CN106510556A - Robot cleaner and cleaning robot system - Google Patents

Robot cleaner and cleaning robot system Download PDF

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Publication number
CN106510556A
CN106510556A CN201611175803.6A CN201611175803A CN106510556A CN 106510556 A CN106510556 A CN 106510556A CN 201611175803 A CN201611175803 A CN 201611175803A CN 106510556 A CN106510556 A CN 106510556A
Authority
CN
China
Prior art keywords
mopping
cleaning
clean robot
ground
robot
Prior art date
Application number
CN201611175803.6A
Other languages
Chinese (zh)
Inventor
张峻彬
林伟劲
Original Assignee
云鲸智能科技(东莞)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 云鲸智能科技(东莞)有限公司 filed Critical 云鲸智能科技(东莞)有限公司
Priority to CN201611175803.6A priority Critical patent/CN106510556A/en
Publication of CN106510556A publication Critical patent/CN106510556A/en

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4002Installations of electric equipment
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4002Installations of electric equipment
    • A47L11/4005Arrangements of batteries or cells; Electric power supply arrangements
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4013Contaminants collecting devices, i.e. hoppers, tanks or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4036Parts or details of the surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4072Arrangement of castors or wheels
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/408Means for supplying cleaning or surface treating agents
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4094Accessories to be used in combination with conventional vacuum-cleaning devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Abstract

The invention relates to the technical field of a cleaning robot, and especially relates to a robot cleaner and a cleaning robot system. According to the cleaning robot provided by the invention, two mopping pieces on a mopping unit can rotate in the same direction or reverse direction around a vertical axial line in relative to a chassis of the cleaning robot, and a collecting opening of a garbage collecting device is arranged in the middle of two mopping units. Thus the relative movement between the mopping piece and the ground during the mopping process includes movement of the whole cleaning robot on the ground and also includes rotating movement of the mopping piece in relative to the ground, thus the mopping force is enhanced, and the mopping effect of the mopping piece is further improved. Besides, the rotating mopping piece can sweep large particles, dust and other garbage on the ground, so that the garbage collecting device can collect garbage collected by the mopping piece of two mopping unit rotated around the vertical axial line, namely, the rotating mopping piece can play the sweeping function at the same time, and the cleaning robot becomes the integrated robot of sweeping and mopping.

Description

Clean robot and cleaning robot system
Technical field
The present invention relates to clean robot technical field, more particularly to a kind of clean robot and cleaning robot system.
Background technology
In recent years, with the development and the raising of family life level of social economy, furniture cleaning steps into intelligence People can be freed from household cleaning work by change, robotic epoch, the clean robot for arising at the historic moment, and effectively subtract Light work load of the people in terms of household cleaning, alleviates tired degree of the people during household cleaning is carried out.
Existing some clean robots can only realize cleaning function, and cannot realize the function that mops floor, it is difficult to effectively remove The stain being attached on ground, floor cleaning effect are undesirable.And, existing clean robot, its mopping part it is clear Clean to need by user to complete, during the entire process of cleaning ground, user needs frequently to participate in changing clothes dragging for clean robot Wipe part, this aspect can lead to not by user from during mopping floor thorough liberation out, increase user workload, the opposing party Face also easily affects mopping effect because changing clothes not in time, leads to not floor cleaning is clean.
Existing sweeping drags all-in-one, the rag for most commonly on the basis of sweeper adding lastblock wet, such as section's Butterworth Ground Bao Duoduo.This problem for dragging all-in-one maximum of sweeping is that robot has no idea automatically to clean or changes rag.And One piece of rag can not possibly clean whole house, so whole cleaning process is required for user frequently to participate in changing and clean robot Rag.During cleaning, robot pushes down rag close proximity to ground using the gravity of itself, and dragging rag scrape along the ground is carried out Cleaning.The relative motion on rag and ground is only to be formed by the mobile of robot itself, so the relative fortune of ground and mop It is dynamic less, it is impossible to reach the effect for being wiped repeatedly ground, so cleaning effect is poor.
The content of the invention
A technical problem to be solved by this invention is:It is existing to sweep the clean robot for dragging one, floor cleaning effect It is really undesirable.
In order to solve above-mentioned technical problem, first aspect present invention provides a kind of clean robot.The clean robot Including for driving the running gear, the floor cleaning for being cleaned to ground that the clean robot walked on the ground Device and refuse collector, the floor cleaning device include mopping device, and the mopping device includes two mopping lists Unit and mopping drive mechanism, the mopping unit includes the mopping part for mopping floor, in the drive of the mopping drive mechanism Under action, the mopping part of described two mopping units can relative to the chassis of the clean robot around vertical axis in the same direction or Rotate backward, the refuse collector is included for connecting collection port inside the refuse collector and outside, described Collection port is arranged on the middle part of described two mopping units, collects by described around vertical axis in order to the refuse collector The rubbish assembled by the mopping part of in the same direction or counter-rotational two mopping units.
Alternatively, the mopping unit and/or running gear are pivotably connected on the chassis of the clean robot, So that the mopping part of the mopping unit can be by being swung keeping contacting with ground with the uneven of landing ground.
Alternatively, mopping unit also includes cleaning item, and cleaning item is arranged on the edge of mopping part.
Alternatively, clean robot also includes jacking mechanism, and jacking mechanism is arranged on clean robot, and jacking mechanism is used In the front end and/or rear end of jack-up clean robot.
Alternatively, clean robot includes being arranged on the suspension arrangement at the road wheel of running gear, and suspension arrangement is used for Road wheel is made to keep elastic connection with the chassis of clean robot so that road wheel keeps contacting with ground.
Alternatively, the mopping drive mechanism includes two output shafts, described two output shafts and described two mopping lists Unit corresponds and arranges and for the contrary torque of described two mopping unit direction of transfer, and described two output shafts are erected To arrangement.
Alternatively, the mopping drive mechanism is also included for the contrary torque of described two output shaft direction of transfer Worm-and-wheel gear and/or gear mechanism.
Alternatively, the mopping drive mechanism includes endless screw electric motor and corresponds drive connection with described two output shafts Two turbines, the endless screw electric motor is used for output torque, and described two worm gears are engaged with the endless screw electric motor, with to described The contrary torque of two output shaft direction of transfer.
Alternatively, the endless screw electric motor includes two single start worm motors, and each described single start worm motor is respectively with one The individual worm gear engagement.
Alternatively, the refuse collector includes dust exhaust apparatus, and the dust exhaust apparatus includes dust box, filter screen, dedusting Blower fan, blower fan conduit and suction port, the collection port include the suction port of the dust exhaust apparatus, and the suction port is arranged on dust The bottom of box towards surface openings, the dedusting fan by blower fan conduit and dust box internal fluid communication so that rubbish Dust box can be entered by suction port in the presence of dedusting fan;The filter screen is located at dedusting fan and is connected with the fluid of dust box All on road;
The overall fore-and-aft direction along clean robot of the dust exhaust apparatus extends, and the mopping drive mechanism is arranged in described The both sides of dust exhaust apparatus.
Alternatively, mopping device also includes that be arranged at mopping unit rear scrapes gear structure, scrapes gear structure by rubbish And/or sewage carries out scraping gear to prevent rubbish and/or sewage from residuing on the ground crossed by mopping unit institute mopping.
Alternatively, the collection port be arranged on it is described around vertical axis are in the same direction or counter-rotational two mopping units before Side or the middle part at rear.
Alternatively, the refuse collector also includes baffle plate, and the baffle plate is downward-sloping by the collection port and extends To ground, for prevent by the rubbish that the floor cleaning device is flushed out diffuse to scope that the collection port can collect it Outward.
Another aspect of the present invention additionally provides a kind of cleaning robot system.The cleaning robot system includes that base station is above-mentioned Clean robot, the base station arrange independently of the clean robot and can for the clean robot charge and/or Clean the mopping part of the clean robot.
Alternatively, base station includes base station body and the mopping part cleaning device being arranged on the body of base station, mopping part cleaning Device is for being cleaned to the mopping part for mopping floor of clean robot;The mopping part cleaning device includes projection Structure, bulge-structure include lobe, and when mopping part cleaning device is cleaned to mopping part, lobe is connect with mopping part Touch;And/or, mopping part cleaning device includes cleaning roller, when mopping part cleaning device is cleaned to mopping part, cleaning rolling Wheel is contacted with mopping part.
Alternatively, during mopping part cleaning device mop part, mopping part cleaning device can with mopping part Relatively rotate, and/or, mopping part cleaning device being capable of relative movement with mopping part.
The clean robot of the present invention, two on mopping unit mopping part can be relative to the chassis of the clean robot In the same direction or rotate backward around vertical axis, and the collection port of refuse collector is arranged on the middle part of two mopping units.So In mopping process, the relative motion between mopping part and ground not only includes the overall movement on the ground of clean robot, Also include that mopping part, relative to the rotary motion on ground, such that it is able to strengthen the mopping dynamics of mopping, and increases dragging for mopping part Number of times is wiped, the mopping repeatedly to ground is realized, and then the mopping effect of mopping part can be improved.In addition, the mopping part of rotation is also The rubbish such as bulky grain thing and dust on ground can be swept up, in order to refuse collector collect by around vertical axis in the same direction or The rubbish assembled by the mopping part of counter-rotational two mopping units, that is, the mopping part for rotating are acted on while playing cleaning, are made Obtain the clean robot and become to sweep and drag one robot, function is more comprehensive, and floor cleaning is better, and due to without the need for arranging Special clearing apparatus is capable of achieving cleaning function, therefore, also allow clean robot dragging a body function with sweeping There is simpler structure and less volume simultaneously, be conducive to further realizing the miniaturization of clean robot and dexterityization.
And, the present invention is also by increase mopping part and the relative motion on ground, and enables mopping part relative to ground Face carries out the measure such as swinging, and further improves the cleaning effect of clean robot.
In addition also by setting up the base station independently of clean robot, and mopping part is cleaned using the base station, it is real Now the automated cleaning to mopping part, is conducive to further freeing user from during floor cleaning, mitigates the clear of user Clean burden, it is possible to prevent from affecting mopping effect because mopping part is changed clothes not in time.
By referring to the drawings to the present invention exemplary embodiment be described in detail, the present invention further feature and Its advantage will be made apparent from.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 illustrates the overall structure diagram of first embodiment of the invention cleaning robot system.
Fig. 2 illustrates the overall structure diagram of base station shown in Fig. 1.
Fig. 3 illustrates the configuration schematic diagram of Fig. 2.
Fig. 4 illustrates the structural representation of mopping part cleaning device in Fig. 2.
Fig. 5 illustrates scheme of installation of the liquid level detection device in the first storage organization.
Fig. 6 illustrates the integrally-built top perspective view of clean robot shown in Fig. 1.
Fig. 7 illustrates the integrally-built face upwarding stereogram of clean robot shown in Fig. 1.
Fig. 8 illustrates the configuration schematic diagram of Fig. 6.
Fig. 9 illustrates that clean robot shown in Fig. 6 removes upper shell and the structural representation after process circuit.
Figure 10 is illustrated.
Figure 11 illustrates the overall structure diagram of the mopping device of clean robot shown in Fig. 6.
Figure 12 illustrates the configuration schematic diagram of Figure 11.
Figure 13 illustrates swing degree of freedom of the mopping part under flexible connection block and horizontal rotating shaft effect in Figure 12.
Figure 14 illustrates the structural representation after the removal horizontal rotating shaft of mopping device shown in Figure 11.
Figure 15 illustrates swing degree of freedom of the mopping part under flexible connection block effect in Figure 14.
Figure 16 illustrates first modified example of Figure 13.
Figure 17 illustrates second modified example of Figure 13.
Figure 18 illustrates the 3rd modified example of Figure 13.
Figure 19 illustrates the air channel schematic diagram of the refuse collector of clean robot shown in Fig. 6.
Figure 20 illustrates the mopping device of clean robot shown in Fig. 6 and the position relationship schematic diagram of refuse collector.
Figure 21 illustrates that clean robot in first embodiment shown in Fig. 1 enters the process of base station under jacking mechanism effect.
During Figure 22 illustrates first embodiment shown in Fig. 1, clean robot is illustrated with the mated condition of base station into after base station Figure.
Figure 23 illustrates cleaning principle schematic of the base station to the mopping part of clean robot in first embodiment shown in Fig. 1.
Figure 24 illustrates the overall structure diagram of second embodiment of the invention cleaning robot system.
Figure 25 illustrates the overall structure diagram of base station shown in Figure 24.
Figure 26 illustrates the configuration schematic diagram of Figure 25.
Figure 27 illustrates the overall structure diagram of clean robot shown in Figure 24.
Figure 28 illustrates the configuration schematic diagram of Figure 27.
Figure 29 illustrates that clean robot shown in Figure 27 removes upper shell and the structural representation after upper casing capping.
Figure 30 illustrates that clean robot shown in Figure 27 removes the structural representation after lower casing is covered.
