WO2016119662A1

WO2016119662A1 - Floor cleaning robot with automatic cleaning mop head and mop head cleaning component

Info

Publication number: WO2016119662A1
Application number: PCT/CN2016/072018
Authority: WO
Inventors: 梁胜昔
Original assignee: 梁胜昔
Priority date: 2015-01-29
Filing date: 2016-01-25
Publication date: 2016-08-04
Also published as: CN104545707A; CN104545707B

Abstract

A floor cleaning robot with an automatic cleaning mop head and a mop head cleaning component thereof. The floor cleaning robot comprises a robot body (1) and a mop head (3) arranged on the robot body (1), and further comprises a mop head cleaning component for cleaning the mop head (3). The mop head cleaning component comprises: a clean water supply apparatus (431) arranged on the robot body (1) and corresponding to the mop head (3) to spray clean water to the mop head (3); a sewage drainage apparatus arranged on the robot body (1) and cooperating with the mop head (3) to drain sewage in the mop head (3); a water collection apparatus (41) operably arranged below the mop head (3) to collect the sewage extruded from the mop head (3); and a sewage recycling apparatus (44) arranged on the robot body (1) and operably communicated with the water collection apparatus (41) to pump the sewage from the water collection apparatus (41). By implementing the technical solution of the present invention, the mop head (3) can be washed clean without being detached and manually operated.

Description

Ground cleaning robot and tractor cleaning assembly with automatic cleaning tractor

[0001] The present invention relates to the field of cleaning, and more particularly to a floor cleaning robot and a tractor cleaning assembly therefor.

Background technique

[0002] With the development of modern technology, automated ground cleaning robots have gradually entered the general family life, not only sharing part of the housework, but also adding fun to family life.

[0003] However, the ground cleaning robot that is gradually popularized now has the problem of requiring manual replacement of the tractor. That is, after the ground cleaning robot is working for a while, a certain amount of dust and debris will accumulate on the tractor. The replacement of the tractor will greatly reduce the cleaning effect of the floor cleaning robot and will not be able to meet the daily use. Moreover, the dust and debris on the tractor may enter the body of the floor cleaning robot during the process of continued use, resulting in a shortened service life of the floor cleaning robot. Therefore, there is an urgent need for an automatic cleaning and towing. The head of the ground cleaning robot.

technical problem

[0004] There is still a problem that the ground cleaning robot that is gradually popularized needs to manually replace the tractor. That is, after the ground cleaning robot is working for a while, a certain amount of dust and debris will accumulate on the tractor, if not, Replacing the tractor will greatly reduce the cleaning effect of the floor cleaning robot and will not be able to meet the daily use. Moreover, the dust and debris on the tractor may enter the body of the floor cleaning robot during the process of continued use, resulting in a shortened service life of the floor cleaning robot. Therefore, there is an urgent need for an automatic cleaning and towing. The head of the ground cleaning robot.

Problem solution

Technical solution

[0005] The technical problem to be solved by the present invention is to provide a floor cleaning robot with an automatic cleaning tractor.

[0006] The technical solution adopted by the present invention to solve the technical problem thereof is: constructing a ground cleaning robot with an automatic cleaning tractor, comprising a body and a tractor disposed on the body, and further comprising a cleaning device The tractor cleaning assembly of the tractor, the tractor cleaning assembly includes:

a clear water supply device disposed on the body and corresponding to the tractor to rinse fresh water into the On the tractor

[0008] a sewage discharge device is disposed on the fuselage and cooperates with the tractor to discharge the sewage in the tractor;

[0009] a water receiving device operatively disposed below the tractor to receive sewage discharged from the tractor; and

[0010] A sewage recovery device is disposed on the body and operatively communicates with the water receiving device to extract sewage from the water receiving device.

[0011] In the floor cleaning robot with an automatic cleaning tractor of the present invention, the floor cleaning robot further includes a sewage treatment device connected between the sewage recovery device and the fresh water supply device

[0012] In the floor cleaning robot with an automatic cleaning tractor of the present invention, the sewage discharge device includes a first driving device, a stopping device, and a control device, and the first driving device and one end of the tractor are in a week An upwardly fixed connection; the stopping device is operatively fixedly coupled to the other end of the tractor in a circumferential direction, and the control device controls the first driving device to drive the one end to rotate back and forth within a certain angle To unscrew the sewage from the tractor.

