CN212015468U - Cleaning robot with dust collection and dust pushing functions - Google Patents

Abstract

The utility model provides a cleaning robot with dust collection and dust pushing functions, wherein a chassis control module of the cleaning robot receives an input instruction through an interaction module and controls a dust pushing component or a dust collection component to work according to the instruction; the chassis control module starts a fan according to the received dust collection mode instruction so as to enable the dust collection assembly to work; the dust pushing assembly is arranged at the bottom of the machine body, the main support is movably connected with the dust pushing clamping plate, the dust pushing block is fixed on the dust pushing clamping plate, the dust pushing block is far away from the dust pushing clamping plate relative to the dust pushing block, a cleaning device is arranged on one side, close to the ground, of the dust pushing block, the chassis control module is used for closing the fan when receiving a dust pushing mode instruction, and the cleaning device on the dust pushing block is driven to clean the ground through the movement of the cleaning robot. The utility model discloses can switch mode according to the instruction of input to the realization need not artifical cleanness to the cleanness that has smooth material ground, has improved clean efficiency, has reduced the human cost, has enlarged cleaning machines people's application range.

Description

Cleaning robot with dust collection and dust pushing functions

Technical Field

The utility model relates to a clean field of intelligence especially relates to the cleaning machines people who possesses dust absorption, dirt and push away the function.

Background

The intelligent robot for the hotel in China is mainly machine equipment for reception, food delivery and patrol, and rarely has a function of cleaning the ground. With the increasing cost of human labor year by year, the cleaning efficiency and cost expenditure of the traditional hotel which relies on manpower for cleaning are more and more prominent problems.

Although cleaning robots for floor cleaning are available today, such cleaning robots often have only a dust suction function. In hotel places, smooth materials such as ceramic tiles and marbles are often adopted for a lot of floors. The ground with smooth materials cannot obtain good cleaning effect due to the adoption of a dust collection function, needs to be manually cleaned for the second time by using dust, cannot reduce the labor cost, has low cleaning efficiency, and limits the application range of the cleaning robot.

SUMMERY OF THE UTILITY MODEL

In order to overcome the not enough of prior art, the utility model provides a cleaning robot who possesses dust absorption, dirt and push away function is provided with dirt and pushes away subassembly and dust absorption subassembly, can switch mode according to the instruction of input to the realization need not artifical cleanness to the cleanness that has smooth material ground, has improved clean efficiency, has reduced the human cost, has enlarged cleaning robot's application range.

In order to solve the above problem, the utility model discloses a technical scheme do: a cleaning robot, comprising: the dust collection device comprises a dust collection component, a control component, a dust pushing component and a machine body;

the control assembly comprises an interaction module arranged at the top of the machine body and a chassis control module arranged in the machine body, the chassis control module receives an input instruction through the interaction module and controls the dust pushing assembly or the dust collection assembly to work according to the instruction, and the instruction comprises a dust collection mode instruction or a dust pushing mode instruction; the chassis control module starts the fan according to a received dust collection mode instruction so as to enable the dust collection assembly to work; the utility model discloses a cleaning machine, including dust push assembly, main support, dust push block board, dust push guide block, dust push, main support one end is fixed in the organism, the other end with dust push block board swing joint, the dust is derived the block and is fixed dust push block keeps away from one side of main support, the dust is pushed and is fixed dust is derived block one side, for dust is derived the block and is kept away from dust push block board, dust is pushed and is provided with cleaning device near ground one side, chassis control module closes when receiving dust push mode instruction the fan, through cleaning machine people's motion drives cleaning device on the dust pushes away clean ground.

Further, the main support comprises a fixing support and a bottom plate, at least one through hole is formed in the bottom plate, and one end of the fixing support is vertically fixed to one side, far away from the dust pushing clamping plate, of the bottom plate.

Furthermore, the dust pushing clamping plate comprises a first groove, a second groove and a first bulge corresponding to the through hole, the first bulge is arranged in the first groove, the bottom plate is contained in the first groove, and the first bulge penetrates through the through hole. The dust derivation block is partially embedded in the second groove.

Further, the dust pushing assembly further comprises a spring clamping piece, the spring clamping piece is arranged at the top end of the first protrusion, and the bottom plate is fixed in the first groove through the spring clamping piece.

