CN113576346A

CN113576346A - Cleaning robot

Info

Publication number: CN113576346A
Application number: CN202110903709.2A
Authority: CN
Inventors: 王晓军
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2021-08-06
Filing date: 2021-08-06
Publication date: 2021-11-02

Abstract

The invention discloses a cleaning robot, which belongs to the technical field of cleaning equipment and comprises a main body, wherein the main body is provided with a power unit, a water storage tank is arranged in the main body, one end of the main body is provided with a cleaning unit, the outer side of the main body is provided with a circulating recovery device, and the other end of the main body is provided with a circulating filtering device. Compared with the prior art, the invention has the beneficial effects that: the cleaning robot has good use effect, cleans greasy dirt type ground through the cleaning unit in the main body, recovers and processes water and pollutants for cleaning through the circulating recovery device and the circulating filter device, and leads the water and the pollutants back to the water storage tank after the water and the pollutants are processed, and the cleaning robot plans a cleaning path automatically through the control unit and the sensing unit and avoids obstacles on the path.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background

The cleaning robot is generally considered as a household appliance, the working range of the cleaning robot is wide in practice, the cleaning robot is widely applied to industrial environments, and some public places also use the cleaning robot to clean large-area places.

The cleaning to ground is generally realized through three main functions of sweeping the floor, wiping the ground and absorbing dust to the current cleaning robot, and some cleaning robot still have sterile function, however, in the in-service use process, the cleaning robot can only clear up the rubbish dust that floats in the earth's surface, to the stubborn dirt of adhesion subaerial, such as greasy dirt chewing gum etc., can not realize effectual clearance and cleaning, in road cleaning, often can touch the ground that is polluted by trade company with kitchen garbage, cause bad influence to municipal city appearance, subaerial greasy dirt and some stubborn dirt are difficult to clear up through artificial mode. To this end, a cleaning robot has been proposed by those skilled in the art to solve the problems set forth in the background above.

Disclosure of Invention

The present invention is directed to a cleaning robot, which solves the problems set forth above in the background art.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a cleaning robot, includes the main part, be provided with power pack in the main part, power pack is used for providing power for the robot, is provided with the storage water tank in the main part, and main part one end is provided with clean unit, and clean unit is used for the stubborn spot on clean ground, and the main part outside is provided with circulation recovery unit, and circulation recovery unit is used for retrieving the waste water that clean unit used, and the main part other end is provided with circulation filter equipment, and circulation filter equipment is used for filtering purification treatment and leading-in again in the storage water tank to waste water.

As a further scheme of the invention: the robot comprises a main body and is characterized in that a control unit is arranged in the main body and used for controlling the operation of the robot, and a sensing unit is arranged on the outer side of the main body and used for monitoring data around the main body.

As a still further scheme of the invention: the power unit comprises a storage battery, the storage battery is fixedly connected in the main body, a driving assembly is arranged on the main body, and the driving assembly is used for driving the main body to move and turn.

As a still further scheme of the invention: the clean unit includes the booster pump, and the booster pump setting is in the storage water tank, and main part one end fixedly connected with a plurality of switches on the piece, and the booster pump switches on to the piece in through the pipe, is provided with a plurality of high pressure nozzle of evenly arranging on the piece, and high pressure nozzle switches on each other with the piece that switches on, and the main part is close to one end one side of switching on and is provided with a plurality of brush dishes, and the brush dish is connected with the drive assembly transmission.

As a still further scheme of the invention: the recycling device comprises a shell, a driving mechanism is arranged at one end of the shell and used for driving the shell to move, a waste water recycling mechanism is arranged at the other end of the shell and used for recycling waste water used by the cleaning unit.

As a still further scheme of the invention: actuating mechanism includes the guide arm, and casing one end fixedly connected with a plurality of guide arms, guide arm sliding connection have a plurality of guide blocks, and guide block fixed connection is on the main part outer wall, and casing pot head is kept away from to the guide arm is equipped with the spring, and spring one end offsets with the guide block, and the spring other end has supported the stopper, casing one end fixedly connected with telescopic link, telescopic link other end fixed connection in the main part.

