CN213155674U - Cleaning robot - Google Patents

Abstract

The present application relates to the field of cleaning robots. Embodiments of the present application disclose a cleaning robot comprising a robot body, drive systems provided separately on both sides of the robot body, a cleaning pad disposed below the pad holder, and a fluid exit port, wherein the fluid exit port is arranged in a region between the drive systems and in front of the cleaning pad, an edge of the cleaning pad at least partially abutting against the drive systems. The cleaning robot in the implementation can avoid fluid from sputtering or being thrown out to the area outside the lower part of the robot main body, so that the cleaning robot can form a more regular track form after cleaning the surface to be cleaned.

Description

Cleaning robot

Technical Field

The utility model relates to a cleaning machines people field, more specifically says, relates to a cleaning machines people.

Background

With the development of technology, the intellectualization of cleaning products has become higher, and some cleaning products can autonomously perform cleaning tasks without human intervention, typically, such as cleaning robot products, and the corresponding cleaning robot can autonomously move on the surface to be cleaned and scrub the surface to be cleaned by a cleaning component (such as a cleaning pad), so as to help users share the housework of the cleaning products.

However, the existing cleaning robot relates to a plurality of core structure modules, and the core structure modules are related to each other, so that if the layout is not reasonable, the product performance of the cleaning robot is directly influenced, and the use experience of the product is damaged.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems in the prior art, the application provides the following technical scheme:

in a first aspect, embodiments of the present application disclose a cleaning robot including a robot main body, drive systems provided on both sides of the robot main body, a cleaning pad disposed below a pad holder, and a fluid exit port, wherein the fluid exit port is arranged in a region between the drive systems and in front of the cleaning pad, and an edge of the cleaning pad extends into the region between the drive systems on both sides. The cleaning robot in the implementation can avoid fluid from sputtering or being thrown out to the area outside the lower part of the robot main body, so that the cleaning robot can form a more regular track form after cleaning the surface to be cleaned.

In one embodiment of the present application, there is disclosed a cleaning robot including: a robot main body; the driving system is used for supporting the robot main body and driving the cleaning robot to walk, and the driving system is respectively arranged at two sides of the robot main body; the pad retainer is attached to the bottom of the robot main body through an output shaft, the corresponding output shaft is connected with a driving motor to drive the pad retainer to rotate around a shaft, and a cleaning pad is arranged below the pad retainer; the cleaning robot further comprises a fluid exit port to which the respective fluid is directed to wet the surface to be cleaned; the fluid exit port is disposed in the region between the two side drive systems and in front of the cleaning pad; the edge of the cleaning pad extends into the area between the two side drive systems.

Further, the wall surface on the inner side of the driving system is of a closed structure.

Further, the wall surface inside the drive system is a plane orthogonal to the surface to be cleaned.

Further, the cleaning pad is a regular polygon.

Further, still include: the vacuum assembly is used for forming negative pressure so that the cleaning robot sucks debris on the surface to be cleaned through a debris suction inlet, and the debris suction inlet is arranged at the bottom of the robot main body and communicated with the vacuum assembly; the fluid exit port is located rearward of the debris intake port.

Further, the distance of the fluid exit port to the geometric center of the cleaning pad is greater than the geometric radius of the cleaning pad.

Further, the fluid exit port is provided at a position closer to the cleaning pad than the debris suction port, which is opened toward the advancing direction of the cleaning robot.

Furthermore, a first baffle part is arranged on one side of the debris suction port close to the fluid outlet port, and the corresponding first baffle part extends from the bottom of the robot body to the surface of the floor.

Further, the first barrier is located in the area between the two side drive systems.

Further, the geometric radius of the driving system is 25mm-50 mm.

