CN114711665A

CN114711665A - Intelligent floor sweeping and cleaning device

Info

Publication number: CN114711665A
Application number: CN202210214267.5A
Authority: CN
Inventors: 杨勇; 张俊
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-07-08

Abstract

The invention provides an intelligent floor sweeping and cleaning device which can automatically move along a working direction to clean the floor. The intelligent sweeping and cleaning device comprises a shell, traveling wheels arranged on the shell and a cleaning unit arranged on the shell, wherein the cleaning unit is movably arranged on the shell, and the intelligent sweeping and cleaning device can control the cleaning unit to move relative to the shell so as to adjust the position. Compared with the prior art, the intelligent sweeping and cleaning device has the advantages that the cleaning unit is movably arranged on the machine shell, and when the working environment of the intelligent sweeping and cleaning device changes, the cleaning unit can move relative to the machine shell to be adjusted to a proper working position, so that the intelligent sweeping and cleaning device has strong obstacle crossing capability and can adapt to complex and variable ground environments.

Description

Intelligent floor sweeping and cleaning device

Technical Field

The invention relates to an intelligent sweeping and cleaning device, in particular to a structure of the intelligent sweeping and 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 robot is actually used, the change of the ground environment is large, 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 robot is poor when the robot meets the uneven structures.

Disclosure of Invention

The invention aims to provide an intelligent floor sweeping and cleaning device which can adapt to complicated and variable ground environments.

In order to achieve the above object, the present invention provides an intelligent sweeping and cleaning device, which can automatically move along a working direction to clean a floor, and the intelligent sweeping and cleaning device includes a housing, a traveling wheel mounted on the housing, and a cleaning unit mounted on the housing, wherein the cleaning unit is movably mounted on the housing to be capable of moving relative to the housing under the control of the intelligent sweeping and cleaning device to adjust a position.

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 intelligent floor sweeping and cleaning device further includes a detection control module, where the detection control module includes a first driving structure for controlling the first cleaning unit to move relative to the housing to adjust the position, and a second driving structure for controlling the second cleaning unit to move relative to the housing to adjust the position.

As a further improvement of the present invention, the first cleaning unit includes a first connecting rod suspended from a middle region thereof, and the first driving structure includes a first eccentric wheel connected to the first connecting rod and capable of driving the first connecting rod to move up and down, and a first driving motor for driving the first eccentric wheel to work.

As a further improvement of the present invention, the detection control module further includes a first detection module, the first detection module includes a first upper touch switch disposed on the upper side of the first link and a first lower touch 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 touch switch or the first lower touch 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, 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 up and down, and a second driving motor for driving the second eccentric wheel to operate.

As a further improvement of the present invention, a detecting portion extends from one side of the slider, the detecting control module further includes a second detecting module, the second detecting module 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 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, and the second cleaning unit further includes a second extending portion connecting the corresponding first receiving groove and the second receiving groove.

As a further improvement of the invention, the intelligent floor sweeping and cleaning device is provided with a water tank, and the second cleaning unit is also provided with a flexible hose connected with the water tank.

As a further improvement of the present invention, the water tank includes a clean water tank and a sewage collecting device disposed below the clean water tank and adjacent to the second cleaning unit to collect the sewage generated when the second cleaning unit operates.

As a further improvement of the present invention, the first cleaning unit is a sweeping roller brush, and the second cleaning unit is a sweeping roller brush.

The invention has the beneficial effects that: according to the intelligent sweeping cleaning device, the cleaning unit is movably arranged on the shell, so that when the working environment of the intelligent sweeping cleaning device changes, the cleaning unit can move relative to the shell to be adjusted to a proper working position.

Drawings

Fig. 1 is a perspective view of an intelligent floor sweeping and cleaning device according to a preferred embodiment of the invention.

Fig. 2 is a perspective view of another perspective view of the intelligent floor sweeping and cleaning device shown in fig. 1.

Fig. 3 is an exploded view of the intelligent floor sweeping and cleaning device shown in fig. 1.

Fig. 4 is an exploded view from another perspective of the intelligent floor sweeping and cleaning device shown in fig. 3.

Fig. 5 is a perspective view of the intelligent sweeping and cleaning device shown in fig. 1 with parts removed.

Fig. 6 is a perspective view of the intelligent sweeping cleaning device shown in fig. 5 from another perspective after a part of parts are removed.

Fig. 7 is a partially exploded view of the intelligent floor sweeping cleaning device shown in fig. 5 with parts removed.

Fig. 8 is a partially exploded view from another perspective of the intelligent floor sweeping cleaning device shown in fig. 7 with parts removed.

Fig. 9 is a partially exploded view of the second cleaning unit and the detection control module of the intelligent floor sweeping cleaning device shown in fig. 5.

