WO2019157653A1 - 双向移动清洁装置 - Google Patents

双向移动清洁装置 Download PDF

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Publication number
WO2019157653A1
WO2019157653A1 PCT/CN2018/076704 CN2018076704W WO2019157653A1 WO 2019157653 A1 WO2019157653 A1 WO 2019157653A1 CN 2018076704 W CN2018076704 W CN 2018076704W WO 2019157653 A1 WO2019157653 A1 WO 2019157653A1
Authority
WO
WIPO (PCT)
Prior art keywords
rolling member
cleaning device
rolling
sewage
garbage
Prior art date
Application number
PCT/CN2018/076704
Other languages
English (en)
French (fr)
Inventor
李洋
Original Assignee
深圳市赫兹科技有限公司
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 深圳市赫兹科技有限公司 filed Critical 深圳市赫兹科技有限公司
Priority to PCT/CN2018/076704 priority Critical patent/WO2019157653A1/zh
Priority to GB1815898.0A priority patent/GB2570959B/en
Priority to CN201880032587.0A priority patent/CN110678271B/zh
Priority to US16/100,546 priority patent/US10765283B2/en
Priority to DE202018105567.4U priority patent/DE202018105567U1/de
Priority to EP18250026.4A priority patent/EP3524123A3/en
Priority to JP2018219920A priority patent/JP2019136486A/ja
Publication of WO2019157653A1 publication Critical patent/WO2019157653A1/zh

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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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • 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
    • A47L11/22—Floor-sweeping machines, hand-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
    • A47L11/24—Floor-sweeping 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/0072—Mechanical means for controlling the suction or for effecting pulsating action
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to the field of bionic cleaning robots, and in particular to a two-way mobile cleaning device.
  • the bionic cleaning robot is an intelligent cleaning device that automatically cleans the floor.
  • Conventional bionic cleaning robots typically use a clean flexible roller to clean the floor and have only one forward cleaning direction.
  • the problem with this conventional design is that the garbage behind the cleaning flexible roller cannot be effectively cleaned.
  • the cleaning flexible roller is retracted, the back of the flexible wiper that scrapes the ground rubbish due to the turning of the cleaning flexible roller becomes reversed. It will push back the rubbish behind it, and it can not play the role of storage and cleaning. Therefore, the traditional bionic cleaning robot has the disadvantage of being unable to clean thoroughly due to the backward movement, resulting in a decrease in cleaning efficiency.
  • the present invention provides a two-way mobile cleaning device, which is provided with oppositely turned rolling members at both ends of the garbage collection box, and uses the speed difference to drive the device to move while cleaning, so that both the forward and the backward can completely clean the ground.
  • the effect is to improve the cleaning efficiency.
  • a two-way mobile cleaning device comprising:
  • a first rolling member installed at one end of the garbage collection box; the first rolling member rotates to crush and adsorb the garbage and sewage on the ground and feed it into the garbage collection box;
  • a second rolling member installed at the other end of the garbage collection box; the second rolling member rotates to crush and adsorb the garbage and sewage on the ground and feeds it into the garbage collection box; the rotation direction of the second rolling member and the first rolling member The direction of rotation is reversed.
  • the first rolling member and the second rolling member serve as cleaning members for feeding garbage and sewage into the garbage collection box while rolling, and the first rolling member and the second rolling member rub against the ground When the entire device is moved.
  • the first rolling member and the second rolling member rotate in opposite directions, and by controlling the difference in rotational speed between the two, the device can be controlled to advance or retreat.
  • the first rolling member and the second rolling member are respectively disposed at opposite ends of the garbage collection box, the garbage and the sewage on the ground can be thoroughly cleaned, whether it is forward or backward, thereby improving the cleaning efficiency.
  • the oppositely rotating rolling members are respectively disposed at both ends of the garbage collection box, and the device is moved by the speed difference while cleaning, so that the effect of thoroughly cleaning the ground can be achieved by both forward and backward, and the cleaning efficiency is improved.
  • one end of the garbage collection box is provided with a first garbage scraping lip; the first garbage scraping lip is used to cooperate with the first rolling member to send the garbage and sewage of the ground into the garbage collection box;
  • One end is provided with a second garbage scraping lip; the second garbage scraping lip is used for matching the second rolling member to send garbage and sewage on the ground into the garbage collection box.
  • the first garbage wiper shovels the ground garbage and sewage toward the edge of the first rolling member, so that the garbage and the sewage are caught between the first rolling member and the first garbage scraping lip, and are fed to the first rolling member In the garbage collection box.
  • the second garbage scraping blade scrapes the garbage and sewage on the ground toward the edge of the second rolling member, so that the garbage and the sewage are caught between the second rolling member and the second garbage scraping lip, and are fed into the second rolling member Garbage collection box
  • the two-way moving cleaning device further includes: a first brush member and a second brush member located in the garbage collection box; the first brush member is configured to brush the garbage adhered to the first rolling member; The two brush members are used to remove the trash adhering to the second rolling member.
  • the first brush member rubs the first rolling member so that the garbage adhered to the first rolling member falls into the garbage collection box, preventing the garbage from being taken out of the garbage collection box by the first rolling member.
