TWI830202B - Automatic cleaning device - Google Patents

Abstract

The present invention provides an automatic cleaning device, comprising: a mobile platform configured to automatically move on an operation surface; a cleaning module disposed on the mobile platform, including: a wet cleaning module configured to adopt a wet cleaning mode for cleaning at least a part of the operation surface; a lifting structure connected with the wet cleaning module, configured to enable the wet cleaning module to move up and down relative to the mobile platform; a cleaning liquid module configured to provide cleaning liquid for the wet cleaning module; a driving mechanism including a first driving component and a second driving component. The present invention enables the cleaning device to coordinately control the operation of the wet cleaning module, the lifting structure and the cleaning liquid module.

Description

Automatic cleaning equipment

The present invention relates to the technical field of cleaning robots, and specifically to an automatic cleaning equipment.

Cleaning robots currently mainly include sweeping robots and mopping robots. The functions of sweeping robots and mopping robots are relatively single. They can only sweep or mop the floor. If you want to sweep and mop the floor at the same time, you must prepare two sets of equipment at the same time, occupying double the space.

In the existing technology, there are also combinations of sweeping robots and mopping robots, and adding a mop at the end of the robot to achieve integrated sweeping and mopping. However, the mopping function in this integrated cleaning only uses one mop to translate on the ground. , a single mopping operation in the moving trajectory of the cleaning robot will greatly reduce the mopping effect and efficiency. Especially for some environments with a lot of stains and dirty floors, one move of mopping obviously cannot clean the floor.

The purpose of this disclosure is to provide an automatic cleaning equipment that can solve the technical problem that the ground cannot be cleaned. The specific solution is as follows: According to the first aspect of the present disclosure, an automatic cleaning equipment is provided, including: The mobile platform 100 is configured to automatically move on the operating surface; the cleaning module 150 is provided on the mobile platform 100 and includes: a wet cleaning module 400 configured to clean the operating surface using a wet cleaning method At least a part of; the lifting structure 500 is connected to the wet cleaning module 400 and is configured to enable the wet cleaning module 400 to move up and down relative to the mobile platform 100; the cleaning liquid module is the The wet cleaning module 400 provides cleaning fluid; the driving mechanism 900 includes a first driving component 901 and a second driving component 902, wherein the first driving component 901 is configured to be able to provide the wet cleaning module 400, Provide power to at least one of the lifting structure 500 and the cleaning fluid module; the second driving component 902 is configured to be able to provide power to at least one of the wet cleaning module 400, the lifting structure 500 and the cleaning fluid module that is not connected to the third A drive assembly 901 is connected to at least one of the drive components 901 to provide power.

Optionally, the driving mechanism 900 further includes: at least two power structures 910, which are respectively connected to the first driving component 901 and the second driving component 902 for providing driving force.

Optionally, the driving mechanism 900 further includes: a gear set 42193, connected to the power structure 910, and used to output driving force for the first driving component 901 and/or the second driving component 902.

Optionally, the driving mechanism 900 further includes: a clutch 42195, which is meshed and connected with the gear set 42193, and provides driving force when the clutch 42195 and the gear set 42193 mesh in reverse. No driving force is provided when 42195 and the gear set 42193 are not engaged in the forward direction.

Optionally, the clutch 42195 includes: a first clutch gear 421951 and a second clutch gear 421952 arranged oppositely, wherein the second clutch gear 421952 has teeth arranged at an oblique angle in the counterclockwise direction, so that when the first clutch gear 421952 The second clutch gear 421952 provides driving force when the second clutch gear 421952 meshes with the gear set 42193 in the reverse direction, and does not provide driving force when the second clutch gear 421952 does not mesh with the gear set 42193 in the forward direction.

Optionally, the driving mechanism 900 further includes: a cable gear 42196, which meshes with the first clutch gear 421951 and rotates driven by the first clutch gear 421951.

Optionally, the lifting assembly 500 further includes: a cable 42194, one end of which is wound around the cable gear 42196, and the other end is connected to the lifting structure 500, which is driven by the gear set 42193 to pull the lifting structure. 500 rise and fall.

Optionally, the power structure 910 is a clean water pump 4219, which provides power for the cleaning liquid module and provides cleaning liquid for the wet cleaning module 400.

Optionally, the gear set 42193 includes: a primary transmission gear 421931, connected to the output shaft of the motor 4211, for outputting the driving force of the motor; a secondary transmission gear 421932, meshing with the primary transmission gear 421931, for The driving force of the motor is output to the cable gear 42196; the third-stage transmission gear 421933 meshes with the second-stage transmission gear 421932 and is used to output the driving force of the motor to the clean water pump 4219.

Optionally, the motor 4211 output shaft includes an output gear 42111, and the The first-stage transmission gear 421931 meshes and is used to output the driving force of the motor.

Optionally, the driving mechanism 900 also includes: a driving wheel 4212, connected to the motor output shaft, the driving wheel 4212 having an asymmetric structure; a vibration member 4213, connected to the driving wheel 4212, when the driving wheel The wheel 4212 realizes reciprocating motion under asymmetric rotation.

Optionally, the power structure 910 is a motor 4211, used to provide forward and reverse driving force.

Optionally, the clean water pump 4219 is a peristaltic pump. The clean water pump meshes with the gear set 42193, and is driven by the gear set 42193 to provide power for the cleaning liquid module and for the wet cleaning mode. Group 400 provides cleaning fluid.

Optionally, the clean water pump 4219 is an air pump, which provides power for the cleaning liquid module and provides cleaning liquid for the wet cleaning module 400 .

Optionally, the driving mechanism 900 includes a third driving component 903. The first driving component 901, the second driving component 902, and the third driving component 903 are respectively connected with the wet cleaning module 400, The lifting structure 500 is connected to the cleaning fluid module.

According to a second aspect of the present disclosure, an automatic cleaning device is provided, including: a mobile platform 100 configured to automatically move on an operating surface; a cleaning module 150 disposed on the mobile platform 100, including: wet cleaning The module 400 is configured to clean at least a part of the operating surface using a wet cleaning method; the lifting structure 500 is connected to the wet cleaning module 400 and is configured to In response to obstacles or ups and downs on the operating surface, the wet cleaning module 400 is moved up and down relative to the mobile platform 100 and the operating surface; wherein, the wet cleaning module 400 includes: A cleaning head 410 for cleaning the operating surface, and a driving unit 420 for driving the cleaning head 410 to reciprocate along a target surface, the target surface being a part of the operating surface.

Optionally, the lifting structure 500 is a parallelogram structure, including: a first connection end 501 for providing active force to make the dry cleaning module 151 or the wet cleaning module 400 rise and sink. Switching between states; the second connection end 502 is arranged opposite to the first connection end 501 and rotates under the action of the main force.

Optionally, the first connection end 501 includes: a first bracket 5011, fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 includes: a cross beam 50111; a chute 50112, extending along the surface of the cross beam 50111 , and a clamping hole 50113 is provided through the cross beam 50111 at the extended end of the chute 50112.

Optionally, the first connection end 501 also includes: a first connecting rod pair 5012, one end is rotatably connected to the mobile platform 100, and the other end is rotatably connected to the dry cleaning module 151 or wet cleaning module 151. Cleaning module 400; the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 arranged in parallel. The first ends of the first connecting rod 50121 and the second connecting rod 50122 pass through movable studs. The second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through movable studs.

Optionally, the lifting structure 500 also includes a cable assembly 42194, which is used to provide lifting power to rotate the first connecting rod pair 5012 within a preset angle; the cable assembly 42194 includes: a cable motor Terminal 50131 is connected to the drive unit 420; cable bracket terminal 50132 is connected to the first bracket 5011, and the motor connects the first connecting rod 50121 and the second connecting rod 50122 through the cable 42194. The second end rises or sinks.

According to a third aspect of the present disclosure, an automatic cleaning device is provided, including: a mobile platform 100 configured to automatically move on an operating surface; a cleaning module 150 disposed on the mobile platform 100, including: a dry cleaning module The group 151 is configured to clean at least a portion of the operating surface using a dry cleaning method; the wet cleaning module 400 is configured to clean at least a portion of the operating surface using a wet cleaning method; wherein, the The wet cleaning module 400 includes: a cleaning head 410 for cleaning the operating surface, and a driving unit 420 for driving the cleaning head 410 to substantially reciprocate along the target surface, and the direction of the reciprocation is Approximately perpendicular to the direction in which the mobile platform moves on the operating surface, the target surface is a part of the operating surface.

Optionally, the driving unit 420 includes: a driving platform 421, connected to the bottom surface of the mobile platform 100, for providing driving force; a support platform 422, detachably connected to the driving platform 421, for supporting Support the cleaning head 410.

Optionally, the driving platform 421 includes: a motor 4211, which is disposed on the side of the driving platform 421 close to the mobile platform 100, and outputs power through a motor output shaft; a driving wheel 4212, connected to the motor output shaft, The driving wheel 4212 has an asymmetric structure.

Optionally, the driving platform 421 also includes: a vibration member 4213, which is disposed on the opposite side of the driving platform 421 to the motor 4211 and is connected to the driving wheel 4212. The driving wheel 4212 is asymmetrical. Basically reciprocating motion is achieved under the rotation.

Optionally, the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421 to connect the driving wheel 4212 and the vibrating member 4213, so that the vibrating member 4213 extends to a preset position.

According to a fourth aspect of the present disclosure, an automatic cleaning device is provided, including: a mobile platform 100 configured to automatically move on an operating surface; a cleaning module 150 disposed on the mobile platform 100, including: wet cleaning The module 400 is configured to clean at least a portion of the operating surface in a wet cleaning manner; wherein the wet cleaning module 400 includes: a cleaning head 410 for cleaning the operating surface, and a driving At least a part of the cleaning head 410 is a driving unit 420 that substantially reciprocates along a target surface, which is a part of the operating surface, and the reciprocating movement frequency is greater than 2000 times per minute.

Optionally, the driving unit 420 includes: a driving platform 421, connected to the bottom surface of the mobile platform 100, for providing driving force; the driving platform 421 includes: a motor 4211, which is disposed close to the driving platform 421. One side of the mobile platform 100 outputs power through the motor output shaft; the driving wheel 4212 is connected to the motor output shaft, and the driving wheel 4212 has an asymmetric structure.

Optionally, the driving unit 420 includes: a support platform 422, which is detachably connected to the driving platform 421 and used to support the cleaning head 410.

Optionally, the driving platform 421 also includes: a vibration member 4213, which is disposed on the opposite side of the driving platform 421 to the motor 4211 and is connected to the driving wheel 4212. The driving wheel 4212 is asymmetrical. Basically reciprocating motion is achieved under the rotation.

