CN218738815U - Automatic cleaning equipment - Google Patents

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

Background technique

In recent years, with the development of science and technology, various cleaning equipment emerge in an endless stream. These cleaning equipment reduce the burden of people's work in cleaning and cleaning, meet people's needs, and provide great convenience for people's life.

However, people have higher and higher requirements for the cleaning ability of automatic cleaning equipment. It is hoped that automatic cleaning equipment can not only clean large garbage in the environment, but also clean small garbage in the environment and some special garbage, such as scraps of paper or hair, etc. , so as to achieve further cleaning of the environmental ground.

Utility model content

The purpose of the present application is to provide an automatic cleaning device, which can solve the technical problem of processing at least a part of garbage during the cleaning process of the automatic cleaning device.

An embodiment of the present application provides an automatic cleaning device, including:

a mobile platform configured to move on the operating surface;

The cleaning module includes a dust box, an air duct and a main brush module, wherein the air duct is arranged between the main brush module and the dust box, and the object to be cleaned is cleaned by the main brush module Entering the dust box from the air duct, the cleaning module also 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 objects to be cleaned to the entrance of the air duct through friction.

In some embodiments, the rotation mechanism includes:

The roller shaft is configured to reciprocate and rotate within a preset angle to transfer at least part of the object to be cleaned to the inlet of the air duct through friction.

In some embodiments, the rotation mechanism also includes:

The first friction surface is arranged on at least a part of the outer peripheral surface of the roller shaft;

The second friction surface is arranged on the upper edge of the inlet of the air duct, and is configured such that the first friction surface and the second friction surface rub against each other as the roller shaft reciprocates within the preset angle.

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

In some embodiments, the first friction surface and/or the second friction surface are rough surfaces.

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

In some embodiments, the cleaning module also includes:

The driving mechanism is configured to drive the roller shaft to rotate reciprocally within the preset angle.

In some embodiments, the drive mechanism includes:

a motor configured to provide driving force;

The gear box is configured to change the transmission direction of the driving force, so that the roller shaft reciprocates within the preset angle.

In some embodiments, the main brush module is assembled on the mobile platform and is configured to swing back and forth to gradually approach the surface to be cleaned from a height higher than the surface to be cleaned, and then move away from the surface to be cleaned. In this way, the object to be cleaned is swept to the vicinity of the entrance of the dust box.

In some embodiments, the main brush module is assembled on the mobile platform and is configured to sweep the object to be cleaned to the vicinity of the dust box inlet through continuous rotation.

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

In the automatic cleaning equipment provided in the embodiment of the present application, by setting a rotating mechanism between the main brush module and the air duct, after part of the objects to be cleaned do not directly enter the dust box, at least part of the objects to be cleaned will be rubbed again through the rotating mechanism. Transfer to the entrance of the air duct, and then enter the dust box through the air duct, so that the parts to be cleaned that have not successfully entered the dust box can enter the dust box through the processing of the rotating mechanism, and further clean the operating surface.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application. Apparently, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative efforts. In the attached picture:

Fig. 1 is a perspective view of an automatic cleaning device according to some embodiments of the present application.

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

FIG. 3 is a schematic diagram of the overall structure of a cleaning module according to some embodiments of the present application.

FIG. 4 is a schematic diagram of the overall structure of a cleaning module according to some embodiments of the present application.

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

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

Fig. 7 is a schematic structural diagram of the main brush module in the cleaning module according to some embodiments of the present application.

Fig. 8 is a partial detailed view of the main brush module in the cleaning module according to some embodiments of the present application.

Explanation of reference numerals: mobile platform 100, cleaning module 150, dust box 151, first storage space 1511, second storage space 1512, main brush module 152, main brush housing 1521, first motor 1522, first gear Box 1523, first connecting rod 15241, second connecting rod 15242, third connecting rod 15251, fourth connecting rod 15252, transmission rod 1526, cleaning strip 1527, first air duct 153, scraping bar 154, second air duct 155 , a rotating mechanism 156 , a roller shaft 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 linkage module 158 .

