rotate;

the second cleaning piece is cleaned by arranging the self-cleaning rolling brush, and the self-cleaning rolling brush and the second cleaning piece are driven by the same second motor, so that the energy consumption and the equipment cost are reduced.

In a preferred embodiment, the second garbage box comprises a box body, a lower cover plate and a self-discharging cover plate linkage plate, the box body and the lower cover plate are connected in an openable and closable manner, the self-discharging cover plate linkage plate is connected with the lower cover plate and is located in the same plane with the lower cover plate, and the free end of the self-discharging cover plate linkage plate is movably connected with the moving mechanism in a matching manner;

the ground washing assembly further comprises an elastic tensioning piece arranged in a cavity formed by the second body and the second garbage box in a matched mode, one end of the tensioning piece is connected with the second body, and the other end of the tensioning piece is connected with the lower cover plate;

the ground washing assembly further comprises an elastic reset piece, and the reset piece is arranged at the joint of the box body and the lower cover plate;

the robot further comprises a second lifting motor, the second lifting motor is arranged on the upper surface of the chassis, and the output end of the second lifting motor is connected with the ground washing assembly;

the automatic dumping of the garbage is realized by optimizing the second garbage box structure, the position relation between the second garbage box structure and the moving mechanism and the second lifting motor.

In a preferred embodiment, the robot further comprises edge brush assemblies which are arranged on two sides of the guide wheel set in pairs;

the side brush assembly comprises a pair of side brushes vertically arranged on two sides of the front end of the robot in the advancing direction and a side brush motor connected with the side brushes;

the side brush assembly further comprises a first connecting rod which is connected with the two side brush assemblies;

the robot further comprises a third lifting motor, the third lifting motor is arranged on the upper surface of the chassis, and the output end of the third lifting motor is connected with the first connecting rod;

realize sweeping rubbish to the robot below through setting up limit brush subassembly, and realize the lift of limit brush in order to adapt to different ground through setting up third elevator motor.

In a preferred embodiment, the first link includes a link body and a pair of bending portions respectively connected to two ends of the link body and capable of respectively turning downward relative to the link body;

the side brush assembly further comprises an elastic plunger pin;

the connecting rod body also comprises a positioning part which is arranged downwards and is matched and connected with the elastic plunger pin;

through setting up first connecting rod into folding flip structure, realize the upset of limit brush to in taking out first rubbish box and topple over rubbish.

In a preferred embodiment, the robot further includes a water absorption rake assembly disposed at the rear end of the robot in the forward direction, and the water absorption rake assembly includes a water absorption rake, a dust pusher connected to the rear end of the water absorption rake, a fourth lifting motor disposed on the chassis and connected to the water absorption rake, and a second connecting rod connected between the water absorption rake and the fourth lifting motor, so that the water absorption rake assembly is lifted to adapt to different grounds.

In a preferred embodiment, the moving mechanism further comprises:

the driving wheel set comprises a first driving wheel and a second driving wheel, and the first driving wheel and the second driving wheel are oppositely arranged on the lower surface of the chassis;

the guide wheel set is arranged on the front side of the driving wheel set along the advancing direction of the moving mechanism;

the driven wheel set is arranged on the rear side of the driving wheel set along the advancing direction of the moving mechanism;

the driving wheel set, the guide wheel set and the driven wheel set are respectively arranged on the lower surface of the chassis;

at least one of the guide wheel set and the driven wheel set comprises two wheels;

the central point of the driving wheel set and the central point of the chassis are positioned on the same vertical straight line;

the moving mechanism further comprises a suspension system, the suspension system is arranged on the lower surface of the chassis, and two sides of the suspension system are movably connected with the first driving wheel and the second driving wheel respectively;

the robot realizes self smooth operation by arranging at least five wheels and comprising two driving wheels which are oppositely arranged, realizes flexible steering by differential control of the driving wheels, and improves obstacle crossing capability by arranging a suspension system.

