CN117562456A

CN117562456A - Self-moving cleaning machine

Info

Publication number: CN117562456A
Application number: CN202210945808.1A
Authority: CN
Inventors: 林嘉庆; 赵志谋
Original assignee: Hobot Technology Inc
Current assignee: Hobot Technology Inc
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2024-02-20
Also published as: EP4321077A1; US20240041287A1

Abstract

The invention discloses a self-moving cleaning machine, which comprises: base, walking module, lifting module, cleaning device and reciprocating device. The walking module is adjacent to the base and is configured to cause the self-moving cleaning machine to contact a floor as it moves over the floor. The lifting module comprises a lifting base, wherein the lifting base is arranged below the base and is configured to move up and down relative to the base so as to enable the lifting base to be close to or far away from the base. The cleaning device is configured to cause the self-moving cleaning machine to contact the floor in a wiping mode of cleaning the floor. And the reciprocating device is connected with the cleaning device. At least a portion of the reciprocating device is configured to be coupled to the lift base of the lift module such that at least a portion of the reciprocating device moves up and down as the lift base moves up and down. And, the reciprocating device is configured to reciprocate the cleaning device with respect to the elevating base in the wiping mode, thereby wiping the floor reciprocally.

Description

Self-moving cleaning machine

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a self-moving cleaning machine.

Background

The sweeping robot is widely applied to families because of the functions of automatic sweeping, dust collection and the like, but most of the current sweeping robots fix a wiping cloth at the bottom of the sweeping robot and wipe floors by utilizing the movement of the robot. Some sweeping robots, such as the chinese patent application publication No. CN112842174a, are additionally provided with a lifting module to adapt to the topography or material of the floor, so that the wiper can be lifted to match with the topography or material of various floors.

In addition, there are other floor sweeping robots, for example, chinese patent publication No. CN107510417B, which is provided with a reciprocating device for cleaning floor by reciprocating a wiper back and forth to increase the cleaning function of mopping floor. Such a device can enhance the cleaning effect, but cannot be adapted to the floor topography, the material, etc. to raise the wiping cloth.

Disclosure of Invention

The embodiment of the invention aims to provide a self-moving cleaning machine which is provided with a reciprocating device, so that a wiping cloth can reciprocate to wipe a floor, and meanwhile, a lifting module can lift the wiping cloth to adapt to the change of the floor, so that the technical problem that the existing floor sweeping robot cannot adapt to the topography or the material of the floor while reciprocating is solved.

A self-moving cleaning machine comprising: base, walking module, lifting module, cleaning device and reciprocating device. A walking module is adjacent to the base and configured to cause the self-moving cleaning machine to contact a floor as it moves over the floor. The lifting module comprises a lifting base, wherein the lifting base is arranged below the base and is configured to move up and down relative to the base so as to enable the lifting base to be close to or far away from the base. Cleaning means configured to cause the self-moving cleaning machine to contact the floor when in a wiping mode for cleaning the floor. And the reciprocating device is connected with the cleaning device. At least a portion of the reciprocating device is configured to be coupled to the lift base of the lift module such that the at least a portion of the reciprocating device moves up and down as the lift base moves up and down. And, the reciprocating means is configured to reciprocate the cleaning means with respect to the elevation base in the wiping mode, thereby wiping the floor reciprocally.

The invention has the following beneficial effects:

according to one embodiment of the invention, the self-moving cleaning machine is provided with a reciprocating device which enables the wiping cloth to reciprocate to wipe the floor, and a lifting module which enables the wiping cloth to be lifted to adapt to the change of the floor.

Drawings

Fig. 1 shows a perspective view of a self-moving cleaning machine according to an embodiment of the present invention.

Fig. 2 shows a bottom view of the self-moving cleaning machine according to an embodiment of the present invention.

Fig. 3 shows an exploded view of the self-moving cleaning machine according to an embodiment of the present invention.

Fig. 4 shows an exploded view of a portion of a self-moving cleaning machine according to an embodiment of the present invention.

Fig. 5 is a perspective view showing an assembled lifting module and a cleaning device according to an embodiment of the invention.

Fig. 6 shows an exploded view of a portion of a self-moving cleaning machine according to an embodiment of the present invention.