As a still further scheme of the invention: the waste water recycling mechanism comprises an elastic apron, one end of the shell is fixedly connected with the elastic apron, one end, away from the elastic apron, of the shell is provided with a negative pressure pump, the shell is elastically connected with the main body through a sealing assembly, the inner side of the shell is provided with an elastic ring, a water pumping hole is formed in the elastic ring and is communicated with the negative pressure pump through a guide pipe, and the negative pressure pump is communicated into the circulating and filtering device through a guide pipe.

As a still further scheme of the invention: the circulating filter device comprises a filter box, a screen is arranged in the filter box, an oil-water separation chamber is arranged on one side of the screen, filter elements are arranged on two sides of the oil-water separation chamber, and a sewage pool is arranged in the filter box.

Compared with the prior art, the invention has the beneficial effects that: the cleaning robot has good use effect, cleans greasy dirt type ground through the cleaning unit in the main body, recovers and processes water and pollutants for cleaning through the circulating recovery device and the circulating filter device, and leads the water and the pollutants back to the water storage tank after the water and the pollutants are processed, and the cleaning robot plans a cleaning path automatically through the control unit and the sensing unit and avoids obstacles on the path.

Drawings

FIG. 1 is a schematic view of a cleaning robot;

fig. 2 is a schematic structural view of a cleaning unit in a cleaning robot;

FIG. 3 is a schematic structural view of a recycling device in a cleaning robot;

FIG. 4 is a schematic structural view of a circulating filter device in a cleaning robot;

FIG. 5 is a schematic view of an elastic apron of a cleaning robot;

in the figure: 1-main body, 2-power unit, 21-storage battery, 22-driving component, 3-water storage tank, 4-cleaning unit, 41-booster pump, 42-guide pipe, 43-conduction piece, 44-high pressure spray head, 45-brush disk, 5-circulation recovery device, 51-shell, 52-driving mechanism, 521-guide rod, 522-guide block, 523-spring, 524-limit block, 525-telescopic rod, 53-waste water recovery mechanism, 531-elastic apron, 532-negative pressure pump, 533-sealing component, 534-elastic ring, 535-water pumping hole, 6-circulation filtering device, 61-filtering box, 62-screen mesh, 63-oil-water separation chamber, 64-filtering core, 65-dirt pool, etc, 7-control unit, 8-sensing unit.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another.

In connection with fig. 1-5, one embodiment of the present invention provides a cleaning robot, which, in connection with the illustration, includes: main part 1, be provided with power unit 2 in the main part 1, power unit 2 is used for providing power for the robot, be provided with storage water tank 3 in the

main part

1, 1 one end of main part is provided with clean unit 4, clean unit 4 is used for the stubborn spot on clean ground, 1 outside of main part is provided with circulation recovery unit 5, circulation recovery unit 5 is used for retrieving the waste water that clean unit 4 used, 1 other end of main part is provided with circulating filter device 6, circulating filter device 6 is used for filtering purification treatment and leading-in storage water tank 3 again to waste water, the cooperation through circulating filter device 5 and circulating filter device 6 is with clean water circulation treatment utilization, it is less to get clean water overall water consumption, a large amount of water resources have been saved.

Referring to fig. 1, in one embodiment of the present invention, a control unit 7 is disposed in the main body 1, the control unit 7 is used for controlling the operation of the robot, a sensing unit 8 is disposed outside the main body 1, the sensing unit 8 is used for monitoring external data, the control unit 7 controls the coordination power unit 2, the cleaning unit 4 and the recycling device 5 through a control processor, the circulation filter device 6 and the sensing unit 8 are operated, the sensing unit 8 comprises a proximity sensor, an object recognition sensor, a distance sensor, a vision sensor and the like, the proximity sensor is used for monitoring an object close to the main body 1 and reacting according to the object, the object recognition sensor is used for recognizing an object around the main body 1 and reacting according to the object, the distance sensor is used for measuring the distance of the object around the main body 1, and the vision sensor 8 is used for recognizing and marking the cleaned ground.

