CN114204897A

CN114204897A - Cleaning robot capable of automatically crossing obstacle

Info

Publication number: CN114204897A
Application number: CN202111397212.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Youtu Innovation Co ltd
Current assignee: Youtu Innovation Co ltd
Priority date: 2021-11-23
Filing date: 2021-11-23
Publication date: 2022-03-18

Abstract

The invention relates to a cleaning robot capable of automatically crossing obstacles, which comprises a frame, a shell, a wheel set assembly, a support assembly and a mop assembly, wherein the shell is fixedly arranged on the frame; the shell is connected with the frame, the wheel set assembly comprises a fixed seat, a rotating power element and a pulley, the fixed seat is slidably arranged on the shell, and the rotating power element is used for driving the pulley to rotate; the mop component comprises a roller mop, and the roller mop is rotationally connected with the supporting component. The cleaning robot capable of automatically crossing obstacles drives the pulleys to rotate by rotating the power element, so that the moving functions of advancing, retreating and rotating are realized, and the flexibility of movement is improved; the fixed seat is slidably arranged on the shell, can move up and down along with the external terrain, and improves the performance of crossing obstacles; the cleaning robot capable of automatically crossing obstacles has a compact structure and is convenient to use.

Description

Cleaning robot capable of automatically crossing obstacle

Technical Field

The invention relates to the technical field of robots, in particular to a cleaning robot capable of automatically crossing obstacles.

Background

Under the condition of increasing shortage of energy, solar energy as a novel clean energy source becomes an important resource for the vigorous popularization and development of national society at present. In long-term use, the solar panels installed in outdoor spaces are covered with contaminants such as dust, bird droppings, etc., reducing the power generation efficiency and the lifespan of the panels, and thus require cleaning.

When the panels are installed and fixed on the outdoor site, large gaps with different intervals exist among the panels due to the requirements of production, assembly and maintenance, and when the solar cleaning robot works, different gap intervals among the panels need to be spanned. However, most of the existing solar panel cleaning robots pass through the crawler belt structures arranged on two sides of the robot to provide motion power for the robot, and due to the limitation of the length of the crawler belt, the robot is large in overall size and heavy in weight, and is not convenient for crossing obstacles.

Disclosure of Invention

In view of the above, there is a need to provide a cleaning robot that can automatically cross obstacles, which is compact and easy to use.

A cleaning robot capable of automatically crossing obstacles comprises a frame, a shell, a wheel set assembly, a support assembly and a mop assembly; the shell is connected with the frame, the wheel set assembly comprises a fixed seat, a rotating power element and a pulley, the fixed seat is arranged on the shell in a sliding mode, and the rotating power element is used for driving the pulley to rotate; the mop assembly comprises a roller mop, and the roller mop is rotatably connected with the supporting assembly.

In one embodiment, the wheel assembly further includes a plurality of first rolling members, a first bracket and a second bracket, and the first rolling members are slidably disposed at one end of the housing; the first brackets are respectively arranged at two opposite ends of the fixed seat, and the first rolling parts are respectively connected with the first brackets in a rotating manner; the second supports are arranged on one sides of the first supports, and the first rolling parts are respectively connected to the second supports in a rotating mode.

In one embodiment, the wheel set assembly further includes a plurality of sliding members, and each of the sliding members is rotatably connected to the first bracket and the second bracket; the sliding piece is arranged on one side of the shell in a sliding mode.

In one embodiment, the wheel assembly further includes a plurality of first elastic members, one end of each first elastic member is connected to the first bracket, and the other end of each first elastic member is connected to the housing.

In one embodiment, the device further comprises an auxiliary assembly, wherein the auxiliary assembly comprises a support, an auxiliary wheel and a sensor, the support is slidably arranged on the shell, the auxiliary wheel is rotatably connected to the support, the sensor is mounted on the support, and the sensor is used for measuring mileage data of the auxiliary wheel; the auxiliary assembly further comprises a mounting frame, a plurality of second rolling pieces and a plurality of second elastic pieces, the mounting frame is connected with the supporting piece, the second rolling pieces are respectively and rotatably connected to the mounting frame, and the second rolling pieces are slidably arranged on the inner side of the shell; the second elastic piece is a plurality of, the one end of second elastic piece is connected the mounting bracket, and the other end is connected the shell.

