CN218738815U

CN218738815U - Automatic cleaning equipment

Info

Publication number: CN218738815U
Application number: CN202222948560.2U
Authority: CN
Inventors: 周永飞; 李行; 李祥
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-11-04
Filing date: 2022-11-04
Publication date: 2023-03-28
Anticipated expiration: 2032-11-04

Abstract

The application provides an automatic cleaning device, includes: a moving platform configured to move on the operation surface; clean module, including dirt box, wind channel and main brush module, wherein, the wind channel set up in the main brush module with between the dirt box, by the cleaning thing through the main brush module cleans the back and follows the wind channel gets into the dirt box, clean module still includes: the rotating mechanism is arranged between the main brush module and the air duct and is configured to transfer at least part of the cleaned objects to an inlet of the air duct in a friction mode. This application passes through slewing mechanism, can shift the entrance in wind channel once more with the part by the cleaning thing.

Description

Automatic cleaning equipment

Technical Field

The application relates to the technical field of cleaning robots, in particular to an automatic cleaning device.

Background

In recent years, with the development of science and technology, various cleaning devices are in a large number, which reduce the workload of people in cleaning and sweeping, meet the requirements of people and provide great convenience for people's life.

However, the demand for the cleaning ability of the automatic cleaning device is also increasing, and the automatic cleaning device is expected to clean not only the large garbage in the environment, but also the small garbage and some special garbage, such as paper scraps or hair, in the environment, so as to further clean the ground in the environment.

SUMMERY OF THE UTILITY MODEL

The application aims to provide automatic cleaning equipment, which can solve the technical problem that at least one part of garbage is treated in the cleaning process.

The embodiment of the application provides an automatic cleaning equipment, includes:

a moving platform configured to move on the operation surface;

clean module, including dirt box, wind channel and main brush module, wherein, the wind channel set up in the main brush module with between the dirt box, by the cleaning thing through the main brush module cleans the back and follows the wind channel gets into the dirt box, clean module still includes:

the rotating mechanism is arranged between the main brush module and the air duct and is configured to transfer at least part of the cleaned objects to an inlet of the air duct in a friction mode.

In some embodiments, the rotation mechanism comprises:

and the roller shaft is configured to rotate back and forth within a preset angle so as to transfer at least part of the cleaned objects to the inlet of the air duct in a friction mode.

In some embodiments, the rotation mechanism further comprises:

a first friction surface provided on at least a part of an outer peripheral surface of the roller shaft;

and the second friction surface is arranged at the upper edge of the inlet of the air duct and configured to be in reciprocating rotation with the roller shaft within the preset angle, and the first friction surface and the second friction surface are in mutual friction.

In some embodiments, the predetermined angle is 0-90 degrees.

In some embodiments, the first friction face and/or the second friction face is a rough face.

In some embodiments, the first friction surface and/or the second friction surface is made of nylon yarn.

In some embodiments, the cleaning module further comprises:

and the driving mechanism is configured to drive the roller shaft to rotate in a reciprocating manner within the preset angle.

In some embodiments, the drive mechanism comprises:

a motor configured to provide a driving force;

a gear box configured to change a transmission direction of the driving force to cause the roller shaft to rotate reciprocally within the preset angle.

In some embodiments, the main brush module is mounted on the movable platform and configured to sweep the object to be cleaned to the vicinity of the inlet of the dust box by oscillating back and forth from a height higher than the surface to be cleaned to a position gradually approaching the surface to be cleaned and further away from the surface to be cleaned.

In some embodiments, the main brush module is mounted to the movable platform and configured to sweep the object to be cleaned to the vicinity of the inlet of the dust box by continuous rotation.

Compared with the prior art, the embodiment of the application has the following technical effects:

the automatic cleaning equipment that this application embodiment provided, through set up slewing mechanism between main brush module and wind channel, the part is by the cleaned object not directly get into the dirt box after, will at least part shift to the entrance in wind channel again through frictional mode by the cleaned object through slewing mechanism, then get into the dirt box through the wind channel to make the part that does not get into the dirt box smoothly make it can get into the dirt box by the processing of cleaned object through slewing mechanism, realize the further cleanness of operation face.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

fig. 1 is an oblique view of an automated cleaning apparatus according to some embodiments of the present application.