  • the second brush member rubs the second rolling member so that the garbage adhered to the second rolling member falls into the garbage collection box to prevent the garbage from being taken out of the garbage collection box by the second rolling member.
  • the first brush member and the second brush member are both rolling brush members.
  • the use of a rolling brush helps to improve brushing efficiency.
  • the two-way moving cleaning device further includes: a first sewage recovery member connecting the first rolling member and a second sewage recovery member connecting the second rolling member; the first sewage recovery member is used for recycling and adsorbing to the first The sewage on the rolling member; the second sewage recovery member is used for recovering the sewage adsorbed on the second rolling member.
  • the sewage adsorbed on the first rolling member is recovered by the first sewage recovery member to avoid secondary pollution.
  • the sewage adsorbed on the second rolling member is recovered by the second sewage recovery member to avoid secondary pollution.
  • the first sewage recovery member is disposed in a water tank structure; the bottom portion of the first sewage recovery member is convexly provided with a first pressing portion for pressing the first rolling member; and the bottom portion of the first sewage recovery member is provided with communication a first through hole on the surface of the first rolling member; a first through hole is located at one side of the first pressing portion; a second sewage recovery member is disposed for the water tank structure; and a bottom portion of the second sewage recovery member is convexly pressed to press the second rolling a second pressing portion of the piece; a bottom portion of the second sewage recovery member is provided with a second through hole communicating with the surface of the second rolling member; and a second through hole is located at one side of the second pressing portion.
  • the sewage in the first rolling member is extruded through the first pressing portion, and is drained into the first sewage recovery member in the sink type by the first through hole.
  • the sewage in the second rolling member is extruded through the second pressing portion, and is drained into the second sewage recovery member in the sink type by the second through hole.
  • the first through holes are plural and the array is distributed at the bottom of the first sewage recovery member; the second through holes are plural and the array is distributed at the bottom of the first sewage recovery member.
  • one end of the first sewage recovery member is provided with a first water supply port; the other end of the first sewage recovery member is provided with a first sewage collection port; and the second end of the second sewage recovery member is provided with a second water supply
  • the second sewage collection member is provided with a second sewage collection port at the other end.
  • the sewage accumulated in the first sewage recovery member is taken away by the first sewage collection port, and the first rolling member is supplemented with water or cleaning liquid by using the first water supply port.
  • the sewage accumulated in the second sewage recovery member is taken away by the second sewage collection port, and the second rolling member is supplemented with the clean water or the cleaning liquid by the second water supply port.
  • the bottom of the garbage collection box is provided with a load bearing wheel.
  • the load bearing wheel is used to relieve the load of the first rolling member and the second rolling member.
  • the first rolling member is a flexible roller or a flexible endless belt or roller brush.
  • the number of first rolling members is plural and arranged side by side.
  • the number of the first rolling members is plural and the inline series is arranged.
  • the second rolling member is a flexible roller or a flexible endless belt or roller brush.
  • the number of second rolling members is plural and arranged side by side.
  • the number of the second rolling members is plural and the inline series is set.
  • the two-way moving cleaning device further includes: a first driver connecting the first rolling member and a second driver connecting the second rolling member; the first driver is for driving the first rolling member to rotate; and the second driving device is for driving the second rolling member; The second rolling member is driven to rotate.
  • the first drive is an electric motor or a hydraulic drive or a pneumatic machine.
  • the second drive is an electric motor or a hydraulic drive or a pneumatic machine.
  • a first transmission member is disposed between the first driver and the first rolling member; the first transmission member is a helical or tapered tooth or a face gear or a worm gear.
  • a second transmission member is disposed between the second driver and the second rolling member; the second transmission member is a helical or tapered tooth or a face gear or a worm gear.
  • FIG. 1 is a perspective view of a two-way moving cleaning device according to a first embodiment of the present invention
  • Figure 2 is a side elevational view of the two-way moving cleaning device of Figure 1.
  • FIG. 1 and 2 are schematic views of a two-way mobile cleaning device 100 according to a first embodiment of the present invention.
  • a two-way moving cleaning device 100 includes: a garbage collection box 11, a first rolling member 20 installed at one end of the garbage collection box 11, and a second rolling member 30 mounted at the other end of the garbage collection box 11. And the direction of rotation of the second rolling member 30 is opposite to the direction of rotation of the first rolling member 20 (as shown in FIG. 2, the rotational speed of the first rolling member 20 is marked as V1, and the rotational speed of the second rolling member 30 is marked as V2, Wherein, V1 is counterclockwise, and V2 is clockwise. When the absolute value of V1 is greater than the absolute value of V2, the device moves in the direction of arrow K1. When the absolute value of V1 is less than the absolute value of V2, the device follows the direction of arrow K2. mobile).
  • the garbage collection box 11 is used for recovering garbage and sewage, and the first rolling member 20 rotates to crush and adsorb the garbage and sewage on the ground and feed it into the garbage collection box 11, and the second rolling member 30 rotates the garbage on the ground and The sewage is crushed and adsorbed and sent to the garbage collection box 11.
  • the garbage collection box 11 includes a casing, a first guide plate 12 connected to one end of the casing, and a second guide plate 13 connected to the other end of the casing.
  • the first guide plate 12 is disposed adjacent to the inner side of the first rolling member 20 for guiding the garbage and sewage into the casing under the rotation of the first rolling member 20.