Symbol description:

b: a direction of movement; f: a direction of movement;

100: a self-moving cleaning machine; 102: a housing cover; 106: an operation panel; 112: a housing; 114: a base; 115: a receiving opening; 120: a bumper; 121: a cleaning device for dust collection; 122: a first suction port portion; 123: a first suction port; 124: a second suction port portion; 125: a second suction port; 128: an opening; 129: an opening; 130: a walking module; 132: a front wheel; 140: a rolling brush device; 150: a side brush device; 160: a water spraying module; 170: a battery module; 172: a battery cover; 180: an air extraction module; 190: a circuit board;

200: a dust box; 227: a rolling brush cover;

300: lifting the module; 301: lifting the base; 302: an opening; 310: a crank axle seat; 320: a crank device; 322: a crank shaft; 324: a force applying arm; 326: a tooth portion; 330: an abutting portion; 340: a motor upper cover for wiping; 350: a driving device; 352: a gear; 354: a motor; 355: driving the upper cover; 361: a first rocker; 362: a second rocker; 363: a third rocker; 364: a fourth rocker; 367: a first mounting tab; 368: a second mounting plate; 369: a connecting rod; 370: an elastic component;

400: a reciprocating device; 410: a motor for wiping; 420: a crank shaft for wiping; 430: a crank arm for wiping;

500: a cleaning device; 510: cleaning a cloth seat; 511: a roller mounting seat; 512: a mounting column; 513: a crank arm mount; 520: a cleaning cloth; 561: a slide block; 562: a guide groove; 563: a roller; 564: and (3) a bearing.

Detailed Description

Fig. 1 shows a perspective view of a self-moving cleaning machine according to an embodiment of the present invention. Fig. 2 shows a bottom view of the self-moving cleaning machine according to an embodiment of the present invention. Fig. 3 shows a perspective exploded view of a self-moving cleaning machine according to an embodiment of the present invention. Fig. 4 shows an exploded view of a portion of a self-moving cleaning machine according to an embodiment of the present invention. The principle of operation of the self-moving cleaning machine 100 of the present disclosure can be more easily understood by the following description in conjunction with the above-described drawings.

The self-moving cleaning machine includes a base 114, a traveling module 130, a lifting module 300, a cleaning device 500, and a reciprocating device 400. The reciprocating device 400 is connected to the cleaning device 500. At least a portion of the reciprocating device 400 is configured to be connected to the elevation base 301 of the elevation module 300 such that at least a portion of the reciprocating device 400 moves up and down as the elevation base 301 moves up and down, and the reciprocating device 400 is configured to reciprocate the cleaning device 500 with respect to the elevation base 301 in a wiping mode, thereby wiping a floor reciprocally.

In one embodiment, the reciprocating device 400 includes a wiping motor 410, a wiping crankshaft 420, and a wiping crank arm 430. The wiping crankshaft 420 is driven to rotate by the wiping motor 410. A first end of the crank arm 430 for wiping is connected to the crank shaft 420 for wiping, and a second end of the crank arm 430 for wiping is connected to the cleaning device 500 and reciprocates with the rotation of the crank shaft 420 for wiping. In one embodiment, the wiping motor 410, the wiping crank shaft 420, and the wiping crank arm 430 of the reciprocating device 400 move up and down with the up and down movement of the lifting base 301.

In one embodiment, referring to FIG. 1, the self-moving cleaning machine 100 further preferably includes a bumper 120, a housing 112, and a housing cover 102. As shown in FIG. 1, in some embodiments, the self-moving cleaning machine 100 further includes an operating panel 106 that provides for user selection of an operating mode in a touch or press manner. The self-moving cleaning machine 100 is free to travel in different directions over the floor to be cleaned, and for convenience of description, the self-moving cleaning machine 100 herein has a forward moving direction F and a forward moving direction B. The bumper 120 faces the forward moving direction F, which is the front side of the self-moving cleaning machine 100, has a straight shape, and the housing 112 faces the backward moving direction B, which is the rear side of the self-moving cleaning machine 100, has a circular arc shape. However, the present invention is not limited to the shapes of the bumper 120 and the housing 112.

Referring to fig. 2 and 3, the self-moving cleaning machine 100 further includes various components, such as: cleaning device 121 for dust collection, traveling module 130, front wheel 132, side brush device 150, and water spraying module 160. The cleaning device 121 for suction is used to clean the floor. The aforementioned components are attached to the base 114 and extend outwardly or are exposed from the underside of the base 114. For ease of description herein, the base 114 has an upper side and a lower side, which are referred to as reference points with respect to the orientation of the self-moving cleaning machine 100 when it is being placed on a floor to be cleaned. Wherein the upper side refers to the side facing away from the floor to be cleaned, and the lower side refers to the side facing towards the floor to be cleaned. In one embodiment, the self-moving cleaning machine 100 further includes a battery module 170 attached to the base 114. In the present embodiment, the cleaning device 121 for dust collection may include, for example, a first suction port 122, a second suction port 124, and a roller brush device 140. However, the cleaning device 121 for suction is not limited to the present invention, and may include only one suction port 122, or may include only the second suction port 124 and the rolling brush device 140, and the rolling brush device 140 is provided in the suction port 125 of the second suction port 124.

The traveling modules 130 are adjacent to the base 114, are located at opposite sides of the base 114, are exposed outward through the lower side of the base 114, and are located at the middle region of the self-moving cleaning machine 100 to contact the floor to be cleaned while moving over the floor. The walking module 130 may include a pair of walking components and a driving device, wherein the walking components may be moving parts such as track wheels and rollers, and the driving device may be a combination of a motor, gears and other transmission devices. The traveling assembly is driven by the driving device to advance, retreat or turn the self-moving cleaning machine 100 on the floor to be cleaned. In the illustrated embodiment, each of the travel assemblies of the travel module 130 is formed of a track wheel that includes a track and two drive wheels for driving the track.

