WO2022041075A1 - Mopping robot - Google Patents

Mopping robot Download PDF

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Publication number
WO2022041075A1
WO2022041075A1 PCT/CN2020/111898 CN2020111898W WO2022041075A1 WO 2022041075 A1 WO2022041075 A1 WO 2022041075A1 CN 2020111898 W CN2020111898 W CN 2020111898W WO 2022041075 A1 WO2022041075 A1 WO 2022041075A1
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WO
WIPO (PCT)
Prior art keywords
assembly
adsorption
fuselage
accommodating groove
electromagnetic device
Prior art date
Application number
PCT/CN2020/111898
Other languages
French (fr)
Chinese (zh)
Inventor
李桂玉
Original Assignee
南京英维尔科技服务有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京英维尔科技服务有限公司 filed Critical 南京英维尔科技服务有限公司
Priority to PCT/CN2020/111898 priority Critical patent/WO2022041075A1/en
Publication of WO2022041075A1 publication Critical patent/WO2022041075A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the invention relates to the field of smart home, in particular to a mopping robot.
  • the mopping robot is a household appliance that automatically completes the floor cleaning work in the room with artificial intelligence.
  • Existing mopping robots are generally divided into water seepage type and water spray type. No matter which type of cleaning robot is used, after seeping or spraying water on the ground, it wipes the stains with a special cleaning pad. This process utilizes is the frictional force between the cleaning pad and the ground. However, the friction between the cleaning pad of the existing mopping robot and the ground is roughly constant. When encountering stubborn stains that are difficult to wipe, it cannot be completely wiped clean, and the user often needs to wipe it again manually. lead to poor user experience.
  • a mopping robot including:
  • the traveling assembly is disposed at the bottom of the fuselage, the traveling assembly is used to drive the fuselage to travel, and can drive the fuselage to lift and lower when the fuselage is in a non-travel state;
  • the adsorption component is disposed at the bottom of the fuselage, and the adsorption component is used for adsorbing the fuselage on the ground when the fuselage is in a non-travel state;
  • the cleaning assembly is disposed at the bottom of the fuselage, the bottom surface of the cleaning assembly is in contact with the ground, and can swing back and forth when the fuselage is in a non-travel state;
  • the sensor assembly is arranged at the bottom of the fuselage, and the sensor assembly is used to detect the stain state on the ground;
  • a controller, the traveling assembly, the adsorption assembly, the cleaning assembly, and the sensor assembly are respectively electrically connected to the controller.
  • the mopping robot described in the present application can control the traveling assembly to stop driving the fuselage and simultaneously drive the fuselage to descend when the sensor assembly detects difficult stains.
  • the adsorption component does not touch the ground. After the fuselage descends, the adsorption component contacts the ground. After the adsorption component touches the ground, the adsorption component is controlled to be turned on, and the adsorption component adsorbs the fuselage on the ground.
  • the cleaning component has contacted the ground before the fuselage descends. After the descending, the cleaning component has a larger contact area with the stain, and the pressure on the stain is also greater.
  • the cleaning assembly is controlled to be turned on, and the cleaning assembly can swing back and forth, thereby forming a reciprocating frictional force on the stains.
  • the mopping robot of the present application can increase the friction between the cleaning component and the ground in the above-mentioned manner, and at the same time wipe the stains back and forth, so that the stubborn stains can be wiped more easily without the need for the user to manually wipe Once again, improve the user experience.
  • 1 is an overall view of a mopping robot of the application
  • Fig. 2 is another perspective overall schematic diagram of a mopping robot of the application
  • FIG. 3 is a schematic diagram of the state of the adsorption component when the body of a mopping robot of the present application is in a traveling state;
  • FIG. 4 is a schematic diagram of the state of the adsorption component after the traveling component of the mopping robot of the present application drives the body to descend;
  • FIG. 5 is a schematic structural diagram of a traveling assembly of a mopping robot according to the present application.
  • FIG. 6 is a schematic structural diagram of another traveling assembly of a mopping robot according to the application.
  • FIG. 7 is a schematic structural diagram of an adsorption assembly of a mopping robot according to the present application.
  • FIG. 8 is an enlarged schematic diagram of the area A in FIG. 2 of the application.
  • FIG. 9 is a schematic structural diagram of a cleaning assembly of a mopping robot according to the present application.
  • FIG. 10 is a schematic structural diagram of another cleaning assembly of a mopping robot of the present application.
  • an embodiment of the present application provides a mopping robot, which includes: a fuselage 1 , a bottom of the fuselage 1 A traveling component accommodating groove 11 , an adsorption component accommodating groove 12 and a cleaning component accommodating groove 13 are provided.
  • the traveling component accommodating groove 11 , the adsorption component accommodating groove 12 and the cleaning component accommodating groove 13 are respectively provided with a traveling component 2 , an adsorption component 3 and a cleaning component 4 .
  • the traveling assembly 2 is used to drive the fuselage 1 to travel under normal conditions and to drive the fuselage 1 to ascend and descend when it is not in a traveling state.
  • the non-travel state in this application refers to the state the mopping robot is in when entering the cleaning and cleaning mode from the normal cleaning mode when a difficult-to-treat stain is detected.
  • the adsorption assembly 3 is used to adsorb the airframe 1 on the ground when the airframe 1 is in a non-travel state.
  • the cleaning assembly 4 is used for cleaning stains.
  • the bottom surface of the cleaning assembly 4 is in contact with the ground, and the ground is wiped with the traveling of the fuselage 1 .
  • the bottom of the fuselage 1 is also provided with a sensor assembly 5, and the sensor assembly 5 is used to detect the state of stains on the ground.
  • the sensor assembly 5 may be one or a combination of sensors such as an image sensor, a distance sensor, and a thickness sensor, which is not limited here.
  • the sensor assembly 5 can be a combination of an image sensor and a thickness sensor.
  • an image of the stain is obtained through the image sensor, and the obtained stain image can be compared with the stain image samples stored in the system, and analyzed to obtain a suspected difficult to deal with. stains.
  • the thickness of the stain is detected by a thickness sensor, and if the thickness exceeds a certain threshold, the stain can be determined as a more difficult stain.
  • the controller 6 obtains the corresponding stain signal, it controls the traveling component 2 to stop driving the fuselage 1 to travel, and at the same time controls the traveling component 2 to drive the fuselage 1 to descend until the adsorption component 3 contacts the ground.
  • the adsorption component 3 adsorbs the fuselage 1 to the ground.
  • the state diagram of the adsorption component 3 when the fuselage 1 is in a traveling state the adsorption component 3 is not in contact with the ground.
  • 4 is a schematic diagram of the state of the adsorption assembly 3 after the traveling assembly 2 drives the fuselage 1 to descend. The traveling assembly 2 is retracted into the traveling assembly accommodating slot 11, so that the fuselage 1 is lowered, and the adsorption assembly 3 is in contact with the ground.
  • the controller 6 controls the cleaning assembly 4 to swing back and forth, so as to wipe the stains back and forth, which can more easily wipe the stubborn stains.
  • a water spray device may also be provided at the bottom of the fuselage 1. During the wiping process, the water spray device sprays water or cleaning liquid on the stains to enhance the wiping effect of the stains. During the wiping process, the controller 6 continuously obtains the status information of the stains from the sensor assembly 5.
  • the controller 6 controls the cleaning assembly 4 and the adsorption assembly 3 to stop working.
  • the traveling assembly 2 drives the fuselage 1 to return from the state shown in FIG. 4 to the state shown in FIG. 3 .
  • the traveling assembly 2 drives the fuselage 1 to continue to travel, and the cleaning assembly 4 continues to wipe the ground according to the normal cleaning mode.
  • the traveling assembly 2 includes a traveling mechanism 21 .
  • a traveling mechanism 21 As shown in FIG. 5 , as shown in the schematic structural diagram of the traveling assembly 2 exemplarily shown in the present application, when the fuselage 1 is in a traveling state, the upper part of the traveling mechanism 21 The half is located inside the travel assembly accommodating slot 11 .
  • the traveling mechanism 21 drives the traveling wheels through the internal traveling motor, thereby driving the fuselage 1 to walk.
  • the specific structure of the traveling mechanism 21 is not shown in the figure, and is not limited in this application. As shown in FIG.
  • FIG. 6 which is another structural schematic diagram of the traveling assembly 2 exemplarily shown in the present application, when the fuselage is in a non-travelling state, due to the action of the lifting mechanism 22 , a part of the lower half of the traveling mechanism 21 is also located in the traveling assembly container. inside the groove 11.