  • the second guide plate 13 is disposed adjacent to the inner side of the second rolling member 30 for guiding the garbage and the sewage into the casing under the rotation of the second rolling member 30.
  • one end of the garbage collection box 11 is provided with a first garbage wiper 14 which is located at the outer end of the first guide plate 12.
  • the first garbage wiper 14 is used to engage the first rolling member 20 to feed the garbage and sewage on the ground into the garbage collection box 11.
  • the other end of the garbage collection box 11 is provided with a second waste scraping lip 15 which is located at the outer end of the second guide plate 13.
  • the second waste scraping lip 15 is used to engage the second rolling member 30 to feed the garbage and sewage on the ground into the garbage collection box 11.
  • the first garbage wiper 14 shovels the ground garbage and sewage toward the edge of the first rolling member 20 such that the garbage and sewage are caught between the first rolling member 20 and the first garbage wiper 14, and are first rolled.
  • the piece 20 is fed into the garbage collection box 11.
  • the second garbage wiper 15 shovels the ground garbage and sewage toward the edge of the second rolling member 30, so that the garbage and sewage are caught between the second rolling member 30 and the second garbage wiper 15, and are secondly rolled.
  • the piece 30 is fed into the garbage collection box 11.
  • the bottom of the garbage collection box 11 is further provided with a load bearing wheel 16.
  • the load bearing wheel 16 serves to relieve the load of the first rolling member 20 and the second rolling member 30.
  • first rolling member 20 and the second rolling member 30 may adhere to the garbage which is difficult to be dropped, it is also possible to carry out improvement.
  • the two-way moving cleaning device 100 further includes: a first brush member 40 and a second brush member 50 located in the garbage collection box 11.
  • the first brush member 40 is for brushing the trash adhered to the first rolling member 20.
  • the second brush member 50 is for brushing the trash adhered to the second rolling member 30.
  • the first brush member 40 rubs the first rolling member 20 so that the garbage adhered to the first rolling member 20 falls into the garbage collection box 11 to prevent the garbage from being taken back to the garbage collection box 11 by the first rolling member 20.
  • the second brush member 50 rubs the second roller member 30 so that the garbage adhered to the second roller member 30 falls into the garbage collection box 11 to prevent the garbage from being carried back to the garbage collection box 11 by the second rolling member 30.
  • first brush member 40 and the second brush member 50 are both rolling brush members.
  • the use of a rolling brush helps to improve brushing efficiency.
  • the steering of the first brush member 40 is the same as the steering of the first rolling member 20, but the linear velocity directions at the contact points of the two are opposite.
  • the steering of the second brush member 50 is the same as the steering of the second rolling member 30, but the linear velocity directions at the contact points of the two are opposite. It can be understood that the effect of improving the brushing efficiency can be achieved by ensuring that there is a line speed difference at the contact point of the first brush member 40 and the first rolling member 20.
  • the first brush member 40 is provided with a separate driver, that is, the first roller brush motor 41.
  • the second brush member 50 is also provided with a separate driver, that is, the second roller brush motor 51. .
  • the two-way moving cleaning device 100 further includes a first sewage recovery member 60 that connects the first rolling members 20 and a second sewage recovery member 70 that connects the second rolling members 30.
  • the first sewage recovery member 60 is for recovering the sewage adsorbed on the first rolling member 20.
  • the second sewage recovery unit 70 is for recovering the sewage adsorbed on the second rolling member 30.
  • the sewage adsorbed on the first rolling member 20 is recovered by the first sewage recovery member 60 to avoid secondary pollution.
  • the sewage adsorbed on the second rolling member 30 is recovered by the second sewage recovery member 70 to avoid secondary pollution.
  • the first sewage recovery member 60 is provided in a water tank structure.
  • the bottom portion of the first sewage recovery member 60 is convexly provided with a first pressing portion 61 that presses the first rolling member 20.
  • the bottom of the first sewage recovery member 60 is provided with a first through hole 62 that communicates with the surface of the first rolling member 20.
  • the first through hole 62 is located at one side of the first pressing portion 61.
  • the second sewage recovery member 70 is provided for the sink structure.
  • a second pressing portion 71 that presses the second rolling member 30 is convexly formed at the bottom of the second sewage recovery member 70.
  • the bottom of the second sewage recovery member 70 is provided with a second through hole 72 that communicates with the surface of the second rolling member 30.
  • the second through hole 72 is located at one side of the second pressing portion 71.
  • the sewage in the first rolling member 20 is extruded through the first pressing portion 61, and is drained into the first sewage recovery member 60 of the sink type by the first through hole 62.
  • the sewage in the second rolling member 30 is extruded through the second pressing portion 71, and is drained into the second-type sewage recovery member 70 of the sink type by the second through hole 72.
  • first through holes 62 are plural and the array is distributed at the bottom of the first sewage recovery member 60.
  • the second through holes 72 are plural and the array is distributed at the bottom of the first sewage recovery member 60.
  • one end of the first sewage recovery member 60 is provided with a first water supply port 63.
  • the other end of the first sewage recovery member 60 is provided with a first sewage collection port 64.
  • the second end of the second sewage recovery member 70 is provided with a second water supply port 73.