Furthermore, the dust pushing assembly further comprises a dust pushing clamping block, the dust pushing clamping block is arranged on the side face of the dust pushing assembly, two ends of the dust pushing clamping block are respectively connected with the side face of the first groove and the side face of the part, embedded into the second groove, of the dust pushing block, and the dust pushing block is fixed on the dust pushing guide block.

Further, the dust collection assembly comprises a negative pressure air box, a filter and a dust box, the dust box is connected with the negative pressure air box, the fan is accommodated in the filter, air in the negative pressure air box is extracted through the fan, the filter is used for separating dust and air, and the dust is collected in the dust box.

Further, the cleaning robot further comprises a power supply assembly, the power supply assembly comprises a battery and a charging and discharging module, the battery is accommodated in the robot body, the charging and discharging module is arranged on one side, far away from the ground, of the battery, and the charging and discharging of the battery are controlled through the charging and discharging module.

Furthermore, the cleaning robot further comprises a driving assembly, the driving assembly comprises a motor driver, a motor and a driving wheel, the driving wheel is arranged on one side, close to the ground, of the machine body, the chassis control module is connected with the motor through the motor driver, the motor driver drives the motor according to an instruction of the chassis control module, and then the cleaning robot is driven to move through the driving wheel.

Furthermore, the interaction module is arranged on one side of the machine body, which is far away from the ground, and comprises a touch screen and a control panel, wherein the control panel receives an input instruction through the touch screen, analyzes the instruction, and sends the content acquired by analyzing the instruction to the chassis control module.

Furthermore, the cleaning robot also comprises a sensor, the chassis control module is connected with the sensor, the chassis control module acquires obstacle information through the sensor, and the cleaning robot is controlled to move according to the obstacle information.

Compared with the prior art, the beneficial effects of the utility model reside in that: set up dirt in cleaning machines people and push away subassembly and dust absorption subassembly, can switch operating mode according to the instruction of input to the realization need not artifical clean to having the cleanness on smooth material ground, has improved clean efficiency, has reduced the human cost, has enlarged cleaning machines people's application range.

Drawings

FIG. 1 is a diagram of an embodiment of a cleaning robot with dust collecting and pushing functions;

FIG. 2 is an overall structure view of an embodiment of the cleaning robot with dust collecting and pushing functions;

FIG. 3 is an exploded view of an embodiment of the cleaning robot with dust collecting and pushing functions;

FIG. 4 is a diagram of an embodiment of a three-way interface of the cleaning robot with dust collecting and pushing functions;

FIG. 5 is a top view of an embodiment of a noise reduction duct of the cleaning robot with dust collection and dust pushing functions;

FIG. 6 is a cross-sectional view of an embodiment of a part of the components of the dust collection assembly of the cleaning robot with dust collection and dust pushing functions;

FIG. 7 is a diagram of an embodiment of a dust pushing assembly of the cleaning robot with dust collecting and pushing functions;

fig. 8 is an exploded view of an embodiment of a dust pushing assembly of the cleaning robot with dust collecting and pushing functions according to the present invention;

fig. 9 is a flow chart of the work flow of the cleaning robot with dust collection and dust pushing functions of the present invention for realizing handshaking communication and charging between the chassis control module and the charging pile;

fig. 10 is a flowchart illustrating an embodiment of the cleaning robot with dust collecting and pushing functions according to the present invention.

In the figure: 3. a dust collection assembly; 2. a control component; 4. a navigation component; 5. a drive assembly; 1. a body; 21. an interaction module; 22. a chassis control module; 32. a three-way interface; 31. automatic dust collection rake; 35. manually dust-collecting rakes; 11. a main housing; 12. an upper shell; 13. an arc-shaped handle; 37. a fan; 33. a filter; 34. a dust box; 38. a noise reduction air duct; 381. a first noise reduction duct; 382. a second noise reduction air duct; 383. a flow divider; 324. a main body; 321. a first interface; 322. a second interface; 323. a third interface; 351. a manual dust suction pipe; 92. a battery; 91. connecting the contacts; 82. a laser radar; 52. a motor driver; 51. a drive wheel; 211. a touch screen; 71. an ultrasonic sensor; 81. a depth camera; 6. a dust push component; 61. a main support; 62. a spring clip; 63. a dust push clamping plate; 66. a dust pushing fixture block; 64. a dust push guide block; 65. dust pushing; 611. fixing a bracket; 612. a base plate; 631. a first protrusion.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.

