WO2018107479A1 - Robot de nettoyage et système de robot de nettoyage - Google Patents

Robot de nettoyage et système de robot de nettoyage Download PDF

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Publication number
WO2018107479A1
WO2018107479A1 PCT/CN2016/110442 CN2016110442W WO2018107479A1 WO 2018107479 A1 WO2018107479 A1 WO 2018107479A1 CN 2016110442 W CN2016110442 W CN 2016110442W WO 2018107479 A1 WO2018107479 A1 WO 2018107479A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
wiping
cleaning robot
garbage
ground
Prior art date
Application number
PCT/CN2016/110442
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English (en)
Chinese (zh)
Inventor
张峻彬
林伟劲
Original Assignee
云鲸智能科技（东莞）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 云鲸智能科技（东莞）有限公司 filed Critical 云鲸智能科技（东莞）有限公司
Priority to PCT/CN2016/110442 priority Critical patent/WO2018107479A1/fr
Publication of WO2018107479A1 publication Critical patent/WO2018107479A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • 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 present invention relates to the field of cleaning robot technology, and in particular to a cleaning robot and a cleaning robot system.
  • Some existing cleaning robots can only implement the cleaning function, but cannot realize the mopping function. It is difficult to effectively remove the stubborn stains attached to the ground, and the ground cleaning effect is not satisfactory. Moreover, the cleaning of the existing cleaning robot needs to be completed by the user. During the whole process of cleaning the ground, the user needs to frequently participate in the cleaning and cleaning of the cleaning robot, which may result in the user being unable to drag the user. In the process of the ground, it is completely liberated, increasing the workload of the users. On the other hand, it is easy to affect the wiping effect because the washing is not timely, which makes it impossible to clean the floor.
  • the existing sweeping and unloading machine the most common is to add a wet rag on the basis of the sweeper, such as Cobos's treasure.
  • the biggest problem with this type of sweeping machine is that the robot has no way to automatically clean or change the rag. And a rag is impossible to clean the entire house, so the entire cleaning process requires the user to frequently participate in the replacement and cleaning of the robot's rag.
  • the robot uses its own gravity to hold the rag against the ground and drag the rag to rub the ground for cleaning.
  • the relative movement of the rag and the ground is only formed by the movement of the robot itself, so the relative movement of the ground and the mop is less, and the effect of repeatedly wiping the ground cannot be achieved, so the cleaning effect is poor.
  • One technical problem to be solved by the present invention is that the existing cleaning robot integrated with the sweeping machine has an unsatisfactory ground cleaning effect.
  • the first aspect of the present invention provides a cleaning robot.
  • the cleaning robot includes a traveling device for driving the cleaning robot to walk on the ground, a floor cleaning device for cleaning the ground, and a garbage collecting device, the floor cleaning device including a wiping device, the wiping device including At least one wiping unit and a mop driving mechanism, the wiping unit including a mopping member for wiping the ground, the mopping member of the at least one wiping unit under the driving action of the mop driving mechanism Being rotatable about a vertical axis with respect to the chassis of the cleaning robot, the garbage collection device including a collection port for communicating the inside and the outside of the garbage collection device, the collection port being disposed in the garbage of the at least one wiping unit
  • the gathering path is such that the garbage collection device collects the garbage collected by the wiping member of the at least one wiping unit that is rotated about the vertical axis.
  • the wiping unit and/or the walking device are swingably connected to the chassis of the cleaning robot, so that the wiping member of the wiping unit can be maintained by swinging along with the unevenness of the ground. Contact with the ground.
  • the wiping member includes a wiping member body for mopping the ground and a cleaning member disposed on the edge of the wiping member body for cleaning the ground garbage.
  • the cleaning robot further includes a jacking mechanism mounted on the cleaning robot, the jacking mechanism for jacking up the front end and/or the rear end of the cleaning robot.
  • the cleaning robot includes a suspension device disposed at a traveling wheel of the traveling device for maintaining a resilient connection between the walking wheel and the chassis of the cleaning robot to maintain the walking wheel in contact with the ground.
  • the wiping device further includes a scraping structure disposed behind the wiping unit, and the scraping structure prevents the garbage and/or the sewage from remaining on the towed unit by scraping the garbage and/or the sewage. Wipe the ground.
  • the garbage collection device further includes a baffle that is inclined downward from the collection opening and extends to the ground for preventing the garbage cleaned by the floor cleaning device from diffusing to the collection opening Can be collected outside the scope.
  • the wiping device comprises two mopping units, and the driving mechanism of the mop driving mechanism Under the action, the wiping members of the two wiping units can rotate in the same direction or opposite directions with respect to the bottom plate of the cleaning robot, and the collecting ports are disposed in the middle of the two wiping units.
  • the garbage collection device In order to facilitate the garbage collection device to collect the garbage collected by the wiping members of the two wiping units that rotate in the same direction or in the opposite direction about the vertical axis.
  • the drag drive mechanism includes two output shafts, and the two output shafts are disposed in one-to-one correspondence with the two drag units and are used to transmit opposite torques to the two wipe units. And the two output shafts are arranged vertically.
  • the drag drive mechanism further includes a worm gear mechanism and/or a gear mechanism for transmitting opposite directions of torque to the two output shafts.
  • the drag drive mechanism includes a worm motor and two turbines drivingly coupled in one-to-one correspondence with the two output shafts, the worm motor is configured to output torque, and the two worm gears are The worm motor meshes to transmit opposite directions of torque to the two output shafts.
  • the worm motor comprises two single-head worm motors, each of which is meshed with one of the worm gears.
  • the garbage collection device comprises a dust suction device
  • the dust collection device comprises a dust box, a filter screen, a dust removal fan, a fan duct and a dust suction port
  • the collection port comprises a dust suction port of the dust suction device
  • the dust suction opening is disposed at a lower portion of the dust box and opens toward the ground, and the dust removing fan is in fluid communication with the dust box inside through the fan duct, so that the garbage can enter the dust box by the dust suction port under the action of the dust removing fan
  • the filter screen is located in a fluid communication path between the dust removing fan and the dust box;
  • the dust suction device integrally extends in the front-rear direction of the cleaning robot, and the drag drive mechanism is disposed on both sides of the dust suction device.
  • the collection port is disposed in a middle portion of the front or rear of the two wiping units that rotate in the same direction or opposite directions about the vertical axis.
  • the wiping device comprises a wiping unit, the dragging member on the one moping unit being able to orbit the vertical axis relative to the chassis of the cleaning robot under the driving action of the wiping driving mechanism Rotating, the collection opening is disposed outside the edge of the one of the wiping units, so that the garbage collection device collects the garbage collected by the wiping member of the wiping unit that is rotated about the vertical axis.
  • the cleaning robot system package includes a cleaning robot as described above, the base station being independent of the cleaning robot and capable of charging and/or cleaning the cleaning robot.
  • the base station includes a base station body and a drag cleaning device disposed on the base station body, and the drag cleaning device is configured to clean the cleaning member of the cleaning robot for wiping the ground; the cleaning device is cleaned
  • the device includes a raised structure including a raised portion that contacts the wiper when the wiper cleaning device cleans the wiper; and/or the wiper cleaning device includes a cleaning roller, The cleaning roller contacts the drag member when the wiper cleaning device cleans the wiper.
  • the wiping member cleaning device and the wiping member can be relatively rotated, and/or the wiping member cleaning device and the wiping member can be relatively moved.
  • the wiping members on the wiping unit is rotatable about a vertical axis with respect to the chassis of the cleaning robot, and a collecting port of the garbage collecting device is disposed at a garbage collecting path of the at least one wiping unit on.
  • the relative movement between the wiping member and the ground includes not only the movement of the cleaning robot on the ground as a whole, but also the rotational movement of the wiping member relative to the ground, thereby enhancing the wiping force of the wiping.
  • the number of wiping of the mopping member is increased, and repeated rubbing on the ground is realized, thereby improving the wiping effect of the wiping member.
  • the rotating mopping member can also sweep up large particles and dust on the ground, so that the garbage collecting device collects the garbage collected by the wiping member of the at least one wiping unit that is rotated about the vertical axis, that is, rotates.
  • the wiping member also serves as a cleaning function, so that the cleaning robot becomes a sweeping and dragging robot, and the function is more comprehensive, the ground cleaning effect is better, and the cleaning function can be realized without providing a special cleaning device, thereby also making the cleaning robot It can have a simpler structure and a smaller volume while having the function of sweeping and dragging, which is advantageous for further miniaturization and dexterity of the cleaning robot.
  • the present invention further improves the cleaning effect of the cleaning robot by increasing the relative movement of the moping member to the ground and enabling the wiping member to swing relative to the ground.
  • the automatic cleaning of the wiping member is realized, which is further beneficial to further free the user from the ground cleaning process and reduce the cleaning burden of the user. And it can prevent the drag effect from being affected by the change of the wiper.
  • Fig. 1 is a view showing the overall structure of a cleaning robot system according to a first embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the overall structure of the base station shown in FIG. 1.
  • Figure 3 shows a schematic view of the exploded structure of Figure 2.
  • Fig. 4 is a view showing the structure of the wiping member cleaning device of Fig. 2.
  • Figure 5 shows a schematic view of the installation of the liquid level detecting device in the first storage structure.
  • Fig. 6 is a top perspective view showing the entire structure of the cleaning robot shown in Fig. 1.
  • Fig. 7 is a bottom perspective view showing the entire structure of the cleaning robot shown in Fig. 1.
  • Figure 8 shows a schematic view of the exploded structure of Figure 6.
  • FIG. 9 is a schematic view showing the structure of the cleaning robot shown in FIG. 6 after removing the upper casing and the processing circuit.
  • Fig. 10 is a view showing the structure after further removing the fan and the fan duct on the basis of Fig. 9.
  • Fig. 11 is a view showing the overall structure of the wiping device of the cleaning robot shown in Fig. 6.
  • Fig. 12 is a view showing the exploded structure of Fig. 11.
  • Figure 13 shows the degree of freedom of oscillation of the drag member of Figure 12 under the action of a flexible connecting block and a horizontal axis of rotation.
  • Fig. 14 is a view showing the structure of the wiping device shown in Fig. 11 after removing the horizontal rotating shaft.
  • Figure 15 shows the degree of freedom of oscillation of the drag member of Figure 14 under the action of a flexible connecting block.
  • Fig. 16 shows a first modification of Fig. 13.
  • Fig. 17 shows a second modification of Fig. 13.
  • Fig. 18 shows a third modification of Fig. 13.
  • Fig. 19 is a view showing the air passage of the garbage collecting device of the cleaning robot shown in Fig. 6.
  • Fig. 20 is a view showing the positional relationship between the wiping device and the garbage collecting device of the cleaning robot shown in Fig. 6.
  • Fig. 21 is a view showing the process of the cleaning robot entering the base station by the jacking mechanism in the first embodiment shown in Fig. 1.
  • FIG. 22 is a schematic diagram showing the state of cooperation with the base station after the cleaning robot enters the base station in the first embodiment shown in FIG. 1.
  • Fig. 23 is a view showing the principle of cleaning of the wiping member of the cleaning robot by the base station in the first embodiment shown in Fig. 1.
  • Fig. 24 is a view showing the overall configuration of a cleaning robot system of a second embodiment of the present invention.
  • Fig. 25 is a view showing the overall configuration of the base station shown in Fig. 24.
  • Figure 26 is a schematic view showing the exploded structure of Figure 25.
  • Fig. 27 is a view showing the overall structure of the cleaning robot shown in Fig. 24.
  • Fig. 28 is a view showing the exploded structure of Fig. 27.
  • Fig. 29 is a view showing the structure of the cleaning robot shown in Fig. 27 after removing the upper casing and the upper casing cover.
  • Fig. 30 is a view showing the structure of the cleaning robot shown in Fig. 27 after removing the lower casing cover.
  • Figure 31 is a view showing the exploded structure of the wiping device shown in Figure 30.
  • Figure 32a is a cross-sectional view showing the assembled structure of the output shaft and the wiping unit of Figure 31.
