CN220045789U - Autonomous mobile device - Google Patents

Abstract

The present disclosure provides an autonomous mobile device. In the autonomous mobile apparatus, a chassis, a first wheel assembly, a dry cleaning assembly, and a first transmission assembly are included. The first wheel component is provided with casters and is arranged on the machine shell, the dry cleaning component is used for dry cleaning the surface to be cleaned, and the first wheel component and the dry cleaning component are linked through the first transmission component, so that the dry cleaning component can reversely ascend relative to the machine shell in the descending process of the first wheel component relative to the machine shell. In this way, the lifting movement of both with respect to the housing is achieved with a simple construction and at low cost, so that both are positioned in different positions with respect to the housing in different modes of operation. In addition, through the wheel assembly with the truckle and the dry type cleaning assembly are lifted, more working modes can be realized by the autonomous mobile equipment, and therefore, the automatic mobile equipment is better suitable for various application scenes.

Description

Autonomous mobile device

Technical Field

The present disclosure relates to the construction of autonomous mobile devices.

Background

Autonomous mobile devices refer to intelligent mobile devices that autonomously perform preset tasks, and currently autonomous mobile devices typically include, but are not limited to, cleaning robots (e.g., intelligent floor sweepers, intelligent floor wipers, window wipers), companion mobile robots (e.g., intelligent cyber pets, caregivers robots), service mobile robots (e.g., hospitality, hotel, meeting location reception robots), industrial inspection intelligence devices (e.g., power inspection robots, intelligent forklifts, etc.), security robots (e.g., home or business intelligent guard robots).

For autonomous mobile devices with dry cleaning assemblies that may operate on surfaces to be cleaned that differ in surface parameters, the autonomous mobile device is required to be in different modes of operation based on the surface parameters of the surfaces to be cleaned. For example, if the surface to be cleaned has a concave-convex shape that varies greatly, the autonomous mobile apparatus may need to be in an obstacle surmounting operation mode in which the autonomous mobile apparatus needs to have a strong obstacle surmounting capability; the autonomous mobile apparatus described above needs to be in different cleaning modes of operation if the surface to be cleaned is to be operated on a carpet or floor. In the above-described different operation modes, the wheel assembly provided with casters and the dry cleaning assembly of the autonomous mobile apparatus are required to be set at different positions with respect to the housing, but in the conventional autonomous mobile apparatus, the dry cleaning assembly is generally fixed with respect to the housing and cannot be lifted up and down with respect to the housing, so that the kinds of operation modes of the autonomous mobile apparatus are limited, and the optimum operation state cannot be exhibited in many application scenarios.

Disclosure of Invention

Based on the above-mentioned problems of the prior art, it is an object of the present disclosure to provide an autonomous mobile apparatus which enables lifting and lowering of the wheel assembly and the cleaning assembly relative to the housing with a relatively simple construction and at low cost, so as to be suitable for a variety of different application scenarios.

In order to achieve the above object, the present disclosure adopts the following technical solutions.

The present disclosure provides an autonomous mobile device comprising:

a housing;

a first wheel assembly mounted to the housing and having casters;

a dry cleaning assembly for dry cleaning a surface to be cleaned; and

the first transmission assembly and the dry cleaning assembly can be linked through the first transmission assembly, so that the dry cleaning assembly can be lifted relative to the machine shell along with the first wheel assembly descending relative to the machine shell.

In one alternative, the first transmission assembly includes at least one rack and pinion mechanism, the rack and pinion mechanism including:

a first rack fixed with the first wheel assembly;

a second rack having a first drive connection; and

a gear that is in constant tooth engagement with both the first rack and the second rack such that the first rack and the second rack move in opposite directions in a state in which the gear rotates,

the dry cleaning assembly has a second drive connection portion against which the first drive connection portion can abut after the first wheel assembly is lowered to a predetermined position relative to the chassis, thereby driving the dry cleaning assembly to rise as the first wheel assembly continues to descend from the predetermined position with the first drive connection portion abutting against the second drive connection portion.

In another alternative, the first wheel assembly further includes a first suspension, a first spring, a first wheel frame, and a lifting platform, the caster is mounted on the first suspension and the first suspension is fixed with the first rack, the first wheel frame is fixed with the casing, the lifting platform can drive the first suspension to descend via the first spring, and the lifting platform can directly drive the first suspension to ascend.

In another alternative, the method further comprises:

a lifting power source mounted to the first wheel frame; and

a transmission including a lead screw that is drivingly coupled with the lifting power source and that is threadably coupled with the lifting table to constitute a lead screw nut mechanism, thereby drivingly coupling the lifting power source and the lifting table via the transmission such that the lifting power source can drive the lifting table to lift via the transmission.

In another alternative, the method further comprises:

a second wheel assembly mounted to the housing and having a drive wheel; and

and a second transmission assembly, the second wheel assembly and the dry cleaning assembly being capable of being linked via the second transmission assembly such that the second wheel assembly is capable of being lowered relative to the housing as the dry cleaning assembly is raised relative to the housing.

