CN216020840U - Cleaning robot - Google Patents

Abstract

The utility model discloses a cleaning robot, comprising: a driving module for driving the cleaning robot to move; the docking assembly is used for installing the cleaning module, wherein the cleaning module is detachably connected to the docking assembly; the sensing module is used for acquiring environmental information of the cleaning robot; the control module is in communication connection with the sensing module and the driving module and is used for acquiring information of the sensing module and controlling the driving module to control the cleaning work of the cleaning robot; the control module is communicatively coupled to the docking assembly to identify the type of cleaning module needed to install the corresponding cleaning module. Compared with the prior art, the butt joint assembly has the function of identifying the type of the cleaning module, and the cleaning module corresponding to the cleaning mode is installed, so that the cleaning robot can execute a cleaning scheme, perform various types of integrated cleaning on the ground, and realize multifunctional cleaning of the cleaning robot.

Description

Cleaning robot

Technical Field

The utility model relates to the field of floor cleaning, in particular to a cleaning robot.

Background

With the development of technology, commercial server robots are more and more going into people's lives. Cleaning machines people, as the fist product of intelligent house, is liked by people deeply. The existing commercial cleaning service robots are all single module type robots, and can only realize single functions, such as floor washing, oil stain cleaning and the like. When the user has the deep level clean demand, need purchase the different cleaning machines people of many functions in order to satisfy the demand, it also has a lot of problems that bring: the purchasing cost is high, the learning cost of use is high, the idle rate of cleaning robot is high, it is inconvenient for the user to control to occupy space. In view of the above, a solution to the above problem is needed.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a cleaning robot, and aims to solve the technical problems of providing multifunctional cleaning service, reducing the cost of a user and improving the use experience of the user.

The present invention provides a cleaning robot, including:

a driving module for driving the cleaning robot to move;

the docking assembly is used for installing the cleaning module, wherein the cleaning module is detachably connected to the docking assembly;

the sensing module is used for acquiring environmental information of the cleaning robot;

the control module is in communication connection with the sensing module and the driving module and is used for acquiring information of the sensing module and controlling the driving module to control the cleaning work of the cleaning robot;

the control module is communicatively coupled to the docking assembly to identify the type of cleaning module needed to install the corresponding cleaning module.

Preferably, the docking assembly comprises an identification unit for obtaining the type of cleaning module it is mounted to.

Preferably, the docking assembly comprises a guide rail and a first connector; the first connecting piece is connected with a motor inside the cleaning robot and used for fixing and driving the cleaning module to work.

Preferably, the docking assembly further comprises an electromagnet and a push rod assembly, and the cleaning module further comprises a magnetic part;

the electromagnet is used for fixing the cleaning module in a magnetic attraction manner;

the push rod assembly is used for pushing the cleaning module away from the butt joint assembly.

Preferably, the docking assembly includes a non-rigid pressure regulating structure comprising:

the first end of the telescopic component is connected with the cleaning robot;

the third connecting piece is connected with the second end of the telescopic part;

the first end of the elastic component is connected with the third connecting piece;

the bracket component is provided with a first connecting part and a second connecting part, and the first connecting part is connected with the second end of the elastic component;

the second connecting part of the bracket component is used for installing the cleaning module.

Preferably, the cleaning robot further comprises a cleaning and dust collecting module and a mounting bracket;

the driving module is arranged at the bottom of the mounting bracket, and the cleaning and dust collecting module is arranged at the front end of the mounting bracket;

the butt joint component is arranged at the bottom of the mounting bracket.

Preferably, the cleaning and dust collecting module comprises a cleaning mechanism, a dust collecting mechanism and a garbage collecting mechanism;

the cleaning mechanism is positioned at the bottom of the cleaning dust collection module and comprises a first rolling brush component and a second rolling brush component, wherein the first rolling brush component is used for cleaning garbage in a middle area, the second rolling brush component is used for cleaning garbage in left and right areas, and the middle area and the left and right areas are both positioned in a projection area of the cleaning robot in the vertical direction of the ground;

the garbage collecting mechanism comprises a garbage box and a lifting mechanism, and the lifting mechanism drives the garbage box to do lifting motion;

the first rolling brush component is arranged opposite to the opening of the garbage box and sweeps the garbage into the garbage box;

the dust collection mechanism comprises a filter screen and a dust collection box, and the filter screen is positioned in the dust collection box;

the dust collection box is positioned above the garbage box and communicated with the garbage box, and dust in the garbage box is attached to the surface of the filter screen.

