CN220778250U - Robot, cleaning device and blocking mechanism thereof - Google Patents

Abstract

The application discloses cleaning device's blocking mechanism, robot and cleaning device thereof, blocking mechanism includes: the connecting piece is fixed on the side of the brush disc mechanism and provided with a clamping channel extending in the direction of the side; and the blocking piece is used for blocking the solid garbage from entering the disc brushing mechanism when the robot executes cleaning operation and comprises a clamping structure which correspondingly enters or leaves the clamping channel, so that the blocking piece is detachably arranged on the connecting piece. This application utilizes the connecting piece to set up blocking piece detachably at brush dish mechanism's avris, not only can block solid waste and get into brush dish mechanism and then improve clean effect when the cleaning operation is carried out to the robot, can be convenient for moreover blocking the dismantlement and the installation of piece and then make blocking piece easily clear up and change.

Description

Robot, cleaning device and blocking mechanism thereof

Technical Field

The application relates to the technical field of robots, and in particular relates to a blocking mechanism of a cleaning device, a robot and the cleaning device thereof.

Background

In areas requiring large cleaning areas, such as business, industrial, institutional, public buildings, etc., maintaining the cleanliness of the floor surface is a continuous and time consuming process. With the development of automation technology and artificial intelligence, robots are widely used in such applications to replace manual cleaning of surfaces to be cleaned, such as tiles, stones, bricks, wood, concrete, carpets and other common surfaces.

Taking a robot as an example of a floor cleaning robot, when the robot performs cleaning operation, the brush tray for scrubbing the surface to be cleaned often cannot collect garbage on the surface to be cleaned, and the existence of the garbage on the surface to be cleaned can affect the cleaning effect, damage the cleaning device, and the like. For example, the dirt and even scratch the surface to be cleaned can be caused by the dirt entering the rotating brush plate, and for example, the rubber of the water absorbing rake can be raised when the dirt enters the water absorbing rake for collecting sewage, so that residual sewage exists on the surface to be cleaned, and the cleaning effect is further affected.

At present, blocking parts such as brushes are usually fixedly arranged on the front side of the brush disc so as to block garbage from flowing to the brush disc, and further the cleaning effect of the robot can be improved. However, since the blocking member is directly fixed to the robot, a user cannot easily detach and install the blocking member and thus the brush is not easily cleaned and replaced.

Disclosure of Invention

In view of the above-mentioned drawbacks of the related art, an object of the present application is to provide a blocking mechanism of a cleaning device, a robot and a cleaning device thereof, which are used for overcoming the technical problems of difficult disassembly and installation caused by the fixed arrangement of a blocking member on the robot in the related art.

To achieve the above and other related objects, a first aspect of the present application provides a blocking mechanism of a cleaning device, the cleaning device including a brush plate mechanism mounted to a bottom of a robot chassis, the blocking mechanism comprising: the connecting piece is fixed on the side of the brush disc mechanism and provided with a clamping channel extending in the direction of the side; and the blocking piece is used for blocking the solid garbage from entering the disc brushing mechanism when the robot executes cleaning operation and comprises a clamping structure which correspondingly enters or leaves the clamping channel, so that the blocking piece is detachably arranged on the connecting piece.

In certain embodiments disclosed in the first aspect of the present application, the brush disc mechanism includes: the mounting seat is arranged at the bottom of the chassis of the robot, and the connecting piece is fixed on the mounting seat; the brush disc is rotatably arranged on the mounting seat and used for brushing the surface to be cleaned when rotating.

In certain embodiments disclosed in the first aspect of the present application, the blocking member further includes a blocking structure disposed on the engaging structure, and an avoidance area is disposed on a side of the engaging channel facing the surface to be cleaned, and the avoidance area allows the blocking structure to pass through in compliance when the engaging structure enters or leaves the engaging channel.

In certain embodiments disclosed in the first aspect of the present application, the width of the avoidance area is smaller than the width of the engagement structure, so as to prevent the blocking member from falling from the engagement channel.

In certain embodiments disclosed in the first aspect of the present application, the blocking structure is made of a flexible material or is configured as a brush body.

In certain embodiments disclosed in the first aspect of the present application, the connector comprises: a first frame; and the second frame body is compliant with the first frame body so as to form the clamping channel between the first frame body and the second frame body when the first frame body and the second frame body are fixed at the bottom of the robot chassis.

In certain embodiments disclosed in the first aspect of the present application, the first frame body includes a first fixing portion and a first bending portion; the second frame body comprises a second fixing part and a second bending part which is compliant with the first bending part, so that the second bending part is matched with the first bending part to form the clamping channel when the first frame body and the second frame body are respectively fixed at the bottom of the robot chassis through the first fixing part and the second fixing part.

In certain embodiments disclosed in the first aspect of the present application, the connector further comprises: the first stop part is rotatably blocked at the first port of the clamping channel so as to rotatably open the clamping channel for the clamping structure to enter or leave.

In certain embodiments disclosed in the first aspect of the present application, the rotation axis of the first stop portion is located at an upper side of the first stop portion, so that the first stop portion rotates under the action of gravity to block the first port of the clamping channel.

In some embodiments disclosed in the first aspect of the present application, the second bending portion bends and extends on an upper side of the first end of the clamping path to form a fixing plate, and the first stopping portion is rotatably connected to the fixing plate.

