CN111493761A - Automatic cleaning machine - Google Patents

Abstract

The invention provides an automatic cleaning machine, which includes: a reciprocating wiping mechanism, including: at least one cleaning device for contacting a flat surface; and at least one reciprocating device connected to the at least one cleaning device and causing the at least one cleaning device to A cleaning device generates a reciprocating motion to wipe the plane back and forth; a walking device is used to make the automatic cleaning machine walk on the plane; and a control system is coupled to the reciprocating wiping mechanism and the walking device to use To control the reciprocating wiping mechanism and the traveling device. The high-speed reciprocating cleaning mechanism enables the cleaning cloth to wipe the floor back and forth at high speed, and the vacuum device can absorb the garbage in front of the cleaning cloth.

Description

automatic cleaning machine

The present invention is a divisional application of the invention patent application whose application date is July 29, 2016, the application number is "201610609185.5", and the invention name is "automatic cleaning machine".

technical field

The present invention relates to an automatic cleaning machine, in particular to an automatic cleaning machine with a reciprocating cleaning mechanism.

Background technique

At present, the commercially available sweeping robots mainly focus on cleaning garbage. The sweeping robots usually have a side brush, a vacuum suction port, or a middle brush, or a mopping cleaning cloth, but this cleaning cloth It is dragged away by the robot, and it has limited cleaning effect on water stains, footprints, and fine ash particles.

At present, the commercially available floor scrubbing robot (irobot's scooba) makes the robot spray water on the ground. After brushing, the water is sucked back and filtered by a rubber scraper. Its disadvantage is that the ground is uneven, and water will remain on the ground. And it cannot be used on seamed floor materials.

The current commercially available wiping robot (mint: mint) pushes the wet cloth machine back and forth to wipe the ground. The disadvantage is that the garbage accumulated in front of the cleaning cloth cannot be collected, and the wiping frequency is too low, and the cleaning effect is limited.

Therefore, there is a need for a home settlement robot that can improve at least one of the disadvantages of the aforementioned robots.

SUMMARY OF THE INVENTION

An object of an embodiment of the present invention is to provide an automatic cleaning machine, which has a reciprocating cleaning mechanism to allow the cleaning cloth to reciprocate to wipe the ground, a pair of traveling wheels to allow the machine to travel, a microcomputer control system and a variety of sensors Detect obstacles, detect the distance to the surrounding environment, and plan a cleaning path. In one embodiment, the aforementioned automatic cleaning machine further has a vacuuming device that can absorb the rubbish in front of the cleaning cloth. In one embodiment, the aforementioned automatic cleaning machine further has a water spray device that can wet the ground.

An automatic cleaning machine includes a reciprocating wiping mechanism, a traveling device and a control system. The reciprocating wiping mechanism includes at least one cleaning device and at least one reciprocating device. At least one cleaning device is used to contact a flat surface. At least one reciprocating device is connected to the at least one cleaning device, and makes the at least one cleaning device generate a reciprocating motion, thereby wiping the plane back and forth. The walking device is used to make the automatic cleaning machine walk on the plane. The control system is coupled to 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 at least one reciprocating device enables the first cleaning device to reciprocate in a first direction, and the second cleaning device to reciprocate in a second direction, and the first direction is opposite to the second direction.

In one embodiment, the automatic cleaning machine further includes a casing. The casing accommodates the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism. The at least one cleaning device includes: a brush plate, a roller and a cleaning cloth. The brush plate is placed under a base of the casing. The roller is located between the brush plate and the casing, and rolls on the brush plate or the base, so as to reduce the friction between the brush plate and the base. The cleaning cloth is arranged on the brush plate to contact the surface.

In one embodiment, the automatic cleaning machine further includes a casing and an elastic element. The casing accommodates the at least one reciprocating device, the control system and the traveling device of the reciprocating wiping mechanism. The elastic element is arranged between the traveling device and the casing, so that the traveling device is urged away from the automatic cleaning machine through the elastic element.