In another alternative, the second transmission assembly includes:

a first link having one end rotatably connected to the dry cleaning assembly and the other end rotatably connected to the casing or the second wheel assembly; and

and a transmission rod rigidly connected with the first link, the transmission rod being capable of swinging along with the rotation of the first link, thereby enabling the dry cleaning assembly to ascend while driving the second wheel assembly to descend via the transmission rod.

In another alternative, the second transmission assembly further includes a second link, one end of which is rotatably connected to the dry cleaning assembly, and the other end of which is rotatably connected to the housing or the second wheel assembly, such that the dry cleaning assembly, the first link, the second link, and the housing constitute a four-bar mechanism.

In another alternative, the second wheel assembly is provided with a driven portion against which the transmission lever abuts after the dry cleaning assembly is raised to a predetermined position with respect to the chassis, thereby driving the second wheel assembly to descend as the dry cleaning assembly is continuously raised from the predetermined position in a state in which the transmission lever abuts against the driven portion.

In another alternative, a wet cleaning assembly is also included for wet cleaning the surface to be cleaned, the wet cleaning assembly being capable of being lifted relative to the housing independently of the dry cleaning assembly.

The present disclosure also provides an autonomous mobile device comprising:

a housing;

a dry cleaning assembly for dry cleaning a surface to be cleaned;

a wheel assembly mounted to the housing, the wheel assembly having a drive wheel and being provided with a driven portion;

at least one connecting rod connected with the shell and the dry cleaning component, so that the dry cleaning component can rotate in the process of lifting relative to the shell; and

and a transmission lever rigidly connected to one of the at least one link, the transmission lever being swingable with rotation of the one link, the transmission lever abutting against the driven portion after the dry cleaning assembly rises to a predetermined position with respect to the chassis, thereby driving the wheel assembly to descend as the dry cleaning assembly continues to rise from the predetermined position.

By adopting the technical scheme, the disclosure provides novel autonomous mobile equipment. In the autonomous mobile apparatus, a chassis, a first wheel assembly, a dry cleaning assembly, and a first transmission assembly are included. The first wheel component is provided with casters (such as universal wheels) and is mounted on the machine shell, the dry cleaning component is used for dry cleaning a surface to be cleaned, and the first wheel component and the dry cleaning component are linked through the first transmission component, so that the dry cleaning component can reversely ascend relative to the machine shell in the descending process of the first wheel component relative to the machine shell.

In this way, the wheel assembly with casters and the dry cleaning assembly are interlocked, and both can be driven to rise and fall in opposite directions relative to the chassis by the same lifting power source, thereby achieving both lifting movements relative to the chassis with a simple construction and a low cost to position both at different positions relative to the chassis in different operation modes. Further, by lifting the wheel assembly with casters and the dry cleaning assembly, the autonomous mobile apparatus can be made to realize more operation modes, thereby being well adapted to a variety of different application scenarios.

Drawings

Fig. 1A is a perspective view illustrating an overall structure of an autonomous mobile apparatus according to a first embodiment of the present disclosure.

Fig. 1B is another perspective view illustrating the overall structure of the autonomous mobile apparatus of fig. 1A.

Fig. 2A is a perspective view illustrating an assembly of partial components of the autonomous mobile apparatus of fig. 1A, including a first wheel assembly, a dry cleaning assembly, a first transmission assembly, a second wheel assembly, a second transmission assembly, and a wet cleaning assembly.

Fig. 2B is a perspective view showing a partial structure of the assembly in fig. 2A.

Fig. 3A is a schematic perspective view illustrating an assembly of partial components of the autonomous mobile apparatus of fig. 1A, including a first wheel assembly and a first transmission assembly.

Fig. 3B is a perspective view showing a partial structure of the assembly in fig. 3A.

Fig. 3C is a schematic cross-sectional view showing the assembly in fig. 3A.

Fig. 4A is a perspective view illustrating a dry cleaning assembly of the autonomous mobile apparatus of fig. 1A.

Fig. 4B is another perspective view illustrating the dry cleaning assembly of fig. 4A.

Fig. 5A is a schematic perspective view illustrating an assembly of partial components of the autonomous mobile apparatus of fig. 1A, including a second wheel assembly and a second transmission assembly.

Fig. 5B is a perspective view showing a partial structure of the assembly in fig. 5A.

Fig. 6 is a perspective view illustrating an assembly of partial components of an autonomous mobile apparatus according to a second embodiment of the present disclosure, including a first wheel assembly, a first gear assembly, a lifting power source, and a transmission.