Detailed ways

In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of this application and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise, "multiple" Generally contain at least two.

It should be understood that the term "and/or" used herein is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B, which may mean that A exists alone, and A and B exist simultaneously. B, there are three situations of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

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

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that an article or arrangement comprising a list of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the product or device. Without further limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the article or device comprising said element.

Optional embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

Figure 1-Figure 2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment. As shown in Figure 1-Figure 2, the automatic cleaning device can be a vacuum robot, or a floor mopping/brushing A robot, or a window-climbing robot, etc., the automatic cleaning device may include a mobile platform 100 , a perception system 120 , a control system 130 , a drive system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:

The mobile platform 100 may be configured to automatically move in a target direction on the operating surface. The operation surface may be the surface to be cleaned by the automatic cleaning equipment. In some embodiments, the automatic cleaning equipment can be a mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the ground Working on the outer surface of the glass, the glass is the operating surface; the automatic cleaning equipment can also be a pipeline cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface. Purely for the sake of demonstration, the following description in this application takes a mopping robot as an example.

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 operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but it can execute established procedures or operate according to certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system 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 perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, an ultrasonic sensor (not shown), an infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors The device provides various position information and motion state information of the machine to the control system 130.

In order to more clearly describe the behavior of the autonomous cleaning device, the following orientation definitions are made: The autonomous cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the transverse axis Y, Front and rear axis X and central vertical axis Z. The forward driving direction along the front-rear axis X is designated "forward" and the rearward driving direction along the front-rear axis X is designated "rearward". The transverse axis Y extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning device. Wherein, the automatic cleaning device can rotate around the Y axis. A self-cleaning device is "pitched" when the forward part is sloped upwards and the rearward part is sloped downwards, and "pitched" is when the forward part of the automatic cleaning device is sloped downwards and the rearward part is sloped upwards. In addition, the automatic cleaning device can rotate around the Z axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device tilts to the right of the X-axis, it is a "right turn", and when the automatic cleaning device tilts to the left of the X-axis, it is a "left turn".

As shown in Figure 2, on the bottom of the mobile platform 100 and at the front and rear of the drive wheel assembly 141, a cliff sensor 123 is provided, and the cliff sensor is used to prevent the automatic cleaning device from falling when it retreats, thereby preventing the automatic cleaning device from being damaged. damage. The aforementioned "front" refers to the side in the same direction of travel relative to the automatic cleaning device, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.

Specific types of the location determination device 121 include but are not limited to cameras and laser distance measuring devices (LDS).

Each component in the perception system 120 can operate independently or jointly to achieve the purpose function more accurately. The surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser distance measuring devices, etc. to make more accurate judgments.

For example, the ultrasonic sensor can be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is made of carpet, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward part 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly 141 pushes the automatic cleaning device to walk on the ground, the buffer 122 detects that the automatic cleaning device is in the driving path through a sensor system, such as an infrared sensor. One or more events (or objects), the automatic cleaning device can pass through the events (or objects) detected by the buffer 122, such as obstacles, walls, and control the driving wheel assembly 141 so that the automatic cleaning device can respond to the event (or an object) to respond, such as moving away from an obstacle.

The control system 130 is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory. The device is configured to receive the environmental information sensed by the multiple sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the position determining device. , and autonomously determine a driving route according to the environmental information and the environmental map, and then control the drive system 140 to perform operations such as forward, backward and/or steering according to the autonomously determined driving route. Further, the control system 130 may also decide whether to activate the cleaning module 150 to perform cleaning operations according to the environmental information and the environmental map.

Specifically, the control system 130 can combine the distance information and speed information fed back by the buffer 122, the cliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively judge that the sweeper is currently in What kind of working status, such as over the threshold, on the carpet, on the cliff, stuck above or below, full of dust box, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the requirements of the owner and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.

