CN107510417B - Automatic cleaning machine - Google Patents

Automatic cleaning machine Download PDF

Info

Publication number
CN107510417B
CN107510417B CN201610609185.5A CN201610609185A CN107510417B CN 107510417 B CN107510417 B CN 107510417B CN 201610609185 A CN201610609185 A CN 201610609185A CN 107510417 B CN107510417 B CN 107510417B
Authority
CN
China
Prior art keywords
cleaning
reciprocating
automatic cleaning
cleaning machine
walking
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.)
Active
Application number
CN201610609185.5A
Other languages
Chinese (zh)
Other versions
CN107510417A (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 Tech Inc
Original Assignee
Hobot Tech 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
Priority to TW105118692 priority Critical
Priority to TW105118692 priority
Application filed by Hobot Tech Inc filed Critical Hobot Tech Inc
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

Links

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
    • A47L11/28Floor-scrubbing machines, motor-driven
    • A47L11/284Floor-scrubbing machines, motor-driven having reciprocating 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
    • A47L11/24Floor-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
    • 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4038Disk shaped 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
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4041Roll shaped 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
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4066Propulsion of the whole machine
    • 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
    • A47L11/4075Handles; 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
    • A47L11/408Means 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
    • A47L11/4091Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00Structural features of suction cleaners
    • A47L5/12Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • 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
    • 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
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