Description of the reference numerals

1-a shell;

2-a first wheel assembly; 21-casters; 22-a first suspension; 23-a first spring; 24-a first wheel carrier; 25 lifting tables;

3-a first transmission assembly; 31-a first rack; 32-a second rack; 321-tooth portion; 322-a first drive connection; 33-a gear;

4-a dry cleaning assembly; 41-a housing; 411-a housing body; 412-a second drive connection; 413-a first rotational connection;

5-a second wheel assembly; 51-a drive wheel; 52-a second suspension; 53-a second spring; 54-a second wheel carrier; 55-a driven part;

6-a second transmission assembly; 61-a first link; 62-a second link; 621—a second rotational connection; 63-a transmission rod;

7-a wet cleaning assembly;

8-lifting power source;

9-a transmission; 91 lead screw.

Detailed Description

Embodiments of the present disclosure are described below with reference to the accompanying drawings. For ease of understanding, elements shown in the drawings may include elements whose dimensions and scales are different from those of actual dimensions and scales.

In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are all relative to the normal operating state of the autonomous mobile apparatus according to the present disclosure. Specifically, "front (front side)", "rear (rear side)" means front and rear sides in a forward advancing direction of the autonomous mobile apparatus according to the present disclosure, "left (left side)", "right (right side)" means left and right sides as viewed toward the front side in the forward advancing direction, "upper (upper side)", "lower (lower side)" means upper and lower sides in a height direction perpendicular to the surface to be cleaned when the autonomous mobile apparatus according to the present disclosure is in a normal operating state on the running surface.

In the present disclosure, the autonomous mobile apparatus is capable of autonomous movement according to a control scheme preset in a control assembly thereof, and a running surface (to-be-cleaned surface) on which the autonomous mobile apparatus autonomously moves may be a plane or a curved surface with a larger radius of curvature, typically, for example, a floor in each room in a building.

In this disclosure, unless otherwise specifically indicated, "lift" refers to the raising and lowering of other components of the autonomous mobile apparatus (e.g., the wheel assembly and the cleaning assembly) in an up-and-down direction relative to the housing.

In the present disclosure, with the self-moving cleaning device as an example of the autonomous mobile device of the present disclosure, the technical concept and the specific technical solution according to the present disclosure are described in the following specific embodiments, and the autonomous mobile device according to the first embodiment of the present disclosure is first described with reference to the accompanying drawings.

(autonomous mobile device according to the first embodiment of the present disclosure)

The autonomous mobile device according to the first embodiment of the present disclosure is a self-moving cleaning device. As shown in fig. 1A to 5B, the autonomous mobile apparatus includes a cabinet 1, a first wheel assembly 2, a first transmission assembly 3, a dry cleaning assembly 4, a second wheel assembly 5, a second transmission assembly 6, a wet cleaning assembly 7, a sensing assembly, and a control assembly, which are assembled together. The control component can obtain environmental parameters through the sensing component, and based on the obtained environmental parameters, the control component can control the wheel component (mainly referred to as the second wheel component 5) to drive the whole autonomous mobile device to autonomously move on the surface to be cleaned, so that the cleaning operation is carried out on the surface to be cleaned through the cleaning component (comprising the dry cleaning component 4 and the wet cleaning component 7) in the process. In various modes of operation, the cleaning operation includes, but is not limited to, one or more of sweeping, mopping, dusting, and the like.

In the present embodiment, as shown in fig. 1A and 1B, the casing 1 has a substantially cylindrical shape as a whole. The shape of the housing 1 is not limited thereto, and the housing 1 may have other shapes, such as D-shape, oval shape, square shape, etc., in alternative embodiments. When the autonomous mobile apparatus according to the first embodiment of the present disclosure is in a normal operation state, the bottom surface of the housing 1 is opposite to the surface to be cleaned, and the bottom surface of the housing 1 is parallel to the surface to be cleaned. Here, "parallel" includes not only the case where the bottom surface of the casing 1 has a geometrically parallel relationship with the surface to be cleaned, but also the case where the two are substantially parallel. The above "approximately" means that the parallel relationship between the two can be determined to be established within a reasonable error range recognized by those skilled in the art. In addition, other components are all arranged in the casing 1, and most of structures of the autonomous mobile device are accommodated and installed in the casing 1 for supporting and protecting the other components.

