WO2021077954A1 - 清洁机器人 - Google Patents

清洁机器人 Download PDF

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Publication number
WO2021077954A1
WO2021077954A1 PCT/CN2020/115856 CN2020115856W WO2021077954A1 WO 2021077954 A1 WO2021077954 A1 WO 2021077954A1 CN 2020115856 W CN2020115856 W CN 2020115856W WO 2021077954 A1 WO2021077954 A1 WO 2021077954A1
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WO
WIPO (PCT)
Prior art keywords
mop
release
cleaning robot
mopping
clip
Prior art date
Application number
PCT/CN2020/115856
Other languages
English (en)
French (fr)
Inventor
钟红风
张士松
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201911023104.3A external-priority patent/CN112704440A/zh
Priority claimed from CN201921813180.XU external-priority patent/CN211723013U/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2021077954A1 publication Critical patent/WO2021077954A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • This application relates to the field of cleaning equipment, in particular to a cleaning robot.
  • the current smart mopping machine or smart sweeping and mopping integrated machine is equipped with a mop to wipe the ground to improve the cleanliness of the ground. After the smart mopping machine works, the rag needs to be removed from the robot for cleaning or replacement.
  • some smart mopping machines such as IROBOT
  • IROBOT use special washable and reusable rags with a mounting card or non-washable disposable rags with a mounting card.
  • Disposable wipes that can be washed and reused or are non-washable are equipped with a pallet device, which is complicated in structure and high in cost.
  • an object of the present application is to provide a cleaning robot that can facilitate the user to replace the mop.
  • Another object of the present application is to provide a cleaning robot, which can reduce the cost of replacing the mop and reduce the cost of use.
  • a cleaning robot including:
  • a mopping module for installing on the fuselage includes a mopping board installed on the fuselage, and a mop that can cover the lower surface of the mopping board;
  • a mop removal device installed on the fuselage;
  • the mop removal device includes a moving assembly located above the mopping module and a mop fixing part;
  • the mop fixing part has an installation position for covering the mop on the lower surface of the mop board, and A release position where the mop is released;
  • the moving assembly can move the mop fixing component from the installation position to the release position.
  • the cleaning robot further includes: a lifting device for lifting the mopping module from a first position relative to a working surface to a second position;
  • the moving assembly moves the mopping cloth fixing component from the installation position to the release position when the mopping module is in the second position.
  • the fuselage is provided with a drive shaft that pushes the moving assembly to rotate; the moving assembly pushes the mop fixing member to move from the installation position to the release position through rotation.
  • the drive shaft can also drive the lifting device to lift the mopping module from the first position to the second position; when the drive shaft drives the moving assembly to rotate, the drag The ground module is maintained at the second position; when the drive shaft drives the lifting device, the mop fixing component is maintained at the release position.
  • the mop fixing component includes a mop clamp rotatably installed on the body; the mop clamp can clamp the mop on the mop plate; the mop clamp rotates in the release position and Switch between installation positions.
  • the moving assembly includes a release cam located above the mopping module, and a drive shaft that drives the release cam to rotate;
  • the release cam has an initial position and a maximum rotation position; when the release cam rotates to the maximum rotation position, the mop fixing member is moved from the installation position to the release position.
  • the bottom of the fuselage is further provided with a locking part;
  • the mop clip has an engaging part that cooperates with the locking part; the locking part cooperates with the engaging part to make the The mop clip is locked in the installation position; the mop clip rotates downward to the release position under the action of gravity when the joint part is separated from the locking part;
  • the release cam pushes the engagement part of the mop clip to disengage from the locking part during the rotation to the maximum rotation position.
  • one of the locking portion and the joint portion is provided with a magnetic attraction member having a magnetic force, and the other is provided with an attraction member attracted by the magnetic attraction member.
  • the moving assembly further includes a release lever; the release cam is located above the release lever, and the release lever is located above the mop plate; the release cam will release the lever by rotating Press down to rotate downward; when the release lever rotates downward, press down the mop clip to rotate downward.
  • the mop plate is provided with a through hole;
  • the release lever has a connecting end and a pressing end;
  • the connecting end is rotatably connected to the upper side of the mop plate, and the pressing end
  • the mop clip can be pressed down through the through hole.
  • the rotation direction of the release cam is the same as the rotation direction of the release lever; the rotation direction of the release lever is opposite to the rotation direction of the mop clip.
  • the body is also provided with a return spring connected to the release lever; the return spring applies a return elastic force to the release lever.
  • the fuselage is provided with a trigger part and a control device electrically connected to the trigger part; the trigger part is used to receive a user's trigger instruction; the control device can control the drive Shaft rotation; when the control device receives the trigger signal of the trigger part, it controls the drive shaft to rotate the release cam to the maximum rotation position, and then reverse rotation to return to the initial position.
  • the trigger unit includes an operation button located on the top of the fuselage.
  • the fuselage is also provided with a lifting structure for receiving the force of the user to lift the cleaning robot.
  • the lifting structure includes a rotating handle arranged on the top of the fuselage, or a force applying groove arranged on the side wall of the fuselage.
  • a cleaning robot including:
  • a mopping module for installing on the fuselage includes a mopping board installed on the fuselage, and a mop that can cover the lower surface of the mopping board;
  • a mop removal device installed on the body; the mop removal device has a first state in which the mop is covered on the lower surface of the mop board, and a second state in which the mop is released;
  • a control device connected to the trigger part and the mop removal device; the control device controls the mop removal device to switch from the first state to the second state when receiving the trigger signal of the trigger portion.
  • the cleaning robot provided by the present application is provided with a mop removal device on the body.
  • the mop removal device has a first state in which the mop is covered on the lower surface of the mop board and a second state in which the mop is released, so that the mop is replaced At this time, it is only necessary to switch the mop removal device to the second state, and there is no need to disassemble the mop plate on the body. Therefore, the cleaning robot can facilitate the user to replace the mop.
  • the cleaning robot does not need to disassemble and replace the mop plate, and only replace the mop after the mop is used, which can effectively reduce the use cost.
  • Fig. 1 is a schematic diagram of a cleaning robot provided by an embodiment of the present application
  • Figure 2 is a top view of Figure 1;
  • Figure 3 is a cross-sectional view taken along line A-A of Figure 2;
  • Figure 4 is a B-B sectional view of Figure 2;
  • Figure 5 is a schematic view of the rotating handle of Figure 1 being erected
  • Figures 6-9 are schematic diagrams of replacing the mop cloth in Figure 1;
  • Fig. 10 is a schematic diagram of a cleaning robot provided by another embodiment of the present application.
  • An embodiment of the present application provides a cleaning robot 100, which may be a household and/or indoor service robot, such as a floor cleaning robot.
  • the cleaning robot 100 may be an automatic mopping machine or an automatic mopping and sweeping machine.
  • the cleaning robot 100 includes: a body 20; a mopping module 10 for installing on the body 20; the mopping module 10 includes a mopping board installed on the body 20 12. And a mop 50 that can cover the lower surface of the mop plate 12.
  • the mop 50 (also referred to as a rag) can be a washable and reusable mop 50, or a disposable mop 50, which is not particularly limited in this application.
  • the cleaning robot 100 further includes a mop removal device installed on the body 20.
  • the mop removing device has a first state in which the mop 50 is covered on the lower surface of the mop plate 12 and a second state in which the mop 50 is released.
  • the cleaning robot 100 provided in this embodiment is provided with a mop removal device on the body 20, and the mop removal device has a first state in which the mop 50 is covered on the lower surface of the mop plate 12, and a second state in which the mop 50 is released. Therefore, when replacing the mop 50, only the mop removal device needs to be switched to the second state, and there is no need to disassemble the mop plate 12 on the body 20. Therefore, the cleaning robot 100 can facilitate the user to replace the mop 50.
  • the cleaning robot 100 does not need to disassemble and replace the mop plate 12, and only replace the mop 50 after the mop 50 is used, which can effectively reduce the use cost.
