CN112842160A - Cleaning equipment and self-moving cleaning robot - Google Patents
Cleaning equipment and self-moving cleaning robot Download PDFInfo
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- CN112842160A CN112842160A CN202011625284.5A CN202011625284A CN112842160A CN 112842160 A CN112842160 A CN 112842160A CN 202011625284 A CN202011625284 A CN 202011625284A CN 112842160 A CN112842160 A CN 112842160A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 239
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 230000009471 action Effects 0.000 claims abstract description 21
- 238000007790 scraping Methods 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
- 238000004064 recycling Methods 0.000 description 6
- 239000000356 contaminant Substances 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 239000003344 environmental pollutant Substances 0.000 description 3
- 231100000719 pollutant Toxicity 0.000 description 3
- 239000010865 sewage Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The embodiment of the application provides a cleaning device and a self-moving cleaning robot. Wherein, cleaning device includes: the first main body is provided with a driving assembly, and the driving assembly provides advancing power for the first main body; a second body having a cleaning assembly; one end of the connecting rod mechanism is movably connected with the first main body, and the other end of the connecting rod mechanism is movably connected with the second main body; when a gap exists between the cleaning component and the cleaned object, the cleaning component of the second main body is driven to be in contact with the cleaned object through the action of the connecting rod mechanism. According to the technical scheme, the cleaning assembly of the second main body is movably connected to the first main body through the connecting rod mechanism, the cleaning device performs cleaning operation, when the cleaning assembly is in a gap with a cleaned object, the cleaning assembly on the second main body is driven to be in contact with the cleaned object through the action of the connecting rod mechanism, the cleaning assembly is made to be in contact with the cleaned object all the time in the cleaning operation process, and therefore the cleaning effect of the cleaning device is guaranteed.
Description
Technical Field
The application relates to the technical field of cleaning robots, in particular to a cleaning device and a self-moving cleaning robot.
Background
At present, most self-moving cleaning robots are not completely flat when cleaning, such as raised road signs, line pressing devices and threshold small steps in front of doors, and also such as cleaning in a shopping mall, because the self-moving cleaning robots need to clean a multi-floor building, the self-moving cleaning robots are involved in taking elevators and overcoming the step difference when the self-moving cleaning robots get in and out of the elevators, and when the common self-moving cleaning robots meet the condition, manual assistance or obstacles are avoided intentionally, so that the cleaning effect cannot achieve ideal effect.
Disclosure of Invention
The embodiment of the application provides a cleaning device capable of guaranteeing cleaning effect and a self-moving cleaning robot.
In particular, in one embodiment of the present application, a cleaning apparatus is provided. The cleaning device includes:
the first body is provided with a driving assembly, and the driving assembly provides advancing power for the first body;
a second body having a cleaning assembly;
one end of the connecting rod mechanism is movably connected with the first main body, and the other end of the connecting rod mechanism is movably connected with the second main body;
when a gap exists between the cleaning component and the cleaned object, the cleaning component of the second main body is driven to be in contact with the cleaned object through the action of the link mechanism.
In another embodiment of the present application, there is also provided a self-moving cleaning robot. The self-moving cleaning robot includes:
the first body is provided with a driving assembly, and the driving assembly provides advancing power for the first body;
a second body having a cleaning assembly;
one end of the connecting rod mechanism is movably connected with the first main body, and the other end of the connecting rod mechanism is movably connected with the second main body;
when a gap exists between the cleaning component and the cleaned object, the cleaning component of the second main body is driven to be in contact with the cleaned object through the action of the link mechanism.
