WO2022105598A1

WO2022105598A1 - Cleaning robot and dust removal and mopping assembly thereof

Info

Publication number: WO2022105598A1
Application number: PCT/CN2021/128276
Authority: WO
Inventors: 张伯恩
Original assignee: 达闼机器人股份有限公司
Priority date: 2020-11-18
Filing date: 2021-11-02
Publication date: 2022-05-27
Also published as: CN214387356U

Abstract

A cleaning robot (10) and a dust removal and mopping assembly (20) thereof. The dust removal and mopping assembly (20) comprises frames (1), a mopping and wiping member (2) and an elastic member; each frame (1) is provided with a mounting portion (11) and a hinge portion (12), the mopping and wiping member (2) is mounted on the mounting portions (11), the hinge portions (12) are used for being hinged to a chassis (30) of the cleaning robot (10), and the hinge axes of the hinge portions (12) extend in a horizontal direction; a flange (21) is formed on the edge of the mopping and wiping member (2) in the travelling direction of the mopping and wiping member, and the flange (21) obliquely extends upwards from a mounting plate (23); and the elastic member is connected to the frames (1) and is used for applying, by means of the frames (1), an elastic force to the mopping and wiping member (2) to tightly press the mopping and wiping member (2) on the ground. The dust removal and mopping assembly (20) is a lever model of the frames (1) taking the hinge portions (12) as fulcrums and taking the mopping and wiping member (2) and the elastic member as force bearing points; and when a protrusion on the ground is encountered, the flange (21) of the mopping and wiping member (2) abuts against the protrusion on the ground to slide, causing the frames (1) to rotate relative to the hinge portions (12), so as to complete the action of crossing the protrusion on the ground.

Description

Cleaning robot and its dust mop assembly

CROSS-REFERENCE TO RELATED APPLICATIONS

This disclosure claims the priority of a Chinese patent application with application number 202022681957.0 and titled "Cleaning Robot and its Dust-towing Assembly" filed with the Chinese Patent Office on November 18, 2020, the entire contents of which are incorporated by reference in this disclosure .

technical field

The present disclosure relates to the technical field of unmanned cleaning robots, and in particular, to a cleaning robot and its dust mop assembly.

Background technique

With the development of cleaning robot technology, in large hospitals, shopping malls, schools and other places with high personnel mobility, cleaning robots (especially medium-sized robots) are usually installed to clean the ground to reduce labor costs. These places are usually equipped with floor lights, small steps or other raised obstacles. Now the cleaning robots on the market usually change the travel path by themselves after detecting the obstacles ahead through the detection device to avoid the obstacles, which makes the surrounding of the obstacles. If the area cannot be cleaned well, it will still rely on manpower to clean it, reducing the cleaning effect of the cleaning robot.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide a cleaning robot and its dust mop assembly, the dust mop assembly of the cleaning robot can automatically cross obstacles such as ground bulges, and has a good cleaning effect.

In order to achieve the above object, the present disclosure provides a dust mop assembly for a cleaning robot, the dust mop assembly includes a frame, a mopping member and an elastic member, the frame is provided with a mounting part and a hinge part, and the mopping member mounted on the mounting part, the hinge part is used for hinged connection with the chassis of the cleaning robot, and the hinge axis of the hinge part extends in the horizontal direction, the dragging member comprises a mounting plate, and the dragging member The edge in the traveling direction thereof is formed with a flange, the flange is arranged to extend obliquely upward from the mounting plate, the elastic member is connected to the frame, and is used for applying a force to the dragging member through the frame. The elastic force of the dragging element pressing on the ground.

Optionally, the skeleton includes a rocker and a pressure rod, one end of the rocker is provided with the mounting portion, and the other end of the rocker is inclined upward and is provided with a first hinge structure to form the hinge portion , the first hinge structure is used for connecting with the chassis, the pressing rod includes a first end and a second end, the first end is connected with the elastic member, and the second end is connected with the rocker are fixedly connected, and the elastic member applies an elastic force to the rocker through the pressing rod to press the dragging member on the ground.

Optionally, the pressure rod and the rocker are configured into a T-shaped structure, and the distance from the connection point of the rocker and the pressure rod to the mounting portion is less than or equal to the distance from the connection point to the hinge distance.

