WO2017025032A1 - A self-movable cleaning robot - Google Patents
A self-movable cleaning robot Download PDFInfo
- Publication number
- WO2017025032A1 WO2017025032A1 PCT/CN2016/094339 CN2016094339W WO2017025032A1 WO 2017025032 A1 WO2017025032 A1 WO 2017025032A1 CN 2016094339 W CN2016094339 W CN 2016094339W WO 2017025032 A1 WO2017025032 A1 WO 2017025032A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- water
- self
- cleaning robot
- water guiding
- robot according
- Prior art date
Links
Images
Classifications
-
- 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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
-
- 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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
Definitions
- the invention relates to a self-moving cleaning robot and belongs to the technical field of intelligent robots.
- 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.
- 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.
- the mobile robot 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.
- a self-moving robot having a cleaning function is called a self-moving cleaning robot.
- 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.
- 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.
- a self-moving cleaning robot 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.
- the water distribution device is a water guiding top.
- the water distribution device is a water guiding roller.
- the width of the water distribution device is smaller than the width of the cleaning unit.
- 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.
- the outer surface of the water guiding layer is smooth.
- the water guiding layer is made of a water absorbing material.
- the water absorbing material is a glass fiber cloth, a woven cloth or a foamed material.
- the cleaning unit comprises a sewage recovery device and a cleaning device.
- the sewage recovery device comprises a nozzle assembly and a scraper, the cleaning device comprising a roller brush and/or a rag.
- 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.
- the roller brush, the rag, the water guiding roller, the glass cloth, and the scraper are all replaceable.
- 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.
- 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.
- 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
- FIG. 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.
- 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.
- 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.
- B represents the advancing direction of the self-moving cleaning robot.
- 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.
- 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.
- 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.
- 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.
- 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.
- the limiting holes 9 in the mounting frame 8 are elongated and have a long vertical length and a short horizontal length.
- 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.
- 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.
- 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.
- 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 water guiding roller 3 is used as a water distribution device.
- the water distribution device is not limited to the water guiding roller 3, and other options are also available.
- the conventional water guiding top 2 shown in Fig. 2 can also be used.
- the water guiding tops 2 can be designed to be lifted in the forward direction side to facilitate the passage of obstacles.
- 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.
- the water guiding top 2 is designed to be curved.
- 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.
- 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.
- 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.
- 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.
- 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
- Fig. 5 is an enlarged view of the circled portion A indicated in Fig. 4.
- the circled portion of 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
- 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.
- 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.
- a sewage recovery device for recovering sewage
- a cleaning device for cleaning the surface to be cleaned.
- a water guiding roller 3 as a component of the water distributing device
- a roller brush 7 as a component of the cleaning unit
- 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.
- 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.
- the bristles can also be arranged in other ways, such as a wave shape.
- the cleaning device may also include other components such as a rag.
- FIG. 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.
- 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.
- 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.
Landscapes
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
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
本发明涉及一种自移动清洗机器人,属于智能机器人技术领域。The invention relates to a self-moving cleaning robot and belongs to the technical field of intelligent robots.
随着人们生活水平的不断提高,自移动机器人已经越来越多地进入到居民家庭。这种自移动机器人通常通过机体1内的驱动单元驱动设置于底部的行走轮,并在行走过程中进行待清洁表面的清洁工作。不仅如此,一般而言,目前的自移动机器人都具有自动避障或防止从高处坠落的功能,其中有不少在电能耗尽前还能够自主寻找充电器充电。而且,自移动机器人从最初的,仅具备清扫吸尘功能逐渐发展到具备可通过用自身携带的水、清洁液或消毒液等液体打湿待清洁表面来对待清洁表面进行清洗的功能,或同时具备对待清洁表面进行清洗和清扫吸尘的功能。通常,将这种具备清洗功能的自移动机器人称作自移动清洗机器人。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.
目前,市场上的自移动清洗机器人大多在机体1的底部设置引水毛条2,引水毛条2可将设置于引水毛条2上方的出水口流出或喷嘴喷出的液体均匀地引导到待清洁表面上。如图2所示,图2示出自移动清洗机器人所使用的引水毛条2,在这种引水毛条2的下表面通常设置有用于引导水的毛刷。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.
