EP4646987A1

EP4646987A1 - Wiping mechanism and cleaning apparatus

Info

Publication number: EP4646987A1
Application number: EP23914522.0A
Authority: EP
Inventors: Pan CHENG
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2023-01-03
Filing date: 2023-12-21
Publication date: 2025-11-12
Also published as: TWI860922B; AU2023421821A1; WO2024146389A1; KR20250126082A; TW202428221A; CN116998969A; JP2026501694A

Abstract

A wiping mechanism (10) and a cleaning apparatus (20). The wiping mechanism (10) comprises: a wiping assembly (100) and a vibration assembly (200), wherein the wiping assembly (100) comprises a plurality of vibration plates (110), a connection rod (120) is arranged between two adjacent vibration plates (110), two adjacent vibration plates (110) are capable of moving synchronously by means of the connection rod (120), and at least one of the plurality of vibration plates (110) is provided with a connection portion (1110); the vibration assembly (200) comprises a vibration apparatus and a vibration connection rod (210), one end of the vibration connection rod (210) is connected to the vibration apparatus, and the other end thereof is in transmission connection to the connection portion (1110); the vibration assembly (200) is configured to drive the vibration connection rod (210) to reciprocate in a preset direction; and the vibration connection rod (210) is configured to drive the plurality of vibration plates (110) to reciprocate when reciprocating in the preset direction. In the wiping mechanism (10), the vibration cleaning area is increased greatly, and the cleaning efficiency is high.

Description

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority to Chinese Patent Application No. 202310004897.4 filed on January 3, 2023 , the content of which is incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present application generally relates to the technical field of cleaning robots, and in particular, to a wiping mechanism and a cleaning device.

BACKGROUND

Nowadays, with the development of modern society, there is an increasing number of people focusing their lives on work, leaving little time to do cleaning for household hygiene. However, daily cleaning and maintenance of the household hygiene affect people's quality of life all the time. To save time and maintain household hygiene, more and more people are beginning to purchase cleaning robots to clean the inside of their house promptly and conveniently.
The cleaning robots can automatically clean the floor in the room with a certain degree of artificial intelligence. The cleaning robots generally employ brushing and vacuum suction to first draw ground debris into their dust collection bins, and then wipe the ground to complete the ground cleaning.
However, existing sweeping robots exhibit low cleaning efficiency.
It should be noted that the information disclosed in the above background section is only used to enhance the understanding of the background of the present application and therefore may include information that does not constitute the prior art known to those of ordinary skill in the art.

SUMMARY

The main objective of the present application is to provide a wiping mechanism and a cleaning device, which significantly increases the vibration cleaning area and achieves high cleaning efficiency.
According to an aspect of the present application, provided is a wiping mechanism. The wiping mechanism includes:

a wiping assembly, where the wiping assembly includes a plurality of vibration plates, a connecting rod is disposed between two adjacent vibration plates, the two adjacent vibration plates are capable of moving synchronously through the connecting rod, and a connecting part is disposed on at least one of the plurality of vibration plates; and
a vibration assembly, where the vibration assembly includes a vibration device and a vibration connecting rod, one end of the vibration connecting rod is connected to the vibration device, and the other end of the vibration connecting rod is in a transmissive connection with the connecting part; the vibration assembly is configured to drive the vibration connecting rod to reciprocate in a preset direction, and the vibration connecting rod is configured to drive, in a case of reciprocating in the preset direction, the plurality of vibration plates to reciprocate.