The technical scheme provided by the embodiment of the invention has the following beneficial effects:

the invention provides a robot, which comprises a moving mechanism, a first moving mechanism and a second moving mechanism, wherein the moving mechanism comprises a chassis; the floor sweeping component and the floor washing component are arranged on the chassis; the sweeping component comprises a first cleaning piece arranged on the lower surface of the chassis; the floor washing assembly comprises a second cleaning piece arranged on the lower surface of the chassis; the first cleaning piece is arranged on the front side of the second cleaning piece along the advancing direction of the robot, so that the cleaning and washing can be realized, the cleaning effect is improved, and the use experience of a user is improved;

the robot realizes the lifting of corresponding components to adapt to different grounds by arranging a first lifting motor connected with a sweeping component, a second lifting motor connected with the sweeping component, a third lifting motor connected with an edge brush component and a fourth lifting motor connected with a water absorption raking component;

the cleaning of the second cleaning piece is realized by arranging the sub-cleaning rolling brush which is parallel to the second cleaning piece and has different angular speeds;

the second garbage box is opened and automatically dumped under the action of a second lifting motor by optimizing the structure of the second garbage box and arranging a self-discharging cover plate linkage plate, an elastic tensioning piece and an elastic resetting piece;

the first connecting rod of the side brush assembly is arranged to be of a structure comprising a connecting rod body and a pair of bending parts, so that the side brush can be arranged in a turnover mode, and the interference of the side brush on the first garbage box is avoided;

the robot realizes self stable operation by arranging at least five wheels of a moving mechanism and comprising two driving wheels which are oppositely arranged, reduces the turning radius, realizes flexible steering and improves the obstacle crossing capability by arranging a suspension system;

it should be noted that the present invention only needs to achieve at least one of the above technical effects.

Drawings

FIG. 1 is a schematic structural view of a moving mechanism in embodiment 1;

FIG. 2 is a schematic structural view of a driving wheel set and a driving wheel support in embodiment 1;

fig. 3 is a bottom view of the robot in embodiment 1;

FIG. 4 is a perspective view showing the structure of the robot in one angle in embodiment 1;

FIG. 5 is an enlarged view of a portion a of FIG. 4;

FIG. 6 is a perspective view showing another angle of the robot in embodiment 1;

FIG. 7 is a perspective view of an angle of the first cleaning assembly of embodiment 1;

FIG. 8 is a schematic perspective view of another angle of the first cleaning assembly of embodiment 1;

FIG. 9 is an angled perspective view of a second cleaning assembly of example 1;

FIG. 10 is a schematic perspective view showing another angle of the second cleaning member of embodiment 1;

FIG. 11 is a schematic perspective view showing a further angle of the second cleaning assembly of embodiment 1;

FIG. 12 is a schematic view showing the internal structure of a second cleaning unit according to embodiment 1;

fig. 13 is a schematic structural view of the wiper assembly in embodiment 1.

The labels in the figure are: 100-moving mechanism, 10-chassis, 20-driving wheel set, 21-first driving wheel, 22-second driving wheel, 23-driving wheel support, 11-fixed support, 111-first fixed part, 112-second fixed part, 12-yoke assembly, 121-support, 122-upper yoke, 123-lower yoke, 13-buffer assembly, 131-spring sleeve, 132-compression spring, 30-guide wheel set, 31-guide wheel, 40-driven wheel set, 41-first driven wheel, 42-second driven wheel, 50-first mounting rack, 60-second mounting rack, 70-wheel guard, 200-robot, 210-first cleaning assembly, 211-first motor, 212-first cleaning member, 213-first body, 214-first garbage box, 215-dust suction pipe, 216-first driving synchronous pulley, 217-first synchronous belt, 218-first driven end cover, 219-adjustable tension wheel, 220-second cleaning component, 221-second motor, 222-second cleaning component, 223-second body, 224-second garbage box, 2241-box body, 2242-lower cover plate, 2243-self-discharging cover plate linkage plate, 225-spraying unit, 2251-spray head, 2252-water spray pipe joint, 226-self-cleaning unit, 2261-self-cleaning rolling brush, 227-second driving synchronous pulley, 228-second synchronous belt, 229 a-elastic tension component, 229 b-elastic reset component, 230-upper component bracket, 231-second driven end cover, 240-side brush component, 241-side brush, 242-side brush motor, 243-first connecting rod, 2431-connecting rod body, 2432-bending part, 2433-positioning part, 244-elastic plunger pin, 245-third lifting motor, 250-water sucking and raking component, 251-water sucking and raking, 252-dust pushing, 253-fourth lifting motor, 254-second connecting rod, 256-water pumping port, 280-first lifting motor, 281-guide shaft and 290-second lifting motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

In the description of the present invention, it is to be understood that the terms "vertical," "parallel," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In view of the current situation that the requirement for cleaning the floor of the cleaning robot is increasing, the present embodiment provides a robot which can effectively improve the cleaning quality, and the following describes a robot protected by the present invention in detail with reference to fig. 1 to 13.

Example 1

Referring to fig. 1, the present embodiment provides a robot 200, which includes a moving mechanism 100, where the moving mechanism 100 includes a chassis 10, a driving wheel set 20, a guiding wheel set 30, and a driven wheel set 40 disposed on a lower surface of the chassis 10, and at least one of the guiding wheel set 30 and the driven wheel set 40 includes two wheels.