  • Fig. 32b shows a partially enlarged schematic view of I in Fig. 32a.
  • Fig. 32c shows a partially enlarged schematic view of II in Fig. 32b.
  • Fig. 33 is a view showing the exploded structure of the garbage collecting device in the second embodiment (the dust removing fan is omitted).
  • Figure 34 is a view showing the air passage of the garbage collection device in the second embodiment.
  • Fig. 35 is a view showing the movement of the cleaning robot when the cleaning robot enters the base station in the second embodiment.
  • Fig. 36 is a view showing a modification of the positional relationship between the suction port and the wiping device in the first embodiment and the second embodiment.
  • Fig. 37 shows another modification of the first embodiment and the second embodiment.
  • Fig. 38 is a view showing the overall configuration of a cleaning robot system of a third embodiment of the present invention.
  • Fig. 39 is a bottom perspective view showing the entire structure of the cleaning robot shown in Fig. 38.
  • Fig. 40 is a view showing the structure of the cleaning robot shown in Fig. 38 after the upper casing is removed.
  • Figure 41 is a view showing the positional relationship between the suction port and the wiping device in the third embodiment of the figure.
  • Fig. 42 is a view showing the configuration of a cleaning robot having a wiping unit rotatable about a horizontal axis in the fourth embodiment.
  • Fig. 43 is a view showing the principle of cleaning the wiping member of the cleaning robot shown in Fig. 42 by the base station having the cleaning roller.
  • Fig. 44 shows a modification of the cleaning robot of the fourth embodiment shown in Fig. 43.
  • Fig. 45 shows a modification of the cleaning robot shown in Fig. 44.
  • Fig. 46 is a view showing the configuration of a cleaning robot having a wiping unit capable of horizontal reciprocation in the fifth embodiment.
  • Fig. 47 shows a modification of the cleaning robot of the fifth embodiment shown in Fig. 46.
  • Figures 48 and 49 show two variants of the raised structure of the present invention, respectively.
  • Figure 50 is a block diagram showing the structure of a cleaning robot provided with a suspension device at the wheel.
  • Fig. 51 is a partially enlarged schematic view showing the portion III in Fig. 50.
  • Fig. 52 shows a process in which the cleaning robot enters and exits the base station based on the jacking mechanism and the suspension device shown in Fig. 50.
  • Fig. 53 shows a process in which the cleaning robot enters and exits the base station based on the guide surface and the guide wheel.
  • Figure 54 is a block diagram showing the structure of a cleaning robot system of a sixth embodiment of the present invention.
  • Fig. 55 is a view showing a state in which the base station cleans the cleaning robot in the sixth embodiment shown in Fig. 54.
  • Fig. 56 is a view showing the principle of cleaning the wiping member of the cleaning robot by the base station in another embodiment of the present invention.
  • Figure 57 is a partial schematic view showing the bottom of the cleaning robot in the modified embodiment of the first embodiment of the present invention.
  • Fig. 58 is a partial schematic view showing the bottom of the cleaning robot of the embodiment shown in Fig. 57 of the present invention different from the angle of view of Fig. 57.
  • Fig. 59 is a side view showing the wiping member in the above embodiment.
  • Fig. 60 is a bottom view showing the wiping member in the above embodiment.
  • Fig. 61 is a side view showing the first modification of the drag member shown in Fig. 59.
  • Figure 62 is a bottom plan view showing the first modification of the drag member shown in Figure 59.
  • Figure 63 is a side elevational view showing a second modification of the drag member shown in Figure 59.
  • Figure 64 is a bottom plan view showing a second modification of the drag member shown in Figure 59.
  • Fig. 65 is a side view showing a third modification of the drag member shown in Fig. 59.
  • Fig. 66 is a bottom view showing a third modification of the drag member shown in Fig. 59.
  • base station body 101a, support frame; 102a, support frame bottom cover;
  • Mop cleaning device 111, cleaning tank; 112, raised portion; 1121, bottom protrusion; 1122, side protrusion; 113, liquid inlet structure; 114, liquid discharging structure; 115, guide plate; , guiding surface; 117, scraping member; 118, cleaning roller; 119, guiding wheel;
  • the liquid supply device 121, the first storage structure; 1211, the box; 1212, the box cover; 1213, the handle; 1214, the buckle; 122, the first water pump;
  • a sewage collection device 131, a second storage structure; 132, a second water pump;
  • a charging device 141, a charging chip
  • 151 a first conductive sheet
  • 152 a second conductive sheet
  • 153 a third conductive sheet
  • walking device 211, walking wheel; 212, spring; 213, support member;
  • garbage collection device 231, dust box; 2311, baffle; 2312, blade; 2312', roller brush; 2313, box body; 2314, lid; 2315, handle; 2316, positioning pin; 233, filter Net; 233', Hapa paper; 2331', Hapa paper support; 234, dust removal fan; 235, fan duct; 236, suction port; 237, garbage block; 238, filter frame;
  • Control device
  • orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom”, etc. are indicated.
  • the orientation or positional relationship is usually defined based on the state of normal use of the cleaning robot system, wherein the cleaning robot advances in the forward direction, and accordingly, the cleaning robot's backward direction is rearward; the orientation word “inside and outside” refers to Internal and external with respect to the contour of each component itself.
  • Figures 1-66 illustrate various embodiments of a cleaning robotic system including a base station of the present invention.
  • the cleaning robot 2 of the present invention includes a traveling device 21 for driving the cleaning robot 2 to walk on the ground and a floor cleaning device 22 for cleaning the ground, the ground
  • the cleaning device 22 includes a wiping device 221, the wiping device 221 includes a wiping unit 2211, the wiping unit 2211 includes a wiping member 22111, and the wiping member 22111 is used to mop the ground.
  • the cleaning robot 2 of the present invention includes a wiping member 22111 for mopping the ground. Therefore, the mopping function can be realized, the stubborn stain on the ground can be removed, and the floor cleaning effect can be improved.
  • the wiping unit 2211 is provided to be rotatable and/or horizontally reciprocable with respect to the chassis 202 of the cleaning robot 2.
  • the relative movement between the wiping member 22111 and the ground includes not only the movement of the cleaning robot 2 as a whole on the ground, but also the rotational movement and/or horizontal reciprocation of the wiping member 22111 relative to the ground, thereby
  • the wiping force of the wiping member 22111 can be enhanced, and the number of wiping of the wiping member 22111 can be increased, and the repeated wiping of the ground can be realized, thereby improving the wiping effect of the wiping member 22111, which is particularly helpful for more thorough Clean stubborn stains that adhere to the ground.
  • the wiping unit 2211 is configured to be rotatable relative to the chassis 202 of the cleaning robot 2, because the rotating mopping member 22111 can also sweep up large particles and dust on the ground, that is, at the same time, cleaning.
  • the cleaning robot 2 is made into a sweeping and dragging robot, and the function is more comprehensive, the ground cleaning effect is better, and the cleaning function can be realized without providing a special cleaning device 222, so that the cleaning robot 2 can also have the function of sweeping and dragging. At the same time, it has a simpler structure and a smaller volume, which is advantageous for further miniaturization and dexterity of the cleaning robot 2.
  • the wiping unit 2211 can also be disposed to be swingable relative to the chassis 202. Based on this arrangement, the wiping member 22111 of the wiping unit 2211 can be kept in contact with the ground by swinging relative to the chassis 202 as the unevenness of the ground is uneven, thereby ensuring that the two wiping members 22111 of this embodiment are always in close contact with each other. On the ground, this not only prevents the leakage of the ground due to unevenness, but also ensures a more thorough and efficient cleaning of various grounds. It also enables the cleaning robot 2 to clean the more complex and diverse terrain and effectively expand Clean the scope of application of the robot 2.
  • the present invention also provides a cleaning robot system including the cleaning robot 2 of the present invention.
  • the cleaning robot system may further include a base station 1 capable of cleaning the mopping member 22111.
  • the base station 1 includes a base station body 10 and a wiper cleaning device 11 disposed on the base station body 10.
  • the wiper cleaning device 11 is configured to clear the wiper 22111 of the cleaning robot 2. clean.
  • the base station 1 can adopt the methods of ultrasonic cleaning, dry cleaning or water washing to achieve the cleaning of the wiping member 22111.
  • the water washing method is preferred, because the water washing method is not only easier to implement, but also has lower cost and cleaner cleaning effect.
  • the cleaning member 22111 after the washing method has a certain amount of moisture, and can directly continue to be put into the mopping work without additionally providing a step of humidifying the wiping member 22111. Therefore, the washing and cleaning method can further reduce user participation, and Further ensuring the continuity of the cleaning robot 2 work.
  • the wiping member cleaning device 11 and the wiping member 22111 are preferably disposed to be relatively movable, for example, the wiping member cleaning device 11 and the wiping member. 22111 is relatively rotated, and/or, the wiping member cleaning device 11 can be moved relative to the wiping member 22111, so that the wiping member 22111 is pressed against the wiping during the cleaning of the wiping member 22111 by the wiping member cleaning device 11. On the cleaning device 11, the wiping member cleaning device 11 can apply a frictional force to the wiping member 22111, so that the cleaning and cleaning property of the wiping member 22111 can be improved, and the cleaning effect of the wiping member cleaning device 11 can be improved.
  • the relative movement of the wiping member cleaning device 11 and the wiping member 22111 may be caused by one of the wiping member cleaning device 11 and the wiping member 22111, and the other may be the wiping member cleaning device 11 and
  • the mopping members 22111 both move but differ in direction of motion and/or speed of movement.
  • the wiper cleaning device 11 may be configured to include a raised structure including a raised portion 112 that is raised when the wiper cleaning device 11 cleans the wiper 22111
  • the wiper 22111 is in contact.
  • the piece 22111 is more thoroughly cleaned, and prevents the wiping member 22111 that completes cleaning from being excessively wet, and in the case where the wiping member cleaning device 11 and the wiping member 22111 are relatively movable, the convex portion 112 and the wiping member 22111 are further A planar rubbing motion is generated, which can further increase the frictional force of the wiping member cleaning device 11 and the wiping member 22111, and further improve the cleaning effect of the wiping member cleaning device 11 on the wiping member 22111.
  • the base station 1 of the present invention is preferably arranged to further include a guiding structure provided on the wiping member cleaning device 11 for guiding the cleaning robot 2 with respect to the wiping member cleaning device 11 movement to make the mopping member 22111 in and out of the mop Piece cleaning device 11.
  • the cleaning robot 2 can conveniently enter the base station 1 under the guiding action of the guiding structure, so that the wiping member 22111 enters the wiping member cleaning device 11 for cleaning. Once the cleaning is completed, the cleaning robot 2 can smoothly drive out of the base station 1 under the guiding action of the guiding structure, so that the wiping member 22111 leaves the wiping member cleaning device 11.
  • the guiding structure can be cleaned. It is convenient for the robot 2 to enter and exit in the base station 1, which helps to improve the working efficiency of the cleaning robot system.
  • the guiding structure may include at least one of a guiding surface, a guiding plate and a guiding wheel.
  • Figures 1-23 illustrate a first embodiment of a cleaning robotic system.
  • the cleaning robot system includes a cleaning robot 2 and a base station 1 which are provided independently of each other, wherein the cleaning robot 2 is used for automatic cleaning including grounding, the base station 1 is for charging the cleaning robot 2 and cleaning the wiping member 22111 of the cleaning robot 2.
  • the cleaning robot 2 can automatically return to the base station 1 where charging and/or wiping cleaning is performed.
  • the cleaning robot 2 is a mobile cleaning device including a housing 20, a traveling device 21, a floor cleaning device 22, a garbage collection device 23, and the like.
  • the housing 20 constitutes a mounting base for other structural components of the cleaning robot 2, and provides support for other components.
  • the housing 20 of this embodiment includes an upper housing 201 and a chassis 202.