In one embodiment, the supporting assembly comprises a supporting shell, a first side plate, a second side plate and a bar, wherein the first side plate and the second side plate are respectively connected with two ends of the supporting shell; one end of the bar is rotatably connected with the first side plate, the other end of the bar is rotatably connected with the second side plate, and the bar is arranged on one side of the roller mop; the distance between the bar and the contact surface is greater than that between the roller mop and the contact surface, and the distance between the bar and the contact surface is less than that between the support shell and the contact surface.

In one embodiment, the ends of the first side plate and the second side plate close to the bar are chamfered.

In one embodiment, the mop assembly further comprises a mop power element mounted to the support assembly and a connector to the mop power element, the connector being fixedly attached within the roller mop.

In one embodiment, the mop further comprises a water supply assembly, wherein the water supply assembly comprises a clean water tank and a drip sheet connected with the clean water tank, the clean water tank is connected with the support assembly, the drip sheet is installed in the support assembly, and the drip sheet is used for dripping water towards the roller mop.

In one embodiment, the automatic cleaning device further comprises a self-cleaning component, wherein the self-cleaning component comprises a sewage tank and a scraping blade, and the sewage tank is covered by the water tank; the doctor-bar includes connecting portion, extension, curb plate portion and guide part, the one end of connecting portion is used for the butt the cylinder mop, the other end is connected the extension, the extension is followed one side of sewage case extends to the opposite one side of sewage case, the vertical connection of curb plate portion the one end of connecting portion, the guide part is protruding to be located the extension.

Compared with the prior art, the invention has the following beneficial effects:

the cleaning robot capable of automatically crossing obstacles drives the pulley to rotate by rotating the power element, so that the moving functions of advancing, retreating and rotating are realized, and the flexibility of movement is improved; the fixed seat is slidably arranged on the shell, can move up and down along with the external terrain, and improves the performance of crossing obstacles; the cleaning robot capable of automatically crossing obstacles has a compact structure and is convenient to use.

Drawings

FIG. 1 is a schematic diagram of an assembly structure of an automatic obstacle-crossing cleaning robot according to a preferred embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a housing, a wheel set assembly and an auxiliary assembly of the robot cleaner of FIG. 1;

FIG. 3 is a schematic view of another angle of FIG. 2;

FIG. 4 is a schematic structural view of the wheel set assembly of FIG. 2, wherein the cover plate and the first resilient member are not shown;

FIG. 5 is a schematic structural view of the auxiliary assembly shown in FIG. 2, wherein the second elastic member and the position sensor are not shown;

FIG. 6 is a schematic view illustrating an assembly structure of a support assembly, a mop assembly, a water supply assembly and a self-cleaning assembly of the robot cleaner for automatically crossing obstacles shown in FIG. 1;

FIG. 7 is a schematic view of another angle of FIG. 6;

FIG. 8 is an exploded view of FIG. 6;

FIG. 9 is a cross-sectional view taken along line A-A of FIG. 6;

fig. 10 is a schematic structural view of the wiper blade of fig. 8.

Reference is made to the accompanying drawings in which:

a cleaning robot 100 that automatically crosses an obstacle;

the device comprises a shell 10, a shell 11, an abdicating groove 111, a first limiting groove 112, a second limiting groove 113, a first sliding groove 114, a second sliding groove 115, a partition plate 12, a wheel set assembly 20, a fixed seat 21, a bottom shell 211, a cover plate 212, a rotary power element 22, a pulley 23, a driven wheel 24, a first rolling member 25, a first bracket 26, a second bracket 27, a sliding member 28, a first elastic member 29, an auxiliary assembly 30, a supporting member 31, an auxiliary wheel 32, a sensor 33, a mounting frame 34, a second rolling member 35, a second elastic member 36 and a position sensing member 37;

the mop comprises a support assembly 40, a support shell 41, a first side plate 42, a first sleeve 43, a second side plate 44, a second sleeve 45, a bar 46, a mop assembly 50, a roller mop 51, a mop power element 52, a connecting piece 53, a bearing 54, a water supply assembly 60, a clean water tank 61, a drip sheet 62, a water supply power element 63, a tank cover 64, a press sheet 65, a key 66, a water inlet plug 67, a self-cleaning assembly 70, a dirty water tank 71, a wiper 72, a connecting part 721, an extending part 722, a through hole 7220, a hydrophobic hole 7221, a side plate part 723, a guide part 724, a clamping part 725 and a drain plug 73.