  • the cleaning robot 100 may be provided with a walking device 102, a control device 106, a detection device 105, a power supply device 101, and a power device. among them,
  • the walking device 102 supports the main body 20 and drives the cleaning robot 100 to move, and is arranged at the rear end of the main body 20.
  • the walking device 102 specifically includes two driving wheels located on both sides of the cleaning robot 100, which can be independently driven by a power device. Such an arrangement can control the traveling speed and direction of the walking device 102 by controlling the speed and the speed difference of the two driving wheels, so that the walking and steering of the cleaning robot 100 are flexible and accurate.
  • the walking device 102 may have other forms, such as a crawler type.
  • the cleaning robot 100 may also be provided with universal wheels 103.
  • the power device provides power for the movement and work of the cleaning robot 100.
  • it includes a motor located in the cleaning robot 100 and a transmission structure connected to the motor to provide power to the walking device 102.
  • the transmission mechanism is connected with the walking device 102, the motor drives the transmission mechanism to work, and the transmission action of the transmission mechanism makes the walking device 102 move.
  • the walking device 102 receives an instruction from the control device 106 and drives the cleaning robot 100 to automatically walk on the work surface.
  • the control device 106 is the control center of the cleaning robot 100, and is electrically connected to the power device, the power supply device 101, and other devices, and receives information from each device.
  • the control device 106 controls the power device to drive the walking device 102 to drive the cleaning robot 100 to move, and controls the cleaning robot 100 to perform various actions or tasks such as working area switching, returning to the base station, and charging.
  • the control device 106 may be an embedded digital signal processor (Digital Signal Processor, DSP), a microprocessor (Micro Processor Unit, MPU), a specific integrated circuit (Application Specific Integrated Circuit, ASIC), and a programmable logic device (Programmable Logic Device). , PLD) System on Chip (SOC), Central Processing Unit (CPU) or Field Programmable Gate Array (FPGA), etc.
  • the power supply device 101 provides working energy for the control device 106, the power device and the detection device 105 of the cleaning robot 100.
  • the power supply device 101 is usually a rechargeable battery that provides power for the operation of the cleaning robot 100, or can be connected to an external power supply for charging; preferably, the power supply device 101 has a charging or discharging protection unit, which can charge or discharge the power supply device 101 protection.
  • the mop removal device includes a pushing assembly located above the mopping module 10 and a mop fixing component 13.
  • the mop fixing member 13 has an installation position for covering the mop 50 on the lower surface of the mop plate 12 and a release position for releasing the mop 50; the pushing assembly can move the mop fixing member 13 from the installation position to the release position. That is, when the mop fixing member 13 is at the installation position, the mop removal device is in the first state. When the mop fixing member 13 is in the release position, the mop removal device is in the second state.
  • the moving assembly can move the mop fixing member 13 from the installation position (FIG. 6) to the release position (FIG. 9) by action.
  • the moving assembly and the mop fixing part 13 may be a linkage structure or a trigger structure.
  • the moving assembly moves the mop fixed part 13 in the form of pushing, and the mop fixed part 13 moves from the installation position to the release position in real time and keeps pushing simultaneously; in another embodiment, the moving assembly may The detachable connection between the mop fixing part 13 and the fuselage 20 is removed or opened. After opening, the mop fixing part 13 can be moved to the release position by gravity.
  • the release position described in this application can be understood as allowing the mop 50 to be separated from the mop plate 12 when the mop fixing member 13 is located at this position, and whether the mop 50 is separated from the mop plate 12 is not limited in this application.
  • the mop fixing member 13 is still in the state of supporting the mop 50 when it is at the release position, but the user can directly remove the mop 50 from the mop fixing member 13.
  • the body 20 In order to drive the movement of the moving assembly, the body 20 is provided with a drive shaft 2 that pushes the moving assembly to rotate.
  • the drive shaft 2 is connected to the output shaft of the drive motor.
  • the moving assembly can push the mop fixing part 13 to move from the installation position to the release position by rotating.
  • the moving assembly realizes the transmission between the drive shaft 2 and the mop fixing part 13.
  • the moving assembly may also move the mop fixing member 13 in a driving or pulling manner to switch positions.
  • the moving assembly includes a release cam 1 located above the mopping module 10 and a drive shaft 2 that drives the release cam 1 to rotate.
  • the release cam 1 has an initial position and a maximum rotation position.
  • Figures 4 and 6 show the initial position of the release cam 1
  • Figure 8 shows the maximum rotation position of the release cam 1.
  • the mop fixing member 13 is moved from the installation position to the release position.
  • the mobile component is installed in the body 20.
  • the moving assembly can move the mop fixing part 13 to switch from the installation position to the release position.
  • the action form of the mop fixing component 13 switching from the installation position to the release position can be rotation, translation, swing, etc., or even a combination of different action forms, which is not particularly limited in this application.
  • the mop fixing member 13 can be rotated to switch between the installation position and the release position.
  • the mopping module 10 is arranged at the bottom of the body 20, which may be arranged on the front side of the driving wheels. That is, the mopping module 10 is arranged in the front part of the fuselage 20. At this time, the mopping area is larger and the mopping effect is better. Of course, in other embodiments, the mopping module 10 can also be arranged at other positions of the fuselage 20, such as the rear end.
  • the mopping module 10 includes a mop board 12 and a mop 50.
  • the mop 50 is detachably installed on the mop board 12.
  • a water tank 104 may also be provided inside the fuselage 20 to provide water for the mop 50.
  • the mop 50 is in a flat state when installed on the mop board 12 and covers the lower surface of the mop board 12.
  • the mop 50 is pressed down by the mop plate 12 to keep it in close contact with the work surface (for example, the floor), and wipe the work surface clean.
  • the mop fixing member 13 can fix the mop 50 to the lower surface of the mop plate 12 when in the installation position. Wherein, the mop fixing member 13 can fix the mop 50 to the lower surface of the mop plate 12 by clamping, maintain the flat state of the entire mop 50, and wipe the work surface when it contacts the work surface.
  • the mop fixing member 13 includes a mop clip 15 rotatably installed on the mop plate 12 or the body 20.
  • the mop clip 15 can fasten the mop clip 15 to the mop plate 12; the mop clip 15 is switched between the release position and the installation position by rotating.
  • One end of the mop clip 15 is rotatably connected to one side of the mop plate 12 through a pivot shaft 151.
  • the mop clip 15 may be a frame or a rod with a free end.
  • the mop clip 15 is a rotatable open frame, which presses the sides of the rectangular mop 50 on the mop plate 12.
  • the mop clip 15 supports the fixable part (for example, a border or an additional fixing structure) of the mop 50 from bottom to top, and fits and clamps with the mop board 12, so that the mop 50 is fixed and covered on the mop board 12 ⁇ The bottom surface.
  • the mop clip 15 can be a strip plate structure or a rod structure.
  • the mop plate 12 may be provided with a recessed structure (such as a receiving groove, or the middle body protrudes downward).
  • the mop clip 15 is accommodated in In the recessed structure.
  • the depression direction of the depression structure is opposite to the direction of gravity.
  • the mop 50 can be clamped in the recessed structure.
  • the mop fixing member 13 fixes the mop 50, most of the area of the mop 50 is still kept exposed.
  • the mop fixing member 13 preferably clamps the boundary position of the mop 50.
  • the mop fixing member 13 clamps the mop 50 to the mop board 12, it does not protrude from the lower surface of the mop board 12 or the mop 50, so as to prevent the mop 50 from being in contact with the work surface.
  • one end of the mop fixing member 13 is detachably connected to the body 20, and the other end is connected in a movable connection.
  • the bottom of the fuselage 20 is also provided with a locking portion 153.
  • the mop clip 15 has an engaging portion 152 that cooperates with the locking portion 153.
  • the locking portion 153 cooperates with the engaging portion 152 to lock the mop clip 15 in the installation position.
  • the mop clip 15 rotates downward to the release position under the action of gravity when the engaging portion 152 is disengaged from the locking portion 153.