  • the other end of the second sewage recovery unit 70 is provided with a second sewage collection port 74.
  • the sewage accumulated in the first sewage recovery member 60 is taken up by the first sewage collection port 64, and the first rolling member 20 is supplied with fresh water or cleaning liquid by the first water supply port 63.
  • the sewage accumulated in the second sewage recovery unit 70 is taken up by the second sewage collection port 74, and the second rolling member 30 is supplied with water or cleaning liquid by the second water supply port 73.
  • first rolling member 20 and the second rolling member 30 there may be a plurality of specific structural arrangements.
  • the first rolling member 20 can be a flexible roller or a flexible annulus or roller brush.
  • the number of the first rolling members 20 is plural and arranged side by side.
  • the number of the first rolling members 20 is plural and the in-line arrangement is set.
  • the second rolling member 30 is a flexible roller or a flexible endless belt or roller brush.
  • the number of the second rolling members 30 is plural and arranged side by side.
  • the number of the second rolling members 30 is plural and the in-line arrangement is set.
  • both the first rolling member 20 and the second rolling member 30 employ a flexible roller design.
  • it may be a single flexible annulus or a side-by-side dual flexible annulus that is similar in construction to the track.
  • it can also be a roller brush, which can be made of a flexible material, which can not only remove garbage but also absorb sewage.
  • a flexible roller or a flexible endless belt or a roller brush it may be combined by providing a plurality of, or a side-by-side arrangement or a linear arrangement.
  • first rolling member 20 and the second rolling member 30 For the power source problem of the first rolling member 20 and the second rolling member 30, it may be driven by a single driver in cooperation with the transmission member, or a separate driver may be separately provided.
  • the two-way moving cleaning device 100 further includes a first driver 21 that connects the first rolling members 20 and a second driver 31 that connects the second rolling members 30.
  • the first driver 21 is used to drive the first rolling member 20 to rotate.
  • the second driver 31 is used to drive the second rolling member 30 to rotate.
  • the first driver 21 can be an electric motor or a hydraulic drive or a pneumatic machine.
  • the second driver 31 can also be an electric motor or a hydraulic drive or a pneumatic machine.
  • the first driver 21 and the second driver 31 may directly connect the first rolling member 20 and the second rolling member 30, respectively, or may be indirectly driven by the transmission member.