Drive system 140 may execute drive commands to steer the autonomous cleaning device across the ground based on specific distance and angular information, such as x, y, and theta components. As shown in Figure 2, the drive system 140 includes a drive wheel assembly 141, the drive system 140 can control the left wheel and the right wheel at the same time, in order to control the movement of the machine more accurately, preferably the drive system 140 includes a left drive wheel assembly and a right drive wheel components. The left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .

In order for the automatic cleaning equipment to move more stably on the ground or have a stronger movement ability, the automatic cleaning equipment can include one or more steering assemblies 142, and the steering assembly 142 can be a driven wheel or a driving wheel, and its structural form Including but not limited to universal wheels, the steering assembly 142 may be located in front of the driving wheel assembly 141 .

Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage.

The human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs. For path-guided cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.

As shown in FIG. 2 , the cleaning module 150 may include a dry cleaning module.

Dry cleaning modules include dust boxes, fans, main brush modules, etc. The main brush module swings back and forth near the ground to clean the garbage on the ground to the front of the dust suction port between the main brush module and the dust box, and then the suction gas generated by the fan and passed through the dust box is sucked into the dust box; The brush module can also sweep the garbage on the ground to the front of the dust suction port between the main brush module and the dust box by continuous rolling, and then the suction gas generated by the fan and passed through the dust box is sucked into the dust box. The dust removal ability of the sweeper can be characterized by the dust cleaning efficiency DPU (Dust pickup efficiency). It is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also be reduced. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion of whether the sweeping/wiping is clean. The dry cleaning module may also include a side brush having an axis of rotation that is angled relative to the ground for moving debris into the area of the roller brush of the cleaning module 150 .

In the related technology, the automatic cleaning equipment drives the garbage into the dust box through the dust collection port through the main brush module. For some special garbage, such as hair, paper scraps, etc., due to their strong adhesion to the ground, they are often not easy to be cleaned. The suction dust box, especially for automatic cleaning equipment during travel, often cannot suck such garbage into the dust box in one sweeping process, resulting in some garbage remaining on the cleaned ground.

To this end, an embodiment of the present application provides an automatic cleaning device, including: a mobile platform configured to move on the operating surface; a cleaning module, including a dust box, an air duct, and a main brush module, wherein the air duct is set Between the main brush module and the dust box, the object to be cleaned enters the dust box from the air duct after being swept by the main brush module. The cleaning module also includes: a rotating mechanism, Between the main brush module and the air duct, it is configured to transfer at least part of the objects to be cleaned to the entrance of the air duct by friction.

In the automatic cleaning equipment provided by the embodiment of the present application, by setting a rotating mechanism between the main brush module and the air duct, some objects to be cleaned (such as hair, scraps of paper, particles, etc.) At least part of the objects to be cleaned is transferred to the entrance of the air channel again by friction, and then enters the dust box through the air channel, so that the part of the objects to be cleaned that have not successfully entered the dust box can enter the dust box smoothly through the processing of the rotating mechanism. Achieve further cleaning of the operating surface.

The automatic cleaning equipment provided in this embodiment at least includes: a mobile platform and a cleaning module. Wherein, the mobile platform is configured to automatically move on the operation surface; the cleaning module is assembled on the mobile platform.

In some embodiments, as shown in Figure 3 and Figure 4, the cleaning module includes a dust box, an air duct and a main brush module, and the dust box is assembled on the mobile platform for collecting and storing the For cleaning objects, the air duct is set between the main brush module and the dust box, and the air duct is connected to the dust box. The suction gas generated by the fan and passing through the dust box will suck the cleaned objects at the entrance of the air duct into the dust box. The main brush module swings back and forth near the ground to clean the garbage on the ground to the front of the air duct entrance between the main brush module and the dust box, and then the suction gas generated by the fan and passed through the dust box is sucked into the dust box.