Preferably, the cleaning robot includes a manual driving assembly, the manual driving assembly is disposed at a rear upper portion of the robot, and the manual driving assembly includes:

the handle can be shifted up and down and rotated left and right;

the first sensing part is used for sensing the left-right rotation angle of the handle and is connected with the handle;

one end of the main shaft is connected with the first sensing part;

the second sensing part is used for sensing the vertical shifting angle of the handle and is connected with the main shaft;

the control module is in communication connection with the first sensing part and the second sensing part and controls the cleaning robot to operate according to a specified angle.

Preferably, the cleaning robot includes an identification module and a power module;

the recognition module is in communication connection with the control module and is used for recognizing the relative position of the cleaning robot and the external equipment;

the power supply module comprises a first charging port for manual charging, a second charging port for automatic charging, a lithium battery and a power supply control board;

the power supply control board is electrically connected with the first charging port, the second charging port and the lithium battery so as to realize current distribution, voltage distribution and power supply protection;

when the identification module works, the identification module can acquire the relative position of the second charging port and the external equipment so as to control the driving module to run towards the direction of the external equipment, and the second charging port is automatically butted with the external equipment.

Preferably, the waterway circulation system comprises a sewage tank, a clean water tank, a water pumping motor, a sewage discharging motor, a first electromagnetic valve, a second electromagnetic valve and a sewage discharging component;

the sewage tank, the first electromagnetic valve and the sewage discharging motor are sequentially communicated through a first hose so as to absorb sewage on the ground;

the sewage discharge assembly comprises a push rod and a sewage discharge pipe, the push rod is fixed on the mounting bracket, the sewage discharge pipe is connected with the sewage tank, and when the push rod works, a sewage discharge port of the sewage discharge pipe extends out of the cleaning robot from the interior of the cleaning robot to the exterior of the cleaning robot so as to discharge sewage;

the clear water tank, the second electromagnetic valve and the water pumping motor are sequentially communicated through a second hose so as to spray clear water to the ground;

the clean water tank is provided with a water filling port, the water filling port is connected with a third hose, and the third hose is used for connecting an external water source.

The utility model has the beneficial effects that: the cleaning robot performs a cleaning protocol, during which the cleaning robot has different cleaning modes, which require different cleaning modules. The butt joint component has the function of identifying the type of the cleaning module, the cleaning module corresponding to the cleaning mode is installed, so that the cleaning robot can execute a cleaning scheme, multiple types and integration of cleaning are carried out on the ground, the multifunctional cleaning of the cleaning robot is realized, a user is helped to reduce the occupied space, the use cost and the purchase cost of equipment, and the use experience of the user is improved.

Drawings

FIG. 1 is a block diagram of a cleaning robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a first configuration of a docking assembly of the cleaning robot in an embodiment of the present invention;

FIG. 3 is a schematic view of a first structure of a cleaning module of the cleaning robot according to the embodiment of the present invention;

FIG. 4 is a schematic diagram of the docking assembly of the cleaning robot and the cleaning module in accordance with an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a rolling brush assembly of the cleaning robot according to the embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a cleaning and dust collecting module of the cleaning robot in the embodiment of the present invention;

FIG. 7 is a first schematic structural view of a manual steering assembly of the cleaning robot in an embodiment of the present invention;

FIG. 8 is an exploded view of the manual steering assembly of the cleaning robot in an embodiment of the present invention;

FIG. 9 is a second schematic view of a manual steering assembly of the cleaning robot in an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a power module of the cleaning robot according to the embodiment of the present invention;

fig. 11 is a block diagram of a cleaning module of the cleaning robot in the embodiment of the present invention;

FIG. 12 is a schematic view of a first structure of a floor scrubbing module of the cleaning robot in an embodiment of the present invention;

FIG. 13 is a second schematic view of a floor scrubbing module of the cleaning robot in an embodiment of the present invention;

FIG. 14 is a first schematic view of a maintenance polishing module of a cleaning robot according to an embodiment of the present invention;

fig. 15 is a second structural diagram of a maintenance polishing module of a cleaning robot according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

Referring to fig. 1, the present invention provides a cleaning robot including:

a driving module 1 for driving the cleaning robot to move;

the docking assembly 2 is used for installing a cleaning module 5, wherein the cleaning module is detachably connected to the docking assembly 2;

the sensing module 3 is used for acquiring environmental information of the cleaning robot;

the control module 4 is in communication connection with the sensing module 3 and the driving module 1, and is used for acquiring information of the sensing module 3 and controlling the driving module 1 to control the cleaning work of the cleaning robot;

the control module 4 is communicatively coupled to the docking assembly 2 to identify the type of cleaning module 5 required to install the corresponding cleaning module 5.

