CN113693497B

CN113693497B - Automatic cleaning equipment

Info

Publication number: CN113693497B
Application number: CN202110188182.XA
Authority: CN
Inventors: 李行; 成盼; 段传林; 谷二东
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-02-10
Filing date: 2021-02-10
Publication date: 2023-11-03
Anticipated expiration: 2041-02-10
Also published as: WO2022170724A1; CN113693497A; EP4292493A1; CN117426710A

Abstract

The present invention provides an automatic cleaning device comprising: a moving platform (100) configured to automatically move on the operation surface; cleaning module (150), set up in on mobile platform (100), include: a wet cleaning module (400) configured to clean at least a portion of the operating face in a wet cleaning manner; a lifting structure (500) connected to the wet cleaning module (400) and configured to enable the wet cleaning module (400) to move up and down relative to the mobile platform (100); a drive assembly (900) coupled to the lifting structure (500) and configured to power lifting of the lifting structure (500) and/or to provide cleaning liquid to the wet cleaning module (400). The invention can control the peristaltic pump to discharge water, the lifting mechanism to lift and the vibration of the vibration piece in a coordinated manner.

Description

Automatic cleaning equipment

Technical Field

The invention relates to the technical field of cleaning robots, in particular to automatic cleaning equipment.

Background

The cleaning robot mainly comprises a sweeping robot and a mopping robot at present, wherein the sweeping robot and the mopping robot have single functions, or can only sweep the floor or can only mop the floor. If the floor sweeping and mopping are required to be performed simultaneously, two sets of equipment are required to be prepared simultaneously, and double space is occupied.

In the prior art, a sweeping robot and a mopping robot are combined, and a mop is additionally arranged at the tail end of the robot so as to realize sweeping and mopping integrated sweeping, but the mopping function in the integrated sweeping only adopts the function that one mop translates on the ground, and the mopping function can not repeatedly vibrate and mopping the floor along with the translation of the mop in a single mopping way in the moving track of the cleaning robot. Meanwhile, the cleaning assembly on the sweeping robot cannot be adjusted in a lifting mode, and is always attached to the surface to be cleaned, so that the equipment is difficult to move freely or high in moving resistance on the surface to be cleaned when not performing cleaning work. Therefore, the existing floor sweeping robot cannot realize multidirectional effective control of floor mopping, water outlet, lifting, vibration and the like.

Disclosure of Invention

The invention aims to provide automatic cleaning equipment which can solve the technical problem of controlling lifting and mopping of a wet cleaning module. The specific scheme is as follows:

according to a specific embodiment of the present invention, there is provided an automatic cleaning apparatus including:

a moving platform 100 configured to automatically move on an operation surface;

the cleaning module 150, disposed on the mobile platform 100, includes:

A wet cleaning module 400 configured to clean at least a portion of the operation surface in a wet cleaning manner;

a lifting structure 500 connected to the wet cleaning module 400 and configured to enable the wet cleaning module 400 to move up and down with respect to the moving platform 100;

a drive assembly 900 is coupled to the lifting structure 500 and is configured to power the lifting of the lifting structure 500 and/or to provide cleaning fluid to the wet cleaning module 400.

Optionally, the driving assembly 900 includes:

a motor 4211 for providing driving force for forward rotation and reverse rotation;

a gear set 42193 connected to an output shaft of the motor 4211 for outputting a driving force for forward rotation and reverse rotation of the motor 4211.

Optionally, the driving assembly 900 further includes:

a clutch 42195 in meshed engagement with said gear set 42193, providing driving force when said clutch 42195 is engaged in reverse with said gear set 42193, and not providing driving force when said clutch 42195 is disengaged in forward direction from said gear set 42193.

Optionally, the clutch 42195 includes: first and second oppositely disposed clutch gears 421951, 421952, wherein the second clutch gear 421952 has teeth arranged at an oblique angle in a counterclockwise direction such that driving force is provided when the second clutch gear 421952 is engaged in reverse with the gear set 42193 and no driving force is provided when the second clutch gear 421952 is disengaged in forward direction from the gear set 42193.

Optionally, the driving assembly 900 further includes:

the cable gear 42196 is engaged with the first clutch gear 421951 and is rotated by the first clutch gear 421951.

Optionally, the lifting assembly 500 further includes:

and a guy cable 42194, one end of which is wound around the guy cable gear 42196, and the other end of which is connected to the lifting structure 500, and pulls the lifting structure 500 to lift and descend under the driving of the gear set 42193.

Optionally, the driving assembly 900 further includes:

a clean water pump 4219, engaged with the gear set 42193, supplies cleaning liquid to the wet cleaning module 400 under the drive of the gear set 42193.

Optionally, the gear set 42193 includes:

a first-stage transmission gear 421931 connected to the output shaft of the motor 4211 and configured to output a driving force of the motor;

a secondary transmission gear 421932 meshed with the primary transmission gear 421931 for outputting a driving force of the motor to the cable gear 42196;

a third stage transmission gear 421933, which is meshed with the second stage transmission gear 421932, for outputting the driving force of the motor to the fresh water pump 4219.

Optionally, the output shaft of the motor 4211 includes an output gear 42111 meshed with the primary transmission gear 421931 for outputting the driving force of the motor.

Optionally, the driving assembly 900 further includes:

a driving wheel 4212 connected to the output shaft of the motor, wherein the driving wheel 4212 has an asymmetric structure;

a vibration member 4213 connected to the driving wheel 4212 to reciprocate under asymmetric rotation of the driving wheel 4212.

Compared with the prior art, the embodiment of the invention has the following technical effects:

according to the sweeping and dragging integrated cleaning equipment provided by the invention, the driving assembly is connected with the lifting structure, and the motor drives the vibration output shaft to rotate when the motor rotates positively through the cooperation of the clutch, the gear set and the like, so that the peristaltic pump also synchronously discharges water through the gear set, and at the moment, the clutch teeth are in a slipping state and do not drive, so that the lifting of the lifting mechanism cannot be realized; when the motor is in reverse rotation, the clutch teeth are in a working state, the lifting turntable is driven to lift, and when the lifting is in place, the motor is stopped due to limiting, and at the moment, the vibration output and the peristaltic pump stop working. So that the cleaning equipment can cooperatively control the water outlet of the peristaltic pump, the lifting of the lifting mechanism and the vibration of the vibration piece.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

Fig. 1 is an oblique view of a robotic cleaning device of one embodiment of the invention.

Fig. 2 is a schematic view of a bottom structure of the automatic cleaning apparatus according to an embodiment of the present invention.

FIG. 3 is an oblique view of a side drive wheel assembly of one embodiment of the present invention.

FIG. 4 is a front view of a side drive wheel assembly of one embodiment of the present invention.

FIG. 5 is an oblique view of a dust box of one embodiment of the invention.

FIG. 6 is an oblique view of a blower of one embodiment of the invention.

FIG. 7 is a schematic view of an open state of a dust box according to an embodiment of the invention.

FIG. 8 is a schematic view showing a dust box and fan combination according to an embodiment of the present invention.

Fig. 9 is an exploded view of a robot cleaner according to an embodiment of the present invention.

Fig. 10 is a block diagram of a supporting platform of a robot cleaner according to an embodiment of the present invention.

Fig. 11 is a structural view of a shaking member of the automatic cleaning apparatus according to an embodiment of the present invention.

Fig. 12 is a schematic view of a cleaning head driving mechanism based on a crank block mechanism according to another embodiment of the present invention.

Figure 13 is a schematic view of a dual crank mechanism based cleaning head drive mechanism in accordance with another embodiment of the present invention.

Figure 14 is a schematic view of a crank mechanism based cleaning head drive mechanism in accordance with another embodiment of the present invention.