In certain embodiments disclosed in the first aspect of the present application, the connector further comprises: and the second stop part is blocked at the second port of the clamping channel to prevent the blocking piece from sliding out of the second end of the clamping channel.

In certain embodiments disclosed in the first aspect of the present application, the second stop portion is formed by bending the second bending portion toward the second port at the second end of the engagement path.

In certain embodiments disclosed in the first aspect of the present application, the connecting piece is fixed at a front side of the brush disc mechanism, and the blocking structure of the blocking piece enters or leaves the blocking channel from a left side or a right side of the robot.

A second aspect of the present disclosure provides a cleaning device for a robot, comprising: the brush disc mechanism is arranged at the bottom of the chassis of the robot and is used for brushing a surface to be cleaned when rotating; a blocking mechanism according to any one of the embodiments of the first aspect of the present application is disposed on an edge side of the brush disc mechanism, and is configured to block solid garbage from entering the brush disc mechanism when the robot performs a cleaning operation.

A third aspect of the present disclosure provides a robot comprising: the moving device comprises a driving wheel arranged at the bottom of the robot; the cleaning device according to the second aspect of the present application is disposed at the bottom of the robot, and is used for performing cleaning operation; and the control device is used for controlling the moving device and the cleaning device to work cooperatively.

To sum up, the application provides a cleaning device's blocking mechanism, robot and cleaning device thereof utilizes the connecting piece to set up blocking piece detachably at the avris of brush dish mechanism, not only can block solid rubbish and get into brush dish mechanism and then improve clean effect, prevent the scratch ground when the cleaning operation is carried out to the robot, can be convenient for moreover block the dismantlement and the installation of piece and then make blocking piece easily clear up and change.

Other aspects and advantages of the present application will become readily apparent to those skilled in the art from the following detailed description. Only exemplary embodiments of the present application are shown and described in the following detailed description. As those skilled in the art will recognize, the present disclosure enables one skilled in the art to make modifications to the disclosed embodiments without departing from the spirit and scope of the utility model as described herein. Accordingly, the drawings and descriptions herein are to be regarded as illustrative in nature and not as restrictive.

Drawings

The specific features of the utility model related to this application are set forth in the appended claims. The features and advantages of the utility model that are related to the present application will be better understood by reference to the exemplary embodiments and the drawings that are described in detail below. The drawings are briefly described as follows:

fig. 1 is a schematic structural view of a robot according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a cleaning device according to an embodiment of the present application.

Fig. 3 to 6 are schematic structural views of a blocking mechanism according to an embodiment of the present application at different viewing angles.

Fig. 7 is a schematic view showing a state of assembling and disassembling the blocking member in an embodiment of the present application.

Fig. 8 is a schematic structural view of a connector according to an embodiment of the present application.

Fig. 9 is a schematic diagram of a split structure of a connector according to an embodiment of the present application.

Fig. 10 shows a close-up view of the blocking mechanism of the embodiment of fig. 4 of the present application.

Fig. 11 shows a partial enlarged view of the blocking mechanism of the embodiment of fig. 5 of the present application.

Detailed Description

Further advantages and effects of the present application will be readily apparent to those skilled in the art from the present disclosure, by describing the embodiments of the present application with specific examples.

In the following description, reference is made to the accompanying drawings, which describe several embodiments of the present application. It is to be understood that other embodiments may be utilized and that structural, electrical, and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Although the terms first, second, etc. may be used herein to describe various elements or parameters in some examples, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter. For example, a first frame may be referred to as a second frame, and similarly, a second frame may be referred to as a first frame, without departing from the scope of the various described embodiments. The first and second frames are each described as one frame, but they are not the same frame unless the context clearly indicates otherwise.

Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or" and/or "as used herein are to be construed as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C). An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.

As described in the background art, the blocking member (for example, the brush) for blocking the flow of the garbage to the brush tray is often fixedly disposed on the robot, so that the blocking member is not easy to detach and install, that is, a tool is often required to detach and install the blocking member, even the robot needs to be turned over, and cleaning and replacement of the blocking member are inconvenient. For example, when the barrier is worn by dust or the barrier is stuck on the barrier, which is not easily dropped, after a long time use, the barrier needs to be cleaned or replaced, a user often needs to turn the robot over so that the bottom of the robot can face the user, and then the user uses a tool to detach the barrier for cleaning and then uses the tool to install the barrier on the robot.

In view of this, the application provides a cleaning device's blocking mechanism, robot and cleaning device thereof, wherein, set up blocking mechanism at cleaning device's brush dish mechanism's avris to blocking mechanism utilizes the block passageway on the connecting piece and can correspond to get into or leave on the blocking piece the block structure of block passageway, make blocking piece detachably sets up on the connecting piece. The application utilizes the connecting piece to set up blocking piece detachably at brush dish mechanism's avris, not only can block solid rubbish and get into brush dish mechanism and then improve clean effect, prevent the scratch ground when the cleaning operation is carried out to the robot, can be convenient for moreover blocking piece's dismantlement and installation and then make blocking piece easily clear up and change.