Fig. 2 is a schematic view of a bottom structure of an automatic cleaning apparatus according to some embodiments of the present application.

Fig. 3 is a schematic view of the overall structure of the cleaning module according to some embodiments of the present disclosure.

Fig. 4 is a schematic view of the overall structure of the cleaning module according to some embodiments of the present disclosure.

Figure 5 is a cross-sectional view of a cleaning module of some embodiments of the present application.

Figure 6 is a cross-sectional view of a cleaning module of some embodiments of the present application.

FIG. 7 is a schematic view of a main brush module in the cleaning module according to some embodiments of the present disclosure.

FIG. 8 is a partial detail view of a main brush module in the cleaning module of some embodiments of the present application.

Description of the reference numerals: the cleaning device comprises a moving platform 100, a cleaning module 150, a dust box 151, a first accommodating space 1511, a second accommodating space 1512, a main brush module 152, a main brush housing 1521, a first motor 1522, a first gear box 1523, a first connecting rod 15241, a second connecting rod 15242, a third connecting rod 15251, a fourth connecting rod 15252, a driving rod 1526, a cleaning strip 1527, a first air duct 153, a scraping strip 154, a second air duct 155, a rotating mechanism 156, a roller 1561, a first friction surface 1562, a second friction surface 1563, a second motor 1564, a second gear box 1565, a fan 157 and a four-bar module 158.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application, these should not be limited to these terms. These terms are only used to distinguish one from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of embodiments of the present application.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, the recitation of an element by the phrase "comprising a" does not exclude the presence of additional like elements in a commodity or device comprising the element.

Alternative embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1-2 are schematic structural views illustrating an automatic cleaning apparatus, which may be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc., according to an exemplary embodiment, and which may include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160, and a human-machine interaction system 170, as shown in fig. 1-2. Wherein:

the mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the robotic cleaning device may be a floor-mopping robot, and the robotic cleaning device operates on a floor surface, the floor surface being the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device may also be a pipe cleaning robot, and the automatic cleaning device works on the inner surface of the pipe, where the inner surface of the pipe is the operation surface. The following description in this application is given by way of example of a floor-mopping robot, purely for illustration purposes.

In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the robotic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set systematically or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

The sensing system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located in the forward portion 111 of the mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown), infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), odometers (not shown), and other sensing devices located at the bottom of the mobile platform, and provides various position and motion state information of the machine to the control system 130.

To describe the behavior of the automatic cleaning device more clearly, the following directional definitions are made: the robotic cleaning device may travel over the floor through various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: a transverse axis Y, a front-rear axis X, and a central vertical axis Z. The forward driving direction along the forward-rearward axis X is denoted as "forward", and the rearward driving direction along the forward-rearward axis X is denoted as "rearward". The transverse axis Y extends substantially along the axis defined by the center points of the drive wheel assemblies 141 between the right and left wheels of the robotic cleaning device. Wherein the robotic cleaning device is rotatable about a Y-axis. The "pitch up" is when the forward portion of the automatic cleaning apparatus is tilted upward and the rearward portion is tilted downward, and the "pitch down" is when the forward portion of the automatic cleaning apparatus is tilted downward and the rearward portion is tilted upward. Additionally, the robotic cleaning device may be rotatable about the Z-axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the X axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the X axis, it turns to the left.

As shown in fig. 2, cliff sensors 123 for preventing the automatic cleaning apparatus from falling when the automatic cleaning apparatus is retreated are provided on the bottom of the moving platform 100 and in front of and behind the driving wheel assemblies 141, so that the automatic cleaning apparatus can be prevented from being damaged. The foregoing "front" refers to the same side with respect to the traveling direction of the automatic cleaning apparatus, and the foregoing "rear" refers to the opposite side with respect to the traveling direction of the automatic cleaning apparatus.

Specific types of position determining devices 121 include, but are not limited to, cameras, laser distance measuring devices (LDS).

The various components of the sensing system 120 may operate independently or together to achieve a more accurate function. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned so as to determine the physical characteristics of the surface to be cleaned, including the surface material, the cleaning degree and the like, and can be combined with a camera, a laser ranging device and the like for more accurate judgment.

