CN219020994U - Automatic cleaning equipment - Google Patents

Abstract

The present disclosure provides an automatic cleaning apparatus comprising: a moving platform configured to automatically move on the operation surface; the cleaning module comprises a dust box and a main brush module, wherein the dust box is assembled on the moving platform and comprises a dust box inlet and a first accommodating space, and a first object to be cleaned enters the first accommodating space through the dust box inlet; and the fan is communicated with the first accommodating space, wherein the main brush module is assembled on the moving platform and is configured to sweep the first cleaned object to the vicinity of the dust box inlet in a mode of gradually approaching the surface to be cleaned from a height higher than the surface to be cleaned and separating from the surface to be cleaned through reciprocating swing. The automatic cleaning equipment provided by the disclosure can realize the separate cleaning and storage of the cleaned objects with smaller sizes and larger sizes, thereby improving the cleaning capability of the automatic cleaning equipment.

Description

Automatic cleaning equipment

Technical Field

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

Background

In recent years, along with the development of science and technology, various cleaning devices are layered endlessly, and the cleaning devices lighten the burden of people in cleaning and sweeping, meet the demands of people and provide great convenience for the life of people. However, in the conventional automatic cleaning apparatus, the rotating rolling brush located on the bottom surface drives the garbage to enter the dust box through the dust collecting opening, and as most of the dust collecting opening is occupied by the rolling brush, the automatic cleaning apparatus can only suck the cleaned objects (garbage) with smaller size, but cannot thoroughly clean the cleaned objects with slightly larger size, so that the cleaning capability of the automatic cleaning apparatus is lowered.

Disclosure of Invention

An object of the present application is to provide an automatic cleaning device, which can solve the problem that the cleaning ability of the automatic cleaning device is low in the cleaning process.

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

a moving platform configured to automatically move on the operation surface;

the cleaning module comprises a dust box and a main brush module, wherein the dust box is assembled on the moving platform and comprises a dust box inlet and a first accommodating space, and a first object to be cleaned enters the first accommodating space through the dust box inlet;

a fan communicated with the first accommodating space;

the main brush module is assembled on the moving platform and is configured to sweep the first cleaned object to the vicinity of the dust box inlet in a mode of gradually approaching the surface to be cleaned from a height higher than the surface to be cleaned and separating from the surface to be cleaned through reciprocating swing.

In some embodiments, the main brush module comprises:

a main brush housing configured to be capable of reciprocal oscillation substantially along a traveling direction of the moving platform;

the first driving mechanism is arranged in the main brush shell and is configured to provide driving force for the main brush module to swing back and forth.

In some embodiments, the first drive mechanism comprises:

a first motor configured to rotate within a first preset angle to provide a driving force for the main brush module to reciprocate;

and a first linkage connecting the first motor and the main brush housing and configured to convert rotation of the first motor into reciprocating swing of the main brush housing.

In some embodiments, the first drive mechanism further comprises:

the second connecting rod group is symmetrically arranged at two ends of the main brush shell body with the first connecting rod group, is connected with the first motor and the main brush shell body and is configured to convert the rotation of the first motor into reciprocating swing of the main brush shell body.

In some embodiments, the first set of links includes:

a first link having one end connected to the first motor and the other end connected to the main brush housing, configured to transmit a driving force of the first motor to the main brush housing;

and one end of the second connecting rod is fixedly connected with the movable platform, and the other end of the second connecting rod is rotatably connected with the main brush shell.

In some embodiments, the main brush housing comprises:

and the cleaning strip is arranged at one end of the main brush shell close to the operation surface and is configured to clean the first cleaned object to the vicinity of the dust box inlet along with the reciprocating swing of the main brush shell.

In some embodiments, the cleaning module further comprises:

the first air duct is arranged between the main brush module and the first accommodating space and is configured to sweep the first cleaned object to the first accommodating space along the first air duct along with the reciprocating swing of the main brush module.

In some embodiments, the cleaning module further comprises:

the scraping strip is arranged at the edge of the first air channel, which is close to the operation surface, and is configured to guide the first cleaned object into the first air channel.