The front wheel 132 is located in a front area of the self-moving cleaning machine 100 and is located closer to the front side of the self-moving cleaning machine 100 than the traveling module 130. In some embodiments, the front wheel 132 acts as an auxiliary wheel for the traveling module 130, and helps to maintain balance between traveling when the traveling module 130 drives the self-moving cleaning machine 100, and thus may not have the ability to drive the self-moving cleaning machine 100. Referring to FIG. 3, the self-moving cleaning machine 100 further includes a dust box 200 and an air extraction module 180 positioned in the housing 112 above the base 114. The air extraction module 180 communicates with the first suction port 122 and the second suction port 124 through the dust box 200. In one embodiment, the pumping module 180 includes a pump (pump). In operation, the air in the first suction port 122 and the second suction port 124 is sucked out by the air suction module 180, and negative pressure is formed in the first suction port 122 and the second suction port 124, thereby generating suction force.

In one embodiment, the water spraying module 160 is disposed on the base 114, and can be used to spray clean water or other cleaning liquid to wet the floor to be cleaned, so that dirt adhered to the floor can be removed more easily, thereby improving the cleaning effect of the self-moving cleaning machine 100. In one embodiment, the self-moving cleaning machine 100 includes a water supply module that may be comprised of a water tank through which water or cleaning liquid is delivered to the water spray module 160, a pump for pressurizing the clean water or cleaning liquid in the water supply pipe, and a water supply pipe. In one embodiment, the nozzle position of the water spray module 160 extends from the underside of the base 114 toward the floor to be cleaned. In an embodiment, the water spraying module 160 includes a water outlet, such as a nozzle, and the water outlet direction of the water spraying module 160 can be controlled by adjusting the water outlet direction to spray water or cleaning liquid from two sides of the base 114 to the middle area of the base 114, so that the cleaning water or cleaning liquid can be more effectively utilized by the cleaning cloth.

The base 114 is provided with a first suction portion 122. In an embodiment, the first suction portion 122 is formed by a frame formed by the base 114 and a plurality of side walls to form a first dust suction channel, and the first dust suction channel extends from a lower side of the base 114 to an upper side of the base 114. The first dust suction passage includes a first suction port 123 provided at a lower side of the base 114. The first suction port 122 has a first suction port 123 on the lower side of the base 114. The first suction path of the first suction port 123 has a larger area on the floor of the lower side and then has a tapered shape when extending to the upper side of the base 114, and may absorb a larger range of dust or garbage through the lower side. In one embodiment, the first suction port 122 sucks dust or dirt from the floor into the dust box 200 from the first suction port 123 by the negative pressure provided by the suction module 180. In one embodiment, the first suction port 122 or the first suction port 123 is not provided with any brush or brush for cleaning, so that when the sucked garbage is elongated, such as hair, string or pet hair, such garbage is not caught in the first dust suction passage or the first suction port 123, and thus more maintenance time for the self-moving cleaner 100 can be saved without cleaning the first suction port 122 at regular time. The base 114 is further provided with a second suction portion 124. In one embodiment, the second suction portion 124 is formed by a frame formed by the base 114 and a plurality of sidewalls to form a second dust collection channel. The second dust suction passage includes a second suction port 125 provided at a lower side of the base 114 and adjacent to the first suction port 123. In one embodiment, the distance between the second suction port 125 and the first suction port 123 is within 30 mm.

In one embodiment, the rolling brush device 140 is disposed on the base 114, surrounded by the second suction portion 124 and exposed from the lower side of the base 114. In one embodiment, the second suction portion 124 includes a roller brush cover 227 disposed on the underside of the base 114. The roll brush cover 227 may have a ring shape with the second suction port 125 exposed therethrough. The roller brush cover 227 is of an openable and closable design, and when opened, the roller brush device 140 can be taken out from the lower side of the base 114, and when closed, the roller brush device 140 is locked in the second suction port 125 on the base 114 by the roller brush cover 227, so that the roller brush device 140 can stably rotate without shaking during cleaning operation.

Referring to fig. 2, the rolling brush device 140 includes a rolling brush shaft and a rolling brush provided on the rolling brush shaft. In one embodiment, the rolling brush shaft is rod-shaped, and the two sides of the rod are provided with holding ends which are detachably clamped on the base 114. The roller brush shaft may be connected to a drive means, such as a motor, via a holding end and rotated by the drive means. In one embodiment, the roll brush is made of a flexible material and has the shape of a brush sheet or bristles. The rolling brush is attached to the rolling brush shaft and extends radially outwards around the rolling brush shaft. Therefore, the rolling brush scrapes dust or dirt on the ground with a rotational force while rotating.