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

Automatic cleaning machine
Technical Field
The present invention relates to an automatic cleaning machine, and more particularly, to an automatic cleaning machine having a reciprocating cleaning mechanism.
Background
Currently, a sweeping cleaning robot (sweeping robot) on the market mainly sweeps garbage, and generally has a side brush, a vacuum suction port, a middle brush or a mopping cleaning cloth, but the cleaning cloth is dragged by the robot, so that the cleaning effect on water stains, foot marks and fine dust particles is limited.
The current commercial floor cleaning robot (irobot scooba) sprays water on the ground, the water is sucked back by a rubber scraper and filtered after being brushed by a middle brush, and the floor cleaning robot has the defects that when the ground is uneven, the water can be remained on the ground, and the floor cleaning robot cannot be used by a seam floor material.
The current commercial floor-cleaning robot pushes a wet cloth machine to move back and forth to clean the floor, and the defects are as follows: the garbage accumulated in front of the cleaning cloth can not be collected, and the cleaning effect is limited when the wiping frequency is too low.
Therefore, there is a need for a robot for household liquidation that improves upon at least one of the aforementioned disadvantages of robots.
Disclosure of Invention
An object of an embodiment of the present invention is to provide an automatic cleaning machine, which has a reciprocating cleaning mechanism to enable a cleaning cloth to reciprocally wipe the ground, a pair of traveling wheels to enable the machine to travel, a microcomputer control system and various sensors to detect obstacles, detect the distance of the surrounding environment, and plan a cleaning path. In one embodiment, the automatic cleaning machine further comprises a dust collector for collecting the garbage in front of the cleaning cloth, and in one embodiment, the automatic cleaning machine further comprises a water spraying device for wetting and wiping the floor.
An automatic cleaning machine includes a reciprocating wiping mechanism, a traveling device and a control system. The reciprocating wiping mechanism comprises at least one cleaning device and at least one reciprocating device. At least one cleaning device is used for contacting a plane. 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 reciprocally wipe the plane. The walking device is used for enabling the automatic cleaning machine to walk on a plane. The control system is coupled with the reciprocating wiping mechanism and the traveling device and is used for controlling the reciprocating wiping mechanism and the traveling device.
In one embodiment, the at least one cleaning device includes a first cleaning device and a second cleaning device. The reciprocating device enables the first cleaning device to reciprocate in a first direction and enables the second cleaning device to reciprocate in a second direction, and the first direction is opposite to the second direction.
In one embodiment, the robot cleaner further includes a housing. The machine shell is used for accommodating the reciprocating device, the control system and the walking device of the reciprocating wiping mechanism. The at least one cleaning device comprises: a brush disc, a roller and a cleaning cloth. The brush disc is arranged below a base of the machine shell. The roller is located between the brush disk and the casing and rolls on the brush disk or the base, so as to reduce the friction between the brush disk and the base. The cleaning cloth is arranged on the brush disc and is used for contacting the plane.
In one embodiment, the automatic cleaning machine further comprises a housing and an elastic element. The machine shell is used for accommodating the reciprocating device, the control system and the walking device of the reciprocating wiping mechanism. The elastic element is arranged between the walking device and the shell so as to apply force to the walking device in the direction away from the automatic cleaning machine through the elastic element.
In one embodiment, the automatic cleaning machine further comprises a dust-collecting device. The dust suction device comprises a suction inlet for sucking particles on a plane along with an air flow from the suction inlet into the dust suction device. The at least one cleaning device includes a first cleaning device. The suction opening is positioned in front of the first cleaning device, the suction opening is positioned within a predetermined distance of the first cleaning device, and the first cleaning device does not accumulate particles within the predetermined distance.
In one embodiment, the automatic cleaning machine further comprises a water spraying device for spraying water on the plane.
In one embodiment, the traveling device includes a movable wheel set and an outer casing, the outer casing is used for accommodating the movable wheel set and includes a sleeve. The casing comprises a base, a fixing column, a baffle and a fixing screw. The fixed column is arranged on the base and protrudes from the base, and the sleeve is sleeved on the outer peripheral face of the fixed column. The separation blade is located the top side of fixed column. The fixing screw is screwed into the fixing column and used for fixing the separation blade on the top side of the fixing column. One end of the elastic element is propped against the blocking sheet, and the other end of the elastic element is propped against the sleeve of the outer shell of the walking device.
In one embodiment, the at least one reciprocating device includes a wiping motor, a crank shaft, at least one crank and at least one slide rail. The crank shaft is driven to rotate by the wiping motor. At least one crank, one end of which is connected with the crank shaft and the other end of which is used for connecting a brush disc of the at least one cleaning device; and performs a reciprocating motion along with the rotation of the crank shaft. At least one slide rail for limiting a portion of the brush plate to thereby reciprocate the at least one cleaning device.
In one embodiment, the suction inlet of the dust suction device is arranged on a brush disc of the first cleaning device.
In one embodiment, the automatic cleaning machine further comprises an electric cleaning brush. The suction inlet of the dust suction device is arranged on a base of a shell of the automatic cleaning machine. An electric cleaning brush is fixed to the base and sweeps the particles into the suction inlet.
In one embodiment, the automatic cleaning machine further comprises at least one sensor disposed on the front side or the lower side of the housing for detecting an obstacle or a cliff in a non-contact manner.
In one embodiment, the automatic cleaning machine further comprises a safety lever and at least one limit switch. The bumper is arranged on the outer side of the automatic cleaning machine. At least one limit switch is used for detecting an obstacle after being touched by the bumper.
In one embodiment, the robot cleaner further comprises at least one laser ranging device for detecting a distance to an obstacle and measuring a distance to an ambient environment, so as to create a map and plan a cleaning path.
Technical improvements of various embodiments of the present invention include one of the following. The reciprocating type cleaning mechanism is designed, so that the wiping frequency of the cleaning cloth in unit time is improved, and the cleaning can be performed efficiently. The dust suction device sucks the garbage accumulated in front of the cleaning cloth. The intelligent control water spray keeps the optimum humidity of the cleaning cloth, and the optimum cleaning effect is achieved. The system integrates all devices, artificial intelligence is added, and the robot can clean a whole room.
Drawings
