CN114711664A - Automatic cleaning equipment and working method thereof - Google Patents
Automatic cleaning equipment and working method thereof Download PDFInfo
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- CN114711664A CN114711664A CN202210213092.6A CN202210213092A CN114711664A CN 114711664 A CN114711664 A CN 114711664A CN 202210213092 A CN202210213092 A CN 202210213092A CN 114711664 A CN114711664 A CN 114711664A
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- cleaning unit
- automatic cleaning
- connecting rod
- touch switch
- move
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- 238000004140 cleaning Methods 0.000 title claims abstract description 264
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 31
- 230000001960 triggered effect Effects 0.000 claims description 10
- 238000011017 operating method Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 21
- 239000010865 sewage Substances 0.000 description 10
- 239000000428 dust Substances 0.000 description 8
- 238000010408 sweeping Methods 0.000 description 8
- 238000005406 washing Methods 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides automatic cleaning equipment and a working method thereof, wherein the automatic cleaning equipment comprises a machine shell, a travelling wheel and a cleaning unit, the travelling wheel is arranged on the machine shell and is used for driving the automatic cleaning equipment to travel, the cleaning unit is arranged on the machine shell and can move in a set range relative to the machine shell, the machine shell comprises a main body and a front shell, the front shell can generate relative motion relative to the main body, the automatic cleaning equipment further comprises a detecting piece arranged between the main body and the front shell, and when the front shell bumps due to obstacle or working environment change, the front shell can generate relative motion with the main body to trigger the detecting piece to enable the cleaning unit to move. Compared with the prior art, the automatic cleaning equipment and the working method thereof can adapt to complicated and variable ground environments.
Description
Technical Field
The invention relates to an automatic cleaning device, in particular to a structure and a working method of the automatic cleaning device which is suitable for a complex working environment.
Background
Chinese utility model patent No. CN209107219U issued by grant No. 7/16/2019 discloses a double-roller brush assembly of a floor sweeping robot, which comprises a frame body, a first roller with a soft brush formed on the surface and a second roller with a hard brush formed on the surface, thereby eliminating the need of ground medium detection and mode switching under the environment of double families of floor and carpet.
However, when the floor sweeping robot is actually used, the ground environment changes greatly, environments such as floor tiles, carpets and floors may meet different areas, and uneven structures such as threshold bars are generally arranged at the positions where the areas change, so that the obstacle crossing capability of the floor sweeping robot is poor when the floor sweeping robot meets the uneven structures, and a single working mode cannot adapt to different working environments.
Disclosure of Invention
The invention aims to provide an automatic cleaning device which can adapt to complicated and variable ground environments.
In order to achieve the above object, the present invention provides an automatic cleaning device, including a housing, a traveling wheel mounted on the housing to drive the cleaning device to travel, and a cleaning unit mounted on the housing, where the cleaning unit is movable in a set range relative to the housing, the housing includes a main body and a front shell capable of generating relative motion with respect to the main body, the automatic cleaning device further includes a detecting member mounted between the main body and the front shell, and when the front shell bumps due to an obstacle or a change in a working environment, the front shell and the main body generate relative motion to trigger the detecting member to move the cleaning unit.
As a further improvement of the present invention, the cleaning unit includes a first cleaning unit and a second cleaning unit spaced from the first cleaning unit, and the automatic cleaning apparatus further includes a first driving structure for controlling the first cleaning unit to move to a set position relative to the housing, and a second driving structure for controlling the second cleaning unit to move to a set position relative to the housing.
As a further development of the invention, the first cleaning unit comprises a first connecting rod which is cantilevered forward from an intermediate region thereof, and the first drive structure comprises a first eccentric which is connected to the first connecting rod and can drive the first connecting rod in a movement.
As a further improvement of the present invention, the automatic cleaning device further includes a first upper trigger switch disposed on the upper side of the first link, and a first lower trigger switch disposed on the lower side of the first link, and the first eccentric wheel drives the first link to move up and down to trigger the first upper trigger switch or the first lower trigger switch.