[0013] In the floor cleaning robot with an automatic cleaning tractor of the present invention, the sewage discharge device further includes a mounting shaft coupled to an output shaft of the first driving device, the tractor being detachably sleeved on the Mounting on the shaft

[0014] In the floor cleaning robot with an automatic cleaning tractor of the present invention, the mounting shaft is mounted on the body and is capable of back and forth between a higher position and a lower position relative to the body. Move

[0015] the sewage discharge device further includes a lifting device disposed on the water receiving device, the lifting device cooperating with the mounting shaft to operatively position the mounting shaft from the lower position Raising to the higher position; the tractor is engaged with the stop device as the mounting shaft moves to the higher position.

[0016] In the floor cleaning robot with an automatic cleaning tractor of the present invention, the control device is communicably connected to the first driving device to control the first position when the mounting shaft moves to the upper position A drive unit drives the mounting shaft to reverse in a certain angle.

[0017] In the floor cleaning robot with an automatic cleaning tractor of the present invention, the sewage discharge device further includes a setting a guiding member at one end of the mounting shaft, the guiding member is matched with the lifting device;

[0018] The lifting device includes a parabolic cam that cooperates with the guide.

[0019] In the ground cleaning robot with an automatic cleaning tractor, the two ends of the tractor are respectively provided with a pair of end caps, wherein one end cover is fixedly connected with the mounting shaft in the circumferential direction, and the other end cover is The stop means are operatively fixedly connected in the circumferential direction.

[0020] In the floor cleaning robot with an automatic cleaning tractor of the present invention, the tractor cleaning assembly further includes a housing disposed at a rear portion of the fuselage of the floor cleaning robot, and a bottom of the housing is provided with a cornice. The tractor is disposed in the housing, and the housing is provided with a water inlet for communicating with the fresh water supply device

[0021] The water receiving device is rotatably coupled to both ends of the housing; the tractor cleaning assembly further includes a flip assembly for driving the water receiving device to flip relative to the housing.

[0022] In the ground cleaning robot with an automatic cleaning tractor of the present invention, both sides of the water receiving device are provided with two side plates, and the two side plates are respectively hinged to both sides of the housing; The top of the side plate is provided with transmission teeth evenly distributed along the circumference of the side plate;

[0023] the inverting assembly includes a second driving device, a transmission shaft coupled to a rotating shaft of the second driving device, and two transmission gears disposed on the transmission shaft; the two transmission gears respectively correspond to The two side plates are arranged and cooperate with the driving teeth of the top of the two side plates.

[0024] The present invention also provides a tractor cleaning assembly for a floor cleaning robot, which is used for cleaning a tractor of a ground cleaning robot, and includes:

[0025] a fresh water supply device disposed on the fuselage and corresponding to the tractor to rinse fresh water onto the tractor;

a sewage discharge device disposed on the body and cooperating with the tractor to discharge the sewage in the tractor;

[0027] a water receiving device operatively disposed below the tractor to receive sewage discharged from the tractor;

[0028] A sewage recovery device is disposed on the body and operatively communicates with the water receiving device to extract sewage from the water receiving device.

Advantageous effects of the invention Beneficial effect

[0029] The technical solution of the present invention has at least the following beneficial effects: The ground cleaning robot in the present invention has a tractor cleaning assembly, which can be used without removing the tractor without manual operation. , clean the tractor. Eliminates the drawback of frequently removing the tractor for cleaning or replacement.

[0030] The water for cleaning the tractor can be recycled repeatedly, so that the ground cleaning robot can be used for a long time after adding water. The floor cleaning robot is simple to use, easy to operate, has a better cleaning effect and a longer service life.

Brief description of the drawing

DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

1 is a perspective structural view of a floor cleaning robot in an embodiment of the present invention;

2 is a schematic structural view of the floor cleaning robot shown in FIG. 1 with the top cover removed; [0033] FIG.

3 is an exploded view of the floor cleaning robot shown in FIG. 1; [0034] FIG.

4 is a perspective structural view of a sewage discharge device in an embodiment of the present invention;

Figure 5 is a perspective view showing another perspective of the sewage discharge device shown in Figure 4;

6 is a schematic structural view of a mounting shaft and an end cap in one embodiment of the present invention.