Fig. 10 is a partially exploded view of the second cleaning unit and the detection control module of the intelligent floor sweeping cleaning device shown in fig. 9 from another perspective.

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, the present invention discloses an intelligent floor sweeping and cleaning device 100, which can automatically move along a working direction to clean the floor. The intelligent sweeping and cleaning device 100 comprises a machine shell 10, a traveling wheel 20 mounted on the machine shell 10, a first cleaning unit 30 mounted on the machine shell 10, a second cleaning unit 40 mounted on the machine shell 10 and arranged at an interval with the first cleaning unit 30, and a dust box 50 mounted on the machine shell 10. In the present embodiment, the dust box 50 is disposed between the first cleaning unit 30 and the second cleaning unit 40 along the working direction of the intelligent floor sweeping and cleaning device 100; of course, in other embodiments, the intelligent floor sweeping and cleaning device 100 may be provided with only one cleaning unit.

The intelligent floor sweeping and cleaning device 100 of the present application is a robot capable of independently sweeping and cleaning, and in this embodiment, it is a robot integrating floor sweeping and floor mopping, and certainly may be other suitable robots or devices capable of automatically performing cleaning work, 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 attached to or detached from the cabinet 10 in an up-and-down direction. The intelligent floor sweeping and cleaning device 100 further comprises 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 walking wheels 20 are provided with a pair of walking wheels 20, and the walking wheels 20 are arranged at intervals along the transverse direction perpendicular to the working direction of the intelligent floor sweeping and cleaning device 100. Each walking wheel all has independent driving motor to can drive intelligence cleaning device 100 of sweeping floor moves in order to clean ground along working direction, also can turn or retreat etc. when meetting the barrier. 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 the vertical direction perpendicular to the working direction and the transverse direction, so that when the intelligent floor sweeping cleaning device 100 moves in work, if the working environment changes, such as floor tiles, carpets and the like, or when an obstacle is encountered, 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 relation between the first cleaning unit and the working ground to adapt to a new working environment or turn to avoid the obstacle. The intelligent sweeping and cleaning device 100 further comprises a front universal wheel 70 arranged on the housing 10, and the front universal wheel 70 can work together with the traveling wheels 20 to cooperate with the sweeping rolling brush 30 to work. 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 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 lifted up and down automatically relative to the housing 10, so that when the intelligent floor sweeping cleaning device 100 moves in operation, if the working environment changes, such as floor tiles, carpet, or the like, or encounters an obstacle, 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 intelligent floor sweeping and cleaning device 100 further comprises a rear universal wheel 80 arranged on the machine shell 10, wherein the rear universal wheel 80 can work together with the traveling wheel 20 to cooperate with the second cleaning unit 40 to work. The second cleaning unit 40 is that the first cleaning unit 30 firstly carries out preliminary clearing on the garbage to be cleared away on the ground, and then carries out the ground washing operation on the next step, 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 intelligent floor sweeping cleaning device 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 wastewater collection 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 further be equipped with clear water filling opening 610 of clear water tank 61 intercommunication, and with the mouth 620 is taken out to the sewage that sewage collection device 63 communicates, thereby intelligence is swept the floor cleaning device 100 and can be carried out automatic connection with corresponding basic station, so that the basic station accessible clear water filling opening 610 automatic injection clear water arrives in the clear water tank 61, the basic station also can pass through simultaneously the sewage is taken out mouthful 620 and is automatic with the sewage that sewage collection device 62 collected is taken out, makes intelligence is swept the floor cleaning device 100 and can be long-time, repeatedly carry out work.

Referring to fig. 5 to 10, in the present embodiment, the intelligent floor sweeping and cleaning device 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 structure 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 structure 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 can 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 driving motor drives the first eccentric wheel 910 to rotate, so that the first link 31 descends to the lowest point, the first lower trigger switch 932 is triggered, and the first cleaning unit 30 finishes descending.

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 includes a second detection module 94, the second detection module 94 includes a second upper touch switch 941 disposed on the upper side of the detection portion 922 and a second lower touch switch 942 disposed 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 simultaneously drives the detection portion 922 to move and touch the second upper touch switch 941 or the second lower touch switch 942, so as to trigger the second driving motor to stop working, and further stop moving the second cleaning unit 40.

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 intelligent floor sweeping and cleaning device 100 further comprises a detecting member 102 installed between the main body 11 and the front housing 14. When the intelligent sweeping and cleaning device 100 automatically travels and runs to collide with obstacles or bumps, the front shell 14 deforms or displaces relative to the main body 11, so that the detection piece 102 is extruded to trigger the detection piece 102 to work, and signals are transmitted to one or two of the first driving motor and the second driving motor according to conditions to drive one or two of the first cleaning unit 30 and the second cleaning unit 40 to start lifting movement, and then the intelligent sweeping and cleaning device 100 can avoid obstacles or adjust to a position which accords with changed environment work.