Optionally, the mounting portion is detachably connected with the mopping member, the mounting portion is configured as a sheet-like structure, and is formed with a first fastening hole, and the mopping member is formed with a second fastening hole. A fixing hole, the first fastening hole and the second fastening hole are fixed by a fastener to fix the mounting part on the mopping member.

Optionally, the dust tow assembly further includes a motor, the elastic member is a first spring telescopic rod, one end of the first spring telescopic rod is connected to the output shaft of the motor, and the first spring telescopic rod is The other end of the rod is fixedly connected to the first end of the pressing rod, and the motor is used to drive the first spring telescopic rod to rotate, so as to be able to drive the frame to rotate around the hinge axis.

Optionally, a synchronization arm is further arranged between the first spring telescopic rod and the compression rod, the skeleton is multiple, and the compression rods of the multiple skeletons are respectively along the axial direction of the synchronization arm. The synchronizing arms are fixedly connected to one end of the first spring telescopic rod away from the output end of the motor, so that the motor can simultaneously drive a plurality of the skeletons to rotate through the synchronizing arms.

Optionally, the elastic member is a second spring telescopic rod, one end of the second spring telescopic rod is hinged with the first end of the pressure rod, and the other end of the second spring telescopic rod is provided with a first end. Two hinge structures, the second hinge structure is used for hinged connection with the chassis.

Optionally, the dust mop assembly further includes a limit structure, the limit structure is used to be fixed on the chassis, and a limit groove extending along the travel direction is opened on the limit structure, The frame is movably arranged in the limiting groove.

Optionally, the mopping member includes a mopping cloth and a sticking member, the sticking member includes a first sticking sheet and a second sticking sheet that can be stuck to each other, the first sticking sheet is arranged on the mopping cloth, The second bonding sheet is arranged on the lower surface of the mounting plate.

Another aspect of the present disclosure also provides a cleaning robot, including the dust mop assembly of the cleaning robot as described above.

Through the above technical solution, the cleaning robot with the above dust mop assembly has a better cleaning effect on the ground stains because the elastic member can press the elastic force of the ground to the mopping member through the skeleton during the traveling process. The dust drag assembly is a lever model with the skeleton taking the hinge as the fulcrum and the dragging part and the elastic part as the force point. When encountering ground protrusions (such as uneven tile joints, floor lights, warning lines, etc.) , the flanging of the mopping piece will first abut on the raised edge of the ground. When the cleaning robot continues to move towards the raised ground, the flanging of the mopping piece will slide against the raised ground. At the same time, the mopping piece and the The skeleton rotates relative to the hinge to complete the raised action across the ground; in this way, when the cleaning robot walks on a floor with a certain height difference or a raised floor, there will be no stuck phenomenon, and when cleaning is required When the robot crosses a lower step to clean another area, with the cooperation of the flange and the hinged skeleton, the cleaning robot can automatically cross the step without the need to manually move the cleaning robot, so as to improve the cleaning range and efficiency.

Other features and advantages of the present disclosure will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and together with the following detailed description, are used to explain the present disclosure, but not to limit the present disclosure. In the attached image:

1 is a schematic structural diagram of a cleaning robot in an embodiment of the present disclosure;

2 is a schematic structural diagram of a dust mop assembly of a cleaning robot in an embodiment of the present disclosure;

3 is a schematic structural diagram of a dust mop assembly of a cleaning robot in another perspective according to an embodiment of the present disclosure;

4 is a side view of a dust mop assembly of a cleaning robot in an embodiment of the present disclosure;

5 is a side view of a dust mop assembly of a cleaning robot according to an embodiment of the present disclosure, wherein the dust mop assembly is rotated upward by a certain angle;

6 is a side view of a dust mop assembly of a cleaning robot in another embodiment of the present disclosure.

Description of reference numerals

1. Frame; 11. Mounting part; 12. Hinged part; 13. Rocker; 131. First hinge structure; 14. Pressing rod; 141. First end; 142. Second end; , flanging; 22, mop; 23, mounting plate; 24, sticker; 3, motor; 41, the first spring telescopic rod; 42, the second spring telescopic rod; 421, the second hinge structure; 5, the synchronization arm; 6. Limiting structure; 61. Limiting slot; 71. First adapter; 72. Second adapter; 10. Cleaning robot; 20. Dust mop assembly; 30. Chassis.

Detailed ways

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, but not to limit the present disclosure.