  • the engaging portion 152 of the mop clip 15 is pushed to disengage from the locking portion 153.
  • the locking portion 153 and the engaging portion 152 may be magnetically attracted.
  • one of the locking portion 153 and the engaging portion 152 is provided with a magnetic attraction member having a magnetic force, and the other is provided with a magnetic attraction member attracted by the magnetic member.
  • the locking part 153 can be a magnet part
  • the joint part 152 is an iron part.
  • the mop clip 15 is pressed down by the release lever 4 so that the joint part 152 and the locking part 153 are separated by a certain distance. As the magnetic attraction weakens, the mop The clamp 15 can be rotated to the release position under the action of gravity.
  • the locking portion 153 and the engaging portion 152 may also be a snap structure or a snap structure, which is not uniquely limited by this application.
  • the new mop 50 can be manually inserted into the new mop 50 and then the mop fixing member 13 is manually reset and fixed to realize the installation and replacement of the new mop 50.
  • the mop fixing member 13 is in the release position, the mop 50 can be separated from the mop plate 12 under the action of gravity. In this way, the user only needs to lift the entire cleaning robot 100 to a certain height, and use the movable assembly to switch the mop fixing member 13 to the release position. At this time, the mop 50 falls off from the mop plate 12 by itself, thereby reducing user operations and facilitating user replacement. As shown in Fig.
  • the body 20 is also provided with the lifting structure for receiving the force of the user to lift the cleaning robot 100.
  • the lifting structure includes a rotating handle 30 arranged on the top of the fuselage 20.
  • the lifting mechanism may be a force applying groove 35 provided on the side wall of the fuselage 20 or a pulling groove on the top of the fuselage.
  • the left and right side walls (between the front and rear side walls) of the body 20 are respectively provided with a force application groove 35, and the user lifts the cleaning robot 100 by inserting a hand into the force application groove 35 A certain height.
  • the moving assembly may further include a release lever 4.
  • the release cam 1 is located above the release lever 4.
  • the release lever 4 is located above the mop clip 15. The release cam 1 pushes down the release lever 4 to rotate downward by rotating; when the release lever 4 rotates downward, it pushes down the mop clip 15 to rotate downward.
  • the release cam 1 has a plate-shaped structure, and one side of the release cam 1 has a pushing side for pushing the release lever 4.
  • One end of the release cam 1 is a connecting end connected to the drive shaft 2, and the other end is a free end.
  • the pushing side extends toward the connecting end of the release cam 1, a corner is formed.
  • the release cam 1 rotates, the pushing side 16 comes into contact with the upper side of the release lever 4.
  • pushing the side 16 will push the release lever 4 down, and the contact part between the pushing side 16 and the release lever 4 will approach the free end of the release cam 1, and then the release lever 4 will be pushed down, with the help of the release The lever 4 pushes down the mop clip 15 to open it.
  • the mop board 12 is provided with a through hole 11.
  • the through hole 11 allows the release lever 4 to pass through when it swings.
  • the through hole 11 may be provided close to one side of the mop board 12.
  • the moving component can also be arranged close to the side of the cleaning robot 100.
  • the release lever 4 has a connecting end 41 and a pressing end 42.
  • the pressing end 42 can press down the mop clip 15 through the through hole 11.
  • the connecting end 41 is rotatably connected to the upper side of the mop board 12.
  • the connecting end 41 can be rotatably connected to the main body 20 via a pivot shaft fixed on the main body 20, so that the release lever 4 can rotate around the pivot shaft.
  • the through hole 11 is arranged close to the middle part of the mop clip 15, or is arranged far away from the connecting end of the mop clip 15, so as to reduce the requirement for releasing the downward pressure of the cam 1, thereby reducing the requirements for power equipment (such as motors and power supplies). It is convenient to manufacture and ensure the smooth opening of the mop clip 15.
  • the rotation direction of the release cam 1 is the same as the rotation direction of the release lever 4.
  • the rotation direction of the release lever 4 is opposite to the rotation direction of the mop clip 15.
  • a reset spring connected to the release lever 4 is also provided in the body 20.
  • the return spring applies a return elastic force to the release lever 4.
  • the specific shape of the return spring is not uniquely limited in this application.
  • the return spring can be a cylindrical spring or a tower spring, and one end of the return spring can be fixedly connected to the rod body of the release lever 4 (between the connecting end and the lower pressing end). A certain part is sufficient); or, the return spring may be a torsion spring provided at the connection end of the release lever 4.
  • the release lever 4 does not need to be provided with a separate reset component, and the release lever 4 can rotate freely around the pivot axis. After the mop clip 15 is opened, the release lever 4 can be freely seated in the through hole 11 until the installed new mop 50 accepts the reset. In other embodiments, the release lever 4 can also be linked with the release cam 1. In this case, there is also no need to provide a reset component.
  • connection mentioned in the embodiments of the present application may be a direct connection or an indirect connection.
  • the mopping module 10 can move up and down to adjust the position under the action of a lifting motor, and can also swing left and right or back and forth under the action of a swing motor to adjust the position.
  • the mopping cloth removal device may further include a lifting device for lifting the mopping module 10 from the first position relative to the working surface to the second position.
  • the lifting device includes a lifting mechanism, wherein the control device 106 can control the lifting mechanism to lift the mopping module 10 from the first position relative to the working surface to the second position.
  • the first position is raised to the second position, and the raising action can be carried out in a direction perpendicular to the working surface, or carried out in a direction at a certain angle with the working surface.
  • the release cam 1 and the release lever 4 are separated by a large distance, and the release cam 1 cannot press the release lever 4 sufficiently.
  • the moving assembly moves the mopping cloth fixing component 13 from the installation position to the release position when the mopping module 10 is in the second position. That is, when the lifting device positions the mopping module 10 in the second position, the cleaning robot 100 is in the non-working mode, and the mop 50 can be replaced at this time.
  • the cleaning robot 100 further includes a detection device 105.
  • the control device 106 controls the lifting mechanism to adjust the height of the mopping module 10 according to the detection result of the detection device 105.
  • the detection device 105 includes an environment detection sensor and/or a self-state detection sensor.
  • the environment detection sensor of the cleaning robot 100 can be used to detect specific scenes in the working environment of the cleaning robot 100, such as detecting obstacles in the working environment, The state of the ground, whether the cleaning robot 100 has reached the base station, etc.
  • the self-state detection sensor of the cleaning robot 100 can be used to detect whether the mop 50 of the cleaning robot 100 needs to be replaced, the battery level of the cleaning robot 100, whether the cleaning robot 100 is trapped or stuck, the degree of inclination of the cleaning robot 100, etc.
  • the cleaning robot 100 is trapped Or the cleaning robot 100 is stuck.
  • the advantage of this is that the detection device 105 can monitor the surrounding environmental conditions encountered by the cleaning robot 100 while working and its own state in real time, and feed back the detection results to the control device 106 in real time.
  • the detection result controls the lifting mechanism in time to adjust the height of the mopping module 10, avoiding the inability to get over obstacles and dirty carpets, and also avoiding the phenomenon that the cleaning robot 100 is stuck and cannot move when it is working, and it also avoids dragging.
  • the cleaning robot 100 can be controlled to start the mop 50 replacement program according to the degree of dirt or damage of the ground module 10, lift the ground module 10 in time, and start returning to the base station , And complete the mop 50 recycling and replacement at the base station.
  • the environment detection sensor of the cleaning robot 100 may include an obstacle detection sensor.
  • the control device 106 controls the lifting mechanism to make the mopping module 10 in the second position; After the cleaning robot 100 is controlled to cross the obstacle, the control device 106 controls the lifting mechanism to place the mopping module 10 in the first position.
  • the drive shaft 2 can also drive the lifting device to lift the mopping module 10 from the first position to the second position.
  • the driving shaft 2 drives the moving assembly to rotate, the mopping module 10 is maintained at the second position.
  • the driving shaft 2 drives the lifting device, the mop fixing member 13 is maintained at the release position.