With the embodiment scheme of the first aspect of the present application, the fluid required for cleaning directly falls onto the surface to be cleaned, and then is wiped by the cleaning pad, so that the dirt on the surface to be cleaned is impacted and wetted by the fluid, and is likely to loosen and be removed by the cleaning pad more easily; in addition, after the surface to be cleaned is wetted by the fluid, the friction force between the surface to be cleaned and the cleaning pad is reduced, so that the cleaning robot is more stable in the operation process, and the navigation and positioning errors of the cleaning robot are reduced. With the embodiment of the first aspect of the present application, the fluid wetting the surface to be cleaned is limited in the area between the driving systems, and the fluid in the corresponding area will be wiped clean by the cleaning pad behind the fluid outlet, so that irregular water stains will not be left, and the cleaning effect of the cleaning robot is improved.

Drawings

Fig. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of another embodiment of a cleaning robot;

FIG. 3 is a schematic view of another embodiment of a cleaning robot;

FIG. 4 is a schematic diagram of a driving system of the cleaning robot according to an embodiment of the present disclosure;

fig. 5 is a schematic structural view of a driving system involved in the cleaning robot according to still another embodiment of the present application;

fig. 6 is a schematic structural diagram of a pad holder according to an embodiment of the present invention.

Detailed Description

It should be understood by those skilled in the art that the embodiments described below are only a part of the embodiments of the present disclosure, not all of the embodiments of the present disclosure, and the part of the embodiments are intended to explain the technical principles of the present disclosure and not to limit the scope of the present disclosure. All other embodiments that can be derived by one of ordinary skill in the art based on the embodiments provided in the disclosure without inventive faculty should still fall within the scope of the disclosure.

It should be noted that in the description of the present disclosure, the terms "center", "upper", "lower", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present disclosure, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood by those skilled in the art as appropriate.

The technical solution in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application:

referring to fig. 1 and 2, referring to a cleaning robot in an embodiment of the present application, there is disclosed a cleaning robot including: a robot main body 1001; the driving system 1002 is used for supporting the robot main body 1001 and driving the cleaning robot to walk, and the driving system 1002 is respectively arranged on two sides of the robot main body 1001; pad holders 1011 attached to the bottom of the robot body 1001 by output shafts 1012, the respective output shafts 1012 being connected to a driving motor 1015 to drive the pad holders 1011 to pivot, a cleaning pad 1005 being installed below the pad holders 1011; the cleaning robot further comprises a fluid exit port 1007, to which respective fluids are directed to wet the surface to be cleaned; a fluid exit port 1007 is disposed in the region between the two side drive systems 1002, in front of the cleaning pad 1005; the edge of the cleaning pad 1005 extends into the area between the two side drive systems 1002. Generally, fluid is dripped or sprayed from a fluid outlet and then impacts a corresponding surface to be cleaned, so that the fluid may splash, if the fluid is splashed to an area except the area below the cleaning robot, irregular water stains (such as burrs, radiation and the like) are formed around the cleaning robot, the cleaning robot cannot wipe the water stains at one time due to the fact that the corresponding water stains exceed the cleaning range of the cleaning pad, the cleaning robot is required to return to the area where the water stains are located for supplementary cleaning, otherwise, a leakage area is formed, and the regularity of a track form formed by cleaning is affected. In the cleaning robot in the embodiment, the driving systems 1002, the fluid outlet port 1007 and the cleaning pad 1005 are reasonably arranged, so that the fluid outlet port 1007 is just positioned in the region between the driving systems 1002, even if the fluid drops or is sprayed to the surface to be cleaned, the fluid drops are blocked by the driving systems 1002 at the two sides and do not exceed the region below the robot main body 1001 even if the fluid is splashed, and the formed water stains are all in the cleaning range of the cleaning pad 1005, so that the cleaning robot can wipe the cleaning pad cleanly at one time without reworking; meanwhile, the track form formed after the cleaning pad 1005 is wiped does not have irregular figures such as bur shapes and radial shapes, and regular track forms such as arch shapes can be left along the walking path of the cleaning robot, so that intelligent and ordered product experience is provided for users in sense. In addition, the edge of the cleaning pad 1005 extends to the area between the driving systems 1002 on the two sides, so that the edge of the cleaning pad 1005 can at least partially abut against the driving systems 1002, the cleaning pad 1005 is blocked by the driving systems 1002 to be stressed in the rotation process, the cleaning pad 1005 is squeezed by corresponding force, and accordingly, redundant fluid is squeezed out to the area near the inner side of the driving systems 1002, and along with the advance of the cleaning robot, the corresponding redundant fluid can be absorbed by other parts of the cleaning pad 1005, so that the cleaning pad 1005 is uniformly soaked on one hand, the redundant fluid is prevented from being thrown out to the area outside the robot main body 1001 on the other hand, and the pollution is prevented from being enlarged.