Referring to fig. 1-10, fig. 1 is a diagram illustrating an embodiment of a cleaning robot with dust collecting and pushing functions according to the present invention; FIG. 2 is an overall structure view of an embodiment of the cleaning robot with dust collecting and pushing functions; FIG. 3 is an exploded view of an embodiment of the cleaning robot with dust collecting and pushing functions; FIG. 4 is a diagram of an embodiment of a three-way interface of the cleaning robot with dust collecting and pushing functions; FIG. 5 is a top view of an embodiment of a noise reduction duct of the cleaning robot with dust collection and dust pushing functions; FIG. 6 is a cross-sectional view of an embodiment of a part of the components of the dust collection assembly of the cleaning robot with dust collection and dust pushing functions; FIG. 7 is a diagram of an embodiment of a dust pushing assembly of the cleaning robot with dust collecting and pushing functions; fig. 8 is an exploded view of an embodiment of a dust pushing assembly of the cleaning robot with dust collecting and pushing functions according to the present invention; fig. 9 is a flow chart of the work flow of the cleaning robot with dust collection and dust pushing functions of the present invention for realizing handshaking communication and charging between the chassis control module and the charging pile; fig. 10 is a flowchart illustrating an embodiment of the cleaning robot with dust collecting and pushing functions according to the present invention. The cleaning robot with dust collecting and pushing functions of the present invention will be described in detail with reference to the accompanying drawings 1-10.

The cleaning robot includes: the device comprises a dust collection assembly 3, a control assembly 2, a navigation assembly 4, a driving assembly 5 and a machine body 1; the driving component 5 is connected with the control component 2 and drives the cleaning robot to move according to the instruction of the control component 2; the control assembly 2 comprises an interaction module 21 arranged at the top of the machine body 1 and a chassis control module 22 arranged in the machine body 1, and the chassis control module 22 receives an input instruction through the interaction module 21 and acquires cleaning area information according to the instruction; the navigation component 4 is arranged in the machine body 1, receives the information of the cleaning area transmitted by the chassis control module 22, plans a route according to the information, and sends the route to the chassis control module 22, and the chassis control module 22 controls the driving component 5 to move according to the route and controls the dust collection component 3 to clean the cleaning area; the dust collection assembly 3 comprises a negative pressure air box, a three-way interface 32, an automatic dust collection rake 31, a manual dust collection rake 35 and a detection switch, the negative pressure air box is connected with the manual dust collection rake 35 and the automatic dust collection rake 31 through the three-way interface 32, the detection switch is connected with the chassis control module 22, and when the chassis control module 22 detects that the manual dust collection rake 35 is inserted into the three-way interface 32 through the detection switch, the automatic mode is switched to the manual mode to clean dead corners in a cleaning area.

In the present embodiment, the machine body 1 includes a main casing 11 and an upper casing 12, wherein the upper casing 12 fixes and covers a side of the main casing 11 away from the ground, and the interactive module 21 is disposed in the upper casing 12.

In this embodiment, in order to facilitate the movement of the mobile cleaning robot, an arc-shaped handle 13 is provided at one end of the main housing 11 near the upper housing 12, and both ends of the arc-shaped handle 13 are fixed to both sides of the main housing 11 and face each other.

In this embodiment, the cleaning robot is further provided with an aromatherapy component and a sterilization component, and the chassis control module 22 opens the aromatherapy component or the sterilization component to realize aromatherapy and sterilization functions according to an instruction input by the user through the interaction module 21.

In a specific embodiment, the sterilization assembly is an ultraviolet lamp, and the ultraviolet lamp is used for realizing an ultraviolet sterilization function.

In this embodiment, the dust suction assembly 3 further includes a fan 37, a filter 33, and a dust box 34 disposed in the main housing 11, the dust box 34 is connected to the negative pressure bellows, the fan 37 is accommodated in the filter 33, air in the negative pressure bellows is drawn by the fan 37, dust and air are separated by the filter 33, and the dust is collected in the dust box 34.

In this embodiment, in order to reduce the noise generated when the fan 37 draws air, the dust collection assembly 3 further includes a noise reduction air duct 38, the noise reduction air duct 38 is disposed on the side of the filter 33 away from the dust box 34, the fan 37 is disposed inside the noise reduction air duct 38, the air outlet and the air inlet of the noise reduction air duct 38 are spaced apart from each other and disposed on the same side of the fan 37, and the air drawn by the fan 37 is discharged through the noise reduction air duct 38 to reduce the noise.