Fig. 15 is a structural view of a vibrating member according to an embodiment of the present invention.

Fig. 16 is a schematic view showing an assembly structure of a cleaning substrate according to an embodiment of the present invention.

Fig. 17 is a structural view of a motor-driven clear water pump according to an embodiment of the present invention.

Fig. 18 is a block diagram of a motor-driven lifting module according to an embodiment of the present invention.

Fig. 19 is a schematic view showing a lifted state of the automatic cleaning apparatus according to an embodiment of the present invention.

Fig. 20 is a schematic view showing a sinking state of the automatic cleaning apparatus according to an embodiment of the present invention.

Fig. 21 is a schematic view showing a lifting state of a four-bar linkage lifting structure according to an embodiment of the present invention.

Fig. 22 is a schematic view showing a sinking state of a four-bar linkage lifting structure according to an embodiment of the present invention.

Fig. 23 is a schematic diagram of a second end structure of a four-bar linkage lifting structure according to an embodiment of the present invention.

Fig. 24 is a schematic view showing a sinking state structure of a dry cleaning module according to an embodiment of the invention.

Fig. 25 is a structural diagram showing a rising state of the dry cleaning module according to an embodiment of the present invention.

Fig. 26 is a schematic structural diagram of a driving assembly according to an embodiment of the present invention.

Reference numerals illustrate:

the mobile platform 100, the rearward portion 110, the forward portion 111, the perception system 120, the position determining device 121, the buffer 122, the cliff sensor 123, the control system 130, the drive system 140, the drive wheel assembly 141, the steering assembly 142, the elastic element 143, the drive motor 146, the cleaning module 150, the dry cleaning module 151, the dust box 152, the filter screen 153, the suction opening 154, the air outlet 155, the fan 156, the energy system 160, the human-computer interaction system 170, the wet cleaning assembly 400, the cleaning head 410, the drive unit 420, the drive platform 421, the support platform 422, the motor 4211, the drive wheel 4212, the vibration member 4213, the connecting rod 4214, the vibration buffering device 4215, the claw 4216, the clear water pump tube 4218, the clear water pump 4219, the cleaning base 4221, the elastic detachment button 4229, the assembly area 4224, the clamping position 4225, the first chute 4222, the second chute 4223, the first slider 525, the second slider 528, the swivel end 512 (27), the sliding end 514 (26), the first pivot 516 (624), the second pivot 518 (600), the drive mechanism (600), the fourth connecting rod 501800, the first end bracket 501, the second end bracket 5012, the second end 5012, the connecting rod 5013, the second end bracket 5012, the third connecting rod 5013, the bridge 5012, the second end bracket 5013, the third connecting rod 5013, the bridge frame 5013, the second end frame 5013, the third connecting rod 5013, the bridge frame 5012, the third connecting rod 5013, and the bridge carrier arm 5013.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.

It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present invention, these should not be limited to these terms. These terms are only used to distinguish one from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of embodiments of the invention.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a commodity or device comprising such element.

Alternative embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Example 1

Fig. 1-2 are schematic structural views of an automatic cleaning apparatus according to an exemplary embodiment, which may be a vacuum suction robot, a mopping/brushing robot, a window climbing robot, etc. as shown in fig. 1-2, and may include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a man-machine interaction system 170. Wherein:

The mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a floor mopping robot, and the automatic cleaning device works on the floor, which is the operation surface; the automatic cleaning equipment can also be a window cleaning robot, and works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device may also be a pipe cleaning robot, and the automatic cleaning device works on the inner surface of the pipe, which is the operation surface. Purely for the sake of illustration, the following description of the application will be given by way of example of a mopping robot.

In some embodiments, mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute a given program or operate in accordance with certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the automatic cleaning apparatus; when the mobile platform 100 is an autonomous mobile platform, the target direction may be set by a system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

The perception system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown) located at the bottom of the mobile platform, infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), odometers (not shown), and the like sensing devices, which provide various positional and motion state information of the machine to the control system 130.

In order to describe the behavior of the automatic cleaning device more clearly, the following directional definition is made: the robotic cleaning device may travel on the floor by various combinations of movements relative to three mutually perpendicular axes defined by the mobile platform 100: a transverse axis x, a front-rear axis y and a central vertical axis z. The forward driving direction along the front-rear axis y is denoted as "forward", and the backward driving direction along the front-rear axis y is denoted as "backward". The transverse axis x extends between the right and left wheels of the robotic cleaning device substantially along an axle center defined by the center point of the drive wheel assembly 141. Wherein the robotic cleaning device is rotatable about an x-axis. The rearward portion is "pitched up" when the forward portion of the automatic cleaning device is tilted up, and the rearward portion is "pitched down" when the forward portion of the automatic cleaning device is tilted down. In addition, the robotic cleaning device may rotate about the z-axis. In the forward direction of the robot cleaner, the robot cleaner is tilted to the right of the Y-axis as "turn right" and tilted to the left of the Y-axis as "turn left".

As shown in fig. 2, cliff sensors 123 for preventing falling when the robot cleaner is retreated are provided on the bottom of the moving platform 100 and in front and rear of the driving wheel assembly 141, so that the robot cleaner can be prevented from being damaged. The "front" mentioned above means the same side as the traveling direction of the robot cleaner, and the "rear" mentioned above means the opposite side as the traveling direction of the robot cleaner.

The position determining device 121 includes, but is not limited to, a camera, a laser ranging device (LDS).

The various components of the sensing system 120 may operate independently or in concert to more accurately achieve desired functionality. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned to determine the physical characteristics of the surface to be cleaned, including the surface material, the cleaning degree and the like, and can be combined with a camera, a laser ranging device and the like for more accurate determination.

For example, the ultrasonic sensor may determine whether the surface to be cleaned is a carpet, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122. The bumper 122 detects one or more events (or objects) in the path of travel of the robot via a sensor system, such as an infrared sensor, while the drive wheel assembly 141 advances the robot during cleaning, and the robot may be controlled to respond to the events (or objects), such as being remote from the obstacle, by the event (or object), such as an obstacle, wall, detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and the application processor is configured to receive the sensed environmental information of the plurality of sensors transmitted from the sensing system 120, draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device, and the like, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also determine whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may combine the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices to comprehensively determine what working state the sweeper is currently in, such as passing a threshold, going up a carpet, being located at the cliff, being blocked above or below, being full of dust box, being lifted up, and the like, and may further give a specific next action strategy according to different situations, so that the work of the automatic cleaning device better meets the requirements of the owner, and has better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by SLAM, and greatly improves the cleaning efficiency of the automatic cleaning equipment.

The drive system 140 may execute drive commands to maneuver the robotic cleaning device across the floor based on specific distance and angle information, such as the x, y, and θ components. Fig. 3 and 4 are perspective and front views of one side drive wheel assembly 141 according to an embodiment of the present invention, wherein drive system 140 includes drive wheel assembly 141, and drive system 140 may control both left and right wheels simultaneously, and wherein drive system 140 preferably includes left and right drive wheel assemblies, respectively, for more precise control of machine motion. The left and right drive wheel assemblies are symmetrically disposed along a transverse axis defined by the mobile platform 100. The driving wheel assembly comprises a body part, a driving wheel and an elastic element, one end of the body part is connected to the frame, and the driving wheel is arranged on the body part and driven by a driving motor 146; the elastic element is connected between the body and the frame, the elastic element is configured to provide elastic force between the frame and the body, the driving motor 146 is located outside the driving wheel assembly 141, and the axle center of the driving motor 146 is located in the cross-section projection of the driving wheel, and the driving wheel assembly 141 can be further connected with a circuit for measuring driving current and an odometer.

