CN107510417A - Automatic cleaning machine - Google Patents

Automatic cleaning machine Download PDF

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Publication number
CN107510417A
CN107510417A CN201610609185.5A CN201610609185A CN107510417A CN 107510417 A CN107510417 A CN 107510417A CN 201610609185 A CN201610609185 A CN 201610609185A CN 107510417 A CN107510417 A CN 107510417A
Authority
CN
China
Prior art keywords
auto
cleaning device
brush
cleaning
reciprocating
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CN201610609185.5A
Other languages
Chinese (zh)
Other versions
CN107510417B (en
Inventor
赵志谋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hobot Technology Inc
Original Assignee
Hobot Technology Inc
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 Hobot Technology Inc filed Critical Hobot Technology Inc
Priority to CN202010234689.XA priority Critical patent/CN111493761B/en
Priority to CN202010234934.7A priority patent/CN111493762A/en
Priority to CN202010234691.7A priority patent/CN111387889B/en
Publication of CN107510417A publication Critical patent/CN107510417A/en
Application granted granted Critical
Publication of CN107510417B publication Critical patent/CN107510417B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4075—Handles; levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Cleaning In General (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

The invention provides an automatic cleaning machine, comprising: a reciprocating wiping mechanism comprising: at least one cleaning device for contacting a surface; and at least one reciprocating device connected to the at least one cleaning device and making the at least one cleaning device generate a reciprocating motion so as to wipe the plane in a reciprocating manner; a walking device for making the automatic cleaning machine walk on the plane; and a control system, coupled to the reciprocating wiping mechanism and the traveling device, for controlling the reciprocating wiping mechanism and the traveling device. The cleaning mechanism with high-speed reciprocating type makes the cleaning cloth to wipe the ground surface with high-speed reciprocating type, and the vacuum dust suction device can suck the garbage in front of the cleaning cloth.

Description

Auto-cleaner
Technical field
The present invention is on a kind of auto-cleaner, especially with respect to a kind of automated cleaning with shuttle cleaning mechanism Machine.
Background technology
Presently commercially available clean robot of sweeping the floor (sweeping robot), based on clearing up rubbish, close sweeping robot Generally there is a side brush, a suction mouth, either mop floor cleaning cloth with brushing or have concurrently one in one, but this cleaning cloth Walked in tow by robot, it is limited for watermark artifact, footprint, fine soot particle cleaning effect.
Presently commercially available floor-cleaning machine device people (irobot scooba) is robot is sprayed water in ground, is brushed in swiped through Afterwards, then by rubber scraper suck back water filtration, he the shortcomings that be ground not usually, can residual water on the ground, and in seamed ground Sheet material matter can not use.
Presently commercially available mopping robot (mint：Mint), be push wet cloth machine walk up and down wipe ground, its shortcoming It is：The rubbish of accumulation can not be collected in front of cleaning cloth, and it is limited to wipe frequency too low cleaning effect.
Therefore, it is necessary to one kind the shortcomings that can improving aforementioned machines people at least one of family settle accounts and use robot.
The content of the invention
One purpose of one embodiment of the invention is, there is provided a kind of auto-cleaner, there is shuttle cleaning mechanism to make Cleaning cloth back and forth wipes ground, and there are a pair of road wheels machine can be allowed to advance, have microcomputer control system and a variety of sensors Barrier is detected, detects surrounding environment distance, plans cleaning path.In an embodiment, foregoing auto-cleaner is with more suction Dirt device can absorb the rubbish in front of cleaning cloth, and in an embodiment, foregoing auto-cleaner more has water injector wettable Wipe ground.
A kind of auto-cleaner includes a reciprocating Wiping mechanism, a running gear and a control system.Reciprocating wiping Mechanism includes an at least cleaning device and an at least reciprocating apparatus.An at least cleaning device is contacting a plane.At least one Reciprocating apparatus, an at least cleaning device is connected to, and an at least cleaning device is produced one and move back and forth, used reciprocal Ground plane-cleaning.Running gear is making auto-cleaner walk in plane.Control system be coupled to reciprocating Wiping mechanism and Running gear, to control reciprocating Wiping mechanism and running gear.