For example, it may be determined whether the surface to be cleaned is a carpet by the ultrasonic sensor, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122, the bumper 122 detects one or more events (or objects) in the travel path of the robotic cleaning device via a sensor system, such as an infrared sensor, as the robotic cleaning device is propelled across the floor by the drive wheel assembly 141 during cleaning, and the robotic cleaning device can respond to the events (or objects), such as an obstacle, a wall, by controlling the drive wheel assembly 141 to cause the robotic cleaning device to respond to the events (or objects), such as a distance from the obstacle, as detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and the application processor is configured to receive sensed environmental information of the plurality of sensors transmitted from the sensing system 120, draw an instantaneous map of the environment in which the automatic cleaning apparatus is located using a positioning algorithm, such as SLAM, based on obstacle information fed back from the position determination device, and the like, and autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 140 to perform operations, such as forward, backward, and/or steering, based on the autonomously determined travel path. Further, the control system 130 can also determine whether to start the cleaning module 150 for cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may comprehensively determine what working state the sweeper is currently in by combining the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, for example, when the distance information and the speed information are passed through a threshold, the sweeper is located at the cliff, the upper carpet or the lower carpet is stuck, the dust box is full, the sweeper is taken up and the like, and further, a specific next-step action strategy is given according to different conditions, so that the work of the automatic cleaning device better meets the requirements of an owner, and better user experience is achieved. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by the SLAM, and the cleaning efficiency of the automatic cleaning equipment is greatly improved.

Drive system 140 may execute drive commands to steer the robotic cleaning device across the floor based on specific distance and angle information, such as x, y, and theta components. As shown in fig. 2, drive system 140 includes a drive wheel assembly 141, and drive system 140 may control both the left and right wheels, preferably drive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively, for more precise control of machine motion. The left and right drive wheel assemblies are symmetrically disposed along a lateral axis defined by the mobile platform 100.

In order to provide the automatic cleaning device with more stable movement or enhanced movement capability over the floor surface, the automatic cleaning device may include one or more steering assemblies 142, the steering assemblies 142 may be driven wheels or driving wheels, and the steering assemblies 142 may be configured to include, but are not limited to, universal wheels, and the steering assemblies 142 may be positioned in front of the driving wheel assemblies 141.

Energy source system 160 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 host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging.

The human-computer interaction system 170 comprises keys on a panel of the host computer, and 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 cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed for a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

As shown in fig. 2, the cleaning module 150 may comprise a dry cleaning module.

The dry cleaning module comprises a dust box, a fan, a main brush module and the like. The main brush module cleans the garbage on the ground to the front of a dust suction opening between the main brush module and the dust box in a reciprocating swing mode near the ground, and then the garbage is sucked into the dust box by air which is generated by a fan and passes through the dust box and has suction force; the main brush module can also sweep the garbage on the ground to the front of a dust suction opening between the main brush module and the dust box in a continuous rolling mode, and then the garbage is sucked into the dust box by the air which is generated by the fan and passes through the dust box and has suction force. The Dust removal capability of the sweeper can be represented by a sweeping efficiency DPU (Dust pick up efficiency), and the sweeping efficiency DPU is influenced by 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 is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability is more significant for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once can be developed into the machine which can clean 180 square meters or more by charging once. And the service life of the battery with reduced charging times is greatly increased, so that the frequency of replacing the battery by a user is reduced. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning module may also include an edge brush having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.

In the related art, the automatic cleaning device drives the garbage into the dust box through the dust collecting opening through the main brush module, and for some special garbage, such as hair, paper dust, etc., the garbage is not easy to be sucked into the dust box due to stronger adhesion force with the ground, especially for the automatic cleaning device in the traveling process, the garbage cannot be sucked into the dust box in the process of one-time sweeping, so that a part of the garbage still remains on the cleaned ground.

To this end, the embodiment of the present application provides an automatic cleaning apparatus, including: a moving platform configured to move on the operation surface; clean module, including dirt box, wind channel and main brush module, wherein, the wind channel set up in the main brush module with between the dirt box, by the cleaning thing through the main brush module cleans the back and follows the wind channel gets into the dirt box, clean module still includes: the rotating mechanism is arranged between the main brush module and the air duct and is configured to transfer at least part of the cleaned objects to an inlet of the air duct in a friction mode.

