KR20230125812A - automatic cleaning device - Google Patents

Abstract

The present invention provides an automatic cleaning device, comprising: a moving platform that automatically moves on an operating surface; a dry cleaning module including a cleaning module installed on the movable platform, wherein the cleaning module cleans at least a portion of the operation surface using a dry cleaning method; a wet cleaning module for cleaning at least a portion of the operation surface using a wet cleaning method; Here, the wet cleaning module includes a cleaning head configured to clean the operating surface, and a driving unit configured to drive the cleaning head to make a reciprocating motion along the target surface, the target surface being a part of the operating surface. . Since the cleaning head of the present invention basically performs reciprocating motion to perform repetitive cleaning on the surface to be cleaned, multiple times of cleaning can be realized when passing through a certain area with one circuit in the movement trajectory of the cleaning robot. The cleaning effect is greatly enhanced, and the cleaning effect can be remarkable, especially for areas with relatively large amounts of dirt.

Description

automatic cleaning device

The present invention relates to the field of cleaning robot technology, and more particularly, to an automatic cleaning device.

<Cross-citation of related applications>

The present invention claims the priority of Chinese Patent Application No. 202110004713.5 filed on January 4, 2021 and Chinese Patent Application No. 202110138563.7 filed on February 1, 2021, wherein the full text of the contents disclosed in the above Chinese patent application are cited as part of the present invention.

The sweeping robot currently mainly includes two types of sweeping robot and wet mop robot. The sweeping robot and the wet mop robot have relatively single functions. If you want to sweep and mop at the same time, you must have two devices at the same time, occupying twice the space.

In the prior art, there is a combination of a sweeping robot and a wet mop cleaning robot, and a wet mop is additionally installed at the end of the robot to realize integrated sweeping and wet mop cleaning, but the wet mop function during the integrated cleaning uses only one wet mop. According to the parallel movement of the wet mop, if only one wet mop is performed in the moving trajectory of the cleaning robot, the wet mop effect and efficiency are greatly reduced, especially in an environment where some dirt is relatively large and the floor is relatively dirty It is not possible to clean the floor by moving the wet mop once.

An object of the present invention is to provide an automatic cleaning device, which can solve the technical problem of not being able to clean the floor.

The specific solution is as follows.

According to a specific embodiment of the present invention, the present invention,

A mobile platform 100 that automatically moves on the operating surface;

It includes a cleaning module 150 installed on the mobile platform 100, and the cleaning module 150,

a dry cleaning module 151 for cleaning at least a portion of the operation surface using a dry cleaning method;

a wet cleaning module 400 for cleaning at least a portion of the operation surface by using a wet cleaning method; Here, the wet cleaning module 400,

a cleaning head 410 configured to clean the operating surface; and

a driving unit (420) configured to drive the cleaning head (410) to make a basic reciprocating motion along a surface; and wherein the target surface is a part of the operation surface.

Optionally, the driving unit 420,

a driving platform 421 connected to a lower surface of the moving platform 100 and configured to provide a driving force;

A support platform 422 detachably connected to the driving platform 421 and configured to support the cleaning head 410 may be included.

Optionally, the driving platform 421,

a motor 4211 installed on one side of the driving platform 421 close to the moving platform 100 and outputting power through a motor output shaft;

A drive wheel 4212 connected to the motor output shaft and having an asymmetric structure may be included.

Optionally, the driving platform 421,

It is installed on one side of the driving platform 421 opposite to the motor 4211, is connected to the driving wheel 4212, and realizes that the driving wheel 4212 basically reciprocates under the asymmetrical rotation. A vibrating means 4213 may be further included.

Optionally, the driving platform 421,

A connecting rod 4214 extending along the edge of the driving platform 421 and connecting the driving wheel 4212 and the vibrating means 4213 so that the vibrating means 4213 extends to a predetermined position is further provided. can include

Optionally, the vibrating unit 4213 may have a rod-like structure, and an extending direction thereof may be perpendicular to the connecting rod 4214.

Optionally, the driving platform may include a vibration damping device 4215 installed on the connecting rod 4214.

Optionally, the support platform 422,

It may include a cleaning substrate 4221 freely movably installed on the support platform 422 and reciprocating in principle with respect to the support platform 422 under the vibration of the vibration means 4213.

Optionally, the cleaning substrate 4221,

It includes an assembling gap 42211 installed at a position in contact with the vibrating means 4213, and when the support platform 422 is connected to the driving platform 421, the vibrating means 4213 is the assembly may be assembled into gap 42211.

Optionally, the support platform 422,

The support platform 422 may further include a detachable button 4229 configured to be detachably connected to the driving platform 421 .

Optionally, the support platform 422,

It may further include at least one assembly section 4224 installed on the support platform 422 and configured to assemble the cleaning head 410 .

Optionally, the cleaning head 410,

A movable region 412 connected to the cleaning substrate 4221 and basically reciprocating along the target surface under the driving of the cleaning substrate 4221 may be included.

Optionally, an adhesive layer may be installed on one side of the movable region 412 to which the cleaning substrate 4221 is connected, and the movable region 412 and the cleaning substrate 4221 may be connected through the adhesive layer.

Optionally, the cleaning head 410,

A fixing section 411 connected to the bottom of the support platform 422 through the at least one assembly section 4224 and cleaning at least a portion of the operating surface according to the movement of the support platform 422 can include more.

Optionally, the cleaning head 410,

A flexible connection part 413 installed between the fixed section 411 and the movable section 412 and configured to connect the fixed section 411 and the movable section 412 may be further included.

Optionally, the cleaning head 410,

A sliding buckle 414 extending along an edge of the cleaning head 410 and detachably installed on the support platform 422 may be further included.

Optionally, an elevation module may be installed between the cleaning module 150 and the moving platform 100 .

Optionally, the dry cleaning module 151 may be connected to the mobile platform 100 through a passive lifting module.

Optionally, the wet cleaning module 400 may be connected to the mobile platform 100 through an active elevating module.

Compared with the prior art, the embodiments of the present invention specifically have the following technical effects.

In the integrated sweep and wet-mop cleaning device provided by the present invention, a dry cleaning module and a wet cleaning module are installed in the cleaning module of the automatic cleaning device to provide a more comprehensive cleaning function. In addition, in the wet cleaning module, by adding a driving unit and a vibrating zone, the cleaning head makes a reciprocating motion, thereby performing repeated cleaning on the surface to be cleaned, so that in the motion trajectory of the cleaning robot, one circuit Since several times of cleaning can be realized when passing through a certain area, the cleaning effect is greatly strengthened, and the cleaning effect can be particularly remarkable for areas with relatively large amounts of dirt.

