CN115227148A - Front collision device and cleaning robot - Google Patents
Front collision device and cleaning robot Download PDFInfo
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- CN115227148A CN115227148A CN202210760069.9A CN202210760069A CN115227148A CN 115227148 A CN115227148 A CN 115227148A CN 202210760069 A CN202210760069 A CN 202210760069A CN 115227148 A CN115227148 A CN 115227148A
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- main body
- cleaning robot
- front collision
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- 238000004140 cleaning Methods 0.000 title claims abstract description 268
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000010408 sweeping Methods 0.000 claims description 10
- 238000005406 washing Methods 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000001960 triggered effect Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000010865 sewage Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000003292 glue Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 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
-
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating 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
-
- 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
-
- 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
- A47L11/4077—Skirts or splash guards
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
Landscapes
- Electric Suction Cleaners (AREA)
Abstract
The invention relates to the technical field of cleaning devices, and provides a front collision device and a cleaning robot, wherein the front collision device comprises a front collision assembly and a surface cleaning mechanism, the front collision assembly comprises a front collision shell, the front collision shell is provided with a front end part, a rear end part and a bottom, and the rear end part of the front collision shell is connected to a main body of the cleaning robot in a floating manner; the surface cleaning mechanism is arranged at the bottom of the front collision shell and can be movably arranged front and back along with the front collision shell, and the surface cleaning mechanism is used for cleaning the surface to be cleaned. The utility model provides a before hit the device when satisfying the collision and detect the function, still add clean surface mechanism, promptly, let the whole front-mounted of clean unit of cleaning robot, more be favorable to the regional cleanness in ground of the ground region of wall angle department and wall edge.
Description
Technical Field
The invention relates to the technical field of cleaning devices, and particularly provides a front collision device and a cleaning robot with the same.
Background
The existing cleaning robot can clean the ground by adopting a mode that the rolling brush is arranged in front, however, in order to protect the rolling brush and avoid the rolling brush from being damaged due to collision, a front collision shell is usually arranged in front of the rolling brush, namely, the function of collision detection is realized through the front collision shell, and the rolling brush can be protected.
However, since the front collision housing needs to reserve a sufficient floating space, the rolling brush still has a large distance from the front edge and the left and right edges of the cleaning robot, and finally, the cleaning robot cannot go deep into a corner cleaning area for cleaning work.
Disclosure of Invention
The embodiment of the application aims to provide a front collision device and aims to solve the problem that a rolling brush of an existing cleaning robot is difficult to clean corner areas.
In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:
in a first aspect, an embodiment of the present application provides a front-end collision device for mounting at a front end of a main body of a cleaning robot, including:
the front collision assembly comprises a front collision shell, the front collision shell is provided with a front end part, a rear end part corresponding to the front end part and a bottom part positioned between the front end part and the rear end part, and the rear end part of the front collision shell is connected to the main body of the cleaning robot in a floating mode;
the surface cleaning mechanism is arranged at the bottom of the front collision shell, can be movably arranged back and forth along with the front collision shell, and is used for cleaning the surface to be cleaned.
The beneficial effects of the embodiment of the application are as follows: the application provides a preceding device that hits, its back tip that hits the casing before floats and connects in cleaning machines people's main part, satisfies before hit and to hit the connection requirement that can move about between device and the cleaning machines people. The front end part of the front collision shell is used for being in direct contact with the external environment so as to obtain corresponding collision information. Meanwhile, the bottom of the front collision shell is provided with a surface cleaning mechanism, and the surface cleaning mechanism is linked with the front collision shell, namely, the front collision shell can move back and forth relative to the main body of the cleaning robot. The utility model provides a before hit the device when satisfying the collision and detect the function, still add clean surface mechanism, promptly, let the whole front-mounted of clean unit of cleaning robot, more be favorable to the regional cleanness in ground of the ground region of wall angle department and wall edge.
In one embodiment, the bottom is recessed inwardly to form a cavity; the surface cleaning mechanism comprises a cleaning roller, the cleaning roller is arranged in the concave cavity and is rotationally connected with the front collision shell, and the distance from the rotating center of the cleaning roller to the outer wall of the front end part is larger than or equal to the radius of the cleaning roller.
In one embodiment, the front impact shell further has a left end portion and a right end portion arranged opposite to the left end portion, the cavity is provided with a cavity opening penetrating through the left end portion or the right end portion, the cavity opening is communicated to the outside, and the cleaning roller is detachably mounted in the cavity through the cavity opening.
In one embodiment, the front collision shell comprises a floating guide structure, the floating guide structure comprises a convex part arranged on the rear end part, and a concave part matched with the convex part is arranged on the main body of the cleaning robot;
and the convex part is provided with a propping part used for propping and triggering a collision switch of the cleaning robot.
In one embodiment, a reset piece is further arranged at a joint of the rear end part of the front collision shell and the main body of the cleaning robot, and the reset piece is used for resetting the front collision shell to an initial position after collision.