In a specific embodiment, the noise reduction air duct 38 includes a first noise reduction air duct 381, a second noise reduction air duct 382, a flow splitter 383, and soundproof cotton, the first noise reduction air duct 381 and the second noise reduction air duct 382 are respectively disposed at two sides of the fan 37, an air inlet of the first noise reduction air duct 381 is connected to an air inlet of the second noise reduction air duct 382, and an air outlet of the first noise reduction air duct 381 and an air outlet of the second noise reduction air duct 382 are spaced apart from each other at one side of the fan 37. The diverter 383 is fixed at the connection position of the air inlet, and is a triangular prism, one corner of the triangular prism is opposite to the fan 37, and the extracted air is diverted to the first noise reduction air channel 381 and the second noise reduction air channel 382 through the diverter 383. Soundproof cotton is provided inside the first noise reduction duct 381 and the second noise reduction duct 382, and the generated noise is further reduced by the soundproof cotton.

In this embodiment, the three-way connector 32 includes a main body 324, a first connector 321, a second connector 322, and a third connector 323, the main body 324 is a rectangular parallelepiped, the detection switch, the first connector 321, the second connector 322, and the third connector 323 are respectively disposed on different sides of the main body 324, and the first connector 321, the second connector 322, and the third connector 323 are communicated with each other through the main body 324 and are respectively connected to the negative pressure bellows, the automatic vacuum suction rake 31, and the manual vacuum suction rake 35. The opening of the automatic dust-collecting scraper 31 for sucking dust is arranged at the bottom of the main casing 11, and the hose thereof is connected with the second connector 322. The tee joint is arranged in the main shell 11 and is positioned on one side of the noise reduction air duct 38 close to the ground, and an opening of the third port 323 penetrates through the main shell 11.

The manual dust collection scraper 35 includes a manual dust collection pipe 351, a connection end port of the manual dust collection pipe 351 is closed, an opening corresponding to the first connector 321 is formed in a side surface of the manual dust collection pipe, and the connection end is inserted into the third connector 323 and communicated with the first connector 321 through the opening. When the connecting end is inserted into the main body 324 in a screwing manner, the connecting end blocks the second interface 322, and the automatic dust-collecting scraper 31 stops working. The connection end is provided with a magnetic substance, the detection switch generates an interruption trigger signal when detecting the magnetic substance on the connection end, and sends the interruption trigger signal to the chassis control module 22, and after the chassis control module 22 detects the interruption trigger signal, the manual dust collection scratcher 35 is determined to be inserted, and the working mode is switched to the manual mode.

In this embodiment, the cleaning robot further includes a power supply assembly, the power supply assembly includes a battery 92 and a charging and discharging module, the battery 92 is accommodated in the body 1, the charging and discharging module is disposed on a side of the battery 92 away from the ground, and the charging and discharging of the battery 92 is controlled by the charging and discharging module.

In one embodiment, the charge-discharge module is an integrated circuit chip with model number BQ24610, and the battery 92 is a lithium battery with a voltage of 24V.

In this embodiment, the power supply module further includes a connection contact 91, the connection contact 91 is disposed on one side of the body 1, and the chassis control module 22 is connected to the charging pile through the connection contact 91, so as to realize charging and communication with the charging pile.

In this embodiment, the contact 91 includes communication contact and the contact that charges, and cleaning machines people still includes laser radar 82, and laser radar 82 sets up in organism 1's both sides with contact 91, and cleaning machines people passes through the trench that laser radar 82 discernment was filled electric pile in order to accomplish to the stake. After the pile is successfully aligned, the chassis control module 22 controls the charging post to charge the battery 92 through the charging contacts after confirming a communication connection with the charging post through the communication contacts.

In this embodiment, the charging contacts include a positive contact and a negative contact, and the communication contacts include a transmitting contact and a receiving contact.

In a specific embodiment, the charging pile comprises a single chip microcomputer IC which is used for controlling a power switch of the charging pile. The power supply defaults to not output voltage, so that children can not touch the power supply by mistake. Chassis control module 22 includes an STM32 singlechip chip, and the communication of filling between electric pile and the cleaning robot is realized by communication between this singlechip chip and the singlechip IC who fills on the electric pile.

After receiving the charging command, the cleaning robot positions through the navigation assembly 4, walks to before filling the electric pile, and then completes the paired piles by identifying the electric pile slot position size through the laser radar 82. After the pile is aligned, the four connecting contacts 91 (two are charging contacts which are connected with the positive and negative electrodes of the battery 92, two are communication contacts which are communication receiving and signaling contacts) at the back of the robot can contact with the four metal contacts of the charging pile.