In a possible embodiment, the present application discloses a robot. In an embodiment, the robot is a robot capable of performing one or more tasks of washing, sweeping, dust collection, mopping, etc. of a surface to be cleaned. Accordingly, the robot is provided with a cleaning device and a water absorbing device, for example, for performing a floor washing operation, and one or more accessories or components in a water tank or the like containing fresh water or sewage, to complete the cleaning operation of the surface to be cleaned. The robot may also be referred to as a mobile robot, a floor scrubbing machine, an automatic floor scrubbing machine, a cleaning robot, etc. in some application scenarios, is a robotic device suitable for performing floor surface cleaning work of areas requiring high volumes of water or large area cleaning. The robot can be commanded by a user, such as an operator pushes, pulls or drives the robot to finish cleaning operation on the floor surface; for another example, an operator controls the robot to perform work through a hand-held remote controller or an application program loaded on the intelligent terminal. The robot can also automatically complete cleaning operation of the floor surface, for example, the robot can automatically complete the cleaning operation by running a pre-programmed program or rule. In the following embodiments of the present application, a robot that can autonomously perform positioning and navigation and autonomously complete a cleaning operation will be described as an example. In an embodiment, the robot is, for example, a floor scrubber.

In one embodiment, the surface to be cleaned refers to a floor surface, including tile, stone, brick, wood, concrete, carpet, and other common surfaces. The surface to be cleaned may also be referred to as a cleaning surface, floor, surface, walking surface, etc. In the following description, for convenience of understanding, a plane parallel to the surface to be cleaned, i.e., the floor surface, is referred to as a horizontal plane or a horizontal direction, and a plane perpendicular to the surface to be cleaned, i.e., the floor surface, is referred to as a vertical plane or a vertical direction.

Further, for convenience of description and understanding, in this application, the forward direction of the robot in operation is defined as forward direction, and correspondingly, the reverse direction of the forward direction in operation is defined as backward direction. It will be appreciated that the side of the robot in the direction of travel during operation is defined as the front side or front end and the side of the robot in the opposite direction away from the front side or front end is defined as the rear side or rear end. In order to facilitate the distinction between left and right sides, the robot is distinguished between left and right with reference to the direction of advance of the robot during operation.

Referring to fig. 1, a schematic structural diagram of a robot according to an embodiment of the present application is shown, and the robot includes a moving device 1, a cleaning device 2, and a control device (not shown), where the moving device 1 and the cleaning device 2 are disposed at the bottom of a chassis 3 of the robot, and the control device is disposed inside the robot, for example, inside the chassis 3.

The chassis 3 may be integrally formed of a material such as plastic, metal or other materials used in the art, including a plurality of preformed grooves, recesses, detents or the like for mounting or integrating associated devices, components, assemblies, mechanisms or the like on the chassis 3.

In an embodiment, the moving device 1 includes driving wheels 11 disposed at two opposite sides of the bottom of the chassis 3 of the robot, and the driving wheels 11 are driven by a first driving assembly to move the robot. Specifically, the driving wheel 11 is driven to drive the robot to perform reciprocating motion, rotating motion, or curved motion, etc. of backward and forward motion according to a planned movement track (for example, a planned path corresponding to the cleaning task), or to drive the robot to perform posture adjustment, and to provide two contact points between the robot and the surface to be cleaned.

In some embodiments, the moving device 1 further comprises a driven wheel 12, wherein the driven wheel 12 is arranged at the bottom of the chassis 3 of the robot and is positioned at an intermediate position on the front side of the robot, and the driven wheel 12 and the driving wheel 11 keep the balance of the robot in a motion state. It should be understood that the number of the driven wheels may be one or more, in other words, the number of the driven wheels may be configured correspondingly according to the requirement of the robot, for example, on the basis that one driven wheel is disposed at a middle position of the bottom of the chassis of the robot and is located at the front side of the robot, and on the basis that one driven wheel is disposed at positions of the left side and the right side of the front side of the robot, respectively.

The cleaning device 2 is arranged at the bottom of the chassis 3 of the robot, and the cleaning device 2 is used for executing cleaning operation. Referring to fig. 1 and 2, fig. 2 is a schematic structural view of a cleaning device according to an embodiment of the present application, and as shown, the cleaning device 2 includes a brush plate mechanism 20 and a blocking mechanism 21.

The brush disc mechanism 20 is arranged at the bottom of the chassis 3 of the robot, and the brush disc mechanism 20 is used for brushing the surface to be cleaned when rotating. The brush plate mechanism 20 includes a mounting base 200 and a brush plate 201. The upper side of the mounting seat 200 is used for being mounted at the bottom of the chassis 3 of the robot, and the lower side of the mounting seat 200 is used for being mounted with the brush disc 201. The brush disc 201 is rotatably disposed on the mounting seat 200 and is used for brushing a surface to be cleaned when rotating, wherein the brush disc 201 comprises a brush body and a mounting portion, the mounting portion of the brush disc 201 is rotatably connected to the lower side of the mounting seat 200, the brush body is used for contacting the surface to be cleaned of the robot, and is rotated under the driving of a driving motor of the brush disc 201 to brush the surface to be cleaned, for example, the brush body is a disc, and the brush disc can rotate around a central axis in the vertical direction. In the following examples of the present application, the brush body is described by taking a disc type as an example.

In one embodiment, the brush body can be provided with a brush body or a cloth brush body so as to be wetted for washing the surface to be cleaned.

Although the number of brush discs 201 shown in fig. 2 is one and the brush bodies of the brush discs are disc-shaped, the number of the brush discs may be one or more, and the brush bodies may be disc-shaped or drum-shaped brush bodies.