In an exemplary embodiment of the present application, the connecting part is a connecting groove, and the other end of the vibration connecting rod is located in the connecting groove to achieve a transmissive connection.
In an exemplary embodiment of the present application, the wiping mechanism further includes:
a bottom plate, where the vibration device is fixedly connected to the bottom plate; the plurality of vibration plates are connected to the bottom plate through a limiting structure, and the limiting structure is configured to limit a movement of the plurality of vibration plates in a thickness direction of the bottom plate.
In an exemplary embodiment of the present application, two adjacent vibration plates reciprocate in opposite directions.
In an exemplary embodiment of the present application, accommodating spaces are formed on the vibration plate, and both ends of the connecting rod are located in the accommodating spaces of two adjacent vibration plates, respectively; one vibration plate of the two adjacent vibration plates, in a case of reciprocating, is capable of driving the connecting rod to swing, so as to drive, through the connecting rod, the other vibration plate to reciprocate in an opposite direction.
In an exemplary embodiment of the present application, the accommodating spaces are notches formed on the vibration plate.
In an exemplary embodiment of the present application, the connecting rod is disposed on the bottom plate through a rotation shaft and is capable of rotating relative to the bottom plate.
In an exemplary embodiment of the present application, the plurality of vibration plates reciprocate in a same direction.
In an exemplary embodiment of the present application, two adjacent vibration plates are fixedly connected through the connecting rod.
In an exemplary embodiment of the present application, the limiting structure includes limiting arms and limiting parts, the limiting arms are disposed on the vibration plate, and the limiting parts are disposed on the bottom plate; or the limiting arms are disposed on the bottom plate, and the limiting parts are disposed on the vibration plate, where limiting grooves are formed on the limiting parts, and the limiting arms are located in the limiting grooves, so as to limit the movement of the plurality of vibration plates in the thickness direction of the bottom plate.
In an exemplary embodiment of the present application, the connecting part is disposed on one vibration plate of two adjacent vibration plates, and the connecting part and the connecting rod are disposed on both sides of the vibration plate in a width direction of the vibration plate, respectively.
In an exemplary embodiment of the present application, the connecting part and the connecting rod are disposed on a same side of the other vibration plate in a width direction of the other vibration plate.
In an exemplary embodiment of the present application, the wiping mechanism further includes:
a reset assembly, where the reset assembly includes fixing arms and resilient arms, the fixing arms are fixedly connected to the bottom plate, the resilient arms are connected to the fixing arms, and the resilient arms are located on the vibration plate; in a case that the vibration plate is located at an initial position, the resilient arms are in a free state, and in a case that the vibration plate moves away from the initial position to reciprocate, the vibration plate is capable of abutting against the resilient arms and driving the resilient arms to deform.
In an exemplary embodiment of the present application, surfaces of the plurality of vibration plates are each provided with a hook fastener.
According to another aspect of the present application, provided is a cleaning device. The cleaning device includes the wiping mechanism according to any one of the above embodiments.
According to the wiping device provided by the present application, the wiping assembly includes a plurality of vibration plates. The vibration assembly is capable of driving the vibration connecting rod to reciprocate in a preset direction. The vibration connecting rod, in the case of reciprocating in the preset direction, is in a transmissive connection with the connecting part, and is further capable of driving the vibration plate on which the connecting part is located to reciprocate. Since the plurality of vibration plates are connected together, one of the vibration plates, in the case of reciprocating, is capable of driving other vibration plates to reciprocate synchronously. In the case that the frequency of the reciprocation is high, the reciprocation of the vibration plate can be regarded as high-frequency vibration, which increases the vibration area of the wiping mechanism and improves the cleaning efficiency and cleaning effect of the wiping mechanism.
It should be understood that both the above general description and the following detailed description are exemplary and explanatory only and are not construed as limiting the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other features and advantages of the present application will become more apparent from the detailed description of exemplary embodiments thereof with reference to the drawings.

FIG. 1 is a schematic diagram of the front surface of a wiping mechanism according to an embodiment of the present application;
FIG. 2 is a schematic diagram of the back surface of a wiping mechanism according to an embodiment of the present application;
FIG. 3 is a schematic diagram of the interior of a wiping mechanism according to an embodiment of the present application;
FIG. 4 is a three-dimensional schematic diagram of a vibration assembly according to an embodiment of the present application;
FIG. 5 is a schematic diagram of the front surface of a vibration assembly according to an embodiment of the present application;
FIG. 6 is a schematic diagram of the back surface of a vibration assembly according to an embodiment of the present application;
FIG. 7 is a schematic diagram of the interior of a wiping mechanism according to another embodiment of the present application;
FIG. 8 is a three-dimensional schematic diagram of a vibration assembly according to another embodiment of the present application;
FIG. 9 is a schematic diagram of the front surface of a vibration assembly according to another embodiment of the present application;
FIG. 10 is a schematic diagram of the back surface of a vibration assembly according to another embodiment of the present application;
FIG. 11 is a schematic diagram of a cleaning device according to an embodiment of the present application.

Description of the reference numerals:

10, wiping mechanism;
100, wiping assembly; 110, vibration plate; 111, first vibration plate; 1110, connecting part; 1111, first notch; 1112, assembly notch; 112, second vibration plate; 1121, second notch; 120, connecting rod; 130, reset assembly; 131, fixing arm; 132, resilient arm;
200, vibration assembly; 210, vibration connecting rod; 220, vibration damping apparatus;
300, bottom plate;
400, fixing plate;
500, water discharge nozzle; and
20, cleaning device.

