CN211704467U

CN211704467U - Mopping robot

Info

Publication number: CN211704467U
Application number: CN201922244542.4U
Authority: CN
Inventors: 刘浩; 冉沅忠; 黄敏杰
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-10-20
Anticipated expiration: 2029-12-13

Abstract

The application discloses mopping robot includes: a body; the walking device is provided with a rotating axis and supports the machine body and drives the mopping robot to move on a working surface; the mopping device is arranged on the machine body and used for cleaning a working surface; a lifting device comprising a lifting mechanism and a support, wherein the lifting mechanism is capable of lifting the mopping device from a first position to a second position relative to a work surface; the support is used for providing a support point which is different from the walking device and is opposite to the working surface when the mopping device is lifted; the detection device is used for detecting environmental information and is arranged at the rear end of the machine body; the detection result of the detection device is used for the lifting mechanism to adjust the position of the mopping device relative to the working surface. The mopping robot provided by the application has the advantages of compact structure, reasonable layout, good cleaning effect realization, effective obstacle crossing and trapped removal.

Description

Mopping robot

Technical Field

The application relates to the field of cleaning equipment, in particular to a mopping robot.

Background

With the development of scientific technology, intelligent cleaning robots are well known, and moreover, similar household service robots such as intelligent sweeping machines and intelligent mopping machines are convenient to clean, time-saving and labor-saving, so that people get rid of tedious housework and step into the family life of common people.

The cleaning function of the cleaning robot is a function that is of interest to the user and is also a core function thereof. However, in the actual use process of users, the current cleaning robot has at least the following technical defects:

1. the structure is not compact enough, the layout of the whole machine is unreasonable, the cost is increased, and the like;

2. poor cleaning effect caused by the problem of the layout of the whole machine, poor user experience and the like.

SUMMERY OF THE UTILITY MODEL

In view of the shortcomings of the prior art, it is an object of the present application to provide a mopping robot which is compact in structure, reasonable in layout, capable of achieving a good cleaning effect, and capable of effectively crossing obstacles and getting rid of difficulties.

In order to achieve the purpose, the technical scheme is as follows:

a mopping robot, comprising:

a body;

the walking device is provided with a rotating axis and supports the machine body and drives the mopping robot to move on a working surface;

the mopping device is arranged on the machine body and used for cleaning a working surface;

a lifting device comprising a lifting mechanism and a support, wherein the lifting mechanism is capable of lifting the mopping device from a first position to a second position relative to a work surface; the support is used for providing a support point which is different from the walking device and is opposite to the working surface when the mopping device is lifted;

the detection device is used for detecting environmental information and is arranged at the rear end of the machine body; the detection result of the detection device is used for the lifting mechanism to adjust the position of the mopping device relative to the working surface.

In one embodiment, the distance between the last position point of the detection device and the last position point of the fuselage in the forward direction is less than 50 mm.

In one embodiment, the distance between the gravity center of the mopping robot and the rotation axis along the advancing direction is less than 30 mm.

In one embodiment, at least part of the detecting means is located on the rear side of the axis of rotation; at least part of the mopping device is positioned at the front side of the rotation axis; at least part of the lifting device is located on the front side of the axis of rotation.

In one embodiment, the detection device is arranged at the rear side of the middle position of the machine body in the advancing direction; the detection device is located at the middle position of the machine body along the direction of the rotating axis.

In one embodiment, the distance between the front end of the detection device and the front end of the machine body along the advancing direction is larger than 160 mm.

In one embodiment, the rear end of the body is also detachably provided with a water tank; the water tank is positioned below the detection device.

In one embodiment, the water tank is separated from the body in a direction opposite to the advancing direction.

In one embodiment, the mopping robot enters the base station along the forward direction to stop at the base station, and the water tank is separated from the body along the direction opposite to the forward direction.

In one embodiment, at least part of the water tank is located on the rear side of the axis of rotation.

In one embodiment, the water tank is located on the rear side of the lifting device; the water tank is located at the middle position of the machine body along the direction of the rotating axis.

In one embodiment, the lower end of the detection device is provided with an embedded part; the water tank is provided with a first step on the surface opposite to the detection device, and the first step is matched with the embedded part for installation.

In one embodiment, a power supply device is further arranged on the machine body, and the power supply device is positioned on the front side of the detection device; the body is provided with an accommodating space for accommodating the power supply device.

In one embodiment, the power supply device is detachably arranged on the machine body.

In one embodiment, the power supply device is located at an intermediate position of the body in the direction of the rotation axis.