  • the lifting mechanism 22 is disposed inside the traveling assembly accommodating groove 11 , and the lifting mechanism 22 includes a fixed guide rail 221 and a sliding guide rail 222 .
  • the fixed guide rail 221 is connected to the inner side wall of the traveling component accommodating slot 11, one side of the fixed guide rail 221 can be fixedly connected with the inner side wall of the traveling component accommodating slot 11, and the other side is provided with a guide rail, and the sliding guide rail 222 can be fixed along the fixed guide rail 221.
  • the guide rail 221 slides on the side where the guide rail is provided.
  • a protrusion 224 may be provided on the side wall of the sliding guide rail 222
  • a limit block 225 may be provided on the side wall of the fixed guide rail 221
  • the sliding guide rail 222 slides down along the fixed guide rail 221 .
  • the sliding guide rail 222 is restricted from continuing to slide downward, thereby preventing the sliding guide rail 222 from being separated from the fixed guide rail 221 .
  • a first electromagnetic device 223 is disposed on the bottom surface of the traveling component accommodating slot 11 , the sliding guide 222 is made of a magnetic metal material, and the bottom of the sliding guide 222 is connected to the traveling mechanism 21 .
  • the first electromagnetic device 223 is electrically connected to the controller 6, and the controller 6 controls the on-off of the first electromagnetic device. After the first electromagnetic device 223 is powered on, the sliding guide 222 can be slid in a direction close to the first electromagnetic device 223 or the sliding guide 222 can be slid in a direction away from the first electromagnetic device 223 .
  • FIG. 5 is a schematic diagram of the traveling assembly 2 when the fuselage 1 is in the traveling state. 222 slides away from the first electromagnetic device 223, the sliding guide 222 keeps a certain distance from the first electromagnetic device 223, and finally the bottom of the fuselage 1 keeps a certain distance from the ground, and the adsorption component 3 does not contact the ground.
  • 6 is a schematic diagram of the traveling assembly 2 when the fuselage 1 is in a non-travel state.
  • the first electromagnetic device 223 is reversely energized and generates a magnetic force on the sliding guide rail 222, so that the sliding guide rail 222 slides in a direction close to the first electromagnetic device 223,
  • the distance between the sliding guide rail 222 and the first electromagnetic device 223 is shortened, and finally the distance between the bottom of the fuselage 1 and the ground is shortened, and the adsorption component 3 is in contact with the ground.
  • the lifting mechanism 22 includes two fixed guide rails 221 , and two sides of the sliding guide rail 222 are respectively slidably connected to the two fixed guide rails 221 . Both sides of the sliding guide rail 222 are provided with guide rails, and two sides of the sliding guide rail 222 are respectively slidably connected with the two fixed guide rails 221 , so that the lifting process of the fuselage 1 is more stable.
  • the adsorption assembly 3 includes an adsorption support block 31 , and the adsorption support block 31 is disposed in the adsorption assembly accommodating groove 12 .
  • the adsorption support block 31 is a hollow cube.
  • the bottom of the adsorption support block 31 is provided with an adsorption disk 32, and the adsorption disk 32 can be made of rubber material.
  • the edge of the adsorption disk 32 can be glued to the ground.
  • the bottom surface of the adsorption support block 31 is adsorbed, or the edge of the adsorption disk 32 is embedded in the groove of the bottom surface of the adsorption support block 31 .
  • the adsorption assembly 3 also includes a vacuum pump 33 , which is communicated with the interior of the adsorption support block 31 through a communication pipe 34 .
  • the vacuum pump 33 is electrically connected to the controller 6 . After the fuselage 1 is lowered so that the adsorption disk 32 contacts the bottom surface, the controller 6 controls the vacuum pump 33 to turn on.
  • the adsorption disk 32 is adsorbed on the ground, so that the entire fuselage is 1 Attached to the ground.
  • an intake valve can also be provided on the side of the adsorption support block 31.
  • the controller 6 controls the intake valve to open, so that the outside air enters the interior of the adsorption support block 31, so that the adsorption disk 32 is no longer attached to the ground, and the fuselage 1 can perform a rising action.
  • the cleaning assembly 4 includes a mop support plate 41.
  • the mop support plate 41 is connected to the side wall of the cleaning component accommodating slot 13 through four connecting plates 42.
  • One end of the connecting plate 42 can be rotated around the connection point connected with the side wall of the cleaning assembly accommodating slot 13, and the other end of the connecting plate 42 can be rotated around the connection point connected with the mop support plate 41, so as to realize the reciprocating swing of the mop support plate .
  • the cleaning assembly 4 further includes a swing mechanism 43 , and the swing mechanism 43 further includes a swing drive motor 431 arranged at the bottom of the body 1 .
  • a cam 433 is provided at one end of the motor shaft 432 of the swing drive motor 431 , and the swing drive motor 431 is driven by the motor shaft 432 .
  • Cam 433 rotates.
  • the cam 433 is always in contact with the drive cylinder 412 .
  • the swing drive motor 431 is electrically connected to the controller 6, and the controller 6 controls the swing drive motor 431 to turn on.
  • the driving cylinder 412 and the swing mechanism 43 may be provided on both ends of the mopping support plate 41 .
  • the cam 433 on the left as shown in FIG. 9 rotates to contact the driving cylinder 412 at the highest point, and the cam 433 on the right rotates to contact the driving cylinder 412 at the lowest point, the mopping support plate 41 swings to the right direction as shown in the figure .
  • the cam 433 on the left as shown in FIG. 9 rotates to contact the driving cylinder 412 at the lowest point, and at the same time the cam 433 on the right rotates to contact the driving cylinder 412 at the highest point, the mopping support plate 41 swings to the left as shown in the figure .
  • the swing range of the mop support plate 41 can be made larger, and the range of wiping the ground is also larger.
  • the middle section of the mop support plate 41 can also be provided with a pressure block accommodating groove 413 , and a pressure block 414 is provided inside the pressure block accommodating groove 413 ,
  • the pressure block 414 can slide along the side wall of the pressure block accommodating slot 413 .
  • a second electromagnetic device 415 is arranged at the bottom of the body 1 .
  • the pressure block 414 is made of magnetic metal material.
  • a spring 416 is arranged between the two, and the spring 416 is always in a stretched state. After the second electromagnetic device 415 is energized, the pressing block 414 can slide in a direction away from the second electromagnetic device 415 , and the second electromagnetic device 415 is electrically connected to the controller 6 .
  • the controller 6 controls the second electromagnetic device 415 to turn on. After the second electromagnetic device 415 is energized, the pressure block 414 slides in a direction away from the second electromagnetic device 415, so that the pressure is applied. The block 414 exerts pressure on the mop 411 on the mop support plate 41, thereby increasing the pressure between the mop cloth 411 and the ground, and further when the mop support plate 41 swings, the friction force between the mop cloth 411 and the ground is increased to further enhance the wiping of stains Effect.
  • the controller 6 controls the second electromagnetic device 415 to turn off, the magnetic force of the second electromagnetic device 415 on the pressing block 414 disappears, and the spring 416 moves the pressing block 414 closer to the second electromagnetic device 414 under the action of the tensile force.
  • the direction of the electromagnetic device 415 slides until the spring 416 returns to a free state, and the pressing block 414 no longer exerts pressure on the mop 411 .
  • the middle section of the mop support plate 41 is provided with a pressure block accommodating groove 413 , and the interior of the pressure block accommodating groove 413 is provided with The pressure block 414, the pressure block 414 can slide along the side wall of the pressure block accommodating groove 413, the bottom of the fuselage 1 is provided with a cylinder 417, the cylinder 417 is connected to the pressure block 414 through a push rod 418, and the cylinder 417 is electrically connected to the Controller 6.
  • the controller 6 controls the cylinder 417 to open, and the cylinder 417 pushes the pressure block 414 to slide away from the cylinder 417 through the push rod 418 , so that the pressure block 414 is opposite to the mop support plate 41 .
  • the mop 411 on the top exerts pressure, thereby increasing the pressure between the mop 411 and the ground. Further, when the mop support plate 41 swings, the friction between the mop 411 and the ground is increased, further enhancing the effect of wiping stains.
  • the controller 6 controls the cylinder 417 to drive the push rod 418 to retract, and the push rod 418 drives the pressure block 414 to slide toward the cylinder 417 until the pressure block 414 returns to the initial position, and the pressure block 414 does not move. Apply pressure to the mop 411 again.
  • the sensor assembly 5 may include a plurality of sensors 51 , and the plurality of sensors 51 are evenly distributed on the bottom of the fuselage 1 .
