WO2020042969A1 - 拖擦件、拖擦装置、清洁机器人及清洁机器人的控制方法 - Google Patents

拖擦件、拖擦装置、清洁机器人及清洁机器人的控制方法 Download PDF

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Publication number
WO2020042969A1
WO2020042969A1 PCT/CN2019/101589 CN2019101589W WO2020042969A1 WO 2020042969 A1 WO2020042969 A1 WO 2020042969A1 CN 2019101589 W CN2019101589 W CN 2019101589W WO 2020042969 A1 WO2020042969 A1 WO 2020042969A1
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WO
WIPO (PCT)
Prior art keywords
mop
rotation center
edge
diameter
turntable
Prior art date
Application number
PCT/CN2019/101589
Other languages
English (en)
French (fr)
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 GB2102727.1A priority Critical patent/GB2592491B/en
Priority to KR1020217008968A priority patent/KR102521676B1/ko
Priority to JP2021510811A priority patent/JP7215772B2/ja
Priority to CA3111157A priority patent/CA3111157C/en
Priority to SG11202101961TA priority patent/SG11202101961TA/en
Priority to AU2019330418A priority patent/AU2019330418B2/en
Priority to EP19854156.7A priority patent/EP3827727A4/en
Publication of WO2020042969A1 publication Critical patent/WO2020042969A1/zh
Priority to US17/186,537 priority patent/US11944247B2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary 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
    • 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
    • A47L11/4038—Disk 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
    • A47L11/24—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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present application belongs to the technical field of cleaning equipment, and particularly relates to a mop, a mop device, a cleaning robot, and a control method of a cleaning robot.
  • the present application addresses a technical problem that existing cleaning equipment cannot clean all dust or dirt in a cleaning area at one time when cleaning, and provides a dragging member, a dragging device, a cleaning robot, and a control method of a cleaning robot.
  • the embodiment of the present application provides a mop for cleaning and mopping the robot, including a first mop and a second mop, the first mop has a first rotation center
  • the second mop has a second rotation center, and a distance between the first rotation center and the second rotation center is a rotation center distance;
  • the first mop includes a first long-diameter edge and a first short-diameter edge.
  • a point at which the first long-diameter edge and the first short-diameter edge are connected is a first endpoint.
  • the distance from a point to the first rotation center is greater than half of the rotation center distance, and the distance from any point on the edge of the first short diameter to the first rotation center is less than half of the rotation center distance.
  • a distance from the first end point to the first rotation center is equal to half of the rotation center distance;
  • the second mop includes a second long-diameter edge and a second short-diameter edge.
  • a point at which the second long-diameter edge and the second short-diameter edge are connected is a second endpoint, and any point on the second long-diameter edge.
  • the distance to the second rotation center is greater than half of the rotation center distance, and the distance from any point on the edge of the second short diameter to the second rotation center is less than half of the rotation center distance.
  • the distance from the second endpoint to the second rotation center is equal to half the distance between the rotation centers;
  • a gap between the first mop and the second mop is formed on the first long diameter at a line connecting the first rotation center and the second rotation center.
  • a gap between an edge and the second short-diameter edge or between the first mop and the second mop is formed between the second long-diameter edge and the first short-diameter edge.
  • an embodiment of the present application provides a mopping device, which includes a first rotary plate, a second rotary plate, and the above-mentioned mopping member.
  • the sides of the first rotary plate are spaced from the sides of the second rotary plate.
  • the first mop is fixedly connected to the bottom of the first turntable and rotates with the first turntable
  • the second mop is fixedly connected to the bottom of the second turntable and rotates with the second turntable
  • the rotation axis of the first turntable passes through the first rotation center
  • the rotation axis of the second turntable passes through the second rotation center.
  • an embodiment of the present application provides a cleaning robot, which includes a mop driving mechanism and the mop driving device described above.
  • the first turntable and the first mop can Relative to the chassis of the cleaning robot, the second rotary table and the second mop are rotatable about the rotation axis of the second rotary table relative to the chassis of the cleaning robot.
  • an embodiment of the present application provides a control method of a cleaning robot, which is applied to a cleaning robot.