In some embodiments, the dust box further comprises a second accommodation space spaced apart from the first accommodation space;

the cleaning module further comprises:

the second air duct is arranged between the main brush module and the second accommodating space and is configured to clean a second cleaned object to the second accommodating space along the second air duct, wherein the volume of the second cleaned object is smaller than that of the first cleaned object.

In some embodiments, the cleaning module further comprises:

and the hair stripping mechanism is arranged adjacent to the second air duct and is configured to transfer at least part of the second cleaned objects to the inlet of the second air duct in a friction mode.

In some embodiments, the dehairing mechanism includes:

a roller configured to reciprocally rotate within a second preset angle;

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

the second friction surface is arranged at the upper edge of the inlet of the second air duct and is configured to reciprocally rotate along with the roller shaft within the second preset angle, and the first friction surface and the second friction surface are mutually rubbed.

In some embodiments, the scraping strip is a wool top, the wool top material comprising hair or carbon fibers.

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

In some embodiments, further comprising:

the four-bar linkage module is arranged between the mobile platform and the cleaning module and is configured to enable the cleaning module to float up and down.

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

the embodiment of the disclosure provides an automatic cleaning device, which is capable of realizing the separate cleaning and storage of the cleaned objects with smaller size and larger size by arranging the main brush module and the first accommodating space and the second accommodating space at intervals on the cleaning module, so as to improve the cleaning capability of the automatic cleaning device.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort. In the drawings:

fig. 1 is an oblique view of a robotic cleaning device of some embodiments of the present disclosure.

Fig. 2 is a schematic view of a bottom structure of a robotic cleaning device of some embodiments of the present disclosure.

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

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

Fig. 5 is a cross-sectional view of a cleaning module of some embodiments of the present disclosure.

Fig. 6 is a cross-sectional view of a cleaning module of some embodiments of the present disclosure.

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

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

Reference numerals illustrate: the cleaning apparatus includes 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 case 1523, a first link 15241, a second link 15242, a third link 15251, a fourth link 15252, a driving lever 1526, a cleaning bar 1527, a first air duct 153, a scraping bar 154, a second air duct 155, a hair-stripping mechanism 156, a roller 1561, a first friction surface 1562, a second friction surface 1563, a second motor 1564, a second gear case 1565, a fan 157, and a four-link module 158.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, wherein it is apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The terminology used in the embodiments of the 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 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, the "plurality" generally includes at least two.

It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present application to describe, 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 should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product 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 product or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a commodity or device comprising such 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 of an automatic cleaning apparatus according to an exemplary embodiment, which may be a vacuum suction robot, a mopping/brushing robot, a window climbing robot, etc. as shown in fig. 1-2, and may include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a man-machine interaction system 170. 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 automatic cleaning device may be a floor mopping robot, and the automatic cleaning device works on the floor, which is the operation surface; the automatic cleaning equipment can also be a window cleaning robot, and 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, which is the operation surface. The following description in this application will illustrate a floor mopping robot purely for the sake of illustration.

In some embodiments, 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 according to unexpected environmental inputs; the autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute a given program or operate in accordance with certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the automatic cleaning apparatus; when the mobile platform 100 is an autonomous mobile platform, the target direction may be set by a 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 determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown) located at the bottom of the mobile platform, infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), odometers (not shown), and the like sensing devices, which provide various positional and motion state information of the machine to the control system 130.

In order to describe the behavior of the automatic cleaning device more clearly, the following directional definition is made: the robotic cleaning device may travel on the floor by various combinations of movements relative to three mutually perpendicular axes defined by the mobile platform 100: a transverse axis Y, a front-to-back axis X and a central vertical axis Z. The forward driving direction along the front-rear axis X is denoted as "forward", and the backward driving direction along the front-rear axis X is denoted as "backward". The transverse axis Y extends between the right and left wheels of the robotic cleaning device substantially along an axle defined by the center point of the drive wheel assembly 141. Wherein the automatic cleaning device is rotatable about the Y-axis. The rearward portion is "pitched up" when the forward portion of the automatic cleaning device is tilted up, and the rearward portion is "pitched down" when the forward portion of the automatic cleaning device is tilted down. In addition, the robotic cleaning device may rotate about the Z-axis. In the forward direction of the automatic cleaning apparatus, the right turn is when the automatic cleaning apparatus is tilted to the right of the X axis, and the left turn is when the automatic cleaning apparatus is tilted to the left of the X axis.