In an embodiment, an at least cleaning device includes one first cleaning device and one second cleaning device.This is at least One reciprocating apparatus, the first cleaning device is moved back and forth in a first direction, and make the second cleaning device one second Direction moves back and forth, and first direction is in contrast to second direction.
In an embodiment, auto-cleaner further includes a casing.Casing house reciprocating Wiping mechanism this at least one Reciprocating apparatus, control system and running gear.At least a cleaning device includes for this：One brush, a roller and a cleaning cloth.Brush Disk is placed in the lower section of a base of casing.Roller rolls between brush and casing, and in brush or base, uses reduction brush Frictional force between disk and base.Cleaning cloth is located at brush, to contact plane.
In an embodiment, auto-cleaner further includes a casing and a flexible member.Casing houses reciprocating cleaning machine At least a reciprocating apparatus, control system and the running gear of structure.Flexible member is located between running gear and casing, is used Running gear is exerted a force toward the direction away from auto-cleaner by flexible member.
In an embodiment, auto-cleaner further includes a dust exhaust apparatus.Dust exhaust apparatus includes a suction inlet to make to put down A particle on face, as an air stream is inhaled into dust exhaust apparatus from suction inlet.An at least cleaning device includes one first Cleaning device.Suction inlet is located at the front of the first cleaning device, and suction inlet is located in a preset distance of the first cleaning device, and And the first cleaning device not accumulation particles in preset distance.
In an embodiment, auto-cleaner further includes a water injector, to spray water in plane.
In an embodiment, running gear includes a movable pulley group and a shell body, and shell body is to accommodating movable pulley Group and include a sleeve.Casing includes a base, a fixed column, a catch and a fixed screw.Fixed column is located at base simultaneously certainly Base protrudes, and sleeve is sheathed on the outer peripheral face of fixed column.Catch is located at the top side of fixed column.Fixed screw is screwed into fixed column In, catch to be fixed on to the top side of fixed column.One end of flexible member is resisted against catch, and the other end of flexible member supports It is against the sleeve of the shell body of running gear.
In an embodiment, an at least reciprocating apparatus include one wipe with motor, a crank axle, an at least crank and An at least slide rail.Crank axle is rotated to be wiped with motor driving.At least a crank, its one end are connected to crank Axle, and its other end is connecting a brush of an at least cleaning device；And carried out with the rotation of crank axle reciprocal Motion.An at least slide rail, a part for brush is limited, using makes an at least cleaning device move back and forth.
In an embodiment, the suction inlet of dust exhaust apparatus is arranged in a brush of the first cleaning device.
In an embodiment, auto-cleaner further includes an electric cleaning brush.The suction inlet of dust exhaust apparatus is arranged on automatically On one base of one casing of cleaner.Electric cleaning brush is fixed on base, and particle is swept into suction inlet.
In an embodiment, auto-cleaner further includes an at least sensor, and it is located at casing front side or downside, to non- The barrier of contact measurement one or a cliff of displacement.
In an embodiment, auto-cleaner further includes a bumper bar and at least a limit switch.Bumper bar is located at automatic On the outside of cleaner.An at least limit switch is detecting a barrier after being touched by bumper bar.
In an embodiment, auto-cleaner further includes at least one laser ranging system, to detect a barrier Distance simultaneously measures surrounding environment distance, to establish a map and plan a cleaning path.
The technological improvement of each embodiment of the present invention includes one of.Reciprocating-type cleaning mechanism is designed, is improved single Position time cleaning cloth wipes frequency, can clean in higher efficiency.Dust exhaust apparatus absorbs rubbish of the accumulation in front of cleaning cloth.Intelligence Energy type control water spray keeps cleaning cloth optimum humidity, reaches optimal cleaning effect.All devices of system combination, add artificial intelligence Can, the cleanable complete room of robot.
Brief description of the drawings
From following detailed description and accompanying drawing, it is limited with illustrating and not to the present invention, being capable of more comprehensively geography The solution present invention.
Fig. 1 is the top view of the auto-cleaner of one embodiment of the invention.
Fig. 2 is the upward view of the auto-cleaner of one embodiment of the invention.
Fig. 3 is Fig. 2 section lines A-A profile.
Fig. 4 is Fig. 2 section lines B-B profile.
Fig. 5 is Fig. 2 section lines C-C profile.