  • the control method of the cleaning robot includes: the drag driving mechanism drives the first turntable and the first mop relative to the The chassis of the cleaning robot rotates around the rotation axis of the first turntable, and drives the second rotary disc and the second mop to rotate around the rotation axis of the second turntable with respect to the chassis of the cleaning robot; wherein the mop
  • the driving mechanism drives the first turntable and the second turntable to rotate, the rotation direction of the first turntable and the second turntable is controlled to be opposite, and the rotation speeds of the first turntable and the second turntable are the same
  • a gap between the first mop and the second mop is always formed between the long-diameter edge and the short-diameter edge.
  • the first mop includes a first long-diameter edge and a first short-diameter edge connected through a first end point, The distance from any point on the edge of the first long diameter to the first rotation center is greater than half the distance from the center of rotation, and the distance from any point on the edge of the first short diameter to the first rotation center is less than the distance A half of the rotation center distance, wherein the distance from the first end point to the first rotation center is equal to half the rotation center distance.
  • the second mop includes a second long-diameter edge and a second short-diameter edge connected through a second end point.
  • the distance from any point on the second long-diameter edge to the second rotation center is greater than the rotation center.
  • the distance from any point on the edge of the second short diameter to the second rotation center is less than half the distance from the rotation center, wherein the distance from the second end point to the second rotation center is equal to Said half of the center of rotation.
  • the gap continuously changes left and right. Even if there is an error in the processing of the first mop and the second mop, the first mop and the second mop can cover the first mop and the second mop when they rotate. The position of the gap between the mops. In this way, the mop of this embodiment can cover the middle uncleaned gap area that appears when the two circular mops work by rotating, thereby improving the cleaning efficiency of the cleaning equipment.
  • FIG. 1 is a schematic diagram (a triangle-like shape) of a mop provided by the first embodiment of the present application
  • FIG. 2 is a schematic diagram of a gap between a first mop and a second mop of a mop provided according to the first embodiment of the present application, and the width of the gap between the first mop and the second mop is greater than 0 (the line between the first rotation center and the second rotation center passes through the first A point on the short-path edge closest to the first rotation center and a point on the second long-path edge closest to the second rotation center);
  • FIG. 3 is a schematic diagram of a gap between a first mop and a second mop of a mop provided according to the first embodiment of the present application, and the width of the gap between the first mop and the second mop is greater than 0 (the line between the first rotation center and the second rotation center passes through the first Endpoint and second endpoint);
  • FIG. 4 is a schematic diagram of a gap between a first mop and a second mop of a mop provided according to the first embodiment of the present application, and the width of the gap between the first mop and the second mop is larger than 0 A point on the short-path edge closest to the second rotation center and a point on the first long-path edge closest to the first rotation center);
  • FIG. 5 is a contour map of a gap between a first mop and a second mop of a mopping part according to a first embodiment of the present application when the mop is rotated;
  • FIG. 6 is a schematic diagram of a mop provided according to a first embodiment of the present application, when a first mop and a second mop are rotated, the first mop is rotated by a first insertion position, and the second mop is rotated by a second insertion position;
  • FIG. 7 is a schematic diagram of a mop provided according to the first embodiment of the present application, a gap width between a first mop and a second mop is 0, and a squeeze interference between the first mop and the second mop (the first rotation The line connecting the center and the second rotation center passes through the point of the first short diameter edge closest to the first rotation center and the point of the second long diameter edge furthest from the second rotation center);
  • FIG. 8 is a schematic diagram of self-cleaning of a mopping member provided on a base station according to the first embodiment of the present application.
  • FIG. 9 is a schematic diagram (quadrilateral-like) of a mop provided according to a second embodiment of the present application.
  • FIG. 10 is a schematic diagram (an ellipse-like shape) of a mopping member according to a third embodiment of the present application.
  • FIG. 11 is a schematic diagram of a drag driving mechanism of a cleaning robot according to a fifth embodiment of the present application.
  • FIG. 12 is a schematic diagram of a first output shaft and a second output shaft of a drag driving mechanism of a cleaning robot according to a fifth embodiment of the present application;
  • FIG. 13 is a schematic diagram of a mopping device of a cleaning robot according to a fifth embodiment of the present application.
