WO2023185222A1

WO2023185222A1 - Cleaning robot and control method for cleaning robot

Info

Publication number: WO2023185222A1
Application number: PCT/CN2023/072779
Authority: WO
Inventors: 钱富; 张士松; 钟红风; 成效文
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2022-03-31
Filing date: 2023-01-18
Publication date: 2023-10-05
Also published as: CN220141559U; CN118714958A

Abstract

A cleaning robot and a control method therefor. The cleaning robot comprises a lifting assembly (410), a separation mechanism, a locking assembly (800) and a mopping module (300), wherein the lifting assembly (410) drives the mopping module (300) to move up and down; the separation mechanism enables the mopping module (300) to be disengaged from the lifting assembly (410) when a force away from a robot body (100) is applied to the mopping module (300); the locking assembly (800) is provided with a lock catch portion for locking the mopping module (300), and the lock catch portion comprises a first state of locking the mopping module (300) and a second state of unlocking the mopping module (300); and a driver (420) is controlled by a controller to provide a driving force for the lifting assembly (410), the separation mechanism and the locking assembly (800). By means of the cooperation of the lifting assembly (410), the separation mechanism, the locking assembly (800) and the driver (420), the functions of lifting, replacing, locking and unlocking the mopping module (300) are realized at the same time, such that the internal structure of the cleaning robot is effectively simplified, thereby facilitating the miniaturization of the cleaning robot, and reducing the costs of the cleaning robot.

Description

Cleaning robot and control method of cleaning robot

This disclosure requires that the application date be March 31, 2022, the application number is 202220724529.8, and the invention name is "Cleaning Robot"; the application date is September 9, 2022, the application number is 202211101992.8, and the invention name is "Cleaning Robot" Priority to the Chinese patent application, the entire contents of which are incorporated into this disclosure by reference.

Technical field

The present disclosure relates to the field of intelligent cleaning technology, and in particular to cleaning robots.

Background technique

With the rapid development of smart technology, smart robots are widely used in different fields. For example, in the cleaning field, more and more cleaning robots are being developed to replace traditional manual cleaning methods to gradually free consumers' hands and save cleaning time.

Most of the mops of traditional cleaning robots are horizontally attached to the ground. When encountering steps, the mops will come into contact with the edges of the steps, causing the stolen goods to be scratched and fall back to the ground. At the same time, when the cleaning robot needs to return to the base station for charging, the dirty mop keeps contacting the ground along the way, which can easily cause secondary contamination of the cleaned ground. In addition, when not working, the mop is always attached to the ground and cannot be ventilated, which can easily produce odor or breed bacteria.

For this reason, existing cleaning robots have a built-in lifting mechanism. When encountering steps or recharging, the lifting mechanism is used to lift the mop to solve the problem of stolen goods being scratched and secondary contamination of the ground. For the automatic replacement of dirty mops, the cleaning robot needs to rely on the built-in pickup mechanism and use the release function of the pickup mechanism to separate the lifting mechanism from the mop plate to achieve automatic replacement operations. At this time, the current cleaning robot needs to have at least two different built-in mechanisms to meet the lifting and replacement needs. On the other hand, if the mopping plate of the cleaning robot can be lifted, its stability may be affected, and it may cause problems during mopping. To prevent shaking, you need to consider locking the mop plate on the lifting mechanism. When separating the lifting mechanism from the mop plate, you need to loosen the mop plate. Indenting and releasing the mop plate also requires another mechanism to achieve it. This not only increases the The manufacturing cost of the cleaning robot also leads to the complexity of the structure within the host machine, resulting in a serious increase in the size of the machine.

Contents of the invention

Based on this, it is necessary to provide a cleaning robot that uses the same mechanism to simultaneously lift, replace, lock and loosen the mopping module, simplifying the internal structural design of the host, facilitating the miniaturization of the cleaning robot, and improving product performance.

A cleaning robot, the cleaning robot includes: a fuselage; a moving module provided on the fuselage for driving the fuselage to move; a controller electrically connected to the moving module and controlling the movement The module drives the fuselage to move; the mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned; the cleaning robot also includes: a lifting component, which is provided on the fuselage and has a detachable structure with the mopping module. The connecting part is connected to drive the mopping module to move up and down; the separation mechanism is provided on the fuselage and is provided with a push-out that acts on the mopping module to disconnect the mopping module from the connecting part. part; a locking assembly, which is provided with a locking part for locking the mopping module on the connecting part, and the locking part includes a first state of locking the mopping module and a locking part for releasing the mopping module. The second locking state; the driver is controlled by the controller to provide driving force to the lifting component, the separation mechanism and the locking component.

The above-mentioned cleaning robot uses the cooperation of the lifting component, the separation mechanism, the locking component and the driver to simultaneously realize the functions of lifting, lifting and locking the mopping module, effectively simplifying the internal structure and facilitating the miniaturization of the cleaning robot. This will help improve product performance and also effectively reduce the cost of cleaning robots.

In one embodiment, the controller is electrically connected to the driver, and is controlled by the controller to drive at least part of the lifting assembly to lift, driving the mopping module to move from the first contact surface to the surface to be cleaned. The position moves to a second position away from the surface to be cleaned; and, driving at least part of the structural movement of the separation mechanism, so that the ejection part collides with and pushes down the mopping module; and, drives the locking part Switch between the first state and the second state.

In one embodiment, the locking component is disposed on the connecting portion and rises and falls along with the connecting portion.

In one embodiment, when the mopping module is in the first position, the locking portion is in a first state of locking the mopping module, and the mopping module is detached from the connecting portion. When , the locking part is in the second state of unlocking the mopping module, and the driver drives the locking part to switch between the first state and the second state.

In one embodiment, the lifting assembly includes a first lifting structure and a second lifting structure, the mopping module is detachably connected to the first lifting structure through the connecting part, and the driver is connected to In the first lifting structure, the controller controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module from the first position to the Second position movement.

In one embodiment, the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the mopping module moves to the In the second position, the controller controls the driver to continue driving the first lifting structure so that the first lifting structure drives the second lifting structure in the direction of the first position relative to the fuselage. To move, top and drop the mopping module.

In one embodiment, the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the mopping module moves to the After the second position, the controller controls the driver to continue to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to lift to a third position higher than the second position. three positions. When the mopping module is in the third position, the controller controls the driver to continue driving the first lifting structure so that the first lifting structure drives the second lifting structure relative to the third position. The fuselage moves in the direction of the first position and pushes down the mopping module.

In one embodiment, when the first lifting structure rises and falls on the surface of the second lifting structure, the second lifting structure does not produce any displacement relative to the fuselage; the second lifting structure does not move relative to the fuselage; When the fuselage moves in the direction of the first position, the first lifting structure and the driver do not generate displacement relative to the fuselage.

In one embodiment, the lifting mechanism includes a support member connected between the fuselage and the second lifting structure, and the first lifting structure is on the surface of the second lifting structure. When rising and falling, the support member supports and limits the displacement of the second lifting structure relative to the fuselage; the cleaning robot is also provided with a limiting structure, when the second lifting structure faces the fuselage relative to the When moving in the direction of the first position, the limiting structure exerts downward pressure on the connecting part, restricting the connecting part and the first lifting structure from continuing to move upward relative to the fuselage, and the first The lifting structure exerts pressure on the second lifting structure, and the second lifting structure presses the support member to cause deformation or displacement.

In one embodiment, the first lifting structure includes a gear set provided on the connecting part, the second lifting structure includes a rack meshing with part of the gear set, and the driver drives the gear The group is raised on the rack.

In one embodiment, the locking component is disposed on the connection part and rises and falls together with the connection part. The cleaning robot further includes a pressure part, and the driver drives the mopping module to lift to the third position. In the second position, the pressure part is configured to resist the locking part, so that the locking part is converted from the first state to the second state.

In one embodiment, the locking component is provided on the connecting part and rises and falls together with the connecting part. The cleaning robot further includes a pressure part. When the mopping module is in the second position, The locking part is in the first state. When the mopping module moves from the second position to the third position, the pressure part resists the locking part to cause it to move from the first state. Switch to the second state.

In one embodiment, the locking part includes a moving part connected to the connecting part and movable relative to the connecting part, and the moving part is configured to cooperate with the mopping module when in the locking position. Locking, the moving part conflicts with the pressure part and moves relative to the connecting part when it is pressed by the pressure part to move from the locking position to the releasing position to release the connection with the mopping module. Fit and lock.

In one embodiment, the moving member includes a hook and an elastic member with one end connected to the hook and the other end of the elastic member connected to the connecting part; the mopping module is provided with a The hook portion fits into the groove. When the moving member is in the locking position, the hook portion extends into the groove and clamps the mopping floor under the action of the elastic force exerted by the elastic member. Module, when the upper end of the hook is subjected to the pressure of the pressure part which is greater than the elastic force exerted by the elastic member on the hook, the hook is rotated to the release position, and the hook is in the release position. When in the open position, it at least does not interfere with the movement of the mopping module toward the first position.

In one embodiment, the lifting mechanism further includes a clutch structure connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. Open and cooperate, when the first lifting structure descends on the surface of the second lifting structure, or when the mopping module is in the first position, the clutch structure is in a clutch state, and the first lifting structure When the structure and the driver are disconnected, the driver drives the first lifting structure to lift on the surface of the second lifting structure, or the mopping module is in the second position and the controller When it is determined that the mopping module needs to remain in a raised state, the clutch structure is in a contact state.

In one embodiment, the first lifting structure includes a gear set provided on the connecting part, the second lifting structure includes a rack meshing with part of the gear set, and the driver drives the gear The gear set moves on the rack; the gear set includes a transmission member drivingly connected to the driver and a driving gear meshing with the rack; the transmission member drives the driving gear to rotate through the clutch structure, The clutch structure is used to allow a preset idle stroke between the transmission member and the driving gear to disengage the two.

In one embodiment, the cleaning robot further includes a water tank and a water pipe connected to the water tank. The water pipe has a water inlet for guiding water in the water tank to the mopping module. The driver , the water inlet and at least part of the water pipe are installed on the connecting part.

The present disclosure also provides a control method for a cleaning robot. The cleaning robot includes: a body; a mobile module located on the body; and a controller electrically connected to the mobile module and controlling the movement of the mobile module. The fuselage moves; the mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned; a lifting mechanism is at least partially disposed in the fuselage, the lifting mechanism includes a driver and at least a lift driven by the driver Assembly, the mopping module is detachably connected to the connecting portion of the lifting assembly; a separation mechanism and at least one locking assembly;

The control method of the cleaning robot includes the following steps: the controller controls the driver to drive at least part of the lifting assembly to lift, thereby driving the mopping module to lift; the controller controls the driver to drive the lock The locking portion of the fastening assembly switches from a first state of locking the mopping module to a second state of unlocking the mopping module; the controller controls the driver to drive at least part of the structure of the separation mechanism Movement, so that when the locking portion is in the second state, the mopping module is exerted with a force away from the fuselage and disengaged from the connecting portion.

In one embodiment, the lifting mechanism includes a first lifting structure and a second lifting structure, the mopping module is detachably connected to the first lifting structure through the connecting part, and the cleaning robot further Comprising a first detector electrically connected to the controller, the control method of the cleaning robot includes:

The controller receives the mopping signal, and if the mopping module is in a second position away from the surface to be cleaned, it controls the driver to operate so that the first lifting structure is on the surface of the second lifting structure. Up and down to drive the mopping module to move from the second position to the first position;

When the first detector detects that the mopping module is in a first position contacting the surface to be cleaned, it transmits a first detection signal to the controller; the controller controls the mopping module in response to the first detection signal. The driver stops running, and the mopping module is in the first position to clean the surface to be cleaned.