In one embodiment, the cleaning roller is a floor washing roller or a floor sweeping roller brush; the friction force between the cleaning roller and the ground is smaller than the elastic force of the resetting piece.
In one embodiment, the front impact assembly further comprises at least one support wheel disposed on the base, the at least one support wheel being configured to share and support the weight of the front impact device.
In a second aspect, an embodiment of the present application further provides a cleaning robot, which includes a main body, a collision sensor disposed on the main body, and the front-collision device, where the main body is connected to a rear end of the front-collision housing of the front-collision device in a floating manner, and the front-collision device triggers the collision sensor in a collision process.
The beneficial effects of the embodiment of the application are as follows: the application provides a cleaning machines people, on having the above-mentioned basis of hitting the device before, clean the combination region of ground and wall more easily, clean efficiency is higher.
In one embodiment, the front impact housing is recessed at the bottom with a cleaning cavity, and the surface cleaning mechanism is at least partially housed in the cleaning cavity.
In one embodiment, the cleaning robot comprises a dirt storage container structure, an air exhaust duct and a dirt inlet duct, the dirt storage container structure is arranged on the main body portion or the front collision shell, an air exhaust device is arranged in the main body portion, the air exhaust duct is communicated between the air exhaust device and the dirt storage container structure, the dirt inlet duct is communicated between the dirt storage container structure and the cleaning cavity, and the dirt inlet duct is used for introducing dust debris and/or dirt liquid into the dirt storage container structure under the negative pressure action of the air exhaust device.
In one embodiment, the cleaning robot includes a flexible duct structure connected between the main body portion and the rear end portion of the front impact housing, the flexible duct structure forming a portion of the suction air duct or a portion of the dirt intake duct.
In one embodiment, the main body part is provided with a sewage storage container structure, a first opening is formed in the side face, close to the rear end part, of the main body part, the first opening is communicated with the sewage storage container structure, a second opening is formed in the side face, close to the main body part, of the rear end part of the front collision shell, the second opening is communicated with the cleaning cavity, the cleaning robot comprises a flexible pipeline structure, and two ends of the flexible pipeline structure are respectively in butt joint with the first opening and the second opening.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a cleaning robot according to another embodiment of the present invention;
FIG. 3 is a top view of a cleaning robot provided in an embodiment of the present invention;
FIG. 4 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 isbase:Sub>A cross-sectional view taken at an angle A-A of FIG. 3;
FIG. 6 is a cross-sectional view taken along line B-B of FIG. 4;
FIG. 7 is a cross-sectional view at an alternative angle along the line B-B in FIG. 4;
fig. 8 is a sectional view of a cleaning robot according to another embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100. a front impact device;
10. a front impact assembly; 11. a front impact housing; 11a, a front end portion; 11b, a rear end portion; 11c, bottom; 11d, a cavity; 11e, left end; 11f, right end; 11g, a cavity opening; 111. a floating guide structure; 1111. a convex portion; 1112. a recess; 1113. a propping piece; 112. a reset member; 12. a support wheel;
20. a surface cleaning mechanism; 21. a cleaning roller;
200. a main body portion; 300. a collision sensor; 400. a dirt storage container structure; 500. an air exhaust duct; 600. a sewage inlet duct; 700. a flexible conduit structure; 701. a first opening; 702. a second opening.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, 2, 3 and 5, in a first aspect, a front-impact device 100 provided in an embodiment of the present application is configured to be mounted at a front end of a main body of a cleaning robot, and includes a front-impact assembly 10 and a surface cleaning mechanism 20. Here, the front collision module 10 is used to perform a collision detection function by colliding with an obstacle, a wall surface, or the like in the cleaning environment. The surface cleaning mechanism 20 is then used to clean a surface of the floor surface to be cleaned. Meanwhile, the surface cleaning mechanism 20 may be a flat mop, a crawler type cleaning mechanism, a rotating disc type cleaning mechanism, a roller type cleaning roller, etc., according to an actual use scenario.
Specifically, the front impact assembly 10 includes a front impact housing 11. The front striker housing 11 has a front end portion 11a and a rear end portion 11b corresponding to the front end portion 11a, and a bottom portion 11c located between the front end portion 11a and the rear end portion 11 b. The rear end portion 11b of the front impact housing 11 is floatingly coupled to the main body of the cleaning robot. It will be appreciated that the front impact housing 11 is movable relative to the main body of the cleaning robot. In terms of the traveling direction of the cleaning robot, the floating connection can be understood as follows: the front housing can move along the front and back direction of the main body of the cleaning robot; or, the front housing may move in the left and right direction of the main body of the cleaning robot; alternatively, it may also be moved in other orientations of the main body of the cleaning robot, for example, left front, left rear, right front, right rear, and the like. Therefore, here, the floating connection of the rear end portion 11b of the front collision case 11 to the cleaning robot means that the front collision case 11 can satisfy the multi-directional movement with respect to the main body of the cleaning robot, and is not limited to only one orientation.
