CN216854574U

CN216854574U - Mobile device

Info

Publication number: CN216854574U
Application number: CN202123057761.5U
Authority: CN
Inventors: 苗青; 万真; 黄锐锋; 王灵童
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2022-07-01
Anticipated expiration: 2031-12-07

Abstract

The application discloses a mobile device, which at least comprises a machine body, a walking mechanism and a cleaning assembly, wherein the walking mechanism is connected with the machine body, and the cleaning assembly is connected with the machine body or the walking mechanism; running gear has the removal face, remove the face and the working plane contact to the drive the organism is in the working plane goes up the removal: the moving surface is provided with a non-contact area which is not in contact with the working plane, and when the walking mechanism drives the moving surface to move, the cleaning assembly cleans the non-contact area. The technical scheme provided by the application can reduce the burden of a user when the user uses the equipment.

Description

Mobile device

Technical Field

The application relates to the field of cleaning equipment, in particular to mobile equipment.

Background

At present, most mobile cleaning equipment (such as sweeping robots, window cleaning robots and the like) are provided with a travelling mechanism, and the travelling mechanism can be in a wheel type structure or a crawler type structure. Regardless of the specific structure of the traveling mechanism, some of the components (i.e., the moving surface) of the traveling mechanism must contact with the surface to be cleaned, so that the cleaning device is driven to move on the surface to be cleaned by the friction force generated between the moving surface and the surface to be cleaned. Along with the movement of the cleaning equipment, a plurality of dust particles are attached to the moving surface, and the dust particles can change the friction coefficient of the moving surface, so that the friction force between the moving surface and the surface to be cleaned is reduced, and finally, the cleaning equipment is caused to have poor phenomena of slipping, deviation and the like.

In the prior art, in order to ensure that sufficient friction force exists between the moving surface of the travelling mechanism and the surface to be cleaned, a user is required to manually clean the moving surface at intervals. Although the manual cleaning mode solves the problem that the friction force between the moving surface and the surface to be cleaned is reduced, the use burden of a user is increased, and the experience of the user is influenced.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a mobile device, which can reduce the burden of a user when using the device.

In order to achieve the above object, an aspect of the present application provides a mobile device, which at least includes a machine body, a traveling mechanism and a cleaning assembly, wherein the traveling mechanism is connected to the machine body, and the cleaning assembly is connected to the machine body or the traveling mechanism; the walking mechanism is provided with a moving surface, and the moving surface is in contact with a working plane so as to drive the machine body to move on the working plane; the moving surface is provided with a non-contact area which is not in contact with the working plane, and when the walking mechanism drives the moving surface to move, the cleaning assembly cleans the non-contact area.

Therefore, according to the technical scheme provided by the application, the mobile device is provided with the machine body, the walking mechanism and the cleaning assembly, wherein the walking mechanism is provided with a moving surface for driving the mobile device to walk, and the moving surface has a non-contact area which is not in contact with the working plane. When the walking mechanism drives the machine body to move, the cleaning assembly can clean the non-contact area, and along with the movement of the mobile equipment, the cleaning assembly can clean the whole mobile surface, so that a user does not need to manually clean the mobile surface, and the burden of the user in using the equipment is reduced. Furthermore, the cleaning assembly is connected to the machine body through a telescopic mechanism, and the telescopic mechanism can control the cleaning assembly to be in contact with or separated from the moving surface based on the detected signal. Therefore, when the moving surface needs to be cleaned, the cleaning assembly can be in contact with the moving surface to clean the moving surface; when the moving surface does not need to be cleaned, the cleaning component can be separated from the moving surface to prevent the cleaning component from obstructing the movement of the moving surface.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a mobile device according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating an operating state of a mobile device according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a moving surface according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a cleaning assembly according to one embodiment of the present disclosure;

FIG. 5 is a schematic view of an angle of contact between a cleaning head and a moving surface according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a half-section of a cleaning assembly in one embodiment provided herein;

FIG. 7 is a schematic view of another angular configuration of a cleaning assembly in one embodiment provided herein;

FIG. 8 is a schematic view of a moving surface passing over a cleaning assembly in one embodiment provided herein;

FIG. 9 is a schematic view of a connection structure of a cleaning assembly and a machine body according to a first embodiment of the disclosure;

FIG. 10 is a partial cross-sectional structural view of FIG. 9;

FIG. 11 is a schematic view of a second embodiment of a connection structure of a cleaning assembly and a machine body provided by the present application;

FIG. 12 is an enlarged view of area A of FIG. 11;

FIG. 13 is an enlarged view of area B of FIG. 11;

FIG. 14 is a partial cross-sectional view of the portion of FIG. 13;

fig. 15 is a schematic view of a connection structure of a clamping seat and a machine body in a second embodiment provided by the present application;

FIG. 16 is a schematic view of a third embodiment of a cleaning assembly connected to a main body;

FIG. 17 is a schematic view of a connection structure of a cleaning assembly and a traveling mechanism according to an embodiment of the present disclosure;

FIG. 18 is a schematic structural view of a travel mechanism in one embodiment provided herein;

FIG. 19 is a diagram illustrating the position of a cleaning assembly in relation to a non-contact area in one embodiment provided herein;

FIG. 20 is a diagram of the position of a cleaning assembly in relation to a non-contact area in another embodiment provided herein;

FIG. 21 is a diagram of the position of a cleaning assembly in relation to a non-contact area in another embodiment provided herein;

FIG. 22 is a diagram of the position of a cleaning assembly in relation to a non-contact area in another embodiment provided herein;

FIG. 23 is an electrical connection diagram illustrating a method of operating a mobile device according to one embodiment of the present disclosure;

fig. 24 is an electrical connection diagram of a method for operating a mobile device according to another embodiment of the disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. Terms such as "upper," "above," "lower," "below," "first end," "second end," "one end," "another end," and the like, used herein to denote relative spatial positions, are used for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Furthermore, the terms "mounted", "disposed", "provided", "connected", "slidably connected", "fixed" and "sleeved" are to be understood in a broad sense. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Along with the improvement of living standard of people, more and more families begin to assist cleaning by means of cleaning equipment to reduce labor intensity and improve life quality, and the cleaning equipment commonly used comprises a floor sweeping robot, a window cleaning robot and the like.