The automatic cleaning equipment that this application embodiment provided, through set up slewing mechanism between main brush module and wind channel, the part is not directly got into the dirt box by the cleaning object (for example hair, shredded paper bits, particulate matter etc.) after, will at least part shift to the entrance in wind channel again through frictional mode by the cleaning object through slewing mechanism, then get into the dirt box through the wind channel, thereby make the part that does not get into the dirt box smoothly can get into the dirt box smoothly by the processing of cleaning object through slewing mechanism, realize the further cleanness of operation face.

The present embodiment provides an automatic cleaning apparatus at least including: the device comprises a mobile platform and a cleaning module. Wherein the mobile platform is configured to automatically move on an operation surface; the cleaning module is assembled on the mobile platform.

In some embodiments, as shown in fig. 3 and 4, the cleaning module includes a dust box, an air duct and a main brush module, the dust box is mounted on the mobile platform and used for collecting and storing the objects to be cleaned, the air duct is disposed between the main brush module and the dust box, the air duct is communicated with the dust box, and the air with suction generated by the fan and passing through the dust box sucks the objects to be cleaned at the inlet of the air duct into the dust box. The main brush module cleans the garbage on the ground to the front of an air duct inlet between the main brush module and the dust box in a reciprocating swing mode near the ground, and then the air which is generated by the fan and passes through the dust box and has suction force is sucked into the dust box.

In some embodiments, the dust box 151 includes a first accommodating space 1511 and a second accommodating space 1512 that are spaced apart. Wherein the first receiving space 1511 is disposed adjacent to the main brush module 152. In some embodiments, the first receptacle arrangement 1511 is located between the main brush module 152 and the second receptacle 1512. The air duct includes a first air duct 153 and a second air duct 155, and the first receiving space 1511 is communicated with the first air duct 153 and configured to collect and store the first cleaning object. The second accommodating space 1512 is in communication with the second air channel 155 and configured to collect and store the second cleaning object. The first cleaned object is different from the second cleaned object in size, the volume of the second cleaned object is smaller than that of the first cleaned object, for example, the first cleaned object is paper mass, thread mass and the like, and the second cleaned object is hair, paper scraps, thread ends, particulate matters and the like. By the first accommodation space 1511 and the second accommodation space 1512 which are provided at intervals, it is possible to realize separate cleaning and storage of the objects to be cleaned of a small size and a large size, thereby improving the sweeping ability of the automatic cleaning apparatus.

In some embodiments, as shown in fig. 5, the main brush module 152 is disposed adjacent to the first accommodation space 1511, and the main brush module 152 is configured to sweep the first object to be cleaned to the vicinity of the inlet of the dust box by oscillating back and forth in such a manner that the first object to be cleaned gradually approaches the surface to be cleaned from a height higher than the surface to be cleaned and then moves away from the surface to be cleaned. That is, the main brush module 152 oscillates back and forth along an arc direction in a cross-sectional direction within an angle range, so as to sweep a first object to be cleaned having a relatively large volume to the vicinity of the inlet of the dust box, and at the same time, sweep a second object to be cleaned having a relatively small volume to the vicinity of the inlet of the dust box.

In some embodiments, the main brush module 152 is configured to sweep the first object to be cleaned to the vicinity of the inlet of the dust box by oscillating back and forth in a manner that the first object gradually approaches the surface to be cleaned from a height higher than the surface to be cleaned, and then moves away from the surface to be cleaned after contacting the surface to be cleaned for a period of time. Thus, the main brush module 152 can sweep the first cleaned object and/or the second cleaned object to the vicinity of the dust box inlet more cleanly.

In some embodiments, the main brush module 152 is configured to oscillate reciprocally in a direction of travel of the mobile platform, e.g., back and forth in a direction of travel of the cleaning device, using the thrust of the oscillating movement to sweep the first item of cleaning material adjacent the inlet of the dust box.

As shown in fig. 6, the main brushing module 152 further includes: a main brush housing 1521 and a first drive mechanism. The main brush housing 1521 is configured to oscillate back and forth substantially along the direction of travel of the moving platform.

The first driving mechanism is disposed in the main brush housing 1521 and configured to provide a driving force for the main brush module 152 to swing back and forth. The first drive mechanism includes: a first motor 1522, and a first linkage 1524 and a second linkage 1525 connected to the first motor 1522, as shown in fig. 7.