Figure 31 illustrates the configuration schematic diagram of mopping device shown in Figure 30.
Figure 32 a illustrate the package assembly sectional view of output shaft and mopping unit in Figure 31.
Figure 32 b illustrate the I close-up schematic views in Figure 32 a.
Figure 32 c illustrate the II close-up schematic views in Figure 32 b.
Figure 33 illustrates the configuration schematic diagram (omission dedusting fan) of refuse collector in second embodiment.
Figure 34 illustrates the air channel schematic diagram of refuse collector in second embodiment.
Motion schematic diagram when Figure 35 illustrates that clean robot in second embodiment enters base station.
Figure 36 illustrates a kind of modification of suction port and mopping setting position relation in first embodiment and second embodiment.
Figure 37 illustrates another kind of modification of first embodiment and second embodiment.
Figure 38 illustrates the overall structure diagram of the cleaning robot system of third embodiment of the invention.
Figure 39 illustrates the overall structure face upwarding stereogram of clean robot shown in Figure 38.
Figure 40 illustrates the structural representation after the removal upper shell of clean robot shown in Figure 38.
Figure 41 illustrates the schematic diagram of suction port and mopping setting position relation in figure 3rd embodiment.
Figure 42 has the knot of the clean robot of the mopping unit that can be rotated around horizontal axis in illustrating fourth embodiment Structure sketch.
Figure 43 illustrates the principle that the base station with cleaning roller is cleaned to the mopping part of clean robot shown in Figure 42 Schematic diagram.
Figure 44 illustrates a kind of modification of fourth embodiment clean robot shown in Figure 43.
Figure 45 illustrates a kind of modification of clean robot shown in Figure 44.
Figure 46 has the structure of the clean robot of the mopping unit for being capable of horizontal reciprocating movement in illustrating the 5th embodiment Sketch.
Figure 47 illustrates a kind of modification of the 5th embodiment clean robot shown in Figure 46.
Figure 48 and Figure 49 are shown respectively two kinds of modification structures of bulge-structure of the present invention.
Figure 50 illustrates the structure diagram of the clean robot for being provided with suspension arrangement at wheel.
Figure 51 illustrates the III close-up schematic views in Figure 50.
Figure 52 illustrates that clean robot passes in and out the process of base station based on the suspension arrangement shown in jacking mechanism and Figure 50.
Figure 53 illustrates that clean robot passes in and out the process of base station based on spigot surface and directive wheel.
Figure 54 illustrates the structure diagram of the cleaning robot system of sixth embodiment of the invention.
Figure 55 illustrates in sixth embodiment shown in Figure 54 view cleaned to clean robot by base station.
Figure 56 illustrates cleaning principle schematic of the base station to the mopping part of clean robot in another embodiment of the present invention.
Figure 57 shows the partial schematic diagram of the bottom of clean robot in the improvement embodiment of first embodiment of the invention.
Figure 58 shows the office of the bottom different from the visual angle of Figure 57 of the clean robot of Figure 57 illustrated embodiments of the present invention Portion's schematic diagram.
In figure:
1st, base station;
10th, base station body;101st, bracing frame;102nd, bracing frame bottom;
11st, mopping part cleaning device;111st, clean groove;112nd, lobe;1121st, bottom protrusion;1122nd, side projections; 113rd, feed liquor structure;114th, drainage structure;115th, guide plate;116th, spigot surface;117th, scrape block piece;118th, cleaning roller;119、 Directive wheel;
12nd, net liquid supply unit;121st, the first storage organization;1211st, casing;1212nd, case lid;1213rd, handle;1214、 Buckle;122nd, the first water pump;
13rd, soiling solution collection device;131st, the second storage organization;132nd, the second water pump;
14th, charging device;141st, charge sheet;
151st, the first conducting strip;152nd, the second conducting strip;153rd, the 3rd conducting strip;
2nd, clean robot;
20th, housing;201st, upper shell;2011st, upper casing capping;202nd, chassis;2021st, lower casing capping;203rd, escape groove;
21st, running gear;211st, road wheel;212nd, spring;213rd, support member;
22nd, floor cleaning device;221st, mopping device;2211st, mopping unit;22111st, mopping part;22112nd, platen; 2212nd, mopping drive mechanism;22121st, double-thread worm motor;22121 ', single start worm motor;22122nd, worm gear;22123rd, it is defeated Shaft;22124th, bearing;22125th, oil seal washer;2213rd, installation chassis;2214th, upper disk;2215th, lower wall;2216th, it is flexibly connected Block;2217th, magnetic absorption part;2218th, horizontal rotating shaft;2219th, scrape gear structure;222nd, clearing apparatus;2221st, side brush;
23rd, refuse collector;231st, dust box;2311st, baffle plate;2312nd, scraping blade;2312 ', round brush;2313rd, box body; 2314th, lid;2315th, handle;2316th, alignment pin;233rd, filter screen;233 ', Hai Pazhi;2331 ', extra large handkerchief paper support;234th, remove Dirt blower fan;235th, blower fan conduit;236th, suction port;237th, garbage blocking part;238th, filtering frame;
24th, jacking mechanism;
25th, collision sensing plate;251st, photographic head;252nd, charging contact;
26th, laser radar;261st, radar protection cap;
27th, control device;
28th, battery.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Below It is illustrative to the description only actually of at least one exemplary embodiment, never conduct is to the present invention and its application or makes Any restriction.Based on the embodiment in the present invention, those of ordinary skill in the art are not carrying out creative work premise Lower obtained every other embodiment, belongs to the scope of protection of the invention.
For known to person of ordinary skill in the relevant, technology, method and apparatus may be not discussed in detail, but suitable In the case of, the technology, method and apparatus should be considered to authorize a part for description.
In describing the invention, it is to be understood that limit parts using the word such as " first ", " second ", only It is for only for ease of and corresponding parts is distinguished, such as no Stated otherwise, above-mentioned word does not have a particular meaning, therefore not It is understood that as limiting the scope of the invention.
In addition, in describing the invention, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " laterally, Vertically, vertically it is normal that the orientation or position relationship indicated by, level " and " top, bottom " etc. is normally based on cleaning robot system The state definition for using, wherein, with the direction of advance of clean robot as front, correspondingly, with the retrogressing side of clean robot Xiang Weihou;The noun of locality " inside and outside " is referred to relative to inside and outside each part profile of itself.
Fig. 1-58 shows multiple embodiments of the cleaning robot system including base station of the present invention.Reference picture 1-58, this The clean robot 2 of invention, which is included for driving running gear 21 that clean robot 2 walked on the ground and for right The floor cleaning device 22 that ground is cleaned, floor cleaning device 22 include mopping device 221, and mopping device 221 includes dragging Unit 2211 is wiped, mopping unit 2211 includes mopping part 22111, and mopping part 22111 is used for mopping floor.
The clean robot 2 of the present invention, which includes the mopping part 22111 for mopping floor, therefore, it is possible to realize mopping floor Function, can remove the stain on ground, can improve floor cleaning effect.
In the present invention, in order to further improve the effect that mops floor, mopping unit 2211 is configured to relative to cleaner The chassis 202 of device people 2 rotates and/or horizontal reciprocating movement.So in mopping process, between mopping part 22111 and ground Relative motion not only includes the overall movement on the ground of clean robot 2, also including mopping part 22111 relative to ground rotation Transhipment is moved and/or horizontal reciprocating movement, such that it is able to strengthen the mopping dynamics of mopping part 22111, and increases mopping part 22111 Mopping number of times, repeatedly mopping of the realization to ground, and then the mopping effect of mopping part 22111 can be improved, wherein especially help The stain on ground is adhered in more thoroughly cleaning.Wherein preferably, mopping unit 2211 be configured to relative to The chassis 202 of clean robot 2 rotates, because the mopping part 22111 of rotation can also sweep up bulky grain thing and ash on ground The rubbish such as dirt, namely while playing cleaning effect so that clean robot 2 becomes to sweep and drags one robot, and function is more comprehensive, Floor cleaning is better, and due to need not arrange special clearing apparatus 222 i.e. be capable of achieving cleaning function, therefore, also so that Clean robot 2 can with sweep and drag a body function while have simpler structure and less volume, be conducive to into One step realizes the miniaturization of clean robot 2 and dexterityization.
Another kind of improved procedure of the effect that mops floor as further improvement, in the present invention, can also be by mopping unit 2211 are configured to be swung relative to chassis 202.Based on the setting, the mopping part 22111 of mopping unit 2211 can Kept contacting with ground by swinging relative to chassis 202 with the uneven of landing ground such that it is able to which ensureing should Two 22111 moment of mopping part close proximity to grounds of embodiment, this not only can effectively prevent leakage occur because of ground relief Drag phenomenon, so as to ensure to realize more thorough and more efficient cleaning to various ground, can also make clean robot 2 to landform more Complicated and diversified ground is cleaned, and effectively expands the scope of application of clean robot 2.
In addition, a kind of present invention also offers cleaning robot system including clean robot of the present invention 2.The cleaner Device people's system can further include the base station 1 that can be cleaned to mopping part 22111.The base station 1 includes base station body 10 and the mopping part cleaning device 11 that is arranged on base station body 10, mopping part cleaning device 11 is for clean robot 2 Mopping part 22111 is cleaned.
In the present invention, base station 1 can be being realized using modes such as ultrasonic clean, dry-cleaning or washings to mopping part 22111 Cleaning, wherein, preferred water-washing method because water-washing method is not only more easily implemented, cost is lower, and cleaning effect is cleaner, And the mopping part 22111 after water-washing method cleaning has certain moisture, can continue directly to input and mop floor work, without The step of mopping part 22111 is got wet by extra setting again, therefore, washing cleaning mode can further reduce user's participation, and It is further ensured that the seriality of the work of clean robot 2.
And in order that base station 1 has preferably cleaning effect, in the present invention, it is preferred to by mopping part cleaning device 11 with drag Wipe part 22111 and be set to what is can be movable relatively, for example, mopping part cleaning device 11 can be relatively rotated with mopping part 22111, And/or, mopping part cleaning device 11 so can be dragged in the cleaning of mopping part cleaning device 11 with 22111 relative movement of mopping part During wiping part 22111, mopping part 22111 is pressed on mopping part cleaning device 11, mopping part cleaning device 11 Frictional force is applied to mopping part 22111, such that it is able to improve the cleaning cleanliness of mopping part 22111, improves mopping part sanitizer cartridge Put 11 cleaning effect.Wherein, the generation of mopping part cleaning device 11 and 22111 relative motion of mopping part, can be mopping part One in cleaning device 11 and mopping part 22111 move another remains stationary, or mopping part cleaning device 11 with Mopping part 22111 is moved but the direction of motion and/or movement velocity are different.
In the present invention, mopping part cleaning device 11 could be arranged to include bulge-structure that bulge-structure includes lobe 112, when mopping part cleaning device 11 is cleaned to mopping part 22111, lobe 112 is contacted with mopping part 22111.Pass through Lobe 112 is set on mopping part cleaning device 11, the projection not only can be utilized during mop part 22111 Portion 112 is struck off to the sewage or rubbish on mopping part 22111, is realized more thoroughly cleaning mopping part 22111, and is prevented The mopping part 22111 for completing to clean is undue moist, and, being capable of relative fortune in mopping part cleaning device 11 and mopping part 22111 In the case of dynamic, lobe 112 can also produce planar friction motion with mopping part 22111, can further increase mopping part clear Clean device 11 and the frictional force of mopping part 22111, further improve mopping part cleaning device 11 and the cleaning of mopping part 22111 are imitated Really.
In addition, entering base station 1 for the ease of clean robot 2, the base station 1 of the present invention is preferably arranged to also include being arranged on Guide frame on mopping part cleaning device 11, the guide frame are used for guiding clean robot 2 relative to mopping part sanitizer cartridge 11 motions are put so that the turnover mopping part of mopping part 22111 cleaning device 11.Based on this, when needing that mopping part 22111 is carried out clearly When clean, clean robot 2 can be conveniently entered in base station 1 under the guide effect of the guide frame, makes mopping part 22111 Be cleaned in mopping part cleaning device 11, once and clean and finish, clean robot 2 again can be in the guide frame Under guide effect, base station 1 is successfully rolled away from, make mopping part 22111 leave mopping part cleaning device 11, it is seen then that the guide frame Setting, can cause that turnover of the clean robot 2 in base station 1 is all more convenient, this is favorably improved clean robot system The work efficiency of system.Wherein guide frame can include at least one of spigot surface, guide plate and directive wheel.
The present invention is carried out further with reference to each embodiment of the cleaning robot system shown in Fig. 1-58 Explanation.
Fig. 1-2 3 shows the first embodiment of cleaning robot system.
As shown in Fig. 1-2 3, in this first embodiment, cleaning robot system includes the cleaner of setting independent of one another , for carrying out to ground including the automated cleaning including mopping, base station 1 is then used for for device people 2 and base station 1, wherein clean robot 2 It is charged for clean robot 2 and the mopping part 22111 of clean robot 2 is cleaned.When 22111 mopping one of mopping part The section time, when clean robot 2 needs to charge and/or need mop part 22111, clean robot 2 being capable of auto-returned Base station 1, is charged at base station 1 and/or mopping part cleaning.