The present invention will be understood more fully from the detailed description given below and from the accompanying drawings, which are given by way of illustration only and are not limitative of the present invention.
Fig. 1 is a top view of an automatic cleaning machine according to an embodiment of the present invention.
Fig. 2 is a bottom view of an automatic cleaning machine according to an embodiment of the present invention.
Figure 3 is a cross-sectional view taken along section line a-a of figure 2.
Figure 4 is a cross-sectional view taken along section line B-B of figure 2.
Figure 5 is a cross-sectional view of section line C-C in figure 2.
Figure 6 is a cross-sectional view of section line K-K in figure 2.
FIG. 7 is a cross-sectional view of an automatic cleaning machine corresponding to section line A-A in FIG. 2 according to another embodiment of the present invention.
FIG. 8 is a schematic view of a reciprocating wiping mechanism according to another embodiment of the present invention.
Fig. 9 is a functional block diagram of a control system according to an embodiment of the present invention.
Fig. 10 is a top view of an automatic cleaning machine according to another embodiment of the present invention.
Reference numerals:
100 automatic cleaning machine 441 spring catch
110 wiping motor 442 fixing screw
120 belt pulley device 443 fixing column
130 crankshaft 500 control system
131 rotating wheel 510 processor
140 crank 511 memory
141 straight rod 512 flash memory
150 crank 520 pulse width modulation device
20a airflow 521 power drive
20b airflow 600 garbage collection can
20c air flow 610 primary screen
20d air flow 611 active intake
20e air flow 612 throat
20f air stream 613 exhaust port
210 tripod 619 stationary suction inlet
220 front brush 620 high-efficiency filter screen
230 cleaning cloth 630 vacuum pump impeller
231 cleaning device 640 pump motor
240 tripod 690 drum brush
250 rear brush plate 700 water storage tank
260 cleaning cloth 710 water pipe
270 gyro wheel 720 water pump
271 spout 730 water pipe
280 roller 740 left nozzle
Spraying range of 281 sliding grooves 741
310 base 750 right nozzle
320 casing 751 ejection range
330 bumper 810 front proximity sensor
Proximity sensor under 400 moving wheel set 820
401 sleeve 830 limit switch
402 outer shell 840 range sensor
410 crawler driving wheel 900 remote control emitter
420 crawler 910 remote control receiver
430 motor 910 brush
440 spring
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals will be used to identify identical or similar elements from multiple viewpoints. It should be noted that the drawings should be viewed in the direction of the orientation of the reference numerals.
According to the known sweeping robot, the cleaning cloth can only wipe the ground by walking of the sweeping robot, that is, the walking times are the wiping times, and another known sweeping robot has only a dry sweeping function, so that according to the known technology, water stain marks, foot prints, fine dust particles and the like cannot be cleaned. In accordance with one embodiment of the present invention, an automatic cleaning machine 100 is provided having a high-speed reciprocating cleaning mechanism for high-speed reciprocating cleaning of a cleaning cloth across a floor surface, and a pair of road wheels for travel of the machine. In one embodiment, a vacuum cleaner may be provided to remove the garbage in front of the cleaning cloth. In one embodiment, a water spray device may be provided to wet the floor. In one embodiment, a microcomputer control system and various sensors can be provided to detect obstacles, detect the distance of the surrounding environment and plan the cleaning path. More specific structures are described in detail below.
Fig. 1 is a top view of an automatic cleaning machine according to an embodiment of the present invention. Fig. 2 is a bottom view of an automatic cleaning machine according to an embodiment of the present invention. Figure 3 is a cross-sectional view taken along section line a-a of figure 2. Figure 4 is a cross-sectional view taken along section line B-B of figure 2. Figure 5 is a cross-sectional view of section line C-C in figure 2. Figure 6 is a cross-sectional view of section line K-K in figure 2.
With respect to the reciprocating wiping mechanism:
as shown in fig. 2-6, the reciprocating wiping mechanism according to one embodiment of the present invention includes a wiping motor 110, a pulley device 120, a crank shaft 130, at least one crank, and at least one cleaning device. In the present embodiment, at least one crank comprises two cranks 140 and 150, and the free ends of the cranks 140 and 150 are provided with cleaning devices. As shown in fig. 4, the wiping motor 110 rotates, and the crankshaft 130 is rotated by the speed reduction of the pulley device 120. As shown in fig. 3, the crankshaft 130 rotates to drive at least one crank to perform a linear reciprocating motion, and in this embodiment, the crankshaft 130 further drives two cranks 140 and 150 to perform a linear reciprocating motion. Preferably, the phase difference between the cranks 140 and 150 is 180 °, so that the cleaning devices at both ends of the cranks 140 and 150 exhibit reciprocating linear motions in opposite directions.
Referring to fig. 3 again, the front cleaning device includes a tripod 210, a front brush plate 220 and a cleaning cloth 230. The spider 210 is connected between the free end of the crank 140 and the front brush plate 220, and the cleaning cloth 230 is mounted or attached to the underside of the front brush plate 220. The free end of the crank 140 pushes the tripod 210, and thus the front brush plate 220, so that the front cleaning cloth 230 adhered to the front brush plate 220 reciprocates back and forth on the floor. The rear cleaning device includes a tripod 240, a rear brush plate 250 and a cleaning cloth 260. The spider 240 is connected between the free end of the crank 150 and the rear brush plate 250, and the cleaning cloth 260 is mounted or attached to the underside of the rear brush plate 250. The free end of the crank 150 pushes the spider 240, thereby pushing the rear brush plate 250, so that the cleaning cloth 260 adhered to the rear brush plate 250 reciprocates back and forth on the floor.
The front and rear brush plates 220 and 250 move in opposite directions so that the reaction forces can be offset, and the automatic cleaning machine 100 can operate stably. Referring to fig. 2 and 4, the front cleaning device further includes at least one roller 270, and the front brush tray 220 has two sliding rails. The roller 270 is fixed to the front brush tray 220 and is located between the top surface of the front brush tray 220 and the bottom surface of the base 310 of the cabinet 320 of the robot cleaner 100. When the front brush plate 220 reciprocates back and forth, as shown in fig. 4, the roller 270 rolls the base 310 or the front brush plate 220, so as to reduce the friction force generated during the relative movement between the front brush plate 220 and the base 310. In one embodiment, a sliding groove 271 is formed at the upper side of the base 310, and a portion of the front brush tray 220 is limited in the sliding groove 271, so that the front brush tray 220 is limited by the upper sliding groove 271, and the front brush tray 220 does not fall down.
The rear cleaning device further comprises at least one roller 280, and the rear brush plate 250 has two sliding rails. The roller 280 is fixed to the rear brush tray 250 between the top surface of the rear brush tray 250 and the lower bottom surface of the base 310 of the cabinet 320 of the robot cleaner 100. When the rear brush plate 250 reciprocates back and forth, the roller 280 rolls on the base 310 or the rear brush plate 250, so that the friction force generated during the relative movement between the rear brush plate 250 and the base 310 can be reduced. In one embodiment, a sliding slot 281 is formed at the upper side of the base 310, and a portion of the rear brush plate 250 is limited in the sliding slot 281, so that the rear brush plate 250 is limited by the sliding slot 281, and the rear brush plate 250 does not fall down.
