CN220655488U - Cleaning robot - Google Patents

Abstract

The utility model discloses a cleaning robot, comprising: a main body; the roller is arranged on the main body and drives the main body to move on the surface to be cleaned; the wheel cover is arranged on the roller; the water tank is arranged on the main body, a triggering part is arranged in the water tank, and the triggering part moves in the water tank along with the change of the water level in the water tank; the sensing part is arranged on the wheel cover, can sense the position of the triggering part to detect the water level of the water tank, and can move up and down in the height direction of the wheel cover. So, the sensing part can be adjusted and positioned to any height position to be applicable to the triggering part of the clear water tank of different capacities of response, the sensing part can detect the water level of the water tank of different capacities, and like this, the water level detection structure modularization degree is high, can compatible not water tank of different capacities size.

Description

Cleaning robot

Technical Field

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background

At present, along with the continuous improvement of the living standard of people, intelligent cleaning equipment such as cleaning robots and the like are increasingly applied to daily cleaning activities of modern families, and the cleaning mode is developed from an initial single floor sweeping mode to a multi-mode sweeping, dragging, wiping and washing mode, so that the intelligent cleaning equipment is more suitable for multi-scene cleaning of the families.

In order to adapt to a floor mopping or wiping or washing cleaning mode, the cleaning robot is generally provided with a water tank, and a water level detection structure is generally arranged in the water tank to realize water shortage detection so as to remind a user of water supply of the water tank or control the cleaning robot to return to a base station for water supply.

The existing water level detection structure is generally characterized in that a magnetic floater and a Hall switch are arranged in or outside a water storage cavity of a water tank, wherein the floater can float on the water surface and synchronously move along the water level change direction in the water storage cavity, a synchronously changing magnetic field is formed near the Hall switch, the Hall switch synchronously converts a received magnetic signal and outputs an electric signal for prompting the water level, and a main control board of the cleaning robot receives the electric signal to realize water level detection. However, the water level detection structure can only be used on water tanks with the same capacity and size, but cannot be used on water tanks with different capacities and sizes, namely, the water level detection structure of the water tanks with different capacities needs to be redesigned so as to be suitable for detecting different water level heights, has low modularization degree of parts, and cannot be compatible with the water tanks with different capacities and sizes.

Disclosure of Invention

The utility model provides a cleaning robot, and aims to solve the problems that in the prior art, a water level detection structure of a cleaning robot water tank is low in modularization degree and cannot be compatible with water tanks with different capacities.

To achieve the above object, the present utility model provides a cleaning robot including: a main body; the roller is arranged on the main body and drives the main body to move on a surface to be cleaned; the wheel cover is covered on the roller; the water tank is arranged on the main body, a trigger component is arranged in the water tank, and the trigger component moves in the water tank along with the change of the water level in the water tank; the sensing part is arranged on the wheel cover, the sensing part can sense the position of the triggering part to detect the water level of the water tank, and the sensing part can move up and down in the height direction of the wheel cover.

In some embodiments of the utility model, the sensing member is disposed on the sidewall of the wheel housing opposite the triggering member, and the sensing member includes a hall sensing element that is movable up and down on the sidewall of the wheel housing.

In some embodiments of the utility model, the sensing component is disposed on the sidewall of the wheel housing opposite to the triggering component, and the sensing component includes a hall sensing element and a protective cover, wherein the hall sensing element is assembled on the protective cover, and the protective cover can move up and down on the sidewall of the wheel housing.

In some embodiments of the utility model, the wheel cover is arranged opposite to the side face of the water tank, a guide groove is formed on the inner side wall of the water tank, the trigger component is arranged in the guide groove in a floating mode, and the sensing component is arranged on the wheel cover and opposite to the guide groove.

In some embodiments of the utility model, the wheel housing side wall is provided with a chute portion and a tooth portion, and the protective cover is formed with a tab inserted into the chute portion to move along the chute portion and a snap engaging the tooth portion to limit movement of the tab.

In some embodiments of the present utility model, the cover further has an arcuate rib formed thereon, and the arcuate rib abuts against an inner wall of the chute portion when the hanger is inserted into the chute portion.

In some embodiments of the present utility model, the sensing part includes a first hall sensing element and a second hall sensing element, the first hall sensing element and the second hall sensing element having a height difference, the water tank being in a lowest water level state when the first hall sensing element senses the triggering part, and the water tank being in a highest water level state when the second hall sensing element senses the triggering part.

In some embodiments of the present utility model, the cleaning robot further includes a driving assembly, the driving assembly drives the roller to roll, and the power supply device of the cleaning robot supplies power to the driving assembly and the sensing part through a power connector.

In some embodiments of the present utility model, the sensing component is electrically connected to the electrical connector by an electrical connection component, the electrical connection component including a first electrical terminal, a second electrical terminal and a third electrical terminal, the first electrical terminal being connected to the electrical connector, the second electrical terminal being connected to the first hall sensing element, the third electrical terminal being connected to the second hall sensing element, the second electrical terminal being connected to the first hall sensing element when the sensing component moves up and down, the third electrical terminal being connected to the second hall sensing element.