In the present embodiment, as shown in fig. 1B to 3C, the first wheel assembly 2 is provided at the front of the casing 1, and the casters 21 (universal wheels) of the first wheel assembly 2 are always protruded with respect to the bottom surface of the casing 1 so as to be in rolling contact with the surface to be cleaned. Further, the first wheel assembly 2 includes a first suspension 22, a first spring 23, a first wheel frame 24, and a lifting table 25, in addition to the casters 21. As shown in fig. 2A to 3C, the caster 21 is mounted to the bottom of the first suspension 22 via a universal mechanism such that the caster 21 can move in any direction on the surface to be cleaned with respect to the first suspension 22, but the caster 21 cannot be lifted with respect to the first suspension 22. The first suspension 22 is fixedly mounted with a first rack 31 of the first transmission assembly 3, which will be described below, and the first suspension 22 is capable of lifting relative to the housing 1, so as to drive the caster 21 to lift relative to the housing 1. Furthermore, two first springs 23 are disposed side by side in the left-right direction within a space defined by being surrounded by the first suspensions 22, each first spring 23 being a cylindrical coil spring, one end of each first spring 23 being capable of abutting against the first suspension 22 and the other end always abutting against the bottom of the elevating table 25. In this way, the lifting table 25 can drive the first suspension 22 to descend via the first spring 23. In addition, the top of the elevating table 25 also directly abuts against the first suspension 22. In this way, the lifting table 25 can directly drive the first suspension 22 to rise. Further, the first wheel frame 24 is mounted inside the cabinet 1 and fixed together with the cabinet 1. It will be appreciated that in a state where both ends of the two first springs 23 respectively abut against the first hanger 22 and the elevating platform 25, not only can the shock generated during the running of the caster 21 on the surface to be cleaned be buffered, but also the spring force can be applied to the first hanger 22 to bring the caster 21 into close contact with the surface to be cleaned at all times.

In the present embodiment, as shown in fig. 2A to 3C, most of the structure of the first transmission assembly 3 is provided in the first wheel frame 24 of the first wheel assembly 2, and the first transmission assembly 3 is mounted to the first suspension 22 and the housing 41 of the dry cleaning assembly 4, so that the first wheel assembly 2 and the dry cleaning assembly 4 are interlocked via the first transmission assembly 3, so that the dry cleaning assembly 4 can be reversely lifted up with respect to the housing 1 as the first wheel assembly 2 descends with respect to the housing 1.

Specifically, as shown in fig. 3A to 3C, the first transmission assembly 3 includes two rack and pinion mechanisms disposed side by side in the left-right direction. Each rack and pinion mechanism includes a first rack 31, a second rack 32, and a pinion 33 assembled together. The first rack 31 and the second rack 32 may be disposed at opposite sides of the gear 33, whereby teeth of the first rack 31 and teeth of the second rack 32 are opposite to each other and are always tooth-engaged with the gear 33. The first rack 31 is fixed to a side wall of the first suspension 22 of the first wheel assembly 2 such that the first rack 31 is lifted and lowered together with the first suspension 22 with respect to the casing 1. The second rack 32 includes an integral tooth 321 and a first drive connection portion 322, the tooth 321 is always in tooth engagement with the gear 33, and the first drive connection portion 322 can abut against the second drive connection portion 412 of the housing 41 of the dry cleaning assembly 4, so that the dry cleaning assembly 4 can be driven to rise relative to the casing 1 in a state in which the first drive connection portion 322 and the second drive connection portion 412 abut against each other. Specifically, the first transmission connection portion 322 has an L-shaped structure, and a vertical portion of the first transmission connection portion 322 is integrally formed with the tooth portion 321, and a horizontal portion of the first transmission connection portion 322 is always located below the second transmission connection portion 412 and can be separated from or abutted against the second transmission connection portion 412. The rotation shaft of the gear 33 may be mounted to the first wheel frame 24 or the casing 1, and the gear 33 is always tooth-engaged with both the first rack 31 and the second rack 32, so that the first rack 31 and the second rack 32 are moved in opposite directions in a state where the gear 33 is rotated. That is, in a state where the gear 33 rotates in one direction, the first rack 31 rises with respect to the casing 1 and the second rack 32 falls with respect to the casing 1; in a state where the gear 33 rotates in the other direction opposite to the one direction, the first rack 31 descends with respect to the casing 1 and the second rack 32 ascends with respect to the casing 1. In this way, the first wheel assembly 2 and the dry cleaning assembly 4 having the casters 21 are lifted and lowered in opposite directions by a relatively simple rack and pinion mechanism, and the two rack and pinion mechanisms smooth the lifting and lowering of the first wheel assembly 2 and the dry cleaning assembly 4 without being skewed. In fact, in the present embodiment, after the first wheel assembly 2 is lowered to the predetermined position with respect to the casing 1, the first transmission connection portion 322 can abut against the second transmission connection portion 412, whereby the dry cleaning assembly 4 can be driven to rise as the first wheel assembly 2 is further lowered from the predetermined position in a state where the first transmission connection portion 322 abuts against the second transmission connection portion 412.

In the present embodiment, as shown in fig. 2A and 2B, most of the dry cleaning assembly 4 is accommodated in the casing 1, and is located at the rear side of the first wheel assembly 2 and at the front side of the second wheel assembly 5, and the dry cleaning assembly 4 is mainly used for performing dust-absorbing cleaning operation on the surface to be cleaned.