In one embodiment of the present application, the wall surface inside the driving system is a closed structure. Referring to fig. 5, in an embodiment of the present application, in order to make the driving system 1002 more effective to prevent the fluid from splashing to the area outside the robot main body 1001, the corresponding wall inside the driving system 1002 is a solid closed structure, so that the fluid cannot pass through the driving system 1002 to reach the area outside the robot main body 1001. In one embodiment of the present application, the wall surface inside the drive system is a plane orthogonal to the surface to be cleaned. In this embodiment, the wall inside the drive system 1002 is a plane normal to the surface to be cleaned, so that the blocked fluid can quickly slide down the wall inside the drive system 1002 to the surface to be cleaned and then be wiped away by the cleaning pad 1005. Referring to fig. 4, it will be understood by those skilled in the art that the corresponding drive system may be replaced with the track 1003 shown in fig. 4.

In one embodiment of the present application, the cleaning pad is a regular polygon. In this embodiment, the cleaning pad 1005 is shaped as a regular polygon such that the corresponding cleaning pad 1005 is partially urged against the drive system 1002 such that the cleaning pad 1005 periodically impacts the drive system 1002 during rotation with the pad holder 1011, squeezing out excess fluid that is also reabsorbed by the portions of the cleaning pad 1005 not urged against the drive system 1002, thereby ensuring consistency of the degree of wetting throughout the cleaning pad 1005.

In one embodiment of the present application, the cleaning robot further includes: the vacuum assembly is used for forming negative pressure so that the cleaning robot sucks debris on the surface to be cleaned through a debris suction inlet, and the debris suction inlet is arranged at the bottom of the robot main body and communicated with the vacuum assembly; the fluid exit port is located rearward of the debris intake port. In this embodiment, a cleaning robot is disclosed, including: a robot main body 1001; the driving system 1002 is used for supporting the robot main body 1001 and driving the cleaning robot to walk, and the driving system 1002 is respectively arranged on two sides of the robot main body 1001; a vacuum assembly for creating a negative pressure to make the cleaning robot suck debris of a surface to be cleaned through a debris suction port 1004, the debris suction port 1004 being provided at the bottom of the robot body 1001 and communicating with the vacuum assembly; a cleaning pad 1005 disposed under the robot body 1001 for scrubbing a surface to be cleaned; the cleaning robot further includes a fluid applicator 1006, in which a fluid required for cleaning is stored, and the corresponding fluid is guided to a fluid exit port 1007 through a fluid line 1010 to wet a surface to be cleaned; the fluid exit port 1007 is disposed in the area between the two side drive systems 1002, and is located after the debris intake 1004 and before the cleaning pad 1005, the debris intake 1004 being open to the direction of travel of the cleaning robot. In this embodiment, vacuum components are disposed within robot body 1001, including airflow chamber 1008 and vacuum source 1009. With the solution in this embodiment, the corresponding cleaning robot can clean the surface to be cleaned in a reasonable working sequence, i.e. firstly suck in dirty air above the surface to be cleaned through the vacuum assembly, then drop or eject the fluid required for cleaning through the fluid outlet 1007, and then wipe the wetted surface to be cleaned by the cleaning pad 1005, thereby completely cleaning the surface to be cleaned.