In some embodiments of the present utility model, the cleaning robot further includes a display module and/or a voice module, the display module and/or the voice module are/is electrically connected or communicated with the control board of the cleaning robot, respectively, the display module is used for displaying the water level information of the water tank, and the voice module is used for broadcasting the water level information of the water tank to a user

The utility model provides a water level detection structure of a cleaning robot, which comprises a trigger part, an induction part and an electric connection part, wherein the trigger part is arranged in a water tank of the cleaning robot and rises and falls together with the water level of the water tank, the induction part is arranged on the side wall of a wheel cover of a main travelling wheel mechanism and at a position opposite to the trigger part, the induction part can be adjusted and positioned to any height position under the action of external force so as to be suitable for the trigger part for inducing clear water tanks with different capacities, and the induction part can detect the water levels of the water tanks with different capacities.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a cleaning robot according to the present utility model;

FIG. 2 is a schematic view of a cleaning robot according to another embodiment of the present utility model;

FIG. 3 is a schematic view of a main traveling wheel mechanism of a cleaning robot according to the present utility model;

FIG. 4 is a half cross-sectional view of a cleaning robot in accordance with the present utility model;

FIG. 5 is an assembled schematic view of a cleaning robot water tank of the present utility model;

fig. 6 is a schematic view showing the structure of a cleaning robot water tank (not shown) in the present utility model;

FIG. 7 is a cross-sectional view of the cleaning robot of the present utility model at the tunnel structure;

FIG. 8 is a schematic view of a cleaning robot water tank installation structure according to the present utility model;

fig. 9 is a sectional view of a cleaning robot at a water tank in the present utility model;

FIG. 10 is a schematic view showing an exploded structure of a sensing part and an electric connection part on a wheel cover of a cleaning robot in accordance with the present utility model;

FIG. 11 is a schematic view of a structure of a housing for mounting on a wheel cover of a cleaning robot in accordance with the present utility model;

FIG. 12 is a schematic view of a cover and Hall sensor element of the sensing assembly of the present utility model from a perspective;

FIG. 13 is a schematic diagram of a cover and Hall sensing element of the sensing assembly of the present utility model from another perspective;

FIG. 14 is a schematic diagram of a Hall sensor according to the present utility model;

FIG. 15 is a schematic view of the electrical connection of the drive assembly and the sensing member of the cleaning robot main road wheel mechanism of the present utility model;

fig. 16 is a half cross-sectional view of a cleaning robot water tank in the present utility model.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination does not exist and is not within the scope of protection claimed by the present utility model.

The present utility model provides a cleaning robot which is a device that automatically performs a cleaning operation in a certain area to be cleaned without a user's operation, and in particular, the cleaning robot may be a cleaning robot, a sweeping and mopping robot, a floor washing robot, or other types of robots.

Fig. 1 is a schematic structural view of a cleaning robot 200 shown in the present embodiment. The cleaning robot 200 includes a main body 201, the main body 201 being a housing constituting an external appearance of the cleaning robot 200, and generally, the main body 201 is assembled of a middle case and a bottom case, or a top cover and a chassis, and the main body 201 is generally injection molded of a heat-resistant plastic material such as ABS material. The main body 201 is substantially D-shaped so that the cleaning robot 200 can clean the trash or dirt at the edges or corners of the surface to be cleaned, and also can be designed into a triangle or a circle, thereby facilitating the operation of the cleaning robot 200 and improving the overall aesthetic feeling. The main body 201 is formed with an installation space of a plurality of functional parts for implementing different functions of the cleaning robot 200.

Referring to fig. 2 and 3, a traveling device 202 is provided on a main body 201, and the traveling device 202 is composed of two main traveling wheel mechanisms 203, two universal wheel mechanisms 204, and a single directional wheel mechanism 205 for a cleaning robot 200 to travel on a surface to be cleaned. The main traveling wheel mechanism 203 comprises a roller 2031 and a driving assembly 2032, the main traveling wheel mechanism 203 is arranged on the left side and the right side of the bottom of the main body 201 along the traveling direction of the cleaning robot 200, the roller 2031 extends out of the bottom shell of the cleaning robot 200 to contact the surface to be cleaned, the driving assembly 2032 is used for driving the roller 2031 to roll, and the roller 2031 further drives the cleaning robot 200 to travel on the surface to be cleaned.

In this embodiment, the roller 2031 is mounted on the wheel cover 2033, and the roller 2031 is connected to the wheel cover 2033 through the elastic element 2034 and the rotating shaft 2035, so that the roller 2031 is pivoted to the wheel cover 2033, and therefore, the roller 2031 can float up and down relative to the wheel cover 2033, and when the cleaning robot 200 needs to cross a threshold, a carpet or other obstacle, the roller 2031 is lifted up by a certain height, so that the bottom of the cleaning robot 200 cannot be blocked by the obstacle, and the travelling process is smoother.

The universal wheel mechanism 204 is located between the main travelling wheel mechanism 203 and the cleaning roller 206, and is specifically disposed in front of the main travelling wheel mechanism 203 and behind the cleaning roller 206, so as to assist the cleaning robot 200 in steering during the travelling process of the surface to be cleaned, and the cleaning robot 200 can perform cleaning smoothly in any direction. The universal wheel mechanisms 204 are specifically designed to be two and symmetrically arranged at the bottom of the main body 201, when the cleaning robot 200 turns, the two universal wheel mechanisms 204 can be used as rotation fulcra, so that the front end of the cleaning robot 200 can smoothly swing, and the front end of the cleaning robot 200 cannot be unbalanced (the front end of the cleaning robot 200 in the embodiment is square, and the gravity center deviation problem of the single universal wheel mechanism 204 easily occurs), so that the problem that the bottom shell of the cleaning robot rubs the surface to be cleaned is caused. In some embodiments, the gimbal mechanism 204 may be designed to float up and down to better assist the cleaning robot 200 in obstacle surmounting.

The directional wheel mechanism 205 is disposed at the rear of the main traveling wheel mechanism 203 and at the rear end of the cleaning robot 200, and is used for assisting the cleaning robot 200 to climb a slope or cross a step, taking the cleaning robot 200 climbing a slope as an example, when the cleaning robot 200 is on the slope, the front half part of the cleaning robot is lifted upwards by a certain height through the main traveling wheel mechanism 203 traveling on the slope surface, and then the rear half part of the cleaning robot is smoothly climbed the slope through the directional wheel mechanism 205 rolling contact with the slope surface, so as to avoid the deviation caused by the friction of the bottom shell of the cleaning robot 200 on the slope surface.