[0038] wherein, 1, the fuselage; 11, the top cover; 12, the dust suction device; 2, the walking unit; 3, the tractor; 41, the water receiving device; 411, the side plate; 412, the transmission teeth; 413, uplift 42; confined space; 421, water inlet; 422, water outlet; 431, clean water supply device; 433, water inlet; 434, filter core; 435, clean water supply pump; 44, sewage recovery device; 451, first Drive unit; 452, mounting shaft; 4521, cross section; 453, end cover; 454, stop device; 455, guide; 456, small pulley; 457, disinfection device; 461, second drive; 462, transmission Shaft; 463, transmission gear; 5, filter; 6, housing.

BEST MODE FOR CARRYING OUT THE INVENTION

[0039] In order to more clearly understand the technical features, objects and advantages of the present invention, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 6 illustrate a floor cleaning robot with an automatic cleaning tractor in a preferred embodiment of the present invention. The tractor 3 of the floor cleaning robot can be replaced without frequent replacement, and the floor cleaning robot has a structure capable of automatically cleaning the tractor 3, so that cleaning the tractor 3 of the floor cleaning robot is very convenient and quick, thereby solving the ground. The cleaning robot often removes or replaces the drawbacks of the tractor 3, and greatly improves the cleaning effect of the floor cleaning robot and prolongs the service life of the floor cleaning robot.

[0041] The floor cleaning robot may, in some embodiments, include a fuselage 1, and a walking unit 2, a tractor 3, and a tractor cleaning assembly mounted to the body 1. As shown in Fig. 1, the body 1 serves as a main body structure of the floor cleaning robot, and the main function of the body 1 is to mount various components of the floor cleaning robot so that the respective components constitute a whole. Moreover, the body 1 has a certain strength, which can better ensure the normal operation of the various components of the floor cleaning machine.

[0042] In some embodiments, the shape of the fuselage 1 is preferably circular or elliptical, and the main advantage of the circular body 1 is that the floor cleaning robot can have a circular arc-shaped body 1 edge, then The floor cleaning robot performs cleaning work indoors. Even if there is a certain collision with the corners or furniture in the room, the edge of the arc-shaped fuselage 1 can be well buffered. In some embodiments, the material of the body 1 is preferably plastic, and the body 1 of the plastic material has the advantages of being light and easy to move, so that it is very labor-saving to store or move the floor cleaning robot.

[0043] As shown in FIG. 1 , the bottom of the fuselage 1 is provided with a walking unit 2, and the main function of the walking unit 2 is to drive the floor cleaning robot to move indoors. Generally, the walking unit 2 includes a moving wheel set. The moving wheel set may include a front wheel that is disposed at the forefront of the forward direction of the body 1, and a pair of driven wheels that are disposed at both sides of the body 1.

[0044] In some embodiments, the moving wheel set may also adopt other structures, for example, three omnidirectional wheels distributed in the bottom of the fuselage 1, distributed in an equilateral triangle, or disposed at the center of the bottom of the fuselage 1 One of the larger hub wheels and so on.

[0045] The tractor cleaning assembly can clean the tractor 3 without disassembling the lower tractor 3 without manual work. In general, the tractor 3 is located at the rear of the bottom of the fuselage 1. The main function of the tractor 3 is to haul the surface to be cleaned by the person cleaning the floor. In addition to providing a cleaning tractor, a cleaning device, a dust suction device 12, and the like may be disposed in front of the bottom of the body 1 of the floor cleaning robot.

[0046] The shape of the tractor 3 is preferably cylindrical. Preferably, the tractor 3 is also capable of walking on the ground to reduce the load on the walking unit 2 and to improve the cleaning effect. Still preferably, the tractor 3 is in the process of walking, The speed difference between the tractor 3 and the moving wheel set of the above-mentioned walking unit 2 can further ensure the drag effect of the tractor 3, so that the cleaning effect of the floor cleaning robot is better and the cleaning efficiency is higher.

[0047] The material of the tractor 3 can be a constituent material of a common rag, or a material such as a sponge.

[0048] Referring to FIGS. 1 through 5, the tractor cleaning assembly may include, in some embodiments, a fresh water supply device 431, a sewage discharge device, a water receiving device 41, and a sewage recovery device 44. The fresh water supply device 431 is disposed on the body 1 and corresponds to the tractor ₃ to shower the fresh water onto the tractor 3. The sewage discharge device is disposed on the fuselage 1 and cooperates with the tractor 3 to discharge the sewage in the tractor 3. The water receiving device 41 is operatively disposed below the tractor 3 to receive the sewage extruded from the tractor 3. The sewage recovery device 44 is disposed on the fuselage 1 and operatively communicates with the water receiving device 41 to extract the sewage in the water receiving device 41.