In one embodiment, the second suction port 124 sucks dust or dirt on the floor from the second suction port 125 by the negative pressure provided by the suction module 180. In an embodiment, since the second suction port 124 is provided with the rolling brush device 140 in the second suction port 125, when the floor to be cleaned has sticky dust or heavy garbage, the sticky dust or heavy garbage can be removed by the vacuum suction of the air suction module 180 and the rotational moment of the rolling brush device 140 at the same time, and the garbage which cannot be completely removed by the first suction port 122 can be sucked by the second suction port 124, so as to improve the cleaning effect of the self-moving cleaner 100.

Referring to fig. 2, the side brush device 150 is provided on the lower side of the base 114. The side brush device 150 may be disposed near any corner of the self-moving cleaning machine 100 near the front side thereof, for example, the side brush device 150 may be disposed between the front side of the self-moving cleaning machine 100 and the first suction portion 122 near the side of the self-moving cleaning machine 100 or the base 114. By the movement of the self-moving cleaning machine 100 in conjunction with the sweeping action of the side brush device 150, dust or dirt on the floor surface can be pushed by the side brush device 150 closer to the first suction port 123 or the second suction port 125, and can be sucked into the first suction port 123 or the second suction port 125 more easily.

Referring to fig. 1 to 3, in one embodiment, the self-moving cleaning machine 100 includes a battery module 170, and the base 114 is further provided with a battery cover 172 located at a lower side of the base 114. The battery module 170 is mounted on the base, and the battery cover 172 is used to lock the battery module 170 in the base 114, and the battery module 170 can be replaced by opening the battery cover 172.

In one embodiment, the sidewall of the first suction port 122 extends from the first suction port 123 to the upper side of the base 114, and an opening 128 is formed adjacent to the second suction port 124. The opening 128 and the first suction port 123 are located on the upper side of the base 114 and the lower side of the base 114, respectively, and serve as two openings of the first suction port 122. In one embodiment, the sidewall of the second suction part 124 forms an accommodating space at the upper side of the base 114 to accommodate the rolling brush device 140. In an embodiment, the accommodating space has a cylindrical shape, however, the present invention is not limited to the shape of the accommodating space of the second suction portion 124, and other shapes are also within the scope of the embodiments of the present invention. The side wall of the second suction portion 124 forms an opening 129 at the side above the accommodating space. As can be seen in fig. 2, the opening 129 and the second suction port 125 are located at the upper side and the lower side of the base 114, respectively, and serve as two openings of the second suction port 124, wherein the rolling brush device 140 is disposed in the second suction port 125 and between the second suction port 125 and the opening 129.

In one embodiment, as shown in fig. 3 and 4, the self-moving cleaning machine 100 includes a lifting module 300, a part of the lifting module 300 is disposed on the base 114, and a lifting base 301 of the lifting module 300 is disposed under the base 114. The lifting module 300 is connected to the base 114 and the cleaning device 500, and can drive the cleaning device 500 to move up and down relative to the base 114, so that the cleaning device 500 approaches or moves away from the surface to be cleaned. In one embodiment, the cleaning device 500 includes a cleaning cloth holder 510 and a cleaning cloth 520. The cleaning cloth holder 510 is disposed under the elevating base 301. The cleaning cloth 520 is disposed on the bottom surface of the cleaning cloth holder 510 to contact the floor.

In one embodiment, the cleaning cloth holder 510 approaches the surface to be cleaned in a direction perpendicular to the surface to be cleaned, so that the cleaning cloth 520 can be completely abutted against the surface to be cleaned. In one embodiment, the cleaning cloth holder 510 is lifted from the surface to be cleaned in a direction perpendicular to the surface to be cleaned at a distance from the floor so that the cleaning cloth 520 can thus be completely separated from the surface to be cleaned.

The above-described design of the up-and-down movable cleaning device 500 or the cleaning cloth holder 510 has many advantages. When the self-moving cleaning machine 100 needs to cross an obstacle (e.g., a threshold), the cleaning device 500 can be lifted up to increase the space on the lower side of the base 114, and the self-moving cleaning machine 100 can more easily cross the obstacle. In one embodiment, when the self-moving cleaning machine 100 completes cleaning, the cleaning cloth 520 may be stained with dirt. Accordingly, lifting the cleaning device 500 can prevent secondary pollution from occurring when the self-moving cleaning machine 100 passes through the area where cleaning has been completed. In another embodiment, the self-moving cleaning machine 100 may travel over floors of different nature, some of which may be unsuitable for cleaning in wet mode, such as carpeting. In this case, the self-moving cleaning machine 100 is provided with a floor detector (not shown) for detecting a floor property. In the event that it is detected that the floor surface is not suitable for cleaning in the wet mode, the self-moving cleaning machine 100 may raise the cleaning apparatus 500 so as not to wet the floor surface. In one embodiment, the brush current or the load torque of the brush may be used to determine whether to lift the cleaning device 500. In one embodiment, the ground detector may be a floor material sensor, which may be a sonic sensor, a light sensor, a polarized light sensor, and determine the floor material by using signals of sound, light or polarized light. In one embodiment, the self-moving cleaning machine 100 may confirm that it is returned to the charging stand when it senses a charging signal, and raise the cleaning device 500 to avoid wetting the floor.