In the present disclosure, unless otherwise stated, the use of orientation words such as the terms "upper, lower" refers to the orientation or positional relationship where the product is usually placed during use, which can be understood as the upper, Down, also corresponds to "up and down" on the drawing surface in the accompanying drawings; "front and rear" means that the direction of travel of the robot is front, and the direction opposite to the direction of travel is rear; "inside and outside" means relative to the component Or the "inside and outside" of the outline of the structure itself. In addition, it should be noted that terms such as "first", "second" and the like are used to distinguish one element from another, and have no order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings represent the same elements.

In the related art, the inventor of the present application found that the fundamental reason why the cleaning robot could not cross the obstacle is that the cleaning robot needs to move close to the ground when mopping the ground with the dust mop assembly, but when the ground is not flat enough or exists When it is raised, such as uneven tile joints, floor lights, warning lines, etc., it will cause obstacles to the movement of the dust mop assembly, affect the smoothness of movement, and even make it difficult for the mop to cross.

Based on this, an embodiment of the present disclosure provides a dust mop assembly 20 of a cleaning robot 10 . As shown in FIGS. 1 to 6 , the dust mop assembly 20 includes a frame 1 , a mopping member 2 and an elastic member, and the frame 1 is provided with The mounting part 11 and the hinge part 12, the mopping part 2 is mounted on the mounting part 11, the hinge part 12 is used for hinged connection with the chassis 30 of the cleaning robot 10, and the hinge axis of the hinge part 12 extends in the horizontal direction, the mopping part 2 includes The mounting plate 23, the edge of the dragging member 2 in the direction of travel is formed with a flange 21, the flange 21 is arranged to extend upwardly from the mounting plate 23, the elastic member is connected to the frame 1, and is used to pass the frame 1 to the dragging member 2. An elastic force is applied that presses the mopping element 2 against the ground.

It should be understood that the cleaning robot 10 in the embodiment of the present disclosure may be a medium-sized cleaning robot 10 used in shopping malls and hospitals, or a small cleaning robot 10 for household use, which is not limited in this disclosure. The chassis 30 of the cleaning robot 10 refers to an assembly that supports and installs the drive mechanism, the traveling system, and the cleaning system.

Through the above technical solution, the cleaning robot 10 with the above dust mop assembly 20 has a better resistance to dirt on the ground due to the elastic force that the elastic member can press the ground to the mopping member 2 through the frame 1 during the traveling process. cleaning effect. The dust mop assembly 20 is a lever model in which the skeleton 1 takes the hinge as the fulcrum and the drag member 2 and the elastic member as the force point. etc.), the flanging 21 of the mopping member 2 will first abut on the raised edge of the ground, and during the process of the cleaning robot 10 continuing to move towards the protruding ground, the flanging 21 of the mopping member 2 will abut on the raised ground. At the same time, the mopping member 2 and the frame 1 rotate relative to the hinge portion 12 to complete the protruding action across the ground; in this way, when the cleaning robot 10 walks on a floor with a certain height difference or a raised floor, no The phenomenon of sticking will occur, and when the cleaning robot 10 needs to cross a lower step to clean another area, under the cooperation of the flange 21 and the hinged frame 1, the cleaning robot 10 can automatically cross the step without needing. The cleaning robot 10 is moved manually to improve the cleaning range and efficiency.

Optionally, the above-mentioned flange 21 extends obliquely upward from the edge of the mopping member 2, and its extension height determines the height of the ground protrusion that it can span. Within the range, for example, it can be 3 cm. The inclination angle of the flange 21 can be in the range of 30° to 45°, so that the ground protrusion can slide along the flange 21 after being pressed against the flange 21 with less resistance.

Normally, as shown in FIG. 1 , the cleaning robot 10 includes a chassis 30 and walking wheels. The walking wheels are all arranged under the chassis 30 to drive the overall movement. The walking wheels will leave wheel marks on the ground when traveling, which is easy to cause The problem of inadequate cleaning. To this end, in an optional embodiment of the present disclosure, the dust mopping assembly 20 is arranged behind the traveling wheel, and the width of the mowing member 2 may be greater than or equal to the track of the traveling wheel, so as to prevent the traveling wheel from traveling. Wipe the wheel marks on the route to improve the cleaning effect.