The rotation speed of the wiping motor 110 can determine the back-and-forth wiping speed of the cleaning cloths 230 and 260, and the wiping mechanism can wipe back and forth 100-2000 times per minute, which is a high-performance wiping mechanism.
Although an embodiment of a reciprocating wiping mechanism has been described in detail above, the present invention is not limited to the foregoing structure. Any structure capable of converting rotational motion into linear motion may be used in one embodiment, and for example, the reciprocating wiping mechanism may include a cam and a straight rod (not shown). The straight rod is abutted against the cam. The cam has a non-circular shape, such as an oval shape, or a nearly semi-oval with a protrusion formed at one end and a semi-circular shape formed at the other end. When the cam rotates, the straight rod can do linear reciprocating motion. For another example, FIG. 8 shows a schematic view of a reciprocating wiping mechanism according to another embodiment of the present invention. As shown in FIG. 8, in one embodiment, the reciprocating wiping mechanism comprises a rotating wheel 131, a straight rod 141 and a cleaning device 231. A cleaning cloth 230 is installed at the lower side of the cleaning device 231. When the rotation wheel 131 rotates, one end of the straight bar 141 is pulled to move, and the other end cleaning device 231 connected to the straight bar 141 performs a back and forth reciprocating motion, and wipes and cleans the floor surface reciprocally by the cleaning cloth 230.
With respect to the vacuum cleaner:
the reciprocal movement of the front and rear brush plates 220 and 250, although cleaning the floor, accumulates dust at the front edge of the front cleaning cloth 230, i.e., near the movable suction opening 611 of the dust suction apparatus of fig. 2. In one embodiment, the automatic cleaning machine 100 further comprises a dust-collecting device. The vacuum cleaner includes a vacuum pump motor 640, a vacuum pump impeller 630 and an air line. The air line includes an active intake 611, a throat 612, screen modules (610 and 620), a trash collection can 600, and an exhaust 613. The vacuum pump motor 640 rotates the vacuum pump impeller 630 to form an air flow, and the air flow is made to flow in the air pipe along the path from the air flow 20a to the air flow 20 f.
The movable suction port 611 of the dust suction device is disposed in front of the front edge of the front cleaning cloth 230, so that when the traveling device travels forward along a traveling direction, the dust suction device sucks in advance the garbage particles, and then the front cleaning cloth 230 wipes the portion of the plane where the garbage particles are located. The movable suction opening 611 is located further within a predetermined distance at the leading edge of the front cleaning cloth 230 within which the dust suction apparatus can suck the dust accumulated at the leading edge of the front cleaning cloth 230 by the air flow 20a without the leading edge of the front cleaning cloth 230 accumulating the dust particles. Those skilled in the art can determine the predetermined distance by performing experiments on various efficiencies of the dust collector or various sizes of the movable suction inlet 611 according to the purpose of not accumulating the garbage particles, that is, the predetermined distance can be determined by the efficiency of the dust collector or the size of the movable suction inlet 611, and the longer the predetermined distance is when the efficiency of the dust collector is higher. As shown in fig. 1 and 3, the movable suction port 611 of the vacuum cleaner is provided at the front side of the front brush tray 220, and after the air flow 20a is sucked from the movable suction port 611 near the front side of the front brush tray 220, the air flow 20b passes through the throat pipe 612. As shown in FIG. 1, throat 612 engages the trash receptacle 600, and airflow 20c passes through the primary screen 610 of the screen module, and airflow 20d passes through the high efficiency screen 620 to reach airflow 20e, where most of all the dust is filtered. Subsequently, the air flow 20e passes through the air flow 20f and is discharged from the discharge port 613. So that dust on the floor can be sucked away by the suction device. In an embodiment, the High efficiency filter 620 may be a filter of a High efficiency Air filter (HEPA filter) of a filter module.
Regarding the running gear:
referring to fig. 2 and 5, according to an embodiment of the automatic cleaning machine 100, the traveling device has two sets of moving wheel sets 400 and two sets of outer housings 402. The outer housing 402 is used for accommodating the moving wheel set 400. The moving wheel set 400 includes a track wheel motor 430, a track drive wheel 410, and a track 420. In one embodiment, the moving wheel assembly 400 may also be composed of a roller and a motor for driving the roller. The track wheel motor 430 of the moving wheel set 400 rotates the track driving wheel 410 through an internal speed reducer, and the track driving wheel 410 drives the entire track 420, so that the automatic cleaning machine 100 moves on the floor. Referring to fig. 10, the control system 500 has a driving circuit connected to the two track wheel motors 430, and software in the control system 500 can control the two track wheel motors 430, so that the automatic cleaning machine 100 can move forward, backward, and turn. In conjunction with Artificial Intelligence (AI) software within the control system 500, the robot 100 can automatically wipe the entire room floor (as described in detail below).
Regarding the track wheel constant pressure structure:
the entire machine 100 contacts the floor only in two parts, the cleaning cloths 230 and 260 and the track 420, and the automatic cleaning machine 100 cannot operate properly when the pressure distribution between the two parts is uneven. When the cleaning cloths 230 and 260 are assigned too much positive pressure, the tracks 420 may slip and not propel the machine when the tracks 420 are not assigned sufficient positive pressure. In other words, when the positive pressure is too much distributed to the caterpillar 420 and the cleaning cloths 230 and 260 are not distributed with a sufficient positive pressure, the floor will not be wiped cleanly. Therefore, a fixed ratio of pressure distribution must be designed to allow the machine to walk normally and clean the floor.
As shown in fig. 5, according to the constant-pressure structure of the track wheel of the embodiment of the invention, the automatic cleaning machine 100 may further include a spring 440, and the spring 440 is disposed between the traveling device and the housing 320 of the automatic cleaning machine 100, so that the traveling device is forced away from the automatic cleaning machine 100 by the spring 440, that is, the traveling device is pressed downward. More specifically, in the present embodiment, the spring 440 is disposed between the base 310 and the traveling device, so that the moving wheel assembly 400 is pressed downward by the spring 440, and thus a fixed pressure can be designed as long as the spring constant of the spring 440 is designed, and the cleaning cloths 230 and 260 can be dispensed; and positive pressure of the track 420 against the floor. More specifically, the constant-pressure structure of the track wheel according to the present embodiment is configured as follows. The outer housing 402 of the walking device comprises a sleeve 401 at one end of the outer housing 402. The housing 320 further includes a fixing post 443, a spring stop 441 and a fixing screw 442. The sleeve 401 is disposed at a protruding end of the outer casing of the movable wheel assembly 400. Please refer to fig. 5. The fixing post 443 is disposed on the base 310 and protrudes from the base 310, and the sleeve 401 is sleeved on the outer peripheral surface of the fixing post 443. The spring retaining plate 441 is disposed on the top side of the fixing post 443, and the fixing screw 442 is screwed into the fixing post 443 to fix the spring retaining plate 441 on the top side of the fixing post 443.