In one embodiment of the present application, the fluid exit port is spaced from the geometric center of the cleaning pad by a distance greater than the geometric radius of the cleaning pad. In this embodiment, the distance from the fluid exit opening 1007 to the geometric center of the cleaning pad 1005 is greater than the geometric radius of the cleaning pad 1005, thereby ensuring that the fluid can drip or spray directly onto the surface to be cleaned, which helps to improve the cleaning effect of the cleaning robot. By adopting the scheme in the embodiment, the fluid required for cleaning directly falls on the surface to be cleaned and is wiped by the cleaning pad, so that the dirt on the surface to be cleaned is impacted and wetted by the fluid, and is likely to loosen and be removed by the cleaning pad more easily; in addition, after the surface to be cleaned is wetted by the fluid, the friction force between the surface to be cleaned and the cleaning pad is reduced, so that the cleaning robot is more stable in the operation process, and the navigation and positioning errors of the cleaning robot are reduced.

In one embodiment of the present application, the fluid exit port is disposed closer to the cleaning pad than the debris suction port, which is open toward the traveling direction of the cleaning robot. In this embodiment, the fluid exit port 1007 is disposed in the area between the two side drive systems 1002, the fluid exit port 1007 is disposed closer to the cleaning pad 1005 than the debris suction port 1004, and the debris suction port 1004 is opened toward the travel direction of the cleaning robot. In this embodiment, the fluid outlet port 1007 is relatively far away from the debris suction port 1004, so that the dropped or sprayed fluid is not easily splashed to the debris suction port 1004, and the opening direction of the debris suction port 1004 is toward the advancing direction of the cleaning robot, so that the fluid can be further prevented from entering the debris suction port 1004, and the debris is effectively prevented from being wetted by the fluid.

In one embodiment of the present application, a first barrier is disposed on a side of the debris suction port close to the fluid outlet port, and the corresponding first barrier extends from a bottom of the robot body to a floor surface. In this embodiment, the side of the debris suction inlet 1004 adjacent to the fluid outlet 1007 is provided with a first barrier 1013, and the corresponding first barrier 1013 can further block the splashed fluid from entering the debris suction inlet 1004.

In one embodiment of the present application, the first barrier is located in a region between the two side drive systems. In this embodiment, the first partition 1013 is located in the region between the two side driving systems 1002, and the first partition 1013, the two side driving systems 1002 and the cleaning pad 1005 surround the fluid outlet 1007 therein, effectively preventing the fluid from being splashed or thrown out to the region other than the region below the robot main body 1001 from all directions. In one embodiment of the present application, the geometric radius of the drive system is 25mm to 50 mm. Referring to fig. 5, the geometric radius of the driving system 1002 is in the range of 25mm to 50mm, so that the fluid exit port 1007 is enclosed in a compact space, and the corresponding cleaning robot also appears to be more compact and exquisite.

In one embodiment of the present application, the debris suction inlet 1004 is open toward the forward direction of the cleaning robot, so that fluid and liquid droplets can be prevented from being sucked into the debris suction inlet 1004, and the debris and dust in the dirty air can be effectively prevented from being wetted and becoming difficult to clean. In this embodiment, the forward direction of the cleaning robot, the width direction of which is perpendicular to the forward direction, is indicated by a large arrow in fig. 1. In one of the embodiments of the present application, the corresponding surface to be cleaned may be a floor or a glass surface, etc.

In one embodiment of the present application, the corresponding driving system 1002 is mainly illustrated by taking a driving wheel as an example, but it can be understood by those skilled in the art that the corresponding driving system can also be implemented by selecting a crawler 1003 as shown in fig. 4.