In one embodiment, the automatic cleaning machine further includes a vacuuming device. The dust collector includes a suction port, so that a particle on the plane is sucked into the dust collector from the suction port along with an air flow. At least one cleaning device includes a first cleaning device. The suction port is located in front of the first cleaning device, the suction port is located 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 includes a water spray device for spraying water on the surface.

In one embodiment, the traveling device includes a moving wheel set and an outer casing. The outer casing is used for accommodating the moving wheel set and includes a sleeve. The casing includes a base, a fixing column, a blocking plate and a fixing screw. The fixing column is arranged on the base and protrudes from the base, and the sleeve is sleeved on the outer peripheral surface of the fixing column. The baffle is arranged on the top side of the fixing column. The fixing screw is screwed into the fixing column to fix the baffle on the top side of the fixing column. One end of the elastic element abuts against the blocking piece, and the other end of the elastic element abuts against the sleeve of the outer casing of the walking device.

In one embodiment, the at least one reciprocating device includes a wiping motor, a crankshaft, at least one crank and at least one slide rail. The crankshaft is rotated by being driven by the wiping motor. At least one crank, one end of which is connected to the crank shaft, and the other end is used to connect to a brush plate of the at least one cleaning device; and reciprocates with the rotation of the crank shaft. At least one sliding rail restricts a part of the brush plate, so as to make the at least one cleaning device reciprocate.

In one embodiment, the suction port of the dust suction device is arranged on a brush plate of the first cleaning device.

In one embodiment, the automatic cleaning machine further includes an electric cleaning brush. The suction port of the vacuum cleaner is arranged on a base of a casing of the automatic cleaning machine. The electric cleaning brush is fixed to the base and sweeps the particles into the suction port.

In one embodiment, the automatic cleaning machine further includes at least one sensor disposed on the front side or the lower side of the casing for non-contact detection of an obstacle or a cliff.

In one embodiment, the automatic cleaning machine further includes a safety lever and at least one limit switch. The bumper is arranged on the outside of the automatic cleaning machine. At least one limit switch is used to detect an obstacle after being touched by the safety lever.

In one embodiment, the automatic cleaning machine further includes at least one laser ranging device for detecting the distance of an obstacle and measuring the distance of the surrounding environment, so as to establish a map and plan a cleaning path.

The technical improvement of each embodiment of the present invention includes one of the following. The reciprocating cleaning mechanism is designed to increase the wiping frequency of the cleaning cloth per unit time, and it can clean with high efficiency. The vacuum cleaner sucks up the garbage accumulated in front of the cleaning cloth. The intelligently controlled water spray maintains the optimum humidity of the cleaning cloth and achieves the best cleaning effect. The system integrates all devices, adds artificial intelligence, and the robot can clean the entire room.

Description of drawings

The present invention can be more fully understood from the following detailed description and the accompanying drawings, which are only used to illustrate rather than limit 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 the automatic cleaning machine according to an embodiment of the present invention.

FIG. 3 is a cross-sectional view taken along section line A-A in FIG. 2 .

FIG. 4 is a cross-sectional view taken along section line B-B in FIG. 2 .

FIG. 5 is a cross-sectional view taken along the line C-C in FIG. 2 .

FIG. 6 is a cross-sectional view along the section line K-K in FIG. 2 .

7 is a cross-sectional view of an automatic cleaning machine corresponding to the section line A-A in FIG. 2 according to another embodiment of the present invention.

FIG. 8 is a schematic diagram 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.

10 is a top view of an automatic cleaning machine according to another embodiment of the present invention.