  • the lifting device may include a lifting cam 3 mounted on the drive shaft 2, and the lifting cam 3 and the release cam 1 are mounted on the drive shaft 2 coaxially.
  • the drive shaft 2 drives the lifting cam 3 to rotate, thereby realizing the lifting of the mopping module 10.
  • the lifting cam 3 and the release cam 1 are located at different positions of the drive shaft 2, and they maintain a certain phase relationship to avoid interference between the lifting device and the mop removal device.
  • the mop fixing member 13 can be opened to the release position; when the mopping module 10 is in the first position, When the drive shaft 2 rotates within the second predetermined angle range, the mop fixing member 13 is maintained at the installation position; the sum of the first predetermined angle range and the second predetermined angle range is less than 360 degrees.
  • the release cam 1 when the drive shaft 2 rotates within the first predetermined angle range, the release cam 1 can push the mop clip 15, and the lifting cam 3 rotates idly; when the drive shaft 2 rotates within the second predetermined angle range , The release cam 1 idly rotates, and the lifting cam 3 can press the mop board 12 down.
  • the cleaning robot 100 is provided on the trigger portion 31 of the body 20, and is connected to the trigger portion 31 and the mop removal device. unit.
  • the control unit may be the same component as the above-mentioned control device, or it may be a different component.
  • the control unit is the same component as the above-mentioned control device.
  • the trigger unit 31 is used to receive a user's trigger instruction.
  • the control unit controls the mop removal device to switch from the first state to the second state when receiving the trigger signal of the trigger unit 31.
  • the trigger part 31 can be a button or a knob, even a touch screen, a motion sensor, and so on.
  • the trigger part 31 is a button electrically connected to the control part.
  • the button is installed on the top of the fuselage 20.
  • the operation button can be installed on the rotating handle 30 on the top of the fuselage 20. The user erects the rotating handle 30, and lifts the cleaning robot 100 to a certain height by pulling the handle.
  • the rotating handle 30 can be in a vertical relationship with the top of the body 20 when it is erected.
  • the motor reverses when the release cam 1 rotates to the maximum rotation position, so that the release cam 1 returns to the initial position.
  • the control unit receives the trigger signal of the trigger unit 31, it controls the drive shaft 2 to rotate the release cam 1 to the maximum rotation position, and then reverse rotation to return to the initial position.
  • the motor that drives the release cam 1 and the motor of the traveling device can share the same motor or different motors. In this embodiment, the motor that drives the release cam 1 can rotate forward and backward, and it is a different motor from the motor of the traveling device.
  • the same power supply device 101 can be connected.
  • the control device controls the lifting device to place the mopping module 10 in the second position.
  • the user raises the rotating handle 30 to the top of the collection container (such as a trash can) to maintain a certain height.
  • the instruction to discard the mop 50 is applied by pressing the button.
  • the control unit controls the forward rotation of the motor to drive the release cam 1 to rotate.
  • the release cam 1 rotates to press down the release lever 4, and the release lever 4 is used to pass through the through hole of the mop plate 12 to press down the mop clip 15 so that the joint 152 at one end of the mop clip 15 is locked
  • the parts 153 are separated.
  • the release cam 1 rotates to the maximum rotation position
  • the mop clip 15 can rotate to the release position under gravity.