In one of the embodiments, when the controller receives the mopping signal, if the first detector directly detects that the mopping module is in the first position, it transmits the first signal to the controller. Detection signal; the controller controls the cleaning robot to perform a mopping task in response to the first detection signal.

In one embodiment, the cleaning robot includes a second detector and a pressure part electrically connected to the controller, and the separation mechanism is configured to act on the mopping module to connect the mopping module with The connection part is disconnected from the ejection part, the ejection part is configured as the second lifting structure, and the control method of the cleaning robot includes:

The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to the first lifting position. The surface of the two lifting structures rises, driving the mopping module to lift to the second position, and the pressure part resists the locking part to switch from the first state to the second state; the second When the detector detects that the mopping module is lifted to the second position, it transmits a second detection signal to the controller; the controller controls the driver to continue driving the driver in response to the second detection signal. The first lifting structure is such that the first lifting structure drives the second lifting structure to move relative to the fuselage in the direction of the first position, and pushes down the mopping module.

The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position; the second detector detects that the mopping module is lifted to the second position, and then transmits a second detection signal to the controller; the controller responds to the second detection signal The driver is controlled to continue driving the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to a third position higher than the second position. During the process of moving from the second position to the third position, the pressure part resists the locking part to switch from the first state to the second state, and the second detector continues to move toward the The controller sends the second detection signal; the controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure Move relative to the fuselage in the direction of the first position, and push down the mopping module.

In one embodiment, the connecting portion and the mopping module are provided with magnetic components that attract each other, and the control method of the cleaning robot further includes:

When the controller receives a signal to install the mopping module, it controls the driver to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a level lower than The second position is higher than the first position, and the mopping module is adsorbed on the connecting part through magnetic attraction.

In one embodiment, the lifting mechanism further includes a clutch structure connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. The control method of the cleaning robot also includes: the controller responding to the first detection signal to control the driver to run for a preset time and then stop running after disconnecting from the first lifting structure, so as to The mopping module is placed in the first position and can float relative to the first position.

In one embodiment, the cleaning robot includes a third detector electrically connected to the controller, and the control method of the cleaning robot further includes:

The third detector detects the working condition of the cleaning robot and transmits a third detection signal to the controller; the controller determines whether the mopping module needs to be lifted based on the third control signal, if so, Then the driver is controlled to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position.

In one embodiment, the control method of the cleaning robot further includes:

The controller determines whether the mopping module needs to be lowered based on the third detection signal. If so, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby causing the The mopping module is lowered from the second position to the first position.

The present disclosure also provides a cleaning robot. The cleaning robot includes: a fuselage; a moving module provided on the fuselage and used to drive the fuselage to move; and a mopping module that can move at least in the third position relative to the fuselage. Movement between a first position and a second position. When it is in the first position, it is in contact with the surface to be cleaned to clean the surface to be cleaned. When it is in the second position, it can be out of contact with the surface to be cleaned; the lifting mechanism, at least partially The lifting mechanism is provided in the fuselage; the lifting mechanism includes a driver and a lifting component that drives and cooperates with the driver. The mopping module is detachably connected to part of the lifting component. The driver drives at least one part of the lifting component. Part of the structure moves to drive the mopping module to reciprocate between the first position and the second position. When the mopping module is in the second position, the driver can drive the lifting group. At least part of the structure of the component is moved to exert a force away from the fuselage on the mopping module, so that the mopping module is detached from the lifting assembly.

In the above-mentioned cleaning robot, the lifting mechanism is designed as at least a lifting component and a driver, and the driver is used to drive the lifting component to move to realize the reciprocating movement of the mopping module between the first position and the second position. In this way, when the cleaning robot is working, the lifting assembly drives the mopping module to move to or beyond the first position so that it contacts the surface to be cleaned to achieve the purpose of cleaning. When the cleaning robot encounters a step or needs to return for charging, the lifting assembly drives the mopping module to move to the second position, raising the mopping module so that it is out of contact with the surface to be cleaned, so as to solve the problem of stolen goods being scratched and the ground being recharged. pollution problem. Because when the mopping module is in the second position, the lifting component can exert a force away from the fuselage on the mopping module under the continued driving of the driver, so that the mopping module can detach from the lifting component. Therefore, during the replacement operation, the mopping module needs to be raised. After the floor module reaches the second position, the driver can continue to drive the lifting assembly to disassemble the floor mopping module, making replacement more convenient. It can be seen that this cleaning robot uses the cooperation of the lifting component and the driver to realize the lifting and replacement functions of the mopping module at the same time, which effectively simplifies the internal structure and facilitates the miniaturization of the cleaning robot, thereby conducive to improving product performance.

In one embodiment, the same driver drives the two different partial structures of the lifting assembly to move respectively, so that the two different partial structures of the lifting assembly drive the mopping module respectively in the first position. reciprocating movement between a first position and the second position, and lifting the mopping module.

In one embodiment, the lifting assembly includes a first lifting structure and a second lifting structure. One of the first lifting structure and the second lifting structure is detachably connected to the mopping module and is connected to the mopping module. The driver is connected and driven to rise and fall relative to the fuselage to drive the mopping module to move between the first position and the second position. The first lifting structure and the second lifting structure Another one of the structures is directly or indirectly connected to the driver. When the mopping module is in the second position, the driver drives it to descend relative to the fuselage to push down the mopping module.

In one embodiment, the mopping module is detachably connected to the first lifting structure, the driver is connected to the first lifting structure, and the second lifting structure is connected to the first lifting structure, And connected to the driver through the first lifting structure, the driver drives the first lifting structure to rise and fall on the surface of the second lifting structure to drive the mopping module to the first position and the When the mopping module moves to the second position, the driver continues to drive the second lifting structure relative to the first lifting structure toward the first position. directional movement to push down the mopping module.

In one embodiment, when the first lifting structure rises and falls on the surface of the second lifting structure, the second lifting structure does not produce any displacement relative to the fuselage; the second lifting structure does not move relative to the fuselage; When the first lifting structure moves in the direction of the first position, the first lifting structure does not generate any displacement relative to the fuselage.

In one embodiment, the lifting mechanism further includes a support member for limiting the third position when the mopping module reciprocates between the first position and the second position. The two lifting structures are displaced relative to the fuselage; when the mopping module moves to the second position, the driver continues to drive the support member to deform or displace, so that the second lifting structure is relatively The first lifting structure moves toward the first position.

In one embodiment, the support member includes a limiting spring, and the limiting spring is connected between the second lifting structure and the fuselage.

In one embodiment, the lifting mechanism further includes a clutch structure connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. When the mopping module is in the second position, the clutch structure is in contact, the first lifting structure cooperates with the driver, and when the mopping module is in the first position, the The clutch structure is in a clutch state, and the first lifting structure and the driver are disconnected.

In one embodiment, the first lifting structure includes a connecting portion equipped with the driver and a gear set disposed on the connecting portion, and the second lifting structure includes a rack meshing with part of the gear set. , the mopping module is detachably connected to the connecting part, the driver drives the gear set to move on the rack, when the mopping module moves to the second position, and the driver continues When driving, The movement of the gear set is limited by at least one structure in the fuselage so that it does not cause displacement relative to the fuselage, and drives the rack to move in the direction of the first position to push down the mopping floor. module.

In one embodiment, the gear set includes a transmission member drivingly connected to the driver and a driving gear meshing with the rack. The transmission member drives the driving gear to rotate through the clutch structure, and the The clutch structure is used to allow a preset idle stroke between the transmission member and the driving gear to disengage the two.

In one embodiment, the gear set further includes a rotating shaft provided on the connecting part, the transmission member and the driving gear are sleeved on the rotating shaft at intervals, and the transmission member passes through the clutch. The structure is connected to the drive gear.

In one embodiment, the cleaning robot further includes a first detector and a second detector spaced apart on the body, and the first detector and the second detector are respectively used for corresponding detection. Whether the mopping module is in the first position and the second position, and controls the start and stop of the driver.

In one embodiment, at least two spaced apart parts of the mopping module are connected to the lifting assembly so as to move together under the driving of the lifting assembly.

Description of drawings

The drawings that form a part of this application are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of the cleaning robot described in one embodiment;

Figure 2 is a schematic structural diagram of the cleaning robot in the second position according to one embodiment;

Figure 3 is a schematic diagram of the internal structure of the cleaning robot described in Figure 2;

Figure 4 is a schematic structural diagram of the cleaning robot in the first position according to one embodiment;

Figure 5 is a schematic diagram of the internal structure of the cleaning robot described in Figure 4;

Figure 6 is a schematic structural diagram of the lifting mechanism described in one embodiment;

Figure 7 is a schematic diagram 2 of the structure of the lifting mechanism described in one embodiment;

Figure 8 is a schematic structural diagram of the lifting assembly described in one embodiment;

Figure 9 is a schematic diagram 1 of the top-down mopping module described in one embodiment;

Figure 10 is a schematic diagram 2 of the top-down mopping module described in one embodiment;

Figure 11 is a schematic view three of the top-down mopping module described in one embodiment;

Figure 12 is a schematic diagram of the locking portion in a first state according to an embodiment;

Figure 13 is a schematic diagram of the locking portion in the second state in the example.

Figure 14 is a schematic diagram of the mopping module of the cleaning robot in a second position in one embodiment;

Figure 15 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 14 from direction A;

Figure 16 is a schematic diagram of the mopping module of the cleaning robot in a third position in one embodiment;

Figure 17 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 16 from direction A;

Figure 18 is a schematic diagram of the lifting mechanism of the cleaning robot lifting the mopping module in one embodiment;

Figure 19 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 18 from direction A;

Figure 20 is a schematic diagram of the lifting mechanism of the cleaning robot in an initial position in one embodiment;

Figure 21 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 20 from direction A;

Figure 22 is a schematic diagram of the lifting mechanism of the cleaning robot installing the mopping module in one embodiment;

Figure 23 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 22 from direction A;

Figure 24 is a schematic diagram of the mopping module of the cleaning robot in a first position in one embodiment;

Figure 25 is a cross-sectional view of the lifting mechanism of the cleaning robot in Figure 24 from direction A;

Figure 26 is a schematic structural diagram of the lifting mechanism described in one embodiment;

Figure 27 is a schematic diagram of the clutch structure in a contact state in one embodiment;

Figure 28 is a schematic diagram of the clutch structure in a clutch state in one embodiment;

Figure 29 is a state diagram of the clutch structure when the first lifting structure descends on the surface of the second lifting structure in one embodiment;

Figure 30 is a flowchart 1 of the control method of the cleaning robot described in one embodiment;

Figure 31 is a flowchart 2 of the control method of the cleaning robot described in one embodiment;

Figure 32 is a flow chart 3 of the control method of the cleaning robot described in one embodiment;

Figure 33 is a flow chart 4 of the control method of the cleaning robot described in one embodiment;

Figure 34 is a flowchart 5 of the control method of the cleaning robot described in one embodiment.

100. Body; 101. Pressure part; 102. Water tank; 110. Chute; 120. First guide part; 130. Guide hole; 200. Mobile module; 300. Mopping module; 31. First magnet; 32. Wiping plate connector; 321, groove; 322, bottom surface of wiping plate connector; 33, wiping plate; 34, wiping unit; 400, lifting mechanism; 410, lifting component; 411, first lifting structure; 4111, gear set; 41111. Driving gear; 41112. Transmission parts; 41113. Rotating shaft; 4112. Clutch structure; 41121. Clutch block; 4113. Lifting frame; 41131. Lifting plate; 41132. Second magnet; 4114. Guide column; 412. Second lifting frame Structure; 4121, rack; 4122, second guide part; 4123, positioning column; 420, driver; 430, support; 431, limit spring; 500, first detector; 600, second detector; 601, Trigger member; 602, trigger spring; 700, surface to be cleaned; 800, locking component; 801, hook; 802, upper end of hook; 803, torsion spring.