  • a first transmission member is disposed between the first driver 21 and the first rolling member 20.
  • the first transmission member is a helical or tapered tooth or a face gear or a worm gear.
  • a second transmission member is disposed between the second driver 31 and the second rolling member 30.
  • the second transmission member is a helical or tapered tooth or a face gear or a worm gear.
  • the above-described two-way moving cleaning device 100, the first rolling member 20 and the second rolling member 30 serve as cleaning members, and feed garbage and sewage into the garbage collection box 11 at the time of rolling, and the first rolling member 20 and the second rolling When the piece 30 rubs against the ground, the entire device is moved.
  • the rotation directions of the first rolling member 20 and the second rolling member 30 are opposite, and by controlling the difference in rotational speed between the two, the device can be controlled to advance or retreat.
  • the first rolling member 20 and the second rolling member 30 are respectively disposed at opposite ends of the garbage collection box 11, the garbage and the sewage on the ground can be thoroughly cleaned, whether it is forward or backward, thereby improving the cleaning efficiency.
  • the oppositely rotating rolling members are respectively disposed at both ends of the garbage collection box 11, and the device is moved by the speed difference while cleaning, so that the effect of thoroughly cleaning the ground can be achieved by both forward and backward, and the cleaning efficiency is improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Refuse Collection And Transfer (AREA)

Abstract

一种双向移动清洁装置（100），包括：垃圾回收盒（11）、安装于垃圾回收盒（11）一端的第一滚动件（20）、以及安装于垃圾回收盒（11）另一端的第二滚动件（30），并且第二滚动件（30）的转动方向与第一滚动件（20）的转动方向相反。其中，垃圾回收盒（11）用于回收垃圾和污水，第一滚动件（20）转动将地面的垃圾和污水进行碾压和吸附并送入垃圾回收盒（11）中，第二滚动件（30）转动将地面的垃圾和污水进行碾压和吸附并送入垃圾回收盒（11）中。该装置在垃圾回收盒（11）的两端各自设置转向相反的滚动件（20，30），在清洁的同时利用速度差带动设备移动，实现前进和后退均能彻底清洁地面的效果，提高清洁效率。

Description

双向移动清洁装置 技术领域
本发明涉及仿生清洁机器人技术领域，特别是涉及一种双向移动清洁装置。
背景技术
仿生清洁机器人是一种智能化的清洁设备，其可自动地对地面进行清洁处理。传统的仿生清洁机器人一般采用一个清洁柔性滚筒对地面实施清洁操作，并且只有一个向前的清理方向。这种传统的设计存在的问题在于：清洁柔性滚筒后面的垃圾不能得到有效的清理，当清洁柔性滚筒后退时，由于清洁柔性滚轮的转向变为反向，铲取地面垃圾的柔性刮唇的背面便会倒推粘附后面的垃圾，不能起到收纳清理的作用，因此，传统的仿生清洁机器人存在因后退而不能彻底清洁的弊端，导致清洁效率降低。
发明内容
基于此，本发明提供一种双向移动清洁装置，其在垃圾回收盒的两端各自设置转向相反的滚动件，在清洁的同时利用速度差带动设备移动，实现前进和后退均能彻底清洁地面的效果，提高清洁效率。
一种双向移动清洁装置，包括：
垃圾回收盒；
安装于垃圾回收盒一端的第一滚动件；第一滚动件转动将地面的垃圾和污水进行碾压和吸附并送入垃圾回收盒中；以及
安装于垃圾回收盒另一端的第二滚动件；第二滚动件转动将地面的垃圾 和污水进行碾压和吸附并送入垃圾回收盒中；第二滚动件的转动方向与第一滚动件的转动方向相反。
上述双向移动清洁装置，第一滚动件和第二滚动件作为清洁部件，在滚动的时候将垃圾和污水送入到垃圾回收盒中，并且，第一滚动件和第二滚动件在与地面摩擦时，带动整个设备移动。其中，第一滚动件和第二滚动件的转动方向相反，通过控制两者之间的转动速度差，便可以控制设备前进或者后退。并且，由于第一滚动件和第二滚动件各自对应设置于垃圾回收盒的两端，不管是前进还是后退，地面上的垃圾和污水都能够得到彻底的清理，从而提高清洁效率。通过上述设计，在垃圾回收盒的两端各自设置转向相反的滚动件，在清洁的同时利用速度差带动设备移动，实现前进和后退均能彻底清洁地面的效果，提高清洁效率。