Fig. 5 shows a perspective view of the lifting module 300 and the cleaning device 500 after assembly according to an embodiment of the invention. Fig. 6 shows an exploded view of a portion of a self-moving cleaning machine according to an embodiment of the present invention.

Referring to fig. 3 to 5, in one embodiment, the lifting module 300 includes at least one rocker (rocker) having a first end rotatably connected to the base 114 and a second end rotatably connected to the lifting base 301, and at least one rocker capable of swinging within a predetermined angle about its first end or its second end.

Referring to fig. 6, the lifting module 300 includes a crank device 320, an abutment 330, and a driving device 350. In one embodiment, the lifting module 300 further includes a wiping motor cover 340, and the abutting portion 330 is disposed on the wiping motor cover 340. The abutment 330 straddles a portion of the crank device 320 and connects the lifting base 301. The driving device 350 is disposed on the base 114 and is used for driving the crank device 320 to rotate. The lifting module 300 is configured to force a portion of the crank device 320 (e.g., the end of a force applying arm 324 described below) against the abutment 330 by rotation of the crank device 320, and more specifically, to force the portion of the crank device 320 (e.g., the end of the force applying arm 324 described below) against the abutment 330, and thereby force the abutment 330, thereby lifting the lifting base 301 to bring the lifting base 301 closer to the base 114.

In one embodiment, the driving device 350 preferably includes a gear 352 and a motor 354. The crank device 320 has a crank shaft 322, a force applying arm 324 and a tooth 326, wherein the base 114 has side walls to form the crank shaft seat 310, and the crank device 320 rotates against the crank shaft seat 310, so that the end of the force applying arm 324 is raised or lowered relative to the base 114 (or the crank shaft seat 310 thereof). In one embodiment, the crank axle seat 310 forms a receiving space for receiving the crank axle 322. Crank axle seat 310 may be a protrusion from base 114. In one embodiment, the self-moving cleaning machine 100 further comprises a drive top cover 355. The driving upper cover 355 is fixed to the base 114, and a receiving space is defined between the driving upper cover 355 and the base 114 for receiving the gear 352 and the motor 354.

Referring to fig. 6, in one embodiment, the positions of the abutment portions 330 correspond to the positions of the apply arms 324 of the crank device 320, respectively, such that at least a portion of the abutment portions 330 straddle the apply arms 324 of the crank device 320. Crank shaft 322 is disposed on crank shaft seat 310 on base 114. The force applying arm 324 is connected to the crank shaft 322, and preferably the force applying arm 324 extends from one side end of the crank shaft 322, and more preferably the force applying arm 324 extends in a direction perpendicular to the long axis direction of the crank shaft 322, and the abutting portion 330 spans over the end of the force applying arm 324. Tooth 326 and apply arm 324 are located at different positions of crankshaft 322, respectively. The teeth 326 are provided on the crank axle 322 (preferably on a long shaft portion of the crank axle 322) and are coupled to the driving device 350, so that the driving device 350 drives the teeth 326 to rotate in a clockwise or counterclockwise direction. In one embodiment, the motor 354 of the driving device 350 is controlled according to the control current to output a rotation torque to drive the gear 352, and the tooth 326 of the crank device 320 is meshed with the gear 352 to rotate. The motor 354 can output a clockwise or counterclockwise moment according to different directions of the control current, so that the motor 354 drives the gear 352 and the tooth 326 to rotate clockwise or counterclockwise, and the end of the force applying arm 324 of the crank device 320 is lifted or lowered. That is, the tip of the force application arm 324 is moved downward or upward, and in one embodiment, the tip of the force application arm 324 is moved upward to raise the lifting base 301, and when the tip of the force application arm 324 is moved downward to apply downward pressure to the lifting base 301, so that the cleaning device 500 is subjected to downward pressure to wipe the floor more forcefully.

When the end of the applying arm 324 is lifted, the end of the applying arm 324 abuts against the abutting portion 330, and applies a force to the abutting portion 330, so that the abutting portion 330 is lifted accordingly, and the lifting base 301 and the cleaning cloth holder 510 are lifted accordingly, so that the cleaning cloth 520 is separated from the surface to be cleaned. Conversely, when the end of the applying arm 324 is lowered, the abutting portion 330 is lowered, so that the lifting base 301 and the cleaning cloth holder 510 are lowered, and the cleaning cloth 520 is attached to the surface to be cleaned. Preferably, the tip of the biasing arm 324 moves back and forth in the extending direction of the abutment 330 in addition to moving up and down.