Reference number:

100 Automatic cleaner 441 Spring catch

110 Wipe motor 442 Fixing screw

120 Pulley unit 443 Fixing post

130 crankshaft 500 control system

131 Spinning Wheel 510 Processor

140 Crank 511 Memory

141 Straight 512 Flash

150 Crank 520 PWM Device

20a Airflow 521 Power Driver

20b Airflow 600 Garbage Collection Bin

20c Airflow 610 Primary Filter

20d Airflow 611 Active Suction

20e Airflow 612 Throat

20f Airflow 613 Outlet

210 Tripod 619 Fixed suction port

220 Front brush plate 620 High efficiency filter

230 Cleaning cloth 630 Vacuum pump impeller

231 Cleaning device 640 Pump motor

240 Tripod 690 Barrel Brush

250 rear brush plate 700 water tank

260 Cleaning cloth 710 Water hose

270 Roller 720 Pump

271 Chute 730 Water pipe

280 Roller 740 Left Nozzle

281 Chute 741 Discharge range

310 Base 750 Right Nozzle

320 case 751 spray range

330 Bumper 810 Front Proximity Sensor

400 Moving Wheel Set 820 Proximity Sensor Below

401 Sleeve 830 Limit Switch

402 outer casing 840 distance sensor

410 Track Drive Wheels 900 Remote Control Transmitter

420 Track 910 Remote Control Receiver

430 motor 910 bristles

440 Spring

Detailed ways

The present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals will be used to identify the same or similar elements from various viewpoints. It should be noted that the drawings should be viewed in the orientation of the reference numbers.

According to the known cleaning robot, the cleaning cloth can only wipe the ground by the walking of the cleaning robot, that is, the number of walking times is the number of wiping. Another known cleaning robot only has the function of dry cleaning, so according to the known technology, it is impossible to clean the water. Stains, footprints, fine dust particles, etc. According to an embodiment of the present invention, an automatic cleaning machine 100 is provided, which has a high-speed reciprocating cleaning mechanism that enables the cleaning cloth to reciprocate and wipe the ground at high speed, and has a pair of traveling wheels for the machine to travel. In one embodiment, there may also be a vacuum cleaner to suck up the garbage in front of the cleaning cloth. In one embodiment, there may also be a water spray device to wet the ground. In an embodiment, a microcomputer control system and various sensors can also be used to detect obstacles, detect the distance of the surrounding environment, and plan a cleaning path. A more specific structure will be described in detail as follows.

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 the automatic cleaning machine according to an embodiment of the present invention. FIG. 3 is a cross-sectional view taken along section line A-A in FIG. 2 . FIG. 4 is a cross-sectional view taken along section line B-B in FIG. 2 . FIG. 5 is a cross-sectional view taken along the line C-C in FIG. 2 . FIG. 6 is a cross-sectional view along the section line K-K in FIG. 2 .

About the reciprocating wiping mechanism:

As shown in FIGS. 2-6 , a reciprocating wiping mechanism according to an embodiment of the present invention includes a wiping motor 110 , a pulley device 120 , a crankshaft 130 , at least one crank and at least one cleaning device. In this embodiment, at least one crank includes 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 after the pulley device 120 is decelerated, the crankshaft 130 is driven to rotate. As shown in FIG. 3 , the rotation of the crankshaft 130 drives at least one crank to perform linear reciprocating motion. In this embodiment, the crankshaft 130 further drives two cranks 140 and 150 to perform linear reciprocating motion. Preferably, the difference between the cranks 140 and 150 is 180°, so the cleaning devices at the two 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 tripod 210 is connected between the free end of the crank 140 and the front brush plate 220 , and the cleaning cloth 230 is installed or attached to the lower side of the front brush plate 220 . The free end of the crank 140 pushes the tripod 210, and then pushes the front brush plate 220, so that the front cleaning cloth 230 adhered to the front brush plate 220 reciprocates on the ground. The rear cleaning device includes a tripod 240 , a rear brush plate 250 and a cleaning cloth 260 . The tripod 240 is connected between the free end of the crank 150 and the rear brush plate 250 , and the cleaning cloth 260 is installed or attached to the lower side of the rear brush plate 250 . The free end of the crank 150 pushes the tripod 240, and then pushes the rear brush plate 250, so that the cleaning cloth 260 adhered to the rear brush plate 250 reciprocates on the ground.