The surface cleaning mechanism 20 is disposed at the bottom 11c of the front-collision housing 11, the surface cleaning mechanism 20 can be movably disposed back and forth along with the front-collision housing 11, and the surface cleaning mechanism 20 is used for cleaning a surface to be cleaned. Here, the surface cleaning mechanism 20 is combined with the front collision housing 11, so that the whole front collision device 100 has a cleaning function while realizing a collision detection function, and the design of the surface cleaning mechanism 20 with a front-mounted structure is beneficial to reducing the distance between the surface cleaning mechanism 20 and the front edge, the distance between the left edge and the right edge of the cleaning robot, the cleaning effect on the ground area at the corner of the wall and the ground area at the joint of the wall and the ground is better, and the cleaning capability of the cleaning robot on the cleaning dead angle is effectively improved.
It is understood that surface cleaning mechanism 20 may include any one or combination of a glue brush, a hair brush, a glue and hair integrated brush, a lint brush, a disc-type mop, a pad-type mop, and a track-type mop.
According to the front collision device 100, the rear end part 11b of the front collision shell 11 is connected to the main body of the cleaning robot in a floating mode, and the movable connection requirement between the front collision device 100 and the cleaning robot is met. The front end 11a of the front impact housing 11 is used for directly contacting with the external environment to obtain the corresponding impact information. Meanwhile, a surface cleaning mechanism 20 is provided at the bottom 11c of the front impact housing 11, and the surface cleaning mechanism 20 is interlocked with the front impact housing 11, that is, the front impact housing 11 can move back and forth with respect to the main body of the cleaning robot. The front collision device 100 of the application satisfies the collision detection function and is additionally provided with the surface cleaning mechanism 20, namely, the cleaning unit of the cleaning robot is integrally arranged in front, so that the cleaning robot is more beneficial to cleaning the ground area at the corner of the wall and the ground area at the edge of the wall.
The front end portion 11a of the front collision case 11 is an end portion that collides with an obstacle, a wall surface, or the like in a clean environment. Here, the shape and structure of the tip portion 11a are not limited, and can be adjusted according to actual use requirements. For example, the front end portion 11a is a flat plane; or, the front end portion 11a is a partially convex arc-shaped surface; alternatively, the tip end portion 11a may be an end surface that is irregular and has undulations of different heights, or the like.
In order to further improve the cleaning capability of the front-collision device 100 for the corner landing area and the structural area of the wall surface and the ground surface, the surface cleaning mechanism 20 should be mounted to the bottom 11c of the front-collision housing 11 at the position close to the front end 11a to the maximum extent, and here, the projection of the extreme mounting position of the surface cleaning mechanism 20 on the bottom 11c should not exceed the projection of the front end 11a on the bottom 11c, so that the front end 11a of the front-collision housing 11 can always protect the surface cleaning mechanism 20 from being directly impacted by the external force during the cleaning process, thereby affecting the connection stability of the surface cleaning mechanism 20 and the front-collision housing 11.
Referring to fig. 1, 2 and 5, in the present embodiment, the bottom 11c is recessed inward to form a cavity 11d; the surface cleaning mechanism 20 includes a cleaning roller 21, and the inner space of the cavity 11d is adapted to the outer shape of the cleaning roller 21. The cleaning roller 21 is disposed in the cavity 11d and rotatably connected to the front collision case 11, and the distance from the rotation center of the cleaning roller 21 to the outer wall of the front end portion 11a is greater than or equal to the radius of the cleaning roller 21. Here, the outer wall of the front end portion 11a should be defined as a portion which is first in contact with an obstacle or a wall surface in a clean environment. For example, if the front end 11a is a flat front end 11a and the flat front end 11a is perpendicular to the plane of the bottom 11c, the outer circumference of the cleaning roller 21 is tangent to the flat front end 11a when the distance from the center of rotation of the cleaning roller 21 to the outer wall of the front end 11a is equal to the radius of the cleaning roller 21, and the cleaning roller 21 can be protected. Alternatively, the front end portion 11a is the front end portion 11a protruding outward, that is, the front end portion 11a having an inclined or arc shape, and a part of the front end portion 11a is forward-convex, so that, on the premise that the cleaning roller 21 can be prevented from contacting an obstacle or a wall in the cleaning environment, the distance from the rotation center of the cleaning roller 21 to the outer wall of the front end portion 11a should be the distance from the rotation center of the cleaning roller 21 to the outer wall of the most forward-convex of the front end portion 11 a. Alternatively, the front end portion 11a is the front end portion 11a provided with the additional protruding structure, and then, on the premise that the cleaning roller 21 can be prevented from contacting obstacles or walls in the cleaning environment, the distance from the rotation center of the cleaning roller 21 to the outer wall of the front end portion 11a should be the distance from the rotation center of the cleaning roller 21 to the most protruding outer wall of the protruding structure of the front end portion 11 a.
