CN217365718U

CN217365718U - Cleaning robot

Info

Publication number: CN217365718U
Application number: CN202220809136.7U
Authority: CN
Inventors: 李行; 秦运根; 米长
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2022-09-06
Anticipated expiration: 2032-04-08

Abstract

The utility model relates to an intelligence house technical field provides a cleaning machines people. The cleaning robot includes: a machine body including an accommodation chamber; an energy system; the cleaning system is arranged on the machine body and comprises a cleaning head, and the cleaning head is positioned in the accommodating cavity; the recovery system is arranged on the machine body and comprises a collection part and a power part, the collection part comprises an inlet and an outlet, the accommodating cavity is communicated with the collection part through the inlet, and the power part is pneumatically communicated with the collection part through the outlet; the plugging component is arranged on the machine body, and at least part of the plugging component is adjustably arranged to close or release the inlet and the outlet of the collecting part, so that the time for communicating the cleaning system and the recovery system can be controlled, the cleaning system can reliably clean the surface to be cleaned, sundries in the recovery system can be prevented from being discharged by mistake, and the use performance of the cleaning robot is improved.

Description

Cleaning robot

Technical Field

The utility model relates to an intelligence house technical field especially relates to a cleaning machines people.

Background

Cleaning machines people among the correlation technique mostly sweep the floor the robot, and cleaning machines people carries out the cleaning task in-process, and cleaning machines people's cleaning head realizes the effective cleanness on ground.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a cleaning robot to improve usability of the cleaning robot.

The present disclosure provides a cleaning robot, including:

a machine body including an accommodation chamber;

the energy system is arranged on the machine body;

the cleaning system is arranged on the machine body and comprises a cleaning head, and the cleaning head is positioned in the accommodating cavity;

the recovery system is arranged on the machine body and comprises a collection part and a power part, the collection part comprises an inlet and an outlet, the accommodating cavity is communicated with the collection part through the inlet, and the power part is pneumatically communicated with the collection part through the outlet;

and the plugging component is arranged on the machine body, and at least part of the plugging component is adjustably arranged to close or release the inlet and the outlet of the collecting part.

In one embodiment of the present disclosure, a closure assembly comprises:

a connecting rod;

the first plugging piece is arranged on the connecting rod;

the second plugging piece is arranged on the connecting rod;

wherein the connecting rod is movably arranged relative to the machine body so that the first and second closing members close or release the inlet and outlet of the collecting part, respectively.

In one embodiment of the present disclosure, the occlusion assembly further comprises:

and the driving part is connected with the connecting rod to drive the connecting rod to rotate relative to the machine body, so that the first blocking piece and the second blocking piece synchronously close or release the inlet and the outlet of the collecting part.

the ejector rod is connected with the connecting rod through the first plugging piece or the second plugging piece, and the driving part is connected with the ejector rod so as to drive the connecting rod to rotate relative to the machine body through the ejector rod.

the elastic piece is sleeved on the connecting rod, one end of the elastic piece is abutted against the first blocking piece or the second blocking piece, and the other end of the elastic piece is abutted against the machine body, so that when the ejector rod drives the first blocking piece and the second blocking piece to release the inlet and the outlet of the collecting part, the first blocking piece or the second blocking piece compresses the elastic piece;

wherein the elastic member is capable of driving the first and second blocking members to close the inlet and outlet of the collecting portion.

In one embodiment of the present disclosure, the elastic member is a spring.

In an embodiment of this disclosure, the ejector pin wears to locate the collection portion, and the shutoff subassembly still includes:

and the sealing element is positioned between the collecting part and the ejector rod.

In one embodiment of the present disclosure, the connecting rod, the first blocking piece and the second blocking piece are of an integrally formed structure.

In one embodiment of the present disclosure, the cleaning head comprises a wet cleaning head, the cleaning system further comprising:

a liquid supply part for supplying the cleaning liquid to the wet cleaning head.

In one embodiment of the present disclosure, the liquid supply portion and the collection portion are stacked one on top of the other.

In one embodiment of the present disclosure, the machine body includes a forward portion, the cleaning system being disposed on the forward portion, wherein the forward portion is generally rectangular.

In one embodiment of the present disclosure, the cleaning system further comprises an auxiliary cleaning head, the machine body comprising a forward portion, the auxiliary cleaning head being disposed at a corner position of the forward portion.

In one embodiment of the present disclosure, the cleaning robot further includes a driving system, the machine body further includes a backward portion, at least a portion of the driving system is disposed in the backward portion, the driving system includes a first driving wheel module and a second driving wheel module, the first driving wheel module and the second driving wheel module are disposed along a transverse axis of the machine body, wherein the transverse axis is perpendicular to a moving direction of the cleaning robot, and a predetermined included angle is formed between the cleaning head and the transverse axis.

In one embodiment of the present disclosure, the auxiliary cleaning head is disposed at a side of the cleaning head inclined backward.

In one embodiment of the present disclosure, the cleaning robot further includes:

and the control system is connected with the plugging component to control the plugging component to close or release the inlet and the outlet of the collecting part.

According to the cleaning robot provided by the embodiment of the disclosure, the cleaning system, the recovery system and the plugging component are arranged on the robot body, the cleaning system comprises the cleaning head, and at least part of the position of the plugging component is adjustably arranged, so that the time when the cleaning system is communicated with the recovery system can be controlled, the cleaning system can reliably clean a surface to be cleaned, sundries in the recovery system can be prevented from being discharged by mistake, and the use performance of the cleaning robot is improved.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a schematic diagram illustrating a first perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 2 is a schematic diagram illustrating a second perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 3 is a schematic diagram illustrating a second perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 4 is a schematic diagram illustrating a liquid supply portion of a cleaning robot according to an exemplary embodiment;

FIG. 5 is a schematic structural view of a collecting part of a cleaning robot according to an exemplary embodiment;

FIG. 6 is a schematic diagram of a cleaning robot plugging assembly according to an exemplary embodiment;

FIG. 7 is a schematic diagram illustrating the configuration of an inlet and an outlet of a collection portion of a cleaning robot in accordance with an exemplary embodiment;

FIG. 8 is a schematic structural view illustrating a perspective of a stationary bracket of a cleaning robot in accordance with an exemplary embodiment;

FIG. 9 is a schematic diagram illustrating another perspective of a stationary gantry of a cleaning robot in accordance with an exemplary embodiment;

FIG. 10 is a schematic structural view illustrating a perspective of a wiper strip of a cleaning robot in accordance with an exemplary embodiment;

FIG. 11 is a schematic structural view illustrating another perspective of a wiper strip of a cleaning robot in accordance with an exemplary embodiment;

FIG. 12 is a schematic view of a collection portion of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 13 is a schematic diagram of a cleaning robot plugging assembly according to an exemplary embodiment;

FIG. 14 is a schematic structural view of a plugging assembly of a cleaning robot shown in accordance with another exemplary embodiment;

fig. 15 is a schematic view of a perspective of a partial structure of a cleaning robot according to another exemplary embodiment;

FIG. 16 is a schematic diagram illustrating another perspective of a partial structure of a cleaning robot according to another exemplary embodiment;

fig. 17 is a schematic structural view illustrating a liquid supply part and a collection part of a cleaning robot according to an exemplary embodiment.