With continued reference to fig. 1 and 2, the chassis 10 is an elliptical-like plate-like structure and has a relatively long diameter in the forward direction. It should be noted that the end where the guide wheel set 30 is located is a forward end, i.e., a forward direction. The driving wheel set 20 includes a first driving wheel 21 and a second driving wheel 22 which are oppositely disposed, and a central point of the driving wheel set 20 and a central point of the chassis 10 are located on the same vertical line, so as to achieve stability of the moving mechanism and reduce a turning radius.

Specifically, the first and

second driving wheels

21 and 22 are mounted on the chassis 10 through a driving wheel bracket 23 provided on a lower surface of the chassis 10, and the first and

second driving wheels

21 and 22 are symmetrically mounted on both sides of the driving wheel bracket 23. Preferably, the driving wheel support 23 is disposed in a direction perpendicular to the advancing direction of the moving mechanism 100, and the center point of the driving wheel support 23 and the center point of the chassis 10 are located on the same vertical line, so as to improve the overall moving stability.

Further, the driving wheel set 20 is located at the middle position of the lower surface of the chassis 10, and the distance between the first driving wheel 21 and the second driving wheel 22 can be actually selected according to the width of the chassis of the robot, which is not limited by the embodiment. It should be noted that, when the turning of the moving mechanism 100 is performed by the differential control of the first driving wheel 21 and the second driving wheel 22, the smaller the distance between the first driving wheel 21 and the second driving wheel 22, the smaller the corresponding turning radius. The present embodiment effectively reduces the turning radius by reducing the distance between the first drive wheel 21 and the second drive wheel 22, and not only realizes rotation in a narrow space, but also realizes compactness of arrangement of surface components on the chassis 10.

With continued reference to fig. 1 and 2, the first driving wheel 21 and the second driving wheel 22 in the present embodiment respectively include motor hubs, and the moving mechanism 100 further includes a hub motor driver (not shown) disposed on the upper surface of the chassis 10. The in-wheel motor driver is connected with the first driving wheel 21 and/or the second driving wheel 22 to control the operation of the first driving wheel 21 and the second driving wheel 22. When one in-wheel motor driver is provided, the in-wheel motor driver simultaneously connects and controls the running direction and speed of the first driving wheel 21 and the second driving wheel 22. Likewise, when two in-wheel motor drivers are provided, each in-wheel motor driver is connected only with the first driving wheel 21 or the second driving wheel 22 to individually control the running direction and speed of the corresponding driving wheel. It should be noted that the connection manner of the hub motor driver and the motor hub of the driving wheel may be one of an electrical connection and a communication connection, which is not limited in this embodiment.

In the embodiment, the first driving wheel 21 and the second driving wheel 22 respectively comprise the motor hubs to realize independent control of the running speed and direction of each driving wheel, so that various running modes such as straight running and turning are realized.

As shown in fig. 1, the guide wheel set 30 is disposed at the front side of the driving wheel set 20 along the advancing direction of the moving mechanism 100, and the driven wheel set 40 is disposed at the rear side of the driving wheel set 20 along the advancing direction of the moving mechanism 100. Moreover, the center point of the driving wheel set 20, the center point of the driven wheel set 40, and the center point of the guiding wheel set 30 are located on the same straight line, and are all located in the same vertical plane with the symmetry axis of the chassis 10 along the advancing direction of the moving mechanism 100, so the present embodiment further improves the operation stability of the moving mechanism by arranging the wheels in a symmetrical structure.

The moving mechanism 100 further includes a first mounting bracket 50 and a second mounting bracket 60, wherein the first mounting bracket 50 is connected between the chassis 10 and the guide wheel set 30, and the second mounting bracket 60 is connected between the chassis 10 and the driven wheel set 40.

Thus, the moving mechanism 100 includes at least 5 wheels, and includes two driving wheels disposed opposite to each other. In a first possible embodiment, the guide wheel set 30 comprises one guide wheel and the driven wheel set 40 comprises two driven wheels. In a second possible embodiment, the guide wheel set 30 comprises two guide wheels and the driven wheel set 40 comprises one driven wheel. In a third possible embodiment, the guide wheel set 30 comprises two guide wheels and the driven wheel set 40 comprises two driven wheels.

Preferably, the guide wheel and the driven wheel are universal wheels.