  • the traveling device 21, the floor cleaning device 22, and the garbage collection device 23 are mounted on the chassis 202, and the upper housing 201 is covered. It is disposed above the chassis 202 for protecting structural components in the hollow space between the upper casing 201 and the chassis 202, and maintaining the integrity and beauty of the overall structure.
  • the traveling device 21 is for providing a driving force for the movement of the cleaning robot 2 on the ground, and drives the cleaning robot 2 to walk on the ground.
  • the traveling device 21 of this embodiment includes a pair of traveling wheels 211 which are symmetrically disposed on the left and right sides of the chassis 2, and the traveling wheels 211 are rotated to enable the cleaning robot 2 to Advance or retreat on the ground. Further, the steering of the cleaning robot 2 can be realized by the differential rotation of the pair of traveling wheels 211.
  • the floor cleaning device 22 is used to clean the floor.
  • the floor cleaning device 22 includes a wiping device 221, the wiping device 221 includes a pair of wiping units 2211, and each of the wiping units 2211 includes a platen 22112 and a mopping member 22111, and the wiping member 22111 is mounted on the lower end surface of the platen 22112 for wiping and cleaning the floor.
  • the mop member 22111 includes a mop member body 100 for mopping the floor and a cleaning member 200 disposed on the edge of the mop member body 100 for cleaning the floor debris.
  • the wiping unit 2211 including the wiping member 22111 can be made into a sweeping and sliding integrated structure, and has a sweeping function. Even if a special cleaning device is not additionally provided, the wiping unit 2211 itself can collect garbage (especially It is a garbage such as hair) which gathers more fully to achieve a better cleaning effect; and the cleaning member 200 disposed at the edge of the wiping member main body 100 can also be closely attached to the ground edge when the wiping unit 2211 cleans the edge of the floor.
  • the cleaning range of the wiping unit 2211 is effectively expanded, so that the cleaning robot 2 can perform cleaning of the indoor corner more efficiently.
  • the cleaning device 200 has two functions, one for collecting garbage to one side (aggregating garbage) and the other function for cleaning the edge position of the object. Therefore, the cleaning member 200 selects a cleaning material that is easy to dry and is not easily deformed.
  • the cleaning material of the cleaning member 200 includes at least one of a brush, a bamboo fiber, a nylon brush, a polyester, a nylon, and a composite material of polyester and nylon.
  • the cleaning members 200 are evenly spaced along the edges of the mop member body 100 or are continuously disposed.
  • the wiping member main body 100 includes a middle cleaning member 101 and a water absorbing member 102 provided on a surface of one side of the middle cleaning member 101.
  • the water absorbing member 102 is made of a material having a strong water absorbing ability such as a sponge or a mop.
  • the middle cleaning member 101 is made of at least one of a first cleaning material, a second cleaning material, a third cleaning material, and a fourth cleaning material; wherein the first cleaning material is for a cleaning material for cleaning stubborn floor stains; the second cleaning material is a cleaning material for collecting dust and hair; the third cleaning material is a cleaning material for cleaning stains and garbage of the floor recess; The four cleaning materials are cleaning materials for cleaning dirt and grease.
  • the first cleaning material comprises at least one of a wood pulp sponge, a mesh rag, a steel mesh, a nylon fiber, a polyester fiber, a silicon carbide, a coir brush, a scouring pad, and a plastic mesh;
  • the second cleaning material comprises at least one of a microfiber, an electrostatic precipitating cloth, a cotton cloth, a composite material of polyester and nylon; and the third cleaning material comprises at least one of a nylon brush and a fine short hair mop;
  • the fourth cleaning material includes at least one of a plant fiber and a cotton yarn composite.
  • the central cleaning component 101 of the mop member 22111 can incorporate different cleaning materials in the design to achieve a comprehensive cleaning effect.
  • the middle cleaning member 101 is made only of one of the first cleaning material, the second cleaning material, the third cleaning material, and the fourth cleaning material.
  • the middle cleaning member 101 includes a first cleaning portion 1011 and a second cleaning portion 1012, and the first cleaning portion 1011 is Made of one of a first cleaning material, a second cleaning material, a third cleaning material, and a fourth cleaning material, the second cleaning portion 1012 is made of the first cleaning material, the second cleaning material, and the third cleaning Another of the material and the fourth cleaning material that is different from the first cleaning portion 1011 is made.
  • the second cleaning portion 1012 is provided in plurality on the first cleaning portion 1011.
  • the mop member body 100 has a circular shape, and the cleaning member 200 is disposed along a circular edge of the mop member body 100.
  • each of the second cleaning portions 1012 extends in the radial direction of the scraper body 100, and a plurality of the second cleaning portions 1012 are evenly spaced along the circumferential direction of the scraper body 100.
  • the second cleaning portion 1012 is provided with three, however, it may be one, two or four or more according to actual needs.
  • the second cleaning portions 1011 are arranged in a dot array in the first cleaning portion 1011.
  • the first cleaning portion and the second cleaning portion are both provided in plurality, and the plurality of first cleaning portions 1011 and the second portion The cleaning portions 1012 are alternately arranged.
  • the middle cleaning member 101 of the wiping member 22111 may also be composed of three parts or four parts, that is, the middle cleaning member 101 may also be provided with a material different from the first cleaning portion 1011 and a third cleaning portion of the second cleaning portion 1012, and/or a fourth cleaning portion that is different from the first cleaning portion 1011, the second cleaning portion 1012, and the third cleaning portion.
  • a comprehensive cleaning effect is achieved by adding different cleaning materials to the cleaning member 101 in the middle of the wiping member 22111 to achieve a comprehensive and effective cleaning of the ground waste.
  • the mop member 22111 is preferably detachably coupled to the platen 22112.
  • the squeegee 22111 can be affixed to the lower end surface of the platen 22112 by using a velcro to facilitate disassembly and replacement of the mop member. 22111.
  • the mop member 22111 and the platen 22112 of this embodiment are both circular.
  • the two may be disposed in other shapes such as a rectangle, and the embodiment sets the shape of the two to be circular.
  • the advantage is that it is easier for the wiping unit 2211 to clean a narrow space such as a corner inside the house, and it is also more convenient to rotate as follows.
  • the wiping unit 2211 of this embodiment is configured to be rotatable relative to the chassis 202.
  • the mopping effect is improved by increasing the relative rotation of the wiping unit 2211 to the ground.
  • the rotation of the wiping unit 2211 relative to the chassis 202 can be either a rotation about a horizontal axis or a rotation about a vertical axis, wherein the embodiment is preferably arranged to rotate about a vertical axis because the winding is vertical
  • the axis-rotating wiping member 22111 can achieve a better wiping and cleaning effect.
  • the wiping device 221 includes at least two wiping units 2211
  • at least two wiping units 2211 can be turned to the same or can be turned differently, and can also switch between the same direction and the reverse rotation, that is, some The at least two wiping units 221 are reversely rotated for a period of time and changed to reverse rotation for another period of time.
  • the wiping device 221 can also be used to collect the garbage in the middle, thereby achieving a better garbage gathering effect.
  • both of the wiping units 2211 are rotated about a vertical axis, but the directions of rotation are opposite. Due to the reverse rotation about the vertical axis, the two wiping units 2211 can gather the swept garbage toward the middle of the two wiping units 2211, so that the setting allows the wiping device 221 to perform the wiping and cleaning functions simultaneously. It can also play a better role in garbage accumulation, so that it can collect garbage more thoroughly and thoroughly. Based on this, the wiping device 221 of this embodiment can cooperate with the garbage collecting device 23 of this embodiment to achieve a cleaner cleaning effect, which will be described later in more detail.
  • the frictional forces generated by the two moping units 2211 due to the rotation are opposite to each other, and can cancel each other out. It is possible to effectively avoid the occurrence of friction imbalance during the cleaning process, and to help the cleaning robot 2 to travel more smoothly according to a predetermined route.
  • the moping device 221 of the embodiment further includes a mop driving mechanism 2212.
  • the wiping driving mechanism 2212 connects the wiping unit 2211 and the chassis 202, and is used to drive the wiping unit 2211. Rotation with respect to the chassis 202, that is, for driving the drag unit 2211 to rotate relative to the ground. Specifically, as shown in FIGS.
  • the drag drive mechanism 2212 includes a worm motor, two worm gears 22122, and two output shafts 22123, wherein: the worm motor is used for two drag units 2211 Torque is provided; two worm gears 22122 are drivingly coupled between the worm motor and the two output shafts 22123 in a one-to-one correspondence with the two output shafts 22123.
  • Each worm gear 22122 meshes with the worm on the worm motor, that is, the worm gear 22122 and the worm motor
  • the upper worm forms a worm gear mechanism, and the two worm gears 22122 mesh with the worm of the worm motor to transmit opposite directions of torque to the two output shafts 22123; the two output shafts 22123 are drivingly coupled to the two worm wheels 22122 and two Between the wiping units 2211, and two output shafts 22123 are provided in one-to-one correspondence with the two wiping units 2211 for transmitting opposite torques to the two wiping units 2211, respectively, and two output shafts. 22123 are arranged vertically, such that the two moping units 2211 rotate around the respective output shafts 22123 under the driving action of the worm motor, that is, the reverse rotation of the two wiping units 2211 about the vertical axis can be realized. .
  • the worm motor is a double-head worm motor 22121, wherein: the double-head worm motor 22121 functions as a worm power mechanism for outputting torque; two worm wheels 22122 and two
  • the mopping units 2211 are arranged one by one, and respectively mesh with the two worm heads on both sides of the double worm motor 22121, and the two worm wheels 22122 are meshed with the double worm motor 22121.
  • the double-head worm motor 22121 rotates, the power can be transmitted to the two worm wheels 22122, and the opposite torques are transmitted to the two output shafts 22123 through the two worm wheels 22122, and the two output shafts 22123 are driven to drive the two wiping units.
  • the 2211 rotates in the opposite direction around the vertical axis, and the structure is simple and compact, and the transmission efficiency is high.
  • the wiping device 221 of this embodiment further includes a mounting chassis 2213, an upper tray 2214, and a lower tray 2215.
  • the drag driving mechanism 2212 is mounted through the mounting chassis 2213, the upper tray 2214, and the lower tray 2215.
  • the lower part of the mooring drive mechanism 2212 is disposed in the hollow space for the mating transmission, and the mounting chassis 2213 is disposed on the chassis 202, and the lower disc 2215 is mounted on the mounting chassis 2213 so that the mop is engaged.
  • the wipe drive mechanism 2212 is mounted to the chassis 202.
  • the mop drive mechanism 2212 of this embodiment further includes a bearing 22124 and an oil seal ring 22125, wherein the bearing 22124 and the oil seal ring 22125 are disposed between the output shaft 22123 and the worm wheel 22122 for smoother transmission.
  • the wiping unit 2211 is swingably coupled to the chassis 202 of the cleaning robot 2, and the wiping effect of the wiping device 221 is improved by expanding the two wiping members 22111 to the ground at all times, and is enlarged. Clean the scope of application of the robot 2.
  • the wiping unit 2211 of this embodiment can not only oscillate centering on the vertical axis, but also can swing around the horizontal axis, so that the wiping member 22111 has a plurality of swinging degrees of freedom, which is advantageous for achieving the entire wiping.
  • the piece 22111 is in contact with the moment of the ground, so that the wiping member 22111 can better adapt to the uneven ground to achieve a cleaner cleaning effect.
  • a flexible connecting block is disposed between the wiping unit 2211 and the output shaft 22123 of the drag drive mechanism 2212. 2216, the two are connected by the flexible connection block 2216.
  • the flexible connection block 2216 can be detachably coupled to the wiping unit 2211 and/or the mop drive mechanism 2212. Since the flexible connecting block 2216 can be freely deformed as a flexible connecting structure, when the cleaning robot 2 encounters an uneven ground, the flexible connecting block 2216 can exert a ground force transmitted by the wiping member 22111.
  • each of the flexible connecting blocks 2216 can provide the degree of freedom of adjustment of the swing for the corresponding wiping unit 2211 (ie, the first swinging degree of freedom I in FIG. 13). More diverse and more flexible to the ground.