In one embodiment, at least part of the power supply means is located on the front side of the axis of rotation; at least part of the water tank is positioned below the power supply device.

In one embodiment, the lower end of the receiving space has a narrowed portion; the water tank is provided with a second step on the surface opposite to the power supply device, and the second step is matched with the narrowing part for installation.

In one embodiment, the detection device comprises a visual sensor or an infrared sensor or a laser ranging sensor or an ultrasonic sensor; part of the detection device is higher than the upper surface of the machine body.

In one embodiment, the forward end of the fuselage has a planar sidewall; the plane side wall is vertical to the advancing direction; the rear end of the machine body is provided with a curved side wall; the curved side wall is convex to the rear side.

In one embodiment, the mopping device is arranged between the support and the walking device.

A mopping robot, comprising:

a body;

the mopping device is arranged on the machine body and used for cleaning a working surface, and the mopping device is positioned on the front side of the walking device;

the detection device is used for detecting environmental information and is arranged at the rear part of the machine body;

the water tank is arranged at the rear end of the machine body and is positioned below the detection device; at least part of the water tank is located on the rear side of the rotation axis.

Has the advantages that:

according to the mopping robot provided by the embodiment of the application, by arranging the lifting device, when certain obstacles are encountered and certain areas cannot enter or leave, the mopping device can be lifted from the first position to the second position relative to the working surface, so that obstacle crossing and trap removal are realized.

In addition, the detection device is arranged at the rear end of the machine body instead of the front end or the middle of the machine body, so that a detection blind area of the floor mopping robot in the advancing direction can be avoided, the environment where the floor mopping robot is located can be effectively identified, the position of the floor mopping device relative to the working surface can be adjusted by the lifting mechanism according to the detection result of the detection device, the floor mopping robot can achieve a good cleaning effect, and obstacle crossing and getting rid of the floor can be achieved.

The mopping robot provided by another embodiment of the application is provided with the detection device arranged at the rear end of the robot body instead of the front end or the middle, so that a detection blind area can be prevented from occurring in the forward direction of the mopping robot, the environment where the mopping robot is located can be effectively identified, the traveling route of the mopping robot can be conveniently adjusted according to the detection result of the detection device, the mopping robot can achieve a good cleaning effect, and the obstacle crossing and the trap removal are assisted.

In addition, the mopping device is arranged at the front side of the traveling device, so that the contact area between the mopping device and the working surface can be enlarged as much as possible, and the cleaning effect of the mopping robot can be further improved. The water tank is arranged at the rear end of the machine body, at least part of the water tank is positioned at the rear side of the rotating axis, and the walking device is closer to the middle part of the forward direction of the mopping robot, so that the cost and the mode of counterweight can be reduced. The water tank is added at the rear end (tail part) of the machine body, so that the gravity center can be adjusted conveniently, and meanwhile, a user can pull down the water tank at any time to add water. In addition, due to the arrangement, the water tank is isolated from other parts of the floor mopping robot, so that the direct contact between the water tank and devices such as a mainboard or other electronic parts or a power supply of the floor mopping robot is effectively avoided, the risk of water leakage and short circuit under abnormal conditions is avoided, and the safety and reliability of the whole machine in the working process are effectively improved.

In addition, the detection device with larger weight and the water tank are arranged at the rear end of the machine body, so that the mopping robot is favorable for improving the obstacle-crossing and difficulty-escaping capability.

Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

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

Fig. 1 is a schematic structural diagram of a floor mopping robot provided in an embodiment of the present application, wherein a floor mopping device is located at a second position;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic view of the lifting mechanism with the floor scrubbing apparatus in a first position;

FIG. 4 is a schematic view of the lifting mechanism with the mopping device in a second position.

Description of reference numerals:

1. a support member; 2. a mopping device; 3. a traveling device; 4. a detection device; 5. a water tank; 51. a first step; 52. a second step; 6. a power supply device; 7. a camshaft; 8. a cam structure; 9. a drive motor; 10. a cliff detection sensor; 11. a planar sidewall; 12. a curved sidewall; 13. a narrowing portion; 100. a rotational axis; 200. the middle position of the mopping robot in the direction of the rotation axis; 300. the mopping robot is at a middle position in the forward direction.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

It will be understood that when an element is referred to as being "disposed on" 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 be present. 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 application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

For convenience of description, in the present specification, the front of the mopping robot in the forward direction is defined as "front", and the rear of the mopping robot in the forward direction is defined as "rear". The direction in which the mopping robot is away from the work surface and perpendicular to the work surface is defined as "up", and the direction in which the mopping robot is close to the work surface and perpendicular to the work surface is defined as "down".