In an embodiment of the present invention, the cleaning robot includes a driving module 1, a docking assembly 2, a sensing module 3, and a control module 4. The driving module 1 is used to drive the movement of the cleaning robot. The docking assembly 2 is used for installing a cleaning module, and the sensing module 3 is used for acquiring environmental information of the cleaning robot. The environment information includes obstacle information, floor dirt information, an indoor map, and the like within a designated range of the cleaning robot. The control module 4 generates a cleaning scheme according to the environmental information acquired and analyzed by the sensing module 4. The cleaning module 5 comprises a floor cleaning and dirt sucking module 52, a floor cleaning and dust pushing module 53 and a maintenance and polishing module 54, and the cleaning module 5 is detachably connected to the docking assembly 2. In other embodiments of the present invention, the control module 4 may also generate a corresponding cleaning solution according to a manual setting of a user. The cleaning robot performs a cleaning protocol during which the cleaning robot has different cleaning modes, which require different cleaning modules 5. The docking assembly 2 has the function of identifying the type of the cleaning module 5, and the cleaning module 5 corresponding to the cleaning mode is installed, so that the cleaning robot 1 can execute a cleaning scheme, perform various types and integration of cleaning on the ground, realize multifunctional cleaning of the cleaning robot, help a user reduce the occupied space, use cost and purchase cost of equipment, and improve the use experience of the user.

Referring to fig. 2 and 3, the docking assembly 2 includes an identification unit 21 for acquiring the type of cleaning module 5 mounted thereto.

In the embodiment of the present invention, the identifying unit 21 includes a first identifying unit and a second identifying unit; the first identification unit is arranged at a first position of the equipment, the second identification unit is arranged at a second position of the equipment, and the first position and the second position are two different positions. The identification unit 5A is provided at a position on the cleaning module 5 corresponding to the first recognition unit and/or the second recognition unit.

Referring to fig. 2 and 3, the docking assembly 2 includes a guide rail 22 and a first connector 23;

the cleaning module 5 comprises a second link 5C and a slider 5B;

the cleaning module 5 is matched with the guide rail 22 through the sliding piece 5B, the sliding piece 5B can slide into and be fixed in the guide rail 22, the first end of the first connecting piece 23 is connected with the cleaning robot, the second end of the first connecting piece 23 is connected with the first end connected with the second connecting piece 5C, and the first end of the second connecting piece 23 is detachably connected with the second end of the first connecting piece 23.

In the present embodiment, the docking assembly 2 comprises a guide rail 22 and a first connector 23, wherein the first connector 23 comprises a magnetic coupling male. The cleaning module 5 includes an identification unit 5A; the identification unit 21 is used to identify the identification unit 5A to acquire the type of the cleaning module 5. In an embodiment of the present invention, the docking assembly 2 comprises an identification unit 21 and a guide rail 22, wherein the identification unit 21 comprises a hall sensor. The cleaning module 5 comprises an identification unit 5A and a sliding piece 5B, wherein the sliding piece 5B is provided with a plurality of mounting holes for mounting the identification unit 5A, and the identification unit 5A comprises a magnetic component. The slide 5B of the cleaning module 5 slides on the guide rail 22 of the docking assembly 2 to complete the alignment of the docking assembly 2 with the cleaning module 5. In one embodiment of the present invention, the recognition unit 21 includes a first hall sensor for recognizing the magnetic component on the left guide rail and a second hall sensor for recognizing the magnetic component on the right guide rail. The docking assembly 2 obtains the type of the cleaning module 5 by recognizing the presence of the non-magnetic component and recognizing the position of the magnetic component. For example, only the left slider of the soil pick-up module 52 is installed with a magnetic component, and when the soil pick-up module 52 is installed to the docking assembly 2, the recognition unit 52 (i.e., the first hall sensor) of the docking assembly 2 recognizes that there is a magnetic component on the left rail, and thus the docking assembly 2 recognizes the cleaning module 5 as the soil pick-up module 52. Similarly, only the right slider of the maintenance polishing module 54 is installed with a magnetic component, and when the maintenance polishing module 54 is installed on the docking assembly 2, and the recognition unit 52 (i.e., the second hall sensor) of the docking assembly 2 recognizes that the magnetic component is on the right rail, the docking assembly 2 recognizes that the cleaning module 5 is the maintenance polishing module 54. Through the arrangement, the type of the cleaning module 5 can be easily identified by the butt joint component 2, and the butt joint component is low in manufacturing cost, high in reliability and suitable for large-batch application. In still another embodiment of the present invention, the cleaning module 5 includes a second link 5C and a slider 5B, wherein the second link 5C includes a magnetic coupling female head, one end of the first link 23 is connected to the cleaning robot, the other end is connected to the second link 5C, and the second link 23 is detachably connected to the first link 23. The magnetic coupling male head and the magnetic coupling female head can be electromagnets or permanent magnet materials. In the embodiment of the present invention, the cleaning module 5 is slid into the guide rail 22 of the docking assembly 2 by the sliding member 5B, in the process, the magnetic coupling male head of the docking assembly 2 is aligned with the magnetic coupling female head of the cleaning module 5, and the magnetic coupling female head is inserted into the magnetic coupling male head under the attraction of the magnetic force, so that the cleaning module 5 is fixed on the docking assembly 2. In addition, in the embodiment of the present invention, the cleaning module 5 has two installation modes, the first mode is manual installation by a user; the second is to mount the cleaning module 5 on the docking assembly 2 by external means. In summary, the cleaning module 5 is detachably connected to the docking assembly 2 by a sliding connection, so that the cleaning module 5 can be replaced by a user or an external device (e.g. a workstation).