In the technical scheme provided by the embodiment of the application, the cleaning equipment comprises a first main body and a second main body, wherein the first main body is provided with a driving assembly, and the driving assembly provides advancing power for the first main body, namely provides advancing power for the cleaning equipment; the second main body is provided with a cleaning component which is used for contacting with the cleaned object to perform cleaning work; the connecting rod mechanism is arranged between the first main body and the second main body, and two ends of the connecting rod mechanism are movably connected with the first main body and the second main body respectively, so that when a gap exists between the cleaning assembly and the cleaned object in the cleaning operation process of the cleaning equipment, the cleaning assembly on the second main body is driven to be in contact with the cleaned object through the action of the connecting rod mechanism. That is, in the process of cleaning operation of the cleaning device, the cleaning assembly is always in contact with the object to be cleaned in the cleaning operation process, so that the cleaning effect of the cleaning device is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural view of an obstacle crossing structure of a cleaning device according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a lower step of a cleaning apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a lower step of a cleaning apparatus according to an embodiment of the present disclosure;
FIG. 8 is a bottom view of a cleaning device according to an embodiment of the present application;
FIG. 9 is a schematic view of a portion of a cleaning device according to an embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram of a movable connecting structure according to an embodiment of the present application;
FIG. 11 is a schematic structural diagram of a movable connecting structure according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of an active connection structure according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1-6, the present embodiment provides a cleaning apparatus. As shown in fig. 1, the cleaning apparatus includes: a first body 1, a second body 2 and a linkage 3. The first main body 1 is provided with a driving component 4, and the driving component 4 provides advancing power for the first main body 1; the second body 2 has a cleaning assembly 5; one end of the connecting rod mechanism 3 is movably connected with the first main body 1, and the other end of the connecting rod mechanism 3 is movably connected with the second main body 2; when a gap exists between the cleaning component 5 and the object 6 to be cleaned, the cleaning component 5 on the second main body 2 is driven to contact the object 6 to be cleaned through the action of the link mechanism 3.
It can be seen that in the technical solution provided by the embodiment of the present application, in the process of cleaning the surface of the object to be cleaned by the cleaning device, the driving assembly 4 of the first body 1 provides the traveling power required by the cleaning device, and the cleaning assembly 5 on the second body 2 is used for contacting with the object to be cleaned 6 to perform the cleaning operation. Under the condition that a gap exists between the cleaning component 5 and the object to be cleaned 6, as the second main body 2 is movably connected to the first main body 1 through the link mechanism 3, the cleaning component 5 on the second main body 2 can be driven to contact with the object to be cleaned 6 through the action of the link mechanism 3, so that the cleaning component 5 is always in contact with the object to be cleaned 6 in the cleaning working process, and the cleaning effect of the cleaning device is ensured.
Specifically, referring to fig. 1, the cleaning assembly 5 may further include a cleaning roller 7 extending perpendicular to the traveling direction of the first body 1, and the cleaning roller 7 may rotate in the direction T relative to the second body 2, so that during the traveling of the first body 1 driven by the driving assembly 4, the cleaning roller 7 moves on the object 6 to be cleaned in the direction S while rotating in the direction T, and thus the surface of the cleaning roller is rubbed in contact with the object to be cleaned to clean the object to be cleaned. In practical implementation, the surface of the cleaning roller 7 can also be provided with a cleaning brush head or a wiping part, and the surface of the cleaning roller 7 is cleaned by the cleaning brush head or the wiping part to remove stains on the surface of the object 6 to be cleaned.
Further, please continue to refer to fig. 1, along the traveling direction S of the first body 1, the first body 1 has a front end 101 and a rear end 102; the second body 2 is located at the front end 101 of the first body 1. When the first body 1 travels along the S direction, the second body 2 connected to the front end 101 of the first body 1 moves along the S direction under the driving of the first body, so that the cleaning assembly 5 on the second body 2 moves on the object to be cleaned, and simultaneously the cleaning roller 7 of the cleaning assembly 5 rotates in the direction T and rolls on the object to be cleaned 6, so that the surface of the cleaning roller 7 is in contact friction with the object to be cleaned to wipe off the contaminants on the object to be cleaned 6.
In a specific use, the surface of the object 6 to be cleaned may be a horizontal surface or a slope surface having a certain inclination angle. For example, the object to be cleaned may be a floor to be cleaned or a surface of an external device to be cleaned, etc., when the object to be cleaned is horizontal. The present embodiment does not specifically limit the type of the object to be cleaned. The following description will be made by taking the object to be cleaned as a floor surface as an example.