  • the mop 50 can fall off on the lower surface of the mop plate 12 by itself and fall into the collection container.
  • the control unit will control the motor to reverse rotation so that the drive shaft 2 rotates in the reverse direction, thereby driving the release cam 1 to reset from the maximum rotation position to the initial position.
  • the release lever 4 is reset to the initial position under the pulling force of the reset spring, so as to avoid pressing down on the mop 50.
  • the user places the new mop 50 on the lower surface of the mop plate 12, manually resets the mop clip 15 to the installation position, and completes the replacement of the mop 50.
  • any numerical value quoted herein includes all values of the lower and upper values in increments of one unit from the lower limit to the upper limit, and there is a gap of at least two units between any lower value and any higher value. can.
  • the number of a component or the value of a process variable is from 1 to 90, preferably from 20 to 80, more preferably from 30 to 70, the purpose is to illustrate the
  • the specification also explicitly lists values such as 15 to 85, 22 to 68, 43 to 51, and 30 to 32. For values less than 1, one unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1.

Landscapes

  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

一种清洁机器人，包括：机身（20）；用于安装在机身（20）上的拖地模块（10）；拖地模块（10）包括安装于机身（20）上的拖布板（12）、以及可覆盖在拖布板（12）下表面的拖布（50）；安装于机身（20）的拖布移出装置；拖布移出装置包括位于拖地模块（10）上方的移动组件、以及拖布固定部件（13）；拖布固定部件（13）具有将拖布（50）覆盖在拖布板（12）下表面的安装位置、以及将拖布（50）释放的释放位置；移动组件能将拖布固定部件（13）从安装位置移动至释放位置，能够方便用户更换拖布（50），并降低更换拖布（50）费用。

Description

清洁机器人
本申请要求了申请日为2019年10月25日，申请号为201911023104.3和201921813180.X的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及清洁设备领域，特别是涉及一种清洁机器人。
背景技术
随着科学技术的发展，智能的清洁机器人为人们所熟知，不仅如此，智能清扫机、智能拖地机等类似的家庭服务机器人，以其清洁方便、省时省力的特点，使人们摆脱了繁琐的家务劳动而步入了寻常百姓的家庭生活。
目前的智能拖地机或者智能扫拖一体机具备拖布以对地面进行擦拭，提升地面的清洁度。在智能拖地机工作后，抹布需要从机器人上拆下来进行清洗或更换。目前一些智能拖地机(如IROBOT)采用的是特制的带有安装卡板的可水洗进行重复使用的抹布或带有安装卡板的不可水洗的一次性抹布。
但是，目前智能拖地机器人的技术缺陷是：
1)、无论是可水洗重复使用或不可水洗的一次性抹布均带有卡板装置，结构复杂，成本高昂。
2)、因为利用更换卡板实现抹布的更换，而卡板在安装时需要准确对准主机上的安装槽，提高了用户的安装难度。
发明内容
鉴于上述不足，本申请的一个目的是提供一种清洁机器人，以能够方便用户更换拖布。
本申请的另一个目的是提供一种清洁机器人，以能够降低拖布更换费用，降低使用成本。
为实现上述至少一个目的，本申请采用如下技术方案：
一种清洁机器人，包括：
机身；
用于安装在所述机身上的拖地模块；所述拖地模块包括安装于所述机身上的拖布板、以及可覆盖在所述拖布板下表面的拖布；
安装于机身的拖布移出装置；所述拖布移出装置包括位于所述拖地模块上方的移动组件、以及拖布固定部件；所述拖布固定部件具有将拖布覆盖在拖布板下表面的安装位置、以及将拖布释放的释放位置；所述移动组件能将所述拖布固定部件从安装位置移动至释放位置。
作为一种优选的实施方式，所述清洁机器人还包括：抬升装置，用于将所述拖地模块从相对于工作表面的第一位置抬升至第二位置；
所述移动组件在所述拖地模块处于第二位置时将所述拖布固定部件从安装位置移动至释放位置。
作为一种优选的实施方式，所述机身设有推动所述移动组件转动的驱动轴；所述移动组件通过转动推动所述拖布固定部件从安装位置移动至释放位置。
作为一种优选的实施方式，所述驱动轴还能驱动所述抬升装置将所述拖地模块从第一位置抬升至第二位置；所述驱动轴驱动所述移动组件转动时，所述拖地模块维持在第二位置；所述驱动轴驱动所述抬升装置时，所述拖布固定部件维持在释放位置。
作为一种优选的实施方式，所述拖布固定部件包括可转动地安装于机身上的拖布夹；所述拖布夹可将拖布夹紧在拖布板上；所述拖布夹通过转动在释放位置和安装位置之间切换。
作为一种优选的实施方式，所述移动组件包括位于拖地模块上方的释放凸轮、以及带动所述释放凸轮转动的驱动轴；
所述释放凸轮具有初始位置和最大转动位置；所述释放凸轮向所述最大转动位置转动过程中将所述拖布固定部件从安装位置移动至释放位置。
作为一种优选的实施方式，所述机身的底部还设有锁定部；所述拖布夹具有与所述锁定部相配合的接合部；所述锁定部与所述接合部相配合将所述拖布夹锁定在所述安装位置；所述拖布夹在接合部脱离所述锁定部时在重力作用下向下转动至所述释放位置；
所述释放凸轮向所述最大转动位置转动过程中推动所述拖布夹的接合部与所述锁定部相脱离。
作为一种优选的实施方式，所述锁定部和所述接合部其中的一个设有具有磁力的磁吸件，另一个设有被所述磁吸件吸引的吸引件。
作为一种优选的实施方式，所述移动组件还包括释放杠杆；所述释放凸轮位于所述释放杠杆的上方，所述释放杠杆位于所述拖布板的上方；所述释放凸轮通过转动将释放杠杆下压向下转动；所述释放杠杆向下转动时下压所述拖布夹向下转动。
作为一种优选的实施方式，所述拖布板设有通孔；所述释放杠杆具有连接端以及下压端；所述连接端可转动地连接于所述拖布板的上方，所述下压端可通过所述通孔下压所述拖布夹。
作为一种优选的实施方式，所述释放凸轮的转动方向和所述释放杠杆的转动方向相同；所述释放杠杆的转动方向和所述拖布夹的转动方向相反。
作为一种优选的实施方式，所述机身内还设有连接所述释放杠杆的复位弹簧；所述复位弹簧向所述释放杠杆施加复位弹性力。
作为一种优选的实施方式，所述机身设有触发部以及与所述触发部电性连接的控制装置；所述触发部用于接收用户的触发指令；所述控制装置能够控制所述驱动轴转动；所述控制装置在接收到所述触发部的触发信号时，控制所述驱动轴将所述释放凸轮转动至最大转动位置，然后反向转动恢复至初始位置。
作为一种优选的实施方式，所述触发部包括位于所述机身顶部的操作按钮。
作为一种优选的实施方式，所述机身上还设有用于接受用户提升清洁机器人的作用力的提升结构。
作为一种优选的实施方式，所述提升结构包括设置于机身顶部的旋转把手，或者，设置于所述机身侧壁的施力槽。
一种清洁机器人，包括：
机身；
用于安装在所述机身上的拖地模块；所述拖地模块包括安装于所述机身上的拖布板、以及可覆盖在所述拖布板下表面的拖布；
安装于机身的拖布移出装置；所述拖布移出装置具有将拖布覆盖在所述拖布板下表面的第一状态、以及将拖布释放的第二状态；
设置于所述机身的触发部；所述触发部用于接收用户的触发指令；
与所述触发部和所述拖布移出装置连接的控制装置；所述控制装置在接收到所述触发部的触发信号时，控制所述拖布移出装置从所述第一状态切换至第二状态。