Here, the drawings are merged into the specification to constitute a part of the specification, show embodiments consistent with the present invention, and the principles of the present invention can be interpreted together with the specification. Obviously, the drawings in the description below are merely some embodiments of the present invention, and those skilled in the art may obtain other drawings according to these drawings without requiring progressive labor. in the drawing,
1 is a perspective view showing an automatic cleaning device according to an embodiment of the present invention;
Fig. 2 is a schematic diagram showing the bottom structure of an automatic cleaning device according to an embodiment of the present invention;
Figure 3 is a perspective view showing a one-side driving wheel assembly of one embodiment of the present invention;
Figure 4 is a front view showing one drive wheel assembly of one embodiment of the present invention;
Figure 5 is a perspective view showing a dust box according to an embodiment of the present invention;
Figure 6 is a perspective view showing a fan of one embodiment of the present invention;
Fig. 7 is a schematic diagram showing an open state of a dust box in an embodiment of the present invention;
Fig. 8 is a schematic diagram showing a combination of a dust box and a fan according to an embodiment of the present invention;
Fig. 9 is an exploded view showing an automatic cleaning device according to an embodiment of the present invention;
Fig. 10 is a structural diagram showing a support platform of an automatic cleaning device according to an embodiment of the present invention;
Fig. 11 is a structural diagram showing a vibrating means of an automatic cleaning device according to an embodiment of the present invention;
Fig. 12 is a schematic diagram showing a cleaning head driving mechanism based on the crank slider mechanism of another embodiment of the present invention;
Fig. 13 is a schematic diagram showing a cleaning head driving mechanism based on a double crank mechanism in another embodiment of the present invention;
Fig. 14 is a schematic diagram showing a cleaning head driving mechanism based on the crank mechanism of another embodiment of the present invention;
Fig. 15 is a structural diagram showing a vibrating means in an embodiment of the present invention;
Fig. 16 is a schematic diagram showing a cleaning substrate assembly structure in an embodiment of the present invention;
Fig. 17 is a structural diagram showing a motor-driven fresh water pump according to an embodiment of the present invention;
Fig. 18 is a structural diagram showing a motor-driven lifting module according to an embodiment of the present invention.

In order to further clarify the purpose, technical means and advantages of the embodiments of the present invention, the following is combined with the drawings to further explain the present invention in further detail. Obviously, the described embodiments are only some embodiments of the present invention. , but not all examples. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art under the premise that no inventive labor is required shall all fall within the scope to be protected in the present invention.

Terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of “one,” “above,” and “corresponding” used in the embodiments of the present invention and the appended scope may include plural forms unless other meanings are clearly indicated in the upper and lower sentences. "Several" may generally include at least two.

It should be understood that the term "and/or" used in the text only describes the related relationship of the related objects, and indicates that three relationships exist, for example, A and/or B is A alone Alternatively, it can indicate three situations in which A and B exist simultaneously, or B exists alone. In addition, the sign "/" in the text generally indicates that the related subject is a kind of "or" relationship.

It should be understood that the description has been made using the terms first, second, third, etc. in the embodiments of the present invention, but they are not limited to these terms. These terms are for distinction only. For example, a first could be termed a second, and similarly, a second could be termed a first, under circumstances not departing from the scope of an embodiment of the present invention.

Also requiring clarification, the terms "comprehensive", "comprising" or any other variation are intended to cover a non-exclusive inclusion, whereby a product or device comprising a set of elements may contain such elements. In addition, it may further include other elements not explicitly listed, or may further include elements unique to such products or devices. In the absence of further limitation, an element defined by the phrase “including a” does not preclude the presence of other identical elements in a product or device that includes the element.

In conjunction with the drawings below, a detailed description of select embodiments of the invention proceeds.

1 and 2 are schematic diagrams showing the structure of an automatic cleaning device according to an exemplary embodiment. As shown in FIGS. 1 and 2 , the automatic cleaning device is a vacuum suction cleaning robot, a mopping/sweeping cleaning robot, or a window cleaning robot. It may be a cleaning robot or the like, and the automatic cleaning device includes a moving platform 100, a detection system 120, a control system 130, a driving system 140, a cleaning module 150, an energy resource system 160, and a human- device interaction system 170 . here,

The mobile platform 100 is configured to automatically move along a target direction on a manipulation surface. The operating surface is the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a wet mop cleaning robot, and the automatic cleaning robot works on the floor, and the floor is the operation surface; The automatic cleaning device may also be a window cleaning robot, and the automatic cleaning device works on the outer surface of building glass, and the glass is the operating surface; The automatic cleaning device may be a duct cleaning robot, and the automatic cleaning device works on the inner surface of the duct, and the inner surface of the duct is the operating surface. For the purpose of simple display, the following description of the present invention proceeds with a wet mop cleaning robot as an example.

In some embodiments, the mobile platform 100 may be a self-moving platform or a non-self-moving platform. The voluntary moving platform refers to that the moving platform 100 itself automatically and adaptively makes operating decisions according to unexpected environmental inputs; The non-self-moving platform itself cannot make an operation decision adaptively according to an unexpected environmental input, but can execute a predetermined program or operate according to a certain logic. Correspondingly, when the moving platform 100 is a voluntary moving platform, the target direction is determined voluntarily by the automatic cleaning device; When the mobile platform 100 is a non-self-moving platform, the target direction may be installed by a system or artificially. When the moving platform 100 is a self-moving platform, the moving platform 100 includes a forward part 111 and a backward part 110.

The detection system 120 includes a positioning device 121 located above the mobile platform 100, a buffer 122 located on the forward part 111 of the mobile platform 100, a cliff sensor 123 located on the bottom of the mobile platform, and Ultrasonic sensor (not shown in the drawing), infrared sensor (not shown in the drawing), magnetometer (not shown in the drawing), accelerometer (not shown in the drawing), gyroscope (not shown in the drawing), mile meter (not shown in the drawing) ), etc., and may provide the control system 130 with various location information and movement state information of the device.

To more clearly describe the behavior of the automatic cleaning device, we proceed with the definition of the direction as follows. That is, the automatic cleaning device moves from the floor through various combinations of three mutually perpendicular axes defined by the moving platform 100: a transverse axis (x), an anteroposterior axis (y) and a central vertical axis (z). march The forward driving direction along the fore-and-aft axis y is denoted as "forward", and the backward driving direction along the fore-aft axis y is denoted as "reverse". Transverse axis x extends between the right and left wheels of the automatic cleaning device along an axis substantially defined by the center point of drive wheel assembly 141 . Here, the automatic cleaning device rotates around the x-axis. The case where the forward part of the automatic cleaning device is inclined upward and the backward part is inclined downward is called "lifted up", and the case where the forward part of the automatic cleaning device is inclined downward and the backward part is inclined upward is called "lifted up". It is referred to as "sag down". In addition, the automatic cleaning device rotates around the Z axis. In the forward direction of the automatic cleaning device, the case where the automatic cleaning device tilts to the right of the y-axis is referred to as "right rotation", and the case where the automatic cleaning device tilts to the left along the y-axis is referred to as "left rotation".

