CN217987480U - Cleaning robot - Google Patents

Abstract

The utility model relates to a curtain washs technical field, provides a cleaning robot, include: a walking machine body and a cleaning device; the cleaning devices are arranged at two ends of the walking machine body along the walking direction; the cleaning device comprises: mounting bracket and two sets of scraper blade subassemblies, the mounting bracket passes through flexible bearing structure and installs on walking organism, and two sets of scraper blade subassemblies can set up in the relative both sides of mounting bracket swingably and be suitable for switching between initial condition and clean state, and at initial condition, two sets of scraper blade subassemblies are lifted up in order to wait to clean the face separation, and at clean state, the scraper blade subassembly that is in along walking direction rear side pushes down in order to wait to clean the face laminating. The utility model discloses can realize the two-way washing that turns around that the walking organism does not turn to, effectively improve cleaning performance and efficiency, and have that structural layout is reasonable, space utilization is high, stability characteristics such as good.

Description

Cleaning robot

Technical Field

The utility model relates to a curtain washs technical field, especially relates to a cleaning robot.

Background

In the related technology, the cleaning robot moves on the surface of the curtain wall to clean the dust on the surface of the curtain wall.

The existing cleaning robot has poor cleaning effect, and needs to turn around when cleaning, resulting in low cleaning efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model provides a cleaning robot for solve cleaning robot cleaning performance among the correlation technique poor, defect such as inefficiency, can realize the two-way washing that turns around that the walking organism does not turn to, effectively improve cleaning performance and efficiency, and have that structural layout is reasonable, space utilization is high, characteristics such as stability is good.

The utility model provides a cleaning robot, include:

a walking machine body;

the cleaning devices are arranged at two ends of the walking machine body along the walking direction;

the cleaning device includes: the mounting frame is mounted on the walking machine body through a flexible supporting structure, the two groups of scraper components are arranged on two opposite sides of the mounting frame in a swinging mode and are suitable for being switched between an initial state and a cleaning state,

in the initial state, the two groups of scraper blade assemblies are lifted to be separated from the surface to be cleaned, and in the cleaning state, the scraper blade assembly at the rear side along the walking direction is pressed downwards to be attached to the surface to be cleaned.

According to the utility model provides a pair of cleaning robot, flexible bearing structure includes:

the supporting frame is connected with the walking machine body;

and the transverse movement assembly is respectively connected with the mounting frame and the supporting frame and is used for enabling the cleaning device to transversely move.

According to the utility model provides a pair of cleaning robot, the support frame with be provided with vertical flexible subassembly between the lateral movement subassembly.

According to the utility model provides a pair of cleaning robot, belt cleaning device still includes:

and the driving assembly is arranged on the mounting frame and used for driving the two groups of scraper assemblies to swing.

According to the utility model provides a pair of cleaning robot, drive assembly includes:

the driving motor is arranged on the mounting frame and is positioned between the two groups of scraper components;

the steering shaft is in transmission connection with the driving motor and is arranged along the length direction of the mounting frame;

and the dragging mechanism is in transmission connection with the two groups of scraper assemblies and the steering shaft respectively and is used for dragging the two groups of scraper assemblies to swing.

According to the utility model provides a pair of cleaning robot, it includes to drag the mechanism:

the steering handle is arranged on the steering shaft;

two sets of connecting rod pairs, in initial state, two sets of connecting rod pairs symmetric distribution in the both sides of steering shaft, every group the connecting rod pair includes: first connecting rod, second connecting rod and elastic component, two sets of the first end of first connecting rod all with the steering handle links to each other, the second connecting rod can swing connect in the scraper blade subassembly, just the tip of second connecting rod with the second end of first connecting rod is articulated, the elastic component set up in the side of second connecting rod, just the both ends of elastic component support respectively press in the mounting bracket with on the second connecting rod.

According to the utility model provides a pair of cleaning robot, the second end of first connecting rod is equipped with the spout, the tip of second connecting rod be equipped with spout matched with spliced pole.

According to the utility model provides a pair of cleaning robot, follow from keeping away from to being close to the vertical direction of waiting to clean the face, two the scraper blade subassembly is the structure that gradually expands.