As shown in fig. 2, cliff sensors 123 for preventing falling when the robot cleaner is retreated are provided on the bottom of the moving platform 100 and in front and rear of the driving wheel assembly 141, so that the robot cleaner can be prevented from being damaged. The "front" mentioned above means the same side as the traveling direction of the robot cleaner, and the "rear" mentioned above means the opposite side as the traveling direction of the robot cleaner.

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

The various components of the sensing system 120 may operate independently or in concert to more accurately achieve desired functionality. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned 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 determination.

For example, the ultrasonic sensor may determine whether the surface to be cleaned is a carpet, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet, 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 path of travel of the robot via a sensor system, such as an infrared sensor, while the drive wheel assembly 141 advances the robot during cleaning, and the robot may be controlled to respond to the events (or objects), such as being remote from the obstacle, by the event (or object), such as an obstacle, wall, 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 the sensed environmental information of the plurality of sensors transmitted from the sensing system 120, 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 the like, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also determine whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may combine 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 to comprehensively determine what working state the sweeper is currently in, such as passing a threshold, going up a carpet, being located at the cliff, being blocked above or below, being full of dust box, being lifted up, and the like, and may further give a specific next action strategy according to different situations, so that the work of the automatic cleaning device better meets the requirements of the owner, and has better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by SLAM, and greatly improves the cleaning efficiency of the automatic cleaning equipment.

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

In order for the robotic cleaning device to be able to move more stably or with greater motion capabilities on the floor, the robotic cleaning device may include one or more steering assemblies 142, which may be driven or driven, and in a configuration including, but not limited to, universal wheels, the steering assemblies 142 may be positioned in front of the drive wheel assemblies 141.

The energy system 160 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable 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 singlechip control circuit. The host computer charges through setting up the charging electrode in fuselage side or below and charging pile connection.

The man-machine interaction system 170 includes keys on the host panel for the user to select functions; the system also comprises 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; a cell phone client program may also be included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position where the machine is located can be displayed to a user at the mobile phone client, and more abundant and humanized functional items can be provided for the user.

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

The dry cleaning module comprises a dust box, a fan and a main brush module. The main brush module reciprocally swings near the ground to clean the garbage on the ground in front of a dust collection opening between the main brush module and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dust removal capability of the sweeper can be characterized by the sweeping efficiency DPU (Dust pickup efficiency) of the garbage, the sweeping efficiency DPU is influenced by the wind power utilization rate of an air duct formed by a dust collection opening, a dust box, a fan, an air outlet and connecting parts among the dust collection opening, the dust box, the fan and the air outlet, and the wind power utilization rate of the air duct is influenced by the type and the power of the fan, so that the sweeper is a complex system design problem. The improvement in dust removal capability is of greater significance for energy-limited cleaning automatic cleaning equipment than for conventional plug-in cleaners. Because the dust removal capability is improved, the energy requirement is directly and effectively reduced, that is to say, the original machine which can clean the ground of 80 square meters after charging once can be evolved into the machine which can clean the ground of 180 square meters or more after charging once. And the service life of the battery with reduced charging times can be greatly prolonged, so that the frequency of replacing the battery by a user can be reduced. More intuitively and importantly, the improvement of dust removal capability is the most obvious and important user experience, and users can directly draw a conclusion on whether the dust is cleaned/rubbed clean. The dry cleaning module may also include a side brush having a rotating shaft 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 generally drives the garbage to enter the dust box through the dust collecting opening by the rotating rolling brush positioned on the bottom surface, and as most of the positions of the dust collecting opening are occupied by the rolling brush, the automatic cleaning device can only suck the cleaned objects (garbage) with smaller size, but cannot thoroughly clean the cleaned objects with slightly larger size.

For this reason, the embodiment of the disclosure provides an automatic cleaning device, through set up the first accommodation space and the second accommodation space that main brush module and interval set up in the cleaning module of automatic cleaning device, can realize cleaning respectively and the storage to the quilt of less size and great size to improve automatic cleaning device's cleaning ability.