DETAILED DESCRIPTION

Exemplary embodiments will now be described more comprehensively with reference to the drawings. However, the exemplary embodiments may be implemented in various forms, and should not be understood as being limited to the embodiments described herein. On the contrary, these embodiments are provided to make the present application comprehensive and complete, and comprehensively convey the idea of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings indicate the same or similar structures, and thus, detailed description thereof will be omitted.
The embodiments of the present application first provide a wiping mechanism. As shown in FIG. 1 to FIG. 10, the wiping mechanism 10 includes a wiping assembly 100 and a vibration assembly 200. The wiping assembly 100 includes a plurality of vibration plates 110. A connecting rod 120 is disposed between two adjacent vibration plates 110, and the two adjacent vibration plates 110 are capable of moving synchronously through the connecting rod 120. A connecting part 1110 is disposed on at least one of the plurality of vibration plates 110. The vibration assembly 200 includes a vibration device and a vibration connecting rod 210. One end of the vibration connecting rod 210 is connected to the vibration device, and the other end of the vibration connecting rod is in a transmissive connection with the connecting part 1110. The vibration assembly 200 is configured to drive the vibration connecting rod 210 to reciprocate in a preset direction. The vibration connecting rod 210 is configured to drive, in the case of reciprocating in the preset direction, the plurality of vibration plates 110 to reciprocate.
According to the wiping mechanism 10 provided by the present application, the wiping assembly 100 includes a plurality of vibration plates 110. The vibration assembly 200 is capable of driving the vibration connecting rod 210 to reciprocate in a preset direction, and then the vibration connecting rod 210, in the case of reciprocating in the preset direction, is capable of driving the vibration plate 110 on which the connecting part 1110 is located to reciprocate. Since the connecting rod 120 is disposed between two adjacent vibration plates 110, one of the vibration plates 110, in the case of reciprocating, is capable of driving, through the connecting rod 120, the other vibration plates 110 to reciprocate synchronously. In the case that the frequency of the reciprocation is high, the reciprocation of the vibration plate 110 can be regarded as high-frequency vibration, which increases the vibration area of the wiping mechanism and improves the cleaning efficiency and cleaning effect of the wiping mechanism.
In an embodiment of the present application, as shown in FIG. 3 and FIG. 4, the connecting part 1110 is a connecting groove, and the other end of the vibration connecting rod 210 is located in the connecting groove to achieve a transmissive connection. The vibration connecting rod 210 is configured to abut, in the case of reciprocating in a preset direction, against the side wall of the connecting groove to drive the plurality of vibration plates 110 to reciprocate. Through the connecting groove, the assembly of the vibration connecting rod 210 with the vibration plate 110 in a transmissive connection manner is facilitated, and the disassembly, assembly, and maintenance of the wiping mechanism 10 are facilitated.
In an embodiment of the present application, as shown in FIG. 2 to FIG. 10, the wiping assembly 100 includes two vibration plates, i.e., a first vibration plate 111 and a second vibration plate 112. The shapes and dimensions of the first vibration plate 111 and the second vibration plate 112 are the same or substantially the same. Certainly, the wiping assembly 100 may further include three, four, or more vibration plates 110, which is not limited in the present application. The specific details of the wiping mechanism will be described in the present application in detail below with reference to the case that the wiping assembly 100 includes two vibration plates.
Specifically, as shown in FIG. 1, the wiping mechanism further includes a bottom plate 300. The wiping assembly 100 and the vibration assembly 200 are assembled on the bottom plate 300, and the vibration device is fixedly connected to the bottom plate 300. The plane on which the vibration plate 110 reciprocates is parallel or substantially parallel to the plane on which the bottom plate 300 is located. The vibration plate 110 is spaced apart from the bottom plate 300. Two vibration plates 110 are connected to the bottom plate 300 through a limiting structure, and the limiting structure is configured to limit a plurality of movements of the two vibration plates 110 in the thickness direction of the bottom plate 300, so as to enable the vibration plates 110 to reciprocate on the plane parallel or substantially parallel to the bottom plate 300.
The limiting structure includes limiting arms and limiting parts, and limiting grooves are formed on the limiting parts. Illustratively, limiting arms are disposed on two sides of the first vibration plate 111 and the second vibration plate 112 that are opposite, limiting parts are disposed on the bottom plate 300, and the limiting arms are located in the limiting grooves, so as to limit the movement of the plurality of vibration plates 110 in the thickness direction of the bottom plate 300. Alternatively, limiting parts are disposed on two sides of the first vibration plate 111 and the second vibration plate 112 that are opposite, limiting arms are disposed on the bottom plate 300, and the limiting arms are located in the limiting grooves, so as to limit the movement of the plurality of vibration plates 110 in the thickness direction of the bottom plate 300. Alternatively, a limiting arm is disposed on the first vibration plate 111, a limiting part is disposed on the second vibration plate 112, a limiting part and a limiting arm are disposed on the bottom plate 300, and the limiting arms are located in the limiting grooves, so as to limit the movement of the plurality of vibration plates 110 in the thickness direction of the bottom plate 300. The limiting grooves formed on the limiting parts accommodate the movement of the limiting arms in the case that the vibration plate 110 reciprocates, and do not hinder the limiting arms. By adjusting the heights of the limiting grooves in the thickness direction of the bottom plate 300, the dimension of the gap between the vibration plate 110 and the bottom plate 300 can be adjusted.
The limiting arm may be in a flat plate shape, the limiting part may be in a rectangular annular shape, and the limiting arm is in surface contact with the limiting part. In the case that the vibration plate 110 reciprocates, the cooperation between the limiting arm and the limiting part can serve to guide the vibration plate 110, which improves the stability and reliability of the vibration plate 110 during high-frequency vibration.