As shown in fig. 4A and 4B, the dry cleaning assembly 4 includes a housing 41 and a main brush assembled together, the main brush being housed in the housing 41 and being rotatable relative to the housing 41 so as to wind up foreign matter on a surface to be cleaned in a state of being in contact with the surface to be cleaned. The housing 41 includes an integral housing body 411, a second drive connection 412 and a first rotational connection 413. The housing body 411 is formed in a substantially cubic shape, and the housing body 411 has a hollow structure so as to house and mount the main brush. The two second drive connection parts 412 protrude from the front side wall of the housing main body 411 toward the second rack gear 32 of the first drive assembly 3, and each of the second drive connection parts 412 is formed in a horizontal plate shape and is always located above the first drive connection part 322 of the corresponding second rack gear 32 (refer to fig. 2A and 2B), so that the second rack gear 32 can be caused to lift the housing 41 together only in a state where the second drive connection part 412 and the corresponding first drive connection part 322 abut against each other. Moreover, in the case where the dry cleaning assembly 4 floats upward independently of the first wheel assembly 2, the second transmission connection portion 412 can be out of abutment with the first transmission connection portion 322. The first rotation connection portions 413 are provided on the left and right side walls of the housing main body 411, and two first rotation connection portions 413 are provided on each of the left and right side walls side by side up and down, and one end of each of the two links 61, 62 of the second transmission assembly 6 is rotatably connected to one of the first rotation connection portions 413, whereby the links can rotate about the first rotation connection portions 413.

Specifically, in the present embodiment, as shown in fig. 2A, two second wheel assemblies 5 are arranged side by side left and right, in the middle of the casing 1 in the front-rear direction, on the rear side of the dry cleaning assembly 4 and on the front side of the wet cleaning assembly 7, and the driving wheels 51 (driving wheels) of the second wheel assemblies 5 are always projected with respect to the bottom surface of the casing 1 so as to be in rolling contact with the surface to be cleaned. Further, for each second wheel assembly 5, the second wheel assembly 5 includes a second suspension 52, a second spring 53, a second wheel carrier 54, and a driven portion 55, in addition to the driving wheel 51. As shown in fig. 5A and 5B, driving wheel 51 is mounted to the bottom of second suspension 52 via a rotation shaft such that driving wheel 51 can roll on the surface to be cleaned with respect to second suspension 52, but driving wheel 51 cannot be lifted up and down with respect to second suspension 52. In addition, most of the structure of the second suspension 52 is housed in the second wheel frame 54. Further, two second springs 53 are disposed side by side in the space surrounded by the first wheel frame 24, each second spring 53 being a cylindrical coil spring, one end of each second spring 53 abutting against the second suspension 52 and the other end abutting against the second wheel frame 54, the second springs 53 being elastically deformable during relative movement of the second suspension 52 and the second wheel frame 54. Further, the second wheel frame 54 is mounted inside the cabinet 1 and fixed together with the cabinet 1. It will be appreciated that the two second springs 53 are not only capable of damping vibrations generated during travel of drive wheel 51 over the surface to be cleaned, but also are capable of applying a spring force to second suspension 52 to bring drive wheel 51 into constant intimate contact with the surface to be cleaned. Further, as shown in fig. 2B and 5B, the driven portion 55 is formed in a cylindrical convex shape and protrudes from the side wall of the second suspension 52. After the dry cleaning assembly 4 is raised to a predetermined position with respect to the chassis 1, the transmission lever 63 of the second transmission assembly 6 abuts against the driven portion 55, and in this abutting state, the second wheel assembly 5 is driven to descend by the dry cleaning assembly 4 continuing to rise from the predetermined position.

In the present embodiment, as shown in fig. 2A and 2B, the second transmission assembly 6 is mounted to the housing 41 of the dry cleaning assembly 4 and the second wheel frame 54 (or the casing 1) of the second wheel assembly 5, whereby the second wheel assembly 5 is linked with the dry cleaning assembly 4 via the second transmission assembly 6 so that the second wheel assembly 5 can be lowered relative to the casing 1 as the dry cleaning assembly 4 is raised relative to the casing 1.

Specifically, as shown in fig. 5A and 5B, the second transmission assembly 6 includes a first link 61, a second link 62, and a transmission lever 63. One end of the first link 61 is rotatably connected to the first rotation connection part 413 of the dry cleaning assembly 4, and the other end thereof is rotatably connected to the rotation connection part of the second wheel frame 54 (since the second wheel frame 54 is fixed to the cabinet 1, the other end of the first link 61 can be considered to be rotatably connected to the cabinet 1), one end of the second link 62 is rotatably connected to the first rotation connection part 413 of the dry cleaning assembly 4, and the other end thereof is provided with the second rotation connection part 621 to be rotatably connected to the second wheel frame 54 (also can be considered to be rotatably connected to the cabinet 1). Thus, the housing 41, the first link 61, the second link 62, and the second wheel carrier 54 (the casing 1) of the dry cleaning assembly 4 constitute a four-bar mechanism. In this four-bar linkage, the first and second links 61 and 62 are parallel to each other and equal in length, and with this four-bar linkage, the dry cleaning assembly 4 is kept stable all the time in the process of lifting and lowering with respect to the chassis 1. Further, the transmission lever 63 is rigidly connected to the first link 61, and the transmission lever 63 is swingable with the rotation of the first link 61, thereby enabling the dry cleaning assembly 4 to be lifted up while driving the driven portion 55 of the second wheel assembly 5 via the transmission lever 63, thereby lowering the second wheel assembly 5. Hereby, a wheel assembly with a driving wheel 51 and a dry cleaning assembly 4 are lifted and lowered in opposite directions with a relatively simple lever transmission.