As shown in FIG. 2, cliff sensors 123 are installed on the bottom of the moving platform 100 and in front and rear of the drive wheel assembly 141, and the cliff sensors prevent falling when the automatic cleaning device retracts. configured to prevent the occurrence of damage to the self-cleaning device. The "front" refers to the same side in the marching direction of the automatic cleaning device, and the "rear" refers to the opposite side in the marching direction of the automatic cleaning device.

The positioning device 121 includes, but is not limited to, a camera and a laser ranging device (LDS).

Each assembly in the sensing system 120 can be operated independently or jointly, so that the target function can be realized more accurately. Recognize the surface to be cleaned through the cliff sensor 123 and the ultrasonic sensor, determine the physical characteristics of the surface to be cleaned, including the surface material and cleanliness, and combine the camera and laser distance measuring device can be judged more accurately.

For example, when a determination is made as to whether the surface to be cleaned is a carpet through an ultrasonic sensor, and the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to operate the carpet. Control to proceed with mode cleaning.

A shock absorber 122 is installed on the forward portion 111 of the moving platform 100, and when the drive wheel assembly 141 propels the automatic cleaning device to march on the floor during the cleaning process, the shock absorber 122 is a sensor system. , For example, via an infrared sensor, one or more events (or objects) of the traveling path of the automatic cleaning device are detected, and the automatic cleaning device detects the events (or objects) detected by the shock absorber 122, for example Controlling the drive wheel assembly 141 through an obstacle, wall, for example, causes the automatic cleaning device to respond to the event (or object), for example, to move the obstacle away.

The control system 130 is installed on a circuit board in the mobile platform 100 and is a non-transitory memory such as a hard disk, flash memory, random access memory and a calculation processing unit that communicates with it, such as a central processing unit and an application processing unit. device, and the application processing device is configured to receive environmental information detected by the plurality of sensors transmitted by the detection system 120, and a position estimation algorithm, for example, according to obstacle information fed back from the laser distance measuring device Using SLAM, a real-time map of the environment where the automatic cleaning device is located is created, and a driving route is voluntarily determined according to the environment information and the environment map, and then the drive system 140 according to the voluntarily determined driving route. It is controlled to proceed with operations such as forward, backward and/or change of direction. Furthermore, the control system 130 determines whether or not the cleaning module 150 will operate the cleaning operation according to the environment information and the environment map.

Specifically, the control system 130 combines the distance information and speed information fed back from the shock absorber 122, the cliff sensor 123, and sensor devices such as an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, and a mile meter to provide comprehensive information. To determine what working state the cleaning device is currently in, for example, crossing a threshold, climbing a carpet, located on a cliff, hanging upwards or downwards, whether the dust box is full or lifted, etc. It can also provide specific next action schemes according to different situations, so that the operation of the automatic cleaning device more satisfies the owner's needs, bringing a better user experience. Furthermore, the control system can greatly improve the cleaning efficiency of the automatic cleaning device by planning the most effective and reasonable cleaning route and cleaning method based on real-time map information prepared by SLAM.

The drive system 140 executes a drive command based on specific distance and angle information, eg, x, y and θ components, to control the automatic cleaning device to travel across the floor. 3 and 4 are perspective and front views of one drive wheel assembly 141 of one embodiment of the present invention, and as shown, the drive system 140 includes the drive wheel assembly 141, the drive system ( 140) simultaneously controls the left wheel and the right wheel, and to more precisely control the movement of the machine, the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are installed symmetrically along the transverse axis defined by the moving platform 100 . The drive wheel assembly includes a body portion, a drive wheel and an elastic element, one end of the body portion is connected to the device frame, and the drive wheel is installed in the body portion and driven by a drive motor 146; The elastic element is connected between the body part and the device frame, the elastic element provides an elastic force between the device frame and the body part, and the drive motor 146 is located outside the drive wheel assembly 141, and the drive motor 146 ) is located within the cross-sectional projection of the drive wheel, and the drive wheel assembly 141 is connected to a circuit for measuring drive current and a mile meter.

In order to make the automatic cleaning device move more stably on the floor or have stronger movement ability, the automatic cleaning device includes one or more steering assemblies 142, which steering assemblies 142 are driven wheels, or It may also be a driving wheel, the structural form of which includes but is not limited to a universal wheel, and the steering assembly 142 may be located in front of the driving wheel assembly 141.

Drive motor 146 provides power to rotation of drive wheel assembly 141 and/or steering assembly 142 .

The driving wheel assembly 141 is detachably connected to the moving platform 100, so that detachability and maintenance are convenient. The driving wheel has a bias-down suspension system, is fixed in a movable manner to the mobile platform 100 of the automatic cleaning device, for example attached in a rotatable manner, and also has an elastic element 143, for example a tension While maintaining contact with the floor and traction with a constant landing force through a spring or compression spring, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a constant pressure.

The energy resource system 160 includes a rechargeable battery, for example, a nickel metal hydride battery and a lithium battery. The charge control circuit, the battery pack charging temperature detection circuit and the battery undervoltage monitor circuit are connected to the rechargeable battery, and the charge control circuit, the battery pack charging temperature detection circuit and the battery undervoltage monitor circuit are also connected to the single chip control circuit. The host device is connected to the charging pile through a charging electrode installed on the side or bottom of the main body to perform charging. If dust adheres to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the cumulative effect of electric charges during the charging process, and even the electrode itself is deformed, making it impossible to continue charging normally.

The human-device interaction system 170 includes buttons on the host device panel, where the buttons allow the user to proceed through function selection; Further comprising a display and/or indicator light and/or speaker, wherein the display, indicator light and speaker indicate to the user the current location of the device or function options; It further includes a mobile phone client program. In the path navigation type cleaning device, the mobile phone client can display to the user a map of the environment where the device is located and the location of the device, and provide richer and more humanized function items to the user.

The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400 .

