CN113208509A

CN113208509A - Intelligent cleaning robot

Info

Publication number: CN113208509A
Application number: CN202110517613.2A
Authority: CN
Inventors: 李方; 谭泽文; 左滨槐; 彭井泉
Original assignee: Xiangtan University
Current assignee: Xiangtan University
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2021-08-06
Anticipated expiration: 2041-05-12
Also published as: CN113208509B

Abstract

The invention discloses an intelligent cleaning robot which comprises a mobile module, a cleaning module, a mopping module and a detection module, wherein the detection module is used for detecting the surrounding and ground environments so as to generate a cleaning path, and the cleaning module and the mopping module are connected to the mobile module and move along the cleaning path under the supporting of the mobile module. The sweeping module comprises a sweeping brush assembly, the mopping module comprises a mopping cloth assembly, and the part of the sweeping brush assembly, which is contacted with the ground, is positioned in front of the part of the mopping cloth assembly, which is contacted with the ground, along the moving direction of the moving module; the mopping module also comprises a self-cleaning component, the mopping cloth component comprises a mopping cloth, the mopping cloth is rotatably wound on at least two rollers, the roller at one end presses the mopping cloth downwards in the mopping process and is contacted with the ground, and the roller at the other end supports the mopping cloth to be within the cleaning range of the self-cleaning component. The intelligent cleaning robot has the advantages of simplicity, practicability, good cleaning effect, reduction of user burden, high automation degree and the like.

Description

Intelligent cleaning robot

Technical Field

The invention relates to the technical field of daily life machinery, in particular to an intelligent cleaning robot.

Background

The existing sweeping robot only has a sweeping function generally, has a general cleaning capability on the ground, and can only sweep dust, paper scraps and other garbage, but cannot completely clear the garbage adhered to the ground. As for the mopping and sweeping integrated device, the cleaning degree is good when the mopping and sweeping integrated device is just started to work, however, after only a small area is cleaned, the mopping rag arranged in the mopping and sweeping integrated device is polluted, the mopping rag needs to be manually cleaned and replaced, the floor of the whole house even needs to be replaced for many times, the physical labor of a user is additionally increased, and the user experience is poor. And once the replacement is not timely, the cleaning cloth can bring the adsorbed dirt and garbage to other areas and even pollute the ground of the whole house.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the intelligent cleaning robot which is simple and practical, has good cleaning effect, reduces the burden of a user and has high automation degree.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

an intelligent cleaning robot comprises a moving module, a cleaning module and a mopping module, wherein the cleaning module and the mopping module are connected to the moving module and move under the support of the moving module; the mopping module also comprises a self-cleaning component, the mopping cloth component comprises a mopping cloth, the mopping cloth is rotatably wound on at least two rollers, the roller at one end presses the mopping cloth downwards in the mopping process and is contacted with the ground, and the roller at the other end supports the mopping cloth to enable the mopping cloth to be in the cleaning range of the self-cleaning component.

As a further improvement of the above technical solution:

the roller for supporting the mopping cloth comprises a first roller and a second roller, the mopping cloth winds around the peripheral surface of the first roller, is contacted with the ground at the lowest part of the first roller, then forms a return surface, and winds around the peripheral surface of the second roller to form a cleaning surface; the self-cleaning component comprises a cleaning agent nozzle and a rolling brush, the cleaning agent nozzle faces to the cleaning surface of the mopping cloth, and the rolling brush is parallel to the axis of a roller supporting the mopping cloth and is pressed on the return surface of the mopping cloth.

The cleaning agent nozzle is provided with a point-contact type injection switch, a rotating shaft is arranged at the position of the injection switch, a cam is connected onto the rotating shaft, and the cam is driven by the rotating shaft to rotate and periodically triggers the injection switch through the outermost salient points.

And a rotating shaft of the second roller is connected with a motor and drives the rotating shaft and the rolling brush to rotate through gear engagement or belt drive.

The mopping module also comprises a pressure control piece, wherein the pressure control piece is a linear driving device and is hinged to the movable module, and the driving end of the pressure control piece is connected to a roller for pressing the mopping cloth downwards to enable the mopping cloth to be in contact with the ground.