According to the utility model provides a pair of cleaning robot, belt cleaning device still includes roller assembly, roller assembly includes:

the roller is rotatably arranged at the bottom of the mounting rack along the length direction of the mounting rack and positioned between the two groups of scraper assemblies, and brushes are distributed on the peripheral surface of the roller;

the mounting bracket is provided with a water cavity and a water outlet which are communicated, and the water cavity of the mounting bracket is suitable for supplying water to the peripheral surface of the roller through the water outlet.

According to the utility model provides a pair of cleaning robot, the laminating is waited to clean the tangential orientation of face and is pushed down when roller assembly rotates scraper blade assembly.

The cleaning robot provided by the utility model comprises a mounting rack and two groups of scraper blade assemblies through a cleaning device, wherein the mounting rack is mounted on a walking machine body through a flexible supporting structure, so that on one hand, obstacles can be elastically avoided to protect the cleaning device, on the other hand, the walking machine body can walk more stably, and normal operation is ensured; the two groups of scraper assemblies are arranged on the two opposite sides of the mounting frame in a swinging manner and are suitable for switching between an initial state and a cleaning state, the two groups of scraper assemblies are lifted to be separated from the surface to be cleaned so as to facilitate walking in the initial state, and the scraper assemblies on the rear side in the walking direction are pressed down to be attached to the surface to be cleaned in the cleaning state, so that the U-turn bidirectional cleaning of the walking machine body without turning can be realized; through set up belt cleaning device respectively at walking organism along the both ends of walking direction, can realize twice washing simultaneously, the cleaning performance is more thorough to can realize the complete washing that the curtain leaned on the limit, avoid because the washing dead angle that the existence of walking organism leads to, realize to waiting to wash regional no dead angle rinse thoroughly. Therefore, the utility model discloses can effectively improve cleaning performance and efficiency, and it is reasonable to have a structural configuration, and space utilization is high, stability characteristics such as good.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the related art, the drawings required for the description of the embodiments or the related art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a cleaning robot provided by the present invention;

FIG. 2 is a schematic structural view of a cleaning device provided by the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a partial enlarged view of FIG. 2 at B;

FIG. 5 is a schematic view of the squeegee assembly provided by the present invention in an initial state;

FIG. 6 is a schematic view of a squeegee assembly provided by the present invention in a cleaning state;

fig. 7 is a schematic view of the connecting rod pair in a dead point position;

fig. 8 is an assembly view of a drum assembly according to the present invention;

fig. 9 is an exploded view of a drum assembly provided by the present invention;

fig. 10 is a schematic structural diagram of a mounting bracket provided by the present invention;

fig. 11 is a side view of the mounting bracket provided by the present invention;

fig. 12 is a schematic structural view of a water deflector provided by the present invention;

fig. 13 is an assembly view of a flexible support structure provided by the present invention;

fig. 14 is a schematic view of a flexible support structure provided by the present invention.

Reference numerals are as follows:

100: a walking machine body;

200: a cleaning device; 201: a mounting frame; 202: a squeegee assembly; 2021: a squeegee;

2022: scraping and brushing the film; 203: a drive motor; 204: a steering shaft;

205: a steering handle; 206: a first link; 207: a second link;

208: an elastic member; 209: a chute; 210: connecting columns; 211: a steering shaft support;

212: a microswitch; 213: a trigger; 214: a limiting block; 215: a drum;

216: an outer rotor motor; 2161: an outer rotor; 2162: an inner stator;

2163: a connecting member; 2164: a protrusion; 2165: a card slot; 217: a brush;

218: a water outlet; 219: an end cap carbon plate; 220: a water tank; 221: a water inlet;

222: a water guide;

300: a flexible support structure; 301: a support frame; 302: a sliding part;

303: a first elastic member; 304: a sleeve; 305: a connecting rod;

306: a second elastic member.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description of the present specification, references to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The cleaning robot of the present invention will be described with reference to fig. 1 to 14.

According to an embodiment of the present invention, as shown in fig. 1 to 14, the present invention provides a cleaning robot, which mainly includes: a walking machine body 100 and a cleaning device 200. The walking machine body 100 can move on the surface of the curtain wall, the cleaning device 200 is arranged at the front end and the rear end of the walking machine body 100 along the walking direction, and the cleaning device 200 can be driven to move through the walking machine body 100 to clean dust on the surface of the curtain wall.