As a further improvement of the present invention, the second cleaning unit includes a second connecting rod suspended from a middle region thereof, and the second driving structure includes a sliding block engaged with the second connecting rod, and a second eccentric wheel connected to the sliding block and capable of driving the sliding block to move so as to drive the second connecting rod to move.
As a further improvement of the present invention, a detecting portion extends from one side of the sliding block, the automatic cleaning device includes a second upper touch switch disposed on an upper side of the detecting portion, and a second lower touch switch disposed on a lower side of the detecting portion, and the second eccentric wheel drives the detecting portion to move up and down to trigger the second upper touch switch or the second lower touch switch.
As a further improvement of the present invention, the second cleaning unit further includes a protrusion extending upward from each of two ends thereof, the protrusion is provided with a first receiving groove, the housing is provided with a corresponding second receiving groove, the second cleaning unit further includes a second extending portion connecting the corresponding first receiving groove and the second receiving groove, and the second extending portions are spaced in the vertical direction and are arranged in pairs.
As a further improvement of the present invention, the automatic cleaning apparatus further comprises an elastic member elastically acting on the front case to enable it to return to an initial position.
Another object of the present invention is to provide a method for operating an automatic cleaning device, which can be adapted to a complex and varied floor environment.
In order to achieve the above object, the present invention provides an operating method of an automatic cleaning apparatus, wherein the automatic cleaning apparatus includes:
a housing including a main body and a front case movable relative to the main body;
a detecting member installed between the main body and the front case;
the traveling wheel is arranged on the shell and used for driving the cleaning equipment to travel; and
a cleaning unit mounted on the housing, the cleaning unit being movable within a set range relative to the housing;
when the working environment of the automatic cleaning equipment changes, relative motion is generated between the front shell and the main body, and the detecting piece is triggered, the automatic cleaning equipment controls the cleaning unit to be adjusted to a position suitable for the changed environment to work.
As a further improvement of the present invention, the cleaning unit includes a first cleaning unit and a second cleaning unit spaced apart from the first cleaning unit, and the automatic cleaning device can adjust one of the first cleaning unit and the second cleaning unit to an operating position and the other to an inoperative position, or adjust both the first cleaning unit and the second cleaning unit to the operating position, according to self detection or manual setting.
As a further improvement of the present invention, the automatic cleaning device further includes a first driving structure, the first cleaning unit includes a first connecting rod suspended from a middle region thereof, the first driving structure includes a first eccentric connected to the first connecting rod, and the first driving structure, after receiving the command, drives the first eccentric to rotate to drive the first connecting rod to move, and further drives the first cleaning unit to adjust the position.
As a further improvement of the present invention, the first cleaning unit further includes first extending portions extending rearward from both ends thereof, respectively, and when the first cleaning unit is adjusted in position, the first extending portions rotate relative to the housing.
As a further improvement of the present invention, the automatic cleaning device further includes a first upper touch switch disposed on an upper side of the first link, and a first lower touch switch disposed on a lower side of the first link, the first eccentric drives the first link to move upward until touching the first upper touch switch, and then stops moving upward, and the first eccentric drives the first link to move downward until touching the first lower touch switch, and then stops moving downward.
As a further improvement of the present invention, the automatic cleaning device further includes a second driving structure, the second cleaning unit includes a second connecting rod suspended from a middle region thereof, the second driving structure includes a sliding block matched with the second connecting rod, and a second eccentric wheel connected with the sliding block, and the second driving structure, after receiving the instruction, drives the second eccentric wheel to rotate to drive the sliding block and the second connecting rod to move, so as to drive the second cleaning unit to adjust the position.
As a further improvement of the present invention, a detecting portion extends from one side of the slider, the automatic cleaning device further includes a second upper touch switch disposed on an upper side of the detecting portion, and a second lower touch switch disposed on a lower side of the detecting portion, the second eccentric wheel drives the detecting portion to move upward and stop moving upward after triggering the second upper touch switch, and the second eccentric wheel drives the detecting portion to move downward and stop moving downward after triggering the second lower touch switch.