Referring to fig. 2, the docking assembly 2 further includes an electromagnet 24 and a push rod assembly 25, and the cleaning module 5 further includes a magnetic member;

the electromagnet 24 is used for fixing the cleaning module 5 in a magnetic attraction manner;

the push rod assembly 25 is used to push the cleaning module 5 away from the docking assembly 2.

In an embodiment of the utility model, the docking assembly 2 comprises a third hall sensor for identifying whether the cleaning module 5 enters the guide rail 22. The end face of the cleaning module 5 close to the electromagnet 24 is provided with a magnetic part which is matched with the electromagnet 24 of the butt joint component 2 to further fix the cleaning module 5. The specific process is as follows, when the third hall sensor recognizes that the cleaning module 5 starts to slide into the guide rail 22, the electromagnet 24 is electrified and demagnetized, so as to prevent the cleaning module 5 from being attracted by the electromagnet 24 in the sliding process, and from continuing to accelerate, and the cleaning module 5 can impact the docking assembly 2 at an excessively high speed, so as to cause damage to the docking assembly 2 and the cleaning module 5. After the preset time, the cleaning module 5 is positioned with the docking assembly 2, the electromagnet 24 is electrified again, the magnetic part of the cleaning module 5 is adsorbed by the electromagnet 24, and the cleaning module 5 is further fixed. In other embodiments of the present invention, when the cleaning module 5 slides into the guide rail 22, it is attracted by the electromagnet 24, and the first connecting member 23 of the docking assembly 2 is engaged with the second connecting member 5C of the cleaning module 5 to fix the cleaning module 5 in the vertical direction, and the electromagnet 24 is engaged with the magnetic member to fix the cleaning module 5 in the horizontal direction, thereby further fixing the cleaning module 5. When the docking assembly 2 requires the cleaning module 5 to be removed, the cleaning module is simply pushed out of the guide rail 22 using the push rod assembly 25. The cleaning module 5 is more conveniently removed by the user by means of the push rod assembly 25. The application further promotes the efficiency of cleaning robot loading and unloading cleaning module 5.

Referring to fig. 4, the docking assembly 2 includes a non-rigid pressure regulating structure including:

a telescopic member 26, a first end of the telescopic member 26 being connected to the cleaning robot;

a third connecting member 27, the third connecting member 27 being connected to the second end of the telescopic member 26;

an elastic member 28, a first end of the elastic member 28 being connected to the third connecting member 27;

the bracket assembly 29 is provided with a first connecting part and a second connecting part, and the first connecting part is connected with the second end of the elastic assembly;

the second connection of the bracket assembly 29 is used for mounting the cleaning module 5.

In an embodiment of the utility model, the docking assembly 2 comprises a non-rigid pressure regulating structure, which is used for shock absorption. The telescopic member 26 comprises a push rod and the third connector 27 comprises a first support plate. The elastic component 28 comprises a spring and a connecting column, two ends of the connecting column are respectively connected to the third connecting piece 27 and the second supporting plate of the bracket component 29, and the spring column is arranged on the connecting column and used for damping. The bracket assembly 29 rests on top against the third connector 27 and on the bottom against the guide rail 22. When the cleaning robot starts to clean, the push rod extends out to drive the support plate to descend, and the support assembly 29 is suspended on the support plate, so that the support assembly 29 descends along with the descending of the first support plate, the guide rail 22 on the support assembly 29 also descends, and the cleaning module 5 on the guide rail 22 also descends. When cleaning module 5 receives the reaction force on ground, the reaction force is conducted on bracket component 29, drives bracket component 29 to lift, and the spring receives the compression, reduces the reaction force that bracket component 29 received, thereby avoids bracket component 29 to receive too big reaction force striking other inside parts of cleaning robot, causes cleaning robot to damage. In addition, when the spring is reset, the bracket assembly 29 is driven to move downwards, so that the cleaning module 5 is continuously driven to press the ground, the cleaning work is continuously carried out, and the cleaning module 5 is prevented from being pressed to the ground to cause the damage of the cleaning module 5 or the butt joint assembly 2.