Fig. 6 is Fig. 2 section lines K-K profile.
Fig. 7 is its corresponding diagram 2 of the auto-cleaner of another embodiment of the present invention section line A-A profile.
Fig. 8 is the schematic diagram of the reciprocating Wiping mechanism of another embodiment of the present invention.
Fig. 9 is the functional block diagram of the control system of one embodiment of the invention.
Figure 10 is the top view of the auto-cleaner of another embodiment of the present invention.
Drawing reference numeral：
The spring stop piece of 100 auto-cleaner 441
The fixed screw of motor 442 is used in 110 wipings
The fixed column of 120 pulley apparatus 443
The control system of 130 crank axle 500
The processor of 131 rotating wheel 510
The memory of 140 crank 511
The flash memory of 141 straight-bar 512
The pulse width modulation device of 150 crank 520
The analog line driver of 20a air streams 521
The collecting garbage bucket of 20b air streams 600
610 primary filter screen of 20c air streams
611 movable suction inlet of 20d air streams
The trunnion of 20e air streams 612
The outlet of 20f air streams 613
210 tripods 619 fix suction inlet
The high efficiency filter screen of brush 620 before 220
The vacuum pump impeller of 230 cleaning cloth 630
The pump motor of 231 cleaning device 640
The drum brush of 240 tripod 690
The storage tank of brush 700 after 250
The water pipe of 260 cleaning cloth 710
The water pump of 270 roller 720
The water pipe of 271 chute 730
The left nozzle of 280 roller 740
281 chutes 741 spray scope
The right nozzle of 310 base 750
320 casings 751 spray scope
The front proximity sensor of 330 bumper bar 810
The lower section proximity sensor of 400 movable pulley group 820
The limit switch of 401 sleeve 830
The ranging sensor of 402 shell body 840
The remote control transmitter of 410 crawler driving whell 900
The receiver of remote-control sytem of 420 crawler belt 910
The bristle of 430 motor 910
440 springs
Embodiment
With reference to the accompanying drawings, explain the present invention, wherein identical label by for identify the identical of multiple viewpoints or Approximate element.It should be noted that schema should be watched with the differently- oriented directivity of label.
The sweeping robot according to known to, cleaning cloth only can wipe ground by the walking of sweeping robot, that is, Number walk to wipe number, another known sweeping robot only has the dry function of sweeping, therefore according to known technology, Wu Faqing Clean watermark artifact, footprint, fine soot particle etc..According to one embodiment of the invention, a kind of auto-cleaner 100 is proposed, has high speed past Compound cleaning mechanism makes cleaning cloth is reciprocal at a high speed to wipe ground, and there are a pair of road wheels machine can be allowed to advance.In an embodiment In can also have cleaning vacuum plant to absorb rubbish in front of cleaning cloth.There can also be water injector in an embodiment Can wet rubbing ground.Can also have microcomputer control system and a variety of sensors detection barrier, detection week in an embodiment Collarette border distance, plan cleaning path.More specifically structure, describe in detail as follows.
Fig. 1 is the top view of the auto-cleaner of one embodiment of the invention.Fig. 2 is the automated cleaning of one embodiment of the invention The upward view of machine.Fig. 3 is Fig. 2 section lines A-A profile.Fig. 4 is Fig. 2 section lines B-B profile.Fig. 5 is in Fig. 2 Hatching C-C profile.Fig. 6 is Fig. 2 section lines K-K profile.
On reciprocating Wiping mechanism：
As shown in Fig. 2-Fig. 6, the reciprocating Wiping mechanism of one embodiment of the invention includes one and wiped with motor 110, belt Wheel apparatus 120, crank axle 130 and an at least crank and an at least cleaning device.An at least crank includes two in the present embodiment Individual crank 140 and 150, and the free end device of crank 140 and 150 has cleaning device.As shown in figure 4,110 turns of wiping motor It is dynamic, after the reduction of speed of pulley apparatus 120, drive crank axle 130 to rotate.As shown in figure 3, the rotation of crank axle 130 drives at least One crank carries out the reciprocating motion of straight line, and crank axle 130 more drives two cranks 140 and 150 to carry out straight line in the present embodiment Reciprocating motion.Preferably the difference of those cranks 140 and 150 is 180 °, therefore the both ends of crank 140 and 150 Opposite direction reciprocating linear movement is presented in cleaning device.