Good obstacle-surmounting and difficulty-removing capability is the key capability for ensuring the cleaning efficiency and the cleaning effect. In order to better realize the function, the design of the layout structure of the whole machine is required to meet the requirements of efficient cleaning function and superior obstacle crossing and escaping capability. The existing mopping robot usually arranges a detection device at the front end or the middle position of a machine body, so that the detection device cannot detect the obstacle condition of an area close to the front side of the mopping robot, namely, a detection blind area occurs, and the cleaning effect of the mopping robot is influenced. The inventor provides the floor mopping robot according to the experience of research and development of the floor mopping robot for many years, so as to overcome the defects of the prior art.

Please refer to fig. 1 to 4. In one embodiment of the present application, a floor mopping robot is provided, which may be a home and/or indoor service robot, such as a floor mopping robot. Specifically, the mopping robot can be an automatic mopping machine or an automatic mopping all-in-one machine. In the present embodiment, the mopping robot comprises a body, a walking device 3, a mopping device 2, a lifting device and a detecting device 4. As shown in fig. 2, the running gear 3 has an axis of rotation 100. The walking device 3 supports the machine body and drives the mopping robot to move on a working surface. The mopping device 2 is used for being installed on the machine body and cleaning a working surface. The lifting device comprises a support 1 and a lifting mechanism, wherein the lifting mechanism is capable of lifting the mopping device 2 from a first position to a second position relative to a work surface. The support 1 is used to provide a different support point relative to the work surface than the running gear 3 when the mopping device 2 is lifted. The detection means 4 is used for detecting environmental information. The detection device 4 is arranged at the rear part of the machine body. The detection result of the detection device 4 is used for the lifting mechanism to adjust the position of the mopping device 2 relative to the working surface.

According to the floor mopping robot provided by the embodiment, by arranging the lifting device, when certain obstacles are encountered and certain areas cannot be entered or left, the floor mopping device 2 can be lifted from the first position to the second position relative to the working surface, so that obstacle crossing and getting rid of the obstacles are realized.

In addition, the detection device 4 is arranged at the rear end of the machine body instead of the front end or the middle, so that a detection blind area of the floor mopping robot in the forward direction can be avoided, the environment where the floor mopping robot is located can be more effectively identified, the position of the floor mopping device 2 relative to the working surface can be conveniently adjusted by the lifting mechanism according to the detection result of the detection device 4, the floor mopping robot can achieve a good cleaning effect, obstacle crossing and getting rid of the obstacle can be effectively carried out, the obstacle avoiding action can be better carried out due to the fact that the detection device 4 is arranged at the rear end of the machine body and can detect obstacles close to the front end of the machine body, meanwhile, other non-contact sensors arranged at the front end of the machine body can be omitted, the cost is saved, and the structure is simplified.

In addition, set up detection device 4 in the fuselage rear end, the high reduction of fuselage middle part and front end, and clean subassembly setting is at the fuselage front end to make and drag under the ground robot can get into lower object, clean work carries out, and clean effect is better.

The mopping robot can also be provided with a control device and a power device. In this embodiment, the walking device 3 specifically includes two driving wheels located at two sides of the floor mopping robot, and can be driven independently by the power device. Such an arrangement enables the speed and direction of travel of the running gear 3 to be controlled by controlling the speed and speed difference of the two drive wheels, so that the floor-mopping robot can walk and steer flexibly and accurately. Two driving wheels are symmetrically arranged at the bottom of the body in the direction of the rotation axis 100. The walking device 3 is connected with the machine body through a connecting piece, and the connecting piece is obliquely arranged towards the advancing direction, so that the obstacle crossing capability of the mopping robot can be improved. The running gear 3 may have other forms, such as a crawler type, etc.

The power device provides power for the movement and the work of the mopping robot. Specifically, the mopping robot comprises a motor positioned in the mopping robot and a transmission structure connected with the motor, and provides power for the walking device 3. The transmission mechanism is connected with the walking device 3, the motor drives the transmission mechanism to work, and the walking device 3 moves under the transmission action of the transmission mechanism. The walking device 3 receives the instruction of the control device and drives the mopping robot to automatically walk on the working surface.