Specifically, the working method of the intelligent floor sweeping and cleaning device 100 includes: when the working environment of the intelligent floor sweeping and cleaning device 100 changes, so that the front shell 14 and the main body 11 generate relative motion, and the relative motion triggers the detecting element 102, the intelligent floor sweeping and cleaning device 100 controls the corresponding cleaning unit to adjust to a position suitable for the changed environment to work. The intelligent floor sweeping cleaning device 100 can adjust one of the first cleaning unit 30 and the second cleaning unit 40 to the working position and the other one to the non-working position according to the self detection or manual setting, or adjust both the first cleaning unit 30 and the second cleaning unit 40 to the working position.

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 and stop moving upward after triggering the second upper touch switch 941, and the second eccentric wheel 921 drives the detecting portion 922 to move downward and stop moving downward after triggering the second lower touch switch 942.

Referring to fig. 3 and 4, the intelligent sweeping and cleaning device 100 further includes a plurality of elastic members 103 elastically acting on the front housing 14, so that after the intelligent sweeping and cleaning device 100 avoids obstacles and the environment where the intelligent sweeping and cleaning device 100 is located is stable, the elastic members 103 enable the front housing 14 to return 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 intelligent floor sweeping and cleaning device 100 can control the second cleaning unit 40 to be lifted up and not operated when detecting that the working environment is a carpet through a detection element such as a laser radar and the like according to self detection, and only allows the first cleaning unit 30 to be lowered to a proper position to work; or the intelligent floor sweeping and cleaning device 100 is set by an electronic device such as a mobile phone, etc. to operate only the first cleaning unit 30, only the second cleaning unit 40, or both.

In summary, the detection control module 90 is provided in the intelligent floor sweeping and cleaning device 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 intelligent floor sweeping and cleaning device 100 changes, the corresponding cleaning units can be controlled to move relative to the housing 10 to adjust to the proper working position, and thus the intelligent floor sweeping and cleaning device 100 of the present invention has a strong obstacle crossing capability, and can adapt to complex and variable ground environments.

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

1. The utility model provides an intelligence cleaning device that sweeps floor, can follow the direction of operation automatically and move in order to clean ground, its characterized in that: the intelligent sweeping and cleaning device comprises a shell, traveling wheels arranged on the shell and a cleaning unit arranged on the shell, wherein the cleaning unit is movably arranged on the shell and can move relative to the shell under the control of the intelligent sweeping and cleaning device so as to adjust the position.

2. The intelligent floor sweeping and cleaning device of claim 1, which is characterized in that: the cleaning unit comprises a first cleaning unit and a second cleaning unit arranged at intervals with the first cleaning unit, the intelligent sweeping cleaning device further comprises a detection control module, and the detection control module comprises a first driving structure used for controlling the first cleaning unit to move relative to the machine shell to adjust the position and a second driving structure used for controlling the second cleaning unit to move relative to the machine shell to adjust the position.

3. The intelligent floor sweeping and cleaning device of claim 2, which is characterized in that: 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 up and down and a first driving motor which is used for driving the first eccentric wheel to work.

4. The intelligent floor sweeping and cleaning device of claim 3, which is characterized in that: the detection control module further comprises a first detection module, the first detection module 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 eccentric wheel drives the first connecting rod to move up and down so as to trigger the first upper touch switch or the first lower touch switch.

5. The intelligent floor sweeping and cleaning device of claim 2, which is characterized in that: 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, 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 up and down, and a second driving motor which is used for driving the second eccentric wheel to work.

6. The intelligent floor sweeping and cleaning device of claim 5, which is characterized in that: one side of the sliding block extends to form a detection part, the detection control module further comprises a second detection module, the second detection module 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 drives the detection part to move up and down so as to trigger the second upper touch switch or the second lower touch switch.

7. The intelligent floor sweeping and cleaning device of claim 2, which is characterized in that: the second cleaning unit 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, and second extending portions connecting the corresponding first accommodating grooves and the corresponding second accommodating grooves are further included.

8. The intelligent floor sweeping and cleaning device of claim 2, which is characterized in that: the intelligent floor sweeping cleaning device is provided with a water tank, and a telescopic hose connected with the water tank is further arranged on the second cleaning unit.

9. The intelligent floor sweeping and cleaning device of claim 8, which is characterized in that: the water tank comprises a clean water tank and a sewage collecting device, wherein the sewage collecting device is arranged below the clean water tank and close to the second cleaning unit so as to collect sewage generated by the second cleaning unit during working.

10. The intelligent floor sweeping and cleaning device of claim 2, which is characterized in that: the first cleaning unit is a sweeping rolling brush, and the second cleaning unit is a sweeping rolling brush.