In order for the robotic cleaning device to be able to move more stably or with greater motion capabilities on the floor, the robotic cleaning device may include one or more steering assemblies 142, which may be driven or driven, and in a configuration including, but not limited to, universal wheels, the steering assemblies 142 may be positioned in front of the drive wheel assemblies 141.

The drive motor 146 powers rotation of the drive wheel assembly 141 and/or the steering assembly 142.

The drive wheel assembly 141 may be removably attached to the mobile platform 100 for ease of disassembly and maintenance. The drive wheel may have an offset drop-down suspension system movably fastened, e.g. rotatably attached, to the robot moving platform 100 and maintained in contact and traction with the floor with a certain contact force by means of a resilient element 143, such as a tension spring or a compression spring, while the cleaning module 150 of the robot also contacts the surface to be cleaned with a certain pressure.

The energy system 160 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the singlechip control circuit. The host computer charges through setting up the charging electrode in fuselage side or below and charging pile connection. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of the electric charge in the charging process, and even the electrode itself is deformed, so that normal charging cannot be continued.

The man-machine interaction system 170 includes keys on the host panel for the user to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; a cell phone client program may also be included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position where the machine is located can be displayed to a user at the mobile phone client, and more abundant and humanized functional items can be provided for the user.

The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400.

As shown in fig. 5 to 8, the dry cleaning module 151 includes a rolling brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dust removal capability of the sweeper can be characterized by the sweeping efficiency DPU (Dust pickup efficiency) of the garbage, the sweeping efficiency DPU is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by a dust collection port, a dust box, a fan, an air outlet and connecting parts among the four components is influenced, and the type and the power of the fan are influenced, so that the sweeper is a complex system design problem. The improvement in dust removal capability is of greater significance for energy-limited cleaning automatic cleaning equipment than for conventional plug-in cleaners. Because the dust removal capability is improved, the energy requirement is directly and effectively reduced, that is to say, the original machine which can clean the ground of 80 square meters after charging once can be evolved into the machine which can clean the ground of 180 square meters or more after charging once. And the service life of the battery, which reduces the number of times of charging, is greatly increased, so that the frequency of replacing the battery by a user is also increased. More intuitively and importantly, the improvement of dust removal capability is the most obvious and important user experience, and users can directly draw a conclusion on whether the dust is cleaned/rubbed clean. The dry cleaning module may also include a side brush 152 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.

Fig. 5 is a schematic structural view of the dust box 152 in the dry cleaning module, fig. 6 is a schematic structural view of the blower 156 in the dry cleaning module, fig. 7 is a schematic open state of the dust box 152, and fig. 8 is a schematic assembled state of the dust box and the blower.

The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the dust collection opening 154 between the rolling brush and the dust box 152, then the dust box 152 is sucked by the air blower 156, the dust is isolated by the filter screen 153 at one side of the dust box 152 near the dust collection opening 154, the filter screen 153 completely isolates the dust collection opening from the air outlet, and the filtered air enters the air blower 156 through the air outlet 155.

Typically, the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is butted with the air outlet of the dust box.

The front panel of the dust box 152 may be opened for cleaning the dust box 152 of the trash.

The filter screen 153 is detachably connected with the box body of the dust box 152, so that the filter screen is convenient to detach and clean.

According to an embodiment of the present invention, as shown in fig. 9-11, a wet cleaning module 400 is provided, and is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein the wet cleaning module 400 includes: a cleaning head 410, a drive unit 420, wherein the cleaning head 410 is adapted to clean at least a portion of the operative surface, and the drive unit 420 is adapted to drive the cleaning head 410 to substantially reciprocate along a target surface, which is a portion of the operative surface. The cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with cleaning cloth or a cleaning plate, and high-frequency friction is generated between the cleaning head and the surface to be cleaned through the reciprocation, so that stains on the surface to be cleaned are removed.

The higher the friction frequency, which represents a greater number of friction times per unit time, the higher the frequency of reciprocation, also called reciprocation vibration, the greater the cleaning capacity than conventional reciprocation, such as rotation, friction cleaning, optionally the friction frequency is close to sound waves, the cleaning effect is much higher than that of rotation friction cleaning of tens of turns per minute. On the other hand, the hair on the surface of the cleaning head can be more neatly scratched and spread towards the same direction under the shaking of high-frequency shaking, so that the overall cleaning effect is more uniform, the cleaning effect is improved by only applying downward pressure to increase friction force under the condition of low-frequency rotation, the hair clusters can not spread towards the same direction only by the downward pressure, and the effect is that the water mark on the operation surface after the high-frequency shaking cleaning is more uniform and no chaotic water mark is left.

The reciprocating motion may be repeated motion along any one or more directions in the operation surface, or may be vibration perpendicular to the operation surface, which is not limited strictly. Optionally, the direction of reciprocation of the cleaning module is substantially perpendicular to the machine traveling direction, because the direction of reciprocation parallel to the machine traveling direction may cause instability to the traveling machine itself, because the thrust and resistance in the traveling direction may cause the driving wheel to slip easily, the effect of slipping is more obvious in the case of including a wet cleaning module, because the wet slipping of the operation surface increases the possibility of slipping, and slipping may cause inaccurate ranging of sensors such as odometers, gyroscopes, etc. in addition to the smooth traveling cleaning of the machine, thereby causing the navigation type automatic cleaning apparatus to be unable to accurately locate and map, and in the case of frequent slipping, the effect on SLAM will not be neglected, so that the machine behavior of slipping needs to be avoided as much as possible. In addition to slipping, the component of motion of the cleaning head in the direction of travel of the machine causes the machine to constantly be pushed forward and backward while traveling, so that the machine's travel is unstable and smooth from run to run.

As an alternative embodiment of the present invention, as shown in fig. 9, the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the mobile platform 100, for providing driving force; the support platform 422 is detachably connected to the driving platform 421, and is used for supporting the cleaning head 410, and can be lifted under the driving of the driving platform 421.

As an alternative embodiment of the present invention, a lifting module is disposed between the cleaning module 150 and the mobile platform 100, so that the cleaning module 150 can better contact with the surface to be cleaned, or different cleaning strategies can be adopted for the surface to be cleaned with different materials.

Optionally, the dry cleaning module 151 may be connected to the mobile platform 100 through a passive lifting module, and when the cleaning device encounters an obstacle, the dry cleaning module 151 may more conveniently cross the obstacle through the lifting module.

Alternatively, the wet cleaning module 400 may be connected to the mobile platform 100 through an active lifting module, and when the wet cleaning module 400 temporarily does not participate in the work or encounters a surface to be cleaned, which cannot be cleaned by the wet cleaning module 400, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of the cleaning means.

As shown in fig. 10-11, the driving platform 421 includes: a motor 4211 disposed on a side of the driving platform 421 near the moving platform 100, and outputting power through a motor output shaft; a driving wheel 4212 connected to the output shaft of the motor, wherein the driving wheel 4212 has an asymmetric structure; the vibration member 4213 is disposed on the opposite side of the driving platform 421 from the motor 4211, and is connected to the driving wheel 4212, and performs a reciprocating motion under an asymmetric rotation of the driving wheel 4212.

The drive platform 421 may further comprise a gear mechanism. A gear mechanism may connect the motor 4211 and the drive wheel 4212. The motor 4211 may directly drive the driving wheel 4212 to perform a rotation motion, or may indirectly drive the driving wheel 4212 to perform a rotation motion through a gear mechanism. One of ordinary skill in the art will appreciate that the gear mechanism may be a single gear or a plurality of gear sets.

The motor 4211 simultaneously transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water feeding mechanism, the water tank, etc. through the power transmission means. The energy system 160 provides power and energy to the motor 4211 and is controlled overall by the control system 130. The power transmission device can be a gear transmission, a chain transmission, a belt transmission, a worm gear and the like.