The limiting arm and the vibration plate 110 or the bottom plate 300 are formed as an integrated structure, and the limiting part and the bottom plate 300 or the vibration plate 110 or the bottom plate 300 are formed as an integrated structure, so as to improve the strength of the limiting structure. Certainly, the limiting arm may be bonded, welded, snap-fitted, riveted, or the like to the vibration plate 110 or the bottom plate 300, and the limiting part may be bonded, welded, snap-fitted, riveted, or the like to the bottom plate 300 or the vibration plate 110 or the bottom plate 300, which is not limited in the present application.
In an embodiment of the present application, as shown in FIG. 2 to FIG. 6, two adjacent vibration plates 110 reciprocate in opposite directions. By making two adjacent vibration plates 110 reciprocate in opposite directions, the forces generated by the left and right vibrations are balanced in the vibration process, while the vibration area of the wiping mechanism is increased and the cleaning efficiency and cleaning effect of the wiping mechanism are improved, thereby improving the stability of the wiping mechanism.
A rotation shaft is disposed on the bottom plate 300, a through hole is formed on the middle part of the connecting rod 120, and the connecting rod 120 is mounted on the rotation shaft of the bottom plate 300 via the through hole to achieve the rotation relative to the bottom plate 300.
Accommodating spaces are formed on the vibration plate 110, and both ends of the connecting rod 120 are located in the accommodating spaces of two adjacent vibration plates 110, respectively. One vibration plate 110 of the two adjacent vibration plates 110, in the case of reciprocating, is capable of driving the connecting rod 120 to swing, so as to drive, through the connecting rod 120, the other vibration plate 100 to reciprocate in the opposite direction.
The accommodating spaces are notches formed on the vibration plate 110. As shown in FIG. 4 and FIG. 5, first notches 1111 are formed on the first vibration plate 111, and second notches 1121 are formed on the second vibration plate 112. Both ends of the connecting rod 120 are located in the notches of two adjacent vibration plates 110, respectively. In the case that one vibration plate 110 of the two adjacent vibration plates 110 reciprocates, the side wall of the notch abuts against the connecting rod 120 to drive the connecting rod 120 to swing, so as to drive, through the connecting rod 120, the other vibration plate 110 to reciprocate in the opposite direction. For example, in the case that the first vibration plate 111 reciprocates, the side wall of the first notch 1111 abuts against the connecting rod 120 to drive the connecting rod 120 to swing, and then the other end of the connecting rod 120 abuts against the second notch 1121 of the second vibration plate 112, so as to drive the second vibration plate 112 to reciprocate in the opposite direction. The accommodating space may also be a groove formed on the vibration plate 110, and the end part of the connecting rod 120 may extend into the groove to drive the vibration plate 110 to move. The specific structure of the accommodating space is not limited in the present application. Any accommodating space structure that can cooperate with the connecting rod 120 to achieve a transmission falls within the protection scope of the present application.
Illustratively, both ends of the connecting rod 120 are only located in the first notch 1111 and the second notch 1121, respectively, and are not connected to the first vibration plate 111 and the second vibration plate 112. The end parts of the connecting rod 120 abut against the first vibration plate 111 and the second vibration plate 112 to transmit the acting force therebetween. This facilitates the assembly of the first vibration plate 111 and the second vibration plate 112 with the connecting rod 120, and also facilitates the maintenance.
Illustratively, in the case that both ends of the connecting rod 120 are located in the first notch 1111 and the second notch 1121, both ends of the connecting rod 120 are rotatably connected to the first vibration plate 111 and the second vibration plate 112, respectively. Connecting holes are formed on the end parts of the connecting rod 120, rotation posts are disposed on the first vibration plate 111 and the second vibration plate 112, and the rotation posts are sleeved with the connecting rod 120 through the connecting holes, such that the rotatable connection of the connecting rod 120 to the first vibration plate 111 and the second vibration plate 112 is achieved. Alternatively, connecting holes are formed on the first vibration plate 111 and the second vibration plate 112, rotation posts are disposed at the end parts of the connecting rod 120, and the connecting rod 120 extends into the connecting holes through the rotation posts, such that the rotatable connection to the first vibration plate 111 and the second vibration plate 112 is achieved.
Illustratively, three connecting rods 120 are provided between the first vibration plate 111 and the second vibration plate 112. In the case that the first vibration plate 111 reciprocates, the first vibration plate is capable of driving the three connecting rods 120 to simultaneously swing, so as to drive, through the three connecting rods 120, the second vibration plate 112 to reciprocate simultaneously. Since a gap is formed between the end part of the connecting rod 120 and the side wall of the notch, the second vibration plate 112 exhibits a short delay time relative to the first vibration plate 111. However, the first vibration plate 111 and the second vibration plate 112 may be considered to move synchronously. Certainly, one, two, four, or more connecting rods 120 may be provided between the first vibration plate 111 and the second vibration plate 112, which is not limited in the present application.
In an embodiment of the present application, as shown in FIG. 7 to FIG 10, a plurality of vibration plates 110 reciprocate in the same direction. By making two adjacent vibration plates 110 reciprocate in the same direction, the vibration area of the wiping mechanism is increased, thereby improving the cleaning efficiency and cleaning effect of the wiping mechanism.
Two adjacent vibration plates 110 are fixedly connected through a connecting rod 120, that is, the first vibration plate 111 and the second vibration plate 112 may move completely synchronously without delay. Both ends of the connecting rod 120 may be connected to the first vibration plate 111 and the second vibration by bonding, welding, snap-fitting, riveting, or the like to facilitate the assembly and maintenance of the first vibration plate 111 and the second vibration. Certainly, the connecting rod 120, the first vibration plate 111, and the second vibration may be formed as an integrated structure to improve the structural strength of the vibration assembly 200 and ensure the completely synchronous movement of the first vibration plate 111 and the second vibration plate 112.