Referring to fig. 2 and 3, in some usage scenarios, the object to be cleaned is a horizontal floor, since the floor to be cleaned is not completely a horizontal plane in an actual usage scenario, such as a raised road sign, a line pressing device, and a barrier structure 8 such as a small doorsill step in front of a door, during the travel of the cleaning device along the direction S, the surface of the cleaning roller 7 of the cleaning assembly first contacts the barrier structure 8, since the link mechanism 3 is provided between the first body 1 and the second body 2, the second body can have a moving space relative to the first body under the action of the link mechanism, as the cleaning device continuously travels along the direction S, the interference force between the cleaning roller 7 and the barrier structure 8 increases, and as the cleaning roller 7 continuously rotates along the direction T, the cleaning roller 7 can rely on the friction between itself and the barrier structure 8 to be sufficiently large, the scrub roller 7 smoothly climbs over the obstacle structure 8 by the friction between itself and the obstacle structure, i.e., enters the state shown in fig. 3.
One end of the link mechanism 3 is rotatably connected to the first main body 1, and the other end of the link mechanism 3 is rotatably connected to the second main body 2, so that the second main body 2 can rotate relative to the first main body 1 under the action of the movement of the link mechanism, that is, the cleaning assembly on the second main body has a rotation movement space relative to the first main body, and the second main body is rotatably connected to the first main body through the link mechanism. In this way, when there is a gap between the cleaning unit 5 and the object 6 to be cleaned, the cleaning unit 5 on the second body 2 can be brought into contact with the object 6 to be cleaned through the rotation movement space of the link mechanism 3, and the cleaning unit 5 can be brought into contact with the object 6 to be cleaned all the time during the cleaning operation.
For example, in some implementations, as shown in fig. 1, the linkage mechanism 3 may include only one rotation support rod, and the second body 2 may be rotatably connected with the first body 1 through only one rotation support rod. As shown in fig. 1, both ends of the rotation support bar may be hinged to opposite end walls of the first body 1 and the second body 2, respectively.
For example, in other implementations, the link mechanism 3 may include two rotation support rods symmetrically distributed on two sides of the cleaning device, and the connection manner of the two rotation support rods to the first main body and the second main body may also be the same, and only the specific connection manner of one of the rotation support rods will be described herein, and the other rotation support rod may be symmetrically arranged along the traveling direction of the cleaning device. For example, one end of the rotation support bar may be hinged to a side wall of the first body parallel to the traveling direction, and the other end of the rotation support bar may be hinged to a side wall of the second body parallel to the traveling direction, that is, the position shown in fig. 2 and 3.
It should be noted that the specific rotatable connection manner of the link mechanism 3 and the first and second bodies 1 and 3 is not limited to the articulated connection manner, and the connection manner of the link mechanism 3 and the first and second bodies 1 and 2 may adopt any available connection manner, which is not described herein too much.
Specifically, in order to further improve the reliability of the rotational connection of the first body 1 and the second body 2, the link mechanism 3 may further include a first link 301 and a second link 302. As shown in fig. 4, a first end of the first link 301 is rotatably connected to the first body 1, and a second end of the first link 301 is rotatably connected to the second body 2; a first end of the second link 302 is rotatably connected to the first body 1, and a second end of the second link 302 is rotatably connected to the second body 2. That is, the second body 2 is rotatably coupled to the first body 1 by the first link 301 and the second link 302 together, thereby improving the coupling reliability of the second body 2 to the first body 1. Here, alternative embodiments of the first link 301 and the second link 302 can be seen from above, and are not discussed in detail here.