In summary, in the traveling direction of the cleaning robot 200, the main traveling wheel mechanism 203 drives the cleaning robot 200 to travel in the forward or backward direction, and the cleaning robot 200 moves along a straight line; when the cleaning robot 200 encounters a wall or an obstacle, the driving component 2032 of the main walking wheel mechanism 203 outputs driving forces of different magnitudes to the two rollers 2031, and the two rollers 2031 rotate at different rotation speeds, so that a rotation speed difference is generated between the two rollers 2031 to enable the cleaning robot 200 to deflect leftwards or rightwards, and the cleaning robot 200 can turn to avoid the obstacle; when the cleaning robot 200 needs to climb a slope, the directional wheel mechanism 205 assists the rear half of the cleaning robot 200 to climb the slope, and the cleaning robot 200 does not shift. In this way, the cleaning robot 200 can smoothly travel on the surface to be cleaned in any direction and perform cleaning work.

Referring to fig. 4 and 5, a cleaning device for cleaning and collecting the garbage on the surface to be cleaned is further provided on the main body 201, and the cleaning device includes a cleaning drum 206, a dirt collecting assembly 207, a water tank assembly 208, and a suction assembly 209, wherein the cleaning drum 206 is used for cleaning the surface to be cleaned, the dirt collecting assembly 207 is used for collecting the garbage on the cleaning drum 206, the water tank assembly 208 is used for supplying water to the cleaning drum 206 and storing the garbage collected by the dirt collecting assembly 207, and the suction assembly 209 is used for providing a suction force for sucking the garbage collected by the dirt collecting assembly 207 into the water tank assembly 208.

Further, the cleaning roller 206 is disposed at a front end of the cleaning robot 200 transversely with respect to a traveling direction of the cleaning robot 200, a receiving chamber 210 is provided at a bottom of the main body 201, the cleaning roller 206 is installed in the receiving chamber 210, and a lower end of the receiving chamber 210 is opened so that the cleaning roller 206 can protrude from an opening of the Rong Naqiang, and the cleaning roller 206 can contact a surface to be cleaned to clean garbage on the surface to be cleaned. The cleaning drum 206 is arranged to be rotatable about a horizontal axis and the circumferential side of the cleaning drum 206 is provided with a mop for cleaning which is arranged against the floor to increase the friction against the floor for cleaning. The cleaning roller 206 is preferably removably mounted, and the removably mounted cleaning roller 206 facilitates installation and replacement for long term use due to the long term contact of the cleaning roller 206 with the floor, which is susceptible to frictional damage. The detachment of the cleaning roller 206 may be achieved by a snap connection, which may be achieved by clamping the end of the cleaning roller 206, or a screw connection, which may be achieved by fixing the rotation shafts of both ends of the cleaning roller 206 to the main body 201 by screws.

The dirt collecting assembly 207 comprises ribs 2071 and scraping ribs 2072, wherein the ribs 2071 are arranged on the accommodating cavity 210 and protrude outwards from the inner side wall of the accommodating cavity 210, and can be integrally formed with the accommodating cavity 210, and the ribs 2071 are contacted with the mop cloth on the circumferential side surface of the cleaning roller 206 and scrape dirt of the mop cloth; the scraping strip 2072 is made of silica gel, is arranged on the rear side wall of the mounting cavity of the cleaning roller 206 and is equal to the opening length of the accommodating cavity 210 of the cleaning roller 206, and the edge of the scraping strip 2072 is abutted against the surface to be cleaned to scrape the garbage on the surface to be cleaned; the suction assembly 209 sucks the waste collected by the dirt collection assembly 207 into the tank assembly 208.

As shown in connection with fig. 6, the tank assembly 208 includes a clean water tank 2081 and a sewage tank 2082, an inner space for containing clean water is formed in the clean water tank 2081, and the clean water in the clean water tank 2081 is output and sprayed onto the cleaning drum 206 by a water supply assembly (e.g., a water pump); the inside of the waste tank 2082 forms an inner space for containing waste, and stores the waste collected by the waste collection assembly 207.

The clear water tank 2081 wraps around the periphery at the sewage case 2082, namely clear water tank 2081 at least partly encircles sewage case 2082 and sets up to clear water tank 2081 and sewage case 2082 are the cover baby structure, and sewage case 2082 sets up in clear water tank 2081, so, both can guarantee that clear water tank 2081 and sewage case 2082 have sufficient accommodation space to hold clear water and rubbish, can make water tank assembly 208 miniaturized again, can not occupy the design space of other structures for cleaning robot 200's interior design space is big.

As shown in connection with fig. 7, the suction assembly 209 includes a blower 2091, the main structural components of the blower 2091 being an impeller, a housing, an air intake, a bracket, a motor, a pulley, a coupling, a muffler, a transmission (bearing), and the like. The impeller is driven by the motor to rotate, so that air in the sewage tank 2082 is pumped out of the sewage tank 2082 through the air outlet channel 2092, and negative pressure or vacuum state is formed in the sewage tank 2082. When the air pressure in the tank 2082 becomes negative, the waste collected by the waste collection assembly 207 is sucked into the tank 2082 along the waste inlet passage 2093. Note that, the sewage inlet channel 2093 is formed in the main body 201, one end of the sewage inlet channel 2093 is communicated with the accommodating cavity 210 of the cleaning roller 206, the other end is communicated with the sewage tank 2082, and the garbage on the surface to be cleaned can enter the sewage tank 2082 along the sewage inlet channel 2093.

In summary, when the cleaning robot 200 cleans a surface to be cleaned, the traveling device 202 drives the cleaning robot 200 to travel on the surface to be cleaned, the water supply assembly (e.g., a water pump) supplies the clean water in the clean water tank 2081 to the cleaning roller 206 to wet the cleaning roller 206, the cleaning roller 206 rotates to roll up the garbage on the surface to be cleaned, and the ribs 2071 continuously contact with the surface of the cleaning roller 206 in a sliding manner to scrape the garbage such as dirt and water on the cleaning roller 206. Because the cleaning roller 206 rolls forward and counterclockwise, the scraping strip 2072 and the dirt inlet channel 2093 are positioned at the rear side of the cleaning roller 206 according to the rotation direction, the scraping strip 2072 is in sealing contact with the surface to be cleaned, and the air in the accommodating cavity 210 of the cleaning roller 206 is pumped by the pumping component 209 to sequentially pass through the dirt inlet channel 2093, the sewage tank 2082, the air outlet channel 2092 and the fan 2091 and then is discharged into the environment, so that the accommodating cavity 210 of the cleaning roller 206 is in a negative pressure state, the garbage rolled up by the cleaning roller 206 and the dirt are pumped into the sewage tank 2082 from the dirt inlet channel 2093, and the cleaning robot 200 can complete cleaning work while traveling.