The roller for pressing the mopping cloth downwards to enable the mopping cloth to be in contact with the ground is a first roller, the roller for propping the mopping cloth to enable the roller in the cleaning range of the self-cleaning component to be a second roller, the roller for supporting the mopping cloth further comprises a tensioning roller, and the tensioning roller is arranged on one side of a connecting line of the first roller and the second roller and is tightly pressed in the middle of the mopping cloth.

The cleaning brush assembly comprises two cleaning brushes rotating along a vertical axis, and the rotating directions of the two cleaning brushes are opposite; the cleaning module also comprises a dust absorption fan, and a dust absorption port of the dust absorption fan is positioned between the two cleaning brushes.

The cleaning module further comprises a filtering piece, and the filtering piece is connected to the air outlet of the dust collection fan.

The cleaning module also comprises a garbage storage bag.

The intelligent cleaning robot further comprises a detection module, the detection module comprises a control panel and a plurality of detection heads, the detection heads detect the surrounding environment and the ground environment and transmit detection signals to the control panel, and the control panel controls the mobile module to move according to the received detection signals.

The mobile module comprises two idler wheels positioned on two sides of the intelligent cleaning robot and two driving motors respectively driving the two idler wheels to roll, and the control panel controls the two driving motors to output according to the received detection signals.

Compared with the prior art, the invention has the advantages that:

the intelligent cleaning robot comprises a moving module, a cleaning module and a mopping module, wherein the cleaning module and the mopping module are connected to the moving module and move under the support of the moving module, so that the cleaning robot can automatically walk through a cleaning device and perform cleaning and mopping operations. Cleaning the module including cleaning the brush subassembly, it includes mopping cloth subassembly to drag the ground module, the removal direction that cleans brush subassembly and ground contact along the removal module is located the place ahead of mopping cloth subassembly and ground contact's part, this intelligence cleans the robot promptly at the removal in-process, earlier through the dust of the cleaning brush subassembly in operation the place ahead to ground, the rubbish of easy clearance such as wastepaper is cleaned, later drag the ground operation by the mopping cloth subassembly in operation rear, in order to clean the brush subassembly and be difficult to clean, the adhesion is at subaerial filth and is erased, structural configuration is reasonable, just can realize complete thorough clean function at a removal in-process, the cleaning performance is better.

The mopping module also comprises a self-cleaning component, the mopping cloth component comprises a mopping cloth, the mopping cloth is rotatably wound on at least two rollers, the roller at one end presses the mopping cloth downwards and is contacted with the ground in the mopping process, and the roller at the other end supports the mopping cloth to enable the mopping cloth to be in the cleaning range of the self-cleaning component. In the mopping process, the mopping cloth and the roller form a structure similar to a conveying belt together, so that the part of the mopping cloth, which is in contact with the ground and is used for wiping dirt, is constantly changed, the cloth surface, which is in contact with the ground and is used for wiping the dirt, reaches the cleaning range of the self-cleaning component after passing through the roller, then is cleaned to remove the dirt, and then passes through the roller again and is in contact with the ground to realize the mopping function, the whole process ensures that the cloth surface of the mopping cloth, which is in contact with the ground, is always in a clean state, so that the problem that the dirt at one part is dragged into other areas and even pollutes the ground of the whole house can be avoided, and the cleaning effect is good; meanwhile, the cleaning cloth does not need to be replaced by the user, so that the labor burden of the user is reduced, and the use experience of the user is optimized.

Drawings

Fig. 1 is an external structural view of an intelligent cleaning robot of the present invention;

fig. 2 is a schematic view of the internal structure of the intelligent cleaning robot of the present invention;

fig. 3 and 4 are perspective views illustrating an internal structure of the intelligent cleaning robot according to the present invention.

Illustration of the drawings: 1. a moving module; 11. a roller; 12. a drive motor; 2. a cleaning module; 21. a sweeping brush assembly; 22. a dust collection fan; 23. a filter member; 3. a mopping module; 31. a mop cloth assembly; 311. mopping the ground cloth; 3111. a return plane; 3112. cleaning the surface; 312. a first drum; 313. a second drum; 314. a tension roller; 32. a self-cleaning assembly; 321. a detergent spout; 3211. an injection switch; 322. rolling and brushing; 33. a pressure control member; 4. a detection module; 41. a control panel; 42. a probe head.