In an embodiment, the brush disc mechanism 20 further includes an adjusting structure (not shown), the adjusting structure is disposed on the chassis 3, and a driving end of the adjusting structure is connected to the mounting base 200 to drive the mounting base 200 to move up and down, so that the mounting base 200 can drive the brush disc 201 to move up and down. In an example, the adjusting structure drives the mounting base 200 to drive the brush disc 201 to move up and down so that the working surface of the brush disc 201 is close to or far away from the surface to be cleaned, and when the working surface contacts with the surface to be cleaned, the adjusting structure continues to drive the mounting base to provide the brush disc 201 with the pressure tightly attached to the surface to be cleaned, and simultaneously, after the pressure of the brush disc 201 to the ground is increased, the rotational speed output of the driving motor of the brush disc 201 is increased, and similarly, after the pressure of the brush disc 201 to the ground is reduced, the rotational speed output of the driving motor of the brush disc 201 is reduced. Specifically, the robot adjusts the pressure of the brush tray 201 against the floor according to the dirt condition of the surface to be cleaned or the roughness of the surface to be cleaned. For example, when the surface to be cleaned is dirty, after the brush disc 201 lands, the adjusting structure of the robot applies a larger force for driving the mounting seat downwards, so that the brush disc 201 performs heavy cleaning on the surface to be cleaned under a complex working condition; for another example, when the surface of the surface to be cleaned is rough, that is, when the resistance of the surface to be cleaned against the brush disc 201 is large, the adjusting structure after the brush disc 201 is landed applies little or no force for driving the mounting seat downwards, so that the surface to be cleaned of the rough surface is properly cleaned, and the aim of cleaning is also achieved. By arranging the adjusting structure in the brush disc mechanism 20, different pressures can be applied to different surfaces to be cleaned, so that the cleaning effect is ensured and meanwhile, the electric energy is further saved.

In order to block solid waste (e.g. solid waste such as bags, pericarps, waste paper, beverage cans etc.) from entering the brush tray mechanism 20, the cleaning apparatus further comprises a blocking mechanism 21.

The blocking mechanism 21 is disposed at an edge side of the brush disc mechanism 20, and is configured to block solid garbage from entering the brush disc mechanism 20 when the robot performs a cleaning operation, so as to improve a cleaning effect of the robot cleaning operation. In the embodiment shown in fig. 1, the blocking mechanism 21 is disposed at the front side of the brush disc mechanism 20, but not limited thereto. In other embodiments, the blocking mechanism 21 may be further fixed on the left side and/or the right side of the brush disc mechanism 20, and in the embodiments described below, the blocking mechanism 21 is disposed on the front side of the brush disc mechanism 20.

Referring to fig. 1 to 6, fig. 3 to 6 are schematic views of a blocking mechanism according to an embodiment of the present application at different viewing angles, and as shown, the blocking mechanism 21 includes a connecting member 210 and a blocking member 211.

The blocking member 211 is used to block solid garbage from entering the brush tray mechanism 20 when the robot performs a cleaning operation. In an embodiment, please refer to fig. 7, which is a schematic diagram illustrating a detachable state of the blocking member in an embodiment of the present application, as shown in the drawing, the blocking member 211 includes a locking structure 2110 and a blocking structure 2111, the locking structure 2110 is configured to be locked with the connecting member 210, so that the blocking member 211 is detachably disposed on the connecting member 210, and the blocking structure 2111 is configured to block solid garbage from entering the brushing mechanism 20. The engagement structure 2110 may have a regular rectangular parallelepiped, square, cylindrical shape, or an irregular three-dimensional structure such as a curved shape. The blocking structure 2111 is disposed on the engaging structure 2110, for example, disposed on a lower side of the engaging structure 2110, and the blocking structure 2111 may be integrally formed with the engaging structure 2110 or may be disposed on the engaging structure 2110 by a fixed connection or the like. In an embodiment, the blocking structure 2111 may be made of a flexible material (e.g., rubber) or the blocking structure 2111 may be provided as a brush body.

In an embodiment, the blocking structure 2111 may be in contact with the surface to be cleaned in a forward state of the robot, i.e., when the robot moves in a forward direction indicated by a dotted arrow X in fig. 1, to block the solid garbage at the front side of the blocking structure 2111, thereby preventing the solid garbage from entering the brush tray mechanism 20 at the rear side thereof through the blocking structure 2111. In other examples, the blocking structure 2111 may not contact the surface to be cleaned, for example, a small distance exists between the blocking structure 2111 and the surface to be cleaned, for example, the distance may be any value from 1 mm to 3 mm.

In some embodiments, to avoid affecting the collection of liquid (e.g., milk, sewage, etc.) by the robot, and to prevent excessive liquid from accumulating on the front side of the barrier 2111, and affecting the cleaning effect, the barrier 2111 is further provided with a filtering function, i.e., solid waste of liquid or fine particles can enter the rear side of the barrier 2111 through the barrier 2111 to be collected by the robot. For example, when the blocking structure 2111 is provided as the brush body as described above, the liquid or the solid garbage of the fine particles passes through the slits of the brush body; as another example, a small distance between the blocking structure 2111 and the surface to be cleaned is controlled or the blocking structure 2111 is designed so that a filtering channel is formed between the blocking structure 2111 and the surface to be cleaned, so as to allow the liquid or the solid garbage of small particles to pass through.