The specific structural form of the skeleton 1 in the embodiment of the present disclosure can be flexibly designed according to actual needs, which is not limited in the present disclosure. For example, as shown in FIGS. 2 to 6 , the skeleton 1 includes a rocker 13 , one end of the rocker 13 is provided with the mounting portion 11 , and the other end of the rocker 13 extends upwards obliquely and is provided with a first hinge structure 131 to form a hinge Part 12 , the first hinge structure 131 is used to connect with the chassis 30 . The first hinge structure 131 may be a hinge, a hinge, etc., or a matching structure of a pivot shaft and a pivot hole designed according to the structure of the chassis 30, which is not limited in the present disclosure. In this way, when the dragging member 2 is subjected to an upward force exerted on it by the ground protrusion, the rocker 13 can rotate relative to the hinge axis of the hinge portion 12 to drive the dragging member 2 to lift up and cross the ground protrusion.

In the embodiment of the present disclosure, the rocker 13 is inclined relative to the horizontal plane, and its inclination angle can be determined according to the height of the chassis 30 from the ground and the length of the chassis 30 in the traveling direction of the cleaning robot 10. The inclination angle of the rocker 13 It should not be too large, otherwise the height of the chassis 30 from the ground will be too large, making the size of the whole machine too high; the inclination angle of the rocker 13 should not be too small. Therefore, for example, the inclination angle of the rocker 13 of the present disclosure may be set between 5° and 30°, which is not limited in the present disclosure.

In addition, the frame 1 further includes a pressure rod 14, the pressure rod 14 includes a first end 141 and a second end 142, the first end 141 is connected to the elastic member, the second end 142 is fixedly connected to the rocker 13, and the elastic member passes through the pressure rod 14. An elastic force is applied to the rocker 13 to press the dragging element 2 against the ground. Here, the second end 142 of the pressing rod 14 and the rocking rod 13 may be fixed together by welding, fastening with fasteners, etc., or the pressing rod 14 and the rocking rod 13 may be integrally formed.

Optionally, in the embodiment of the present disclosure, the cross-sections of the pressing rod 14 and the rocker 13 may be flat rectangular, circular, oval, or square rod shapes, or may be L-shaped, U-shaped, industrial It is a rod-like shape made of a font-shaped profile, which is not limited in the present disclosure.

In the embodiment of the present disclosure, since the elastic member is disposed at the first end 141 of the pressing rod 14 , the elastic force is transmitted to the rocking rod 13 through the pressing rod 14 , and then transmitted to the mopping member 2 through the rocking rod 13 , so that the mowing member 2 It can always be close to the ground to achieve the cleaning effect. Therefore, during the cleaning process, the elastic member is always compressed to generate elastic force and transmit the force to the mopping member 2; The relative movement of the wiper will push the wiper 2 upward, and the force generated by the ground protrusion on the wiper 2 will be transmitted to the elastic member through the rocker 13 and the pressure rod 14 in turn, so that the elastic member will be further compressed. The elastic force generated by the element is a pressure for the dragging element 2 to prevent it from being lifted upwards. For example, the pressing rod 14 and the rocking rod 13 are configured in a T-shaped structure, and the distance from the connection point of the rocking rod 13 and the pressing rod 14 to the mounting part 11 is less than or equal to the distance from the connecting point to the hinge part 12 . In this way, it is more labor-saving to lift the mopping member 2 upwards when it encounters the bumps of the ground.

The above-mentioned mounting portion 11 is a structure for mounting the mopping member 2 on the skeleton 1 , which can be designed according to the structural form of the mopping member 2 , which is not limited in the present disclosure. For example, the mounting portion 11 is detachably connected to the dragging member 2, so that the dragging member 2 and the frame 1 can be easily disassembled and installed, so that the dragging member 2 can be replaced and repaired separately and the replacement cost can be reduced.

In the embodiment of the present disclosure, as shown in FIG. 3 , the mounting portion 11 can be detachably fixed to the mopping member 2 in various ways. In one example, the mounting portion 11 is configured as a sheet-like structure, and is formed with a first fastening hole, the mopping member 2 is formed with a second fastening hole, and the first fastening hole and the second fastening hole pass through Fasteners are used to fix the mounting portion 11 on the wiper 2 . The bolt-fastening method is convenient for disassembly, stable in connection, and low in cost.

In another example, the mounting portion 11 may also be a snap-fit structure. For example, a snap groove is formed on the dragging member 2 , the mounting portion 11 is formed as a snap, and the mounting portion is realized by butting the snap with the snap slot. The detachable connection between 11 and the mopping member 2 makes the removal of the mopping member 2 more convenient.