  • a mop member according to a first embodiment of the present application is used to clean and mop a robot, and the mop includes a first mop 1a and a second mop 2a.
  • the first mop 1a has a first mop A rotation center O1
  • the second mop 2a has a second rotation center O2
  • the distance between the first rotation center O1 and the second rotation center O2 is the rotation center distance.
  • the rotation center distance is the length of a line L between the first rotation center O1 and the second rotation center O2.
  • the connection line between the first rotation center O1 and the second rotation center O2 is simply referred to as the rotation center connection line L.
  • the first mop 1a and the second mop 1b are substantially triangular.
  • the first mop 1 a includes a first long-diameter edge 101 a and a first short-diameter edge 102 a that are connected through a first end point. Any point on the first long-diameter edge 101 a to the first rotation center O1 The distance is greater than half of the rotation center distance, and the distance from any point on the first short-diameter edge 102a to the first rotation center O1 is less than half of the rotation center distance, where the distance from the first end point to the first rotation center O1 is equal to the rotation center distance Half.
  • the second mop 2a includes a second long-diameter edge 201a and a second short-diameter edge 202a connected through a second end point.
  • the distance from any point on the second long-diameter edge 201a to the second rotation center O2 is greater than half of the rotation center distance.
  • the distance from any point on the second short diameter edge 202a to the second rotation center O2 is less than half of the rotation center distance, wherein the distance from the second end point to the second rotation center O2 is equal to half of the rotation center distance.
  • the gap between the first mop 1a and the second mop 2a is formed at the first long-diameter edge 101a at the line L of the rotation center.
  • a gap with the second short-diameter edge 202a or between the first mop 1a and the second mop 2a is formed between the second long-diameter edge 201a and the first short-diameter edge 102a.
  • FIG. 2 to FIG. 4 are schematic diagrams of the slits at three different angles when the gap width between the first mop 1a and the second mop 2a is greater than 0.
  • the gap of the first mop 1a and the second mop 2a greater than 0 is usually caused by processing errors. It can be seen from FIG. 2 to FIG. 4 that an uncleaned area will appear under a gap of three different angles at a certain moment. The uncleaned area is an area that cannot be cleaned by the mop. The uncleaned area is caused by the gap.
  • FIG. 2 is a state diagram where the line L of the rotation center passes through a point on the first short-diameter edge 102a closest to the first rotation center O1 and a point on the second long-diameter edge 201a farthest from the second rotation center O2.
  • FIG. 3 is a state diagram of the rotation center line L passing through the first end point and the second end point.
  • FIG. 4 is a point on the center line L of rotation passing through the point on the second short-diameter edge 202a closest to the second rotation center O2 and the point on the first long-diameter edge 101a farthest from the first rotation center O1.
  • the gaps between the first mop 1 a and the second mop 2 a are respectively represented by X1, X2 and X3.
  • the shapes of the side contours of the first mop 1 a and the second mop 2 a are the same.
  • the first mop 1a includes the same multiple (here 3) first long diameter edges 101a and the same multiple (here 3) first short diameter edges 102a, multiple first long diameter edges 101a and A plurality of first short-diameter edges 102a are alternately connected.
  • the distance from the point on the first long-diameter edge 101a to the first rotation center O1 gradually increases from the two end points to the midpoint, and the point on the first short-diameter edge 102a reaches the first.
  • the distance of a rotation center O1 gradually decreases from the two end points to the midpoint.
  • the endpoint here is the intersection of the first long-diameter edge 101a and the first short-diameter edge 102a, that is, the above-mentioned first endpoint.
  • first long-diameter edges 101a and a plurality of first short-diameter edges 102a are alternately connected, both ends of each first long-diameter edge 101a are respectively first ends, and two of each first short-diameter edge 102a The ends are the first endpoints, respectively.
  • the second mop 2a includes the same multiple (here, 3) second long diameter edges 201a and the same multiple second short diameter edges 202a, multiple second long diameter edges 201a, and multiple second short diameter edges 202a are alternately connected.
  • the distance from the point on the second long-diameter edge 201a to the second rotation center O2 gradually increases from the two end points to the middle point.