One end of the first motor 1522 is connected to the moving platform and is kept fixed relatively, and the other end is directly or indirectly connected to the first connecting rod set 1524 and the second connecting rod set 1525, and is configured to provide a driving force for the main brush module 152 to swing back and forth within a first preset angle, and the first motor 1522 rotates back and forth within a first preset angle, for example, within a range of 10 to 20 degrees, and drives the main brush module 152 to swing back and forth within a certain range. The first linkage assembly connects the first motor 1522 and the main brush housing 1521 and is configured to translate the rotation of the first motor 1522 into movement of the main brush housing 1521.

As shown in fig. 7, the first link 1524 includes a first link 15241 and a second link 15242. One end of the first link 15241 is connected to the first motor 1522 through a first gear box 1523, and the other end is connected to the housing framework 15211 of the main brush housing 1521, and the first link 15241 is configured to transmit the driving force of the first motor 1522 to the main brush housing 15241. One end of the second connecting rod 15242 is fixedly connected to the moving platform, the other end of the second connecting rod 15242 is rotatably connected to the casing framework 15211 of the main brush casing 1521, and the casing framework 15211 drives the main brush casing 1521 to move together.

In some embodiments, as shown in fig. 7, the first motor 1522 includes a motor body and a first gear box 1523 connected to the motor body. The first gear box 1523 includes a plurality of transmission gears therein, and a transmission direction can be changed by the plurality of transmission gears, so that the driving force generated by the motor main body is transmitted to the first linkage 1524 and the second linkage 1525.

In other embodiments, the first driving mechanism further comprises a transmission rod 1526, and the transmission rod 1526 connects the first linkage 1524 and the second linkage 1525. The first motor 1522 transmits the driving force generated by the motor main body to the transmission rod 1526 through the first gear box 1523, so that the transmission rod 1526 is driven by the first motor 1522 to rotate. The driving rod 1526 transmits power to the first linkage 1524 and the second linkage 1525, so that the main brush housing 1521 oscillates back and forth.

In some embodiments, the second linkage 1525 and the first linkage are symmetrically disposed at two ends of the main brush housing 15211, and connect the first motor 1522 and the main brush housing 1521. The second linkage 1525 is configured to convert rotation of the first motor 1522 into movement of the main brush housing 1521.

In some embodiments, as shown in fig. 7, the second linkage 1525 further includes a third link 15251 and a fourth link 15252. One end of the third link 15251 is connected to the driving rod 1526, the other end of the third link 15251 is connected to the main brush housing framework 15211, and the third link 15251 is configured to transmit the driving force of the first motor 1522 to the main brush housing 15241. One end of the fourth link 15252 is fixedly connected to the moving platform, and the other end is rotatably connected to the main brush casing framework 15211.

In some embodiments, the main brush housing 1521 further comprises: a sweep bar 1527. The cleaning strip 1527 set up in main brush casing 1521 is close to the one end of operating surface, for example main brush casing skeleton 15211 is U type structure, cleaning strip 1527 follows main brush casing skeleton 15211's lower extreme skeleton transversely extends, for example main brush casing skeleton 15211's lower extreme is provided with the recess, the cleaning strip 1527 top be provided with the T type of recess joint protruding, the T type is protruding to be dismantled with the recess and is connected. The sweeping bar 1527 is configured to sweep the first cleaning object to the first accommodation space 1511 along with the reciprocating swing of the main brush housing 1521.

Specifically, the sweeping strip 1527 may be disposed at a lower end of the main brush housing 1521, and when the main brush housing 1521 swings back and forth along the traveling direction of the moving platform, the sweeping strip 1527 may contact with the object to be cleaned on the operation surface, and the object to be cleaned gradually approaches the first air duct 153 under the driving of the sweeping strip 1527, and is finally sucked into the first accommodating space 1511 through the first air duct 153.

The cleaning strip 1527 has certain flexibility and can be bent at will, and in some embodiments, the cleaning strip 1527 is made of hair or carbon fiber.

In some embodiments, as shown in fig. 4-6, the cleaning module 150 further comprises: the first air duct 153. The first air duct 153 is disposed between the main brush module 150 and the first receiving space 1511. The first air duct 153 is configured to enable the first object to be cleaned to enter the first accommodating space 1511 along the first air duct along with the reciprocating swing of the main brush module 150, and optionally, the first air duct 153 may have a bell mouth shape, so as to facilitate the large first object to be cleaned to enter the first accommodating space 1511.