Detailed ways

In order to make the above objects, features and advantages of the present disclosure more obvious and understandable, specific implementation modes of the present disclosure will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described here, and those skilled in the art can make similar improvements without violating the connotation of the present disclosure. Therefore, the present disclosure is not limited by the specific embodiments disclosed below.

In one embodiment, please refer to FIG. 1 , FIG. 3 and FIG. 6 , a cleaning robot includes: a body 100 , a moving module 200 , a mopping module 300 , and a controller (not shown). The mobile module 200 is disposed on the fuselage 100, is electrically connected to the controller, and is controlled by the controller to drive the fuselage 100 to move. The mopping module 300 contacts the surface to be cleaned to clean the surface to be cleaned.

Further, the cleaning robot also includes a lifting mechanism 400, a separation mechanism, a locking assembly 800 and a driver 420. The lifting mechanism 400 includes a lifting component 410. The lifting component 410 is provided on the fuselage 100 and is provided with a connection portion that is detachably connected to the mopping module 300 to drive the mopping module 300 to move up and down. The detachment mechanism is provided on the fuselage 100 and is provided with an ejection portion that acts on the mopping module 300 to disconnect the mopping module 300 from the connection portion. The locking assembly 800 is provided with a locking portion for locking the mopping module 300 on the connecting portion. The locking portion includes a first state for locking the mopping module 300 and a second state for unlocking the mopping module 300; The driver 420 is controlled by the controller to provide driving force to the lifting assembly 410, the separation mechanism and the locking assembly 800. The cleaning robot utilizes the cooperation of the lifting component 410, the separation mechanism, the locking component 800 and the driver 420 to simultaneously realize the functions of lifting, lowering, locking and loosening the mopping module 300, effectively simplifying the internal structure of the fuselage and facilitating cleaning. The miniaturization of robots will help improve product performance and also effectively reduce the cost of cleaning robots.

Furthermore, the mopping module 300 can at least move between a first position and a second position relative to the body 100. When the mopping module 300 is in the first position, it contacts the surface 700 to be cleaned to clean the surface to be cleaned. When the mopping module 300 is in the second position, it can be out of contact with the surface to be cleaned 700 . Specifically, the controller is electrically connected to the driver 420, and controls the driver 420 to drive at least part of the structure of the lifting assembly 410 to lift, To drive the mopping module 300 to move from the first position to the second position. It should be noted that the lifting component 410 can be driven to be lifted by at least the driver 420. The driver 420 can drive the lifting component 410 to both lift and descend. For example, when the driver (such as a motor) rotates forward, it drives the lifting component to lift, and vice versa. The lifting assembly is driven to lower when turning; the lifting assembly 410 is at least driven and lifted by the driver 420. Alternatively, the driver 420 only drives the lifting assembly 410 to lift, and the lifting mechanism 400 and the mopping module 300 rely on their own gravity to lower after losing the drive of the driver 420. .

The separation mechanism is connected to the driver 420, and the driver 420 drives at least part of the structure of the separation mechanism to move, so that the ejection part collides with and pushes down the mopping module. It should be noted that at least part of the structural movement of the separation mechanism driven by the driver 420 may be that the ejection part is driven by the driver to move downward, extending out the connection surface between the mopping module 300 and the connecting part, so as to push the mopping module 300 downward. Separate it from the connecting part; it is also possible to drive the separation mechanism to move upward and retract into the fuselage 100. The mopping module 300 is restricted (conflicted) by the bottom surface of the fuselage 100 and cannot follow the connecting part to continue to move upward and connect with the connecting part. Partly separated. Then in this embodiment, the part of the structure on the body that conflicts with the mopping module is the ejection part. It should also be noted that when the mopping module 300 is lifted to the second position or a third position higher than the second position, it is resisted and exerted an external force away from the fuselage 100 , thereby detaching from the lifting frame 4113 .

In addition, the separation mechanism can be a separate structure connected to the driver. In order to achieve miniaturization of the cleaning robot fuselage and to reduce the volume occupied by the separation mechanism inside the fuselage, the separation mechanism can also be a part of the lifting mechanism. The separation mechanism will be explained below with reference to specific embodiments. No further details will be given here.

Please refer to Figures 12 to 25. The locking component 800 is provided at the connection part and rises and falls along with the connection part. When the mopping module 300 is in the first position, the locking portion of the locking assembly 800 is in the first state of locking the mopping module 300. When the mopping module 300 is detached from the connecting portion, the locking portion of the locking assembly 800 is in the first state. To unlock the second state of the mopping module 300, the driver 420 drives the locking portion to switch between the first state and the second state. When the mopping module 300 is in the first position, the locking assembly 800 is configured to be in the first state to lock the mopping module 300 to avoid shaking when the mopping module cleans the surface to be cleaned; when the mopping module 300 needs to be connected from When the mopping module is disengaged (for example, the mopping module is in the second position or a third position higher than the second position), the locking assembly 800 is configured to be in the second state to avoid hindering the ejection part from ejecting the mopping module 300 . In order to achieve stable installation and lifting of the mopping module, in this embodiment, the connecting part is configured as a lifting frame 4113. The lifting frame 4113 is connected to the lifting assembly and moves together with the lifting assembly. In other embodiments, the connecting part may also be configured as a connecting rope, a connecting rod, a telescopic rod, or the like.

In the above-mentioned cleaning robot, the lifting mechanism 400 is at least designed as a lifting component 410 and a driver 420 . The driver 420 is used to drive the lifting assembly 410 to move, so that the mopping module 300 moves from the first position to the second position. Please refer to Figures 4 and 5 as well as Figures 24 and 25. When the cleaning robot is working, the lifting assembly 410 drives the mopping module 300 to move to or beyond the first position so that it contacts the surface 700 to be cleaned to achieve cleaning purposes. Please refer to Figure 12, Figure 24, and Figure 25. In order to improve the reliability of the mopping module 300 when mopping and avoid shaking, when the lifting assembly 410 drives the mopping module 300 to move to or beyond the first position, the locking assembly 800 is in the third position. In this state, the locking assembly 800 locks the mopping module 300 on the lifting assembly 410 to prevent it from shaking when it comes into contact with the surface to be cleaned. Please refer to Figures 2 and 3. When the cleaning robot encounters carpets, steps or needs to return for charging, the lifting assembly 410 drives the mopping module 300 to move to the second position, raising the mopping module 300 so that it is in contact with the surface 700 to be cleaned. Disengage to solve the problem of dirt being scratched and secondary contamination of the ground. Of course, the raised mopping module 300 can also vacuum the carpet without contaminating the carpet, and maintain good ventilation between the mopping module 300 and the surface to be cleaned 700 when not in working state, thereby reducing the generation of odor. When the mopping module 300 is in the second position or the third position, the ejection part, driven by the driver 420, can exert an external force away from the fuselage 100 on the mopping module 300, so that the mopping module 300 can be detached from the connection part. Therefore, during the replacement operation, after raising the mopping module 300 to the second position, the mopping module 300 can be disassembled by driving the ejection part through the driver 420, making the replacement more convenient. Please refer to Figure 13 or Figure 16 or Figure 17. Since the mopping module 300 is locked on the lifting assembly 410 in the first position, in order to realize that the mopping module 300 can be lifted from the second position or the third position. To disengage the assembly 410, the locking assembly 800 needs to be released from the mopping module 300 first. The driver 420 drives the locking assembly 800 to convert from the first state to the second state, so that the locking assembly 800 unlocks the mopping module 300. It can be understood that the locking assembly 800 is driven by the driver 420 to switch between the first state and the second state. The driver 420 is directly connected to the locking component 800 and drives the locking component 800 to change states. It can also drive other components (such as the lifting component 410) to move, thereby indirectly changing the state of the locking component 800. Specific embodiments will be described below. Describe how the driver 420 drives the locking component 800 to change its state.

It can be seen that this cleaning robot utilizes the cooperation of the lifting component 410, the separation mechanism, the locking component 800 and the driver 420 to simultaneously realize the functions of lifting, lowering, replacing and locking and releasing the mopping module 300, which effectively simplifies the internal structure and facilitates The miniaturization of cleaning robots will help improve product performance and also effectively reduce the cost of cleaning robots.

It should be noted that the lifting assembly 410 can drive the mopping module 300 to move between the first position and the second position after action. This can be implemented in many ways, such as using the transmission between the gear and the rack to drive the mopping module 300 to move between the first position and the second position. The mopping module 300 moves up and down; or a crank rocker mechanism is used to make the mopping module 300 move up and down along with the movement of the slider; or a screw transmission mechanism is used to drive the mopping module 300 up and down, etc. In this regard, it is sufficient that the action of the lifting assembly 410 can drive the mopping module 300 to move between the first position and the second position.

The controller can be understood as an embedded digital signal processor (Digital Signal Processor, DSP), microprocessor (Micro Processor Unit, MPU), specific integrated circuit (Application Specific Integrated Circuit, ASIC), micro control unit ( Microcontroller Unit; MCU) and so on.

The mopping module 300 should be understood as a structure with a cleaning and wiping function, which at least includes a bracket and a wiping unit installed on the bracket. The wiping unit can be designed as, but is not limited to, a cleaning cloth, a sponge, a plastic thread, a braided strip, a rubber sheet, etc. The bracket can be designed as a wiping plate, and the wiping unit can be adhered to the bottom surface of the wiping plate. At the same time, depending on the material and wiping method of the wiping unit, this cleaning robot can be a floor mopping machine or an all-in-one sweeping and mopping machine. The wiping unit can also be an actively moving wiping unit, such as a linear reciprocating wiping unit, a rotary reciprocating wiping unit, a continuous rotating wiping unit, etc. At the same time, the wiping unit can be composed of multiple wiping components. For example, it is composed of two wiping components, and the two wiping components perform opposite rotational reciprocating swing motions.

In addition, there are various designs for the first position and the second position of this embodiment, such as: the first position is set at the position where the mopping module 300 just comes into contact with the surface 700 to be cleaned (such as the ground, etc.); or it can be It is set at a position where the mopping module 300 and the surface to be cleaned 700 have a certain pressure. Similarly, the second position can be set at any position in the space between the fuselage 100 and the surface to be cleaned 700 (such as the ground, etc.). When the mopping module 300 is located in the second position, it can continue to move relative to the fuselage 100. Rising; it can also be set at the extreme position where the mopping module 300 rises relative to the body 100, that is, the position where the mopping module 300 cannot continue to rise.

It should also be noted that the detachment mechanism, driven by the driver 420, can detach the mopping module 300 from the connection part in the second position or the third position. The detachment method may be but is not limited to top-down, release of magnetic attraction, Open and release etc. At the same time, there are also various designs for the ways in which the connecting part can be detached from the mopping module 300. Any solution that can drive the mopping module 300 to detach under the action of the driver 420 in the second position or the third position is protected by this application. range. For example: when the mopping module 300 reaches the second position, the continuous driving causes the switch on the separation mechanism to be triggered, so that the electromagnet device on it is powered off and the mopping module 300 loses its attraction; or, the separation mechanism is triggered. The clamping claw structure on the upper part opens to release the mopping module 300 and so on. In addition, the driver 420 may be a motor, or a telescopic power device such as a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

Further, please refer to FIG. 6 , the same driver 420 drives the two different partial structures of the lifting assembly 410 to move respectively, so that the two different partial structures of the lifting assembly 410 drive the mopping module 300 in the first position and the second position respectively. reciprocate between positions, and lift the mopping module 410. It can be seen from this that the lifting and disengagement of the mopping module 300 by the lifting assembly 410 is completed by the same driver 420. This not only helps to reduce the equipment investment of the cleaning robot and reduces product production costs; it also helps to reduce the internal structure of the cleaning robot and reduce the size of the product. The space occupied by the lifting mechanism 400 in the machine is conducive to product miniaturization. Of course, in other embodiments, the number of drivers 420 may also be multiple. For example, one driver 420 drives the lifting component 410 to reciprocate between the first position and the second position; the other driver 420 drives the lifting component 410 to move at the second position, so that the mopping module 300 can be detached.