有益效果：
本申请所提供的清洁机器人在机身上设有拖布移出装置，该拖布移出装置具有将拖布覆盖在所述拖布板下表面的第一状态、以及将拖布释放的第二状态，从而在更换拖布时只需将拖布移出装置切换到第二状态即可，无需将拖布板在机身上进行拆卸，因此，该清洁机器人能够方便用户更换拖布。
并且，该清洁机器人无需对拖布板进行拆卸更换，在拖布使用结束后仅将拖布更换即可， 可以有效降低使用成本。
参照后文的说明和附图，详细公开了本发明的特定实施方式，指明了本发明的原理可以被采用的方式。应该理解，本发明的实施方式在范围上并不因而受到限制。
针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。
应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例所提供的清洁机器人示意图；
图2是图1的俯视图；
图3是图2的A-A剖面图；
图4是图2的B-B剖面图；
图5是图1的旋转把手竖起示意图；
图6-图9是图1更换拖布示意图；
图10是本申请另一个实施例所提供的清洁机器人示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的另一个元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中另一个元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1至图9。本申请的一个实施例中提供一种清洁机器人100，该清洁机器人100可以是家用和/或室内服务机器人，如地面清洁机器人。具体的，该清洁机器人100可以是自动拖地机、或自动拖扫一体机。在本实施例中，该清洁机器人100包括：机身20；用于安装在所述机身20上的拖地模块10；所述拖地模块10包括安装于所述机身20上的拖布板12、以及可覆盖在所述拖布板12下表面的拖布50。拖布50(也称为抹布)可以为可清洗重复使用的拖布50，也可以为一次性拖布50，本申请并不作特别的限制。
为方便将清洁机器人100的拖布50更换，该清洁机器人100还包括安装于机身20的拖布移出装置。所述拖布移出装置具有将拖布50覆盖在所述拖布板12下表面的第一状态、以及将拖布50释放的第二状态。
本实施例所提供的清洁机器人100在机身20上设有拖布移出装置，该拖布移出装置具有将拖布50覆盖在所述拖布板12下表面的第一状态、以及将拖布50释放的第二状态，从而在更换拖布50时只需将拖布移出装置切换到第二状态即可，无需将拖布板12在机身20上进行拆卸，因此，该清洁机器人100能够方便用户更换拖布50。
并且，该清洁机器人100无需对拖布板12进行拆卸更换，在拖布50使用结束后仅将拖布50更换即可，可以有效降低使用成本。
该清洁机器人100可以设有行走装置102、控制装置106、检测装置105、电源装置101和动力装置。其中，
行走装置102支撑机身20并带动清洁机器人100移动，其设置在机身20后端。在本实施例中，行走装置102具体包括位于清洁机器人100两侧的两个驱动轮，可被动力装置独立驱动。这样的设置能够通过控制两个驱动轮的速度和速度差，来控制行走装置102的行驶速度和方向，使得清洁机器人100的行走和转向灵活而准确。行走装置102可以有其他的形式，例如为履带式等。为便于行进，规避障碍物，清洁机器人100还可以设有万向轮103。
动力装置为清洁机器人100的移动和工作提供动力。具体地，包括位于清洁机器人100内的电机及与电机连接的传动结构，为行走装置102提供动力。传动机构与行走装置102连接，电机驱动传动机构工作，传动机构的传动作用使得行走装置102运动。行走装置102接收控制装置106的指令，带动清洁机器人100在工作表面自动行走。
控制装置106是清洁机器人100的控制中枢，与动力装置、电源装置101等装置电连接， 接收各个装置发来的信息。控制装置106控制动力装置驱动行走装置102带动清洁机器人100移动，并且控制清洁机器人100执行工作区域切换、返回基站以及充电等各类动作或任务等。控制装置106可以是嵌入式数字信号处理器(Digital Signal Processor，DSP)、微处理器(Micro Processor Unit，MPU)、特定集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑器件(Programmable Logic Device，PLD)芯上系统(System on Chip，SOC)、中央处理器(Central Processing Unit，CPU)或者现场可编程门阵列(Field Programmable Gate Array，FPGA)等。
电源装置101为清洁机器人100的控制装置106、动力装置及检测装置105等提供工作的能量。电源装置101通常为可充电的电池，为清洁机器人100运行提供电力，或者可连接外部电源进行充电；优选的，电源装置101带有充电或者放电保护单元，能够对电源装置101的充电或放电进行保护。
为实现拖布50的移出，方便更换拖布50，在本实施例中，所述拖布移出装置包括位于所述拖地模块10上方的推动组件、以及拖布固定部件13。所述拖布固定部件13具有将拖布50覆盖在拖布板12下表面的安装位置、以及将拖布50释放的释放位置；所述推动组件能将所述拖布固定部件13从安装位置移动至释放位置。也即，拖布固定部件13位于安装位置时，拖布移出装置位于第一状态。拖布固定部件13位于释放位置时，拖布移出装置位于第二状态。
移动组件可以通过动作将拖布固定部件13从安装位置(图6)动作至释放位置(图9)。移动组件可以与拖布固定部件13为联动结构，也可以为触发结构。例如，在一个实施例中，移动组件以推动的形式移动拖布固定部件13，并且在拖布固定部件13自安装位置移动至释放位置过程中实时同步保持推动；在另一个实施例中，移动组件可以将拖布固定部件13与机身20的可分离连接方式移除或打开，在打开后拖布固定部件13可以通过重力方式自行移动至释放位置。
当然，本申请所描述的释放位置可以理解为拖布固定部件13位于该位置时允许拖布50与拖布板12脱离，拖布50是否与拖布板12分离本申请并不限制。例如，在一个实施例中，拖布固定部件13位于释放位置时依然处于承托拖布50状态，但是用户可以直接将拖布50在拖布固定部件13上取走。
为驱动移动组件动作，所述机身20设有推动所述移动组件转动的驱动轴2。该驱动轴2与驱动电机的输出轴相连。所述移动组件通过转动可以推动所述拖布固定部件13从安装位置移动至释放位置。移动组件实现驱动轴2和拖布固定部件13之间的传动。另外，在其他实施例中移动组件还可以以带动或者拉动的形式将拖布固定部件13移动，以进行位置切换。
具体的，所述移动组件包括位于拖地模块10上方的释放凸轮1、以及带动所述释放凸轮1转动的驱动轴2。所述释放凸轮1具有初始位置和最大转动位置。如图4、图6示出了释放凸轮1的初始位置，图8示出了释放凸轮1的最大转动位置。所述释放凸轮1向所述最大转动位置转动过程中将所述拖布固定部件13从安装位置移动至释放位置。
在本实施例中，移动组件安装于机身20内。移动组件可以将拖布固定部件13动作，使其从安装位置切换至释放位置。拖布固定部件13从安装位置切换至释放位置的动作形式可以为转动、平移、摆动等，甚至不同动作形式的组合，本申请并不作特别的限制。在本实施例中，拖布固定部件13可以通过转动进行安装位置和释放位置的切换。
在本实施例中，拖地模块10设置在机身20的底部，其可以设置在驱动轮的前侧。也即，该拖地模块10设置在机身20中前部，此时，拖地面积更大，拖地效果更佳。当然，拖地模块10在其他实施例中还可以设置在机身20的其他位置，例如后端。拖地模块10包括拖布板12和拖布50。拖布50可拆卸地安装在拖布板12上。机身20内部还可以设有水箱104，以便为拖布50提供水。
拖布50安装在拖布板12上时处于平铺状态，将拖布板12的下表面覆盖。在处于拖地状态时，拖布50被拖布板12下压，保持与工作表面(例如地板)紧密贴合，将工作表面擦拭清洁。拖布固定部件13在安装位置时可以将拖布50固定于拖布板12的下表面。其中，拖布固定部件13可以通过夹紧的方式将拖布50固定于拖布板12的下表面，维持整个拖布50的平铺状态，从而接触工作表面时对工作表面进行擦拭。
具体的，所述拖布固定部件13包括可转动地安装于拖布板12或者机身20的拖布夹15。拖布夹15可将拖布夹15紧在拖布板12上；所述拖布夹15通过转动在释放位置和安装位置之间切换。拖布夹15的一端通过枢转轴151可转动地连接于拖布板12的一侧。在一个具体的实施例中，拖布夹15可以为一框体、也可以为具有自由端的杆体。优选的，拖布夹15为一可旋转的开口框体，将矩形拖布50的边侧压紧在拖布板12上。
该拖布夹15从下往上的方式将拖布50的可固定部(例如边界或额外设置的固定结构)承托，并与拖布板12贴合夹紧，从而将拖布50固定覆盖在拖布板12的下表面。该拖布夹15可以为条形板结构或杆体结构。为避免拖布夹15向外凸出，拖布板12的四周可以设有凹陷结构(例如容纳凹槽，或者，中间主体向下凸出)，在拖布夹15处于安装位置时，拖布夹15容纳于凹陷结构中。该凹陷结构的凹陷方向与重力方向反。拖布夹15位于安装位置时可将拖布50夹紧在凹陷结构中。