In this embodiment, since the fresh water tank 2081 of the water tank assembly 200 needs to continuously supply water to wet the cleaning drum 206, the fresh water tank 2081 needs to be timely replenished with water. In the prior art, a water level detecting structure is generally disposed in the clean water tank 2081, and the water level detecting structure is used for detecting the water amount of the clean water tank 2081 and exchanging information with a control board of the cleaning robot 200. When the water level detection structure detects that water is lack in the clean water tank 2081, the water level detection structure transmits a water lack signal to the control panel of the cleaning robot 200, and the control panel sends a water lack alarm signal to remind a user to manually supplement water or control the cleaning robot 200 to return to a base station to automatically supplement water, clean water in the clean water tank 2081 is supplemented, so that cleaning work can not be performed on the cleaning roller 206 of the cleaning robot 200 in a non-wetting state, and the cleaning effect is not ideal as the cleaning roller 206 is cleaner and dirtier. If the cleaning robot 200 returns to the base station to automatically replenish water, when the clear water in the clear water tank 2081 is replenished to a proper amount, the water level detection structure can transmit a water full signal to the control board of the cleaning robot 200, the control board sends a water full alarm signal, and the base station stops replenishing water to the cleaning robot 200 to prevent the clear water in the clear water tank 2081 from overflowing.

The current water level detection structure generally includes trigger part, sensing part and electric connecting part, and trigger part goes up and down along with the water level, and sensing part response trigger part's position, and electric connecting part gives sensing part power supply, and detection part, sensing part and electric connecting part all design on the clean water tank 2081, and this kind of design can occupy the water storage space of clean water tank 2081 greatly, and the clear water of storing in the clean water tank 2081 also can influence sensing part and electric connecting part, and water level detection is easily disturbed and influences the detection.

Referring to fig. 8 to 10, the present utility model provides a water level detection structure, which includes a trigger 300, an induction unit 400 and an electrical connection unit 500, wherein the trigger 300 is disposed in a clear water tank 2081, the trigger 300 is lifted along with the water level of the clear water tank 2081, the induction unit 400 senses the position of the trigger 300, specifically, the induction unit 400 can sense the position of the trigger 300 at the highest water level of the clear water tank 2081 and the position of the trigger 300 at the lowest water level of the clear water tank 2081, and the induction unit 400 thus realizes the detection of the highest water level and the lowest water level of the clear water tank 2081. The electric connection part 500 is connected with the power supply device of the cleaning robot 200 and supplies electric energy to the sensing part 400, the sensing part 400 can sense the triggering part 300 after being powered on, the sensing part 400 and the electric connection part 500 are both arranged on the wheel cover 2033 of the roller 2031, and the sensing part 400 and the electric connection part 500 do not occupy the internal space of the clean water tank 1081.

In this embodiment, the installation cavity 211 of the clean water tank 2081 is located between the two wheel covers 2033, the wheel covers 2033 are opposite to the side surfaces of the clean water tank 2081, in this design, the clean water tank 2081 and the side walls of the installation cavity 211 thereof are spaced between the trigger component 300 and the sensor component 400, the sensor component 400 is a magnetic field line of the sensor trigger component 300, and the magnetic field line of the trigger component 300 can pass through the clean water tank 2081 and the side walls of the installation cavity 211 thereof, so that the side walls of the clean water tank 2081 and the installation cavity 211 thereof can not influence the sensor component 400 to sense the trigger component 300, the detection accuracy can be ensured, the two wheel covers 2033 are located approximately in the middle of the cleaning robot 200, the clean water tank 2081 is located between the two wheel covers 2033, and therefore the center of gravity of the cleaning robot 200 is located in the middle and supported by the roller 2031, and the cleaning robot 200 is not easy to be unbalanced in the travelling process.

Referring to fig. 10 and 11, in the embodiment of the present utility model, the sensing unit 400 includes a mounting housing 401, a first protecting cover 402, a second protecting cover 403, a first hall sensing element 404 and a second hall sensing element 405, the first hall sensing element 404 is mounted on the mounting housing 401 after being mounted on the first protecting cover 402, the second hall sensing element 405 is mounted on the mounting housing 401 after being mounted on the second protecting cover 403, the first hall sensing element 404 and the first protecting cover 402 are located below the second hall sensing element 405 and the second protecting cover 403 in the height direction of the main road wheel mechanism 203, and the first hall sensing element 404 and the second hall sensing element 405 have a height difference; the mounting housing 401 is mounted on the sidewall of the wheel cover 2033, and preferably, the mounting housing 401 is integrally formed with the wheel cover 2033 so as to simplify the assembly process without requiring manual mounting of the mounting housing 401 to the wheel cover 2033.

The mounting housing 401 of the present embodiment is formed with a chute portion 4011, a tooth portion 4012, and a groove portion 4013, the chute portion 4011 includes a first side wall 40111 and a second side wall 40112, an opening is formed between the first side wall 40111 and the second side wall 40112, and the first protective cover 402 and the second protective cover 403 are insertable into the opening and movable along the opening, specifically, along a height direction of the main road wheel mechanism 203, and the first protective cover 402 and the second protective cover 403 are movable up and down along the chute portion 4011.