At present, most mobile cleaning equipment (such as sweeping robots, window cleaning robots and the like) are provided with a travelling mechanism, and the travelling mechanism can be in a wheel type structure or a crawler type structure. Regardless of the specific structure of the traveling mechanism, some of the components (i.e., the moving surface) of the traveling mechanism must contact with the surface to be cleaned, so that the cleaning device is driven to move on the surface to be cleaned by the friction force generated between the moving surface and the surface to be cleaned.

For convenience of description, a mobile cleaning device is taken as an example of a window cleaning robot, and the window cleaning robot uses a walking synchronous belt assembly as a walking mechanism (the walking synchronous belt assembly integrates the advantages of chain transmission, belt transmission and gear transmission, has the advantages of accurate transmission, low noise, stable contact, large friction driving force and the like, and is widely used). When the hold-in range subassembly was used, the medial surface of hold-in range was as the drive face, and the drive face is through the transmission power with band pulley meshing, and the lateral surface of hold-in range is as removing the face, removes the face and contacts with the glass surface, and window cleaning robot need utilize the frictional force between removal face and the glass surface contact, could glass move on the surface, consequently, the frictional property of removing the face also is the most core performance of hold-in range.

Because dust particles exist on the surface of the glass, when the window cleaning robot performs cleaning operation on the surface of the glass, the moving surface needs to be in contact with the surface of the glass, and therefore the moving surface is difficult to avoid being stained with the dust particles. The dust adhered to the moving surface may cause the friction performance of the moving surface to be reduced, so that the moving capability of the window cleaning robot is affected, and poor motion phenomena such as slipping and deviation may occur, and finally the window cleaning effect is deteriorated.

In the prior art, in order to ensure the friction performance between the moving surface of the traveling mechanism and the glass surface, the conventional method is to guide a user to clean the moving surface at intervals by adopting a mode of alarm prompting or instruction specification explanation, so that the phenomena of slipping, deviation and the like of a window cleaning robot in the use process are avoided.

Above-mentioned mode of adopting the user to clear up has solved the problem that the frictional behavior between removal face and the glass surface descends, has still led to wipe window robot and need rely on the user to regularly clear up the removal face, just can continuous work, and this has just also increased user and has used the burden, influences user's experience. In addition, the moving surface is cleaned by a user, and the window cleaning robot needs to be taken down from the surface of the glass, so that the original working time of the window cleaning robot is prolonged, and the working efficiency of the window cleaning robot is reduced. Meanwhile, after the user finishes cleaning the moving surface, the user needs to replace the window cleaning robot to the surface of the glass, and the taking and placing positions of the window cleaning robot in the scene can not be accurately overlapped usually, so that the window cleaning robot can have a cleaning leakage area and the cleaning effect is influenced.

Therefore, how to improve the structure of the mobile cleaning device so that the mobile cleaning device can still run smoothly on the working plane without the need of cleaning the moving surface by the user becomes a problem to be solved in the field.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It should be apparent that the embodiments described in this application are only some embodiments of the present application, and not all embodiments of the present application. All other embodiments, which can be obtained by a person skilled in the art without making any inventive step based on the embodiments in the present application, are within the scope of protection of the present application.

Referring to fig. 1, 2 and 3, in an implementation, the mobile device at least includes a machine body 1, a traveling mechanism 2 and a cleaning assembly 3, wherein the traveling mechanism 2 is connected with the machine body 1, and the cleaning assembly 3 is connected with the machine body 1 or with the traveling mechanism 2. The running gear 2 has a running surface 21, and the running gear 2 can contact with the working plane 4 through the running surface 21, so that the machine body 1 is driven to move on the working plane 4. In other words, since the moving surface 21 is in contact with the working plane 4 and there is a frictional force between the moving surface 21 and the working plane 4 (when the moving surface 21 is in contact with the working plane 4, there is a static frictional force between the moving surface 21 and the working plane 4, and when the moving surface 21 slides relative to the working plane 4, a dynamic frictional force is generated in a tangential direction of the contact surface). Therefore, when the traveling mechanism 2 drives the moving surface 21 to move, the traveling mechanism 2 is displaced relative to the working plane 4, and the machine body 1 can move on the working plane 4.

The moving surface 21 presents a non-contact area 211 not in contact with the work plane 4. In other words, when the mobile device is placed on the working plane 4, no matter whether the moving surface 21 is in a static state or a moving state, there is an area on the moving surface 21 that is not in contact with the working plane 4, and the area is the non-contact area 211 defined in the present application. That is, the non-contact region 211 is defined based on the region where the moving surface 21 makes contact with the working plane 4, and the non-contact region 211 is defined by removing the region where the moving surface 21 makes contact with the working plane 4, regardless of the timing at which the moving surface 21 makes contact.

When the traveling mechanism 2 drives the moving surface 21 to move, the cleaning assembly 3 cleans the non-contact area 211. When the moving surface 21 moves, since the non-contact area 211 on the moving surface 21 is constantly changed, the cleaning assembly 3 cleans the non-contact area 211, that is, the cleaning assembly 3 can clean the entire moving surface 21.

It should be noted that "when the traveling mechanism 2 drives the moving surface 21 to move, the cleaning assembly 3 cleans the non-contact area 211" defined in this application may refer to that when the traveling mechanism 2 drives the moving surface 21 to move, the cleaning assembly 3 may be always in a state of cleaning the non-contact area 211; of course, the cleaning assembly 3 may be in a state where the non-contact region 211 is not cleaned when the traveling mechanism 2 drives the moving surface 21 to move. That is, there are two scenarios for the arrangement of the cleaning assembly 3, one scenario being: the cleaning assembly 3 is always in contact with the non-contact area 211, and another scenario is as follows: the cleaning member 3 can be switched in both a state of being in contact with the non-contact area 211 and a state of not being in contact with the non-contact area.