[0049] Further, the floor cleaning robot may further include a sewage treatment device connected between the sewage recovery device and the fresh water supply device. The above-mentioned fresh water supply device, sewage discharge device, water receiving device 41, sewage recovery device and sewage treatment device constitute a water circulation system, so that the water for cleaning the tractor can be used repeatedly after being added, and the energy-saving and environmentally friendly colleagues also ensure The cleaning effect of the tractor.

[0050] In some embodiments, the sewage draining device can include a first drive device 451, a stop device 454, and a control device (not shown). The first driving device 451 is fixedly coupled to one end of the tractor 3 in the circumferential direction. The stopping device 454 is operatively fixedly connected to the other end of the tractor 3 in the circumferential direction, and the control device controls the first driving device 451 to drive the one end to rotate back and forth within a certain angle to screw out the sewage in the tractor 3 .

[0051] Specifically, the sewage discharge device further includes a mounting shaft 452 coupled to the output shaft of the first driving device 451, and the tractor 3 is detachably sleeved on the mounting shaft 452. The mounting shaft 452 is mounted to the body 1 and is movable back and forth relative to the body 1 between a higher position and a lower position.

[0052] In some embodiments, the sewage draining device further includes a lifting device 413 disposed on the water receiving device 41, the lifting device 413 mating with the mounting shaft 452 to operatively position the mounting shaft 452 from a lower position Raise to a higher position. The tractor 3, as the mounting shaft 452 is moved to a higher position, cooperates with the stop means 454 to fix the respective ends of the tractor 3 in the circumferential direction such that the respective ends cannot rotate with the mounting shaft 452. The control device is communicatively coupled to the first driving device 451 to control the first driving device 451 to drive the mounting shaft 452 to rotate forward and backward within a certain angle after the mounting shaft 452 is moved to a higher position, thereby driving the tractor 3 and the third The adjacent end of a driving device 451 is reversed at a certain angle.

[0053] The sewage discharge device further includes a guide member 455 disposed at the end of the mounting shaft 452, and the guide member 455 is engaged with the lifting device 413 to transmit the force generated by the lifting device 413 to the mounting shaft 452. Preferably, the lifting device 413 includes a parabolic cam that cooperates with the guide member 455 to convert the rotation of the parabolic cam into a lifting linear motion of the guide member 455. The guide member 455 can be rotatably coupled to the one end of the mounting shaft 452 in some embodiments.

[0054] In some embodiments, the two ends of the tractor 3 may be respectively provided with a pair of end caps 453, wherein the one end cover 453 is fixedly connected with the mounting shaft 452 in the circumferential direction, and the other end cover 453 and the stopping device 454 are circumferentially The connection is operatively fixed upwards. In some embodiments, referring to FIG. 6, the end cap 453 is attached to both ends of the tractor 3 and is disposed on the mounting shaft 452 along with the tractor 3, and the mounting shaft 452 is disposed in the middle of the end cover 453. The pupil that passed. Preferably, the cross section 4521 of the end cap of the end of the mounting shaft 452 adjacent the first drive means 451 is non-circular (e.g., a regular hexagon). Correspondingly, the corresponding portion of the end surface of the end cap 453 is also non-circular and is sized so that the first driving device 451 and the end of the tractor 3 adjacent to the first driving device 451 are fixed in the circumferential direction. . And the end cover 453 is disposed at both ends of the tractor 3, and the end cover 453 cooperates with the stopping device 45 4 so that one end of the tractor 3 is fixed and does not rotate with the mounting shaft 452.

Specifically, as shown in FIG. 2, the fresh water supply device 431 is disposed in the body 1, and the fresh water supply device 431 is provided with a water delivery port 433 and a water collection port 432, and the side of the fresh water supply device 431 is provided with A clean water supply pump 435 is used to press out the clean water. Specifically, the tractor 3 is mounted to the rear cymbal of the fuselage 1, and the housing 6 is disposed above the tractor 3. The side of the casing 6 is formed with a water inlet 433 connected to the fresh water supply device 431. The water inlet 421, the fresh water pumped out in the fresh water supply device 431 passes through the water inlet 433 and the water inlet 421, and then rushes toward the tractor 3 to flush the debris and dust on the tractor 3. And during the rinsing process, the tractor 3 absorbs a part of the water, so that the dirt in the tractor 3 can also be cleaned.