Further, referring to fig. 4, the first link 301 is parallel to the second link 302. Of course, in more implementations, the position relationship between the first link 301 and the second link 302 is not limited to be parallel, for example, the relative positions of the first link 301 and the second link 302 may be any suitable arrangement, as long as the second body 2 has a moving space relative to the first body 1, that is, the cleaning assembly 5 of the second body 2 is driven to contact with the object 6 to be cleaned by the action of the link mechanism 3 when there is a gap between the cleaning assembly 5 and the object 6 to be cleaned. For example, the first link 301 is disposed at an angle to the second link 302, as shown in fig. 5.
In actual use, the surface of the object 6 to be cleaned may have a step. As will be understood by referring to fig. 6, the surface of the object 6 to be cleaned has a step, and during the process of the cleaning device moving on the step high surface along the direction S, the second main body 2 firstly falls into the step low surface, and then the cleaning device continues to move until the first main body 1 also falls into the step low surface, so that the cleaning device can smoothly descend from the step, and the cleaning assembly 5 on the second main body 2 can clean the step low surface. The specific action process is that the cleaning component 5 on the second main body 2 is close to the object to be cleaned under the action of the self gravity, at this time, the same end on the first connecting rod 301 and the second connecting rod 302 rotates relative to the second main body, and the same other end on the first connecting rod 301 and the second connecting rod 302 rotates relative to the first main body 1, so that the cleaning component 5 on the second main body 2 is placed on the low surface of the step, the cleaning component is prevented from being overhead and being incapable of contacting with the object to be cleaned in the process of descending the step by the cleaning equipment, and the cleaning effect is reduced. In addition, when the object 6 to be cleaned is a downhill slope, the cleaning assembly can be always attached to the surface to be cleaned by the link mechanism provided in the present embodiment.
Further, as shown in fig. 7 and 8, the cleaning device may further include a suction duct 9, wherein the suction duct 9 is disposed on the first body 1, and a nozzle of the suction duct 9 faces the cleaning assembly 5. In a specific implementation, a recycling bin may be provided on the first body 1, one end of the suction duct 9 is communicated with the recycling bin, and a nozzle of the other end of the suction duct 9 is disposed toward the cleaning roller 7 of the cleaning assembly 5. The recovery tank is used to store the contaminated water or contaminants collected from the scrub roller 7.
Further, a scraping strip 10 and a scraping plate 11 are arranged at the pipe orifice of the suction pipeline 9; the scraper bar 10 is in contact with the cleaned object, and a closed space is formed between the cleaning assembly 5 and the scraper bar 5; the blade 11 is in contact with the cleaning assembly 5.
As shown in fig. 7, the nozzle of the suction duct 9 is disposed in a horizontal direction and is disposed toward the cleaning roller 7. A scraping strip 10 and a scraping plate 11 are arranged at the nozzle of the suction pipe 9, the scraping plate 11 is arranged above the scraping strip 10, the end part of the scraping strip 10 is abutted on the cleaned object 6, and the end part of the scraping plate 11 is contacted with the cleaning roller 7 of the cleaning assembly 5, so that a closed structure is formed at the nozzle of the suction pipe 9. Thus, during the cleaning operation of the cleaning roller 7 rotating in the direction T, the end of the scraper 11 is used to scrape off the contaminants or contaminated water on the surface of the cleaning roller 7, so that the contaminants or contaminated water are placed in the closed space, and the contaminated water or contaminants in the closed space can be sucked into the suction pipe 9 and finally into the recycling bin in the first body 1.
Optionally, an absorption pump may be further disposed in the recycling bin, and when the absorption pump is turned on, sewage or pollutants in the closed space at the pipe orifice may be sucked into the recycling bin through the suction pipe 9. The scraper 11 may be made of metal, so as to smoothly scrape off pollutants or sewage on the surface of the cleaning roller 7. The scraping strip 10 can adopt a rubber strip which is abutted against a cleaned object, and the rubber strip can be deformed to ensure that the closed space has certain sealing property, so that pollutants or sewage can be conveniently sucked back into the recycling box. The embodiment of the scraper 11 and the scraper bar 10 is not limited thereto, and those skilled in the art can select any suitable structure or material according to the actual application.