In some embodiments, the dust box 151 includes a first receiving space 1511 and a second receiving space 1512 disposed at intervals. Wherein, the first accommodation space 1511 is disposed adjacent to the main brush module 152 . In some embodiments, the first accommodation space 1511 is located between the main brush module 152 and the second accommodation space 1512 . The air duct includes a first air duct 153 and a second air duct 155 , the first accommodating space 1511 communicates with the first air duct 153 and is configured to collect and store the first object to be cleaned. The second accommodating space 1512 communicates with the second air channel 155 and is configured to collect and store the second objects to be cleaned. Wherein, the first object to be cleaned is different from the second object to be cleaned in size, and the volume of the second object to be cleaned is smaller than that of the first object to be cleaned, for example, the first object to be cleaned is a paper ball, a wire ball, etc. , The second object to be cleaned is hair, paper scraps, lint, particles, etc. Through the first accommodating space 1511 and the second accommodating space 1512 arranged at intervals, it is possible to separately clean and store smaller-sized and larger-sized objects to be cleaned, thereby improving the cleaning capability of the automatic cleaning device.

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 gradually swing from a height higher than the surface to be cleaned by swinging back and forth. The first object to be cleaned is swept near the entrance of the dust box by approaching the surface to be cleaned and then moving away from the surface to be cleaned. That is to say, the main brush module 152 swings back and forth in the direction of the arc within an angle range in the cross-sectional direction, so as to sweep the first object to be cleaned with a large volume to the vicinity of the entrance of the dust box. The second object to be cleaned is swept to the vicinity of the dust box inlet.

In some embodiments, the main brush module 152 is configured to gradually approach the surface to be cleaned from a height higher than the surface to be cleaned by reciprocating swing, and then move away from the surface to be cleaned after contacting the surface to be cleaned for a period of time. surface, sweeping the first object to be cleaned near the entrance of the dust box. In this way, the main brush module 152 can more cleanly sweep the first object to be cleaned and/or the second object to be cleaned near the entrance of the dust box.

In some embodiments, the main brush module 152 is configured as a reciprocating swing capable of substantially translating along the traveling direction of the mobile platform, for example, swinging back and forth along the traveling direction of the cleaning device, and using the thrust of the reciprocating swing to clean the first part to be cleaned. Sweep objects near the dust box entrance.

As shown in FIG. 6 , the main brush module 152 further includes: a main brush housing 1521 and a first driving mechanism. The main brush housing 1521 is configured to be able to swing back and forth substantially along the traveling direction of the mobile platform.

The first driving mechanism is disposed in the main brush housing 1521 and configured to provide driving force for the reciprocating swing of the main brush module 152 . The first driving mechanism includes: a first motor 1522 and a first connecting rod set 1524 and a second connecting rod set 1525 connected to the first motor 1522 , as shown in FIG. 7 .

One end of the first motor 1522 is connected to the mobile platform and kept relatively fixed, and the other end is directly or indirectly connected to the first linkage set 1524 and the second linkage set 1525, and is configured to provide the desired angle within the first preset angle. The driving force for the reciprocating swing of the main brush module 152 is that the first motor 1522 reciprocates at a first preset angle, such as reciprocating rotation within a range of 10-20 degrees, driving the main brush module 152 to reciprocate within a certain range. The first link group connects the first motor 1522 and the main brush housing 1521 and is configured to convert the rotation of the first motor 1522 into the movement of the main brush housing 1521 .

As shown in FIG. 7 , the first connecting rod set 1524 includes a first connecting rod 15241 and a second connecting rod 15242 . One end of the first connecting rod 15241 is connected to the first motor 1522 through the first gear box 1523, and the other end is connected to the casing skeleton 15211 of the main brush casing 1521. The first connecting rod 15241 is configured to connect the The driving force of the first motor 1522 is transmitted to the main brush housing 15241 . One end of the second connecting rod 15242 is fixedly connected to the mobile platform, and the other end is rotatably connected to the casing skeleton 15211 of the main brush casing 1521 , and the casing skeleton 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, through which the transmission direction can be changed, and the driving force generated by the motor body is transmitted to the first link group 1524 and the second link group 1525 .