[0056] As shown in FIG. 2, the water receiving device 41 is movably disposed at the rear of the body 1, and the water receiving device 41 can be used to operably constitute the water receiving chamber of the tractor 3. That is, after the water receiving device 41 is turned over, the water from the top of the tractor 3 is rotated to the bottom of the tractor 3, so that the sewage of the flushing tractor 3 can be caught, thereby ensuring that the water of the cleaning tractor 3 does not leak out of the body 1 . Moreover, the sewage caught by the water receiving device 41 can be recycled and reused repeatedly, which is very energy-saving and environmentally friendly.

[0057] Referring to FIG. 3, when the tractor 3 is mounted to the rear of the body 1, and the housing 6 is disposed above the tractor 3, The water receiving device 41 may be a semicircular cover having a mouth at one end, and the shape of the cornice of the semicircular cover matches the shape of the mouth of the casing 6 at the rear of the body 1. When the tractor 3 is working normally, the water receiving device 41 is movably connected to the top of the casing 6 at the rear of the fuselage 1, and the tractor 3 is dropped from the mouth of the casing 6 at the rear of the fuselage 1 and is to be cleaned. contact. The above ground cleaning robot further includes a flipping assembly for driving the water receiving device 41 to be turned over with respect to the housing 6. When the tractor 3 requires cleaning, the water receiving device 41 can be driven from the top of the housing 6 by the flipping assembly. The mouth end of the housing 6 is turned over until the mouth of the water receiving device 41 completely covers the mouth of the housing 6.

[0058] In addition, the water receiving device 41 may also be a curved cover of one side of the mouth, and the curved cover has a small curvature of the mouth. After the tractor 3 is working normally, the above-mentioned curved cover is disposed on the outer side of the tractor 3, and the tractor 3 is dropped from the mouth of the curved cover to contact with the surface to be cleaned. When the tractor 3 needs to be cleaned, the curved cover is externally pressed. The operation is reversed until the mouth of the curved cover is facing upward, and the bottom of the tractor 3 is held by the curved cover with the mouth facing upward.

[0059] Referring again to FIG. 2, the water receiving device 41 is rotatably coupled to both ends of the casing 6, and the water receiving device 41 is carried along the outer surface of the casing 6 from the top of the casing 6 under the driving of the inverting assembly. Flipping toward the mouth end of the housing 6 until the water receiving device 41 completely covers the mouth of the housing 6.

[0060] When the water receiving device 41 is movably connected to both ends of the casing 6, referring to FIG. 3, the two sides of the water receiving device 41 are provided with two side plates 411, which are respectively associated with the casing 6. The two sides are hinged; the tops of the side plates 411 are provided with transmission teeth 412 evenly distributed along the circumference of the side plates 411. The flip assembly can include, in some embodiments, a second drive 461, a drive shaft 462 coupled to the shaft of the second drive unit 461, and two drive gears 463 disposed on the drive shaft 462. The two transmission gears 463 are respectively disposed corresponding to the side plates 411 and cooperate with the transmission teeth 412 at the top of the side plates 411.

[0061] As shown in FIG. 3 to FIG. 5, the tractor 3 is directly disposed on the mounting shaft 452. The mounting shaft 452 is directly coupled with the rotating shaft of the first driving device 451, and the tractor 3 can follow the mounting shaft. The rotation of 452 causes the above-mentioned tractor 3 to be directly towed with the ground during the advancement of the floor cleaning robot. The first driving device 451 can drive the mounting shaft 452 and the tractor 3 on the mounting shaft 452. The first driving device 451 can drive the mounting shaft 452 and the mounting shaft 452 on the mounting shaft 452. Lift up and down. Specifically, in the process of mopping the land, the tractor 3 is dropped; after the tractor 3 is dirty, the tractor 3 can be lifted up with the mounting shaft 452 and taken into the body 1.

[0062] In some embodiments, after the water receiving device 41 is turned over, the inner wall surface of the side plate 411 of the water receiving device 41 is The parabolic cam cooperates with the guiding member 455 on the mounting shaft 452. As the water receiving device 41 is completely turned down directly below the tractor 3, the parabolic cam and the guiding member 455 can drive the tractor 3 completely into the body 1. Inside. Moreover, the casing 6 of the fuselage 1 and the water receiving device 41 can form a closed space, and the tractor 3 can be sealed, so that the water for cleaning the tractor 3 can be completely recovered or the tractor 3 can be used. Moisturizing effect. Even if the flat cleaning robot is not used, the tractor 3 can be sealed and moisturized, so that the tractor 3 does not dry out, so as to facilitate the service life and the use effect of the tractor 3. The above described floor cleaning robot may also include a sanitizing device 457 in some embodiments, which in some embodiments may be a UV germicidal lamp that is aligned with the tractor 3 to sterilize and sterilize the tractor 3.