Generally, the cleaning devices 200 are symmetrically arranged at the front end and the rear end of the walking machine body 100, so that on one hand, the cleaning robot moves towards one direction along with the walking machine body 100, the walking machine body 100 is positioned in the middle, the cleaning devices 200 at the front end and the rear end can simultaneously realize two times of cleaning, and the cleaning effect is more thorough; on the other hand, the structure can realize complete cleaning of the curtain wall close to the edge, avoids cleaning dead angles caused by the existence of the walking machine body 100, realizes thorough cleaning of the dead angles-free areas to be cleaned, and can effectively improve the cleaning effect.

The cleaning apparatus 200 mainly includes: the mounting frame 201 is mounted on the walking machine body 100 through the flexible supporting structure 300, so that on one hand, the mounting frame 201 can elastically avoid obstacles to protect a cleaning device, on the other hand, the walking machine body can walk more stably, and normal operation is guaranteed; the two groups of scraper assemblies 202 are arranged on two opposite sides of the mounting frame 201 in a swinging manner, and when the two groups of scraper assemblies 202 swing, the two groups of scraper assemblies are suitable for being switched between an initial state and a cleaning state, and in the initial state, the two groups of scraper assemblies 202 are lifted to be separated from the surface to be cleaned so as to be convenient for walking, as shown in fig. 5; in the cleaning state, the blade assembly 202 on the rear side in the traveling direction is pressed down to be in abutment with the surface to be cleaned, so that the blade assembly 202 on this side performs wiping cleaning on the surface to be cleaned, as shown in fig. 6.

It is to be appreciated that during cleaning, the left squeegee assembly 202 may be depressed while the right squeegee assembly 202 continues to be lifted; or the right squeegee assembly 202 is depressed while the left squeegee assembly 202 continues to be lifted.

The initial state can be understood as the state before cleaning, and the cleaning is reset to the initial state after the cleaning is finished, so that the interference to the movement is avoided, and the road surface can walk conveniently; the cleaning state can be understood as a state when cleaning is performed, at this time, the scraper component 202 located at the rear side in the walking direction falls down to be attached to a surface to be cleaned, and is changed into an operation scraper component, so that cleaning by scraping is realized, and the other group of scraper components 202 are tilted up to be separated from the surface to be cleaned.

For example: when cleaning robot upwards washs, the downside scraper blade subassembly 202 at both ends can swing simultaneously to pushing down the state and wait to clean the face laminating around, when needs wash downwards, the upside scraper blade subassembly 202 at both ends can swing simultaneously to pushing down the state and wait to clean the face laminating around, washs the back that finishes, and the both sides scraper blade subassembly 202 at both ends all resets to initial condition around, and the cleaning robot of being convenient for removes on the road surface. Therefore, the utility model discloses a cleaning device 200's at both ends scraper blade subassembly 202 all can realize the perk or the falling of both sides around, and during the washing, walking organism 100 only need reciprocate can turn around two-way washing, need not turn around, and it is very convenient to use, can effectively improve the cleaning efficiency.

According to an embodiment of the present invention, as shown with reference to fig. 13 and 14, the flexible supporting structure 300 includes: the supporting frame 301 is connected with the walking machine body 100; the lateral movement assembly is connected to the mounting bracket 201 and the supporting bracket 301, respectively, for laterally moving the cleaning device 200. Specifically, when the side of the cleaning device 200 touches the obstacle, the buffer movement of the transverse movement assembly can avoid hard touch between the cleaning device 200 and the obstacle, and avoid the obstacle, so as to avoid transmitting the collision impact force to the walking machine body 100 of the cleaning robot, protect the cleaning device 200, and enable the walking machine body 100 to walk more stably, thereby ensuring normal operation.

In one example, the lateral motion assembly includes: a sliding part 302 and a first elastic member 303, wherein the sliding part 302 is connected to the mounting bracket 201 in a transverse sliding manner, a first end of the first elastic member 303 is connected to the sliding part 302, and a second end of the first elastic member 303 is connected to the end cap carbon plate 219 at the end of the mounting bracket 201. When the side surface of the cleaning device contacts with an obstacle, the first elastic member 303 is compressed, and the cleaning device 200 can slide transversely, i.e., move left and right, relative to the walking machine body 100 through the sliding part 302, and reset after avoiding the obstacle. Wherein, the transverse moving components can be arranged in parallel in a plurality of groups; the first elastic member 303 may be a spring or the like.