The upper end of the spring 440 abuts against the spring stop 441, and the lower end of the spring 440 abuts against a portion of the outer housing 402 of the walking device, more specifically, as shown in fig. 5, against the bottom end of the sleeve 401 of the outer housing 402. Accordingly, the moving wheel set 400 may be pressed downward by the spring 440. In one embodiment, another spring is not additionally provided to press the cleaning device downward, so that the reciprocating motion of the front brush plate 220 and the rear brush plate 250 of the cleaning device can be more smooth.
Regarding the water spray device:
according to the known art, only dry wiping cannot erase stains, footprints, water stains, fine soot, etc. Therefore, in an embodiment of the present invention, a water spraying device is further provided, and the water spraying device is used to spray some water to easily remove the dirty marks on the floor. As shown in fig. 1 and 6, the water spraying device includes a water storage tank 700, a water pipe 710, a water pump 720, a water pipe 730, a left nozzle 740 and a right nozzle 750. As shown in fig. 9, the control system 500 may control the water pump 720 to drive the water spray. As shown in fig. 1, water is stored in a water storage tank 700, passing through a water inlet pipe 710 to a water pump 720. As shown in fig. 1 and 6, the cleaning water is pressurized by the water pump 720, passes through the water outlet pipe 730, and is then ejected through the left nozzle 740 and the right nozzle 750 shown in fig. 6. Reference numeral 741 denotes an ejection range of the left nozzle 740, and reference numeral 751 denotes an ejection range of the right nozzle 750. The control system 500 controls the water pump 720 to spray water at a time and quantity according to the traveling speed of the machine, so that the cleaning cloths 230 and 260 are not too wet or too dry, and the optimal cleaning effect can be achieved.
With regard to the control system:
driving a motor:
fig. 9 is a functional block diagram of a control system according to an embodiment of the present invention. As shown in fig. 9, a control system 500 according to an embodiment of the present invention includes: a processor (CPU)510, a memory (RAM)511, a flash memory (flash)512, a Pulse Width Modulation (PWM) device 520, at least one power driver 521, and a remote control receiver 910. The processor 510, the memory 511 and the flash memory 512 are basic modules for microcomputer operation and storage. An operating software is stored in the flash memory 512, and the operating software controls the pwm device 520 to output power signals to the power drivers 521, so as to drive the motors 430, 110, 640, and 720. The first and second track wheel motors 430 are responsible for the travel of the robot cleaner 100, the wiping motor 110 is responsible for the reciprocating wiping action of the reciprocating wiping mechanism, the vacuum pump motor 640 is responsible for vacuum cleaning, and the water pump motor 640 is responsible for spraying water.
Obstacle detection:
as shown in FIG. 1, the robot 100 further includes at least one front proximity sensor 810 disposed at the front of the robot 100 and configured to detect front obstacles to avoid collision. As shown in fig. 2, the robot 100 further includes at least one lower proximity sensor 820 disposed on the bottom side of the housing, preferably on the bottom surface of the base 310. The proximity sensors 820 may detect whether the front is a cliff to prevent the robot 100 from falling, the proximity sensors 810 and 820 may be infrared sensors, laser ranging sensors, or ultrasonic sensors, and other sensors currently available or developed in the future may be used.
As shown in fig. 5, in one embodiment, the automatic cleaning machine 100 further comprises a safety lever 330 and a limit switch 830. The safety lever 330 may be disposed in front of the automatic cleaning machine 100, and when the safety lever 330 hits an obstacle, it will press a limit switch 830, so that the microcomputer or the processor 510 can know that the obstacle has been hit and perform other operations or movements.
In one embodiment, the robot 100 further includes a range sensor 840, such that the robot 100 may have a laser ranging function that measures the distance to obstacles in front or the distance to the surrounding environment to create a mapped cleaning path.
The automatic cleaning function:
the microcomputer of the control system 500 or a program built in the processor 510 can automatically control all the motors to perform obstacle detection or plan a cleaning path, thereby cleaning the entire room.
Remote control function:
the remote control receiver 910 and the remote control transmitter 900 of the control system 500 may be implemented by infrared or wireless transmission, or other existing or future developed remote control receivers 910 and remote control transmitters 900 may be used.
FIG. 7 is a cross-sectional view of an automatic cleaning machine corresponding to section line A-A in FIG. 2 according to another embodiment of the present invention. The embodiment of fig. 7 is similar to the embodiment of fig. 2 and 3, and therefore the same elements are denoted by the same reference numerals, and the description thereof is omitted, and only at least one difference between the two embodiments is described. Section line A1-A1 of FIG. 7 corresponds to section line A-A of FIG. 2. As shown in FIG. 7, the movable suction port 611 of the front brush plate 220 is changed into an electric barrel brush 690 fixed on the base 310 and a fixed suction port 619, the barrel of the barrel brush 690 is provided with spiral bristles 910, and the bristles 910 are located near the fixed suction port 619. The electric drum brush 690 can clean the floor, and dust, hair, and garbage rolled up by the brush 910 are sucked by the air flow 20a from the stationary suction inlet 619 to the garbage collection can 600, thereby achieving high efficiency cleaning.
It should be understood that the present invention is not limited to the external shape of the robot cleaner 100. Fig. 10 is a top view of an automatic cleaning machine according to another embodiment of the present invention. The embodiment of fig. 10 is similar to the embodiment of fig. 1, and therefore the same elements are denoted by the same reference numerals, and the description thereof will be omitted, only to illustrate at least one difference between the two embodiments. As shown in fig. 10, the external shape of the robot cleaner 100 may be designed to be circular. In one embodiment, the shape may be triangular (not shown).
According to an embodiment of the invention, due to the design of the high-speed reciprocating type cleaning mechanism, the wiping frequency of the cleaning cloth can be more than 200 times per minute, and high-efficiency cleaning can be achieved. In one embodiment, a vacuum cleaner is provided to remove debris that accumulates in front of the cleaning cloth. In one embodiment, a water spraying device is provided to intelligently control water spraying and maintain the optimal humidity of the cleaning cloth to achieve the optimal cleaning effect. Due to the embodiment of the invention, all the devices can be systematically integrated, artificial intelligence is added, and the robot can clean the floor of the whole room.
Having described the invention in detail, it will be apparent that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention. All such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.