Fig. 3 is refer to again, and preceding cleaning device includes the cleaning cloth 230 of brush 220 and one before a tripod 210, one.Tripod 210 are connected between the free end of crank 140 and preceding brush 220, before cleaning cloth 230 is installed or is attached under brush 220 Side.The free end of crank 140 promotes tripod 210, and then brush 220 before promotion, and makes to paste clear before preceding brush 220 Clean cloth 230 can make reciprocating move back and forth on the ground.Brush 250 and one is clear after cleaning device includes a tripod 240, one afterwards Clean cloth 260.Tripod 240 is connected between free end and the rear brush 250 of crank 150, and cleaning cloth 260 is installed or is attached to The downside of brush 250 afterwards.The free end of crank 150 promotes tripod 240, and then brush 250 after promotion, makes to paste in rear brush The cleaning cloth 260 of disk 250 can make reciprocating move back and forth on the ground.
The direction of motion of forward and backward brush 220 and 250 makes automatic clear completely on the contrary, cause reaction force to repeal by implication Clean machine 100 can steady operation.Fig. 2 and Fig. 4 is refer to again, and preceding cleaning device further includes an at least roller 270, and preceding brush 220 With two slide rails.Before roller 270 is fixed in brush 220, and the top surface positioned at preceding brush 220 and auto-cleaner 100 Between the bottom surface of the base 310 of casing 320.Current brush 220 is reciprocating when moving back and forth, as shown in figure 4, the meeting of roller 270 Base 310 or preceding brush 220 are rolled, and the friction before can reducing between brush 220 and base 310 during relative motion Power.In an embodiment, the upper side of base 310 forms a chute 271, and a part for preceding brush 220 is restricted to chute In 271, use and utilize the chute 271 of top to limit preceding brush 220, brush 220 will not drop downwards before making.
Cleaning device further includes an at least roller 280 afterwards, and rear brush 250 has two slide rails.After roller 280 is fixed on In brush 250, and between the top surface and the bottom surface of the base 310 of the casing 320 of auto-cleaner 100 positioned at rear brush 250. When rear brush 250 is reciprocating to be moved back and forth, roller 280 can roll to base 310 or rear brush 250, and can reduce Frictional force between brush 250 and base 310 during relative motion afterwards.In an embodiment, the upper side of base 310 forms a chute 281, and a part for rear brush 250 is restricted in chute 281, uses brush 250 after the limitation of chute 281 for utilizing top, Rear brush 250 is set not drop downwards.
The rotating speed of wiping motor 110 can determine the speed that cleaning cloth 230 and 260 wipes back and forth, per minute to wipe back and forth Wipe 100~2000 times, this is a kind of dynamical Wiping mechanism.
Although being as above described in detail by a kind of embodiment of reciprocating Wiping mechanism, however the present invention be not limited to it is foregoing Structure.In an embodiment as long as rotary motion can be utilized to be converted into the structure to move along a straight line, it is for example real in one A cam and a straight-bar (not shown) can be included by applying reciprocating Wiping mechanism in example.Straight-bar is connected on cam.Cam has Non-circular shape, for example, ellipse or one end formed with prominent nearly semiellipse and the other end forms semicircle.When cam enters During row rotation, straight-bar can just carry out the reciprocating motion of straight line.Again for example, Fig. 8 shows the past of another embodiment of the present invention The schematic diagram of compound Wiping mechanism.As shown in figure 8, in an embodiment, reciprocating Wiping mechanism includes a rotating wheel 131, one The cleaning device 231 of straight-bar 141 and one.A cleaning cloth 230 is equiped with the downside of cleaning device 231.When rotating wheel 131 rotates, One end movement of straight-bar 141 is pulled, and the other end cleaning device 231 for being connected to straight-bar 141 carries out front and rear reciprocating motion, And reciprocally wiped by cleaning cloth 230 and clean ground.