Referring to fig. 1, the power unit 2 includes a battery 21, the battery 21 is fixedly connected in the main body 1, a driving assembly 22 is disposed on the main body 1, the driving assembly 22 is used for driving the main body 1 to move and turn, provide the required electric energy of robot operation through battery 21, it advances to drive the robot through drive assembly 22, drive assembly 22 adopts driving motor, driving motor fixed connection is in main part 1, driving motor is connected with the drive wheel through transmission shaft and gear train transmission, the drive wheel rotates and connects in 1 one end of main part, 1 fixedly connected with of main part turns to the motor, it is connected with the directive wheel through transmission shaft and gear train transmission to turn to the motor, the directive wheel rotates and connects on main part 1, power unit 2 can also adopt internal-combustion engine cooperation battery to supply energy, the internal-combustion engine provides main power, the battery provides the required electric power of intelligent control.

Referring to fig. 1 and 2, in an embodiment of the present invention, the cleaning unit 4 includes a booster pump 41, the booster pump 41 is disposed in the water storage tank 3, one end of the main body 1 is fixedly connected with a conducting member 43, the booster pump 41 is conducted to the conducting member 43 through a conduit 42, the conducting member 43 includes a guide seat and a guide plate, one end of the main body 1 is fixedly connected with a plurality of guide seats which are staggered with each other, the guide seat is provided with a plurality of high pressure nozzles 44 which are uniformly arranged, the high pressure nozzles 44 are conducted with the guide seats, one side of the main body 1 near one end of the conducting member 43 is provided with a plurality of brush discs 45, the brush discs 45 are in transmission connection with the driving assembly 22, one end of the main body 1 is fixedly connected with the guide plate, the guide plate is conducted with a plurality of high pressure nozzles, the high pressure nozzles 44 on the guide seat are installed perpendicular to the conducting member 43, high pressure water columns guided by the perpendicular high pressure nozzles 44 flush dirt which is not brushed off the brush discs 45, the high-pressure spray head 44 on the other side guide plate is installed obliquely, the high-pressure spray head 44 is inclined from the guide plate to the guide seat, residual dirt on the ground is washed clean by an oblique high-pressure water column sprayed by the oblique high-pressure spray head 44 and is guided to one side, the cleaning unit 4 can also adopt a swing type high-pressure spray head which can slide under action, the high-pressure spray head is controlled by a sensor at one end of the main body 1 to remove the dirt at a fixed point, the cleaning effect is guaranteed, and meanwhile, the cleaning efficiency is improved.

Referring to fig. 1 and 3, in an embodiment of the present invention, the recycling device 5 includes a housing 51, one end of the housing 51 is provided with a driving mechanism 52, the driving mechanism 52 is used for driving the housing 51 to move along the main body 1, the other end of the housing 51 is provided with a waste water recycling mechanism 53, the waste water recycling mechanism 53 is used for recycling waste water on the ground, the housing 51 is pushed to a state of being sealed with the ground by the driving mechanism 52, the waste water and washed dirt are recycled together by the waste water recycling mechanism 53, the recycling device 5 can also adopt a plurality of water suction heads to be directly installed on the outer side of the main body 1, and the water suction heads are conducted into a negative pressure pump, and the water suction heads suck water and filter and separate dirt.

Referring to fig. 1 and 3, in an embodiment of the present invention, the driving mechanism 52 includes a guide rod 521, one end of the housing 51 is fixedly connected with a plurality of guide rods 521, the guide rod 521 is slidably connected with a plurality of guide blocks 522, the guide blocks 522 are fixedly connected to an outer wall of the main body 1, one end of the guide rod 521, which is far away from the housing 51, is sleeved with a spring 523, one end of the spring 523 abuts against the guide blocks 522, the other end of the spring 523 abuts against a limit block 524, one end of the housing 51 is fixedly connected with an expansion link 525, the other end of the expansion link 525 is fixedly connected to the main body 1, the expansion link 525 is an electric expansion link, the housing 51 is driven by the expansion link 525 to move up and down, the driving mechanism 52 can also directly control the up and down movement of the housing 51 by using a motor-driven cam, due to the action of the spring 523, the housing 51 is always kept in a state of being separated from the ground, when a telecentric point of the cam abuts against the upper end of the housing 51, the housing 51 is sealed to the ground, and when the cam is positioned close to the center of the housing 51, the housing 51 is kept separated from the ground.