In the present embodiment, as shown in fig. 2B, most of the structure of the wet cleaning unit 7 is accommodated in the interior of the casing 1 and is located at the rear side of the second wheel unit 5 in the front-rear direction, and the wet cleaning unit 7 is mainly used for wet cleaning the surface to be cleaned with liquid. The wet cleaning assembly 7 can be lifted and lowered relative to the cabinet 1 independently of the dry cleaning assembly 4.

By adopting the structure, the autonomous mobile apparatus according to the first embodiment of the present disclosure can realize multiple working modes, so that the autonomous mobile apparatus of the present disclosure can adapt to more application scenarios.

Specifically, in the first operation mode (dry-wet dual operation mode), the dry cleaning assembly 4 is in a lowered position with respect to the casing 1 to be in constant contact with the surface to be cleaned, so that the dry cleaning assembly 4 is in an operation state, and the wet cleaning assembly 7 is in a lowered position with respect to the casing 1 to be in constant contact with the surface to be cleaned, so that the wet cleaning assembly 7 is in an operation state. In the present disclosure, the lowered position and the raised position are relative positions with respect to the casing 1, and the lowered position is located below the raised position in the up-down direction for the same component.

In the second operation mode (wet operation mode), the dry cleaning assembly 4 is in a raised position relative to the cabinet 1 to be out of contact with the surface to be cleaned, so that the dry cleaning assembly 4 is in a non-operation state, and the wet cleaning assembly 7 is in a lowered position relative to the cabinet 1 to be in constant contact with the surface to be cleaned, so that the wet cleaning assembly 7 is in an operation state. It will be appreciated that, on the one hand, in the case of an autonomous mobile apparatus travelling past a surface to be cleaned having a concavity and convexity, the dry cleaning assembly 4 is able to float upwards independently of the first wheel assembly 2 (the height of the independent upward float of the dry cleaning assembly 4 can be defined by the four bar linkage of the second transmission assembly 6), whereby the autonomous mobile apparatus can be considered to be in the above-described wet mode of operation; on the other hand, the first wheel assembly 2 and the dry cleaning assembly 4 may be linked, and the first wheel assembly 2 may be controlled to be lowered to raise the dry cleaning assembly 4 to be in a non-operating state, whereby the autonomous mobile apparatus is in a wet operating mode.

In the third operation mode (dry operation mode), the dry cleaning assembly 4 is in a lowered position relative to the cabinet 1 to be in constant contact with the surface to be cleaned, so that the dry cleaning assembly 4 is in an operation state, and the wet cleaning assembly 7 is in a raised position relative to the cabinet 1 to be out of contact with the surface to be cleaned, so that the wet cleaning assembly 7 is in a non-operation state. It will be appreciated that the wet cleaning assembly 7 may be raised independently of the other components to be in a non-operational state whereby the autonomous mobile apparatus is in a dry mode of operation.

In the fourth operation mode (obstacle surmounting mode), the dry cleaning assembly 4 is in a raised position with respect to the cabinet 1 to be out of contact with the surface to be cleaned, so that the dry cleaning assembly 4 is in a non-operation state, the wet cleaning assembly 7 is in a raised position with respect to the cabinet 1 to be out of contact with the surface to be cleaned, so that the wet cleaning assembly 7 is in a non-operation state, and the first wheel assembly 2 and the second wheel assembly 5 are in a lowered position with respect to the cabinet 1, so that the autonomous mobile apparatus can smoothly pass through a road section having a large concave-convex obstacle.

By adopting the above technical scheme, the first wheel assembly 2 with the castor wheel 21 and the dry cleaning assembly 4 are linked through the first transmission assembly 3, and the two can be driven by the same lifting power source to lift in opposite directions relative to the casing 1, so that the lifting movement of the two can be realized with a simple structure and lower cost. Further, the second wheel assembly 5 with the driving wheel 51 and the dry cleaning assembly 4 are linked in a preset state through the second transmission assembly 7, so that the first wheel assembly 2 with the castor 21, the second wheel assembly 5 with the driving wheel 51 and the dry cleaning assembly 4 can be driven to lift relative to the casing 1 by the same lifting power source 8 in the preset state, and the respective lifting is realized by the linkage of the three components with a simple structure and low cost, so that corresponding working modes are realized, and the autonomous mobile equipment can be suitable for more application scenes in a better working state.

An autonomous mobile apparatus according to a second embodiment of the present disclosure is described below.

(autonomous mobile device according to a second embodiment of the present disclosure)

The structure of the autonomous mobile apparatus according to the second embodiment of the present disclosure is substantially the same as that of the autonomous mobile apparatus according to the first embodiment of the present disclosure, and differences therebetween are mainly described below.