The control device is a control center of the mopping robot, is electrically connected with devices such as a power device, a detection device 4 and the like, and receives information sent by each device. The control device controls the power device to drive the traveling device 3 to drive the mopping robot to move, and controls the mopping robot to execute various actions or tasks such as work area switching, base station returning, charging and the like. The control Device may be an embedded Digital Signal Processor (DSP), a Microprocessor (MPU), an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a System On Chip (SOC), a Central Processing Unit (CPU), a Field Programmable Gate Array (FPGA), or the like.

In the present embodiment, in order to avoid a detection blind area around the mopping robot, the distance between the last position point of the detection device 4 and the last position point of the body in the advancing direction is made smaller than 50 mm. The last position point of the detection device 4 is a point located at the rearmost end of the detection device 4 or a point located within a plane at the rearmost end of the detection device 4 in the forward direction of the mopping robot. The rearmost position point of the body is a point located at the rearmost end of the body or a point located in a plane at the rearmost end of the body in the forward direction of the floor mopping robot. Further, the distance between the front end of the detection device 4 and the front end of the machine body along the advancing direction is larger than 160 mm.

In a preferred embodiment, the last point of the detection device 4 is at a distance of 10mm from the last point of the fuselage. The detection device 4 includes a visual sensor, an infrared sensor, a laser ranging sensor, or an ultrasonic sensor, which is not limited in this application. Preferably, the detection device 4 is an LDS Sensor, and the LDS is an abbreviation of "laser distance Sensor", that is, a laser distance measuring Sensor. The LDS sensor can realize the navigation and distance measurement functions, and can identify the all-round obstacle and the distance between the obstacle and the environment where the mopping robot is located. And part of the detection device 4 is higher than the upper surface of the machine body and is used for detecting the environment around the mopping robot. In one embodiment, the detection dead zone of the LDS sensor is in the range of 150 mm and 160mm in the detection direction, and preferably, the distance between the front end of the LDS sensor and the front end of the machine body along the advancing direction is 187 mm.

In this embodiment, at least a part of the detecting device 4 is located at the rear side of the rotation axis 100, at least a part of the mopping device 2 is located at the front side of the rotation axis 100, and at least a part of the lifting device is located at the front side of the rotation axis 100. Preferably, the center of gravity of the detection means 4 is located at the rear side of the rotation axis 100, and the center of gravity of the mopping means 2 and the lifting means is located at the front side of the rotation axis 100. Therefore, the whole floor mopping robot can be kept balanced, and the distance between the walking device 3 and the floor mopping device 2 can be shortened because the rotating axis 100 of the walking device 3 is not positioned at the rearmost side of the machine body (at least part of the detection device 4 is arranged at the rear side of the rotating axis 100), so that the floor mopping robot can be driven to move forwards better and more laborsavingly.

In the present embodiment, the detecting device 4 is disposed at the rear side of the middle position 300 of the body in the forward direction, as shown in fig. 1 and 2, so as to avoid a detection blind area in the forward direction of the floor mopping robot. Preferably, the detection device 4 is located substantially at a middle position 200 of the body in the direction of the rotation axis 100. Wherein the middle position 300 of the mopping robot in the advancing direction is approximately parallel to the rotation axis 100, and the middle position 200 of the mopping robot in the rotation axis direction is approximately perpendicular to the rotation axis 100. The detecting devices 4 may be symmetrically arranged in the direction of the rotation axis 100 to keep the floor mopping robot balanced as a whole. Of course, the detecting device 4 may be located at other positions of the body along the direction of the rotation axis 100, at a certain distance from the middle position 200, or may be asymmetrically arranged.

In the present embodiment, the mopping device 2 comprises a mopping module. Wherein the mopping module comprises a mopping floor to which a mop cloth can be detachably mounted for performing a mopping operation of the mopping robot. The mopping module is arranged at the front end of the machine body, so that the mopping area is larger, and the mopping effect is better. The mop cloth is detachably arranged on the mop plate. Garbage, dirt and the like are adsorbed on the mop cloth in the mopping process. A water tank 5 is also detachably provided at the rear end of the body to supply water to the mops. The water tank 5 is separated from the body along a direction opposite to the advancing direction, wherein the direction opposite to the advancing direction means that the direction is opposite to the advancing direction, or forms an included angle with the direction opposite to the advancing direction, such as 0-90 degrees.