  • Setting multiple sensors 51 can expand the detection range and detect more difficult stains more accurately.
  • the sensor 51(X), the sensor 51(Y), and the sensor 51(Z) shown in FIG. 2 when the sensor 51(X) and the sensor 51(Y) detect the more difficult stains at the same time, it means that the sensor 51(X) and sensor 51(Y) detect difficult stains in the area, the controller 6 first controls the traveling assembly 2 to drive the fuselage 1 to travel, so that the position of the cleaning assembly 4 moves to the position detected by the sensor 51(X).
  • the upper position of the stains further enables the cleaning assembly 4 to perform the wiping process in the above embodiment on the stains detected by the sensor 51(X).
  • the controller 6 controls the traveling assembly 2 to drive the fuselage 1 to travel, so that the position of the cleaning assembly 4 moves to the position above the stains detected by the sensor 51(Y), further making The cleaning assembly 4 can perform the wiping process in the above embodiment on the stains detected by the sensor 51(Y).
  • the mopping robot described in the present application can control the traveling assembly 2 to stop driving the fuselage 1 through the controller 6 when the sensor assembly 5 detects difficult stains, while driving the fuselage. 1 drop.
  • the adsorption component 3 does not contact the ground. After the fuselage 1 descends, the adsorption component 3 contacts the ground. After the adsorption component 3 contacts the ground, the adsorption component 3 is controlled to be turned on, and the adsorption component 3 adsorbs the fuselage 1 on the ground.
  • the cleaning component 4 has already contacted the ground before the body 1 descends, and after the descending, the cleaning component 4 has a larger contact area with the stain, and generates a greater pressure on the stain.
  • the cleaning assembly 4 is controlled to be turned on, and the cleaning assembly 4 can swing back and forth, thereby forming a reciprocating frictional force on the stains.
  • the mopping robot of the present application can increase the friction force between the cleaning component 4 and the ground in the above-mentioned manner, and simultaneously wipe the stains back and forth, so that the stubborn stains can be wiped more easily without the need for the user to manually Wipe it again to improve user experience.

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Abstract

A mopping robot. A controller (6) controls traveling assemblies (2) to stop driving a robot body (1) to travel, and drives the robot body (1) to descend; after the robot body (1) descends, adsorption assemblies (3) come into contact with the ground; after the adsorption assemblies (3) come into contact with the ground, the adsorption assemblies (3) are controlled to be started, and the robot body (1) is absorbed on the ground by means of the adsorption assemblies (3); a cleaning assembly (4) has been in contact with the ground before the robot body (1) descends, and the contact area between the cleaning assembly (4) and stains is larger after the robot body (1) descends, so that a pressure applied to the stains is also larger; meanwhile, the cleaning assembly (4) is controlled to be started, and the cleaning assembly (4) performs reciprocating motion so as to form a reciprocating friction force on the stains. When encountering stubborn stains, the mopping robot can increase the friction force between the cleaning assembly (4) and the ground while wiping the stains reciprocatingly, so that the stubborn stains can be wiped more easily, and a user is not required to manually wipe the stains, thereby improving user experience.

Description

一种拖地机器人A mopping robot 技术领域technical field
本发明涉及智能家居领域，特别涉及一种拖地机器人。The invention relates to the field of smart home, in particular to a mopping robot.
背景技术Background technique
拖地机器人是一种凭借人工智能，自动在房间内完成地面清理工作的家用电器。现有的拖地机器人一般分为渗水式和喷水式，无论哪一种方式的扫地机器人，都是在向地面渗水或喷水后，用专用的清洁垫对污渍进行擦拭，这个过程利用的是清洁垫与地面之间的摩擦力。但是现有拖地机器人的清洁垫与地面之间的摩擦力大致上是一定的，在遇到较难擦拭的顽固污渍时，不能够将其完全擦拭干净，往往还需要用户手动再擦拭一遍，导致用户体验较差。The mopping robot is a household appliance that automatically completes the floor cleaning work in the room with artificial intelligence. Existing mopping robots are generally divided into water seepage type and water spray type. No matter which type of cleaning robot is used, after seeping or spraying water on the ground, it wipes the stains with a special cleaning pad. This process utilizes is the frictional force between the cleaning pad and the ground. However, the friction between the cleaning pad of the existing mopping robot and the ground is roughly constant. When encountering stubborn stains that are difficult to wipe, it cannot be completely wiped clean, and the user often needs to wipe it again manually. lead to poor user experience.
发明内容SUMMARY OF THE INVENTION
针对现有技术所存在的问题，本申请提供了一种拖地机器人，包括：In view of the problems existing in the prior art, the present application provides a mopping robot, including:
机身；body;
行进组件，所述行进组件设置于所述机身的底部，所述行进组件用于带动所述机身行进，且可在所述机身处于非行进状态时带动所述机身升降；a traveling assembly, the traveling assembly is disposed at the bottom of the fuselage, the traveling assembly is used to drive the fuselage to travel, and can drive the fuselage to lift and lower when the fuselage is in a non-travel state;
吸附组件，所述吸附组件设置于所述机身的底部，所述吸附组件用于在所述机身处于非行进状态时将所述机身吸附在地面上；an adsorption component, the adsorption component is disposed at the bottom of the fuselage, and the adsorption component is used for adsorbing the fuselage on the ground when the fuselage is in a non-travel state;
清洁组件，所述清洁组件设置于所述机身的底部，所述清洁组件的底面与地面接触，且可在所述机身处于非行进状态时往复摆动；a cleaning assembly, the cleaning assembly is disposed at the bottom of the fuselage, the bottom surface of the cleaning assembly is in contact with the ground, and can swing back and forth when the fuselage is in a non-travel state;
传感器组件，所述传感器组件设置于所述机身的底部，所述传感器组件用于检测地面上的污渍状态；a sensor assembly, the sensor assembly is arranged at the bottom of the fuselage, and the sensor assembly is used to detect the stain state on the ground;
控制器，所述行进组件、所述吸附组件、所述清洁组件以及所述传感器组件分别电连接至所述控制器。A controller, the traveling assembly, the adsorption assembly, the cleaning assembly, and the sensor assembly are respectively electrically connected to the controller.
本申请的有益效果：本申请所述的一种拖地机器人，能够在传感器组件检测到较难处理的污渍时，通过控制器控制行进组件停止带动机身行进，同时带动机身下降。机身在行进过程中，吸附组件并不接触地面，机身下降后，吸附组件接触地面。吸附组件接触地面后，控制吸附组件开启，吸附组件将机身吸附在地面上。清洁组件在机身下降之前已经接触地面，下降之后清洁组件与污渍的接触面积更大，对污渍产生的压力也更大。同时控制清洁组件开启，清洁组件可往复摆动，从而对污渍形成往复的摩擦力。本申请的拖地机器人在遇到较难处理的污渍时，能够通过上述方式增加清洁组件与地面之间的摩擦力，同时往复擦拭污渍，因而能够更容易擦拭顽固污渍，不需要用户再手动擦拭一遍，提升用户体验。Beneficial effects of the present application: The mopping robot described in the present application can control the traveling assembly to stop driving the fuselage and simultaneously drive the fuselage to descend when the sensor assembly detects difficult stains. During the movement of the fuselage, the adsorption component does not touch the ground. After the fuselage descends, the adsorption component contacts the ground. After the adsorption component touches the ground, the adsorption component is controlled to be turned on, and the adsorption component adsorbs the fuselage on the ground. The cleaning component has contacted the ground before the fuselage descends. After the descending, the cleaning component has a larger contact area with the stain, and the pressure on the stain is also greater. At the same time, the cleaning assembly is controlled to be turned on, and the cleaning assembly can swing back and forth, thereby forming a reciprocating frictional force on the stains. When encountering difficult-to-treat stains, the mopping robot of the present application can increase the friction between the cleaning component and the ground in the above-mentioned manner, and at the same time wipe the stains back and forth, so that the stubborn stains can be wiped more easily without the need for the user to manually wipe Once again, improve the user experience.
附图说明Description of drawings
为了更清楚地说明本申请的技术方案，下面将对实施例中所需要使用的附图作简单地 介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions of the present application more clearly, the accompanying drawings that need to be used in the embodiments will be briefly introduced below. Other drawings can also be obtained from these drawings.