After the connecting contacts 91 are respectively contacted with the corresponding metal contacts, the cleaning robot and the charging pile are subjected to a handshaking flow to realize charging. The handshake flow is as follows: the chassis control module 22 sends a charging request to the single chip IC of the charging pile (sends the charging request through the communication contact); the single chip microcomputer IC of the charging pile feeds back an ACK1 signal to the chassis control module 22 (receives the signal through the communication contact); the chassis control module 22 sends a confirmation request to the single chip microcomputer IC (sent through a communication contact) of the charging pile; after receiving the confirmation request sent by the chassis control module 22, the charging pile proves that the robot is successfully physically put into the pile, and at the moment, the charging pile opens a switch of a charging power supply and outputs 29.4V charging voltage through the positive and negative contacts of the charging contact. The charging voltage is converted into a voltage that can be received by the battery 92 by a charging and discharging module to charge the cleaning robot.

In this embodiment, the navigation component 4 is responsible for map building, route planning, repositioning, and navigation of the cleaning robot by the navigation component 4. Navigation assembly 4 and chassis control module 22 are both disposed on a side of noise reduction duct 38 near the ground, and navigation assembly 4 is remote from the ground relative to chassis control module 22.

In a specific embodiment, the navigation component 4 is a mist positioning navigation component 4, the type of the laser radar 82 is mist a2, and the navigation component 4 realizes pile alignment between the cleaning robot and the charging pile through the laser radar 82.

In a specific embodiment, the chassis control module 22 is connected to the navigation module 4, the interaction module 21 and the single chip microcomputer IC of the charging pile through serial ports to realize communication.

In the present embodiment, the battery 92 is disposed on the side of the chassis control module 22 close to the ground, the three-way interface 32 is disposed on the side of the battery 92 perpendicular to the ground, and the laser radar 82 is disposed at the bottom of the main casing 11 and is located on the same side of the main casing 11 as the three-way interface 32. The three-way connector 32 is connected to a negative pressure bellows provided on the side of the battery 92 away from the ground through a pipe. A charge-discharge module for controlling charging and discharging of the battery 92 is disposed on a side of the battery 92 close to the chassis control module 22.

In this embodiment, the driving assembly 5 includes a motor driver 52, a motor and a driving wheel 51, the driving wheel 51 is disposed on one side of the machine body 1 close to the ground, the chassis control module 22 is connected to the motor through the motor driver 52, and the motor driver 52 drives the motor according to an instruction of the chassis control module 22, so as to control the driving wheel 51 to rotate. The driving wheel 51 is arranged on the side of the battery 92 close to the ground, and the motor driver 52 is arranged on the side of the battery 92 vertical to the ground and is connected with the motor through a serial port.

In this embodiment, the driving assembly 5 further includes an encoder, the encoder is connected to the motor or the driving wheel 51, and the chassis control module 22 determines the running path of the driving wheel 51 according to the feedback information of the encoder to determine the action track of the cleaning robot.

In a specific embodiment, the number of the driving wheels 51 is two, the driving wheels are symmetrically disposed at two sides of the bottom of the main housing 11, the motor driver 52 is model ZLAC706, the motor is a servo motor, the model of the motor is model ZLLG65ASM250, and the number of the servo motors is two, and the two servo motors respectively drive the different driving wheels 51 to realize turning and advancing actions of the cleaning robot.

In this embodiment, the interaction module 21 is disposed on a side of the body 1 away from the ground, and includes a touch screen 211 and a control panel, where the control panel receives an input instruction through the touch screen 211, analyzes the instruction, and sends a content obtained by analyzing the instruction to the chassis control module 22, so that the chassis control module 22 executes a corresponding operation according to the input instruction.

The interaction module 21 is arranged in the upper shell 12, the control panel is an android control panel, and a user completes man-machine interaction through the touch screen 211, such as functions of drawing guidance, map modification, operation setting and the like. The android control panel decomposes the interactive information and passes the results to the navigation component 4 and the chassis control module 22.

In one specific embodiment, the control panel is model No. RK3288 or RK 3299. The control panel is connected with a display screen such as a touch screen 211 and the like, RGB display signals are input into the display screen, the control panel can also be connected with a 3G/4G module and other equipment or modules through USB interfaces, and control instructions sent by a user through other intelligent terminals are received in a wireless transmission or wired transmission mode. The control panel is also connected with the charging and discharging module through an I2C interface, and displays the acquired power information of the battery 92 through the touch screen 211.