Detailed Description

In order to facilitate understanding of the invention, the invention will be described more fully and in detail with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below.

Example (b):

as shown in fig. 1 to 4, the intelligent cleaning robot of the present embodiment includes a moving module 1, a cleaning module 2 and a mopping module 3, wherein the cleaning module 2 and the mopping module 3 are connected to the moving module 1 and move under the support of the moving module 1, so as to realize automatic walking by the cleaning device and cleaning and mopping operations. Cleaning module 2 is including cleaning brush subassembly 21, mopping module 3 is including mopping cloth subassembly 31, the part of cleaning brush subassembly 21 and ground contact is located mopping cloth subassembly 31 and the place ahead of the part of ground contact along the moving direction of removal module 1, this intelligence cleans machine people at the removal in-process promptly, clean the rubbish of easy clearance such as dust on ground, wastepaper through cleaning brush subassembly 21 in operation the place ahead earlier, later, the mopping operation is carried out by mopping cloth subassembly 31 in operation back, in order to clean brush subassembly 21 and be difficult to clean, the filth that adheres to subaerial is erased, structural configuration is reasonable, can realize complete thorough clean function in a removal in-process, the cleaning performance is better.

The mopping module 3 further comprises a self-cleaning component 32, the mopping cloth component 31 comprises a mopping cloth 311, the mopping cloth 311 is rotatably wound on at least two rollers, one roller presses the mopping cloth 311 downwards and contacts with the ground in the mopping process, and the other roller supports the mopping cloth 311 to be within the cleaning range of the self-cleaning component 32. In the mopping process, the mopping cloth 311 and the roller form a structure similar to a conveying belt together, so that the contact part of the mopping cloth 311 and the ground is constantly changed, the cloth surface which is in contact with the ground and cleans dirt reaches the cleaning range of the self-cleaning component 32 after passing through the roller, then the dirt is removed through cleaning, the cloth surface bypasses the roller again and is in contact with the ground to realize the mopping function, the whole process ensures that the cloth surface of the mopping cloth 311 which is in contact with the ground is always in a clean state, the problem that the dirt at one part is dragged to other areas and even pollutes the ground of the whole house can be avoided, and the cleaning effect is good; meanwhile, the cleaning cloth does not need to be replaced by the user, so that the labor burden of the user is reduced, and the use experience of the user is optimized.

In this embodiment, the rollers supporting the mopping cloth 311 include a first roller 312 and a second roller 313, the first roller 312 presses the mopping cloth 311 down and contacts with the ground during mopping, and the second roller 313 supports the mopping cloth 311 to be within the cleaning range of the self-cleaning assembly 32. The mop cloth 311 passes around the peripheral surface of the first drum 312 and contacts the floor at the lowest portion of the first drum 312, and then forms a returning surface 3111 with dirt, and the returning surface 3111 passes around the peripheral surface of the second drum 313 to form a clean cleaning surface 3112 through a cleaning range.

The self-cleaning assembly 32 comprises a cleaning agent nozzle 321 and a rolling brush 322 in a cleaning range, wherein the cleaning agent nozzle 321 faces to a cleaning surface 3112 of the mopping cloth 311, and the cleaning agent is sprayed on the cleaning surface 3112 to ensure the cleanness of the cloth cover. The lower part of the cleaning agent nozzle 321 is connected with a cleaning agent storage tank or a storage box to ensure the supply of the cleaning agent; the detergent nozzle 321 may be provided with a plurality of openings arranged along the width of the cloth cover so that the detergent may uniformly cover the entire width of the cloth cover.

The rolling brush 322 is parallel to the axis of the roller supporting the mop cloth 311, and is pressed on the return surface 3111 of the mop cloth 311 to brush away the garbage particles adhered to the return surface 3111. During the rolling process, the linear velocity direction of the bristles at the contact portion of the roller brush 322 with the return surface 3111 is opposite to the moving direction of the return surface 3111, thereby further enhancing the brushing force of the roller brush 322.