  • the distance from the point on the second short-diameter edge 202a to the second rotation center O2 is The two endpoints gradually decrease towards the midpoint.
  • the endpoint here is the intersection of the second long-diameter edge 201a and the second short-diameter edge 202a, that is, the above-mentioned second endpoint.
  • the point on the first long-diameter edge 101a furthest from the first rotation center O1 is the midpoint of the first long-diameter edge 101a
  • the point on the second long-diameter edge 201a furthest from the second rotation center O2 is the first
  • the middle point of the two long diameter edges 201a, the point closest to the first rotation center O1 on the first short diameter edge 102a is the middle point of the first short diameter edge 102a
  • the second short diameter edge 202a is closest to the second rotation center O2
  • a point is the midpoint of the second short-path edge 202a.
  • FIG. 5 is a contour map of the gap between the first mop 1a and the second mop 2a during rotation, and LK in the figure represents the contour map of the gap.
  • slit X1 in FIG. 2 is covered by the first mop 1a and the second mop 2a in the state shown in FIGS. 3 and 4.
  • the slit X2 in FIG. 3 is covered by the first mop 1a and the second mop 2a in the state shown in FIGS. 2 and 4.
  • the slit X3 in FIG. 4 is covered by the first mop 1a and the second mop 2a in the state shown in FIGS. 2 and 3.
  • the first mop 1a and the second mop 2a rotate at high speeds, usually several tens of revolutions in one second, so the cleaning robot can cover the middle in a short time when cleaning the area. Missing areas improve the cleaning efficiency of the cleaning robot.
  • FIG. 7 is a schematic diagram of a mop provided according to the first embodiment of the present application, the gap width between the first mop and the second mop is 0, and the first mop 1a and the second mop 2a squeeze interference.
  • the gap between the first mop 1a and the second mop 2a is 0, and the squeeze interference is usually caused by processing errors. Therefore, the first mop 1a and the second mop 2a, which are relatively large in size due to processing errors, can also clean out the missing area at one time when working.
  • FIG. 7 is a schematic diagram of a mop provided according to the first embodiment of the present application, the gap width between the first mop and the second mop is 0, and the first mop 1a and the second mop 2a squeeze interference.
  • the gap between the first mop 1a and the second mop 2a is 0, and the squeeze interference is usually caused by processing errors. Therefore, the first mop 1a and the second mop 2a, which are relatively large in size due to processing errors, can also clean out the missing area at one time when
  • the oversized first mop 1 a and the second mop 2 a may also be provided with a cleaning robot to perform self-cleaning of the mop in the base station 3 by performing mutual interference with the first mop 1 a and the second mop 2 a.
  • the interference area is indicated by GS in FIGS. 6 to 8.
  • a cleaning rib 301 is provided on the base station 3 to enhance the cleaning effect of the mop.
  • the cleaning of the side of the mop requires a design mechanism for the long and short edges of the mop to scrape the mop to achieve cleaning of the side of the mop.
  • the length difference between the long-diameter edge and the short-diameter edge is large.
  • it must have a certain amount of deformation and certain anti-scratching capabilities. Often, the cost of the mechanism is too high or the life is not good.
  • the rotation speeds of the first mop 1a and the second mop 2a are the same, and the contact points of the two mops are different from the rotation center.
  • the long-diameter edge of one mop is in contact with the short-diameter edge of another mop.
  • they produce different linear velocities when in contact, creating a speed difference, which helps to improve the cleaning effect. Therefore, it is a more reasonable cleaning method to perform side self-cleaning by using squeezing interference between the first mop 1a and the second mop 2a.
  • first mop and the second mop are self-cleaning on the base station, if the size of the first mop and the second mop are designed to be too large, they will have an interference area when working at the same speed, such as a mop.
  • the edge of the long trailing edge interferes with the edge of the trailing trail of another mop. They have different linear velocities when they are in contact, forming a speed difference, thereby achieving the effect of self-cleaning of the side of the mop.
  • the gap width between the first mop 1a and the second mop 2a is 0, and the first mop 1a and the second mop The mop 2a comes into contact.
  • the bottom surface of the first mop 1a is flush with the bottom surface of the second mop 2a.