Detailed Description

In order that the invention may be more fully understood, reference will now be made to the following description. 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. When the number of an element is referred to as "a plurality," it can be any number of two or more. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 10, an automatic obstacle-crossing cleaning robot 100 according to a preferred embodiment of the present invention includes a frame (not shown), a housing 10, a wheel assembly 20, a support assembly 40, and a mop assembly 50; the wheel set assembly 20 includes a fixed base 21, a rotary power element 22 and a pulley 23. The cleaning robot 100 capable of automatically crossing obstacles drives the pulley 23 to rotate by rotating the power element 22, so that the moving functions of advancing, retreating and rotating are realized, and the flexibility of movement is improved; the fixing seat 21 is slidably arranged on the shell 10, and can move up and down along with the external terrain, so that the performance of crossing obstacles is improved.

As shown in fig. 1 to 3, in the present embodiment, a housing 10 is connected to a frame (not shown), the housing 10 includes a housing 11 and a partition 12 connected to the housing 11, the partition 12 divides the housing 11 into a wheel set accommodating cavity (not shown) and a sub-wheel accommodating cavity (not shown); optionally, one side of the housing 11 is provided with a yielding groove 111, two ends of the housing 11 are respectively provided with a plurality of first limiting grooves 112 and a plurality of second limiting grooves 113, and inner sides of two ends of the housing 11 are respectively provided with a plurality of first sliding grooves 114 and a plurality of second sliding grooves 115; the housing 11 is fixed to the frame by screws; furthermore, the number of the first limiting grooves 112 and the number of the second limiting grooves 113 are two, the two first limiting grooves 112 are respectively communicated with two ends of the wheel set accommodating cavity, and the two second limiting grooves 113 are respectively communicated with two ends of the auxiliary wheel accommodating cavity; the number of the first sliding grooves 114 is four, and two first sliding grooves 114 are respectively arranged on two sides of the first limiting groove 112; the number of the second sliding grooves 115 is four, and two second sliding grooves 115 are respectively disposed on two sides of the second limiting groove 113.

As shown in fig. 2 to 4, the wheel set assembly 20 includes a fixing seat 21, a rotating power element 22 and a pulley 23, the fixing seat 21 is accommodated in the wheel set accommodating cavity, and the fixing seat 21 is slidably disposed on the housing 10; the rotating power component 22 is arranged on the fixed seat 21, and the rotating power component 22 is used for driving the pulley 23 to rotate; the pulley 23 is rotatably connected to the fixed seat 21; optionally, the fixing base 21 includes a bottom shell 211 and a cover plate 212 covering the bottom shell 211, the rotating power element 22 is installed at one side of the bottom shell 211, and the rotating power element 22 is slidably disposed in the receding groove 111; further, the rotary power element 22 is a motor, and the pulley 23 is a rubber wheel. The wheelset assembly 20 further includes a sensor (not shown) disposed within the rotating power element 22 for calculating a rotational speed of the rotating power element 22; optionally, the sensing element is an encoder. In an embodiment, the wheelset assembly 20 further includes a driving wheel (not shown), a synchronizing wheel (not shown), and a driven wheel 24, wherein the driving wheel, the synchronizing wheel, and the driven wheel 24 are all disposed in the fixing base 21, the rotating power element 22 is configured to drive the driving wheel to rotate, the synchronizing wheel is respectively engaged with the driving wheel and the driven wheel 24, and the driven wheel 24 is connected to the pulley 23.