在其中一个实施例中，垃圾回收盒的一端设有第一垃圾刮唇；第一垃圾刮唇用于配合第一滚动件将地面的垃圾和污水送入垃圾回收盒中；垃圾回收盒的另一端设有第二垃圾刮唇；第二垃圾刮唇用于配合第二滚动件将地面的垃圾和污水送入垃圾回收盒中。第一垃圾刮唇将地面的垃圾和污水铲向第一滚动件的边缘，使得垃圾和污水被卷入到第一滚动件与第一垃圾刮唇之间，并且被第一滚动件送入到垃圾回收盒中。第二垃圾刮唇将地面的垃圾和污水铲向第二滚动件的边缘，使得垃圾和污水被卷入到第二滚动件与第二垃圾刮唇之间，并且被第二滚动件送入到垃圾回收盒中
在其中一个实施例中，双向移动清洁装置还包括：位于垃圾回收盒中的第一刷件和第二刷件；第一刷件用于刷除粘附于第一滚动件上的垃圾；第二刷件用于刷除粘附于第二滚动件上的垃圾。第一刷件通过摩擦第一滚动件，使得粘附在第一滚动件上的垃圾掉落在垃圾回收盒中，避免垃圾被第一滚动件重新带出到垃圾回收盒之外。第二刷件通过摩擦第二滚动件，使得粘附在第二滚动件上的垃圾掉落在垃圾回收盒中，避免垃圾被第二滚动件重新带出到垃圾回收盒之外。
在其中一个实施例中，第一刷件和第二刷件均为滚动刷件。采用滚动式 的刷件有利于提升刷除效率。
在其中一个实施例中，双向移动清洁装置还包括：连接第一滚动件的第一污水回收件和连接第二滚动件的第二污水回收件；第一污水回收件用于回收吸附于第一滚动件上的污水；第二污水回收件用于回收吸附于第二滚动件上的污水。通过第一污水回收件回收吸附在第一滚动件上的污水，避免二次污染。通过第二污水回收件回收吸附在第二滚动件上的污水，避免二次污染。
在其中一个实施例中，第一污水回收件为水槽结构设置；第一污水回收件的底部凸设有挤压第一滚动件的第一挤压部；第一污水回收件的底部设有连通第一滚动件表面的第一通孔；第一通孔位于第一挤压部的一侧；第二污水回收件为水槽结构设置；第二污水回收件的底部凸设有挤压第二滚动件的第二挤压部；第二污水回收件的底部设有连通第二滚动件表面的第二通孔；第二通孔位于第二挤压部的一侧。通过第一挤压部将第一滚动件中的污水挤出，并且利用第一通孔引流到水槽式的第一污水回收件内。通过第二挤压部将第二滚动件中的污水挤出，并且利用第二通孔引流到水槽式的第二污水回收件内。
在其中一个实施例中，第一通孔为多个且阵列分布于第一污水回收件的底部；第二通孔为多个且阵列分布于第一污水回收件的底部。
在其中一个实施例中，第一污水回收件的一端设有第一补水口；第一污水回收件的另一端设有第一污水收集口；第二污水回收件的二端设有第二补水口；第二污水回收件的另一端设有第二污水收集口。利用第一污水收集口将积存在第一污水回收件内的污水拍走，并且利用第一补水口对第一滚动件补充清水或者清洁液。利用第二污水收集口将积存在第二污水回收件内的污水拍走，并且利用第二补水口对第二滚动件补充清水或者清洁液。
在其中一个实施例中，垃圾回收盒的底部设有承重轮。承重轮用于减轻第一滚动件和第二滚动件的负荷。
在其中一个实施例中，第一滚动件为柔性滚筒或柔性环带或滚刷。
在其中一个实施例中，第一滚动件的数量为多个且并排设置。
在其中一个实施例中，第一滚动件的数量为多个且一字形串列设置。
在其中一个实施例中，第二滚动件为柔性滚筒或柔性环带或滚刷。
在其中一个实施例中，第二滚动件的数量为多个且并排设置。
在其中一个实施例中，第二滚动件的数量为多个且一字形串列设置。
在其中一个实施例中，双向移动清洁装置还包括：连接第一滚动件的第一驱动器和连接第二滚动件的第二驱动器；第一驱动器用于带动第一滚动件转动；第二驱动器用于带动第二滚动件转动。
在其中一个实施例中，第一驱动器为电动机或液压驱动机或气动机。
在其中一个实施例中，第二驱动器为电动机或液压驱动机或气动机。
在其中一个实施例中，第一驱动器与第一滚动件之间设有第一传动件；第一传动件为斜齿或锥形齿或端面齿或涡轮蜗杆。
在其中一个实施例中，第二驱动器与第二滚动件之间设有第二传动件；第二传动件为斜齿或锥形齿或端面齿或涡轮蜗杆。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本发明的实施例一的双向移动清洁装置的立体示意图；
图2为图1所示的双向移动清洁装置的侧面意图。
附图中各标号的含义为：
100-双向移动清洁装置；
10-垃圾回收盒，11-盒体，12-第一导向板，13-第二导向板，14-第一垃圾刮唇，15-第二垃圾刮唇，16-承重轮；
20-第一滚动件，21-第一驱动器；
30-第二滚动件，31-第二驱动器；
40-第一刷件，41-第一滚刷电机；
50-第二刷件，51-第二滚刷电机；
60-第一污水回收件，61-第一挤压部，62-第一通孔，63-第一补水口，64-第一污水收集口；
70-第二污水回收件，71-第二挤压部，72-第二通孔，73-第二补水口，74-第二污水收集口。
具体实施方式
为了便于理解本发明，下面将对本发明进行更全面的描述。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在背夹电池的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
参见图1和图2，其为本发明实施例一的双向移动清洁装置100的示意图。
如图1所示，一种双向移动清洁装置100，包括：垃圾回收盒11、安装于垃圾回收盒11一端的第一滚动件20、以及安装于垃圾回收盒11另一端的第二滚动件30，并且第二滚动件30的转动方向与第一滚动件20的转动方向相反(如图2所示的，第一滚动件20的转速标记为V1，第二滚动件30的转速标记为V2，其中，V1为逆时针方向，V2为顺时针方向，当V1的绝对值大于V2的绝对值时，设备沿箭头K1方向移动，当V1的绝对值小于V2的 绝对值时，设备沿箭头K2方向移动)。其中，垃圾回收盒11用于回收垃圾和污水，第一滚动件20转动将地面的垃圾和污水进行碾压和吸附并送入垃圾回收盒11中，第二滚动件30转动将地面的垃圾和污水进行碾压和吸附并送入垃圾回收盒11中。
在本实施例中，垃圾回收盒11包括：盒体、连接在盒体一端的第一导向板12、以及连接在盒体另一端的第二导向板13。其中，第一导向板12紧靠第一滚动件20的内侧设置，其用于引导垃圾和污水在第一滚动件20的转动下进入到盒体内。第二导向板13紧靠第二滚动件30的内侧设置，其用于引导垃圾和污水在第二滚动件30的转动下进入到盒体内。