The reference numerals are explained below:

10. a machine body; 11. fixing a bracket; 111. a liquid inlet; 112. a liquid outlet; 113. an accommodating chamber; 114. a through hole; 12. a forward portion; 13. a rearward portion; 20. cleaning the system; 21. a cleaning head; 22. a liquid supply section; 221. a water inlet; 23. an auxiliary cleaning head; 231. a wet auxiliary cleaning head; 232. a main body part; 24. a water pump; 30. a drive system; 31. a first drive wheel module; 32. a second drive wheel module; 33. a driven wheel; 40. a recovery system; 41. a collecting section; 411. an inlet; 412. an outlet; 413. a water outlet; 414. a main body; 415. an extension portion; 42. scraping the strips; 421. a water suction port; 43. a power section; 50. a plugging component; 51. a connecting rod; 52. a first blocking member; 53. a second blocking member; 54. a drive section; 55. a top rod; 56. an elastic member; 57. a seal member; 60. a detection system; 70. a sensing system; 71. a position determining device; 72. a buffer; 80. a control system; 90. an energy system; 100. provided is a human-computer interaction system.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.

In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the disclosure may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over," "between," "within," and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.

As shown in fig. 1 to 17, the cleaning robot includes a robot body 10, a cleaning system 20, a driving system 30, a recovery system 40, a plugging assembly 50, a detection system 60, a sensing system 70, a control system 80, an energy system 90, and a human-machine interaction system 100.

As shown in fig. 1, the machine body 10 includes a forward portion 12 and a rearward portion 13, and has an approximately circular shape (circular front to rear), and may have other shapes including, but not limited to, an approximately D-shape with a front and rear circle, and a rectangular or square shape with a front and a rear.

As shown in fig. 1, the sensing system 70 includes a position determining device 71 located on the machine body 10, a collision sensor provided on a bumper 72 of the forward portion 12 of the machine body 10, a proximity sensor provided on the machine body 10, a cliff sensor provided at a lower portion of the machine body, and a sensing device such as a magnetometer, an accelerometer, a gyroscope, and a speedometer provided inside the machine body 10 for providing various position information and motion state information of the machine to the control system 80. The position determining device 71 includes, but is not limited to, a camera, a Laser Distance Sensor (LDS).

As shown in fig. 1, the forward portion 12 of the machine body 10 may carry a bumper 72, the bumper 72 detecting one or more events in the travel path of the cleaning robot via impact sensors disposed thereon as the drive system 30 propels the cleaning robot across the floor during cleaning, the cleaning robot controlling the drive system 30 to cause the cleaning robot to respond to the events, such as moving away from an obstacle, by detecting the events, such as an obstacle, a wall, by the bumper 72.

The control system 80 is disposed on a circuit board in the machine body 10, And includes a non-transitory memory, such as a hard disk, a flash memory, And a random access memory, a communication computing processor, such as a central processing unit, And an application processor, And the application processor draws an instant map of an environment where the cleaning robot is located by using a positioning algorithm, such as instant positioning And Mapping (SLAM) according to the obstacle information fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the buffer 72 are combined to comprehensively judge the current working state and position of the cleaning robot, the current pose of the cleaning robot, such as a threshold, a carpet on the cliff, a blocked dust box above or below the carpet, a picked-up dust box and the like, and specific next-step action strategies can be provided according to different conditions, so that the cleaning robot has better cleaning performance and user experience.

As shown in fig. 2 and 3, drive system 30 may steer machine body 10 across the ground based on drive commands having distance and angle information (e.g., x, y, and θ components). The drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32. The first 31 and second 32 drive wheel modules are arranged along a transverse axis defined by the machine body 10. In order for the cleaning robot to be able to move more stably or with greater mobility over the floor surface, the cleaning robot may include one or more driven wheels 33, including but not limited to universal wheels. The driving wheel module comprises a traveling wheel, a driving motor and a control circuit for controlling the driving motor, and can also be connected with a circuit for measuring driving current and a milemeter. The drive wheel module may be detachably connected to the machine body 10 for easy disassembly and maintenance. The drive wheel may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the machine body 10 and receiving a spring bias biased downwardly and away from the machine body 10. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain landing force while the cleaning element of the cleaning robot also contacts the floor with a certain pressure.

The machine body 10 defines a transverse axis and a longitudinal axis, which are perpendicular and which can be understood as the transverse centre line and the longitudinal centre line of the machine body 10, respectively.

Energy system 90 includes rechargeable batteries such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The cleaning robot can be connected with the charging pile through the charging electrode arranged on the body, such as the side of the body, the bottom of the body or the top of the body, so as to charge.

The man-machine interaction system 100 comprises keys on a host panel, wherein the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type automatic cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed to a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

According to the cleaning robot provided by the embodiment of the disclosure, the cleaning system 20 is arranged on the robot body 10, the cleaning system 20 comprises the cleaning head 21, and a preset included angle is formed between the transverse shaft of the robot body 10 and the cleaning head 21, so that when the cleaning robot passes through the ground environments such as a ceramic tile ground seam and the like in the advancing process, the probability that the cleaning head 21 is clamped by the ground seam is reduced, the cleaning efficiency of the cleaning robot is improved, and the use performance of the cleaning robot is improved. The predetermined included angle between the transverse axis and the cleaner head 21 may be an acute angle, and the predetermined included angle may range from 5 degrees to 70 degrees.

In the disclosed embodiment, the cleaning system 20 may be a dry cleaning system, which may include a cleaning head 21, a dust box, a blower, an air outlet, and the like. In the embodiment of the present disclosure, the cleaning head 21 may be a roller brush rotatable about an axis parallel to the floor, and the roller brush having a certain interference with the floor sweeps up and rolls up the garbage on the floor in front of the dust suction opening between the roller brush and the dust box, and then is sucked into the dust box by the suction air generated by the fan and passing through the dust box. The Dust removing capability of the cleaning robot can be represented by the cleaning efficiency (DPU) of the garbage, the cleaning efficiency DPU is influenced by the structure and the materials of the rolling brush, the wind power utilization rate of an air duct formed by a Dust suction port, a Dust box, a fan, an air outlet and connecting parts among the Dust suction port, the Dust box, the fan, the air outlet and the Dust box, the type and the power of the fan, and the cleaning robot is a complicated system design problem.

In the embodiment of the present disclosure, the cleaning system 20 may be a wet cleaning system, and the cleaning head 21 includes a wet cleaning head, as shown in fig. 4, the cleaning system 20 further includes a liquid supply part 22, and the liquid supply part 22 supplies the cleaning liquid to the wet cleaning head. The cleaning head 21 may be disposed below the liquid supply portion 22, and the cleaning liquid in the liquid supply portion 22 is transmitted to the cleaning head 21 through the water supply mechanism, so that the cleaning head 21 performs wet cleaning on the plane to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid supply portion 22 may also be directly sprayed to the plane to be cleaned, and the cleaning head 21 cleans the plane by uniformly applying the cleaning liquid.

In the disclosed embodiment, the cleaning head 21 may be disposed at the bottom of the machine body 10, for example, the cleaning head 21 may be a cleaning pad disposed parallel to the surface to be cleaned. In this embodiment, the cleaning head 21 is used to clean a surface to be cleaned, and the drive system 30 is used to drive the cleaning head 21 in a substantially reciprocating motion along a target surface, which is a portion of the surface to be cleaned. The cleaning head 21 reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head 21 and the surface to be cleaned, and high-frequency friction is generated between the cleaning head 21 and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed.