Illustratively, as shown in fig. 2, 4, and 5, the surface cleaning mechanism 20 includes a cleaning roller 21, and the front end portion 11a is a straight front end portion 11a, i.e., a projection of the straight front end portion 11a on the bottom portion 11c is a straight line parallel to a rotation axis center line of the cleaning roller 21. When the distance from the rotation center of the cleaning roller 21 to the outer wall of the leading end portion 11a is equal to the radius of the cleaning roller 21, a concave cavity 11d is formed in the junction of the bottom portion 11c and the leading end portion 11a, and the outer peripheral side of the cleaning roller 21 is tangent to the outer wall of the leading end portion 11 a. At this time, the cleaning roller 21 is at the extreme forward position attached to the front-collision housing 11, and the area where the wall surface and the floor surface are joined together can be deeply cleaned to the maximum extent. When the distance from the rotation center of the cleaning roller 21 to the outer wall of the front end portion 11a is larger than the radius of the cleaning roller 21, a concave cavity 11d is formed at the bottom portion 11c, and at this time, the position of the cleaning roller 21 on the bottom portion 11c can be adjusted according to actual needs.
In addition to the distance between the surface cleaning mechanism 20 and the front end 11a of the front impact housing 11 affecting the cleaning ability of the corner floor area and the wall and floor area, the distance between the edge of the front impact housing 11 and the edge of the surface cleaning mechanism 20, particularly the cleaning roller 21 or the integrated surface cleaning mechanism 20 such as a flat mop, in the extending direction of the surface cleaning mechanism 20 also affects the cleaning ability of the corner floor area and the wall and floor area.
Referring to fig. 1, 2 and 5, in the present embodiment, the front impact housing 11 further has a left end portion 11e and a right end portion 11f opposite to the left end portion 11e, the cavity 11d has a cavity opening 11g penetrating the left end portion 11e or the right end portion 11f, the cavity opening 11g is communicated to the outside, and the cleaning roller 21 is detachably mounted in the cavity 11d through the cavity opening 11 g. It is understood that the center line of rotation of the cleaning roller 21 is perpendicular or substantially perpendicular to the left end portion 11e or the right end portion 11 f. Meanwhile, one end of the cleaning roller 21 is fitted into the cavity 11d through the opening 11g and is flush with the end face of the left end portion 11e or the right end portion 11 f. Here, the cleaning roller 21 and the cavity 11d are detachably connected, and may be: one end of the cleaning roller 21 is provided with a clamping structure which is realized by clamping on the inner wall of the cavity opening 11 g. Alternatively, one end of the cleaning roller 21 is directly attached to the inner wall of the cavity opening 11g by a screw.
Illustratively, as shown in fig. 2 and 4, the cavity 11d has a port 11g penetrating through the left end portion 11e, one end of the cleaning tube is fitted into the cavity 11d through the port 11g, and the other end is blocked off from the port 11g and flush with the end surface of the left end portion 11 e. Thus, when the left end portion 11e of the front collision housing 11 of the cleaning robot runs against the wall surface, the distance from the end portion of the cleaning roller 21 to the wall surface is set smaller, which is more favorable for cleaning the area where the wall surface is combined with the ground. Of course, in other embodiments, the cavity 11d may also penetrate through the right end 11f of the front collision casing 11 to form the cavity 11g, and the cleaning roller 21 with the cavity 11g is installed in the cavity 11d, in this case, one end of the cleaning roller 21 is disposed near the right end 11f of the front collision casing 11, which may also meet the requirement of cleaning when the cleaning roller is attached to a wall.
The front collision housing 11 of the front collision device 100 is floatingly coupled to the main body of the cleaning robot, and thus, there is uncertainty in the relative movement between the front collision housing 11 and the main body of the cleaning robot. In order to allow the front impact housing 11 to move in a certain direction with respect to the main body of the cleaning robot, a floating guide structure 111 is added.
Specifically, referring to fig. 5, in the present embodiment, the front crash shell 11 includes a floating guide structure 111, the floating guide structure 111 includes a protrusion 1111 disposed on the rear end portion 11b, and a recess 1112 adapted to the protrusion 1111 is disposed on the main body of the cleaning robot. It is understood that the moving direction of the front crash case 11 with respect to the main body of the cleaning robot is defined by a process in which the protrusions 1111 and the recesses 1112 are fitted.
Illustratively, as shown in fig. 5, the protrusion 1111 is a bump provided on the rear end portion 11b, and at the same time, the number and the arrangement position of the bumps are defined according to the floating movement requirement of the front crash case 11 and the main body of the cleaning robot. And, the recess 1112 is a groove adapted to the projection, and provides a floating guide for the front crash shell 11 during the process of adapting the projection to the groove. For example, a plurality of bumps are disposed on the rear end portion 11b at intervals along the horizontal direction, and corresponding grooves are also formed at corresponding positions of the main body of the cleaning robot, so that when the bumps enter the corresponding grooves at the same time or nearly at the same time, the front collision housing 11 floats back and forth relative to the main body of the cleaning robot.