According to the utility model discloses an embodiment, be provided with vertical flexible subassembly between support frame 301 and the lateral movement subassembly. By providing a vertical telescoping assembly, the cleaning device 200 can be moved closer to or further away from the surface to be cleaned, i.e., up and down, to clear an obstacle.

In one example, a vertical telescoping assembly includes: the sleeve 304, the connecting rod 305 and the second elastic component 306, the sleeve 304 is vertically installed on the supporting frame 301, the connecting rod 305 penetrates through the sleeve 304 and is connected with the sliding portion 302, and the second elastic component 306 is sleeved on the connecting rod 305 and is located between the sleeve 304 and the sliding portion 302. When the bottom of the cleaning device body touches an obstacle, the second elastic component 306 is compressed, the cleaning device 200 can slide vertically through the connecting rod 305, and the cleaning device body resets after avoiding the obstacle. Wherein, the vertical telescopic assemblies can be arranged in parallel in a plurality of groups; the second elastic member 306 may be a spring or the like.

According to an embodiment of the present invention, as shown in fig. 2 to 4, the cleaning device further includes: and the driving assembly is arranged on the mounting frame 201 and used for driving the two groups of scraper assemblies 202 to swing.

According to an embodiment of the present invention, as shown in fig. 2 to 7, the driving assembly mainly includes: a driving motor 203, a steering shaft 204 and a pulling mechanism. The driving motor 203 is arranged on the mounting frame 201, specifically, may be arranged at one end of the mounting frame 201, and is located between the two sets of scraper assemblies 202, and the driving motor 203 may be a speed reduction motor or other types of motors; the steering shaft 204 is in transmission connection with the driving motor 203, and the steering shaft 204 is arranged along the length direction of the mounting frame 201 and used for transmitting torque; the pulling mechanism is respectively connected with the two groups of scraper assemblies 202 and the steering shaft 204 in a transmission manner and is used for pulling the two groups of scraper assemblies 202 to swing. Specifically, the driving motor 203 drives the steering shaft 204 to rotate, and the steering shaft 204 drives the pulling mechanism to act, so that the scraper component is lifted or dropped.

Wherein, pull the mechanism and include: steering handle 205 and two sets of connecting rod are vice, and steering handle 205 sets up on steering spindle 204, and two sets of connecting rod are vice to be corresponding two sets of scraper blade subassemblies 202 one-to-one respectively, and at initial condition, two sets of connecting rod pair symmetric distribution are in the both sides of steering spindle 204, and every connecting rod of group is vice to include: the first end of the first connecting rod 206 of the two sets of connecting rod pairs is connected with the steering handle 205, in each set of connecting rod pairs, the second connecting rod 207 is connected to the scraper component 202 in a swinging manner, the end of the second connecting rod 207 is hinged to the second end of the first connecting rod 206, the elastic piece 208 is arranged on the side surface of the second connecting rod 207, and two ends of the elastic piece 208 are respectively pressed on the mounting frame 201 and the second connecting rod 207.

Referring to fig. 5 and 6, in the initial state, the two link pairs are smoothly lifted up on both sides of the steering shaft 204 due to the pulling force of the driving motor 203, and when the initial state is switched to the cleaning state, for example, when the driving motor 203 drives the steering shaft 204 to rotate to the left, the right second link 207 overcomes the resilience of the right elastic member 208, and continues to pull up the right squeegee assembly 202; meanwhile, the driving motor 203 releases the left first link 206, the left first link 206 is not subjected to the pulling force of the driving motor 203 any more, at the moment, under the effect of the resilience force of the left elastic piece 208, the left scraper component 202 is pressed down to be attached to the surface to be cleaned and is changed into an operation scraper component, so that cleaning is realized, and the same is true when the driving motor 203 rotates rightwards; and after the cleaning is finished, switching to the initial state again. Therefore, the utility model discloses a control driving motor 203 just reversing, can realize controlling scraper blade assembly 202's state switching.