The higher the friction frequency, the more the friction times in unit time, the high-frequency reciprocating motion, also called reciprocating vibration, the cleaning capacity is much higher than that of the common reciprocating motion, such as rotation and friction cleaning, and optionally, the friction frequency is close to the sound wave, and the cleaning effect is much higher than that of the rotation friction cleaning of dozens of circles per minute. On the other hand, the bristles on the surface of the cleaning head 21 can be more regularly and straightly extended towards the same direction under the shaking of high-frequency vibration, so that the whole cleaning effect is more uniform, the cleaning effect is not improved by only applying downward pressure to increase friction force under the condition of low-frequency rotation, the bristles cannot be extended towards the same direction under the condition of only downward pressure, and the effect is that the water marks on the surface to be cleaned after the high-frequency vibration cleaning are more uniform, and the disordered water marks cannot be left. In other embodiments of the present disclosure, the cleaning head 21 may also have a strip structure. In the disclosed embodiment, the cleaning head 21 may be a roller brush rotatable about an axis parallel to the surface to be cleaned, as shown in fig. 16. The machine body 10 comprises a fixed support 11, a cleaning head 21 is positioned in the fixed support 11, a liquid supply channel is arranged on the fixed support 11, and a liquid supply part 22 sends cleaning liquid into the wet type cleaning head through the liquid supply channel.

The liquid supply channel may be constituted by a cavity formed inside the fixed support 11, for example, in such a way that a portion of the fixed support 11 is hollow, so as to form a liquid supply channel for circulating the washing liquid. The liquid supply passage may be formed of a pipe body to supply the cleaning liquid in the liquid supply part 22 to the wet type cleaning head, thereby ensuring that the cleaning head 21 effectively cleans the surface to be cleaned.

In the embodiment of the present disclosure, as shown in fig. 8 and 9, the liquid supply passage includes a liquid inlet 111 and a liquid outlet 112, the liquid inlet 111 is communicated with the liquid supply portion 22, and the liquid outlet 112 is used for supplying the cleaning liquid to the cleaning head 21.

In the embodiment of the present disclosure, as shown in fig. 8 and 9, a liquid inlet 111 and a liquid outlet 112 are provided on the fixed bracket 11, one end of the liquid inlet 111 is located on an outer surface of the fixed bracket 11, the liquid outlet 112 is located on an inner surface of the fixed bracket 11, a main body portion of a liquid supply channel may be provided between the liquid inlet 111 and the liquid outlet 112, and the main body portion may simultaneously communicate with the plurality of liquid outlets 112, so that the liquid outlets 112 are used for supplying the cleaning liquid to the cleaning head 21.

In the embodiment of the present disclosure, the fixing support 11 is formed with a containing cavity 113, and the liquid outlet 112 is located on the wall of the containing cavity 113, the liquid outlet 112 may be arranged at the top end of the containing cavity 113, or the liquid outlet 112 may be arranged at the side of the containing cavity 113, so that the cleaning liquid delivered from the liquid outlet 112 can be conveniently and reliably delivered to the cleaning head 21.

In the embodiment of the present disclosure, the liquid outlet 112 may be plural, and the plural liquid outlets 112 are spaced in a direction parallel to the cleaning head 21, so that it can be ensured that the cleaning liquid can be uniformly fed to each position of the wet cleaning head, thereby ensuring that the wet cleaning head can reliably clean the surface to be cleaned.

The liquid inlet 111 of the liquid supply channel can be one, and one liquid inlet 111 corresponds to all the liquid outlets 112.

As an alternative embodiment of the present disclosure, the liquid inlet 111 of the liquid supply channel may be at least two, and each liquid inlet 111 may correspond to a plurality of liquid outlets 112, respectively, so as to reliably feed the cleaning liquid to the wet cleaning head. The liquid inlet 111 may be formed of a columnar structure, thereby connecting a tubular structure into which the cleaning liquid is fed. The liquid outlet 112 may be a rectangular opening, a circular opening or other polygonal structures, which are not limited herein. The plurality of liquid outlets 112 are sequentially arranged in a direction parallel to the cleaning head 21.

In the embodiment of the present disclosure, as shown in fig. 5 and 6, the recycling system 40 is disposed on the machine body 10, and the recycling system 40 includes a collecting portion 41, and the collecting portion 41 collects residues on the cleaning head 21 and/or the surface to be cleaned, so that the surface to be cleaned can be effectively cleaned and the cleanliness of the surface to be cleaned can be ensured.

The cleaning robot is at the removal in-process, realizes treating the cleanness of clean surface through the rotation of cleaning head 21, and at this in-process, the residue on treating clean surface can adsorb on cleaning head 21, and collecting part 41 can collect this part residue to this cleanliness of guaranteeing cleaning head 21, and in addition, collecting part 41 can also realize treating the residue on clean surface and collect, thereby mutually support with cleaning head 21 and realize treating the reliable cleanness of clean surface. The residue may be water, impurities, etc., and is not limited herein.

In the embodiment of the present disclosure, as shown in fig. 3, the recycling system 40 further includes: and a wiper bar 42, the wiper bar 42 being in contact with the cleaning head 21, the wiper bar 42 removing residues on the cleaning head 21 by interference with the cleaning head 21 to be collected by the collecting portion 41, thereby ensuring cleanliness of the cleaning head 21 to thereby ensure effective cleaning of the surface to be cleaned.

Specifically, the scraping bar 42 may be a plate-shaped structure, the plate-shaped structure interferes with the cleaning head 21, and the cleaning head 21 may enable the plate-shaped structure to remove the residue on the cleaning head 21 during the rotation process, so as to be collected by the collecting portion 41, thereby ensuring that the residue adsorbed on the surface to be cleaned can be collected by the collecting portion 41 in time. The wiper strip 42 may be provided on the machine body 10. The wiper strip 42 is detachably provided to the machine body 10.

In the embodiment of the present disclosure, the wiper strip 42 is parallel to the cleaning head 21, so that the wiper strip 42 can reliably remove residues on the cleaning head 21, and installation of the structure can be facilitated.

Specifically, the length of the wiper strip 42 may be equal to the length of the cleaning head 21, and on the basis that the wiper strip 42 is ensured to be capable of completely interfering with the cleaning head 21, the wiper strip 42 may be prevented from occupying a space in the length direction, so as to ensure the compactness of the structure.

As an alternative embodiment of the present disclosure, the transverse axis of the machine body 10 is parallel to the cleaning head 21, and the transverse axis of the machine body 10 is parallel to the wiper strip 42.

In the embodiment of the present disclosure, as shown in fig. 10 and 11, the wiper strip 42 is provided with a water suction port 421, and the water suction port 421 is communicated with the collecting portion 41, so that the sewage of the recycling system 40 can be reliably collected in the collecting portion 41 through the water suction port 421.

Specifically, the water suction opening 421 may face the cleaning head 21, and after the wiper strip 42 hangs the sewage on the cleaning head 21, the sewage may be left along the wiper strip 42 and flow to the water suction opening 421, so that the sewage may be sucked into the collection portion 41 from the water suction opening 421 through the recycling system 40.

As an alternative embodiment of the present disclosure, the water suction port 421 may be located on a side of the wiper strip 42 away from the cleaning head 21, a part of the wiper strip 42 may be used to gather the sewage, and the water suction port 421 sucks the gathered sewage into the collecting portion 41.

In the embodiment of the present disclosure, as shown in fig. 7, the recycling system 40 further includes: a power section 43, the power section 43 being in pneumatic communication with the collection section 41 to collect the residue to the collection section 41. A negative pressure can be generated between the power part 43 and the collecting part 41, so that residues on the surface to be cleaned and residues on the cleaning head 21 can be sucked into the collecting part 41. Specifically, the negative pressure generated between the power unit 43 and the collecting unit 41 can suck the sewage into the collecting unit 41 through the water suction port 421. The power section 43 may be a fan.