Or, the protrusion 1111 is also a rib provided on the rear end portion 11b, and the length of the rib is longer than that of the protrusion, and when the corresponding grooves are matched, the contact area between the protrusion and the groove is larger, so that the movement stability between the front collision housing 11 and the main body of the cleaning robot is higher, and the vibration sense during the floating movement is reduced.
And, the protrusion 1111 is provided with a stopper 1113. That is, when the front impact housing 11 approaches the main body of the cleaning robot, the abutting member 1113 moving along with the protrusion 1111 may abut against a collision switch triggering the cleaning robot, that is, transmit a collision signal to the control unit of the cleaning robot by means of mechanical transmission, thereby adjusting the movement speed, angle, movement track, and the like of the main body.
Of course, the positions of the protrusions 1111 and the recesses 1112 can be adjusted according to actual use requirements, the floating guide structure 111 includes the recesses 1112 provided on the rear end portion 11b, and the protrusions 1111 corresponding to the recesses 1112 are provided on the main body of the cleaning robot. Alternatively, the floating guide 111 includes a recess 1112 and a projection 1111 provided on the rear end portion 11b, and the main body of the cleaning robot is provided with the projection 1111 and the recess 1112 fitted thereto.
In order to satisfy the occurrence of the next collision cycle after the front collision housing 11 and the main body of the cleaning robot relatively move and the collision switch of the cleaning robot is triggered, the front collision housing 11 needs to be released from the contact with the collision switch of the main body after the collision switch is triggered.
Referring to fig. 5, 7 and 8, in the present embodiment, in order to solve the above problem, a reset member 112 is further disposed at a connection between the rear end portion 11b of the front collision housing 11 and the main body of the cleaning robot, and the reset member 112 is used for resetting the front collision housing 11 after collision to an initial position. It is understood that, in an ideal case, the reset member 112 can reset the front impact housing 11 after the collision to the initial position, and in other cases, the reset member 112 can trigger the collision switch for releasing the front impact housing 11 to the cleaning robot.
For example, the reset member 112 may be a spring or an elastic block having elasticity and generating deformation, that is, the front impact housing 11 is reset by a process of deforming by a spring or the like. Here, the initial state of the return member 112 such as a spring should be in an unstressed, extended state.
When the surface cleaning mechanism 20 cleans the surface to be cleaned, the friction between the surface cleaning mechanism 20 and the surface to be cleaned also affects the movement of the leading impact housing 11 relative to the main body of the cleaning robot. Therefore, the reset member 112 can also maintain the distance between the front impact housing 11 and the main body within a certain range, and prevent the front impact housing 11 from mistakenly touching the collision switch of the cleaning robot in a non-collision situation.
In summary, the number and the arrangement position of the reset elements 112 can be adjusted according to the actual use requirement.
For example, a plurality of springs with the same elastic modulus and length are arranged between the rear end part 11b of the front impact shell 11 and the outer wall of the main body, so that the front impact shell 11 can smoothly float relative to the main body when being impacted, and finally a collision switch in the main body is triggered. In this embodiment, the abutting part 1113 is suitable for being disposed in the geometry of each resetting part 112, so that the abutting part 1113 can be driven to trigger the collision switch in the main body regardless of which resetting part 112 is toggled.
Or, for example, to ensure that the front impact housing 11 can transmit impact kinetic energy to the body to trigger the impact switch inside the body, due to uncertainty of impact force and impact position to the front impact housing 11. A plurality of springs having different elastic moduli and the same length may be provided between the rear end portion 11b of the front collision case 11 and the outer wall of the main body. For example, for the front position of the front end portion 11a of the front impact housing 11 that may receive a large impact force, a spring with a large elastic modulus should be disposed at the corresponding rear end portion 11b to resist the impact with a large impact force; for the side position of the front end 11a of the front impact housing 11 which may be subjected to a small impact force, a spring with a small elastic modulus should be arranged at the corresponding rear end 11b to adapt to the impact of the small impact force.
Specifically, in one embodiment, the frictional force between the cleaning roller 21 and the floor surface is smaller than the elastic force of the restoring member 112. Thus, during the cleaning operation, the rotating cleaning roller 21 cannot drive the front impact housing 11 to trigger the impact switch in the cleaning robot, thereby avoiding the occurrence of false touch.
The cleaning roller 21 can be a floor washing roller, in which case the cleaning robot is a floor washing robot, and the contact area between the cleaning roller and the floor to be cleaned is large, so that the friction force between the cleaning roller and the floor to be cleaned is still smaller than the elastic force of the restoring member 112.
Or, the cleaning roller 21 may also be a sweeping roller brush, and at this time, the cleaning robot is a sweeping robot, and a contact surface between the sweeping roller brush and the ground to be cleaned is small, so that a friction force between the sweeping roller brush and the ground to be cleaned is also correspondingly smaller than an elastic force of the resetting part 112.