As shown in Figs. 5 to 8, the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an outlet. The roller brush with constant interference with the floor sweeps and rolls up the rubbish on the floor and sends it to the front of the dust inlet between the roller brush and the dust box, and then is sucked into the dust box by the gas generated by the fan and with suction power passing through the dust box. let it The dust removal ability of the cleaning device is represented by the dust pickup efficiency (DPU), and the cleaning efficiency DPU is affected by the roller brush structure and material, and the dust inlet, dust box, fan, outlet and four-way connection means It is a complex system design problem because it is affected by the wind power utilization rate of the configured air path and the type and power factor of the fan. Compared to conventional wired vacuum cleaners, improvement in dust removal capability is of greater significance for automatic cleaning devices with limited energy resources. Because the improvement of dust removal ability can directly and effectively reduce the demand for energy resources, that is to say, a machine that originally cleans a floor of 80 square meters with a single charge can clean an area of 180 square meters or even more with a single charge. . In addition, the service life of a battery with a reduced number of recharges is greatly increased, and the frequency of replacement of the battery by the user is reduced. More intuitively and importantly, the improvement of dust removal ability is the most remarkable and important user experience, and the user can directly obtain a conclusion of whether or not the user has swept/wiped cleanly. The dry cleaning module further includes a side brush 152 having a rotating shaft, which is angled relative to the floor to move debris to the roller brush area of the cleaning module 150 .

Fig. 5 is a schematic diagram showing the structure of the dust box 152 in the dry cleaning module, Fig. 6 is a schematic diagram showing the structure of the fan 156 in the dry cleaning module, and Fig. 7 is a schematic diagram showing the structure of the dust box 152 in the open state. 8 is a schematic diagram showing the assembled state of the dust box and fan.

The roller brush, which has a certain interference with the floor, sweeps and rolls the rubbish on the floor, and sends it to the front of the dust inlet 154 between the roller brush and the dust box 152, which is then generated by the structure of the fan 156 and also the dust box 152. ) is sucked into the dust box 152 by a gas having a suction power via the filter net 153, and the garbage is isolated on one side close to the dust inlet 152 inside the dust box 152 by the filter net 153, and the filter net ( 153) completely separates the dust inlet from the outlet, and the filtered air enters the fan 156 through the outlet 155.

Typically, the dust inlet 154 of the dust box 152 is located in the front of the machine, the outlet 155 is located on the side of the dust box 152, the air inlet of the fan 156 and the outlet of the dust box are are joined to each other

The front panel of the dust box 152 is openable and is configured to clear the trash within the dust box 152 .

The filter net 153 and the box body of the dust box 152 are detachably connected, so it is convenient to detach and clean the filter net.

According to a specific embodiment of the present invention, as shown in FIGS. 9 to 11 , the wet cleaning module 400 provided in the present invention is configured to clean at least a portion of the operation surface by using a wet cleaning method; Here, the wet cleaning module 400 includes a cleaning head 410 and a driving unit 420, wherein the cleaning head 410 is configured to clean at least a portion of the operation surface, and the driving unit 420 ) is configured to drive the cleaning head 410 to basically reciprocate along a target surface, and the target surface is a part of the operation surface. The cleaning head 410 reciprocates along the surface to be cleaned, and a cleaning cloth or a cleaning plate is installed on the surface of the contact surface between the cleaning head 410 and the surface to be cleaned, and the surface to be cleaned and the surface to be cleaned are fixed through the reciprocating motion. It creates oscillatory friction to remove dirt on the surface to be cleaned.

The higher the friction frequency, the greater the number of frictions within a unit time, and the high-frequency reciprocating motion is also called reciprocating vibration, and the cleaning ability should be significantly higher than that of ordinary reciprocating motion, such as rotation, friction cleaning, selective Therefore, the friction frequency must be close to that of the sound wave, so that the cleaning effect can be much better than the rotational friction cleaning of several tens of revolutions per minute. In another aspect, the bristles on the surface of the cleaning head are stretched more consistently and uniformly in the same direction under the shaking of high-frequency vibration, so that the overall cleaning effect is more uniform. The cleaning effect is improved by increasing the friction force by applying a downward pressure, so that the bristles cannot be stretched in almost the same direction, so the water marks on the operation surface after cleaning with high frequency vibration are more uniform in effect, It does not leave a confusing material trail.

The reciprocating motion may refer to reciprocal motion along one or multiple directions within the operating surface, or may refer to vibration perpendicular to the operating surface, but is not strictly limited thereto. Optionally, the reciprocating direction of the cleaning module and the marching direction of the machine are substantially perpendicular, because the reciprocating direction parallel to the marching direction of the machine brings instability to the marching machine itself, and the driving force in the marching direction and This is because the resistance force makes the driving wheel slip easily, and the slipping effect is more noticeable when the wet cleaning module is included, and the wetness of the operating surface increases the slipping possibility, and the slipping makes the machine march and clean peacefully. In addition, it causes inaccuracy in distance measurement by sensors such as mileage and gyroscope, which prevents navigation-type automatic cleaning devices from accurately estimating and creating maps, in a situation where slippage frequently occurs, SLAM Since the effect on the product is not negligible, slipping of the device should be prevented whenever possible. In addition to slipping, the cleaning head motion component in the machine marching direction will cause the machine to constantly be subjected to forward and backward thrust when marching, so that the machine's march will be hesitant, unstable and not smooth.

As an optional embodiment of the present invention, as shown in FIG. 9, the drive unit 420 includes a drive platform 421 connected to the lower surface of the movable platform 100 and configured to provide a driving force; and a support platform 422 detachably connected to the driving platform 421, configured to support the cleaning head 410, and realizing elevation under the driving of the driving platform 421.

As an optional implementation of the present invention, an elevating module is installed between the cleaning module 150 and the mobile platform 100 to allow the cleaning module 150 to better contact the surface to be cleaned, or to use a different material. Different cleaning strategies can be applied to surfaces to be cleaned.

Optionally, the dry cleaning module 151 is connected to the movable platform 100 through a passive lifting module, so that when the cleaning device encounters an obstacle, the dry cleaning module 151 more conveniently moves through the lifting module. can exceed

Optionally, the wet cleaning module 400 is connected to the mobile platform 100 through an active elevating module, so that the wet cleaning module 400 does not participate in the operation for a while, or the wet cleaning module 400 is not involved. When it encounters a surface to be cleaned that cannot be cleaned by application, the wet cleaning module 400 is raised through the active lifting module and separated from the surface to be cleaned, so that the cleaning means can be changed.

As shown in FIGS. 10 and 11, the driving platform 421 is installed on one side of the driving platform 421 close to the moving platform 100, and a motor 4211 outputs power through a motor output shaft. ); a driving wheel 4212 connected to the motor output shaft and having an asymmetrical structure; It is installed on one side of the driving platform 421 opposite to the motor 4211, is connected to the driving wheel 4212, and realizes reciprocating motion under the asymmetrical rotation of the driving wheel 4212. means 4213.