然而,在实际使用中,由于待清洁表面上常常分布着一些颗粒状污物(如烟头等大颗粒固体),当机器人遇到这些颗粒状污物时,由于其堆积在机器人的引水毛条前,会影响机器人的通过性;;而且待清洁表面上的毛发/丝线容易缠绕在毛刷上,随着毛发/丝线的累积,会堵住毛刷上部的出水口或喷嘴,导致引水毛条无法打湿待清洁表面。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.
发明内容Summary of the invention
鉴于上述问题而做出本发明,本发明所要解决的技术问题在于提供一种自移动清洗机器人,具备较高的通过性。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.
本发明所要解决的技术问题是通过如下技术方案实现的:The technical problem to be solved by the present invention is achieved by the following technical solutions:
根据本发明的一个实施例,提供一种自移动清洗机器人,包括机体,在所述机体底部,设置有清洁单元布水装置和布水装置清洁单元,所述布水装置用于将清洁液等分配到待清洁表面,所述布水装置关于所述机体可沿竖直方向浮动,工作时,所述布水装置依靠自身重力自然贴于待清洁表面。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.
可选地,所述布水装置是引水毛条。
Optionally, the water distribution device is a water guiding top.
优选地,所述布水装置是引水滚轮。Preferably, the water distribution device is a water guiding roller.
优选地,所述布水装置的宽度小于清洁单元的宽度。Preferably, the width of the water distribution device is smaller than the width of the cleaning unit.
优选地,所述引水滚轮具有包裹在其外部的引水层,所述引水层将所述清洁液引至待清洁表面。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.
优选地,所述引水层外表面光滑。Preferably, the outer surface of the water guiding layer is smooth.
优选地,所述引水层采用吸水材料。Preferably, the water guiding layer is made of a water absorbing material.
优选地,所述吸水材料采用玻璃纤维布、编织布或者发泡材料。Preferably, the water absorbing material is a glass fiber cloth, a woven cloth or a foamed material.
优选地,所述清洁单元包括污水回收装置及清洁装置。Preferably, the cleaning unit comprises a sewage recovery device and a cleaning device.
优选地,所述污水回收装置包括吸嘴组件及刮条,所述清洁装置包括滚刷和/或抹布。Preferably, the sewage recovery device comprises a nozzle assembly and a scraper, the cleaning device comprising a roller brush and/or a rag.
优选地,所述滚刷具有刷轴,所述刷轴上设置有刷毛,所述刷毛呈V字形或弧形排布。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.
优选地,所述滚刷、所述抹布、所述引水滚轮、所述玻璃布、及所述刮条均可替换。Preferably, the roller brush, the rag, the water guiding roller, the glass cloth, and the scraper are all replaceable.
综上所述,本发明的自移动清洗机器人采取使布水装置可关于机体在竖直方向上浮动的设计,使得在遇到颗粒状污物的阻碍时,布水装置可向上运动从而越过这些阻碍,避免颗粒状污物堆积于布水装置,从而划伤地板及影响机器人的通过性。此外,由于本发明的自移动机器人还可采用与地板之间滚动摩擦引水滚轮替代引水毛条,且引水滚轮外还包覆有外表面光滑的引水层,防止缠绕毛发等阻碍机器人的行走,进一步提高了机器人的通过性,并且光滑引水层不易粘毛发或灰尘等,能够避免堵塞上方出水口,造成出水不畅等问题。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.
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说明。The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
图1是本发明的自移动清洗机器人的机体1的仰视图;Figure 1 is a bottom plan view of the body 1 of the self-moving cleaning robot of the present invention;
图2是现有技术中采用的引水毛条2的示意图;Figure 2 is a schematic view of a water guiding top 2 used in the prior art;
图3是本发明的自移动清洗机器人的机体1的一部分底面与引水滚轮3的立体图;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;
图4是本发明的自移动清洗机器人的机体1的一部分底面的剖视图;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;
图5是图4中标示出的画圈部分A的放大图;Figure 5 is an enlarged view of the circled portion A marked in Figure 4;
图6是本发明的自移动清洗机器人的剖视图。
Figure 6 is a cross-sectional view of the self-moving cleaning robot of the present invention.