In this embodiment, as shown in fig. 6, the autonomous mobile apparatus further includes a lifting power source 8 and a transmission 9, and both the lifting power source 8 and the transmission 9 are mounted to the first wheel assembly 2. The lifting power source 8 is a motor. The transmission 9 may include a screw 91 screwed with the elevating platform 25, the screw 91 and the elevating platform 25 constituting a screw nut mechanism, and the screw 91 also being drivingly coupled with the elevating power source 8 to receive a driving force from the elevating power source 8. In this way, the lifting power source 8 is drivingly coupled to the lifting table 25 of the first wheel assembly 2 via the transmission 9, so that the lifting power source 8 can transmit a driving force to the lifting table 25 of the first wheel assembly 2 via the transmission 9, thereby driving the first wheel assembly 2 to lift via the lifting table 25.

It will be appreciated that in a state where both ends of the two first springs 23 abut against the first suspension 22 and the lifting table 25, respectively, the lowering driving force of the lifting power source 8 generated via the transmission 9 can be transmitted to the first suspension 22 via the two first springs 23, the first suspension 22 can be lowered together with the caster 21, and the impact received by the caster 21 will be buffered via the first springs 23 without causing excessive impact to the lifting power source 8. Further, the first wheel assembly 2 can be lowered to drive the dry cleaning assembly 4 to reversely rise through the first transmission assembly 3, and then the second wheel assembly 5 can be lowered through the second transmission assembly 6.

It should be understood that the above-described embodiments are merely exemplary and are not intended to limit the present disclosure. Numerous modifications and variations to the above-described embodiments may be made by those skilled in the art in light of the teachings of this disclosure without departing from the scope of this disclosure. The following supplementary explanation is made to the technical scheme of the present disclosure.

i. It is to be understood that the technical concept of the present disclosure may be applied to other autonomous mobile devices in addition to the examples of the self-moving cleaning device described in the above specific embodiments. The autonomous mobile apparatus described above generally refers to an intelligent mobile apparatus that autonomously performs a preset task, and includes a cleaning robot (e.g., an intelligent floor sweeper, an intelligent floor wiper, a window cleaning robot), a companion mobile robot (e.g., a smart pet, a nurse robot), a service mobile robot (e.g., a reception robot in a hotel, a meeting place), an industrial inspection intelligent apparatus (e.g., an electric inspection robot, an intelligent forklift, etc.), a security robot (e.g., a home or business intelligent guard robot), etc., a two-dimensional planar mobile robot with a wheel set or a crawler as a driving unit. Of course, the solution of the present disclosure may also be applied to other fields, which are not to be described in an exhaustive manner.

it will be appreciated that the control component of the autonomous mobile device of the present disclosure is capable of receiving parameters from the sensing component and of performing a related control of the autonomous mobile device by means of a preset program stored in the control chip. The second wheel assembly 5 is used for driving the whole autonomous mobile apparatus to travel on the surface to be cleaned under the control of the control assembly. In addition, by rotating the driving wheels 51 of the two second wheel assemblies 5 in the same direction at the same speed (for example, simultaneously clockwise rotation or simultaneously counterclockwise rotation), the autonomous mobile apparatus can be driven to make a linear motion in the forward advancing direction; by rotating drive wheels 51 of the two second wheel assemblies 5 at different speeds and/or in different directions (e.g., one drive wheel 51 rotates clockwise and the other drive wheel 51 rotates counterclockwise), the autonomous mobile apparatus can be driven for steering movements in different directions relative to the forward direction of travel. Since the casters 21 are universal wheels, the casters 21 of the first wheel assembly 2 can support the entire autonomous mobile apparatus no matter how the driving wheel 51 rolls on the surface to be cleaned. In addition, the dry cleaning module 4 may include a dust suction unit accommodated in the cabinet 1 for performing a suction operation on the foreign matters rolled up by the main brush under the control of the control module, so that the foreign matters can be sucked into the dust collecting device.

in a variant of an embodiment according to the present disclosure, the first transmission assembly 3 may comprise only one rack and pinion mechanism, or more than three rack and pinion mechanisms. Furthermore, the first transmission assembly 3 may adopt other transmission structures as long as the function of lifting and lowering the first wheel assembly 2 and the dry cleaning assembly 4 in opposite directions can be realized.