The movement directions of the front and rear brush plates 220 and 250 are completely opposite, so that the reaction forces can cancel each other out, so that the automatic cleaning machine 100 can work stably. 2 and 4 again, the front cleaning device further includes at least one roller 270, and the front brush plate 220 has two sliding rails. The roller 270 is fixed on the front brush plate 220 and is located between the top surface of the front brush plate 220 and the lower bottom surface of the base 310 of the casing 320 of the automatic cleaning machine 100 . When the front brush plate 220 reciprocates, as shown in FIG. 4 , the roller 270 rolls the base 310 or the front brush plate 220 , thereby reducing the friction between the front brush plate 220 and the base 310 during relative movement. In one embodiment, a chute 271 is formed on the upper side of the base 310 , and a part of the front brush plate 220 is restricted in the chute 271 , so that the front brush plate 220 is restricted by the upper chute 271 so that the front brush plate 220 Does not fall down.

The rear cleaning device further includes at least one roller 280, and the rear brush plate 250 has two sliding rails. The roller 280 is fixed on the rear brush plate 250 and is located between the top surface of the rear brush plate 250 and the lower bottom surface of the base 310 of the casing 320 of the automatic cleaning machine 100 . When the rear brush plate 250 reciprocates back and forth, the roller 280 rolls the base 310 or the rear brush plate 250 , thereby reducing the frictional force between the rear brush plate 250 and the base 310 during relative movement. In an embodiment, a chute 281 is formed on the upper side of the base 310 , and a part of the rear brush plate 250 is restricted in the chute 281 , so that the rear brush plate 250 is restricted by the upper chute 281 so that the rear brush plate 250 Does not fall down.

The rotational speed of the wiping motor 110 can determine the speed of the cleaning cloths 230 and 260 wiping back and forth, which can be wiped back and forth 100-2000 times per minute, which is a high-efficiency wiping mechanism.

Although the embodiment of a reciprocating wiping mechanism has been described in detail above, the present invention is not limited to the foregoing structure. In one embodiment, the structure only needs to be capable of converting rotational motion into linear motion. For example, in one embodiment, the reciprocating wiping mechanism may include a cam and a straight rod (not shown). The straight rod abuts on the cam. The cam has a non-circular shape, such as an oval, or a protruding near-semi-oval formed at one end and a semi-circular at the other end. When the cam rotates, the straight rod can perform a linear reciprocating motion. For another example, FIG. 8 shows a schematic diagram 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 includes a rotating wheel 131 , a straight rod 141 and a cleaning device 231 . A cleaning cloth 230 is installed on the lower side of the cleaning device 231 . When the rotating wheel 131 rotates, one end of the straight rod 141 is pulled to move, and the other end of the cleaning device 231 connected to the straight rod 141 reciprocates back and forth, and the cleaning cloth 230 reciprocates and cleans the ground.

About vacuum cleaners:

The mutual reciprocating motion of the front and rear brush plates 220 and 250 can clean the ground, but garbage will accumulate at the front edge of the front cleaning cloth 230 , that is, near the movable suction port 611 of the vacuum cleaner in FIG. 2 . In one embodiment, the automatic cleaning machine 100 further includes a vacuuming device. The dust suction device includes a vacuum pump motor 640, a vacuum pump impeller 630 and an air line. The air pipeline includes a movable suction port 611 , a throat pipe 612 , filter screen modules ( 610 and 620 ), a garbage collection bin 600 and a discharge port 613 . The vacuum pump motor 640 drives the vacuum pump impeller 630 to rotate to form an air flow, and makes the air flow follow the path from the air flow 20a to the air flow 20f in the air pipeline.