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

In some embodiments, the second connecting rod group 1525 and the first connecting rod group are symmetrically arranged at both ends of the main brush housing skeleton 15211, and connect the first motor 1522 and the main brush housing Body 1521. The second link group 1525 is configured to convert the rotation of the first motor 1522 into the movement of the main brush housing 1521 .

In some embodiments, as shown in FIG. 7 , the second link set 1525 further includes a third link 15251 and a fourth link 15252 . One end of the third connecting rod 15251 is connected to the transmission rod 1526, and the other end is connected to the main brush housing skeleton 15211. The third connecting rod 15251 is configured to transmit the driving force of the first motor 1522 to the Main brush housing 15241. One end of the fourth connecting rod 15252 is fixedly connected to the mobile platform, and the other end is rotatably connected to the main brush housing skeleton 15211 .

In some embodiments, the main brush housing 1521 further includes: a cleaning strip 1527 . The cleaning strip 1527 is arranged at one end of the main brush housing 1521 adjacent to the operation surface. For example, the main brush housing framework 15211 is a U-shaped structure, and the cleaning strip 1527 is arranged along the lower end framework of the main brush housing framework 15211. Extending laterally, for example, the lower end of the main brush housing frame 15211 is provided with a groove, and the top of the cleaning strip 1527 is provided with a T-shaped protrusion that engages with the groove, and the T-shaped protrusion is detachably connected with the groove. The cleaning bar 1527 is configured to sweep the first object to be cleaned into the first receiving space 1511 as the main brush housing 1521 swings back and forth.

Specifically, the cleaning strip 1527 can be arranged at the 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 mobile platform, the cleaning strip 1527 can be connected with the The object to be cleaned on the operation surface contacts, and the object to be cleaned gradually approaches the first air passage 153 driven by the cleaning strip 1527 , and is finally sucked into the first accommodation space 1511 through the first air passage 153 .

The cleaning strip 1527 has certain flexibility and can be bent arbitrarily. In some embodiments, the material of the cleaning strip 1527 is hair or carbon fiber.

In some embodiments, as shown in FIGS. 4-6 , the cleaning module 150 further includes: a 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 passage 153 is configured to allow the first object to be cleaned to enter the first accommodation space 1511 along the first air passage along with the reciprocating swing of the main brush module 150. Optionally, the The first air duct 153 may be in the shape of a bell mouth, so as to facilitate the entry of large first objects to be cleaned into the first receiving space 1511 .

In some embodiments, the cleaning module 150 further includes: a scraper 154 . The scraping strip 154 is disposed at an edge of the first air channel 153 adjacent to the operating surface. The scraper 154 is configured to guide the first object to be cleaned into the first air channel 153 .

Specifically, the scraping strip 154 can be arranged at the lower end of the main brush housing 1521 and there is a certain gap between the bottom end of the scraping strip 154 and the operating surface, and the smaller part of the object to be cleaned can be Through the gap between the scraping strip 154 and the operating surface, the larger objects to be cleaned (the first objects to be cleaned) can be introduced into the first air duct 153 by the scraping strip 154, while the smaller objects to be cleaned The cleaning object (second object to be cleaned) can smoothly pass through the gap between the scraping strip 154 and the operating surface without being introduced into the first air duct 153 .

The scraping strip 154 is opposite to the cleaning strip 1527 , and the scraping strip 154 and the cleaning strip 1527 can work together. Specifically, the cleaning strip 1527 sweeps the object to be cleaned to the first air passage 153 , and the scraping strip 154 prevents the larger part of the object to be cleaned from leaving the first air passage 153 .

The scraping strip 154 has certain flexibility and can be bent arbitrarily. In some embodiments, the scraping strip 154 is made of hair or carbon fiber.