图1为本申请一种拖地机器人的整体图；1 is an overall view of a mopping robot of the application;
图2为本申请一种拖地机器人的另一角度整体示意图；Fig. 2 is another perspective overall schematic diagram of a mopping robot of the application;
图3为本申请一种拖地机器人的机身行进状态时吸附组件状态示意图；3 is a schematic diagram of the state of the adsorption component when the body of a mopping robot of the present application is in a traveling state;
图4为本申请一种拖地机器人的行进组件带动机身下降之后吸附组件状态示意图；4 is a schematic diagram of the state of the adsorption component after the traveling component of the mopping robot of the present application drives the body to descend;
图5为本申请一种拖地机器人的行进组件结构示意图；5 is a schematic structural diagram of a traveling assembly of a mopping robot according to the present application;
图6为本申请一种拖地机器人的又一行进组件结构示意图；6 is a schematic structural diagram of another traveling assembly of a mopping robot according to the application;
图7为本申请一种拖地机器人的吸附组件结构示意图；FIG. 7 is a schematic structural diagram of an adsorption assembly of a mopping robot according to the present application;
图8为本申请图2中A区域放大示意图；FIG. 8 is an enlarged schematic diagram of the area A in FIG. 2 of the application;
图9为本申请一种拖地机器人的清洁组件结构示意图；9 is a schematic structural diagram of a cleaning assembly of a mopping robot according to the present application;
图10为本申请一种拖地机器人的又一清洁组件结构示意图。FIG. 10 is a schematic structural diagram of another cleaning assembly of a mopping robot of the present application.
具体实施方式detailed description
参阅图1的拖地机器人的整体示意图，图2的拖地机器人的另一角度整体示意图，本申请实施例提供一种拖地机器人，该拖地机器人包括：机身1，机身1的底部设置有行进组件容置槽11、吸附组件容置槽12和清洁组件容置槽13。行进组件容置槽11、吸附组件容置槽12和清洁组件容置槽13内部分别设置有行进组件2、吸附组件3和清洁组件4。行进组件2用于带动机身1在正常情况下行进以及在非行进状态时带动机身1升降。本申请中的非行进状态指的是，检测到较难处理污渍时，从正常清扫模式进入清理清扫模式时拖地机器人处于的状态。Referring to the overall schematic diagram of the mopping robot in FIG. 1 , and the overall schematic diagram of the mopping robot in another angle in FIG. 2 , an embodiment of the present application provides a mopping robot, which includes: a fuselage 1 , a bottom of the fuselage 1 A traveling component accommodating groove 11 , an adsorption component accommodating groove 12 and a cleaning component accommodating groove 13 are provided. The traveling component accommodating groove 11 , the adsorption component accommodating groove 12 and the cleaning component accommodating groove 13 are respectively provided with a traveling component 2 , an adsorption component 3 and a cleaning component 4 . The traveling assembly 2 is used to drive the fuselage 1 to travel under normal conditions and to drive the fuselage 1 to ascend and descend when it is not in a traveling state. The non-travel state in this application refers to the state the mopping robot is in when entering the cleaning and cleaning mode from the normal cleaning mode when a difficult-to-treat stain is detected.
吸附组件3用于在机身1处于非行进状态时将机身1吸附在地面上。清洁组件4用于清理污渍，机身1在正常行进时，清洁组件4的底面与地面接触，随着机身1的行进对地面进行擦拭。机身1的底部还设置有传感器组件5，传感器组件5用于检测地面上的污渍状态。传感器组件5可以是图像传感器、距离传感器和厚度传感器等传感器的一种或者几种的组合，这里不作限制。The adsorption assembly 3 is used to adsorb the airframe 1 on the ground when the airframe 1 is in a non-travel state. The cleaning assembly 4 is used for cleaning stains. When the fuselage 1 is traveling normally, the bottom surface of the cleaning assembly 4 is in contact with the ground, and the ground is wiped with the traveling of the fuselage 1 . The bottom of the fuselage 1 is also provided with a sensor assembly 5, and the sensor assembly 5 is used to detect the state of stains on the ground. The sensor assembly 5 may be one or a combination of sensors such as an image sensor, a distance sensor, and a thickness sensor, which is not limited here.
例如，传感器组件5可以是图像传感器和厚度传感器的组合，首先通过图像传感器获取到污渍的图像，可以将获得的污渍图像与***中存储的污渍图像样本进行比对，分析得到疑似较难处理的污渍。之后通过厚度传感器检测该污渍的厚度，如果厚度超过一定的阈值，则可以将该污渍确定为较难处理的污渍。控制器6获得相应的污渍信号后，控制行进组件2停止带动机身1行进，同时控制行进组件2带动机身1下降，直至吸附组件3与地面接触。之后吸附组件3将机身1吸附在地面上。如图3的机身1行进状态时吸附组件3的状态示意图，吸附组件3未与地面接触。如图4所示的行进组件2带动机身1下降之后吸附组件3的状态示意图，行进组件2缩回行进组件容置槽11中，从而使得机身1下降，吸附组件3与地面接触。For example, the sensor assembly 5 can be a combination of an image sensor and a thickness sensor. First, an image of the stain is obtained through the image sensor, and the obtained stain image can be compared with the stain image samples stored in the system, and analyzed to obtain a suspected difficult to deal with. stains. Then, the thickness of the stain is detected by a thickness sensor, and if the thickness exceeds a certain threshold, the stain can be determined as a more difficult stain. After the controller 6 obtains the corresponding stain signal, it controls the traveling component 2 to stop driving the fuselage 1 to travel, and at the same time controls the traveling component 2 to drive the fuselage 1 to descend until the adsorption component 3 contacts the ground. After that, the adsorption component 3 adsorbs the fuselage 1 to the ground. As shown in FIG. 3 , the state diagram of the adsorption component 3 when the fuselage 1 is in a traveling state, the adsorption component 3 is not in contact with the ground. 4 is a schematic diagram of the state of the adsorption assembly 3 after the traveling assembly 2 drives the fuselage 1 to descend. The traveling assembly 2 is retracted into the traveling assembly accommodating slot 11, so that the fuselage 1 is lowered, and the adsorption assembly 3 is in contact with the ground.
由于正常行进的情况下清洁组件4的底面就与地面保持接触状态，机身1下降后，清洁组件4的底面与底面接触的更加紧密，清洁组件4移动时与地面的摩擦力更大，更容易擦拭地面上的污渍。同时，控制器6控制清洁组件4作往复摆动，从而往复地擦拭污渍，能够更容易擦拭顽固污渍。还可以在机身1底部设置喷水装置，擦拭的过程中，喷水装置向污渍喷洒水或者清洁液，增强污渍的擦拭效果。擦拭过程中，控制器6不断从传感器组 件5获取污渍的状态信息，当擦拭后的污渍达到清洁的标准后，控制器6控制清洁组件4和吸附组件3停止工作。行进组件2带动机身1从图4所示的状态回升至图3所示的状态，同时行进组件2带动机身1继续行进，清洁组件4继续按照正常清扫模式擦拭地面。Since the bottom surface of the cleaning assembly 4 is in contact with the ground during normal travel, after the fuselage 1 descends, the bottom surface of the cleaning assembly 4 is in closer contact with the bottom surface, and the frictional force between the cleaning assembly 4 and the ground is greater when moving Easy to wipe stains on the ground. At the same time, the controller 6 controls the cleaning assembly 4 to swing back and forth, so as to wipe the stains back and forth, which can more easily wipe the stubborn stains. A water spray device may also be provided at the bottom of the fuselage 1. During the wiping process, the water spray device sprays water or cleaning liquid on the stains to enhance the wiping effect of the stains. During the wiping process, the controller 6 continuously obtains the status information of the stains from the sensor assembly 5. When the cleaned stains reach the cleaning standard, the controller 6 controls the cleaning assembly 4 and the adsorption assembly 3 to stop working. The traveling assembly 2 drives the fuselage 1 to return from the state shown in FIG. 4 to the state shown in FIG. 3 . At the same time, the traveling assembly 2 drives the fuselage 1 to continue to travel, and the cleaning assembly 4 continues to wipe the ground according to the normal cleaning mode.
作为一种可选的实时方式，行进组件2包括行走机构21，如图5所示的本申请示例性示出的行进组件2结构示意图，当机身1处于行进状态时，行走机构21的上半部分位于行进组件容置槽11的内部。行走机构21通过内部的行走电机驱动行走轮，从而带动机身1行走，行走机构21的具体结构在图中未示出，本申请不作限制。如图6所示的本申请示例性示出的又一行进组件2结构示意图，当机身处于非行进状态时，由于升降机构22的作用，行走机构21的下半部分也有一部分位于行进组件容置槽11的内部。As an optional real-time manner, the traveling assembly 2 includes a traveling mechanism 21 . As shown in FIG. 5 , as shown in the schematic structural diagram of the traveling assembly 2 exemplarily shown in the present application, when the fuselage 1 is in a traveling state, the upper part of the traveling mechanism 21 The half is located inside the travel assembly accommodating slot 11 . The traveling mechanism 21 drives the traveling wheels through the internal traveling motor, thereby driving the fuselage 1 to walk. The specific structure of the traveling mechanism 21 is not shown in the figure, and is not limited in this application. As shown in FIG. 6 , which is another structural schematic diagram of the traveling assembly 2 exemplarily shown in the present application, when the fuselage is in a non-travelling state, due to the action of the lifting mechanism 22 , a part of the lower half of the traveling mechanism 21 is also located in the traveling assembly container. inside the groove 11.