In the embodiment of the present disclosure, as shown in fig. 9, the fixing bracket 11 is formed with an accommodating cavity 113, the cleaning head 21 is located in the accommodating cavity 113, and the collecting portion 41 is communicated with the accommodating cavity 113, so that the residue can enter the collecting portion 41 after passing through the accommodating cavity 113.

Specifically, the fixed bracket 11 is provided with a through hole 114, the through hole 114 is communicated with the collecting part 41, the through hole 114 is communicated with the accommodating cavity 113, and residues scraped from the cleaning head 21 by the wiper strip 42 are located in the accommodating cavity 113 of the fixed bracket 11, so that negative pressure generated between the power part 43 and the collecting part 41 can draw the residues in the accommodating cavity 113 into the collecting part 41 through the through hole 114. As an alternative embodiment of the present disclosure, the receiving cavity 113 of the fixing bracket 11 may form a relatively sealed space with the surface to be cleaned, so that the negative pressure generated between the power part 43 and the collecting part 41 can draw the residue on the surface to be cleaned into the collecting part 41 through the through hole 114.

In the embodiment of the present disclosure, as shown in fig. 7, the collecting portion 41 includes an inlet 411 and an outlet 412, the inlet 411 may be communicated with the accommodating chamber 113, further, the inlet 411 may be communicated with the through hole 114, and the outlet 412 may be communicated with the power portion 43, so that the power portion 43 may provide power through the outlet 412 of the collecting portion 41 to suck the residue from the through hole 114 of the accommodating chamber 113 to the inlet 411 of the collecting portion 41, so as to enter into the collecting portion 41. When the airflow flows in the collecting part 41, the sewage, impurities and the like carried in the airflow are left in the collecting part 41 under the action of gravity, so that the sewage, impurities and the like can be effectively separated from the airflow when the flow path of the airflow in the collecting part 41 is long.

In the embodiment of the present disclosure, as shown in fig. 12, the inlet 411 and the outlet 412 of the collecting portion 41 may be disposed on the same side of the collecting portion 41, for example, the inlet 411 and the outlet 412 of the collecting portion 41 are both located on the front side of the collecting portion 41, and this arrangement may effectively extend the flow path of the air flow in the collecting portion 41, so that the sewage, the impurities, and the like may be more effectively separated from the air flow.

In the disclosed embodiment, as shown in fig. 5 and 6, the blocking assembly 50 of the cleaning robot is arranged on the machine body 10, and at least part of the blocking assembly 50 is adjustably arranged to close or release the inlet 411 of the collecting part 41 and the outlet 412 of the collecting part 41, so as to avoid the sundries in the collecting part 41 from being poured out from the inlet 411 or entering the power part 43 from the outlet 412.

Specifically, the blocking assembly 50 can close the inlet 411 and the outlet 412 of the collecting part 41 during the non-operation of the cleaning robot, so that the problem of residue mispouring caused by the manual movement of the cleaning robot can be avoided. When the cleaning robot starts to operate, the blocking assembly 50 may be caused to release the inlet 411 and the outlet 412 of the collecting part 41, so that the residues may be drawn into the collecting part 41 from the inlet 411.

In the embodiment of the present disclosure, the blocking assembly 50 may be controlled by an independent motor, and the closing control of the inlet 411 and the outlet 412 of the collecting part 41 may be implemented at any time, for example, may be closed when the cleaning robot is not in operation. For example, a motor of the plugging assembly 50 may be electrically connected to the control system 80 of the cleaning robot, and the control of the plugging assembly 50 is performed according to the motion state of the cleaning robot fed back by the control system 80. For example, when the control system 80 controls the cleaning robot to stop operating, the blocking assembly 50 may be controlled to close the inlet 411 and the outlet 412 of the collecting part 41; alternatively, when the control system 80 detects that the cleaning robot is in a tilted state, the blocking assembly 50 may be controlled to close the inlet 411 and the outlet 412 of the collecting part 41; alternatively, when the control system 80 detects that the cleaning robot is in an idle process for a long time, for example, the cleaning robot is stuck at a fixed position during the cleaning process and cannot move forward, the control system 80 may control the blocking assembly 50 to close the inlet 411 and the outlet 412 of the collecting part 41; alternatively, when the control system 80 detects that the amount of the garbage in the collecting part 41 reaches a certain height, the control system 80 may control the blocking assembly 50 to close the inlet 411 and the outlet 412 of the collecting part 41.

In addition, the user can also use the app to realize control and the like of the plugging component 50, thereby satisfying the use requirement, and can flexibly control the closing of the inlet 411 and the outlet 412 of the collecting part 41.

In the disclosed embodiment, as shown in fig. 6 and 13, the occluding assembly 50 comprises: a connecting rod 51; a first block piece 52, the first block piece 52 being arranged on the connecting rod 51; a second blocking piece 53, the second blocking piece 53 being arranged on the connecting rod 51; the connecting rod 51 is movably disposed relative to the machine body 10, so that the first blocking piece 52 and the second blocking piece 53 respectively close or release the inlet 411 and the outlet 412, that is, the first blocking piece 52 and the second blocking piece 53 can synchronously close or release the inlet 411 and the outlet 412, thereby improving the operation performance of the cleaning robot and ensuring that residues are timely drawn into the collecting part 41.

In the embodiment of the present disclosure, as shown in fig. 6 and 13, the blocking assembly 50 may include a driving portion 54, the driving portion 54 may be a motor, and the driving portion 54 is in driving connection with the connecting rod 51, so as to drive the connecting rod 51 to rotate, thereby driving the first blocking piece 52 and the second blocking piece 53 to rotate, thereby achieving the closing or releasing of the inlet 411 and the outlet 412.

As shown in fig. 13, the first blocking piece 52 and the second blocking piece 53 are disposed on the link 51 at intervals, the first blocking piece 52 and the second blocking piece 53 are located at the middle of the link 51, one end of the link 51 is connected to the driving portion 54, the other end of the link 51 is disposed beyond the second blocking piece 53, and the first blocking piece 52 is located between the driving portion 54 and the second blocking piece 53. The first and

second blocks

52 and 53 are respectively located at positions of the link 51 near opposite ends of the link 51. The first blocking piece 52 and the second blocking piece 53 are both detachably provided to the link rod 51; alternatively, the first and second plugging

members

52 and 53 are integrally formed on the link 51.

As an alternative embodiment of the present disclosure, the driving portion 54 may be an air cylinder, an oil cylinder or a telescopic motor, the driving portion 54 is connected to the connecting rod 51, and the telescopic rod of the driving portion 54 performs telescopic motion, that is, the connecting rod 51 can perform telescopic motion, and the connecting rod 51 can perform forward and backward movement, so that the first blocking piece 52 and the second blocking piece 53 can perform forward and backward movement, that is, move along a direction parallel to the plane where the inlet 411 and the outlet 412 of the collecting portion 41 are located, thereby closing or releasing the inlet 411 and the outlet 412 of the collecting portion 41.

As an alternative embodiment of the present disclosure, the driving portion 54 may be an air cylinder, an oil cylinder or a telescopic motor, the driving portion 54 is connected to the connecting rod 51, and the telescopic rod of the driving portion 54 performs telescopic motion, that is, the connecting rod 51 may perform telescopic motion, and the connecting rod 51 may perform up-down motion, so that the first blocking piece 52 and the second blocking piece 53 may perform up-down motion, that is, move along a direction perpendicular to the plane where the inlet 411 and the outlet 412 of the collecting portion 41 are located, thereby achieving the closing or releasing of the inlet 411 and the outlet 412 of the collecting portion 41.