以下将结合附图对本发明各实施例的技术方案进行清楚、完整的描述,显然,所描述的实施例仅仅是本发明的一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动的前提下所得到的所有其它实施例,都属于本发明所保护的范围。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.
本发明的自移动清洗机器人包括机体1。在机体1的底部,设置有清洁单元和布水装置。较佳的,布水装置位于清洁单元前侧。布水装置用于将清洁液分配到诸如地面的待清洁表面上,并且布水装置相对于机体1可沿竖直方向浮动。工作时,布水装置依靠自身重力自然贴于待清洁表面。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.
这种使布水装置可关于机体1在竖直方向上浮动的设计,使得遇到颗粒状污物的阻碍时,布水装置可向上运动从而越过这些阻碍,能够避免颗粒状污物堆积于布水装置,并划伤地板及影响机器人的通过性。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.
具体地,参见图1,图1是本发明的自移动清洗机器人的仰视图,其中,B代表自移动清洗机器人的前进方向。从图1中可见,在自移动机器人的行走方向上,在机体1底部,前后依次设置有作为布水装置的组成部分的引水滚轮3以及作为清洁单元的组成部分的刮条6、滚刷7,其中,引水滚轮3关于机体1可沿竖直方向浮动。这种浮动可以通过图3所示的方式来实现。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.
参见图3,图3是本发明的自移动清洗机器人的机体1的一部分底面与引水滚轮3的立体图。在图3中,分解地示出了引水滚轮3与设有安装引水滚轮3的两安装架8的机体1底部。注意,图3中未安装滚刷7及刮条6等其他部件。从图3中可见,安装架8底部具有开口,开口的大小小于引水滚轮3的两个安装端的大致直径。安装引水滚轮3时,可向上用力,使安装架8的开口发生可恢复的弹性形变以便引水滚轮3的两安装端被推入安装架8的限位孔9。通常,安装架8上的限位孔9是细长形,具有较长的竖直长度及较短的水平长度。这样,安装架8可在竖直方向上为引水滚轮3提供相对于机体1的浮动的空间,但是严格限制引水滚轮3在水平方向上与机体1间的相对位移。在工作过程中,引水滚轮3的两安装端通常不接触限位孔9的上边缘与下边缘,而仅仅受到限位孔9的前后两边缘及待清洁表面的限制。在极限状态下,引水滚轮3的两安装端可以接触限位孔9的下边缘,并且同时引水滚轮3必须接触待清洁表面以便将水均匀引导到待清洁表面上。也就是说,一般情况下,下边缘不构成对引水滚轮3的两安装端的实际支撑,由待清洁表面来承受引水滚轮3的重量,即,引水滚轮3依靠自身重力自然贴合于待清洁表面。这样,在遇到高于待清洁表面的颗粒
状污物时,引水滚轮3便能够自然地向上运动,滚动地越过障碍物,这提高了机器人的通过性,也大大降低了颗粒状障碍物堆积在引水滚轮3的可能性,从而避免划伤地板并阻碍机器人的通行。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.
以上,举出以引水滚轮3作为布水装置的示例。当然,布水装置不局限于引水滚轮3,还可以有其他选择。例如也可以使用图2中所示的传统的引水毛条2。除了传统形状的引水毛条2之外,还可以将引水毛条2设计成其前进方向侧翘起,便于越过障碍物。与传统的平板状引水毛条2相比,翘起的前端在遇到颗粒状障碍物时位于障碍物的上方,而不会导致障碍物推挤在引水毛条2的前方,这样,随着机器人的继续前行,由于颗粒状障碍物堆积在引水毛条2下方,引水毛条2受到斜向上的力,因而向上浮动越过障碍物,提高了通过性。优选将引水毛条2设计成弧形。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.