Illustratively, three connecting rods 120 are provided between the first vibration plate 111 and the second vibration plate 112. In the case that the first vibration plate 111 reciprocates, the first vibration plate is capable of driving, through the three connecting rods 120, the second vibration plate 112 to reciprocate simultaneously. Certainly, one, two, four, or more connecting rods 120 may be provided between the first vibration plate 111 and the second vibration plate 112, which is not limited in the present application.
In an embodiment of the present application, the connecting part 1110 is disposed on one vibration plate 110 of two adjacent vibration plates 110, and the connecting part 1110 and the connecting rod 120 are disposed on both sides of the vibration plate 110 in the width direction of the vibration plate, respectively. For example, as shown in FIG. 4 and FIG. 5, the connecting part 1110 and the connecting rod 120 are located on both sides of the first vibration plate 111 in the width direction of the first vibration plate. By arranging the connecting part 1110 and the connecting rod 120 to be on both sides of the vibration plate 110 in the width direction of the vibration plate, respectively, the transmissive connection of the vibration connecting rod 210 to the vibration plate 110 is facilitated, and the structural arrangement of the vibration assembly 200 relative to the vibration plate 110 is facilitated.
The connecting part 1110 and the connecting rod 120 are disposed on the same side of the other vibration plate 110 in the width direction of the other vibration plate, respectively. For example, as shown in FIG. 4 and FIG. 5, the connecting part 1110 and the connecting rod 120 are located on the same side of the second vibration plate 112 in the width direction of the second vibration plate. By arranging the connecting part 1110 and the connecting rod 120 to be located on both sides of the first vibration plate 111 in the width direction of the first vibration plate, and arranging the connecting part 1110 and the connecting rod 120 to be located on the same side of the vibration plate 112 in the width direction of the second vibration plate, the vibration assembly 200 may be disposed in a space outside the first vibration plate 111 and the second vibration plate 112, such that the first vibration plate 111 and the second vibration plate 112 are closely arranged, and the layout of the plurality of vibration plates 110 is more compact, thereby enabling rapid and continuous wiping of an area to be cleaned by cleaning components that are driven by the two vibration plates 110, and further improving the cleaning efficiency and cleaning effect of the wiping mechanism.
Specifically, as shown in FIG. 4, FIG. 5, FIG. 8, and FIG. 9, the wiping mechanism further includes: a reset assembly 130. The reset assembly 130 includes fixing arms 131 and resilient arms 132. The fixing arms 131 are fixedly connected to the bottom plate 300, the resilient arms 132 are connected to the fixing arms 131, and the resilient arms 132 are located on the vibration plate 110. In the case that the vibration plate 110 is located at an initial position, the resilient arms 132 are in a free state, and in the case that the vibration plate 110 moves away from the initial position to reciprocate, the vibration plate is capable of abutting against the resilient arms 132 and driving the resilient arms 132 to deform. By arranging the reset assembly 130, in one aspect, the first vibration plate 111 and the second vibration plate 112 are limited in the reciprocation direction. In another aspect, through the resilient arm 132, the movement speeds of the first vibration plate 111 and the second vibration plate 112 can be increased in a phase in which the resilient arm 132 recovers from elastic deformation during the reciprocation, thereby improving the wiping effects of the first vibration plate 111 and the second vibration plate 112.
As shown in FIG. 4 and FIG. 8, two reset assemblies 130 are disposed on the first vibration plate 111 and the second vibration plate 112, and one reset assembly 130 simultaneously acts on both the first vibration plate 111 and the second vibration plate 112. Mounting holes are formed on the resilient arms 132 of the reset assembly 130, and bosses are provided on the first vibration plate 111 and the second vibration plate 112. After the reset assembly 130 is mounted on the first vibration plate 111 and the second vibration plate 112, the bosses are inserted into the mounting holes in a protruding manner. In the case that the first vibration plate 111 and the second vibration plate 112 reciprocate, the bosses on the first vibration plate 111 and the second vibration plate 112 drive the resilient arms 132 to deform. One reset assembly 130 includes two parallel resilient arms 132, the two resilient arms 132 are connected through three fixing arms 131, and the three fixing arms 131 are located in the middle area between the first vibration plate 111 and the second vibration plate 112 and opposite areas of two sides thereof, respectively. The fixing arms 131 may be fixed to a fixing plate 400 by screws or the like.
The reset assembly 130 may be of an integrated frame structure, and the reset assembly 130 may be made of a plastic material or a metal material with good elastic performance.
As shown in FIG. 4 and FIG. 8, the two reset assemblies 130 and the three connecting rods 120 are alternately arranged in the reciprocation direction, so as to improve the acting effect of the reset assemblies 130 on the first vibration plate 111 and the second vibration plate 112. Certainly, the two reset assemblies 130 may also be arranged adjacent to each other, which is not limited in the present application.
First limiting blocks are disposed at both ends of the first vibration plate 111 on the bottom plate 300, and a stroke range of the reciprocation of the first vibration plate 111 defined by the first limiting blocks is provided on the bottom plate 300. Second limiting blocks are disposed at both ends of the second vibration plate on the bottom plate 300, and a stroke range of the reciprocation of the second vibration plate 112 defined by the second limiting blocks is provided on the bottom plate. The first limiting block and the second limiting block may be elastic rubber blocks to function as a buffer.
Specifically, as shown in FIG. 6 and FIG. 10, an assembly notch 1112 is formed on the first vibration plate 111, and a water discharge nozzle 200 is disposed near the assembly notch 1112 of the first vibration plate 111. The water discharge nozzle 200 is configured to be connected to a water discharge apparatus through a hose, and water flowing out of the water discharge apparatus flows to the first vibration plate 111 and the second vibration plate 112 through the water discharge nozzle 200 to wet wiping cloths of the first vibration plate 111 and the second vibration plate 112, or to inject a cleaning solution into wiping cloths of the first vibration plate 111 and the second vibration plate 112, thereby improving the cleaning effect.