As an alternative embodiment of the present disclosure, the first and

second blocking members

52 and 53 of the blocking assembly 50 may be independently disposed on first and second driving portions, which respectively drive the first and

second blocking members

52 and 53 to move, thereby achieving the closing or releasing of the inlet 411 and the outlet 412. The first and second driving portions may be operated in synchronization such that the first and

second blocks

52 and 53 are operated in synchronization, thereby closing or releasing the inlet 411 and the outlet 412 in synchronization. The first driving part and the second driving part can adopt a motor, an air cylinder, an oil cylinder and other power mechanisms.

As an alternative embodiment of the present disclosure, as shown in fig. 14, the blocking assembly 50 may include a connecting rod 51, a first blocking piece 52, a second blocking piece 53, a driving portion 54, and a push rod 55, where the first blocking piece 52 and the second blocking piece 53 are connected to the connecting rod 51, the push rod 55 may be connected to the first blocking piece 52, and the driving portion 54 is connected to the push rod 55 in a driving manner, so that the driving portion 54 drives the push rod 55 to move up and down, thereby moving the first blocking piece 52 and the second blocking piece 53 up and down, or the connecting rod 51 drives the first blocking piece 52 and the second blocking piece 53 to rotate, thereby synchronously closing or releasing the inlet 411 and the outlet 412.

Alternatively, the blocking assembly 50 may further include an elastic member 56, and after the driving part 54 releases the power, the elastic member 56 may drive the push rod 55 to return to the original position, so that the first blocking member 52 and the second blocking member 53 are moved from the position of releasing the inlet 411 and the outlet 412 to the position of closing the inlet 411 and the outlet 412. The elastic member 56 may be a spring, for example, the spring may be sleeved on the link 51, one end of the spring may abut against the first blocking member 52, and the other end of the spring may be supported on other parts of the cleaning robot, for example, the other end of the spring may abut against the machine body 10, so that the spring is compressed when the push rod 55 moves upward, and after the push rod 55 loses power, the spring returns to the original position, thereby driving the first blocking member 52 and the second blocking member 53 to move from the position of releasing the inlet 411 and the outlet 412 to the position of closing the inlet 411 and the outlet 412. The spring may be one, and the spring may be sleeved on one end of the link 51, and at this time, the other end of the link 51 may be passively rotated, for example, the spring may abut the first blocking piece 52, or the spring may abut the second blocking piece 53. The springs may be at least two, which are respectively provided at both ends of the link 51 and abut the first and

second block pieces

52 and 53, respectively.

When the driving part 54 drives the push rod 55 to move upwards, the connecting rod 51 can rotate along the first direction, so that the first blocking piece 52 and the second blocking piece 53 release the inlet 411 and the outlet 412, at this time, the elastic piece 56 is pressed, after the driving part 54 releases power, or after the driving part 54 runs in reverse direction, for example, when the motor rotates forwards, the push rod 55 moves upwards, and when the motor rotates backwards, the driving part 54 can not be fixedly connected with the push rod 55, the connecting rod 51 is driven to rotate along the second direction by the driving force of the elastic piece 56 returning to the original state, so that the push rod 55 is pressed to move downwards, and the first blocking piece 52 and the second blocking piece 53 can block the inlet 411 and the outlet 412. The driving part 54 may include a cam mechanism by which the jack 55 is driven to move upward, and at this time, the jack 55 may be in contact with the cam mechanism without being fixed. Alternatively, the driving part 54 may comprise an electric push rod, and the electric push rod and the top rod 55 may be merely inserted, but do not form an axial fixation. In some embodiments, it is not excluded that the driving portion 54 may be fixedly connected to the link 51, and at this time, the elastic member 56 may be eliminated. The driving part 54 drives the push rod 55 to move upwards, and the driving part 54 may include a cam mechanism, a gear mechanism, etc., and finally only needs to realize linear motion, so as to push the push rod 55 to do linear motion.

In the embodiment of the present disclosure, as shown in fig. 14, the plugging assembly 50 may further include a sealing element 57, the sealing element 57 may be disposed on the collecting portion 41, that is, the collecting portion 41 may be provided with a through hole, the push rod 55 may pass through the through hole to be connected with the driving portion 54, and the sealing element 57 is used for sealing a gap between a hole wall of the through hole and the push rod 55, so as to prevent the sewage in the collecting portion 41 from flowing out, and the push rod 55 may move up and down inside the sealing element 57. The seal 57 may be a seal ring.

The collecting part 41 can comprise at least two sub-chambers, the first sub-chamber is used for storing sewage, the second sub-chamber is a hollow cavity under the normal state, only the water level in the first sub-chamber reaches a certain value and then flows into the second sub-chamber, and the ejector rod 55 is arranged in the second sub-chamber in a penetrating way, therefore, under the normal state, the problem of liquid leakage cannot occur in the second sub-chamber, but the liquid leakage can be effectively avoided from occurring under the condition that the second sub-chamber has liquid through the sealing member 57.

In the embodiment of the present disclosure, when the collecting part 41 is installed into the whole machine, the ejector pin 55 can open the first blocking piece 52 and the second blocking piece 53, and when the collecting part 41 is removed, the first blocking piece 52 and the second blocking piece 53 lose the support of the ejector pin 55, and the first blocking piece 52 and the second blocking piece 53 are closed under the action of the spring force.

When the user turns or rolls the robot cleaner or the like, the movement of the jack 55 is programmed so that the jack 55 cannot support the first and

second blocks

52 and 53, and the first and

second blocks

52 and 53 are closed by the spring force, which is detected by the sensor.

In the disclosed embodiment, as shown in connection with fig. 1 and 2, the cleaning system 20 may be disposed at the forward portion 12 of the machine body 10, and at least part of the drive system 30 may be disposed at the rearward portion 13 of the machine body 10, for example, the driven wheel 33 of the drive system 30 may be disposed at an edge position of the rearward portion 13. The forward portion 12 may be generally rectangular and the rearward portion 13 may be generally semi-circular.

In the disclosed embodiment, as shown in fig. 2 and 3, the cleaning system 20 further includes: the auxiliary cleaning head 23 is arranged on the machine body 10, and the auxiliary cleaning head 23 can enable the cleaning robot to better clean areas such as wall edges, wall corners and the like, so that the cleaning effect of the cleaning system 20 is improved.

In the embodiment of the disclosure, as shown in fig. 1 and 2, the auxiliary cleaning head 23 is disposed at a corner position of the machine body 10, a portion of the auxiliary cleaning head 23 is disposed beyond the machine body 10, and a portion of the auxiliary cleaning head 23 beyond the machine body 10 is smaller than a portion of the auxiliary cleaning head 23 located below the machine body 10, so that the auxiliary cleaning head 23 can be prevented from excessively increasing a floor area of the cleaning robot while ensuring a cleaning range of the auxiliary cleaning head 23.

The machine body 10 comprises a forward portion 12 and a rearward portion 13, the forward portion 12 being substantially rectangular, i.e. the peripheral outer surface of the rectangular body may include corner regions of rounded transitions, ignoring manufacturing tolerances, mounting tolerances etc., the rectangular body being merely to emphasize the general structure of the forward portion 12. The auxiliary cleaning head 23 is provided at a corner position of the forward portion 12.