in a variation of the embodiment according to the present disclosure, the second transmission assembly 6 may include one link or more than three links such that the links can rotate during the lifting of the dry cleaning assembly 4 relative to the chassis 1. The transmission lever 63 is rigidly connected to one link, and the transmission lever 63 is capable of swinging in accordance with the rotation of one link, and after the dry cleaning assembly 4 is raised to a predetermined position with respect to the cabinet 1, the transmission lever 63 abuts against the driven portion 55, thereby driving the second wheel assembly 5 to descend as the dry cleaning assembly 4 is further raised from the predetermined position. In this way, on the one hand, before the transmission lever 63 is not abutted against the driven portion 55, the dry cleaning assembly 4 can be made to operate independently of the second wheel assembly 5 having the driving wheel 51, in which case the dry cleaning assembly 4 can float independently according to the irregularities of the surface to be cleaned without lifting the second wheel assembly 5 relative to the chassis 1; on the other hand, after the transmission rod 63 abuts against the driven portion 55, the dry cleaning assembly 4 and the second wheel assembly 5 having the driving wheel 51 can be linked, and the second wheel assembly 5 having the driving wheel 51 can be lowered while the dry cleaning assembly 4 continues to be lifted, so that the autonomous mobile apparatus can realize the obstacle surmounting operation mode.

Claims (10)

1. An autonomous mobile device, comprising:

a housing;

a first wheel assembly mounted to the housing and having casters;

a dry cleaning assembly for dry cleaning a surface to be cleaned; and

the first transmission assembly and the dry cleaning assembly can be linked through the first transmission assembly, so that the dry cleaning assembly can be lifted relative to the machine shell along with the first wheel assembly descending relative to the machine shell.

2. The autonomous mobile device of claim 1, wherein the first transmission assembly comprises at least one rack and pinion mechanism comprising:

a first rack fixed with the first wheel assembly;

a second rack having a first drive connection; and

a gear that is in constant tooth engagement with both the first rack and the second rack such that the first rack and the second rack move in opposite directions in a state in which the gear rotates,

the dry cleaning assembly has a second drive connection portion against which the first drive connection portion can abut after the first wheel assembly is lowered to a predetermined position relative to the chassis, thereby driving the dry cleaning assembly to rise as the first wheel assembly continues to descend from the predetermined position with the first drive connection portion abutting against the second drive connection portion.

3. The autonomous mobile apparatus of claim 2, wherein the first wheel assembly further comprises a first suspension, a first spring, a first wheel carrier, and a lifting platform, the caster is mounted to the first suspension and the first suspension is fixed to the first rack, the first wheel carrier is fixed to the housing, the lifting platform is capable of lowering the first suspension via the first spring, and the lifting platform is capable of directly raising the first suspension.

4. The autonomous mobile device of claim 3, further comprising:

a lifting power source mounted to the first wheel frame; and

a transmission including a lead screw that is drivingly coupled with the lifting power source and that is threadably coupled with the lifting table to constitute a lead screw nut mechanism, thereby drivingly coupling the lifting power source and the lifting table via the transmission such that the lifting power source can drive the lifting table to lift via the transmission.

5. The autonomous mobile device of any of claims 1-4, further comprising:

a second wheel assembly mounted to the housing and having a drive wheel; and

and a second transmission assembly, the second wheel assembly and the dry cleaning assembly being capable of being linked via the second transmission assembly such that the second wheel assembly is capable of being lowered relative to the housing as the dry cleaning assembly is raised relative to the housing.

6. The autonomous mobile device of claim 5, wherein the second transmission assembly comprises:

a first link having one end rotatably connected to the dry cleaning assembly and the other end rotatably connected to the casing or the second wheel assembly; and

and a transmission rod rigidly connected with the first link, the transmission rod being capable of swinging along with the rotation of the first link, thereby enabling the dry cleaning assembly to ascend while driving the second wheel assembly to descend via the transmission rod.

7. The autonomous mobile apparatus of claim 6, wherein the second transmission assembly further comprises a second link having one end rotatably connected to the dry cleaning assembly and another end rotatably connected to the housing or the second wheel assembly such that the dry cleaning assembly, the first link, the second link, and the housing comprise a four-bar linkage.

8. The autonomous mobile apparatus according to claim 6, wherein the second wheel assembly is provided with a driven portion against which the transmission lever abuts after the dry cleaning assembly rises to a predetermined position with respect to the chassis, thereby driving the second wheel assembly to descend as the dry cleaning assembly continues to rise from the predetermined position in a state in which the transmission lever abuts against the driven portion.

9. The autonomous mobile apparatus of any of claims 1 to 4, further comprising a wet cleaning assembly for wet cleaning the surface to be cleaned, the wet cleaning assembly being liftable relative to the housing independently of the dry cleaning assembly.

10. An autonomous mobile device, comprising:

a housing;

a dry cleaning assembly for dry cleaning a surface to be cleaned;

a wheel assembly mounted to the housing, the wheel assembly having a drive wheel and being provided with a driven portion;

at least one connecting rod connected with the shell and the dry cleaning component, so that the dry cleaning component can rotate in the process of lifting relative to the shell; and

and a transmission lever rigidly connected to one of the at least one link, the transmission lever being swingable with rotation of the one link, the transmission lever abutting against the driven portion after the dry cleaning assembly rises to a predetermined position with respect to the chassis, thereby driving the wheel assembly to descend as the dry cleaning assembly continues to rise from the predetermined position.