The water tank 5 is located below the detection device 4. So set up for water tank 5 forms the isolation with other parts of mopping the ground robot, has avoided the direct contact of devices such as water tank 5 and the mainboard or other electron or power of mopping the ground robot, has avoided the short circuit risk of leaking under the abnormal conditions, has effectively improved security and reliability in the complete machine working process. In addition, the water tank 5 is provided at the rear end of the body so that the water tank 5 can be easily taken out from the rear end without taking out the entire floor mopping robot when the floor mopping robot stops at a base station for charging and/or changing a mop, etc. The mopping robot enters the base station along the forward direction to stop at the base station, and the water tank 5 is separated from the body along the direction opposite to the forward direction, wherein the direction opposite to the forward direction means that the direction is opposite to the forward direction or forms an included angle with the direction opposite to the forward direction, such as 0-90 degrees.

In addition, set up water tank 5 in fuselage rear end, also be convenient for carry out automatic operation of adding water to water tank 5, in one embodiment, set up the water collector at water tank 5, it includes the water receiving mouth, when dragging ground robot and detecting that the water level of water tank 5 is less than first default, start and return the action of adding water, when reaching water supply basic station department, the adjustment direction for this water collector aligns with the water supply installation of water supply basic station, and then control water supply basic station automatic water supply tank 5 and add water, when dragging ground robot and detecting that the water level of water tank 5 reaches the second default, control water supply basic station stops to add water to water tank 5. Of course, in other embodiments, the automatic water adding function may also be realized by other means, which are not described herein again.

In the present embodiment, at least a part of the water tank 5 is located on the rear side of the rotation axis 100. Preferably, the center of gravity of the water tank 5 is located at the rear side of the rotation axis 100, so that the floor mopping robot is balanced as a whole. And, the space is rationally utilized. Since at least part of the water tank 5 is located at the rear side of the rotation axis 100 of the traveling device 3, i.e., the traveling device 3 is closer to the middle of the forward direction of the floor mopping robot, the cost and manner of counterweight can be reduced. The water tank 5 is added at the rear end (tail part) of the machine body, so that the gravity center can be adjusted conveniently, and meanwhile, a user can pull down the water tank 5 at any time to add water. In the present embodiment, the distance between the center of gravity of the mopping robot and the rotation axis 100 along the advancing direction is less than 30 mm. When the water tank is full of water, the distance between the gravity center of the mopping robot and the rotation axis 100 along the advancing direction is 8-28mm, and the distance is preferably 18 mm; when the water tank is not filled with water, the distance between the gravity center of the mopping robot and the rotation axis 100 along the advancing direction is 13-33mm, and the distance is preferably 23 mm.

Further, the water tank 5 may be located at the rear side of the lifting device. The water tank 5 is located substantially at an intermediate position 200 of the fuselage in the direction of the axis of rotation 100. The water tanks 5 may be symmetrically arranged in the direction of the rotation axis 100. Of course, the water tank 5 may be located at other positions of the body along the direction of the rotation axis 100, at a certain distance from the middle position 200, or may be asymmetrically located.

In this embodiment, the lower end of the detection device 4 is provided with an embedded portion to fix the detection device 4 in place. The water tank 5 is provided with a first step 51 on the surface opposite the detection means 4. The first step 51 is fitted with the insert portion. This arrangement utilizes as much space as possible, increases the volume of the water tank 5, and makes the detection device 4 and the water tank 5 more securely mounted.

In this embodiment, a power supply device 6 is further disposed on the body. The power supply device 6 supplies energy for the operation of the control device, the power device, the detection device 4, and the like of the mopping robot. The power supply means 6 is typically a rechargeable battery to provide power for operation of the mopping robot, or may be connected to an external power source for recharging. Preferably, the power supply device 6 is provided with a charge or discharge protection unit capable of protecting the charge or discharge of the power supply device 6.

In the present embodiment, the power supply device 6 is detachably provided on the body. Therefore, the floor mopping robot is convenient to mount and take out, and the charged power supply device 6 can be replaced at any time so as to keep the floor mopping robot in a working state. Of course, in other embodiments, the power supply device 6 may also be fixed to the body and not detachable, and the present application is not limited thereto.

In this embodiment, the power supply device 6 can be a POWERSHARE battery pack, that is, after the user finishes the cleaning operation and takes out the power supply device 6, the power supply device 6 can be used to provide power for other tools, so as to implement POWERSHARE function.

Specifically, the power supply device 6 is located on the front side of the detection device 4. The body is provided with an accommodating space for accommodating the power supply device 6. At least part of the power supply means 6 is located in front of the axis of rotation 100. At least part of the water tank 5 is located below the power supply device 6 to utilize space as much as possible and increase the volume of the water tank 5.