The movable suction port 611 of the vacuum cleaner is located in front of the front edge of the front cleaning cloth 230, so that when the traveling device moves forward in a walking direction, the dust collector pre-inhales the garbage particles, and then the front cleaning cloth 230 wipes the surface part of the location where the garbage particle is located. The movable suction port 611 is further located within a predetermined distance at the front edge of the front cleaning cloth 230, wherein within the predetermined distance, the dust collector can suck away the garbage accumulated on the front edge of the front cleaning cloth 230 through the air flow 20a, so that the The leading edge of the front cleaning cloth 230 does not accumulate garbage particles. Those skilled in the art can conduct experiments on various efficiencies of the vacuum cleaner or various sizes of the movable suction port 611 according to the purpose of not accumulating garbage particles to determine the distance of the predetermined distance, that is, the predetermined distance can be determined by the suction It depends on the efficiency of the dust collector or the size of the movable suction port 611. The higher the efficiency of the dust collector, the farther the predetermined distance is. As shown in FIG. 1 and FIG. 3 , the movable suction port 611 of the vacuum cleaner is provided on the front side of the front brush plate 220. After the air flow 20a is inhaled from the movable suction port 611 near the front side of the front brush plate 220, the air flow 20b passes through Throat 612. As shown in FIG. 1, the throat 612 is connected to the garbage collection bin 600, the air flow 20c flows through the primary filter screen 610 of the filter screen module, and the air flow 20d flows through the high-efficiency filter screen 620 to reach the air flow 20e. filtered clean. Subsequently, the air flow 20e will be discharged from the discharge port 613 after passing through the air flow 20f. Therefore, the dust on the ground can be sucked up by the vacuum cleaner. In one embodiment, the high-efficiency filter 620 may be a filter of a high-efficiency air filter (High Efficiency Particulate Air filter, HEPA filter) of the filter module.

About the walking device:

Referring to FIG. 2 and FIG. 5 , according to an embodiment of the automatic cleaning machine 100 , the traveling device thereof has two sets of moving wheel sets 400 and two sets of outer casings 402 . The outer casing 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 set 400 may also be composed of a roller and a motor for driving the roller. The crawler wheel motor 430 of the moving wheel set 400 rotates the crawler driving wheel 410 through the internal reducer, and the crawler driving wheel 410 drives the entire crawler belt 420 to make the automatic cleaning machine 100 move on the floor. 10 , the control system 500 has a drive circuit connected to two track wheel motors 430 , and the 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 steer. Cooperating with the artificial intelligence (AI) software in the control system 500, the automatic cleaning machine 100 can automatically wipe the floor of the entire room (the details will be described later).

About the constant pressure structure of the crawler wheel:

The whole machine of the automatic cleaning machine 100 has only two parts in contact with the ground, one is the cleaning cloths 230 and 260, and the other is the crawler 420. When the pressure on these two parts is not evenly distributed, the automatic cleaning machine 100 cannot work well operate normally. When the positive pressure distributed by the cleaning cloths 230 and 260 is too much, and the crawler belt 420 does not distribute enough positive pressure, the crawler belt 420 will slip and cannot propel the machine. In other words, when the positive pressure distributed by the crawler 420 is too much, and the cleaning cloths 230 and 260 do not distribute enough positive pressure, the ground will not be wiped clean. Therefore, a fixed proportion of pressure distribution must be designed so that the machine can walk normally and clean the ground.

As shown in FIG. 5 , according to the constant pressure structure of the track wheel according to an embodiment of the present invention, the automatic cleaning machine 100 may further include a spring 440 . The spring 440 urges the traveling device away from the automatic cleaning machine 100 , that is, the traveling device is pressed downward. More specifically, in this embodiment, the spring 440 is arranged between the base 310 and the traveling device, so that the moving wheel set 400 is pressed down by the spring 440, so as long as the spring constant of the spring 440 is well designed, a fixed spring 440 can be designed. pressure, and can distribute the cleaning cloths 230 and 260; and the positive pressure of the two parts of the crawler 420 on the floor. In more detail, the constant pressure structure of the track wheel according to the present embodiment is constructed as follows. The outer casing 402 of the walking device includes a sleeve 401 located at one end of the outer casing 402 . The casing 320 further includes a fixing post 443 , a spring blocking piece 441 and a fixing screw 442 . The sleeve 401 is disposed on a protruding end of the casing of the moving wheel set 400 . Please refer to Figure 5 again. The fixing column 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 column 443 . The spring blocking piece 441 is disposed on the top side of the fixing column 443 , and the fixing screw 442 is screwed into the fixing column 443 to fix the spring blocking piece 441 on the top side of the fixing column 443 .