The guide wheel set 30 and the driven wheel set 40 further comprise wheel protection covers 70 respectively arranged on the outer sides of the guide wheel and the driven wheel, and the wheel protection covers 70 are of annular structures with openings at the lower portions, so that the winding of bottom surface objects and the blocking of wheels to influence the movement can be effectively avoided.

Taking a first possible embodiment as an example, in this embodiment, the guide wheel set 30 includes one guide wheel 31, the driven wheel set 40 includes a first driven wheel 41 and a second driven wheel 42, and the guide wheel 31 is located in a vertical plane on which a symmetry axis of the chassis 10 along the advancing direction of the moving mechanism 100 is located, and the first driven wheel 41 and the second driven wheel 42 are respectively disposed on two sides of the vertical plane.

Preferably, the driving wheel support 23 is a suspension system, and two sides of the suspension system are respectively movably connected with the first driving wheel 21 and the second driving wheel 22, so that the climbing and obstacle crossing capabilities are improved by arranging the suspension system. In particular, the centre line of the suspension system coincides with the centre line of the chassis 10 to meet the mounting requirements for mounting the drive wheels in the middle of the chassis.

Further, as shown in fig. 2, the driving wheel support 23 is embodied as a double-wishbone suspension system, and includes a fixed support 11 connected to the chassis 10, a pair of wishbone assemblies 12 movably connected to both sides of the fixed support 11, respectively, and a pair of buffer assemblies 13 having one end connected to the wishbone assemblies 12 and the other end movably connected to the fixed support 11.

Specifically, the yoke assembly 12 includes a support 121 for mounting the first driving wheel 21 or the second driving wheel 22, an upper yoke 122 and a lower yoke 123, one end of which is hinged to the fixing bracket 11 and the other end of which is fixedly connected to the support 121, and the upper yoke 122 is disposed above the lower yoke 123. The fixed bracket 11 includes a first fixed member 111 connected to the chassis 10 and a second fixed member 112 connected to the first fixed member 111, and the second fixed member 112 is movably connected to the yoke assembly 12.

The cushion assembly 13 includes a spring sleeve 131 and a compression spring 132, wherein one end of the compression spring 132 is connected to the first fixing member 111, and the other end is disposed in the spring sleeve 131.

Illustratively, when the first driving wheel 21 passes through the bump, i.e. the obstacle crossing, the first driving wheel 21 is pressed upward, the corresponding side yoke assembly 12 is opened upward and outward by a certain angle, the spring sleeve 131 moves upward along with the first driving wheel and compresses the compression spring 132 therein, the first driving wheel 21 is still in the ground gripping state, the friction force between the first driving wheel 21 and the ground is increased, and the climbing and obstacle crossing capability is enhanced. When the first driving wheel 21 passes through the recess, the pressure applied to the first driving wheel 21 is instantaneously reduced, the corresponding side yoke assembly 12 is folded downward and at a certain angle, the spring sleeve 131 moves downward and the compression spring 132 inside the spring sleeve releases the length, and at this time, the first driving wheel 21 is still in the ground-catching state.

Of course, in the above process, the second driving wheel 22, the guide wheel 31, the first driven wheel 41, and the second driven wheel 42 are still in the ground gripping state if they are still on the flat ground. When the second driving wheel 22 passes over a convex or concave ground, the state coincides with the first driving wheel 21. When any one or two of the guide wheel 31, the first driven wheel 41 and the second driven wheel 42 pass through a convex or concave ground, the rest at least one wheel is still in a ground gripping state with the first driving wheel 21 and the second driving wheel 22, and the running stability can still be maintained. Therefore, the moving mechanism 100 provided in the embodiment has better stability and flexible steering in a narrow space compared to the conventional three-wheel or four-wheel structure by providing at least five wheels, and two of the wheels are driving wheels arranged oppositely, and further improves the obstacle crossing capability based on the dual-fork arm suspension system with the driving wheels.

The robot 200 provided in this embodiment further includes a moving mechanism 100 as a bearing member, and is applied to various types of robots, such as a cleaning robot or a dispensing robot, and the present embodiment is not limited thereto. For further clarity of the structure and operation of the robot, the following description is further provided with reference to fig. 3-13.

As shown in fig. 3-9, the robot 200 includes a moving mechanism 100, a first cleaning assembly 210 and a second cleaning assembly 220 disposed on a chassis 10, an upper assembly bracket 230 connected to the moving mechanism 100, and a housing (not shown) disposed by using the upper assembly bracket 230 as a framework and accommodating the components above the chassis 10, wherein the first cleaning assembly 210 includes a first motor 211 disposed on the lower surface of the chassis 10 and a first cleaning member 212 connected to the first motor 211. The second cleaning assembly 220 includes a second motor 221 disposed on the lower surface of the chassis 10 and a second cleaning member 222 connected to the second motor 221. The first motor 211 controls the operation of the first cleaning member 212 to effect cleaning of the floor surface thereof, and the second motor 221 controls the operation of the second cleaning member 222 to effect cleaning of the floor surface thereof. Therefore, the robot 200 in this embodiment automatically cleans the floor by disposing a cleaning member and a corresponding motor under its chassis 10.