In one embodiment of the present application, the cleaning robot further includes: a pad holder attached to the bottom of the robot body by an output shaft, the respective output shaft being connected to a drive motor to cause the pad holder to swivel about an axis; the cleaning pad is disposed below the pad holder and glides relative to the surface to be cleaned when revolving with the pad holder. In this embodiment, the cleaning robot further includes a pad holder 1011 attached to the bottom of the robot main body 1001 by an output shaft 1012, the output shaft 1012 being connected to a driving motor 1015 to rotate the pad holder 1011 around an axis; the cleaning pad 1005 is disposed below the pad holder 1011 and slides relative to the surface to be cleaned while revolving along with the pad holder 1011. As will be appreciated by those skilled in the art, the cleaning pad 1005 can be mounted on the pad holder 1011 in a variety of ways, such as adhesively, threadably, suspended, etc.; in addition, the pad holder 1011 is covered by the cleaning pad 1005, not specifically shown. As shown in FIG. 1, the pad holder in this embodiment is a rotatable disk that can be rotated in a plane parallel to the surface to be cleaned, thereby causing the cleaning pad 1005 to rotationally wipe the surface to be cleaned to enhance the cleaning effect. With the solution in this embodiment, the cleaning pad 1005 rotates back along with the pad holder 1011, and after the fluid used for wetting the surface to be cleaned is absorbed by the cleaning pad 1005, the corresponding fluid has a tendency to be thrown out by the centrifugal force, which also causes the formation of irregular water stains, thereby affecting the cleaning effect. Therefore, in this embodiment, it is more necessary to block the thrown fluid by the driving system 1002, and by adopting the scheme in this embodiment, repeated cleaning can be avoided, and the track form formed by cleaning is very regular, thereby greatly improving the product experience of the cleaning robot. On the other hand, in the conventional cleaning robot, the cleaning pad is often mounted below the robot main body by a non-active pad holder, and the fluid required for cleaning is directly guided to the fluid outlet port through the fluid pipe and directly permeates into the cleaning pad; however, in the embodiment of the present application, since the pad holder 1011 is in a high-speed rotation state during the operation, if the fluid is still directly applied to the cleaning pad 1005 through the fluid pipeline 1010 and the fluid outlet port 1007, the fluid pipeline 1010 may have extremely high design requirements, which may easily cause the fluid pipeline 1010 to be twisted during the rotation of the pad holder 1011. The cleaning robot in this embodiment applies fluid to the surface to be cleaned and then wipes the wetted surface to be cleaned with the cleaning pad 1005, thereby achieving cleaning while avoiding complicated plumbing difficulties. In addition, with the solution in this embodiment of the present application, the fluid can directly wet the surface to be cleaned without wetting the cleaning pad 1005 with the fluid and then cleaning the surface to be cleaned with the wetted cleaning pad 1005, thereby improving the cleaning efficiency.

In one embodiment of the present application, a first blocking portion is disposed on a side of the debris suction port close to the fluid outlet port, and the corresponding first blocking portion extends from the bottom of the robot body to the surface to be cleaned. Referring to fig. 1 and 3, in this embodiment, a first barrier 1013 is provided on a side of the debris suction port 1004 adjacent to the fluid outlet port 1007, and the corresponding first barrier 1013 extends from the bottom of the robot main body 1001 to the surface to be cleaned. In this embodiment, in order to prevent the swirling pad holder 1001 from throwing the fluid on the cleaning pad 1005 out to the debris suction port 1004 in front, causing the debris near the debris suction port 1004 to be wetted and become difficult to clean, a first barrier 1013 is provided at a side of the debris suction port 1004 close to the fluid outlet port 1007 to block the thrown-out fluid, so as to separate the suction area of the debris and the wetted area of the surface to be cleaned, and avoid interference therebetween.

In one embodiment of the present application, the debris suction port is provided with second blocking portions on both sides in the width direction, and the second blocking portions are engaged with the first blocking portions to half-surround the debris suction port. In this embodiment, the debris suction port 1004 is further provided with second partitions 1014 on both sides in the width direction, and the second partitions 1014 are engaged with the first partitions 1013 to half-surround the debris suction port 1004. In this embodiment, the first and second barriers 1013 and 1014 can block the debris from the area of the debris suction inlet 1004, and the first and second barriers 1013 and 1014 can form an opening in the forward direction of the cleaning robot and half-surround the debris suction inlet 1004, so that the flow guide function can be performed to guide the dirty air into the debris suction inlet 1004.