In some embodiments, the cleaning module 150 further comprises: a wiper strip 154. The scraping bar 154 is disposed at the edge of the first air duct 153 adjacent to the operation surface. The wiper 154 is configured to guide the first object to be cleaned into the first air duct 153.

Specifically, the scraping bar 154 may be disposed at the lower end of the main brush housing 1521, and a gap is formed between the bottom end of the scraping bar 154 and the operation surface, a portion of the object to be cleaned with a smaller size may pass through the gap between the scraping bar 154 and the operation surface, the object to be cleaned (a first object to be cleaned) with a larger size may be guided into the first air duct 153 by the scraping bar 154, and the object to be cleaned (a second object to be cleaned) with a smaller size may smoothly pass through the gap between the scraping bar 154 and the operation surface without being guided into the first air duct 153.

The scraping bar 154 is disposed opposite to the cleaning bar 1527, and the scraping bar 154 and the cleaning bar 1527 can cooperate with each other. Specifically, the sweeping bar 1527 sweeps the object to be cleaned into the first air duct 153, and the scraping bar 154 prevents the larger portion of the object to be cleaned from leaving the first air duct 153.

The scraping bar 154 has a certain flexibility and can be bent at will, and in some embodiments, the scraping bar 154 is made of hair or carbon fiber.

In some embodiments, the cleaning module 150 further comprises: and a second air duct 155. The second air channel 155 is disposed between the main brush module 152 and the second accommodating space 1512. The second air channel 155 is configured to make the second object enter the second accommodating space 1512 along the second air channel 155. The second cleaned object has a smaller volume than the first cleaned object, and optionally, the second air duct 155 has a smaller size than the first air duct 153, for example, when the second air duct and the first air duct are circular structures, the diameter of the second air duct is larger than the diameter of the first air duct, and when the second air duct and the first air duct are rectangular structures, the length and width of the second air duct are respectively larger than the length and width of the first air duct.

The second air channel 155 and the first air channel 153 may work together. Specifically, the absorption opening of the second air duct 155 is located behind the absorption opening of the first air duct 153, that is, the object to be cleaned firstly passes through the absorption opening of the first air duct 153, the part of the object to be cleaned with larger size is sucked into the first accommodation space 1511 through the first air duct 153, the part of the object to be cleaned with smaller size is left on the operation surface, the moving platform moves forward, and the part of the object to be cleaned with smaller size is sucked into the second accommodation space 1512 through the second air duct 155 when passing through the absorption opening of the second air duct 155. The second air duct 155 and the first air duct 153 work together to classify and collect the objects to be cleaned with different sizes, and adopt different collection strategies for the objects to be cleaned with different sizes, so as to improve the sweeping capability of the automatic cleaning device.

It is understood that the automatic cleaning apparatus may further include a blower 157. The blower 157 is respectively communicated with the first accommodating space 1511 and/or the second accommodating space 1512, and under the suction force of the blower 157, a negative pressure state is formed in the first accommodating space 1511 and/or the second accommodating space 1512, and the first object to be cleaned and the second object to be cleaned are respectively sucked into the first accommodating space 1511 and the second accommodating space 1512.

In some embodiments, as shown in fig. 5-6, the cleaning module 150 further comprises: a rotation mechanism 156. The rotating mechanism 156 is disposed between the first air channel 153 and the second air channel 155, and is configured to transfer at least a part of the second object to be cleaned to an inlet of the second air channel 155 by friction.

Specifically, the rotating mechanism 156 includes: roller 1561, first friction surface 1562, and second friction surface 1563. The roller 1561 is configured to be reciprocally rotated within a second predetermined angle, which allows the first friction surface 1562 and the second friction surface 1563 to be rotated from a state where one side is overlapped with each other to a state where the other side is overlapped with each other, and the second predetermined angle may be 0 to 90 degrees, for example, 10 to 20 degrees, thereby ensuring that the first friction surface 1562 and the second friction surface 1563 are always reciprocally rubbed. In some embodiments, the rollers 1561 are powered by a second drive mechanism. The second driving mechanism includes a second motor body 1564 and a second gear box 1565 connected to the second motor body 1564. The second gear case 1565 includes a plurality of gear sets, by which a transmission direction can be changed, and transmits a driving force generated from the second motor body 1564 to the roller shaft 1561.