Referring to fig. 11, the cleaning robot further includes a cleaning and dust suction module 51 and a mounting bracket;

the driving module 1 is arranged at the bottom of the mounting bracket, and the cleaning and dust-absorbing module 51 is arranged at the front end of the mounting bracket;

the butt joint component 2 is arranged at the bottom of the mounting bracket.

In the embodiment of the present invention, the cleaning and dust sucking module 51 is used for cleaning and sucking dust on the floor, the mounting bracket is used for mounting each function module of the cleaning robot, and the docking assembly 2 is arranged at the bottom of the cleaning robot. Through the arrangement, the cleaning robot has the functions of cleaning and dust collection, and can install the cleaning module with the required function through the butt joint assembly, so that two cleaning modes can be developed simultaneously. In addition, the internal structure of the device is reasonable in layout and compact in structure, and the space utilization rate is effectively improved.

Referring to fig. 5 and 6, the cleaning and dust-sucking module 51 includes a cleaning mechanism, a dust-sucking mechanism, and a garbage-collecting mechanism;

the cleaning mechanism is positioned at the bottom of the cleaning dust collection module 51 and comprises a first rolling brush assembly 5111 and a second rolling brush assembly 5112, wherein the first rolling brush assembly 5111 is used for cleaning garbage in the middle area, the second rolling brush assembly 5112 is used for cleaning garbage in the left and right areas, and the middle area and the left and right areas are both positioned in the projection area of the cleaning robot in the vertical direction of the ground;

the garbage collection mechanism comprises a garbage box 5131 and a lifting mechanism 5132, and the lifting mechanism 5132 drives the garbage box 5131 to do lifting movement;

the first rolling brush assembly 5111 is arranged opposite to the opening of the garbage box 5131, and sweeps the garbage into the garbage box 5131;

the dust collection mechanism comprises a filter screen and a dust collection box 5121, and the filter screen is positioned in the dust collection box 5121;

the dust box 5121 is located above the garbage box 5131 and communicates with the garbage box 5131 to attach dust in the garbage box 5131 to the surface of the filter screen.

In the embodiment of the present invention, the first rolling brush assembly 5111 includes a rolling brush, a first lifting push rod, a timing belt, a rolling brush motor, and a rolling brush shaft. The first lifting push rod is used for lifting the first rolling brush assembly 31, and drives the rolling brush to move through the sequential transmission connection of the rolling brush motor, the synchronous belt, the rolling brush shaft and the rolling brush. The second rolling brush assembly 32 includes an edge brush motor, a second lifting push rod, a metal link, and an edge brush. The side brush motor directly drives the side brush to move, and the relative position of the side brush is changed through the second lifting push rod and the metal connecting rod. Through the arrangement, the cleaning robot sweeps the garbage and the dust to the middle area of the cleaning robot through the left and right side brushes, and sweeps the garbage and the dust into the interior of the cleaning robot through the rotation of the rolling brush. Through the arrangement, the garbage and the dust on the left side and the right side of the cleaning robot are swept into the middle area of the cleaning robot through the side brushes, the garbage in the middle area is swept into the cleaning robot through the rolling brushes, and the cleaning efficiency is high in the mode. The garbage collection mechanism is used for storing garbage cleaned by the rolling brush mechanism, and the dust suction mechanism is used for sucking small garbage such as dust in the garbage box 5131 into the dust suction box 5121 and preventing the small garbage from leaking out of the opening of the garbage box 5131. The dust suction mechanism includes a dust suction motor 5122, a filter screen located in the dust suction box 5121, and a dust suction box 5121, wherein the dust suction motor 521 forms a negative pressure in the garbage box 5131 by suction, and small garbage such as dust enters the dust suction box 5121 and adheres to the filter screen. The garbage collection mechanism comprises a garbage box 5131 and an elevating mechanism 5132, the elevating mechanism 5132 drives the garbage box 5131 to do elevating movement, the garbage collection mechanism further comprises an automatic door opening push rod and a garbage sensor, when the garbage in the garbage box 5131 is full, the garbage collection mechanism 1 can automatically dump garbage, and the garbage collection mechanism further comprises a manual door opening mechanism, so that a user can manually dump the garbage. Through the cooperation of dust absorption mechanism and garbage collection mechanism, cleaning efficiency of cleaning robot has further been improved.