As shown in fig. 4, the wheel assembly 20 further includes a plurality of first rolling members 25, each of the first rolling members 25 is rotatably connected to the fixing base 21, and the first rolling members 25 are slidably disposed inside the outer shell 10. Optionally, the first rolling element 25 is slidably disposed at one end of the housing 10; further, the first rolling member 25 is slidably disposed in the first sliding groove 114, and the first rolling member 25 is a bearing. In an embodiment, the wheel assembly 20 further includes a plurality of first brackets 26, each first bracket 26 is respectively installed at two opposite ends of the fixed base 21, and each first rolling member 25 is respectively rotatably connected to the first brackets 26; optionally, the first bracket 26 is convexly disposed on the housing 10, and the first bracket 26 is slidably disposed in the first limiting groove 112 for limiting; further, the first rolling members 25 are mounted on both sides of the first bracket 26; the number of the first brackets 26 is two, and the two first brackets 26 are respectively connected with two ends of the fixed seat 21. In an embodiment, the wheel assembly 20 further includes a plurality of second brackets 27, the second brackets 27 are mounted on one side of the first bracket 26, and each of the first rolling members 25 is rotatably connected to the second bracket 27; optionally, the first rolling members 25 are mounted on both sides of the second bracket 27; the number of the second brackets 27 is two, and the two second brackets 27 are respectively connected with two ends of the fixed seat 21. In one embodiment, the wheel assembly 20 further includes a plurality of sliding members 28, each sliding member 28 is rotatably connected to the first bracket 26; the sliding part 28 is arranged inside the shell 10 in a sliding way to ensure the stable structure; optionally, the sliding member 28 is slidably disposed on one side of the housing 10, and the sliding member 28 is a bearing; further, each sliding member 28 is rotatably connected to the second bracket 27, preferably, the sliding members 28 are mounted on both sides of the first bracket 26, the sliding members 28 are mounted on both sides of the second bracket 27, one sliding member 28 is slidably disposed on one side of the housing 11, and one sliding member 28 is slidably disposed on one side of the partition 12.

As shown in fig. 3, the wheel assembly 20 further includes a plurality of first elastic members 29, one end of each first elastic member 29 is connected to the first bracket 26, and the other end of each first elastic member 29 is connected to the housing 10, so that the first bracket 26 is reset; optionally, there are two first elastic members 29, and the first elastic members 29 are disposed in one-to-one correspondence with the first brackets 26; further, the first elastic member 29 is a tension spring.

As shown in fig. 3 and 5, the auxiliary assembly 30 includes a supporting member 31, an auxiliary wheel 32 and a sensor 33, the supporting member 31 is accommodated in the auxiliary wheel accommodating cavity, the supporting member 31 is slidably disposed on the housing 10, the auxiliary wheel 32 is rotatably connected to the supporting member 31, the sensor 33 is mounted on the supporting member 31, and the sensor 33 is used for measuring mileage data of the auxiliary wheel 32; optionally, the sensor 33 is an encoder; further, the auxiliary assembly 30 further includes a coupling member (not shown) having one end fixedly connected to the auxiliary wheel 32 and the other end connected to the sensor 33. Since the speed calculated by the sensing element in the rotating power element 22 is affected by various factors (e.g., the faceplate is wet and the pulley 23 is slipping, etc.), positioning by the sensing element in the rotating power element 22 alone is not reliable, and the sensor 33 is added to improve accuracy.

In an embodiment, the auxiliary assembly 30 further includes a mounting bracket 34, a second rolling element 35 and a second elastic element 36, the mounting bracket 34 is accommodated in the auxiliary wheel accommodating cavity, and the mounting bracket 34 is connected to the supporting element 31; the number of the second rolling members 35 is multiple, each second rolling member 35 is rotatably connected to the mounting frame 34, and the second rolling members 35 are slidably disposed inside the housing 10; optionally, the mounting frame 34 is slidably disposed in the second limiting groove 113 for limiting; the second rolling element 35 is arranged at one end of the shell 10 in a sliding way; further, the second rolling members 35 are mounted on two sides of the mounting frame 34, the second rolling members 35 are slidably disposed in the second sliding groove 115, and the second rolling members 35 are bearings. The second elastic member 36 is provided with a plurality of second elastic members 36, one end of each second elastic member 36 is connected with the mounting frame 34, and the other end of each second elastic member 36 is connected with the shell 10, so that the mounting frame 34 can be reset; optionally, two second elastic members 36 are provided, and the two second elastic members 36 are respectively mounted at two ends of the mounting frame 34; further, the second elastic member 36 is a tension spring. The auxiliary assembly 30 further includes a position sensing member 37, the position sensing member 37 being mounted on the housing 10, the position sensing member 37 being used to sense the position of the first bracket 26. Optionally, the position sensor 37 is mounted at one end of the housing 10, and further, the position sensor 37 is a touch switch. In operation, the first support 26 does not trigger the position sensing member 37; when the housing 10 is lifted, the first support 26 slides down along the housing 10 until the first support 26 triggers the position sensor 37, and the rotating power element 22 stops operating, thereby functioning as an automatic control switch.