In this embodiment, the cleaning robot further includes a sensor, the chassis control module 22 is connected to the sensor, and the navigation module 4 receives information sent by the sensor through the chassis control module 22 and updates the route according to the information.

In the present embodiment, the sensors include a collision sensor, an infrared sensor, an ultrasonic sensor 71, and a fall prevention sensor. The collision sensors are arranged around the bottom of the main shell 11, similar to a tact switch, and when the collision sensors collide with an object, a physical short circuit is generated, an interrupt signal is generated in a circuit and sent to the chassis control module 22, and the chassis control module 22 controls the motor to drive the cleaning robot to withdraw in the opposite direction for a small distance through the motor driver 52 according to the interrupt sent by which collision sensor. The infrared sensors are also arranged around the bottom of the main shell 11 and used for acquiring the distance between peripheral obstacles in real time, when the chassis control module 22 determines that the distance between the obstacles is too close according to the information of the infrared sensors, the chassis control panel feeds the information back to the navigation assembly 4, and the navigation assembly 4 updates the walking route according to the distance information of the obstacles to avoid the obstacles. The ultrasonic sensor 71 is arranged around the main shell 11 and far away from the ground relative to the infrared sensor for obtaining the distance of the peripheral obstacles in real time, when the chassis control module 22 determines that the distance of the obstacles is too close according to the information of the ultrasonic sensor 71, the chassis control panel feeds the information back to the navigation assembly 4, and the navigation assembly 4 updates the walking route according to the distance information of the obstacles to avoid the obstacles. The anti-falling sensor is also an infrared sensor and is arranged at the periphery of the bottom of the main shell 11, and infrared light emitted by the anti-falling sensor is vertical to the ground and is used for detecting the height of the machine above the ground. When a pit or a step appears around the machine, the chassis control module 22 detects that the distance from the ground is suddenly increased or decreased through the infrared sensor, the information is fed back to the navigation assembly 4, and the navigation assembly 4 updates the walking route to avoid the pit or the step.

In this embodiment, the cleaning robot further includes a depth camera 81, and the depth camera 81 is disposed on the main housing 11 and located on the side of the three-way connector 32 away from the ground. The control panel is connected with the depth camera 81 through a WiFi or USB interface, and sends data sent by the depth camera 81 to the navigation module 4 through an RJ45 interface or WiFi, so that the navigation module 4 plans a route according to the data.

In the embodiment, the cleaning robot includes a dust pushing assembly 6, and the dust pushing assembly 6 and the automatic dust-collecting scrabbling 31 are disposed on one side of the machine body 1 close to the ground. The cleaning robot receives an instruction through a wireless communication component or an interaction module 21 connected with the control panel, and controls the dust pushing component 6 or the dust collection component 3 to work according to the instruction, wherein the instruction comprises a dust collection mode instruction or a dust pushing mode instruction.

In this embodiment, two driving wheels 51 are provided on both sides of the dust pushing assembly 6, the automatic dust-collecting scraper 31 is provided on one of the driving wheels 51, and the laser radar 82 is fixed to the dust pushing assembly 6.

In this embodiment, the dust pushing assembly 6 includes a main bracket 61, a dust pushing clamping plate 63, a dust pushing guide block 64, and a dust pushing 65, one end of the main bracket 61 is fixed in the machine body 1, the other end of the main bracket 61 is movably connected with the dust pushing clamping plate 63, the dust pushing guide block 64 is fixed on one side of the dust pushing clamping plate 63 away from the main bracket 61, the dust pushing 65 is fixed on one side of the dust pushing guide block 64, the dust pushing clamping plate 63 is away from the dust pushing guide block 64, a cleaning device is disposed on one side of the dust pushing 65 close to the ground, the chassis control module 22, when receiving a dust pushing mode instruction, turns off the fan 37, and the cleaning device on the dust pushing plate 65 is driven to.

In this embodiment, the cleaning device may be a mop, or other device capable of cleaning a floor surface.

In this embodiment, dirt pushes away 65 and keeps away from ground for drive wheel 51, and the cleaner accessible pushes away 65 and is close to ground one side and sets up cleaning device at dirt, makes dirt push away 65 and contact ground through cleaning device, and then through this cleaning device clean ground, also can push away 65 and be close to ground through drive mechanism, driving motor or other devices on the cleaning robot after switching into dirt and pushing away the mode, and then make cleaning device contact ground, realize the cleanness to ground.