Referring to fig. 7 to 9, the cleaning robot includes a manual driving assembly 7, the manual driving assembly 7 being disposed at a rear upper portion of the robot, the manual driving assembly 7 including:

a handle 71 which can be shifted up and down and rotated left and right;

the first sensing part 72 is used for sensing the left-right rotation angle of the handle 71, and the first sensing part 72 is connected with the handle 71;

a main shaft 73 having one end connected to the first sensor 72;

the second sensing part 74 is used for sensing the vertical shifting angle of the handle 71, and the second sensing part 74 is connected with the main shaft 73;

the control module 4 is in communication connection with the first sensing part 72 and the second sensing part 74, and controls the cleaning robot to operate at a designated angle.

In the embodiment of the present invention, the manual steering assembly 7 includes a handlebar 71, a first sensing portion 72, a main shaft 73, and a second sensing portion 74. The first sensing portion 72 and the second sensing portion 74 each include an angular velocity sensor. Specifically, the manual steering assembly 7 is mounted to a mounting bracket of the cleaning robot through a bearing housing 75. The main shaft 73 includes a rotation fixing shaft 731 and a rectilinear rotation shaft 732, both of the fixing shaft 731 and the rectilinear rotation shaft 732 are mounted on the bearing block 75, the rotation fixing shaft 731 is disposed to penetrate the rectilinear rotation shaft 732, and the rotation fixing shaft 731 is perpendicular to the rectilinear rotation shaft 732, so that the movement of the rotation fixing shaft 731 and the rectilinear rotation shaft 732 does not interfere with each other. The first sensing part 72 is connected to the rotation fixing shaft 731 to collect rotation information of the rotation fixing shaft 731 to obtain steering information of the cleaning robot, and the second sensing part 74 is connected to the rectilinear rotation shaft 732 to collect rotation information of the rectilinear rotation shaft 732 to obtain forward and backward movement information of the cleaning robot 1. The first sensing part 72 and the second sensing part 74 both send the collected spindle rotation information to the control module 4, and after the control module 4 obtains the spindle rotation information, the drive module 1 is driven to work and operate according to a specified angle. Through setting up manual driving assembly 7, realize the control mode to cleaning machines people's pluralism, cleaning machines people can't use when avoiding single control mode trouble. In addition, through setting up manual driving subassembly 7, can solve the problem that there is the blind spot in the clean among traditional cleaning robot self-cleaning well, the user can be according to the nimble clean ground of demand.

Referring to fig. 10, the cleaning robot includes an identification module and a power module;

the recognition module is in communication connection with the control module 4 and is used for recognizing the relative position of the cleaning robot and the external equipment;

the power supply module comprises a first charging port 101 for manual charging, a second charging port 102 for automatic charging, a lithium battery 103 and a power supply control board 104;

the power control board 104 is electrically connected with the first charging port 101, the second charging port 102 and the lithium battery 103 to realize current distribution, voltage distribution and power protection;

when the identification module 9 works, the identification module 9 can obtain the relative position of the second charging port 102 and the external device, so as to control the driving module 1 to operate towards the external device, and the second charging port 102 is automatically connected with the external device in a butt joint mode.

In the embodiment of the present invention, the recognition module 9 includes an alignment camera 91 and a hall sensor 92. The power control board 104 distributes current and voltage to the functional modules and provides overvoltage protection, overcurrent protection and short circuit protection. In the embodiment of the present invention, the mounting bracket is provided with an electrical installation area, the alignment camera 91 is located at the center of the electrical installation area, and two hall sensors 92 are respectively disposed at two ends of the electrical installation area. The first charging port 101 and the second charging port 102 are arranged side by side, so that a user can conveniently find the charging ports. In this embodiment, the working process of the identification module 9 is as follows: first, a relative position with an external device (e.g., a workstation) is acquired by the alignment camera 91, and then the cleaning robot is moved toward the position of the workstation. When the cleaning robot is close to the workstation, because the workstation is equipped with the magnetic part in the joint position department that charges, the hall sensor 92 of cleaning robot can discern the existence of magnetic part, continues the motion towards the direction of magnetic part place, accomplishes the second and charges mouthful 102 and the accurate counterpoint of power, and the second that charges that until the workstation charges the plug and insert cleaning robot charges mouthful 102. Through the arrangement, the cleaning robot can complete automatic charging without manual intervention, so that the labor cost is saved, and the use experience of a user is improved.

Furthermore, the waterway circulation system comprises a sewage tank, a clean water tank, a water pumping motor, a sewage discharging motor, a first electromagnetic valve, a second electromagnetic valve and a sewage discharging component;

the sewage tank, the first electromagnetic valve and the sewage discharging motor are sequentially communicated through a first hose so as to absorb sewage on the ground;

the sewage component comprises a push rod and a sewage discharge pipe, the push rod is fixed on the mounting bracket, the sewage discharge pipe is connected with the sewage tank, and when the push rod works, a sewage discharge port of the sewage discharge pipe extends out of the cleaning robot from the interior of the cleaning robot to discharge sewage;

the clear water tank, the second electromagnetic valve and the water pumping motor are sequentially communicated through a second hose so as to spray clear water to the ground;

the clean water tank is provided with a water filling port, the water filling port is connected with a third hose, and the third hose is used for connecting an external water source.