In the embodiment of the present disclosure, the first end 141 of the pressing rod 14 is provided with an elastic member, and the elastic member may have various structural forms. Hereinafter, two exemplary embodiments of the elastic member will be described in detail for reference, but the embodiments of the elastic member of the present disclosure are not limited thereto.

In the first embodiment of the present disclosure, as shown in FIGS. 3 to 5 , the dust drag assembly 20 further includes a motor 3 , the elastic member is a first spring telescopic rod 41 , and one end of the first spring telescopic rod 41 is connected to the motor 3 . 3 is connected to the output shaft, the other end of the first spring telescopic rod 41 is connected to the first end 141 of the pressure rod 14, the motor 3 is used to drive the first spring telescopic rod 41 to rotate, so as to drive the frame 1 to rotate around the hinge axis. After the motor 3 is installed on the chassis 30 of the cleaning robot 10, the position of the output shaft of the motor 3 is fixed, and during the rotation of the frame 1 of the dust mop assembly 20, the first end 141 of the pressing rod 14 is connected to the motor 3 The distance between them will change, and at this time, the first spring telescopic rod 41 between the pressing rod 14 and the output shaft of the motor 3 is shortened or extended to adapt to the change. During the rotation of the dust tow assembly 20 , the first spring telescopic rod 41 can not only adapt to the distance between the pressing rod 14 and the motor 3 , but also provide the frame 1 with an elastic force to rotate downward.

In an optional embodiment of the present disclosure, according to the arrangement position of the motor 3 and the position of the pressing rod 14, the first adapter 71 may also be arranged between the output shaft of the motor 3 and the first spring telescopic rod 41, and/or Or, a second adapter 72 is arranged between the first spring telescopic rod 41 and the pressing rod 14 to meet the space arrangement requirements of the motor 3 and the pressing rod 14 .

Here, the first spring telescopic rod 41 may include a telescopic element and a spring element, the telescopic element includes a sleeve and a movable rod, the movable rod is inserted in the sleeve and can axially extend and retract the sleeve. In addition, the end of the sleeve away from the movable rod can be fixedly connected with the frame 1, the extended end of the movable rod can be fixedly connected with the output shaft of the motor 3, or the end of the sleeve away from the movable rod can be fixedly connected with the output shaft of the motor 3 , the protruding end of the movable rod is fixedly connected with the frame 1 . In addition, the spring member can be sleeved on the movable rod and exposed outside the sleeve, that is, one end of the spring member is fixed with the end face of the sleeve inserted into the movable rod, and the other end is with the end of the movable rod away from the sleeve. Alternatively, the elastic member may be disposed in the sleeve, that is, one end of the elastic member abuts between the end wall of the sleeve and the end face of the movable rod extending into the sleeve.

Wherein, the spring member may be configured such that when the movable rod extends out of the sleeve and reaches the maximum extension amount, the spring member is still in a compressed state. In this way, the first spring telescopic rod 41 can provide the dragging member 2 with a pressure to press against the ground.

In an embodiment of the present disclosure, a synchronization arm 5 is further provided between the first spring telescopic rod 41 and the pressure rod 14 , there are multiple frames 1 , and the compression rods 14 of the multiple frames 1 are respectively along the axis of the synchronization arm 5 . The synchronizing arms 5 are fixedly connected to one end of the first spring telescopic rod 41 away from the output end of the motor 3 , so that the motor 3 can simultaneously drive the plurality of frames 1 to rotate through the synchronizing arms 5 . In this way, the synchronizing control of the plurality of frames 1 can be realized through the synchronizing arm 5, so that the dust mop can rotate smoothly.

In addition, in an optional embodiment of the present disclosure, the synchronizing arm 5 drives a plurality of frames 1 to rotate, in order to maintain the force balance between each frame 1 and the synchronizing arm 5, the end of the first spring telescopic rod 41 can be fixed on the The middle position of the synchronizing arm 5, or, the number of the skeletons 1 can be even and divided into two groups, and the two groups of skeletons 1 are respectively symmetrically arranged on the synchronizing arm relative to the intersection point of the first spring telescopic rod 41 on the synchronizing arm 5. 5, in this way, the eccentric force on the synchronization arm 5 and the first spring telescopic rod 41 can be reduced as much as possible.

The first exemplary embodiment of the elastic member is mainly described above, which can be driven by the motor 3 so that the mopping member 2 can be automatically lifted from the ground. The second exemplary embodiment and the third exemplary embodiment of the elastic member will be described here.