In this embodiment, the main bracket 61 includes a fixing bracket 611 and a bottom plate 612, the bottom plate 612 is provided with at least one through hole, and one end of the fixing bracket 611 is vertically fixed on a side of the bottom plate 612 away from the dust pushing plate 63.

The dust pushing plate 63 includes a first groove, a second groove and a first protrusion 631 corresponding to the through hole, the first protrusion 631 is disposed in the first groove, the bottom plate 612 is accommodated in the first groove, and the first protrusion 631 passes through the through hole. The dust derivation block 64 is partially inserted into the second groove.

The dust push assembly 6 further comprises a spring catch 62, the spring catch 62 being disposed at a top end of the first projection 631, the base plate 612 being secured within the first recess by the spring catch 62.

The dust pushing assembly 6 further comprises a dust pushing clamping block 66, the dust pushing clamping block 66 is arranged on the side surface of the dust pushing assembly 6, two ends of the dust pushing clamping block 66 are respectively connected with the side surface of the first groove and the side surface of the part, embedded into the second groove, of the dust pushing guide block 64, and the dust pushing clamping block 66 is fixed on the dust pushing guide block 64.

In one particular embodiment, the dust push assembly 6 includes a main bracket 61, a spring catch 62, a dust push plate 63, a dust push block 66, a dust push block 64, and a dust push 65. The main bracket 61 includes 2 fixing brackets 611 and a bottom plate 612, the number of the fixing brackets is 2, the fixing brackets are fixed on the side of the bottom plate 612 far away from the ground, and the dust pushing assembly 6 is fixed in the main shell 11 through the fixing brackets 611. At least one through hole is formed in the bottom plate 612, the dust pushing clamping plate 63 is arranged on one side of the bottom plate 612 close to the ground, a first groove and a second groove are formed in two sides of the dust pushing clamping plate 63, the bottom plate 612 is accommodated in the first groove, and the bottom plate 612 can slide relative to the dust pushing clamping plate 63 in the first groove. Inside the first groove, there are provided first protrusions 631 the number of which is the same as the number of through holes through which the first protrusions 631 pass, and a spring catch 62 provided at the top end of the first protrusions 631 to restrain the base plate 612 within the first groove.

The spring clip 62 abuts against a device on the cleaning robot for pushing the dust pushing assembly 6, and when the cleaning robot is switched to the dust pushing mode, the device pushes the dust pushing assembly 6 to move towards the direction close to the ground, so that the cleaning cloth on the dust pushing 65 of the dust pushing assembly 6 contacts the ground to clean the ground. And the influence of the ground undulation on the cleaning robot is reduced by the elasticity of the spring clip 62.

The dust deriving block 64 is arranged on one side, close to the ground, of the dust pushing clamping plate 63, and a second bulge corresponding to the second groove is arranged on one side, far away from the ground, of the dust deriving block 64, and the second bulge is nested in the second groove. The dust pushing fixture block 66 is fixed on one side of the dust pushing clamping block and the dust deriving block 64, which is vertical to the bottom surface, two ends of the dust pushing fixture block 66 are respectively fixed on the dust deriving block 64 and the dust pushing clamping plate 63, and the dust pushing fixture block 66 is used for fixing the dust pushing guide block 64.

In this embodiment, the dust pusher 65 is fixed to the side of the dust pusher guide 64 away from the dust pusher plate 63, and the dust pusher guide 64 is provided with a through hole through which the dust pusher 65 and the dust pusher guide 64 are fixed together.

The cleaning robot of the present invention will be further explained by the working flow of the cleaning robot.

The control panel receives a cleaning instruction input by a user, and sends the cleaning instruction to the chassis control module 22 through the serial port. The chassis control module 22 turns on the dust collection assembly 3 after receiving the cleaning instruction, and sends the cleaning area to the navigation assembly 4 through a serial port. The navigation module 4 finishes route planning, generates traveling data of the driving wheel 51, and sends route planning information and the traveling data to the chassis control module 22 through the serial port. The chassis control module 22 controls the driving wheel 51 to walk according to the walking data, and feeds back the obstacle information received by the sensor to the navigation assembly 4 in real time through the serial port, so that the navigation assembly 4 updates the walking route in real time according to the obstacle information. After the chassis control module 22 judges that the cleaning area is completely covered, the cleaning is confirmed to be completed, the chassis control module 22 closes the dust collection assembly 3, the cleaning completion feedback is sent to the control panel through the serial port, and after the control panel receives the cleaning completion feedback, the user is informed through the touch screen 211.