Specifically, referring to fig. 8, the cleaning roller 7 of the cleaning assembly 5 extends in a direction perpendicular to the traveling direction S of the first body 1. Besides, the cleaning assembly 5 can further comprise a rotating shaft 71 and a rotating motor set 72, the output end of the rotating motor set 72 can be connected with the rotating shaft 71 through an intermediate transmission structure, the rotating shaft 71 is arranged in the middle of the cleaning roller 7, and the rotating motor set 72 rotates to drive the rotating shaft 71 to rotate so as to drive the cleaning roller 7 to rotate. Specifically, the rotating electric machine set 72 may further include a rotating electric machine and a speed reducing mechanism, so as to adjust the rotation speed of the cleaning roller 7.
Further, as shown in fig. 8, the driving assembly includes two driving wheels 41. Each driving wheel 41 comprises a driving shaft 42 and a driving motor 43, and the driving motor 43 is connected with the driving wheel 41 through the driving shaft 42 to realize the driving force provided for the driving wheel 41. Referring to fig. 7 and 8, an alternative embodiment of a drive assembly is illustrated, wherein a drive shaft 42 is provided at the center of the drive wheel 41 as shown in fig. 7, the drive wheel 41 is provided at one end of the drive shaft 42 as shown in fig. 8, and a drive motor 43 is provided at the other end of the drive shaft 42 remote from the drive wheel 41.
In specific implementation, the second main body 2 may further be provided with a controller, the controller is electrically connected to the rotating electric machine set 72 in the cleaning assembly and the driving motor 43 in the driving assembly, and the controller is configured to control the turning on, turning off, and rotating speed of the rotating electric machine set 72 and the driving motor 43, so that the cleaning mode of the cleaning device may be adjusted. For example, in the case where the cleaning apparatus is required to perform deceleration traveling, the output torque may be reduced by controlling the driving motor 43 by the controller. For example, when stubborn stains are present on the surface of the object to be cleaned, the controller may increase the output torque of the rotary motor in the rotary motor unit 72 to increase the rotation speed of the cleaning roller 7, thereby facilitating the removal of the stubborn stains on the object to be cleaned. Here, the specific type of the controller is not limited, and a person skilled in the art may select a common controller type.
Besides, the second body 2 can be provided with a water spraying device, and clean water is sprayed to the surface of the cleaning roller 7 through the water spraying device, so that when the surface of the cleaning roller 7 is provided with the mopping piece, the water spraying device can provide clean water required by mopping to the mopping piece on the surface of the cleaning roller 7. When the water spraying pump is started, water can be sprayed to the surface of the cleaning roller 7 through the spray head, so that the requirement of the cleaning roller on cleaning water can be met. Here, the on and off of the water jet pump can also be realized by the controller described above, and is not particularly limited herein.
Further, the first body 1 may further be provided with a universal wheel 12, please refer to fig. 8, the universal wheel 12 may be provided at a rear end of the first body 1, that is, the universal wheel 12 is provided at an end of the first body 1 far from the driving wheel 41, and the universal wheel 12 is used for changing a traveling direction of the cleaning device. When the traveling direction of the cleaning equipment needs to be changed, the traveling direction of the rotating universal wheel 12 is changed, and a certain distance is reserved between the driving wheel 41 and the universal wheel 12, so that when the driving assembly generates traveling power, the driving direction in the driving assembly is slowly changed, and finally the reversing of the cleaning equipment is realized, so that the cleaning range of the cleaning equipment is expanded, and the cleaning effect is improved.
Alternatively, as shown in fig. 8, both ends of the cleaning roller 7 are beyond the outer tread surfaces of the two drive wheels 41. In this way, during the cleaning operation of the cleaning device, the length of the cleaning roller 7 is long enough to erase the travel track left by the driving wheel 41 when traveling on the surface to be cleaned, so as to avoid the driving wheel 41 from causing secondary pollution on the object to be cleaned, and reduce the cleaning effect.