In the second embodiment of the present disclosure, as shown in FIG. 6 , the elastic member is a second spring telescopic rod 42 , one end of the second spring telescopic rod 42 is hinged with the first end 141 of the pressing rod 14 , and the second spring telescopic rod 42 is hinged. The other end of the rod 42 is provided with a second hinge structure 421 , and the second hinge structure 421 is used for hinged connection with the chassis 30 of the cleaning robot 10 . In this way, when passing obstacles such as ground bulges, the force of the ground bulge on the dragging member 2 can compress the second spring telescopic rod 42, and the second spring telescopic rod 42 will generate an elastic restoring force to compress the dragging member 2 Press down on the ground. Alternatively, when the user lifts the mopping member 2 manually, the second spring telescopic rod 42 allows the frame 1 to rotate on the one hand, and on the other hand provides the elastic force for restoring the mopping member 2 to the initial position.

Likewise, the second spring telescopic rod 42 may have the same structure as the first spring telescopic rod 41 , which will not be repeated here in the present disclosure. Wherein, in order to allow the cleaning robot 10 to travel on a flat ground, the elastic member can also apply a force that is pressed to the ground to the mopping member 2, the spring member of the second spring telescopic rod 42 can also be configured as: when the movable rod extends When the sleeve is pulled out and the maximum extension is reached, the spring element is still in a compressed state.

In addition, in other embodiments of the present disclosure, as shown in FIG. 2 and FIG. 3 , the dust mop assembly 20 further includes a limiting structure 6 , and the limiting structure 6 is used to be fixed on the chassis 30 of the cleaning robot 10 . The structure 6 is provided with a limiting slot 61 extending in the traveling direction, and the frame 1 is movably arranged in the limiting slot 61 . The limiting slot 61 is used to limit the displacement of the frame 1 in the direction perpendicular to the traveling direction, so as to improve the stability and accuracy of the frame 1's rotation, and prevent the phenomenon of being stuck in rotation.

In the embodiment of the present disclosure, as shown in FIGS. 2 to 6 , the mopping member 2 includes a mopping cloth 22 , a mounting plate 23 and a sticking member 24 . Among them, the mop 22 is used for mopping the ground to remove dirt on the ground; the mounting plate 23 is used for installing the mop 22, providing support for the mop 22, and maintaining the smoothness of the mop 22 during mopping; the sticker 24 is used for bonding The mopping cloth 22 and the mounting plate 23 can be quickly torn apart and attached to the mopping cloth 22 by means of bonding, which makes the replacement of the mopping cloth 22 more convenient.

For example, the sticking member 24 includes a first sticking piece and a second sticking piece that can be sticked to each other, the first sticking piece is arranged on the mop 22 , and the second sticking piece is arranged on the lower surface of the mounting plate 23 . For example, the first sticking sheet and the second sticking piece may be a Velcro fastener for coupling composed of two parts of a nylon hook tape and a nylon fleece tape, or an easy-tear tape, etc., but not limited thereto. Specifically, the first sticking piece can be a nylon hook tape, which can be fixed on the mop 22 by sewing or the like, and the second sticking piece can be a nylon fleece tape suitable for the first sticking piece, etc., which can be fixed on the mop 22 by means of rivets. , screws and other fasteners are fixed on the mounting plate 23 .

Another embodiment of the present disclosure also provides a cleaning robot 10 including the dust mop assembly 20 as described above.

The above-mentioned cleaning robot 10 also includes a chassis 30 and a walking wheel. The chassis 30 is mainly used to install electrical components, water tanks, dust boxes, etc. The width of the wiping member 2 of the dust mopping assembly 20 is larger than the wheel spacing of the traveling wheels, so as to wipe the track marks of the traveling wheels.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure. These simple modifications all fall within the protection scope of the present disclosure.

In addition, it should be noted that each specific technical feature described in the above-mentioned specific implementation manner can be combined in any suitable manner under the condition of no contradiction. In order to avoid unnecessary repetition, various possible combinations are not described in the present disclosure.

In addition, the various embodiments of the present disclosure can also be combined arbitrarily, as long as they do not violate the spirit of the present disclosure, they should also be regarded as the content disclosed in the present disclosure.