具体的，升降机构22设置于行进组件容置槽11的内部，升降机构22包括固定导轨221和滑动导轨222。固定导轨221连接行进组件容置槽11的内部侧壁，固定导轨221的一侧可以与行进组件容置槽11的内部侧壁固定连接，另一侧设置导轨，滑动导轨222则可以沿着固定导轨221设置导轨的一侧滑动。另外，如图5所示，滑动导轨222的侧壁上可以设置凸起224，固定导轨221的侧壁上设置限位块225，滑动导轨222沿着固定导轨221向下滑动，凸起224与限位块225接触后，则限制滑动导轨222继续向下滑动，从而防止滑动导轨222脱离固定导轨221。行进组件容置槽11的底面上设置有第一电磁装置223，滑动导轨222的材质为磁性金属材质，滑动导轨222的底部连接行走机构21。第一电磁装置223电连接至控制器6，控制器6控制第一电磁装置的通断。第一电磁装置223通电后可使滑动导轨222向靠近第一电磁装置223的方向滑动或者可使滑动导轨222向远离第一电磁装置223的方向滑动。Specifically, the lifting mechanism 22 is disposed inside the traveling assembly accommodating groove 11 , and the lifting mechanism 22 includes a fixed guide rail 221 and a sliding guide rail 222 . The fixed guide rail 221 is connected to the inner side wall of the traveling component accommodating slot 11, one side of the fixed guide rail 221 can be fixedly connected with the inner side wall of the traveling component accommodating slot 11, and the other side is provided with a guide rail, and the sliding guide rail 222 can be fixed along the fixed guide rail 221. The guide rail 221 slides on the side where the guide rail is provided. In addition, as shown in FIG. 5 , a protrusion 224 may be provided on the side wall of the sliding guide rail 222 , a limit block 225 may be provided on the side wall of the fixed guide rail 221 , and the sliding guide rail 222 slides down along the fixed guide rail 221 . After the limiting block 225 is in contact, the sliding guide rail 222 is restricted from continuing to slide downward, thereby preventing the sliding guide rail 222 from being separated from the fixed guide rail 221 . A first electromagnetic device 223 is disposed on the bottom surface of the traveling component accommodating slot 11 , the sliding guide 222 is made of a magnetic metal material, and the bottom of the sliding guide 222 is connected to the traveling mechanism 21 . The first electromagnetic device 223 is electrically connected to the controller 6, and the controller 6 controls the on-off of the first electromagnetic device. After the first electromagnetic device 223 is powered on, the sliding guide 222 can be slid in a direction close to the first electromagnetic device 223 or the sliding guide 222 can be slid in a direction away from the first electromagnetic device 223 .
具体的，行进组件2带动机身1升降的过程为：图5为机身1正处于行进状态的行进组件2示意图，此时第一电磁装置223通电并对滑动导轨222产生磁力，使得滑动导轨222向远离第一电磁装置223的方向滑动，滑动导轨222与第一电磁装置223保持一定的距离，最终使得机身1的底部与地面保持一定的距离，吸附组件3不与地面接触。图6为机身1正处于非行进状态的行进组件2示意图，此时第一电磁装置223反向通电并对滑动导轨222产生磁力，使得滑动导轨222向靠近第一电磁装置223的方向滑动，滑动导轨222与第一电磁装置223的距离缩短，最终使得机身1的底部与地面的距离缩短，吸附组件3与地面接触。Specifically, the process that the traveling assembly 2 drives the fuselage 1 to lift and lower is as follows: FIG. 5 is a schematic diagram of the traveling assembly 2 when the fuselage 1 is in the traveling state. 222 slides away from the first electromagnetic device 223, the sliding guide 222 keeps a certain distance from the first electromagnetic device 223, and finally the bottom of the fuselage 1 keeps a certain distance from the ground, and the adsorption component 3 does not contact the ground. 6 is a schematic diagram of the traveling assembly 2 when the fuselage 1 is in a non-travel state. At this time, the first electromagnetic device 223 is reversely energized and generates a magnetic force on the sliding guide rail 222, so that the sliding guide rail 222 slides in a direction close to the first electromagnetic device 223, The distance between the sliding guide rail 222 and the first electromagnetic device 223 is shortened, and finally the distance between the bottom of the fuselage 1 and the ground is shortened, and the adsorption component 3 is in contact with the ground.
作为一种可选的实施方式，升降机构22包括两块固定导轨221，滑动导轨222的两侧分别与两块固定导轨221滑动连接。滑动导轨222的两侧侧面均设置有导轨，滑动导轨222的两侧分别与两块固定导轨221滑动连接，从而使得机身1的升降过程更平稳。As an optional embodiment, the lifting mechanism 22 includes two fixed guide rails 221 , and two sides of the sliding guide rail 222 are respectively slidably connected to the two fixed guide rails 221 . Both sides of the sliding guide rail 222 are provided with guide rails, and two sides of the sliding guide rail 222 are respectively slidably connected with the two fixed guide rails 221 , so that the lifting process of the fuselage 1 is more stable.
作为一种可选的实施方式，如图7所示的本申请示例性示出的吸附组件3的结构示意图，吸附组件3包括吸附支撑块31，吸附支撑块31设置于吸附组件容置槽12的内部，可以是与吸附组件容置槽12的内壁固定连接，吸附支撑块31为中空的方体。吸附支撑块31的底部设置有吸附盘32，吸附盘32可以为橡胶材质，为了使得吸附组件3吸附在地面时，保持吸附支撑块31内部的密封性，可以将吸附盘32的边缘粘接在吸附支撑块31的底面，或者将吸附盘32的边缘镶嵌在吸附支撑块31的底面凹槽内。吸附组件3还包括抽真空泵33，抽真空泵33通过连通管34与吸附支撑块31的内部相连通，抽真空泵33和连通管34均可设置于机身1的内部。抽真空泵33电连接至控制器6。机身1下降至使得吸附盘32 接触底面后，控制器6控制抽真空泵33开启，抽真空泵33将吸附支撑块31内部的空气抽出后，将吸附盘32吸附在地面上，从而使得整个机身1吸附在地面上。这里，还可以在吸附支撑块31的侧面设置进气阀，当需要解除机身1吸附时，控制器6控制进气阀打开，使得外部空气进入到吸附支撑块31的内部，从而使得吸附盘32不再吸附在地面上，机身1能够进行上升的动作。As an optional embodiment, as shown in FIG. 7 , which is a schematic structural diagram of the adsorption assembly 3 exemplarily shown in the present application, the adsorption assembly 3 includes an adsorption support block 31 , and the adsorption support block 31 is disposed in the adsorption assembly accommodating groove 12 . can be fixedly connected with the inner wall of the accommodating groove 12 of the adsorption component, and the adsorption support block 31 is a hollow cube. The bottom of the adsorption support block 31 is provided with an adsorption disk 32, and the adsorption disk 32 can be made of rubber material. In order to make the adsorption component 3 adsorbed on the ground and maintain the airtightness inside the adsorption support block 31, the edge of the adsorption disk 32 can be glued to the ground. The bottom surface of the adsorption support block 31 is adsorbed, or the edge of the adsorption disk 32 is embedded in the groove of the bottom surface of the adsorption support block 31 . The adsorption assembly 3 also includes a vacuum pump 33 , which is communicated with the interior of the adsorption support block 31 through a communication pipe 34 . The vacuum pump 33 is electrically connected to the controller 6 . After the fuselage 1 is lowered so that the adsorption disk 32 contacts the bottom surface, the controller 6 controls the vacuum pump 33 to turn on. After the vacuum pump 33 draws out the air inside the adsorption support block 31, the adsorption disk 32 is adsorbed on the ground, so that the entire fuselage is 1 Attached to the ground. Here, an intake valve can also be provided on the side of the adsorption support block 31. When it is necessary to release the adsorption of the fuselage 1, the controller 6 controls the intake valve to open, so that the outside air enters the interior of the adsorption support block 31, so that the adsorption disk 32 is no longer attached to the ground, and the fuselage 1 can perform a rising action.