Preferably, the power supply device 6 is located substantially at a middle position 200 of the body in the direction of the rotation axis 100. The power supply devices 6 may be arranged symmetrically in the direction of the axis of rotation 100. Of course, the power supply device 6 may be located at other positions of the body along the direction of the rotation axis 100, at a distance from the middle position 200, or may be asymmetrically located.

The lower end of the accommodation space for accommodating the power supply device 6 has a narrowed portion 13 for the power supply device 6 to be mounted. The water tank 5 is provided with a second step 52 on the surface opposite to the power supply device 6, the second step 52 being fitted with the narrowing 13. This arrangement utilizes as much space as possible, increases the capacity of the water tank 5, and makes the power supply device 6 and the water tank 5 more firmly installed.

In the present embodiment, the support 1 comprises support wheels. The support wheels may be universal wheels. When the mopping device 2 of the mopping robot is in a first position, namely is tightly attached to a working surface, and the mopping operation is carried out, the driving wheel supports the rear end of the machine body, the mopping device 2 supports the front end of the machine body due to contact with the working surface, and the mopping robot moves and completes the mopping operation under the action of the driving wheel; however, when the mopping device 2 is lifted, if the supporting member 1 is not used, the front end of the body falls down under the action of the self weight and contacts with the working surface, then the mopping robot is pushed to move continuously under the action of the driving wheel, and the front end of the body always contacts with the working surface, thus the movement of the mopping robot is hindered. If the working surface is a floor, the floor can be scratched in the moving process of the mopping robot; if the working surface is a carpet, the front end of the robot body of the floor mopping robot is contacted with the carpet, and the robot body is blocked and cannot cross the carpet; if the working surface has obstacles such as steps, the mopping robot cannot pass through the obstacles. The support 1 is thus provided for the mopping robot such that when the mopping device 2 is lifted, the support 1 provides a different support point relative to the work surface than the walking device 3, which avoids the above-mentioned phenomena.

The support point may be located between the mopping device 2 and the driving wheel or may be arranged at the front end of the body, i.e. the mopping device 2 is arranged between the support point and the driving wheel. Preferably, the support member 1 is disposed at the middle of the body in a direction along the rotation axis 100. In addition, the supporting piece 1 can be fixedly connected to the machine body or movably connected to the machine body; may be in constant contact with the work surface to provide a point of support, for example, may be in contact with the work surface when the mopping device 2 is not being lifted, but may be in a floating state, and may be in close proximity to the work surface to provide support when the mopping device 2 is being lifted. It is also possible to provide a support point in contact with the work surface only when the mopping device 2 is raised.

In the present embodiment, the support member 1 is disposed at the front end of the body, and the mopping device 2 is disposed at the rear side of the support member 1, i.e., the mopping device 2 is disposed between the support member 1 and the driving wheel. And the support 1 and the mopping device 2 form a linkage structure through a lifting device. During normal cleaning, the mopping device 2 is in contact with the work surface, in a first position, as shown in fig. 3, while the support 1 is lifted off the work surface. When an obstacle is encountered requiring the obstacle to be cleared, the mopping device 2 is raised by the lifting structure away from the work surface to a second position, as shown in figure 4, whilst the support 1 is lowered to the work surface to provide support. When passing over the obstacle, the support 1 is raised and the mopping device 2 is lowered to the work surface to continue the cleaning work. In order to further improve the cleaning efficiency and effect of the robot, the length of the mop cloth of the mopping robot is equal to the length of the machine body in the length direction of the mop cloth, thereby maximizing the utilization of mopping area and having the capability of cleaning to corners.

In the present embodiment, as shown in fig. 3 and 4, the lifting mechanism includes a cam structure 8 and a cam shaft 7. The camshaft 7 is connected with a driving motor 9, and the driving motor 9 can provide power for the camshaft 7. The cam shaft 7 drives the cam structure 8 to rotate, so that the cam structure 8 can directly drive the mopping device 2 to lift. In another embodiment, the lifting mechanism may further comprise a crane, and the cam structure 8 may be mounted in the crane, and the cam structure 8 is connected to the floor-mopping device 2 through the crane. When the cam shaft 7 drives the cam structure 8 to rotate, the cam structure 8 can drive the lifting frame to move up and down, so that the floor mopping device 2 is driven to lift.

In the present embodiment, the driving motor 9 for driving the cam shaft 7 and the motor of the traveling device 3 may share the same motor or may be different motors. In this embodiment, the driving motor 9 for driving the cam shaft 7 is a motor which is different from the motor of the traveling device 3 in the forward and reverse directions, and the same power supply device 6 is connected to the motor. As shown in fig. 2, the drive motor 9 is located on the front side of the power supply device 6. As shown in fig. 1, the camshaft 7 is located on the front side of a narrowing 13 of the accommodation space for accommodating the power supply unit 6.