Specifically, the embodiment of the present application provides an automatic cleaning apparatus, as an example, fig. 3 and 4 are schematic views illustrating an overall structure of a cleaning module in the automatic cleaning apparatus from different angles, fig. 5 and 6 are sectional views illustrating the cleaning module from different angles, fig. 7 is a schematic view illustrating a structure of a main brush module in the cleaning module, and fig. 8 is a partial detailed view of the main brush module.

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

Referring to fig. 3 to 6, the cleaning module 150 includes a dust box 151 and a main brush module 152.

The dust box 151 is mounted on the moving platform, and is used for collecting and storing the cleaned objects. The dust box 151 includes a first accommodating space 1511 and a second accommodating space 1512 disposed at intervals. Wherein the first accommodation space arrangement 1511 is arranged adjacent to the main brush module 152. In some embodiments, the first accommodation space arrangement 1511 is located between the main brush module 152 and the second accommodation space 1512.

The first accommodating space 1511 communicates with the first air duct 153 and is configured to collect and store the first cleaning object. The second accommodating space 1512 communicates with the second air duct 155, and is configured to collect and store a second cleaning object. 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 coil and the like, and the second object to be cleaned is paper scraps, a wire end and the like. By the first accommodation space 1511 and the second accommodation space 1512 being provided at intervals, it is possible to achieve separate cleaning and storage of the objects to be cleaned of a smaller size and a larger size, thereby improving the cleaning ability of the automatic cleaning apparatus.

The main brush module 152 is disposed adjacent to the first accommodating space 1511, and the main brush module 152 is configured to sweep the first object to be cleaned to the vicinity of the dust box inlet by reciprocating to approach the surface to be cleaned gradually from a height higher than the surface to be cleaned to be separated from the surface to be cleaned. That is, the main brush module 152 swings back and forth in an arc direction within a range of angles in the cross-section direction to sweep the first cleaning object with a larger volume to the vicinity of the dust box inlet, and at the same time, the second cleaning object with a smaller volume can also be swept to the vicinity of the dust box inlet.

In some embodiments, the main brush module 152 is configured to sweep the first cleaning object near the dust box inlet by reciprocating to approach the cleaning surface gradually from a height higher than the cleaning surface, and then to separate from the cleaning surface after contacting the cleaning surface for a period of time. The main brush module 152 can clean the first cleaned object and/or the second cleaned object to the vicinity of the inlet of the dust box more cleanly.

In some embodiments, the main brush module 152 is configured to reciprocate substantially translationally along the direction of travel of the mobile platform, e.g., back and forth along the direction of travel of the cleaning apparatus, with the thrust of the reciprocating oscillation being utilized to sweep the first item to be cleaned near the dust box inlet.

The main brush module 152 further includes: a main brush housing 1521 and a first drive mechanism.

The main brush housing 1521 is configured to be reciprocally swingable substantially in the traveling direction 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 reciprocally. The first driving mechanism includes: a first motor 1522, a first link group 1524 and a second link group 1525 connected to the first motor 1522 are shown in fig. 7.

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

As shown in fig. 7, the first link group 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 skeleton 15211 of the main brush housing 1521, the first link 15241 being 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, and the other end is rotatably connected to the housing frame 15211 of the main brush housing 1521, where the housing frame 15211 drives the main brush housing 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, through which a transmission direction can be changed, and a driving force generated from the motor body is transmitted to the first and second link groups 1524 and 1525.

In other embodiments, the first drive mechanism further comprises a drive rod 1526, the drive rod 1526 connecting the first set of links 1524 and the second set of links 1525. The first motor 1522 transmits the driving force generated from the motor body to the driving rod 1526 through the first gear box 1523, so that the driving rod 1526 is rotated by the first motor 1522. The transmission rod 1526 transmits power to the first linkage 1524 and the second linkage 1525, so that the main brush housing 1521 reciprocates.

In some embodiments, the second link group 1525 and the first link group are symmetrically disposed at two ends of the main brush housing skeleton 15211, and connect the first motor 1522 and the main brush housing 1521. The second linkage 1525 is configured to translate the 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 transmission rod 1526, the other end is connected to the main brush housing skeleton 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 housing skeleton 15211.