When the cleaning robot is a floor washing robot, the cleaning roller 21 is a floor washing roller, and is directly contacted with the ground, so that the reset part 112 is easily deformed, and finally the front collision shell 11 moves relative to the main body of the floor washing robot, namely, the collision switch is mistakenly touched.
Therefore, referring to fig. 2, in the present embodiment, in order to solve the above problem, the front crash assembly 10 further includes at least one supporting wheel 12, the at least one supporting wheel 12 is disposed on the bottom portion 11c, and the at least one supporting wheel 12 is used for sharing and supporting the weight of the front crash apparatus 100. Like this, the ground washing roller that makes keeps less area of contact with ground to can reduce the frictional force that the ground washing roller treats clean ground, be convenient for realize the collision detection function of preceding casing 11 that hits.
For example, as shown in fig. 2, two driving wheels are provided at intervals on the floor of the cleaning robot, two supporting wheels 12 are provided at positions corresponding to the bottom 11c of the front collision housing 11 of the front collision assembly 10, and the supporting heights of the supporting wheels 12 may be the same as that of the driving wheels, so as to avoid excessive friction between the surface cleaning mechanism 20 and the floor. Of course, the number of support wheels 12, and the location of the arrangement, may be increased or decreased depending on the actual use requirements.
When the cleaning robot is a sweeping robot, the cleaning roller 21 is a sweeping rolling brush, which directly contacts with the ground, and the formed friction force is small, that is, the influence on the reset member 112 is small, therefore, in this embodiment, the support wheel 12 may be arranged at the bottom 11c of the front collision housing 11, so as to increase the mobility of the sweeping robot.
Referring to fig. 4 to 8, in a second aspect, the cleaning robot according to the embodiment of the present invention includes a main body 200, a collision sensor 300 disposed on the main body 200, and the front-collision device 100, wherein the main body 200 is floatingly connected to the rear end 11b of the front-collision housing 11 of the front-collision device 100, and the front-collision device 100 triggers the collision sensor 300 during collision. Here, the front collision device 100 has dual functions of cleaning and performing collision detection, and meanwhile, the surface cleaning mechanism 20 is disposed in front of the front collision housing 11, and is further accommodated to clean a joint area of the floor and the wall surface, so that the cleaning efficiency is higher.
Specifically, the main body 200 drives the front-collision device 100 to move, the surface cleaning mechanism 20 of the front-collision device 100 moves along with the main body 200 to clean the floor to be cleaned, and meanwhile, if the front-collision housing 11 of the front-collision device 100 collides with an obstacle or a wall surface during cleaning, the front-collision housing moves relative to the main body 200 to trigger the collision sensor 300, and at this time, the main body 200 adjusts the movement speed and the movement angle according to the collision result, so as to avoid the obstacle and perform cleaning again.
For example, when the front collision housing 11 of the front collision device 100 collides with an obstacle located in the middle of the ground to be cleaned, the collision sensor 300 in the main body 200 is triggered, and when the main body 200 receives a signal from the collision sensor 300, the main body 200 drives the front collision device 100 to move back first and then to bypass the obstacle.
For example, when the front impact housing 11 of the front impact device 100 touches the wall surface of the floor to be cleaned, the impact sensor 300 in the main body 200 is triggered, and when the main body 200 receives a signal sent by the impact sensor 300, the main body 200 drives the front impact device 100 to move back first, and then move forward along the original path again, and move back and leave until a secondary impact occurs with the wall surface. Thus, the combination area of the floor and the wall surface can be ensured to be clean. Specifically, after the main body 200 receives the collision signal for the first time, the operation speed can be reduced, and the situation that the combined area of the clean floor and the wall surface is missed due to the too fast collision process is avoided.
The cleaning robot provided by the application is provided with the front collision device 100, so that the combination area of the ground and the wall surface is easier to clean, and the cleaning efficiency is higher.
Referring to fig. 1, 2, 5, 7, and 8, in one embodiment, the front impact housing 11 is recessed at the bottom 11c to form a cleaning cavity, and the surface cleaning mechanism 20 is at least partially received in the cleaning cavity. Here, the shape of the cleaning chamber is determined according to the specific structure of the surface cleaning mechanism 20. Meanwhile, the surface cleaning mechanism 20 is at least partially accommodated in the cleaning cavity, so that the surface cleaning mechanism 20 can be better connected with the front collision shell 11 more stably, and a structural foundation can be provided for subsequently sucking and collecting dust, debris and/or dirty liquid, namely, the cleaning cavity is easy to form negative pressure under the air suction condition.