The motor 4211 includes a forward output mode in which the motor 4211 rotates in a forward direction and a reverse output mode in which the motor 4211 rotates in a reverse direction, wherein in the forward output mode of the motor 4211, the motor 4211 can simultaneously drive the driving platform vibration member 4213 in the wet cleaning assembly 400 to basically reciprocate through the power transmission device, and the water delivery mechanism moves synchronously, and in the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to lift through the power transmission device.

Further, the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421, and connecting the driving wheel 4212 with the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein the extending direction of the vibration member 4213 is perpendicular to the connecting rod 4214, such that the reciprocating direction of the vibration member 4213 and the machine traveling direction are substantially perpendicular.

The motor 4211 is connected to the driving wheel 4212, the vibration member 4213, the connecting rod 4214, and the vibration damper 4215 via a power transmission device. The vibration member 4213 and the connecting rod 4214 are configured to be similar to an L-shaped structure, as shown in fig. 15, and the vibration member 4213 is driven by the connecting rod 4214 to reciprocate. The vibration damper 4215 plays a role in damping and reducing vibration on the motion behavior driven by the driving wheel 4212, so that the vibration member 4213 vibrates stably within the range of motion amplitude provided by the supporting platform 422. Optionally, the vibration damper 4215 is made of soft material, optionally a rubber structure, and the vibration damper 4215 is sleeved on the connecting rod 4214. On the other hand, the vibration damper 4215 also protects the vibration member 4213 from damage caused by collision with the driving platform 421, and also affects the reciprocating motion of the vibration member 4213. The movable member and the fixed member of the driving platform 421 are connected to each other in a flexible manner in a direction substantially perpendicular to the traveling direction, that is, the vibration direction of the vibration member 4213, by restricting movement in the traveling direction of the machine by a connection having a small elasticity, and allowing movement. The two motion limits described above are such that the vibration member 4213 does not move in an exact reciprocating manner, but rather in a substantially reciprocating manner. When the wet cleaning assembly 400 is started, the motor 4211 starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212, and meanwhile, the vibration buffer device 4215 drives the vibration member 4213 to reciprocate substantially along the surface of the driving platform 421, the vibration member 4213 drives the cleaning substrate 4221 to reciprocate substantially along the surface of the supporting platform 422, and the cleaning substrate 4221 drives the movable region 412 to reciprocate substantially along the surface to be cleaned. At this time, the clean water pump discharges clean water from the clean water tank and sprays the clean water on the cleaning head 410 through the water discharge device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.

The cleaning intensity/efficiency of the robotic cleaning device may also be automatically and dynamically adjusted based on the operating environment of the robotic cleaning device. Such as an automated cleaning device, may be dynamically adjusted based on the physical information sensed by sensing system 120 of the face of the surface to be cleaned. For example, the sensing system 120 may detect information about the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil or dirt, etc., and communicate such information to the control system 130 of the automatic cleaning apparatus. Accordingly, the control system 130 may direct the automatic cleaning apparatus to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning apparatus, thereby adjusting the preset reciprocation period of the reciprocation of the cleaning head 410.

For example, when the automatic cleaning apparatus is operated on a flat floor, the preset reciprocation period may be automatically and dynamically adjusted to be longer, and the water amount of the water pump may be automatically and dynamically adjusted to be smaller; when the automatic cleaning device works on a less flat ground, the preset reciprocation period can be automatically and dynamically adjusted to be shorter, and the water quantity of the water pump can be automatically and dynamically adjusted to be larger. This is because planar floors are easier to clean relative to less planar floors, and thus cleaning uneven floors requires faster reciprocation (i.e., higher frequency) of the cleaning head 410 and a greater amount of water.

For another example, when the automatic cleaning device works on a table top, the preset reciprocation period can be automatically and dynamically adjusted to be longer, and the water quantity of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning apparatus 100 is operating on the floor, the preset reciprocation period may be automatically and dynamically adjusted to be short and the water amount of the water pump may be automatically and dynamically adjusted to be large. This is because the table top is less dusty and greasy than the floor, and the material comprising the table top is easier to clean, so that the cleaning head 410 is required to perform a smaller number of reciprocating movements, and the water pump provides a relatively smaller amount of water to clean the table top.

As an alternative embodiment of the present invention, the support platform 422 includes: a cleaning base plate 4221, which is freely movably disposed on the support platform 422, wherein the cleaning base plate 4221 is substantially reciprocated by the vibration of the vibration member 4213. Alternatively, as shown in fig. 16, the cleaning substrate 4221 includes: the assembly notch 42211 is disposed at a position contacting the vibration member 4213, and when the support platform 422 is connected to the driving platform 421, the vibration member 4213 is assembled to the assembly notch 42211, so that the cleaning substrate 4221 can reciprocate substantially in synchronization with the vibration member 4213. The cleaning device travel direction of the cleaning substrate 4221 comprises 4 first limit bits 42212, the 4 first limit bits 42212 are flexibly connected with the cleaning substrate 4221, but the elastic scaling space is smaller, thus limiting the movement of the cleaning substrate 4221 relative to the support platform 422 in the cleaning device travel direction; the cleaning substrate 4221 includes two second restriction positions 42213 in a direction perpendicular to the cleaning apparatus traveling direction, and the two second restriction positions 42213 restrict a range of reciprocating movement of the cleaning substrate 4221 in the direction perpendicular to the cleaning apparatus traveling direction. Further, a water outlet hole 42214 is provided near the fitting notch 42211 of the cleaning substrate 4221 for allowing water flowing out of the water outlet device 4217 to flow to the cleaning head 410 therethrough. The movement of the cleaning substrate 4221 is substantially reciprocating due to the influence of the restriction and shock-absorbing means. The cleaning substrate 4221 is positioned on a portion of the support platform 422 and locally vibrates in a manner that can increase the vibration frequency, such as to reach the sonic frequency range. The movable member and the fixed member of the driving platform 421 are connected to each other in a flexible manner in a direction substantially perpendicular to the traveling direction, that is, the vibration direction of the vibration member 4213, by restricting movement in the traveling direction of the machine by a connection having a small elasticity, and allowing movement.

Figure 12 illustrates another slider-crank based cleaning head drive mechanism 500 in accordance with various embodiments of the present application. The drive mechanism 500 may be applied to the drive platform 421. The driving mechanism 500 includes a driving wheel 4212, a vibration member 4213, a cleaning base 4221, a chute 4222 (first chute), and a chute 4223 (second chute).

The slide grooves 4222, 4223 are open on the support platform 422. Both ends of the cleaning substrate 4221 include a slider 525 (first slider) and a slider 528 (second slider), respectively. The sliders 525 and 528 are each a protrusion at both ends of the cleaning substrate 4221. The slider 525 is inserted into the slide groove 4222 and can slide along the slide groove 4222; the slider 4223 is inserted into the slide groove 4223, and is slidable along the slide groove 4223. In some embodiments, the chute 4222 is collinear with the chute 4223. In some embodiments, the chute 4222 and the chute 4223 are not collinear. In some embodiments, the chute 4222 extends in the same direction as the chute 4223. In some embodiments, the direction of extension of the chute 4222 and the chute 4223 is the same as the direction of extension of the cleaning substrate 4221. In some embodiments, the direction of extension of the chute 4222 and the chute 4223 is different from the direction of extension of the cleaning substrate 4221. In some embodiments, the direction of extension of the chute 4222 is different from the chute 4223. For example, as shown in fig. 12, the extending direction of the chute 4222 is the same as the extending direction of the cleaning substrate 4221, and the extending direction of the chute 4223 is at an angle to the extending direction of the chute 4222.