与采用引水毛条2相比,引水滚轮3的设计,使得自移动清洗机器人在行走过程中是滚动摩擦,通行阻力较引水毛条2为小,自身磨损小且不易划伤地板。而引水毛条2与地板之间是滑动摩擦,易将地板划伤,且引水毛刷自身易被磨损。所以,本发明优选采取引水滚轮3的方式。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.
此外,最好由引水层4包裹引水滚轮3,引水层4优选具备光滑的外表面。这样,由于外表面光滑,引水层4不会粘上灰尘或毛发等物,引起出水口的堵塞。引水层4由吸水材料制成更优选地,引水层4由高速吸水材料制成,这样,水或清洁液等液体可在引水层4中快速扩散,使得布水变得更加均匀。并且引水布最好是由例如玻璃纤维布、编织布之类的纤维织物、或发泡材料之类制成。这样,玻璃纤维良好的耐用性,以及其制成的玻璃布的良好透水、导水性使得本发明的引水滚轮3能够使用更长时间,并更均匀地将清洁液导向待清洁表面。可采用如图4所示的方式使清洁液流出。图4是本发明的自移动清洗机器人的机体1的一部分底面的剖视图,并且图5是图4中标示出的画圈部分A的放大图。图4的画圈部分示出了向布水装置喷清洁液的出水装置,其设有喷嘴10,并与机体1内设置的水箱相连,能够借助于水泵将水箱中的清洁液均匀喷洒到引水滚轮3上。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.
本发明的自移动清洗机器人的清洁单元优选包括用于回收污水的污水回收装置及用于清洁待清洁表面的清洁装置。如上所述,沿图1中箭头的方向,在自移动机器人的机体1底部,依次设置有作为布水装置的组成部分的引水滚轮3、作为清洁单元的组成部分的滚刷7以及刮条6。上述的刮条6可作为污水回收装置的一部分,并且配置吸收污水的吸嘴组件,吸嘴组件的开口可以设置于刮条中,吸嘴组件与机体1内设置的回收桶相连,可由内置的水泵为吸嘴组件提供抽吸力。通常,选用诸如橡胶之类
的弹性材料或其他的兼具柔性及耐用性的复合材料来制成刮条6。上述的滚刷7可作为清洁装置的一部分,滚刷7的刷轴上设置有刷毛,当其旋转时,刷毛拍打待清洁表面以松动顽固污渍。刷毛可呈V字形或弧形排布,这有利于清除地板或地毯上的深层污物,且在旋转时,污水、污物等向中间集中,不易被甩出。当然,刷毛还可以按照其他方式排布,例如波浪形等。此外,清洁装置也可以包括抹布等其他部件。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.
此外,图6是本发明的自移动清洗机器人的剖视图,其中示出引水滚轮3、安装架8、及作为引水滚轮3上方的出水口的喷嘴10,本领域技术人员可结合前面的附图并通过参照图6来更具体地了解各部件的位置关系。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.
注意,在本发明中,布水装置的宽度最好小于清洁单元的宽度,这样,清洁单元中的吸嘴组件及刮条6等部件能够将布水装置留在待清洁表面上的水全部清理掉,保证清洁后的待清洁表面不留水迹。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.
在本发明中,提到的部件或装置等均是方便替换的。也就是说,可以通过提供替换装来解决可能出现的随使用时间而积累的不可逆的磨损。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.
对于本领域的普通技术人员来讲,在本发明原理的基础上,显然还可以在不偏离本发明的精神的情况下想到除了上述实施方式以外的其它替换实施方式。
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 (12)
- 一种自移动清洗机器人,包括机体(1),在所述机体(1)底部,设置有布水装置和清洁单元,所述布水装置用于将清洁液分配到待清洁表面,其特征在于:所述布水装置相对于所述机体(1)可沿竖直方向浮动,工作时,所述布水装置依靠自身重力自然贴于所述待清洁表面。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.
- 根据权利要求1所述的自移动清洗机器人,其特征在于,所述布水装置是引水毛条(2)。The self-moving cleaning robot according to claim 1, characterized in that the water distribution device is a water guiding top (2).