  • the material deformation of the flexible connecting block 2216 can be utilized to realize the swing of the wiping unit 2211 centered on the vertical axis, and can be uneven according to the ground.
  • the swinging angle of the wiping unit 2211 is flexibly adjusted, so that the wiping member 22111 is always attached to the ground for wiping, Improve the drag effect in one step.
  • the flexible connecting structure applied to the embodiment is not limited to the one of the flexible connecting blocks 2216, and other flexible connecting structures capable of realizing the swinging of the wiping unit 2211 by the deformation of the self material are also applicable.
  • a horizontal rotating shaft 2218 is provided between the wiping device 221 and the chassis 202, and the two are connected by the horizontal rotating shaft 2218.
  • the horizontal rotating shaft 2218 of this embodiment is coupled between the chassis 202 and the middle portion of the drive shaft of the drag device 221 that is coupled between the two wiping units 2211.
  • the horizontal rotating shaft 2218 can provide a horizontal rotation degree of freedom (ie, the second swinging degree of freedom J shown in FIG. 13) for each of the wiping units 2211, so that each of the wiping units 2211 can be uneven with the unevenness of the ground.
  • the horizontal rotating shaft 2218 swings around the center to ensure that the drag member 22111 is in contact with the ground.
  • the embodiment provides the flexible connecting block 2216 and the horizontal rotating shaft 2218 at the same time, so that the wiping member 22111 has a plurality of swinging degrees of freedom, which can more flexibly adapt to the uneven ground, so that the cleaning robot 2 encounters uneven terrain even if it encounters uneven terrain. It also allows the mopping member 22111 to be cleaned against the ground so that the floor can be cleaned more cleanly.
  • the contact of the wiping device 221 with the ground is equivalent to a fulcrum, that is, the implementation.
  • the wiping device 221 of the example provides a fulcrum to the cleaning robot 2, and at the same time, since the contact of the two traveling wheels 211 with the ground is equivalent to two fulcrums, overall, the cleaning robot 2 of the embodiment forms a ground with the ground.
  • the point support mode allows the cleaning robot 2 to land at three o'clock at a time, thereby increasing the overall operational stability of the cleaning robot 2 and further ensuring the cleaning effect.
  • the embodiment in which the wiping unit 221 is swung with the ground unevenness is not limited to the above manner (ie, the manner shown in FIG. 13), and three alternative embodiments are provided herein.
  • the position of the horizontal rotation shaft 2218 can also be changed, and the horizontal rotation shaft 2218 is disposed between the traveling device 21 and the chassis 202.
  • the rotating device is connected between the traveling device 21 and the chassis 202, and the traveling device 21 as a whole provides a fulcrum for the cleaning robot 2, and at the same time, each of the wiping devices 221
  • the flexible connecting blocks 2216 provide two degrees of freedom of adjustment for each of the wiping units 2211, such that the wiping device 221 is in contact with the ground when the wiping device 221 is in contact with the ground, that is, the wiping device 221 provides the cleaning robot 2 with It can be seen from the two fulcrums that the alternative way still enables the wiping member 22111 to be in close contact with the ground at all times and to form a three-point support between the cleaning robot 2 and the ground.
  • the three-point support in this alternative includes two front fulcrums and one rear fulcrum, while the three-point support in the
  • the aforementioned flexible connecting block 2216 can also be omitted, and only the horizontal rotating shaft is provided between the wiping device 221 and the chassis 202. 2218, or a horizontal rotation axis 2218 is provided only between the traveling device 21 and the chassis 202.
  • the wiping member 22111 and/or the traveling device 21 can be realized.
  • the overall swing of the chassis 202 forms the aforementioned three-point support, and the structure is simpler and the cost is lower.
  • the garbage collection device 23 is for collecting the garbage collected by the floor cleaning device 22, and includes a collection port for communicating the inside and the outside of the garbage collection device 23, and the garbage collected by the floor cleaning device 22 enters the garbage collection device from the collection port. The interior of 23.
  • the garbage collection device 23 includes a dust box 231, a strainer 233, a dust removing fan 234, a fan duct 235, and a dust suction port 236, wherein the dust box 231 includes a box.
  • the body 2313 and the lid 2314 are covered at the top end opening of the box body 2313; the dust suction port 236 is disposed at a lower portion of the dust box 231 and opens toward the ground so that the garbage can enter the dust box through the dust suction port 236.
  • the dust removing fan 234 is in fluid communication with the dust box 231 through the fan duct 235, so that dust such as dust can enter the dust box 231 by the dust suction port 236 under the action of the dust removing fan 234; the screen 233 is disposed in the dust box 231.
  • the side portion is located on the fluid communication path of the dust removing fan 234 and the dust box 231 (the screen 233 is specifically disposed on the fluid communication path of the fan duct 235 and the dust box 231 in FIG. 19) to enable the garbage in the wind to be
  • the screen 233 is filtered to remain in the dust box 231, and the wind can continue to be drawn away by the dust removing fan 234.
  • the outlet of the dust removing fan 234 faces the double-head worm motor 22121, so that the wind flowing out of the dust removing fan 234 can be directly blown to the double-head worm motor 22121, and the double-head worm
  • the heat dissipation of the motor 22121 is beneficial to ensure the working performance of the double-head worm motor 22121 and extend the working life of the double-head worm motor 22121.
  • the drag drive mechanism is disposed on both sides of the dust suction device such that the dust suction device can extend integrally along the front-rear direction of the cleaning robot 2.
  • the double-head worm motor 22121 can be replaced with two motors, and the two motors output power through a worm gear mechanism or a gear mechanism.
  • the air inlet resistance increases the air flow rate of the dust suction device and improves the dust suction effect of the dust suction device.
  • the dust removing fan 234 drives the wind to drive the garbage into the inside of the casing 2313 via the dust suction port 236, the garbage is blocked by the filter 233, and the wind enters the fan duct 235 through the filter 233, and the flow direction The dust blower 234 is removed and finally withdrawn by the dust removal fan 234.
  • the garbage collection device 23 of this embodiment is a dust suction device, and the dust suction port 236 serves as a collection port.
  • the advantage of using the dust suction device as the garbage collection device 23 in this embodiment is that the garbage collection device 23 can exert an attractive force on the garbage, which not only allows more garbage collected by the floor cleaning device 22 to be collected more quickly, and reduces garbage. Residues on the ground, and under suction, larger particles of waste can also be sucked into the interior of the garbage collection device 23. Therefore, the use of a dust suction device as the garbage collection device 23 facilitates cleaning the floor more cleanly.
  • the two wiping units 2211 that rotate in the reverse direction about the vertical axis are capable of collecting the garbage between the two wiping units 2211, thereby collecting garbage in a more convenient and efficient manner.
  • the dust suction port 236 is disposed in the middle of the two wiping units 2211 of the drag device 221 of the embodiment, such that the dust suction port 236 is located in two mops. Between the units 2211, the garbage is collected on the path, so that the garbage collection device 23 can collect the garbage more fully, thereby achieving a more effective garbage collection effect.
  • the dust suction port 236 may be disposed in the middle of the rear of the two wiping units 2211 or in the middle of the front of the two wiping units 2211.
  • the dust suction port 236 is disposed at the center of the rear of the two wiping units 2211. As shown in FIG. 36, since the garbage is collected to a smaller area and then collected by the garbage collection device 23, the dust suction port 236 can be set. Smaller, but The smaller the suction port 236 is, the larger the suction force is, and the more efficient collection can be achieved.
  • the dust suction port 236 is disposed in the middle of the front of the two wiping units 2211, as shown in FIG. 7 and FIG. 20, which has the advantage that the garbage collection can be performed before the wiping, and the garbage can be unswept.
  • the dust suction port 236 is placed on two tows that rotate in the opposite direction around the vertical axis.
  • the middle of the front of the rubbing unit 2211 can reduce the difficulty of garbage collection, so that the dust collecting device can collect the garbage only by applying a small suction force, and can effectively prevent the problem that the garbage such as hair is difficult to be collected due to excessive moisture. This makes it easier and more thorough to collect garbage for a cleaner garbage collection.
  • the cleaning robot 2 of this embodiment is capable of performing a higher quality floor cleaning work: when operating, the two mopping members 2111 are driven by the mop driving mechanism 2212. Reverse rotation around the vertical axis under the action, on the one hand, the stubborn stain on the ground is mopped, on the other hand, the garbage is collected in the middle of the two mopping members 2111, and the garbage collected in the middle portion is collected by the garbage collecting device. 23 suck up the collection.
  • the garbage collection devices 23 further include a baffle 2311 which is collected by the collection port of the garbage collection device 23 (in this implementation)
  • the suction port 236) is inclined downward and extends to the ground.
  • the baffle 2311 can block the garbage collected to its location, preventing the garbage cleaned by the floor cleaning device 22 from spreading out to the range where the collection port (the suction port 236) can be collected, thereby facilitating the garbage.
  • the collecting device 23 collects and prevents the garbage from causing secondary pollution to the cleaned ground.
  • the baffle 2311 can prevent the collected garbage from being carried away from the collecting port by the wiping member 22111 (the suction port 236).
  • the cleaning robot 2 of this embodiment can also close the garbage collection device 23 and only operate the wiping device 221; or, the cleaning device 221 can be replaced with a cleaning device 222 for cleaning the garbage on the ground.
  • the cleaning device 222 is used in cooperation with the garbage collection device 23 to realize a separate sweeping function.
  • the drag device 221 of the embodiment is detachably connected to the drag driving mechanism 2212, the wiping device 221 can be conveniently disposed. Replace with the cleaning device 222 to switch the cleaning mode; and, by replacing the wet mopping member 22111 with a dry
  • the wiping member 22111 can also realize the dry drag function of the cleaning robot 2 of the embodiment.
  • the wiping member 22111 of the embodiment is detachably coupled to the platen 22112, it can also be conveniently replaced.
  • the mop member 22111 and the wet mop member 22111 enable fast switching of the dry mopping and wet mopping modes.
  • the cleaning robot 2 further includes a collision sensing plate 25, a laser radar 26, a control device 27, a battery 28, and buttons, screens, etc. for human-computer interaction. Human-computer interaction device.
  • the collision sensing plate 25 is configured to prevent the cleaning robot 2 from colliding with an obstacle.
  • the collision sensing plate 25 is disposed at the front end of the casing 20; the laser radar 26 is used for performing map scanning to implement the cleaning robot 2 Drawing and positioning, in this embodiment, a laser radar 26 is embedded in the rear of the upper casing 201; a battery 28 is used to supply power to the cleaning robot 2; and a control device 27 is used to control various activities of the cleaning robot 2, For example, sensor signal collection, motor drive control, battery management, navigation and positioning, map generation, intelligent obstacle avoidance, and clean path planning.
  • the cleaning robot 2 of this embodiment further includes a jacking mechanism 24.
  • the jacking mechanism 24 is used to lift the front end and/or the rear end of the cleaning robot 2, which can provide lift to the cleaning robot 2, which can not only make the cleaning robot 2 more easily pass over a certain height obstacle during the ground walking process (for example, the threshold) improves the obstacle-removing ability of the cleaning robot 2, expands the cleaning range of the cleaning robot 2, and helps the cleaning robot 2 to more easily enter and exit the base station 1 during the process of cleaning the robot 2 entering and leaving the base station 1, especially in a certain height.
  • the jacking mechanism 24 is disposed on the chassis 202 of the cleaning robot 2 and is located at a front position of the chassis 202, which includes a top and bottom
  • the swinging swing rod when the swing rod is swung downward, the swing rod can protrude downward from the chassis 202 and be supported on the bearing surface (for example, the ground), so that the front end of the cleaning robot 2 can be lifted up, and when the swing rod is swinged upward After the return, the swing lever is retracted, the lifting is lifted, and the front end height of the cleaning robot 2 is lowered again. Based on this, as shown in FIG. 21 and FIG.
  • the jacking mechanism 24 can jack up the front end of the cleaning robot 2, actively raising the front end height of the cleaning robot 2, and helping to clean.