  • the bottom surface of the first mop 1a is flush with the bottom surface of the second mop 2a, which means that the bottom surface of the first mop 1a and the bottom surface of the second mop 2a are permanently flush, that is, in any working state, the first mop 1a
  • the bottom surface of the second mop 2a is always flush with the bottom surface of the second mop 2a.
  • the bottom surface of the first mop 1a and the bottom surface of the second mop 2a are flush with each other, which means that the bottom surface of the first mop 1a and the bottom of the second mop 2a are temporally flush, that is, in some working states, when When the bottom surface of the first mop 1a and the second mop 2a do not deflect relative to each other, the bottom surface of the first mop 1a is flush with the bottom surface of the second mop 2a, and when the bottom surface of the first mop 1a is opposite to the second mop 2a During deflection, the bottom surface of the first mop 1a and the bottom surface of the second mop 2a may also be uneven.
  • the first long-diameter edge 101a is an arc edge protruding outward from the first rotation center O1
  • the first short-diameter edge 102a is a straight edge
  • the second long-diameter edge 201a is an arc-shaped edge convex outward from the second rotation center O2
  • the second short-diameter edge 202a is a straight edge.
  • the first short-diameter edge 102a may also be an arc-shaped edge protruding outward from the first rotation center O1.
  • the second short-diameter edge 202a is an arc-shaped edge convex outward from the second rotation center O2.
  • the first mop 1a and the second mop 2a are substantially triangle-shaped as an example for description.
  • the side contours of the first mop and the second mop in the embodiment of the present application may also have other specific shapes.
  • the embodiment of the present application does not specifically limit the shape of the side contours of the first mop and the second mop.
  • the shape of the side contours of the first mop and the second mop may also be the second embodiment or the third embodiment. Shown shape.
  • a mop provided by a second embodiment of the present application includes a first mop 1b and a second mop 2b.
  • the first mop 1b has a first rotation center O1
  • the second mop 2b has a second rotation center O2.
  • the distance between the first rotation center O1 and the second rotation center O2 is the rotation center distance.
  • the rotation center distance is the length of a line L between the first rotation center O1 and the second rotation center O2.
  • the connection line between the first rotation center O1 and the second rotation center O2 is simply referred to as the rotation center connection line L.
  • the first mop 1b and the second mop 2b are substantially quadrangular.
  • the first mop 1 b includes a first long-diameter edge 101 b and a first short-diameter edge 102 b connected through a first end point. Any point on the first long-diameter edge 101 b to the first rotation center O1 The distance is greater than half the rotation center distance, and the distance from any point on the first short-diameter edge 102b to the first rotation center O1 is less than half the rotation center distance, where the distance from the first end point to the first rotation center O1 is equal to the rotation center distance Half.
  • the second mop 2b includes a second long-diameter edge 201b and a second short-diameter edge 202b connected through a second end point.
  • the distance from any point on the second long-diameter edge 201b to the second rotation center O2 is greater than half of the rotation center distance.
  • the distance from any point on the second short diameter edge 202b to the second rotation center O2 is less than half of the rotation center distance, wherein the distance from the second end point to the second rotation center O2 is equal to half of the rotation center distance.
  • the gap between the first mop 1b and the second mop 2b is formed between the first long-diameter edge 101b and the second short-diameter edge 202b at the line L of the rotation center or A gap between the first mop 1b and the second mop 2b is formed between the second long-diameter edge 201b and the first short-diameter edge 102b.
  • the side contour lines of the first mop 1 b and the second mop 2 b have the same shape.
  • the first mop 1b includes the same multiple (here 4) first long diameter edges 101b and the same multiple (here 4) first short diameter edges 102b, multiple first long diameter edges 101b, and A plurality of first short-diameter edges 102b are alternately connected.
  • the distance from the point on the first long-diameter edge 101b to the first rotation center O1 gradually increases from the two end points to the midpoint.
  • the point on the first short-diameter edge 102b reaches the first.
  • the distance of a rotation center O1 gradually decreases from the two end points to the midpoint.
  • the end point here is the intersection of the first long-diameter edge 101b and the first short-diameter edge 102b.