On cleaning vacuum plant：
The mutual reciprocating motion of forward and backward brush 220 and 250, although cleanable ground, rubbish can be accumulated in preceding cleaning The edge of cloth 230, that is, at the movable suction inlet 611 of Fig. 2 dust exhaust apparatus.In an embodiment, auto-cleaner 100 have further included a dust exhaust apparatus.Dust exhaust apparatus includes a vaccum pump motor 640, a vacuum pump impeller 630 and an air hose Road.Air pipe line includes movable suction inlet 611, trunnion 612, filter screen module (610 and 620), collecting garbage bucket 600 and outlet 613.Vaccum pump motor 640 drives vacuum pump impeller 630 to rotate and forms air stream, and makes the air stream in air pipe line according to sky Air-flow 20a to air stream 20f path flowing.
The front of the edge of preceding cleaning cloth 230 is located at the movable suction inlet 611 of dust exhaust apparatus, using makes running gear When advancing along a direction of travel, after dust exhaust apparatus sucks rubbish particle in advance, then make the rubbish of the preceding plane-cleaning of cleaning cloth 230 The part of particle present position.Movable suction inlet 611 is more located in a preset distance of edge for preceding cleaning cloth 230, wherein In the preset distance, dust exhaust apparatus can siphon away rubbish of the accumulation in the preceding leading edge of cleaning cloth 230 by air stream 20a, and make The preceding leading edge of cleaning cloth 230 does not accumulate rubbish particle.Relevant technical staff in the field can according to the purpose for not accumulating rubbish particle, The all size of various efficiency or movable suction inlet 611 for dust exhaust apparatus is tested, come determine the preset distance away from From, that is, depending on the preset distance can be by the efficiency of dust exhaust apparatus or the size of movable suction inlet 611, when the effect of dust exhaust apparatus The preset distance is more remote when rate is higher.As shown in Figures 1 and 3, before the movable suction inlet 611 of dust exhaust apparatus is located at preceding brush 220 Side, for air stream 20a after being inhaled into close to the movable suction inlet 611 of the preceding front side of brush 220, air stream 20b passes through trunnion 612. Trunnion 612 as shown in Figure 1 is connected collecting garbage bucket 600, and air stream 20c flows through the primary filter screen 610 of filter screen module, air stream When 20d passes through the arrival air stream 20e of high efficiency filter screen 620, most of all dusts are filtered dry only.Then, air stream 20e can be discharged after air stream 20f from outlet 613.Therefore the dust on ground can be siphoned away by dust exhaust apparatus.Yu Yishi Apply in example, high efficiency filter screen 620 can be high efficiency air filter (the High Efficiency of filter screen module Particulate Air filter, HEPAfilter) filter screen.
On running gear：
Fig. 2 and Fig. 5 is refer to, according to an embodiment of auto-cleaner 100, its running gear has two groups of movable pulley groups 400 and two assembly housing bodies 402.Shell body 402 is to accommodating movable pulley group 400.Movable pulley group 400 includes crawler belt wheel motor 430th, crawler driving whell 410 and crawler belt 420.In an embodiment, movable pulley group 400 by a roller and can also drive the roller Motor formed.The crawler belt wheel motor 430 of movable pulley group 400 rotates crawler driving whell 410, crawler belt through internal reduction machine Driving wheel 410 can drive whole piece crawler belt 420, auto-cleaner 100 is moved on floor.It refer to Figure 10, control system 500 There is drive circuit to connect two crawler belt wheel motors 430, two crawler belt wheel motors 430 of software-controllable system in control system 500, make Obtaining auto-cleaner 100 can advance, retreats, turn to.Coordinate artificial intelligence (AI) software in control system 500, it is automatic clear Clean machine 100 can wipe whole room floor automatically (detailed content is as be described hereinafter).
On Athey wheel fixed pressing structure：
The entire machine of auto-cleaner 100 contacts only two parts with ground, first, cleaning cloth 230 and 260, another is to carry out Band 420, when the pressure distribution that this two part is born is uneven, auto-cleaner 100 is can not normal operation well.When clear When the normal pressure that clean cloth 230 and 260 is assigned to is too many, when crawler belt 420 is not allocated to enough normal pressures, crawler belt 420 can be beaten Cunning can not promote machine.In other words, the normal pressure being assigned to when crawler belt 420 is too many, and cleaning cloth 230 and 260 is not allocated to During enough normal pressures, unclean ground will be wiped.Therefore the pressure distribution of a fixed proportion must be designed, can just make machine can be just Often walking and erasable clean ground.