As a further improvement of the present invention, the second cleaning unit further includes a protrusion extending upward from each of two ends thereof, the protrusion is provided with a first receiving groove, the housing is provided with a corresponding second receiving groove, the second cleaning unit includes a second extending portion connecting the corresponding first receiving groove and the second receiving groove, and when the second cleaning unit is adjusted in position, the second extending portion rotates relative to the second cleaning unit and the housing.
As a further improvement of the present invention, the automatic cleaning device further comprises a plurality of elastic members elastically acting on the front housing, and when the environment in which the automatic cleaning device is located is stable, the elastic members will make the front housing return to the initial position.
The invention has the beneficial effects that: according to the automatic cleaning equipment, the detection piece is arranged, so that when the working environment of the automatic cleaning equipment is detected to be changed, the detection piece can be triggered according to the relative motion between the front shell and the main body to enable the cleaning unit to move, and therefore the automatic cleaning equipment can adapt to complex and changeable ground environments.
Drawings
FIG. 1 is a perspective view of an automatic cleaning apparatus according to a preferred embodiment of the present invention.
Fig. 2 is a perspective view of another perspective of the automatic cleaning apparatus shown in fig. 1.
Fig. 3 is an exploded view of the automatic cleaning device shown in fig. 1.
Figure 4 is an exploded view of another perspective of the robotic cleaning device shown in figure 3.
FIG. 5 is a perspective view of the robotic cleaning device shown in FIG. 1 with parts removed.
Fig. 6 is a perspective view of the robotic cleaning device shown in fig. 5 from another perspective with portions removed.
Fig. 7 is a partially exploded view of the robotic cleaning device shown in fig. 5 with parts removed.
Fig. 8 is a partially exploded view from another perspective of the robotic cleaning device shown in fig. 7 with portions removed.
Fig. 9 is a partially exploded view of a second cleaning unit and a detection control module of the automatic cleaning apparatus shown in fig. 5.
Fig. 10 is a partially exploded view from another perspective of the second cleaning unit and the detection control module of the automatic cleaning apparatus shown in fig. 9.
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 detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 and 2, an automatic cleaning apparatus 100 is disclosed, which can automatically move along a working direction to clean a floor. The automatic cleaning apparatus 100 includes a housing 10, a traveling wheel 20 installed on the housing 10, a first cleaning unit 30 installed on the housing 10, a second cleaning unit 40 installed on the housing 10 and spaced from the first cleaning unit 30, and a dust box 50 installed on the housing 10. In the present embodiment, the dust box 50 is disposed between the first cleaning unit 30 and the second cleaning unit 40 in the working direction of the automatic cleaning apparatus 100; of course, in other embodiments, the automatic cleaning apparatus 100 may be provided with only one cleaning unit.
The automatic cleaning device 100 of the present application is a robot capable of independently cleaning and cleaning, in this embodiment, it is a robot integrating sweeping and mopping, and certainly, it may also be other suitable robots or devices capable of automatically cleaning, and is not limited herein.
Referring to fig. 3 and 4 in conjunction with fig. 2, the housing 10 includes a main body 11 disposed inside, a top case 12 mounted on an upper portion of the main body 11, a bottom case 13 mounted on a lower portion of the main body 11, and a front case 14 mounted on a front portion of the main body 11. The dust box 50 may be mounted to the cabinet 10 or removed from the cabinet 10 in an up-and-down direction. The automatic cleaning apparatus 100 further includes a water tank 60 installed at the rear side of the main body 11. In the present embodiment, the front shell 14 is movably mounted on the main body 11, and specifically, the front shell 14 is movable in the up-down direction relative to the main body 11, such as when bumping, the front shell 14 can move up and down due to the influence of gravity.
The traveling wheels 20 are provided in a pair, and the pair of traveling wheels 20 are spaced apart in a lateral direction perpendicular to a working direction of the automatic cleaning apparatus 100. Each of the traveling wheels has an independent driving motor, so that the automatic cleaning apparatus 100 can be driven to move in the working direction to clean the floor, and can also turn or retreat when encountering an obstacle. The dust box 50 is disposed between the lateral directions of the pair of traveling wheels 20.