It should be noted that the lifting and disengagement of the mopping module 300 are triggered by the same driver 420 but by two different partial structures of the lifting assembly 410. For example, the driver 420 has at least two components, and the controller controls the driver 420 to drive them. When a component moves, the The component can drive the mopping module 300 to reciprocate between the first position and the second position; when the controller controls the driver 420 to drive another component to move, it can push down the mopping module 410 . At this time, the separation mechanism is part of the lifting mechanism, which can reduce the accessories required for the cleaning robot, save costs, further reduce the size of the fuselage, and achieve miniaturization of the cleaning robot.

In one embodiment, the cleaning robot further includes a water tank 102, and a water pipe (not shown) connected to the water tank. The water pipe has a water inlet for guiding the water in the water tank 102 to the mopping module 300, a driver 420, a water inlet and at least Part of the water pipe is installed on the connecting part (ie, the lifting frame 4113). Therefore, the mopping module 300 can be wetted through the water pipe connected to the water tank 102, and the surface to be cleaned can be wet-cleaned. At the same time, the nozzle provided on the lifting frame 4113 can be in close contact with the mopping module 300, and the mopping module 300 can be moistened more evenly.

In one embodiment, please refer to FIGS. 3 and 5 , the lifting assembly 410 includes a first lifting structure 411 and a second lifting structure 412 . One of the first lifting structure 411 and the second lifting structure 412 is detachably connected to the mopping module 300 and is connected to the driver 420 and is driven by the driver 420 to rise and fall relative to the fuselage 100 to drive the mopping module 300 to the first position. movement between the second position. The other one of the first lifting structure 411 and the second lifting structure 412 is directly or indirectly connected to the driver 420. When the mopping module 300 is in the second position, the controller controls the driver 420 to continue driving to drive the first lifting structure 411 and the second lifting structure 412. Another action in the lifting structure 412 is to lower it relative to the fuselage to push down the mopping module 300. Please refer to Figures 9 to 11. It can be seen that either the first lifting structure 411 or the second lifting structure 412 can move up and down relative to the fuselage 100 under the action of the driver 420. For example, the driver 420 can drive the first lifting structure 411 to move up and down to drive the floor mopping. The module 300 moves. At this time, the mopping module 300 should be located on the first lifting structure 411; or the driver 420 can drive the second lifting structure 412 to lift to drive the mopping module 300 to move. At this time, the mopping module 300 should Provided at the second lifting structure 412.

In addition, during the lifting process, if the second lifting structure 412 is responsible for lifting the mopping module 300, the first lifting structure 411 is responsible for lifting the mopping module 300. For example: when the second lifting structure 412 drives the mopping module 300 to move to the second position, the first lifting structure 411 has a push rod structure that resists the mopping module 300 . If the driver 420 continues to drive, the push rod structure will exert a force away from the fuselage 100 (such as a downward pushing force) on the mopping module 300 to push down the mopping module 300 and so on.

In this embodiment, the lifting assembly 410 is designed as a first lifting structure 411 and a second lifting structure 412, respectively corresponding to the lifting and lifting movements, so that the lifting and replacement of the mopping module 300 can be carried out in an orderly manner. At the same time, it is also convenient for the lifting mechanism 400 to be reasonably arranged within the body 100, making the internal structure design of the cleaning robot more reasonable and orderly.

Further, please refer to Figures 3, 6, 10 and 12 to 25. The mopping module 300 is detachably connected to the first lifting structure 411 through the connecting part (ie, the lifting frame 4113), and the driver 420 is connected to the first lifting structure. Structure411. The second lifting structure 412 is connected to the first lifting structure 411 and is indirectly connected to the driver 420 through the first lifting structure 411 . The controller controls the driver 420 to drive the first lifting structure 411 to lift on the surface of the second lifting structure 412 to drive the mopping module 300 to move from the first position to the second position. At this time, when the first lifting structure 411 rises and falls relative to the second lifting structure 412, the driver 420 will also rise and fall together with the first lifting structure 411.

Please continue to refer to Figure 3. The ejection part is configured as a second lifting structure 412. When the mopping module 300 moves to the second position, the controller controls the driver 420 to continue driving the first lifting structure 411, so that the first lifting structure 411 drives the second lifting structure 412. The two lifting structures 412 move toward the first position relative to the fuselage 100 to push down the mopping module 300 . In this way, when the mopping module 300 moves to the second position, the continued driving of the driver 420 can cause the second lifting structure 412 to move toward the first position relative to the body 4113, so that the mopping module 300 can be effectively pushed down to ensure mopping. The replacement of the module 300 proceeds stably.

Alternatively, please refer to Figures 16 to 19. The ejection portion is configured as a second lifting structure 412. After the mopping module 300 moves to the second position, the controller controls the driver 420 to continue to drive the first lifting structure 411 in the second lifting structure. The surface is lifted to drive the mopping module 300 to a third position higher than the second position. When the mopping module 300 is in the third position, the controller controls the driver 420 to continue driving the first lifting structure 411 so that the first lifting structure 411 drives the second lifting structure to move relative to the fuselage in the direction of the first position, and pushes down the mopping module 300 . The lifting and lowering of the mopping module 300 at different positions can, on the one hand, make the functional division of the cleaning robot clearer. On the other hand, the lifting and lowering of the mopping module 300 requires locking and loosening of the locking assembly 800 The mopping module 300 cooperates to achieve better results, which will be described in detail below with reference to the embodiment.

It should be noted that when the first lifting structure 411 drives the mopping module 300 to move to the second position or the third position, the driver 420 drives the second lifting structure 412 in a driving manner: the first lifting structure 411 reacts on the second position. on the lifting structure 412 to make it move downward; or, a transmission structure, such as a rocker and cam combination structure, etc., is provided between the output shaft of the driver 420 and the second lifting structure 412. When the driver 420 moves along with the first lifting structure When 411 moves to the second position, the cam on it can push up one end of the rocker and press down the other end to drive the second lifting structure 412 to move downward.

Optionally, the mopping module 300 can be connected to the lifting frame 4113 by, but is not limited to, magnetic attraction, buckles, etc. Furthermore, when the first lifting structure 411 rises and falls on the surface of the second lifting structure 412, the second lifting structure 412 does not generate any displacement relative to the fuselage 100. At this time, the second lifting structure 412 serves as a supporting foundation to ensure that the first lifting structure 411 moves more smoothly. In addition, when the second lifting structure 412 moves toward the first position relative to the first lifting structure 411, the first lifting structure 411 does not generate any displacement relative to the fuselage 100. It can be seen from this that the first lifting structure 411 and the second lifting structure 412 cannot move relative to the fuselage 100 at the same time. When the mopping module 300 is lifted up and down, the first lifting structure 411 is used as a supporting basis to ensure that the second lifting structure 412 can move the mopping module 300 . The ground module 300 exerts a force away from the fuselage 100 to successfully complete the top-down action and improve product performance.

In one embodiment, please refer to FIG. 3 , the lifting mechanism 400 further includes a support member 430 connected between the fuselage and the second lifting structure. When the first lifting structure 411 rises and falls on the surface of the second lifting structure, the support member 430 supports and limits the displacement of the second lifting structure 412 relative to the fuselage 100 . Since the mopping module 300 reciprocates between the first position, the second position and the third position, the first lifting structure 411 also moves up and down on the second lifting structure 412. Therefore, this embodiment provides a support member 430 so that It only limits the movement of the second lifting structure 412 relative to the fuselage 100 when the mopping module 300 moves between the first position and the second position, and between the second position and the third position. The lifting and lowering provides stable support, thereby ensuring that the mopping module 300 is lifted stably. Furthermore, the cleaning robot is also provided with a limiting structure (not shown). When the second lifting structure moves toward the first position relative to the fuselage, the limiting structure exerts downward pressure on the lifting frame 4113 to limit the lifting frame 4113. And the first lifting structure 411 continues to move upward relative to the fuselage, and the first lifting structure 411 exerts pressure on the second lifting structure, and the second lifting structure presses the support member to cause deformation or displacement.

Please refer to Figures 9 to 11 or Figures 18 and 19. When the mopping module 300 moves to the second position or the third position, the driver 420 continues to drive the support member 430 to deform or displace, so that the second lifting structure 412 moves toward the first position relative to the first lifting structure 411 . It can be seen that if the mopping module 300 needs to be disassembled, after the mopping module 300 is raised to the second position or the third position, the driver 420 is continued to be driven to drive the first lifting structure 411 to continue climbing upward relative to the second lifting structure 412. However, due to the limitation of the limiting structure, the lifting frame 4113 is unable to move upward due to the downward pressure exerted by the limiting structure, and then transmits this pressure to the second lifting structure 412. The pressure on the second lifting structure increases, resulting in support The support member 430 can no longer support the movement of 100 degrees relative to the fuselage, and the support member 430 deforms or moves relative to itself, so that the second lifting structure 412 can move downward relative to the first lifting structure 411 and then push down the mopping module 300 . In this way, this embodiment cleverly designs the support and the limiting mechanism, so that the second lifting structure 412 supports and moves down and down forward and backward, further ensuring the stable lifting and replacement of the mopping module 300.

It should be noted that the limiting structure is set as a structure that can be fixed relative to the fuselage. It can be a separate structure, or it can directly use the existing structure of the fuselage, such as the outer shell of the fuselage. The first lifting structure 411 is lifted to the second position. In the second position or the third position, the lifting frame 4113 is against the shell of the fuselage, so that the first lifting structure 411 cannot continue to move upward. Of course, in addition to the shell of the fuselage, any part that is fixed relative to the fuselage can be used as a Limiting structure.

It should also be noted that the support member 430 can be designed as a structure with elastic deformation, or as an adsorption structure or a buckle structure with a reset function. When the support member 430 is designed to have an elastic deformation structure, under the action of the driver 420, the support member 430 deforms to allow the second lifting structure 412 to move downward relatively; when the support member 430 is designed to have an adsorption structure with a reset function or In the buckle structure, the driving force of the driver 420 is greater than the adsorption force or buckle force between the support member 430 and the fuselage 100, driving the support member 430 to move downward relative to the fuselage 100 to drive the second lifting structure 412 to move.

In addition, when the support member 430 has an elastic deformation structure, it may be specifically, but not limited to, elastic rubber, springs, etc.

Further, please refer to FIG. 3 , the support member 430 includes a limiting spring 431 . The limit spring 431 is connected between the second lifting structure 412 and the fuselage 100. That is, when the mopping module 300 moves between the first position and the second position, the limit spring 431 uses its own elastic force to support the second lifting structure 412. , to prevent it from being displaced and causing the lifting action of the mopping module 300 to become unstable. Among them, the upward force provided by the limit spring 431 should be enough to support the weight of all supported objects. Therefore, the upward force provided by the limit spring 431 should be at least greater than the first lifting structure 411, the second lifting structure 412, and the driver 420. , the sum of the weight of the mopping module 300.

It should be noted that the limiting spring 431 can use its tensile force to act on the second lifting structure 412; it can also use its compressive force to act on the second lifting structure 412. When the limiting spring 431 acts on the second lifting structure 412 with a tensile force, the limiting spring 431 is at least partially located above the second lifting structure 412 so that it is in a suspended state. When the limiting spring 431 acts on the second lifting structure 412 with a compressive force, the limiting spring 431 is compressed between the second lifting structure 412 and the fuselage 100 .