Optionally, the frequency of the reciprocating motion of the vibration member 4213 is greater than 2000 times per minute.

Compared with the existing technology, embodiments of the present invention have the following technical effects: The present invention provides an automatic cleaning equipment, in which a plurality of driving mechanisms are respectively connected to the wet cleaning device, the lifting structure and the cleaning liquid module. With the cooperation of clutches, gear sets, etc., multiple driving mechanisms synchronously or asynchronously control the working combination of the wet cleaning device, lifting structure and cleaning fluid module to achieve a variety of cleaning effects. In addition, multiple driving mechanisms are connected separately, which reduces the workload of the driving mechanism and increases the service life of the overall machine.

An automatic cleaning equipment provided by the present invention provides a lifting structure. When the automatic cleaning equipment encounters an obstacle or an undulating surface on the operating surface, the passive lifting structure adjusts the wet cleaning according to the height of the obstacle or the undulating degree of the surface. The height of the device significantly improves the passing performance and cleaning effect of the automatic cleaning equipment.

An automatic cleaning equipment provided by the present invention provides a wet cleaning module. The direction of the reciprocating motion of the wet cleaning module's vibration cleaning is perpendicular to the moving direction of the automatic cleaning equipment, thus avoiding the movement of the automatic cleaning equipment to the greatest extent. The impact on the wet cleaning effect achieves the best cleaning efficiency and shortest cleaning path of the wet cleaning module, and further saves the service life of the automatic cleaning equipment.

An automatic cleaning equipment provided by the present invention provides a wet cleaning module. The vibration cleaning reciprocating motion frequency of the wet cleaning module is greater than 2000 times per minute, that is, a frequency exceeding 2000 Hz, and 20 Hz and above. The frequency is the sound frequency that the human ear can hear. Such high-frequency vibration greatly improves the cleaning effect and efficiency.

100:Mobile platform

110: Rear facing part

111: Forward part

120: Perception system

121: Position determination device

122:Buffer

123:Cliff Sensor

130:Control system

140:Drive system

141:Driving wheel assembly

142: Steering assembly

143: Elastic element

146: Drive motor

150:Cleaning module

151: Dry cleaning module

152:dust box

153:Filter

154:Vacuum suction port

155:Air outlet

156:Fan

160:Energy Systems

170:Human-computer interaction system

400: Wet cleaning module

410: Cleaning head

411: Fixed area

412:Activity area

413: Flexible connection part

414:Sliding buckle

420: drive unit

421:Drive platform

422:Support platform

500: Four-link lifting structure

500’: Vibration drive mechanism

501: first connection end

502: Second connection end

512: Rotary end

514: Sliding end

516:First pivot

518:Second pivot

525:Slider

528:Slider

600: Floating lifting structure

600’: Vibration drive mechanism

601: First fixed bracket

602: Second fixed bracket

603: Connecting rod pair

624:First pivot

626:Second pivot

700’: Vibration drive mechanism

900:Driving mechanism

901: First drive component

902: Second drive component

903:Third drive component

910: Power structure

4211:Motor

4212:Driving wheel

4212’: Driving wheel

4213: Vibrating parts

4214:Connecting rod

4215:Vibration buffer device

4216:Claw

4217:Water outlet device

4218: Clean water pump pipe

4219: Clean water pump

4221: Clean the substrate

4222:Chute

4223:Chute

4224: Assembly area

4225:Clamping position

4226: Sliding end

4227: Rotary end

4228:Pivot

4229: Elastic removal button

5011:First bracket

5012: First connecting rod pair

5021: Second bracket

5022: Second connecting rod pair

6011:First fixed department

6012:Second fixed part

6031: First connecting rod pair

6032: Second connecting rod pair

42111:Output gear

42191:Water inlet

42192:Water outlet

42193:Gear set

42194:Raso

42195:Clutch

42196: Cable gear

42211: Assembly gap

42212: first limit bit

42213: The second limit bit

42214:Water hole

50111: Cross beam

50112:Chute

50113: card hole

50114:The first longitudinal beam

50115:Second stringer

50121: First connecting rod

50122: Second connecting rod

50131: Cable motor terminal

50132: Cable bracket terminal

50221:Third connecting rod

50222:Fourth connecting rod

60311: First connecting rod

60312: Second connecting rod

60321:Third connecting rod

60322:Fourth connecting rod

421931:First stage transmission gear

421932:Secondary transmission gear

421933:Three-stage transmission gear

421951:First clutch gear

421952:Second clutch gear

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts. In the drawings: Figure 1 is a perspective view of an automatic cleaning device according to an embodiment of the present invention.

Figure 2 is a schematic diagram of the bottom structure of the automatic cleaning equipment according to one embodiment of the present invention.

Figure 3 is a perspective view of a side driving wheel assembly according to an embodiment of the present invention.

Figure 4 is a front view of a side driving wheel assembly according to an embodiment of the present invention.

Figure 5 is a perspective view of the dust box according to one embodiment of the present invention.

Figure 6 is a perspective view of a fan according to an embodiment of the present invention.

Figure 7 is a schematic diagram of the dust box in an open state according to an embodiment of the present invention.

Figure 8 is a schematic diagram of the dust box and fan combination state according to an embodiment of the present invention.

Figure 9 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.

Figure 10 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present invention.

Figure 11 is a structural diagram of a vibrating member of an automatic cleaning equipment according to an embodiment of the present invention.

Figure 12 is a schematic diagram of a cleaning head driving mechanism based on a slider-crank mechanism according to another embodiment of the present invention.

Figure 13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present invention.

Figure 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present invention.

Figure 15 is a structural diagram of a vibrating element according to an embodiment of the present invention.

Figure 16 is a schematic diagram of the assembly structure of the cleaning substrate according to one embodiment of the present invention.

Figure 17 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present invention.

Figure 18 is a structural diagram of a motor-driven lifting module according to an embodiment of the present invention.

Figure 19 shows the raised state of the automatic cleaning device according to one embodiment of the present invention. intention.

Figure 20 is a schematic diagram of the sinking state of the automatic cleaning equipment according to an embodiment of the present invention.

Figure 21 is a schematic diagram of the raised state of the four-link lifting structure according to an embodiment of the present invention.

Figure 22 is a schematic diagram of the sinking state of the four-link lifting structure according to an embodiment of the present invention.

Figure 23 is a schematic structural diagram of the second end of the four-link lifting structure according to an embodiment of the present invention.

Figure 24 is a schematic structural diagram of the sinking state of the dry cleaning module according to one embodiment of the present invention.

Figure 25 is a schematic structural diagram of the rising state of the dry cleaning module according to an embodiment of the present invention.

Figure 26 is a schematic structural diagram of the first driving component according to an embodiment of the present invention.

Figure 27 is a schematic structural diagram of another first driving assembly according to an embodiment of the present invention.

Figure 28 is a schematic structural diagram of another first driving assembly according to an embodiment of the present invention.

Figure 29 is a schematic structural diagram of a first driving assembly with a peristaltic pump according to an embodiment of the present invention.

Figure 30 is a schematic structural diagram of a first driving assembly with an air pump according to an embodiment of the present invention.

Figure 31 is a schematic structural diagram of a driving mechanism with a first driving assembly, a second driving assembly and a third driving assembly according to an embodiment of the present invention.

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

The terminology used in the embodiments of the present invention is only for the purpose of describing specific embodiments and is not intended to limit the present invention. As used in this embodiment and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, in which case "plural" generally includes unless the context clearly dictates otherwise. At least two.

It should be understood that the term "and/or" used in this article is only an association relationship describing related objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A alone exists, and A and B exist simultaneously, There are three cases of B alone. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe embodiments of the present invention, these should not be limited to these terms. These terms are used only to differentiate. For example, without departing from the scope of the embodiments of the present invention, the first may also be called the second, and similarly, the second may also be called the first.

It should also be noted that the terms "comprises", "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a good or apparatus including a list of elements includes not only those elements but also those not expressly listed other elements, or also include Includes elements inherent to such goods or devices. Without further limitation, an element defined by the statement "comprises a" does not exclude the presence of other identical elements in the goods or devices including the stated element.

Optional embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Example 1

Figure 1-2 is a schematic structural diagram of an automatic cleaning equipment according to an exemplary embodiment. As shown in Figure 1-2, the automatic cleaning equipment can be a vacuum floor suction robot, a mopping/floor brushing robot, or a floor mopping/brushing robot. It is a window climbing robot, etc. The automatic cleaning equipment may include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160 and a human-computer interaction system 170. in: The mobile platform 100 may be configured to automatically move along the target direction on the operating surface. The operating surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning equipment can be a floor mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the floor of the building. The outer surface of the glass works, and the glass is the operating surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface. For purely demonstration purposes, the following description in this application takes a mopping robot as an example.

In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but can execute established procedures or operate according to certain logic. Accordingly, when the mobile platform 100 is autonomous When the mobile platform 100 is a non-autonomous mobile platform, the target direction may be determined independently by the automatic cleaning equipment; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a backward portion 110 .

The sensing system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and an ultrasonic sensor (not shown in the figure). out), infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) Sensing devices such as (not shown) provide various position information and motion status information of the machine to the control system 130 .

In order to more clearly describe the behavior of the automatic cleaning device, the following direction definition is made: the automatic cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: transverse axis x, front and rear axis y and the central vertical axis z. The forward driving direction along the front and rear axis y is designated as "forward" and the rearward driving direction along the front and rear axis y is designated as "rearward". The transverse axis x substantially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly 141 . Among them, the automatic cleaning equipment can rotate around the x-axis. When the forward part of the automatic cleaning device tilts upward and the rear part tilts downward, it is "tilt up", and when the forward part of the automatic cleaning device tilts downward and the rearward part tilts upward, it is "pitch down." In addition, the automatic cleaning equipment can rotate around the z-axis. In the forward direction of the automatic cleaning equipment, when the automatic cleaning equipment tilts to the right side of the Y-axis, it is a "right turn", and when the automatic cleaning equipment tilts to the left side of the Y-axis, it is a "left turn".

As shown in FIG. 2 , cliff sensors 123 are provided on the bottom of the mobile platform 100 and in front and behind the driving wheel assembly 141 . The cliff sensors are used to prevent automatic cleaning from occurring. This prevents the automatic cleaning device from being damaged if it falls when it is backed up. The aforementioned "front" refers to the side with respect to the same direction of travel of the automatic cleaning equipment, and the aforementioned "rear" refers to the side opposite to the direction of movement of the automatic cleaning equipment.