In an embodiment, the number of the outer shell 10, the number of the wheel set assemblies 20 and the number of the auxiliary assemblies 30 are two, the two outer shells 10 are in one-to-one correspondence, the two outer shells 10 are respectively installed on two sides of the middle portion of the frame, and the two wheel set assemblies 20 are more accurate in the rotating process compared with a crawler belt scheme, and the rotating center is relatively stable, so that calculation and planning of an algorithm are facilitated. In use, the average value of the sensing elements in the two rotary power elements 22 is converted into the linear speed of the machine, and the phase difference value of the two sensing elements is converted into the rotation speed of the machine; the average value of the two sensors 33 is converted into the linear speed of the machine, and the phase difference value of the two sensors 33 is converted into the rotation speed of the machine, so that the precision of the movement is improved.

As shown in fig. 1 and fig. 6 to 9, in the present embodiment, the supporting assembly 40 includes a supporting shell 41, a first side plate 42, a first sleeve 43, a second side plate 44 and a second sleeve 45, the supporting shell 41 is connected to one end of the frame, the first side plate 42 and the second side plate 44 are respectively connected to two opposite ends of the supporting shell 41, the first sleeve 43 is connected to the first side plate 42, and the second sleeve 45 is connected to the second side plate 44; the supporting assembly 40 further includes a bar 46, one end of the bar 46 is rotatably connected to the first side plate 42, and the other end of the bar 46 is rotatably connected to the second side plate 44, optionally, the distance between the bar 46 and the contact surface is smaller than that between the supporting shell 41 and the contact surface, and the ends of the first side plate 42 and the second side plate 44 close to the bar 46 are both chamfered; one end of the first side plate 42 and one end of the second side plate 44 are designed to be chamfered, and then obstacle surmounting capacity is improved under the action of the bar 46.

As shown in fig. 8 and 9, the mop assembly 50 includes a roller mop 51, the roller mop 51 is rotatably connected to the support assembly 40, and optionally, one end of the roller mop 51 is rotatably connected to the first sleeve 43 and the other end is rotatably connected to the second sleeve 45; the bar 46 is arranged at one side of the roller mop 51, the distance between the bar 46 and the contact surface is larger than that between the roller mop 51 and the contact surface, and the bar 46 is used for providing support for the roller mop 51 when crossing obstacles; further, the bar 46 is disposed on one side of the roller mop 51 in the forward direction, and the first side plate 42, the second side plate 44 and the bar 46 are engaged with each other, so that the roller mop 51 is not caught by an obstacle but lifted up to pass through the obstacle, and sharp hard objects are prevented from directly contacting the roller mop 51, thereby protecting the roller mop 51.

In one embodiment, the mop assembly 50 further comprises a mop power element 52 and a connector 53 connecting the mop power element 52, the mop power element 52 being mounted to the support assembly 40, the connector 53 being fixedly attached within the roller mop 51; optionally, the mop power element 52 is provided inside the first sleeve 43 to save volume, the mop power element 52 being a motor; the mop power element 52 drives the connecting piece 53 to rotate, the connecting piece 53 drives the roller mop 51 to rotate, the rotation of the roller mop 51 can enable the surface of the roller mop 51 to have higher relative speed with the surface to be cleaned, and the cleaning effect is better. In one embodiment, the mop assembly 50 further comprises at least two bearings 54, each bearing 54 is respectively sleeved on the first sleeve 43 and the second sleeve 45, and the bearings 54 are installed in the roller mop 51; optionally, there are two bearings 54, two bearings 54 are respectively sleeved on the first sleeve 43 and the second sleeve 45, and two bearings 54 are respectively mounted at two ends of the roller mop 51.