Claims

A dust mop assembly for a cleaning robot, characterized in that the dust mop assembly (20) comprises a frame (1), a mopping member (2) and an elastic member, and the frame (1) is provided with a mounting portion ( 11) and a hinge portion (12), the mopping member (2) is mounted on the mounting portion (11), and the hinge portion (12) is used for connecting with the chassis (30) of the cleaning robot (10). Hinged with the hinge axis of the hinge part (12) extending in the horizontal direction, the wiper (2) comprises a mounting plate (23), the edge of the wiper (2) in the direction of travel thereof is formed with A flange (21), the flange (21) is arranged to extend obliquely upward from the mounting plate (23), the elastic member is connected to the frame (1), and is used to pass through the frame (1) to the The mopping member (2) exerts an elastic force that presses the mopping member (2) on the ground.
The dust mop assembly of a cleaning robot according to claim 1, wherein the frame (1) comprises a rocker (13) and a pressure rod (14), and one end of the rocker (13) is provided with a In the mounting part (11), the other end of the rocker (13) is inclined upward and is provided with a first hinge structure (131) to form the hinge part (12), and the first hinge structure (131) is used for In connection with the chassis (30), the pressing rod (14) includes a first end (141) and a second end (142), the first end (141) is connected with the elastic member, and the first end (141) is connected to the elastic member. The two ends (142) are fixedly connected to the rocker (13), and the elastic member applies to the rocker (13) through the pressing rod (14) so that the dragging member (2) is pressed against the ground elastic force on.
The dust mopping assembly for a cleaning robot according to claim 2, characterized in that, the pressing rod (14) and the rocker (13) are configured in a T-shaped structure, and the rocker (13) is connected to the The distance from the connection point of the pressing rod (14) to the installation part (11) is less than or equal to the distance from the connection point to the hinge part (12).
The dust mopping assembly of a cleaning robot according to claim 2, characterized in that the mounting portion (11) is detachably connected to the mopping member (2), and the mounting portion (11) is configured to A sheet-like structure is formed with a first fastening hole, a second fastening hole is formed on the mopping member (2), and the first fastening hole and the second fastening hole are fixed by a fastener in order to fix the mounting part (11) on the dragging member (2).
The dust mop assembly of a cleaning robot according to claim 2, wherein the dust mop assembly (20) further comprises a motor (3), and the elastic member is a first spring telescopic rod (41), so One end of the first spring telescopic rod (41) is connected to the output shaft of the motor (3), and the other end of the first spring telescopic rod (41) is connected to the first end of the pressing rod (14). (141) are fixedly connected, and the motor (3) is used to drive the first spring telescopic rod (41) to rotate, so as to be able to drive the frame (1) to rotate around the hinge axis.
The dust mopping assembly of a cleaning robot according to claim 5, characterized in that a synchronization arm (5) is further provided between the first spring telescopic rod (41) and the pressing rod (14), and the There are a plurality of frames (1), and the pressing rods (14) of the plurality of frames (1) are respectively arranged at intervals along the axial direction of the synchronizing arms (5), and the synchronizing arms (5) and the first One end of a spring telescopic rod (41) away from the output end of the motor (3) is fixedly connected, so that the motor (3) can simultaneously drive the plurality of frames (1) to rotate through the synchronizing arm (5).
The dust mopping assembly of a cleaning robot according to claim 2, wherein the elastic member is a second spring telescopic rod (42), and one end of the second spring telescopic rod (42) is connected to the pressure rod The first end (141) of (14) is hinged, and the other end of the second spring telescopic rod (42) is provided with a second hinge structure (421), and the second hinge structure (421) is used for connecting with all the The chassis (30) is hinged.
The dust mop assembly of a cleaning robot according to claim 1, characterized in that, the dust mop assembly (20) further comprises a limiting structure (6), and the limiting structure (6) is used for fixing on the On the chassis (30), the limiting structure (6) is provided with a limiting groove (61) extending along the traveling direction, and the frame (1) is movably arranged in the limiting groove (61). 61) in.
The dust mopping assembly for a cleaning robot according to claim 1, wherein the mopping member (2) comprises a mopping cloth (22) and an adhesive member (24), and the adhesive member (24) comprises a mopping member (24) that can be adhered to each other The first sticking sheet and the second sticking piece are arranged on the mop (22), and the second sticking piece is arranged on the lower surface of the mounting plate (23).
A cleaning robot, characterized in that it comprises the dust mop assembly of the cleaning robot according to any one of claims 1-9.