The vibration member 4213 comprises a swivel end 512 and a slide end 514. The swivel end 512 is coupled to the drive wheel 4212 by a first pivot 516 and the slide end 514 is coupled to the cleaning base 4221 by a second pivot 518.

The center of rotation of the drive wheel 4212 is point O, and the center of rotation of the first pivot 516 is point a. The O point and the A point are not coincident, and the distance between the O point and the A point is a preset distance d.

When the driving wheel 4212 rotates, the point a rotates in a circular manner. Accordingly, the rotary end 512 follows the point a for circular rotary motion; the sliding end 514 drives the cleaning substrate 4221 to slide through the second pivot 518. Accordingly, the slider 525 of the cleaning substrate 4221 makes a reciprocating linear motion along the chute 4222; the slider 528 reciprocates linearly along the chute 4223. In fig. 4, the moving speed of the moving platform 210 is V0, and the moving direction is the target direction. According to some embodiments, when the chute 4223 and the chute 4222 are respectively approximately perpendicular to the direction of the moving speed V0 of the moving platform 210, the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction. According to other embodiments, when either one of the runner 4223 and the runner 4222 is at an angle other than 90 degrees from the target direction, the overall displacement of the cleaning substrate 4221 includes both components perpendicular to the target direction and parallel to the target direction.

Further, a vibration buffer device 4215 is disposed on the connecting rod 4214, for reducing vibration in a specific direction, and in this embodiment, for reducing vibration in a moving component direction perpendicular to the target direction of the automatic cleaning device.

Figure 13 illustrates another dual crank mechanism based cleaning head drive mechanism 600 in accordance with various embodiments of the present application. The drive mechanism 600 may be applied to the drive platform 421. The driving mechanism 600 includes a driving wheel 4212 (first driving wheel), a driving wheel 4212' (second driving wheel), and a cleaning substrate 4221.

The cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 by a pivot 624 (first pivot); the second end is connected to the drive wheel 4212' by a pivot 626 (second pivot). The center of rotation of the drive wheel 4212 is point O, and the center of rotation of the pivot 624 is point a. The O point and the A point are not coincident, and the distance between the O point and the A point is a preset distance d. The center of rotation of the drive wheel 236 is at point O 'and the center of rotation of the pivot 626 is at point a'. The O 'point and the A' point are not coincident, and the distance between the O 'point and the A' point is a preset distance d. In some embodiments, points a, a ', O, and O' are located on the same plane. Thus, the driving wheels 4212, 4212', and the cleaning base plate 4221 may form a double crank mechanism (or parallelogram mechanism), wherein the cleaning base plate 4221 serves as a coupling rod, and the driving wheels 4212 and 4212' serve as two cranks.

Fig. 14 illustrates a slider-crank based drive mechanism 700 in accordance with various embodiments of the present application. The drive mechanism 700 may be applied to the drive platform 421. The drive mechanism 700 includes a drive wheel 4212, a cleaning base plate 4221, and a chute 4222.

The chute 4222 opens onto the support platform 422. The cleaning substrate 4221 includes a swivel end 4227 and a slide end 4226. The swivel end 4227 is connected to the drive wheel 4212 by a pivot 4228. The center of rotation of the driving wheel 4212 is O point, and the center of rotation of the pivot shaft 4228 is a point. The O point and the A point are not coincident, and the distance between the O point and the A point is a preset distance d. The slide end 4226 comprises a slide 4225. The slider 4225 is a protrusion on the sliding end 4226. A slider 4225 is inserted into the chute 4222 and is slidable along the chute 4222. Thus, the driving wheel 4221, the cleaning base plate 4221, and the slider 4225 and the chute 4222 constitute a crank slider mechanism.

When the driving wheel 4212 rotates, the point a makes a circular rotation motion. Accordingly, the rotation end 4227 of the cleaning substrate 4221 performs circular rotation movement following the point a; the slider 4225 slides in the chute 4222 to reciprocate linearly. As a result, the cleaning substrate 4221 starts to reciprocate. According to some embodiments, the chute 4222 approximates a direction perpendicular to the target direction of the movement speed of the moving platform, and thus, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular swiveling movement of the swiveling end 4227 includes both a component perpendicular to the target direction and a component parallel to the target direction.

In fig. 14, the moving speed of the moving platform is V0, and the moving direction is the target direction; while chute 4222 is approximately perpendicular to the target direction. At this time, the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the robot cleaner and a movement component perpendicular to the target direction of the robot cleaner.

Further, the support platform 422 further includes: the elastic disassembly button 4229 is disposed on at least one side of the support platform 422, and is used for detachably connecting the support platform 422 to the claw 4216 of the driving platform 421, so that the support platform 422 is detachably and mechanically fixed on the driving platform 421, and is fixed relative to the driving platform and the automatic cleaning device itself. At least one mounting area 4224 is provided on the support platform 422 for mounting the cleaning head 410. The mounting region 4224 may be formed of an adhesive material having an adhesive layer.

As an alternative embodiment of the present invention, as shown in fig. 9, the cleaning head 410 includes: a movable region 412 coupled to the cleaning substrate 4221 and substantially reciprocating along the cleaning surface under the drive of the cleaning substrate 4221. The active area 412 is disposed at a substantially central location of the cleaning head 410.

Optionally, an adhesive layer is disposed on a side of the active area 412 connected to the cleaning substrate 4221, and the active area 412 is connected to the cleaning substrate 4221 through the adhesive layer.

Optionally, the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224, the fixing area 411 cleaning at least a portion of the operation surface along with the movement of the support platform 422.

Further, the cleaning head 410 further includes: and a flexible connection part 413 disposed between the fixed area 411 and the movable area 412, for connecting the fixed area 411 and the movable area 412. The cleaning head 410 further includes: a sliding buckle 414 extends along the edge of the cleaning head 410 and is detachably mounted at a clamping position 4225 of the supporting platform 422.

In this embodiment, as shown in fig. 9, the cleaning head 410 may be made of a material having a certain elasticity, and the cleaning head 410 is fixed to the surface of the support platform 422 by an adhesive layer, thereby achieving a reciprocating motion. The cleaning head 410 is always in contact with the surface to be cleaned when the cleaning head 410 is in operation.

The water delivery mechanism includes a water outlet device 4217, and the water outlet device 4217 may be directly or indirectly connected to a cleaning solution outlet of a water tank (not shown), that is, a liquid outlet of a clean water tank, wherein the cleaning solution may flow to the water outlet device 4217 through the cleaning solution outlet of the water tank, and may be uniformly coated on the surface to be cleaned through the water outlet device. The water outlet device may be provided with a connector (not shown in the drawings) through which the water outlet device is connected to the cleaning liquid outlet of the water tank. The water outlet device is provided with a distribution opening, the distribution opening can be a continuous opening or can be formed by combining a plurality of small openings which are disconnected, and a plurality of nozzles can be arranged at the distribution opening. The cleaning liquid flows to the distribution opening through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is uniformly coated on the operation surface through the distribution opening.

The water delivery mechanism may further include a clean water pump 4219 and/or a clean water pump tube 4218, where the clean water pump 4219 may be in direct communication with the cleaning solution outlet of the water tank, or may be in communication with the clean water pump tube 4218.

The fresh water pump 4219 may be connected to the connection of the water outlet means and may be configured to draw the cleaning liquid from the tank to the water outlet means. The clean water pump may be a gear pump, vane pump, plunger pump, peristaltic pump, or the like.