As shown in figure 5, the Athey wheel fixed pressing structure according to one embodiment of the invention, auto-cleaner 100 can further include One spring 440, spring 440 are located between running gear and the casing 320 of auto-cleaner 100, and using will row by spring 440 Walking apparatus exerts a force toward the direction away from auto-cleaner 100, is also pressed downward running gear.More specifically in the present embodiment In, spring 440 is located between base 310 and running gear, is used and is pressed downward movable pulley group 400 by spring 440, therefore only Design the spring constant of spring 440, it is possible to design fixed pressure, and cleaning cloth 230 and 260 can be distributed；And Normal pressure of this two part of crawler belt 420 to floor.It is sayed in more detail, and the Athey wheel fixed pressing structure according to the present embodiment is formed such as Under.The shell body 402 of running gear includes a sleeve 401, and it is located at one end of shell body 402.Casing 320 further includes a fixation Post 443, a spring stop piece 441 and a fixed screw 442.A jag of the sleeve 401 located at the shell of movable pulley group 400.Again It refer to Fig. 5.Fixed column 443 protrudes located at base 310 and from base 310, and sleeve 401 is sheathed on the outer peripheral face of fixed column 443. Spring stop piece 441 is located at the top side of fixed column 443, and fixed screw 442 is screwed into fixed column 443 spring stop piece 441 to be fixed In the top side of fixed column 443.
The upper end of spring 440 is resisted against spring stop piece 441, and the lower end of spring 440 is resisted against the shell body of running gear 402 part, more specifically as shown in figure 5, the bottom of the sleeve 401 against shell body 402.Therefore, can pass through Movable pulley group 400 is pressed downward by spring 440.In an embodiment, do not set additionally again another spring by cleaning device down Pressure, therefore the reciprocating motion of the preceding brush 220 and rear brush 250 of cleaning device can be enable more smooth.
On water injector：
According to known technology, only xerotripsis is can not to wipe spot, footprint, watermark artifact, fine soot particle etc..Therefore in this Invent an embodiment and one water injector is more set, spray some water using water injector and can easily remove dirty on ground Vestige.As shown in Figure 1 and Figure 6, water injector includes storage tank 700, water pipe 710, water pump 720, water pipe 730 and left nozzle 740 With right nozzle 750.As shown in figure 9, control system 500 can control the driving water spray of water pump 720.As shown in figure 1, water is stored in In water tank 700, water pump 720 is arrived by water inlet pipe 710.As shown in Figure 1 and Figure 6, after clean water is pressurizeed by water pump 720, by going out Water pipe 730, then sprayed by the left nozzle 740 shown in Fig. 6 and right nozzle 750.Symbol 741 represents the ejection of left nozzle 740 Scope, symbol 751 represent the ejection scope of right nozzle 750.Control system 500 can be according to the gait of march control water pump of machine 720 water spray opportunitys and injection flow rate, make cleaning cloth 230 and 260 overly wet or too dry, and can reach optimal cleaning effect.
On control system：
Motor drives：
Fig. 9 is the functional block diagram of the control system of one embodiment of the invention.As shown in figure 9, one embodiment of the invention Control system 500 includes：The pulse width of one processor (CPU), 510, one memory (RAM), 511, one flash memory (flash) 512, one Modulation (PWM) device 520, at least one analog line driver 521 and a receiver of remote-control sytem 910.Processor 510, memory 511 and sudden strain of a muscle Deposit 512 basic modules as micro computer computing and storage.One operation software is stored in flash memory 512, operation software control arteries and veins The power output signal of width modulation device 520 is rushed to those analog line drivers 521, and then promotes each motor 430,110,640 And 720.First and two crawler belt wheel motor 430 be responsible for the walking of auto-cleaner 100, wiping motor 110 is responsible for reciprocating wiping The reciprocating wiping action of mechanism is wiped, vaccum pump motor 640 is responsible for vacuum cleaning, and pump motor 640 is responsible for water spray.