Fig. 6-20 shows the structure of the clean robot 2 in the first embodiment.As shown in Fig. 6-20, in first reality Apply in example, clean robot 2 is a mobile cleaning equipment, and which includes housing 20, running gear 21,22 and of floor cleaning device Refuse collector 23 etc..
Wherein, housing 20 constitutes the installation foundation of the other structures part of clean robot 2, provides for miscellaneous part and props up Support.From Fig. 6-8, the housing 20 of the embodiment includes upper shell 201 and chassis 202, running gear 21, floor cleaning device 22 and refuse collector 23 etc. are mounted on chassis 202, and upper shell 201 is then covered above chassis 202, for protection The structure member in hollow space between housing 201 and chassis 202, and keep integrally-built neat and attractive in appearance.
Running gear 21 drives clean robot 2 to exist for being the mobile offer driving force on the ground of clean robot 2 Walk on ground.From Fig. 7 and Fig. 8, the running gear 21 of the embodiment includes a pair of road wheels 211, this pair of road wheels 211 left and right sides for being symmetrically disposed in chassis 2, road wheel 211 rotate, before can realizing clean robot 2 on the ground Enter or retreat.Also, rotated by the differential of a pair of road wheels 211, the steering of clean robot 2 can be realized.
Floor cleaning device 22 is for being cleaned to ground.In this embodiment, floor cleaning device 22 includes mopping Device 221, the mopping device 221 include a pair of mopping units 2211, and each mopping unit 2211 includes 22112 He of platen Mopping part 22111, mopping part 22111 are installed on the lower surface of platen 22112, for mopping floor.
Mopping part 22111 can be the various parts that can carry out mopping to ground such as mop (or claiming rag) or sponge, The mopping part 22111 of the embodiment selects mop.And, mopping part 22111 is preferably detachably connected with platen 22112, for example, In this embodiment it is possible to mopping part 22111 is pasted on the lower surface of platen 22112 using VELCRO, in order to dismount Change mopping part 22111.
The mopping part 22111 and platen 22112 of the embodiment is rounded, and certainly, in other embodiments, the two also may be used To be set to the other shapes such as rectangle, and the two is shaped to circle and is advantageous in that by the embodiment, is more convenient for dragging Wipe the small spaces such as 2211 pairs of corners within doors of unit to be cleaned, and the rotation for being also more convenient for following is arranged.
It is poor in order to further solve the problems, such as existing clean robot mopping effect, can by Fig. 7-Figure 12 and Figure 20 Know, as it was previously stated, the mopping unit 2211 of the embodiment is configured to be rotated relative to chassis 202, dragged by increasing Wipe the relative rotation on unit 2211 and ground to improve the effect that mops floor.Rotation of the mopping unit 2211 relative to chassis 202 herein, Can both be the rotation around horizontal axis, or around the rotation of vertical axis, the wherein embodiment is preferably arranged to around perpendicular The rotation of straight axis, because the mopping part 22111 rotated around vertical axis can be realized more preferably mopping and clean effect.And And, when mopping device 221 includes at least two mopping units 2211, at least two mopping units 2211 can turn to it is identical, Difference can also be turned to, switchably can also carry out rotating in same direction and rotating backward, namely in certain a period of time this at least two Individual mopping unit 221 rotates backward and changes in another a period of time and rotate backward.Wherein, by by the mopping list of paired youngster Unit 2211 is set to rotate backward around vertical axis, additionally it is possible to mopping device 221 is played a part of rubbish to middle aggregation, Realize more preferable rubbish congregational rate.
As shown in figure 20, in this embodiment, two mopping units 2211 are rotated around vertical axis, but rotation direction phase Instead.Due to rotating backward around vertical axis, two mopping units 2211 can be by the rubbish for sweeping up to two mopping units 2211 In the middle of aggregation, therefore, the setting causes mopping device 221 while mopping and cleaning function is realized, moreover it is possible to play preferably Rubbish aggregation, be easy to more sufficiently thoroughly collect rubbish.Based on this, the mopping device 221 of the embodiment can be with this The refuse collector 23 of embodiment coordinates realizes cleaner cleaning effect, and this point will be said later in more detail It is bright.In addition, two mopping units 2211 be set to around vertical axis rotate backward when, two mopping units 2211 are produced because of rotation Direction conversely, can cancel out each other, can be prevented effectively from during cleaning and frictional force imbalance problem occur, have Help make clean robot 2 more smoothly walk according to projected route.
And in order to realize rotation of the mopping unit 2211 relative to ground, the mopping device 221 of the embodiment also includes mopping Drive mechanism 2212, the connection mopping of mopping drive mechanism 2212 unit 2211 and chassis 202, and for driving mopping unit 2211 are rotated relative to chassis 202, namely for driving mopping unit 2211 to be rotated relative to ground.Specifically, As illustrated in figs. 8-12, in this embodiment, mopping drive mechanism 2212 includes that endless screw electric motor, two worm gears 22122 and two are defeated Shaft 22123, wherein:Endless screw electric motor is used for providing torque for two mopping units 2211;Two worm gears 22122 and two outputs Axle 22123 correspondingly drive connection between endless screw electric motor and two output shafts 22123, each worm gear 22122 and worm screw Worm engaging on motor, i.e. worm gear 22122 form worm-and-wheel gear, and two worm gears with the worm screw on endless screw electric motor 22122 are driven with the worm engaging of endless screw electric motor such that it is able to the contrary torque of two 22123 direction of transfer of output shaft;Two 22123 drive connection of individual output shaft is between two worm gears 22122 and two mopping units 2211, and two output shafts 22123 Correspond with two mopping units 2211 and arrange, for torque in opposite direction is transferred to two mopping units respectively 2211, meanwhile, two output shafts 22123 are vertically arranged, driving effect of the two such mopping unit 2211 in endless screw electric motor Under rotate around respective output shaft 22123, i.e., can realize two 2211 rotating backward around vertical axis of mopping unit.
More specifically, as shown in figure 12, in this embodiment, endless screw electric motor is double-thread worm motor 22121, wherein:It is double Head endless screw electric motor 22121 is used as worm screw actuating unit, for output torque;Two worm gears 22122 and two mopping units 2211 Correspond and arrange, and engage with two worm screw heads of the both sides of double-thread worm motor 22121 respectively, and two worm gears 22122 With 22121 engaged transmission of double-thread worm motor.So when double-thread worm motor 22121 is rotated, power can be transferred to two Worm gear 22122, and by two worm gears 22122 to the contrary torque of two 22123 direction of transfer of output shaft, drive two outputs Axle 22123 drives two mopping units 2211 to rotate backward around vertical axis, simple and compact for structure, and transmission efficiency.
Also, from Figure 11 and Figure 12, the mopping device 221 of the embodiment also includes installation chassis 2213, upper disk 2214th, lower wall 2215, mopping drive mechanism 2212 are installed on chassis 202 by installation chassis 2213, upper disk 2214, lower wall 2215 On.Wherein, upper disk 2214 and lower wall 2215 are mutually fastened, and form a hollow space, each part of mopping drive mechanism 2212 Cooperation transmission is carried out in being arranged at the hollow space, and installation chassis 2213 is arranged on chassis 202, and lower wall 2215 is installed on On installation chassis 2213 so that mopping drive mechanism 2212 is installed on chassis 202.In addition, the mopping of the embodiment drives Mechanism 2212 also includes bearing 22124 and oil seal washer 22125, and wherein, bearing 22124 and oil seal washer 22125 are arranged at output shaft Between 22123 and worm gear 22122, realization is smoothly driven.
In addition, in this embodiment, mopping unit 2211 is pivotably connected on the chassis 202 of clean robot 2, is led to Crossing makes two 22111 moment of mopping part close proximity to grounds to improve the mopping effect of mopping device 221, and expands clean robot 2 The scope of application.
Specifically, the mopping unit 2211 of the embodiment can not only be swung centered on vertical axis, can be with Swung centered on horizontal axis, such mopping part 22111 has multiple swing degree of freedom, is advantageously implemented whole mopping Part 22111 was contacted with the moment on ground, is allow mopping part 22111 to better adapt to broken terrain, is realized cleaner Cleaning effect.
Wherein, in order to realize swing of the mopping unit 2211 centered on vertical axis, in this embodiment, such as Figure 12 institutes Show, be provided with flexible connection block 2216 between the output shaft 22123 of mopping unit 2211 and mopping drive mechanism 2212, the two passes through The flexible connection block 2216 connects.Flexible connection block 2216 can with mopping unit 2211 and/or mopping drive mechanism 2212 Dismounting connection.As used as a kind of flexible connecting structure, flexible connection block 2216 relatively freely can be deformed, therefore, when When clean robot 2 runs into broken terrain, the ground work that block 2216 can be transmitted in mopping part 22111 is flexibly connected Adaptability deformation is produced in the presence of firmly, drives mopping unit 2211 overall relative to chassis 202 (namely relative to ground) Produce the adaptability centered on the output shaft 22123 being vertically arranged to swing, and then keep the contact with ground.And, such as scheme 11st, shown in Figure 13 and Figure 15, each flexible connection block 2216 can provide the adjustment for swinging certainly for corresponding mopping unit 2211 By degree (i.e. the first swing degree of freedom I in Figure 13), swing mode is more various, can adapt to ground for greater flexibility.
It can be seen that, by arranging flexible connection block 2216 between output shaft 22123 and mopping unit 2211, it is possible to use soft Property contiguous block 2216 material deformation realizing swing of the mopping unit 2211 centered on vertical axis, and can be according to ground Rough degree the pendulum angle of mopping unit 2211 is adjusted flexibly so that 22111 moment of mopping part fits in ground Mopping is carried out on face, further improves mopping effect.
It should be noted that the flexible connecting structure for being applied to the embodiment be not limited to be flexibly connected block 2216 this The form of kind, other flexible connecting structures that can realize the swing of mopping unit 2211 using the deformation of own material are similarly It is suitable for.
And in order to realize swing of the mopping unit 2211 centered on horizontal axis, in this embodiment, mopping device 221 Horizontal rotating shaft 2218 is provided between chassis 202, and the two is connected by the horizontal rotating shaft 2218.Specifically, such as Figure 12 and Shown in Figure 13, what the horizontal rotating shaft 2218 of the embodiment was connected to chassis 202 and mopping device 221 is connected to two mopping lists Between the middle part of the power transmission shaft between unit 2211.The horizontal rotating shaft 2218 can provide a water for each mopping unit 2211 Flat rotary freedom (the second swing degree of freedom J i.e. shown in Figure 13) so that each mopping unit 2211 can be with landing ground It is uneven and swung centered on the horizontal rotating shaft 2218, so as to ensure that mopping part 22111 is contacted with ground.
It can be seen that, the embodiment is by arranging flexible connection block 2216 and horizontal rotating shaft 2218 simultaneously so that mopping part 22111 have multiple swing degree of freedom, can adapt to broken terrain for greater flexibility so that even if clean robot 2 is met 22111 close proximity to ground of mopping part can be also allowed to be cleaned to uneven landform, such that it is able to floor cleaning is obtained cleaner.
On the other hand, as shown in Figure 13, in this embodiment, due to being provided with level between mopping device 221 and chassis 202 Rotary shaft 2218, therefore contact of the mopping device 221 with ground is equivalent to a fulcrum, namely the mopping device of the embodiment 221 are supplied to 2 one fulcrums of clean robot, simultaneously as the contact of two road wheels 211 with ground is equivalent to two Point, therefore, on the whole, supported at three point mode between the clean robot 2 of the embodiment and ground, being formed, this causes the cleaner Device people 2 can moment three points of contact such that it is able to increases the overall operation stability of clean robot 2, is further ensured that cleaning Effect.
It should be noted that making mopping unit 221 be not limited to the embodiment swung by landing ground injustice State mode (i.e. mode shown in Figure 13), three kinds of alternate embodiments provided herein.
As a kind of alternative therein, the set location of horizontal rotating shaft 2218 as shown in figure 16, can also be changed, Horizontal rotating shaft 2218 is arranged between running gear 21 and chassis 202.Based on this alternative, running gear 21 and bottom Rotary shaft connected mode, the generally clean robot 2 of running gear 21 is adopted to provide a fulcrum between disk 202, meanwhile, mopping Each flexible connection block 2216 of device 221 provides the adjustment degree of freedom of two swings for each mopping unit 2211 so that drag Wipe when device 221 is contacted with ground and contact with ground equivalent to two fulcrums, namely mopping device 221 is carried for clean robot 2 For two fulcrums, it is seen then that the alternative still can make 22111 moment of mopping part close proximity to ground, and make clean robot 2 with ground Supported at three point mode is formed between face.Supported at three point in the alternative includes two fulcrums in front and one of rear Fulcrum, and the supported at three point in the mode shown in Figure 13 includes a fulcrum in front and two fulcrums at rear.