In the embodiment shown in fig. 2, the connecting member 210 is fixed to the front side of the brush disc mechanism 20, and the connecting member 210 may be disposed on the front side of the brush disc mechanism 20 by a fixing structure such as a screw locking structure. In this embodiment, the connector 210 is fixed to the mounting base 200 of the brush disc mechanism 20, and further, the connector 210 is disposed on the front side of the mounting base 200. Fig. 2 is merely illustrative of one location of the connector, and in some embodiments, the connector 210 may be secured to the left and/or right side of the brush plate mechanism 20, such as specifically to the left and/or right side of the mount 200. In some embodiments, the connector 210 may also be directly fixed to the bottom of the robot chassis 3. It should be understood that the attachment to the bottom of the robot chassis may be understood as being fixed to the bottom of the robot chassis, and the attachment 210 is mounted to the bottom of the robot chassis by the mounting base 200 as shown in fig. 2, which may be considered as an embodiment of being fixed to the bottom of the robot chassis, and the attachment to the bottom of the robot chassis is understood as follows unless otherwise specified, and will not be repeated herein.

The connector 210 has a snap-in passage 2100 extending in the lateral direction. In an embodiment, please refer to fig. 8 in conjunction with fig. 1 to 7, fig. 8 is a schematic structural diagram of a connector in an embodiment of the present application, and as shown in the drawing, the connector 210 has a locking channel 2100 extending in a front direction of the brush disc mechanism 20, where the locking channel 2100 is used for the blocking member 211 to enter or leave, and further for the locking structure 2110 of the blocking member 211 to enter or leave. In this embodiment, when the cleaning device is installed at the bottom of the robot chassis, the engaging structure 2110 of the blocking member 211 enters or leaves the engaging channel 2100 from the left side or the right side of the robot, so that there is a sufficient space to facilitate the user to detach the blocking member 211.

Further, the engaging channel 2100 has a first port, a second port, and an accommodating space for accommodating the engaging structure 2110. The first port is located at a first end of the snap channel 2100, which allows the barrier 211 to enter or leave the receiving space. The second port is located at a second end of the snap channel 2100, the second end being an end opposite the first end. In other embodiments, the second port may not be provided, i.e., the snap channel 2100 has the first port and the receiving space. The first port is located at a first end of the engaging channel 2100, and the first port allows the blocking member 211 to enter or leave the accommodating space, and a second end of the engaging channel 2100 is in a closed state.

Referring to fig. 3, 7, and 8, a relief area 2101 is further disposed on a side of the engaging channel 2100 facing the surface to be cleaned, that is, an opening is disposed on a side of the engaging channel 2100 facing the surface to be cleaned, and the relief area 2101 allows the blocking structure 2111 to pass through in compliance when the engaging structure 2110 enters or leaves the engaging channel 2100. In one embodiment, the width of the relief area 2101 is less than the width of the engagement structure 2110, which prevents the stop 211 from falling out of the engagement channel 2100. The width of the avoidance area refers to the width of the avoidance area in the direction perpendicular to the direction of the passage of the engaging channel 2100 (the direction shown by the dotted line C in fig. 3), that is, the width of the blocking member 211 in the direction perpendicular to the direction of entering the engaging channel 2100, and the width of the engaging structure 2110 refers to the width of the engaging structure 2110 in the direction perpendicular to the passage (the direction shown by the dotted line C in fig. 3) when the engaging structure 2110 is installed in the engaging channel 2100, and in one example, the width of the bottom surface of the engaging structure 2110 may be used as the width of the engaging structure 2110, but is not limited thereto. Note that, the width of the avoiding area 2101 may be sufficient to enable the stopper 211 to be engaged with the engaging channel 2100, for example, when the width of the engaging structure is not the same, it may be sufficient that the maximum width of the engaging structure is larger than the width of the avoiding area.

In an embodiment, the connector 210 may be an integrally formed structure, and the engaging channel 2100 is formed during the process of integrally forming the connector 210.

In another embodiment, please refer to fig. 8 and 9, fig. 9 is a schematic diagram showing a disassembly structure of a connector according to an embodiment of the present application, as shown in the drawing, the connector includes a first frame 2102 and a second frame 2103, the second frame 2103 conforms to the first frame 2102, and then when the first frame 2102 and the second frame 2103 are fixed to the bottom of the robot chassis (for example, when fixed to a brushing mechanism), the engagement channel 2100 is formed between the first frame 2102 and the second frame 2103. Specifically, the first frame and the second frame may have a curved plate-like structure, and the engagement channel may be formed between the first frame and the second frame, or between the first frame and the second frame after the first frame is joined or engaged with the second frame. For example, the first frame 2102 is fixed to the tray brushing mechanism, then the second frame 2103 and the first frame 2102 are spliced together and then fixed to the tray brushing mechanism, and after the fixing is completed, the engaging channel 2100 is formed between the first frame 2102 and the second frame 2103. For another example, after the first frame body and the second frame body are correspondingly fixed together, the clamping channel is formed between the first frame body and the second frame body, and then the connecting piece fixed together is fixed on the brush disc mechanism. It should be noted that, the structure and the installation mode of the first frame body and the second frame body are not limited, and only the two are required to be spliced or clamped to form the clamping channel.

