WO2017025032A1

WO2017025032A1 - A self-movable cleaning robot

Info

Publication number: WO2017025032A1
Application number: PCT/CN2016/094339
Authority: WO
Inventors: 唐泽恒
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2015-08-10
Filing date: 2016-08-10
Publication date: 2017-02-16
Also published as: CN106419766B; CN106419766A

Abstract

A self-movable cleaning robot, pertaining to the technical field of intelligent robot. The self-movable cleaning robot comprises a body (1). A water-distributing device and a cleaning unit are provided on the bottom of the body (1). The water-distributing device is used to distribute the cleaning solution to a surface to be cleaned, and it can float along the vertical direction relative to the body (1). When it is working, the water-distributing device naturally contacts the surface to be cleaned by its self-weight. The self-movable cleaning robot can pass over the particulates accumulated by the dust, and can avoid being accumulated and wound by dust or hair. It has higher trafficability and avoids the problem of water clogging caused by accumulation of dust.

Description

Self-moving cleaning robot

Technical field

The invention relates to a self-moving cleaning robot and belongs to the technical field of intelligent robots.

Background technique

With the continuous improvement of people's living standards, self-mobile robots have increasingly entered residential families. Such a self-moving robot generally drives a traveling wheel provided at the bottom through a driving unit in the body 1, and performs cleaning work of the surface to be cleaned during walking. Not only that, in general, the current self-mobile robots have the function of automatically avoiding obstacles or preventing falling from a high place, and many of them can find the charger charging independently before the power is exhausted. Moreover, since the mobile robot has been gradually developed from the initial cleaning function, it has the function of cleaning the surface to be cleaned by using a liquid such as water, a cleaning liquid or a disinfectant liquid carried by itself, or at the same time It has the function of cleaning and cleaning the surface to be cleaned. Generally, such a self-moving robot having a cleaning function is called a self-moving cleaning robot.

At present, most of the self-moving cleaning robots on the market are provided with water guiding tops 2 at the bottom of the body 1, and the water guiding tops 2 can uniformly guide the liquid discharged from the water outlet provided above the water guiding tops 2 or the liquid sprayed from the nozzles to the surface to be cleaned. As shown in Fig. 2, Fig. 2 shows a water guiding top 2 used in a moving cleaning robot, and a brush for guiding water is usually provided on the lower surface of the water guiding top 2.

However, in actual use, since some granular dirt (such as large particle solids such as cigarette butts) is often distributed on the surface to be cleaned, when the robot encounters these granular dirt, it accumulates in front of the water-inducing top of the robot. Will affect the passage of the robot; and the hair/filament on the surface to be cleaned is easily entangled on the brush, and as the hair/filament accumulates, it will block the water outlet or nozzle on the upper part of the brush, causing the water-inducing top to be wet. The surface to be cleaned.

Summary of the invention

The present invention has been made in view of the above problems, and the technical problem to be solved by the present invention is to provide a self-moving cleaning robot which has high passability.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

According to an embodiment of the present invention, a self-moving cleaning robot is provided, including a body, and at the bottom of the body, a cleaning unit water distribution device and a water distribution device cleaning unit are provided, and the water distribution device is configured to distribute cleaning liquid and the like The water distribution device can be floated in a vertical direction with respect to the surface to be cleaned. When working, the water distribution device is naturally attached to the surface to be cleaned by its own gravity.

Optionally, the water distribution device is a water guiding top.

Preferably, the water distribution device is a water guiding roller.

Preferably, the width of the water distribution device is smaller than the width of the cleaning unit.

Preferably, the water guiding roller has a water guiding layer wrapped around the outside thereof, and the water guiding layer guides the cleaning liquid to the surface to be cleaned.

Preferably, the outer surface of the water guiding layer is smooth.

Preferably, the water guiding layer is made of a water absorbing material.

Preferably, the water absorbing material is a glass fiber cloth, a woven cloth or a foamed material.

Preferably, the cleaning unit comprises a sewage recovery device and a cleaning device.