As other two alternative therein, as shown in Figure 17 and Figure 18, in this embodiment, can also omit aforementioned Flexible connection block 2216, and only between mopping device 221 and chassis 202 arrange horizontal rotating shaft 2218, or, be only expert at Horizontal rotating shaft 2218 is set between walking apparatus 21 and chassis 202.Using both alternative, although make mopping part 22111 The situation that the effect of moment close proximity to ground is swung centered on vertical axis simultaneously not as mopping unit 2211, but still can be real Existing mopping part 22111 and/or running gear 21 form aforementioned supported at three point, and structure relative to the Integral swinging on chassis 202 Simpler, cost is relatively low.
Refuse collector 23 is used for collecting the rubbish assembled by floor cleaning device 22, and which is included for connecting rubbish With outside collection port inside collection device 23, the rubbish assembled by floor cleaning device 22 is received from the collection port into rubbish The inside of acquisition means 23.
As shown in Fig. 7-9 and Figure 19, in this embodiment, refuse collector 23 includes dust box 231, filter screen 233, removes Dirt blower fan 234, blower fan conduit 235 and suction port 236, wherein:Dust box 231 includes box body 2313 and lid 2314, lid 2314 cover at the top end opening of box body 2313;Suction port 236 is arranged on the bottom of dust box 231, towards surface openings, with Rubbish is enable to enter in dust box 231 via the suction port 236;Dedusting fan 234 passes through blower fan conduit 235 and dust box 231 internal fluid communications, so that the rubbish such as dust can enter dust box by suction port 236 in the presence of dedusting fan 234 231;Filter screen 233 is then arranged on the sidepiece of dust box 231 and is located at the fluid communication passageway of dedusting fan 234 and dust box 231 Upper (in Figure 19, filter screen 233 is specifically located in the fluid communication passageway of blower fan conduit 235 and dust box 231), so that in wind Rubbish can be filtered by filter screen 233 and be stayed in dust box 231, and wind can continue to be taken away by dedusting fan 234.
As shown in figure 19, the outlet of dedusting fan 234 is so flowed by dedusting fan 234 towards double-thread worm motor 22121 The wind for going out can directly blow to double-thread worm motor 22121, and double-thread worm motor 22121 is radiated, and advantageously ensure that double The service behaviour of head endless screw electric motor 22121, extends the working life of double-thread worm motor 22121.
In a remodeling is implemented, the mopping drive mechanism is arranged in into the both sides of dust exhaust apparatus, so that dust exhaust apparatus Fore-and-aft direction that can be integrally along clean robot 2 extends.For example, double-thread worm motor 22121 can be replaced with two motors, Two motors pass through worm-and-wheel gear or gear mechanism exports power.So, it is easy to for two motors to be arranged in dust suction The both sides of device, it is to avoid cause to stop to dust exhaust apparatus because machine shaft crosses dust exhaust apparatus, dust exhaust apparatus wind can be made Road is more smooth, reduces the air intake resistance of dust exhaust apparatus, increases the air intake flow of dust exhaust apparatus, improves the dust suction effect of dust exhaust apparatus Really.
Operationally, dedusting fan 234 drives wind to drive rubbish via suction port to the refuse collector 23 of the embodiment 236 enter inside box body 2313, and rubbish is blocked by filter screen 233, and wind then enters blower fan conduit 235 through filter screen 233, and flow direction is removed Dirt blower fan 234, and finally taken away by dedusting fan 234.
It can be seen that, the refuse collector 23 of the embodiment is dust exhaust apparatus, and suction port 236 is as collection port.The embodiment It is advantageous in that as refuse collector 23 using dust exhaust apparatus, refuse collector 23 can apply captivation to rubbish, This not only can be such that more rubbish assembled by floor cleaning device 22 are collected more quickly, reduce rubbish on the ground Residual, and under suction, the rubbish of larger particles can also be drawn to inside refuse collector 23, therefore, adopt Be conducive to for floor cleaning obtaining cleaner as refuse collector 23 with dust exhaust apparatus.
In addition, as it was previously stated, in this embodiment, can be by around the counter-rotational two mopping units 2211 of vertical axis Rubbish is gathered between two mopping units 2211, therefore, rubbish is effectively collected in order to more convenient, as shown in Fig. 7 and Figure 20, In this embodiment, suction port 236 is arranged on the middle part of two mopping units 2211 of the embodiment mopping device 221, so, Suction port 236 is located between two mopping units 2211, on the path that rubbish is aggregated, therefore, refuse collector 23 More fully rubbish can be collected, realize more effective refuse collection effect.Wherein, suction port 236 can both be arranged At the middle part at the rear of two mopping units 2211, it is also possible to be arranged on the middle part in the front of two mopping units 2211.To inhale Dirt mouth 236 is arranged on the middle part at the rear of two mopping units 2211, as shown in figure 36, due to rubbish be focused into one it is less Region after collected by refuse collector 23 again, therefore suction port 236 can be configured to less, and suction port 236 is less, inhales Power is bigger, it is possible to achieve more effectively collect.And suction port 236 is arranged on the middle part in the front of two mopping units 2211, As shown in Fig. 7 and Figure 20, which is advantageous in that, refuse collection can be caused to carry out before mopping, and rubbish can be by mopping Part 22111 is collected in the case of getting wet, as the rubbish not being dampened is less to the adhesive force on ground, is more easy to be received Collection, therefore, suction port 236 is arranged on the middle part in the front of the two mopping units 2211 reversely rotated around vertical axis, can To reduce refuse collection difficulty so that dust exhaust apparatus need to only apply less suction and be capable of achieving the collection to rubbish, and can The problem being collected is difficult to because of overly moist effectively to prevent the rubbish such as hair, thoroughly collects rubbish such that it is able to more convenient Rubbish, realizes cleaner refuse collection effect.
Based on above-mentioned mopping device 221 and refuse collector 23, when the clean robot 2 of the embodiment can be carried out more High-quality floor cleaning work:During work, the driving effect of two mopping parts 2111 in mopping drive mechanism 2212 on ground is pasted Under rotate backward around vertical axis, mopping is carried out to the stain on ground on the one hand, rubbish is gathered into two on the other hand The middle part of individual mopping part 2111, the rubbish for being focused into middle part pick up collection by refuse collector 23.
And, can also learn with reference to Figure 57 and Figure 58, in the clean robot 2 of above-described embodiment, refuse collection dress Putting 23 also includes baffle plate 2311, and the baffle plate 2311 (is dust suction in this embodiment by the collection port of refuse collector 23 Mouth is 236) downward-sloping and extends to ground.Based on this, the baffle plate 2311 can be carried out to the rubbish of aggregation to its position Stop, prevent by the rubbish that floor cleaning device 22 is flushed out diffuse to scope that collection port (suction port 236) can collect it Outward, so as to refuse collector 23 of being more convenient for is collected, and prevent ground of the rubbish to cleaning from causing secondary pollution.Especially It is, when mopping part 22111 is rotated around vertical axis relative to the chassis 202 of the clean robot 2 carries out cleaning work, the gear Plate 2311 can avoid the rubbish for converging from being taken away collection port (suction port 236) by mopping part 22111.
Certainly, the clean robot 2 of the embodiment, refuse collector 23 can also be closed by which, and only allow mopping to fill Put 221 work;Or, mopping device 221 can also be replaced by the clearing apparatus 222 for cleaning rubbish on ground, for example Round brush, is coordinated with refuse collector 23 using clearing apparatus 222 and realizes single floor sweeping function, due to the mopping of the embodiment Device 221 is detachably connected with mopping drive mechanism 2212, it is therefore convenient to mopping device 221 is replaced by cleaning dress 222 are put, the switching of cleaning mode is realized;And, by changing wet mopping part 22111 into dry mopping part 22111, can be with Make the embodiment clean robot 2 realize it is dry drag function, similarly, since the mopping part 22111 of the embodiment removably connects Be connected on platen 22112, accordingly it is also possible to easily change dry mopping part 22111 and wet mopping part 22111, realize it is dry drag and Wet drag mode formula is switched fast.
Additionally, as shown in Fig. 6 and Fig. 8-10, in this embodiment, clean robot 2 also includes collision sensing plate 25, swashs The human-computer interaction device such as optical radar 26, control device 27, battery 28 and the button for man-machine interaction, screen.Wherein, collide Tablet 25 is used for preventing clean robot 2 from colliding with barrier, and in this embodiment, collision sensing plate 25 is arranged at shell The front end of body 20;Laser radar 26 is used for carrying out Scaned map, and that realizes clean robot 2 builds figure and positioning, in the embodiment In, laser radar 26 is embedded in the rear portion of upper shell 201;Battery 28 is used for providing electric energy for clean robot 2;Control device 27 is then For controlling the various activities of clean robot 2, for example, sensor signal collection, drive and control of electric machine, battery management, navigation Positioning, map generation, intelligent barrier avoiding and cleaning path planning etc..
Further, clean robot 2 carries out obstacle detouring and turnover base station 1, the clean robot 2 of the embodiment for convenience Also include jacking mechanism 24.Jacking mechanism 24 is used for the front end and/or rear end of jack-up clean robot 2, and this can be cleaner Device people 2 provides lift, and clean robot 2 not only can be made to cross certain altitude during ground running more conveniently Barrier (such as threshold), lift the obstacle climbing ability of clean robot 2, expand the cleaning scope of clean robot 2, can be with During the turnover of clean robot 2 base station 1, clean robot 2 is helped more easily to pass in and out base station 1, especially turnover has one Determine the mopping part cleaning device 11 of the base station 1 of height.
Specifically, as shown in Fig. 7, Fig. 8 and Figure 10, in this embodiment, jacking mechanism 24 is arranged on clean robot 2 On chassis 202, and positioned at the forward position on chassis 202, which includes a fork that can be swung up and down, when fork is to the bottom After going out, fork can be extended downwardly from from chassis 202 and is supported on loading end (such as ground) such that it is able to jack-up cleaning machine The front end of people 2, after fork is swung back upwards, fork withdraws, and releases jack-up, and the front height of clean robot 2 is reduced again.Base In this, as shown in figure 21 and figure, 2 obstacle detouring of clean robot or enter base station 1 during, jacking mechanism 24 can be with jack-up The front end of clean robot 2, actively lifts the front height of clean robot 2, helps 2 fast obstacle of clean robot, or Clean robot 2 is helped quickly to sail base station 1 into and make mopping part 22111 smoothly enter mopping part cleaning device 11.
It will be appreciated by those skilled in the art that jacking mechanism 24 is not limited to be arranged on chassis 202, which can also set Put on base station 1, or can be being respectively provided with a jacking mechanism 24 on base station 1 and chassis 202;And, when jack-up machine When structure 24 is arranged on chassis 202, jacking mechanism 24 is also not limited to be arranged at the front portion on chassis 202, and which can also be arranged At the rear portion on chassis 202, for the rear end of jack-up clean robot 2.
Figure 50-52 shows that jacking mechanism 24 is arranged on the alternate embodiment at 202 rear portion of chassis.As shown in Figure 50-52, In the alternate embodiment, jacking mechanism 24 is arranged on the rear portion on chassis 202, in this case, as shown in figure 52, works as cleaner When device people 2 is needed into base station 1, jacking mechanism 24 can be failure to actuate, and clean robot 2 is oriented in own drive power and base station 1 Base station 1 is directly sailed under the guide effect of structure (such as the inclined spigot surface 116 in Figure 52), is entered mopping part 22111 and is dragged Wipe part cleaning device 11, and complete when the cleaning of mopping part 22111, when clean robot 2 needs to exit base station 1, jacking mechanism 24 Action, by the rear end jack-up of clean robot 2, makes the tailing edge of mopping part 22111 high higher than the edge of mopping part cleaning device 11 Degree, and then roll base station 1 away from.And, in the alternate embodiment, it is preferable that suspension arrangement can be set at road wheel 211, The suspension arrangement is used for making road wheel 211 keep elastic connection, such road wheel 211 keep constantly and ground with chassis 202 Face contacts, so as to when rear end jack-up of the jacking mechanism 24 by clean robot 2, road wheel 211 is in the presence of suspension arrangement Remain on can close proximity to ground, be clean robot 2 provide frictional force, so, by arrange suspension arrangement, further can help Clean robot 2 is helped more efficiently to exit base station 1.
Specifically, as shown in Figure 50 and Figure 51, in the alternate embodiment, suspension arrangement includes spring 212 and support member 213, spring 212 is horizontally disposed with, and support member 213 is obliquely connected between spring 212 and road wheel 211, and support member 213 is used Part between the two ends being connected with spring 212 and road wheel 211 is rotationally set relative to the housing 20 of clean robot 2 Put.Based on this structure setting, the suspension arrangement not only can make road wheel 211 keep contacting with ground, can also utilize bullet The elastic force auxiliary jacking mechanism 24 of spring 212 tilts the rear end of clean robot 2, so, in this case, jacking mechanism The rear end jack-up of clean robot 2 can just be come by the less jack-up power of 24 need, so that jacking mechanism 24 can be selected Less motor, realizes reducing cost, saves the purpose of installing space.