In this embodiment, the front end of the body has a planar side wall 11, the planar side wall 11 being perpendicular to the forward direction. Is beneficial to increasing the area of the mop cloth. The rear end of the fuselage has a curved sidewall 12, the curved sidewall 12 projecting to the rear side. Due to the arrangement, the mopping robot is more flexible in steering, the difficulty removing capability of the whole machine is improved, and the operation efficiency of the whole machine is indirectly improved. The mopping robot is D-shaped as a whole. Preferably, the curved side wall 12 is a cambered surface structure. The whole shape of the machine body is a symmetrical structure.

As shown in fig. 2, the bottom of the body may be provided with a plurality of cliff detection sensors 10 for detecting a cliff, so as to prevent the floor-mopping robot from falling. The front end of the machine body is provided with a collision sensor for detecting collision. And when the detected collision frequency is greater than a preset value, the control device judges that the mopping robot is trapped.

In another embodiment of the present application, there is also provided a floor mopping robot, which includes a body, a walking device 3, a floor mopping device 2, a detection device 4 and a water tank 5.

Wherein the running gear 3 has an axis of rotation 100. The walking device 3 supports the machine body and drives the mopping robot to move on a working surface. The mopping device 2 is used for being installed on the machine body, and the mopping device 2 is positioned on the front side of the walking device 3, so that the cleaning work on the working surface can be effectively performed. The detection means 4 is used for detecting environmental information. The detection device 4 is arranged at the rear part of the machine body. The water tank 5 is arranged at the rear end of the body. The water tank 5 is located below the detection device 4. At least a part of the water tank 5 is located at the rear side of the rotation axis 100.

The mopping robot provided by the embodiment has the advantages that the detection device 4 is arranged at the rear end of the robot body instead of the front end or the middle of the robot body, so that the detection blind area of the mopping robot in the advancing direction can be avoided, the environment where the mopping robot is located can be effectively identified, the advancing route of the mopping robot can be conveniently adjusted according to the detection result of the detection device 4, the mopping robot can achieve a good cleaning effect, and the obstacle crossing and the trap removal are assisted.

In addition, by providing the mopping device 2 at the front side of the traveling device 3, the area of the mopping device in contact with the work surface can be made as large as possible, and the cleaning effect of the mopping robot can be further improved. The water tank 5 is arranged at the rear end of the body, at least part of the water tank 5 is positioned at the rear side of the rotation axis 100, and the walking device 3 is closer to the middle part of the forward direction of the mopping robot, so that the cost and the mode of counterweight can be reduced. The water tank 5 is added at the rear end (tail part) of the machine body, so that the gravity center can be adjusted conveniently, and meanwhile, a user can pull down the water tank 5 at any time to add water. The water tank 5 is arranged below the detection device 4, so that the direct contact between the water tank 5 and devices such as a main board of the mopping robot or other electronic parts or a power supply is avoided, the risk of water leakage and short circuit under abnormal conditions is avoided, and the safety and the reliability of the whole machine in the working process are effectively improved.

In addition, the detection device 4 and the water tank 5 which are relatively heavy are arranged at the rear end of the machine body, so that the mopping robot is favorable for improving the obstacle-crossing and difficulty-escaping capability.

In this embodiment, a power supply device 6 is further provided on the body. The power supply device 6 supplies energy for the operation of the control device, the power device, the detection device 4, and the like of the mopping robot. The power supply means 6 is typically a rechargeable battery to provide power for operation of the mopping robot, or may be connected to an external power source for recharging. Preferably, the power supply device 6 is provided with a charge or discharge protection unit capable of protecting the charge or discharge of the power supply device 6.

The mopping robot in the implementation has the advantages of compact structure and reasonable layout, can realize good cleaning effect, and can effectively cross obstacles and get rid of difficulties.

It should be noted that, in the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is intended or should be construed to indicate or imply relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

Any numerical value recited herein includes all values from the lower value to the upper value, in increments of one unit, provided that there is a separation of at least two units between any lower value and any higher value. For example, if it is stated that the number of a component or a value of a process variable (e.g., temperature, pressure, time, etc.) is from 1 to 90, preferably from 20 to 80, and more preferably from 30 to 70, it is intended that equivalents such as 15 to 85, 22 to 68, 43 to 51, 30 to 32 are also expressly enumerated in this specification. For values less than 1, one unit is suitably considered to be 0.0001, 0.001, 0.01, 0.1. These are only examples of what is intended to be explicitly recited, and all possible combinations of numerical values between the lowest value and the highest value that are explicitly recited in the specification in a similar manner are to be considered.