One water discharge nozzle may be provided, or a plurality of water discharge nozzles may be provided. That is, the assembly notch 1112 is also provided on the second vibration plate 112, and the water discharge nozzle is disposed near the assembly notch 1112 of the second vibration plate 112. By discharging water to the first vibration plate 111 and the second vibration plate 112 through the plurality of water discharge nozzles, the uniformity of water discharge is improved, so as to enable the wiping cloths on the first vibration plate 111 and the second vibration plate 112 to be uniformly wetted. The water discharge apparatus may be connected to a cleaning solution outlet of a water tank, and the cleaning solution may flow to the water discharge apparatus through the cleaning solution outlet of the water tank. The power/flow rate of the water discharge apparatus is adjustable, and the water discharge amount may be controlled according to actual needs.
Specifically, the surfaces of the plurality of vibration plates 110 are each provided with a hook fastener. That is, the first vibration plate 111 and the second vibration plate 112 are each provided with one hook fastener. By arranging the first vibration plate 111 and the second vibration plate 112 to be each provided with a hook fastener, the attachment of the wiping cloths on the first vibration plate 111 and the second vibration plate 112 is facilitated, and the wiping cloths can be directly adhered to a housing of the hook surfaces of the hook and loop fasteners. In addition, through the gaps formed by the hook fasteners, the water discharge to the wiping cloths on the first vibration plate 111 and the second vibration plate 112 through the plurality of water discharge nozzles is facilitated, so as to enable the wiping cloths on the first vibration plate 111 and the second vibration plate 112 to be uniformly wetted. Besides, by adhering the wiping clothes to the vibration plates through the hook surfaces of the hook and loop fasteners, the cleaning and replacement of the wiping cloths is facilitated.
Specifically, as shown in FIG. 2, the wiping mechanism further includes a fixing plate 400. The fixing plate 400 and the bottom plate 300 cooperate to form an accommodating space, and the vibration assembly 200 is disposed in the accommodating space. Wiping windows are disposed on the fixing plate 400, the first vibration plate 111 and the second vibration plate 112 are exposed from the wiping windows, and the first vibration plate 111 and the second vibration plate 112 are located on the same plane as the fixing plate 400, so as to form a wiping surface by the surfaces of the first vibration plate 111, the second vibration plate 112, and the fixing plate 400 together, that is, the surface of the fixing plate 400 may also be provided with a hook fastener to adhere to a wiping cloth.
The dimension of the wiping window is required to ensure a smooth movement of the first vibration plate 111 and the second vibration plate 112 during reciprocation. The shape of the wiping window may match the shape of the structure formed by the cooperation of the first vibration plate 111 and the second vibration plate 112, so as to space the dimensions of the gap between the wiping window and the first vibration plate 111 and the gap between the wiping window and the second vibration plate 112, thereby preventing foreign matters on the surface to be wiped from entering the interior of the wiping mechanism through the gaps.
Specifically, the vibration assembly 200 includes a vibration device and a vibration connecting rod 210. The vibration device may be a motor, and power is output through an output shaft of the motor. The output shaft of the motor is connected to a rear driving wheel, and the driving wheel is of an asymmetric structure. The vibration connecting rod 210 is connected to the output shaft of the motor through the driving wheel, and reciprocates with the asymmetric rotation of the driving wheel, thereby driving a plurality of vibration plates 110 to reciprocate.
The vibration connecting rod 210 includes a first segment and a second segment. The first segment and the second segment form an L shape. The first segment of the vibration connecting rod 210 connects the driving wheel and the second segment to make the vibration connecting rod 210 extend to a preset position. The extension direction of the first segment is perpendicular to the extension direction of the second segment, thereby enabling the reciprocation direction of the vibration connecting rod 210 to be substantially perpendicular to the travel direction of the machine.
The first segment of the vibration connecting rod 210 is sleeved with a vibration damping apparatus 220. The vibration damping apparatus 220 serves to reduce the vibration and jitter caused by the motion driven by the driving wheel, so as to enable a steady vibration of the vibration connecting rod 210 within the range of motion. The vibration damping apparatus 220 is made of a soft material, optionally a rubber structure. In another aspect, the vibration damping apparatus 220 can also protect the vibration connecting rod 210 from being damaged due to collision with other components.
The rotation speed of the motor may be adjusted according to the working environment of the wiping mechanism, and thus the preset reciprocation period of the reciprocation of the vibration plate 110 is adjusted, that is, the vibration frequency of the vibration plate 110 is adjusted to achieve different cleaning effects. For example, in the case that the automatic cleaning device works on an even ground, the preset reciprocation period may be automatically and dynamically adjusted to be long, and the water volume of the water pump may be automatically and dynamically adjusted to be small; in the case that the automatic cleaning device works on a uneven ground, the preset reciprocation period may be automatically and dynamically adjusted to be short, and the water volume of the water pump may be automatically and dynamically adjusted to be large, so as to achieve a better cleaning effect.
The embodiments of the present application further provide a cleaning device. As shown in FIG. 11, the cleaning device 20 includes the above wiping mechanism 10. The cleaning device 20 may be, for example, a mopping/scrubbing robot, a robot vacuum cleaner, a window cleaning robot, or the like.