The driving platform 421 may further include a gear mechanism. The gear mechanism may connect the motor 4211 and the driving wheel 4212. The motor 4211 may directly drive the drive wheel 4212 to rotate, or indirectly drive the drive wheel 4212 to rotate through a gear mechanism. As can be understood by those skilled in the art, the gear mechanism may be a single gear or a gear set composed of multiple gears.

The motor 4211 simultaneously transmits power to the cleaning head 410, the driving platform 421, the support platform 422, the water supply device, the water tank, and the like through the power transmission device. The energy resource system 160 provides power and energy resources to the motor 4211, and also performs overall control by the control system 130. The power transmission device may be gear transmission, chain transmission, belt transmission, or may be a worm wheel and worm.

The motor 4211 includes a forward output mode and a reverse output mode, in the forward output mode, the motor 4211 rotates forward, and in the reverse output mode, the motor 4211 rotates reversely, and the motor 4211 In the forward output mode of , the motor 4211, through the power transmission device, simultaneously drives the driving platform vibrating means 4213 in the wet cleaning module 400 to reciprocate in principle, and the water supply mechanism to move synchronously; , in the reverse output mode of the motor 4211, the motor 4211 can actuate the lifting of the driving platform 421 via the power transmission device.

Furthermore, the drive platform 421 extends along the edge of the drive platform 421 and connects the drive wheel 4212 and the vibrator 4213 so that the vibrator 4213 extends to a predetermined position. It further includes a connecting rod 4214, wherein the extension direction of the vibrating means 4213 is perpendicular to the connecting rod 4214, so that the reciprocating motion direction of the vibrating means 4213 and the marching direction of the machine are Make it generally vertical.

The motor 4211 is connected to the driving wheel 4212, the vibrating means 4213, the connecting rod 4214 and the vibration damping device 4215 through a power transmission device. Here, the vibrating means 4213 and the connecting rod 4214 are similar to the L-shaped structure, and as shown in Fig. 15, the vibrating means 4213 proceeds to reciprocate under the action of the connecting rod 4214. The vibration damping device 4215 acts to reduce shaking by damping the motion caused by the operation of the drive wheel 4212, and the vibration means 4213 within the motion amplitude range that the support platform 422 can provide. calms the vibrations of Optionally, the vibration damping device 4215 is a soft material, a rubber structure may be selected, and the vibration damping device 4215 is installed by covering the connecting rod 4214. In another aspect, the vibration damping device 4215 may protect the vibrating means 4213 and the driving platform 421 from colliding and being damaged, and thus may affect the reciprocating motion of the vibrating means 4213. . Between the movable means and the fixed means of the driving platform 421, the movement is restricted in a connection manner with relatively little elasticity in the machine marching direction, and the movement is movable in a direction substantially perpendicular to the marching direction, that is, in the vibration direction of the vibrating means 4213. It connects in a way and also allows for movement. Due to the motion restrictions of the above, the movement method of the vibrating means 4213 is not an exact reciprocation, but basically reciprocating. When the wet cleaning module 400 is running, the working operation of the motor 4211 starts forward rotation, and the motor 4211 passes through the driving wheel 4212 so that the connecting rod 4214 connects to the surface of the driving platform 421. At the same time, the vibration damping device 4215 causes the vibrating means 4213 to reciprocate basically along the surface of the driving platform 421, and the vibration means 4213 causes the cleaning substrate 4221 to reciprocate. ) along the surface of the support platform 422 and the cleaning substrate 4221 along with the movable region 412 in a fundamental reciprocating motion along the surface to be cleaned. At this time, the fresh water pump causes fresh water to flow out of the fresh water tank, sprays the fresh water onto the cleaning head 410 through the water dispensing device 4217, and the cleaning head 410 cleans the surface to be cleaned through reciprocating motion. .

The cleaning intensity/efficiency of the automatic cleaning device may be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device may detect surface physical information of a surface to be cleaned according to the detection system 120 to realize dynamic adjustment. For example, the detection system 120 detects information such as the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil or dust, and sends this information to the control system 130 of the automatic cleaning device. send. Correspondingly, the control system 130 instructs the automatic cleaning device to automatically and dynamically adjust the rotational speed of the motor and the transmission rate of the power transmission device according to the working environment of the automatic cleaning device, so that the cleaning head 410 The scheduled reciprocating period of the reciprocating motion can be adjusted.

For example, when the automatic cleaning device is working on a flat floor, the predetermined reciprocating period is automatically and constantly adjusted to be relatively long, and the quantity of pumps is automatically and continuously adjusted to be relatively small; When the automatic cleaning device is working on an uneven floor, the predetermined reciprocating period is automatically and generally adjusted to be relatively short, and the water quantity of the pump is automatically and continuously adjusted to be relatively large. This is because, against an uneven floor, a flat floor is relatively easy to clean, and an uneven floor requires the cleaning head 410 to reciprocate faster (ie higher frequency), and requires a larger quantity. do it with

Further, for example, when the automatic cleaning device is working on a desktop, the scheduled reciprocating period is automatically and constantly adjusted to be relatively long, and the quantity of pumps is automatically and continuously adjusted to be relatively small; When the automatic cleaning device 100 is working on the floor, the predetermined reciprocating period is automatically and constantly adjusted to be relatively short, and the water quantity of the pump is automatically and systematically adjusted to be relatively large. This is because, against the floor, there is relatively little dust and grease on the desktop, and the materials constituting the desktop are relatively easy to clean, so that the cleaning head 410 requires relatively few reciprocating movements, and the pump relatively You can clean your desktop with a relatively small amount.

As an optional embodiment of the present invention, the support platform 422 is freely movably installed on the platform 422, and the cleaning substrate 4221 basically reciprocates under the vibration of the vibration means 4213. ). Optionally, as shown in FIG. 16, the cleaning substrate 4221 includes an assembling gap 42211 installed at a position in contact with the vibrating means 4213, and the support platform 422 is driven by When connected on the platform 421, the vibrating means 4213 is assembled to the assembling gap 42211, so that the cleaning substrate 4221 synchronously and fundamentally reciprocates along the vibrating means 4213. do. The cleaning substrate 4221 includes four first limiting positions 42212 in the marching direction of the cleaning device, and the four first limiting positions 42212 and the cleaning substrate 4221 are softly coupled, but elastically stretchable. The space is relatively small, thereby limiting the movement of the cleaning substrate 4221 against the support platform 422 in the direction of cleaning apparatus marching; The cleaning substrate 4221 includes two second limiting positions 42213 in a direction perpendicular to the marching direction of the cleaning device, and the two second limiting positions 42213 clean in a direction perpendicular to the marching direction of the cleaning device. The range of the reciprocating motion of the substrate 4221 is limited. In addition, a water outlet hole 42214 is installed near the assembly gap 42211 of the cleaning substrate 4221, and water flowing out from the water outlet device 4217 flows through the water outlet hole to the cleaning head 410. Due to the influence of the limiting position and the vibration damping device, the motion of the cleaning substrate 4221 is basically a reciprocating motion. The cleaning substrate 4221 is placed on a portion of the support platform 422, and the local vibration mode can make the frequency of vibration the highest, reaching, for example, the range of sound waves. Between the movable means and the fixed means of the driving platform 421, the movement is restricted in a connection manner with relatively little elasticity in the machine marching direction, and the motion is movable in a direction substantially perpendicular to the marching direction, that is, in the vibration direction of the vibrating means 4213. It connects in a way and also allows movement.