With reference to fig. 1, 3 and 5, in an embodiment of the present invention, the waste water recycling mechanism 53 includes an elastic skirt 531, one end of the housing 51 is fixedly connected with the elastic skirt 531, the elastic skirt 531 blocks a gap between the housing 51 and the ground to prevent water from flowing out, the elastic skirt 531 is a hollow elastic rubber tube, one end of the housing 51 away from the elastic skirt 531 is provided with a negative pressure pump 532, the housing 51 is elastically connected with the main body 1 through a sealing component 533, the sealing component 533 is an annular sealing gasket made of an elastic rubber material, one side of the annular sealing gasket is connected with the housing 51, the other side of the annular sealing gasket is connected with the main body 1, and the sealing component 533 can also be a sealing gasket made of other elastic materials to connect the housing 51 with the main body 1; the inner side of the shell 51 is provided with an elastic ring 534, a water pumping hole 535 is arranged in the elastic ring 534, the water pumping hole 535 is communicated to the negative pressure pump 532 through a conduit 42, the negative pressure pump 532 is communicated to the circulating filter device 6 through the conduit 42, a certain suction force is provided through the negative pressure pump 532, water in the water pumping hole 535 on the elastic ring 534 which is propped against the ground is pumped out, and the water is guided to the circulating filter device 6 through the conduit 42, the waste water recycling mechanism 53 can also adopt a water absorbing roller which can roll with the ground, the water absorbing roller is fixedly connected to the rear side of the main body 1 through a rotary joint, water flow is blocked by baffles on the two sides and the front side of the main body, and waste water is recycled through the water absorbing roller matched with the negative pressure pump 532.

Referring to fig. 1 and 4, in an embodiment of the present invention, the circulation filtering device 6 includes a filtering box 61, a screen 62 is disposed in the filtering box 61, an oil-water separating chamber 63 is disposed on one side of the screen 62, filter elements 64 are disposed on two sides of the oil-water separating chamber 63, a dirt pool 65 is disposed in the filtering box 61, larger solid contaminants are separated into the dirt pool 65 through the screen 62, smaller contaminants are filtered and separated through the filter elements 64, oil contaminants are separated through a grease collector in the oil-water separating chamber 63, finally, the finally guided water is guided back to the water storage tank 3 through the conduit 42, and the circulation filtering device 6 may also directly use a booster pump to boost the guided water, so as to prevent the filtration efficiency from being affected by too much contaminants.