The upper end of the spring 440 abuts against the spring blocking piece 441 , and the lower end of the spring 440 abuts against a part of the outer casing 402 of the walking device, more specifically, as shown in FIG. 5 , against the bottom of the sleeve 401 of the outer casing 402 Ends. Therefore, the moving wheel set 400 can be pressed down by the spring 440 . In one embodiment, another spring is not provided to press down the cleaning device, so that the reciprocating motion of the front brush plate 220 and the rear brush plate 250 of the cleaning device can be made smoother.

About the sprinkler:

According to known techniques, only dry wiping cannot remove stains, footprints, water marks, fine dust particles, and the like. Therefore, in an embodiment of the present invention, a water spray device is further provided, and the dirt traces on the ground can be easily removed by using the water spray device to spray some water. As shown in FIG. 1 and FIG. 6 , the water spray device includes a water storage tank 700 , a water pipe 710 , a water pump 720 , a water pipe 730 , and a left nozzle 740 and a right nozzle 750 . As shown in FIG. 9 , the control system 500 can control the water pump 720 to drive water spray. As shown in FIG. 1 , the water is stored in the water storage tank 700 , and passes through the water inlet pipe 710 to the water pump 720 . As shown in FIG. 1 and FIG. 6 , after being pressurized by the water pump 720 , the clean water passes through the water outlet pipe 730 , and is then sprayed out through the left nozzle 740 and the right nozzle 750 shown in FIG. 6 . Reference numeral 741 represents the discharge range of the left nozzle 740 , and reference numeral 751 represents the discharge range of the right nozzle 750 . The control system 500 controls the water spraying timing and water spraying amount of the water pump 720 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 best cleaning effect can be achieved.

About the control system:

Motor drive:

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 one remote control receiver 910 . The processor 510, the memory 511 and the flash memory 512 are the basic modules of the microcomputer's operation and storage. An operating software is stored in the flash memory 512 , and the operating software controls the pulse width modulation device 520 to output power signals to the power drivers 521 to drive the motors 430 , 110 , 640 and 720 . The first and second track wheel motors 430 are responsible for the running of the automatic cleaning machine 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 vacuuming, and the water pump motor 640 is responsible for spraying water.

Obstacle detection:

As shown in FIG. 1 , the automatic cleaning machine 100 further includes at least one front proximity sensor 810 , which is disposed at the front end of the automatic cleaning machine 100 and can detect obstacles in front of it to avoid collision. As shown in FIG. 2 , the automatic cleaning machine 100 further includes at least one lower proximity sensor 820 disposed on the bottom side of the casing, preferably on the bottom surface of the base 310 . The lower proximity sensor 820 can detect whether there is a cliff ahead to prevent the automatic cleaning machine 100 from falling down. The proximity sensors 810 and 820 can be infrared sensors, laser ranging, or ultrasonic sensors, etc. Use other sensors currently available or developed in the future.

As shown in FIG. 5 , in one embodiment, the automatic cleaning machine 100 further includes a safety lever 330 and a limit switch 830 . The front of the automatic cleaning machine 100 can be provided with a bumper 330. When the bumper 330 hits an obstacle, it will be squeezed to the limit switch 830, and the microcomputer or the processor 510 can know that the obstacle has been hit, and perform other operations. operate or move.