In the embodiment of the utility model, the waterway circulation system is used for soil washing and soil sucking of the cleaning robot and maintenance and polishing. The process of adding clean water to the cleaning robot is as follows: the clean water tank is provided with a water filling port, the water filling port is connected with a third hose, and the third hose is used for connecting an external water source. The external water source adds clean water to the clean water tank through a third hose. The process of the cleaning robot discharging the clean water is as follows: the clean water tank, the second electromagnetic valve and the water pumping motor are sequentially communicated through a second hose, and under the action of the water pumping motor, the clean water flows to the ground from the clean water tank. The process of the cleaning robot absorbing the sewage is as follows: the sewage tank, the first electromagnetic valve and the sewage discharging motor are sequentially communicated through a first hose, the first hose is connected with the ground washing and sewage sucking module 52, and sewage is recycled to the sewage tank through the ground washing and sewage sucking module 52. The process of the cleaning robot discharging sewage is as follows: the dirty subassembly includes push rod and blow off pipe, and the push rod is fixed in the installing support, and the blow off pipe is connected with the sewage case, and the push rod during operation stretches out the outside to cleaning machines people from cleaning machines people's inside with the drain of blow off pipe to discharge sewage. Through the arrangement, a water path circulating system is formed, the cleaning robot can add clean water, discharge clean water, absorb sewage and discharge sewage, and the cleaning work is efficiently finished.

Referring to fig. 11 to 13, the floor soil module 52 includes a scrubbing assembly, a waterway circulation assembly, and a first guide docking piece 523. The scrubbing assembly includes a brush plate 521 and a brushless motor. The waterway circulation component comprises a water sucking rake 522, a sewage guide pipe 527 and a clean water guide pipe. The soil pick-up module 52 is secured to the docking assembly 2 by a first guide docking member 523. When the floor cleaning and dirt absorbing module 52 cleans the floor, clean water flows out from the clean water tank to the clean water inlet 525 of the clean water guiding pipe and flows to the ground through the clean water outlet 526, and the brushless motor drives the brush disc 521 to brush the ground. When the soil cleaning and soil absorbing module 52 absorbs soil, sewage enters the soil cleaning and soil absorbing module 52 from the sewage scratcher 522, and then flows back to the sewage tank through the water sucking scratcher nozzle, the sewage guide pipe 527, the hose and the like in sequence. Through the arrangement, the floor washing and dirt absorbing module 5 can realize the integration of floor washing and dirt absorbing, and the cleaning efficiency is improved.

Referring to fig. 11, 14 and 15, the maintenance polishing module 54 includes a polishing pad 541, a priming assembly 542 and a third guide interface 543; the priming assembly 542 is used to spray a cleaning agent onto the floor and the polishing pad 541 is used to polish the floor.

In the embodiment of the present invention, the maintenance polishing module 54 is fixed to the docking assembly 2 through the third guiding docking piece 543. The polishing pad 541 includes a brushless motor, a scouring pad 5411, and a dial 5412, the scouring pad 5411 and the dial 5412 being disposed opposite to each other and fixedly connected therebetween. When the cleaning robot polishes on the crystal face, the liquid injection assembly 542 drips the cleaning agent on the marble floor, the pressing mechanism of the butt joint assembly 2 is responsible for pressing the polishing disc 541 on the floor at a certain pressure, the brushless motor drives the cleaning pad 5411 to rotate, the polishing module 54 is maintained at a certain rotating speed and a certain balance weight, the professional cleaning agent generates a certain heat on the stone surface through friction of the cleaning pad 5411, and then the cleaning agent is crystallized on the stone surface to form a protective layer when reaching a certain temperature (the proper temperature of stone crystallization is about 60 ℃). Through the arrangement, the ground made of marble and the like is maintained by the cleaning robot, and the ground maintenance requirement of a user is met.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A cleaning robot, characterized by comprising:

a driving module for driving movement of the cleaning robot;

a docking assembly for mounting a cleaning module;

the sensing module is used for acquiring environmental information of the cleaning robot;

the control module is in communication connection with the sensing module and the driving module and is used for acquiring information of the sensing module and controlling the driving module to control the cleaning work of the cleaning robot;

the control module is communicatively coupled to the docking assembly to identify the type of cleaning module required to install the corresponding cleaning module.