- 根据权利要求1所述的自移动清洗机器人,其特征在于,所述布水装置是引水滚轮(3)。The self-moving cleaning robot according to claim 1, characterized in that the water distribution device is a water guiding roller (3).
- 根据权利要求1-3所述的自移动清洗机器人,其特征在于,所述布水装置的宽度小于清洁单元的宽度。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.
- 根据权利要求3所述的自移动清洗机器人,其特征在于,所述引水滚轮(3)具有包裹在其外部的引水层(4),所述引水层(4)将所述清洁液引至待清洁表面。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.
- 根据权利要求5所述的自移动清洗机器人,其特征在于,所述引水层(4)的外表面光滑。A self-moving cleaning robot according to claim 5, characterized in that the outer surface of the water guiding layer (4) is smooth.
- 根据权利要求5所述的自移动清洗机器人,其特征在于,所述引水层(4)采用吸水材料。The self-moving cleaning robot according to claim 5, characterized in that the water guiding layer (4) is made of a water absorbing material.
- 根据权利要求7所述的自移动清洗机器人,其特征在于,所述吸水材料采用玻璃纤维布、编织布或者发泡材料。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.
- 根据权利要求8所述的自移动清洗机器人,其特征在于,所述清洁单元包括污水回收装置及清洁装置。The self-moving cleaning robot according to claim 8, wherein the cleaning unit comprises a sewage recovery device and a cleaning device.
- 根据权利要求9所述的自移动清洗机器人,其特征在于,所述污水回收装置 包括吸嘴组件及刮条(6),所述清洁装置包括滚刷(7)和/或抹布。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.
- 根据权利要求10所述的自移动清洗机器人,其特征在于,所述滚刷(7)具有刷轴,所述刷轴上设置有刷毛,所述刷毛呈V字形或弧形排布。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.
- 根据权利要求11所述的自移动清洗机器人,其特征在于,所述引水滚轮(3)、所述引水层(4)、所述刮条(6)及所述滚刷(7)均可替换。 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. .
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510483485.9A CN106419766B (en) | 2015-08-10 | 2015-08-10 | Self-moving cleaning robot |
CN201510483485.9 | 2015-08-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017025032A1 true WO2017025032A1 (en) | 2017-02-16 |
Family
ID=57983868
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2016/094339 WO2017025032A1 (en) | 2015-08-10 | 2016-08-10 | A self-movable cleaning robot |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN106419766B (en) |
WO (1) | WO2017025032A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114831553A (en) * | 2022-06-16 | 2022-08-02 | 美智纵横科技有限责任公司 | Rolling brush mechanism and cleaning robot |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109303522A (en) * | 2018-10-15 | 2019-02-05 | 樟树市飞凡设计服务有限公司 | A kind of sweeping robot |
CN111035320A (en) * | 2018-10-15 | 2020-04-21 | 广东美的白色家电技术创新中心有限公司 | Shell of sweeping robot and sweeping robot |
JP7516010B2 (en) * | 2019-02-20 | 2024-07-16 | 東芝ライフスタイル株式会社 | Autonomous Vacuum Cleaner |
CN111281279B (en) * | 2020-03-20 | 2021-05-28 | 深圳市银星智能科技股份有限公司 | Round brush subassembly and cleaning machines people |
CN113769449B (en) * | 2021-09-16 | 2022-12-30 | 杭州兴源环保设备有限公司 | Filter cloth and quick belt cleaning device of filter plate for filter press |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102525333A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Indoor automatic detecting and cleaning robot |
US20120167917A1 (en) * | 2011-01-03 | 2012-07-05 | Gilbert Jr Duane L | Autonomous coverage robot |
CN202341952U (en) * | 2011-12-02 | 2012-07-25 | 朱凌锋 | Mopping and sweeping integrated robot |
US20140182627A1 (en) * | 2012-12-28 | 2014-07-03 | Irobot Corporation | Autonomous Coverage Robot |
CN204379171U (en) * | 2014-12-31 | 2015-06-10 | 科沃斯机器人有限公司 | From mobile ground treating apparatus |
CN205126124U (en) * | 2015-08-10 | 2016-04-06 | 科沃斯机器人有限公司 | From removing cleaning robot |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1194129A (en) * | 1996-12-31 | 1998-09-30 | 皇家用具制造公司 | Battery type wet mop and vacuum device |