The water delivery mechanism pumps the cleaning solution in the clean water tank out through the clean water pump 4219 and the clean water pump pipe 4218 and delivers the cleaning solution to the water outlet device, wherein the water outlet device 4217 can be a spray head, a drip hole, a soaking cloth and the like, and uniformly distributes the water on the cleaning head so as to wet the cleaning head and the surface to be cleaned. The stains on the surface to be cleaned after wetting can be cleaned more easily. In the wet cleaning assembly 400, the power/flow of the clean water pump may be adjusted.

Further, as shown in fig. 17, the motor 4211 drives the fresh water pump 4219 through the gear set 42193, so that fresh water enters from the water inlet 42191 through the peristaltic motion of the fresh water pump 4219, flows out from the water outlet 42192, is conveyed to the water outlet device 4217 through the fresh water pump tube 4218, and the water flowing out from the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.

Further, as shown in fig. 18, the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable gear 42196 is wound with the cable 42194, the cable 42194 is wound on the driving platform 421, and the cable gear 42196 pulls the cable 42194 to lift and fall, so as to realize the lifting and falling of the driving platform 421. The cable gear 42196 and the cable 42194 are core components of the lift module.

The gear set 42193 and the inhaul cable gear 42196 are provided with the clutch 42195, the clutch 42195 comprises a spring and a sheet-shaped piece, the motor 4211 controls the three movement modules by controlling the clutch 42195 to be on and off, the motor rotates in one direction to drive the vibration of the vibration piece, meanwhile, the clean water pump 4219 is supplied with water, and the lifting module is driven to lift by the inhaul cable 42194 to rotate in the opposite direction. Optionally, the combination design of the gear sets realizes the control of different combination forms of the three motion modules, such as the water supply of a rotary clear water pump in one direction, and the control of lifting and vibration in the opposite direction. Alternatively, control of three motion modules may be achieved with two motors, but using more than one motor is also an increase in cost.

Since the cleaning module of the automatic cleaning device is provided with the dry cleaning module and the wet cleaning module, a more comprehensive cleaning function can be provided. Meanwhile, in the wet cleaning module, the driving unit and the vibration area are added, so that the cleaning head can reciprocate, the surface to be cleaned can be cleaned repeatedly, and in the motion track of the cleaning robot, the cleaning can be realized for multiple times through a certain area at one time, thereby greatly enhancing the cleaning effect, and particularly, the cleaning effect is obvious for areas with more stains.

As shown in fig. 19-20, the wet cleaning module 400 is movably connected to the mobile platform 100 by a four-bar linkage lifting structure 500, and is configured to clean at least a portion of the operation surface in a wet cleaning manner; the four-bar lifting structure 500 is a parallelogram structure, and is used for switching the wet cleaning module 400 between a lifting state and a sinking state, wherein the lifting state is that the wet cleaning module 400 is separated from the operation surface, as shown in fig. 19; the sinking state is that the wet cleaning module 400 is attached to the operation surface, as shown in fig. 20.

As shown in fig. 21 to 22, the four-bar linkage lifting structure 500 includes: a first connection 501 for providing active power to switch the wet cleaning module 400 between a raised state and a lowered state; the second connection end 502 is disposed opposite to the first connection end 501 and rotates under the action of the main power. The first connection end 501 and the second connection end 502 are respectively located at two sides of the wet cleaning module 400, and stably provide a lifting force to raise or lower the wet cleaning module 400.

Specifically, the first connection end 501 includes a first bracket 5011 fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 is generally a "figure" shaped structure, the first bracket 5011 comprising: the cross beam 50111, the first longitudinal beam 50114 and the second longitudinal beam 50115, and the tail ends of the first longitudinal beam 50114 and the second longitudinal beam 50115 are respectively and fixedly connected to the mobile platform 100 and the wet cleaning module 400 through bolts, so as to provide supporting force when the wet cleaning module 400 is lifted.

The first connection end 501 further includes a first connection rod pair 5012, one end of the first connection rod pair 5012 is rotatably connected to the first bracket 5011, and the other end is rotatably connected to the wet cleaning module 400. The first connecting rod pair 5012 can be in a hollow structure, so that the overall weight of the lifting end can be reduced.

Optionally, the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 that are disposed in parallel, first ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the first longitudinal beam 50114 through a movable stud, and second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through a movable stud. For example, two ends of the first connecting rod 50121 and the second connecting rod 50122 are respectively provided with a through hole with a diameter larger than that of the movable stud, so that the movable stud can freely rotate in the through hole, and the movable stud is fixedly connected to the first longitudinal beam 50114 after passing through the through hole. When the motor 50131 provides tension to the second end via the cable, the first ends of the first and second connecting rods 50121 and 50122 simultaneously rotate about the movable studs at the first end, and the second end rises under the tension of the cable, thereby raising the wet cleaning module 400. When the motor 4211 releases the pulling force to the second end through the pull cable, the first ends of the first connecting rod 50121 and the second connecting rod 50122 simultaneously rotate reversely around the movable stud at the first end, and the second end descends under the action of gravity, so that the wet cleaning module 400 sinks.

The lifting structure 500 further includes a pull cable 42194 for providing a lifting force to rotate the first connecting rod pair 5012 within a predetermined angle. The cable 42194 includes:

and a cable motor terminal 50131 connected with the driving unit 420, for example, a gear winding connection connected with an output shaft of the motor, and realizing telescopic movement under the rotation of the motor. The cable bracket terminal 50132 is connected to the first bracket 5011, and the motor lifts or sinks the second ends of the first and second connection bars 50121 and 50122 by the cable 42194.

Optionally, the first bracket 5011 further includes: spout 50112, along crossbeam 50111 surface extends, and, card hole 50113 runs through crossbeam 50111 set up in spout 50112 extends the end, is used for accomodating and the buckle cable support terminal 50132, guy cable 42194 passes through spout 50112 and card hole 50113 with the second end of head rod 50121 and second connecting rod 50122 is connected, and the direction of movement of cable can be restricted to spout 50112, guarantees the stability of module lift, and the width of spout matches with the thickness of cable and is advisable.

As shown in fig. 23, the second connection terminal 502 includes: the second bracket 5021 is fixedly connected to the bottom of the mobile platform 100; a second connection rod pair 5022, one end of which is rotatably connected to the second bracket 5021 and the other end of which is rotatably connected to the wet cleaning module 400; the second connection rod pair 5022 rotates with the rotation of the first connection rod pair 5012. The second connecting rod pair 5022 can be of a hollow structure, and the overall weight of the lifting end can be reduced.

Specifically, the second connection rod pair 5022 includes a third connection rod 50221 and a fourth connection rod 50222 that are arranged in parallel, first ends of the third connection rod 50221 and the fourth connection rod 50222 are rotatably connected to the second bracket 5021 through movable studs, and second ends of the third connection rod 50221 and the fourth connection rod 50222 are rotatably connected to the wet cleaning module 400 through movable studs. For example, two ends of the third connecting rod 50221 and the fourth connecting rod 50222 are respectively provided with a clamping hole with a diameter larger than that of the movable stud, so that the movable stud can freely rotate in the clamping hole, and the movable stud passes through the clamping hole and is fixedly connected to the second bracket 5021. When the first connection end 501 is driven by the motor 50131 to rotate, the first ends of the third connection rod 50221 and the fourth connection rod 50222 simultaneously rotate around the movable stud of the first end, and the second ends of the third connection rod 50221 and the fourth connection rod 50222 simultaneously rotate around the movable stud of the second end, so that the wet cleaning module 400 is lifted. When the first connection end 501 releases the pulling force, the third connection rod 50221 and the fourth connection rod 50222 simultaneously rotate reversely around the movable stud, and descend under the action of gravity, so that the wet cleaning module 400 sinks.