In some embodiments, the main brush housing 1521 further comprises: the sweeper strip 1527. The cleaning strip 1527 is disposed at one end of the main brush housing 1521 adjacent to the operation surface, for example, the main brush housing skeleton 15211 is in a U-shaped structure, the cleaning strip 1527 extends transversely along the lower end skeleton of the main brush housing skeleton 15211, for example, a groove is disposed at the lower end of the main brush housing skeleton 15211, a T-shaped protrusion engaged with the groove is disposed at the top end of the cleaning strip 1527, and the T-shaped protrusion is detachably connected with the groove. The cleaning bar 1527 is configured to clean the first cleaning object to the first accommodating space 1511 with the reciprocating swing of the main brush housing 1521.

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

The cleaning strip 1527 has a 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 accommodating space 1511. The first air duct 153 is configured to sweep the first object to be cleaned along the first air duct to the first accommodating space 1511 along with the reciprocating swing of the main brush module 150, and optionally, the first air duct 153 may be in a horn shape, so that the large first object to be cleaned can conveniently enter the first accommodating space 1511.

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

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

The scraping strip 154 is disposed opposite to the cleaning strip 1527, and the scraping strip 154 and the cleaning strip 1527 may cooperate. Specifically, the cleaning bar 1527 cleans the object to be cleaned in 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 strip 154 has a certain flexibility and can be bent at will, and in some embodiments, the scraping strip 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 duct 155 is disposed between the main brush module 152 and the second accommodating space 1512. The second air duct 155 is configured to sweep a second cleaning object along the second air duct 155 to the second accommodating space 1512. Wherein the second object to be cleaned is smaller than the first object to be cleaned, and 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 are in a circular structure, 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 in a rectangular structure, the length and the width of the second air duct are respectively larger than the length and the width of the first air duct.

The second air duct 155 and the first air duct 153 may cooperate. Specifically, the absorption opening of the second air duct 155 is located at the rear of the absorption opening of the first air duct 153, that is, the cleaned object passes through the absorption opening of the first air duct 153 first, the larger size part of the cleaned object is sucked into the first accommodating space 1511 through the first air duct 153, the smaller size part of the cleaned object is left on the operation surface, the moving platform continues to move forward, and when the smaller size part of the cleaned object passes through the absorption opening of the second air duct 155, the smaller size part of the cleaned object is sucked into the second accommodating space 1512 through the second air duct 155. The second air duct 155 and the first air duct 153 cooperate to perform classified collection on the cleaned objects with different sizes, and different collection strategies are adopted on the cleaned objects with different sizes, so that the cleaning capability of the automatic cleaning device is improved.

It will be appreciated that the robotic cleaning device 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 cleaned object and the second cleaned object 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: and a dehairing mechanism 156. The stripping 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 cleaning object to the inlet of the second air duct 155 in a friction manner.

Specifically, the dehairing mechanism 156 includes: roller 1561, first friction surface 1562, and second friction surface 1563.

The roller shaft 1561 is configured to reciprocally rotate within a second predetermined angle, which enables the first and second friction surfaces 1562 and 1563 to rotate from a state where one side overlaps each other to a state where the other side overlaps each other, for example, within a range of 10-20 degrees, thereby ensuring that the first and second friction surfaces 1562 and 1563 always reciprocally rub. 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 a transmission direction can be changed, and transmits a 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 disposed on at least a portion of the outer peripheral surface of the roller 1561, the second friction surface 1563 is disposed on the upper edge of the inlet of the second air duct 155, the second friction surface 1563 is configured to reciprocally rotate within the second predetermined angle along with the roller 1561, and the first friction surface 1562 and the second friction surface 1563 rub against each other, so as to transfer at least a portion of the second cleaning object to the inlet of the second air duct 155 in a friction manner, for example, to make fine objects such as hair fall into the inlet of the second air duct 155 by reciprocal friction. The material of the first friction surface 1562 and/or the second friction surface 1563 may have a certain friction coefficient, and the material of the first friction surface 1562 and/or the second friction surface 1563 is nylon.

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 module 158 connects the main brush housing 1521 to a rack of an automatic cleaning apparatus, and when the size of the object to be cleaned exceeds the preset range of the cleaning module 150, the main brush housing 1521 may be moved up integrally under the driving of the four-bar module 158, so as to clean the object to be cleaned out of range to the first accommodating space 1511.