In the embodiment of the present disclosure, as shown in fig. 1 and 2, the auxiliary cleaning head 23 is disposed at a position of the machine body 10 close to the forward portion 12, and a portion of the auxiliary cleaning head 23 exceeds the loading bumper 72, so that even if the cleaning robot is blocked by a front obstacle, the auxiliary cleaning head 23 can clean a gap in front, and the like, thereby improving the cleaning capability of the cleaning robot.

In the embodiment of the present disclosure, a predetermined included angle is formed between the transverse axis of the machine body 10 and the cleaning head 21, that is, the cleaning head 21 is disposed in an inclined manner, and the auxiliary cleaning head 23 is disposed at a side where the cleaning head 21 is inclined backward, so that the area of the auxiliary cleaning head 23 can be increased, that is, the area of the auxiliary cleaning head 23 can be relatively large without excessively increasing the portion of the auxiliary cleaning head 23 beyond the machine body 10, thereby ensuring that the cleaning system 20 has a sufficient cleaning area. The outer edge of the auxiliary cleaning head 23 is substantially circular, and providing the auxiliary cleaning head 23 on the side where the cleaning head 21 is inclined rearward can make the auxiliary cleaning head 23 have a large cleaning area and also can make a part of the auxiliary cleaning head 23 overlap the cleaning head 21.

In the embodiment of the present disclosure, the auxiliary cleaning head 23 is partially overlapped with the cleaning head 21, so that the problem of cleaning leakage between the auxiliary cleaning head 23 and the cleaning head 21 can be avoided on the basis of ensuring that the auxiliary cleaning head 23 is combined with the cleaning head 21 to increase the cleaning area, thereby improving the cleaning effect of the cleaning system 20.

In the embodiment of the present disclosure, the outer edge of the auxiliary cleaning head 23 exceeds the outer edge of the machine body 10, that is, the auxiliary cleaning head 23 can clean the outer side of the machine body 10, such as the wall, the corner and other areas, thereby increasing the cleaning area of the cleaning system 20 and increasing the cleaning performance of the cleaning robot.

In the embodiment of the present disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231, and the liquid supply part 22 supplies the cleaning liquid to the wet auxiliary cleaning head 231. The auxiliary cleaning head 23 may be disposed below the liquid supply portion 22, and the cleaning liquid inside the liquid supply portion 22 is transmitted to the auxiliary cleaning head 23 through the water supply mechanism, so that the auxiliary cleaning head 23 performs wet cleaning on the plane to be cleaned.

Specifically, the cleaning system 20 may further include an auxiliary liquid supply passage through which the liquid supply part 22 supplies the cleaning liquid to the wet auxiliary cleaning head 231. The auxiliary liquid supply passage may be a space formed inside the auxiliary cleaning head 23, and the cleaning liquid is supplied to the wet type auxiliary cleaning head 231 through the liquid outlet. The auxiliary liquid supply channel may be a liquid supply pipe to supply the cleaning liquid to the wet auxiliary cleaning head 231.

In the disclosed embodiment, as shown in fig. 15 and 16, the cleaning system 20 further includes: and the water pump 24, the water pump 24 is communicated with the liquid supply part 22 to send the cleaning liquid in the liquid supply part 22 to at least one of the cleaning head 21 and the auxiliary cleaning head 23. The water pump 24 may feed the cleaning liquid in the liquid supply part 22 to the cleaning head 21 through the liquid supply passage and/or feed the cleaning liquid in the liquid supply part 22 to the auxiliary cleaning head 23 through the auxiliary liquid supply passage.

Specifically, the water pump 24 may be one, with one water pump 24 communicating both the liquid supply passage and the auxiliary liquid supply passage. The number of the water pumps 24 can be two, and the two water pumps 24 are respectively communicated with the liquid supply channel and the auxiliary liquid supply channel. The water pump 24 may be a gear pump, vane pump, plunger pump, peristaltic pump, or the like. The power/flow of the water pump 24 may be adjusted. The water pump 24 may be used in conjunction with a valve or the like to control the supply of the cleaning liquid in the liquid supply portion 22 to the cleaning head 21 and the auxiliary cleaning head 23.

In the disclosed embodiment, the cleaning head 21 is rotatably disposed about a first axis, and the auxiliary cleaning head 23 is rotatably disposed about a second axis; the first axis and the second axis have an included angle therebetween. The cleaning head 21 may be a floor brush. The auxiliary cleaning head 23 may include cloth or wool, and the cleaning liquid in the liquid supply part 22 is uniformly distributed on the auxiliary cleaning head 23 by the penetration of the cloth or wool and the centrifugal force. The auxiliary cleaning head 23 may float up and down to some extent.

In embodiments of the present disclosure, the first axis is perpendicular to the second axis, i.e., the first axis may be parallel to the surface to be cleaned and the second axis may be perpendicular to the surface to be cleaned.

As an alternative embodiment of the disclosure, the auxiliary cleaning head 23 may be a side brush, the axis of rotation of which is angled relative to the floor for moving residues on the surface to be cleaned into the cleaning region of the cleaning head 21.

As an alternative embodiment of the present disclosure, the auxiliary cleaning head 23 may be in the form of a disc brush, a roll brush, or the like.

As shown in fig. 4, the auxiliary cleaning head 23 may further include a main body portion 232, the wet auxiliary cleaning head 231 is connected to the main body portion 232, and the main body portion 232 is disposed on the machine body 10. The main body part 232 may include a driving motor, and the driving motor may drive the wet auxiliary cleaning head 231 to rotate. The wet auxiliary cleaning head 231 may include cloth or wool, and the main body portion 232 may include a support structure, which may be a tapered soft rubber support, so that a large torque may be transmitted and a certain floating movement of the wet auxiliary cleaning head 231 up and down is allowed, thereby improving a cleaning capability.

In the embodiment of the present disclosure, the liquid supply part 22 and the collection part 41 are stacked, so that the space utilization rate of the cleaning robot can be improved, and the problem of the cleaning robot being too large can be avoided.

In the disclosed embodiment, as shown in fig. 15 and 16, the liquid supply portion 22 is located above the collection portion 41. The liquid supply part 22 can be a clean water tank, the collection part 41 can be a sewage tank, and the clean water tank is positioned above the cleaning head 21 and the auxiliary cleaning head 23 to conveniently supply liquid. And the sewage tank is positioned below the sewage tank so as to conveniently realize the recovery of the residues.

The clean water tank and the sewage tank can be stacked up and down, that is, as shown in fig. 15 and 16, the liquid supply part 22 and the collection part 41 can be stacked up and down, the clean water tank can be positioned above the sewage tank, the clean water tank can be positioned above the clean water tank to conveniently supply liquid to the cleaning head 21 and the auxiliary cleaning head 23, the sewage tank is positioned below the sewage tank to conveniently recover residues, and the stacking up of the clean water tank and the sewage tank can prevent the gravity center of the cleaning robot from being greatly changed in the horizontal direction, so that the stability of the cleaning robot is ensured, and the large shaking in the cleaning process is avoided.

The collecting part 41 may be located at a middle position of the machine body 10, that is, the collecting part 41 may be located at a side of the cleaning system 20 away from the loading bumper 72, so that when the amount of water that may be in the collecting part 41 varies, the center of gravity of the cleaning robot does not vary too much, thereby ensuring that the cleaning robot can stably clean the cleaning surface and the problem of unstable center of gravity does not occur during use.