Through the four-bar lifting structure arranged between the wet cleaning module and the movable platform, the wet cleaning module can be lifted relative to the movable platform, the wet cleaning module is lowered to enable the wet cleaning module to be in contact with the ground when the mopping task is executed, and the wet cleaning module is lifted to enable the wet cleaning module to be separated from the ground when the mopping task is executed, so that the increase of resistance caused by the existence of the cleaning module when the cleaning equipment freely moves on the cleaned surface is avoided.

The lifting module can carry out cleaning operation on the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface and putting down the wet cleaning module on the surface of a floor/ground tile and the like for cleaning, so that a more comprehensive cleaning effect is realized.

As shown in fig. 24, a floating lifting structure 600 is connected to the dry cleaning module 151 and configured to be capable of passively moving the dry cleaning module 151 up and down with respect to the moving platform 100. Specifically, the floating lifting structure 600 is a parallelogram four-bar lifting structure, and is configured to passively switch the dry cleaning module 151 between a raised state and a lowered state under the action of an external force.

Optionally, the floating elevating structure 600 includes: a first fixing bracket 601, wherein the first fixing bracket 601 is fixedly connected to the mobile platform 100; a second fixing bracket 602, wherein the second fixing bracket 602 is fixedly connected to the dry cleaning module 151; the connecting rod pair 603 has one end rotatably connected to the first fixing bracket 601 by a movable stud and the other end rotatably connected to the second fixing bracket 602 by a movable stud. The first fixing support 601 and the second fixing support 602 are connected through a flexible connecting piece, when an obstacle is encountered, the dry type cleaning module 151 is jacked up upwards, and the first fixing support 601 is folded upwards relative to the second fixing support 602 after rotating around the connecting rod pair 603, so that passive lifting is realized. After passing over the obstacle, the dry cleaning module 151 falls under the action of gravity to contact the operation surface, and the cleaning apparatus continues to perform the cleaning task. The parallelogram four-bar lifting structure can enable the cleaning equipment to pass over the obstacle more flexibly and is not easy to damage.

Optionally, the connecting rod pair 603 includes: a first connecting rod pair 6031, one end of which is rotatably connected to the first end of the first fixed bracket 601 by a movable stud, and the other end of which is rotatably connected to the first end of the second fixed bracket 602 by a movable stud; the second connecting rod pair 6032 is disposed opposite to the first connecting rod pair 6031, and has one end rotatably connected to the second end of the first fixing bracket 601 by a movable stud and the other end rotatably connected to the second end of the second fixing bracket 602 by a movable stud. The first connecting rod pair 6031 or the second connecting rod pair 6032 may have a hollow structure, so that the overall weight of the lifting end can be reduced.

Optionally, the first connecting rod pair 6031 includes a first connecting rod 60311 and a second connecting rod 60312 that are disposed in parallel, one end of the first connecting rod 60311 and one end of the second connecting rod 60312 are provided with a first shaft hole, and the other end is provided with a second shaft hole; the movable stud passes through the first shaft hole to rotatably fix the first connecting rod 60311 and the second connecting rod 60312 to the first end of the first fixing bracket 601, and passes through the second shaft hole to rotatably fix the first connecting rod 60311 and the second connecting rod 60312 to the first end of the second fixing bracket 602. For example, two ends of the first connecting rod 60311 and the second connecting rod 60312 are respectively provided with a clamping hole (not shown) with a diameter larger than that of the movable stud, so that the movable stud can freely rotate in the clamping hole, and the movable stud is fixedly connected to the first fixing bracket 601 after passing through the clamping hole. When the protruding obstacle is encountered, the dry cleaning module 151 is lifted up under the action of the obstacle, the first ends of the first connecting rod 60311 and the second connecting rod 60312 simultaneously rotate around the movable stud at the first end, and the second ends of the first connecting rod 60311 and the second connecting rod 60312 simultaneously rotate around the movable stud at the second end, so that the dry cleaning module 151 is lifted up. When the cleaning device passes over an obstacle, the dry cleaning module 151 falls down by gravity to contact the operation surface.

Alternatively, as shown in fig. 25, which is a state diagram of the dry cleaning module 151 when lifted, the second connecting rod pair 6032 includes a third connecting rod 60321 and a fourth connecting rod 60322 that are disposed in parallel, one end of the third connecting rod 60321 and one end of the fourth connecting rod 60322 are provided with a third shaft hole, and the other end is provided with a fourth shaft hole; the movable stud passes through the third shaft hole to rotatably fix the third connecting rod 60321 and the fourth connecting rod 60322 to the second end of the first fixing bracket 601, and the movable stud passes through the fourth shaft hole to rotatably fix the third connecting rod 60321 and the fourth connecting rod 60322 to the second end of the second fixing bracket 602. For example, two ends of the third connecting rod 60321 and the fourth connecting rod 60322 are respectively provided with a clamping hole (not shown) with a diameter larger than that of the movable stud, so that the movable stud can freely rotate in the clamping hole, and the movable stud is fixedly connected to the first fixing bracket 601 after passing through the clamping hole. When encountering a protruding obstacle, the dry cleaning module 151 is lifted up under the action of the obstacle, the first ends of the third connecting rod 60321 and the fourth connecting rod 60322 simultaneously rotate around the movable stud at the first end, and the second ends of the third connecting rod 60321 and the fourth connecting rod 60322 simultaneously rotate around the movable stud at the second end, so that the dry cleaning module 151 is lifted up. When the cleaning device passes over an obstacle, the dry cleaning module 151 falls down by gravity to contact the operation surface.

As an alternative embodiment, the first fixing bracket 601 includes: the first fixing portion 6011 protrudes from the first fixing bracket 601 and extends laterally outward to support the first connecting rod pair 6031. The second fixing portion 6012 is symmetrically disposed with the first fixing portion 6011 and is configured to carry the second connecting rod pair 6032. The first fixing portion 6011 and the second fixing portion 6012 are used for protruding and supporting the connection rod pair, so that the connection rod pair can freely rotate, and free lifting of the dry cleaning module 151 is ensured.

Optionally, the floating lifting structure 600 further includes a flexible connection member (not shown) connected between the first fixing bracket 601 and the second fixing bracket 602, and when the operation surface is uneven, the second fixing bracket 602 moves up and down relative to the first fixing bracket 601 through the flexible connection member.

In the dry type cleaning module, through setting up the floating lifting structure of four-bar linkage, make the dry type cleaning module for the passive type reciprocates of moving platform, when cleaning equipment meets the barrier in the operation in-process, can be through the light obstacle of crossing of the floating lifting structure of four-bar linkage, and avoid the damage of barrier to cleaning equipment.

Example 2

According to a specific embodiment of the present invention, as shown in fig. 9, the present invention provides an automatic cleaning device, and this embodiment accepts the foregoing embodiments, and the same structure has the same functions and technical effects, which are not described herein. Specifically, the cleaning apparatus includes: a moving platform 100 configured to automatically move on an operation surface; the cleaning module 150 is disposed on the mobile platform 100, and the cleaning module 150 includes: a wet cleaning module 400 configured to clean at least a portion of the operation surface in a wet cleaning manner; a lifting structure 500 connected to the wet cleaning module 400 and configured to enable the wet cleaning module 400 to move up and down with respect to the moving platform 100; a drive assembly 900 is coupled to the lifting structure 500 and is configured to power the lifting of the lifting structure 500 and/or to provide cleaning fluid to the wet cleaning module 400.

As an alternative embodiment, as shown in fig. 26, the driving assembly 900 includes: a motor 4211 for providing driving force for forward rotation and reverse rotation; a gear set 42193 connected to an output shaft of the motor 4211 for outputting a driving force for forward rotation and reverse rotation of the motor 4211.