Certainly, suspension arrangement can not also be arranged together with jacking mechanism 24, as suspension arrangement can make road wheel 211 All the time keep contacting with ground, therefore, when being separately provided suspension arrangement, it is also possible to increase the obstacle climbing ability of clean robot 2.
Fig. 2-5 shows the structure of the base station 1 in the first embodiment.In this embodiment, base station 1 adopts water-washing method Mopping part 22111 is cleaned, namely base station 1 makes mopping part 22111 keep clean by cleaning mopping part 22111.
As shown in Figure 2-5, in this embodiment, base station 1 includes that base station body 10, mopping part cleaning device 11, net liquid are supplied Answer device 12, soiling solution collection device 13 and charging device 14.
Wherein, base station body 10 constitutes the installation foundation of the other structures part of base station 1, mopping part cleaning device 11, net Liquid supply unit 12 and soiling solution collection device 13 etc. are arranged on base station body 10, base station body 10 for be mounted thereon this A little structure members provide support.
As shown in Fig. 2 in this embodiment, mopping part cleaning device 11 is installed on the lower section of base station body 10, and net liquid Feeding mechanism 12 and soiling solution collection device 13 are then installed on the top of base station body 10 and respectively positioned at the left and right of base station body 10 Both sides, compact conformation and attractive in appearance.The mopping part cleaning device 11 of the embodiment and net liquid supply unit 12 and soiling solution collection device 13 coordinate, and realize that the washing to mopping part 22111 is cleaned together;Also, as the mopping unit 2211 of the embodiment can be around perpendicular Straight axis are rotated, therefore, mopping unit 2211 can be relatively rotated with mopping part cleaning device 11, and friction can be realized in base station 1 Formula washes cleaning mode.In cleaning process, mopping part 22111 is carried on mopping part cleaning device 11 and carries out rotating clear Wash, net liquid supply unit 12 provides cleanout fluid, and soiling solution collection device 13 collects the dirty cleanout fluid after cleaning.
Specifically, as shown in figure 3, the mopping part cleaning device 11 of the embodiment include clean groove 111, with multiple projections The bulge-structure in portion 112, feed liquor structure 113 and drainage structure 114.
Wherein, groove 111 is cleaned for housing mopping part when mopping part cleaning device 11 is cleaned to mopping part 22111 22111, also accommodation space is provided for cleanout fluid.From Fig. 3 and Fig. 4, in this embodiment, mopping part cleaning device 11 includes Two cleaning grooves 111, and each cleans the form and dimension phase of the form and dimension with the embodiment mopping unit 221 of groove 111 Adaptation, wherein, the cross sectional shape for cleaning groove 111 is circle.This is disposed to make dragging for cleaning groove 111 and clean robot 2 Shape, size and the number for wiping unit 221 is adapted, and this not only can preferably house mopping part 2111 and cleanout fluid, prevent Cleanout fluid splashes, and also allows base station 1 while cleaning to all mopping parts 22111 of a clean robot 2, improves Cleaning efficiency.Certainly, the shapes and sizes for cleaning groove 111 can carry out adaptability according to the concrete condition of mopping unit 2211 and set Put, and the number of groove 111 is cleaned it can also be provided that equal with the total number of the mopping unit 221 of multiple clean robots 2, and Correspond and arrange, such base station 1 can be cleaned simultaneously to all mopping parts 22111 of multiple clean robots 2, clean It is in hgher efficiency.
Bulge-structure is for contacting with the mopping part 22111 being placed in cleaning groove 111, whole due to mopping part 22111 Individual surface can be contacted with bulge-structure, therefore, contact area is big, and cleaning efficiency is high, also, bulge-structure is in cleaning process In can play a part of to strike off sewage and increase frictional force, can further improve cleaning performance.As shown in figure 4, in the reality Apply in example, bulge-structure is arranged in cleaning groove 111, and wherein each lobe 112 is curved convex portion, namely lobe The extension path of 112 cross section is curve, and, the multiple lobe 112 in each cleaning groove 111 are radially arranged Cloth.This bulge-structure shown in the embodiment, can better adapt to the rotary movement of mopping part 22111 so that In cleaning process, bulge-structure can more fully be rubbed with the mopping part 22111 of rotation, realize cleaner cleaning effect Really.In addition, in extruding rotary course of the mopping part 22111 with bulge-structure, water is from mopping part 22111 by lobe 112 Extruding gets rid of, thus, it is to play a part of to dry mopping part 22111 that bulge-structure also has an effect.
Feed liquor structure 113 and drainage structure 114 are in fluid communication with cleaning groove 111, so that cleanout fluid can be via feed liquor Structure 113 is entered in cleaning groove 111, and the cleanout fluid after cleaning mopping part 22111 is discharged via drainage structure 114 To cleaning groove 111.As shown in figure 4, in this embodiment, feed liquor structure 113 and drainage structure 114 are arranged at cleaning groove In 111, certainly, the two can also be arranged on other positions, as long as keeping being in fluid communication with cleaning groove 111.
Net liquid supply unit 12 is in fluid communication with cleaning groove 111 by feed liquor structure 113, with easily to cleaning groove 111 Middle offer cleanout fluid;Soiling solution feeding mechanism 113 is then in fluid communication with cleaning groove 111 by drainage structure 114, easily to collect Dirty cleanout fluid after cleaning mopping part 22111.Understand with reference to Fig. 3 and Fig. 4, in this embodiment, net liquid supply unit 12 Including the first storage organization 121 and the first water pump 122, the first storage organization 121 is used for housing cleanout fluid, and the first water pump 122 is used Make the first power set, for driving cleanout fluid to be flowed in cleaning groove 111 by the first storage organization 121;Soiling solution collection device 13 Including the second storage organization 131 and the second water pump 132, the second storage organization 131 is used for storing dirty cleanout fluid, the second water pump 132 are used as the second power set, for dirty cleanout fluid is pumped in the second storage organization 131.
Additionally, user understands in time the first storage organization 121 and the cleanout fluid in the second storage organization 131 for convenience Liquid level, in this embodiment, base station 1 can also include the liquid level detection device for detecting cleanout fluid liquid level.Specifically, as schemed Shown in 5, the embodiment is provided with liquid level detection device, and each in the first storage organization 121 and the second storage organization 131 Liquid level detection device includes the first conducting strip 151, the second conducting strip 152 and the 3rd conducting strip 153, wherein, the first conducting strip 151 are used for detecting that the capacitance of environment, the second conducting strip 152 and the 3rd conducting strip 153 are arranged at accommodating cleanout fluid to be detected Storage organization in, i.e., in the first storage organization 121 and the second storage organization 131, and the second conducting strip 152 is used for detecting because clearly Capacitive differential produced by the liquid level change of washing liquid, the 3rd conducting strip 153 are used for detecting the capacitance of cleanout fluid.Due to different liquid The liquid of position can affect the capacitance of conducting strip, therefore, the liquid level detection device can obtain the first storage organization with real-time detection 121 and second cleanout fluid in storage organization 122 liquid level, it is new clear in order to increase in the first storage organization 121 in time Washing liquid, or the second storage organization 131 is emptied in time.Wherein, the first conducting strip 151 and the second conducting strip 152 are used for correcting institute The Level Detection data for measuring, so that Level Detection result is more accurate.Specific trimming process is referred to equation below:
Wherein, H:The final liquid level for obtaining;
C2:When having certain liquid level, the capacitance that the second conducting strip 152 is measured;
C20:When no liquid in storage organization, the capacitance that the second conducting strip 152 is measured;
C3:The capacitance that 3rd conducting strip 153 is measured (when being covered with the liquid);
C1:The capacitance that first conducting strip 151 is measured (in air);
γ:Correction parameter.
The base station 1 of the embodiment in the course of the work, understands with reference to Figure 23 that mopping part 22111 is placed in cleaning groove 111 And whole surface is pressed on bulge-structure and rotates around vertical axis, the cleanout fluid in the first storage organization 121 is through the first water After pump 122 pressurizes, spray to the mopping part 22111 being placed in cleaning groove 111 via feed liquor structure 113, course of injection Produced impulsive force, is conducive to further improving cleaning performance;And clean after dirty cleanout fluid can by lobe 112 from Gear is scraped on mopping part 22111 to get off, also can be in 22111 rotation process of mopping part under the influence of centrifugal force from mopping part Get rid of on 22111, flow at drainage structure 114, and be pumped in the second storage organization 131 by the second water pump 132.
It can be seen that, by net liquid supply unit 12 and the mating reaction of soiling solution collection device 13, can keep cleaning in groove 111 Cleanout fluid is more clean, it is to avoid dirty cleanout fluid produces secondary pollution to mopping part 22111, such that it is able to further protect Card cleaning performance.And, rotary motion of the mopping part 22111 in cleaning process can be played a part of centrifuge dripping, prevent 22111 overly moist of mopping part after cleaning, this aspect can prevent mopping part 22111 from remaining more water in mopping process On the ground, floor cleaning degree is affected, or even the potential safety hazard such as cause to slip, on the other hand it is also prevented from clean robot 2 The special ground such as wood floors cannot be applied to because of 22111 overly moist of mopping part, can effectively expand being suitable for for clean robot 2 Scope.Based on this, in cleaning process, mopping part 22111 can be adjusted and keep suitable rotating speed to be rubbed with lobe 112 Cleaning, and prevent from causing cleanout fluid to be thrown out of because rotating speed is too fast, and after cleaning and terminating, can make feed liquor structure 113 stop into Liquid, and first control mopping part 22111, compared with slow-speed of revolution spin for some time, most moisture to be dried, then controls again to drag Wipe part 22111 and accelerate rotation, further dry.Certainly, specifically rotary speed and drying degree can be entered according to actual needs Row control.
In this embodiment, cleanout fluid can be water, or the mixed liquor of water and abluent, wherein preferably water with Mopping part 22111 can be cleaned cleaner by the mixed liquor of abluent.Wherein, when the mixed liquor using water and cleaning agent During as cleanout fluid, the first storage organization 121 can only include a container, wherein directly deposit the mixed liquor for mixing;Or Person, the first storage organization 121 can also include two containers, and one of container deposits abluent, and another container deposits water, In this case, can drive abluent and water respectively by flowing directly into cleaning in respective container simultaneously by the first water pump 122 In groove 111, it is also possible to arrange the 3rd water pump again, even if also the first power set include the 3rd water pump again, by the 3rd Water pump drives cleaning agent first to mix with water, then is driven in mixed mixed liquor flow direction cleaning groove 111 by the first water pump 122.
And in order to further be easy to control the humidity of mopping part 22111, the base station 1 of the embodiment can also include drying dress Put, the mopping part 22111 that cleaning is finished dried using the drying unit, it is ensured that after clean robot 2 exits base station 1, Appropriate moisture is remained with mopping part 22111, is unlikely to cause ground wet and slippery because of overly moist, be also unlikely to make moist because of overly moist It is mouldy.Also, drying unit is set in base station 1, is completed by drying course can be made in base station 1, one can not only be entered The function of the abundant base station 1 of step, can also simplify post-processing step, improve efficiency.
Additionally, clean robot 2 passes in and out base station 1 for convenience, base station 1 can also include being arranged on mopping part cleaning device Guide frame on 11, the guide frame are used for guiding clean robot 2 to move so as to drag relative to mopping part cleaning device 11 Wipe the turnover mopping part of part 22111 cleaning device 11.Specifically, as shown in figure 4, in this embodiment, base station 1 is included as guiding The spigot surface 116 of structure, the spigot surface 116 is from mopping part cleaning device 11 (specially cleaning the edge of groove 111) under tiltedly Side inclines and extends to ground, and so the spigot surface 116 can guide clean robot 2 to rise to clearly along the spigot surface 116 Height that 111 edge of clean groove is located, is easy to mopping part 22111 to enter in cleaning groove 111.As shown in figure 21 and figure, the spigot surface 116 are used cooperatively with the jacking mechanism 24 of aforesaid clean robot 2, and clean robot 2 can be made more easily to pass in and out base station 1, improve the work efficiency of cleaning robot system.Certainly, guide frame is not limited to the version shown in the embodiment, Which can also include guide plate 116 and/or directive wheel 119, after this point by the second embodiment shown in Figure 24-35 and It is further illustrated in embodiment shown in Figure 53.
Charging device 14 is used for charging for the battery 28 of clean robot 2, realizes the charge function of base station 1.As Fig. 2-4 institute Show, in this embodiment, charging device 114 is arranged on spigot surface 116, so when clean robot 2 climbs up spigot surface 116 When, charging device 114 can be charged to clean robot 2.The charging modes of charging device 14 can have various, for example, Can be contact charging modes, using the charge sheet 141 being arranged on base station 1 and the charging being arranged on clean robot 2 Charging process is realized in the contact of contact 252 (as shown in FIG. 28 and 29);Again for example, it is also possible to be wireless charging mode, utilize The induction coil being arranged on the chassis 202 of clean robot 2 and the charge coil being arranged on the spigot surface 116 of base station 1 Coordinate, realize wireless charging.