[0063] After the tractor 3 is sealed in the body 1, the water in the fresh water supply device 431 is flushed onto the tractor 3, and the dust in the tractor 3 is cleaned, and the sewage needs to be discharged, such as As shown in FIG. 3 to FIG. 5, the above-mentioned stopping device 4 54 can be used for the contact of the stopping device 454 with one end of the tractor 3 after the tractor 3 is raised, so that one end of the tractor 3 cannot rotate with the mounting shaft 452. , that is, fixed in the circumferential direction. After the first driving device 451 is reversed a plurality of times, the sewage in the tractor 3 disposed on the mounting shaft 452 can be unscrewed, thereby achieving the purpose of cleaning the tractor 3 . It is to be understood that the tractor 3 is not limited to being drained by means of screwing, and it can also be drained by means of squeezing.

[0064] In some embodiments, after the sewage in the tractor 3 is unscrewed, the lower end of the tractor 3 is carried by the water receiving device 41, and the water receiving device 41 is opposite to the side wall of the tractor 3. A return groove is provided on the wall. A water outlet 422 is further disposed on one side of the water receiving device 41. The return groove communicates with the water outlet 422, and the groove diameter of the return groove gradually increases toward the water outlet 422.

[0065] The sewage recovery device 44 is disposed at the water outlet 422 on the side of the water receiving device 41 for extracting sewage. In general, the sewage recovery device 41 can be a small pump. The above-described floor cleaning robot may further include a filter core 434 disposed in the fresh water supply device 431 and a filter screen 5 disposed at an upper portion of the clean water supply device 431, and the filter core 434 and the filter net 5 constitute a sewage treatment device of the above ground cleaning robot. The filtering precision of the filter 5 can be about 5 micrometers, and can be used for filtering out hair, dust and the like to realize preliminary treatment of sewage. The filtering precision of the filter core 434 can be about 0.2 micrometer, and can be used for filtering off detergent, bacteria, pigments, etc., in order to further treat the sewage, achieve the effect of secondary filtration, and clean the treated sewage. Degree to the extent that you can wash vegetables. Understandably, in some cases, if the accuracy of the sewage treatment is not required to be high, only one level of filtration may be used. [0066] In general, the filter screen 5 described above is located at the rear of the body 1 of the entire floor cleaning robot. The top of the fuselage 1 is provided with a detachable top cover 11 so as to be added with clean water. After the top cover 1 1 of the top of the fuselage 1 is smashed, the water used for the added fresh water is first passed through the filter net 55. After filtering, the automatic cleaning effect of the tractor 3 of the above ground cleaning robot is better.

[0067] In summary, the specific working process of the floor cleaning robot of the present invention is as follows:

[0068] In the process of mopping the floor cleaning robot of the present invention, the tractor 3 is rotated at a high speed by the first driving device 451 and the mounting shaft 452 to wipe the ground clean. And the setting can be made to make the linear speed of the tractor 3 larger than the forward linear speed of the ground cleaning robot to better clean the ground. After the tractor 3 is dirty, the ground cleaning robot stops moving forward, the water receiving device 41 starts to reverse, and the water receiving device 41 is turned over to form a sealed space with the casing 6 at the rear of the fuselage 1. At the same time, the mounting shaft 452 and the tractor 3 provided on the mounting shaft 452 are lifted up into the sealed space 42 by the linkage of the lifting device 413 and the guide 455. The water in the fresh water supply device 431 is introduced into the sealed space 42 formed by the casing 6 and the water receiving device 41, and the water entering the sealed space 42 is flushed toward the tractor 3, and the tractor 3 is lifted to a certain height and then towed. The end cap 453 at one end of the head 3 is in contact with the stopper 454 so that one end of the tractor 3 is fixed, and the squeezing head 3 is installed to rotate the sewage in the tractor 3 after the motor is reversed a plurality of times. After the sewage falls on the water receiving device 41, it is withdrawn from the water outlet 422 through the return tank, and the extracted dirty water is filtered through the filter 5 and then enters the clean water supply device 431, and then filtered by the filter 434 in the clean water supply device 431. Only after the next recycling can be carried out. After the tractor 3 is wrung out, the water receiving device 41 will be flipped back to the starting position, and the tractor 3 will be lowered, and the ground cleaning robot will continue to mop the ground.