The position determining device 121 includes but is not limited to a camera and a laser distance measuring device (LDS).

Each component in the sensing system 120 can operate independently or together to achieve the intended function more accurately. The surface to be cleaned is identified through the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser ranging devices, etc. to make more accurate determinations .

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

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

The control system 130 is disposed on the circuit motherboard in the mobile platform 100 and includes a computing processor, such as a central processing unit, an application processor, and an application processor that communicates with non-transitory memory, such as a hard disk, a flash memory, and a random access memory. The processor is configured to receive the environmental information sensed by the plurality of sensors from the sensing system 120, and use a positioning algorithm, such as SLAM, to draw the location of the automatic cleaning equipment based on the obstacle information fed back by the laser ranging device. real-time map in the environment, and autonomously determines a driving path based on the environmental information and the environmental map, and then controls the drive system 140 to perform forward, backward, and/or steering operations based on the autonomously determined driving path. Further, the control system 130 may also decide whether to activate the cleaning module 150 to perform a cleaning operation based on the environmental information and the environmental map.

Specifically, the control system 130 can combine the distance information and speed fed back by the buffer 122, the cliff sensor 123, and sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers. The information is comprehensively used to determine the current working status of the sweeper, such as crossing a threshold, getting on a carpet, being on a cliff, being stuck above or below, being full of dust bins, being picked up, etc. It will also give specific instructions for different situations. The one-step action strategy makes the work of the automatic cleaning equipment more in line with the owner's requirements and provides a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.

The drive system 140 may execute drive commands based on specific distance and angle information, such as x, y, and θ components, to maneuver the automatic cleaning device across the ground. Figures 3 and 4 are perspective views and front views of one side of the driving wheel assembly 141 in an embodiment of the present invention. As shown in the figure, the driving system 140 includes the driving wheel assembly 141. The driving system 140 can control the left wheel and the right wheel at the same time. In order to more precisely control the movement of the machine, it is preferred that the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly respectively. The left and right driving wheel assemblies are symmetrically arranged along the transverse axis defined by the mobile platform 100 . The driving wheel assembly includes a body part, a driving wheel and an elastic element. One end of the body part is connected to the frame. The driving wheel is arranged on the body part and driven by the driving motor 146; the elastic element is connected between the body part and the frame. The elastic element It is configured to provide elastic force between the frame and the body. The drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located within the cross-sectional projection of the drive wheel. The drive wheel assembly 141 can also be connected to measure the drive current. circuit and odometer.

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

The drive motor 146 provides power for rotation of the drive wheel assembly 141 and/or the steering assembly 142 .

The driving wheel assembly 141 can be detachably connected to the mobile platform 100 to facilitate disassembly, assembly and maintenance. The driving wheel may have an offset drop suspension system, which is movably fastened, for example, rotatably attached, to the automatic cleaning equipment mobile platform 100, and is fixed to a certain extent by an elastic element 143, such as a tension spring or a compression spring. The ground force maintains contact and traction with the ground, and at the same time, the cleaning module 150 of the automatic cleaning equipment also contacts the surface to be cleaned with a certain pressure.

Energy system 160 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit. The charging control circuit, battery pack charging temperature detection circuit, and battery under-voltage monitoring circuit are then connected to the microcontroller control circuit. The host is charged by connecting to the charging pile through the charging electrode set on the side or below of the fuselage. If there is dust on the exposed charging electrode, the plastic body around the electrode will melt and deform due to the cumulative effect of charge during the charging process, and even cause the electrode itself to deform, making it impossible to continue charging normally.

The human-computer interaction system 170 includes buttons on the host panel, which allow the user to select functions; it may also include a display screen and/or indicator lights and/or speakers. The display screen, indicator lights, and speakers show the user the current status of the machine or Function options; can also include mobile client programs. For path navigation cleaning equipment, the mobile client can show users a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with richer and more user-friendly information. Personalized functionality.

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

As shown in Figure 5-8, the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and carries it to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dust removal ability of the sweeper can be characterized by the garbage pickup efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the suction port, dust box, fan, air outlet and the connecting parts between the four. The wind utilization rate of the constituted air duct is affected by the type and power of the fan, which is a complex system design issue. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is of greater significance for automatic cleaning equipment with limited energy. Because the improvement of dust removal capacity directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground on one charge can evolve to clean 180 square meters or more on one charge. And the service life of the battery that reduces the number of charging times will be greatly increased, causing the frequency of battery replacement by users to also increase. What is more intuitive and important is that the improvement of dust removal capability is the most obvious and important user experience. Users will directly draw conclusions about whether the sweep is clean/wipe clean. The dry cleaning module may also include a side brush 152 having a rotating axis at an angle relative to the ground for moving debris into the roller brush area of the cleaning module 150 .

Figure 5 is a schematic structural diagram of the dust box 152 in the dry cleaning module. Figure 6 is a schematic structural diagram of the fan 156 in the dry cleaning module. Figure 7 is a schematic diagram of the open state of the dust box 152. Figure 8 is a schematic diagram of the dust box 152 in the dry cleaning module. Schematic diagram of the assembly status of the box and fan.

The roller brush, which has certain interference with the ground, sweeps up the garbage on the ground and carries it to In front of the dust suction port 154 between the roller brush and the dust box 152, the suction gas generated by the fan 156 structure and passing through the dust box 152 is sucked into the dust box 152. The garbage is isolated by the filter 153 inside the dust box 152 and close to the dust suction port 154. On one side, the filter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.

Typically, the suction port 154 of the dust box 152 is located at the front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is connected to the air outlet of the dust box.

The front panel of the dust box 152 can be opened for cleaning the garbage in the dust box 152.

The filter 153 and the moving platform box body of the dust box 152 are detachably connected, which facilitates the removal and cleaning of the filter.

According to a specific embodiment of the present invention, as shown in Figures 9-11, the wet cleaning module 400 provided by the present invention is configured to use a wet cleaning method to clean at least a part of the operating surface; wherein, the wet cleaning module The cleaning module 400 includes: a cleaning head 410 and a driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operating surface, and the driving unit 420 is used to drive the cleaning head 410 to substantially reciprocate along the target surface. , the target surface is a part of the operation surface. The cleaning head 410 reciprocates along the surface to be cleaned. The contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or cleaning plate. Through the reciprocating motion, it generates high-frequency friction with the surface to be cleaned, thereby removing the residue on the surface to be cleaned. stains.

Optionally, the frequency of the reciprocating motion is greater than 2000 times per minute, that is, a frequency exceeding 2000 Hz, and frequencies of 20 Hz and above are sound frequencies that can be heard by the human ear. Such high-frequency vibrations greatly improve Cleaning effectiveness and cleaning efficiency.

The higher the friction frequency, the more times there are frictions per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a cleaning capacity that is much greater than ordinary reciprocating motions, such as rotation and friction cleaning. Optionally, the friction frequency is close to sound waves. The cleaning effect will be much higher than dozens of cycles per minute rotational friction cleaning. On the other hand, the hair tufts on the surface of the cleaning head will be more uniform and extend in the same direction under the vibration of high frequency, so the overall cleaning effect is more uniform, instead of just being exerted downward pressure to increase friction under low frequency rotation. To improve the cleaning effect, the downward pressure alone will not make the hair tufts extend in nearly the same direction. The effect is reflected in the fact that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no messy water stains will be left.

The higher the frequency of the reciprocating motion, the less likely it is to leave water stains. Preferably, the frequency of the reciprocating motion is much higher than 20 Hz (120 rpm), preferably higher than 2000 rpm. Driving at least a part of the cleaning head to reciprocate on the operating surface through the driving unit can achieve higher-speed vibration, that is, reciprocating motion, because the friction force to be overcome by driving only a part of the cleaning head is smaller, thereby achieving better cleaning results.

Preferably, the area of at least a portion of the vibrable cleaning head may be substantially the same as the cleaning area of the dry cleaning module of the automatic cleaning device. Although reducing the area of at least a portion of the vibrable cleaning head can achieve better cleaning results, as the reciprocating area decreases, the cleaning efficiency of the cleaning module will also decrease. Therefore, it is necessary to choose a suitable Area ratio. When the area of at least a part of the vibrable cleaning head is approximately the same as the cleaning area of the dry cleaning module of the automatic cleaning equipment, synchronization of dry cleaning and wet cleaning can be achieved, thereby ensuring the cleaning effect and performance of the automatic cleaning equipment at the same time. Cleaning efficiency.

Reciprocating motion can be repeated motion along any one or more directions within the operating surface, or it can be vibration perpendicular to the operating surface, and there are no strict restrictions on this. Optionally, the reciprocating motion direction of the cleaning module is roughly perpendicular to the machine's traveling direction, because the reciprocating motion direction parallel to the machine's traveling direction will bring instability to the traveling machine itself, because the thrust and resistance in the traveling direction will cause The driving wheel is prone to slipping, and the impact of slipping is more obvious when a wet cleaning module is included, because the slippery operating surface increases the possibility of slipping, and slipping not only affects the machine's In addition to smooth driving and cleaning, it will also cause inaccurate distance measurement by sensors such as odometers and gyroscopes, causing the navigation-type automatic cleaning equipment to be unable to accurately position and draw maps. In the case of frequent skidding, the impact on SLAM will not be Ignore the need to avoid slippery machine behavior. In addition to slipping, the component of motion of the cleaning head in the direction of machine travel causes the machine to be constantly pushed forward and backward when traveling, so the machine's walking will be unstable and smooth.

As an optional embodiment of the present invention, as shown in Figure 9, the driving unit 420 includes: a driving platform 421, connected to the bottom surface of the mobile platform 100, for providing driving force; a support platform 422, detachably connected to The driving platform 421 is used to support the cleaning head 410 and can be raised and lowered driven by the driving platform 421 .

As an optional embodiment of the present invention, a lifting module is provided between the cleaning module 150 and the mobile platform 100 to enable the cleaning module 150 to better contact the surface to be cleaned, or to adopt different methods for the surfaces to be cleaned of different materials. cleaning strategy.

Optionally, the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters obstacles or the surface to be cleaned is undulating, the dry cleaning module 151 can pass through the lifting module. Overcome obstacles more easily.

Optionally, the wet cleaning module 400 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters obstacles or the surface to be cleaned is undulating, the wet cleaning module 400 can be lifted up and down. The module makes it easier to overcome obstacles.

Optionally, the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module. When the wet cleaning module 400 is not temporarily involved in the work, or the wet cleaning module cannot be used, When the wet cleaning module 400 is cleaning the surface to be cleaned, the wet cleaning module 400 is lifted up through the active lifting module and separated from the surface to be cleaned, thereby realizing a change in the cleaning method.

As shown in Figure 10-11, the driving platform 421 includes: a motor 4211, which is disposed on the side of the driving platform 421 close to the mobile platform 100, and outputs power through the motor output shaft; a driving wheel 4212, which is connected to the motor. The output shaft is connected, and the driving wheel 4212 has an asymmetric structure; the vibration member 4213 is disposed on the opposite side of the driving platform 421 to the motor 4211 and is connected to the driving wheel 4212. On the driving wheel 4212 Reciprocating motion is achieved under asymmetric rotation.

The drive platform 421 may further include a gear mechanism. The gear mechanism can connect the motor 4211 and the drive wheel 4212. The motor 4211 can directly drive the driving wheel 4212 to rotate, or indirectly drive the driving wheel 4212 to rotate through a gear mechanism. Those of ordinary skill in the art can understand that the gear mechanism may be one 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 supporting platform 422, the water supply mechanism, the water tank, etc. through the power transmission device. The energy system 160 provides power and energy to the motor 4211 and is overall controlled by the control system 130 . The power transmission device may be a gear transmission, a chain transmission, a belt transmission, or a worm gear, etc.

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. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device. It can simultaneously drive the driving platform vibration member 4213 in the wet cleaning assembly 400 to basically reciprocate and the water supply mechanism to move synchronously. In the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to rise and fall through the power transmission device.

Further, the driving platform 421 also includes: a connecting rod 4214, extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibration member 4213, so that the The vibration member 4213 extends to a preset position, wherein the extension direction of the vibration member 4213 is perpendicular to the connecting rod 4214, so that the reciprocating direction of the vibration member 4213 is substantially perpendicular to the machine's traveling direction.

The motor 4211 is connected to the driving wheel 4212, the vibration member 4213, the connecting rod 4214 and the vibration buffering device 4215 through a power transmission device. Among them, the vibrating member 4213 and the connecting rod 4214 form an approximately L-shaped structure. As shown in Figure 15, the vibrating member 4213 is driven by the connecting rod 4214 to perform reciprocating motion. The vibration buffer device 4215 plays a role in damping and reducing jitter for the movement driven by the driving wheel 4212, so that the vibration member 4213 vibrates smoothly within the range of motion that the support platform 422 can provide. Optionally, the vibration buffering device 4215 is made of soft material, optionally a rubber structure, and is sleeved on the connecting rod 4214. On the other hand, the vibration buffering device 4215 can also protect the vibration member 4213 from being damaged by collision with the driving platform 421, which also affects the reciprocating motion of the vibration member 4213. The movable parts and fixed parts of the driving platform 421 are connected in a flexible manner in the direction of machine travel to limit movement with less elasticity, and in a direction roughly perpendicular to the direction of travel, that is, in the vibration direction of the vibrating member 4213. Movement is allowed. The above two movement restrictions make the movement of the vibration member 4213 not exactly reciprocating, but a basic reciprocating movement. When the wet cleaning assembly 400 is started, the motor 4211 starts to rotate forward. The motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212. At the same time, the vibration buffer device 4215 drives the vibration member 4213 along the driving platform. The surface of 421 performs basically reciprocating motion, the vibrating member 4213 brings the cleaning substrate 4221 to perform basically reciprocating motion along the surface of the support platform 422, and the cleaning substrate 4221 brings the active area 412 to perform basically reciprocating motion along the surface to be cleaned. At this time, the clean water pump causes the clean water to flow out from the clean water tank, and sprinkles the clean water on the cleaning head 410 through the water outlet device 4217. The cleaning head 410 cleans the surface to be cleaned through reciprocating motion.

The cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment. For example, the automatic cleaning equipment can dynamically adjust based on the physical information of the surface to be cleaned detected by the sensing system 120 . For example, the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, and other information, and transmit this information to the control system 130 of the automatic cleaning equipment. Accordingly, the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410 .

For example, when the automatic cleaning equipment is working on a flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning equipment is working on a less flat ground During operation, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat floor is easier to clean than a less flat floor, so cleaning uneven floors requires faster reciprocating motion (ie, higher frequency) of the cleaning head 410 and a larger amount of water.

For another example, when the automatic cleaning equipment is working on the desktop, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning equipment is working on the ground, the preset reciprocating period can be automatically and dynamically adjusted to be smaller. It is assumed that the reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because compared to the ground, the desktop has less dust and oil, and the material that makes up the desktop is easier to clean. Therefore, the cleaning head 410 needs to perform fewer reciprocating movements and the water pump provides relatively less water to clean the desktop. Clean.

As an optional embodiment of the present invention, the support platform 422 includes: a cleaning substrate 4221, which is freely movably provided on the support platform 422. The cleaning substrate 4221 Under the vibration of the vibration member 4213, it basically makes a reciprocating motion. Optionally, as shown in Figure 16, the cleaning substrate 4221 includes: an assembly notch 42211, which is disposed at a position in contact with the vibration member 4213. When the support platform 422 is connected to the driving platform 421, the The vibrating member 4213 is assembled in the assembly notch 42211, so that the cleaning substrate 4221 can basically reciprocate in synchronization with the vibrating member 4213. The cleaning substrate 4221 includes four first restriction positions 42212 in the traveling direction of the cleaning equipment. The four first restriction positions 42212 are softly connected to the cleaning substrate 4221, but the elastic scaling space is small, so the cleaning substrate 4221 is limited to the cleaning equipment. Movement relative to the support platform 422 in the direction of travel; the cleaning substrate 4221 includes two second limiting positions 42213 in the direction perpendicular to the traveling direction of the cleaning equipment. The two second limiting positions 42213 limit the movement of the cleaning substrate 4221 with the cleaning The range of reciprocating movement of the equipment in the direction vertical to the direction of travel. In addition, a water outlet hole 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221, so that the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole. Due to the influence of the limiting position and the vibration buffering device, the movement of the cleaning substrate 4221 is basically reciprocating movement. The cleaning substrate 4221 is located in a part of the support platform 422, and the local vibration method can increase the vibration frequency, such as reaching the sound wave frequency range. The movable parts and fixed parts of the driving platform 421 are connected in a flexible manner in the direction of machine travel to limit movement with less elasticity, and in a direction roughly perpendicular to the direction of travel, that is, in the vibration direction of the vibrating member 4213. Movement is allowed.

Figure 12 shows another vibration driving mechanism 500' of a cleaning head based on a crank slider mechanism according to multiple embodiments of the present application. The vibration driving mechanism 500′ can be applied on the driving platform 421. The vibration driving mechanism 500' includes a driving wheel 4212, a vibration member 4213, a cleaning base plate 4221, a chute 4222 and a chute 4223.

The chute 4222 and 4223 are opened on the support platform 422. Clean both sides of substrate 4221 The ends include sliders 525 and 528 respectively. The sliders 525 and 528 are respectively protrusions at both ends of the cleaning substrate 4221. The sliding block 525 is inserted into the sliding groove 4222 and can slide along the sliding groove 4222; the sliding block 4223 is inserted into the sliding groove 4223 and can slide along the sliding groove 4223. In some embodiments, the chute 4222 and the chute 4223 are on the same straight line. In some embodiments, the chute 4222 and the chute 4223 are not on the same straight line. In some embodiments, the chute 4222 and the chute 4223 extend in the same direction. In some embodiments, the extending direction of the chute 4222 and the chute 4223 is the same as the extending direction of the cleaning substrate 4221. In some embodiments, the extending directions of the chute 4222 and the chute 4223 are different from the extending directions of the cleaning substrate 4221. In some embodiments, the sliding groove 4222 and the sliding groove 4223 extend in different directions. For example, as shown in FIG. 12 , the extending direction of the chute 4222 is the same as the extending direction of the cleaning substrate 4221 , and the extending direction of the chute 4223 is at a certain angle with the extending direction of the chute 4222 .

The vibration member 4213 includes a rotating end 512 and a sliding end 514. The rotating end 512 is connected to the driving wheel 4212 through the first pivot 516 , and the sliding end 514 is connected to the cleaning base plate 4221 through the second pivot 518 .

The rotation center of the driving wheel 4212 is point O, and the pivot center of the first pivot 516 is point A. Point O and point A do not overlap, and the distance between them is the preset distance d.

When the driving wheel 4212 rotates, point A makes a circular rotation. Correspondingly, the rotating end 512 makes a circular rotating motion following point A; the sliding end 514 drives the cleaning substrate 4221 to make a sliding motion through the second pivot 518 . Correspondingly, the slider 525 of the cleaning substrate 4221 makes a reciprocating linear motion along the chute 4222; the slider 528 makes a reciprocating linear motion along the chute 4223. In Figure 4, the moving speed of the mobile platform 100 is V0, and the moving direction is the target direction. According to some embodiments, when the chute 4223 and the chute 4222 are respectively approximately perpendicular to the direction of the moving speed V0 of the mobile platform 100, the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction. according to In other embodiments, when any one of the chute 4223 and the chute 4222 is at an angle other than 90 degrees to the target direction, the overall displacement of the cleaning substrate 4221 includes both perpendicular to the target direction and parallel to the target direction. component of the target direction.

Further, a vibration buffer device 4215 is included, which is provided on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the movement component perpendicular to the target direction of the automatic cleaning equipment.

Figure 13 shows another cleaning head vibration driving mechanism 600' based on a double crank mechanism according to various embodiments of the present application. The vibration driving mechanism 600' can be applied on the driving platform 421. The vibration driving mechanism 600' includes a driving wheel 4212 (first driving wheel), a driving wheel 4212' (second driving wheel), and a cleaning substrate 4221.

The cleaning substrate 4221 has two ends. The first end is connected to the driving wheel 4212 through the first pivot 624; the second end is connected to the driving wheel 4212′ through the second pivot 626. The rotation center of the driving wheel 4212 is point O, and the pivot center of the first pivot 624 is point A. Point O and point A do not overlap, and the distance between them is the preset distance d. The rotation center of the driving wheel 4212’ is point O’, and the pivot center of the second pivot 626 is point A’. Point O’ and point A’ do not overlap, and the distance between them is the preset distance d. In some embodiments, point A, point A', point O and point O' are located on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning base plate 4221 can form a double crankshaft mechanism (or a parallelogram mechanism), in which the cleaning base plate 4221 serves as a coupling rod and the driving wheels 4212 and 4212' act as two cranks.

Further, a vibration buffer device 4215 is included, which is provided on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the movement component perpendicular to the target direction of the automatic cleaning equipment.

Figure 14 shows a crank-slide machine based on multiple embodiments of the present application. The vibration driving mechanism 700' of the structure. The vibration driving mechanism 700' can be applied on the driving platform 421. The vibration driving mechanism 700' includes a driving wheel 4212, a cleaning base plate 4221 and a chute 4222.

The chute 4222 is opened on the support platform 422. The cleaning substrate 4221 includes a rotating end 4227 and a sliding end 4226. The rotating end 4227 is connected to the driving wheel 4212 through the pivot 4228. Among them, the rotation center of the driving wheel 4212 is point O, and the pivot center of the rotation end pivot 4228 is point A. Point O and point A do not overlap, and the distance between them is the preset distance d. The sliding end 4226 includes a slider 4225. The sliding block 4225 is a protrusion on the sliding end 4226. The sliding block 4225 is inserted into the sliding groove 4222 and can slide along the sliding groove 4222. Therefore, the driving wheel 4212, the cleaning base plate 4221, the slider 4225 and the chute 4222 form a crank-slider mechanism.

When the driving wheel 4212 rotates, point A makes a circular rotation. Correspondingly, the rotary end 4227 of the cleaning substrate 4221 makes a circular rotary motion following point A; and the slider 4225 then slides in the chute 4222 and makes a reciprocating linear motion. As a result, the cleaning substrate 4221 starts to reciprocate. According to some embodiments, the chute 4222 is approximately perpendicular to the target direction of the moving speed of the mobile platform. Therefore, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular rotational movement of the rotating end 4227 is simultaneously Includes components perpendicular to the target direction and components parallel to the target direction.

In Figure 14, the moving speed of the mobile platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction. At this time, the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning equipment and a movement component perpendicular to the target direction of the automatic cleaning equipment.

Further, the support platform 422 also includes: an elastic detachment button 4229, which is provided on at least one side of the support platform 422 and is used to detachably connect the support platform 422 to the claw 4216 of the driving platform 421. , so that the support platform 422 can be detachably Mechanically fixed on the drive platform 421, fixed relative to the drive platform and the automatic cleaning device itself. At least one assembly area 4224 is provided on the support platform 422 for assembling the cleaning head 410 . The assembly area 4224 may be formed of an adhesive material having an adhesive layer.

As an optional embodiment of the present invention, as shown in Figure 9, the cleaning head 410 includes: an movable area 412 connected to the cleaning substrate 4221, and is driven by the cleaning substrate 4221 to basically move along the cleaning surface. upward reciprocating motion. The movable area 412 is disposed approximately in the center of the cleaning head 410 .

Optionally, an adhesive layer is provided on the side where the movable area 412 is connected to the cleaning substrate 4221, and the movable area 412 and the cleaning substrate 4221 are connected through the adhesive layer.

Optionally, the cleaning head 410 further includes: a fixed area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224. The fixed area 411 cleans the support platform 422 as it moves. At least part of the operating surface.

Further, the cleaning head 410 further includes: a flexible connection part 413, which is provided between the fixed area 411 and the movable area 412, and is used to connect the fixed area 411 and the movable area 412. The cleaning head 410 further includes: a sliding buckle 414 extending along the edge of the cleaning head 410 and detachably installed at the buckling position 4225 of the support platform 422 .

In this embodiment, as shown in FIG. 9 , the cleaning head 410 can be made of a certain elastic material. The cleaning head 410 is fixed on the surface of the support platform 422 through an adhesive layer, thereby achieving reciprocating motion. When working on the cleaning head 410, the cleaning head 410 is always in contact with the surface to be cleaned.

The water delivery mechanism includes a water outlet device 4217. The water outlet device 4217 can be directly or indirectly connected to the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid outlet of the water tank. The outlet flows to the water outlet device 4217 and can pass The water outlet device is evenly coated on the surface to be cleaned. The water outlet device may be provided with a connecting piece (not shown in the figure), and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connecting piece. The water outlet device is provided with a distribution opening. The distribution opening can be a continuous opening or a combination of several disconnected small openings. The distribution opening can be provided with several nozzles. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly applied to the operating surface through the distribution port.

The water delivery mechanism may also include a clean water pump 4219 and/or a clean water pump pipe 4218. The clean water pump 4219 may be directly connected to the cleaning liquid outlet of the water tank, or may be connected through the clean water pump pipe 4218.

The clean water pump 4219 can be connected with the connection piece of the water outlet device, and can be configured to draw the cleaning liquid from the water tank to the water outlet device. The clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

The water delivery mechanism extracts the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump tube 4218, and transports it to the water outlet device. The water outlet device 4217 can be a nozzle, a drip hole, a soaking cloth, etc., and evenly spreads the water on the cleaning head. , thereby moistening the cleaning head and the surface to be cleaned. The stains on the surface to be cleaned can be cleaned more easily after being moistened. In the wet cleaning assembly 400, the power/flow rate of the clean water pump can be adjusted.

Further, as shown in Figure 17, the motor 4211 drives the peristalsis of the clean water pump 4219 through the gear set 42193. Through the peristalsis of the clean water pump 4219, the clean water enters from the water inlet 42191, flows out from the water outlet 42192, and is then transported to the outlet through the clean water pump pipe 4218. Device 4217, the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.

Further, as shown in Figure 18, the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193. The cable gear 42196 is wrapped with a cable 42194, and the cable 42194 is wrapped around Hanging on the driving platform 421, the cable gear 42196 pulls the cable 42194 to rise and fall, thereby realizing the rise and fall of the driving platform 421. Cable gear 42196 and cable 42194 are the core components of the lifting module.

The gear set 42193 and the cable gear 42196 are provided with a clutch 42195. The clutch 42195 includes a spring and a plate member. By controlling the clutch 42195, the motor 4211 controls the three motion modules, rotates in one direction, and drives the vibration member. Vibration, while realizing the water supply of the clean water pump 4219, rotating in the opposite direction drives the lifting module to lift through the cable 42194. Optionally, the combined design of the gear set can control different combinations of three motion modules, such as rotating a clean water pump in one direction to supply water, and controlling lifting and vibration in the opposite direction. Alternatively, two motors can also be used to control three motion modules, but using one more motor also increases the cost.

Since the cleaning module of the automatic cleaning equipment is equipped with a dry cleaning module and a wet cleaning module, it can provide a more comprehensive cleaning function. At the same time, in the wet cleaning module, by adding a drive unit and a vibration area, the cleaning head can reciprocate, so that the surface to be cleaned can be cleaned repeatedly, so that in the movement trajectory of the cleaning robot, it can pass through a certain area at one time Cleaning multiple times greatly enhances the cleaning effect, especially for areas with more stains, the cleaning effect is obvious.

As shown in Figures 19-20, the wet cleaning module 400 is movably connected to the mobile platform 100 through a four-link lifting structure 500, and is configured to clean at least part of the operating surface in a wet cleaning manner; wherein, The four-link lifting structure 500 is a parallelogram structure and is used to switch the wet cleaning module 400 between a rising state and a sinking state. The rising state is when the wet cleaning module 400 leaves the The operating surface is as shown in Figure 19; the sinking state is when the wet cleaning module 400 is attached to the operating surface, as shown in Figure 20.

As shown in Figures 21-22, the four-link lifting structure 500 includes: a first connection end 501 and a second connection end 502. The first connection end 501 and the second connection end 502 are respectively located at the wet cleaning module 400. Both sides are configured to move the wet cleaning module 400 up and down relative to the mobile platform 100 and the operating surface in response to obstacles or ups and downs on the operating surface.

Preferably, the first connection end 501 can provide active power to switch the wet cleaning module 400 between the rising state and the sinking state; the second connection end 502 is opposite to the first connection end 501 Set up to rotate under the action of the main force. The first connection end 501 and the second connection end 502 are respectively located on both sides of the wet cleaning module 400, and can make the wet cleaning module 400 rise or fall by stably providing a lifting force.

Specifically, the first connection end 501 includes a first bracket 5011, which is fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 is roughly a "J" shaped structure, and the first bracket 5011 includes: a horizontal beam 50111, a first vertical The beam 50114 and the second longitudinal beam 50115, and the tail ends of the first longitudinal beam 50114 and the second longitudinal beam 50115 are respectively connected to the mobile platform 100 and the wet cleaning module 400 through bolts, providing a stable position when the wet cleaning module 400 is raised and lowered. Supportive force.

The first connecting end 501 also includes a first connecting rod pair 5012. One end of the first connecting rod pair 5012 is rotatably connected to the first bracket 5011, and the other end is rotatably connected to the wet cleaning module 400. . The first connecting rod pair 5012 may have a hollow structure, which can reduce the overall weight of the lifting end.

Optionally, the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 arranged in parallel. The first ends of the first connecting rod 50121 and the second connecting rod 50122 can be connected through movable studs. The second end of the first connecting rod 50121 and the second connecting rod 50122 is rotatably connected to the first longitudinal beam 50114 through movable studs. The wet cleaning module 400 is described. For example, the two ends of the first connecting rod 50121 and the second connecting rod 50122 are respectively provided with through holes with a diameter larger than the diameter of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole. The rear is fixedly connected to the first longitudinal beam 50114. When the motor 4211 provides pulling force to the second end through the pulling cable, the first ends of the first connecting rod 50121 and the second connecting rod 50122 rotate around the movable studs at the first end at the same time, and the second end is under the pulling force of the pulling cable. The lower part rises to make the wet cleaning module 400 rise. When the motor 4211 releases the pulling force to the second end through the cable, the first ends of the first connecting rod 50121 and the second connecting rod 50122 simultaneously rotate in reverse direction around the movable studs at the first end, and the second end is driven by gravity. Descending, the wet cleaning module 400 sinks.

The lifting structure 500 also includes a pulling cable 42194 for providing lifting power to rotate the first pair of connecting rods 5012 within a preset angle. The cable 42194 includes: The cable motor terminal 50131 is connected to the drive unit 420, such as a gear winding connection to the motor output shaft, and realizes telescopic movement under the rotation of the motor. The cable bracket terminal 50132 is connected to the first bracket 5011, and the motor raises or sinks the second ends of the first connecting rod 50121 and the second connecting rod 50122 through the cable 42194.

Optionally, the first bracket 5011 also includes: a chute 50112 extending along the surface of the crossbeam 50111, and a clamping hole 50113 that penetrates the crossbeam 50111 and is provided at the extended end of the chute 50112 for receiving and Buckle the cable bracket terminal 50132, and the cable 42194 is connected to the second end of the first connecting rod 50121 and the second connecting rod 50122 through the chute 50112 and the clamping hole 50113. The chute 50112 can limit The moving direction of the cable ensures the stability of the module lifting. The width of the chute should match the thickness of the cable.

As shown in Figure 23, the second connection end 502 includes: a second bracket 5021, fixedly connected to the bottom of the mobile platform 100; a second connecting rod pair 5022, one end of which is rotatably connected. Connected to the second bracket 5021, the other end is rotatably connected to the wet cleaning module 400; the second connecting rod pair 5022 rotates as the first connecting rod pair 5012 rotates. The second connecting rod pair 5022 may have a hollow structure, which can reduce the overall weight of the lifting end.

Specifically, the second connecting rod pair 5022 includes a third connecting rod 50221 and a fourth connecting rod 50222 arranged in parallel. The first ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatable through movable studs. The second ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatably connected to the wet cleaning module 400 through movable studs. For example, the two ends of the third connecting rod 50221 and the fourth connecting rod 50222 are respectively provided with clamping holes with a diameter larger than the diameter of the movable stud, so that the movable stud can rotate freely in the clamping hole, and the movable stud passes through the clamping hole. Finally, it is fixedly connected to the second bracket 5021. When the first connecting end 501 rotates driven by the motor 4211, the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 rotate around the movable studs at the first end at the same time, and the third connecting rod 50221 and the second end of the fourth connecting rod 50222 rotate around the movable stud at the second end at the same time, so that the wet cleaning module 400 is raised. When the first connecting end 501 releases the pulling force, the third connecting rod 50221 and the fourth connecting rod 50222 simultaneously rotate in reverse directions around the movable stud and descend under the action of gravity, causing the wet cleaning module 400 to sink.

Through the four-link lifting structure provided between the wet cleaning module and the mobile platform, the wet cleaning module can be raised and lowered relative to the mobile platform. When performing the mopping task, the wet cleaning module is lowered to wet the floor. The wet cleaning module is in contact with the ground. When the mopping task is completed, the wet cleaning module is raised to separate the wet cleaning module from the ground to prevent the cleaning equipment from moving freely on the surface to be cleaned due to the cleaning module. existence increases resistance.

Coupled with sensors such as surface media sensors that can detect the surface type of the surface to be cleaned, the lifting module can use the wet cleaning module to perform cleaning operations according to different surfaces to be cleaned. For example, lifting the wet cleaning module on the carpet surface and lowering the wet cleaning module on the floor/floor tiles and other surfaces for cleaning, thereby achieving a more comprehensive cleaning effect.

As shown in FIG. 24 , which is a state diagram when the dry cleaning module 151 is raised, the floating lifting structure 600 is connected to the dry cleaning module 151 and is configured to enable the dry cleaning module 151 to move relative to the The platform 100 moves up and down passively. Specifically, the floating lifting structure 600 is a parallelogram-shaped four-link lifting structure configured to passively switch the dry cleaning module 151 between a rising state and a sinking state under the action of external force.

Optionally, the floating lifting structure 600 includes: a first fixed bracket 601 fixedly connected to the mobile platform 100; a second fixed bracket 602 fixedly connected to the mobile platform 100; The dry cleaning module 151; connecting rod pair 603 have one end rotatably connected to the first fixed bracket 601 through a movable stud, and the other end rotatably connected to the second fixed bracket 602 through a movable stud. The first fixed bracket 601 and the second fixed bracket 602 are connected through a flexible connector. When encountering an obstacle, the dry cleaning module 151 pushes upward, and the first fixed bracket 601 rotates around the connecting rod pair 603 relative to the second fixed bracket 601 . The two fixed brackets 602 are folded upward to achieve passive ascent. After crossing the obstacle, the dry cleaning module 151 falls under the action of gravity and comes into contact with the operating surface, and the cleaning equipment continues to move forward with the cleaning task. The parallelogram-shaped four-link lifting structure can make the cleaning equipment more flexible in crossing obstacles and less likely to be damaged.

Optionally, the connecting rod pair 603 includes: a first connecting rod pair 6031, one end of which is rotatably connected to the first end of the first fixed bracket 601 through a movable stud, and the other end of which is rotatable through a movable stud. Groundly connected to the first end of the second fixed bracket 602; a second connecting rod pair 6032 is arranged opposite to the first connecting rod pair 6031, one end is rotatably connected to the first fixed bracket through a movable stud The second end of 601, the other end can be rotated through the movable stud is movably connected to the second end of the second fixing bracket 602. The first connecting rod pair 6031 or the second connecting rod pair 6032 can be a hollow structure, which can reduce the overall weight of the lifting end.

Optionally, the first connecting rod pair 6031 includes a first connecting rod 60311 and a second connecting rod 60312 arranged in parallel, and a first axis hole is provided at one end of the first connecting rod 60311 and the second connecting rod 60312, The other end is provided with a second axis hole; the movable stud passes through the first axis hole and can rotate to fix the first connecting rod 60311 and the second connecting rod 60312 to the first part of the first fixed bracket 601 end, the movable stud passes through the second axis hole to rotatably fix the first connecting rod 60311 and the second connecting rod 60312 to the first end of the second fixed bracket 602 . For example, the two ends of the first connecting rod 60311 and the second connecting rod 60312 are respectively provided with clamping holes (not shown) with a diameter larger than the diameter of the movable stud, so that the movable stud can rotate freely in the clamping hole, and the movable stud After passing through the card hole, it is fixedly connected to the first fixing bracket 601 . When encountering a raised obstacle, the dry cleaning module 151 is pushed upward by the obstacle, and the first ends of the first connecting rod 60311 and the second connecting rod 60312 simultaneously rotate around the movable stud at the first end. The second ends of the first connecting rod 60311 and the second connecting rod 60312 simultaneously rotate around the movable studs at the second ends, causing the dry cleaning module 151 to rise. When crossing an obstacle, the dry cleaning module 151 falls under the action of gravity and comes into contact with the operating surface.

Optionally, as shown in Figure 25, which is a state diagram when the dry cleaning module 151 is raised, the second connecting rod pair 6032 includes a third connecting rod 60321 and a fourth connecting rod 60322 arranged in parallel. One end of the connecting rod 60321 and the fourth connecting rod 60322 is provided with a third axis hole, and the other end is provided with a fourth axis hole; the movable stud passes through the third axis hole and can rotate the third connecting rod 60321 and the fourth connecting rod 60322 are fixed to the second end of the first fixed bracket 601, and the movable stud passes through the fourth axis hole to rotatably fix the third connecting rod 60321 and the fourth connecting rod 60322. at the second end of the second fixing bracket 602. For example, the third company The two ends of the connecting rod 60321 and the fourth connecting rod 60322 are respectively provided with clamping holes (not shown) with a diameter larger than the diameter of the movable stud, so that the movable stud can rotate freely in the clamping hole, and the movable stud passes through the clamping hole. The hole is fixedly connected to the first fixing bracket 601 . When encountering a raised obstacle, the dry cleaning module 151 is pushed upward under the action of the obstacle, and the first ends of the third connecting rod 60321 and the fourth connecting rod 60322 simultaneously rotate around the movable stud at the first end. The second ends of the third connecting rod 60321 and the fourth connecting rod 60322 simultaneously rotate around the movable studs at the second ends, causing the dry cleaning module 151 to rise. When crossing an obstacle, the dry cleaning module 151 falls under the action of gravity and comes into contact with the operating surface.

As an optional implementation, the first fixing bracket 601 includes: a first fixing portion 6011 protruding from the first fixing bracket 601 and extending laterally outward for carrying the first pair of connecting rods 6031. The second fixing part 6012 is arranged symmetrically with the first fixing part 6011 and is used to carry the second connecting rod pair 6032. The first fixing part 6011 and the second fixing part 6012 are used to protrude and support the pair of connecting rods so that the pair of connecting rods can freely rotate and ensure the free lifting and lowering of the dry cleaning module 151 .

Optionally, the floating lifting structure 600 also includes a flexible connector (not shown) connected between the first fixed bracket 601 and the second fixed bracket 602. When the operating surface is uneven, the The second fixed bracket 602 moves up and down relative to the first fixed bracket 601 through the flexible connection member.

In the dry cleaning module, by setting up a four-link floating lifting structure, the dry cleaning module passively moves up and down relative to the mobile platform. When the cleaning equipment encounters obstacles during operation, it can move up and down through the four-link floating lifting structure. The pole floating lifting structure can easily cross obstacles and avoid damage to cleaning equipment by obstacles.

Optionally, the wet cleaning module 400 can also be used directly with the dry cleaning module 151 It is connected to the floating lifting structure 600 (not shown) and is configured to enable the wet cleaning module 400 and the dry cleaning module 151 to passively move up and down relative to the mobile platform 100 . Further optionally, the floating lifting structure includes a first fixed bracket and a second fixed bracket, which are movably connected to passively move the wet cleaning module 400 and the dry cleaning module 151 in the ascending and descending states under the action of external force. Switch between sinking states. Further optionally, the floating lifting structure is the same as the aforementioned four-link floating lifting structure. When the cleaning equipment encounters an obstacle during operation, it can easily cross the obstacle through the four-link floating lifting structure and avoid the obstruction caused by the obstacle. Damage to cleaning equipment.

Example 2

According to the specific implementation of the present invention, as shown in Figure 9, the present invention provides an automatic cleaning equipment. This embodiment follows the above embodiment. The same structure has the same functions and technical effects, which will not be described again here. Specifically, the cleaning equipment includes: a mobile platform 100, which is configured to automatically move on the operating surface; a cleaning module 150, which is provided on the mobile platform 100; the cleaning module 150 includes: a wet cleaning module 400, which is configured In order to clean at least a part of the operating surface in a wet cleaning manner; the lifting structure 500 is connected to the wet cleaning module 400 and is configured to enable the wet cleaning module 400 to move relative to the mobile platform 100 Move up and down; the driving mechanism 900 is connected to the lifting structure 500 and is configured to provide power for the lifting of the lifting structure 500 and/or to provide cleaning fluid for the wet cleaning module 400 .

As an optional implementation, as shown in Figure 26, the driving mechanism 900 includes: a motor 4211, used to provide forward and reverse driving force; a gear set 42193, connected to the output shaft of the motor 4211, with To output the driving force for forward and reverse rotation of the motor 4211.

Optionally, the driving mechanism 900 further includes: a clutch 42195, which is meshed with the gear set 42193 and provides driving force when the clutch 42195 and the gear set 42193 engage in reverse. The gear set 42193 does not provide driving force when it is not engaged in the forward direction. Wherein, the clutch 42195 includes: a first clutch gear 421951 and a second clutch gear 421952 arranged back-to-back oppositely, wherein the second clutch gear 421952 has teeth arranged at an inclination angle in the counterclockwise direction, and the inclination angle is not limited, Therefore, driving force is provided when the second clutch gear 421952 and the gear set 42193 are engaged in the reverse direction, and no driving force is provided due to slipping when the second clutch gear 421952 and the gear set 42193 are not engaged in the forward direction.

As an optional implementation, the driving mechanism 900 further includes: a cable gear 42196, which meshes with the first clutch gear 421951 and rotates driven by the first clutch gear 421951. One end of the cable 42194 is wound around the cable gear 42196, and the other end is connected to the lifting structure 500, and is driven by the gear set 42193 to pull the lifting structure 500 up and down.

As an optional implementation, the driving mechanism 900 further includes: a clean water pump 4219, which meshes with the gear set 42193, and is driven by the gear set 42193 to provide cleaning liquid to the wet cleaning module 400. In one embodiment, for example, the clean water pump peristally crushes the water pipe under the clean water pump, and squeezes water out of the water tank from the water pipe.

As an optional implementation, the gear set 42193 includes: a primary transmission gear 421931, connected to the output shaft of the motor 4211, for outputting the driving force of the motor; a secondary transmission gear 421932, connected to the primary transmission gear 421931 Meshing, used to output the driving force of the motor to the cable gear 42196; third-stage transmission gear 421933, meshing with the second-stage transmission gear 421932, used to output the driving force of the motor to the clean water Pump 4219. Optionally, the output shaft of the motor 4211 includes an output gear 42111, which meshes with the primary transmission gear 421931 and is used to output the driving force of the motor.

As an optional implementation, the driving mechanism 900 also includes: a driving wheel 4212 connected to the motor output shaft, the driving wheel 4212 having an asymmetric structure; a vibration member 4213 connected to the driving wheel 4212, Reciprocating motion is achieved under the asymmetric rotation of the driving wheel 4212.

In the sweeping and mopping integrated cleaning equipment provided by the present invention, the motor 4211 simultaneously transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank, etc. through the power transmission device. The energy system 160 provides power and energy to the motor 4211 and is overall controlled by the control system 130 . The power transmission device may be a gear transmission, a chain transmission, a belt transmission, or a worm gear, etc., such as the driving mechanism 900 and its related structures described in this embodiment.

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. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device. It can simultaneously drive the cleaning head 410 and the water supply mechanism in the wet cleaning assembly 400 to move synchronously. Among them, the driving mechanism is connected to the lifting structure, and through the cooperation of the clutch, gear set, etc., when the motor rotates forward, the motor drives the vibration output shaft to rotate, driving the vibration member to vibrate to achieve rough reciprocating motion, and realize repeated cleaning of the ground. At the same time, through the transmission of the gear set, the clean water pump peristaltically discharges water synchronously. At this time, the clutch teeth are in a slipping state and are not driven, so the lifting mechanism cannot be raised. When the motor reverses, the clutch teeth are in working condition and drive the lifting turntable to lift. When it is raised in place, the cable is tightened. At this time, the motor stops due to the limit. At this time, the vibration output and the clean water pump stop working. At this time, the mopping function is stopped and the mopping module is lifted. Therefore, the cleaning equipment of the present invention can coordinately control the clean water The water discharge from the pump, the lifting and lowering of the lifting mechanism and the vibration of the vibrating parts improve work efficiency.

Optionally, more than one driving assembly can be used to control the wet cleaning module, the cleaning liquid module and the lifting structure respectively. Although this control method increases the cost to a certain extent, it has the flexibility of discrete control and can set up flexible working cooperation methods according to the needs of actual work scenarios. For example, after the lifting structure completes its landing, spray cleaning fluid for a period of time before starting wet cleaning. The vibration mopping function of the module can reduce dry wiping to a certain extent and increase the life of the vibration module. The specific discrete control methods are as follows:

Example 3

According to the specific implementation of the present invention, as shown in Figure 9, the present invention provides an automatic cleaning equipment. This embodiment follows the above embodiment. The same structure has the same functions and technical effects, which will not be described again here. Specifically, the cleaning equipment includes: a mobile platform 100, which is configured to automatically move on the operating surface; a cleaning module 150, which is provided on the mobile platform 100; the cleaning module 150 includes: a wet cleaning module 400, which is configured To clean at least a part of the operating surface using a wet cleaning method; a cleaning fluid module to provide cleaning fluid for the wet cleaning module 400; a lifting structure 500 connected to the wet cleaning module 400 and configured To enable the wet cleaning module 400 to move up and down relative to the mobile platform 100; The driving mechanism 900 includes a first driving assembly 901 and a second driving assembly 902, wherein the first driving assembly 901 is configured to be capable of cleaning the wet cleaning module 400, the lifting structure 500 and the cleaning liquid module. At least one provides power; the second driving assembly 902 is configured to provide at least one of the wet cleaning module 400, the lifting structure 500 and the cleaning liquid module that is not connected to the first driving assembly 901. motivation.

In one embodiment of the present invention, as shown in Figure 27, the first driving component 901 is a motor, which is connected to the wet cleaning module 400 through the output gear 42111, and drives the wet cleaning module 400. The cleaning module 400 performs cleaning operations; at the same time, the first driving assembly 901 is connected to the clean water pump 4219 through the gear set and the third-stage transmission gear 421933, and drives the clean water pump 4219 to provide power for the cleaning fluid module.

At this time, the second driving component 902 can be directly connected to the lifting structure 500 .

When the first driving component 901 is started, it drives the wet cleaning module 400 and the cleaning fluid module to work simultaneously; the second driving component 902 can control the lifting according to the signal automatically sensed by the sensing system 120 or the signal sent by the human-computer interaction system 170 Structure 500 to further realize the lifting and lowering of the wet cleaning module.

In one embodiment of the present invention, as shown in Figure 28, the first driving component 901 is a motor, which is connected to the wet cleaning module 400 through the output gear 42111, and drives the wet cleaning module 400 to perform cleaning operations; At the same time, the driving mechanism 900 also includes: a clutch 42195 and a cable gear 42196. The first drive assembly 901 is connected to the clutch 42195 through a gear set. The clutch 42195 meshes with the cable gear 42196. Under the driving of the clutch 42195 Turn. One end of the cable 42194 is wound around the cable gear 42196, and the other end is connected to the lifting structure 500, and is driven by the gear set 42193 to pull the lifting structure 500 up and down.

At this time, the second driving component 902 can be directly connected to the cleaning fluid module, and directly controls the cleaning fluid module to provide cleaning fluid to the wet cleaning module 400 .

When the first driving assembly 901 starts to rotate forward, it drives the wet cleaning module 400 to work. At this time, under the action of the clutch 42195, the cable gear 42196 does not rotate, thereby relaxing the cable 42194 and causing the lifting structure 500 to descend; When the first driving assembly 901 starts to rotate in reverse, the wet cleaning module 400 does not work. At this time, under the action of the clutch 42195, the cable gear 42196 rotates, thereby pulling the cable 42194 in, thereby causing the lifting structure 500 to rise. .

The second driving component 902 can control the cleaning fluid module according to the signal automatically sensed by the sensing system 120 or the signal sent by the human-computer interaction system 170, and determines whether to continue to control the cleaning fluid module to be wet based on the working conditions of the automatic cleaning equipment. The cleaning module 400 provides cleaning fluid.

In one embodiment of the present invention, as shown in Figure 29, the first driving component 901 is a motor, which is connected to the cable gear 42196 through the clutch 42195; at the same time, the first driving component 901 passes through the gear set and the third-stage transmission gear. 421933 is connected to the clean water pump 4219 and drives the clean water pump 4219 to provide power for the cleaning fluid module. The first driving assembly 901 is connected to the clutch 42195 through a gear set. The clutch 42195 is engaged with the cable gear 42196 and rotates under the driving of the clutch 42195. One end of the cable 42194 is wound around the cable gear 42196, and the other end is connected to the lifting structure 500, and is driven by the gear set 42193 to pull the lifting structure 500 up and down.

At this time, the second driving component 902 can be directly connected to the wet cleaning module 400 and directly control the operation of the wet cleaning module 400 .

When the second driving component 902 is working, the wet cleaning module 400 enters the working state; the first driving component 901 and the second driving component 902 can be determined according to the signal automatically sensed by the sensing system 120 or the signal sent by the human-computer interaction system 170 Coordinated work status. When the first driving assembly 901 starts to rotate forward, it drives the cleaning fluid module to work and provides cleaning fluid for the wet cleaning module 400. At this time, under the action of the clutch 42195, the cable gear 42196 does not rotate, so that the cable 42194 relaxes, thereby lowering the lifting structure 500. After the descent, the second driving assembly 902 can enter the working state; when the first driving assembly 901 starts to rotate in reverse, the cleaning fluid module does not work. At this time, under the action of the clutch 42195, The cable gear 42196 rotates, thereby pulling the cable 42194 in, thereby causing the lifting structure 500 to rise. At this time, usually the second driving assembly 902 also In non-working condition.

In one embodiment of the present invention, as shown in Figure 30, the first driving component 901 is a motor, which is connected to the cable gear 42196 through a clutch 42195; the second driving component 902 is an air pump, which does not require a gear structure. The output power can be directly connected to the cleaning fluid module and control the cleaning fluid module to provide cleaning fluid to the wet cleaning module 400 .

In one embodiment of the present invention, as shown in Figure 31, the driving assembly 900 includes a first driving assembly 901, a second driving assembly 902 and a third driving assembly 903; the first driving assembly 901 is connected to the wet cleaning mode. The group 400 is connected to and used to control the operation of the wet cleaning module 400. The second driving assembly 902 is connected to the cleaning liquid module and used to control the operation of the cleaning liquid module. The third driving assembly 903 is connected to the cleaning liquid module. The lifting structure 500 is connected and used to control the operation of the lifting structure 500 .

The first driving component 901 , the second driving component 902 and the third driving component 903 can respectively control their respective working states according to signals automatically sensed by the sensing system 120 or signals sent by the human-computer interaction system 170 , and based on the use environment and user commands. , cleaning type, stain intensity, etc., dynamically adjust their respective start-up, shut-down, power size and other working values to better complete the cleaning work.

Example 4

In one embodiment of the present invention, an automatic cleaning equipment includes: a mobile platform 100 configured to automatically move on an operating surface; a cleaning module 150 disposed on the mobile platform 100 and including: a wet cleaning module The group 400 is configured to clean at least a part of the operating surface using a wet cleaning method; the lifting structure 500 is connected to the wet cleaning module 400 and is configured to In response to obstacles or ups and downs on the operating surface, the wet cleaning module 400 is moved up and down relative to the mobile platform 100 and the operating surface; wherein, the wet cleaning module 400 includes: A cleaning head 410 for cleaning the operating surface, and a driving unit 420 for driving the cleaning head 410 to reciprocate along a target surface, the target surface being a part of the operating surface.

Finally, it should be noted that each embodiment in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other. As for the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For relevant details, please refer to the description in the method section.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still make changes to the foregoing embodiments. The recorded technical solutions may be modified, or some of the technical features thereof may be equivalently replaced; however, these modifications or substitutions shall not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present disclosure.

410: Cleaning head

411: Fixed area

412:Activity area

413: Flexible connection part

414:Sliding buckle

420: drive unit

421:Drive platform

422:Support platform

4213: Vibrating parts

4219: Clean water pump

4221: Clean the substrate

4224: Assembly area

4225:Clamping position

4229: Elastic removal button

Claims (18)

An automatic cleaning equipment includes: a driving system (140) configured to execute a driving command to operate the automatic cleaning equipment to travel across the ground; a mobile platform (100) configured to automatically move on an operating surface; a cleaning module (150 ), arranged on the mobile platform (100), including: a wet cleaning module (400) configured to clean at least a part of the operating surface in a wet cleaning method; a lifting structure (500), and the wet cleaning module The module (400) is connected and configured to enable the wet cleaning module (400) to move up and down relative to the mobile platform (100); the cleaning fluid module is configured to provide cleaning fluid for the wet cleaning module (400) ; and a driving mechanism (900), including a first driving assembly (901) and a second driving assembly (902), wherein: the first driving assembly (901) is configured to be capable of the wet cleaning module (400), At least one of the lifting structure (500) and the cleaning fluid module provides power, and the second driving assembly (902) is configured to be able to provide power to the wet cleaning module (400), the lifting structure (500) and the cleaning fluid module. At least one of the cleaning fluid modules that is not connected to the first driving component (901) provides power, wherein the driving mechanism (900) includes: at least two power structures (910), the two power structures are respectively connected to the first driving component (901). A driving component (901) is connected to the second driving component (902) for providing driving force; the driving mechanism (900) also includes: The gear set (42193) is connected to the power structures (910) and is used to output driving force to the first driving assembly (901) and/or the second driving assembly (902); wherein the driving mechanism (900) It also includes a clutch (42195), which is meshed with the gear set (42193) and provides driving force when the clutch (42195) and the gear set (42193) engage in reverse. ) does not provide driving force when it is not engaged in the forward direction; wherein the clutch (42195) includes: a first clutch gear (421951) and a second clutch gear (421952) arranged oppositely, wherein the second clutch gear (421952) has an edge along the The teeth are arranged at an angle counterclockwise, so that when the second clutch gear (421952) and the gear set (42193) mesh in reverse, driving force is provided. When the second clutch gear (421952) and the gear set (42193) No driving force is provided when forward and not engaged. The automatic cleaning equipment of claim 1, wherein the driving mechanism (900) further includes: a cable gear (42196), meshed with the first clutch gear (421951), and rotated under the drive of the first clutch gear (421951) . The automatic cleaning equipment of claim 2, wherein the lifting structure (500) also includes: a cable (42194), one end of which is wound around the cable gear (42196), and the other end is connected to the lifting structure (500). The lifting structure (500) is driven up and down by the group (42193). The automatic cleaning equipment of claim 1, wherein the power structure (910) is a motor (4211), used to provide forward and reverse driving force. For example, the automatic cleaning equipment of claim 1, wherein the power structure (910) is a clean water pump (4219), which provides power to the cleaning fluid module and provides the cleaning fluid to the wet cleaning module (400). Such as the automatic cleaning equipment of claim 5, wherein the clean water pump (4219) is a peristaltic pump, the clean water pump meshes with the gear set (42193), and is driven by the gear set (42193) to provide power for the cleaning fluid module , and provide the cleaning liquid to the wet cleaning module (400). For example, the automatic cleaning equipment of claim 5, wherein the clean water pump (4219) is an air pump, provides power to the cleaning liquid module, and provides the cleaning liquid to the wet cleaning module (400). The automatic cleaning equipment of claim 1, wherein the driving mechanism (900) includes a third driving component (903), the first driving component (901), the second driving component (902), the third driving component (903 ) are respectively connected to the wet cleaning module (400), the lifting structure (500) and the cleaning fluid module. An automatic cleaning equipment, including: a mobile platform (100), configured to automatically move on an operating surface; a cleaning module (150), arranged on the mobile platform (100), including: a dry cleaning module (151), configured to dry clean at least a portion of the work surface; and A wet cleaning module (400) is configured to clean at least a portion of the operating surface using a wet cleaning method; wherein the wet cleaning module (400) includes: a cleaning head (410) for cleaning the operating surface , and a driving unit (420) for driving the cleaning head (410) to substantially reciprocate along the target surface, the direction of the reciprocating movement being perpendicular to the direction in which the mobile platform moves on the operating surface, and the target surface is A part of the operating surface, wherein the automatic cleaning equipment further includes: a driving mechanism (900), including a first driving component (901) and a second driving component (902), wherein: the first driving component (901) is configured to Capable of providing power to at least one of the wet cleaning module (400), the lifting structure (500) and the cleaning fluid module, the second drive assembly (902) is configured to be capable of powering the wet cleaning module At least one of (400), the lifting structure (500) and the cleaning fluid module that is not connected to the first driving component (901) provides power, wherein the driving mechanism (900) includes: at least two power structures ( 910), the two power structures are respectively connected to the first driving component (901) and the second driving component (902) for providing driving force; wherein the driving mechanism (900) also includes: a gear set (42193 ), connected to the power structures (910), and used to output driving force to the first driving component (901) and/or the second driving component (902); wherein the driving mechanism (900) also includes a clutch ( 42195), meshed with the gear set (42193), and provides driving force when the clutch (42195) and the gear set (42193) mesh in the opposite direction. Provides no driving force when engaged; and, The clutch (42195) includes: a first clutch gear (421951) and a second clutch gear (421952) arranged oppositely, wherein the second clutch gear (421952) has teeth arranged at an oblique angle in the counterclockwise direction, so that when The second clutch gear (421952) provides driving force when the gear set (42193) meshes in the opposite direction, and does not provide driving force when the second clutch gear (421952) and the gear set (42193) do not mesh in the forward direction. The automatic cleaning equipment of claim 9, wherein the driving unit (420) includes: a driving platform (421), connected to the bottom surface of the mobile platform (100), for providing driving force; and a support platform (422), which is detachable. Connected to the driving platform (421) for supporting the cleaning head (410). The automatic cleaning equipment of claim 10, wherein the driving platform (421) includes: a motor (4211), which is disposed on the side of the driving platform (421) close to the mobile platform (100) and outputs power through the motor output shaft; and The driving wheel (4212) is connected to the motor output shaft, and the driving wheel (4212) has an asymmetric structure. The automatic cleaning equipment of claim 11, wherein the driving platform (421) also includes: a vibration member (4213), which is disposed on the opposite side of the driving platform (421) to the motor (4211) and is in contact with the driving wheel (4213). 4212) is connected, and basically reciprocating motion is achieved under the asymmetric rotation of the driving wheel (4212). Such as the automatic cleaning equipment of claim 12, wherein the driving platform (421) also includes: a connecting rod (4214) extending along the edge of the driving platform (421) to connect the driving wheel (4212) and the vibration member (4213), The vibrating member (4213) is extended to a preset position. An automatic cleaning equipment, including: a mobile platform (100), configured to automatically move on an operating surface; a cleaning module (150), arranged on the mobile platform (100), including: a wet cleaning module (400) , is configured to use a wet cleaning method to clean at least a portion of the operating surface; wherein the wet cleaning module (400) includes: a cleaning head (410) for cleaning the operating surface, and for driving the cleaning A driving unit (420) that substantially reciprocates at least a portion of the head (410) along a target surface that is part of the operating surface, and the frequency of the reciprocating movement is greater than 2000 times per minute, wherein the automatic cleaning device also It includes: a driving mechanism (900), including a first driving assembly (901) and a second driving assembly (902), wherein: the first driving assembly (901) is configured to be capable of the wet cleaning module (400), At least one of the lifting structure (500) and the cleaning fluid module provides power, and the second driving assembly (902) is configured to be able to provide power to the wet cleaning module (400), the lifting structure (500) and the cleaning fluid module. At least one of the cleaning fluid modules that is not connected to the first driving component (901) provides power, wherein the driving mechanism (900) includes: at least two power structures (910), the two power structures are respectively connected to the first driving component (901). a driver component (901) is connected to the second driving component (902) and used to provide driving force; wherein the driving mechanism (900) also includes: a gear set (42193), connected to the power structures (910) and used to provide The first driving component (901) and/or the second driving component (902) output driving force; wherein, the driving mechanism (900) also includes a clutch (42195), which is engaged with the gear set (42193). When the The clutch (42195) provides driving force when the gear set (42193) is engaged in the reverse direction, and does not provide driving force when the clutch (42195) and the gear set (42193) are not engaged in the forward direction; and, wherein the clutch (42195) It includes: a first clutch gear (421951) and a second clutch gear (421952) arranged oppositely, wherein the second clutch gear (421952) has teeth arranged at an oblique angle in the counterclockwise direction, so that when the second clutch gear (421952) 421952) provides driving force when the gear set (42193) meshes in the opposite direction, and does not provide driving force when the second clutch gear (421952) does not mesh with the gear set (42193) in the forward direction. The automatic cleaning equipment of claim 14, wherein the driving unit (420) includes: a driving platform (421) connected to the bottom surface of the mobile platform (100) for providing driving force, and the driving platform (421) includes: a motor (421) 4211), which is arranged on the side of the driving platform (421) close to the mobile platform (100), and outputs power through the motor output shaft; and a driving wheel (4212), which is connected to the motor output shaft, and the driving wheel (4212) is Asymmetric structure. The automatic cleaning equipment of claim 15, wherein the driving unit (420) includes: a support platform (422), detachably connected to the driving platform (421), for supporting the cleaning head (410). The automatic cleaning equipment of claim 15, wherein the driving platform (421) further includes: a vibration member (4213), which is disposed on the opposite side of the driving platform (421) to the motor (4211) and is in contact with the driving wheel (4213). 4212) is connected, and basically reciprocating motion is achieved under the asymmetric rotation of the driving wheel (4212). Such as the automatic cleaning equipment of claim 17, wherein the reciprocating motion frequency of the vibrating member (4213) is greater than 2000 times per minute.

Images