  • the second mop 2b includes the same multiple (here, 4) second long diameter edges 201b and the same multiple second short diameter edges 202b, multiple second long diameter edges 201b, and multiple second short diameter edges 202b is alternately connected.
  • the distance from the point on the second long-diameter edge 201b to the second rotation center O2 gradually increases from the two end points to the middle point.
  • the distance from the point on the second short-diameter edge 202b to the second rotation center O2 is The two endpoints gradually decrease towards the midpoint.
  • the end point here is the intersection of the second long-diameter edge 201b and the second short-diameter edge 202b.
  • the mop member of the second embodiment has the same function as the mop member of the first embodiment.
  • the wiper of the second embodiment refer to the related description in the first embodiment, and for other undescribed parts of the wiper of the second embodiment, refer to the description of the wiper of the first embodiment. specific description.
  • a mop provided by a third embodiment of the present application includes a first mop 1c and a second mop 2c.
  • the first mop 1c has a first rotation center O1
  • the second mop 2b has a second rotation center O2.
  • the distance between the first rotation center O1 and the second rotation center O2 is the rotation center distance.
  • the rotation center distance is the length of a line L between the first rotation center O1 and the second rotation center O2.
  • the connection line between the first rotation center O1 and the second rotation center O2 is simply referred to as the rotation center connection line L.
  • the first mop 1c and the second mop 1c are substantially quadrangular.
  • the first mop 1c includes a first long-diameter edge 101c and a first short-diameter edge 102c connected through a first end point, and any point on the first long-diameter edge 101c to the first rotation center O1.
  • the distance is greater than half of the rotation center distance, and the distance from any point on the first short-diameter edge 102c to the first rotation center O1 is less than half of the rotation center distance, wherein the distance from the first end point to the first rotation center O1 is equal to the rotation center distance Half.
  • the second mop 2c includes a second long-diameter edge 201c and a second short-diameter edge 202c connected through a second end point.
  • the distance from any point on the second long-diameter edge 201c to the second rotation center O2 is greater than half of the rotation center distance.
  • the distance from any point on the second short diameter edge 202c to the second rotation center O2 is less than half of the rotation center distance, wherein the distance from the second end point to the second rotation center O2 is equal to half of the rotation center distance.
  • a gap between the first mop 1c and the second mop 2c is formed between the first long-diameter edge 101c and the second short-diameter edge 202c at the line L of the rotation center or A gap between the first mop 1c and the second mop 2c is formed between the second long-diameter edge 201c and the first short-diameter edge 102c.
  • the first mop 1c includes the same multiple (here 2) first long diameter edges 101c and the same multiple (here 2) first short diameter edges 102c, multiple first long diameter edges 101c, and A plurality of first short-diameter edges 102c are alternately connected.
  • the distance from the point on the first long-diameter edge 101c to the first rotation center O1 gradually increases from two endpoints to the midpoint, and the point on the first short-diameter edge 102c reaches the first.
  • the distance of a rotation center O1 gradually decreases from the two end points to the midpoint.
  • the end point here is the intersection of the first long-diameter edge 101c and the first short-diameter edge 102c.
  • the second mop 2c includes the same multiple (here, two) second long diameter edges 201c and the same multiple second short diameter edges 202c, multiple second long diameter edges 201c, and multiple second short diameter edges 202c are alternately connected.
  • the distance from the point on the second long-diameter edge 201c to the second rotation center O2 gradually increases from the two end points to the midpoint.
  • the distance from the point on the second short-diameter edge 202c to the second rotation center O2 is The two endpoints gradually decrease towards the midpoint.
  • the end point here is the intersection of the second long-diameter edge 201c and the second short-diameter edge 202c.
  • the wiper of the third embodiment has the same function as the wiper of the first embodiment.
  • the specific implementation of the wiper of the third embodiment refer to the related description in the first embodiment, and for other undescribed parts of the wiper of the third embodiment, refer to the description of the wiper of the first embodiment. specific description.
  • the fourth embodiment of the present application further provides a mopping device.
  • the mopping device includes a first rotary disc 5, a second rotary disc 6, and a mopping member according to any one of the above embodiments.