Claims (19)

1. 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;
a control system coupled to the reciprocating wiping mechanism and the traveling device for controlling the reciprocating wiping mechanism and the traveling device; and
a dust suction device comprising a movable suction inlet, the dust suction device is used for sucking a particle on the plane into the dust suction device along with an air flow from the movable suction inlet,
wherein the content of the first and second substances,
at least one cleaning device comprises a first cleaning device, the movable suction inlet is positioned on a first brush disc of the first cleaning device and positioned on the front side of the first brush disc, and the movable suction inlet reciprocates along with the reciprocating motion of the first brush disc.
2. The automatic cleaning machine according to claim 1,
the at least one cleaning device further comprises a second cleaning device; and also
The reciprocating device makes the first cleaning device reciprocate in a first direction and makes the second cleaning device reciprocate in a second direction, and the first direction is opposite to the second direction.
3. The automatic cleaning machine of claim 1, further comprising:
a machine shell, wherein,
the machine shell is used for accommodating the at least one reciprocating device, the control system and the walking device of the reciprocating wiping mechanism; and also
The at least one cleaning device comprises:
a brush disc, which is arranged below a base of the shell;
a roller wheel, which is positioned between the brush disk and the casing and rolls on the brush disk or the base, so as to reduce the friction force between the brush disk and the base; and
a cleaning cloth arranged on the brush disc and used for contacting the plane.
4. The automatic cleaning machine of claim 1, further comprising a housing and a resilient member, wherein,
the machine shell is used for accommodating the at least one reciprocating device, the control system and the walking device of the reciprocating wiping mechanism; and also
The elastic element is arranged between the walking device and the shell so as to apply force to the walking device in the direction away from the automatic cleaning machine through the elastic element.
5. The automatic cleaning machine of claim 3, further comprising a dust-collecting device, wherein,
the dust suction device comprises a suction port, and is used for sucking particles on the plane into the dust suction device along with an air flow from the suction port;
at least one cleaning device comprises a first cleaning device; and also
The suction inlet is positioned in front of the first cleaning device and is positioned within a preset distance of the first cleaning device.
6. The automatic cleaning machine of any one of claims 1-5, further comprising a water spraying device for spraying water onto the surface.
7. The automatic cleaning machine according to claim 4,
the walking device comprises a moving wheel set and an outer casing, the outer casing is used for accommodating the moving wheel set and comprises a sleeve,
the housing includes:
a base;
the fixing column is arranged on the base and protrudes out of the base, and the sleeve is sleeved on the peripheral surface of the fixing column;
the baffle piece is arranged on the top side of the fixed column; and
a fixing screw screwed into the fixing column for fixing the baffle sheet on the top side of the fixing column; and also
One end of the elastic element is abutted against the baffle, and the other end of the elastic element is abutted against the sleeve of the outer shell of the walking device.
8. The robotic cleaner of claim 4, wherein the at least one reciprocating device comprises:
a motor for wiping;
a crank shaft for being driven to rotate by the wiping motor; and
at least one crank, one end of which is connected to the crank shaft and the other end of which is used for connecting a brush disc of the at least one cleaning device and reciprocates along with the rotation of the crank shaft.
9. The automatic cleaning machine of claim 3, further comprising a power-driven cleaning brush, wherein,
the suction inlet of the dust suction device is arranged on a base of a shell of the automatic cleaning machine; and also
The electric cleaning brush is fixed on the base and sweeps the particles into the suction inlet.
10. The automatic cleaning machine of any one of claims 1-5, further comprising at least one sensor disposed on a front side or a lower side of the automatic cleaning machine for non-contact detection of an obstacle or a cliff.
11. The automatic cleaning machine according to any one of claims 1-5, further comprising a bumper disposed outside the automatic cleaning machine; and at least one limit switch for detecting an obstacle after being touched by the bumper.
12. The automatic cleaning machine of any one of claims 1-5, further comprising at least one laser ranging device for detecting a distance to an obstacle and measuring a distance to an ambient environment for creating a map and planning a cleaning path.
13. The automatic cleaning machine according to any one of claims 1 to 5,
the walking device comprises at least one moving wheel set, and the at least one moving wheel set comprises: a first track drive wheel, a second track drive wheel, a track wheel motor, and a track, and
the track is in contact with the flat surface,
the track wheel motor rotates the first track drive wheel, and the first track drive wheel drives the track to move the automatic cleaning machine on the plane.
14. The automatic cleaning machine of claim 13, further comprising a housing and a resilient member, wherein,
the housing accommodates the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism, and
the elastic element is arranged between the at least one moving wheel set of the walking device and the shell, so that the walking device is forced in the direction away from the automatic cleaning machine through the elastic element, and the pressure of the at least one cleaning device and the crawler belt on the plane is distributed by the elastic element.
15. The automatic cleaning machine of claim 13,
the at least one cleaning device includes a first cleaning device and a second cleaning device, and
the reciprocating device makes the first cleaning device reciprocate in a first direction and makes the second cleaning device reciprocate in a second direction, and the first direction is opposite to the second direction.
16. The automatic cleaning machine according to any one of claims 13 to 15,
the first crawler belt driving wheel and the second crawler belt driving wheel are arranged on the inner side surface of the crawler belt and are respectively positioned at the two ends of the crawler belt,
the first track drive wheel is spaced a predetermined distance from the second track drive wheel at two points where the track contacts the surface.
17. The automatic cleaning machine of claim 13, further comprising a housing and a resilient member, wherein,
the machine shell is used for accommodating the at least one reciprocating device, the control system and the walking device of the reciprocating wiping mechanism; and also
The elastic element is arranged between the walking device and the shell so as to apply force to the walking device in the direction away from the automatic cleaning machine through the elastic element.
18. The automatic cleaning machine of claim 17,
the walking device further comprises an outer casing,
the housing includes:
a base;
a fixing column disposed on the base and protruding from the base,
a baffle plate arranged on the top side of the fixed column,
moreover, one end of the elastic element is abutted against the baffle, and the other end of the elastic element is abutted against the sleeve of the outer shell of the walking device.
19. The automatic cleaning machine of claim 18,
the outer housing is used for accommodating the movable wheel set and includes a protrusion end,
the other end of the elastic element is abutted against the protruding end of the outer shell of the walking device.
CN201610609185.5A 2016-06-15 2016-07-29 Automatic cleaning machine Active CN107510417B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
TW105118692 2016-06-15
TW105118692 2016-06-15