The tooth portion 4012 is formed on the second sidewall 40112 of the chute portion 4011, the tooth portion 4012 includes a plurality of teeth arranged on a side of the second sidewall 40112 in a height direction, and the first protective cover 402 and the second protective cover 403 are positionable at a height position by being engaged with the tooth portion 4012.

The groove portion 4013 is a groove recessed inward from the surface of the mounting housing 401, the first hall sensing element 404 and the second hall sensing element 405 are accommodated in the groove portion 4013, the groove portion 4013 is hollow, and the groove portion 4013 does not restrict movement of the first protective cover 402 and the second protective cover 403.

Referring to fig. 12, 13 and 14, the first hall sensing element 404 is assembled to the first protecting cover 402, the first protecting cover 402 is mounted to the mounting housing 401 together with the first hall sensing element 404, the second hall sensing element 405 is assembled to the second protecting cover 403, the second protecting cover 403 is mounted to the mounting housing together with the second hall sensing element 405, and how the first hall sensing element 404 is assembled to the first protecting cover 402 and how the first protecting cover 402 is mounted to the mounting housing 401 together with the first hall sensing element 404 will be described in detail below, and the assembly manners of the second hall sensing element 405, the second protecting cover 403 and the second hall sensing element 405 are the same as those of the first hall sensing element 404 and the first protecting cover 403, so that description will not be repeated.

In this embodiment, a hanging ear 4021, an arcuate rib position 4022, a snap ring 4023 and a mounting groove 4024 are formed on the first protecting cover 402, wherein the first hall sensing element 404 is assembled in the mounting groove 4024, specifically, the mounting groove 4024 is a groove with an inward concave surface of the first protecting cover 402, a through hole is formed on the bottom surface of the groove, the first hall sensing element 404 is clamped in the mounting groove 4024, one surface of the first hall sensing element 404 provided with an electronic component passes through the through hole of the mounting groove 4024, so that the first hall sensing element 404 is fixed on the first protecting cover 402, and the first hall sensing element 404 can move along with the first protecting cover 402.

The first protective cover 402 is mounted on the mounting housing 401, wherein lugs 4021 of the first protective cover 402 are inserted into the chute portion 4011, and the lugs 4021 move along openings between the first side wall 40111 and the second side wall 40112 of the chute portion 4011; the first protecting cover 402 is formed with an opening between the lugs 4021, an arcuate rib position 4022 is formed in the opening, and when the lugs 4021 are inserted into the chute portion 4011, the arcuate rib position 4022 abuts against the inner wall of the chute portion 4011 to restrict the first protecting cover 402 from moving in the front-rear direction, so that the first protecting cover 402 is restricted on the mounting housing 401 by the cooperation of the lugs 4021, the arcuate rib position 4022 and the chute portion 4011, and the first protecting cover 402 can only move up and down along the chute portion 4011 on the mounting housing 401.

When the hanging lugs 4021 of the first protecting cover 402 move up and down along the sliding groove portions 4011 on the mounting housing 401, the tooth portions 4012 on the mounting housing 401 can limit the movement of the first protecting cover 402 to position the first protecting cover 402 at a height position, specifically, the elastic buckles 4023 are formed on the first protecting cover 402, the head portions of the elastic buckles 4023 can be engaged in the tooth portions 4012, and the tooth portions 4012 limit the position of the first protecting cover 402 through limiting the elastic buckles 4023. In this embodiment, the weight of the first protecting cover 402 and the first hall sensor 404 is insufficient to disengage the latch 4023 from the engaging tooth 4012, the first protecting cover 402 is hung on the mounting housing 401 by the engaging tooth 4012 of the latch 4023, if an external force acts on the first protecting cover 402 upward or downward, the latch 4023 may disengage from the engaging tooth 4012 until the external force disappears, the latch 4023 engages the tooth 4012 to position the first protecting cover 402 at another height position, and thus the height position of the first protecting cover 402 can be adjusted by the external force.

In the process of moving the first cover 402 up and down to adjust the height position, the first hall sensing element 404 moves in the recess portion 4013, the recess portion 4013 provides a space for moving the first hall sensing element 404, the movement of the first hall sensing element 404 is not restricted, and the first hall sensing element 404 can adjust the height position together with the up and down movement of the first cover 402.

In some embodiments, the first protecting cover 402 may also adjust the height position on the mounting housing 401 by means of magnet matching, hole-column matching, and the like, and taking the hole-column matching as an example, a plurality of height dislocation positioning columns are formed on the first protecting cover 402, a plurality of height dislocation joint holes are formed on the mounting housing 401, and only the external force acts on the first protecting cover 402 upwards or downwards to enable the positioning columns of the first protecting cover 402 to combine with the joint holes with different heights, so that the first protecting cover 402 adjusts the height position and is positioned on the mounting housing 401, and other modes are omitted.

In other embodiments, the first hall sensing element 404 can be directly adjusted in height position on the mounting housing 401 by way of sliding slot matching, hole column matching, etc., without designing the first protecting cover 402, for example, the first hall sensing element 404 is formed with a hanging ear, the mounting housing 401 is formed with a sliding slot, the hanging ear of the first hall sensing element 404 is inserted into the sliding slot and can move up and down along the sliding slot, thus, the first hall sensing element 404 can be adjusted in height position, and meanwhile, a limit structure is arranged in the sliding slot, and the hanging ear of the first hall sensing element 404 is limited by the limit structure and positioned in a height position.

To sum up, in this embodiment, the trigger component 300 is disposed in the clean water tank 2081, the sensing component 400 is disposed on the wheel cover 2033, the trigger component 300 can rise and fall along with the water level in the clean water tank 2081, the first hall sensing element 404 or the second hall sensing element 405 of the sensing component 400 can detect the water level in the clean water tank 2081 by sensing the position of the trigger component 300, and the sensing component 400 is not disposed in the clean water tank 2081, so that the water storage space of the clean water tank 2081 is not occupied, and the water storage capacity of the water tank of the cleaning robot 200 can be increased.