In one embodiment, the teeth 326 of the crank axle 322 define an up-and-down point, thereby determining the up-and-down range of the lift base 301 and the cleaning device 500. Preferably, the teeth 326 are formed with a plurality of continuous teeth, and both ends of the teeth form an upper start point and a lower start point, respectively. In one embodiment, by setting the number of teeth of the tooth portion 326, both ends of the successive teeth correspond to the upper and lower starting points, and when the tooth portion 326 rotates to both ends, it is impossible to advance or retract any more, thereby stopping the rotation of the crank shaft 322. In one embodiment, the lift module 300 detects an increase in the output current of the motor 352, thereby determining whether the tooth 326 of the crankshaft 322 reaches an upper or lower point, thereby stopping or reducing the supply current to protect the normal operation of the lift module 300.

In one embodiment, teeth 326 extend from crankshaft 322 in a first direction and apply arm 324 extends from crankshaft 322 in a second direction, with the first direction being non-parallel to the second direction. Preferably, the crank axle 322 rotates against the crank axle seat 310. In one embodiment, the self-moving cleaning machine 100 further includes a circuit board 190 having a controller thereon configured to cause the following steps to be sequentially performed as the self-moving cleaning machine 100 moves over the surface: the cleaning device 500 sucks dust from the first suction port 122, sucks dust from the second suction port 124, sprays water from the water spray module 160, and wipes the dust with the cleaning cloth 520.

Referring to fig. 3 to 5, in one embodiment, at least one rocker of the lifting module 300 includes a first rocker 361 and a second rocker 362. The first rocker 361 and the second rocker 362 are respectively located at opposite sides of the extension direction of the crank arm 430 for wiping of the reciprocating device 400. In this embodiment, the first rocker 361 and the second rocker 362 are connected together by a connecting rod 369, so that the respective forces of the first rocker 361 and the second rocker 362 can be transferred between each other, and the forces on the left and right sides when the lifting base 301 is lifted can be balanced. In one embodiment, the lifting module 300 may further include a third rocker 363 and a fourth rocker 364. The third rocker 363 and the fourth rocker 364 are respectively located at opposite sides of the extension direction of the crank arm for wiping of the reciprocating device. In one embodiment, the rocker 361, the rocker 362, the rocker 363 and the rocker 364 can swing within a predetermined angle with their respective first or second ends as axes, and preferably the rocker 361, the rocker 362, the rocker 363 and the rocker 364 also form a four-bar module, which can lift the cleaning cloth holder 510 more horizontally when lifting the lifting base 301, so that the cleaning cloth holder 510 is less inclined for moving the lifting base 301 up and down more parallel.

The second ends of the rockers 361, 362, 363, and 364 are respectively connected to the upper surface of the lift base 301, and the lifting motor (or the position where the end of the force arm 324 applies force to the abutment 330) is located within the range defined by the rockers 361, 362, 363, and 364, as shown in fig. 4 and 5, the second ends of the rockers 361, 362, 363, and 364 form a quadrilateral region, and the lifting motor is located in the quadrilateral region. According to this structure, the center of gravity of the lifting module 300 can be located within the range defined by the rockers 361, 362, 363 and 364, so that the lifting base 301 can move up and down more parallel.

In one embodiment, the self-moving cleaning machine 100 further comprises a plurality of first mounting tabs 367 and a plurality of second mounting tabs 368. The first mounting plate 367 is fixed to the base 114 for mounting the first ends of the rockers 361, 362, 363, and 364 to the base 114. The second mounting plate 368 is fixed to the lifting base 301 for mounting the second ends of the rockers 361, 362, 363, and 364 to the lifting base 301.

Referring to fig. 4, in one embodiment, a wiping motor 410 is provided above the elevation base 301. The wiping motor 410 is covered with the wiping motor cover 340, and the wiping motor cover 340 is fixed to the lifting base 301, and a space is defined between the wiping motor cover 340 and the lifting base 301 for accommodating the wiping crank shaft 420 and the wiping motor 410. In one embodiment, the lifting base 301 is provided with a sidewall to form a motor mount 341, and the wiping motor 410 is provided on the motor mount 341. The lifting base 301 is provided with a side wall to form a crank shaft mount 342, and the wiping crank shaft 420 is provided to the crank shaft mount 342. The lift base 301 defines an opening 302. The first end of the wiping crank arm 430 is located on the upper side of the lifting base 301, while the second end of the wiping crank arm 430 is located on the lower side of the lifting base 301, and the wiping crank arm 430 extends from the upper side of the lifting base 301, through the opening 302, to the lower side of the lifting base 301. The wiping motor 410, the wiping crank shaft 420, and the wiping crank arm 430 move up and down with the up-and-down movement of the lifting base 301. In one embodiment, the cleaning cloth holder 510 is provided with a sidewall to form a crank arm mounting seat 513, and the second end of the wiping crank arm 430 is provided to the crank arm mounting seat 513, so that the cleaning cloth holder 510 is reciprocated by the wiping crank arm 430.