Referring to fig. 6 to 9 together, the water supply unit 60 includes a clean water tank 61 and a drip piece 62 connected to the clean water tank 61, the clean water tank 61 is connected to the support unit 40, the drip piece 62 is installed in the support unit 40, and the drip piece 62 is used for dripping water toward the roller mop 51; optionally, the water purifying tank 61 is slidably disposed on the supporting shell 41, the drip sheet 62 is mounted on the top of the supporting shell 41, and the drip sheet 62 is provided with a plurality of drip holes; further, the drip sheet 62 is two pieces. In one embodiment, the water supply assembly 60 includes a water supply power member 63, the water supply power member 63 being mounted to the support case 41, the water supply power member 63 being used to deliver water from the fresh water tank 61 to the drip pieces 62; alternatively, the water supply power element 63 is a water pump.

In one embodiment, the water supply assembly 60 further comprises a cover 64, a pressing plate 65, an elastic member and a button 66, wherein the cover 64 covers one end of the clean water tank 61; the pressing sheet 65 is arranged on the water purifying tank 61, one end of the elastic piece is abutted against the water purifying tank 61, the other end of the elastic piece is abutted against the key 66, the key 66 penetrates through the pressing sheet 65 and the supporting shell 41, and the key 66 is used for fixing the water purifying tank 61 and the supporting shell 41; optionally, the box cover 64 is provided with a water inlet, the pressing sheets 65 are two, the elastic member is a spring, and the key 66 is U-shaped; by pressing the push button 66 downward, the push button 66 is disengaged from the support case 41, and the fresh water tank 61 is pulled out, so that the fresh water tank 61 is separated from the support case 41. In one embodiment, the water supply assembly 60 further comprises a water inlet plug 67, and the water inlet plug 67 is used for covering the water inlet.

Referring to fig. 7 to 10 together, the self-cleaning assembly 70 includes a waste water tank 71 and a wiper 72, the waste water tank 71 is covered by the fresh water tank 61, and optionally, the fresh water tank 61 and the waste water tank 71 are integrated by a waterproof adhesive, and the waste water tank 71 is provided with a waste water port. Further, one end of the wiper blade 72 abuts the surface of the drum mop 51 and the other end extends to the foul water tank 71, and the pressure of the wiper blade 72 enables the moisture applied to the surface of the drum mop 51 to be uniformly distributed on the surface of the drum mop 51, and also enables the soil on the surface of the drum mop 51 to be scraped with the water. One end of the wiper blade 72 close to the drum mop 51 is disposed obliquely downward toward one end of the wiper blade 72 close to the foul water tank 71 so as to collect foul water; optionally, the scraping blade 72 is covered on the dirty water tank 71, one end of the scraping blade 72 abuts against the surface of the roller mop 51, the other end extends to the rear wall of the dirty water tank 71, the scraping blade 72 can scrape off excessive water on the roller mop 51, and the water can flow into the dirty water tank 71 along the scraping blade 72 with dirt, so that the dirty water tank 71 cannot directly flow towards the opening of the dirty water tank 71 under the condition of forward inclination or left-right inclination, and the effect of preventing the backflow of the dirty water is achieved. The doctor blade 72 is fixedly attached to the sewage tank 71 by waterproof glue, which also prevents the problem of leakage of sewage that may be caused by a gap between the doctor blade 72 and the sewage tank 71.

In one embodiment, the wiper 72 includes a connecting part 721, an extending part 722, a side plate part 723 and a guiding part 724, one end of the connecting part 721 is used for abutting against the roller mop 51, and the other end is connected with the extending part 722; the extension portion 722 extends from one side of the wastewater tank 71 to the opposite side of the wastewater tank 71, and prevents wastewater from flowing backward and overflowing when the wastewater tank 71 is in a forward-leaning state. The side plate portion 723 is vertically connected to one end of the connecting portion 721 to prevent outflow of sewage, and the guide portion 724 is protruded from the extending portion 722 to guide sewage to the sewage tank 71. Alternatively, one end of the attachment 721 adjacent to the drum mop 51 is disposed obliquely downward toward one end of the attachment 721 adjacent to the extension 722 so as to collect the wash water of the drum mop 51; one end of the extension 722 adjacent to the connection part 721 is disposed to be inclined downward toward the other end of the extension 722 so as to collect the sewage into the sewage tank 71. Further, a through hole 7220 is formed in one side of the extension portion 722 far from the connecting portion 721, the through hole 7220 is communicated with the sewage tank 71, one end of the guide portion 724 is connected to one side of the extension portion 722, and the other end extends towards the through hole 7220 to guide sewage to the through hole 7220. One end of the extension part 722 far away from the through hole 7220 is provided with a water drainage hole 7221, and under the condition that the sewage tank 71 inclines left and right, sewage can flow out through the water drainage hole 7221 and cannot directly flow into the through hole 7220, and under the blocking action of the guide part 724, the sewage is prevented from flowing backwards and overflowing. In an embodiment, the scraper 72 further includes a clamping portion 725, the clamping portion 725 is disposed at a connection portion 721 and the extension portion 722, and the clamping portion 725 is used for clamping the waste water tank 71. As shown in fig. 8, the two blades 72 are provided, and the two blades 72 are arranged symmetrically along the symmetry axis of the dirty water tank 71. In one embodiment, the self-cleaning assembly 70 further comprises a drain plug 73, the drain plug 73 being adapted to cover the drain opening.