Illustratively, when the surface cleaning mechanism 20 includes the cleaning roller 21, the cleaning cavity is adapted to the shape of the cleaning roller 21, i.e., the cleaning cavity is a cavity 11d having an opening. Meanwhile, in order to achieve the maximum advancement of the surface cleaning mechanism 20, the opening of the cavity 11d extends to the front end portion 11a of the front impact housing 11, and the junction of the front end portion 11a and the bottom portion 11c is formed as the opening of the cavity 11d. Preferably, the distance from the center of rotation of the cleaning roller 21 to the outer wall of the front end portion 11a of the front collision housing 11 is equal to the radius of the cleaning roller 21. At this time, the outer peripheral wall of the cleaning roller 21 and the outer wall of the front end portion 11a are in a tangential positional relationship, so that the cleaning roller 21 can be protected, the reduction of the connection stability between the cleaning roller 21 and the front collision housing 11 due to the direct collision with the obstacle or the wall surface in the collision process can be avoided, meanwhile, the cleaning roller 21 can be arranged in the front to the maximum extent, the distance between the cleaning roller 21 and the obstacle or the wall surface can be reduced, finally, the ground and the obstacle combining area can be cleaned, and a better cleaning effect can be obtained.
Illustratively, when the surface cleaning mechanism 20 comprises a flat mop, the cleaning chamber is adapted to the contour of the flat mop, i.e. the cleaning chamber is a groove with a gap.
Specifically, referring to fig. 7 and 8, in one embodiment, the cleaning robot includes a dirt storage container structure 400, an air exhaust duct 500, and a dirt intake duct 600. The dirt storage container structure 400 is arranged in the main body portion 200 or the front collision shell 11, an air exhaust device is arranged in the main body portion 200, an air exhaust duct 500 is communicated between the air exhaust device and the dirt storage container structure 400, a dirt inlet duct 600 is communicated between the dirt storage container structure 400 and a cleaning cavity, and the dirt inlet duct 600 is used for guiding dust chips and/or dirt liquid into the dirt storage container structure 400 under the negative pressure effect of the air exhaust device. Here, the dirt storage container structure 400 may be different for cleaning robots of different cleaning modes, for example, the dirt storage container structure 400 is a sewage tank for a cleaning robot. For the sweeping robot, the dirt storage container structure 400 is a dust box. After the air extractor is started, negative pressure is formed in the air exhaust duct 500 and the dirt inlet duct 600, and further, the cleaning cavity communicated with the dirt inlet duct 600 also forms negative pressure, so that when the cleaning robot works, dust, debris and/or dirt liquid on the ground to be cleaned firstly enter the cleaning cavity and then collide with the shell 11, and then are gathered in the dirt storage container structure 400.
Meanwhile, the arrangement position of the dirt storage container structure 400 can be selected. The dirt storage container structure 400 may be provided in the main body 200 to utilize a large space in the main body 200, thereby obtaining a dirt storage container structure 400 having a large volume. Furthermore, the main body 200 can provide better structural support for dust, debris and/or dirt liquid in the dirt storage container structure 400, and finally provides a cleaning robot with more smooth operation and larger dirt storage capacity at one time. Of course, the dirt storage container structure 400 may also be disposed in the front impact housing 11 of the front impact device 100, and it will be appreciated that by placing the dirt storage receptacle structure in front, the length of the dirt intake duct 600 may be shortened to increase the suction force of the dirt and debris and/or the dirt liquid into the dirt storage receptacle structure.
Since the main body 200 is connected to the front collision housing 11 of the front collision device 100 in a floating manner, the joint between the main body 200 and the front collision housing 11 frequently shifts when the front collision housing 11 is collided.
Referring to fig. 7 and 8, in the present embodiment, in order to avoid that the rigid connection between the main body 200 and the front impact housing 11 affects the transmission of collision kinetic energy from the front impact housing 11 to the main body 200, the cleaning robot includes a flexible duct structure 700, the flexible duct structure 700 is connected between the main body 200 and the rear end 11b of the front impact housing 11, and the flexible duct structure 700 forms a part of the air exhaust duct 500 or a part of the dirt intake duct 600. It is understood that the flexible pipe structure 700 can be deformed when the front impact housing 11 is impacted, so as to transmit the impact kinetic energy. Also, when the dirt storage container structure 400 is located within the main body portion 200, the flexible duct structure 700 partially overlaps the dirt intake duct 600. When the dirt storage container structure 400 is located in the front collision housing 11, the flexible pipe structure 700 is partially overlapped with the air exhaust duct 500.
Illustratively, when the floating movement between the front impact housing 11 and the main body 200 is a back-and-forth movement in the movement direction of the cleaning robot, the flexible pipe structure 700 is a bellows, and the deformation expansion and contraction direction of the bellows coincides with the floating movement direction between the front impact housing 11 and the main body 200. Of course, according to the actual use requirement, the deformation direction of the flexible pipe structure 700 can be adjusted to meet the requirement of multi-angle floating movement between the front impact shell 11 and the main body 200.