Fig. 12 shows a cleaning head driving mechanism 500 based on another crank slider mechanism of multiple embodiments of the present invention. The driving mechanism 500 may be applied on the driving platform 421 . The driving mechanism 500 includes a driving wheel 4212, a vibrating means 4213, a cleaning substrate 4221, a sliding groove 4222 (first sliding groove) and a sliding groove 4223 (second sliding groove). .

Sliding grooves 4222 and 4223 are established on the support platform 422. Both ends of the cleaning substrate 4221 include a slider 525 (first slider) and a slider 528 (second slider), respectively. The sliders 525 and 528 are one projection on both ends of the cleaning substrate 4221, respectively. The slider 525 is inserted into the sliding groove 4222 and slides along the sliding groove 4222; The slider 528 is inserted into the sliding groove 4223 and slides along the sliding groove 4223. In some embodiments, the sliding groove 4222 is on the same straight line as the sliding groove 4223. In some embodiments, sliding groove 4222 and sliding groove 4223 are not on the same straight line. In some embodiments, the sliding groove 4222 extends along the same direction as the sliding groove 4223. In some embodiments, the extending direction of the sliding groove 4222 and the sliding groove 4223 is the same as the extending direction of the cleaning substrate 4221 . In some embodiments, the extending direction of the sliding groove 4222 and the sliding groove 4223 is different from the extending direction of the cleaning substrate 4221 . In some embodiments, the extension directions of the sliding groove 4222 and the sliding groove 4223 are different. For example, as shown in Fig. 12, the extending direction of the sliding groove 4222 is the same as the extending direction of the cleaning substrate 4221, and the extending direction of the sliding groove 4223 is the extending direction of the sliding groove 4222. forms a constant angle with

The vibrating means 4213 includes a rotating stage 512 and a sliding stage 514. The rotating end 512 is connected with the driving wheel 4212 through a first pivot 516, and the sliding end 514 is connected with the cleaning substrate 4221 through a second pivot 518.

The rotation center of the drive wheel 4212 is point O, and the pivot center of the first pivot 516 is point A. Points O and A are not superimposed, and the distance between them is a predetermined distance d.

When the driving wheel 4212 rotates, point A makes a circular rotational motion together. Correspondingly, the rotating stage 512 makes a circular rotational motion along point A; The sliding end 514 moves the cleaning substrate 4221 to slide through the second pivot 518 . Correspondingly, the slider 525 of the cleaning substrate 4221 proceeds in a reciprocating linear motion along the sliding groove 4222; The slider 528 performs a reciprocating linear motion along the sliding groove 4223. 4, the moving speed of the moving platform 210 is V0, and the moving direction is the target direction. In some embodiments, when the sliding groove 4223 and the sliding groove 4222 are each substantially perpendicular to the direction of the movement speed V0 of the moving platform 210, the overall positional movement of the cleaning substrate 4221 is substantially in the target direction. is perpendicular to In some other embodiments, when one of the sliding grooves 4223 and 4222 forms an angle other than 90 degrees with respect to the target direction, the overall positional movement of the cleaning substrate 4221 is the target direction. A component perpendicular to the direction and a component parallel to the target direction are simultaneously included.

Furthermore, it includes a vibration damping device 4215 installed on the connecting rod 4214 and configured to reduce vibration on a specific direction, in this embodiment, which is on the moving component direction perpendicular to the automatic cleaning device target direction. configured to reduce vibration.

Fig. 13 shows another double-crank mechanism based cleaning head drive mechanism 600 of multiple embodiments of the present invention. The driving mechanism 600 may be applied on the driving platform 421 . The drive mechanism 600 includes a drive wheel 4212 (first drive wheel), a drive wheel 4212' (second drive wheel), and a cleaning substrate 4221 .

The cleaning substrate 4221 has both ends. The first stage is connected through the pivot 624 (first pivot) with the driving wheel 4212; The second stage is coupled through a pivot 626 (second pivot) with the drive wheel 4212'. The rotation center of the driving wheel 4212 is point O, and the pivot center of the pivot 624 is point A. Points O and A are not superimposed, and the distance between them is a predetermined distance d. The rotation center of the drive wheel 236 is point O', and the pivot center of the pivot 626 is point A'. Points O' and A' are not overlapped, and the distance between them is a predetermined distance d. In some embodiments, point A, point A', point O and point O' are located on the same plane. Thus, the driving wheel 4212, the driving wheel 4212' and the cleaning substrate 4221 form a double crank mechanism (or parallelogram mechanism), wherein the cleaning substrate 4221 is used as a coupling rod, and the driving wheel ( 4212) and drive wheel 4212' are used as two cranks.

Furthermore, it includes a vibration damping device 4215 installed on the connecting rod 4214 and configured to reduce vibration on a specific direction, in this embodiment, which is on the moving component direction perpendicular to the automatic cleaning device target direction. configured to reduce vibration.

Figure 14 shows a drive mechanism 700 based on the crank slider mechanism of several embodiments of the present invention. The driving mechanism 700 may be applied on the driving platform 421 . The driving mechanism 700 includes a driving wheel 4212, a cleaning substrate 4221 and a sliding groove 4222.

A sliding groove 4222 is established on the support platform 422 . The cleaning substrate 4221 includes a rotating stage 4227 and a sliding stage 4226 . Rotating end 4227 is coupled onto drive wheel 4212 via pivot 4228. Here, the rotation center of the drive wheel 4212 is point O, and the pivot center of the rotation stage pivot 4228 is point A. Points O and A are not superimposed, and the distance between them is a predetermined distance d. The sliding end 4226 includes a slider 4225. The slider 4225 is one projection on the sliding end 4226. The slider 4225 is inserted into the sliding groove 4222 and slides along the sliding groove 4222 . Thus, the drive wheel 4212, the cleaning substrate 4221, the slider 4225 and the sliding groove 4222 constitute a crank slider mechanism.