Detection of obstacles：
As shown in figure 1, auto-cleaner 100 further includes an at least front proximity sensor 810, auto-cleaner is set 100 front end and detectable front obstacle, to avoid hitting.As shown in Fig. 2 auto-cleaner 100 further includes at least once Square proximity sensor 820, the bottom side of shell is arranged at, is preferably provided in the bottom surface of base 310.Lower section proximity sensor 820 It can detect whether front is the cliff of displacement, to prevent auto-cleaner 100 from turning over, proximity sensor 810 and 820 can be infrared ray sense Device, laser ranging, or ultrasonic sensing method etc. are surveyed, other sensors of current existing or future development can also be used.
As shown in figure 5, in an embodiment, auto-cleaner 100 further includes a bumper bar 330 and a limit switch 830. Bumper bar 330 is can be set in the front of auto-cleaner 100, and limit switch can be expressed to after the strikes obstacles of bumper bar 330 (limit switch) 830, micro computer or processor 510, which can be known, has encountered barrier, and carry out other operations or It is mobile.
In an embodiment, auto-cleaner 100 further includes a ranging sensor 840, and auto-cleaner 100 is had There is laser ranging function, its measurable front obstacle distance or measurement surrounding environment distance, to establish map planning cleaning Path.
Automatic cleaning function：
The program that the micro computer or processor 510 of control system 500 are built-in can automatically control all motors, carry out barrier Detection or planning cleaning path, and then clean complete room.
Distant control function：
The receiver of remote-control sytem 910 of control system 500 and remote control transmitter 900, can be infrared-type or wireless transmission method, Or other receivers of remote-control sytem 910 and remote control transmitter 900 of current existing or future development can be used.
Fig. 7 is its corresponding diagram 2 of the auto-cleaner of another embodiment of the present invention section line A-A profile.Fig. 7 is implemented For example similar in appearance to Fig. 2 and Fig. 3 embodiment, therefore identical element uses identical symbol, and saves its related description, only says An at least deviation for bright two embodiment.Fig. 7 section line A-A of hatching A1-A1 corresponding diagrams 2.As shown in fig. 7, preceding brush 220 movable suction inlet 611 is fixed on the electronic drum brush 690 of base 310 and fixed suction inlet 619, drum brush 690 instead Drum on have a spiral bristle 910, bristle 910 is located near fixed suction inlet 619.Electronic drum brush 690 is cleanablely Face, after dust that bristle 910 is rolled, hair, rubbish, those materials from fixed suction inlet 619 by air stream 20a suck and to Up to collecting garbage bucket 600, to reach high efficiency cleaning.
It will be appreciated that the present invention is not limited to the profile of auto-cleaner 100.Figure 10 is another embodiment of the present invention The top view of auto-cleaner.Figure 10 embodiments are similar in appearance to Fig. 1 embodiment, therefore identical element uses identical symbol, And its related description is saved, only illustrates an at least deviation for two embodiments.As shown in Figure 10, auto-cleaner 100 is outer Shape may be designed to circle.Can also be triangle (not shown) in an embodiment.
According to one embodiment of the invention, due to being designed with high speed reciprocating-type cleaning mechanism, cleaning cloth wipes frequency can be every point Clock more than 200 times, and high efficiency cleaning can be reached.In an embodiment, cleaning vacuum plant is provided with, and can be absorbed tired Rubbish of the product in front of cleaning cloth.In an embodiment, water injector is provided with, and intelligent can control water spray, keeps clear Clean cloth optimum humidity is to reach optimal cleaning effect.Due to one embodiment of the invention, can the foregoing all devices of system combination, and And artificial intelligence is added, and the floor in the cleanable complete room of robot can be made.
The present invention is explained, identical method can also be changed with a variety of methods, and this is apparent.Should A little deformations are not regarded as a departure from the spirit and scope of the present invention.It is all those for relevant technical staff in the field significantly to repair Just, all included in right.

Claims (13)

1. a kind of auto-cleaner, it is characterised in that include：
One reciprocating Wiping mechanism, comprising：
An at least cleaning device, to contact a plane；And
An at least reciprocating apparatus, an at least cleaning device is connected to, and an at least cleaning device is produced one and back and forth transport It is dynamic, use and reciprocally wipe the plane；
One running gear, to make the auto-cleaner walk in the plane；And
One control system, be coupled to the reciprocating Wiping mechanism and the running gear, to control the reciprocating Wiping mechanism and The running gear.