In an implementable embodiment, the cleaning member 3 may be connected to the machine body 1, i.e. the cleaning member 3 is fixed to the machine body 1. In another embodiment, the cleaning assembly 3 can also be connected to the chassis 2, i.e. the cleaning assembly 3 is fixed to the chassis 2. When this application utilized the face 21 motion that removes, non-contact area 211 cyclic variation's characteristics are cleaned non-contact area 211 through clean subassembly 3 to the realization is cleaned whole face 21 that removes.

It should be noted in particular that the cleaning assembly 3 is detachably connected to the body 1 or the travelling mechanism 2. For example, in a working environment with much dust, the cleaning assembly 3 can be installed on the mobile device for use, and in a working environment with less dust, the cleaning assembly 3 can be detached from the mobile device to improve the flexibility of the mobile device for use.

When the cleaning assembly 3 is mounted on the mobile device, as to when the cleaning assembly 3 can clean the moving surface 21, in an implementable embodiment, it may be that the cleaning assembly 3 contacts the non-contact area 211 while the machine body 1 moves on the working plane 4, so that the cleaning assembly 3 can clean the moving surface 21; in another practical embodiment, when the machine body 1 is suspended and the moving surface 21 performs the suspension motion, the cleaning assembly 3 contacts the moving surface 21, so that the cleaning assembly 3 can clean the moving surface 21.

In practical applications, the machine body 1 may be designed as a unitary structure. In addition, in order to facilitate installation of parts inside the mobile device, the machine body 1 may also adopt a split structure design, specifically, the machine body 1 may include a lower casing 11 and an upper casing 12, and the lower casing 11 and the upper casing 12 may be clamped to each other.

The moving surface 21 serves as a traveling part of the traveling mechanism 2, and the structure of the moving surface 21 may be configured according to the specific structure of the traveling mechanism 2. In practical applications, the running gear 2 may have various structures, such as a crawler-type structure, a synchronous belt-type structure, a running wheel-type structure, a ball-type structure, etc., wherein, when the running gear 2 is the crawler-type structure, the moving surface 21 is the outer surface of the crawler; when the traveling mechanism 2 is a synchronous belt structure, the moving surface 21 is the outer surface of the synchronous belt; when the travelling mechanism 2 is in a travelling wheel type structure, the moving surface 21 is an outer circular surface of the travelling wheel; when the traveling wheel mechanism 2 has a ball structure, the moving surface 21 is an outer spherical surface of a ball.

Regarding the connection form of the traveling mechanism 2 and the machine body 1, in an realizable embodiment, the number of the traveling mechanisms 2 may be set to two, and the two traveling mechanisms 2 are symmetrically arranged at both sides of the bottom surface of the lower case 11, so that the machine body 1 can be smoothly moved. In another practical embodiment, the number of the traveling mechanisms 2 may be set to one or more than two, and the number of the traveling mechanisms 2 is not limited in the present application.

It should be noted in particular that the working plane 4 defined in the present application is: the plane on which the mobile device operates, such as a glass surface, a wall surface, a ground surface and the like. The specific form of the mobile device may be a floor sweeping robot, a floor washing machine, a window wiping robot, etc., which is not limited in this application.

With regard to the specific structure of the cleaning assembly 3, please refer to fig. 2 and 4 together, in an implementation, the cleaning assembly 3 at least comprises a cleaning head 31 and a mounting seat 32. The cleaning head 31 is attached to the mounting seat 32, and the mounting seat 32 is detachably attached to the machine body 1 or the traveling mechanism 2, and the mounting seat 32 is used for fixing the cleaning head 31, so that the cleaning head 31 can be fixed to the machine body 1 or the traveling mechanism 2 through the mounting seat 32. In practical applications, the cleaning head 31 may be a brush structure, and the brush can clean dust attached to the moving surface 21 when the moving surface 21 moves. In another practical embodiment, the cleaning head 31 may also be in the form of a scraper bar which scrapes off dust attached to the moving surface 21 when the moving surface 21 moves.

Further, as shown in fig. 5, a contact portion 5 may exist between the cleaning head 31 and the moving surface 21. Specifically, when the cleaning head 31 is in contact with the moving surface 21, there may be a mutual contact area between the cleaning head 31 and the moving surface 21, which is the contact portion 5. The cleaning head 31 can clean the moving surface 21 by cleaning the contact portion 5. It should be noted that, with the movement of the moving surface 21, the area covered by the contact portion 5 on the moving surface 21 is changed continuously, and finally the area covered by the contact portion 5 can cover the whole moving surface 21, so that the cleaning head 31 can clean the whole moving surface 21, which enables the user to remove the dust attached on the moving surface 21 without manually cleaning the moving surface 21, and reduces the burden of the user in using the device.

In practical applications, when the mobile device cleans the working plane 4, the mobile device usually needs to perform a reciprocating motion, i.e. the moving surface 21 needs to perform a forward and backward motion. In order to effectively clean the dust attached to the moving surface 21 by the cleaning head 31 in both the forward movement and the reverse movement of the moving surface 21, the cleaning head 31 and the moving surface 21 may be at a specific angle. In an embodiment, which can be realized, see in particular fig. 5, the normal a of the moving surface 21 at the contact portion 5 has a predetermined angle β with the central axis b of the cleaning head 31, and the predetermined angle β can be set according to empirical values.