The first cleaning unit 30 is a sweeping roller brush, and the first cleaning unit 30 is disposed in front of the dust box 50 in the working direction. The first cleaning unit 30 can be automatically lifted up and down relative to the housing 10 along a vertical direction perpendicular to the working direction and the transverse direction, so that when the automatic cleaning device 100 moves during working, if a working environment changes, such as a floor tile changes into a floor, a carpet, or meets an obstacle, the corresponding sensing unit can sense the environmental change, and then the corresponding driving unit is triggered, so that the first cleaning unit 30 can move up and down to adjust the position relationship between the first cleaning unit and the working ground, so as to adapt to a new working environment or turn to avoid the obstacle. The automatic cleaning device 100 further comprises a front universal wheel 70 disposed on the housing 10, and the front universal wheel 70 can work together with the traveling wheel 20 to cooperate with the sweeping roller brush 30. The rear end of the sweeping rolling brush 30 is connected with the dust box 50, so that the swept-up garbage can be stored in the dust box 50 when the first cleaning unit 30 works.
The second cleaning unit 40 is a floor-washing roller brush, and the second cleaning unit 40 is disposed behind the dust box 50 in the working direction. The second cleaning unit 40 can be automatically lifted up and down relative to the housing 10, so that when the automatic cleaning device 100 moves during operation, if the working environment changes, such as floor tiles, carpet, etc., or an obstacle is encountered, the corresponding sensing unit can sense the environmental change, and then the corresponding driving unit is triggered, so that the second cleaning unit 40 can move up and down to adjust the position relationship between the second cleaning unit and the working ground, so as to adapt to a new working environment or turn to avoid the obstacle. The automatic cleaning apparatus 100 further includes a rear universal wheel 80 provided on the housing 10, the rear universal wheel 80 being operable with the traveling wheel 20 to cooperate with the second cleaning unit 40. The second cleaning unit 40 is that the first cleaning unit 30 firstly carries out preliminary clearing on the garbage on the ground to be cleared, and then carries out the next ground washing operation, so that the situation that the ground is difficult to wash when the garbage is too much is avoided, and the cleaning cleanliness and the working efficiency of the automatic cleaning equipment 100 are improved.
The water tank 60 includes a clean water tank 61 and a sewage collecting device 62 disposed behind the second cleaning unit 40. The clean water tank 61 is disposed above the sewage collecting device 62. The clean water tank 61 may be filled with clean water so that water can be supplied to the second cleaning unit 40 when the second cleaning unit 40 performs a floor washing operation, thereby enhancing the cleaning ability of the second cleaning unit 40. Further, the clean water tank 61 is disposed above the sewage collecting device 62, so that clean water can be guided to the second cleaning unit 40 by using gravity.
The sewage collecting device 62 is disposed below the clean water tank 61 so as to be closer to the second cleaning unit 40, thereby facilitating collection of the sewage generated by the second cleaning unit 40 during the floor washing operation, and maintaining the floor surface at a high dryness after the floor washing operation of the second cleaning unit 40.
The water tank 60 is further provided with a clean water injection port 610 communicated with the clean water tank 61 and a sewage water pumping port 620 communicated with the sewage collecting device 63, so that the automatic cleaning equipment 100 can be automatically connected with a corresponding base station, the base station can automatically inject clean water into the clean water injection port 610 into the clean water tank 61, and the base station can automatically pump out the sewage collected by the sewage collecting device 62 through the sewage water pumping port 620, so that the automatic cleaning equipment 100 can repeatedly work for a long time.
Referring to fig. 5 to 10, in the present embodiment, the automatic cleaning apparatus 100 further includes a detection control module 90. The first cleaning unit 30 and the second cleaning unit 40 are movably mounted on the housing 10, and the detection control module 90 is used for controlling the first cleaning unit 30 and/or the second cleaning unit 40 to move relative to the housing 10 to adjust to a proper working position. The detection control module 90 includes a first driving mechanism 91 for controlling the first cleaning unit 30 to move relative to the housing 10 to adjust to a proper working position, and a second driving mechanism 92 for controlling the second cleaning unit 40 to move relative to the housing 10 to adjust to a proper working position.