Referring to fig. 4 and 6, in one embodiment, the base 114 defines a receiving opening 115. The wiping motor 410, the wiping crank shaft 420, and the wiping crank arm 430 move up and down along with the up-and-down movement of the lifting base 301 in the accommodating opening 115.

In one embodiment, the cleaning device 500 includes a first guiding structure, and the lifting base 301 includes a second guiding structure. Preferably, the first guide structure cooperates with the second guide structure to guide the reciprocating motion of the cleaning device 500. More specifically, the cleaning device 500 is reciprocated within a range defined by the first guide structure and the second guide structure. In one embodiment, the first guiding structure is a slider, and the second guiding structure is a guiding slot; or the first guiding structure is a guiding groove, and the second guiding structure is a sliding block. As shown in fig. 4, the first guide structure of the cleaning device 500 is a slider 561, and the second guide structure of the lifting base 301 is a guide groove 562. The slider 561 is provided in the guide groove 562, and the slider 561 can reciprocate in the guide groove 562, thereby reciprocating the cleaning device 500 with respect to the elevating base 301.

In one embodiment, the cleaning apparatus 500 further comprises a roller 563. The roller 563 is located between the cleaning cloth holder 510 and the elevating base 301 and rolls on the cleaning cloth holder 510 or the elevating base 301, thereby reducing friction between the cleaning cloth holder 510 and the elevating base 301. In one embodiment, the roller 563 is located between the cleaning cloth holder 510 and the lift base 301 in the up-down direction. The cleaning cloth holder 510 is provided with a sidewall to form a roller mounting seat 511, and the roller 563 is rotated by resting on the roller mounting seat 511. In one embodiment, the cleaning apparatus 500 further includes a Bearing 564. The cleaning cloth holder 510 is also provided with a mounting post 512 protruding from the top surface thereof, a bearing 564 is rotatably provided on the mounting post 512, and preferably the bearing 564 is located in the guide groove 562, and the bearing 564 is rotatable about the mounting post 512 while reciprocating in the guide groove 562. In one embodiment, the bearing 564 may be a slider 561. In one embodiment, the slider 561 is mounted on the top surface of the mounting post 512 and the bearing 564 is coupled to the slider 561.

In one embodiment, another roller 563 may be disposed between the cleaning cloth holder 510 and the lift base 301 in the left-right direction. In one embodiment, the self-moving cleaning machine 100 may further comprise at least one elastic member 370. The elastic component 370 is disposed between the lifting base 301 and the base 114, and is used to apply a force to the lifting base 301 in a direction away from the base 114.

In other embodiments, at least one guide post may be disposed on the lifting base 301, where the at least one guide post passes through at least one guide hole of the base 114, so that the lifting base 301 moves along the long axis direction of the at least one guide post. In one embodiment, the guide cylinder is a hollow polygonal cylinder or a hollow semicircular cylinder. According to this embodiment, the lifting base 301 can be moved vertically upward and downward. However, in the present embodiment, when the reciprocating device reciprocates the cleaning device, the guide post also vibrates in the guide hole, causing loud noise and affecting the up-and-down movement of the lifting base 301. Therefore, it is preferable to use a joystick to guide the elevating base 301 to be able to elevate in parallel. In one embodiment, the rockers 361, 362, 363 and 364 have a slight elasticity, i.e. do not affect the degree of swing, so that the rockers 361, 362, 363 and 364 can be used to absorb the vibration generated by the reciprocating device.

In summary, according to one embodiment of the present invention, the self-moving cleaning machine has a reciprocating device to make the wiper capable of reciprocating to wipe the floor, and a lifting module 300 to lift the wiper to respond to the change of the floor. That is, the self-moving cleaning machine 100 can selectively move the cleaning device 500 away from the floor surface and perform movement in response to the condition of the floor, while reducing the risk of the cleaning device 500 undesirably contacting the floor surface.

Claims

1. A self-moving cleaning machine, comprising:

a base;

a travel module adjacent to the base configured to cause the self-moving cleaning machine to contact a floor as it moves over the floor;

a lifting module comprising a lifting base, wherein the lifting base is arranged below the base and is configured to move up and down relative to the base so as to enable the lifting base to be close to or far away from the base;

a cleaning device configured to cause the self-moving cleaning machine to contact the floor while in a wiping mode for cleaning the floor; and

a reciprocating device connected to the cleaning device,

wherein,

at least a portion of the reciprocating device is configured to be connected to the lift base of the lift module, the at least a portion of the reciprocating device moves up and down as the lift base moves up and down, and

the reciprocating device is configured such that, in the wiping mode, the cleaning device reciprocates relative to the lifting base, thereby reciprocally wiping the floor.

2. The self-moving cleaning machine as claimed in claim 1, wherein,

the lifting module comprises at least one rocker arm,

a first end of the at least one rocker is rotatably connected to the base, and a second end of the at least one rocker is rotatably connected to the lifting base and can move up and down along with the up and down movement of the lifting base.