进一步地，针对该垃圾回盒，还可以进行改进。
例如，在本实施例中，垃圾回收盒11的一端设有第一垃圾刮唇14，第一垃圾刮唇14位于第一导向板12的外端。第一垃圾刮唇14用于配合第一滚动件20将地面的垃圾和污水送入垃圾回收盒11中。垃圾回收盒11的另一端设有第二垃圾刮唇15，第二垃圾刮唇15位于第二导向板13的外端。第二垃圾刮唇15用于配合第二滚动件30将地面的垃圾和污水送入垃圾回收盒11中。第一垃圾刮唇14将地面的垃圾和污水铲向第一滚动件20的边缘，使得垃圾和污水被卷入到第一滚动件20与第一垃圾刮唇14之间，并且被第一滚动件20送入到垃圾回收盒11中。第二垃圾刮唇15将地面的垃圾和污水铲向第二滚动件30的边缘，使得垃圾和污水被卷入到第二滚动件30与第二垃圾刮唇15之间，并且被第二滚动件30送入到垃圾回收盒11中。
此外，考虑到荷重问题，在本实施例中，垃圾回收盒11的底部还设有承重轮16。承重轮16用于减轻第一滚动件20和第二滚动件30的负荷。
考虑到第一滚动件20和第二滚动件30上可能会粘附难以掉落的垃圾，因此，还可以进行改良。
例如，在本实施例中，双向移动清洁装置100还包括：位于垃圾回收盒11中的第一刷件40和第二刷件50。第一刷件40用于刷除粘附于第一滚动件20上的垃圾。第二刷件50用于刷除粘附于第二滚动件30上的垃圾。第一刷 件40通过摩擦第一滚动件20，使得粘附在第一滚动件20上的垃圾掉落在垃圾回收盒11中，避免垃圾被第一滚动件20重新带出到垃圾回收盒11之外。第二刷件50通过摩擦第二滚动件30，使得粘附在第二滚动件30上的垃圾掉落在垃圾回收盒11中，避免垃圾被第二滚动件30重新带出到垃圾回收盒11之外。
进一步地，第一刷件40和第二刷件50均为滚动刷件。采用滚动式的刷件有利于提升刷除效率。其中，第一刷件40的转向与第一滚动件20的转向相同，但是两者的接触点处的线速度方向相反。第二刷件50的转向与第二滚动件30的转向相同，但是两者的接触点处的线速度方向相反。可以理解地，在保证第一刷件40与第一滚动件20的接触点处存在线速度差，均可以达到提升刷除效率的效果。
进一步地，在本实施例中，第一刷件40设置了单独的驱动器，即第一滚刷电机41，同理，第二刷件50也设置了单独的驱动器，即第二滚刷电机51。
考虑到第一滚动件20和第二滚动件30上可能会残留有污水，因此，还可以进行改良。
例如，在本实施例中，双向移动清洁装置100还包括：连接第一滚动件20的第一污水回收件60和连接第二滚动件30的第二污水回收件70。第一污水回收件60用于回收吸附于第一滚动件20上的污水。第二污水回收件70用于回收吸附于第二滚动件30上的污水。通过第一污水回收件60回收吸附在第一滚动件20上的污水，避免二次污染。通过第二污水回收件70回收吸附在第二滚动件30上的污水，避免二次污染。
进一步地，在本实施例中，第一污水回收件60为水槽结构设置。第一污水回收件60的底部凸设有挤压第一滚动件20的第一挤压部61。第一污水回收件60的底部设有连通第一滚动件20表面的第一通孔62。第一通孔62位于第一挤压部61的一侧。第二污水回收件70为水槽结构设置。第二污水回收件70的底部凸设有挤压第二滚动件30的第二挤压部71。第二污水回收件70的底部设有连通第二滚动件30表面的第二通孔72。第二通孔72位于第二 挤压部71的一侧。通过第一挤压部61将第一滚动件20中的污水挤出，并且利用第一通孔62引流到水槽式的第一污水回收件60内。通过第二挤压部71将第二滚动件30中的污水挤出，并且利用第二通孔72引流到水槽式的第二污水回收件70内。
进一步地，第一通孔62为多个且阵列分布于第一污水回收件60的底部。第二通孔72为多个且阵列分布于第一污水回收件60的底部。
考虑到污水可能积存在第一污水回收件60和第二污水回收件70内，因此，还可以进行改良。
例如，在本实施例中，第一污水回收件60的一端设有第一补水口63。第一污水回收件60的另一端设有第一污水收集口64。第二污水回收件70的二端设有第二补水口73。第二污水回收件70的另一端设有第二污水收集口74。利用第一污水收集口64将积存在第一污水回收件60内的污水拍走，并且利用第一补水口63对第一滚动件20补充清水或者清洁液。利用第二污水收集口74将积存在第二污水回收件70内的污水拍走，并且利用第二补水口73对第二滚动件30补充清水或者清洁液。
对于第一滚动件20和第二滚动件30，其具体结构设置可以有多种。
例如，第一滚动件20可为柔性滚筒或柔性环带或滚刷。
例如，第一滚动件20的数量为多个且并排设置。
例如，第一滚动件20的数量为多个且一字形串列设置。
例如，第二滚动件30为柔性滚筒或柔性环带或滚刷。
例如，第二滚动件30的数量为多个且并排设置。
例如，第二滚动件30的数量为多个且一字形串列设置。
在本实施例中，第一滚动件20和第二滚动件30均采用了柔性滚筒设计。在其他实施例中，也可以是单柔性环带或者并列的双柔性环带，其结构类似于履带。再者，还可以是滚刷，该滚刷可以选用柔性材质制成，不仅可以扫除垃圾，还可以吸附污水。进一步地，不管是柔性滚筒或柔性环带或滚刷，均可以通过设置多个，采用并排设置或一字形串列设置等方式组合。
对于第一滚动件20和第二滚动件30的动力源问题，可以是通过单驱动器配合传动部件进行驱动，也可以各自设置单独的驱动器。
例如，在本实施例中，双向移动清洁装置100还包括：连接第一滚动件20的第一驱动器21和连接第二滚动件30的第二驱动器31。第一驱动器21用于带动第一滚动件20转动。第二驱动器31用于带动第二滚动件30转动。
其中，第一驱动器21可以为电动机或液压驱动机或气动机。
同理，第二驱动器31也可以为电动机或液压驱动机或气动机。
第一驱动器21和第二驱动器31可以分别直接对应连接第一滚动件20和第二滚动件30，也可以通过传动件进行间接驱动。
例如，第一驱动器21与第一滚动件20之间设有第一传动件。第一传动件为斜齿或锥形齿或端面齿或涡轮蜗杆。
例如，第二驱动器31与第二滚动件30之间设有第二传动件。第二传动件为斜齿或锥形齿或端面齿或涡轮蜗杆。