2. The cleaning robot of claim 1, wherein the docking assembly includes an identification unit for obtaining the type of cleaning module it is mounted to.

3. The cleaning robot of claim 1 or 2, wherein the docking assembly comprises a guide rail and a first link; the guide rail is used for guiding and fixing the cleaning module; the first connecting piece is connected with a motor inside the cleaning robot and used for fixing and driving the cleaning module to work.

4. The cleaning robot of claim 3, wherein the docking assembly further comprises an electromagnet and a push rod assembly, the cleaning module further comprising a magnetic member;

the electromagnet is used for fixing the cleaning module in a magnetic attraction manner;

the push rod assembly is used for pushing the cleaning module away from the butt joint assembly.

5. The cleaning robot of any one of claims 1-4, wherein the docking assembly comprises a non-rigid pressure regulating structure comprising:

a telescopic member, a first end of which is connected with the cleaning robot;

a third connector connected to a second end of the telescoping member;

the first end of the elastic component is connected with the third connecting piece;

the bracket component is provided with a first connecting part and a second connecting part, and the first connecting part is connected with the second end of the elastic component;

the second connecting portion of the bracket assembly is used for mounting the cleaning module.

6. The cleaning robot as claimed in any one of claims 1 to 4, further comprising a cleaning and dust suction module and a mounting bracket;

the driving module is arranged at the bottom of the mounting bracket, and the cleaning and dust collecting module is arranged at the front end of the mounting bracket;

the butt joint assembly is arranged at the bottom of the mounting bracket.

7. The cleaning robot of claim 6, wherein the cleaning and dust suction module comprises a cleaning mechanism, a dust suction mechanism, and a garbage collection mechanism;

the cleaning mechanism is positioned at the bottom of the cleaning dust collection module and comprises a first rolling brush component and a second rolling brush component, wherein the first rolling brush component is used for cleaning garbage in a middle area, the second rolling brush component is used for cleaning garbage in left and right areas, and the middle area and the left and right areas are both positioned in a projection area of the cleaning robot in the vertical direction of the ground;

the garbage collection mechanism comprises a garbage box and a lifting mechanism, and the lifting mechanism drives the garbage box to do lifting motion;

the first rolling brush component is arranged opposite to the opening of the garbage box and sweeps garbage into the garbage box;

the dust collection mechanism comprises a filter screen and a dust collection box, and the filter screen is positioned in the dust collection box;

the dust collection box is positioned above the garbage box and communicated with the garbage box, and dust in the garbage box is attached to the surface of the filter screen.

8. The cleaning robot of claim 7, comprising a manual steering assembly disposed at an upper rear portion of the robot, the manual steering assembly comprising:

the handle can be shifted up and down and rotated left and right;

the first sensing part is used for sensing the left and right rotation angles of the handle and is connected with the handle;

one end of the main shaft is connected with the first sensing part;

the second sensing part is used for sensing the vertical shifting angle of the handle and is connected with the main shaft;

the control module is in communication connection with the first sensing part and the second sensing part and controls the cleaning robot to operate according to a specified angle.

9. The cleaning robot of claim 8, comprising an identification module and a power module;

the identification module is in communication connection with the control module and is used for identifying the relative position of the cleaning robot and external equipment;

the power supply module comprises a first charging port for manual charging, a second charging port for automatic charging, a lithium battery and a power supply control board;

the power supply control board is electrically connected with the first charging port, the second charging port and the lithium battery so as to realize current distribution, voltage distribution and power supply protection;

when the identification module works, the identification module can acquire the relative position of the second charging port and the external equipment so as to control the driving module to operate towards the direction of the external equipment, and the second charging port is automatically butted with the external equipment.

10. The cleaning robot of claim 9, wherein the waterway circulation system includes a sewage tank, a clean water tank, a water pumping motor, a sewage discharging motor, a first electromagnetic valve, a second electromagnetic valve, and a sewage discharging assembly;

the sewage tank, the first electromagnetic valve and the sewage discharging motor are sequentially communicated through a first hose so as to absorb sewage on the ground;

the sewage discharge assembly comprises a push rod and a sewage discharge pipe, the push rod is fixed on the mounting bracket, the sewage discharge pipe is connected with the sewage tank, and when the push rod works, a sewage discharge port of the sewage discharge pipe extends out of the cleaning robot from the inside of the cleaning robot to the outside of the cleaning robot so as to discharge sewage;

the clean water tank, the second electromagnetic valve and the water pumping motor are sequentially communicated through a second hose so as to spray clean water to the ground;

the clean water tank is provided with a water filling port, the water filling port is connected with a third hose, and the third hose is used for connecting an external water source.

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