  • the robot 2 quickly overcomes the obstacle or helps the cleaning robot 2 to quickly enter the base station 1 and smoothly slide the mopping member 22111 into the wiping member cleaning device 11.
  • the jacking mechanism 24 is not limited to being disposed on the chassis 202, and may be disposed on the base station 1, or a jacking mechanism 24 may be respectively disposed on the base station 1 and the chassis 202;
  • the jacking mechanism 24 is not limited to being disposed at the front of the chassis 202, and may also be disposed at the rear of the chassis 202 for jacking up the rear end of the cleaning robot 2. .
  • Figures 50-52 illustrate an alternate embodiment in which the jacking mechanism 24 is disposed at the rear of the chassis 202.
  • the jacking mechanism 24 is disposed at the rear of the chassis 202, in which case, as shown in Figure 52, when the cleaning robot 2 needs to enter the base station 1, the top The lifting mechanism 2 may not operate, and the cleaning robot 2 directly drives into the base station 1 under the guiding action of the driving force of the base station 1 and the guiding structure of the base station 1 (such as the inclined guiding surface 116 in FIG. 52), so that the wiping member 22111 enters the wiping member.
  • the cleaning device 11 is cleaned, and when the cleaning member 22111 is cleaned and the cleaning robot 2 needs to exit the base station 1, the jacking mechanism 24 acts to lift the rear end of the cleaning robot 2 so that the trailing edge of the wiping member 22111 is higher than the wiping The edge height of the cleaning device 11 is further removed from the base station 1.
  • a suspension device can be provided at the walking wheel 211 for maintaining the resilient connection of the running wheel 211 with the chassis 202 such that the walking wheel 211 can be kept in contact with the ground at all times, thereby
  • the traveling wheel 211 can still be in close contact with the ground under the action of the suspension device to provide frictional force to the cleaning robot 2, so that it can be further assisted by providing the suspension device.
  • the cleaning robot 2 exits the base station 1 more efficiently.
  • the suspension device includes a spring 212 and a support member 213, the spring 212 is horizontally disposed, and the support member 213 is obliquely coupled between the spring 212 and the traveling wheel 211. And a portion between the support member 213 for both ends connected to the spring 212 and the traveling wheel 211 is rotatably disposed with respect to the housing 20 of the cleaning robot 2.
  • the suspension device can not only keep the traveling wheel 211 in contact with the ground, but also assist the lifting mechanism 24 to lift the rear end of the cleaning robot 2 by the elastic force of the spring 212, so in this case,
  • the jacking mechanism 24 can lift the rear end of the cleaning robot 2 with a small jacking force, so that the jacking mechanism 24 can select a smaller motor, thereby achieving the purpose of reducing cost and saving installation space.
  • the suspension device may also not be provided together with the jacking mechanism 24, since the suspension device can It is enough to keep the traveling wheel 211 in constant contact with the ground. Therefore, when the suspension device is separately provided, the obstacle-removing ability of the cleaning robot 2 can also be increased.
  • the base station 1 cleans the mopping member 22111 by means of a water washing method, that is, the base station 1 keeps the wiping member 22111 clean by cleaning the wiping member 22111.
  • the base station 1 includes a base station body 10, a wiper cleaning device 11, a clean liquid supply device 12, a dirty liquid collecting device 13, and a charging device 14.
  • the base station body 10 constitutes a mounting base of other structural components of the base station 1.
  • the wiper cleaning device 11, the cleaning liquid supply device 12, and the dirty liquid collecting device 13 are all disposed on the base station body 10, and the base station body 10 is mounted thereon. These structural components on the upper provide support.
  • the wiping member cleaning device 11 is installed below the base station body 10, and the cleaning liquid supply device 12 and the dirty liquid collecting device 13 are installed above the base station body 10 and respectively located at the base station.
  • the left and right sides of the body 10 are compact and beautiful.
  • the wiping member cleaning device 11 of this embodiment cooperates with the cleaning liquid supply device 12 and the dirt liquid collecting device 13 to achieve water washing cleaning of the wiping member 22111; and, since the wiping unit 2211 of this embodiment can be wound upright
  • the axis is rotated, so that the wiping unit 2211 and the wiping member cleaning device 11 can be rotated relative to each other, and the base station 1 can implement a friction type washing cleaning mode.
  • the wiping member 22111 is carried on the wiping member cleaning device 11 and is rotationally cleaned, the cleaning liquid supply device 12 supplies the cleaning liquid, and the dirty liquid collecting device 13 collects the dirty cleaning liquid after the cleaning.
  • the wiper cleaning device 11 of this embodiment includes a cleaning groove 111, a convex structure having a plurality of convex portions 112, a liquid inlet structure 113, and a liquid discharge structure 114.
  • the cleaning slot 111 is configured to receive the wiping member 22111 when the wiping member cleaning device 11 cleans the mopping member 22111, and also provides an accommodation space for the cleaning liquid.
  • the wiping member cleaning device 11 includes two cleaning grooves 111, and the shape and size of each cleaning groove 111 are the same as the shape and size of the wiping unit 221 of the embodiment.
  • the fitting, wherein the cleaning groove 111 has a circular cross section shape.
  • This arrangement is to adapt the cleaning groove 111 to the shape, size and number of the wiping unit 221 of the cleaning robot 2, which not only better accommodates the wiping member 2111 and the cleaning liquid, but also prevents the cleaning liquid from splashing, and also makes
  • the base station 1 can simultaneously clean all the wiping members 22111 of one cleaning robot 2 to improve cleaning efficiency.
  • cleaning tank The shape and size of the 111 can be adaptively set according to the specific condition of the wiping unit 2211, and the number of the cleaning grooves 111 can also be set to be equal to the total number of the wiping units 221 of the plurality of cleaning robots 2, and one by one.
  • the base station 1 can simultaneously clean all the wiping members 22111 of the plurality of cleaning robots 2, and the cleaning efficiency is higher.
  • the convex structure is for contacting with the mopping member 22111 accommodated in the cleaning groove 111. Since the entire surface of the wiping member 22111 can be in contact with the convex structure, the contact area is large, the cleaning efficiency is high, and the protrusion is raised. The structure can play the role of scraping sewage and increasing friction during the cleaning process, which can further improve the cleaning effect.
  • the convex structure is disposed in the cleaning groove 111, wherein each of the convex portions 112 is a curved convex portion, that is, the extending path of the cross section of the convex portion 112 is a curve. Moreover, the plurality of raised portions 112 in each of the cleaning grooves 111 are radially arranged.
  • the convex structure shown in this embodiment can better adapt to the rotational movement mode of the drag member 22111, so that the convex structure can be more fully rubbed with the rotating drag member 22111 during the cleaning process. A cleaner cleaning effect.
  • the convex structure has a function of drying and dragging. The function of the wiper 22111.
  • Both the liquid inlet structure 113 and the liquid discharge structure 114 are in fluid communication with the cleaning tank 111 to enable the cleaning liquid to enter the cleaning tank 111 via the liquid inlet structure 113, and enable the cleaning liquid after the cleaning wiper 22111 to pass through the liquid discharging structure 114. It is discharged to the outside of the cleaning tank 111.
  • the liquid inlet structure 113 and the liquid discharging structure 114 are both disposed in the cleaning tank 111. Of course, the two may be disposed at other positions as long as they are in fluid communication with the cleaning tank 111. .
  • the clean liquid supply device 12 is in fluid communication with the cleaning tank 111 through the liquid inlet structure 113 to conveniently supply the cleaning liquid to the cleaning tank 111; the dirty liquid supply device 113 is in fluid communication with the cleaning tank 111 through the liquid discharging structure 114, conveniently The dirty cleaning liquid after the cleaning of the mopping member 22111 is collected. 3 and FIG.
  • the clean liquid supply device 12 includes a first storage structure 121 and a first water pump 122, the first storage structure 121 is for accommodating the cleaning liquid, and the first water pump 122 is used as the first a power device for driving the cleaning liquid to flow from the first storage structure 121 to the cleaning tank 111;
  • the dirt collection device 13 includes a second storage structure 131 and a second water pump 132, and the second storage structure 131 is for storing the dirty cleaning liquid
  • the second water pump 132 is used as a second power unit for The dirty cleaning liquid is sucked into the second storage structure 131.
  • the base station 1 may further include a liquid level detecting device for detecting the liquid level of the cleaning liquid.
  • a liquid level detecting device for detecting the liquid level of the cleaning liquid.
  • this embodiment provides liquid level detecting devices in each of the first storage structure 121 and the second storage structure 131, and each liquid level detecting device includes a first conductive sheet 151 and a second.
  • the liquid level detecting device can detect the liquid level of the cleaning liquid in the first storage structure 121 and the second storage structure 122 in real time, so as to be timely to the first A new cleaning liquid is added to the storage structure 121, or the second storage structure 131 is emptied in time.
  • the first conductive sheet 151 and the second conductive sheet 152 are used for correcting the measured liquid level detection data, thereby making the liquid level detection result more accurate.
  • the specific correction process can refer to the following formula:
  • C 2 the capacitance value measured by the second conductive sheet 152 when there is a certain liquid level
  • C 20 a capacitance value measured by the second conductive sheet 152 when there is no liquid in the storage structure
  • C 3 capacitance value measured by the third conductive sheet 153 (when covered by the liquid);
  • C 1 capacitance value measured in the first conductive sheet 151 (in air);
  • the wiping member 22111 is received in the cleaning slot 111 and the entire surface is pressed against the protruding structure to rotate about a vertical axis, in the first storage structure 121.
  • the cleaning liquid is pressurized by the first water pump 122, it is sprayed onto the wiping member 22111 accommodated in the cleaning tank 111 via the liquid inlet structure 113, and the impact force generated by the spraying process is beneficial to further improve the cleaning effect;
  • the dirty cleaning liquid is scraped off from the wiping member 22111 by the convex portion 112, and is also pulled down from the wiping member 22111 by the centrifugal force during the rotation of the wiping member 22111, and flows to the drainage structure.
  • 114, and was the second pump 132 is drawn into the second storage structure 131.
  • the cleaning liquid in the cleaning tank 111 can be kept relatively clean, and the dirty cleaning liquid can be prevented from secondary pollution to the wiping member 22111, thereby further Guarantee the cleaning effect.
  • the rotating motion of the wiping member 22111 during the cleaning process can play the role of centrifugal drying to prevent the wiping member 22111 from being over-wet after cleaning, which can prevent the wiping member 22111 from remaining in the wiping process.
  • the water is on the ground, affecting the cleanliness of the ground, and even causing safety hazards such as slipping.
  • the cleaning robot 2 can prevent the cleaning robot 2 from being too wet for the mopping member 22111 to be applied to special floors such as wooden floors, which can effectively expand the cleaning.
  • the wiping member 22111 can be adjusted to maintain a proper rotation speed and the convex portion 112 is frictionally cleaned, and the cleaning liquid is prevented from being thrown out due to the too fast rotation speed, and after the cleaning is completed, the liquid can be introduced.
  • the structure 113 stops the liquid feeding, and first controls the dragging member 22111 to rotate at a lower rotation speed for a period of time, dries most of the moisture, and then controls the dragging member 22111 to accelerate the rotation and further dry.
  • the specific rotation speed and the degree of drying can be controlled according to actual needs.
  • the cleaning liquid may be water or a mixture of water and a cleaning agent, wherein a mixture of water and a cleaning agent is preferred, and the wiping member 22111 can be cleaned more cleanly.
  • the first storage structure 121 may include only one container in which the mixed mixed liquid is directly stored; or the first storage structure 121 may also include two containers. One of the containers stores the cleaning agent, and the other container stores the water.
  • the first water pump 122 can simultaneously drive the cleaning agent and the water to flow directly from the respective containers to the cleaning tank 111, or a third one can be set. The water pump, even if the first power unit further includes a third water pump, the third water pump drives the cleaning agent to first mix with the water, and then the first water pump 122 drives the mixed mixture to flow into the cleaning tank 111.