Further, the preset included angle β may be set between 0 ° and 15 °, so that the cleaning head 31 and the moving surface 21 approach a vertical contact state, and thus, no matter the moving surface 21 moves in the forward direction or in the reverse direction, the contact area between the cleaning head 31 and the moving surface 21 approaches a same area, and further, the friction force generated by the cleaning head 31 on the moving surface 21 also approaches a same area, so that the resistance applied to the forward movement and the reverse movement of the moving surface 21 approaches a same area. By setting the preset included angle beta between 0 degrees and 15 degrees, the situation that the moving surface 21 has multiple steps or is lack of steps during movement can be avoided, the stable movement of the moving equipment on the working plane 4 is ensured, and the moving surface 21 can be effectively cleaned when the moving surface 21 moves forwards and backwards.

In an implementation, referring to fig. 4 and 6, the cleaning head 31 may be composed of a plurality of bristle bundles 311, and the mounting base 32 is correspondingly provided with a plurality of mounting holes 321. In other words, the number of the mounting holes 321 on the mounting seat 31 is the same as the number of the bristle bundles 311, and each of the bristle bundles 311 is connected to each of the mounting holes 321. Specifically, one end of the bristle bundle 311 is located in the mounting hole 321, and the bristle bundle 311 is at least partially exposed out of the mounting hole 321, so that the bristle bundle 311 exposed out of the mounting hole 321 can clean the non-contact region 211.

In practical applications, the bristle bundle 311 may be formed by combining several bristle filaments, and the bristle bundle 311 may be fixed in the mounting hole 321 by flocking process, so as to form the cleaning head 31 on the mounting seat 32. The mounting hole 321 may be formed by drilling a hole on the mounting seat 32, so as to simplify the connection manner between the bristle bundle 311 and the mounting seat 32 and reduce the production process.

Further, the bristle string 311 may be made of PA material, considering that the bristle string 311 should have sufficient toughness and durability to avoid the abrasion and breakage of the bristle string 311 caused by the frequent bending of the bristle string when cleaning the moving surface 21.

In an embodiment, when the cleaning assembly 3 is used to clean the moving surface 21, the distance between the mounting seat 32 and the moving surface 21 can be between 4mm and 7mm, so as to avoid the problem that the free length of the bristle filament is too long, which causes the bristle bundle 311 to be too soft, and the cleaning effect is affected. Meanwhile, the distance between the mounting seat 32 and the moving surface 21 is between 4mm and 7mm, so that the moving surface 21 is prevented from being worn by the bristle bundles 311 due to too hard bristle bundles caused by too short free length of the bristle filaments. Further, the interference between the bristle filaments of the bristle bundle 311 and the moving surface 21 may be between 0.5mm and 2mm, so as to avoid the contact area between the bristle bundle 311 and the moving surface 21 being too large, which results in too large friction force between the bristle bundle 311 and the moving surface 21, and eventually obstructing the normal operation of the moving surface 21. Furthermore, the interference between the bristle filaments of the bristle bundle 311 and the moving surface 21 can be used in cooperation with the preset included angle β, so that no matter the moving surface 21 moves in the forward direction or in the reverse direction, the friction force generated between the bristle bundle 311 and the moving surface 21 is minimized, which not only reduces the obstruction of the bristle bundle 311 to the movement of the moving surface 21, but also reduces the abrasion of the bristle bundle 311.

In practical applications, in order to avoid the occurrence of a missing-scanning area when the cleaning assembly 3 cleans the moving surface 21, the bristle bundles 311 may have a specific arrangement. In one practical embodiment, referring specifically to FIG. 7, a plurality of mounting holes 321 are provided in a predetermined arrangement. Through the above-mentioned predetermined arrangement, there is no gap area in the projection of the cleaning head 31 in the length direction of the mounting seat 32, that is, the bristle bundle 311 completely covers the surface of the mounting seat 32 on which the mounting hole 321 is provided. Further, each of the mounting holes 321 has a predetermined diameter such that the total area of the plurality of mounting holes 321 satisfies a first preset value, wherein a specific value of the first preset value may be set according to an empirical value.

In practical application, the preset arrangement mode can be a logarithmic spiral arrangement, a star arrangement, a rectangular array and the like. Wherein, the diameter of the mounting hole 321 may be between 1mm and 3 mm. That is, the diameter of the bundle of bristles 311 may be between 1mm and 3mm, and the diameter of an individual bristle filament may be between 0.08mm and 1.5 mm.

In an implementation, referring to fig. 7, the predetermined arrangement may be configured as: a plurality of mounting holes 321 are arranged into at least two rows of mounting areas, the mounting holes 321 in each mounting area are arranged at intervals, the mounting holes 321 in two adjacent rows of mounting areas are arranged in a staggered mode in sequence, and two adjacent mounting holes 321 are arranged in an overlapped mode. The mounting holes 321 in each mounting region are spaced apart, and a mounting gap may be reserved around the mounting hole 321 to facilitate the subsequent mounting of the bristle bundle 311 on the mounting hole 321. The staggered overlapping arrangement of mounting hole 321 in two adjacent rows of mounting areas can make the projection of cleaning head 31 on mount pad 32 length direction not have the space region, so, when cleaning head 31 is clean to moving face 21, the region of sweeping missing can not appear, guarantees the cleaning effect of cleaning head 31 to moving face 21.

Further, in an implementable embodiment, the width of the contact portion 5 is equal to or greater than the width of the moving surface 21, and the ratio of the first preset value to the area of the contact portion 5 satisfies a prescribed value, which may be between 1.20 and 1.60. In other words, the total area of the plurality of mounting holes 321 should be larger than the area of the contact portion 5 (i.e., the area where the cleaning head 31 and the moving surface 21 contact each other). Since one end of the bristle bundle 311 is fitted into the fitting hole 321, the total area of the plurality of bristle bundles 311 will be larger than the area of the contact portion 5, which means that the cleaning area of the cleaning head 31 will be larger than the area of the contact portion 5. In this way, the cleaning head 31 can completely cover the contact portion 5, and when the moving surface 21 passes through the cleaning head 31, there will be no area on the moving surface 21 that the cleaning head 31 cannot clean, thereby ensuring the cleaning effect of the cleaning head 31 on the moving surface 21. For facilitating understanding of the above embodiments, it can be seen from fig. 8 that fig. 8 is a schematic view of a state that the moving surface 21 passes through the cleaning assembly 3 when the moving surface 21 moves, and an area covered by a shadow in the figure can be regarded as an area of the contact portion 5.