Optionally, the driving assembly 900 further includes: a clutch 42195 in meshed engagement with said gear set 42193, providing driving force when said clutch 42195 is engaged in reverse with said gear set 42193, and not providing driving force when said clutch 42195 is disengaged in forward direction from said gear set 42193. Wherein the clutch 42195 comprises: the first clutch gear 421951 and the second clutch gear 421952 disposed back-to-back with respect to each other, wherein the second clutch gear 421952 has teeth arranged at an inclination angle in a counterclockwise direction, the inclination angle is not limited so that a driving force is provided when the second clutch gear 421952 is reversely engaged with the gear set 42193, and no driving force is provided due to slip when the second clutch gear 421952 is positively disengaged from the gear set 42193.

As an alternative embodiment, the driving assembly 900 further includes: the cable gear 42196 is engaged with the first clutch gear 421951 and is rotated by the first clutch gear 421951. And a guy cable 42194, one end of which is wound around the guy cable gear 42196, and the other end of which is connected to the lifting structure 500, and pulls the lifting structure 500 to lift and descend under the driving of the gear set 42193.

As an alternative embodiment, the driving assembly 900 further includes: a clean water pump 4219, engaged with the gear set 42193, supplies cleaning liquid to the wet cleaning module 400 under the drive of the gear set 42193. One embodiment, for example, peristaltic rolling of a clear water pump against a water tube under the clear water pump, forces water out of the water tube and out of the tank.

As an alternative embodiment, the gear set 42193 includes: a first-stage transmission gear 421931 connected to the output shaft of the motor 4211 and configured to output a driving force of the motor; a secondary transmission gear 421932 meshed with the primary transmission gear 421931 for outputting a driving force of the motor to the cable gear 42196; a third stage transmission gear 421933, which is meshed with the second stage transmission gear 421932, for outputting the driving force of the motor to the fresh water pump 4219. Optionally, the output shaft of the motor 4211 includes an output gear 42111 meshed with the primary transmission gear 421931 for outputting the driving force of the motor.

As an alternative embodiment, the driving assembly 900 further includes: a driving wheel 4212 connected to the output shaft of the motor, wherein the driving wheel 4212 has an asymmetric structure; a vibration member 4213 connected to the driving wheel 4212 to reciprocate under asymmetric rotation of the driving wheel 4212.

The sweeping and mopping integrated cleaning device provided by the invention has the advantages that the motor 4211 transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water delivery mechanism, the water tank and the like through the power transmission device. The energy system 160 provides power and energy to the motor 4211 and is controlled overall by the control system 130. The power transmission device may be a gear transmission, a chain transmission, a belt transmission, a worm gear, etc., for example, the driving assembly 900 and related structures described in this embodiment.

The motor 4211 comprises a forward output mode and a reverse output mode, wherein the motor 4211 rotates forward in the forward output mode, the motor 4211 rotates reversely in the reverse output mode, and in the forward output mode of the motor 4211, the motor 4211 can drive the cleaning head 410 and the water delivery mechanism in the wet cleaning assembly 400 to synchronously move through the power transmission device. The driving assembly is connected with the lifting structure, and is matched with the clutch, the gear set and the like, when the motor rotates positively, the motor drives the vibration output shaft to rotate, the vibration piece is driven to vibrate to realize approximate reciprocating motion, the repeated cleaning of the ground is realized, meanwhile, the gear set is used for driving the peristaltic motion of the clean water pump to synchronously discharge water, and at the moment, the clutch teeth are in a slipping state and do not drive, so that the lifting of the lifting mechanism cannot be realized; when the motor reverses, the clutch teeth are in a working state, the lifting turntable is driven to lift, after the lifting turntable is lifted in place, the inhaul cable is tightened, at the moment, the motor is stopped due to limiting, at the moment, vibration output and the clean water pump are stopped, at the moment, the floor mopping function is stopped, and the floor mopping module is lifted. Therefore, the cleaning equipment can cooperatively control the water outlet of the clean water pump, the lifting of the lifting mechanism and the vibration of the vibration piece, and improves the working efficiency.

Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The system or the device disclosed in the embodiments are relatively simple in description, and the relevant points refer to the description of the method section because the system or the device corresponds to the method disclosed in the embodiments.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. An automatic cleaning apparatus, comprising:

a moving platform (100) configured to automatically move on the operation surface;

cleaning module (150), set up in on mobile platform (100), include:

a wet cleaning module (400) configured to clean at least a portion of the operating face in a wet cleaning manner;

A lifting structure (500) connected to the wet cleaning module (400) and configured to enable the wet cleaning module (400) to move up and down relative to the mobile platform (100);

a drive assembly (900) coupled to the lifting structure (500) and configured to power lifting of the lifting structure (500) and to provide cleaning liquid to the wet cleaning module (400) to wet the wet cleaning module (400) and the operating surface;

the drive assembly (900) further includes: a motor (4211); when the motor (4211) rotates forward, the motor (4211) provides power to provide cleaning liquid to the wet cleaning module (400); when the motor (4211) is reversed, the motor (4211) provides power for driving the lifting structure (500) to lift;

the motor (4211) is used for providing driving force for forward rotation and reverse rotation;

the drive assembly (900) includes:

a gear set (42193) connected to an output shaft of the motor (4211) for outputting a driving force for forward rotation and reverse rotation of the motor (4211);

the drive assembly (900) further includes:

a clutch (42195) in meshed connection with the gear set (42193), the clutch (42195) providing drive when in reverse engagement with the gear set (42193) and not providing drive when the clutch (42195) is in forward non-engagement with the gear set (42193);

The clutch (42195) comprises: a first clutch gear (421951) and a second clutch gear (421952) disposed opposite each other, wherein the second clutch gear (421952) has teeth arranged at an oblique angle in a counterclockwise direction such that driving force is provided when the second clutch gear (421952) is in reverse engagement with the gear set (42193), and no driving force is provided when the second clutch gear (421952) is in forward non-engagement with the gear set (42193).

2. The robotic cleaning device according to claim 1, wherein the drive assembly (900) further comprises:

and a cable gear (42196) meshed with the first clutch gear (421951) and driven to rotate by the first clutch gear (421951).

3. The robotic cleaning device according to claim 2, wherein the lifting structure (500) further comprises:

and one end of the inhaul cable (42194) is wound on the inhaul cable gear (42196), the other end of the inhaul cable is connected to the lifting structure (500), and the lifting structure (500) is pulled to ascend and descend under the driving of the gear set (42193).

4. A robotic cleaning device as claimed in claim 3, wherein the drive assembly (900) further comprises:

A clean water pump (4219) engaged with the gear set (42193) and driven by the gear set (42193) to provide cleaning liquid to the wet cleaning module (400).

5. The automatic cleaning apparatus according to claim 4, wherein the gear set (42193) comprises:

a first-stage transmission gear (421931) connected with the output shaft of the motor (4211) and used for outputting the driving force of the motor;

a secondary transmission gear (421932) meshed with the primary transmission gear (421931) for outputting a driving force of the motor to the cable gear (42196);

and the third-stage transmission gear (421933) is meshed with the second-stage transmission gear (421932) and is used for outputting the driving force of the motor to the clean water pump (4219).

6. The automatic cleaning apparatus according to claim 5, wherein the motor (4211) output shaft includes an output gear (42111) engaged with the primary transfer gear (421931) for outputting a driving force of the motor.

7. The robotic cleaning device of claim 6, wherein the drive assembly (900) further comprises:

a driving wheel (4212) connected with the motor output shaft, wherein the driving wheel (4212) is of an asymmetric structure;

And the vibration piece (4213) is connected with the driving wheel (4212) and realizes reciprocating motion under the asymmetric rotation of the driving wheel (4212).