The specific type of the elastic member 208 is not particularly limited, and may be, for example, a torsion spring, a reed, a spring, etc.

According to the utility model discloses an embodiment, the second end of first connecting rod 206 is equipped with spout 209, and spout 209 specifically is waist groove structure, and the tip of second connecting rod 207 is equipped with the spliced pole 210 with spout 209 matched with, and spliced pole 210 is articulated with spout 209 promptly to spliced pole 210 can slide in spout 209.

Specifically, when the projection on the surface of the curtain wall exerts a force on the downward-pressing scraper assembly 202 opposite to the elastic member 208, the scraper assembly 202 is temporarily lifted and transmits the force to the connecting rod 210 of the second link 207, so that the connecting rod 210 slides in the sliding slot 209 and does not transmit the force to the driving motor 203. Therefore, the utility model discloses spout 209 can play better cushioning effect to avoid causing the interference to driving motor 203's operation, can protect driving motor 203, effectively prolong its life.

Therefore, the embodiment of the utility model provides a can realize two sets of scraper blade subassembly 202 wobbling synchronous coordinated control through a driving motor 203, can improve work efficiency, simplify the structure, reduce volume, reduce cost.

And, the utility model discloses drive assembly passes through the drive fit of parts such as driving motor 203, steering spindle 204, steering handle 205 and connecting rod pair, and mechanical design can improve the stability when wasing the subassembly washing, long service life, and the reliability is higher.

According to an embodiment of the present invention, referring to fig. 7, the first connecting rod 206 is a bent structure, i.e. a bent rod. With such a design, on one hand, when the driving motor 203 rotates, the effect of avoiding the steering shaft 204 can be achieved; on the other hand, a dead point position may occur during the movement between the first link 206 and the second link 207, for example, when the driving motor 203 rotates clockwise to the right to switch to the cleaning state, the left squeegee assembly 202 continues to be lifted, the steering handle 205 rotates clockwise along with the steering shaft 204, and a balance line (dotted line in fig. 7) position exists during the rotation, and at this time, the three points of the connection point of the second link 207 and the first link 206, the center point of the steering shaft 204, and the connection point of the steering handle 205 and the first link 206 are collinear; need driving motor 203 to drive the rotation before the balanced line position, when reaching the balanced line position, because this kind of structural design can realize mechanical auto-lock, driving motor 203 stall promptly this moment also can realize keeping the state of lifting up of left side scraper blade subassembly 202. Due to the ingenious design, the driving motor 203 does not need to be started for a long time, the effects of saving power and protecting the driving motor 203 are achieved, the comprehensive service life of the equipment is long, and the stability is good.

According to an embodiment of the present invention, referring to fig. 6, the bending angle a of the first connecting rod 206 is approximately 80 ° to 100 °, and preferably 90 ° to 95 °.

According to the utility model discloses an embodiment is equipped with steering shaft support 211 on the mounting bracket 201, and steering shaft support 211 is located the both ends of steering shaft 204 respectively for support steering shaft 204, guarantee stability.

The utility model discloses the concrete quantity of dragging the mechanism does not do special restriction, can design according to operating condition to it is suitable to satisfy the demand that has the scraper blade subassembly of certain length. In this example, referring to fig. 2, the two groups of pulling mechanisms are respectively disposed at two ends of the scraper assembly 202, so that the swing stability of the scraper assembly 202 can be further improved, and the cleaning effect can be ensured.

According to an embodiment of the present invention, referring to fig. 4, the driving assembly further includes: two microswitches 212, a trigger 213 and a controller. The two micro switches 212 are arranged on the mounting frame 201 and are positioned on two sides of the steering shaft 204; the trigger 213 is disposed on the steering shaft 204 and rotates synchronously with the steering shaft 204, and the trigger 213 is adapted to contact with or separate from the two microswitches 212; the controller is respectively electrically connected with the driving motor 203 and the two micro switches 212 and is used for carrying out primary limit on the swing of the two groups of scraper blade assemblies 202 to realize electronic limit.