In order to facilitate the replacement and disassembly of the cleaning component 3 on the mobile device, the cleaning component 3 can be detachably connected to the machine body 1 or the traveling mechanism 2 through the connecting component. Regarding the fixing manner of the cleaning component 3, the present application takes the cleaning component 3 connected to the machine body 1 as an example, and four embodiments are adopted for description:

in a first practical embodiment, please refer to fig. 9 and 10 together, the cleaning assembly 3 can be connected to the machine body 1 by means of screw connection. Specifically, the mobile device may further include a first locking screw 6, wherein the body 1 has a first threaded hole 13, and the mounting seat 32 has a connecting through hole 322, wherein the first threaded hole 13 and the connecting through hole 322 are correspondingly disposed, so that when the mounting seat 32 is butted with the body 1, the first threaded hole 13 may be communicated with the connecting through hole 322; the first locking screw 6 may be threadedly coupled with the first threaded hole 13 through the coupling through hole 322 so that the mounting seat 32 is fixed to the machine body 1, and thus, the cleaning assembly 3 may be fixed to the machine body 1.

In the present embodiment, in order to ensure the connection stability between the mount 32 and the machine body 1. First locking screw 6, first screw hole 13 and connect the through hole 322 can adopt two at least, so, when mount pad 32 connects on organism 1, mount pad 32 can not take place to rotate for organism 1, and mount pad 32 is fixed more stably. In addition, when the mounting seat 32 is connected to the machine body 1, the first threaded hole 13 and the connecting through hole 322 may be coaxially arranged, so that the first locking screw 6 can be threaded through the connecting through hole 322 and connected with the first threaded hole 13.

In practical applications, the first threaded hole 13 may be formed integrally with the machine body 1, for example, when the machine body 1 is injection molded, a thread forming structure is provided in a mold, so that the first threaded hole 13 is formed while the machine body 1 is molded. Correspondingly, the connecting through hole 322 may be formed integrally with the mounting seat 32, or the mounting seat 32 may be perforated after the mounting seat 32 is formed.

In a second practical embodiment, referring to fig. 11, 12, 13, 14 and 15, the cleaning assembly 3 can be connected to the body 1 in a snap-fit manner. Specifically, the mobile device further comprises a clamping seat 7, the clamping seat 7 is arranged on the machine body 1, and a clamping groove 71 is formed in the clamping seat 7; a sliding groove 323 is formed in the mounting seat 32, and a clamping block 324 is arranged on the inner side surface of the sliding groove 323; when the mounting seat 32 is butted with the machine body 1 through the sliding groove 323, the latch 324 can be latched with the latch groove 71, so that the mounting seat 32 is fixed on the latch seat 7.

In the present embodiment, the latch 324 may be an elastic protrusion, and the elastic protrusion protrudes out of the inner side surface of the sliding groove 323. Thus, when the mounting seat 32 slides along the fastening seat 7, the elastic fastening block 324 can enter the fastening groove 71 by using the deformation capability of the elastic fastening block, so that the mounting seat 32 can be fixed on the fastening seat 7 without external force, and the mounting seat 32 is fixed on the machine body 1.

It should be noted that the latch 324 may also be a retractable protrusion, when the mounting seat 32 slides along the fastening seat 7, the latch 324 is in a retracted state, and when the latch 324 slides to be in butt joint with the fastening groove 71, the latch 324 extends out and is fastened in the fastening groove 71, so that the mounting seat 32 can be fixed on the fastening seat 7.

The latch 324 may not have the deformation capability, that is, the latch 324 is a rigid structure, and at this time, the latch 324 may protrude out of the inner side surface of the sliding groove 323, and accordingly, the mounting seat 32 has the appropriate deformation capability. As such, when mounting seat 32 slides along bayonet seat 7, mounting seat 32 deforms outward with catches 324 pressed against bayonet seat 7. When the fixture 324 slides into the clamping groove 71, there is no squeezing between the fixture 324 and the clamping seat 7, so that the mounting seat 32 retracts to be clamped on the clamping seat 7.

Further, when the mounting seat 32 slides along the engaging seat 7, it is known for clarity whether the engaging block 324 is engaged with the engaging groove 71. Referring to fig. 12, a stopper 14 is further disposed on the body 1 of the present application, and the stopper 14 is located at one end of the clamping seat 7. When the clip seat 7 is located in the sliding groove 323 and one end of the mounting seat 32 abuts against the stopper 14, the stopper 324 is clipped in the clip groove 71. Further, the latch 324 may be located at the middle position of the mounting seat 32, and the distance between the latch 324 and one end of the mounting seat 32 is equal to the distance between the latch groove 71 and the stopper 14.

In practical applications, the fastening seat 7 may be integrally formed with the machine body 1. However, considering that the cleaning assembly 3 may be damaged by the clamping seat 7 during multiple times of assembly and disassembly, the clamping seat 7 and the machine body 1 may be designed in a split structure. Specifically, please refer to fig. 15, the connection between the clamping seat 7 and the machine body 1 can be achieved by the second screw 73 penetrating through the clamping seat 7 and detachably connected to the machine body 1 in a threaded connection manner, so that the clamping seat 7 can be conveniently replaced when the clamping seat 7 is damaged. Similarly, the cleaning assembly 3 can also damage the stopper 14 during the repeated disassembly and assembly, and the specific connection mode between the stopper 14 and the machine body 1 can be set by referring to the connection mode between the clamping seat 7 and the machine body 1, which is not described herein again.