According to the cleaning device provided by the present application, the wiping assembly in the wiping mechanism includes a plurality of vibration plates. The vibration assembly is capable of driving the vibration connecting rod to reciprocate in a preset direction, and then the vibration connecting rod, in the case of reciprocating in the preset direction, is capable of driving the vibration plate on which the connecting part is located to reciprocate. Since the connecting rod is disposed between two adjacent vibration plates, one of the vibration plates, in the case of reciprocating, is capable of driving, through the connecting rod, the other vibration plate to reciprocate synchronously. In the case that the frequency of the reciprocation is high, the reciprocation of the vibration plate can be regarded as high-frequency vibration, which increases the vibration area of the wiping mechanism and improves the cleaning efficiency and cleaning effect of the cleaning device. For more beneficial effects of the cleaning device, reference may be made to the description in the above embodiments of the cleaning device, and details are not described herein again.
Specifically, the cleaning device 20 may further include a mobile platform, a sensing system, a control system, a driving system, a cleaning module, a power system, and a human-machine interaction system.
The mobile platform may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform can automatically and adaptively make an operational decision based on an unexpected environment-related input, and the non-autonomous mobile platform can execute an established procedure or operate according to a certain logic.
The sensing system includes sensing apparatuses such as a position determining apparatus located above the mobile platform, a buffer located in a forward part of the mobile platform, a cliff sensor and an ultrasonic sensor located at the bottom of the mobile platform, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, and an odometer, to provide various position information and motion status information of the machine to the control system. Cliff sensors are disposed at the bottom of the mobile platform and on the front and back of the driving wheel assembly, and the cliff sensors are configured to prevent the automatic cleaning device from falling off when reversing, thereby enabling the automatic cleaning device to be prevented from being damaged. The position determining apparatus includes, but is not limited to, a camera and a laser ranging apparatus. The components in the sensing system may operate independently, or may operate together to more accurately perform the target function. By identifying the surface to be cleaned through the cliff sensors and the ultrasonic sensor, the physical properties of the surface to be cleaned, including a surface material, a degree of cleanliness, and the like can be determined, and the properties may be determined more accurately in combination with a camera, a laser ranging apparatus, and the like. In addition, a buffer is disposed at the front part of the mobile platform. The buffer detects an object in the travel path of the automatic cleaning device through a sensor system, such as an infrared sensor, and the automatic cleaning device may pass by the object detected by the buffer.
The control system is arranged on a main circuit board in the mobile platform, and includes a computing processor, such as a central processing unit or an application processor, that communicates with a non-transitory memory, such as a hard disk, a flash memory, or a random access memory. The application processor is configured to receive environmental information sensed by a plurality of sensors and transmitted from the sensing system, draw a real-time map of an environment in which the automatic cleaning device is located by using a positioning algorithm based on obstacle information fed back by the laser ranging apparatus, etc., autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system to perform operations such as traveling forward, traveling rearward, and steering according to the autonomously determined travel path.
The driving system includes a drive motor, a driving wheel assembly, and a steering assembly. The drive motor provides power for the rotation of the driving wheel assembly and the steering assembly.
The power system includes a rechargeable battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit.
The human-machine interaction system includes a button on a host panel for a user to select a function, and may further include a display screen and/or an indicator light and/or a speaker, where the display screen, the indicator light, and the speaker show a current state of the machine or function options to the user, and may further include a mobile phone client program. For a path navigation type cleaning device, a mobile phone client may show a map of an environment in which the device is located and a location of the machine to the user, providing the user with richer and more user-friendly function options.
Illustratively, the cleaning device provided by the present application may be in a circular shape as a whole, and the wiping mechanism may be in a circular segment shape. The wiping mechanism 10 and the cleaning device body may form a quick-release connection structure, which facilitates the assembly and maintenance of the wiping mechanism 10. Certainly, the cleaning device as a whole may be in an elliptical shape, a rectangular shape, an irregular shape, or the like, which is not limited in the present application.
In the embodiments of the present application, unless otherwise specified, the term "a plurality of" means two or more. Terms such as "mount", "connect", "link", and "fix" should be understood in a broad sense. For example, "connect" may refer to a fixed connection, a detachable connection, or an integral connection, and "link" may refer to a direct linkage, or an indirect linkage by means of an intermediate. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be interpreted according to specific conditions.
In the description of the present application, it should be noted that terms such as "upper", "lower", and the like indicating directional or positional relationships are based on the directional or positional relationships shown in the drawings. They are merely for the convenience of describing the embodiments of the present application and simplifying the description, and are not intended to indicate or imply that the apparatuses or units referred to must have specific directions or be constructed and operated in specific directions. Therefore, these terms should not be construed as limitations on the embodiments of the present application.
In the description of the specification, the description of the term "one embodiment" means that specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.
The above are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application can be modified and varied. Any modification, equivalent replacement, improvement, and the like made within the spirit and principle of the present application shall all fall within the protection scope of the present application.