2. auto-cleaner according to claim 1, it is characterised in that
An at least cleaning device includes one first cleaning device and one second cleaning device；And
An at least reciprocating apparatus, makes first cleaning device be moved back and forth in a first direction, and makes this second clear Clean device moves back and forth in a second direction, and the first direction is in contrast to the second direction.
3. auto-cleaner according to claim 1, it is characterised in that a casing is further included, wherein,
The casing, house an at least reciprocating apparatus, the control system and the running gear of the reciprocating Wiping mechanism；And And
At least a cleaning device includes for this：
One brush, it is placed in the lower section of a base of the casing；
One roller, rolled between the brush and the casing, and in the brush or the base, use and reduce the brush and the bottom Frictional force between seat；And
One cleaning cloth, located at the brush, to contact the plane.
4. auto-cleaner according to claim 1, it is characterised in that a casing and a flexible member are further included, wherein,
The casing houses an at least reciprocating apparatus, the control system and the running gear of the reciprocating Wiping mechanism；And And
The flexible member is located between the running gear and the casing, is used the running gear by the flexible member toward remote The direction force of the auto-cleaner.
5. auto-cleaner according to claim 1, it is characterised in that a dust exhaust apparatus is further included, wherein,
The dust exhaust apparatus includes a suction inlet, to make the particle in the plane, as an air stream is inhaled from the suction inlet Enter in the dust exhaust apparatus；
An at least cleaning device includes one first cleaning device；And
The suction inlet is located at the front of first cleaning device, and the suction inlet is located at a preset distance of first cleaning device It is interior so that the first cleaning device not accumulation particles in the preset distance.
6. auto-cleaner according to claim 1 a, it is characterised in that water injector is further included, to spray water in this Plane.
7. auto-cleaner according to claim 4, it is characterised in that
The running gear includes a movable pulley group and a shell body, and the shell body is to the accommodating movable pulley group and comprising a set of Cylinder,
The casing includes：
One base；
One fixed column, protruded located at the base and from the base, and the sleeve is sheathed on the outer peripheral face of the fixed column；
One catch, located at the top side of the fixed column；And
One fixed screw, it is screwed into the fixed column, the catch to be fixed on to the top side of the fixed column；And
One end of the flexible member is resisted against the catch, and the other end of the flexible member is resisted against the shell of the running gear The sleeve of body.
8. auto-cleaner according to claim 4 a, it is characterised in that at least reciprocating apparatus includes for this：
One wiping motor；
One crank axle, rotated to be driven by the wiping with motor；
An at least crank, its one end are connected to the crank axle, and its other end is connecting a brush of an at least cleaning device Disk, and moved back and forth with the rotation of the crank axle；And
An at least slide rail, a part for the brush is limited, using makes this at least a cleaning device moves back and forth.
9. auto-cleaner according to claim 5, it is characterised in that the suction inlet of the dust exhaust apparatus be arranged on this In one brush of one cleaning device.
10. auto-cleaner according to claim 5, it is characterised in that an electric cleaning brush is further included, wherein,
The suction inlet of the dust exhaust apparatus is arranged on a base of a casing of the auto-cleaner；And
The electric cleaning brush, the base is fixed on, and the particle is swept into the suction inlet.
11. auto-cleaner according to claim 1, it is characterised in that an at least sensor is further included, it is automatic located at this The front side or downside of cleaner, to the barrier of non-contact detection one or a cliff of displacement.
12. auto-cleaner according to claim 1, it is characterised in that further include a bumper bar and be located at the automated cleaning On the outside of machine；And an at least limit switch, to detect a barrier after being touched by bumper bar.
13. auto-cleaner according to claim 1, it is characterised in that further include at least one laser ranging system, use To detect the distance of a barrier and measure surrounding environment distance, to establish a map and plan a cleaning path.
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CN111387889B (en) 2022-03-08
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TWI603700B (en) 2017-11-01
RU2017106769A (en) 2018-09-04
CN111493761B (en) 2021-04-09
CN107510417B (en) 2020-05-26
CN111493761A (en) 2020-08-07
TW201808204A (en) 2018-03-16
RU2695047C2 (en) 2019-07-18
CN111493762A (en) 2020-08-07

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