  • the base station 1 of the embodiment may further include a drying device, and the cleaning device 22111 is dried by the drying device to ensure that the cleaning robot 2 exits the base station 1.
  • the mopping member 22111 retains a moderate amount of moisture, so that the ground is not wet due to excessive humidity, and the mold is not affected by moisture.
  • the drying device is provided in the base station 1, so that the drying process can be completed in the base station 1, which not only further enriches the function of the base station 1, but also simplifies the post-processing steps and improves the efficiency.
  • the base station 1 may further include a guiding structure provided on the wiping member cleaning device 11 for guiding the cleaning robot 2 to move relative to the wiping member cleaning device 11 to make the towing
  • the wiper 22111 enters and exits the wiper cleaning device 11. Specifically, as shown in FIG.
  • the base station 1 includes a guiding surface 116 serving as a guiding structure, which is inclined by the wiping member cleaning device 11 (specifically, at the edge of the cleaning groove 111)
  • the lower side is inclined and extends to the ground, so that the guiding surface 116 can guide the cleaning robot 2 to climb along the guiding surface 116 to the height of the edge of the cleaning groove 111, so that the wiping member 22111 can enter the cleaning groove 111.
  • the guide surface 116 is used in conjunction with the lifting mechanism 24 of the cleaning robot 2 described above, so that the cleaning robot 2 can more easily enter and exit the base station 1 and improve the working efficiency of the cleaning robot system.
  • the guiding structure is not limited to the structural form shown in this embodiment, and may further include a guide plate 116 and/or a guide wheel 119, which will be followed by the second embodiment shown in Figs. 24-35 and Fig. 53. Further description is made in the illustrated embodiment.
  • the charging device 14 is used to charge the battery 28 of the cleaning robot 2 to realize the charging function of the base station 1. As shown in FIGS. 2-4, in this embodiment, the charging device 114 is disposed on the guide surface 116 such that when the cleaning robot 2 climbs up the guide surface 116, the charging device 114 can charge the cleaning robot 2.
  • the charging device 14 can be charged in various ways, for example, in a contact charging mode, using a charging pad 141 disposed on the base station 1 and a charging contact 252 disposed on the cleaning robot 2 (as shown in FIGS. 28 and 29).
  • the contact of the display realizes the charging process; for example, it can also be a wireless charging mode, and the wireless charging is realized by the cooperation of the induction coil provided on the chassis 202 of the cleaning robot 2 and the charging coil provided on the guiding surface 116 of the base station 1. .
  • Figures 24-35 illustrate a second embodiment of a cleaning robotic system.
  • the second embodiment is substantially identical to the first embodiment, wherein the base station 1 is still capable of charging the cleaning robot 2 and cleaning the two wiping members 22111 of the cleaning robot 2, and cleaning the robot
  • the two mopping members 22111 of 2 can still rotate in the opposite direction about the vertical axis, and each of the wiping members 22111 can still swing relative to the chassis 202, and the difference between the two is mainly: on the one hand, for driving two
  • the specific structure of the mop drive mechanism 2212 that rotates in the opposite direction about the vertical axis is different; on the other hand, the specific implementation manner of the mop member 22111 swinging relative to the chassis 202 is different; on the other hand, the garbage collection device 23
  • the specific structure is slightly different; in another aspect, the base station body 10 of the base station 1 and the first storage structure 121,
  • the specific structure of the second storage structure 131 and the guiding structure is slightly different. Therefore, the following focuses on the differences between the four aspects, and other unillustrated points can be understood with reference to the first embodiment
  • the drag drive mechanism 2212 still uses the worm gear mechanism to transmit torque to the output shaft 22123
  • the worm motor in the worm gear mechanism no longer uses the double-head worm motor. 22121, but two single-head worm motors 22121' are used, and each single-head worm motor 22121' is meshed with one of the two worm gears 22122 in the worm gear mechanism, so that the two sets of worm gears can be rotated differently.
  • Blocking the air passage of the dust suction device can improve the smoothness of the air passage of the dust suction device, reduce the air inlet resistance of the dust suction device, increase the air flow rate of the dust suction device, and improve the dust suction effect of the dust suction device.
  • a flexible connecting structure such as a flexible connecting block 2216 is disposed between the output shaft 22123 and the wiping unit 2211, and the mating relationship between the wiping unit 2211 and the wiping driving mechanism 2212 is set as a gap sleeve.
  • the gap between the output shaft 22123 and the pressure plate 22112 is sleeved, and the pressure plate 22112 can be relative to the output due to the gap between the output shaft 22123 and the pressure plate 22112.
  • the shaft 22123 has a certain gap swing angle, and the drag member 22111 is disposed on the pressure plate 22112. Therefore, the manner of the gap between the drag unit 2211 and the drag drive mechanism 2212 can be utilized by the gap motion.
  • the swingable connection of the wiping unit 2211 and the chassis 202 is realized, so that the wiping member 22111 can change its own swing angle according to the actual situation of the ground to achieve the purpose of adapting to the ground.
  • the platen 22112 of the wiping unit 2211 and the output shaft 22123 of the mop driving mechanism 2212 are A magnetic adsorbing member 2217 capable of adsorbing the wiping unit 2211 and the wiping connecting structure is provided therebetween.
  • the magnetic adsorbing member 2217 By providing the magnetic adsorbing member 2217, the rigid connection between the pressure plate 22112 and the output shaft 22123 can be avoided, the detachable connection between the two can be achieved, and the connection can be realized by magnetic attraction.
  • the wiping unit 2211 needs to be disassembled and assembled, Just one button at a time, it's very simple and convenient.
  • one or more of other ways such as a threaded connection, a snap, and a hook, may also be employed.
  • the garbage collection device 23 still employs the dust suction device, and the dust suction port 236 is still disposed in the middle of the front of the two wiping members 22111
  • the filter structure is changed, and the filter 233 is no longer used, but is replaced by the sea paper 233', and the dust in the airflow is filtered by the sea paper 233', and correspondingly provided for supporting a sea paper roll holder 2331' of the sea paper 233', and a filter holder 238 is disposed between the box body 2313 of the dust box 231 and the box cover 2314, and the sea paper 233' is disposed outside the filter holder 238, and
  • the handle 2315 is added to the cover 2314, and the handle 2315 is attached to the cover 2314 through the positioning pin 2316, so that the user can take out the dust box 231 and empty the dust in time. Dust in the box 231.
  • the cleaning robot 2 in the second embodiment has further differences from the first embodiment.
  • the structure of the casing 20 of the cleaning robot 2 is slightly different, and the upper casing 201 is provided with a battery mounting groove for mounting the battery 28, and correspondingly, the battery mounting groove.
  • the upper cover is provided with an upper cover 101 to shield the battery installation slot and the battery 28 therein, to protect the battery 28, and to maintain a flat and beautiful appearance.
  • the lower cover 202 is also provided with a lower cover 2021, which is more convenient for disassembly and maintenance; Moreover, a camera 251 and a charging contact 252 are added to the collision sensing plate 25, wherein the camera 251 is used for cooperation with the laser radar 26 to achieve better scanning positioning and obstacle recognition function, and the charging contact 252 is used for the base station 1
  • the upper charging piece 141 is in contact to realize charging of the battery 28.
  • 25-26 show the structure of the base station 1 in this second embodiment.
  • the base station body 10 includes a support frame 101a and a support bottom cover 102a, wherein the clean liquid supply device 12 and the dirty liquid collection device 13 are disposed on the support frame 101a.
  • the upper part is located on the left and right sides of the support frame 101a, and the support bottom cover 102a
  • the first storage structure 121 and the second storage structure 131 each include a box 1211, a box cover 1212, a handle 1213 and a buckle 1214.
  • the box cover 1212 is disposed at the top of the box 1211.
  • the handle 1213 is disposed on the cover 1212 for convenient carrying
  • the buckle 1214 is disposed at the joint of the case 1211 and the cover 1212 for achieving the snap connection of the case 1211 and the cover 1212.
  • the cleaning groove 111 is provided with a shutter member 117 at the notch, for example, a scraping piece.
  • the scraping member 117 is disposed at the notch of the cleaning tank 111, and the height of the cleaning tank 111 can be increased. This aspect can be used to prevent the cleaning liquid in the cleaning tank 111 from being applied to the wiping member 22111 by the wiping member cleaning device 11.
  • the scraping member 117 can also scrape the rubbish on the wiping member 22111 before the wiping member 22111 enters the wiping member cleaning device 11, thereby preventing rubbish adhered to the wiping member 22111 during the floor cleaning process.
  • the pieces 22111 enter the cleaning tank 111 together, and the clogging of the liquid inlet structure 113 and the liquid discharging structure 114 in the cleaning tank 111 can be reduced.
  • the scraping member 117 may be a flexible member or a rigid member.
  • the scraping member 117 is a flexible member, such as a rubber blade.
  • the drag member 22111 is pressed against the scraping member when entering the cleaning slot 111. 117, the scraping action of the scraping member 117 is enhanced, and on the other hand, the scraping of the scraping member 22111 by the scraping piece 117 can be reduced.
  • the flexible member is used as the scraping member 117, when the wiping member is used After the 22111 completely enters the cleaning tank 111, the scraping member 117 can automatically return to the original state, and still functions to prevent splashing of the cleaning liquid.
  • the scraping member 117 may not be disposed at the notch of the cleaning tank 111, for example, may also be disposed on the guiding surface 116 as long as it can prevent the splashing of the cleaning liquid and/or scrape the garbage in advance. .
  • the guiding structure of the base station 1 further includes a guide plate 115 disposed on the side of the wiping member cleaning device 11, preferably along The inclined direction of the guide surface 116 extends to the bottom of the guide surface 116.
  • the guide plate 115 can guide the wiping member 22111 of the cleaning robot 2 together with the guide surface 116 to enter the wiper cleaning device 11 of the base station 1 more accurately and quickly.
  • the two mopping members 22111 are rotated in opposite directions.
  • the frictional force f of the drag member 22111 and the guide plate 115 can be used to correct the route deviation, and the traction cleaning robot 2 enters the base station 1 along the correct track. It can be seen that the guide plate 115 can also serve as a corrective cleaning robot. 2 The role of the route deviation.
  • the manner of facilitating the cleaning robot 2 to enter the base station 1 can be implemented in addition to the cooperation of the jacking mechanism 24 and the guiding structure of the base station 1 as shown in the first embodiment and the second embodiment.
  • the jacking mechanism 24 is provided so that the cleaning robot 2 enters the base station only under the guidance of the guiding structure. As shown in FIG.
  • the guiding structure of the base station 1 may include not only the aforementioned guiding surface 116 but also a guide wheel 119 which is disposed on the guiding surface 116 and protrudes upward, in which case the cleaning robot 2 is When entering the base station 1, it can first climb to the height of the guide wheel 119 by the guiding driving force of the guiding surface 116, and then lift the front end of the cleaning robot 2 under the action of the guiding wheel 119 until it is dragged.
  • the unit 2211 enters the cleaning tank 111 over the guide wheel 119 to complete the entering process, and when the cleaning member 22111 needs to exit the base station 1 after cleaning, the cleaning robot 2 moves in the reverse direction, and can also be under the action of the guiding wheel 119 and the guiding surface 116.
  • the cleaning robot 2 can also be provided with an escape groove adapted to the guide wheel 119. 203. After the wiping unit 2211 enters the cleaning tank 111 over the guide wheel 119, the guide wheel 119 is just embedded in the escape groove 203, so that the wiping member 22111 can be brought into close contact with the cleaning surface to ensure the cleaning effect.
  • Fig. 37 shows a further modified embodiment of the foregoing first embodiment and second embodiment.
  • the cleaning robot 2 of the embodiment further includes a scraping structure 2219 disposed behind the wiping unit 2211.
  • the scraping structure 2219 can scrape the garbage and/or sewage dropped by the wiping unit 221, thereby preventing the garbage and/or the sewage from remaining on the ground that has been dragged by the wiping unit 2211, thereby realizing two Clean.