The robot 100 further comprises a control system (not shown), wherein the position sensor 37, the rotating power element 22, the sensor 33, the mop power element 52 and the water supply power element 63 are in signal connection with the control system. When the mop cleaning machine works, after the control system receives the information fed back by the position sensing piece 37, the control system controls the rotating power element 22, the mop power element 52 and the water supply power element 63 to stop operating, and the function of an automatic control switch is achieved.

When the robot is used, under the action of the first rolling piece 25 and the sliding piece 28, the fixed seat 21 is arranged on the shell 10 in a vertically sliding manner, and under the fixing and reacting force of the first elastic piece 29, an independent suspension system capable of moving up and down along with the external terrain is formed, so that the robot is assisted to cross obstacles with different heights, and the movement flexibility is increased; the rotating power element 22 drives the pulley 23 to rotate through the matching of the driving wheel, the synchronous wheel and the driven wheel 24, and the moving functions of advancing, retreating and rotating are realized through one pulley 23, so that the volume and the weight are greatly reduced; wheelset subassembly 20 replaces traditional track scheme, and very big simplification structure volume makes things convenient for production, installation and maintenance, reduction in production cost, makes things convenient for the production of productization, moreover, more adds accurately at rotatory in-process, and the rotation center is more stable, makes things convenient for calculation and the planning of algorithm. Under the action of the second rolling element 35, the mounting frame 34 is arranged on the housing 10 in a sliding manner up and down, and under the fixing and reacting force of the second elastic element 36, an independent suspension system capable of moving up and down along with the external terrain is formed; the pulley 23 drives the shell 10 to move, the shell 10 drives the auxiliary wheel 32 to rotate, and then the rotation of the coupling part is driven, so that the sensor 33 can measure the mileage data of the auxiliary wheel 32, the motion track is fed back, closed-loop control is realized, the distance and the posture of operation are conveniently measured and calculated, and the accuracy of rotation is improved.

Clean water is added into the clean water tank 61 through the water inlet, the water supply power element 63 periodically adds water to the surface of the roller mop 51 through the drip sheet 62 to maintain the humidity of the roller mop 51, and meanwhile, the mop power element 52 drives the roller mop 51 to rotate; along with the removal of cylinder mop 51, the pressure of doctor-bar 72 enables the surperficial moisture of cylinder mop 51 evenly to distribute, can control the water yield on cylinder mop 51 surface, simultaneously, also makes the surperficial spot of cylinder mop 51 scrape out along with water, possesses self-cleaning function, improves the duration of cylinder mop 51 cleaning work, and after the use, cylinder mop 51 need not to take out manual washing, has greatly made things convenient for user's use and maintenance. In addition, the connection part 721 scrapes off the excessive water on the drum mop 51, the water carries the dirt to flow along the guide part 724 and then flows into the wastewater tank 71 through the through hole 7220, and the extension part 722 extends to the rear wall of the wastewater tank 71, so that the wastewater cannot directly flow into the through hole 7220 when the wastewater tank 71 inclines forwards or leftwards and rightwards, thereby preventing the wastewater from flowing backwards and overflowing. The device is convenient to cross obstacles through the matching of the first side plate 42, the second side plate 44 and the bar 46. After cleaning, the sewage in the sewage tank 71 is discharged from the sewage port.