In one embodiment, the automatic cleaning machine 100 further includes a distance measuring sensor 840, so that the automatic cleaning machine 100 can have a laser ranging function, which can measure the distance of obstacles in front or measure the distance of the surrounding environment for establishing a map Plan cleaning paths.

Automatic cleaning function:

The program built in the microcomputer or the processor 510 of the control system 500 can automatically control all motors, perform obstacle detection or plan a cleaning path, and then clean the entire room.

Remote control function:

The remote control receiver 910 and the remote control transmitter 900 of the control system 500 can be in infrared or wireless transmission mode, or other existing or future remote control receivers 910 and remote control transmitters 900 can be used.

7 is a cross-sectional view of an automatic cleaning machine corresponding to the section line A-A in FIG. 2 according to another embodiment of the present invention. The embodiment in FIG. 7 is similar to the embodiment in FIGS. 2 and 3 , so the same components use the same symbols, and the related description thereof is omitted, and only at least one difference between the two embodiments is described. Section line A1-A1 in FIG. 7 corresponds to section line A-A in FIG. 2 . As shown in FIG. 7 , the movable suction port 611 of the front brush plate 220 is changed to an electric drum brush 690 and a fixed suction port 619 fixed on the base 310 . Located near the fixed suction port 619. The electric drum brush 690 can clean the ground. After the dust, hair, and garbage rolled up by the bristles 910, these substances are sucked by the air flow 20a from the fixed suction port 619 and reach the garbage collection bucket 600 to achieve high-efficiency cleaning.

It should be understood that the present invention is not limited to the shape of the automatic cleaning machine 100 . 10 is a top view of an automatic cleaning machine according to another embodiment of the present invention. The embodiment in FIG. 10 is similar to the embodiment in FIG. 1 , so the same components use the same symbols, and the related description thereof is omitted, and only at least one difference between the two embodiments is described. As shown in FIG. 10 , the shape of the automatic cleaning machine 100 can be designed to be circular. In one embodiment, it can also be a triangle (not shown).

According to an embodiment of the present invention, due to the design of a high-speed reciprocating cleaning mechanism, the cleaning 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, which can suck up the garbage accumulated in front of the cleaning cloth. In one embodiment, a water spray device is provided, which can intelligently control the water spray and maintain the optimum humidity of the cleaning cloth to achieve the best cleaning effect. Due to an embodiment of the present invention, all the aforementioned devices can be integrated systematically, and artificial intelligence can be added, so that the robot can clean the floor of an entire room.

Having described the invention in detail, it will be apparent that the same method can be varied in a number of ways. Such modifications should not be considered as a departure from the spirit and scope of the present invention. All such modifications obvious to those skilled in the art are included within the scope of the claims.

Claims (10)

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 shell, a first cover and a second cover, wherein the shell is provided with a first cover and a second cover,

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.

2. The automatic cleaning machine according to claim 1,

the at least one cleaning device comprises a first cleaning device and 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 or 2, further comprising an elastic member,

wherein,

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.

4. The automatic cleaning machine of claim 1, 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.

5. The automatic cleaning machine of claim 1 or 2, further comprising a water spraying device for spraying water on the surface.

6. The automatic cleaning machine according to claim 3,

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.

7. The robotic cleaner of claim 1 or 2, 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.

8. The automatic cleaning machine according to claim 1 or 2, further comprising:

an electric cleaning brush is fixed on a base of a shell of the automatic cleaning machine.

9. The automatic cleaning machine according to claim 1 or 2, further comprising:

at least one sensor, which is arranged on the front side or the lower side of the automatic cleaning machine and is used for detecting an obstacle or a cliff in a non-contact way;

a safety rod is arranged outside the automatic cleaning machine; and at least one limit switch for detecting an obstacle after being touched by the bumper; and

the laser ranging device is used for detecting the distance of an obstacle and measuring the distance of the surrounding environment, and is used for establishing a map and planning a clean path.

10. The automatic cleaning machine according to claim 1 or 2, wherein the roller rolls between the brush plate and the housing.

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