In the embodiment of the present disclosure, as shown in fig. 17, the liquid supply part 22 and the collection part 41 are stacked up and down, the liquid supply part 22 is provided with a water inlet 221, and the collection part 41 is provided with a water outlet 413. The water inlet 221 of the liquid supply part 22 is used for injecting clean water into the liquid supply part 22, and the water outlet 413 of the collection part 41 is used for discharging the sewage in the collection part 41 out of the collection part 41. The water inlet 221 may be disposed at a side of the liquid supply portion 22, and the water outlet 413 may be disposed at a side of the collection portion 41, for example, two connectors may be disposed at a bottom or a side of the machine body 10, and the two connectors may be conveniently used for connecting the clean water injection structure and the sewage discharge structure, and when the cleaning robot is in normal use, the two connectors need to be in a blocking state, so as to avoid water leakage. Alternatively, the water inlet 221 and the water outlet 413 may be sealed by a sealing member, and the liquid supply unit 22 and the collection unit 41 may be removed from the apparatus body 10 at the same time when water is supplied or drained. The liquid supply part 22 and the collecting part 41 are connected so that the liquid supply part 22 and the collecting part 41 can be removed from the machine body 10 simultaneously.

The liquid supply part 22 and the collecting part 41 can be taken down from the machine body 10, so that the liquid injection of the liquid supply part 22 and the sewage discharge of the collecting part 41 can be realized. As shown in fig. 17, the collecting part 41 may have a shape, the collecting part 41 may include a main body 414 and an extension 415 connected to the main body 414, the main body 414 and the extension 415 together form a chamber for collecting the contaminated water, the main body 414 may have a substantially rectangular shape, the extension 415 has an irregular shape, for example, the extension 415 may be substantially divided into a triangle and a rectangle, or a semicircle and a rectangle, etc., without limitation, and the space for the extension 415 to contain the contaminated water is smaller than the space for the main body 414 to contain the contaminated water. By arranging the drainage port 413 on the extension portion 415, when sewage is drained, the sewage can be concentrated at the extension portion 415 by inclining the collection portion 41, so as to ensure that the sewage is drained smoothly, thereby avoiding more sewage accumulated in the collection portion 41 and being unable to be drained.

In the disclosed embodiment, a plurality of cliff sensors may be provided on the machine body 10, the plurality of cliff sensors may be provided around the circumferential edge position of the machine body 10, the auxiliary cleaning head 23 may be provided at the corner position of the machine body 10, a cliff sensor may be provided at a position of the machine body 10 close to the auxiliary cleaning head 23, and at least two cliff sensors may be provided at a position of the machine body 10 close to the auxiliary cleaning head 23, the cliff sensors may recognize a surface to be cleaned to determine physical characteristics of the surface to be cleaned, including a surface material, a degree of cleaning, and the like, and the control system 80 may control the operation state of the auxiliary cleaning head 23 according to the recognition result of the cliff sensors to secure a cleaning function of the auxiliary cleaning head 23, for example, when the surface to be cleaned recognized by the cliff sensors is a floor, the auxiliary cleaning head 23 may be controlled to increase humidity, thereby ensuring the cleaning effect; alternatively, when the surface to be cleaned identified by the cliff sensor is a felt, the auxiliary cleaning head 23 may be controlled to reduce the humidity to avoid wetting the felt.

In the embodiment of the present disclosure, as shown in fig. 1, the detecting system 60 of the cleaning robot is disposed on the machine body 10, and at least a portion of the detecting system 60 extends from an outer edge of the machine body 10, so that a detection range of the detecting system 60 can be increased, thereby increasing a flexible adjustment capability of the cleaning robot. The detection system 60 may be an ultrasonic or infrared sensor, and is used to detect the material change of the surface to be cleaned, the horizontal change of the surface to be cleaned, or the detection of dirt.

In the disclosed embodiment, at least a portion of the detection system 60 is movably disposed relative to the machine body 10, so that the position of the detection system 60 can be reliably adjusted to adapt to different application environments. The detection system 60 may be driven by a drive mechanism to effect position adjustment, or the detection system 60 may include a flexible mechanism that effects position adjustment by deforming the flexible mechanism.

Specifically, the sensing system 60 is telescopically provided on the machine body 10, and the sensing system 60 has an extended state and a retracted state, and when the sensing system 60 is extended to the front of the cleaning robot, the floor condition of the front of the cleaning robot can be sensed. For example, when the cleaning robot is D-shaped, the detection system 60 may be provided near the corner of the cleaning robot, so that the detection system 60 can detect the floor condition in front or at the side in the extended or retracted state. When the cleaning robot is a circular machine, the detection system 60 may be provided at the front of the cleaning robot.

In the embodiment of the present disclosure, at least a portion of the detecting system 60 can extend from the outer edge of the machine body 10, so that the detecting system 60 has a retracted state retracted into the machine body 10 and an extended state extended out of the machine body 10, and the control system 80 can control the detecting system 60 to move between the retracted state and the extended state, so that the detecting system 60 can be adjusted in real time according to the running state or running path of the cleaning robot, thereby ensuring that the detecting system 60 can accurately determine the state of the surface to be cleaned.

Specifically, drive system 30 may drive the cleaning robot across the work surface, and control system 80 may drive detection system 60 from the retracted state to the extended state, thereby enabling detection system 60 to monitor the state of the work surface in real time. And the detection system 60 has a detection view angle toward the work surface so that the state of the work surface, for example, the material change of the work surface, the level change of the work surface, or the detection of dirt, etc., can be accurately detected.

In the embodiment of the present disclosure, as shown in fig. 1 to 3, the detection system 60 may be connected to a corner position of the machine body 10, the auxiliary cleaning head 23 may be located at a position of the machine body 10 close to the detection system 60, the detection system 60 may identify a surface to be cleaned in advance to determine physical characteristics of the surface to be cleaned, including a surface material, a cleaning degree, and the like, and the control system 80 may control an operation state of the auxiliary cleaning head 23 according to an identification result of the detection system 60 to ensure a cleaning function of the auxiliary cleaning head 23, for example, when the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 may be controlled to increase humidity to ensure a cleaning effect; alternatively, when the surface to be cleaned identified by the cliff sensor is a felt, the auxiliary cleaning head 23 may be controlled to reduce the humidity to avoid wetting the felt.

In the embodiment of the present disclosure, the detecting system 60 is telescopically disposed at the forward portion 12 of the machine body 10, so that the detecting system 60 can determine the state of the surface to be cleaned earlier, and feed back the state to the control system 80, so that the control system 80 can adjust the walking route and the cleaning mode of the cleaning robot according to the information fed back by the detecting system 60. The detecting system 60 is disposed at the corner of the forward portion 12, so that the detecting system 60 can be reasonably disposed, the detecting system 60 is prevented from occupying a large area, and the detecting system 60 can reliably monitor the state of the working surface at the corner of the machine body 10, thereby ensuring that the cleaning robot can efficiently clean the working surface.

In the embodiment of the present disclosure, as shown in fig. 1 and 4, at least one detection system 60 is disposed adjacent to the auxiliary cleaning head 23, and at least a portion of the detection system 60 is located directly above the auxiliary cleaning head 23, so that interference between the detection system 60 and the auxiliary cleaning head 23 can be avoided, and the corner positions of the machine body 10 can be utilized to a greater extent, thereby reasonably arranging the installation positions of the detection system 60 and the auxiliary cleaning head 23.