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202010234934.7A CN111493762A (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234689.XA CN111493761B (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234691.7A CN111387889A (en) 2016-06-15 2016-07-29 Automatic cleaning machine

Related Child Applications (3)

Application Number Title Priority Date Filing Date
CN202010234934.7A Division CN111493762A (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234691.7A Division CN111387889A (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234689.XA Division CN111493761B (en) 2016-06-15 2016-07-29 Automatic cleaning machine

Publications (2)

Publication Number Publication Date
CN107510417A CN107510417A (en) 2017-12-26
CN107510417B true CN107510417B (en) 2020-05-26

Family

ID=60721602

Family Applications (4)

Application Number Title Priority Date Filing Date
CN201610609185.5A Active CN107510417B (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234689.XA Active CN111493761B (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234691.7A Pending CN111387889A (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234934.7A Pending CN111493762A (en) 2016-06-15 2016-07-29 Automatic cleaning machine

Family Applications After (3)

Application Number Title Priority Date Filing Date
CN202010234689.XA Active CN111493761B (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234691.7A Pending CN111387889A (en) 2016-06-15 2016-07-29 Automatic cleaning machine
CN202010234934.7A Pending CN111493762A (en) 2016-06-15 2016-07-29 Automatic cleaning machine

Country Status (4)

Country Link
CN (4) CN107510417B (en)
BR (1) BR102017011136A2 (en)
RU (1) RU2695047C2 (en)
TW (1) TWI603700B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI681270B (en) * 2018-04-09 2020-01-01 大陸商光寶電子(廣州)有限公司 Automatic moving device and avoidance method thereof
CN108903838B (en) * 2018-07-18 2020-09-25 江苏美的清洁电器股份有限公司 Floor wiping device with rotation limiting structure
WO2020037518A1 (en) * 2018-08-21 2020-02-27 广州艾若博机器人科技有限公司 Cleaning brush, cleaning mechanism, and cleaning robot
CN109525758B (en) * 2018-11-15 2020-07-28 贵州创世科技有限公司 Self-cleaning type monitoring equipment
CN111345742A (en) * 2018-12-21 2020-06-30 苏州宝时得电动工具有限公司 Cleaning robot and control method
CN109567683A (en) * 2019-01-31 2019-04-05 任飞 A kind of intelligent sweeping robot
CN110547727A (en) * 2019-08-14 2019-12-10 深圳市银星智能科技股份有限公司 Fluid applying method for cleaning robot and cleaning robot

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104494909A (en) * 2014-11-25 2015-04-08 昆山尚肖自动化设备有限公司 Small crawler belt mechanism