上述双向移动清洁装置100，第一滚动件20和第二滚动件30作为清洁部件，在滚动的时候将垃圾和污水送入到垃圾回收盒11中，并且，第一滚动件20和第二滚动件30在与地面摩擦时，带动整个设备移动。其中，第一滚动件20和第二滚动件30的转动方向相反，通过控制两者之间的转动速度差，便可以控制设备前进或者后退。并且，由于第一滚动件20和第二滚动件30各自对应设置于垃圾回收盒11的两端，不管是前进还是后退，地面上的垃圾和污水都能够得到彻底的清理，从而提高清洁效率。通过上述设计，在垃圾回收盒11的两端各自设置转向相反的滚动件，在清洁的同时利用速度差带动设备移动，实现前进和后退均能彻底清洁地面的效果，提高清洁效率。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种双向移动清洁装置，其特征在于：包括：
    垃圾回收盒；
    安装于所述垃圾回收盒一端的第一滚动件；所述第一滚动件转动将地面的垃圾和污水进行碾压和吸附并送入所述垃圾回收盒中；以及
    安装于所述垃圾回收盒另一端的第二滚动件；所述第二滚动件转动将地面的垃圾和污水进行碾压和吸附并送入所述垃圾回收盒中；所述第二滚动件的转动方向与所述第一滚动件的转动方向相反。
  2. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述垃圾回收盒的一端设有第一垃圾刮唇；所述第一垃圾刮唇用于配合所述第一滚动件将地面的垃圾和污水送入所述垃圾回收盒中；所述垃圾回收盒的另一端设有第二垃圾刮唇；所述第二垃圾刮唇用于配合所述第二滚动件将地面的垃圾和污水送入所述垃圾回收盒中。
  3. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述双向移动清洁装置还包括：位于所述垃圾回收盒中的第一刷件和第二刷件；所述第一刷件用于刷除粘附于所述第一滚动件上的垃圾；所述第二刷件用于刷除粘附于所述第二滚动件上的垃圾。
  4. 根据权利要求3所述的双向移动清洁装置，其特征在于，所述第一刷件和所述第二刷件均为滚动刷件。
  5. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述双向移动清洁装置还包括：连接所述第一滚动件的第一污水回收件和连接所述第二滚动件的第二污水回收件；所述第一污水回收件用于回收吸附于所述第一滚动件上的污水；所述第二污水回收件用于回收吸附于所述第二滚动件上的污水。
  6. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述第一污水回收件为水槽结构设置；所述第一污水回收件的底部凸设有挤压所述第一 滚动件的第一挤压部；所述第一污水回收件的底部设有连通所述第一滚动件表面的第一通孔；所述第一通孔位于所述第一挤压部的一侧；所述第二污水回收件为水槽结构设置；所述第二污水回收件的底部凸设有挤压所述第二滚动件的第二挤压部；所述第二污水回收件的底部设有连通所述第二滚动件表面的第二通孔；所述第二通孔位于所述第二挤压部的一侧。
  7. 根据权利要求6所述的双向移动清洁装置，其特征在于，所述第一通孔为多个且阵列分布于所述第一污水回收件的底部；所述第二通孔为多个且阵列分布于所述第一污水回收件的底部。
  8. 根据权利要求6所述的双向移动清洁装置，其特征在于，所述第一污水回收件的一端设有第一补水口；所述第一污水回收件的另一端设有第一污水收集口；所述第二污水回收件的二端设有第二补水口；所述第二污水回收件的另一端设有第二污水收集口。
  9. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述垃圾回收盒的底部设有承重轮。
  10. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述第一滚动件为柔性滚筒或柔性环带或滚刷。
  11. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述第一滚动件的数量为多个且并排设置。
  12. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述第一滚动件的数量为多个且一字形串列设置。
  13. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述第二滚动件为柔性滚筒或柔性环带或滚刷。
  14. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述第二滚动件的数量为多个且并排设置。
  15. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述第二滚动件的数量为多个且一字形串列设置。
  16. 根据权利要求1所述的双向移动清洁装置，其特征在于，所述双向 移动清洁装置还包括：连接所述第一滚动件的第一驱动器和连接所述第二滚动件的第二驱动器；所述第一驱动器用于带动所述第一滚动件转动；所述第二驱动器用于带动所述第二滚动件转动。
  17. 根据权利要求16所述的双向移动清洁装置，其特征在于，所述第一驱动器为电动机或液压驱动机或气动机。
  18. 根据权利要求16所述的双向移动清洁装置，其特征在于，所述第二驱动器为电动机或液压驱动机或气动机。
  19. 根据权利要求16所述的双向移动清洁装置，其特征在于，所述第一驱动器与所述第一滚动件之间设有第一传动件；所述第一传动件为斜齿或锥形齿或端面齿或涡轮蜗杆。
  20. 根据权利要求16所述的双向移动清洁装置，其特征在于，所述第二驱动器与所述第二滚动件之间设有第二传动件；所述第二传动件为斜齿或锥形齿或端面齿或涡轮蜗杆。
PCT/CN2018/076704 2018-02-13 2018-02-13 双向移动清洁装置 WO2019157653A1 (zh)

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CN201880032587.0A CN110678271B (zh) 2018-02-13 2018-02-13 双向移动清洁装置
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EP18250026.4A EP3524123A3 (en) 2018-02-13 2018-09-28 Bidirectional mobile cleaning device
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