In the embodiment of the present disclosure, the control system 80 may be connected to the detection system 60, and the control system 80 may control the telescopic state of the detection system 60, for example, when the cleaning robot operates, the control system 80 may control the detection system 60 to operate from the retracted state to the extended state; alternatively, the control system 80 may control the detection system 60 to operate from the extended state to the retracted state when the cleaning robot is not operating. Alternatively, when the detection system 60 detects that the working surface has a depression or the material of the working surface changes, the control system 80 controls the cleaning system 20 or the driving system 30 to change the working state, and the working surface is the surface to be cleaned. For example, when the detection system 60 detects that the work surface has a depression, the control system 80 may control the drive system 30 to decelerate and the control system 80 may also control the cleaning system 20 to decelerate. For example, when the detection system 60 detects that the material of the working surface changes from carpet to tile, the control system 80 can control the driving system 30 to accelerate, and the control system 80 can also control the cleaning system 20 to accelerate.

The detection system 60 can be used for detecting the material change of the surface to be cleaned, the horizontal change of the surface to be cleaned, or the detection of dirt, and the like, so that the detection system can feed back the detection system 60 to control the running state of the cleaning robot, for example, when the detection system 60 detects that the dirt on the surface to be cleaned is large, the control system 80 can control the cleaning robot to slow down and move slowly, so that the cleaning system 20 can better clean the surface to be cleaned; or, when the detection system 60 detects that the surface to be cleaned is a floor, the control system 80 may control the water pump 24 to increase the flow rate of the cleaning liquid in the liquid supply part 22 to the cleaning head 21 and the auxiliary cleaning head 23, so as to ensure reliable cleaning of the floor; or, the control system 80 can adjust the walking path and the cleaning mode of the cleaning robot according to the information fed back by the detection system 60, for example, when the detection system 60 is in the extended state, the detection system 60 can be located in front of the machine body 10, so that the detection system 60 can determine the state of the surface to be cleaned earlier, and feed back the state to the control system 80, so that the control system 80 can adjust the walking path and the cleaning mode of the cleaning robot according to the information fed back by the detection system 60, the detection system 60 can detect the change of the ground material earlier, for example, when the ground is changed from floor to carpet, the detection system 60 can provide relevant information to the control system 80 immediately, so that the control system 80 can control the walking direction or the cleaning mode of the cleaning robot in time, for example, when the ground is changed from carpet to carpet, the cleaning robot can be controlled to decelerate, alternatively, the cleaning robot may be controlled to reduce the amount of liquid supplied to the cleaning head 21 and the auxiliary cleaning head 23 when changing from a floor to a carpet.

In the embodiment of the present disclosure, the number of the detecting systems 60 may be multiple, so that the detecting range of the detecting system 60 can be effectively expanded, thereby accurately assisting the working state of the cleaning system 20 or the driving system 30. The detection systems 60 may be two, and as shown in fig. 1, two detection systems 60 may be disposed at two corner positions of the forward portion 12, respectively.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and example embodiments be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A cleaning robot, characterized by comprising:

a machine body (10), the machine body (10) comprising a housing cavity (113);

an energy system (90), the energy system (90) being provided on the machine body (10);

a cleaning system (20), said cleaning system (20) being provided on said machine body (10), said cleaning system (20) comprising a cleaning head (21), said cleaning head (21) being located within said housing cavity (113);

a recovery system (40), said recovery system (40) being provided on said machine body (10), said recovery system (40) comprising a collection portion (41) and a power portion (43), said collection portion (41) comprising an inlet (411) and an outlet (412), said containment chamber (113) being in communication with said collection portion (41) through said inlet (411), said power portion (43) being in pneumatic communication with said collection portion (41) through said outlet (412);

a blocking assembly (50), the blocking assembly (50) being arranged on the machine body (10), at least part of the blocking assembly (50) being adjustably positionable to close or release the inlet (411) and the outlet (412).

2. The cleaning robot as recited in claim 1, characterized in that the plugging assembly (50) comprises:

a link (51);

a first block piece (52), the first block piece (52) being arranged on the connecting rod (51);

a second closure (53), the second closure (53) being arranged on the connecting rod (51);

wherein the link (51) is movably arranged with respect to the machine body (10) such that the first and second obturating members (52, 53) close or release the inlet (411) and the outlet (412), respectively.

3. The cleaning robot according to claim 2, wherein the plugging assembly (50) further comprises:

a drive portion (54), the drive portion (54) being connected with the link (51) to drive the link (51) to rotate relative to the machine body (10) so that the first and second obturating members (52, 53) synchronously close or release the inlet (411) and the outlet (412).

4. The cleaning robot as recited in claim 3, characterized in that the plugging assembly (50) further comprises:

a top rod (55), wherein the top rod (55) is connected with the connecting rod (51) through the first plugging piece (52) or the second plugging piece (53), and the driving part (54) is connected with the top rod (55) so as to drive the connecting rod (51) to rotate relative to the machine body (10) through the top rod (55).

5. The cleaning robot as recited in claim 4, characterized in that the plugging assembly (50) further comprises:

an elastic member (56), wherein the elastic member (56) is sleeved on the connecting rod (51), one end of the elastic member (56) is abutted with the first blocking member (52) or the second blocking member (53), and the other end of the elastic member (56) is abutted with the machine body (10), so that when the ejector rod (55) drives the first blocking member (52) and the second blocking member (53) to release the inlet (411) and the outlet (412), the first blocking member (52) or the second blocking member (53) compresses the elastic member (56);

wherein the elastic member (56) is capable of driving the first and second obturating members (52, 53) to close the inlet (411) and the outlet (412).

6. The cleaning robot according to claim 5, wherein the elastic member (56) is a spring.

7. The cleaning robot according to claim 4, characterized in that the ejector pin (55) is inserted through the collecting portion (41), the blocking assembly (50) further comprising:

a seal (57), the seal (57) being located between the collection portion (41) and the ram (55).

8. The cleaning robot according to claim 2, characterized in that the link (51), the first blocking piece (52) and the second blocking piece (53) are of an integrally molded construction.

9. The cleaning robot according to claim 1, wherein the cleaning head (21) comprises a wet cleaning head, the cleaning system (20) further comprising:

a liquid supply section (22), the liquid supply section (22) sending a cleaning liquid to the wet cleaning head.

10. The cleaning robot according to claim 9, wherein the liquid supply portion (22) and the collection portion (41) are stacked one on top of the other.

11. The cleaning robot according to claim 1, characterized in that the machine body (10) comprises a forward portion (12), the cleaning system (20) being provided to the forward portion (12), wherein the forward portion (12) is substantially rectangular.

12. The cleaning robot according to claim 1, characterized in that the cleaning system (20) further comprises an auxiliary cleaning head (23), the machine body (10) comprising a forward portion (12), the auxiliary cleaning head (23) being placed at a corner position of the forward portion (12).

13. The cleaning robot according to claim 12, characterized in that the cleaning robot further comprises a drive system (30), the machine body (10) further comprises a rearward portion (13), at least part of the drive system (30) being arranged in the rearward portion (13), the drive system (30) comprising a first drive wheel module (31) and a second drive wheel module (32), the first drive wheel module (31) and the second drive wheel module (32) being arranged along a transverse axis of the machine body (10), wherein the transverse axis is perpendicular to the direction of movement of the cleaning robot, and wherein the cleaning head (21) is at a predetermined angle to the transverse axis.

14. The cleaning robot according to claim 13, wherein the auxiliary cleaning head (23) is provided on a side where the cleaning head (21) is inclined rearward.

15. The cleaning robot according to claim 1, further comprising:

a control system (80), wherein the control system (80) is connected with the plugging assembly (50) to control the plugging assembly (50) to close or release the inlet (411) and the outlet (412).