Further, as shown in fig. 9, a movable connection mechanism is provided on the first body 1; the driving assembly is arranged on the first main body 1 through a movable connecting mechanism; when a gap exists between the driving component 4 and a traveling surface, the movable connecting mechanism acts to enable the driving component 4 to be in contact with the traveling surface.
That is, when the cleaning device is about to cross an obstacle structure, the second main body is lifted too high due to the fact that the obstacle structure is too high, and the driving assembly 4 on the first main body is overhead, the cleaning device provided by the embodiment is provided with the movable connecting mechanism between the first main body 1 and the driving assembly 4, so that when the driving wheel assembly 4 is overhead, namely when the driving assembly 4 has a gap with a traveling surface, the position of the driving assembly 4 can be changed through the action of the movable connecting mechanism, so that the driving assembly 4 is in contact with the traveling surface, the traveling stability of the cleaning device is ensured, the driving wheel 41 of the cleaning device is prevented from being separated from the traveling surface, the risk of shaking or shaking of the cleaning device is reduced, and the cleaning effect of the cleaning device can be further improved.
Specifically, as shown in fig. 9, the movable connection mechanism includes a spring 13 and a rotating member 14. As shown in fig. 9, the rotary member 14 has a first end and a second end. One end of a spring 13 is connected with the first body 1; the other end of the spring 13 is connected with a first end (right end shown in fig. 9) of the rotating part 14, and a second end (left end shown in fig. 9) of the rotating part 14 is connected with the driving component 4; the driving assembly 4 is linked with the rotating part 14, when a gap exists between the driving assembly 4 and a traveling surface, the spring 13 generates an elastic restoring force, and the rotating part 14 rotates under the action of the elastic restoring force, so that the driving assembly 4 rotates synchronously.
Specifically, the rotating member 14 is rotatably coupled to the first body 1 at a position between the first end and the second end, and as shown in fig. 9, the rotating member 14 has a rotary coupling portion 15 at a position near the first end (i.e., the right end as shown in fig. 9). When the spring 13 has an elastic restoring force in the direction M, the rotating member 14 is allowed to rotate in the direction N around the rotation connecting portion 15, so that the driving unit 4 located at the second end (left end as viewed in fig. 9) of the rotating member 14 can move synchronously with the second end of the rotating member, thereby changing the position of the driving unit 4 to a state of contact with the traveling surface, and preventing the driving unit from being lifted during the process of crossing over an obstacle structure by the cleaning apparatus.
In particular embodiments, the rotatable member 14 may have further embodiments. For example, the rotating member includes a first bracket, a second bracket, and a rotating frame. The first bracket is connected with the other end of the spring 13; the second bracket is connected with the driving component 4; the rotating frame is arranged on the first main body and is connected with the first support and the second support; the first support drives the rotating frame to rotate under the action of the elastic restoring force, so that the second support drives the driving assembly to synchronously rotate.
For example, in some embodiments, as shown in fig. 10, there is a gap between the drive assembly and the travel surface on the object 6 being cleaned. The rotating frame 18 may be in the form of a sleeve, the wall of which is connected to the first support 16 and the second support 17. The spring 13 may take the form of a tension spring. The first body 1 is provided with a fixed shaft 19 for the sleeve to rotate, and the sleeve is sleeved on the fixed shaft 19. The end of the first bracket 16 away from the rotating frame 18 is fixed with the spring 13, and the end of the second bracket 17 away from the rotating frame 18 is fixed with the driving shaft 42 of the driving assembly 4. Thus, when the spring 13 has an elastic restoring force acting in the direction M, the rotating frame 18 rotates about the fixed shaft 19 on the first body 1 in the direction N, thereby rotating the second bracket 17, so that the driving wheel 41 on the second bracket 17 moves close to the traveling surface until it moves to the position shown in fig. 11, at which time the driving wheel 41 comes into contact with the traveling surface to be cleaned.