As shown in fig. 5, the first friction surface 1562 is disposed on at least a portion of the outer circumferential surface of the roller shaft 1561, the second friction surface 1563 is disposed on the upper edge of the inlet of the second air path 155, the second friction surface 1563 is configured such that as the roller shaft 1561 rotates back and forth within the second predetermined angle, the first friction surface 1562 and the second friction surface 1563 rub against each other to frictionally transfer at least a portion of the second object to be cleaned to the inlet of the second air path 155, for example, to frictionally transfer fine objects such as hair, paper fragments, and fine particles to the inlet of the second air path 155. The first friction surface 1562 and/or the second friction surface 1563 may be made of a material having a certain friction coefficient, and optionally, the first friction surface and/or the second friction surface may be rough surfaces, and after the two rough surfaces are rubbed, a second object to be cleaned attached to the rough surfaces may drop to the inlet of the second air duct 155, and optionally, the first friction surface 1562 and/or the second friction surface 1563 may be made of nylon yarn, hemp cloth, or the like.

In some embodiments, as shown in fig. 4, the automatic cleaning apparatus further comprises: a four-bar linkage module 158. The four-bar linkage module 158 is disposed between the mobile platform and the cleaning module 150. The four-bar linkage module 158 is configured to enable the cleaning module 150 to float up and down.

Specifically, the four-bar linkage module 158 connects the main brush housing 1521 to a rack of an automatic cleaning device, and when the size of the object to be cleaned is too large to exceed a preset range of the cleaning module 150, the main brush housing 1521 can move upwards integrally under the driving of the four-bar linkage module 158, so as to sweep the object to be cleaned beyond the range to the first accommodating space 1511.

Further embodiments of the present application provide an automatic cleaning apparatus including at least: a mobile platform and a cleaning module. Wherein the mobile platform is configured to automatically move on an operation surface; the cleaning module is assembled on the mobile platform. The cleaning module comprises a dust box, an air channel and a main brush module, wherein the dust box is assembled on the moving platform and used for collecting and storing cleaned objects, the air channel is arranged between the main brush module and the dust box and communicated with the dust box, and the air which is generated by the fan and passes through the dust box and has suction force sucks the cleaned objects at the inlet of the air channel into the dust box. The main brush module can clean the garbage on the ground to the front of an air duct inlet between the main brush module and the dust box in a continuous rotating and cleaning mode, and then the air which is generated by the fan and passes through the dust box and has suction force is sucked into the dust box. The rotating mechanism is arranged between the main brush module and the air duct inlet, and at least part of cleaned objects are transferred to the inlet of the air duct in a friction mode by the rotating mechanism.

The specific structure, working principle and beneficial effects of the rotating mechanism in this embodiment can refer to the rotating mechanism described in any of the above embodiments, and are not described herein again.

Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

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

Claims

1. An automatic cleaning apparatus, comprising:

a moving platform configured to move on the operation surface;

2. The automatic cleaning apparatus of claim 1, wherein the rotation mechanism comprises:

3. The automatic cleaning apparatus of claim 2, wherein the rotation mechanism further comprises:

4. An automatic cleaning device according to claim 2 or 3, characterized in that said preset angle is 0-90 degrees.

5. An automatic cleaning apparatus according to claim 3, characterized in that the first friction surface and/or the second friction surface is a rough surface.

6. An automatic cleaning apparatus according to claim 3, characterized in that the material of the first friction surface and/or the second friction surface is nylon yarn.

7. The robotic cleaning device of claim 2, wherein the cleaning module further comprises:

8. The robotic cleaning device of claim 7, wherein the drive mechanism comprises:

a motor configured to provide a driving force;

9. The automatic cleaning apparatus according to claim 1, wherein the main brush module is mounted to the movable platform and configured to sweep the object to be cleaned to the vicinity of the inlet of the dust box by reciprocating to move from a height higher than the surface to be cleaned to a height gradually closer to the surface to be cleaned and further away from the surface to be cleaned.

10. The automatic cleaning apparatus according to claim 1, wherein the main brush module is mounted to the moving platform and configured to sweep the object to be cleaned to the vicinity of the inlet of the dust box by a continuous rotation.