The working principle of the invention is as follows: firstly, a cleaning robot is placed on the ground to be cleaned, a control unit 7 controls a driving assembly 22 of a power unit 2 to drive a main body 1 to move on the ground, the control unit 7 intelligently plans a cleaning path and avoids obstacles on the cleaned road surface, meanwhile, the control unit 7 starts a circulating recovery device 5 when starting a cleaning unit 4, the driving assembly 22 drives a brush disc 45 to rotate, the brush disc 45 primarily cleans stubborn stains on the ground, a booster pump 41 is started, the booster pump 41 boosts water in a water storage tank 3 and then leads the water into a conducting piece 43 on one side through a conduit 42, the conducting piece 43 leads high-pressure water out through a high-pressure spray nozzle 44, as the stubborn stains are primarily treated by the brush disc 45, the surface of the stubborn stains has channel scratches, a high-pressure water column takes the scratches as an acting point to flush the stains, and simultaneously, the booster pump 41 leads the water into a conducting piece 43 on the other side, the high pressure nozzle 44 at the conducting piece 43 washes the cleaned ground completely again, while the cleaning unit 4 works, the control unit 7 starts the telescopic rod 525, the telescopic rod 525 presses the casing 51 downwards, the casing 51 moves downwards, and simultaneously drives the guide rod 521 to move downwards along the guide block 522, the guide rod 521 drives the limit block 524 to compress the spring 523, the casing 51 stretches the sealing component 533, the elastic apron 531 at one end of the casing 51 blocks the gap between the ground and the casing 51, the elastic ring 534 is also attached to the ground, the negative pressure pump 532 is started, because the elastic apron 531 blocks water at the inner side of the casing 51, and simultaneously the water pumping hole 535 of the elastic ring 534 is attached to the ground, the negative pressure pump 532 can lead the waste water and the dirt generated when the cleaning unit 4 washes the ground into the circulating filter device 6 through the water pumping hole 535 of the elastic ring 534, the dirt in the waste water is filtered out through the filter screen and the filter element 64 at one side of the oil-water separation chamber, the fluid in the waste water separates out fluid through the effect of oil-water separation chamber, and waste water is in leading-in storage water tank 3 after the secondary filtration of oil-water separation chamber opposite side filter core 64, continues to wash as clean water ground, and subaerial stubborn spot and greasy dirt can be effectually clear away after the washing is accomplished, and clean effectual to can not waste water resource, energy-concerving and environment-protective.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A cleaning robot, comprising a main body, characterized in that, a power unit is provided in the main body, and the power unit is used to provide power for the robot, a water storage tank is provided in the main body, and one end of the main body is provided with a cleaning unit, and the cleaning unit is used for To clean the stubborn stains on the ground, a recycling device is installed on the outside of the main body. The recycling device is used to recycle the waste water used by the cleaning unit. The other end of the main body is provided with a recycling filter device. inside the tank.

2 . The cleaning robot according to claim 1 , wherein a control unit is arranged in the main body, the control unit is used to control the operation of the robot, and a sensing unit is arranged outside the main body, and the sensing unit is used to monitor the surroundings of the main body. 3 . The data.

3 . The cleaning robot according to claim 1 , wherein the power unit comprises a battery, the battery is fixedly connected in the main body, and the main body is provided with a driving assembly for driving the main body to move and turn. 4 .

4 . The cleaning robot according to claim 3 , wherein the cleaning unit comprises a booster pump, the booster pump is arranged in the water storage tank, one end of the main body is fixedly connected with a plurality of conducting parts, and the booster pump is guided through a conduit. 5 . It leads to the conducting member, and the conducting member is provided with several high-pressure nozzles evenly arranged. The high-pressure nozzles and the conducting member are connected to each other. The main body is provided with a number of brush discs on one end of the conducting member. The brush disc and the drive assembly drive connection.

5 . The cleaning robot according to claim 1 , wherein the recycling device comprises a casing, one end of the casing is provided with a driving mechanism, the driving mechanism is used to drive the casing to move, and the other end of the casing is provided with a waste water recycling device. 6 . Mechanism, Wastewater Recovery Mechanism is used to recycle the waste water used by the cleaning unit.

6 . The cleaning robot according to claim 5 , wherein the driving mechanism comprises a guide rod, one end of the housing is fixedly connected with a number of guide rods, the guide rod is slidably connected with a number of guide blocks, and the guide blocks are fixedly connected to the outer wall of the main body. 7 . One end of the guide rod away from the casing is sleeved with a spring, one end of the spring abuts the guide block, the other end of the spring abuts the limiting block, one end of the casing is fixedly connected with a telescopic rod, and the other end of the telescopic rod is fixedly connected to the main body.

7 . The cleaning robot according to claim 5 , wherein the waste water recovery mechanism comprises an elastic apron, one end of the casing is fixedly connected with the elastic apron, and one end of the casing away from the elastic apron is provided with a negative pressure pump, and the casing is connected to the main body. Through the elastic connection of the sealing assembly, an elastic ring is arranged on the inner side of the casing, and a water pumping hole is arranged in the elastic ring.

8 . The cleaning robot according to claim 1 , wherein the circulating filtering device comprises a filter box, a screen is arranged in the filter box, an oil-water separation chamber is arranged on one side of the screen, and an oil-water separation chamber is arranged on both sides of the oil-water separation chamber. The filter element is provided with a dirt pool in the filter box.