Specifically, the first cleaning member 212 and the second cleaning member 222 are perpendicular to the forward direction of the robot 200, respectively, and when the robot 100 is a floor washing robot, the first cleaning member 212 is a sweeping roller brush, and the second cleaning member 222 is a nylon floor washing roller brush for washing the floor, or a cloth roller brush for mopping the floor, which can be selectively installed. The first cleaning element 212 is disposed between the guide wheel set 30 and the driving wheel set 20, and the second cleaning element 222 is disposed between the driving wheel set 20 and the driven wheel set 40, that is, in the moving direction of the robot 200, the sweeping roller brush is disposed at the front side of the floor washing roller brush, so as to sweep the floor first and then wash the floor, thereby improving the cleaning effect.

With reference to fig. 7 and 8, the first cleaning assembly 210 further includes a first body 213 connected to the chassis 10, a first garbage box 214 detachably embedded in the first body 213, and a dust suction pipe 215 connected to the first garbage box 214, the first garbage box 214 is a flat box structure with an opening, the first cleaning member 212 is at least partially embedded in the first garbage box 214 and is disposed at the opening of the first garbage box 214 to be attached to the ground, the first cleaning member 212 sweeps the garbage into the opening of the first garbage box 214 and sucks the garbage into the first garbage box 214 under the continuous suction action of the dust suction pipe 215 to clean the garbage. The first motor 211 is a driving motor, and is disposed above the first garbage box 214 and at the driving end of the first cleaning member 212. The first cleaning component 210 further comprises a first transmission synchronous belt wheel 216 and a first synchronous belt 217, one end of the first synchronous belt 217 is sleeved on an output shaft of the first motor 211 and rotates synchronously therewith, one end of the first cleaning piece 212 penetrates through the first garbage box 214 and is connected with the first transmission synchronous belt wheel 216, the other end of the first synchronous belt 217 is sleeved on the first transmission synchronous belt wheel 216 to drive the first cleaning piece 212 and the output end of the first motor 211 to rotate synchronously so as to clean the ground. Preferably, the tension of the first timing belt 217 can be adjusted by providing an adjustable tension pulley 219 engaged with the first timing belt 217. Accordingly, the first waste bin 214, which corresponds to the driven end of the first cleaning member 212, is provided with an openable and closable first driven cap 218, and the first cleaning member 212 can be attached and detached by opening the first driven cap 218.

Preferably, as shown in fig. 4, the robot 200 further includes a first lifting motor 280 connected to the upper surface of the first body 213 of the first cleaning assembly 210, the first lifting motor 280 is disposed on the chassis 10, the output end of the first lifting motor is connected to the first body 213, and when the output end performs telescopic motion, the first cleaning assembly 210 is driven to lift up and down integrally, so as to adjust the distance between the first cleaning member 212 and the ground, so that when the robot is in a working state, the first cleaning member 212 is attached to the ground, and when the robot is not in a working state, the first cleaning member 212 is at a certain height, such as 20mm, from the ground. Preferably, the robot 200 further includes a lifting guide shaft 281 and a guide passage provided on the chassis 10, wherein the lifting guide shaft 281 penetrates the chassis 10 and has one end connected to the first body 213 to move up and down in the guide passage.

The robot 200 further includes side brush assemblies 240 provided in pairs at both sides of the guide wheel assembly 30. The side brush assembly 240 includes a pair of side brushes 241 vertically disposed at both sides of the guide wheel set and corresponding side brush motors 242. The side brush assembly 240 is provided to sweep garbage in front of the robot 200 into the lower part of the robot in a concentrated manner, thereby facilitating the concentrated sweeping.

Specifically, the side brush assembly 240 further includes a third lifting motor 245 and a first connecting rod 243 having two ends connected to one side brush 241, the first connecting rod 243 is connected to an output end of the side brush motor 242, and the first connecting rod 243 is lifted under the action of the third lifting motor 245, that is, the side brush 241 is lifted. To this end, the first mounting bracket 50 is provided with a passage to be engaged with the first link 243. Preferably, the first mounting bracket 50 is a hollowed-out bracket. By providing the passage in the first mounting bracket 50, installation interference between the first mounting bracket 50 and the first link 243 of the side brush assembly 240 can be prevented, thereby improving assembly compactness.