Moreover, the first hall sensing element 404 and the second hall sensing element 405 of the sensing component 400 can adjust the height position through external force, when the clear water tanks 2081 with different capacities are needed, the trigger component 300 in the clear water tanks 2081 with different capacities can be detected only by manually adjusting the height positions of the first hall sensing element 404 and the second hall sensing element 405, so that the water level detection of the clear water tanks 2081 with different capacities can be realized, and the sensing component 400 can be modularized and is compatible with the water tanks with different capacities.

Specifically, in this application, the first protecting cover 402 and the second protecting cover 403 may be positioned at any height position of the mounting housing 401, only an external force acts on the first protecting cover 402 or the second protecting cover 403 upward or downward, the first protecting cover 402 or the second protecting cover 403 may slide on the mounting housing 401 and be positioned at any height position of the mounting housing 401, and the first hall sensing element 404 and the second hall sensing element 405 are respectively fixed on the first protecting cover 402 and the second protecting cover 403, the first hall sensing element 404 locates at a height position along with the first protecting cover 402, and the second hall sensing element 405 locates at a height position along with the second protecting cover 403, so that when the fresh water tank 2081 with different capacity needs to be adapted, the trigger component 300 position when the highest water level and the lowest water level of the fresh water tank 2081 with different capacity are detected, the trigger component 300 can be detected only by adjusting the height positions of the first hall sensing element 404 and the second hall sensing element 405, and thus the sensing component 400 can be compatible with the detection of the water level of the fresh water tank with different capacity.

In this embodiment, the first hall sensing element 404 and the second hall sensing element 405 sense the magnetic field lines of the trigger component 300, wherein the first hall sensing element 404 includes a PCB 4041, a hall sensor 4042 and an electrical connection terminal 4043, the hall sensor 4042 is mounted on the PCB 4041, the hall sensor 4042 exchanges information with the PCB 4041, the electrical connection terminal 4043 is electrically connected with the power supply device of the cleaning robot 200 to supply power to the hall sensor 4042 on the PCB 4041, the hall sensor 4042 is electrically connected to work, and the hall sensor 4042 can detect the magnetic field lines. The second hall sensing element 405 has the same structure as the first hall sensing element 404, and will not be described in detail.

The first hall sensing element 404 and the second hall sensing element 405 are respectively assembled to the first protecting cover 402 and the second protecting cover 403, the first protecting cover 402 and the second protecting cover 403 can prevent other components from colliding with the first hall sensing element 303 and the second hall sensing element 304, specifically, the first hall sensing element 404 is fixed in the first protecting cover 402 mounting groove 4024, the second hall sensing element 405 is fixed in the second protecting cover 403 mounting groove 4034, and the hall sensor 4042 of the first hall sensing element 404 and the hall sensor 4052 of the second hall sensing element 405 pass through the through-hole of the mounting groove 4034 to face the position of the triggering component 300.

The first protecting cover 402 is mounted to the mounting housing 401 together with the first hall sensing element 404, the second protecting cover 403 is mounted to the mounting housing 401 together with the second hall sensing element 405, in this embodiment, along the height direction of the wheel cover 2033, the first protecting cover 402 and the first hall sensing element 404 are located below the second protecting cover 403 and the second hall sensing element 405, the first protecting cover 402 and the first hall sensing element 404 are disposed at a position near the bottom of the wheel cover 2033, the second protecting cover 403 and the second hall sensing element 405 are disposed at a position near the top of the wheel cover 2033, and the first hall sensing element 404 is located below the second hall sensing element 405, and the first hall sensing element 404 and the second hall sensing element 405 have a height difference. Applying an external force to the first cover 402 or the second cover 403 to adjust the height position of the first hall sensing element 404 or the second hall sensing element 405 such that: the hall sensor 4042 of the first hall sensing element 404 can sense the position of the trigger 300 when the tank 2081 is at the lowest water level, and the tank 2081 is at the lowest water level; the hall sensor 4052 of the second hall sensing element 405 can sense the position of the trigger 300 when the fresh water tank 2081 is at the highest water level, and the fresh water tank 2081 is at the highest water level.

Referring to fig. 3 and 15, in this embodiment, a power connector is disposed on a wheel cover 2033, a power supply device of a cleaning robot 200 supplies power to a driving component 2032 of a roller 2031 and an induction component 400 through the power connector, the power connector includes a first power connection port 2036 and a second power connection port 2037, the first power connection port 2036 is electrically connected to the second power connection port 2037, the first power connection port 2036 is electrically connected with the driving component 2032, the second power connection port 2037 is electrically connected with the induction component 400, wherein the power supply device of the cleaning robot 200 supplies power to the driving component 2032 through the power supply line plug-in connection with the first power connection port 2036, the first power connection port 2036 leads power to the second power connection port 2037, the power connection component 500 plug-in connection with the second power connection port 2037 supplies power to the first hall sensing element 404 and the second hall sensing element 405, and thus the power supply device of the cleaning robot 200 does not need to connect to the first hall sensing element 2032, and the second hall sensing element 405 is not separately disposed, and the power supply device of the cleaning robot 200 does not need to connect the first hall sensing element 404 and the second hall sensing element 405, and the power supply device 405 is disposed in a large-sized manner.

It should be noted that, in this embodiment, an electric wire or a conductive sheet is disposed between the electrical connectors of the first electrical connection port 2036 and the second electrical connection port 2037, so that electrical connection between the first electrical connection port 2036 and the second electrical connection port 2037 can be achieved, which is not described in detail.

In some embodiments, the first power connection port 2036 of the above-mentioned power connector is not electrically connected to the second power connection port 2037, and the power supply device of the cleaning robot 200 may be connected to the first power connection port 2036 and the second power connection port 2037 through two power supply heads, so that the power supply device may also supply power to the driving component 2032 and the sensing component 400, and thus the structure of the power connector may be simplified.