For example, in some other embodiments, referring to fig. 12, the turret 18 may take the form of a rotating shaft, with a through hole 20 provided in the first body for rotation of the rotating shaft. The first bracket 16 and the second bracket 17 are fixed on the shaft wall of the rotating shaft, and at this time, when the spring 13 has an elastic restoring force acting in the direction M, one end of the spring 13 drives the first bracket 16 to move, so that the rotating shaft rotates in the through hole 20, and rotates in the direction N, thereby driving the second bracket 17 to rotate, so that the driving wheel 41 on the second bracket 17 moves close to the traveling surface until the driving wheel 41 moves to contact with the traveling surface to be cleaned.
The present embodiment also provides a self-moving cleaning robot. The self-moving cleaning robot includes a first body, a second body, and a link mechanism. The first main body is provided with a driving assembly, and the driving assembly provides advancing power for the first main body; the second body has a cleaning assembly; one end of the connecting rod mechanism is movably connected with the first main body, and the other end of the connecting rod mechanism is movably connected with the second main body; when a gap exists between the cleaning component and the cleaned object, the cleaning component of the second main body is driven to be in contact with the cleaned object through the action of the link mechanism. It can be seen that the driving assembly on the first main part provides a driving force for the self-moving cleaning robot to travel, the cleaning assembly on the second main part serves as a cleaning piece of the self-moving cleaning robot, the second main body is movably connected to the first main body through the link mechanism, and under the condition that the self-moving cleaning robot needs to cross over an obstacle structure, an ascending slope, a descending slope and a descending step, the second main body can be driven by the link mechanism to change the pose, so that the cleaning assembly on the second main body is always in contact with the cleaning surface of the object to be cleaned, and the self-moving cleaning robot is ensured to have a good floor washing effect.
Specifically, the self-moving cleaning robot may further include a battery for supplying power to a driving motor in the driving assembly, so that the driving motor outputs a rotational torque under the control of the controller to drive the driving wheel to rotate, that is, the self-moving cleaning robot is driven to travel on a traveling surface. In addition, the battery can also supply power for the rotating motor in the cleaning assembly, so that the rotating motor can output rotating torque to the cleaning roller under the control of the controller, and the cleaning roller is driven to roll on the traveling surface to realize cleaning work.
The technical solution provided in the embodiments of the present application is described below with reference to specific application scenarios.
When a user cleans an indoor floor using the self-moving cleaning robot as shown in fig. 2 and 3. In fig. 2, when the self-moving cleaning robot travels on the object to be cleaned having the obstacle structure, the cleaning roller 7 located at the front end 101 of the first body 1 first collides with the obstacle structure 8, and as the self-moving cleaning robot continues to travel along the direction S, the cleaning roller 7 also rotates along the direction T, so that the friction between the cleaning roller 7 and the obstacle structure 8 increases, and when the friction between the cleaning roller 7 and the obstacle structure is sufficiently large, the cleaning roller 7 is lifted up due to the rotation between the two ends of the link and the first and second bodies, and as the self-moving cleaning robot continues to travel along the direction S, the cleaning roller 7 moves to the top surface of the obstacle structure 8, that is, to the position shown in fig. 3. In fig. 3, as the self-moving cleaning robot continues to travel in direction S until the drive wheels on the first body of the self-moving cleaning robot also clear the obstacle structure 8, so that the self-moving cleaning robot clears the obstacle structure 8 smoothly.
As shown in fig. 6, in the case where the traveling surface of the self-moving cleaning robot has a step, the self-moving cleaning robot needs to descend the step, the cleaning roller of the self-moving cleaning robot descends the step first, and the driving wheel of the self-moving cleaning robot descends the step later. In the process that the self-moving cleaning robot continuously moves along the direction S, when the cleaning roller reaches the step and is about to move from the step high surface to the step low surface, as the two ends of the connecting rod can rotate with the first main body and the second main body, and the self-moving cleaning robot continuously moves, the cleaning assembly moves to the state that the cleaning roller is in contact with the step low surface under the action of self gravity, and the cleaning roller rotates to clean the step floor. In fig. 6, as the self-moving cleaning robot continues to move in the reverse direction S, the self-moving cleaning robot is finally caused to fall into the lower surface of the step as a whole, thereby smoothly achieving smooth step descending of the self-moving cleaning robot.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (11)
1. A cleaning apparatus, comprising:
the first body is provided with a driving assembly, and the driving assembly provides advancing power for the first body;
a second body having a cleaning assembly;
one end of the connecting rod mechanism is movably connected with the first main body, and the other end of the connecting rod mechanism is movably connected with the second main body;
when a gap exists between the cleaning component and the cleaned object, the cleaning component of the second main body is driven to be in contact with the cleaned object through the action of the link mechanism.