Furthermore, please refer to Figures 3 and 8. In order to ensure the stable deformation of the limit spring 431, positioning posts 4123 can be provided on both the second lifting structure 412 and the fuselage 100. The limit springs 431 are respectively sleeved on both sides. On the positioning post 4123.

In one embodiment, please refer to Figure 3. In order to ensure that the second lifting structure 412 moves stably in the fuselage 100, a chute 110 is provided in the fuselage 100, and a first guide portion 120 is provided on the wall of the chute 110. . The second lifting structure 412 is provided with a second guide portion 4122 that guides and cooperates with the first guide portion 120 . In this way, through the cooperation of the first guide part 120 and the second guide part 4122, the first lifting structure 411 moves downward smoothly in the chute 110.

Optionally, the first guide part 120 has a groove-like structure, and the second guide part 4122 has a convex structure; or, the first guide part 120 has a convex structure, and the second guide part 4122 has a groove-like structure.

In one embodiment, please refer to FIG. 6 , the lifting mechanism 400 further includes a clutch structure. The clutch structure is connected between the first lifting structure 411 and the driver 420 to enable or disengage the first lifting structure 411 and the driver 420 . Please refer to Figures 26 and 27. When the driver 420 drives the first lifting structure 411 to lift on the surface of the second lifting structure, or when the mopping module 300 is in the second position and has no downward trend, the clutch structure 4112 is in the contact state, The first lifting structure 411 cooperates with the driver 420. When the driver 420 drives the first lifting structure 411 to lift on the surface of the second lifting structure, the driver 420 is required to drive the first lifting structure 411 to move; when the mopping module 300 is in the second position and the controller determines that the mopping module 300 needs to remain elevated. When in the state, the clutch structure 4112 is also in the contact state, so that the mopping module 300 is kept lifted and supported by the force of the driver 420 .

Please refer to Figure 28. When the mopping module 300 is in the first position, the clutch structure 4112 is in the clutch state, and the first lifting structure 411 and the driver 420 are disconnected, that is, the mopping module 300 is not affected by the force of the driver 420, so that the mopping The ground module 300 has a certain floating amount so that it floats when in contact with the ground to adapt to different ground operations. Please refer to Figure 29. When the first lifting structure 411 descends on the surface of the second lifting structure, the clutch structure 4112 is in the clutch state. When the first lifting structure 411 descends on the surface of the second lifting structure, the driver 420 needs to give way to the first lifting structure 411 to prevent the driver 420 from restricting the first lifting structure 411 from descending.

It should be noted that when the clutch structure 4112 is in a clutch state, it should be understood that at least two components in the clutch structure 4112 are separated from each other and do not contact each other, so that force transmission between the driver 420 and the first lifting structure 411 is impossible, causing the driver 420 to rotate at a certain angle. It is idling inside and cannot drive the first lifting structure 411 to move. When the clutch structure 4112 is in contact, it is understood that at least two components in the clutch structure 4112 are in contact with each other and are stressed. At this time, the drive 420 can transmit force to the first lifting structure 411 through the clutch structure 4112 to make the first lifting structure 411 move. .

In one embodiment, please refer to Figures 3, 14 to 25. The first lifting structure 411 includes a connecting portion (lifting frame 4113) equipped with a driver 420, and a gear set 4111 provided on the lifting frame 4113. The second lifting structure 412 includes a rack 4121 meshed with a portion of the gear set 4111 . The mopping module 300 is detachably connected to the lifting frame 4113. The driver 420 drives the gear set 4111 to lift on the rack 4121. When the mopping module 300 moves to the second position or a third position higher than the second position, and the driver 420 continues to drive, the movements of the lifting frame 4113 and the gear set 4111 are limited by the restriction structure in the fuselage 100, so that (ie, the gear set 4111) does not produce any displacement relative to the fuselage 100, and drives the rack 4121 to move toward the first position to push down the mopping module 300.

It can be seen from this that, please refer to Figures 14 and 15, when lifting, the rack 4121 is in a fixed state, and the driver 420 drives the gear set 4111 to rotate, causing it to move upward on the rack 4121, so as to lift the first elevator through the lifting frame 4113. The structure 411 and the driver 420 are lifted together, thereby driving the mopping module 300 to move from the first position to the second position and away from the surface 700 to be cleaned. Please refer to Figures 13, 16 to 19. When the mopping module is disassembled and the mopping module 300 moves to the second position or continues to be raised to the third position, the driver 420 continues to drive. Since the movement of the gear set 4111 is restricted and cannot continue to move, the rotating gear set 4111 acts in reverse on the rack 4121, driving the rack 4121 to move toward the first position until it contacts the mopping module 300, and Lift it down to complete the replacement operation. In this way, during lifting and lifting, this embodiment cleverly utilizes the cooperation between the gear set 4111 and the rack 4121 to not only realize the movement of the gear set 4111 on the rack 4121, but also utilizes the limit of the gear set 4111 to reversely act on the rack 4121 , to realize the stable lifting of the mopping module 300, making the design of the lifting mechanism 400 more clever and compact.

Please refer to Figures 20 and 21. In order to install the mopping module 300 again, the rack needs to be reset after the mopping module 300 is pushed down to avoid hindering the mopping module 300 from being installed on the lifting frame 4113. The driver 420 reverses to make way for the gear set 4111 to rotate reversely on the rack. The rack gradually loses the pressure exerted by the gear set and moves upward under the action of the support member 430 until the rack returns to its original position. The gear set continues to rotate reversely until the gear set moves to the position where the gear set is when the mopping module 300 is installed on the lifting frame 4113 and is in the second position. Please refer to FIGS. 22 and 23 . The driver 420 continues to rotate in the reverse direction to make way for the driving gear 41111 to avoid hindering the downward movement of the driving gear 41111 on the rack 4121 . The driving gear 41111 moves downward on the rack 4121 to lower the first lifting structure 411 and the driver 420 together through the lifting frame 4113, thereby automatically installing the mopping module 300 below the first lifting structure 411. It should be noted that the forward and reverse rotation of the driver 420 or the drive gear 41111 does not refer to its actual rotation direction, but refers to the lifting direction of the driver 420 and the drive gear 41111 on the rack relative to the driver 420 and the drive gear 41111 on the rack. The direction of rotation is opposite when descending.

It should be noted that the movement of the gear set 4111 is limited by the limiting structure in the fuselage 100. It should be understood that at least one structure in the fuselage 100 can limit the gear set 4111 to continue to rise and surpass the second position. There are many ways to achieve this. For example, the fuselage 100 has a structure that can directly resist the gear set 4111; or the fuselage 100 has an inner wall that resists the lifting frame 4113 or the driver 420 to indirectly limit the movement of the gear set 4111. The driver 420 may be a motor or motor.

It should also be noted that in order to improve the stability of the movement of the first lifting structure 411, a guide hole 130 can be provided on the lifting frame 4113, and the fuselage 100 is provided with a guide post 4114 that cooperates with the guide hole 130; or, on the lifting frame 4113, A guide post 4114 is provided, and the fuselage 100 is provided with a guide hole 130 that matches the guide post 4114. Furthermore, in order to improve the stability and reliability of the lifting movement of the first lifting structure 411, two guide holes 130 are symmetrically provided in the length direction of the lifting frame 4113, and corresponding guide holes 130 are provided on the fuselage 100 to cooperate with the guide holes 130. The two guide posts 4114. In order to avoid the two sets of guide holes 130 and the guide posts 4114 from being stuck due to manufacturing and assembly errors and unsynchronized movements during the lifting process, the two sets of guide holes 130 and the guide posts 4114 are coordinated separately. Different sliding fit relationships are adopted, for example, one set of guide holes 130 and the guide pillars 4114 adopt a line contact sliding fit, and the other set of guide holes 130 and the guide pillars 4114 adopt a point contact sliding fit (not shown in the figure).

Further, please refer to FIGS. 6 , 7 , and 26 to 29 . The gear set 4111 includes a transmission member 41112 that is drivingly connected to the driver 420 and a driving gear 41111 that meshes with the rack 4121 . The transmission member 41112 drives the driving gear 41111 to rotate through the clutch structure 4112. The clutch structure 4112 is used to allow a preset idle stroke between the transmission member 41112 and the driving gear 41111 to disengage the two. It can be seen from this that, please refer to Figure 27, when starting to lift, since the clutch structure 4112 has a preset idle stroke, that is, there is a period of time between the transmission member 41112 and the drive gear 41111 in a disconnected state. Therefore, the transmission member 41112 is in the driver's position. 420 is driven by idling for a period of time before it can cooperate with the driving gear 41111; after matching, the driving gear 41111 is driven to move on the rack 4121, so that the mopping module 300 moves to the second position or the third position. In this embodiment, the mopping module 300 moves to the third position.

Please refer to FIG. 29 . When the cleaning robot needs to work, the driver 420 drives the transmission member 41112 in reverse direction, so that the transmission member 41112 rotates and separates from the driving gear 41111 . At this time, the driving gear 41111 loses the torque of the transmission member 41112, causing the gear set 4111, the driver 420 and the lifting frame 4113 to move toward the first position under gravity. In addition, while the driving gear 41111 moves downward, it is engaged by the rack 4121 By rotating in the reverse direction, it can always be in contact with the transmission member 41112, so that the driving gear 41111 is still restricted by the transmission member 41112 when it moves downward, preventing the mopping module 300 from hitting the surface 700 to be cleaned due to its downward movement too fast.

Please refer to Figure 28. When the mopping module 300 moves to the first position, the driver 420 can drive the transmission member 41112 to continue to rotate, so that the transmission member 41112 and the driving gear 41111 break contact, ensuring that the driving gear 41111 can be on the rack 4121. It has a certain up and down movement stroke to realize that the mopping module 300 has an up and down floating function, so that the mopping module 300 can adapt to the surface 700 to be cleaned in different working conditions.

It should be noted that the transmission member 41112 can be designed as a gear structure or a roller structure. When the transmission member 41112 is designed as a roller structure, the connection between the transmission member 41112 and the driver 420 can be through belt transmission, chain transmission, etc.

In addition, the clutch structure 4112 should be understood as: there is a structure between the transmission member 41112 and the driving gear 41111, so that before the transmission member 41112 rotates to a certain angle, it is always separated from the driving gear 41111 and cannot drive the driving gear 41111 to rotate; at a certain angle Finally, the transmission member 41112 can contact the driving gear 41111 and drive the driving gear 41111 to rotate together. There are many designs for its structure. For example, the clutch structure 4112 can be two clutch blocks 41121. Please refer to Figure 8, Figure 27 to Figure 29. One clutch block 41121 is located on the end face of the transmission member 41112, and the other clutch block 41121 is located on the end surface of the transmission member 41112. The end surface of the drive gear 41111, and there is at least a gap between the two clutch blocks 41121. After the transmission member 41112 rotates to a certain angle, the clutch block 41121 contacts another clutch block 41121; alternatively, the clutch structure 4112 is a combination structure of balls and arc-shaped grooves, the balls are provided on the end surface of the transmission member 41112, and the arc-shaped grooves are provided on the drive On the end surface of the gear 41111, the groove width of the arc-shaped groove gradually decreases along the circumferential direction of the driving gear 41111. When the ball rotates with the transmission member 41112, it will roll in the arc groove. Since the groove width of the arcuate groove gradually decreases, after rotating at a certain angle, the ball will get stuck at one end of the arcuate groove to drive the driving gear 41111 to rotate together, etc.

In one embodiment, please refer to FIG. 6 , at least two spaced apart parts of the mopping module 300 are connected to the lifting assembly 410 so as to move together under the driving of the lifting assembly 410 . In this way, the mopping module 300 is stressed in at least two places, ensuring that the lifting and lowering of the mopping module 300 is balanced and stable.