In this embodiment, the cleaning agent nozzle 321 is provided with a point-contact type spraying switch 3211, the spraying switch 3211 is provided with a rotating shaft, the rotating shaft is connected with a cam, the cam is driven by the rotating shaft to rotate and periodically trigger the spraying switch 3211 through the outermost salient points, so that the cleaning agent nozzle 321 periodically sprays cleaning agent, thereby not only preventing the cleaning agent from being always in a spraying state and causing unnecessary waste, but also ensuring that the cleaning agent continuously cleans and covers the mop cloth 311.

In this embodiment, the rotating shaft of the second roller 313 is connected to a motor, and the rotating shaft and the roller brush 322 are driven to rotate by gear engagement or belt driving, and this arrangement allows three rotating parts to be driven by one motor, which reduces the space of the whole machine and simplifies the driving complexity. And because the three are jointly driven by one motor, when the second roller 313 rolls, namely the mopping ground fabric 311 begins to mop, the spraying switch 3211 will be triggered, and the rolling brush 322 will begin to brush, namely the self-cleaning component 32 begins to clean the mopping ground fabric 311, thereby effectively avoiding unnecessary energy waste.

In this embodiment, the mopping module 3 further comprises a pressure control member 33, wherein the pressure control member 33 is a linear driving device, and can be a hydraulic rod, a pneumatic rod or an electric rod; is hingedly connected to the moving module 1 and has its drive end connected to a first roller 312 for pressing the mop cloth 311 down into contact with the ground. Due to the existence of the pressure control member 33, the intelligent cleaning robot can flexibly adjust the downward pressure of the first roller 312 for pressing the mopping cloth 311 according to the floor stress condition, the ground pollution condition and the user requirements through the extension and retraction of the pressure control member 33, so that various use requirements are met; even under the condition that the ground is cleaner, the first roller 312 can be collected upwards, only the cleaning operation is carried out, and the switching between the cleaning state and the sweeping state can be flexibly carried out.

In this embodiment, the roller supporting the mopping cloth 311 further includes a tension roller 314, and the tension roller 314 is disposed at one side of a connecting line between the first roller 312 and the second roller 313 and is pressed against the middle of the mopping cloth 311. During the movement of the first roller 312 controlled by the pressure control member 33, the tensioning roller 314 can ensure the tensioning of the mop cloth 311, and avoid the mop cloth 311 slipping or even separating.

In this embodiment, the cleaning brush assembly 21 includes two cleaning brushes rotating along a vertical axis, and the rotating directions are opposite; the cleaning module 2 further comprises a dust suction fan 22, a dust suction port of the dust suction fan 22 is located between the two cleaning brushes, and the two cleaning brushes rotate in opposite directions, so that the garbage on the surrounding ground is rolled into the dust suction port of the dust suction fan 22 together, and the garbage is convenient to collect.

In this embodiment, the cleaning module 2 further includes a filtering member 23, the filtering member 23 is connected to the air outlet of the dust suction fan 22, and is configured to filter the garbage particles carried by the air and discharge the clean air into the environment. In this embodiment, the cleaning module further includes a garbage storage bag for containing garbage particles.

In this embodiment, the intelligent cleaning robot further includes a detection module 4, the detection module 4 includes a control board 41 and a plurality of detection heads 42, and the control board 41 may be a PCB integrated board. The detecting heads 42 include five annular detecting heads and three ground detecting heads, detect the surrounding and ground environments, transmit the detection signals to the control board 41, and the control board 41 plans a traveling path according to the received detection signals, controls the movement of the moving module 1, so that the wheels can be steered flexibly, and stopped or reversed to obtain an optimal cleaning path. The automatic route planning mode is a mature technical scheme, and the intelligent cleaning robot can walk along the optimal cleaning route.

In this embodiment, the mobile module 1 includes two rollers 11 located at two sides of the intelligent cleaning robot, and two driving motors 12 for respectively driving the two rollers to roll, and the control board 41 controls the two driving motors 12 to output according to the received detection signal, and realizes forward movement, left rotation, or right rotation according to different output ratios.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. It should be apparent to those skilled in the art that modifications and variations can be made without departing from the technical spirit of the present invention.