In some embodiments, the cleaning module 150 further includes: a second air duct 155 . The second air duct 155 is disposed between the main brush module 152 and the second receiving space 1512 . The second air passage 155 is configured such that the second object to be cleaned enters the second accommodation space 1512 along the second air passage 155 . Wherein, the volume of the second object to be cleaned is smaller than that of the first object to be cleaned. Optionally, the size of the second air duct 155 is smaller than the size of the first air duct 153. For example, when the second air duct and the first air duct When the duct is a circular structure, the diameter of the second air duct is larger than the diameter of the first air duct; when the second air duct and the first air duct are rectangular structures, the length and width of the second air duct are respectively greater than the first air duct length and width.

The second air duct 155 can cooperate with the first air duct 153 . Specifically, the suction port of the second air channel 155 is located behind the suction port of the first air channel 153, that is, the objects to be cleaned first pass through the suction port of the first air channel 153, and the objects to be cleaned are larger in size. That part is sucked into the first accommodation space 1511 through the first air duct 153, and the smaller part of the object to be cleaned is left on the operating surface, and the mobile platform continues to move forward. When the smaller part is cleaned When the objects pass through the suction port of the second air channel 155, they are sucked into the second accommodation space 1512 through the second air channel 155. The second air duct 155 cooperates with the first air duct 153 to classify and collect different sizes of cleaned objects, and adopt different collection strategies for different sizes of cleaned objects, thereby improving the cleaning of the automatic cleaning equipment. ability.

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

In some embodiments, as shown in FIGS. 5-6 , the cleaning module 150 further includes: a rotating mechanism 156 . The rotating mechanism 156 is disposed between the first air duct 153 and the second air duct 155 and is configured to transfer at least part of the second object to be cleaned to the second air duct 155 through friction. of the entrance.

Specifically, the rotating mechanism 156 includes: a roller shaft 1561 , a first friction surface 1562 and a second friction surface 1563 . The roller shaft 1561 is configured to rotate back and forth within a second preset angle, the second preset angle makes the first friction surface 1562 and the second friction surface 1563 rotate from one side overlapping state to the other side overlapping state, the first The two preset angles can be 0-90 degrees, such as 10-20 degrees, so as to ensure that the first friction surface 1562 and the second friction surface 1563 are always reciprocating friction. In some embodiments, the roller 1561 is powered by a second drive mechanism. The second driving mechanism includes a second motor body 1564 and a second gear box 1565 connected with the second motor body 1564 . The second gear box 1565 includes a plurality of gear sets through which the transmission direction can be changed to transmit the driving force generated by the second motor body 1564 to the roller shaft 1561 .

As shown in FIG. 5 , the first friction surface 1562 is arranged on at least a part of the outer peripheral surface of the roller shaft 1561, and the second friction surface 1563 is arranged on the upper edge of the entrance of the second air duct 155. The second friction surface 1563 is configured such that as the roller shaft 1561 reciprocates within the second predetermined angle, the first friction surface 1562 and the second friction surface 1563 rub against each other, so that at least part of the first friction surface The second object to be cleaned is transferred to the entrance of the second air passage 155 by friction, for example, small objects such as hair, scraps of paper, and tiny particles are rubbed back and forth to make them fall into the entrance of the second air passage 155 . The material of the first friction surface 1562 and/or the second friction surface 1563 may have a certain coefficient of friction. Optionally, the first friction surface and/or the second friction surface are rough surfaces, and the friction between the two rough surfaces Finally, the second object to be cleaned attached to the rough surface falls to the entrance of the second air channel 155. Optionally, the material of the first friction surface 1562 and/or the second friction surface 1563 is nylon silk, linen surface wait.

In some embodiments, as shown in FIG. 4 , the automatic cleaning device further includes: a four-link module 158 . The four-link module 158 is disposed between the moving platform and the cleaning module 150 . The four-link module 158 is configured to enable the cleaning module 150 to float up and down.

Specifically, the four-link module 158 connects the main brush housing 1521 to the frame of the automatic cleaning device. When the size of the object to be cleaned exceeds the preset range of the cleaning module 150, The main brush housing 1521 can be moved up as a whole driven by the four-link module 158 to sweep the objects to be cleaned beyond the scope to the first accommodation space 1511 .