Claims

A wiping mechanism, comprising:
a wiping assembly, wherein the wiping assembly comprises a plurality of vibration plates, a connecting rod is disposed between two adjacent vibration plates, the two adjacent vibration plates are capable of moving synchronously through the connecting rod, and a connecting part is disposed on at least one of the plurality of vibration plates; and

a vibration assembly, wherein the vibration assembly comprises a vibration device and a vibration connecting rod, one end of the vibration connecting rod is connected to the vibration device, and the other end of the vibration connecting rod is in a transmissive connection with the connecting part; the vibration assembly is configured to drive the vibration connecting rod to reciprocate in a preset direction, and the vibration connecting rod is configured to drive, in a case of reciprocating in the preset direction, the plurality of vibration plates to reciprocate.
The wiping mechanism according to claim 1, wherein the connecting part is a connecting groove, and the other end of the vibration connecting rod is located in the connecting groove to achieve a transmissive connection.
The wiping mechanism according to claim 1 or 2, further comprising:
a bottom plate, wherein the vibration device is fixedly connected to the bottom plate; the plurality of vibration plates are connected to the bottom plate through a limiting structure, and the limiting structure is configured to limit a movement of the plurality of vibration plates in a thickness direction of the bottom plate.
The wiping mechanism according to claim 3, wherein two adjacent vibration plates reciprocate in opposite directions.
The wiping mechanism according to claim 4, wherein accommodating spaces are formed on the vibration plate, and both ends of the connecting rod are located in the accommodating spaces of two adjacent vibration plates, respectively; one vibration plate of two adjacent vibration plates, in a case of reciprocating, is capable of driving the connecting rod to swing, so as to drive, through the connecting rod, the other vibration plate to reciprocate in an opposite direction.
The wiping mechanism according to claim 5, wherein the accommodating spaces are notches formed on the vibration plate.
The wiping mechanism according to any one of claims 4-6, wherein the connecting rod is disposed on the bottom plate through a rotation shaft and is capable of rotating relative to the bottom plate.
The wiping mechanism according to any one of claims 1-7, wherein the plurality of vibration plates reciprocate in a same direction.
The wiping mechanism according to claim 8, wherein two adjacent vibration plates are fixedly connected through the connecting rod.
The wiping mechanism according to any one of claims 3-7, wherein the limiting structure comprises limiting arms and limiting parts, the limiting arms are disposed on the vibration plate, and the limiting parts are disposed on the bottom plate; or the limiting arms are disposed on the bottom plate, and the limiting parts are disposed on the vibration plate, wherein limiting grooves are formed on the limiting parts, and the limiting arms are located in the limiting grooves, so as to limit the movement of the plurality of vibration plates in the thickness direction of the bottom plate.
The wiping mechanism according to any one of claims 1-10, wherein the connecting part is disposed on one vibration plate of two adjacent vibration plates, and the connecting part and the connecting rod are disposed on both sides of the vibration plate in a width direction of the vibration plate, respectively.
The wiping mechanism according to claim 11, wherein the connecting part and the connecting rod are disposed on a same side of the other vibration plate in a width direction of the other vibration plate.
The wiping mechanism according to any one of claims 3-7, further comprising:
a reset assembly, wherein the reset assembly comprises fixing arms and resilient arms, the fixing arms are fixedly connected to the bottom plate, the resilient arms are connected to the fixing arms, and the resilient arms are located on the vibration plate; in a case that the vibration plate is located at an initial position, the resilient arms are in a free state, and in a case that the vibration plate moves away from the initial position to reciprocate, the vibration plate is capable of abutting against the resilient arms and driving the resilient arms to deform.
The wiping mechanism according to any one of claims 1-13, wherein surfaces of the plurality of vibration plates are each provided with a hook fastener.
A cleaning device, comprising the wiping mechanism according to any one of claims 1-14.