  • the scraping structure 2219 can be a wiper or strip or the like, preferably a flexible member to reduce scratching of the ground.
  • the scraping structure 2219 is not limited to the cleaning robot 2 shown in the first embodiment and the second embodiment, and is also applicable to the other cleaning robot 2 of the present invention.
  • 38-41 illustrate a third embodiment of a cleaning robotic system.
  • the third embodiment differs from the foregoing two embodiments mainly in that the cleaning robot 2 of the embodiment has a wiping device 221 including only one wiping unit 2211. Accordingly, the embodiment The wiping member cleaning device 11 of the base station 1 also includes only one cleaning tank 111, and in order to make the structure more compact, the clean liquid supply device 12 and the dirty liquid collecting device 13 of the base station 1 are instead arranged one above another.
  • the cleaning robot 2 and the base station 1 of this embodiment have smaller specifications and are more suitable for use in small-sized homes.
  • the wiping unit 2211 is still rotated about the vertical axis with respect to the chassis 202, and in order to achieve the rotation of the wiping unit 2211 about the vertical axis, as shown in FIG.
  • the mop drive mechanism 2212 of the example still uses a worm motor to output torque, but the difference is that the worm motor of the embodiment includes only a single-head worm motor 22121' and a worm wheel 22122, and the single-head worm motor is utilized. Engagement of the 22121' with the worm gear 22122 drives the drag unit 2211 to rotate about a vertical axis for more efficient cleaning of the ground.
  • the dust suction port 236 of the garbage collection device 23 is disposed at the edge of the wiping unit 2211. Outside. Since the garbage is collected along the edge of the mopping member 2211 to the outside of the rotating wiping unit 2211, this arrangement is such that the dust suction port 236 as the collecting port is on the gathering path of the rubbing unit 2211 to the garbage. Thereby, it is convenient to collect garbage into the dust box 231.
  • the embodiment further has a garbage blocking member 237 added to one side wall of the housing 20, and the dust suction port 236 is disposed between the edge of the wiping unit 2211 and the garbage blocking member 237, so that the The garbage blocking member 237 blocks the garbage and further collects the garbage into a smaller area for more efficient collection.
  • the structure of the cleaning groove 111 and the convex structure are substantially the same, wherein the cleaning groove 111 is a deep groove having a circular cross section, and the convex structure includes a plurality of curved convex portions arranged in a radial shape.
  • the specific structure of the cleaning groove 111 and the convex structure is not limited to the specific structure shown in the three embodiments, and the modification shown in FIGS. 48 and 49 is taken as an example.
  • the cleaning groove 111 may also be provided as a cleaning disk, that is, a shallow disk structure having a rectangular cross section, and the convex portion 112 may also be a linear convex portion or a polygonal line convex portion, that is, the extending path of the cross section of the convex portion 112 is a straight line or a fold line.
  • the arrangement of the plurality of convex portions 112 may be other than radiation, for example, an array, and the array may be in the form of a straight line (ie, a moment) Array, circular array or circular array, etc., wherein the linear array is particularly suitable for the case where the wiping member 22111 and the wiping member cleaning device 11 reciprocate horizontally, and the cleaning member 22111 can be cleaned more cleanly. .
  • each of the convex portions 112 may be different, that is, the plurality of convex portions 112 may include any combination of curved convex portions, linear convex portions, and polygonal line convex portions;
  • the arrangement of the protrusions 112 in each cleaning slot 111 can also be any combination of various arrangements such as radial and array; and the shape and arrangement of the protrusions 112 in the different cleaning slots 111.
  • the methods can be the same or different.
  • the boss portion 112 includes a bottom protrusion 1121 disposed at the bottom of the cleaning groove 111 and a side protrusion 1122 formed on the inner side of the cleaning groove 111.
  • the wiping member cleaning device 11 cleans the wiping member 22111
  • the bottom protrusion 1121 rotates relative to the bottom surface of the wiping member 22111 and frictionally presses the side protrusion.
  • 1122 is rotated relative to the side of the wiping member 22111 and frictionally pressed into contact.
  • the bottom surface of the mopping member 22111 is cleaned by the bottom projection 1121, and the side surface of the wiping member 22111 can be cleaned by the side projection 1122.
  • the two mopping members 22111 are disposed as edge contacts such that when the two mopping members 22111 are rotated in the same direction, the two mopping members 22111 are relatively moved at the intermediate contact positions, rubbing each other to perform side cleaning.
  • the dirty liquid collecting means 13 achieves the collection of the dirty washing liquid by the suction action of the second power means.
  • the second power device may not be provided, but as shown in FIG. 54 and FIG. 55, the second storage structure 131 is directly disposed under the cleaning slot 111, and the second storage is enabled.
  • the structure 131 is in fluid communication with the cleaning tank 111. In this case, the dirty cleaning liquid will automatically flow into the second storage structure 111 by the cleaning tank 111 under the action of gravity, which is simple and convenient, and has low cost.
  • the purifying liquid supply device 12 of the present invention may further comprise a auxiliary material supply device.
  • a auxiliary material supply device may directly supply the auxiliary material to the cleaning tank 111; or the auxiliary material may be provided Into the first storage structure 121, to assist The material is first mixed with the cleaning liquid and then flows together with the driving of the first power unit into the cleaning tank 111.
  • the clean liquid supply device 12 and/or the dirty liquid collecting device 13 may be omitted, and the base station 1 may be directly disposed near a position where the tap water pipe and/or the drain pipe are installed. Therefore, the base station 1 can directly use the tap water supplied from the tap water pipe to clean the mopping member 22111, and the washed sewage can also be directly discharged through the drain pipe, since the clean liquid supply device 12 and/or the dirty liquid collecting device 13 can be reduced. Therefore, this method can make the structure of the base station 1 simpler and lower in cost.
  • the drag drive mechanism 2212 for driving the drag unit 2211 to rotate relative to the chassis 202 in the above three embodiments uses a worm gear mechanism to transmit opposite torques to the two output shafts 22123
  • a gear mechanism may also be employed to transmit oppositely directed torques to the two output shafts 22123.
  • the wiping unit 2211 can be disposed to be vertical with respect to the chassis 202, as in the above three embodiments. The axis is rotated and can also be set to rotate about a horizontal axis. 42 and 43 show the cleaning robot system of the fourth embodiment based on the wiping unit 2211 that rotates about the horizontal axis.
  • the wiping unit 2211 of the cleaning robot 2 includes a drum that can be horizontally rotated and a mop member 22111 that is disposed on the outer surface of the drum, and the wiping unit 2211 is driven by a mop.
  • the mechanism 2212 is driven to rotate about a horizontal axis. Since this can also increase the relative movement between the wiping member 22111 and the ground, increase the wiping force, increase the number of wiping, and simultaneously play the role of wiping and cleaning, thereby effectively improving the dragging of the wiping member 22111. Wipe the effect.
  • this embodiment also provides a base station 1 different from the foregoing three embodiments.
  • the base station 1 of this embodiment is provided with a cleaning roller 118 in the cleaning slot 111 of the wiping member cleaning device 11, and the cleaning roller 118 is used to clean the wiping member 22111.
  • the wiping member 22111 is pressed against the cleaning roller 118, supported by the cleaning roller 118, and then the cleaning of the wiping member 22111 is achieved by the relative rotation of the cleaning roller 118 and the wiping member 22111.
  • the relative rotation of the cleaning roller 118 and the wiping member 22111 can be either the active rotation of the wiping member 22111 or the cleaning.
  • the cleaning roller 118 actively rotates, or both of them actively rotate but the rotation direction and/or the rotation speed are different.
  • the mop member 22111 is preferably rotated actively because the active rotation of the moping member 22111 utilizes the wiping of the cleaning robot 2 itself.
  • the driving mechanism 2212 can be realized without setting up a mechanism for driving the cleaning roller 118 on the base station 1. Therefore, the structure of the base station 1 can be relatively simple and the cost is low, and the mooring member 22111 can also rotate to actively rotate.
  • the drying effect allows the mopping member 22111 to maintain a relatively suitable humidity after cleaning is completed.
  • the wiper cleaning device 11 having the cleaning roller 118 is equally applicable to other embodiments of the present invention.
  • a garbage scraping member may be further provided on the floor cleaning device 22, and the garbage scraping member is scraped off and adhered to the floor cleaning device 22 The garbage on it.
  • the garbage scraping member may be a blade 2312 or a roller brush 2312', and the structures of the corresponding two cleaning robots 2 are shown in Figs. 44 and 45, respectively.
  • the garbage scraping member employs a blade 2312 which is provided on the casing 20 of the cleaning robot 2 and is capable of coming into contact with the rotating wiping member 22111, so that it is dragged During the process of rotating the cleaning member 22111 to clean the floor, the wiping member 22111 is in contact with the blade 2312 once, and the blade 2312 blocks the garbage adhered to the wiping member 22111, so that the wiping member 22111 can be kept. Clean and ensure the quality of the floor cleaning.
  • the garbage scraping member employs a roller brush 2312' which is disposed on the casing 20 and rotates in the same direction as the drag member 22111, using the roller brush 2312' and the drag
  • the rubbing contact friction of the wiper 22111 can also scrape the rubbish on the wiping member 22111, and in this manner, the rotation of the roller brush 2312' can further cause the rubbish to be thrown toward the garbage collection device 23.
  • the role of it is more convenient for garbage collection.
  • the garbage collection device 23 further includes a baffle 2311 which is inclined downwardly and extended by the collection opening of the garbage collection device 23. To the ground. Based on this, the baffle 2311 can block the garbage collected to the location thereof, and prevent the garbage cleaned by the floor cleaning device 22 from spreading out to the range that the collection port can collect, thereby facilitating the collection by the garbage collection device 23. And prevent the garbage from causing secondary pollution to the cleaned ground.
  • the baffle 2311 can It is enough to prevent the collected garbage from being carried away from the collection port by the mopping member 22111. Moreover, the baffle 2311 cooperates with the aforementioned waste scraping member to further assist the garbage collection device 23 in achieving sufficient garbage collection.
  • the garbage scraping member and the baffle 2311 shown in Figs. 44 and 45 are also applicable to other embodiments of the present invention.
  • the foregoing embodiments all describe the present invention by rotating the wiping unit 2211 with respect to the chassis 202, but actually, in order to improve the wiping of the wiping device 221 by increasing the relative movement of the wiping member 22111 and the ground.
  • the effect of the wiping unit 2211 of the present invention can also be arranged to be horizontally reciprocable relative to the chassis 202, that is, the wiping unit 2211 can not only improve the wiping effect by rotating relative to the ground, but also can be relative to the ground. Perform horizontal reciprocating motion to improve the drag effect.
  • the wiping unit 2211 is capable of horizontal reciprocating motion relative to the chassis 202, in which case the moping member 22111 pushes the ground cleanly, by reciprocating the ground Wipe to remove stains or rubbish, similar to manual wiping, which can reduce the leftover of rubbish at the rear of the mopping device 2211.
  • the cleaning robot 2 capable of horizontally reciprocating based on such a wiping unit 2211 can more conveniently cooperate with the base station 1 to enable the wiping member cleaning device 11 to clean the wiping member 22111 during the relative movement with the wiping member 22111. .
  • the wiping unit 2211 of the cleaning robot 2 may be disposed to be both rotatable relative to the chassis 202 and horizontally reciprocable relative to the chassis 202, and preferably to perform a rotary wiping during the floor cleaning process. Push-pull is then performed, which combines the advantages of rotary drag and push-pull to achieve more effective floor cleaning.
  • the floor cleaning device 22 includes only the wiping device 221, but in fact, in other embodiments of the present invention, the floor cleaning device 21 may also include a cleaning device for cleaning the ground garbage. 222, so that the cleaning robot 2 can simultaneously clean the ground using the wiping device 221 and the special cleaning device 222, thereby obtaining a cleaner floor cleaning effect.
  • the cleaning device 222 may be disposed in front of and/or behind the wiping device 221, preferably disposed in front of the wiping device 221, so as to implement a "first sweep and then drag" cleaning mode.