In a third implementable embodiment, referring in particular to fig. 16, the mobile device further comprises a telescopic mechanism 8. The telescopic mechanism 8 is arranged on the machine body 1, and a telescopic end of the telescopic mechanism 8 is connected with the mounting seat 32. When the moving surface 21 needs to be cleaned, the telescopic end of the telescopic mechanism 8 extends out, so as to drive the cleaning head 31 to be in contact with the moving surface 21, and thus, when the moving surface 21 moves, the cleaning head 31 can clean the moving surface 21; when the moving surface 21 is not required to be cleaned, the telescopic mechanism 8 is retracted and the cleaning head 31 is out of contact with the moving surface 21, so that the cleaning head 31 does not clean the moving surface 21.

Further, the machine body 1 can be further provided with a slide rail (not shown), the mounting seat 32 is slidably connected to the slide rail, when the moving surface 21 moves, the stress generated by the moving surface 21 on the mounting seat 32 can be transmitted to the machine body 1 through the slide rail, and then the condition that the telescopic mechanism 8 is damaged due to stress is avoided.

In practical applications, the telescopic mechanism 8 may be an electric cylinder or an air cylinder. Wherein, the telescopic mechanism 8 and the machine body 1 can be connected in a detachable or non-detachable mode. The telescopic end of the telescopic mechanism 8 can be connected with the mounting seat 32 in a detachable connection mode, so that the cleaning assembly 3 can be conveniently replaced when the cleaning assembly 3 is damaged.

In a fourth practical embodiment, the cleaning assembly 3 can be magnetically attached to the body 1. Specifically, the magnetic sheets (not shown) that correspond the setting are embedded respectively on mount pad 32 and the organism 1, so, the magnetic force inter attraction of mount pad 32 accessible magnetic sheet is connected on organism 1 to realize that cleaning assembly 3 connects on organism 1.

Furthermore, the mount 32 is prevented from deflecting when cleaning the moving surface 21. Correspondingly, can be provided with inner groovy (not shown) on the organism 1, wherein, the inner groovy is non-circular structure, including the mount pad 32 cooperation in the recess, when removing face 21 and having the atress to mount pad 32, this atress can shift to organism 1 through the structure of inner groovy to avoid mount pad 32 to take place to deflect, guarantee the clean effect of clean subassembly 3 to removing face 21.

It should be noted that, no matter what connection is adopted between the cleaning assembly 3 and the machine body 1, the cleaning assembly 3 can effectively clean the moving surface 21 when the mobile device moves. Meanwhile, when the cleaning assembly 3 is worn, the cleaning assembly 3 can be conveniently replaced. Similarly, in the present application, regarding the connection manner between the cleaning component 3 and the traveling mechanism 2, the connection manner between the cleaning component 3 and the machine body 1 can be referred to, for example, as shown in the structure of fig. 17, and will not be described herein again.

For the sake of easy understanding, the present application will describe the structure of the traveling mechanism 2 by taking the traveling mechanism 2 as a synchronous belt type structure.

In an embodiment, as shown in fig. 3 and 17, the traveling mechanism 2 at least includes a base 22, a driving assembly 23, and a timing belt 24, wherein the base 22 and the driving assembly 23 are connected to the machine body 1. Drive assembly 23 is connected with hold-in range 24's medial surface to drive assembly 23 is used for driving hold-in range 24 and rotates, and so, hold-in range 24 can drive the mobile device and remove on work plane 4. Accordingly, the outer side surface of the timing belt 23 is a moving surface 21. Since the lower horizontal segment of the timing belt 23 will contact the work plane 4 when the timing belt 23 drives the traveling mechanism 2 to move on the work plane 4, the non-contact region 211 includes a horizontal region 2111, a first circular arc region 2112, and a second circular arc region 2113.

In the present embodiment, referring to fig. 18, the driving assembly 23 may include a first pulley 231, a second pulley 232, a driving wheel 233, and a driving motor (not shown). The first pulley 231 and the second pulley 232 are engaged with an inner surface of the timing belt 23, and the timing belt 24 is formed in an elliptical shape. The first pulley 231, the second pulley 232, and the driving pulley 233 may be rotatably coupled to the base 22, respectively, the driving pulley 233 is located between the first pulley 231 and the second pulley 232, and the driving pulley 233 is engaged with the first pulley 231 and the second pulley 232, respectively. The driving motor may be directly connected to the driving wheel 233, or may be connected to the driving wheel 233 through a driving assembly, so as to drive the driving wheel 233 to rotate.

When the mobile device needs to move on the working plane 4, the driving assembly 23 provides power, the power is transmitted to the first pulley 231 and the second pulley 232 through the driving wheel 233, and then the first pulley 231 and the second pulley 232 drive the synchronous belt 24 to rotate, so that the mobile device moves on the working plane 4.

It should be noted that, the structures of the first belt pulley 231, the second belt pulley 232, the driving wheel 233, the transmission assembly and the driving motor in the driving assembly 23 may refer to the prior art, and are not described herein.

For the number of the cleaning assemblies 3 provided in the mobile device and the relative positional relationship between the cleaning assemblies 3 and the non-contact area 211, the present application will be described with the above-described synchronous belt type structure as the traveling mechanism 2 for the sake of understanding.

As previously described, the non-contact region 211 may have a horizontal region 2111, a first arc region 2112, and a second arc region 2113.

When the number of the cleaning members 3 is specifically one, as shown in fig. 19, 20 and 21, the cleaning head 31 may contact any one of the horizontal area 2111, the first arc area 2112 and the second arc area 2113.

Here, when the cleaning head 31 is in contact with the horizontal region 2111, as shown in fig. 19 in particular, the cleaning head 31 may be in contact with any one of the positions on the horizontal region 2111.

Here, when the cleaning head 31 is in contact with the first circular arc region 2112, as shown in fig. 20 in particular, the cleaning head 31 may be in contact with any one position on the first circular arc region 2112. Preferably, the cleaning head 31 may contact the lower half of the first arc-shaped area 2112, so that when the cleaning head 31 cleans the moving surface 21, the dirt cleaned by the cleaning head 31 from the moving surface 21 does not fall back onto the moving surface 21, thereby preventing secondary pollution and improving the cleaning effect of the cleaning head 31 on the moving surface 21.