The embodiment of the disclosure provides an automatic cleaning device, which is capable of realizing the separate cleaning and storage of the cleaned objects with smaller size and larger size by arranging the main brush module and the first accommodating space and the second accommodating space at intervals on the cleaning module, so as to improve the cleaning capability of the automatic cleaning device.

Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (14)

1. An automatic cleaning apparatus, comprising:

a moving platform configured to automatically move on the operation surface;

the cleaning module comprises a dust box and a main brush module, wherein the dust box is assembled on the moving platform and comprises a dust box inlet and a first accommodating space, and a first object to be cleaned enters the first accommodating space through the dust box inlet;

a fan communicated with the first accommodating space;

the main brush module is assembled on the moving platform and is configured to sweep the first cleaned object to the vicinity of the dust box inlet in a mode of gradually approaching the surface to be cleaned from a height higher than the surface to be cleaned and separating from the surface to be cleaned through reciprocating swing.

2. The automatic cleaning apparatus of claim 1, wherein the main brush module comprises:

a main brush housing configured to be capable of reciprocal oscillation substantially along a traveling direction of the moving platform;

the first driving mechanism is arranged in the main brush shell and is configured to provide driving force for the main brush module to swing back and forth.

3. The robotic cleaning device of claim 2, wherein the first drive mechanism comprises:

a first motor configured to rotate within a first preset angle to provide a driving force for the main brush module to reciprocate;

and a first linkage connecting the first motor and the main brush housing and configured to convert rotation of the first motor into reciprocating swing of the main brush housing.

4. The robotic cleaning device of claim 3, wherein the first drive mechanism further comprises:

the second connecting rod group is symmetrically arranged at two ends of the main brush shell body with the first connecting rod group, is connected with the first motor and the main brush shell body and is configured to convert the rotation of the first motor into reciprocating swing of the main brush shell body.

5. The robotic cleaning device of claim 3, wherein the first linkage comprises:

a first link having one end connected to the first motor and the other end connected to the main brush housing, configured to transmit a driving force of the first motor to the main brush housing;

and one end of the second connecting rod is fixedly connected with the movable platform, and the other end of the second connecting rod is rotatably connected with the main brush shell.

6. The automatic cleaning apparatus of claim 2, wherein the main brush housing comprises:

and the cleaning strip is arranged at one end of the main brush shell close to the operation surface and is configured to clean the first cleaned object to the vicinity of the dust box inlet along with the reciprocating swing of the main brush shell.

7. The automatic cleaning apparatus of claim 1, wherein the cleaning module further comprises:

the first air duct is arranged between the main brush module and the first accommodating space and is configured to sweep the first cleaned object to the first accommodating space along the first air duct along with the reciprocating swing of the main brush module.

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

the scraping strip is arranged at the edge of the first air channel, which is close to the operation surface, and is configured to guide the first cleaned object into the first air channel.

9. The automated cleaning apparatus of claim 1, wherein,

the dust box further comprises a second accommodating space which is arranged at intervals with the first accommodating space;

the cleaning module further comprises:

the second air duct is arranged between the main brush module and the second accommodating space and is configured to clean a second cleaned object to the second accommodating space along the second air duct, wherein the volume of the second cleaned object is smaller than that of the first cleaned object.

10. The robotic cleaning device of claim 9, wherein the cleaning module further comprises:

and the hair stripping mechanism is arranged adjacent to the second air duct and is configured to transfer at least part of the second cleaned objects to the inlet of the second air duct in a friction mode.

11. The automatic cleaning apparatus of claim 10, wherein the dehairing mechanism comprises:

a roller configured to reciprocally rotate within a second preset angle;

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

the second friction surface is arranged at the upper edge of the inlet of the second air duct and is configured to reciprocally rotate along with the roller shaft within the second preset angle, and the first friction surface and the second friction surface are mutually rubbed.

12. The automatic cleaning apparatus of claim 8, wherein the scraper bar is a wool top, the wool top material comprising hair or carbon fibers.

13. The automatic cleaning apparatus of claim 11, wherein the first friction surface and/or the second friction surface is/are nylon wire.

14. The robotic cleaning device of claim 1, further comprising:

the four-bar linkage module is arranged between the mobile platform and the cleaning module and is configured to enable the cleaning module to float up and down.

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