作为一种可选的实施方式，如图8所示的本申请示例性示出的图1中A区域放大示意图，和图9所示的清洁组件4的结构示意图，清洁组件4包括拖布支板41，拖布支板41通过四个连接板42连接清洁组件容置槽13的侧壁。连接板42的一端可绕与清洁组件容置槽13的侧壁连接的连接点转动，连接板42的另一端可绕与拖布支板41连接的连接点转动，从而实现拖布支板的往复摆动。As an optional embodiment, as shown in FIG. 8 , the enlarged schematic diagram of area A in FIG. 1 exemplarily shown in the present application, and the schematic structural diagram of the cleaning assembly 4 shown in FIG. 9 , the cleaning assembly 4 includes a mop support plate 41. The mop support plate 41 is connected to the side wall of the cleaning component accommodating slot 13 through four connecting plates 42. One end of the connecting plate 42 can be rotated around the connection point connected with the side wall of the cleaning assembly accommodating slot 13, and the other end of the connecting plate 42 can be rotated around the connection point connected with the mop support plate 41, so as to realize the reciprocating swing of the mop support plate .
拖布支板41的远离机身1的一面粘接拖布411，拖布支板41的远离机身1的一面设置有驱动圆柱412。清洁组件4还包括摆动机构43，摆动机构43又包括设置于机身1底部的摆动驱动电机431，摆动驱动电机431的电机轴432的一端设置有凸轮433，摆动驱动电机431通过电机轴432带动凸轮433转动。凸轮433始终与驱动圆柱412接触。摆动驱动电机431电连接至所述控制器6，控制器6控制摆动驱动电机431开启。当凸轮433转动到以最高点与驱动圆柱412接触时，将拖布支板41向远离摆动机构43的方向摆动；当凸轮433转动以最低点与驱动圆柱412接触时，拖布支板41则回到原位置。The side of the mop support plate 41 away from the body 1 is bonded to the mop 411 , and the side of the mop support plate 41 away from the body 1 is provided with a driving cylinder 412 . The cleaning assembly 4 further includes a swing mechanism 43 , and the swing mechanism 43 further includes a swing drive motor 431 arranged at the bottom of the body 1 . A cam 433 is provided at one end of the motor shaft 432 of the swing drive motor 431 , and the swing drive motor 431 is driven by the motor shaft 432 . Cam 433 rotates. The cam 433 is always in contact with the drive cylinder 412 . The swing drive motor 431 is electrically connected to the controller 6, and the controller 6 controls the swing drive motor 431 to turn on. When the cam 433 rotates to contact the driving cylinder 412 at the highest point, the mopping support plate 41 swings away from the swing mechanism 43; when the cam 433 rotates and contacts the driving cylinder 412 at the lowest point, the mopping support plate 41 returns to Original location.
这里，可以在拖布支板41的两端均设置驱动圆柱412和摆动机构43。当图9所示左侧的凸轮433转动到以最高点与驱动圆柱412接触，同时右侧的凸轮433转动到以最低点与驱动圆柱412接触，则拖布支板41向图示右侧方向摆动。当图9所示左侧的凸轮433转动到以最低点与驱动圆柱412接触，同时右侧的凸轮433转动到以最高点与驱动圆柱412接触，则拖布支板41向图示左侧方向摆动。相较于上述的实施例，能够使得拖布支板41的摆动幅度更大，擦拭地面的范围也更大。Here, the driving cylinder 412 and the swing mechanism 43 may be provided on both ends of the mopping support plate 41 . When the cam 433 on the left as shown in FIG. 9 rotates to contact the driving cylinder 412 at the highest point, and the cam 433 on the right rotates to contact the driving cylinder 412 at the lowest point, the mopping support plate 41 swings to the right direction as shown in the figure . When the cam 433 on the left as shown in FIG. 9 rotates to contact the driving cylinder 412 at the lowest point, and at the same time the cam 433 on the right rotates to contact the driving cylinder 412 at the highest point, the mopping support plate 41 swings to the left as shown in the figure . Compared with the above-mentioned embodiment, the swing range of the mop support plate 41 can be made larger, and the range of wiping the ground is also larger.
进一步地，如图9所示的清洁组件4的结构示意图，拖布支板41的中间段还可以设置加压块容置槽413，加压块容置槽413的内部设置有加压块414，加压块414可沿加压块容置槽413的侧壁滑动，机身1底部设置有第二电磁装置415，加压块414为磁性金属材质，第二电磁装置415与加压块414之间设置有弹簧416，弹簧416始终保持拉伸状态，第二电磁装置415通电后可使加压块414向远离第二电磁装置415的方向滑动，第二电磁装置415电连接至控制器6。Further, as shown in the schematic structural diagram of the cleaning assembly 4 shown in FIG. 9 , the middle section of the mop support plate 41 can also be provided with a pressure block accommodating groove 413 , and a pressure block 414 is provided inside the pressure block accommodating groove 413 , The pressure block 414 can slide along the side wall of the pressure block accommodating slot 413 . A second electromagnetic device 415 is arranged at the bottom of the body 1 . The pressure block 414 is made of magnetic metal material. A spring 416 is arranged between the two, and the spring 416 is always in a stretched state. After the second electromagnetic device 415 is energized, the pressing block 414 can slide in a direction away from the second electromagnetic device 415 , and the second electromagnetic device 415 is electrically connected to the controller 6 .
具体的，当遇到较难清理的污渍时，控制器6控制第二电磁装置415开启，第二电磁装置415通电后使加压块414向远离第二电磁装置415的方向滑动，使得加压块414对拖布支板41上的拖布411施加压力，从而增加拖布411与地面之间的压力，进一步地当拖布支板41摆动时，增加拖布411与地面之间的摩擦力，进一步增强污渍擦拭的效果。当污渍擦拭干净之后，控制器6控制第二电磁装置415关闭，第二电磁装置415对加压块414的磁力消失，弹簧416在拉伸力的作用下，将加压块414向靠近第二电磁装置415的方向滑动，直至弹簧416恢复自由状态，加压块414不再对拖布411施加压力。Specifically, when encountering difficult-to-clean stains, the controller 6 controls the second electromagnetic device 415 to turn on. After the second electromagnetic device 415 is energized, the pressure block 414 slides in a direction away from the second electromagnetic device 415, so that the pressure is applied. The block 414 exerts pressure on the mop 411 on the mop support plate 41, thereby increasing the pressure between the mop cloth 411 and the ground, and further when the mop support plate 41 swings, the friction force between the mop cloth 411 and the ground is increased to further enhance the wiping of stains Effect. After the stains are wiped off, the controller 6 controls the second electromagnetic device 415 to turn off, the magnetic force of the second electromagnetic device 415 on the pressing block 414 disappears, and the spring 416 moves the pressing block 414 closer to the second electromagnetic device 414 under the action of the tensile force. The direction of the electromagnetic device 415 slides until the spring 416 returns to a free state, and the pressing block 414 no longer exerts pressure on the mop 411 .
作为一种可选的实施方式，如图9所示的清洁组件4的结构示意图，拖布支板41的中间段设置有加压块容置槽413，加压块容置槽413的内部设置有加压块414，加压块414可沿加压块容置槽413的侧壁滑动，机身1的底部设置有汽缸417，汽缸417通过推动杆 418连接加压块414，汽缸417电连接至控制器6。As an optional embodiment, as shown in the schematic structural diagram of the cleaning assembly 4 shown in FIG. 9 , the middle section of the mop support plate 41 is provided with a pressure block accommodating groove 413 , and the interior of the pressure block accommodating groove 413 is provided with The pressure block 414, the pressure block 414 can slide along the side wall of the pressure block accommodating groove 413, the bottom of the fuselage 1 is provided with a cylinder 417, the cylinder 417 is connected to the pressure block 414 through a push rod 418, and the cylinder 417 is electrically connected to the Controller 6.