Here, when the cleaning head 31 is in contact with the second circular arc region 2113, as shown in fig. 21 in particular, the cleaning head 31 may be in contact with any one position on the second circular arc region 2113. Preferably, the cleaning head 31 may contact with the lower half of the second arc-shaped area 2113, so that when the cleaning head 31 cleans the moving surface 21, the dirt cleaned by the cleaning head 31 from the moving surface 21 does not fall back onto the moving surface 21, thereby preventing secondary pollution and improving the cleaning effect of the cleaning head 31 on the moving surface 21.

When the number of the cleaning members 3 is two, as shown in fig. 22, the cleaning heads 31 of the two cleaning members 3 can contact any one position on the non-contact area 211. Preferably, one of the cleaning heads 31 contacts the lower half of the first radiused area 2112 and the other cleaning head 31 contacts the lower half of the second radiused area 2113. Thus, when the cleaning head 31 cleans the moving surface 21, the dirt cleaned by the cleaning head 31 from the moving surface 21 does not fall back onto the moving surface 21, and secondary pollution is avoided. Meanwhile, the two cleaning assemblies 3 clean the moving surface 21 at the same time, so that the cleaning effect of the moving surface 21 is improved, and the surface of the moving surface 21 is cleaner.

It should be noted that the number of the cleaning assemblies 3 can also be three, four or five, etc., and will not be described herein.

Based on the same concept, the application also provides an operation method of the mobile device, the mobile device at least comprises a machine body 1, a travelling mechanism 2 and a cleaning component 3, wherein the travelling mechanism 2 is provided with a moving surface 21, the moving surface 21 is in contact with the working plane 4 to drive the machine body 1 to move on the working plane 4, the moving surface 21 is provided with a non-contact area 211 which is not in contact with the working plane 4, and the cleaning component 3 is connected to the machine body 1 through a telescopic mechanism 8. The method comprises the following steps:

judging whether the moving surface 21 needs to be cleaned;

if the moving surface 21 needs to be cleaned, the extension and retraction mechanism 8 is controlled to extend so that the cleaning assembly 3 cleans the non-contact area 211.

When the mobile device moves on the working plane 4, the control unit 91 in the mobile device can determine whether the moving surface 21 needs to be cleaned, and when the moving surface 21 needs to be cleaned, the control unit 91 controls the telescopic mechanism 8 to extend, so that the cleaning assembly 3 is in contact with the non-contact area 211 to clean the cleaning surface 21.

In an implementation manner, as shown in fig. 23, a contamination detection unit 92 may be disposed on the machine body 1 or the traveling mechanism 2, the contamination detection unit 92 is used for detecting a contamination coverage rate on the moving surface 21, and the control unit 91 is electrically connected to the contamination detection unit 92 and the telescoping mechanism 8, respectively.

In an implementation manner, the mobile device determines whether the mobile surface 21 needs to be cleaned, and the following steps are performed: firstly, the control unit 91 receives an electrical signal sent by the contamination sensor 92, wherein the electrical signal at least comprises the contamination coverage of the non-contact area 211; then, the control unit 91 compares the contamination coverage with a preset contamination rate to determine whether the contamination coverage is greater than or equal to the preset contamination rate. If the dirt coverage rate is greater than or equal to the preset dirt rate, it indicates that the moving surface 21 needs to be cleaned; if the stain coverage is smaller than the predetermined stain coverage, it means that the moving surface 21 does not need to be cleaned.

When the mobile device determines that the moving surface 21 needs to be cleaned, the control unit 91 may control the telescopic mechanism 8 to drive the cleaning assembly 3 to extend, so that the cleaning assembly 3 contacts the non-contact area 211, thereby cleaning the cleaning surface 21.

In practical applications, the control unit 91 may adopt an MCU module, and the contamination detection unit 92 may adopt an industrial camera. Shoot removal face 21 by industry camera, and transmit the photo of shooing to the MCU module, the dirty coverage on the removal face 21 in the photo is judged to the MCU module, and compare the dirty coverage with the preset dirty rate that prestores in the MCU module, when dirty coverage more than or equal to preset dirty rate, MCU module control telescopic machanism 8 drives clean subassembly 3 and stretches out, so that clean subassembly 3 contacts with non-contact area 211, thereby clean face 21 by clean subassembly 3.

In another practical implementation, please refer to fig. 23, a timing unit 93 may be disposed on the machine body 1 or the traveling mechanism 2, the timing unit 93 is used for detecting the movement duration of the moving surface 21, and the control unit 91 is electrically connected to the timing unit 93 and the telescoping mechanism 8, respectively.

In an implementation manner, the mobile device determines whether the mobile surface 21 needs to be cleaned, and the following steps are performed: the control unit 91 acquires the continuous operating time of the moving surface 21 and judges whether the continuous operating time is greater than or equal to a preset time; if the continuous working time is longer than or equal to the preset time, the moving surface 21 needs to be cleaned; if the continuous operating time is shorter than the preset time, the moving surface 21 does not need to be cleaned.

In practical applications, the control unit 91 may also adopt an MCU module. The timing unit 93 may be a sub-function integrated in the MCU module for calculating the duration of the operation of the moving face 21. The timing unit 93 may also be a single timer, wherein the specific structures of the timer and the MCU module may refer to the prior art, and are not described herein again.

The following description will be made in detail with reference to a specific application scenario, taking a mobile device as a window cleaning robot as an example.

The application scene one:

in the early morning of a certain day, Zhang III finds that a thick layer of dust covers the French window glass in a home, and the daylighting effect in the house is seriously influenced.

Then, Zhang III takes out the window cleaning robot from the storage cabinet, presses the start key of the window cleaning robot, and places the window cleaning robot on the glass of the French window. At this time, the window cleaning robot is firstly adsorbed on the glass of the French window, then the traveling mechanism 2 is started, and the traveling mechanism 2 drives the window cleaning robot to clean the glass of the French window according to a preset circuit.