Preferably, as shown in fig. 4 and 5, the first link 243 includes a link body 2431 and a pair of bending portions 2432 respectively connected to two ends of the link body 2431, the bending portions 2432 are connected to the link body 2431 by hinges and are provided with a return torsion spring, and the bending portions 2432 can be bent downward and turned over relative to the link body 2431 and automatically return. The side brush assembly 240 further includes an elastic plunger pin 244, the link body 2431 includes a positioning portion 2433 detachably coupled to the elastic plunger pin 244, and the side brush 241 and the side brush motor 242 are connected to the bent portion 2432. Bending the bending part 2432 downwards and inserting the elastic plunger pin 244 into the positioning part 2433 to realize the fixation of the bending part 2432 and realize the ground pasting of the side brush 241; the elastic plunger pin 244 is pulled out from the positioning portion 2433, and the bending portion 2432 is reset and drives the side brush 241 to be turned up under the action of the torsion spring, so that the first garbage box 214 is prevented from being interfered, and the first garbage box 214 can be pulled out for garbage dumping.

As shown in fig. 9-12, similar to the first cleaning assembly 210, the second cleaning assembly 220 further includes a second body 223 connected to the chassis 10, and a second garbage box 224 detachably connected to the second body 223, the second body 223 and the second garbage box 224 cooperate to form a cavity for accommodating garbage, a lower portion of the cavity is open, the second cleaning member 222 is embedded in the cavity and attached to the floor at the opening, and the second cleaning member 222 cleans the floor and delivers the garbage into the cavity. The second cleaning assembly 220 further includes a spraying unit 225 and a self-cleaning unit 226, the spraying unit 225 includes a water tank (not shown), a spray head 2251 disposed in the cavity and coupled to the second cleaning member 222, and a spray pipe connector 2252 having one end connected to the water tank and the other end connected to the spray head 2251, and the second cleaning member 222 and the floor are cleaned by the spraying unit 225.

The self-cleaning unit 226 includes a self-cleaning rolling brush 2261 arranged in parallel with the second cleaning member 222, the self-cleaning rolling brush 2261 is a toothed structure made of hard material, the edge of the self-cleaning rolling brush 2261 abuts against the edge of the second cleaning member 222, the self-cleaning rolling brush 2261 rotates under the friction force of the second cleaning member 222, the second cleaning member 222 is cleaned by the self-cleaning rolling brush 2261 through the speed difference between the second cleaning assembly 220 and the self-cleaning rolling brush 2261, and the second garbage box 224 is arranged below the self-cleaning rolling brush 2261 to contain and receive the dropped garbage.

The second cleaning assembly 220 further comprises a second driving synchronous pulley 227 and a second synchronous belt 228, the second driving synchronous pulley 227 is connected with an output shaft of the second motor 221 and rotates synchronously therewith, and one end of the second cleaning member 222 passes through the second garbage box 224 and is connected with the second driving synchronous pulley 227 to rotate synchronously to clean the ground.

Preferably, the driving end of the self-cleaning rolling brush 2261 passes through the second garbage box 224 and is matched with the second timing belt 228, and is rotated by the second timing belt 228, and as a preference, one end of the self-cleaning rolling brush 2261 is also provided with a timing pulley and is matched with the second timing belt 228. It should be noted that the diameter of the self-cleaning roller brush 2261 is smaller than that of the second cleaning member 222, and in this state, the linear velocity of the self-cleaning roller brush 2261 is the same as that of the second cleaning member 222, but the angular velocity of the self-cleaning roller brush 2261 is larger, so that the rotation speed of the self-cleaning roller brush 2261 is different from that of the second cleaning member 222, so as to achieve the purpose that the self-cleaning roller brush 2261 cleans the second cleaning member 222.

Preferably, as shown in fig. 9-12, the second cleaning assembly 220 further includes a resilient tensioning member 229a and a return member 229 b. The second garbage box 224 includes a box 2241, a lower cover 2242 connected to one side of the box 2241 far from the second cleaning member 222 in an openable and closable manner, and a self-discharging cover linkage 2243 connected to one side of the lower cover 2242 close to the driving wheel set 20. The elastic tensioning piece 227 is arranged in a cavity formed by the second body 223 and the second garbage box 224, one end of the elastic tensioning piece is connected with the lower cover plate 2242, the other end of the elastic tensioning piece is connected with the inner wall of the top cover of the second body 223, the elastic resetting piece 229b is hinged with one side, close to the second cleaning piece 222, of the lower cover plate 2242, and under the combined action of the tension spring 229a and the elastic resetting piece 229b, the box body 2241 and the lower cover plate 2242 are in a closed state normally. Preferably, the elastic tension member 227 is a tension spring, and the elastic restoring member 229b is a torsion spring.