Figure 24-35 shows the second embodiment of cleaning robot system.
As shown in Figure 24-35, the second embodiment is essentially identical with first embodiment, and wherein, base station 1 is remained able to as clear Clean robot 2 charges and two mopping parts 22111 of clean robot 2 is cleaned, and two moppings of clean robot 2 Part 22111 remains able to rotate backward around vertical axis, and each mopping part 22111 is remained on can be carried out relative to chassis 202 Swing, and the difference of the two is essentially consisted in:On the one hand, it is counter-rotational around vertical axis for two mopping parts 22111 of driving The concrete structure of mopping drive mechanism 2212 is different;On the other hand, the tool swung relative to chassis 202 by mopping part 22111 Body implementation is different;Another further aspect, the concrete structure of refuse collector 23 are slightly different;Another aspect, the base station of base station 1 The concrete structure of body 10, the first storage organization 121, the second storage organization 131 and guide frame is slightly different.Therefore, below Difference to this in terms of four is illustrated emphatically, is referred to first embodiment and is understood in place of other not specified (NS)s.It is being situated between During the other embodiment that continues, its difference is also only highlighted.
Figure 27-Figure 34 shows the structure of the clean robot 2 in the second embodiment.
As shown in Figure 28-31, in this second embodiment, although mopping drive mechanism 2212 still adopts worm-and-wheel gear The endless screw electric motor in torque, but worm-and-wheel gear is transmitted to output shaft 22123 no longer adopts double-thread worm motor 22121, and It is two worm gears using two single start worm motors 22121 ', in each single start worm motor 22121 ' and worm-and-wheel gear 22122 correspond engaged transmissions, such that it is able to different driving two mopping parts 22111 using two groups of worm and gear rotation directions Reversely rotate around the output shaft 22123 being vertically arranged, both can ensure that the relative dynamic balancing of 2 head of clean robot, again can be with Improve mopping effect, while cleaning effect can also be played, and be easy to refuse collector 23 to collect to middle refuse collection. And, the embodiment adopts two motors, and relative to the situation using a motor, its benefit is also resided in, and is easy to electric by two Machine is arranged in the both sides of dust exhaust apparatus, can be prevented effectively from because machine shaft crosses dust exhaust apparatus and stop dust exhaust apparatus Wind path, it is possible to increase the smoothness of dust exhaust apparatus wind path, reduces the air intake resistance of dust exhaust apparatus, increases the air intake of dust exhaust apparatus Amount, improves the pick-up performance of dust exhaust apparatus.
As shown in Figure 32 a- Figure 32 c, in order to realize the swingable connection of mopping unit 2211 and mopping drive mechanism 2212, The swingable connection of mopping unit 2211 and chassis 202 is realized further, in this second embodiment, no longer in output shaft 22123 The flexible connecting structures such as flexible connection block 2216 are set between mopping unit 2211, but mopping unit 2211 is driven with mopping Matching relationship between motivation structure 2212 is set to gap socket.Specifically, it is as shown in Figure 32 c, in this second embodiment, defeated Gap socket between shaft 22123 and platen 22112, as the gap between output shaft 22123 and platen 22112 causes platen 22112 can have certain gap wobble angle relative to output shaft 22123, and mopping part 22111 is arranged at platen On 22112, therefore, the fit system of gap socket, Neng Gouli between this mopping unit 2211 and mopping drive mechanism 2212 The swingable connection of mopping unit 2211 and chassis 202 is realized with gap activity so that mopping part 22111 can be according to ground Practical situation changing the pendulum angle of itself, reach the purpose for adapting to ground.
And, as shown in Figure 32 b, in this embodiment, the dismounting of mopping unit 2211 for convenience, mopping unit 2211 Platen 22112 and the output shaft 22123 of mopping drive mechanism 2212 between be provided with and mopping unit 2211 can be connected with mopping The magnetic absorption part 2217 that binding structure is attached together.By arranging magnetic absorption part 2217, can avoid platen 22112 with it is defeated Being rigidly connected between shaft 22123, realizes being detachably connected for the two, also, realizes connection using magnetic-adsorption, is needing When dismounting to mopping unit 2211, one is only needed to pull out a button, it is very simple and convenient.Certainly, mopping unit to be realized Being detachably connected between 2211 and mopping drive mechanism 2212, it would however also be possible to employ threaded connector, fastener and hooking part etc. One or more in other modes.
As shown in figs. 33 and 34, in this second embodiment, although refuse collector 23 still adopts dust exhaust apparatus, and Suction port 236 is still arranged on the middle part in the front of two mopping parts 22111, but relative to aforementioned first embodiment, filters knot Structure is changed, and no longer using filter screen 233, but replaces with extra large handkerchief paper 233 ', using extra large handkerchief paper 233 ' to the dust in air-flow Filtered, and be correspondingly provided with the extra large handkerchief paper support 2331 ' for supporting extra large handkerchief paper 233 ', also, in dust box 231 Filter holder 238 is provided between box body 2313 and lid 2314, and extra large handkerchief paper 233 ' is arranged on the outside of the filter holder 238, And on path of the box body 2313 with the fluid communication of dedusting fan 234;In addition, having additional handle on lid 2314 2315, handle 2315 is installed on lid 2314 by alignment pin 2316, is easy to user to take out dust box 231, is emptied ash in time Dust in dirt box 231.
In addition to the main difference in above-mentioned several places, the clean robot 2 in the second embodiment is gone back and first embodiment There is other difference.As shown in figure 28, in this second embodiment, the structure of the housing 20 of clean robot 2 is slightly There is difference, upper shell 201 is provided with battery settling groove, for installing battery 28, correspondingly, on battery settling groove, be covered with upper casing Capping 2011, to cover the battery 28 of battery settling groove and its inside, protects battery 28, and keeps overall leveling attractive in appearance, chassis 202 bottoms also have additional lower casing capping 2021, dismounting maintenance of being more convenient for;And, photographic head 251 is set up on collision sensing plate 25 With charging contact 252, wherein photographic head 251 realizes that more preferable Scan orientation and barrier are known for coordinating with laser radar 26 Other function, charging contact 252 then for contacting with the charge sheet 141 on base station 1, realize the charging to battery 28.
Figure 25-26 shows the structure of the base station 1 in the second embodiment.
As illustrated in figs. 25 and 26, in this second embodiment, base station body 10 includes bracing frame 101 and bracing frame bottom 102, wherein, net liquid supply unit 12 and soiling solution collection device 13 are arranged on the top of bracing frame 101 and are located at bracing frame 101 The left and right sides, bracing frame bottom 102 are arranged at the bottom of bracing frame 101;First storage organization 121 and the second storage organization 131 Include casing 1211, case lid 1212, handle 1213 and buckle 1214, wherein, case lid 1212 is covered on the top of casing 1211 At opening, handle 1213 is arranged at portable to facilitate on case lid 1212, and buckle 1214 is then arranged at casing 1211 and case lid 1212 Junction, for realizing snapping connection for casing 1211 and case lid 1212.
As illustrated in figs. 25 and 26, in this second embodiment, it is provided with the notch for cleaning groove 111 and scrapes block piece 117, for example Catch can be scraped for one.This is scraped block piece 117 and is arranged at the notch of cleaning groove 111, can increase the height of cleaning groove 111, This aspect can be used to prevent the cleanout fluid cleaned in groove 111 from carrying out clearly mopping part 22111 in mopping part cleaning device 11 Splash in clean process outside cleaning groove 111 so that scrape block piece 117 and play a part of waterproof hurdle;On the other hand, due to mopping Part 22111 before cleaning groove 11 is entered needed to first pass through this and scrapes block piece 117, therefore, this scrapes block piece 117 can be with mopping Part 22111 strikes off the rubbish on mopping part 22111 into before mopping part cleaning device 11, prevents from gluing during floor cleaning The rubbish invested on mopping part 22111 is entered in cleaning groove 111 with mopping part 22111, it is possible to reduce entered in cleaning groove 111 The blocking of liquid structure 113 and drainage structure 114.Wherein, it can be flexible piece or rigid member to scrape block piece 117, it is preferable that scrape block piece 117 adopt flexible piece, and for example with blade insert, this aspect is easy to mopping part 22111 to be pressed in and scrape when cleaning groove 111 is entered On block piece 117, enhancing is scraped the gear of scraping of block piece 117 and is acted on, and on the other hand can also reduce and scrape catch 117 to mopping part 22111 Scrape damage, another further aspect, during using flexible piece as block piece 117 is scraped, after in mopping part 22111 is completely into cleaning groove 111, Scrape block piece 117 and can automatically return to original state, still functioning as prevents the effect of cleanout fluid spluttering.Certainly, scraping block piece 117 can also It is not arranged in cleaning at the notch of groove 111, for example, can also be arranged on spigot surface 116, as long as which can play prevents cleaning Liquid spluttering and/or the effect of rubbish is struck off in advance.
And, as shown in Figure 35, base station 1 is entered in order to further facilitate clean robot 2, in this second embodiment, The guide frame of base station 1 also includes the guide plate 115 for being arranged on 11 side of mopping part cleaning device, preferably along spigot surface 116 Incline direction extend to the bottom of spigot surface 116.The guide plate 115 can guide clean robot 2 together with spigot surface 116 Mopping part 22111 more quickly and accurately into base station 1 mopping part cleaning device 11 in.As shown in figure 35, two mopping parts 22111 rotation direction conversely, when into base station 1, if one of mopping part 22111 touches guide plate 115, can be with profit Path deviation is corrected with frictional force f of mopping part 22111 and guide plate 115, and traction clean robot 2 is entered along correct path Base station 1, it is seen then that the guide plate 115 can also play a part of to correct the turnover path deviation of clean robot 2.
Additionally, robot convenient for cleaning 2 enters the mode of base station 1, except can be such as first embodiment and second embodiment The shown cooperation by jacking mechanism 24 and the guide frame of base station 1 is come outside realizing, naturally it is also possible to which selection is not provided with top Rise mechanism 24, and make clean robot 2 only under the guide effect of guide frame enter base station.As shown in figure 53, base station 1 is led Aforesaid spigot surface 116 can not only be included to structure, also including directive wheel 119, directive wheel 119 is arranged on spigot surface 116 And it is protruding upward, in this case, clean robot 2, can first in the guiding function of spigot surface 116 when into base station 1 The lower hoofing part power by itself rises to height that directive wheel 119 is located, and then in the presence of directive wheel 119, makes cleaning The front end of robot 2 tilts, until mopping unit 2211 is crossed directive wheel 119 and entered in cleaning groove 111, completes to enter process, And when the cleaning of mopping part 22111 is finished and needs to exit base station 1,2 adverse movement of clean robot equally can be in directive wheel 119 and spigot surface 116 in the presence of smoothly complete the process of exiting.Also, in order to avoid directive wheel 119 protruding upward is in cleaning During to mopping part 22111, contact with clean surface produces interference, from Figure 53, can be with clean robot 2 The escape groove 203 that setting is adapted to directive wheel 119, after mopping unit 2211 crosses directive wheel 119 in cleaning groove 111, leads To in wheel 119 just embedded escape groove 203, such that it is able to make mopping part 22111 be in close contact with clean surface, it is ensured that cleaning effect Really.
Figure 37 shows the further improvement embodiment of aforementioned first embodiment and second embodiment.
As shown in figure 37, with the main difference of aforementioned first embodiment and second embodiment it is, the cleaning of the embodiment Robot 2, its mopping device 221 also include that being arranged at scraping for 2211 rear of mopping unit keeps off structure 2219, and this scrapes gear structure 2219 can be to being carried out scraping gear by the rubbish and/or sewage that drop on mopping unit 221, such that it is able to prevent rubbish and/or dirt Water is residued on the ground crossed by 2211 moppings of mopping unit, realizes secondary cleaning.It can be scraping blade that this scrapes gear structure 2219 Or cloth etc., preferably flexible piece, damage is scraped to ground to reduce.Certainly, scrape gear structure 2219 and be not limited to the first enforcement Example and the clean robot 2 shown in second embodiment, for other clean robots 2 of the present invention are also suitable.
Figure 38-41 shows the 3rd embodiment of cleaning robot system.
As Figure 38-41 understand, the 3rd embodiment is essentially consisted in the difference of both of the aforesaid embodiment, the embodiment it is clear Clean robot 2, its mopping device 221 only include a mopping unit 2211, correspondingly, the mopping part of the base station 1 of the embodiment Cleaning device 11 also only includes a cleaning groove 111, and in order that structure is compacter, 12 He of net liquid supply unit of base station 1 Soiling solution collection device 13 is changed to mounted on top arrangement.The specification of the clean robot 2 of the embodiment and base station 1 is less, more can Adapt to the use of small apartment family.