Preferably, the sewage recovery device comprises a nozzle assembly and a scraper, the cleaning device comprising a roller brush and/or a rag.

Preferably, the roller brush has a brush shaft, and the brush shaft is provided with bristles, and the bristles are arranged in a V shape or an arc shape.

Preferably, the roller brush, the rag, the water guiding roller, the glass cloth, and the scraper are all replaceable.

In summary, the self-moving cleaning robot of the present invention adopts a design that allows the water distribution device to float in the vertical direction, so that when the particulate matter is obstructed, the water distribution device can move upward to pass over these. Obstruction, avoiding the accumulation of particulate dirt on the water distribution device, thereby scratching the floor and affecting the passage of the robot. In addition, since the self-moving robot of the present invention can also adopt a rolling friction water guiding roller to replace the water guiding top with the floor, and the water guiding roller is also covered with a water guiding layer with a smooth outer surface, thereby preventing the winding of the hair and the like, hindering the walking of the robot, and further improving. The passage of the robot, and the smooth water guiding layer is not easy to stick to hair or dust, etc., and can avoid clogging the upper water outlet, causing problems such as poor water discharge.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

DRAWINGS

Figure 1 is a bottom plan view of the body 1 of the self-moving cleaning robot of the present invention;

Figure 2 is a schematic view of a water guiding top 2 used in the prior art;

3 is a perspective view of a part of the bottom surface of the body 1 of the self-moving cleaning robot of the present invention and the water guiding roller 3;

Figure 4 is a cross-sectional view showing a part of the bottom surface of the body 1 of the self-moving cleaning robot of the present invention;

Figure 5 is an enlarged view of the circled portion A marked in Figure 4;

Figure 6 is a cross-sectional view of the self-moving cleaning robot of the present invention.

detailed description

The technical solutions of the various embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The self-moving cleaning robot of the present invention includes the body 1. At the bottom of the body 1, a cleaning unit and a water distribution device are provided. Preferably, the water distribution device is located on the front side of the cleaning unit. The water distribution device is for distributing the cleaning liquid to a surface to be cleaned such as the ground, and the water distribution device is floatable in the vertical direction with respect to the body 1. When working, the water distribution device is naturally attached to the surface to be cleaned by its own gravity.

The design that allows the water distribution device to float in the vertical direction with respect to the body 1 enables the water distribution device to move upwards to overcome the obstacles when the obstacle of the particulate matter is encountered, thereby preventing the particulate matter from accumulating on the cloth. Water device and scratch the floor and affect the passage of the robot.

Specifically, referring to Fig. 1, Fig. 1 is a bottom view of the self-moving cleaning robot of the present invention, wherein B represents the advancing direction of the self-moving cleaning robot. As can be seen from FIG. 1, in the walking direction of the mobile robot, at the bottom of the body 1, a water guiding roller 3 as a component of the water distributing device and a scraping strip 6 and a roller brush 7 as a component of the cleaning unit are sequentially disposed in front and rear. Wherein, the water guiding roller 3 can float in the vertical direction with respect to the body 1. This float can be achieved in the manner shown in Figure 3.