Similarly, as shown in fig. 3 and 6, the robot 200 further includes a second lifting motor 290 connected to the upper surface of the second body 223 of the second cleaning assembly 220, the second lifting motor 290 is disposed on the chassis 10, and the output end of the second lifting motor 290 is connected to the second body 223, and when the output end performs telescopic motion, the second lifting motor drives the second cleaning assembly 220 to lift integrally, so as to adjust the distance between the second cleaning member 212 and the ground. When the output shaft of the second lifting motor 290 drives the second cleaning assembly 220 to move upwards, the self-discharging cover plate linkage plate 2243 is tightly abutted to the first fixing member 111 and cannot move upwards along with the second cleaning assembly 220 under the interference of the first fixing member 111, and under the existence of the elastic reset member 229b, the lower cover plate 2242 is opened after one side of the lower cover plate 2242 is stopped to move upwards under the driving of the self-discharging cover plate linkage plate 2243, so that the automatic dumping of garbage is realized. If the robot 200 is in the non-operating state, the second cleaning assembly 220 is lifted upwards by 20mm compared to the operating state, and under the action of the second lifting motor 290, the second cleaning assembly 220 is lifted upwards by 40mm compared to the operating state, at this time, the self-discharging cover plate linkage plate 2243 abuts against the first fixing member 111 and cannot be turned upwards along with the second cleaning assembly 220 to open under the interference of the first fixing member 111, so that the lower cover plate 2242 is opened to automatically pour out the garbage. Preferably, the robot 200 further includes a lifting guide shaft (not shown) and a guide passage provided on the chassis 10, the lifting guide shaft passing through the chassis and having one end connected to the second body 223 to move up and down in the guide passage.

Similarly, the driven end of the second cleaning assembly 220 is provided with a second driven end cap 231 which can be opened and closed, and the second cleaning member 222 and the self-cleaning roll brush 2241 can be assembled and disassembled by opening the second driven end cap 231.

In addition, as shown in fig. 3, 6 and 13, the robot 200 further includes a water sucking raking assembly 250 disposed at the tail end thereof, the water sucking raking assembly 250 includes a water sucking raking 251, a dust pushing 252 connected to the rear end of the water sucking raking 251, and a fourth lifting motor 253 disposed on the chassis 10 and having an output end connected to the water sucking raking 251, and the fourth lifting motor 253 is disposed to enable the water sucking raking 251 and the dust pushing 252 to vertically lift.

Preferably, the water sucking rake assembly 250 further includes a second connecting rod 254 connected between the fourth lifting motor 253 and the water sucking rake 251, the second connecting rod 254 includes an ear-shaped structure 255, the middle portion of the ear-shaped structure 255 is sleeved on the output end of the fourth lifting motor 253, and two ends of the ear-shaped structure are respectively connected with two corresponding sides of the water sucking rake 251. Further preferably, the fourth lifting motor 253 is arranged above the second mounting frame 60, the output shaft is movably arranged in the second mounting frame 60 through the chassis 10, and a through hole matched with the output shaft is arranged in the middle of the second mounting frame 60, so as to avoid installation interference and improve assembly compactness.

Preferably, the second link 254 is a four-bar linkage, so that the suction unit 251 and the dust pusher 252 can be lifted vertically.

The suction rake 251 is used for sucking the moisture on the ground, so it is a hollow structure, and has a suction opening on the ground, and a pumping opening 256 on the opposite upper side, which is communicated with a sewage tank (not shown).

Preferably, the dust pusher 252 and the water absorbing scraper 251 comprise elastic guide components, each elastic guide component comprises a guide shaft, an elastic member and a guide hole arranged on the dust pusher 252, the guide shafts and the elastic members are arranged in the guide holes in a penetrating manner, so that relative floating between the dust pusher 252 and the water absorbing scraper 251 after encountering ground obstacles is realized, and the elastic members can enable the dust pusher 252 to be arranged in a ground-attached manner. When the moving mechanism 100 is applied to a cleaning robot in the embodiment, the first cleaning member 212, the second cleaning member 222, the edge brush 241, the water sucking rakes 251 and the dust pusher 252 are required to be in contact with and act on the ground during working, and the cleaning members need to be lifted to reduce friction and move conveniently during non-working, so that the cleaning members have certain height requirements, the first cleaning component 210 and the second cleaning component 220 are positioned in the middle of the chassis, the required space is large, and the adjusting space in the vertical direction is small, so that the cleaning members are preferable, two groove structures are arranged at corresponding positions of the chassis 10, and at least parts of the first cleaning component 210 and the second cleaning component 220 are respectively embedded in the groove structures, so that the height requirements are realized, and the structure compactness is improved.