When the drive wheel 4212 rotates, point A makes a circular rotational motion. Correspondingly, the rotating end 4227 of the cleaning substrate 4221 makes a circular rotational motion along point A; The slider 4225 slides along the sliding groove 4222 and performs a reciprocating linear motion. As a result, the cleaning substrate 4221 starts to reciprocate. According to some embodiments, the sliding groove 4222 is in a direction substantially perpendicular to the target direction of the moving speed of the moving platform, so that the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, The circular rotational motion of the rotating stage 4227 includes a component perpendicular to the target direction and a component parallel to the target direction at the same time.

In Fig. 14, the moving speed of the moving platform is V0, and the moving direction is the target direction; The sliding groove 4222 is substantially perpendicular to the target direction. At this time, the overall reciprocating motion of the cleaning substrate 4221 not only has a movement component parallel to the target direction of the automatic cleaning device, but also has a movement component perpendicular to the target direction of the automatic cleaning device.

Furthermore, the support platform 422 is installed on at least one side of the support platform 422, and the support platform 422 is configured to be detachably connected to the clamping jaw 4216 of the driving platform 421 Elastic attachment and detachment It further comprises a button 4229, whereby the support platform 422 is removably mechanically secured on the drive platform 421 and secured against the drive platform and the automatic cleaning device itself. At least one assembly section 4224 is installed on the support platform 422 and is configured to assemble the cleaning head 410 . Assembly area 4224 may be formed of an adhesive material having an adhesive layer.

In an optional embodiment of the present invention, as shown in FIG. 9 , the cleaning head 410 is connected to the cleaning substrate 4221, and the cleaning substrate 4221 is driven along the cleaning surface as a base. It includes a movable region 412 that proceeds with an upward reciprocating motion. The movable section 412 is installed at a generally central location of the cleaning head 410 .

Optionally, an adhesive layer is installed on one side of the movable region 412 to which the cleaning substrate 4221 is connected, and the movable region 412 and the cleaning substrate 4221 are connected through the adhesive layer.

Optionally, the cleaning head 410 is connected to the bottom of the support platform 422 through the at least one assembly section 4224, and moves at least a portion of the operation surface according to the movement of the support platform 422. It further includes a fixed zone 411 to clean.

Furthermore, the cleaning head 410 includes a flexible connection part 413 installed between the fixed section 411 and the movable section 412 and configured to connect the fixed section 411 and the movable section 412. more includes The cleaning head 410 further includes a sliding buckle 414 that extends along an edge of the cleaning head 410 and is detachably installed at a hooking position 4225 of the support platform 422 .

In an optional embodiment of the present invention, as shown in FIG. 9, the cleaning head 410 is made of a material having certain elasticity, and the cleaning head 410 is fixed to the surface of the support platform 422 through an adhesive layer. It becomes and realizes reciprocating motion. When the cleaning head 410 is working, the cleaning head 410 is always in contact with the surface to be cleaned.

The water supply mechanism includes a water extraction device 4217, and the water extraction device 4217 is directly or indirectly connected to a cleaning liquid outlet of a water tank (not shown), that is, a liquid outlet of a fresh water tank, wherein the cleaning liquid is water It flows through the cleaning liquid outlet of the tank to the water dispensing device 4217, and is evenly applied on the surface to be cleaned through the dispensing device. A connection means (not shown in the drawing) is installed on the water extraction device, and the water extraction device is connected to the cleaning liquid outlet of the water tank through the connection means. A distribution hole is installed on the water extraction device, and the distribution hole may be a continuous opening or a combination of several separate small openings, and a plurality of nozzles may be installed on the side of the distribution hole. The cleaning liquid flows through the cleaning liquid outlet of the water tank and the connecting means of the water extraction device to the distribution port, and is uniformly applied on the operation surface through the distribution port.

The water supply mechanism further includes a fresh water pump 4219 and/or a fresh water pump pipe 4218, and the fresh water pump 4219 and the cleaning liquid outlet of the water tank may communicate directly or through the fresh water pump pipe 4218. there is.

The fresh water pump 4219 is connected to the connecting means of the water extraction device, and pumps the cleaning liquid from the water tank to the water extraction device. The fresh water pump may be a gear pump, a vane pump, a plunger pump, a peristaltic pump, or the like.

The water supply mechanism extracts the cleaning liquid from the fresh water tank through the fresh water pump 4219 and the fresh water pump pipe 4218 and transports it to a water extraction device. is evenly distributed over the cleaning head, thereby wetting the cleaning head and the surface to be cleaned. After wetting, dirt on the surface to be cleaned can be cleaned up more easily. In the wet cleaning module 400, the power/flow rate of the fresh water pump may be adjusted.

Further, as shown in FIG. 17, the motor 4211 operates the flow of the fresh water pump 4219 through the gear set 42193, and fresh water enters the inlet 42191 through the flow of the fresh water pump 4219. and discharged from the water outlet 42192, transported to the water outlet device 4217 again through the fresh water pump pipe 4218, and passing through the water outlet device 4217, discharged water from the outlet hole to the cleaning head 410 flow to

Further, as shown in FIG. 18, the motor 4211 drives the rotation of the cable gear 42196 via the gear set 42193, and the cable 42194 is wound on the cable gear 42196, and the cable 42196 ) is hung on the driving platform 421, and the cable gear 42196 can pull the cable 42194 up or down to realize the lifting and lowering of the driving platform 421. The cable gear 42196 and the cable 42194 are key components of the lift module.

A clutch 42195 is installed on the gear set 42193 and the cable gear 42196, the clutch 42195 includes a spring and a plate-shaped means, and controls the clutching of the clutch 42195 to control the motor 4211 ) realizes control of the three movement modules, drives the vibration of the vibrating means by rotating in one direction, and at the same time realizes the water supply of the fresh water pump 4219, and rotates in the reverse direction to move up and down through the cable 42194. The lifting of the module can be driven. Optionally, through the combination design of the gear set, it is possible to realize the control of different combination forms of the three motion modules, for example, the fresh water pump rotates in one direction to supply water, and in the reverse direction controls the lifting and vibration. can be realized. Optionally, it is also possible to realize control for three movement modules with two motors, but the cost may be increased by using one more motor.

In the integrated sweep and wet mop cleaning device provided by the present invention, a dry cleaning module and a wet cleaning module are installed in the cleaning module of the automatic cleaning device, so that a more comprehensive cleaning function can be provided. In addition, in the wet cleaning module, by adding a drive unit and a vibrating zone, the cleaning head makes a reciprocating motion, and repeatedly cleans the surface to be cleaned, so that in the motion trajectory of the cleaning robot, one circuit Since several times of cleaning can be realized when passing through a certain area, the cleaning effect is greatly strengthened, and the cleaning effect can be particularly remarkable for areas with relatively large amounts of dirt.