The cleaning robot 100 capable of automatically crossing obstacles drives the pulley 23 to rotate by rotating the power element 22, so that the moving functions of advancing, retreating and rotating are realized, and the flexibility of movement is improved; the fixing seat 21 is slidably arranged on the shell 10, can move up and down along with the external terrain, and improves the performance of crossing obstacles; the robot 100 for automatically crossing obstacles has a compact structure and is convenient to use.

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 cleaning robot capable of automatically crossing obstacles is characterized by comprising a frame, a shell, a wheel set assembly, a support assembly and a mop assembly; the shell is connected with the frame, the wheel set assembly comprises a fixed seat, a rotating power element and a pulley, the fixed seat is arranged on the shell in a sliding mode, and the rotating power element is used for driving the pulley to rotate; the mop assembly comprises a roller mop, and the roller mop is rotatably connected with the supporting assembly.

2. An automatic obstacle-surmounting cleaning robot as claimed in claim 1, wherein said wheel assembly further comprises a plurality of first rolling members, a first bracket and a second bracket, said first rolling members being slidably disposed at one end of said housing; the first brackets are respectively arranged at two opposite ends of the fixed seat, and the first rolling parts are respectively connected with the first brackets in a rotating manner; the second supports are arranged on one sides of the first supports, and the first rolling parts are respectively connected to the second supports in a rotating mode.

3. An automatic obstacle-surmounting cleaning robot as recited in claim 2, wherein said wheel assembly further comprises a plurality of slides, each of said slides being rotatably connected to said first and second brackets, respectively; the sliding piece is arranged on one side of the shell in a sliding mode.

4. An automatic obstacle-surmounting cleaning robot as recited in claim 2, wherein said wheel assembly further includes a plurality of first elastic members, one end of said first elastic members being connected to said first bracket, and the other end thereof being connected to said housing.

5. An automatic obstacle-crossing cleaning robot as claimed in claim 1, further comprising an auxiliary assembly including a support slidably disposed on the housing, an auxiliary wheel rotatably connected to the support, and a sensor mounted to the support, the sensor being configured to measure mileage data of the auxiliary wheel; the auxiliary assembly further comprises a mounting frame, a plurality of second rolling pieces and a plurality of second elastic pieces, the mounting frame is connected with the supporting piece, the second rolling pieces are respectively and rotatably connected to the mounting frame, and the second rolling pieces are slidably arranged on the inner side of the shell; the second elastic piece is a plurality of, the one end of second elastic piece is connected the mounting bracket, and the other end is connected the shell.

6. An automatic obstacle-crossing cleaning robot as claimed in claim 1, wherein the support assembly comprises a support housing, a first side plate, a second side plate and a bar, the first side plate and the second side plate are respectively connected to two ends of the support housing; one end of the bar is rotatably connected with the first side plate, the other end of the bar is rotatably connected with the second side plate, and the bar is arranged on one side of the roller mop; the distance between the bar and the contact surface is greater than that between the roller mop and the contact surface, and the distance between the bar and the contact surface is less than that between the support shell and the contact surface.

7. An automatic obstacle-crossing cleaning robot as claimed in claim 6, wherein the first and second side plates are chamfered at their ends adjacent to the bars.

8. An automatic obstacle-crossing cleaning robot according to claim 1, wherein the mop assembly further comprises a mop power element mounted to the support assembly and a connector to connect the mop power element, the connector being fixedly connected within the roller mop.

9. An automatic obstacle-surmounting cleaning robot as claimed in claim 1, further comprising a water supply assembly including a clean water tank connected to the support assembly and a drip piece connected to the clean water tank, the drip piece being mounted in the support assembly for dripping water toward the roller swab.

10. The robot cleaner of claim 9, further comprising a self-cleaning assembly including a waste tank and a wiper blade, the waste tank being covered by the waste tank; the doctor-bar includes connecting portion, extension, curb plate portion and guide part, the one end of connecting portion is used for the butt the cylinder mop, the other end is connected the extension, the extension is followed one side of sewage case extends to the opposite one side of sewage case, the vertical connection of curb plate portion the one end of connecting portion, the guide part is protruding to be located the extension.