Has the advantages that: the utility model discloses a cleaning machines people can be according to cleaning regional planning route, realizes automatically cleaning regional, has reduced the clear work load of manpower, has improved clean efficiency, the cost is reduced to can switch automatic mode into manual mode according to the insertion condition that manual dust absorption was taken off, need not other burnishers and can realize cleaning the dead angle, satisfied the requirement of cleaning.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.

Claims (10)

1. A cleaning robot having a dust collecting and pushing function, the cleaning robot comprising: the dust collection device comprises a dust collection component, a control component, a dust pushing component and a machine body;

the control assembly comprises an interaction module arranged at the top of the machine body and a chassis control module arranged in the machine body, the chassis control module receives an input instruction through the interaction module and controls the dust pushing assembly or the dust collection assembly to work according to the instruction, and the instruction comprises a dust collection mode instruction or a dust pushing mode instruction;

the chassis control module starts the fan according to a received dust collection mode instruction so as to enable the dust collection assembly to work;

the dust pushing assembly is arranged at the bottom of the machine body and comprises a main support, a dust pushing clamping plate, a dust pushing guide block and a dust pushing push block, wherein one end of the main support is fixed in the machine body, the other end of the main support is movably connected with the dust pushing clamping plate, the dust pushing guide block is fixed on one side, far away from the main support, of the dust pushing clamping plate, the dust pushing guide block is fixed on one side of the dust pushing guide block, the dust pushing clamping plate is far away from the dust pushing guide block relative to the dust pushing guide block, a cleaning device is arranged on one side, near the ground, of the dust pushing guide block, the chassis control module is used for closing the fan when receiving a dust pushing.

2. The robot cleaner of claim 1, wherein the main bracket includes a fixing bracket and a bottom plate, the bottom plate has at least one through hole, and one end of the fixing bracket is vertically fixed to a side of the bottom plate away from the dust pushing plate.

3. The robot cleaner of claim 2, wherein the dust pushing plate comprises a first recess, a second recess, and a first protrusion corresponding to the through hole, the first protrusion is disposed in the first recess, the bottom plate is received in the first recess, the first protrusion passes through the through hole, and the dust-deriving block is partially inserted into the second recess.

4. The robot cleaner of claim 3, wherein the dust pushing assembly further comprises a spring clip, the spring clip is disposed on the top of the first protrusion, and the bottom plate is fixed in the first groove by the spring clip.

5. The robot cleaner of claim 3, wherein the dust pushing assembly further comprises a dust pushing block, the dust pushing block is disposed on a side surface of the dust pushing assembly, two ends of the dust pushing block are respectively connected to a side surface of the first groove and a side surface of a portion of the dust deriving block embedded in the second groove, and the dust pushing block is fixed to the dust deriving block through the dust pushing block.

6. The cleaning robot having the functions of sucking and pushing dust according to claim 1, wherein the dust sucking unit includes a negative pressure bellows, a filter, and a dust box connected to the negative pressure bellows, the fan is accommodated in the filter, air in the negative pressure bellows is sucked by the fan, dust and air are separated by the filter, and the dust is collected in the dust box.

7. The robot cleaner of claim 1, further comprising a power module, wherein the power module comprises a battery and a charging/discharging module, the battery is housed in the body, the charging/discharging module is disposed on a side of the battery away from the floor, and charging/discharging of the battery is controlled by the charging/discharging module.

8. The robot cleaner of claim 1, further comprising a driving assembly, wherein the driving assembly includes a motor driver, a motor, and a driving wheel, the driving wheel is disposed on a side of the body near the floor, the chassis control module is connected to the motor through the motor driver, and the motor driver drives the motor according to a command from the chassis control module, so as to drive the robot cleaner to move through the driving wheel.

9. The robot cleaner of claim 1, wherein the interactive module is disposed on a side of the body away from the floor, and includes a touch screen and a control board, and the control board receives an input command through the touch screen, analyzes the command, and sends a content obtained by analyzing the command to the chassis control module.

10. The robot cleaner of claim 1, further comprising a sensor, wherein the chassis control module is connected to the sensor, and the chassis control module obtains obstacle information from the sensor and controls the robot cleaner to move according to the obstacle information.

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