The automatic cleaning equipment provided in another embodiment of the present application at least includes: a mobile platform and a cleaning module. Wherein, the mobile platform is configured to automatically move on the operation surface; the cleaning module is assembled on the mobile platform. The cleaning module includes a dust box, an air duct and a main brush module. The dust box is assembled on the mobile platform for collecting and storing objects to be cleaned. The air duct is arranged between the main brush module and the dust box During the interval, the air duct is connected to the dust box, and the suction gas generated by the fan and passing through the dust box will suck the cleaned objects at the entrance of the air duct into the dust box. The main brush module can sweep the garbage on the ground to the front of the air duct entrance between the main brush module and the dust box by continuous rotation and cleaning, and then the suction gas generated by the fan and passed through the dust box is sucked into the dust box. The rotating mechanism included in the cleaning module is arranged between the main brush module and the inlet of the air duct, and the rotating mechanism transfers at least part of the objects to be cleaned to the inlet of the air duct by friction.

For the specific structure, working principle, and beneficial effects of the rotating mechanism in this embodiment, reference may be made to the rotating mechanism described in any of the above embodiments, and details are not repeated here.

In the automatic cleaning equipment provided in the embodiment of the present application, by setting a rotating mechanism between the main brush module and the air duct, after part of the objects to be cleaned do not directly enter the dust box, at least part of the objects to be cleaned will be rubbed again through the rotating mechanism. Transfer to the entrance of the air duct, and then enter the dust box through the air duct, so that the parts to be cleaned that have not successfully entered the dust box can enter the dust box through the processing of the rotating mechanism, and further clean the operating surface.

Finally, it should be noted that each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still apply to the foregoing embodiments Modifications are made to the recorded technical solutions, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. An automatic cleaning device, characterized in that, comprising: a mobile platform configured to move on the operating surface; The cleaning module includes a dust box, an air duct and a main brush module, wherein the air duct is arranged between the main brush module and the dust box, and the object to be cleaned is cleaned by the main brush module Entering the dust box from the air duct, the cleaning module also 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 objects to be cleaned to the entrance of the air duct through friction. 2. The automatic cleaning device according to claim 1, wherein the rotating mechanism comprises: The roller shaft is configured to reciprocate and rotate within a preset angle to transfer at least part of the object to be cleaned to the inlet of the air duct through friction. 3. The automatic cleaning device according to claim 2, wherein the rotating mechanism further comprises: The first friction surface is arranged on at least a part of the outer peripheral surface of the roller shaft; The second friction surface is arranged on the upper edge of the inlet of the air duct, and is configured such that the first friction surface and the second friction surface rub against each other as the roller shaft reciprocates within the preset angle. 4. The automatic cleaning device according to claim 2 or 3, characterized in that the preset angle is 0-90 degrees. 5. The automatic cleaning device according to claim 3, characterized in that, the first friction surface and/or the second friction surface are rough surfaces. 6. The automatic cleaning device according to claim 3, characterized in that, the material of the first friction surface and/or the second friction surface is nylon filament. 7. The automatic cleaning device according to claim 2, wherein the cleaning module further comprises: The driving mechanism is configured to drive the roller shaft to rotate reciprocally within the preset angle. 8. The automatic cleaning device according to claim 7, wherein the driving mechanism comprises: a motor configured to provide driving force; The gear box is configured to change the transmission direction of the driving force, so that the roller shaft reciprocates within the preset angle. 9. The automatic cleaning device according to claim 1, wherein the main brush module is assembled on the mobile platform and is configured to gradually approach the surface to be cleaned from a height higher than the surface to be cleaned by swinging back and forth. Clean the surface, and sweep the object to be cleaned near the entrance of the dust box in a manner away from the surface to be cleaned. 10. The automatic cleaning device according to claim 1, wherein the main brush module is assembled on the mobile platform and is configured to sweep the object to be cleaned to the dust box through continuous rotation near the entrance.

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