In one embodiment of the present application, the first blocking portion extends to abut against a surface to be cleaned, and an included angle between an extending direction of the first blocking portion and a forward direction of the cleaning robot is an acute angle. In this embodiment, the angle between the extending direction of the first partition 1013 and the advancing direction of the cleaning robot is an acute angle, so that the dirty air can more smoothly enter the debris suction inlet 1004 along the first partition 1013, and the first partition 1013 abuts against the surface to be cleaned, thereby ensuring the sealing property, and improving the air suction effect and the fluid blocking effect.

Referring to fig. 6, a schematic view of a cleaning pad of a cleaning robot in accordance with yet another embodiment of the present application is shown. It will be appreciated by those skilled in the art that in one of the embodiments of the present application, the cleaning robot may be provided with a plurality of pad holders 6011, and the shape of the corresponding pad holder 6011 may be selectable, such as a circle, a regular polygon, etc., and the shape of the cleaning pad corresponds to the pad holder 6011. As shown in fig. 6, the corresponding pad holder 6011 is a regular pentagon. In one embodiment of the present application, the third distance is 2(N-1) times the geometric radius of the cleaning pad, where N is the number of pad holders and N ≧ 2. In this embodiment, the distance between the axial centers of the two pad holders 6011 located on the outermost side is a third distance X3, where the third distance X3 is 2(N-1) times the geometric radius of the cleaning pad, where N is the number of pad holders 6011. As shown in fig. 6, 4 pad holders are provided so that the third distance X3 is 6 times the geometric radius of the cleaning pads, which ensures that the cleaning pads abut each other and prevents the formation of voids between the cleaning pads that can result in missed areas during cleaning.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

So far, the technical solutions of the present disclosure have been described in connection with the foregoing embodiments, but it is easily understood by those skilled in the art that the scope of the present disclosure is not limited to only these specific embodiments. The technical solutions in the above embodiments can be split and combined, and equivalent changes or substitutions can be made on related technical features by those skilled in the art without departing from the technical principles of the present disclosure, and any changes, equivalents, improvements, and the like made within the technical concept and/or technical principles of the present disclosure will fall within the protection scope of the present disclosure.

Claims (10)

1. A cleaning robot, comprising:

a robot main body;

the driving system is used for supporting the robot main body and driving the cleaning robot to walk, and the driving system is respectively arranged on two sides of the robot main body;

the pad retainer is attached to the bottom of the robot main body through an output shaft, the corresponding output shaft is connected with a driving motor to drive the pad retainer to rotate around a shaft, and a cleaning pad is arranged below the pad retainer;

characterized in that the cleaning robot also comprises,

a fluid exit port to which a respective fluid is directed to wet a surface to be cleaned; the fluid exit port is disposed in a region between the two side drive systems and in front of the cleaning pad; the edge of the cleaning pad extends into the area between the two side drive systems.

2. The cleaning robot as claimed in claim 1, wherein the wall surface inside the driving system is a closed structure.

3. The cleaning robot as claimed in claim 2, wherein the wall surface inside the driving system is a plane orthogonal to the surface to be cleaned.

4. The cleaning robot of claim 1, wherein the cleaning pad is a regular polygon.

5. The cleaning robot of any one of claims 1-4, further comprising: the vacuum assembly is used for forming negative pressure so that the cleaning robot sucks debris on the surface to be cleaned through a debris suction inlet, and the debris suction inlet is arranged at the bottom of the robot main body and communicated with the vacuum assembly; the fluid exit port is located rearward of the debris intake port.

6. The cleaning robot of claim 5, wherein the fluid exit port is a distance from a geometric center of the cleaning pad that is greater than a geometric radius of the cleaning pad.

7. The cleaning robot of claim 5, wherein the fluid exit port is disposed closer to the cleaning pad than the debris suction port, which is open toward a direction of travel of the cleaning robot.

8. The cleaning robot as claimed in claim 5, wherein a side of the debris suction inlet adjacent to the fluid outlet is provided with a first barrier, and the respective first barrier extends from a bottom of the robot body toward the floor surface.

9. The cleaning robot of claim 8, wherein the first barrier is located in an area between two side drive systems.

10. A cleaning robot as claimed in claim 1, wherein the geometric radius of the drive system is 25-50 mm.

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