The electrical connection component 500 includes a first electrical terminal 501, a second electrical terminal 502 and a third electrical terminal 503, where the first electrical terminal 501 is connected to the second electrical terminal 502 and the third electrical terminal 503, the first electrical terminal 501 is plugged into the second electrical terminal 2037 to be connected to the electrical terminal, and is electrically conductive to the second electrical terminal 502 and the third electrical terminal 503, the second electrical terminal 502 is plugged into the electrical terminal 4043 of the first hall sensing element 404 to supply power to the first hall sensing element 404, and the third electrical terminal 503 is plugged into the electrical terminal 4053 of the second hall sensing element 405 to supply power to the second hall sensing element 405. In this embodiment, when the first hall sensing element 404 or the second hall sensing element 405 moves up and down to adjust the height position, the electrical connection terminal 4043 of the first hall sensing element 404 is kept connected to the second electrical connection terminal 502, the electrical connection terminal 4053 of the second hall sensing element 405 is kept connected to the third electrical connection terminal 503, and the power transmission is stable.

Referring to fig. 3, the first electrical terminal 501, the second electrical terminal 502 and the third electrical terminal 503 are specifically configured as wires, the wheel housing 2033 is formed with a wire harness slot, and the first electrical terminal 501, the second electrical terminal 502 and the third electrical terminal 503 are disposed in the wire harness slot and fixed on the wheel housing 2033, so that more internal space of the cleaning robot 200 is not required to be occupied, and other components are convenient to design, and optionally, the first electrical terminal 501, the second electrical terminal 502 and the third electrical terminal 503 can also be configured as conductive steel sheets, which only needs to supply power to the first hall sensing element 404 and the second hall sensing element 405.

In this embodiment, a trigger component 300 is disposed in the clear water tank 2081 to cooperate with the first hall sensing element 404 and the second hall sensing element 405 to detect the water level of the clear water tank 2081. Specifically, referring to fig. 16, a guiding groove 20811 is formed on an inner sidewall of the clean water tank 2081, the guiding groove 20811 is communicated with a water storage space of the clean water tank 2081, clean water in the clean water tank 2081 can flow into the guiding groove 20811, and the guiding groove 20811 is level with water in the clean water tank 2081. The trigger member 300 is floatably disposed within the guide slot 20811 for upward and downward linear movement along the guide slot 20811, the guide slot 20811 being disposed opposite the sensing member 400, thus ensuring that the sensing member 400 senses the trigger member 300.

Further, in this embodiment, a limiting structure is disposed at the upper port of the guiding groove 20811, so as to prevent the triggering member 300 from being separated from the upper port of the guiding groove 20811 and from being separated from the sensing range of the sensing member 400, which results in the failure of the water level detecting function. The width of the guiding groove 20811 should be adapted to the cross section of the triggering member 300, if the guiding groove is too large, the limiting effect cannot be achieved, and the triggering member 300 may be turned over; if too small, or if the trigger 300 is stuck, the consistency of movement of the trigger 300 is affected.

In this embodiment, the hall sensor 4042 of the first hall sensing element 404 and the hall sensor 4052 of the second hall sensing element 405 adopt unipolar hall elements, and the polarities of the hall sensor 4042 of the first hall sensing element 404 and the hall sensor 4052 of the second hall sensing element 405 are different; the triggering part 300 adopts a permanent magnet 301, and the permanent magnet 301 is fixed on a float 302.

The float 302 functions to load the permanent magnet 301 and to move up and down in the guide groove 20811 with the change of the water level, carrying the permanent magnet 301. For this purpose, a sealed cavity is configured inside the float 302, the permanent magnet 301 is disposed in the sealed cavity, wherein the float 302 includes an upper housing and a lower housing, the upper housing and the lower housing are combined to form the sealed cavity, a groove for placing the permanent magnet 301 is disposed on the bottom surface of the lower housing, the permanent magnet 301 is fixed in the groove, and specifically, the permanent magnet 301 may be fixed in the groove by embedding or bonding. The sealed cavity in the floater 302 provides buoyancy for the floater 302 and simultaneously provides a mounting position of the permanent magnet 301; the upper and lower shells are arranged in a involution mode, so that the production and the processing are convenient, and the disassembly and the maintenance are convenient; wherein the groove should preferably be provided at the geometric center of the bottom surface of the lower housing to ensure that the center of gravity of the float 302 does not shift after the permanent magnet 301 is installed, and to avoid the influence of the inclination of the float 302 during the floating process on the smoothness of the movement in the guide groove 20811. Thus, the setting of the internal structure of the float is completed. It should be noted that the shape of the float 302 may be various shapes that can move up and down in the guide groove 20811, such as a sphere, a square, etc., and the present embodiment preferably employs a cylindrical float 302.

During the rising and falling of the water level in the clear water tank 2081, the float 302 rises and falls together with the water level, and the permanent magnet 301 fixed on the float 302 approaches or departs from the first hall sensing element 404 and the second hall sensing element 405. Wherein the permanent magnet 301 is a substance having a constant magnetic field, and the hall sensor 4042 of the first hall sensing element 404 and the hall sensor 4052 of the second hall sensing element 405 are elements that sense a specified magnetic pole. Therefore, when the permanent magnet 301 moves to a position opposite to the first hall sensing element 404 and the second hall sensing element 405, the first hall sensing element 404 and the second hall sensing element 405 output a low (high) potential voltage or a low (high) level signal, and the control board of the cleaning robot 200 receives the signal and then outputs a "water shortage signal" or a "water full signal", so as to realize the detection of the water level of the clean water tank 2081. It should be understood that the sensing component 400 of the present embodiment using a unipolar hall element is not limited to the present utility model, and a manner of using other types of signal sensing elements such as optical waves, acoustic waves, etc. by those skilled in the art is within the scope of the present utility model. It should be noted that, the water level detection structure of the present utility model may be also disposed in a single sewage tank or a single clean water tank, which is not limited to the integrated water tank for cleaning in this embodiment, but only needs to be a water tank.