[0069] The ground cleaning robot automatically returns to the charging station after the cleaning is completed or when the battery is low. During the charging process, the ground cleaning robot can perform repeated automatic multiple cleanings by pre-setting. The specific cleaning process is consistent with the above, and will not be described here. In addition, during the charging process, the water receiving device 41 is turned over to form a sealed space 42 with the casing 6 at the rear of the fuselage 1, that is, the flip cover does not smash, and the tractor 3 is sealed in the sealed space 42 to store the tractor. 3 moisture, easy to use for ground cleaning robot

[0070] In some embodiments, referring to FIG. 4, the top of the guiding member 455 is disposed on the mounting shaft 452, and the bottom of the guiding member 455 is provided with a small pulley 456 to achieve the sliding fit of the guiding member 455 and the lifting device 413. . The main function of the small pulley 456 is to reduce the friction between the guide 455 and the lifting device 413. The cooperation between the above-mentioned guide member 455 and the lifting device 413 is smoother.

[0071] In summary, the ground cleaning robot has a tractor cleaning assembly, and the tractor cleaning assembly can clean the tractor 3 without removing the tractor 3, and the entire cleaning process does not require manual operation. Moreover, the water for cleaning the tractor 3 can be recycled repeatedly, so that the ground cleaning robot can be used for a long time after adding water. The floor cleaning robot is simple to use, easy to operate, and has a better cleaning effect and a longer service life.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications, combinations and changes may be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. within the spirit and scope of the invention are intended to be included within the scope of the appended claims.

Claims

Claim

[Claim 1] A floor cleaning robot with an automatic cleaning tractor, comprising a body (1) and a tractor (3) disposed on the body (1), characterized in that it further comprises a cleaning The tractor

(3) a tractor cleaning assembly, the tractor cleaning assembly comprising: a clean water supply device (431) disposed on the body (1) and corresponding to the tractor (3) to flush water Dripping onto the tractor (3);

a sewage discharge device disposed on the fuselage (1) and cooperating with the tractor (3) to discharge the sewage in the tractor (3);

a water receiving device (41) operatively disposed below the tractor (3) to receive sewage discharged from the tractor (3);

A sewage recovery device (44) is disposed on the fuselage (1) and operatively communicates with the water receiving device (41) to extract sewage from the water receiving device (41).

[Claim 2] The floor cleaning robot with an automatic cleaning tractor according to claim 1, wherein the floor cleaning robot further comprises a sewage treatment device connected to the sewage recovery device (44) Between the fresh water supply device (431) and the fresh water supply device (431).

[Claim 3] The floor cleaning robot with automatic cleaning tractor according to claim 1 or 2, wherein the sewage discharge device comprises a first driving device (451), a stopping device (454), and a control The first driving device (451) is fixedly connected to one end of the tractor (3) in the circumferential direction; the stopping device (454) and the other end of the tractor (3) are circumferentially Operatively fixedly connected, the control device controls the first drive device

(451) Driving the one end to rotate back and forth within a certain angle to unscrew the sewage in the tractor.

[Claim 4] The floor cleaning robot with an automatic cleaning tractor according to claim 3, wherein the sewage discharge device further includes a mounting shaft coupled to an output shaft of the first driving device (451) ( 452), the tractor (3) is detachably sleeved on the mounting shaft (45)

2) On.

[Claim 5] The floor cleaning robot with automatic cleaning tractor according to claim 4, wherein the mounting shaft (452) is mounted on the body (1) and is capable of being opposite to the The fuselage (1) moves back and forth between a higher position and a lower position;

The sewage discharge device further includes a lifting device (413) disposed on the water receiving device (41), the lifting device (413) cooperating with the mounting shaft (452) to operatively The mounting shaft (452) is raised from the lower position to the higher position; the tractor (3) moves to the higher position with the mounting shaft (452), and the stop The device (454) is matched.

A floor cleaning robot with an automatic cleaning tractor according to claim 4, wherein said control means is communicably coupled to said first driving means (451) for moving to said mounting shaft (452) In the higher position 吋, the first driving device (451) is controlled to drive the mounting shaft (452) to be reversed within a certain angle.