As shown in Figure 41, in the 3rd embodiment, mopping unit 2211 turns around vertical axis still in relation to chassis 202 It is dynamic, and in order to realize rotation of the mopping unit 2211 around vertical axis, as shown in figure 40, the mopping drive mechanism of the embodiment 2212, which is still using endless screw electric motor come output torque, but difference is, the endless screw electric motor of the embodiment only includes a list A head endless screw electric motor 22121 ' and worm gear 22122, using the engagement of the single start worm motor 22121 ' and the worm gear 22122 come Mopping unit 2211 is driven to rotate around vertical axis, realization is more effectively cleaned to ground.
Based on the floor cleaning device 22 of this single mopping unit 2211, in order to realize fully refuse collection, such as Figure 41 Shown, in this embodiment, the suction port 236 of refuse collector 23 is arranged on the outside of the edge of mopping unit 2211.Due to Rubbish can be focused to the outside of the mopping unit 2211 of rotation along the edge of mopping part 2211, therefore, this setup, So that being in aggregation paths of the mopping unit 2211 to rubbish, consequently facilitating rubbish is received as the suction port 236 of collection port Collect into dust box 231.Further, the embodiment also has additional garbage blocking part 237 on the side side wall of housing 20, and Suction port 236 is arranged between the edge of mopping unit 2211 and the garbage blocking part 237, can so utilize the garbage blocking Barrier effect of the part 237 to rubbish, rubbish is further gathered a less region, and realization is more effectively collected.
In above three embodiment, the structure for cleaning groove 111 and bulge-structure is essentially identical, and wherein, cleaning groove 111 is Section is circular deep trouth, and bulge-structure includes the multiple curved convex portions for radially arranging.But it should be recognized that at this In invention, the concrete structure for cleaning groove 111 and bulge-structure is not limited to the concrete structure shown in these three embodiments, to scheme As a example by modified example shown in 48 and Figure 49, cleaning groove 111 may be arranged as cleaning deskitte, i.e., tie for rectangular tray in section Structure, and lobe 112 can also be rectilinear projection portion or broken line lobe, i.e. the extension path of the cross section of lobe 112 is Straight line or broken line, in addition, the arrangement mode of multiple lobe 112 can also be using the other modes in addition to radial, such as Array-like, array-like can be linear array shape (i.e. rectangular), circle column-shaped or circular array column-shaped etc., wherein line array Column-shaped is particularly suited for mopping part 22111 and the reciprocating situation of 11 relative level of mopping part cleaning device, can be by mopping Part 22111 cleans more clean.In addition, in each cleaning groove 111, the shape of each lobe 112 can also be different, i.e., many The combination in any in curved convex portion, rectilinear projection portion and broken line lobe in individual lobe 112, can be included;Similarly, each The arrangement mode in 111 protrusions portion 112 of cleaning groove can also be using any group of various arrangement modes such as radial and array-like Close;And the lobe 112 in different cleaning groove 111 shape and arrangement mode can be with identical or different.
In addition, in another embodiment, lobe 112 includes the bottom protrusion 1121 for being arranged on 111 bottom of cleaning groove And it is formed in the side projections 1122 of cleaning 111 medial surface of groove.In 11 pairs of mopping parts 22111 of the mopping part cleaning device When being cleaned, the bottom protrusion 1121 is relatively rotated with the bottom surface of the mopping part 22111 and friction and Extrusion formula is contacted, institute The side for stating side projections 1122 and the mopping part 22111 relatively rotates and friction and Extrusion formula is contacted.It is with this, convex by bottom The bottom surface of 1121 mop parts 22111 is played, can be with the side of mop part 22111 by side projections 1122.
Certainly, the side of mop part 22111 can also have alternate manner.For example, two mopping parts 22111 are arranged For EDGE CONTACT, so, when two mopping parts 22111 rotate in the same direction, two mopping parts 22111 are in middle contact Position relative motion, phase mutual friction carry out the cleaning of side.
In addition, in above three embodiment, soiling solution collection device 13 is the swabbing action by the second power set Realize the collection to dirty cleanout fluid.But in other embodiments of the invention, it is also possible to be not provided with the second power set, and It is, as shown in Figure 54 and Figure 55, the second storage organization 131 to be directly arranged at the lower section of cleaning groove 111, and ties the second storage Structure 131 is in fluid communication with cleaning groove 111, and in this case, dirty cleanout fluid can be flowed by cleaning groove 111 under gravity automatically Enter in the second storage organization 111, simple and convenient, cost is relatively low.
And, in order to realize to 22111 more preferable cleaning effect of mopping part, and meet user's use demand with a greater variety and The quality of life of higher quality pursues, and the net liquid supply unit 12 of the present invention can also include auxiliary material feeding mechanism, for providing The auxiliary materials such as disinfectant solution, aromatic and the wax layer for waxing needed for cleaning mopping part 22111, the auxiliary material feeding mechanism can So that directly auxiliary material is provided into cleaning groove 111;Auxiliary material can also be provided into the first storage organization 121, be made Auxiliary material is first mixed with cleanout fluid, further with the flow direction cleaning groove 111 under the driving effect of the first power set.
It should be noted that in other embodiments of the invention, net liquid supply unit 12 and/or soiling solution can also be omitted Collection device 13, and directly base station 1 is arranged at and is provided near the position of water supply pipe and/or drainage pipeline, such base Stand 1 tap water that directly can be supplied using water supply pipe to clean mopping part 22111, and the sewage after cleaning can also Directly drained by drainage pipeline, as net liquid supply unit 12 and/or soiling solution collection device 13 can be reduced, therefore, it is this Mode can make that the structure of base station 1 is simpler, and cost is also lower.
In addition, though being used for driving what mopping unit 2211 was rotated relative to chassis 202 in above three embodiment Mopping drive mechanism 2212 is to the contrary torque of two 22123 direction of transfer of output shaft but actual using worm-and-wheel gear On, in other embodiments of the invention, can also be using gear mechanism come contrary to two 22123 direction of transfer of output shaft Torque.And, as illustrated in the first embodiment, in order to solve, 2 mopping effect of existing clean robot is poor to ask Topic, mopping unit 2211 are rotated around vertical axis except being arranged with respect to chassis 202 as above three embodiment, May be arranged as rotating around horizontal axis.Figure 42 and Figure 43 are shown based on the mopping unit 2211 rotated around horizontal axis Fourth embodiment cleaning robot system.
As shown in figure 42, in the fourth embodiment, the mopping unit 2211 of clean robot 2 includes horizontally rotating Cylinder and the mopping part 22111 that is arranged on outer surface of cylinder, drive of the mopping unit 2211 in mopping drive mechanism 2212 Under action, rotate around horizontal axis.Due to can also so increase the relative motion between mopping part 22111 and ground, increase Big mopping dynamics, increases mopping number of times, and while play mopping and cleaning effect, thus, it is also possible to be effectively improved mopping part 22111 mopping effect.
For the clean robot 2 of the embodiment, the embodiment additionally provides a kind of different from aforementioned three embodiments Base station 1.As shown in figure 43, the base station 1 of the embodiment, is provided with cleaning roller in the cleaning groove 111 of its mopping part cleaning device 11 118, and the cleaning to mopping part 22111 is realized using the cleaning roller 118.During mop part 22111, mopping Part 22111 is squeezed on cleaning roller 118, is supported by cleaning roller 118, then using cleaning roller 118 and mopping part 22111 Relative rotation, realize cleaning to mopping part 22111.Wherein, the relative rotation of cleaning roller 118 and mopping part 22111, both Can be 118 active rotation of 22111 active rotation of mopping part, or cleaning roller, or the two equal active rotation but turn Dynamic direction and/or rotating speed are of different sizes, wherein preferred 22111 active rotation of mopping part, and its reason is:Mopping part 22111 Active rotation is capable of achieving using the mopping drive mechanism 2212 of clean robot 2 itself, and is driven without the need for arranging on base station 1 again The mechanism of dynamic cleaning roller 118, therefore, it can to make that the structure of base station 1 is relatively simple, and cost is relatively low, and, mopping part 22111 Active rotation may also operate as certain drying effect, and mopping part 22111 can be made to keep appropriate after cleaning is completed Humidity.Certainly, the mopping part cleaning device 11 with cleaning roller 118 is applied equally to the other embodiment of the present invention.
Additionally, the cleaning effect in order to further improve clean robot 2, in the fourth embodiment, can be with ground Rubbish is further set on face cleaning device 22 and strikes off part, part is struck off using the rubbish and strike off and adhere on floor cleaning device 22 Rubbish.Wherein, it can be scraping blade 2312 that rubbish strikes off part, or it is right that round brush 2312 ', Figure 44 and Figure 45 are respectively illustrated The structure of the two kinds of clean robots 2 answered.
In clean robot 2 as shown in figure 44, rubbish strikes off part using scraping blade 2312, and the scraping blade 2312 is arranged on clearly On the housing 20 of clean robot 2, and can contact with the mopping part 22111 of rotation, so on 22111 spin-cleaning of mopping part ground During face, mopping part 22111 is often contacted once with scraping blade 2312, and scraping blade 2312 will will be adhered on mopping part 22111 Rubbish scrape gear and get off such that it is able to make mopping part 22111 keep clean, it is ensured that floor cleaning quality.
In the clean robot 2 shown in Figure 45, rubbish strikes off part using round brush 2312 ', and the round brush 2312 ' is arranged on shell On body 20, and with 22111 rotating Vortex of mopping part, using round brush 2312 ' and the contact friction in the same direction of mopping part 22111, also can The rubbish on mopping part 22111 is scraped gear enough to get off, also, in this fashion, the rotation of round brush 2312 ' also can be further Play a part of for rubbish to throw to refuse collector 23, so as to refuse collection of being more convenient for.
And, can also learn with reference to Figure 44 and Figure 45, in both clean robots 2, refuse collector 23 is equal Also include baffle plate 2311, the baffle plate 2311 is downward-sloping by the collection port of refuse collector 23 and extends to ground.Based on this, The baffle plate 2311 can stop to aggregation to the rubbish of its position, prevent the rubbish flushed out by floor cleaning device 22 Rubbish is diffused to outside the scope that collection port can be collected, and so as to be more convenient for, refuse collector 23 is collected, and prevents rubbish Cause secondary pollution in ground to cleaning.Particularly, when mopping part 22111 relative to the clean robot 2 chassis 202 around Vertical axis are rotated when being cleaned operation, and the baffle plate 2311 can avoid the rubbish for converging from being taken away collection by mopping part 22111 Mouthful.And, the baffle plate 2311 strikes off part cooperation with aforementioned rubbish, is more conducive to refuse collector 23 and realizes that sufficient rubbish is received Collection.Certainly, the rubbish shown in Figure 44 and Figure 45 strikes off the other embodiment that part and baffle plate 2311 may also apply to the present invention.
In addition, foregoing embodiments are the present invention to be carried out so that mopping unit 2211 is relative to the rotation of chassis 202 as an example Illustrate, but in fact, improve the mopping of mopping device 221 in order to by the relative motion of increase mopping part 22111 and ground Effect, the mopping unit 2211 of the present invention may be arranged as to carry out horizontal reciprocating movement relative to chassis 202, that is, Mopping unit 2211 not only can be by being rotated to improve mopping effect relative to ground, can also be by relative to ground Carry out horizontal reciprocating movement to improve mopping effect.In the embodiment shown in Figure 46 and Figure 47, mopping unit 2211 is relative In chassis 202 can horizontal reciprocating movement, in this case, mopping part 22111 carries out pushing-type cleaning to ground, by over the ground The reciprocal mopping in face removing spot or rubbish, similar to manual mopping mode, it is possible to reduce rubbish is after mopping device 2211 Portion leaves.The clean robot 2 of horizontal reciprocating movement is capable of based on this mopping unit 2211, can more easily with base station 1 coordinates, and makes mopping part cleaning device 11 realize the cleaning to mopping part 22111 in 22111 relative movement thereof of mopping part. Also, in the present invention, the mopping unit 2211 of clean robot 2 could be arranged to rotate relative to chassis 202, and Relative to 202 horizontal reciprocating movement of chassis, and during floor cleaning, preferably can first carry out rotary mop wiping, then pushed away Formula mopping, so can realize more effective floor cleaning with comprehensive rotary mopping mode and the advantage of pushing-type mopping mode.