To sum up, when the clean water tank 2081 of the present embodiment supplements clean water, the water level in the clean water tank 2081 gradually rises, the trigger component 300 moves up along the guide groove 20811 until moving to a position opposite to the second hall sensor element 405, the hall sensor 4052 of the second hall sensor element 405 senses the permanent magnet 301 of the trigger component 300 to output a low potential voltage or a low level signal, and the control board of the cleaning robot 200 receives the signal and then outputs a "water full signal" to remind a user or a base station to stop supplementing clean water to the clean water tank 2081. At this time, the water level of the clear water tank 2081 is the highest water level, and the cleaning robot 200 can perform a cleaning operation.

The cleaning robot 200 continuously consumes the clean water in the clean water tank 2081, the water level in the clean water tank 2081 is gradually reduced, the trigger component 300 descends along the guide groove 20811 until moving to the position opposite to the first hall sensing element 404, the hall sensor 4042 of the first hall sensing element 404 senses the permanent magnet 301 of the trigger component 300 to output a low potential voltage or a low level signal, and the control board of the cleaning robot 200 receives the signal and then outputs a "water shortage signal" to remind a user or control the cleaning robot 200 to return to the base station to supplement clean water to the clean water tank 2081. At this time, the water level of the clear water tank 2081 is the lowest water level, and the cleaning robot 200 stops the cleaning work.

Further, the cleaning robot 200 of the present utility model further includes a display module and/or a voice module (not shown in the figure), where the display module and/or the voice module are electrically connected to the control board, respectively, and the display module is used to display water volume information, and the voice module is used to broadcast prompt information to a user. The control board of the cleaning robot 200 receives the sensing signal of the sensing part 400, outputs water level information according to the sensing signal, and transmits the water level information to the display module for the user to view. When the control board detects that the water quantity is insufficient, the cleaning program is intelligently planned, for example, the residual cleaning working time is estimated according to the residual water quantity, the cleaning working stroke is shortened, or the cleaning robot 200 is controlled to stop the cleaning work, and the voice module is controlled to send reminding information to a user; when the cleaning robot 200 is matched with a base station for use, the cleaning robot 200 is controlled to return to the base station when the control board detects insufficient water, the built-in water tank of the base station supplements water for the water tank of the cleaning robot 200, and the water supplementing is stopped until the control board detects sufficient water.

In this way, the utility model provides a water level detection structure of a cleaning robot 200, which comprises a trigger component 300, an induction component 400 and an electric connection component 500, wherein the trigger component 300 is arranged in a water tank of the cleaning robot 200 and is lifted along with the water level of the water tank, the induction component 400 is arranged on the side wall of a wheel cover 2033 of a main travelling wheel mechanism 203 and at a position opposite to the trigger component 300, the induction component 400 can be adjusted and positioned to any height position under the action of external force so as to be suitable for the trigger component 300 for inducing clean water tanks 2081 with different capacities, and the induction component 400 can detect the water levels of the water tanks with different capacities, so that the water level detection structure has high modularization degree and can be compatible with the water tanks with different capacities.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (10)

1. A cleaning robot, comprising:

a main body;

the roller is arranged on the main body and drives the main body to move on a surface to be cleaned;

the wheel cover is covered on the roller;

the water tank is arranged on the main body, a trigger component is arranged in the water tank, and the trigger component moves in the water tank along with the change of the water level in the water tank;

the sensing part is arranged on the wheel cover, the sensing part can sense the position of the triggering part to detect the water level of the water tank, and the sensing part can move up and down in the height direction of the wheel cover.

2. The cleaning robot of claim 1, wherein the sensing member is provided at a position opposite to the triggering member at a side wall of the wheel housing, and the sensing member includes a hall sensing element movable up and down at the side wall of the wheel housing.

3. The cleaning robot of claim 1, wherein the sensing part is provided at a position opposite to the triggering part at a side wall of the wheel housing, the sensing part including a hall sensing element and a protective cover, the hall sensing element being fitted to the protective cover, the protective cover being movable up and down at the side wall of the wheel housing.

4. The cleaning robot according to claim 1, wherein the wheel housing is disposed opposite to a side surface of the water tank, a guide groove is formed on an inner side wall of the water tank, the trigger member is floatably disposed in the guide groove, and the sensing member is disposed on the wheel housing at a position opposite to the guide groove.

5. A cleaning robot according to claim 3, wherein the wheel guard side wall is provided with a slide groove portion and a tooth portion, and the cover is formed with a hanging lug and a snap fastener, the hanging lug being inserted into the slide groove portion to move along the slide groove portion, and the snap fastener engaging the tooth portion to restrict movement of the hanging lug.

6. The cleaning robot of claim 5, wherein the cover further has arcuate ribs formed thereon, the arcuate ribs abutting the inner wall of the slot portion when the hanger is inserted into the slot portion.

7. A cleaning robot according to any one of claims 1 to 3, wherein the sensing member includes a first hall sensing element and a second hall sensing element having a height difference, the water tank is in a lowest water level state when the first hall sensing element senses the triggering member, and in a highest water level state when the second hall sensing element senses the triggering member.

8. The cleaning robot of claim 7, further comprising a drive assembly that drives the roller to roll, wherein the power supply of the cleaning robot supplies power to the drive assembly and the sensing member via a power connector.

9. The cleaning robot of claim 8, wherein the sensing part is electrically connected to the power connector by an electrical connection part, the electrical connection part includes a first power connector, a second power connector, and a third power connector, the first power connector is connected to the power connector, the second power connector is connected to the first hall sensor element, the third power connector is connected to the second hall sensor element, the second power connector is connected to the first hall sensor element when the sensing part moves up and down, and the third power connector is connected to the second hall sensor element.

10. The cleaning robot of claim 9, further comprising a display module and/or a voice module, the display module and/or the voice module being electrically connected to or in communication with a control board of the cleaning robot, respectively, the display module being configured to display water level information of the water tank, the voice module being configured to report the water level information of the water tank to a user.