A floor cleaning robot with an automatic cleaning tractor according to claim 4, wherein said sewage discharge device further comprises a guide member (455) disposed at an end of said mounting shaft (452), said guide member ( 455) cooperating with the lifting device (413); the lifting device (413) comprising a parabolic cam that cooperates with the guiding member (455) with automatic cleaning towing according to any one of claims 4 to a ground cleaning robot of the head, wherein the two ends of the tractor (3) are respectively provided with a pair of end covers (453), wherein one end cover (453) is fixedly connected to the mounting shaft (452) in the circumferential direction, Another end cap

(453) operatively fixedly coupled to the stop device (454) in the circumferential direction.

The floor cleaning robot with an automatic cleaning tractor according to any one of claims 1 to 7, wherein the tractor cleaning assembly further comprises a body disposed on the floor cleaning robot.

(1) a rear casing (6), a bottom of the casing (6) is provided with a cornice, and the tractor (3) is disposed in the casing (6), the casing (6) ) is provided with a water inlet (421) for communicating with the fresh water supply device (431);

The water receiving device (41) is rotatably coupled to both ends of the casing (6); the tractor cleaning assembly further includes means for driving the water receiving device (41) relative to the casing (6) Flip the flip assembly.

A floor cleaning robot with an automatic cleaning tractor according to claim 9, characterized in that The two sides of the water receiving device (41) are provided with two side plates (411), and the two side plates (411) are respectively hinged with two sides of the casing (6); The top of the 411) is provided with a transmission tooth (412) uniformly distributed along the circumference of the side plate (411); the inverting assembly includes a second driving device (461), and a rotating shaft of the second driving device (461) a connected transmission shaft (462), and two transmission gears (463) disposed on the transmission shaft (462); the two transmission gears (463) are respectively disposed corresponding to the two side plates (411), and Cooperating with the drive teeth (412) on the top of the two side plates (411).

A tractor cleaning unit for a floor cleaning robot, and a tractor (3) for cleaning a floor cleaning robot, comprising:

a fresh water supply device (431) disposed on the fuselage (1) and corresponding to the tractor (3) for showering fresh water onto the tractor (3);

a sewage recovery device (44) disposed on the body (1) and with the water receiving device

(41) operatively connected to draw the sewage in the water receiving device (41). The tractor cleaning assembly according to claim 11, wherein the sewage discharge device comprises a first driving device (451), a stopping device (454), and a control device, the first driving device (451) and One end of the tractor (3) is fixedly connected in the circumferential direction; the stopping device (454) is operatively fixedly connected to the other end of the tractor (3) in the circumferential direction, and the control device controls the The first drive unit (451) drives the one end to rotate back and forth within a certain angle to unscrew the sewage in the tractor.

The tractor cleaning assembly according to claim 12, wherein the sewage discharge device further comprises a mounting shaft (452) coupled to an output shaft of the first driving device (451), the tractor (3) Removably sleeved on the mounting shaft (452).

A tractor cleaning assembly according to claim 13 wherein said mounting shaft (45 2) mounted on the fuselage (1) and movable back and forth between a higher position and a lower position relative to the fuselage (1);

A tractor cleaning assembly according to claim 14 wherein said control means is communicatively coupled to said first drive means (451) for movement of said mounting shaft (452) to said upper position Controlling the first driving device (451) to drive the mounting shaft (4 52) to be reversed within a certain angle.

The tractor cleaning assembly according to claim 14 or 15, wherein the sewage discharge device further comprises a guide member (455) disposed at an end of the mounting shaft (452), the guide member (455) and The lifting device (413) is matched;

The lifting device (413) includes a parabolic cam that cooperates with the guide member (455). The tractor cleaning assembly according to any one of claims 11 to 15, wherein the tractor cleaning assembly further comprises a housing (6) disposed at a rear portion of the body (1) of the floor cleaning robot, a bottom of the housing (6) is provided with a cornice, and the tractor (3) is disposed at the housing (6) The housing (6) is provided with a water inlet (421) for communicating with the fresh water supply device (431);

The tractor cleaning assembly according to claim 17, wherein both sides of the water receiving device (41) are provided with two side plates (411), and the two side plates (411) are respectively associated with the housing (6) hinged on both sides; the tops of the two side plates (411) are provided with transmission teeth (412) evenly distributed along the circumference of the side plates (411); The inverting assembly includes a second driving device (461), a transmission shaft (462) coupled to a rotating shaft of the second driving device (461), and two transmission gears disposed on the transmission shaft (462) ( 463); the two transmission gears (463) are respectively disposed corresponding to the two side plates (411), and cooperate with the driving teeth (412) of the top of the two side plates (411).