In a specific embodiment, the first frame 2102 includes a first fixing portion 21020 and a first bending portion 21021, and the first fixing portion 21020 and the first bending portion 21021 may be integrally formed. The first fixing portion 21020 is used for fixing the first frame 2102 to the bottom of the robot chassis (for example, to the brush tray mechanism), for example, the first fixing portion 21020 includes a plurality of through holes for fixing, and screws pass through the through holes to fix the first frame 2102. The first bent portion 21021 corresponds to an L-shaped portion of the first frame 2102 shown in fig. 9, and is configured to form the engaging channel 2100 with the second frame 2103. The second frame 2103 includes a second fixing portion 21030 and a second bending portion 21031 conforming to the first bending portion 21021. The second fixing portion 21030 and the second bending portion 21031 may be integrally formed. The second fixing portion 21030 is configured to fix the second frame 2103 to a bottom of the robot chassis, so that the second bending portion 21031 cooperates with the first bending portion 21021 to form the engaging channel 2100 when the first frame 2102 and the second frame 2103 are respectively fixed to the brushing mechanism by the first fixing portion 21020 and the second fixing portion 21030. For example, the second fixing portion 21030 also includes a plurality of through holes for fixing, and when the first frame 2102 and the second frame 2103 are fixed to the brush tray mechanism by the first fixing portion 21020 and the second fixing portion 21030, the plurality of through holes of the second fixing portion 21030 are offset from the plurality of through holes of the first fixing portion 21020. Of course, the plurality of through holes of the second fixing portion 21030 may be covered on the plurality of through holes of the first fixing portion 21020 so that one screw is passed through the through holes of the two fixing portions (21020, 21030) to fix.

In an embodiment, referring to fig. 4, 7, 8, and 10, fig. 10 is a partial enlarged view of the blocking mechanism in the embodiment of fig. 4, and as shown in the drawing, the connector 210 further includes a first stop portion 2104, where the first stop portion 2104 is rotatably blocked at the first port of the engaging channel 2100, so that the engaging structure 2110 can enter or leave when the engaging channel 2100 is opened by rotation. Specifically, as shown in fig. 4 and 7, the first stopping portion 2104 may rotate around an axis in a plane parallel to the first port, and after the blocking member 211 enters the engaging channel 2100, the first stopping portion 2104 may block the first port of the engaging channel 2100 to prevent the blocking member 211 from sliding off from the first port. When the user needs to detach or install the blocking member 211, the user rotates the first stopping portion 2104 to open the first port of the engaging channel 2100, and thus the engaging structure 2110 of the blocking member 211 can enter or leave the engaging channel 2100. Although, in the embodiment illustrated in the present application, the first stop portion 2104 rotates in a plane parallel to the first port, the first stop portion 2104 may also rotate up and down in a plane perpendicular to the first port.

In a specific embodiment, referring to fig. 4 and 11, fig. 11 is a partial enlarged view of the blocking mechanism in the embodiment of fig. 5, and the first stopping portion 2104 is movably disposed on the connecting member 210 by a movable engaging member 2105. The movable connector 2105 is, for example, a primary screw or a secondary screw or a shoulder screw, and the first stop portion 2104 and the connecting member 210 are provided with a screw hole or a through hole for connecting the movable connector 2105.

In an example, referring to fig. 5 and 11, the first stopping portion 2104 is movably disposed on the second bending portion 21031 of the second frame body, the second bending portion 21031 is bent and extended on the upper side of the first end of the engaging channel 2100 to form a fixing plate 21032, that is, the fixing plate is located at the first end of the engaging channel 2100 and located on the upper side of the first port, the first stopping portion 2104 may be rotatably connected to the fixing plate 21032 by the movable linking member 2105, for example, the movable linking member 2105 penetrates through the first stopping portion 2104 and the fixing plate 21032 in a first direction (a direction perpendicular to the first port) to fix the first stopping portion 2104 on the connecting member 210, but not limited thereto, the first stopping portion 2104 may also be connected to the first stopping portion of the first frame body, for example, the first stopping portion 2104 may be connected to the first bending portion 2104 on the first bending portion of the first end of the engaging channel.

As shown in fig. 11, when the first stopping portion 2104 is movably disposed on the connecting member 210 by the movable engaging member 2105, a gap for allowing the first stopping portion 2104 to rotate needs to be left at the engaging position, so that the first stopping portion 2104 can rotate relative to the connecting member 210 to close or open the first port of the engaging channel 2100. For example, the length L1 of the connecting portion of the movable engagement member 2105 in the first direction is greater than the sum L2 of the lengths of the first stopper 2104 and the fixed plate 21032 in the first direction.

In an embodiment, the rotation axis of the first stop portion is located at an upper side of the first stop portion, so that the first stop portion can automatically rotate to cover the first port of the clamping channel under the action of gravity, wherein the rotation axis of the first stop portion is a center around which the first stop portion rotates. For example, the rotation axis may be a position where a through hole is formed in the first stop portion. When the blocking piece is installed in the clamping channel, the user can stir the first blocking portion to enable the blocking piece to rotate around the rotation axis so as to open the first port, the user can insert the blocking piece into the clamping channel, and after the blocking piece enters the clamping channel, the user can automatically rotate and fall down under the action of gravity to block the first port after releasing the hand.

Referring to fig. 6, the connector 210 further includes a second stopping portion 21033, where the second stopping portion 21033 covers the second port of the locking channel to prevent the blocking member 211 from sliding out of the second end of the locking channel. In the embodiment shown in fig. 6, the second stopping portion 21033 is formed by bending the second bending portion 21031 at the second end of the clamping path towards the second port, and the second stopping portion 21033 may completely block the second port or partially block the second port, so long as it is ensured that the blocking member 211 cannot slide out from the second end of the clamping path, the second stopping portion may limit the blocking member 211 in the clamping path to prevent the blocking member 211 from sliding out from the second end, and the structure of the connecting member is simpler. The second stop portion may be disposed at another position of the connector 210, for example, at the second fixing portion 21030 or the first bending portion 21021.