In the cleaning work, Zhang III finds that the window cleaning robot continuously moves on the glass of the French window, more and more dust is attached to the moving surface 21 of the window cleaning robot, so that the window cleaning robot frequently slips in the moving process, and the normal operation of the window cleaning robot is affected. Then, Zhang III closes the window cleaning robot and takes the window from the glass of the French window.

After that, Zhang III carefully reads the instruction, and finds that the window cleaning robot is not loaded with the cleaning component 3, and then, the cleaning component 3 is taken out from the storage cabinet and the cleaning component 3 is mounted on the window cleaning robot.

And Zhang III, the window cleaning robot provided with the cleaning assembly 3 is started again, and the window cleaning robot is placed on the glass of the French window. This time, Zhang three discoveries, the in-process that window cleaning robot removed on the glass of french window, and cleaning assembly 3 can clean running surface 21 of running gear 2 to guarantee to remove frictional force between surface 21 and the glass of french window, so, avoided window cleaning robot the situation of skidding to appear, guaranteed window cleaning robot's even running.

After the window cleaning robot finishes cleaning window glass, the traveling mechanism 2 drives the window cleaning robot to return to the initial position and sends prompt information to the mobile phone APP to inform Zhang Sanqing work to be finished. And opening three windows according to the prompt information, taking the window cleaning robot down from the window, and closing a power key of the window cleaning robot.

Simultaneously, the contained angle is predetermine through the setting to this application for the cleaning head approaches to perpendicular contact state with the removal face, so, no matter remove the face and carry out forward motion or reverse motion, the cleaning head homoenergetic carries out effectual clearance to removing the face. And the interference magnitude of the brush bristle filaments on the bristle bundle and the moving surface can be matched with the preset included angle for use, so that the cleaning head reduces the obstruction of the cleaning head to the normal movement of the moving surface under the condition of effectively cleaning the moving surface, and the abrasion magnitude of the bristle bundle is reduced.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A mobile device is characterized by at least comprising a machine body, a walking mechanism and a cleaning assembly, wherein the walking mechanism is connected with the machine body, and the cleaning assembly is connected with the machine body or the walking mechanism;

the walking mechanism is provided with a moving surface, and the moving surface is in contact with a working plane so as to drive the machine body to move on the working plane;

the moving surface is provided with a non-contact area which is not in contact with the working plane, and when the walking mechanism drives the moving surface to move, the cleaning assembly cleans the non-contact area.

2. The mobile device of claim 1, wherein the cleaning assembly comprises at least a cleaning head and a mount;

the cleaning head is connected to the mounting seat, and the mounting seat is detachably connected to the machine body or the travelling mechanism;

a contact part exists between the cleaning head and the moving surface, and a preset included angle is formed between a normal line of the moving surface at the contact part and the central axis of the cleaning head.

3. The mobile device of claim 2, wherein the predetermined angle is between 0 ° and 15 °.

4. The mobile device of claim 3, wherein the cleaning head is composed of a plurality of bristle bundles, and the mounting seat is correspondingly provided with a plurality of mounting holes, wherein one ends of the bristle bundles are fixed in the mounting holes, and the bristle bundles are at least partially exposed out of the mounting holes.

5. The mobile device of claim 4, wherein a number of the mounting holes have a predetermined arrangement and the mounting holes have a predetermined diameter such that a total area of the mounting holes satisfies a first predetermined value.

6. The mobile device of claim 5, wherein the predetermined arrangement is:

the mounting holes are arranged into at least two rows of mounting areas, and the mounting holes in the mounting areas are arranged at intervals;

two adjacent lines in the installation area the mounting hole sets up crisscross in proper order, and adjacent two the mounting hole overlaps the setting each other.

7. The mobile apparatus according to claim 6, wherein the width of the contact portion is equal to or greater than the width of the moving surface, and a ratio of the first preset value to the area of the contact portion satisfies a prescribed value.

8. The mobile device of claim 2, further comprising a first locking screw;

the machine body is provided with a first threaded hole, and the mounting seat is provided with a connecting through hole, wherein the first threaded hole and the connecting through hole are correspondingly arranged, so that when the mounting seat is in butt joint with the machine body, the first threaded hole is communicated with the connecting through hole;

the first locking screw penetrates through the connecting through hole to be connected with the first threaded hole, so that the mounting seat is fixed on the machine body.

9. The mobile device of claim 2, further comprising a docking station;

the clamping seat is connected to the machine body and provided with a clamping groove;

be provided with the sliding tray in the mount pad, and the sliding tray medial surface is provided with the fixture block, works as the mount pad passes through the sliding tray with when the organism butt joint, the fixture block with joint groove joint, so that the mount pad is fixed on the joint seat.

10. The mobile device of claim 9, wherein a stopper is further disposed on the body, and the stopper is located at one end of the clamping seat;

when the clamping seat is located in the sliding groove and one end of the mounting seat is abutted to the stop block, the clamping block is clamped in the clamping groove.

11. The mobile device of claim 2, further comprising a telescoping mechanism;

the telescopic mechanism is arranged on the machine body, and a telescopic end of the telescopic mechanism is connected with the mounting seat;

when the telescopic mechanism extends out, the cleaning head is contacted with the moving surface;

when the telescoping mechanism retracts, the cleaning head is out of contact with the moving surface.

12. The mobile device of claim 2, wherein the walking mechanism comprises at least a base, a driving assembly and a timing belt, wherein the base and the driving assembly are connected to the body;

the driving assembly is connected with the inner side surface of the synchronous belt so as to drive the synchronous belt to rotate;

the lateral surface of hold-in range is the removal face, non-contact area has horizontal area, first circular arc region and second circular arc region.

13. The mobile device of claim 12, wherein the cleaning head contacts any one of the horizontal area, the first arc area, and the second arc area.