拖布固定部件13将拖布50固定时，依然维持拖布50大部分面积裸露。拖布固定部件13优选的夹紧拖布50的边界位置。在拖布固定部件13将拖布50夹紧在拖布板12时并不突 出拖布板12或拖布50的下表面，避免拖布50无法与工作表面接触。
为将拖布夹15定位以夹紧拖布50，并且在更换时将其打开至释放位置，拖布固定部件13的一端通过可分离地方式与机身20连接，另一端的连接方式为活动连接。具体的，所述机身20的底部还设有锁定部153。所述拖布夹15具有与所述锁定部153相配合的接合部152。所述锁定部153与所述接合部152相配合将所述拖布夹15锁定在所述安装位置。所述拖布夹15在接合部152脱离所述锁定部153时在重力作用下向下转动至所述释放位置。所述释放凸轮1向所述最大转动位置(图8)转动过程中推动所述拖布夹15的接合部152与所述锁定部153相脱离。
锁定部153和接合部152可以为磁吸配合，具体的，所述锁定部153和所述接合部152其中的一个设有具有磁力的磁吸件，另一个设有被所述磁吸件吸引的吸引件。例如，锁定部153可以为磁铁件，接合部152为铁质件，通过释放杠杆4将拖布夹15下压，使得接合部152和锁定部153远离一定距离后，随着磁吸力的减弱，拖布夹15在重力作用下即可转动至释放位置。另外，在其他实施例中，锁定部153和接合部152也可以为卡扣结构或者插扣结构，本申请并不作唯一的限定。
在本实施例中，在用户将旧拖布50从拖布板12移除后，可以通过人工的方式将新拖布50手工放入后将拖布固定部件13手工复位固定，实现新拖布50的安装更换。拖布固定部件13在释放位置时拖布50能够在重力作用下脱离拖布板12。如此，用户只需将清洁机器人100整体抬升至某一高度，利用移动组件将拖布固定部件13切换至释放位置，此时拖布50从拖布板12自行脱落，从而降低用户操作，方便用户更换。如图6所示，用户在需要更换旧拖布50时，将清洁机器人100抬升至垃圾桶200的上方，利用移动组件将拖布固定部件13打开，将拖布板12上的拖布50释放，旧拖布50掉落在垃圾桶200中。
为便于提升清洁机器人100至一定高度，便于拖布50利用重力脱落，机身20上还设有用于接受用户提升清洁机器人100的作用力的所述提升结构。所述提升结构包括设置于机身20顶部的旋转把手30。
另外，在如图10所示的实施例中，提升机构可以为设置于所述机身20侧壁的施力槽35或者位于机身顶部的提拉槽。如图10所示，在机身20的左右的两个侧壁(位于前后侧壁之间)分别设有一个施力槽35，用户通过将手插入到施力槽35中将清洁机器人100提升一定高度。
进一步地，为避免释放凸轮1所占机身20内部空间过大，且能够将拖布固定部件13打开至释放位置，所述移动组件还可以包括释放杠杆4。所述释放凸轮1位于所述释放杠杆4的上方。所述释放杠杆4位于所述拖布夹15的上方。所述释放凸轮1通过转动将释放杠杆4 下压向下转动；所述释放杠杆4向下转动时下压所述拖布夹15向下转动。
在本实施例中，释放凸轮1为板状结构，其一侧具有推动释放杠杆4的推动侧边。释放凸轮1的一端为连接驱动轴2的连接端，另一端为自由端。该推动侧边向释放凸轮1的连接端延伸时形成拐角。在释放凸轮1转动时推动侧边16与释放杠杆4的上侧边相接触。随着释放凸轮1的继续转动，推动侧边16将释放杠杆4下压，推动侧边16与释放杠杆4的接触部位向释放凸轮1的自由端靠近，进而将释放杠杆4下压，借助释放杠杆4将拖布夹15下压打开。
拖布板12设有通孔11。该通孔11供释放杠杆4摆动时穿过。为避免与清洁机器人100内部部件发生干涉，通孔11可以靠近拖布板12的一侧设置。相应的，移动组件也可以靠近清洁机器人100的一侧设置。其中，所述释放杠杆4具有连接端41以及下压端42。所述下压端42可通过所述通孔11下压所述拖布夹15。所述连接端41可转动地连接于所述拖布板12的上方。连接端41可以通过固定于机身20上的枢转轴可转动地连接于机身20上，使得释放杠杆4可以围绕枢转轴转动。
通孔11靠近拖布夹15的中间部位设置，或者，远离拖布夹15的连接端设置，如此可以减小释放凸轮1下压力的要求，借此降低对动力设备(例如电机、电源)的要求，方便制造和确保拖布夹15的顺利打开。
所述释放凸轮1的转动方向和所述释放杠杆4的转动方向相同。所述释放杠杆4的转动方向和所述拖布夹15的转动方向相反。在面对图3时，释放凸轮1和释放杠杆4均沿顺时针方向转动，拖布夹15沿逆时针方向转动。
为便于释放杠杆4复位，避免释放杠杆4影响拖布50，所述机身20内还设有连接所述释放杠杆4的复位弹簧。该复位弹簧向所述释放杠杆4施加复位弹性力。其中，复位弹簧的具体形状本申请并不作唯一的限定，例如，复位弹簧可以为圆柱弹簧或塔形弹簧，复位弹簧的一端可以固定连接释放杠杆4的杆体(连接端和下压端之间的某一部位即可)；或者，复位弹簧可以为设置于释放杠杆4的连接端的扭簧。
在一些可行的实施例中，释放杠杆4也可以无需单独设置复位部件，释放杠杆4可以围绕枢转轴自由转动。在将拖布夹15打开后释放杠杆4可以自由地落座在通孔11中，直至被安装的新拖布50承接复位。其他实施例中，释放杠杆4还可以与释放凸轮1联动，此时同样无需设置复位部件。
需要说明的是，本申请实施例中所提及的相连可以是直接相连，也可以是间接相连。拖地模块10可以在升降电机作用下上下移动调整位置，也可以在摆动电机作用下左右或者前后摆动来调整位置。
在一个具体的实施例中，该拖布移出装置还可以包括：抬升装置，用于将所述拖地模块10从相对于工作表面的第一位置抬升至第二位置。具体的，抬升装置包括抬升机构，其中控制装置106能够控制抬升机构使拖地模块10从相对于工作表面的第一位置抬升至第二位置。此处第一位置抬升至第二位置，抬升动作可以是在垂直于工作表面的方向上进行，也可以是与工作表面呈一定夹角的方向上进行。
在本实施例中，拖地模块10位于第一位置时，释放凸轮1与释放杠杆4间隔距离较大，释放凸轮1无法对释放杠杆4形成足够的下压。所述移动组件在所述拖地模块10处于第二位置时将所述拖布固定部件13从安装位置移动至释放位置。也即，抬升装置将拖地模块10位于第二位置时，清洁机器人100处于非工作模式，此时可以对拖布50进行更换。
为提升清洁机器人100的越障能力，降低用户干预程度，清洁机器人100还包括检测装置105，控制装置106根据检测装置105的检测结果控制抬升机构调节拖地模块10高度。具体地，检测装置105包括环境检测传感器和/或自身状态检测传感器，清洁机器人100的环境检测传感器可用于检测清洁机器人100工作环境中的特定场景，如检测工作环境中的障碍物，工作环境中的地面状态，清洁机器人100是否到达基站等。
清洁机器人100的自身状态检测传感器可用于检测清洁机器人100拖布50是否需要更换，清洁机器人100的电池电量，清洁机器人100是否被困住或卡住，清洁机器人100的倾斜程度等清洁机器人100困住或卡住清洁机器人100。这样的好处是，检测装置105可实时监测清洁机器人100工作时的所遇到的周围的环境状态及其自身的状态，并将检测结果实时反馈给控制装置106，控制装置106根据检测装置105的检测结果及时控制抬升机构从而调节拖地模块10高度，避免了无法越过遇到障碍物和弄脏地毯，也避免了清洁机器人100工作时被卡死而无法移动的现象，同时还避免了因拖地模块10的未及时抬升而对工作环境造成的污染，另外可根据拖地模块10的污渍程度或者破损程度，控制清洁机器人100启动拖布50更换程序，及时抬升拖地模块10，并启动回归基站，并在基站完成拖布50回收更换。
在一个实施例中，清洁机器人100的环境检测传感器可以包括障碍物检测传感器，当检测装置105检测到障碍物时，控制装置106控制抬升机构使拖地模块10处于第二位置；当控制装置106控制清洁机器人100越过障碍物后，控制装置106控制抬升机构使拖地模块10处于第一位置。
为避免额外设置动力源，抬升装置和拖布移出装置共用同一动力源。所述驱动轴2还能驱动所述抬升装置将所述拖地模块10从第一位置抬升至第二位置。所述驱动轴2驱动所述移动组件转动时，所述拖地模块10维持在第二位置。所述驱动轴2驱动所述抬升装置时，所述拖布固定部件13维持在释放位置。如图4所示，抬升装置可以包括安装于驱动轴2上 的抬升凸轮3，抬升凸轮3和释放凸轮1同轴安装于驱动轴2上。驱动轴2通过驱动抬升凸轮3转动，借此实现拖地模块10的升降。
抬升凸轮3和释放凸轮1位于驱动轴2的不同位置，二者保持一定的相位关系，避免抬升装置和拖布移出装置的动作发生干涉。例如，拖地模块10位于第二位置的情况下，驱动轴2在第一预定角度范围内转动时，拖布固定部件13可被打开至释放位置；拖地模块10位于第一位置的情况下，驱动轴2在第二预定角度范围内转动时，拖布固定部件13维持在安装位置；所述第一预定角度范围和第二预定角度范围之和小于360度。如图6至图9所示，驱动轴2在第一预定角度范围内转动时，释放凸轮1可以对拖布夹15进行推动，抬升凸轮3空转；驱动轴2在第二预定角度范围内转动时，释放凸轮1空转，抬升凸轮3可以对拖布板12进行下压。