The first cleaning unit 30 includes a first link 31 cantilevered forward from a middle region thereof. The first driving structure 91 comprises a first eccentric wheel 910 connected to the first connecting rod 31 and capable of driving the first connecting rod 31 to move, and a first driving motor (not shown) for driving the first eccentric wheel 910 to work. The first cleaning unit 30 includes first extending portions 32 extending rearward from both ends thereof, respectively, and a rear end of the first extending portion 32 is rotatably coupled to the housing 10 so as to form a fulcrum for relative movement of the first cleaning unit 30 and the housing 10.
The detection control module 90 includes a first detection module 93, and the first detection module 93 includes a first upper touch switch 931 disposed on an upper side of the first link 31 and a first lower touch switch 932 disposed on a lower side of the first link 31. The first upper tact switch 931 and the first lower tact switch 932 are both shutdown switches. When the first eccentric wheel 910 drives the first link 31 to move up and down, it may touch the first upper touch switch 931 or the first lower touch switch 932 to trigger the first driving motor to stop working, so as to stop the first cleaning unit 30. When the first cleaning unit 30 needs to ascend, the first driving motor drives the first eccentric wheel 910 to rotate for half a turn or other turns, so that the first link 31 is lifted to the highest point to trigger the first upper touch switch 931, and the first cleaning unit 30 finishes ascending. When the first cleaning unit 30 needs to descend, the first eccentric wheel 910 is rotated by the first driving motor, so that the first link 31 descends to the lowest point, and the first lower trigger switch 932 is triggered.
The second cleaning unit 40 includes a second link 41 cantilevered forward from a middle region thereof. The second driving structure 92 includes a sliding block 920 engaged with the second connecting rod 41, a second eccentric 921 connected to the sliding block 920 and capable of driving the sliding block 920 to move so as to drive the second connecting rod 41 to move, and a second driving motor (not shown) for driving the second eccentric 921 to work. A detecting portion 922 extends from one side of the slider 920. The detection control module 90 further comprises a second detection module 94, the second detection module 94 comprises a second upper touch switch 941 arranged on the upper side of the detection portion 922 and a second lower touch switch 942 arranged on the lower side of the detection portion 922, the second eccentric wheel 921 drives the slider 920 to move up and down, the slider 920 drives the second connecting rod 41 to move, and meanwhile the detection portion 922 is driven to move and can be touched with the second upper touch switch 941 or the second lower touch switch 942, so that the second driving motor is triggered to stop working, and the second cleaning unit 40 stops moving.
When the cleaning device needs to ascend, the second driving motor drives the second eccentric wheel 921 to rotate, so as to drive the sliding block 920 and the second connecting rod 41 to move upwards, so that the second connecting rod 41 is lifted to the highest point, the detecting part 922 triggers the second upper touch switch 941, and the second cleaning unit 40 finishes ascending. When the second cleaning unit 40 needs to descend, the second driving motor drives the second eccentric wheel 921 to rotate, so as to drive the slider 920 and the second connecting rod 41 to move downward, so that the second connecting rod 41 descends to the lowest point, the detecting portion 922 triggers the second lower touch switch 942, and the second cleaning unit 40 finishes descending. The second cleaning unit 40 further includes a plurality of flexible hoses 44 connected between the second cleaning unit 40 and the water tank 60, so that the water supply connection between the water tank 60 and the second cleaning unit 40 can be stably and reliably performed when the second cleaning unit 40 moves relative to the cabinet 10.
The second cleaning unit 40 includes protrusions 42 extending upward from both ends thereof, respectively, and the protrusions 42 are provided with first receiving grooves 420. The housing 10 is provided with a corresponding second receiving groove 101. The second cleaning unit 40 includes a second extension portion 43 connecting the corresponding first receiving groove 420 and the second receiving groove 101, so that a fulcrum for the relative movement of the second cleaning unit 40 and the housing case 10 can be formed. When the second cleaning unit 40 is adjusted, the second extending portion 43 rotates relative to the second cleaning unit 40 and the housing 10. In the present embodiment, the second extending portions 43 connecting each first receiving groove 420 and the corresponding second receiving groove 101 are spaced and arranged in pairs along the vertical direction.