Referring to Fig. 3, Fig. 3 is a perspective view showing a part of the bottom surface of the body 1 of the self-moving cleaning robot of the present invention and the water guiding roller 3. In Fig. 3, the water guiding roller 3 and the bottom of the body 1 provided with the two mounting brackets 8 on which the water guiding rollers 3 are mounted are shown exploded. Note that other components such as the roller brush 7 and the wiper strip 6 are not mounted in FIG. As can be seen from Figure 3, the bottom of the mounting frame 8 has an opening that is smaller than the approximate diameter of the two mounting ends of the water guiding roller 3. When the water guiding roller 3 is installed, an upward force can be applied to cause a resilience elastic deformation of the opening of the mounting bracket 8 so that the two mounting ends of the water guiding roller 3 are pushed into the limiting hole 9 of the mounting bracket 8. Generally, the limiting holes 9 in the mounting frame 8 are elongated and have a long vertical length and a short horizontal length. Thus, the mounting bracket 8 can provide the water guiding roller 3 with a floating space with respect to the body 1 in the vertical direction, but strictly limits the relative displacement of the water guiding roller 3 with respect to the body 1 in the horizontal direction. During the working process, the two mounting ends of the water guiding roller 3 generally do not contact the upper edge and the lower edge of the limiting hole 9, but are only limited by the front and rear edges of the limiting hole 9 and the surface to be cleaned. In the limit state, the two mounting ends of the water guiding roller 3 can contact the lower edge of the limiting hole 9, and at the same time the water guiding roller 3 must contact the surface to be cleaned to uniformly guide the water onto the surface to be cleaned. That is to say, in general, the lower edge does not constitute the actual support of the two mounting ends of the water guiding roller 3, and the surface of the water guiding roller 3 is subjected to the weight of the water guiding roller 3, that is, the water guiding roller 3 is naturally attached to the surface to be cleaned by its own gravity. . In this way, when encountering particles higher than the surface to be cleaned When the dirt is present, the water guiding roller 3 can naturally move upwards and roll over the obstacle, which improves the passage of the robot and greatly reduces the possibility of the particulate obstacles accumulating on the water guiding roller 3, thereby avoiding scratching. The floor prevents the passage of the robot.

The above is an example in which the water guiding roller 3 is used as a water distribution device. Of course, the water distribution device is not limited to the water guiding roller 3, and other options are also available. For example, the conventional water guiding top 2 shown in Fig. 2 can also be used. In addition to the conventionally shaped water guiding tops 2, the water guiding tops 2 can be designed to be lifted in the forward direction side to facilitate the passage of obstacles. Compared with the conventional flat water guiding top 2, the raised front end is located above the obstacle when encountering a granular obstacle without causing the obstacle to push in front of the water guiding top 2, thus, with the robot Moving on, as the particulate obstacle accumulates under the water guiding top 2, the water guiding top 2 is subjected to an oblique upward force, thereby floating upward over the obstacle, improving the passage. Preferably, the water guiding top 2 is designed to be curved.

Compared with the water-jet top 2, the design of the water-feeding roller 3 makes the self-moving cleaning robot roll friction during the walking process, and the traffic resistance is smaller than that of the water-blowing top 2, which is small in wear and is not easy to scratch the floor. The water leakage top 2 is sliding friction between the floor and the floor, which easily scratches the floor, and the water guiding brush itself is easily worn. Therefore, the present invention preferably takes the form of the water guiding roller 3.

Further, it is preferable that the water guiding roller 3 is wrapped by the water guiding layer 4, and the water guiding layer 4 preferably has a smooth outer surface. Thus, since the outer surface is smooth, the water guiding layer 4 does not stick to dust, hair, etc., causing clogging of the water outlet. The water guiding layer 4 is made of a water absorbing material. More preferably, the water guiding layer 4 is made of a high speed water absorbing material, so that a liquid such as water or a cleaning liquid can be rapidly diffused in the water guiding layer 4, so that the cloth water becomes more uniform. Further, the water guiding cloth is preferably made of, for example, a fiberglass cloth, a woven fabric such as a woven fabric, or a foamed material. Thus, the good durability of the glass fiber, and the good water permeability and water conductivity of the glass cloth produced therefrom enable the water guiding roller 3 of the present invention to be used for a longer period of time and more uniformly guide the cleaning liquid to the surface to be cleaned. The cleaning liquid can be discharged in the manner as shown in FIG. Fig. 4 is a cross-sectional view showing a part of the bottom surface of the body 1 of the self-moving cleaning robot of the present invention, and Fig. 5 is an enlarged view of the circled portion A indicated in Fig. 4. The circled portion of Fig. 4 shows a water discharge device for spraying a cleaning liquid to the water distribution device, which is provided with a nozzle 10 and is connected to a water tank provided in the body 1, and can uniformly spray the cleaning liquid in the water tank to the water diversion by means of a water pump. On the roller 3.