Specifically, as shown in fig. 8, in the present embodiment, the main body 200 is provided with the dirt storage container structure 400, the main body 200 is provided with a first opening 701 at a side surface close to the rear end portion 11b, the first opening 701 is communicated with the dirt storage container structure 400, the rear end portion 11b is provided with a second opening 702 at a side surface close to the main body 200, the second opening 702 is communicated with the cleaning cavity, the cleaning robot includes a flexible pipeline structure 700, and two ends of the flexible pipeline structure 700 are respectively abutted against the first opening 701 and the second opening 702. It will be appreciated that dust debris and/or dirt liquid enters the cleaning chamber and then enters the dirt intake duct 600, under the action of the negative pressure, enters the flexible duct structure 700 through the second opening 702 and then enters the dirt storage container structure 400 through the first opening 701.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A front-collision device for mounting at a front end of a main body of a cleaning robot, comprising:
the front collision assembly comprises a front collision shell, the front collision shell is provided with a front end part, a rear end part corresponding to the front end part and a bottom part positioned between the front end part and the rear end part, and the rear end part of the front collision shell is connected to the main body of the cleaning robot in a floating mode;
the surface cleaning mechanism is arranged at the bottom of the front collision shell, can be movably arranged back and forth along with the front collision shell, and is used for cleaning the surface to be cleaned.
2. The front-end collision device according to claim 1, wherein: the bottom is inwards sunken to form a concave cavity; the surface cleaning mechanism comprises a cleaning roller, the cleaning roller is arranged in the concave cavity and is rotationally connected with the front collision shell, and the distance from the rotating center of the cleaning roller to the outer wall of the front end part is larger than or equal to the radius of the cleaning roller.
3. The front impact device according to claim 2, wherein: the front collision shell is further provided with a left end portion and a right end portion opposite to the left end portion, the concave cavity is provided with a cavity opening penetrating through the left end portion or the right end portion, the cavity opening is communicated to the outside, and the cleaning roller is detachably mounted in the concave cavity through the cavity opening.
4. The front impact device according to claim 1, wherein: the front collision shell comprises a floating guide structure, the floating guide structure comprises a convex part arranged on the rear end part, and a concave part matched with the convex part is arranged on the main body of the cleaning robot;
and the convex part is provided with a propping part used for propping and triggering a collision switch of the cleaning robot.
5. The front-end collision device according to claim 1, wherein: the cleaning robot is characterized in that a reset piece is further arranged at the joint of the rear end part of the front collision shell and the main body of the cleaning robot, and the reset piece is used for resetting the front collision shell after collision to an initial position.
6. The front-end collision device according to claim 5, wherein: the cleaning roller is a floor washing roller or a floor sweeping roller brush; the friction force between the cleaning roller and the ground is smaller than the elastic force of the resetting piece.
7. The front impact device according to any one of claims 1 to 6, characterized in that: the front collision assembly further comprises at least one supporting wheel, the at least one supporting wheel is arranged on the bottom, and the at least one supporting wheel is used for sharing and supporting the weight of the front collision device.
8. The utility model provides a cleaning robot, includes the main part and locates the collision sensor of main part, its characterized in that: the front-impact device of any one of claims 1 to 7, further comprising a main body portion floatingly connected to a rear end portion of the front-impact housing of the front-impact device, and wherein the front-impact device triggers the impact sensor during an impact.
9. The cleaning robot of claim 8, wherein: the front collision shell is concavely provided with a cleaning cavity at the bottom, and at least part of the surface cleaning mechanism is contained in the cleaning cavity.
10. The cleaning robot of claim 9, wherein: the cleaning robot comprises a dirt storage container structure, an air exhaust duct and a dirt inlet duct, wherein the dirt storage container structure is arranged in the main body part or the front collision shell, an air exhaust device is arranged in the main body part, the air exhaust duct is communicated with the air exhaust device and the dirt storage container structure, the dirt inlet duct is communicated with the dirt storage container structure and the cleaning cavity, and the dirt inlet duct is used for guiding dust chips and/or dirt liquid into the dirt storage container structure under the negative pressure action of the air exhaust device.
11. The cleaning robot of claim 10, comprising a flexible duct structure connected between the main body portion and a rear end portion of the front impact housing, the flexible duct structure forming a portion of the suction air duct or a portion of the dirt intake duct.
12. The cleaning robot of claim 9, wherein: the cleaning robot comprises a cleaning cavity, a main body part is arranged on the cleaning cavity, a dirt storage container structure is arranged on the main body part, a first opening is formed in the side face, close to the rear end, of the main body part, the first opening is communicated with the dirt storage container structure, a second opening is formed in the side face, close to the main body part, of the rear end, close to the front collision shell, of the front collision shell, the second opening is communicated with the cleaning cavity, the cleaning robot comprises a flexible pipeline structure, and the two ends of the flexible pipeline structure are in butt joint with the first opening and the second opening respectively.
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| CN202210760069.9A CN115227148B (en) | 2022-06-30 | 2022-06-30 | Front collision device and cleaning robot |
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| CN202210760069.9A CN115227148B (en) | 2022-06-30 | 2022-06-30 | Front collision device and cleaning robot |
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| CN115227148B (en) | 2023-11-14 |
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