In other embodiments, the structure of the second stop portion and the connection manner thereof with the connector 210 may be the same as or similar to that of the first stop portion 2104, which will not be described herein.

It should be noted that the blocking mechanism of the cleaning device in the embodiments of the present application may also be applied to robots of other structures or cleaning devices of robots.

Referring to fig. 1 again, the robot further includes a water absorbing rake assembly 4, where the water absorbing rake assembly 4 is disposed at the bottom of the robot chassis 3 and located at the rear side of the cleaning device 2, and is used for collecting sewage generated after the cleaning device 2 washes the surface to be cleaned. In an embodiment, the water absorbing rake assembly comprises a water absorbing rake, a water absorbing port, a water absorbing pipe and a lifting assembly, wherein the lifting assembly is arranged at the rear side/tail part of the robot chassis 3 in a lifting manner, the water absorbing rake is clamped at the edge of the rear side/tail part of the chassis through the lifting assembly, and the water absorbing rake is connected with the lifting assembly, so that the water absorbing rake can be well contacted with a surface to be cleaned, and the cleaning effect is ensured; a middle cavity is formed around the edge of the bottom of the water absorbing harrow, a water absorbing port is arranged on the inner wall of the middle cavity of the water absorbing harrow, the water absorbing port is connected with a water absorbing pipe, and the robot can absorb sewage collected by the water absorbing harrow into a sewage tank through the water absorbing port. Specifically, in an embodiment, the water absorbing rake is closely contacted with the surface to be cleaned, sewage is collected in the cavity in the travelling process of the cleaning robot, the sewage flows into the water absorbing pipe from the suction inlet, and is absorbed into the sewage tank under the negative pressure effect of the water absorbing pipe, so that the ground is not polluted.

In one embodiment, the robot further includes a foul water tank for storing purified water to wet the brush body of the brush tray 201 through a water spray structure connected to the clean water tank, and a clean water tank for storing foul water collected by the water suction rake assembly.

In a specific embodiment, the foul water tank is formed to be located at an upper portion of the fresh water tank, i.e., at an upper portion of the robot with respect to the fresh water tank, for example, the fresh water tank and the foul water tank have overlapping regions in a vertical direction, and the foul water tank is nested on the fresh water tank to be combined with the base plate 3 to be covered on a top opening of the fresh water tank, and in this configuration, the foul water tank serves as a cover of the fresh water tank to seal the fresh water tank, and in a specific embodiment, a sealing structure is provided between the foul water tank and the fresh water tank, by which an opening of the top of the fresh water tank can be sealed. The fresh water tank and the foul water tank may be integrally formed using plastic, metal or other materials used in the art, the fresh water tank may be a recess structure integrally formed at the top of the bottom plate, the foul water tank may be provided in a hollow structure with an opening facing upward to form a built-in receiving space for recovering foul water collected by the robot, and the foul water tank and the bottom plate may be detachably combined by various suitable means such as screws, snaps, etc.

The control device of the robot is arranged on the robot and used for controlling each part on the robot body to work. For example, the control device may be used to control the mobile device and the cleaning device to work cooperatively to perform cleaning operations, as well as to perform positioning, mapping, navigation, etc. using navigation techniques. In an embodiment, the control means are arranged on the front side of the chassis 3.

In some embodiments, the control device includes a memory, a processor, and an interface unit.

The processor may be used to read and execute computer readable instructions. In particular implementations, the processor may include primarily a controller, an operator, and registers. The controller is mainly responsible for instruction decoding and sending out control signals for operations corresponding to the instructions. The arithmetic unit is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations, logic operations, and the like, and may also perform address operations and conversions. The register is mainly responsible for storing register operands, intermediate operation results and the like temporarily stored in the instruction execution process. In a specific implementation, the hardware architecture of the processor may be an Application Specific Integrated Circuit (ASIC) architecture, a MIPS architecture, an ARM architecture, an NP architecture, or the like. The number of processors may be one or more, for example: the processors may include application processors (application processor, AP), modem processors, graphics processors (graphics processing unit, GPU), image signal processors (image signal processor, ISP), controllers, video codecs, digital signal processors (digital signal processor, DSP), baseband processors, and/or neural network processors (neural-network processing unit, NPU), etc. Wherein the different processors may be separate devices or may be integrated in one or more processors.

The memory is coupled to the processor for storing various software programs and/or sets of instructions (e.g., storing software programs that control the cleaning robot to perform a preset number of back and forth reciprocations). In particular implementations, the memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The memory may store an operating system, such as an embedded operating system, for example uCOS, vxWorks, RTLinux. The memory may also store communication programs that may be used to communicate with a smart terminal, an electronic device, one or more servers, or additional devices.

In some embodiments, the control device further comprises at least one interface unit, each interface unit being respectively configured to output a visual interface, receive a human-computer interaction event generated according to an operation of a technician, and the like. For example, the interface unit includes, but is not limited to: a serial interface such as an HDMI interface or a USB interface, or a parallel interface, etc. In one embodiment, the interface unit further comprises a network communication unit, which is a device for data transmission using a wired or wireless network, including, but not limited to: an integrated circuit including a network card, a local area network module such as a WiFi module or a bluetooth module, a wide area network module such as a mobile network, and the like.