Of course, the robot in this embodiment further includes necessary components for the robot, such as a battery, a power supply, and a sensor for sensing an obstacle, which are conventional in the art, and this embodiment will not be further described.

The embodiment provides a robot based on a moving mechanism, which can realize overall stable movement and flexible turning under the load of the optimized moving mechanism, can flexibly turn to operate even in a small space, improves the cleaning coverage of the robot, and improves the practicability and the user experience; furthermore, the robot can improve the cleaning effect by cleaning and then cleaning; and furthermore, the automatic dumping of the garbage is realized by optimizing the structure, and the automation is further realized.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present invention, that is, any multiple embodiments may be combined to meet the requirements of different application scenarios, which are within the protection scope of the present application and are not described herein again.

It should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the present invention, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, comprising:

a movement mechanism comprising a chassis;

the first cleaning piece is arranged on the front side of the second cleaning piece along the advancing direction of the robot, and the arrangement directions of the first cleaning piece and the second cleaning piece are respectively vertical to the advancing direction of the robot.

2. The robot of claim 1, wherein the sweeping assembly further comprises:

the dust collection pipe is connected with the first garbage box;

the sweeping assembly further comprises a first transmission synchronous belt wheel and a first synchronous belt;

one end of the first synchronous belt is sleeved on the output end of the first motor, and the other end of the first synchronous belt is sleeved on the first transmission synchronous belt wheel.

3. The robot of claim 2, further comprising a first lifting motor, wherein the first lifting motor is disposed on the upper surface of the chassis, and an output end of the first lifting motor is connected to the sweeping assembly.

4. The robot of claim 1, wherein the floor washing assembly further comprises:

a spray unit cooperating with the second cleaning member;

the ground washing assembly further comprises a second transmission synchronous belt wheel and a second synchronous belt;

one end of the second synchronous belt is sleeved on the output end of the second motor, and the other end of the second synchronous belt is sleeved on the second transmission synchronous belt wheel.

5. A robot as claimed in claim 4, wherein the floor washing assembly further comprises a self-cleaning roller brush arranged in parallel with the second cleaning member, the self-cleaning roller brush being rotated at a different angular velocity to the second cleaning member;

the second synchronous belt is sleeved at one end of the self-cleaning rolling brush to drive the self-cleaning rolling brush to rotate.

6. The robot according to claim 4 or 5, wherein the second garbage box comprises a box body, a lower cover plate and a self-discharging cover plate linkage plate, the box body is connected with the lower cover plate in an openable and closable manner, the self-discharging cover plate linkage plate is connected with the lower cover plate and is positioned in the same plane with the lower cover plate, and a free end of the self-discharging cover plate linkage plate is movably connected with the moving mechanism;

the robot further comprises a second lifting motor, the second lifting motor is arranged on the upper surface of the chassis, and the output end of the second lifting motor is connected with the ground washing assembly.

7. The robot of claim 2, further comprising edge brush assemblies disposed in pairs on opposite sides of the guide wheel set;

the robot further comprises a third lifting motor, the third lifting motor is arranged on the upper surface of the chassis, and the output end of the third lifting motor is connected with the first connecting rod.

8. The robot of claim 7, wherein the first link includes a link body and a pair of bending portions respectively connected to two ends of the link body and respectively tiltable downward relative to the link body;

the side brush assembly further comprises an elastic plunger pin;

the connecting rod body further comprises a positioning part which is arranged downwards and is matched and connected with the elastic plunger pin.

9. A robot as claimed in any one of claims 1 to 5, 7 and 8, further comprising a water sucking assembly arranged at the rear end of the robot in the forward direction, wherein the water sucking assembly comprises a water sucking rake, a dust pusher connected to the rear end of the water sucking rake, a fourth lifting motor arranged on the chassis and connected to the water sucking rake, and a second connecting rod connected between the water sucking rake and the fourth lifting motor.

10. The robot of claim 1, wherein the moving mechanism further comprises:

the moving mechanism further comprises a suspension system, the suspension system is arranged on the lower surface of the chassis, and two sides of the suspension system are movably connected with the first driving wheel and the second driving wheel respectively.