具体的，当遇到较难清理的污渍时，控制器6控制汽缸417开启，汽缸417通过推动杆418推动加压块414向着远离汽缸417的方向滑动，使得加压块414对拖布支板41上的拖布411施加压力，从而增加拖布411与地面之间的压力，进一步地当拖布支板41摆动时，增加拖布411与地面之间的摩擦力，进一步增强污渍擦拭的效果。当污渍擦拭干净之后，控制器6控制汽缸417带动推动杆418回缩，推动杆418带动加压块414向着靠近汽缸417的方向滑动，直至加压块414回到初始位置，加压块414不再对拖布411施加压力。Specifically, when encountering difficult-to-clean stains, the controller 6 controls the cylinder 417 to open, and the cylinder 417 pushes the pressure block 414 to slide away from the cylinder 417 through the push rod 418 , so that the pressure block 414 is opposite to the mop support plate 41 . The mop 411 on the top exerts pressure, thereby increasing the pressure between the mop 411 and the ground. Further, when the mop support plate 41 swings, the friction between the mop 411 and the ground is increased, further enhancing the effect of wiping stains. After the stains are wiped off, the controller 6 controls the cylinder 417 to drive the push rod 418 to retract, and the push rod 418 drives the pressure block 414 to slide toward the cylinder 417 until the pressure block 414 returns to the initial position, and the pressure block 414 does not move. Apply pressure to the mop 411 again.
作为一种可选的实施方式，如图2所示，传感器组件5可以包括多个传感器51，多个传感器51均匀分布在机身1的底部。设置多个传感器51能够扩大检测的范围，更精准的检测到较难处理的污渍。具体的，如图2所示的传感器51(X)、传感器51(Y)、传感器51(Z)，当传感器51(X)和传感器51(Y)同时检测到较难处理的污渍，表示传感器51(X)和传感器51(Y)检测区域内存在较难处理的污渍，控制器6首先控制行进组件2带动机身1行进，使得清洁组件4的位置移动到传感器51(X)检测到的污渍的上方位置，进一步使得清洁组件4能够对传感器51(X)检测到的污渍进行上述实施例中的擦拭过程。擦拭干净传感器51(X)检测到的污渍后，控制器6再控制行进组件2带动机身1行进，使得清洁组件4的位置移动到传感器51(Y)检测到的污渍的上方位置，进一步使得清洁组件4能够对传感器51(Y)检测到的污渍进行上述实施例中的擦拭过程。As an optional implementation manner, as shown in FIG. 2 , the sensor assembly 5 may include a plurality of sensors 51 , and the plurality of sensors 51 are evenly distributed on the bottom of the fuselage 1 . Setting multiple sensors 51 can expand the detection range and detect more difficult stains more accurately. Specifically, the sensor 51(X), the sensor 51(Y), and the sensor 51(Z) shown in FIG. 2, when the sensor 51(X) and the sensor 51(Y) detect the more difficult stains at the same time, it means that the sensor 51(X) and sensor 51(Y) detect difficult stains in the area, the controller 6 first controls the traveling assembly 2 to drive the fuselage 1 to travel, so that the position of the cleaning assembly 4 moves to the position detected by the sensor 51(X). The upper position of the stains further enables the cleaning assembly 4 to perform the wiping process in the above embodiment on the stains detected by the sensor 51(X). After wiping off the stains detected by the sensor 51(X), the controller 6 then controls the traveling assembly 2 to drive the fuselage 1 to travel, so that the position of the cleaning assembly 4 moves to the position above the stains detected by the sensor 51(Y), further making The cleaning assembly 4 can perform the wiping process in the above embodiment on the stains detected by the sensor 51(Y).
由以上技术方案可知，本申请所述的一种拖地机器人，能够在传感器组件5检测到较难处理的污渍时，通过控制器6控制行进组件2停止带动机身1行进，同时带动机身1下降。机身1在行进过程中，吸附组件3并不接触地面，机身1下降后，吸附组件3接触地面。吸附组件3接触地面后，控制吸附组件3开启，吸附组件3将机身1吸附在地面上。清洁组件4在机身1下降之前已经接触地面，下降之后清洁组件4与污渍的接触面积更大，对污渍产生的压力也更大。同时控制清洁组件4开启，清洁组件4可往复摆动，从而对污渍形成往复的摩擦力。本申请的拖地机器人在遇到较难处理的污渍时，能够通过上述方式增加清洁组件4与地面之间的摩擦力，同时往复擦拭污渍，因而能够更容易擦拭顽固污渍，不需要用户再手动擦拭一遍，提升用户体验。It can be seen from the above technical solutions that the mopping robot described in the present application can control the traveling assembly 2 to stop driving the fuselage 1 through the controller 6 when the sensor assembly 5 detects difficult stains, while driving the fuselage. 1 drop. During the traveling process of the fuselage 1, the adsorption component 3 does not contact the ground. After the fuselage 1 descends, the adsorption component 3 contacts the ground. After the adsorption component 3 contacts the ground, the adsorption component 3 is controlled to be turned on, and the adsorption component 3 adsorbs the fuselage 1 on the ground. The cleaning component 4 has already contacted the ground before the body 1 descends, and after the descending, the cleaning component 4 has a larger contact area with the stain, and generates a greater pressure on the stain. At the same time, the cleaning assembly 4 is controlled to be turned on, and the cleaning assembly 4 can swing back and forth, thereby forming a reciprocating frictional force on the stains. When encountering difficult stains, the mopping robot of the present application can increase the friction force between the cleaning component 4 and the ground in the above-mentioned manner, and simultaneously wipe the stains back and forth, so that the stubborn stains can be wiped more easily without the need for the user to manually Wipe it again to improve user experience.
本申请提供的实施例之间的相似部分相互参见即可，以上提供的具体实施方式只是本申请总的构思下的几个示例，并不构成本申请保护范围的限定。对于本领域的技术人员而言，在不付出创造性劳动的前提下依据本申请方案所扩展出的任何其他实施方式都属于本申请的保护范围。Similar parts between the embodiments provided in the present application may be referred to each other. The specific embodiments provided above are just a few examples under the general concept of the present application, and do not constitute a limitation on the protection scope of the present application. For those skilled in the art, any other implementations expanded according to the solution of the present application without creative work fall within the protection scope of the present application.

Claims (8)

  1. 一种拖地机器人，其特征在于，包括：A mopping robot, characterized in that it includes:
    机身(1)；body (1);
    行进组件(2)，所述行进组件(2)设置于所述机身(1)的底部，所述行进组件(2)用于带动所述机身(1)行进，且可在所述机身(1)处于非行进状态时带动所述机身(1)升降；A traveling assembly (2), the traveling assembly (2) is disposed at the bottom of the fuselage (1), the traveling assembly (2) is used to drive the fuselage (1) to travel, and can be used in the fuselage (1). When the body (1) is in a non-travel state, the body (1) is moved up and down;
    吸附组件(3)，所述吸附组件(3)设置于所述机身(1)的底部，所述吸附组件(3)用于在所述机身(1)处于非行进状态时将所述机身(1)吸附在地面上；an adsorption assembly (3), the adsorption assembly (3) is arranged at the bottom of the fuselage (1), and the adsorption assembly (3) is used for attaching the fuselage (1) to a non-travel state The fuselage (1) is adsorbed on the ground;
    清洁组件(4)，所述清洁组件(4)设置于所述机身(1)的底部，所述清洁组件(4)的底面与地面接触，且可在所述机身(1)处于非行进状态时往复摆动；A cleaning assembly (4), the cleaning assembly (4) is disposed at the bottom of the body (1), the bottom surface of the cleaning assembly (4) is in contact with the ground, and the body (1) can be in a non- Swing back and forth when traveling;
    传感器组件(5)，所述传感器组件(5)设置于所述机身(1)的底部，所述传感器组件(5)用于检测地面上的污渍状态；a sensor assembly (5), the sensor assembly (5) is disposed at the bottom of the fuselage (1), and the sensor assembly (5) is used to detect the state of stains on the ground;
    控制器(6)，所述行进组件(2)、所述吸附组件(3)、所述清洁组件(4)以及所述传感器组件(5)分别电连接至所述控制器(6)。A controller (6), the traveling assembly (2), the suction assembly (3), the cleaning assembly (4) and the sensor assembly (5) are electrically connected to the controller (6), respectively.