KR100507928B1 (en) * | 2003-07-24 | 2005-08-17 | 삼성광주전자 주식회사 | Robot cleaner |
DE10357635B4 (en) * | 2003-12-10 | 2013-10-31 | Vorwerk & Co. Interholding Gmbh | Floor cleaning device |
CN1907583A (en) * | 2005-08-05 | 2007-02-07 | 金银龙 | Multifunctional pipeline cleaning robot |
CN2910094Y (en) * | 2006-03-14 | 2007-06-13 | 张崎 | Robot dust sucker of shakable duster |
-
2015
- 2015-08-10 CN CN201510483485.9A patent/CN106419766B/en active Active
-
2016
- 2016-08-10 WO PCT/CN2016/094339 patent/WO2017025032A1/en active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120167917A1 (en) * | 2011-01-03 | 2012-07-05 | Gilbert Jr Duane L | Autonomous coverage robot |
CN202341952U (en) * | 2011-12-02 | 2012-07-25 | 朱凌锋 | Mopping and sweeping integrated robot |
CN102525333A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Indoor automatic detecting and cleaning robot |
US20140182627A1 (en) * | 2012-12-28 | 2014-07-03 | Irobot Corporation | Autonomous Coverage Robot |
CN204379171U (en) * | 2014-12-31 | 2015-06-10 | 科沃斯机器人有限公司 | From mobile ground treating apparatus |
CN205126124U (en) * | 2015-08-10 | 2016-04-06 | 科沃斯机器人有限公司 | From removing cleaning robot |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114831553A (en) * | 2022-06-16 | 2022-08-02 | 美智纵横科技有限责任公司 | Rolling brush mechanism and cleaning robot |
CN114831553B (en) * | 2022-06-16 | 2024-05-14 | 美智纵横科技有限责任公司 | Rolling brush mechanism and cleaning robot |
Also Published As
Publication number | Publication date |
---|---|
CN106419766B (en) | 2020-06-26 |
CN106419766A (en) | 2017-02-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017025032A1 (en) | A self-movable cleaning robot | |
CN109620064B (en) | Base station for cleaning robot system | |
CN109316135B (en) | Base station for cleaning robot system | |
CN111407191B (en) | Cleaning device and cleaning system | |
JP6691013B2 (en) | Floor cleaning device and method for cleaning floor | |
CN201404161Y (en) | Floor cleaning machine | |
EP3345526B1 (en) | Floor scrubber dry sweep apparatus | |
CN202960388U (en) | Automatic cleaning device | |
CN211862713U (en) | Base station and cleaning robot system | |
CN103220956A (en) | Floor cleaning system | |
CN111134582A (en) | Base station, cleaning robot system and method for cleaning robot | |
CN112674658A (en) | Base station and cleaning robot system | |
CN109351710A (en) | Cleaning equipment for solar panel | |
CN205126124U (en) | From removing cleaning robot | |
CN205411093U (en) | Automatic drag ground cleaning device and mopping machine ware people | |
CN111956136A (en) | Sewage collection structure of floor scrubber | |
CN213046744U (en) | Cleaning device and cleaning robot | |
CN211862710U (en) | Base station | |
ITRE20100071A1 (en) | DISHWASHER-SWEEPER MACHINE. | |
CN109351711A (en) | Cleaning machine for solar panel | |
TWM461401U (en) | Automatic washing/sweeping machine for simultaneously performing sweeping and wiping functions | |
CN114532908B (en) | Intelligent cleaning system | |
US3158885A (en) | Floor scrubbing machine | |
CN112155483A (en) | Mopping device with water stain cleaning function | |
CN216569802U (en) | Hand-held cleaning machine |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16834656 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16834656 Country of ref document: EP Kind code of ref document: A1 |