Claims

1. The utility model provides an intelligence cleans machine people, includes mobile module (1), cleans module (2) and mops ground module (3), clean module (2) and mops ground module (3) and connect on mobile module (1) and remove under the support of mobile module (1), its characterized in that: the sweeping module (2) comprises a sweeping brush assembly (21), the mopping module (3) comprises a mopping cloth assembly (31), and the part of the sweeping brush assembly (21) contacting with the ground is positioned in front of the part of the mopping cloth assembly (31) contacting with the ground along the moving direction of the moving module (1); the mopping module (3) further comprises a self-cleaning component (32), the mopping cloth component (31) comprises a mopping cloth (311), the mopping cloth (311) is rotatably wound on at least two rollers, the roller at one end presses the mopping cloth (311) downwards and is in contact with the ground in the mopping process, and the roller at the other end supports the mopping cloth (311) to be within the cleaning range of the self-cleaning component (32).

2. The intelligent cleaning robot of claim 1, wherein: the rollers supporting the mopping cloth (311) comprise a first roller (312) and a second roller (313), the mopping cloth (311) winds around the peripheral surface of the first roller (312) and contacts with the ground at the lowest part of the first roller (312), then forms a return surface (3111), and winds around the peripheral surface of the second roller (313) to form a cleaning surface (3112); the self-cleaning component (32) comprises a cleaning agent nozzle (321) and a rolling brush (322), wherein the cleaning agent nozzle (321) faces to a cleaning surface (3112) of the mopping cloth (311), and the rolling brush (322) is parallel to the axis of a roller supporting the mopping cloth (311) and is pressed on a return surface (3111) of the mopping cloth (311).

3. The intelligent cleaning robot of claim 2, wherein: the cleaning agent spraying nozzle (321) is provided with a point contact type spraying switch (3211), a rotating shaft is arranged at the position of the spraying switch (3211), a cam is connected onto the rotating shaft, the cam rotates under the driving of the rotating shaft and periodically triggers the spraying switch (3211) through outermost convex points so that the cleaning agent is sprayed out of the cleaning agent spraying nozzle (321) intermittently.

4. The intelligent cleaning robot as claimed in claim 3, wherein: the rotating shaft of the second roller (313) is connected with a motor and drives the rotating shaft and the rolling brush (322) to rotate through gear engagement or belt driving.

5. The intelligent cleaning robot of claim 1, wherein: the mopping module (3) further comprises a pressure control member (33), the pressure control member (33) is a linear driving device and is hinged to the moving module (1), and the driving end of the pressure control member is connected to a roller for pressing the mopping cloth (311) downwards to enable the mopping cloth to be in contact with the ground.

6. The intelligent cleaning robot of claim 5, wherein: the roller for pressing the mopping cloth (311) down to enable the mopping cloth to be in contact with the ground is a first roller (312), the roller for supporting the mopping cloth (311) to enable the roller in the cleaning range of the self-cleaning component (32) to be a second roller (313), the roller for supporting the mopping cloth (311) further comprises a tensioning roller (314), and the tensioning roller (314) is arranged on one side of a connecting line of the first roller (312) and the second roller (313) and is pressed on the middle of the mopping cloth (311).

7. The intelligent cleaning robot of claim 1, wherein: the cleaning brush assembly (21) comprises two cleaning brushes rotating along a vertical axis, and the rotating directions are opposite; the cleaning module (2) further comprises a dust suction fan (22), and a dust suction port of the dust suction fan (22) is positioned between the two cleaning brushes.

8. The intelligent cleaning robot of claim 7, wherein: the cleaning module (2) further comprises a filtering piece (23), and the filtering piece (23) is connected to an air outlet of the dust collection fan (22).

9. The intelligent cleaning robot as claimed in any one of claims 1 to 8, wherein: the mobile module is characterized by further comprising a detection module (4), wherein the detection module (4) comprises a control panel (41) and a plurality of detection heads (42), the detection heads (42) detect the surrounding and ground environments and transmit detection signals to the control panel (41), and the control panel (41) controls the mobile module (1) to move according to the received detection signals.

10. The intelligent cleaning robot of claim 9, wherein: the mobile module (1) comprises two idler wheels (11) located on two sides of the intelligent cleaning robot and two driving motors (12) for respectively driving the two to roll, and the control board (41) controls the two driving motors (12) to output according to received detection signals.