For example, in the process that the driving motor 203 rotates to the left, the steering handle 205 is driven to rotate by the steering shaft 204, the steering handle 205 lifts the right scraper assembly 202 by the right link pair, and meanwhile, when the left scraper assembly 202 falls down, the trigger 213 also rotates along with the steering shaft 204, when the trigger rotates to be in contact with the left microswitch 212, the left microswitch 212 obtains a position signal and sends the position signal to the controller, and at the moment, the controller controls the driving motor 203 to stop rotating, so that the falling limit of the left scraper assembly 202 is realized; the right squeegee assembly 202 is limited in its fall, for the same reason.

And, the controller may also be electrically connected with the walking machine body 100 for controlling the walking of the walking machine body 100.

According to an embodiment of the present invention, referring to fig. 3, the driving assembly further includes: the two limit blocks 214 may be disposed on the mounting frame 201 or the steering shaft support 211, the two limit blocks 214 are located at two sides of the steering handle 205, and the two limit blocks 214 are adapted to contact with or separate from the steering handle 205, and are used for performing secondary limit on the swing of the two sets of scraper assemblies 202, so as to achieve mechanical limit.

For example, in the process that the driving motor 203 rotates leftwards, the steering handle 205 is driven to rotate by the steering shaft 204, the steering handle 205 lifts the right scraper component 202 by the right link pair, and meanwhile, when the left scraper component 202 falls down, the trigger 213 also rotates along with the steering shaft 204, when the left microswitch 212 is rotated to be in contact with the left microswitch 212, the left microswitch 212 obtains a position signal and sends the position signal to the controller, at this time, the controller controls the driving motor 203 to start to stop rotating, the controller can decelerate and keep rotating for a certain distance to reach a mechanical limit position, at this time, the left limit block 214 is abutted against the steering handle 205, and two-stage limit of the falling of the left scraper component 202 is realized; two-stage limiting of the right squeegee assembly 202 drop, as well.

In this embodiment, the first-stage limit is achieved by the contact between the trigger 213 and the microswitch 212 through the position relationship between the trigger 213, the microswitch 212 and the steering handle 205 and the limit block 214, so that the mechanical limit is achieved by the contact between the steering handle 205 and the limit block 214 after the driving motor 203 decelerates. That is, the thread of the primary limit is less than the secondary limit.

Therefore, when the scraper component 202 on one side falls down, the embodiment of the utility model provides a through setting up the two-stage low-position limiting structure of electronic limiting structure and mechanical limiting structure, namely through the one-stage limiting that the electronic contact realized, let driving motor 203 slow down, then carry on mechanical limiting through stopper 214, can reach the effect of protection turning handle 205 and subassembly, ensure the stability of device, prolong its life, can realize the accurate spacing of scraper component 202 position, effectively guarantee the stability of scraper component 202; on the other hand, the lifting degree of the scraper component 202 on the other side is not too high, so that the stability of the whole machine is improved.

The utility model discloses drive assembly's specific quantity does not do special restriction, can design according to operating condition. For example, when the squeegee assembly 202 of the cleaning device 200 is longer, two sets of drive assemblies or a greater number may be provided.

According to the utility model discloses an embodiment, as shown with reference to fig. 5 and 6, scraper blade subassembly 202 roughly includes scraper blade 2021 and brush film 2022, and the upside of scraper blade 2021 is articulated with mounting bracket 201, and brush film 2022 is installed to the downside of scraper blade 2021, through adopting the film rather than hard material, can avoid scraping the flower and treat the cleaning surface to when treating the cleaning surface irregularity, can self-adaptation laminating treat the cleaning surface, guarantee the cleaning performance, have strong adaptability's characteristics.

According to an embodiment of the present invention, the two scraper assemblies 202 are divergent structures in a vertical direction from a distance to a surface to be cleaned. For example, the cross sectional shape of two sets of scraper blade subassemblies 202 is roughly splayed, and symmetric distribution can realize corresponding cleaning function in the both sides of mounting bracket 201 like this design, in the time of the installation demand, improves wobbling reliability and steadiness, and comprehensive properties is good.

According to an embodiment of the present invention, referring to fig. 5, 8-12, the cleaning device further includes a roller assembly, and the roller assembly mainly includes: the roller 215 is rotatably arranged at the bottom of the mounting frame 201 along the length direction of the mounting frame 201 and is positioned between the two groups of scraper blade assemblies 202, and brushes 217 are distributed on the peripheral surface of the roller 215; the outer rotor motor 216 is disposed in the inner cavity of the drum 215, and can be electrically connected to the controller for driving the drum 215 to rotate relative to the mounting frame 201; and the mounting rack 201 is provided with a water cavity and a water outlet 218 which are communicated, the water cavity of the mounting rack 201 is suitable for supplying water to the peripheral surface of the roller 215 through the water outlet 218, and the surface to be cleaned is washed by water.