  • the cleaning device 222 first cleans most of the garbage (dust and large particles), and then the cleaning device 221 further cleans the remaining hard-to-clean garbage (such as stubborn stains) to improve the quality of the floor cleaning.
  • Figure 47 shows one of them An embodiment.
  • the floor cleaning device 22 includes a horizontally reciprocating wiping unit 2211 and a side brush 2221 disposed in front of the wiping unit 2211 and serving as a cleaning device 222.
  • the dust suction port 236 is disposed on the tow. Between the wiping unit 2211 and the side brush 2221, the three cooperate to clean the ground.
  • the cleaning device 222 is not limited to the side brush 2221, and various cleaning devices 222 can be used in conjunction with the various wiping units 2211.
  • the swinging of the drag unit 2211 relative to the chassis 202 in the foregoing embodiments is achieved by the swingable connection of the drag unit 2211 and the drag drive mechanism 2212
  • the implementation is not limited thereto.
  • the swinging unit 2211 can be oscillated by connecting the drag driving mechanism 2212 to the chassis 202.
  • the wiping unit 2211 and the wiping driving mechanism 2212 are non-swinging connection (for example, the two are fixedly connected).
  • the wiping unit 2211 is coupled to the chassis 202 by the drag drive mechanism 2212
  • the wiping unit 2211 is swingably coupled to the mop drive mechanism 2212, and/or the mop drive mechanism 2212 is swingably coupled.
  • the swinging of the wiping unit 2211 relative to the chassis 202 can be achieved; for example, when the wiping unit 2211 is not rotated and/or horizontally reciprocated relative to the chassis 202, the wiping drive mechanism 2212 can be replaced.
  • the wiping unit 2211 and the chassis 202 drag connection structure in this case to achieve the wiping unit 2211 relative to the chassis 202 swing, the wiping unit 2211
  • the non-driven drag connection structure is swingably coupled to and/or the non-driven drag connection structure is swingably coupled to the chassis 202.
  • the drag connection structure connecting the wiping unit 2211 and the chassis 202 can be either a driven drag connection structure (such as the drag drive mechanism 2212 in the foregoing embodiments) or a non-drive.
  • a drag connection structure for example, a connection shaft connected between the wiping unit 2211 and the chassis 202; and regardless of which type of drag connection structure the wiping unit 2211 and the chassis 202 are connected to, the wiping unit 2211 can be dragged
  • the wiping connection structure is swingably coupled to the chassis 202 as long as the wiping unit 2211 is swingably coupled to the wiping connection structure, and/or the wiping connection structure is swingably coupled to the chassis 202.
  • the garbage collecting device 23 may adopt other structural forms.
  • the dust removing fan 234 and the fan duct 235 may not be provided. Etc., so that the garbage is only under its own inertia and The collection of the floor cleaning device 22 enters the interior of the garbage collection device 23 from the collection port. In this case, the garbage collection device 23 does not exert any further action on the garbage, and the garbage collection device 23 is only equivalent to use.

Abstract

L'invention concerne un robot de nettoyage et un système de robot de nettoyage. Pour le robot de nettoyage (2), un élément de lavage et d'essuyage (22111) sur une unité de lavage et d'essuyage (2211) est apte à tourner autour de l'axe vertical par rapport à un châssis (202) du robot de nettoyage (2), et une ouverture de collecte d'un appareil de collecte de déchets (23) est prévue sur un trajet de collecte de déchets de l'unité de lavage et d'essuyage (2211). Ainsi, lors du lavage et de l'essuyage, des mouvements relatifs entre l'élément de lavage et d'essuyage (22111) et le sol comprennent non seulement des mouvements de l'ensemble du robot de nettoyage (2) sur le sol, mais également des mouvements rotatifs de l'élément de lavage et d'essuyage (22111) par rapport au sol, ce qui améliore ainsi la force de lavage et d'essuyage du lavage et de l'essuyage, et améliore les effets de lavage et d'essuyage de l'élément de lavage et d'essuyage (22111). De plus, l'élément de lavage et d'essuyage rotatif (22111) est également apte à balayer des déchets tels que des grosses particules et des poussières sur le sol, permettant ainsi à l'appareil de collecte de déchets (23) de collecter plus facilement les déchets collectés par l'élément de lavage et d'essuyage (22111) d'au moins une unité de lavage et d'essuyage (2211) tournant autour de l'axe vertical, c'est-à-dire que l'élément de lavage et d'essuyage rotatif (22111) fournit simultanément un effet de balayage, faisant ainsi du robot de nettoyage (2) un robot intégré de lavage et d'essuyage.
PCT/CN2016/110442 2016-12-16 2016-12-16 Robot de nettoyage et système de robot de nettoyage WO2018107479A1 (fr)

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PCT/CN2016/110442 WO2018107479A1 (fr) 2016-12-16 2016-12-16 Robot de nettoyage et système de robot de nettoyage

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CN110179413A (zh) * 2019-06-25 2019-08-30 深圳市杰深科技有限公司 一种联动驱动式拖把清洁座排污系统
CN110327001A (zh) * 2019-07-18 2019-10-15 珠海格力电器股份有限公司 清理装置、待清理装置、清洁设备以及控制方法
CN110338716A (zh) * 2019-08-09 2019-10-18 北京笑融机器人科技有限公司 扫地机器人及其清洁装置
CN110495820A (zh) * 2018-12-28 2019-11-26 云鲸智能科技（东莞）有限公司 一种清洁机器人
WO2020014848A1 (fr) * 2018-07-16 2020-01-23 深圳市赫兹科技有限公司 Dispositif de nettoyage de sol
CN110916579A (zh) * 2019-12-19 2020-03-27 追创科技(苏州)有限公司 一种能够对擦地机进行补水的清洁坞
CN110967703A (zh) * 2018-09-27 2020-04-07 广东美的生活电器制造有限公司 使用激光雷达和摄像头的室内导航方法及室内导航装置
CN110974093A (zh) * 2019-12-19 2020-04-10 追创科技(苏州)有限公司 一种清洁、补水两用式清洁坞
CN111156616A (zh) * 2020-01-21 2020-05-15 夏松梅 一种智能加湿抽湿设备、系统及方法
CN111345744A (zh) * 2018-12-21 2020-06-30 苏州宝时得电动工具有限公司 一种清洁机器人及控制方法
US20210113047A1 (en) * 2018-03-30 2021-04-22 Shenzhen Youpin Household Technology Co., Ltd. Sweeping and mopping integrated machine
CN112932345A (zh) * 2021-02-03 2021-06-11 重庆梦姿蓝科技有限公司 一种拖地机器人
CN113116222A (zh) * 2020-01-15 2021-07-16 添可智能科技有限公司 一种回收装置、衔接装置、开合机构及垃圾回收系统
CN114084101A (zh) * 2020-08-24 2022-02-25 深圳市雅宝智能装备系统有限公司 一种洗车系统
CN114515127A (zh) * 2022-03-02 2022-05-20 深圳市杉川机器人有限公司 清洁系统及清洁系统的清洁单元的拆装方法
CN114652234A (zh) * 2022-03-02 2022-06-24 深圳市杉川机器人有限公司 清洁系统及清洁系统的清洁单元的清洗方法
CN114767012A (zh) * 2022-05-07 2022-07-22 深圳赤马人工智能有限公司 一种智能清洁机器人的充电座
CN114947668A (zh) * 2020-08-20 2022-08-30 科沃斯机器人股份有限公司 清洁装置及清洁机器人系统
CN114983283A (zh) * 2022-07-04 2022-09-02 麦岩智能科技(北京)有限公司 一种智能清洁机器人的自清洁方法
WO2023284351A1 (fr) * 2021-07-13 2023-01-19 苏州威摩尔智能科技有限公司 Machine de nettoyage des sols à séchage automatique
WO2023040340A1 (fr) * 2021-09-16 2023-03-23 追觅创新科技(苏州)有限公司 Mécanisme d'entraînement, dispositif de nettoyage et appareil de nettoyage

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US20210113047A1 (en) * 2018-03-30 2021-04-22 Shenzhen Youpin Household Technology Co., Ltd. Sweeping and mopping integrated machine
WO2020014848A1 (fr) * 2018-07-16 2020-01-23 深圳市赫兹科技有限公司 Dispositif de nettoyage de sol
CN110967703A (zh) * 2018-09-27 2020-04-07 广东美的生活电器制造有限公司 使用激光雷达和摄像头的室内导航方法及室内导航装置
CN111345744A (zh) * 2018-12-21 2020-06-30 苏州宝时得电动工具有限公司 一种清洁机器人及控制方法
CN109480711A (zh) * 2018-12-21 2019-03-19 宁波富佳实业股份有限公司 一种具有超声波震荡功能的清洁设备及其去污方法
CN110495820A (zh) * 2018-12-28 2019-11-26 云鲸智能科技（东莞）有限公司 一种清洁机器人
CN110179413A (zh) * 2019-06-25 2019-08-30 深圳市杰深科技有限公司 一种联动驱动式拖把清洁座排污系统
CN110327001A (zh) * 2019-07-18 2019-10-15 珠海格力电器股份有限公司 清理装置、待清理装置、清洁设备以及控制方法
CN110327001B (zh) * 2019-07-18 2023-11-24 珠海格力电器股份有限公司 清理装置、待清理装置、清洁设备以及控制方法
CN110338716A (zh) * 2019-08-09 2019-10-18 北京笑融机器人科技有限公司 扫地机器人及其清洁装置
CN110974093A (zh) * 2019-12-19 2020-04-10 追创科技(苏州)有限公司 一种清洁、补水两用式清洁坞
CN110974093B (zh) * 2019-12-19 2024-04-12 追创科技(苏州)有限公司 一种清洁、补水两用式清洁坞
CN110916579A (zh) * 2019-12-19 2020-03-27 追创科技(苏州)有限公司 一种能够对擦地机进行补水的清洁坞
CN113116222A (zh) * 2020-01-15 2021-07-16 添可智能科技有限公司 一种回收装置、衔接装置、开合机构及垃圾回收系统
CN113116222B (zh) * 2020-01-15 2023-04-07 添可智能科技有限公司 一种回收装置、衔接装置、开合机构及垃圾回收系统
CN111156616A (zh) * 2020-01-21 2020-05-15 夏松梅 一种智能加湿抽湿设备、系统及方法
CN114947668A (zh) * 2020-08-20 2022-08-30 科沃斯机器人股份有限公司 清洁装置及清洁机器人系统
CN114084101A (zh) * 2020-08-24 2022-02-25 深圳市雅宝智能装备系统有限公司 一种洗车系统
CN112932345A (zh) * 2021-02-03 2021-06-11 重庆梦姿蓝科技有限公司 一种拖地机器人
WO2023284351A1 (fr) * 2021-07-13 2023-01-19 苏州威摩尔智能科技有限公司 Machine de nettoyage des sols à séchage automatique
WO2023040340A1 (fr) * 2021-09-16 2023-03-23 追觅创新科技(苏州)有限公司 Mécanisme d'entraînement, dispositif de nettoyage et appareil de nettoyage
CN114652234A (zh) * 2022-03-02 2022-06-24 深圳市杉川机器人有限公司 清洁系统及清洁系统的清洁单元的清洗方法
CN114515127B (zh) * 2022-03-02 2023-03-28 深圳市杉川机器人有限公司 清洁系统及清洁系统的清洁单元的拆装方法
CN114515127A (zh) * 2022-03-02 2022-05-20 深圳市杉川机器人有限公司 清洁系统及清洁系统的清洁单元的拆装方法
CN114652234B (zh) * 2022-03-02 2023-09-08 深圳市杉川机器人有限公司 清洁系统及清洁系统的清洁单元的清洗方法
CN114767012A (zh) * 2022-05-07 2022-07-22 深圳赤马人工智能有限公司 一种智能清洁机器人的充电座
CN114983283A (zh) * 2022-07-04 2022-09-02 麦岩智能科技(北京)有限公司 一种智能清洁机器人的自清洁方法

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