在一个实施例中，为便于一键释放拖布50，进一步方便用户操作，该清洁机器人100设置于所述机身20的触发部31，与所述触发部31和所述拖布移出装置连接的控制部。该控制部可以与上述控制装置同一部件，也可以为不同部件。优选的，控制部与上述控制装置同一部件。
所述触发部31用于接收用户的触发指令。所述控制部在接收到所述触发部31的触发信号时，控制所述拖布移出装置从所述第一状态切换至第二状态。其中，触发部31可以为按钮或旋钮、甚至触控屏、动作传感器等等。在本实施例中，触发部31为与控制部电性连接的按钮。该按钮安装于机身20的顶部，具体的，操作按钮可以安装于机身20顶部的旋转把手30上。用户将旋转把手30竖起，通过提拉把手将清洁机器人100抬升一定高度。旋转把手30在竖起时可以与机身20顶部呈垂直关系。
为使释放凸轮1在将拖布固定部件13打开后复位至初始位置，所述释放凸轮1在转动至最大转动位置时电机反转，以使所述释放凸轮1恢复到初始位置。具体的，所述控制部在接收到所述触发部31的触发信号时，控制所述驱动轴2将所述释放凸轮1转动至最大转动位置，然后反向转动恢复至初始位置。驱动释放凸轮1的电机与行走装置的电机可以共用同一电机，也可以为不同电机，在本实施例中，驱动释放凸轮1的电机可正转反转，与行走装置的电机为不同电机，二者可连接相同的电源装置101。
在检测装置检测到拖布50需要更换时提醒用户更换拖布50，控制装置控制抬升装置将拖地模块10处于第二位置。如图5、图6所示，用户将旋转把手30竖起，抬升至收集容器(例如垃圾桶)的上方，保持一定的高度。然后通过按压按钮施加丢弃拖布50指令。控制部控制电机正转带动释放凸轮1转动。如图7、图8所示，释放凸轮1转动至下压释放杠杆4，利用释放杠杆4穿过拖布板12的通孔将拖布夹15下压，使得拖布夹15一端的接合部152 与锁定部153相分离，在释放凸轮1转动至最大转动位置是，拖布夹15可在重力下自行转动至释放位置。此时，拖布50可以自行在拖布板12的下表面脱落，并掉落在收集容器中。在此过程中，如图8、图9所示，控制部会控制电机反转，使得驱动轴2反向转动，进而带动释放凸轮1从最大转动位置复位至初始位置。相应的，释放杠杆4在复位弹簧的拉力下复位至初始位置，避免对拖布50形成下压。最后，用户将新拖布50放置在拖布板12下表面，手工将拖布夹15复位至安装位置，完成拖布50更换。
本文引用的任何数值都包括从下限值到上限值之间以一个单位递增的下值和上值的所有值，在任何下值和任何更高值之间存在至少两个单位的间隔即可。举例来说，如果阐述了一个部件的数量或过程变量(例如温度、压力、时间等)的值是从1到90，优选从20到80，更优选从30到70，则目的是为了说明该说明书中也明确地列举了诸如15到85、22到68、43到51、30到32等值。对于小于1的值，适当地认为一个单位是0.0001、0.001、0.01、0.1。这些仅仅是想要明确表达的示例，可以认为在最低值和最高值之间列举的数值的所有可能组合都是以类似方式在该说明书明确地阐述了的。
除非另有说明，所有范围都包括端点以及端点之间的所有数字。与范围一起使用的“大约”或“近似”适合于该范围的两个端点。因而，“大约20到30”旨在覆盖“大约20到大约30”，至少包括指明的端点。
披露的所有文章和参考资料，包括专利申请和出版物，出于各种目的通过援引结合于此。描述组合的术语“基本由…构成”应该包括所确定的元件、成分、部件或步骤以及实质上没有影响该组合的基本新颖特征的其他元件、成分、部件或步骤。使用术语“包含”或“包括”来描述这里的元件、成分、部件或步骤的组合也想到了基本由这些元件、成分、部件或步骤构成的实施方式。这里通过使用术语“可以”，旨在说明“可以”包括的所描述的任何属性都是可选的。
多个元件、成分、部件或步骤能够由单个集成元件、成分、部件或步骤来提供。另选地，单个集成元件、成分、部件或步骤可以被分成分离的多个元件、成分、部件或步骤。用来描述元件、成分、部件或步骤的公开“一”或“一个”并不说为了排除其他的元件、成分、部件或步骤。
应该理解，以上描述是为了进行图示说明而不是为了进行限制。通过阅读上述描述，在所提供的示例之外的许多实施方式和许多应用对本领域技术人员来说都将是显而易见的。因此，本教导的范围不应该参照上述描述来确定，而是应该参照所附权利要求以及这些权利要求所拥有的等价物的全部范围来确定。出于全面之目的，所有文章和参考包括专利申请和公告的公开都通过参考结合在本文中。在前述权利要求中省略这里公开的主题的任何方面并不 是为了放弃该主体内容，也不应该认为发明人没有将该主题考虑为所公开的发明主题的一部分。

Claims (11)

  1. 一种清洁机器人，其特征在于，包括：
    机身；
    用于安装在所述机身上的拖地模块；所述拖地模块包括安装于所述机身上的拖布板、以及可覆盖在所述拖布板下表面的拖布；
    安装于机身的拖布移出装置；所述拖布移出装置包括位于所述拖地模块上方的移动组件、以及拖布固定部件；所述拖布固定部件具有将所述拖布覆盖在所述拖布板下表面的安装位置、以及将所述拖布释放的释放位置；所述移动组件能将所述拖布固定部件从安装位置移动至释放位置；
    其中，所述拖布固定部件包括可转动地安装于机身上的拖布夹，所述拖布夹可将拖布夹紧在拖布板上，所述拖布夹通过转动在释放位置和安装位置之间切换；所述移动组件包括位于拖地模块上方的释放凸轮、以及带动所述释放凸轮转动的驱动轴，所述释放凸轮具有初始位置和最大转动位置，所述释放凸轮向所述最大转动位置转动过程中将所述拖布固定部件从安装位置移动至释放位置；所述拖布板的底部还设有锁定部，所述拖布夹具有与所述锁定部相配合的接合部，所述锁定部与所述接合部相配合将所述拖布夹锁定在所述安装位置，所述拖布夹在接合部脱离所述锁定部时在重力作用下向下转动至所述释放位置，所述释放凸轮向所述最大转动位置转动过程中推动所述拖布夹的接合部与所述锁定部相脱离；所述移动组件还包括释放杠杆，所述释放凸轮位于所述释放杠杆的上方，所述释放杠杆位于所述拖布板的上方，所述释放凸轮通过转动将释放杠杆下压向下转动，所述释放杠杆向下转动时下压所述拖布夹向下转动；所述拖布板设有通孔，所述释放杠杆具有连接端以及下压端，所述连接端可转动地连接于所述拖布板的上方，所述下压端可通过所述通孔下压所述拖布夹；所述释放凸轮的转动方向和所述释放杠杆的转动方向相同，所述释放杠杆的转动方向和所述拖布夹的转动方向相反。
  2. 如权利要求1所述清洁机器人，其特征在于，还包括：抬升装置，用于将所述拖地模块从相对于工作表面的第一位置抬升至第二位置；
    所述移动组件在所述拖地模块处于第二位置时将所述拖布固定部件从安装位置移动至释放位置。
  3. 如权利要求2所述清洁机器人，其特征在于，所述机身设有推动所述移动组件转动 的驱动轴；所述移动组件通过转动推动所述拖布固定部件从安装位置移动至释放位置。
  4. 如权利要求3所述清洁机器人，其特征在于，所述驱动轴还能驱动所述抬升装置将所述拖地模块从第一位置抬升至第二位置；所述驱动轴驱动所述移动组件转动时，所述拖地模块维持在第二位置；所述驱动轴驱动所述抬升装置时，所述拖布固定部件维持在释放位置。
  5. 如权利要求1所述清洁机器人，其特征在于，所述锁定部和所述接合部其中的一个设有具有磁力的磁吸件，另一个设有被所述磁吸件吸引的吸引件。
  6. 如权利要求1所述清洁机器人，其特征在于，所述机身内还设有连接所述释放杠杆的复位弹簧；所述复位弹簧向所述释放杠杆施加复位弹性力。
  7. 如权利要求1所述清洁机器人，其特征在于，所述机身设有触发部以及与所述触发部电性连接的控制装置；所述触发部用于接收用户的触发指令；所述控制装置能够控制所述驱动轴转动；所述控制装置在接收到所述触发部的触发信号时，控制所述驱动轴将所述释放凸轮转动至最大转动位置。
  8. 如权利要求1所述清洁机器人，其特征在于，所述触发部包括位于所述机身顶部的操作按钮。
  9. 如权利要求1所述清洁机器人，其特征在于，所述机身上还设有用于接收用户提升清洁机器人的作用力的提升结构。
  10. 如权利要求1所述清洁机器人，其特征在于，所述提升结构包括设置于所述机身顶部的旋转把手，或者，设置于所述机身侧壁的施力槽。
  11. 一种清洁机器人，其特征在于，包括：
    机身；
    用于安装在所述机身上的拖地模块；所述拖地模块包括安装于所述机身上的拖布板、以及可覆盖在所述拖布板下表面的拖布；
    安装于机身的拖布移出装置；所述拖布移出装置具有将拖布覆盖在所述拖布板下表面的 第一状态、以及将拖布释放的第二状态；
    设置于所述机身的触发部；所述触发部用于接收用户的触发指令；
    与所述触发部和所述拖布移出装置连接的控制装置；所述控制装置在接收到所述触发部的触发信号时，控制所述拖布移出装置从所述第一状态切换至第二状态。
PCT/CN2020/115856 2019-10-25 2020-09-17 清洁机器人 WO2021077954A1 (zh)

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