In the working process of the cleaning device 200, cleaning water in the water tank on the walking machine body 100 is pumped into the water cavity through the water pipe by the water suction pump and is sprayed to the roller 215 below the walking machine body through the water outlet 218 on the mounting frame 201, the cleaning water is continuously wetted by the cleaning water above the walking machine body along with the rotation of the roller 215, and as long as the roller 215 keeps rotating, the cleaning water can be uniformly rolled to clean the surface to be cleaned all the time, so that the sustainable cleaning effect is realized; at the same time, the squeegee assembly 202 can also be used for simultaneous squeegee cleaning.

Therefore, the embodiment of the invention combines the wiping and brushing of the scraper component 202 with the water washing of the roller component, thereby realizing double washing of wiping and brushing while spraying water, and effectively improving the washing effect; and, the utility model discloses an install external rotor motor 216 in the inner chamber of cylinder 215, realized the built-in design of motor to realized the miniaturization and the quality of structure, reduced drum assembly's occupation space, and cylinder 215's rotary motion is more stable.

In one embodiment, referring to fig. 2, 8 and 9, two ends of the mounting frame 201 are respectively provided with an end cap carbon plate 219, two ends of the drum 215 are respectively rotatably connected to the two end cap carbon plates 219, at least one end of the drum 215 is provided with an outer rotor motor 216, an outer rotor 2161 of the outer rotor motor 216 is fixedly connected to an inner cavity of the drum 215, an inner stator 2162 of the outer rotor motor 216 is fixedly connected to the end cap carbon plates 219 by a connecting member 2163, and the drum 215 can be driven to synchronously rotate by the outer rotor 2161 of the outer rotor motor 216.

In this example, a plurality of protrusions 2164 are annularly distributed on the outer wall of the outer rotor 2161 of the outer rotor motor 216, a plurality of slots 2165 are annularly distributed on the inner cavity of the drum 215, and each protrusion 2164 is correspondingly clamped in each slot 2165 one by one, so that the outer rotor motor 216 and the drum 215 can be detachably assembled.

According to an embodiment of the present invention, referring to fig. 10-12, the bottom of the mounting frame 201 is provided with a water tank 220 extending axially along the roller 215, the bottom of the water tank 220 is open and arranged towards the outer peripheral surface of the roller 215, the mounting frame 201 is further provided with a water inlet 221 communicating with the water tank 220, and the water inlet 221 can be arranged in plurality at intervals along the length direction of the mounting frame 201.

The water tank 220 is provided with a detachable water guide 222, the water guide 222 and the water tank 220 together define a water cavity, and the bottom of the water guide 222 is provided with a water outlet 218.

In this embodiment, the washing water flows into the water tank 220 from the water inlet 221 and into the water guide 222, and then the water flows out onto the drum 215 under the mounting bracket 201 through the water outlet 218 at the bottom of the water guide 222, thereby cleaning and wetting the brush 217 provided on the outer surface of the drum 215.

Since the water guide 222 is detachably installed in the water tank 220, when the water outlet 218 is clogged, a user can draw the water guide 222 out of the water tank 220 and clean the water guide 222, so as to wash away impurities clogged in the water outlet 218 and ensure normal use of the water guide 222.

Referring to fig. 12, the water guide 222 is a long strip-shaped groove-shaped part with an open top, the water guide 222 and the water tank 220 both extend axially along the drum 215, the bottom of the water guide 222 is provided with a plurality of water outlets 218, and the plurality of water outlets 218 are uniformly spaced along the length direction of the water guide 222, so that the drum 215 can uniformly output water and wet along the length direction thereof; in addition, the water guide 222 is slidably fitted in the water tank 220, so that when the water outlet 218 is blocked, a user can directly pull the water guide 222 out of the water tank 220 for cleaning, and the use is convenient.