It should be noted that at least two spaced apart portions on the mopping module 300 should be understood as at least two spaced apart force-bearing points on the mopping module 300 . The number of stress points may be two, three or more. When the two spaced apart parts of the mopping module 300 are located on both sides of the middle part of the mopping module 300, the lifting and lowering of the mopping module 300 can be made more stable. Specifically, in some embodiments, opposite ends of the mopping module 300 are connected to the lifting assembly 410 .

In one embodiment, please refer to FIG. 6 , the gear set 4111 further includes a rotating shaft 41113 provided on the lifting frame 4113 . The transmission member 41112 and the driving gear 41111 are sleeved on the rotating shaft 41113 at intervals, and the transmission member 41112 is connected to the driving gear 41111 through the clutch structure 4112. In this way, through the rotating shaft 41113, the transmission member 41112 can stably drive the driving gear 41111 to rotate, ensuring that the mopping module 300 is lifted more smoothly.

Further, please refer to FIG. 6 , there are at least two driving gears 41111 and racks 4121 . At least two driving gears 41111 are respectively sleeved on the rotating shaft 41113 at intervals, and are respectively located on opposite sides of the transmission member 41112. At least two racks 4121 are spaced apart in the fuselage 100 and mesh with the driving gears 41111 one by one. In this way, the lifting mechanism 400 receives a more balanced force when lifting.

In one embodiment, please refer to Figures 12 and 13, the cleaning robot further includes a pressure part 101. When the driver 420 drives the mopping module 300 to lift to the second position, the pressure part 101 is configured to resist the lock of the locking assembly 800. The buckle portion is configured to convert the lock portion from the first state to the second state. Specifically, the second position is set to the position where the mopping module 300 cannot continue to rise relative to the body 100 . The locking component 800 is arranged on the lifting frame 4113, and is driven up and down by the driver 420 under the driving of the lifting frame 4113. When the driver 420 drives the driving gear 41111 to lift on the rack surface, the mopping module 300 moves from the first position to the second position, and the pressure part 101 resists the locking part and exerts pressure on it to change its state. , until the mopping module 300 moves to the second position, the resistance of the pressure part 101 to the locking part reaches the limit, the state of the locking part is completely converted to the second state, and the mopping module 300 is released. At this time, the controller can control the gear set 4111 to stop, so that the mopping module 300 is stationary in the second position. The controller can also control the driver 420 to continue to drive the drive gear 41111 to rotate, so that the drive gear 41111 drives the rack 4121 toward the first position. directional movement to push down the mopping module 300. In this way, the locking assembly 800 and the lifting assembly cooperate in the same position (that is, the second position) to lift, unlock, and lift the mopping module 300 . No need to unlock and lift to mop the floor The function of the module 300 is implemented at a position higher than the raised position (that is, the second position), so there is no need to increase the height of the rack and the space for the gear set 4111 and the driver 420 to move, and there is no need to increase the height inside the cleaning robot. space and reduce the height of the cleaning robot.

In another embodiment, please refer to Figures 14 to 25. After the mopping module 300 moves to the second position, the controller controls the driver 420 to continue to drive the first lifting structure 411 to lift on the surface of the second lifting structure to drive The mopping module 300 is raised to a third position higher than the second position. When the mopping module 300 is in the second position, the locking part is in the first state. When the mopping module 300 moves from the second position to the third position, the pressure part 101 resists the locking part to switch from the first state to the third position. Two states. The locking assembly 800 is driven up and down by the driver 420 driven by the lifting frame 4113. When the driver 420 drives the driving gear 41111 to lift on the rack surface, the mopping module 300 moves from the first position to the second position. When the mopping module 300 is raised to the second position, the controller can control the gear set 4111 to stop rotating so that the mopping module 300 remains stationary in the second position. When the cleaning machine is overcoming obstacles, overcoming obstacles, cleaning carpets, or returning to the base station, the controller can control the mopping module 300 to remain stationary in the second position to prevent the mopping module 300 from hindering the cleaning robot from overcoming obstacles, overcoming obstacles, returning to the base station, mopping the floor, or making a mess. Dirty carpet. At this time, the locking part is still in the first state, locking the mopping module 300 on the lifting frame 4113, thereby preventing the mopping module 300 from being collided and dropped when crossing obstacles, crossing ridges, cleaning carpets, or returning to the base station, and enhances the reliability. When the mopping module 300 is lifted to the second position, the controller can also control the gear set 4111 to continue to lift on the rack surface, and the mopping module 300 is driven by the gear set 4111 to move from the second position to the third position. At this time, The pressure part 101 resists the lock part and exerts pressure on it to change its state until the mopping module 300 moves to the third position. The resistance of the pressure part 101 to the lock part reaches the limit, and the lock part is in a complete state. Switch to the second state and release the mopping module 300. Further, the controller controls the driver 420 to continue to drive the driving gear 41111 to rotate, so that the gear set 4111 drives the rack 4121 to move toward the first position, and the mopping module 300 is pushed down. In this way, the locking component 800 cooperates with the lifting component to lift and unlock the mopping module 300 at different positions, making the functional division clearer and preventing the mopping module 300 from being in a lifted state (i.e., in the second position). ), there is no locking of the locking assembly 800 and may cause shaking or falling off.

Specifically, the locking part includes a moving part connected to the connecting part (i.e., the lifting frame 4113) and movable relative to the connecting part. The moving part is configured to lock with the mopping module 300 when it is in the locking position. The moving part and the pressure When the part 101 resists and receives pressure from the pressure part 101, it moves relative to the lifting frame 4113 to move from the locking position to the releasing position to release the locking with the mopping module 300. It can be understood that the moving member can be configured as a rotating member. When the moving member is not pressured by the pressure part 101, it is in a position to clamp the mopping module 300. Once it is pressured by the pressure part 101, it will rotate relative to the lifting frame 4113. Turn until it reaches the release position. Of course, the locking assembly 800 can also be configured as other structures, such as a clamping claw structure or a buckle structure. The clamping claw structure is directly or indirectly connected to the driver 420, and is driven by the driver 420 to switch between grasping and opening, matching the position of the mopping module 300. position, the driver 420 drives the state transition of the clamping claw structure. In the same way, the buckle structure can also be directly or indirectly connected to the driver 420. Driven by the driver 420, it can generate horizontal displacement, thereby clamping and releasing the mopping module 300. .

Further, please refer to Figures 12 and 13 and Figures 14 to 25. The moving member includes a hook 801, and an elastic member with one end connected to the hook 801, and the other end of the elastic member connected to the lifting frame 4113; the mopping module 300 There is a groove 321 matching the hook part 801. When the moving member is in the locking position, the hook part 801 extends into the groove 321 and clamps the mopping module 300 under the action of the elastic force exerted by the elastic member. The hook part When the pressure on the upper end 802 of the pressure part 101 is greater than the elastic force exerted by the elastic member on the hook 801, the hook 801 rotates to the release position. When the hook 801 is in the release position, it at least does not interfere with the mopping module 300 moving towards the first position. direction movement.

In this embodiment, the mopping module 300 includes a wiping plate 33 and a wiping plate connecting piece 32. The wiping plate 33 is connected to the wiping plate connecting piece 32 and is connected to the lifting frame 4113 through the wiping plate connecting piece 32. The groove 321 is provided on Wipe plate connector 32 on. The lifting frame 4113 of the lifting mechanism includes a lifting plate 41131. The lifting plate 41131 is provided at the bottom of the lifting frame 4113 to connect with the wiping plate connector 32. Since there are two wiping plates 33 in this embodiment, the two wiping plates are connected through the wiping plate connector 32 and then connected to the lifting plate 41131, so that the entire mopping module 300 can be more easily moved from the lifting plate 41131. In other embodiments, if there is only one wiping plate, the wiping plate can be directly connected to the lifting plate 41131 without the wiping plate connector 32, and the corresponding groove 321 can be directly provided on the wiping plate. It should be noted that the groove may be in the form of a through hole, and the hook 801 penetrates the through hole when it is in the locking position. The wiping unit 34 is connected to the bottom surface of the wiping plate 33 , and the wiping unit 34 is preferably adhered to the bottom surface of the wiping plate 33 . For the selection of wiping unit 34, it is possible but not Cleaning paper, cleaning cloth, sponge, plastic wire, woven strip, rubber sheet, etc. limited to one or multiple uses.

The hook part 801 is rotatably connected to the lifting frame 4113 through a rotating shaft, and can rotate around the rotating shaft to rotate between the locking position and the releasing position. One end of the elastic member is connected to the hook part 801, and the other end is connected to the lifting frame 4113. Lifting plate 41131, when the hook 801 is in the locking position, the elastic member exerts a tension on the hook 801, and the hook 801 passes through the groove 321 on the wiping plate connector 32 and is tightened under the action of the tension. In the mopping module 300, when the hook 801 moves from the locking position to the releasing position, the upper end 802 of the hook is pressed by the pressure part 101. When the pressure on the upper end 802 of the hook is greater than the tension of the elastic member, The hook part 801 begins to rotate until it rotates to a position where the mopping module 300 can be separated from the lifting plate 41131 without interfering with it.

It should be noted that the pressure part 101 can be a structure that is separately provided inside the fuselage and can be fixed relative to the fuselage. It can be a separate structure, or it can be other original structures inside the fuselage. For example, in this embodiment, the pressure part 101 The pressure part 101 is a water tank 102 installed in the cleaning robot. In other embodiments, the pressure part 101 may be any component located above the moving part according to the layout of the cleaning robot body. Specifically, the elastic member can be configured as a torsion spring 803 with torsional force, and the elastic member can also be other elastic structures, such as elastic ropes, compression springs, tension springs, etc. Preferably, when the hook 801 is in the locked position, the lower end of the hook 801 extends in the direction of the wiping plate connector 32. After the lower end of the hook 801 passes through the groove 321 on the wiping plate connector, it reverses toward the wiping plate. The bottom surface 322 of the connecting member extends to further lock the wiping plate connecting member 32 and the wiping plate 33 to prevent the mopping module 300 from hitting an obstacle and falling off when the cleaning robot performs a cleaning task.

The lifting frame and the mopping module 300 are provided with magnetic components that attract each other. When the controller receives a signal to install the mopping module 300, it controls the driver 420 to operate to lower the first lifting structure 411 on the surface of the second lifting structure, thereby causing the mopping The floor module 300 descends to a position lower than the second position and higher than the first position, and the mopping module 300 is adsorbed on the lifting frame through magnetic attraction. In this embodiment, by arranging the second magnet 41132 on the lifting plate 41131 and arranging the first magnet 31 on the mopping module 300, the first magnet 31 and the second magnet 41132 are attracted to each other, so that the mopping module 300 Installed on the lifting assembly 410. Specifically, please refer to Figures 12 to 25. The first magnet 31 is fixed in the groove provided on the wiping plate connector 32, and the second magnet 41132 is fixed in the groove provided on the lifting plate 41131. Of course, other methods can be adopted, for example, a clamping claw structure is provided on the lifting mechanism, and the clamping claw structure is opened to release the mopping module 300 .

Preferably, there are more than two locking assemblies 800 provided. In this embodiment, two locking assemblies 800 are provided, and when the mopping module 300 is installed on the lifting assembly 410, the locking assemblies 800 are symmetrical with respect to the geometric center of the mopping module 300. In this way, the mopping module can be The force received by the mopping module 300 is more even when mopping the floor, thereby reducing the shaking of the mopping module 300. Of course, the more locking assemblies 800 provided, the better the locking effect of the mopping module 300 will be, and the less likely it is to shake when mopping the floor.