By installing sensors such as surface media sensors that can detect the surface type of the surface to be cleaned, the lifting module makes the wet cleaning module perform cleaning operations according to different surfaces to be cleaned, for example, on carpet surfaces, wet The cleaning module is raised, and the wet cleaning module is put down on the surface such as the floor/floor tile to perform cleaning, so that a more comprehensive cleaning effect can be realized. Finally, it should be noted: each embodiment of the present invention is described in a gradual manner, the focus of each embodiment is different from that of other embodiments, and the same or similar parts in each embodiment refer to each other. You can do it. In the system or device disclosed in the embodiment, it is simply described by corresponding to the method disclosed in the embodiment, and reference is made to the description of the method part for related aspects.

The above embodiments are merely illustrative of the technical means of the present invention, but are not intended to be limiting; Although the detailed description of the present invention has been carried out with reference to the above embodiments, those skilled in the art can understand: The technical means described in each of the above embodiments can still be modified, or any of them Equivalent redemption may be made for partial technical features; Such modification or substitution cannot deviate the essence of the corresponding technical means from the spirit and scope of the technical means of each embodiment of the present invention.

moving platform: 100; backward part: 110, forward part: 111; Sensing system: 120; positioning device: 121; Buffer: 122; cliff sensor: 123; control system: 130; drive system: 140; drive wheel assembly: 141; steering assembly: 142; elastic element: 143; drive motor: 146; Cleaning module: 150; Dry cleaning module: 151; dust box: 152; filter net: 153; dust intake: 154; outlet: 155; Pan: 156; Energy resource system: 160; human-device interaction system: 170; Wet cleaning module: 400; cleaning head: 410; drive unit: 420; Driving platform: 421 ; support platform: 422; Motor: 4211; drive wheel: 4212; Vibration means: 4213; Connection rod: 4214; Vibration dampener: 4215; clamping jaws: 4216; fresh water pump line: 4218; Fresh Water Pump: 4219; cleaning substrate: 4221; Elastic detachable button: 4229; Assembly Area: 4224; hang position: 4225; First sliding groove: 4222; Second sliding groove: 4223; 1st slider: 525; 2nd slider: 528; Rotating Ends: 512 (4227); sliding end: 514 (4226); 1st Pivot: 516 (624); 2nd Pivot: 518 (626); Drive Mechanism: 500 (600, 700).

Claims (19)

A mobile platform 100 that automatically moves on the operating surface;
a cleaning module 150 installed on the moving platform 100; As an automatic cleaning device comprising a,
The cleaning module 150,
A dry cleaning module 151 for cleaning at least a portion of the operation surface using a dry cleaning method;
A wet cleaning module 400 for cleaning at least a portion of the operation surface using a wet cleaning method; Here, the wet cleaning module 400,
A cleaning head 410 configured to clean the operation surface, and
and a driving unit 420 configured to drive the cleaning head 410 so as to basically perform a reciprocating motion along a target surface in a direction substantially parallel to a moving direction of the automatic cleaning device, the target surface being the operation surface. Automatic cleaning device, characterized in that being part of. According to claim 1,
The drive unit 420,
a driving platform 421 connected to a lower surface of the moving platform 100 and configured to provide a driving force;
a support platform 422 detachably connected to the driving platform 421 and configured to support the cleaning head 410; Automatic cleaning device comprising a. According to claim 2,
The driving platform 421,
a motor 4211 installed on one side of the driving platform 421 close to the moving platform 100 and outputting power through a motor output shaft;
a driving wheel 4212 connected to the motor output shaft and having an asymmetrical structure; Automatic cleaning device comprising a. According to claim 3,
The driving platform 421,
It is installed on one side of the driving platform 421 opposite to the motor 4211, is connected to the driving wheel 4212, and realizes that the driving wheel 4212 basically reciprocates under the asymmetrical rotation. Automatic cleaning device characterized in that it further comprises a vibrating means (4213). According to claim 4,
The driving platform 421,
A connecting rod 4214 extending along the edge of the driving platform 421 and connecting the driving wheel 4212 and the vibrating means 4213 so that the vibrating means 4213 extends to a predetermined position is further provided. An automatic cleaning device comprising: According to claim 5,
The automatic cleaning device, characterized in that the vibrating means (4213) has a rod-shaped structure, and its extending direction is perpendicular to the connecting rod (4214). According to claim 5,
The automatic cleaning device, characterized in that the driving platform includes a vibration damping device (4215) installed on the connecting rod (4214). According to claim 2,
The support platform 422,
and a cleaning substrate 4221 freely movably installed on the support platform 422 and reciprocating in principle relative to the support platform 422 under the vibration of the vibration means 4213. automatic cleaning device. According to claim 8,
The cleaning substrate 4221,
It includes an assembling gap 42211 installed at a position in contact with the vibrating means 4213, and when the support platform 422 is connected to the driving platform 421, the vibrating means 4213 is the assembly An automatic cleaning device characterized in that it is assembled in the gap (42211). According to claim 2 or 8,
The support platform 422,
The automatic cleaning device further comprises a detachable button 4229 configured to detachably connect the support platform 422 to the driving platform 421. According to claim 8,
The support platform 422,
and at least one assembly section (4224) installed on the support platform (422) and configured to assemble the cleaning head (410). According to claim 11,
The cleaning head 410,
and a movable region 412 connected to the cleaning substrate 4221 and basically reciprocating along the target surface under the driving of the cleaning substrate 4221. According to claim 12,
An adhesive layer is installed on one side of the movable region 412 to which the cleaning substrate 4221 is connected, and the movable region 412 and the cleaning substrate 4221 are connected through the adhesive layer. . According to claim 13,
The cleaning head 410,
A fixing section 411 connected to the bottom of the support platform 422 through the at least one assembly section 4224 and cleaning at least a portion of the operating surface according to the movement of the support platform 422 is further included. An automatic cleaning device characterized in that for doing. According to claim 14,
The cleaning head 410,
Automatic cleaning characterized in that it further comprises a flexible connection portion 413 installed between the fixed section 411 and the movable section 412 and configured to connect the fixed section 411 and the movable section 412. Device. According to claim 13,
The cleaning head 410,
The automatic cleaning device further comprises a sliding buckle 414 extending along an edge of the cleaning head 410 and detachably installed on the support platform 422. According to claim 1,
An automatic cleaning device, characterized in that an elevation module is installed between the cleaning module (150) and the moving platform (100). According to claim 17,
The automatic cleaning device, characterized in that the dry cleaning module (151) is connected to the mobile platform (100) through a passive lifting module. According to claim 17,
The wet cleaning module 400 is an automatic cleaning device, characterized in that connected to the mobile platform 100 through an active lifting module.