3. The self-moving cleaning machine of claim 2, wherein the lifting module further comprises:

a crank device;

an abutting part straddling a part of the crank device and connected with the lifting base; and

a driving device arranged on the base for driving the crank device to rotate,

wherein,

the lifting module is configured to cause the portion of the crank device to apply a force to the abutment by rotation of the crank device, thereby lifting the lifting base.

4. A self-moving cleaning machine as claimed in claim 3, wherein the crank means comprises:

a crank axle, which is arranged on the base;

a force applying arm connected to the crankshaft; and

a tooth part arranged on the crank shaft and coupled with the driving device,

and the crank device is configured such that the driving device drives the tooth part to rotate along a first rotation direction or a second rotation direction, so that the crank shaft rotates, and the tail end of the force application arm is close to or far from the base through the rotation of the crank shaft.

5. The self-moving cleaning machine as claimed in claim 4, wherein,

the crank axle rotates by leaning against a protruding part on the base;

the tooth part is formed with a plurality of continuous gear teeth, and two ends of the plurality of gear teeth respectively form an upper starting point and a lower starting point,

the driving device includes:

a gear engaged with the tooth portion of the crank device; and

And the lifting motor outputs the moment in the first rotation direction or the second rotation direction, and drives the gear and the tooth part to rotate along the first rotation direction or the second rotation direction.

6. The self-moving cleaning machine as claimed in claim 5, wherein the reciprocating means comprises:

a motor for wiping;

a wiping crank shaft for being driven by the wiping motor to rotate; and

A crank arm for wiping, a first end of which is connected to the crank shaft for wiping, and a second end of which is connected to the cleaning device and reciprocates with the rotation of the crank shaft for wiping,

wherein the motor for wiping, the crank shaft for wiping and the crank arm for wiping of the reciprocating device move up and down along with the up and down movement of the lifting base.

7. The self-moving cleaning machine as claimed in any one of claims 4-6, wherein at least one of the rockers comprises:

a first rocker; and

A second rocker arm is arranged on the upper surface of the first rocker arm,

the first rocker and the second rocker are respectively positioned at two opposite sides of the extension direction of the crank arm for wiping.

8. The self-moving cleaning machine as claimed in claim 7, wherein,

the first rocker and the second rocker are connected together through a connecting rod,

at least one of the rockers further comprises a third rocker and a fourth rocker,

the third rocker and the fourth rocker are respectively positioned at two opposite sides of the extension direction of the crank arm for wiping.

9. The self-moving cleaning machine as claimed in claim 8, wherein,

the second end of the first rocker, the second end of the second rocker, the second end of the third rocker and the second end of the fourth rocker are respectively connected with the upper surface of the lifting base,

the position of the lifting motor or the tail end of the force applying arm for applying force to the abutting part is positioned in the range defined by the first rocker, the second rocker, the third rocker and the fourth rocker.

10. The self-moving cleaning machine as claimed in claim 6, wherein,

the motor for wiping is arranged above the lifting base,

the lifting base is defined with an opening,

the first end of the connecting arm for wiping is positioned at the upper side of the lifting base, the second end of the connecting arm for wiping is positioned at the lower side of the lifting base, and the connecting arm for wiping extends from the upper side of the lifting base, through the opening to the lower side of the lifting base,

the motor for wiping, the crank shaft for wiping, and the connecting arm for wiping move up and down with the up-and-down movement of the lifting base.

11. The self-moving cleaning machine as claimed in claim 6 or 10, wherein,

the base defines a receiving opening,

the motor for wiping, the crank shaft for wiping and the connecting arm for wiping are positioned in the accommodating opening and move up and down along with the up and down movement of the lifting base.

12. The self-moving cleaning machine as claimed in any one of claims 1 to 6, wherein,

the cleaning device comprises a first guiding structure,

the lifting base comprises a second guiding structure,

the first guide structure cooperates with the second guide structure to guide the reciprocating motion of the cleaning device.

13. The self-moving cleaning machine as claimed in claim 12, wherein,

one of the first guiding structure and the second guiding structure is a sliding block,

the other of the first guiding structure and the second guiding structure is a guiding slot,

the slider is disposed in the guide groove, and the slider is capable of reciprocating in the guide groove, thereby reciprocating the cleaning device with respect to the elevating base.

14. The self-moving cleaning machine as claimed in any one of claims 1 to 6, wherein the cleaning device comprises:

a cleaning cloth seat arranged below the lifting base; and

And the cleaning cloth is arranged on the bottom surface of the cleaning cloth seat and used for contacting the floor.

15. The self-moving cleaning machine as claimed in claim 14, wherein the cleaning device further comprises:

and the roller is positioned between the cleaning cloth seat and the lifting base and rolls on the cleaning cloth seat or the lifting base, so that the friction force between the cleaning cloth seat and the lifting base is reduced.