In one embodiment, please refer to FIG. 6 and FIG. 15 , the cleaning robot further includes a first detector 500 and a second detector 600 spaced apart on the body 100 . The first detector 500 and the second detector 600 are respectively used to detect whether the mopping module 300 is in the first position and the second position, and to control the starting and stopping of the driver 420. It can be seen from this that when the mopping module 300 moves to the first position, the first detector 500 is triggered and sends a signal to the control module to control the driver 420 to start and stop or rotate forward and reverse. For example: the driver 420 stops working so that the mopping module 300 can maintain contact with the surface 700 to be cleaned to achieve the cleaning purpose; or the driver 420 starts and rotates reversely to raise the mopping module 300 to avoid high steps or achieve a return trip. Mobile etc. Specifically, the first detector is configured as a position sensor, such as a Hall element. When the mopping module 300 moves to the second position, the second detector 600 is triggered and generates a signal to the control module to control the driver 420 to start and stop. For example: the driver 420 stops working so that the mopping module 300 maintains a certain distance from the surface to be cleaned 700; or the driver 420 starts and rotates forward to drive the lifting assembly 410 (such as the rack 4121) to drop the mopping module 300; or , the driver 420 starts and reversely rotates, driving the mopping module 300 to move toward the first position, and so on. Specifically, please refer to Figure 15. The second detector 600 is set as a micro switch, and a trigger switch is set between the lifting frame 4113 and the micro switch. When the mopping module 300 moves to the second position, the lifting frame 4113 pushes the trigger. The switch resists the micro switch, causing the micro switch to generate a second detection signal and transmit it to the controller. The trigger switch includes a trigger spring 602 and a trigger member 601. When the mopping module 300 moves from the second position to the third position, the trigger spring 602 is compressed by the lifting frame 4113, and the trigger member 601 always resists the micro switch. The micro switch is caused to continuously output the second detection signal to the controller.

It should be noted that the first detector 500 and the second detector 600 do not necessarily directly interact with the mopping module 300 respectively during detection. The first detector 500 and the second detector 600 can also cooperate with at least one structure in the lifting mechanism 400 to indirectly detect the position information of the mopping module 300. For example, the first detector 500 and the second detector 600 can cooperate with at least one structure in the lifting mechanism 400, respectively. The driver 420 cooperates to indirectly detect the position of the mopping module 300 and the like. Wherein, both the first detector 500 and the second detector 600 may be contact sensors or photosensitive sensors.

In one embodiment, please refer to FIG. 30 , which is a control method of a cleaning robot. The cleaning robot can be the cleaning robot in any of the above embodiments.

Specifically, the cleaning robot includes: a fuselage; a mobile module located on the fuselage; a controller that is electrically connected to the mobile module and controls the mobile module to drive the fuselage to move; a mopping module that contacts the surface to be cleaned to clean it. Surface; a lifting mechanism, at least partially disposed in the fuselage, the lifting mechanism includes a driver and at least a lifting component driven and lifted by the driver, the mopping module is detachably connected to the connecting portion of the lifting component; a separation structure and at least one locking component;

The control method of the cleaning robot includes the following steps: S1: The controller controls the driver to drive at least part of the lifting assembly to lift, thereby driving the mopping module to lift;

S2: The controller controls the driver to drive the locking portion of the locking component to switch from the first state of locking the mopping module to the second state of unlocking the mopping module;

S3: The controller controls the driver to drive at least part of the structural movement of the separation mechanism, so that when the locking assembly is in the second state, the mopping module is exerted a force away from the fuselage to disengage from the connection part.

It can be seen from this that the control method of the cleaning robot uses the driver 420 to drive the lifting assembly 410 and the locking assembly 800 together to realize the functions of lifting, replacing, locking and releasing the mopping module 300, effectively simplifying the internal structure and making it convenient for the cleaning robot. Miniaturization will help improve product performance and also effectively reduce the cost of cleaning robots.

The lifting mechanism includes a first lifting structure and a second lifting structure. The mopping module is detachably connected to the first lifting structure through a connecting part. The cleaning robot also includes a first detector electrically connected to the controller. Please refer to Figure 31 , the control method of the cleaning robot also includes:

S11: When the controller receives the mopping signal, if the mopping module is in the second position away from the surface to be cleaned, it controls the driver to operate so that the first lifting structure descends on the surface of the second lifting structure to drive the mopping The module moves from the second position to the first position contacting the surface to be cleaned;

S12: The first detector detects that the mopping module is in the first position, and then transmits the first detection signal to the controller;

S13: The controller controls the driver to stop running in response to the first detection signal, and the mopping module is in the first position to clean the surface to be cleaned.

It should be noted that when the cleaning robot performs a mopping task, the controller will receive a mopping signal. For example, when the cleaning robot is in mopping mode or sweeping and mopping mode, the controller receives the above-mentioned mopping signal.

The control method of the cleaning robot may also include, S11': when the controller receives the mopping signal, if the first detector directly detects that the mopping module is in the first position, then transmits the first detection signal to the controller; The controller controls the cleaning robot to perform a mopping task in response to the first detection signal. When the mopping module is in the first position, the mopping module can directly perform mopping tasks without lifting.

If the first detector cannot detect the mopping module located at the first position, that is, the controller cannot receive the first detection signal, the controller controls the cleaning robot to report an error, such as controlling the cleaning robot to alarm or push error information to an external device.

Please refer to Figure 32. When the lifting mechanism is provided with a clutch structure, the clutch structure is connected between the first lifting structure and the driver to enable the first lifting structure and the driver to cooperate or disconnect. The above step S13 can be replaced with S13' : In response to the first detection signal, the controller controls the driver to run for a preset time and then stop cooperating with the first lifting structure, so that the mopping module is in the first position and can float relative to the first position.

It should be noted that in this embodiment, the driver operates to lift the first lifting structure on the surface of the second lifting structure, which means that the driver (motor) rotates forward to drive the drive gear 41111 to climb forward on the surface of the rack, and the driver Operation to make the first lifting structure descend on the surface of the second lifting structure means that the lifting frame relies on the gear set 4111 installed on itself and the gravity of the motor to drive the driving gear 41111 to reversely rotate and descend on the surface of the rack. At this time, the motor needs to reverse Turn to avoid blocking the drive gear 41111 from descending on the rack surface. When a clutch structure is provided on the drive When between the gear 41111 and the driver, the driver needs to reverse rotation so that the clutch structure is always in the clutch state, making way for the drive gear 41111 so that it can reverse and descend on the rack surface. When the mopping module drops to the first surface, the motor continues to reverse for a preset time, so that the clutch structure continues to be in the clutch state, making way for the driving gear 41111, so that the mopping module has a space to float up and down. Of course, in other embodiments, the driver can directly drive the gear set 4111 to raise or lower on the rack surface without relying on the gravity of the gear set 4111 and the driver itself.

Further, the cleaning robot includes a second detector and a pressure part that are electrically connected to the controller. The separation mechanism is provided with an ejection part that acts on the mopping module to disconnect the mopping module from the connection part. The ejection part is configured as For the second lifting structure, please continue to refer to Figure 32. The control method of the cleaning robot also includes:

S14: The controller determines whether the mopping module needs to be replaced. If yes, it controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position, and the pressure part resists the locking part to make it Switch from the first state to the second state;

S15: The second detector detects that the mopping module is lifted to the second position, and then transmits the second detection signal to the controller;

S16: The controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure to move relative to the fuselage toward the first position, and lifts the mopping module.

In this way, the locking component and the lifting component cooperate in the same position (that is, the second position) to lift, unlock, and lift the mopping module. There is no need to realize the functions of unlocking and lifting the mopping module at a position higher than the raised position (that is, the second position). Therefore, there is no need to increase the height of the rack and the space for the gear set 4111 and the driver to move. No additional height space inside the cleaning robot is required, and the height of the cleaning robot is reduced.

Furthermore, the connecting part and the mopping module are provided with magnetic parts that attract each other. The control method of the cleaning robot also includes:

S17: When the controller receives a signal to install the mopping module, it controls the driver to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a position lower than the second position and higher than the first position. , the mopping module is adsorbed on the connecting part through magnetic attraction. When the mopping module needs to be replaced, the cleaning robot drives back to the base station where it is maintained, and drops (disassembles) the mopping module into the base station. When the base station prepares a clean mopping module for it, the controller of the base station communicates with the cleaning robot. The controller of the machine communicates, that is, the controller of the cleaning robot receives the signal to install the mopping module, and the controller controls the driver to operate so that the first lifting structure descends on the surface of the second lifting structure, and then adsorbs the mopping module to the connection part (lifting structure). (rack), the cleaning robot completes the replacement of the mopping module in the base station.

In the above embodiment, the cleaning robot does not need to realize the unlocking and lifting of the mopping module in the second position. Please refer to Figure 33 for details. The control method of the cleaning robot also includes:

S18: The controller determines whether the mopping module needs to be replaced. If yes, it controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position;

S19: The second detector detects that the mopping module is lifted to the second position, and then transmits the second detection signal to the controller;

S20: The controller controls the driver in response to the second detection signal to continue to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to lift to a third position higher than the second position. When the mopping module moves from the second position to During the movement to the third position, the pressure part resists the locking part to switch from the first state to the second state, and the second detector continues to send a second detection signal to the controller;

S21: The controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure to move toward the first position relative to the fuselage, and lifts the mopping module. It can be seen from this that the second position is only a position where the mopping module is raised and stationary, which is convenient for the mopping module to overcome obstacles, clean carpets or return to the base station, etc., and the mopping module can be unlocked and placed on a third position higher than the second position. Position realization, the locking component and the lifting component cooperate to lift and unlock the mopping module at different positions, and lift the mopping module. The functional division is clearer, and it can also avoid the mopping module from being unlocked when it is in the raised state (that is, in the second position). Rocking or falling off due to the locking of the tightening components.

S22: When the controller receives a signal to install the mopping module, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a position lower than the second position and higher than the first position. , the mopping module is adsorbed on the connecting part through magnetic attraction.

In one embodiment, please refer to Figure 34, the cleaning robot includes a third detector electrically connected to the controller, and the control method of the cleaning robot also includes:

S23: The third detector detects the working condition of the cleaning robot and transmits the third detection signal to the controller;

S24: The controller determines whether the mopping module needs to be lifted based on the third control signal. If so, the controller controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to the second position. The third detector may be one or more of a visual sensor, a downward-looking sensor, an infrared sensor, and an ultrasonic sensor. When the third detector detects that the cleaning machine is overcoming obstacles, crossing ridges, cleaning carpets, or returning to the base station, the controller determines that the mopping module needs to be raised, and then controls the mopping module to be raised and stationary in the second position to avoid obstruction by the mopping module. The cleaning robot jumps over obstacles, returns to the base station to mop the floor, or stains the carpet.

S25: The controller determines whether the mopping module needs to be lowered based on the third detection signal. If so, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module from the second position to the first position. . When the third detector detects that the need to lift the mopping module disappears, the controller controls the mopping module to drop to the first position to continue cleaning the surface to be cleaned.

The technical features of the above-described embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present disclosure, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the disclosed patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the patent disclosed should be determined by the appended claims.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axis" The orientation or positional relationship indicated by "radial direction", "circumferential direction", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying the device or device to which it is referred. Elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the disclosure.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

In this disclosure, unless otherwise explicitly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified restrictions. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

In this disclosure, unless otherwise expressly stated and limited, a first feature being "on" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features may be in indirect contact through an intermediary. touch. Furthermore, the terms "above", "above" and "above" the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "below" and "beneath" the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.

It should be noted that when an element is referred to as being "mounted" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may also be intervening elements present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation manner.