Unless otherwise indicated, all ranges include the endpoints and all numbers between the endpoints. The use of "about" or "approximately" with a range applies to both endpoints of the range. Thus, "about 20 to about 30" is intended to cover "about 20 to about 30", including at least the endpoints specified.

All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional.

A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of the subject matter that is disclosed herein is not intended to forego such subject matter, nor should the inventors be construed as having contemplated such subject matter as being part of the disclosed inventive subject matter.

Claims

1. A mopping robot, comprising:

a body;

the detection device is used for detecting environmental information and is arranged at the rear part of the machine body; the detection result of the detection device is used for the lifting mechanism to adjust the position of the mopping device relative to the working surface.

2. A mopping robot according to claim 1, wherein the spacing in the forward direction between the last position point of the detection means and the last position point of the body is less than 50 mm.

3. The mopping robot of claim 1, wherein a distance between a center of gravity of the mopping robot and the axis of rotation along the forward direction is less than 30 mm.

4. A mopping robot according to claim 1, wherein at least part of the detection means is located to the rear side of the axis of rotation; at least part of the mopping device is positioned at the front side of the rotation axis; at least part of the lifting device is located on the front side of the axis of rotation.

5. The mopping robot as claimed in claim 1, wherein the detecting means is provided at a rear side of the body at a middle position in a forward direction; the detection device is located at the middle position of the machine body along the direction of the rotating axis.

6. The mopping robot of claim 1, wherein a distance between the front end of the detection device and the front end of the body in the forward direction is greater than 160 mm.

7. The mopping robot as recited in claim 1, wherein the rear end of the body is further detachably provided with a water tank; the water tank is positioned below the detection device.

8. The mopping robot of claim 7, wherein the water tank is separated from the body in a direction opposite the forward direction.

9. The mopping robot of claim 7, wherein the mopping robot enters a base station along a forward direction to dock at the base station, and the water tank separates from the body along a direction opposite the forward direction.

10. A mopping robot according to claim 7, wherein at least part of the water tank is located to the rear of the axis of rotation.

11. A mopping robot according to claim 7, wherein the water tank is located at the rear side of the lifting device; the water tank is located at the middle position of the machine body along the direction of the rotating axis.

12. The mopping robot as claimed in claim 7, wherein the lower end of the detection device is provided with an embedded part; the water tank is provided with a first step on the surface opposite to the detection device, and the first step is matched with the embedded part for installation.

13. The mopping robot as claimed in claim 7, wherein a power supply device is further provided on the body, the power supply device being located at a front side of the detection device; the body is provided with an accommodating space for accommodating the power supply device.

14. A mopping robot according to claim 13, wherein the power supply means is removably arranged on the body.

15. A mopping robot according to claim 13, wherein the power supply means is located at an intermediate position of the body in the direction of the axis of rotation.

16. A mopping robot according to claim 13, wherein at least part of the power supply means is located on the front side of the axis of rotation; at least part of the water tank is positioned below the power supply device.

17. The mopping robot of claim 13, wherein the lower end of the receiving space has a narrowing; the water tank is provided with a second step on the surface opposite to the power supply device, and the second step is matched with the narrowing part for installation.

18. A mopping robot according to claim 1, wherein the detection means comprises a visual sensor or an infrared sensor or a laser ranging sensor or an ultrasonic sensor; part of the detection device is higher than the upper surface of the machine body.

19. The mopping robot of claim 1, wherein the front end of the body has a planar sidewall; the plane side wall is vertical to the advancing direction; the rear end of the machine body is provided with a curved side wall; the curved side wall is convex to the rear side.

20. The mopping robot of claim 1, wherein the mopping device is disposed between the support and the walking device.

21. A mopping robot, comprising:

a body;

22. The mopping robot as claimed in claim 21, wherein a power supply device is further provided on the body, the power supply device being located at a front side of the detection device; the body is provided with an accommodating space for accommodating the power supply device.

23. A mopping robot according to claim 22, wherein the power supply means is removably provided on the body.

24. A mopping robot according to claim 22, wherein the power supply means is located at an intermediate position of the body in the direction of the axis of rotation.

25. A mopping robot according to claim 22, wherein at least part of the power supply means is located on the front side of the axis of rotation; at least part of the water tank is positioned below the power supply device.