The automatic cleaning apparatus 100 further includes a detecting member 102 installed between the main body 11 and the front case 14. When the automatic cleaning device 100 runs automatically and collides with an obstacle or bumps, the front shell 14 deforms or displaces relative to the main body 11, so as to press the detecting member 102 to trigger the detecting member 102 to work, and transmit a signal to one or both of the first driving motor and the second driving motor according to the situation, so as to drive one or both of the first cleaning unit 30 and the second cleaning unit 40 to start lifting movement, and further the automatic cleaning device 100 can realize obstacle avoidance or adjust to a position according with the changed environment to work.
Specifically, the working method of the automatic cleaning device 100 includes: when the working environment of the automatic cleaning apparatus 100 changes, so that the front housing 14 and the main body 11 generate relative movement, and the relative movement triggers the detecting member 102, the automatic cleaning apparatus 100 will control the corresponding cleaning unit to adjust to a position suitable for the changed environment. The automatic cleaning apparatus 100 may adjust one of the first cleaning unit 30 and the second cleaning unit 40 to the working position, the other to the non-working position, or both the first cleaning unit 30 and the second cleaning unit 40 to the working position according to self detection or manual setting.
After receiving the command, the first driving structure 91 drives the first eccentric wheel 910 to rotate so as to drive the first connecting rod 31 to move, and further drive the first cleaning unit 30 to adjust the position. The first eccentric wheel 910 drives the first link 31 to move upward and stop moving upward after touching the first upper touch switch 931, and the first eccentric wheel 910 drives the first link 31 to move downward and stop moving downward after touching the first lower touch switch 931.
After receiving the instruction, the second driving structure 92 drives the second eccentric wheel 921 to rotate, so as to drive the sliding block 920 to further drive the second connecting rod 41 to move, and further drive the second cleaning unit 40 to adjust the position. The second eccentric wheel 921 drives the detecting portion 922 to move upward to trigger the second upper touch switch 941, and then stops moving upward, and the second eccentric wheel 921 drives the detecting portion 922 to move downward to trigger the second lower touch switch 942, and then stops moving downward.
Referring to fig. 3 and 4, the automatic cleaning apparatus 100 further includes a plurality of elastic members 103 elastically acting on the front housing 14, so that after the automatic cleaning apparatus 100 avoids obstacles and the environment where the automatic cleaning apparatus 100 is located is stable, the elastic members 103 return the front housing 14 to the initial position. In this embodiment, the elastic member 103 is an elongated coil spring, but may be other suitable elastic sheet or other parts that allow the front shell 14 to return to the initial position. In addition, the automatic cleaning device 100 may control the second cleaning unit 40 to be lifted up and not operated when detecting that the working environment is a carpet by a detection element such as a laser radar, and only allow the first cleaning unit 30 to be lowered to a proper position for operation; or the automatic cleaning apparatus 100 is set by an electronic device such as a mobile phone, etc. to operate only the first cleaning unit 30, or only the second cleaning unit 40, or both.
In summary, the detection control module 90 is provided in the automatic cleaning apparatus 100 of the present invention, and the first cleaning unit 30 and the second cleaning unit 40 are movably mounted on the housing 10, so that when the working environment of the automatic cleaning apparatus 100 changes, the corresponding cleaning units can be controlled to move relative to the housing 10 to adjust to the proper working position, and further the automatic cleaning apparatus 100 of the present invention has a strong obstacle-crossing capability, and can adapt to a complicated and variable ground environment.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (17)
1. An automatic cleaning device, includes the casing, install in order to drive on the casing the walking wheel of cleaning device walking, and install clean unit on the casing, its characterized in that: the automatic cleaning equipment further comprises a detecting piece arranged between the main body and the front shell, and when the front shell bumps in case of obstacle or working environment change, the front shell can generate relative motion with the main body to trigger the detecting piece to enable the cleaning unit to move.
2. The automatic cleaning apparatus of claim 1, wherein: the cleaning unit comprises a first cleaning unit and a second cleaning unit arranged at an interval with the first cleaning unit, and the automatic cleaning equipment further comprises a first driving structure for controlling the first cleaning unit to move to a set position relative to the machine shell and a second driving structure for controlling the second cleaning unit to move to a set position relative to the machine shell.