Additionally, in foregoing embodiments, floor cleaning device 22 only includes mopping device 221, but in fact, at this In the other embodiment of invention, floor cleaning device 21 can also include the clearing apparatus 222 for cleaning ground refuse simultaneously, So that clean robot 2 can be cleaned to ground using mopping device 221 and special clearing apparatus 222 simultaneously, obtain Obtain cleaner floor cleaning effect.When special clearing apparatus 222 is provided with, clearing apparatus 222 can be arranged on mopping dress 221 front and/or rear is put, the front of mopping device 221 is wherein preferably provided at, in order to realize the clear of " first sweeping rear dragging " Most of rubbish (dust and larger particles) is first cleaned up by clean pattern using clearing apparatus 222, then by mopping device Rubbish (such as stain) of 221 pairs of remaining more difficult cleanings etc. is further cleaned, and improves floor cleaning quality.Figure 47 shows One of embodiment is gone out.As shown in figure 47, in this embodiment, floor cleaning device 22 includes horizontal reciprocating movement Mopping unit 2211 and the side brush 2221 of clearing apparatus 222 is arranged in front of mopping unit 2211 and is used as, suction port 236 sets Put between mopping unit 2211 and side brush 2221, three coordinates, and ground is cleaned.Those skilled in the art are not difficult to manage Solution, clearing apparatus 222 is not limited to side brush 2221, and various clearing apparatus 222 can be used cooperatively with various mopping units 2211.
And, as the further improvement of the various embodiments described above, can be with the mopping part in above-mentioned mopping unit 2211 22111 edge arranges cleaning item (such as bristle or hairbrush), mopping unit 2211 itself is become to sweep and is dragged Integrative-structure, has concurrently to sweep and drags function, even if no longer additionally arranging special clearing apparatus 222, mopping unit 2211 itself also can It is enough that rubbish (the especially rubbish such as hair) more fully gathers together, realize more preferable cleaning effect;Also, it is arranged on mopping The cleaning item at 22111 edge of part, can effectively be expanded with close proximity to ground edge when mopping unit 2211 cleans ground edge The cleaning scope of big mopping device 221 so that clean robot 2 can be efficiently completed the cleaning to indoor corner.
In addition, though mopping unit 2211 is by mopping list relative to the swing on chassis 202 in foregoing embodiments What the swingable connection of unit 2211 and mopping drive mechanism 2212 was realized, but in fact, implementation is not limited thereto, example Such as, can also be by mopping drive mechanism 2212 swingable being connected on chassis 202 with connecting be realized mopping unit 2211 Swing, now swing non-with mopping drive mechanism 2212 of mopping unit 2211 be connected (such as both be fixedly connected), in fact, When mopping unit 2211 is connected by mopping drive mechanism 2212 with chassis 202, mopping unit 2211 be pivotably connected in In mopping drive mechanism 2212, and/or, mopping drive mechanism 2212 is pivotably connected on chassis 202, can realize dragging Wipe swing of the unit 2211 relative to chassis 202;Again for example, when mopping unit 2211 relative to chassis 202 do not carry out rotate and/ Or during horizontal reciprocating movement, mopping drive mechanism 2212 may alternatively be the connection mopping unit 2211 of on-propelled and chassis 202 mopping attachment structure, at this moment will realize swing of the mopping unit 2211 relative to chassis 202, then can be by mopping unit 2211 are pivotably connected in the mopping attachment structure of the on-propelled, and/or, can by the on-propelled mopping attachment structure Swingingly it is connected on chassis 202.
It can be seen that, in the present invention, connect the mopping attachment structure of mopping unit 2211 and chassis 202, can both be driving The mopping attachment structure (such as the mopping drive mechanisms 2212 in foregoing embodiments), or the mopping of on-propelled of formula Attachment structure (is for example connected to the connecting shaft between mopping unit 2211 and chassis 202);Regardless of whether mopping unit 2211 and bottom Disk 202 is connected based on which kind of mopping attachment structure, and mopping unit 2211 be able to can be put with chassis 202 by mopping attachment structure Dynamic connection, if mopping unit 2211 is pivotably connected in mopping attachment structure, and/or, can by mopping attachment structure Swingingly it is connected on chassis 202.
Also, it should be noted that in the present invention, refuse collector 23 is except adopting shown in the various embodiments described above Dust exhaust apparatus outside, it would however also be possible to employ other structures form, for example, dedusting fan 234 and blower fan conduit 235 can be not provided with Deng so that rubbish enters rubbish from collection port only under self inertia effect and under the aggregation of floor cleaning device 22 The inside of collection device 23, in this case, refuse collector 23 does not apply further to act on to rubbish, and rubbish is received Acquisition means 23 just correspond to dustpan use.
The exemplary embodiment of the present invention is the foregoing is only, not to limit the present invention, all spirit in the present invention Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.

Claims (16)

1. it is a kind of clean robot (2), it is characterised in that to include for driving the clean robot (2) to walk on the ground Running gear (21), for the floor cleaning device (22) that is cleaned to ground and refuse collector (23), it is described Floor cleaning device (22) includes mopping device (221), and described mopping device (221) include two mopping units (2211) and drag Drive mechanism (2212) is wiped, mopping unit (2211) include the mopping part (22111) for mopping floor, in the mopping Under the driving effect of drive mechanism (2212), the mopping part (22111) of described two mopping unit (2211) can be relative to this The chassis (202) of clean robot (2) in the same direction or is rotated backward around vertical axis, refuse collector (23) include for The internal collection port with outside of the refuse collector (23) is connected, the collection port is arranged on described two mopping units (2211) middle part, collects by described in the same direction or counter-rotational two around vertical axis in order to the refuse collector (23) The rubbish assembled by the mopping part (22111) of individual mopping unit (2211).
2. it is clean robot (2) according to claim 1, it is characterised in that mopping unit (2211) and/or walking Device (21) is pivotably connected on the chassis (202) of the clean robot (2), so that the mopping unit (2211) Mopping part (22111) can be by being swung keeping contacting with ground with the uneven of landing ground.
3. it is clean robot (2) according to claim 1, it is characterised in that mopping unit (2211) also include clear Part is swept, the cleaning item is arranged on the edge of mopping part (22111).
4. it is clean robot (2) according to claim 1, it is characterised in that clean robot (2) also include jack-up Mechanism (24), described jacking mechanism (24) are arranged on the clean robot (2), and described jacking mechanism (24) are used for jack-up institute State the front end and/or rear end of clean robot (2).
5. according to the arbitrary described clean robot (2) of claim 1-4, it is characterised in that clean robot (2) include The suspension arrangement at road wheel (211) place of the running gear (21) is arranged on, the suspension arrangement is used for making the road wheel (211) elastic connection is kept with the chassis (202) of the clean robot (2) so that the road wheel (211) keeps and ground Contact.
6. according to the arbitrary described clean robot (2) of claim 1-4, it is characterised in that the mopping drive mechanism (2212) include two output shafts (22123), described two output shaft (22123) with described two mopping unit (2211) one by one It is correspondingly arranged and for the contrary torque of described two mopping unit (2211) direction of transfer, and described two output shafts (22123) it is vertically arranged.
7. it is clean robot (2) according to claim 6, it is characterised in that mopping drive mechanism (2212) also wrap Include for the worm-and-wheel gear and/or gear mechanism to the contrary torque of described two output shafts (22123) direction of transfer.
8. it is clean robot (2) according to claim 7, it is characterised in that the mopping drive mechanism includes worm screw electricity Machine and two turbines (22122) with described two output shafts (22123) one-to-one corresponding drive connection, the endless screw electric motor are used for Output torque, described two worm gear (22122) are engaged with the endless screw electric motor, to pass to described two output shafts (22123) Pass torque in opposite direction.
9. it is clean robot (2) according to claim 8, it is characterised in that the endless screw electric motor includes two single head snails Bar motor (22121 '), each described single start worm motor (22121 ') are engaged with one worm gear (22122) respectively.
10. it is clean robot (2) according to claim 1, it is characterised in that described refuse collector (23) include inhaling Dirt device, the dust exhaust apparatus include dust box (231), filter screen (233), dedusting fan (234), blower fan conduit (235) and inhale Dirt mouth (236), the collection port include the suction port (236) of the dust exhaust apparatus, and suction port (236) are arranged on dust box (231) bottom towards surface openings, described dedusting fan (234) are internal with dust box (231) by blower fan conduit (235) It is in fluid communication, so that rubbish can enter dust box (231) by suction port (236) in the presence of dedusting fan (234);It is described Filter screen (233) is located in the fluid communication passageway of dedusting fan (234) and dust box (231);
The overall fore-and-aft direction along clean robot (2) of the dust exhaust apparatus extends, and the mopping drive mechanism is arranged in described The both sides of dust exhaust apparatus.
11. according to the arbitrary described clean robot (2) of claim 1-4, it is characterised in that described mopping device (221) are gone back Structure (2219) is kept off including scraping for mopping unit (2211) rear is arranged at, gear structure (2219) of scraping is by rubbish And/or sewage carries out scraping gear to prevent rubbish and/or sewage from residuing in the ground crossed by mopping unit (2211) institute mopping On.
12. clean robot (2) according to claim 1, it is characterised in that the collection port is arranged on described around vertical Axis is in the same direction or the middle part of the front or behind of counter-rotational two mopping units (2211).
13. clean robot (2) according to claim 1, it is characterised in that refuse collector (23) also include Baffle plate (2311), baffle plate (2311) are downward-sloping by the collection port and extend to ground, for preventing by the ground The rubbish that cleaning device (22) is flushed out is diffused to outside the scope that the collection port can be collected.
14. a kind of cleaning robot systems, it is characterised in that including base station (1) and as described in claim 1-13 is arbitrary Clean robot (2), base station (1) arrange independently of the clean robot (2) and can be the clean robot (2) Charge and/or clean the mopping part (22111) of the clean robot (2).
15. cleaning robot systems according to claim 14, it is characterised in that described base station (1) includes base station body (10) and mopping part cleaning device (11) that is arranged on base station body (10), mopping part cleaning device (11) are used for The mopping part (22111) for mopping floor of the clean robot (2) is cleaned;The mopping part cleaning device (11) include bulge-structure, the bulge-structure includes lobe (112), drags to described in mopping part cleaning device (11) When wiping part (22111) is cleaned, lobe (112) are contacted with mopping part (22111);And/or, the mopping part Cleaning device (11) includes cleaning roller (118), mopping part (22111) is carried out in mopping part cleaning device (11) During cleaning, cleaning roller (118) are contacted with mopping part (22111).
16. cleaning robot systems according to claim 15, it is characterised in that in mopping part cleaning device (11) During cleaning mopping part (22111), mopping part cleaning device (11) being capable of phase with mopping part (22111) To rotating, and/or, mopping part cleaning device (11) being capable of relative movement with mopping part (22111).
CN201611175803.6A 2016-12-16 2016-12-16 Robot cleaner and cleaning robot system CN106510556A (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107951448A (en) * 2017-11-30 2018-04-24 深圳市沃特沃德股份有限公司 Intelligent cleaning device and intelligent cleaning system
CN108714904A (en) * 2018-06-29 2018-10-30 郭莹莹 Multi-functional meal delivery robot
WO2018210085A1 (en) * 2017-05-19 2018-11-22 科沃斯机器人股份有限公司 Self-cleaning method for self-moving cleaning robot, and self-moving cleaning robot
CN109044623A (en) * 2018-10-16 2018-12-21 周毅 A kind of medical ear canal cleaner cleaning equipment
CN109674402A (en) * 2019-01-04 2019-04-26 云鲸智能科技(东莞)有限公司 A kind of information processing method and relevant device
WO2019104692A1 (en) * 2017-11-30 2019-06-06 深圳市沃特沃德股份有限公司 Intelligent cleaning apparatus and intelligent cleaning system
CN110123216A (en) * 2019-04-30 2019-08-16 余姚市浙江大学机器人研究中心 A kind of work station of automatic replacement mopping robot rag
CN111035329A (en) * 2018-10-12 2020-04-21 漳州灿坤实业有限公司 Automatic cleaning device
CN111194176A (en) * 2017-08-07 2020-05-22 Lg电子株式会社 Cleaning device
US10986973B2 (en) 2017-08-07 2021-04-27 Lg Electronics Inc. Robot cleaner

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018210085A1 (en) * 2017-05-19 2018-11-22 科沃斯机器人股份有限公司 Self-cleaning method for self-moving cleaning robot, and self-moving cleaning robot
US10986973B2 (en) 2017-08-07 2021-04-27 Lg Electronics Inc. Robot cleaner
CN111194176A (en) * 2017-08-07 2020-05-22 Lg电子株式会社 Cleaning device
CN107951448A (en) * 2017-11-30 2018-04-24 深圳市沃特沃德股份有限公司 Intelligent cleaning device and intelligent cleaning system
WO2019104692A1 (en) * 2017-11-30 2019-06-06 深圳市沃特沃德股份有限公司 Intelligent cleaning apparatus and intelligent cleaning system
CN108714904A (en) * 2018-06-29 2018-10-30 郭莹莹 Multi-functional meal delivery robot
CN111035329A (en) * 2018-10-12 2020-04-21 漳州灿坤实业有限公司 Automatic cleaning device
CN109044623A (en) * 2018-10-16 2018-12-21 周毅 A kind of medical ear canal cleaner cleaning equipment
CN109674402A (en) * 2019-01-04 2019-04-26 云鲸智能科技(东莞)有限公司 A kind of information processing method and relevant device
CN110123216A (en) * 2019-04-30 2019-08-16 余姚市浙江大学机器人研究中心 A kind of work station of automatic replacement mopping robot rag

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