In some embodiments, the robot further includes a sensing component, where the sensing component is configured to sense a surrounding environment and an operating state of the robot and send sensed information to the control device, and the sensing component includes, for example, a sensing component such as a vision sensor, a laser sensor, and a signal transmission component such as a liquid level feedback.

In an embodiment, the robot further includes a control interface, for example, an interface with a plurality of preset physical keys, such as a start key, a travel key, a stop key, a working mode selection key, and the like; in another embodiment, the control interface is, for example, a liquid crystal display, and is configured to input related instructions to the control device by an operator through a touch screen, so as to control a working mode or a traveling mode of the robot.

The drawings of the present application are merely to illustrate the blocking mechanism of the cleaning device, the composition and positional relationship of the robot and the cleaning device, and are not intended to limit the structures of the respective components.

To sum up, the application discloses cleaning device's blocking mechanism, robot and cleaning device, through utilizing the connecting piece to set up blocking piece detachably at the avris of brush dish mechanism, not only can block solid rubbish and get into brush dish mechanism and then improve clean effect, prevent the scratch ground when the cleaning operation is carried out to the robot, can be convenient for moreover blocking piece's dismantlement and installation and then make blocking piece easily clear up and change.

The foregoing embodiments are merely illustrative of the principles of the present application and their effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those of ordinary skill in the art without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications and variations which may be accomplished by persons skilled in the art without departing from the spirit and technical spirit of the disclosure be covered by the claims of this application.

Claims (15)

1. A blocking mechanism for a cleaning device, the cleaning device comprising a brush plate mechanism mounted to a bottom of a robot chassis, the blocking mechanism comprising:

the connecting piece is fixed on the side of the brush disc mechanism and provided with a clamping channel extending in the direction of the side;

and the blocking piece is used for blocking the solid garbage from entering the disc brushing mechanism when the robot executes cleaning operation and comprises a clamping structure which correspondingly enters or leaves the clamping channel, so that the blocking piece is detachably arranged on the connecting piece.

2. The blocking mechanism of claim 1, wherein the brush disc mechanism comprises:

the mounting seat is arranged at the bottom of the chassis of the robot, and the connecting piece is fixed on the mounting seat;

The brush disc is rotatably arranged on the mounting seat and used for brushing the surface to be cleaned when rotating.

3. The blocking mechanism of claim 1, wherein the blocking member further comprises a blocking structure disposed on the engagement structure, a side of the engagement channel facing the surface to be cleaned being provided with a relief area that allows compliant passage of the blocking structure when the engagement structure enters or exits the engagement channel.

4. A blocking mechanism according to claim 3, wherein the width of the relief area is less than the width of the snap feature to prevent the blocking member from falling out of the snap channel.

5. A blocking mechanism according to claim 3, wherein the blocking structure is of flexible material or is provided as a brush.

6. The blocking mechanism of claim 1, wherein the connector comprises:

a first frame;

and the second frame body is compliant with the first frame body so as to form the clamping channel between the first frame body and the second frame body when the first frame body and the second frame body are fixed at the bottom of the robot chassis.

7. The blocking mechanism of claim 6, wherein the first frame comprises a first fixed portion and a first bent portion; the second frame body comprises a second fixing part and a second bending part which is compliant with the first bending part, so that the second bending part is matched with the first bending part to form the clamping channel when the first frame body and the second frame body are respectively fixed at the bottom of the robot chassis through the first fixing part and the second fixing part.

8. The blocking mechanism of any one of claims 1, 6 or 7, wherein the connector further comprises: the first stop part is rotatably blocked at the first port of the clamping channel so as to rotatably open the clamping channel for the clamping structure to enter or leave.

9. The blocking mechanism of claim 8, wherein the rotational axis of the first stop is located above the first stop such that the first stop rotates under gravity to block the first port of the snap channel.

10. The blocking mechanism of claim 7, wherein the second bending portion bends and extends on an upper side of the first end of the engagement channel to form a fixed plate, and the connecting member further comprises a first stop portion rotatably connected to the fixed plate.

11. The blocking mechanism of any one of claims 1, 6 or 7, wherein the connector further comprises: and the second stop part is blocked at the second port of the clamping channel to prevent the blocking piece from sliding out of the second end of the clamping channel.

12. The blocking mechanism of claim 7, wherein the connector further comprises a second stop formed by the second bend at the second end of the snap channel toward the second port.

13. The blocking mechanism of claim 1, wherein the connector is fixed to a front side of the brushhead mechanism, and the blocking member's snap-in structure enters or leaves the snap-in channel from either the left or right side of the robot.

14. A cleaning device for a robot, comprising:

the brush disc mechanism is arranged at the bottom of the chassis of the robot and is used for brushing a surface to be cleaned when rotating;

a blocking mechanism according to any one of claims 1 to 13, disposed on an edge side of the brush plate mechanism, for blocking solid waste from entering the brush plate mechanism when the robot performs a cleaning operation.

15. A robot, comprising:

the moving device comprises a driving wheel arranged at the bottom of the robot chassis;

the cleaning apparatus of claim 14, disposed at a bottom of the robot chassis, for performing a cleaning operation;

and the control device is used for controlling the moving device and the cleaning device to work cooperatively.