According to an embodiment of the present invention, the roller assembly is rotated to engage the blade assembly 202 pressed downward in the tangential direction of the surface to be cleaned.

For example, when the roller assembly rotates clockwise, the tangential direction of the surface to be cleaned is attached to the scraper assembly 202 at the rear side, the cleaning device advances, the scraper assembly 202 at the rear side along the traveling direction is pressed down to be attached to the surface to be cleaned, and the operation scraper assembly is changed into a working scraper assembly, at the moment, water drops driven by the roller assembly in the rotating process are concentrated between the roller assembly and the working scraper assembly, so that effective adsorption of sewage can be realized, and the phenomenon that the sewage is thrown out of the scraper assembly 202 lifted at the front side is avoided.

According to an embodiment of the present invention, the length of the scraper assembly 202 is not less than the length of the roller assembly to ensure the cleaning effect.

To sum up, the utility model discloses cleaning robot can realize the two-way washing that turns around that does not turn to, and has structural configuration rationally, and space utilization is high, and the cleaning performance is good, characteristics such as reliable and stable nature height.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. A cleaning robot, comprising:

a walking machine body;

the cleaning devices are arranged at two ends of the walking machine body along the walking direction;

the cleaning device includes: the mounting frame is mounted on the walking machine body through a flexible supporting structure, the two groups of scraper components are arranged on two opposite sides of the mounting frame in a swinging mode and are suitable for being switched between an initial state and a cleaning state,

in the initial state, the two groups of scraper blade assemblies are lifted to be separated from the surface to be cleaned, and in the cleaning state, the scraper blade assembly at the rear side along the walking direction is pressed downwards to be attached to the surface to be cleaned.

2. The cleaning robot of claim 1, wherein the flexible support structure comprises:

the supporting frame is connected with the walking machine body;

and the transverse movement assembly is respectively connected with the mounting frame and the supporting frame and is used for enabling the cleaning device to transversely move.

3. The washing robot as recited in claim 2 wherein a vertical telescoping assembly is disposed between the support frame and the lateral motion assembly.

4. The cleaning robot of claim 1, wherein the cleaning device further comprises:

and the driving assembly is arranged on the mounting frame and used for driving the two sets of scraper assemblies to swing.

5. The washing robot as recited in claim 4, wherein the drive assembly comprises:

the driving motor is arranged on the mounting frame and is positioned between the two groups of scraper components;

the steering shaft is in transmission connection with the driving motor and is arranged along the length direction of the mounting rack;

and the dragging mechanism is in transmission connection with the two groups of scraper assemblies and the steering shaft respectively and is used for dragging the two groups of scraper assemblies to swing.

6. The cleaning robot of claim 5, wherein the pulling mechanism comprises:

the steering handle is arranged on the steering shaft;

two sets of connecting rod pairs, in initial state, two sets of connecting rod pair symmetric distribution in the both sides of steering spindle, every group the connecting rod pair includes: first connecting rod, second connecting rod and elastic component, it is two sets of the first end of first connecting rod all with the steering handle links to each other, the second connecting rod can swing connect in the scraper blade subassembly, just the tip of second connecting rod with the second end of first connecting rod is articulated, the elastic component set up in the side of second connecting rod, just the both ends of elastic component support respectively press in the mounting bracket with on the second connecting rod.

7. The cleaning robot as claimed in claim 6, wherein the second end of the first link is provided with a sliding slot, and the end of the second link is provided with a connecting post engaged with the sliding slot.

8. The cleaning robot as recited in claim 1, wherein both of said squeegee assemblies are in a diverging configuration in a vertical direction from distal to proximal to a surface to be cleaned.

9. The cleaning robot of any one of claims 1-8, wherein the cleaning device further comprises a roller assembly, the roller assembly comprising:

the roller is rotatably arranged at the bottom of the mounting rack along the length direction of the mounting rack and positioned between the two groups of scraper assemblies, and brushes are distributed on the peripheral surface of the roller;

the mounting bracket is provided with a water cavity and a water outlet which are communicated, and the water cavity of the mounting bracket is suitable for supplying water to the peripheral surface of the roller through the water outlet.

10. The cleaning robot of claim 9, wherein the roller assembly rotates to engage the blade assembly pressed down in a tangential orientation of the surface to be cleaned.

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