3. The automatic cleaning apparatus according to claim 2, wherein: the first cleaning unit comprises a first connecting rod which is suspended from the middle area of the first cleaning unit, and the first driving structure comprises a first eccentric wheel which is connected with the first connecting rod and can drive the first connecting rod to move.
4. The automatic cleaning apparatus of claim 3, wherein: the automatic cleaning equipment further comprises a first upper touch switch arranged on the upper side of the first connecting rod and a first lower touch switch arranged on the lower side of the first connecting rod, and the first upper touch switch or the first lower touch switch can be triggered when the first eccentric wheel drives the first connecting rod to move up and down.
5. The automatic cleaning apparatus according to claim 2, wherein: the second cleaning unit comprises a second connecting rod which is suspended forwards from the middle area of the second cleaning unit, and the second driving structure comprises a sliding block matched with the second connecting rod and a second eccentric wheel which is connected with the sliding block and can drive the sliding block to move so as to drive the second connecting rod to move.
6. The automatic cleaning apparatus of claim 5, wherein: one side of the sliding block extends to form a detection part, the automatic cleaning equipment comprises a second upper touch switch arranged on the upper side of the detection part and a second lower touch switch arranged on the lower side of the detection part, and the second eccentric wheel can trigger the second upper touch switch or the second lower touch switch when driving the detection part to move up and down.
7. The automatic cleaning apparatus of claim 5, wherein: the second cleaning unit further comprises protruding portions extending upwards from two ends of the second cleaning unit respectively, first accommodating grooves are formed in the protruding portions, corresponding second accommodating grooves are formed in the machine shell, the second cleaning unit further comprises second extending portions connecting the corresponding first accommodating grooves and the corresponding second accommodating grooves, and the second extending portions are arranged in pairs at intervals in the vertical direction.
8. The automatic cleaning apparatus of claim 1, wherein: the automatic cleaning apparatus further includes an elastic member elastically acting on the front case to enable it to return to an initial position.
9. An operating method of an automatic cleaning apparatus, wherein the automatic cleaning apparatus comprises:
a housing including a main body and a front case movable relative to the main body;
a detecting member installed between the main body and the front case;
the traveling wheels are mounted on the shell and used for driving the cleaning equipment to travel; and
a cleaning unit mounted on the housing, the cleaning unit being movable within a set range relative to the housing;
the method is characterized in that: when the working environment of the automatic cleaning equipment changes, relative motion is generated between the front shell and the main body, and the detecting piece is triggered, the automatic cleaning equipment controls the cleaning unit to be adjusted to a position suitable for the changed environment to work.
10. Method of operating an automatic cleaning device according to claim 9, characterized in that: the cleaning unit comprises a first cleaning unit and a second cleaning unit arranged at intervals with the first cleaning unit, and the automatic cleaning equipment can adjust one of the first cleaning unit and the second cleaning unit to a working position and the other one to a non-working position according to self detection or manual setting, or adjust both the first cleaning unit and the second cleaning unit to the working position.
11. The operating method of an automatic cleaning apparatus according to claim 10, characterized in that: the automatic cleaning equipment further comprises a first driving structure, the first cleaning unit comprises a first connecting rod which is cantilevered forwards from the middle area of the first cleaning unit, the first driving structure comprises a first eccentric wheel connected with the first connecting rod, and the first driving structure drives the first eccentric wheel to rotate to drive the first connecting rod to move after receiving an instruction, so that the first cleaning unit is driven to adjust the position.
12. Method of operating an automatic cleaning device according to claim 11, characterized in that: the first cleaning unit further comprises first extending parts extending backwards from two ends of the first cleaning unit respectively, and when the first cleaning unit is adjusted in position, the first extending parts rotate relative to the machine shell.
13. Method of operating an automatic cleaning device according to claim 11, characterized in that: the automatic cleaning equipment further comprises a first upper touch switch arranged on the upper side of the first connecting rod and a first lower touch switch arranged on the lower side of the first connecting rod, the first eccentric wheel drives the first connecting rod to move upwards until the first upper touch switch is touched and then stops moving upwards, and the first eccentric wheel drives the first connecting rod to move downwards until the first lower touch switch is touched and then stops moving downwards.