Claims

A cleaning robot, the cleaning robot includes:

body;

A mobile module, located on the fuselage, is used to drive the fuselage to move;

A controller, electrically connected to the mobile module, and controlling the mobile module to drive the fuselage to move;

The mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned;

It is characterized in that the cleaning robot also includes:

A lifting assembly is provided on the fuselage and is provided with a connection portion that is detachably connected to the mopping module to drive the mopping module to move up and down;

A separation mechanism is provided on the fuselage and is provided with an ejection portion that acts on the mopping module to disconnect the mopping module from the connection portion;

A locking assembly is provided with a locking portion for locking the mopping module on the connecting portion. The locking portion includes a first state for locking the mopping module and a locking portion for releasing the mopping module. The second locked state;

The driver is controlled by the controller to provide driving force to the lifting component, the separation mechanism and the locking component.
The cleaning robot according to claim 1, wherein the controller is electrically connected to the driver, and is controlled by the controller to drive at least part of the lifting assembly to lift, driving the mopping module to move by The first position contacting the surface to be cleaned moves to a second position away from the surface to be cleaned; and driving at least part of the structural movement of the separation mechanism to cause the ejection part to resist and push down the mopping module; and , driving the locking portion to switch between the first state and the second state.
The cleaning robot according to claim 1, wherein the locking component is provided on the connecting part and rises and falls along with the connecting part.
The cleaning robot according to claim 1, wherein when the mopping module is in the first position, the locking portion is in a first state of locking the mopping module, and the mopping module When detached from the connecting part, the locking part is in a second state for unlocking the mopping module, and the driver drives the locking part between the first state and the second state. switch between.
The cleaning robot according to claim 2, wherein the lifting assembly includes a first lifting structure and a second lifting structure, and the mopping module is detachably connected to the first lifting structure through the connecting part. structure, the driver is connected to the first lifting structure, and the controller controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module from the The first position moves to the second position.
The cleaning robot according to claim 5, wherein the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the When the mopping module moves to the second position, the controller controls the driver to continue driving the first lifting structure so that the first lifting structure drives the second lifting structure toward the fuselage relative to the fuselage. The directional movement of the first position pushes down the mopping module.
The cleaning robot according to claim 5, wherein the ejection part is configured as the second lifting structure, the second lifting structure is indirectly connected to the driver through the first lifting structure, and the After the mopping module moves to the second position, the controller controls the driver to continue to drive the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to a level higher than In the third position of the second position, when the mopping module is in the third position, the controller controls the driver to continue driving the first lifting structure, so that the first lifting structure drives all The second lifting structure moves relative to the fuselage in the direction of the first position, and pushes down the mopping module.
The cleaning robot according to claim 6 or 7, characterized in that when the first lifting structure rises and falls on the surface of the second lifting structure, the second lifting structure does not generate displacement relative to the body; When the second lifting structure moves toward the first position relative to the fuselage, the first lifting structure and the driver do not generate displacement relative to the fuselage.
The cleaning robot according to claim 8, wherein the lifting mechanism includes a support member connected between the body and the second lifting structure, and the first lifting structure is at the When the surface of the second lifting structure rises and falls, the support member Support and limit the displacement of the second lifting structure relative to the fuselage; the cleaning robot is also provided with a limiting structure, when the second lifting structure moves relative to the fuselage in the direction of the first position, The limiting structure applies downward pressure to the connecting portion, restricting the connecting portion and the first lifting structure from continuing to move upward relative to the fuselage, and the first lifting structure moves toward the second lifting structure. The structure exerts pressure, and the second lifting structure presses the support member to cause deformation or displacement.
The cleaning robot according to claim 9, wherein the first lifting structure includes a gear set provided on the connecting part, and the second lifting structure includes a rack meshing with part of the gear set, The drive drives the gear set upward on the rack.
The cleaning robot according to claim 6, wherein the locking component is provided on the connecting part and rises and falls along with the connecting part, the cleaning robot further includes a pressure part, and the driver drives the mop When the ground module is lifted to the second position, the pressure part is configured to resist the locking part, so that the locking part is converted from the first state to the second state.
The cleaning robot according to claim 7, wherein the locking component is disposed on the connecting part and rises and falls along with the connecting part. The cleaning robot further includes a pressure part, and the mopping module is in the position of the connecting part. In the second position, the locking part is in the first state, and when the mopping module moves from the second position to the third position, the pressure part resists the locking part to cause the mopping module to move from the second position to the third position. Switch from the first state to the second state.
The cleaning robot according to claim 11 or 12, wherein the locking part includes a moving part connected to the connecting part and movable relative to the connecting part, and the moving part is configured to be in the locking position. When in the tight position, it is locked with the mopping module. When the moving member is in conflict with the pressure part and is pressed by the pressure part, it moves relative to the connecting part to move from the locking position to the release position. position, and release the locking with the mopping module.
The cleaning robot according to claim 13, wherein the moving member includes a hook and an elastic member with one end connected to the hook, and the other end of the elastic member is connected to the connecting part; the drag The ground module is provided with a groove that matches the hook portion. When the moving member is in the locking position, the hook portion extends into the groove and is acted upon by the elastic force exerted by the elastic member. The mopping module is clamped downward. When the upper end of the hook is subjected to the pressure of the pressure part which is greater than the elastic force exerted by the elastic member on the hook, the hook rotates to the release position. When the hook portion is in the released position, it at least does not interfere with the movement of the mopping module toward the first position.
The cleaning robot according to claim 5, wherein the lifting mechanism further includes a clutch structure, the clutch structure is connected between the first lifting structure and the driver, so that the first lifting structure When the first lifting structure descends on the surface of the second lifting structure, or when the mopping module is in the first position, the clutch structure is in the clutch state. state, the first lifting structure and the driver are disconnected, and the driver drives the first lifting structure to lift on the surface of the second lifting structure, or the mopping module is in the third state. When the controller determines that the mopping module needs to remain in a raised state, the clutch structure is in a contact state.
The cleaning robot according to claim 15, wherein the first lifting structure includes a gear set provided on the connecting part, and the second lifting structure includes a rack meshing with part of the gear set, The driver drives the gear set to move on the rack; the gear set includes a transmission member drivingly connected to the driver and a driving gear meshing with the rack; the transmission member passes through the clutch structure The driving gear is driven to rotate, and the clutch structure is used to allow a preset idle stroke between the transmission member and the driving gear to disengage the two.
The cleaning robot according to claim 1, characterized in that the cleaning robot further includes a water tank and a water pipe connected to the water tank, the water pipe having a water port for guiding water in the water tank to the In the mopping module, the driver, the water inlet and at least part of the water pipe are installed on the connecting part.
A control method for a cleaning robot, characterized in that the cleaning robot includes:

body;

A mobile module located on the fuselage;

A controller, electrically connected to the mobile module, and controlling the mobile module to drive the fuselage to move;

The mopping module is in contact with the surface to be cleaned to clean the surface to be cleaned;

A lifting mechanism, at least partially disposed in the fuselage, the lifting mechanism includes a driver and a lifting component driven and lifted by at least the driver, and the mopping module is detachably connected to the connecting portion of the lifting component;

a decoupling mechanism and at least one locking component;

The control method of the cleaning robot includes the following steps:

The controller controls the driver to drive at least part of the lifting assembly to lift, thereby driving the mopping module to lift;

The controller controls the driver to drive the locking portion of the locking component to switch from a first state of locking the mopping module to a second state of unlocking the mopping module;

The controller controls the driver to drive at least part of the structural movement of the separation mechanism, so that when the locking part is in the second state, the mopping module is exerted with a force away from the fuselage. and disengage from the connecting part.
The control method of a cleaning robot according to claim 18, wherein the lifting mechanism includes a first lifting structure and a second lifting structure, and the mopping module is detachably connected to the connecting part through the connecting part. A first lifting structure, the cleaning robot further includes a first detector electrically connected to the controller, and the control method of the cleaning robot includes:

When the controller receives the mopping signal, if the mopping module is in a second position separated from the surface to be cleaned, the controller controls the driver to operate so that the first lifting structure moves between the second lifting structure and the mopping module. Descending on the surface, driving the mopping module to move from the second position to the first position contacting the surface to be cleaned; the first detector detects that the mopping module is in the first position, and then moves to the first position. The controller transmits a first detection signal; the controller controls the driver to stop running in response to the first detection signal, and the mopping module is in the first position to clean the surface to be cleaned.
The control method of a cleaning robot according to claim 19, wherein when the controller receives the mopping signal, if the first detector directly detects that the mopping module is in the first position, , the first detection signal is transmitted to the controller; the controller controls the cleaning robot to perform a mopping task in response to the first detection signal.
The control method of a cleaning robot according to claim 19, wherein the cleaning robot includes a second detector and a pressure part electrically connected to the controller, and the separation mechanism is configured to act on the mop The floor module is provided with an ejection portion that disconnects the mopping module from the connection portion. The ejection portion is configured as the second lifting structure. The control method of the cleaning robot includes:

The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the In the second position, the pressure part resists the lock part to switch from the first state to the second state; the second detector detects that the mopping module is lifted to the second position, Then a second detection signal is transmitted to the controller; the controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second The lifting structure moves relative to the fuselage in the direction of the first position, and pushes down the mopping module.
The control method of a cleaning robot according to claim 19, wherein the cleaning robot includes a second detector and a pressure part electrically connected to the controller, and the separation mechanism is configured to act on the mop The floor module is configured to have an ejection portion that disconnects the mopping module from the connection portion. The ejection portion is configured as the second lifting structure. The control method of the cleaning robot includes:

The controller determines whether the mopping module needs to be replaced, and if so, controls the driver to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position; the second detector detects that the mopping module is lifted to the second position, and then transmits a second detection signal to the controller; the controller responds to the second detection signal The driver is controlled to continue driving the first lifting structure to lift on the surface of the second lifting structure to drive the mopping module to a third position higher than the second position. During the process of moving from the second position to the third position, the pressure part resists the locking part to switch from the first state to the second state, and the second detector continues to move toward the The controller sends the second detection signal; the controller controls the driver to continue driving the first lifting structure in response to the second detection signal, so that the first lifting structure drives the second lifting structure toward the fuselage relative to the The directional movement of the first position pushes down the mopping module.
The control method of a cleaning robot according to claim 21 or 22, characterized in that the connecting part and the mopping module are provided with magnetic parts that attract each other, and the control method of the cleaning robot further includes:

When the controller receives a signal to install the mopping module, it controls the driver to lower the first lifting structure on the surface of the second lifting structure, thereby lowering the mopping module to a level lower than The second position is higher than the first position, and the mopping module is adsorbed on the connecting part through magnetic attraction.
The control method of a cleaning robot according to claim 19, wherein the lifting mechanism further includes a clutch structure, the clutch structure is connected between the first lifting structure and the driver, so that the third lifting mechanism A lifting structure is engaged or disconnected from the driver. The control method of the cleaning robot also includes the controller controlling the driver to operate for a preset time and the first lifting structure in response to the first detection signal. After the coupling is disconnected, the operation is stopped so that the mopping module is in the first position and can float relative to the first position.
The method of controlling a cleaning robot according to claim 19, wherein the cleaning robot includes a third detector electrically connected to the controller, and the method of controlling a cleaning robot further includes:

The third detector detects the working condition of the cleaning robot and transmits a third detection signal to the controller; the controller determines whether the mopping module needs to be lifted based on the third control signal, and if so, Then the driver is controlled to drive the first lifting structure to lift on the surface of the second lifting structure, driving the mopping module to lift to the second position.
The control method of the cleaning robot according to claim 25, characterized in that the control method of the cleaning robot further includes:

The controller determines whether the mopping module needs to be lowered based on the third detection signal. If so, it controls the driver to operate to lower the first lifting structure on the surface of the second lifting structure, thereby causing the The mopping module is lowered from the second position to the first position.