2. The cleaning apparatus defined in claim 1, wherein the linkage comprises first and second links:
the first end of the first connecting rod is rotatably connected with the first main body, and the second end of the first connecting rod is rotatably connected with the second main body;
the first end of the second connecting rod is rotatably connected with the first main body, and the second end of the second connecting rod is rotatably connected with the second main body.
3. The cleaning apparatus defined in claim 2, wherein the first link is parallel to the second link.
4. The cleaning apparatus as claimed in any one of claims 1 to 3, further comprising: a suction duct;
the suction pipeline is arranged on the first main body, and a nozzle of the suction pipeline faces the cleaning assembly;
the two sides of the suction pipeline are provided with the connecting rod mechanisms.
5. The cleaning device as claimed in claim 4, wherein a nozzle of the suction duct is provided with a scraping strip and a scraping plate;
the scraping strip is contacted with the cleaned object, and a closed space is formed between the cleaning assembly and the scraping strip;
the blade is in contact with the cleaning assembly.
6. The cleaning apparatus of claim 1,
the first main body is provided with a movable connecting mechanism;
the driving assembly is arranged on the first main body through a movable connecting mechanism;
when a gap exists between the driving assembly and the traveling surface, the movable connecting mechanism acts to enable the driving assembly to be in contact with the traveling surface.
7. The cleaning apparatus defined in claim 6, wherein the articulating mechanism comprises:
a spring having one end connected to the first body;
the rotating piece is connected with the other end of the spring and is connected with the driving assembly;
the driving assembly is linked with the rotating piece, when a gap exists between the driving assembly and the advancing surface, the spring generates elastic restoring force, and the rotating piece rotates under the action of the elastic restoring force, so that the driving assembly synchronously rotates.
8. The cleaning apparatus defined in claim 7, wherein the rotating member comprises:
the first bracket is connected with the other end of the spring;
the second bracket is connected with the driving assembly;
the rotating frame is arranged on the first main body and is connected with the first support and the second support;
the first support drives the rotating frame to rotate under the action of the elastic restoring force, so that the second support drives the driving assembly to synchronously rotate.
9. The cleaning apparatus of claim 1,
the cleaning assembly includes a cleaning roller extending in a direction perpendicular to a direction of travel of the first body;
the drive assembly comprises two drive wheels;
and two ends of the cleaning roller exceed the outer side wheel surfaces of the two driving wheels.
10. The cleaning apparatus of claim 1,
the first body has a front end and a rear end along a direction of travel of the first body;
the second body is located at the front end of the first body.
11. A self-moving cleaning robot, comprising:
the first body is provided with a driving assembly, and the driving assembly provides advancing power for the first body;
a second body having a cleaning assembly;
one end of the connecting rod mechanism is movably connected with the first main body, and the other end of the connecting rod mechanism is movably connected with the second main body;
when a gap exists between the cleaning component and the cleaned object, the cleaning component of the second main body is driven to be in contact with the cleaned object through the action of the link mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011625284.5A CN112842160A (en) | 2020-12-31 | 2020-12-31 | Cleaning equipment and self-moving cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011625284.5A CN112842160A (en) | 2020-12-31 | 2020-12-31 | Cleaning equipment and self-moving cleaning robot |
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| CN112842160A true CN112842160A (en) | 2021-05-28 |
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