14. The operating method of an automatic cleaning apparatus according to claim 10, characterized in that: the automatic cleaning equipment further comprises a second driving structure, the second cleaning unit comprises a second connecting rod which is cantilevered forwards from the middle area of the second cleaning unit, the second driving structure comprises a sliding block matched with the second connecting rod and a second eccentric wheel connected with the sliding block, and the second driving structure drives the second eccentric wheel to rotate to drive the sliding block and the second connecting rod to move after receiving an instruction, so that the second cleaning unit is driven to adjust the position.
15. The method of operating an automatic cleaning apparatus according to claim 14, characterized in that: one side of the sliding block extends to form a detection part, the automatic cleaning equipment further comprises a second upper touch switch arranged on the upper side of the detection part and a second lower touch switch arranged on the lower side of the detection part, the second eccentric wheel drives the detection part to move upwards until the second upper touch switch is triggered and then stops moving upwards, and the second eccentric wheel drives the detection part to move downwards until the second lower touch switch is triggered and then stops moving downwards.
16. The method of operating an automatic cleaning apparatus according to claim 14, characterized in that: the second cleaning unit further comprises protruding portions extending upwards from two ends of the second cleaning unit respectively, first accommodating grooves are formed in the protruding portions, corresponding second accommodating grooves are formed in the machine shell, the second cleaning unit comprises second extending portions connecting the corresponding first accommodating grooves and the corresponding second accommodating grooves, and when the position of the second cleaning unit is adjusted, the second extending portions rotate relative to the second cleaning unit and the machine shell.
17. The operating method of an automatic cleaning apparatus according to claim 9, characterized in that: the automatic cleaning equipment further comprises a plurality of elastic pieces which act on the front shell in an elastic manner, and when the environment where the automatic cleaning equipment is located is stable, the elastic pieces enable the front shell to return to the initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210213092.6A CN114711664A (en) | 2022-03-04 | 2022-03-04 | Automatic cleaning equipment and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210213092.6A CN114711664A (en) | 2022-03-04 | 2022-03-04 | Automatic cleaning equipment and working method thereof |
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| Publication Number | Publication Date |
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| CN114711664A true CN114711664A (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210213092.6A Pending CN114711664A (en) | 2022-03-04 | 2022-03-04 | Automatic cleaning equipment and working method thereof |
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| Country | Link |
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| CN (1) | CN114711664A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115500739A (en) * | 2022-10-21 | 2022-12-23 | 开封大学 | Floor sweeper |
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|---|---|---|---|---|
| JPH07255656A (en) * | 1994-03-25 | 1995-10-09 | East Japan Railway Co | Movable cleaning equipment |
| CN1630484A (en) * | 1999-06-08 | 2005-06-22 | S.C.约翰逊商业市场公司 | Floor cleaning apparatus |
| JP2017143901A (en) * | 2016-02-15 | 2017-08-24 | 東芝ライフスタイル株式会社 | Vacuum cleaner |
| WO2020228166A1 (en) * | 2019-05-16 | 2020-11-19 | 江苏美的清洁电器股份有限公司 | Cleaning apparatus |
| CN112806917A (en) * | 2021-02-10 | 2021-05-18 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
-
2022
- 2022-03-04 CN CN202210213092.6A patent/CN114711664A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07255656A (en) * | 1994-03-25 | 1995-10-09 | East Japan Railway Co | Movable cleaning equipment |
| CN1630484A (en) * | 1999-06-08 | 2005-06-22 | S.C.约翰逊商业市场公司 | Floor cleaning apparatus |
| JP2017143901A (en) * | 2016-02-15 | 2017-08-24 | 東芝ライフスタイル株式会社 | Vacuum cleaner |
| WO2020228166A1 (en) * | 2019-05-16 | 2020-11-19 | 江苏美的清洁电器股份有限公司 | Cleaning apparatus |
| CN112806917A (en) * | 2021-02-10 | 2021-05-18 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115500739A (en) * | 2022-10-21 | 2022-12-23 | 开封大学 | Floor sweeper |
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