  2. 根据权利要求1所述的一种拖地机器人，其特征在于，所述机身(1)的底部设置有行进组件容置槽(11)，所述行进组件(2)包括：The mopping robot according to claim 1, characterized in that, a traveling assembly accommodating groove (11) is provided at the bottom of the body (1), and the traveling assembly (2) comprises:
    行走机构(21)，所述行走机构(21)设置于所述机身(1)的底部，用于驱动所述机身(1)行进；a traveling mechanism (21), the traveling mechanism (21) is arranged at the bottom of the fuselage (1), and is used for driving the fuselage (1) to travel;
    升降机构(22)，所述升降机构(22)设置于所述行进组件容置槽(11)的内部，所述升降机构(22)包括固定导轨(221)和滑动导轨(222)，所述固定导轨(221)连接所述行进组件容置槽(11)的内部侧壁，所述滑动导轨(222)可沿所述固定导轨(221)滑动，所述行进组件容置槽(11)的底面上设置有第一电磁装置(223)，所述滑动导轨(222)的材质为磁性金属材质，所述滑动导轨(222)的底部连接所述行走机构(21)，所述第一电磁装置(223)通电后可使所述滑动导轨(222)向靠近所述第一电磁装置(223)的方向滑动或者可使所述滑动导轨(222)向远离所述第一电磁装置(223)的方向滑动；A lift mechanism (22), the lift mechanism (22) is arranged inside the travel component accommodating groove (11), the lift mechanism (22) includes a fixed guide rail (221) and a sliding guide rail (222), the The fixed guide rail (221) is connected to the inner side wall of the travel component accommodating groove (11), the sliding guide rail (222) can slide along the fixed guide rail (221), and the travel component accommodating groove (11) A first electromagnetic device (223) is arranged on the bottom surface, the material of the sliding guide rail (222) is a magnetic metal material, the bottom of the sliding guide rail (222) is connected to the walking mechanism (21), and the first electromagnetic device (223) After power-on, the sliding guide rail (222) can be slid in a direction close to the first electromagnetic device (223) or the sliding guide rail (222) can be moved away from the first electromagnetic device (223) direction slide;
    所述第一电磁装置(223)电连接至所述控制器(6)。The first electromagnetic device (223) is electrically connected to the controller (6).
  3. 根据权利要求2所述的一种拖地机器人，其特征在于，所述升降机构(22)包括两块所述固定导轨(221)，所述滑动导轨(222)的两侧分别与两块所述固定导轨(221)滑动连接。The mopping robot according to claim 2, characterized in that, the lifting mechanism (22) comprises two pieces of the fixed guide rails (221), and two sides of the sliding guide rail (222) are respectively connected with the two pieces of the fixed guide rails (222). The fixed guide rail (221) is slidably connected.
  4. 根据权利要求1所述的一种拖地机器人，其特征在于，所述机身(1)的底部设置有吸附组件容置槽(12)，所述吸附组件(3)包括：The mopping robot according to claim 1, wherein the bottom of the body (1) is provided with an adsorption component accommodating groove (12), and the adsorption component (3) comprises:
    吸附支撑块(31)，设置于所述吸附组件容置槽(12)的内部，且连接所述吸附组件容置槽(12)的内壁，所述吸附支撑块(31)为中空的方体；An adsorption support block (31) is disposed inside the adsorption component accommodating groove (12) and connected to the inner wall of the adsorption component accommodating groove (12), and the adsorption support block (31) is a hollow cuboid ;
    吸附盘(32)，设置于所述吸附支撑块(31)的底部且连接所述吸附支撑块(31)；an adsorption disk (32), arranged at the bottom of the adsorption support block (31) and connected to the adsorption support block (31);
    抽真空泵(33)，设置于所述吸附支撑块(31)的侧壁上，且通过连通管(34)与所述吸附支撑块(31)的内部相连通，所述抽真空泵(33)电连接至所述控制器(6)。A vacuum pump (33) is arranged on the side wall of the adsorption support block (31), and communicates with the interior of the adsorption support block (31) through a communication pipe (34), and the vacuum pump (33) is electrically connected to the controller (6).
  5. 根据权利要求1所述的一种拖地机器人，其特征在于，所述机身(1)的底部设置有清洁组件容置槽(13)，所述清洁组件(4)包括：The mopping robot according to claim 1, characterized in that, a cleaning component accommodating groove (13) is provided at the bottom of the body (1), and the cleaning component (4) comprises:
    拖布支板(41)，通过四个连接板(42)连接所述清洁组件容置槽(13)的侧壁，所 述连接板(42)的一端可绕与所述清洁组件容置槽(13)的侧壁连接的连接点转动，所述连接板(42)的另一端可绕与所述拖布支板(41)连接的连接点转动；A mop support plate (41) is connected to the side wall of the cleaning component accommodating groove (13) through four connecting plates (42), and one end of the connecting plate (42) can be wound around the cleaning component accommodating groove ( 13) The connection point connected to the side wall of the mop is rotated, and the other end of the connection plate (42) can be rotated around the connection point connected with the mop support plate (41);
    摆动机构(43)，所述摆动机构(43)包括设置于所述机身(1)底部的摆动驱动电机(431)，所述摆动驱动电机(431)的电机轴(432)的一端设置有凸轮(433)；A swing mechanism (43), the swing mechanism (43) includes a swing drive motor (431) disposed at the bottom of the body (1), and one end of a motor shaft (432) of the swing drive motor (431) is provided with cam(433);
    所述拖布支板(41)的远离所述摆动机构(43)的一侧设置有拖布(411)，所述拖布支板(41)的远离所述摆动驱动电机(431)的一面设置有驱动圆柱(412)，所述凸轮(433)始终与所述驱动圆柱(412)接触；A mop (411) is provided on the side of the mop support plate (41) away from the swing mechanism (43), and a drive motor (431) is provided on the side of the mop support plate (41) away from the swing drive motor (431). a cylinder (412), the cam (433) is always in contact with the driving cylinder (412);
    所述摆动驱动电机(431)电连接至所述控制器(6)。The swing drive motor (431) is electrically connected to the controller (6).
  6. 根据权利要求5所述的一种拖地机器人，其特征在于，所述拖布支板(41)的中间段设置有加压块容置槽(413)，所述加压块容置槽(413)的内部设置有加压块(414)，所述加压块(414)可沿所述加压块容置槽(413)的侧壁滑动，所述机身(1)底部设置有第二电磁装置(415)，所述加压块(414)为磁性金属材质，所述第二电磁装置(415)与所述加压块(414)之间设置有弹簧(416)，所述加压块(414)远离所述第二电磁装置(415)的一面与所述拖布(411)接触；The mopping robot according to claim 5, characterized in that a pressure block accommodating groove (413) is provided in the middle section of the mopping support plate (41), and the pressure block accommodating groove (413) ) is provided with a pressure block (414) inside, the pressure block (414) can slide along the side wall of the pressure block accommodating groove (413), and the bottom of the body (1) is provided with a second An electromagnetic device (415), the pressing block (414) is made of magnetic metal material, a spring (416) is arranged between the second electromagnetic device (415) and the pressing block (414), and the pressing The side of the block (414) away from the second electromagnetic device (415) is in contact with the mop (411);
    所述第二电磁装置(415)开启后所述弹簧(416)保持拉伸状态，所述第二电磁装置(415)关闭后所述弹簧(416)保持自由状态，所述第二电磁装置(415)通电后可使所述加压块(414)向远离所述第二电磁装置(415)的方向滑动，所述第二电磁装置(415)电连接至所述控制器(6)。After the second electromagnetic device (415) is turned on, the spring (416) remains in a stretched state, and after the second electromagnetic device (415) is turned off, the spring (416) remains in a free state, and the second electromagnetic device (415) 415) After power-on, the pressing block (414) can be slid away from the second electromagnetic device (415), and the second electromagnetic device (415) is electrically connected to the controller (6).
  7. 根据权利要求5所述的一种拖地机器人，其特征在于，所述拖布支板(41)的中间段设置有加压块容置槽(413)，所述加压块容置槽(413)的内部设置有加压块(414)，所述加压块(414)可沿所述加压块容置槽(413)的侧壁滑动，所述机身(1)的底部设置有汽缸(417)，所述汽缸(417)通过推动杆(418)连接所述加压块(414)，所述加压块(414)远离所述汽缸(417)的一面与所述拖布(411)接触，所述汽缸(417)电连接至所述控制器(6)。The mopping robot according to claim 5, characterized in that a pressure block accommodating groove (413) is provided in the middle section of the mopping support plate (41), and the pressure block accommodating groove (413) ) is provided with a pressure block (414) inside, the pressure block (414) can slide along the side wall of the pressure block accommodating groove (413), and the bottom of the fuselage (1) is provided with a cylinder (417), the cylinder (417) is connected to the pressure block (414) through a push rod (418), the side of the pressure block (414) away from the cylinder (417) and the mop (411) contact, the cylinder (417) is electrically connected to the controller (6).
  8. 根据权利要求1所述的一种拖地机器人，其特征在于，所述传感器组件(5)包括多个传感器(51)，多个所述传感器(51)均匀分布在所述机身(1)的底部。The mopping robot according to claim 1, characterized in that the sensor assembly (5) comprises a plurality of sensors (51), and the plurality of sensors (51) are evenly distributed on the body (1) bottom of.
PCT/CN2020/111898 2020-08-27 2020-08-27 Mopping robot WO2022041075A1 (en)

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