The cleaning unit of the self-moving cleaning robot of the present invention preferably includes a sewage recovery device for recovering sewage and a cleaning device for cleaning the surface to be cleaned. As described above, in the direction of the arrow in Fig. 1, at the bottom of the body 1 of the mobile robot, a water guiding roller 3 as a component of the water distributing device, a roller brush 7 as a component of the cleaning unit, and a scraper 6 are sequentially disposed. . The scraper strip 6 described above can be used as a part of the sewage recovery device, and is configured with a suction nozzle assembly for absorbing sewage. The opening of the nozzle assembly can be disposed in the scraper strip, and the nozzle assembly is connected with the recycling barrel provided in the body 1, and can be built in. The pump provides suction for the nozzle assembly. Usually, use such as rubber The elastic strip or other composite material having both flexibility and durability is used to form the scraper strip 6. The above-mentioned roller brush 7 can be used as a part of the cleaning device, and the brush shaft of the roller brush 7 is provided with bristles, and when it is rotated, the bristles pat the surface to be cleaned to loosen stubborn stains. The bristles may be arranged in a V shape or an arc shape, which is advantageous for removing deep dirt on the floor or the carpet, and when rotating, sewage, dirt and the like are concentrated in the middle and are not easily scooped out. Of course, the bristles can also be arranged in other ways, such as a wave shape. In addition, the cleaning device may also include other components such as a rag.

6 is a cross-sectional view of the self-moving cleaning robot of the present invention, showing the water guiding roller 3, the mounting bracket 8, and the nozzle 10 as the water outlet above the water guiding roller 3, and those skilled in the art can combine the preceding figures and The positional relationship of each component is more specifically understood by referring to FIG.

Note that in the present invention, the width of the water distribution device is preferably smaller than the width of the cleaning unit, so that the nozzle assembly and the scraper 6 and the like in the cleaning unit can completely clean the water remaining on the surface to be cleaned by the water distribution device. Drop, to ensure that the surface to be cleaned after cleaning does not leave water marks.

In the present invention, the components or devices and the like mentioned are conveniently replaced. That is to say, it is possible to solve the irreversible wear that may occur with the use time by providing a replacement package.

It is apparent to those skilled in the art that, in addition to the above-described embodiments, alternative embodiments may be devised without departing from the spirit of the invention.

Claims

A self-moving cleaning robot comprising a body (1), at the bottom of the body (1), a water distribution device and a cleaning unit are provided, the water distribution device for distributing the cleaning liquid to the surface to be cleaned, characterized in that The water distribution device can float in a vertical direction with respect to the body (1). During operation, the water distribution device is naturally attached to the surface to be cleaned by its own gravity.
The self-moving cleaning robot according to claim 1, characterized in that the water distribution device is a water guiding top (2).
The self-moving cleaning robot according to claim 1, characterized in that the water distribution device is a water guiding roller (3).
A self-moving cleaning robot according to any of claims 1-3, wherein the width of the water distribution device is smaller than the width of the cleaning unit.
The self-moving cleaning robot according to claim 3, characterized in that the water guiding roller (3) has a water guiding layer (4) wrapped around the water guiding layer (4), which leads the cleaning liquid to Clean the surface.
A self-moving cleaning robot according to claim 5, characterized in that the outer surface of the water guiding layer (4) is smooth.
The self-moving cleaning robot according to claim 5, characterized in that the water guiding layer (4) is made of a water absorbing material.
The self-moving cleaning robot according to claim 7, wherein the water absorbing material is made of a glass cloth, a woven cloth or a foamed material.
The self-moving cleaning robot according to claim 8, wherein the cleaning unit comprises a sewage recovery device and a cleaning device.
A self-moving cleaning robot according to claim 9, wherein said sewage recovery device A nozzle assembly and a wiper strip (6) are included, the cleaning device comprising a roller brush (7) and/or a rag.
The self-moving cleaning robot according to claim 10, wherein the roller brush (7) has a brush shaft, and the brush shaft is provided with bristles, and the bristles are arranged in a V shape or an arc shape.
The self-moving cleaning robot according to claim 11, wherein the water guiding roller (3), the water guiding layer (4), the scraping strip (6) and the roller brush (7) are replaceable. .