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0535053U (en) * 1991-09-19 1993-05-14 たかおく株式会社 Wax coating machine caster mounting structure
JP3623202B2 (en) * 2002-03-14 2005-02-23 ペンギンワックス株式会社 Electric floor work machine
CN2528378Y (en) * 2002-03-17 2003-01-01 王昆鹏 Floor scrubing machine
JP3623213B2 (en) * 2002-08-20 2005-02-23 ペンギンワックス株式会社 Electric floor polisher
US20080256743A1 (en) * 2006-10-24 2008-10-23 Yuen Chi Frankie Lam Surface-Cleaning Apparatus with Height Adjustable Base
CN201001696Y (en) * 2006-12-31 2008-01-09 陈国剑 Washing device
CN100581433C (en) * 2007-03-29 2010-01-20 杜爵伟 Floor cleaner in combination with floor wiping device with sweeping function
CN201256924Y (en) * 2008-09-26 2009-06-17 李冠儒 Floor wiper with dust absorption device
CN201996457U (en) * 2010-12-02 2011-10-05 游顺华 Improved dust absorption structure
KR20120088314A (en) * 2011-01-31 2012-08-08 엘지전자 주식회사 A robot cleaner comprising a mop mounting plate which is able to reciprocate
KR20120129190A (en) * 2011-05-19 2012-11-28 어수곤 robot cleaner
KR101362086B1 (en) * 2011-12-30 2014-02-12 한경희 base assembly for floor cleaner
TWM435906U (en) * 2012-04-06 2012-08-21 Uni Ring Tech Co Ltd
CN103417165B (en) * 2012-05-14 2016-06-08 苏州宝之成电器有限公司 Motorized cleaning apparatus
CN203354471U (en) * 2013-06-19 2013-12-25 业展电器(深圳)有限公司 Automatic floor duster cloth machine
CN103799924A (en) * 2014-01-28 2014-05-21 洛阳理工学院 Automatic floor cleaning device for domestic use
KR101622740B1 (en) * 2014-03-14 2016-05-19 에브리봇 주식회사 A robot cleaner and a method for operating it
JP6391976B2 (en) * 2014-04-22 2018-09-19 東芝ライフスタイル株式会社 Electric vacuum cleaner
US9798328B2 (en) * 2014-10-10 2017-10-24 Irobot Corporation Mobile robot area cleaning
JP2016077855A (en) * 2015-01-06 2016-05-16 パナソニックIpマネジメント株式会社 Autonomous travel-type cleaner
CN204363897U (en) * 2015-01-08 2015-06-03 苏州爱普电器有限公司 Robot cleaner
CN204500545U (en) * 2015-04-02 2015-07-29 兰州东方神童机器人开发有限公司 Home intelligent reciprocating swing type floor-mopping robot
CN205148310U (en) * 2015-04-15 2016-04-13 小米科技有限责任公司 Walking device
KR20150107692A (en) * 2015-06-16 2015-09-23 에브리봇 주식회사 A robot cleaner and a method for operating it
CN204748653U (en) * 2015-06-29 2015-11-11 深圳市百睿德科技有限公司 Automatic rag mounting structure of security protection robot patroles
CN205338850U (en) * 2016-01-15 2016-06-29 俞少蔚 Front and back reciprocating motion type mop

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104494909A (en) * 2014-11-25 2015-04-08 昆山尚肖自动化设备有限公司 Small crawler belt mechanism

Also Published As

Publication number Publication date
CN107510417A (en) 2017-12-26
CN111493761B (en) 2021-04-09
CN111387889A (en) 2020-07-10
RU2017106769A3 (en) 2018-12-21
RU2017106769A (en) 2018-09-04
TWI603700B (en) 2017-11-01
CN111493762A (en) 2020-08-07
RU2695047C2 (en) 2019-07-18
TW201808204A (en) 2018-03-16
BR102017011136A2 (en) 2017-12-26
CN111493761A (en) 2020-08-07

Similar Documents

Publication Publication Date Title
US20180263453A1 (en) Floor cleaning machine
JP2018086423A (en) Cleaning robot
US9326654B2 (en) Roller brush for surface cleaning robots
EP2253258B1 (en) Autonomous cleaning machine
KR102024591B1 (en) Robot cleaner
CN1306903C (en) Surface cleaning device
US7610651B2 (en) Automatic cleaning device
KR100922506B1 (en) Autonomous canister vacuum cleaner, system thereof and method of vacuum cleaning using the same
US4219902A (en) Vacuum cleaning
JP5269958B2 (en) Surface treatment robot
US4817233A (en) Scrubber squeegees for scrubbing forward and backward
KR100963387B1 (en) Wheel assembly for robot vacuum cleaner
KR20170049532A (en) Robotic vacuum cleaner
JP6502094B2 (en) Cleaning device for cleaning the surface
RU2603600C2 (en) Cleaning device for cleaning a surface comprising a brush and a squeegee element
KR100556811B1 (en) Suction head of vacuum cleaner
RU2251958C2 (en) Robot vacuum cleaner making disturbance due to air
ES2731590T3 (en) Robot and method to control the robot
KR100492582B1 (en) Brush structure for cleaner
EP2730204B1 (en) Robot cleaner
JP2014023930A (en) Robot cleaning device
US20140182627A1 (en) Autonomous Coverage Robot
CN102481080B (en) Cleaning apparatus and dust collecting method using the same
CN104172993B (en) A kind of method and its device on intelligent sweeping with a variety of cleaning modes
KR20120019629A (en) Cleaner and control method thereof

Legal Events

Date Code Title Description
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant