WO2015074530A1 - Suction-type automatically cleaning machine - Google Patents

Suction-type automatically cleaning machine Download PDF

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Publication number
WO2015074530A1
WO2015074530A1 PCT/CN2014/091372 CN2014091372W WO2015074530A1 WO 2015074530 A1 WO2015074530 A1 WO 2015074530A1 CN 2014091372 W CN2014091372 W CN 2014091372W WO 2015074530 A1 WO2015074530 A1 WO 2015074530A1
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Prior art keywords
cleaning machine
suction
adsorption
cleaning mechanism
suction cup
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PCT/CN2014/091372
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French (fr)
Chinese (zh)
Inventor
杨敏敏
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苏州科沃斯商用机器人有限公司
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Publication of WO2015074530A1 publication Critical patent/WO2015074530A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present invention relates to the field of robot technology, and in particular to an adsorption type automatic cleaning machine.
  • the existing adsorption type automatic cleaning machine is provided with a suction cup at the bottom, and the adsorption force generated by the suction cup and the friction force closely related to the adsorption force can not only walk freely on the smooth floor, but also in the upright working surface. It also walks freely, which greatly improves the cleaning efficiency.
  • the existing adsorption type automatic cleaning machine also has a disadvantage in design, mainly when the adsorption type automatic cleaning machine advances in the cleaning direction on the working surface, the cleaning mechanism of the cleaning mechanism is insufficient to cover all the contacts of the suction cup.
  • the range causes the outer edge of the suction cup to contact the uncleaned surface, thereby causing dirt on the working surface to adhere to the surface of the suction cup - the contact surface of the suction cup and the working surface, thereby affecting the adsorption effect of the suction cup.
  • the adsorption type automatic cleaning machine may not work normally due to the leakage of the suction cup, and may even fall from the work surface.
  • the user of the adsorption automatic cleaning machine can be overcome by cleaning the suction cup, but frequent cleaning of the suction cup will lead to an increase in labor costs, and the use efficiency of the adsorption automatic cleaning machine will decrease, sometimes even due to Improper cleaning methods result in a decrease in the performance of the suction cup.
  • the object of the present invention is to provide an adsorption type automatic cleaning machine which can effectively prevent dirt on the working surface from adhering to the suction cup when cleaning the working surface.
  • the contact surface of the working surface overcomes the drawbacks of the prior art described above.
  • An adsorption type automatic cleaning machine wherein a front end of the bottom of the body is provided with a cleaning mechanism, and at the bottom of the body of the cleaning mechanism is provided at least two suction cups, an outer edge of the end of the cleaning mechanism and the adsorption automatic cleaning machine The distance between the longitudinal center axes is greater than the distance between the outer edge of each suction cup and the longitudinal center axis.
  • the term "longitudinal direction” refers to the advancing direction of the adsorption type automatic cleaning machine, that is, the cleaning direction.
  • the outer edge of the end of the cleaning mechanism and the longitudinal center axis of the adsorption automatic cleaning machine The distance between the outer edge of the suction cup and the longitudinal center axis is to ensure that the cleaning mechanism of the present invention is cleaned in a range sufficient to completely cover the suction cup when the adsorption automatic cleaning machine of the present invention advances on the working surface.
  • the range of contact that is, the outer edge of the suction cup is prevented from coming into contact with the uncleaned surface, thereby effectively preventing dirt on the working surface from adhering to the surface of the suction cup.
  • the present invention can further add the following technical features:
  • the width of the cleaning mechanism is less than or equal to the width of the body of the adsorption automatic cleaner.
  • the design of the cleaning mechanism has a width less than or equal to the width of the body of the adsorption automatic cleaner, so that the structure of the adsorption type automatic cleaning machine of the present invention is more compact and convenient for overall packaging.
  • the number of the suction cups is five, and the five suction cups are divided into two rows of front and rear, three in the front row, and two in the back row.
  • the cleaning mechanism in the present invention can use a cleaning mechanism which is existing in the prior art, and preferably uses a rag, a roller brush or a scraper.
  • the invention has the following beneficial effects: 1. Effectively preventing the dirt on the working surface from adhering to the surface of the suction cup, thereby ensuring the normal operation of the suction cup and improving the use efficiency of the adsorption automatic cleaning machine. 2.
  • the structure is simple and easy to implement.
  • Figure 1 is a schematic view showing the bottom structure of an embodiment of the adsorption type automatic cleaning machine of the present invention.
  • FIG. 1 is a schematic view showing the bottom structure of an embodiment of the adsorption type automatic cleaning machine of the present invention.
  • an adsorption type automatic cleaning machine 1 has a cleaning mechanism 2 at the front end of the bottom of the body, and five suction cups 3 at the bottom of the body of the cleaning mechanism 2, and the five suction cups 3 are divided into front and rear.
  • the distance between the outer edge of the end of the cleaning mechanism 2 and the longitudinal center axis of the adsorption automatic cleaning machine is greater than the outer edge of any one of the suction cups 3
  • the distance between the longitudinal central axes, the longitudinal direction is the direction of travel of the automatic cleaning machine, that is, the cleaning direction qy, which means that the width s2 of the cleaning mechanism 2 is greater than the farthest distance in the direction qx perpendicular to the cleaning direction qy
  • the outer edge between the two suction cups 3 is s1.
  • the width s2 of the cleaning mechanism 2 is greater than the outer edge distance s1 between the two suction cups 3 farthest in the direction perpendicular to the cleaning direction, in order to ensure that the adsorption automatic cleaning machine 1 operates.
  • the cleaning mechanism 2 has a cleaning range sufficient to cover the range in contact with any one of the suction cups 3, thereby effectively preventing the working surface from being The dirt adheres to the surface of the suction cup 3.
  • the width of the cleaning mechanism 2 is smaller than the width of the body of the adsorption automatic cleaning machine 1 , and the structure of the adsorption automatic cleaning machine 1 can be made more compact, and Easy to package as a whole.
  • the adsorption type automatic cleaning machine of the present invention has been described with reference to the accompanying drawings. It should be emphasized that this embodiment is only one of the preferred embodiments of the present invention, and the scope of protection of the present invention is not limited by the embodiment. In the process of implementing the present invention, those skilled in the art can select an appropriate technical solution according to the specific characteristics of the working object. For example, the width of the cleaning mechanism can also be equal to or greater than the width of the body of the adsorption automatic cleaner.
  • the specific number of the suction cups and the arrangement thereof can be determined according to the specific specifications of the adsorption type automatic cleaning machine, and are not limited to five, and are not necessarily two rows, but whether the specific number of the suction cups is more than five or less Five, the distance between the outer edge of the end of the cleaning mechanism and the longitudinal center axis of the adsorption automatic cleaner is greater than the distance between the outer edge of any one of the suction cups and the longitudinal central axis, so that Make sure that the suction automatic cleaner is clean enough to cover the entire range that the suction cup is in contact with.
  • any deduction made on the basis of the technical solution claimed by the present invention is within the scope of the present invention.

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  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

A suction-type automatically cleaning machine (1). A cleaning mechanism (2) is provided at a front end of at the bottom of a machine body of the suction-type automatically cleaning machine (1), and a suction cup (3) is provided at the bottom of the machine body at a rear side of the cleaning mechanism (2). A distance between an end-portion outer edge of the cleaning mechanism (2) and a longitudinal central axis of the suction-type automatically cleaning machine (1) is greater than a distance between an outer edge of the suction cup (3) and the longitudinal central axis. The suction-type automatically cleaning machine (1) can effectively prevent dirt on a working surface from sticking to the surface of the suction cup (3), so as to ensure normal work of the suction cup (3) and improve use efficiency of the suction-type automatically cleaning machine (1). In addition, the suction-type automatically cleaning machine (1) further has advantages such as a simple structure and being easy to implement.

Description

吸附式自动清洁机Adsorption automatic cleaning machine 技术领域Technical field
本发明涉及机器人技术领域，特别涉及一种吸附式自动清洁机。The present invention relates to the field of robot technology, and in particular to an adsorption type automatic cleaning machine.
背景技术Background technique
现有的吸附式自动清洁机的底部设有吸盘，依靠其吸盘所产生的吸附力以及与该吸附力密切相关的摩擦力，其不仅能在光滑的地板上行走自如，而且在直立的作业面上也能行走自如，从而极大地提高了清洁效率。The existing adsorption type automatic cleaning machine is provided with a suction cup at the bottom, and the adsorption force generated by the suction cup and the friction force closely related to the adsorption force can not only walk freely on the smooth floor, but also in the upright working surface. It also walks freely, which greatly improves the cleaning efficiency.
然而，现有的吸附式自动清洁机在设计上也存在一个缺点，主要是吸附式自动清洁机在作业面上沿清洁方向前进时，其清洁机构所清洁的范围不足以全部覆盖吸盘所接触的范围，致使吸盘的外缘与未清洁面接触，从而导致作业面上的污垢粘附到吸盘表面——吸盘与工作面的接触面，从而影响吸盘的吸附效果。特别是，当吸盘表面上的污垢积累到一定量之后，吸附式自动清洁机就会因吸盘漏气而无法正常工作，甚至有可能从作业面上坠落。However, the existing adsorption type automatic cleaning machine also has a disadvantage in design, mainly when the adsorption type automatic cleaning machine advances in the cleaning direction on the working surface, the cleaning mechanism of the cleaning mechanism is insufficient to cover all the contacts of the suction cup. The range causes the outer edge of the suction cup to contact the uncleaned surface, thereby causing dirt on the working surface to adhere to the surface of the suction cup - the contact surface of the suction cup and the working surface, thereby affecting the adsorption effect of the suction cup. In particular, when the dirt on the surface of the suction cup accumulates to a certain amount, the adsorption type automatic cleaning machine may not work normally due to the leakage of the suction cup, and may even fall from the work surface.
对于上述问题，吸附式自动清洁机的使用者固然可以通过清洗吸盘的方式来予以克服，但频繁地清洗吸盘会导致人力成本的提高，吸附式自动清洁机的使用效率下降，有时，甚至会因清洗方式不当而导致吸盘的效能下降。For the above problems, the user of the adsorption automatic cleaning machine can be overcome by cleaning the suction cup, but frequent cleaning of the suction cup will lead to an increase in labor costs, and the use efficiency of the adsorption automatic cleaning machine will decrease, sometimes even due to Improper cleaning methods result in a decrease in the performance of the suction cup.
发明内容Summary of the invention
鉴于上述现有技术所存在的缺陷，本发明的目的旨在提供一种吸附式自动清洁机，所述吸附式自动清洁机在清洗作业面时能有效防止作业面上的污垢粘附到吸盘与作业面的接触面上，从而克服上述现有技术所存在的缺陷。In view of the above-mentioned deficiencies of the prior art, the object of the present invention is to provide an adsorption type automatic cleaning machine which can effectively prevent dirt on the working surface from adhering to the suction cup when cleaning the working surface. The contact surface of the working surface overcomes the drawbacks of the prior art described above.
本发明的目的是通过下述技术方案实现的：The object of the invention is achieved by the following technical solutions:
一种吸附式自动清洁机，其机体底部的前端设有清洁机构，清洁机构后侧的机体底部设有至少两个吸盘，所述清洁机构的端部外缘与所述吸附式自动清洁机的纵向中轴线之间的距离大于每个吸盘的外缘与所述纵向中轴线之间的距离。An adsorption type automatic cleaning machine, wherein a front end of the bottom of the body is provided with a cleaning mechanism, and at the bottom of the body of the cleaning mechanism is provided at least two suction cups, an outer edge of the end of the cleaning mechanism and the adsorption automatic cleaning machine The distance between the longitudinal center axes is greater than the distance between the outer edge of each suction cup and the longitudinal center axis.
在本发明中，所谓纵向，是指吸附式自动清洁机工作时的前进方向，亦即清洁方向。In the present invention, the term "longitudinal direction" refers to the advancing direction of the adsorption type automatic cleaning machine, that is, the cleaning direction.
在本发明中，所述清洁机构的端部外缘与所述吸附式自动清洁机的纵向中轴线之 间的距离大于吸盘的外缘与所述纵向中轴线之间的距离，是为了确保本发明吸附式自动清洁机在作业面上前进时，所述清洁机构清洁的范围足以全部覆盖所述吸盘能够接触到的范围，亦即避免所述吸盘的外缘与未清洁面接触，从而有效防止作业面上的污垢粘附到吸盘表面上。In the present invention, the outer edge of the end of the cleaning mechanism and the longitudinal center axis of the adsorption automatic cleaning machine The distance between the outer edge of the suction cup and the longitudinal center axis is to ensure that the cleaning mechanism of the present invention is cleaned in a range sufficient to completely cover the suction cup when the adsorption automatic cleaning machine of the present invention advances on the working surface. The range of contact, that is, the outer edge of the suction cup is prevented from coming into contact with the uncleaned surface, thereby effectively preventing dirt on the working surface from adhering to the surface of the suction cup.
在上述技术方案的基础上，本发明可进一步附加下述技术特征：Based on the above technical solutions, the present invention can further add the following technical features:
所述清洁机构的宽度小于或等于所述吸附式自动清洁机本体的宽度。采用清洁机构的宽度小于或等于吸附式自动清洁机本体宽度的设计，能使本发明吸附式自动清洁机的结构更加紧凑，且便于整体包装。The width of the cleaning mechanism is less than or equal to the width of the body of the adsorption automatic cleaner. The design of the cleaning mechanism has a width less than or equal to the width of the body of the adsorption automatic cleaner, so that the structure of the adsorption type automatic cleaning machine of the present invention is more compact and convenient for overall packaging.
进一步地，所述吸盘的数量为五个，五个吸盘分为前后两排，前排三个，后排两个。Further, the number of the suction cups is five, and the five suction cups are divided into two rows of front and rear, three in the front row, and two in the back row.
另外，本发明中的清洁机构可使用现有技术中已有的清洁机构，优先使用抹布、滚刷或刮条。Further, the cleaning mechanism in the present invention can use a cleaning mechanism which is existing in the prior art, and preferably uses a rag, a roller brush or a scraper.
本发明具有以下有益效果：1、有效防止作业面上的污垢粘附到吸盘表面上，从而确保吸盘的正常工作，提高吸附式自动清洁机的使用效率。2、结构简单、便于实施。The invention has the following beneficial effects: 1. Effectively preventing the dirt on the working surface from adhering to the surface of the suction cup, thereby ensuring the normal operation of the suction cup and improving the use efficiency of the adsorption automatic cleaning machine. 2. The structure is simple and easy to implement.
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
附图说明DRAWINGS
图1是本发明吸附式自动清洁机的一个实施例的底部结构示意图。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic view showing the bottom structure of an embodiment of the adsorption type automatic cleaning machine of the present invention.
具体实施方式detailed description
以下结合附图介绍本发明吸附式自动清洁机的一个实施例。An embodiment of the adsorption type automatic cleaning machine of the present invention will be described below with reference to the accompanying drawings.
图1是本发明吸附式自动清洁机的一个实施例的底部结构示意图。如图1所示，一种吸附式自动清洁机1，其机体底部的前端设有清洁机构2，清洁机构2后侧的机体底部设有五个吸盘3，所述五个吸盘3分为前后两排，前排三个，后排两个；所述清洁机构2的端部外缘与所述吸附式自动清洁机的纵向中轴线之间的距离大于任何一个吸盘3的外缘与所述纵向中轴线之间的距离，纵向即为自动清洁机的行进方向，也就是清洁方向qy，这就意味着所述清洁机构2的宽度s2大于与清洁方向qy垂直的方向qx上相距最远的两个吸盘3之间的外侧边缘距离s1。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic view showing the bottom structure of an embodiment of the adsorption type automatic cleaning machine of the present invention. As shown in FIG. 1 , an adsorption type automatic cleaning machine 1 has a cleaning mechanism 2 at the front end of the bottom of the body, and five suction cups 3 at the bottom of the body of the cleaning mechanism 2, and the five suction cups 3 are divided into front and rear. Two rows, three in the front row and two in the rear row; the distance between the outer edge of the end of the cleaning mechanism 2 and the longitudinal center axis of the adsorption automatic cleaning machine is greater than the outer edge of any one of the suction cups 3 The distance between the longitudinal central axes, the longitudinal direction is the direction of travel of the automatic cleaning machine, that is, the cleaning direction qy, which means that the width s2 of the cleaning mechanism 2 is greater than the farthest distance in the direction qx perpendicular to the cleaning direction qy The outer edge between the two suction cups 3 is s1.
在本实施例中，所述清洁机构2的宽度s2大于与清洁方向垂直的方向上相距最远的两个吸盘3之间的外侧边缘距离s1，是为了确保吸附式自动清洁机1工作时，清洁机构2所清洁范围足以覆盖任何一个吸盘3所接触的范围，从而有效防止作业面上的 污垢粘附到吸盘3的表面上。In the embodiment, the width s2 of the cleaning mechanism 2 is greater than the outer edge distance s1 between the two suction cups 3 farthest in the direction perpendicular to the cleaning direction, in order to ensure that the adsorption automatic cleaning machine 1 operates. The cleaning mechanism 2 has a cleaning range sufficient to cover the range in contact with any one of the suction cups 3, thereby effectively preventing the working surface from being The dirt adheres to the surface of the suction cup 3.
从图1还可以看出，在本实施例中，清洁机构2的宽度小于吸附式自动清洁机1机体自身的宽度，采用这种方案，能使吸附式自动清洁机1的结构更加紧凑，且便于整体包装。It can also be seen from FIG. 1 that in the present embodiment, the width of the cleaning mechanism 2 is smaller than the width of the body of the adsorption automatic cleaning machine 1 , and the structure of the adsorption automatic cleaning machine 1 can be made more compact, and Easy to package as a whole.
以上，结合附图介绍了本发明吸附式自动清洁机的一个实施例。需要强调的是，该实施例只是本发明优选的实施方式之一，本发明的保护范围不受该实施例的限制。在具体实施本发明的过程中，本领域技术人员可以根据工作对象的具体特点，选择适当的技术方案。例如，清洁机构的宽度也可以等于甚至大于吸附式自动清洁机本体的宽度。又如，吸盘的具体数量及其排列方式可根据吸附式自动清洁机的具体规格确定，不限于五个，也不一定是两排，但是，无论吸盘的具体数量是超过五个，还是少于五个，都应使所述清洁机构的端部外缘与所述吸附式自动清洁机的纵向中轴线之间的距离大于任何一个吸盘的外缘与所述纵向中轴线之间的距离，以便确保吸附式自动清洁机的清洁范围足以全部覆盖吸盘所接触的范围。总之，在本发明请求保护的技术方案的基础上所作的任何演绎，均属于本发明的保护范围。 In the above, an embodiment of the adsorption type automatic cleaning machine of the present invention has been described with reference to the accompanying drawings. It should be emphasized that this embodiment is only one of the preferred embodiments of the present invention, and the scope of protection of the present invention is not limited by the embodiment. In the process of implementing the present invention, those skilled in the art can select an appropriate technical solution according to the specific characteristics of the working object. For example, the width of the cleaning mechanism can also be equal to or greater than the width of the body of the adsorption automatic cleaner. For another example, the specific number of the suction cups and the arrangement thereof can be determined according to the specific specifications of the adsorption type automatic cleaning machine, and are not limited to five, and are not necessarily two rows, but whether the specific number of the suction cups is more than five or less Five, the distance between the outer edge of the end of the cleaning mechanism and the longitudinal center axis of the adsorption automatic cleaner is greater than the distance between the outer edge of any one of the suction cups and the longitudinal central axis, so that Make sure that the suction automatic cleaner is clean enough to cover the entire range that the suction cup is in contact with. In summary, any deduction made on the basis of the technical solution claimed by the present invention is within the scope of the present invention.

Claims (4)

  1. 一种吸附式自动清洁机，其机体底部的前端设有清洁机构，所述清洁机构后侧的机体底部设有至少两个吸盘，其特征在于：所述清洁机构(2)的端部外缘与所述吸附式自动清洁机的纵向中轴线之间的距离大于所述每个吸盘(3)的外缘与所述纵向中轴线之间的距离。An adsorption type automatic cleaning machine is provided with a cleaning mechanism at the front end of the bottom of the body, and at least two suction cups are arranged at the bottom of the body on the rear side of the cleaning mechanism, characterized in that: the outer edge of the end of the cleaning mechanism (2) The distance from the longitudinal center axis of the adsorption automatic cleaner is greater than the distance between the outer edge of each suction cup (3) and the longitudinal center axis.
  2. 如权利要求1所述的吸附式自动清洁机，其特征在于：所述清洁机构(2)的宽度小于或等于所述吸附式自动清洁机机体的宽度。The automatic self-cleaning machine according to claim 1, wherein the width of the cleaning mechanism (2) is less than or equal to the width of the body of the adsorption automatic cleaner.
  3. 如权利要求1所述的吸附式自动清洁机，其特征在于：所述吸盘(3)的数量为五个，五个吸盘(3)分为前后两排，前排三个，后排两个。The adsorption type automatic cleaning machine according to claim 1, wherein the number of the suction cups (3) is five, and the five suction cups (3) are divided into two rows of front and rear, three in the front row, and two in the rear row. .
  4. 如权利要求1-3任一项所述的吸附式自动清洁机，其特征在于：所述清洁机构(2)为抹布、滚刷或刮条。 The adsorption type automatic cleaning machine according to any one of claims 1 to 3, characterized in that the cleaning mechanism (2) is a rag, a roller brush or a scraper.
PCT/CN2014/091372 2013-11-20 2014-11-18 Suction-type automatically cleaning machine WO2015074530A1 (en)

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CN201310587180.3 2013-11-20
CN201310587180.3A CN104644064A (en) 2013-11-20 2013-11-20 Absorptive automatic cleaning machine

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CN110946524B (en) * 2018-09-26 2021-11-12 添可智能科技有限公司 Surface cleaning machine and self-cleaning method thereof

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KR20120009927A (en) * 2010-07-22 2012-02-02 김용욱 Robot for cleaner and control method using the same
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