  • the sides of the first turntable 5 and the sides of the second turntable 6 are spaced from each other, so that the first turntable 5 and the second turntable 6 do not contact each other, but rotate relatively independently.
  • the first mop is fixedly connected to the bottom of the first turntable 5 and rotates with the first turntable 5
  • the second mop is fixedly connected to the bottom of the second turntable 6 and rotates with the second turntable 6, and the rotation axis of the first turntable 5 passes through the first
  • the rotation center O1 and the rotation axis of the second turntable 6 pass through the second rotation center O2.
  • first mop and the first turntable 5 there are multiple ways to connect the first mop and the first turntable 5 and two ways to connect the second mop and the second turntable 6, which can be detachable or non-removable.
  • first mop and the The connection method of the first turntable 5 and the connection method of the second mop and the second turntable 6 include, but are not limited to, gluing, bolting, attaching via a Velcro provided between the first mop and the first turntable 5, or a button Card pick up and so on.
  • the side contour of the first turntable 5 and the side contour of the first mop have the same shape, and the side contour of the first turntable 5 is located in the side contour of the first mop.
  • the side contour line of the second turntable 6 has the same shape as the side contour line of the second mop, and the side contour line of the second turntable 6 is located within the side contour line of the second mop.
  • the distance between the side contour line of the first turntable 5 and the side contour line of the first mop is the same;
  • the distance between the side contour line of the second turntable 6 and the side contour line of the second mop is equal. Therefore, the acting force of the first turntable 5 on the first mop is more balanced, and the acting force of the second turntable 6 on the second mop is more balanced.
  • the cleaning robot provided by the fifth embodiment of the present application includes a mop driving mechanism 4 and the mop device of the fourth embodiment described above.
  • the first turntable 5 and the first mop 1a can rotate around the rotation axis of the first turntable 5 relative to the chassis of the cleaning robot, and the second turntable 6 and the second mop 2a can be rotated relative to The chassis of the cleaning robot rotates around the rotation axis of the second turntable 6.
  • the mop driving mechanism 4 includes a first output shaft 401 and a second output shaft 402, and the lower end of the first output shaft 401 is connected to the rotation center position of the first turntable 5, and the second output shaft 402 The lower end is connected to the rotation center position of the second turntable 6, the axis of the first output shaft 401 coincides with the rotation axis of the first turntable 5, and the axis of the second output shaft 402 coincides with the rotation axis of the second turntable 6.
  • the drag drive mechanism 4 further includes a worm motor 403, a first turbine drivingly connected to the first output shaft 401, and a second turbine drivingly connected to the second output shaft 402.
  • the first turbine and the second turbine both mesh with the worm motor 403 to transmit torque to the first output shaft 401 and the second output shaft 402.
  • the specific working process is: the torque output by the worm motor 403 is transmitted to the first turbine and the second turbine, which drives the first turbine and the second turbine to rotate, and then the first turbine drives the first output shaft 401 to rotate, and the second turbine drives the first turbine The two output shafts 402 rotate.
  • first output shaft 401 is connected to the rotation center position of the first turntable 5 and the lower end of the second output shaft 402 is connected to the rotation center position of the second turntable 6, so that under the driving action of the drag drive mechanism 4,
  • the first turntable 5 and the first mop can rotate about the rotation axis of the first turntable 5 relative to the chassis of the cleaning robot, and the second turntable 6 and the second mop can rotate about the rotation axis of the second turntable 6 relative to the chassis of the cleaning robot.
  • the first turntable 5 is provided with a first shaft sleeve 501 adapted to the shape of the first output shaft 401.
  • the first output shaft 401 is detachably inserted into the first shaft sleeve 501.
  • the shape matching of the first shaft sleeve 501 and the first output shaft 401 indicates that the first output shaft 401 can be inserted into the first shaft sleeve 501.
  • the outer peripheral surface of the first output shaft 401 and the inner wall surface of the first shaft sleeve 501 are mutually restricted to restrict the relative rotation of the first output shaft 401 and the first shaft sleeve 501.
  • the limiting surface on the outer peripheral surface of the first output shaft 401 and the limiting surface on the inner wall surface of the first shaft sleeve 501 limit each other to limit the relative position of the first output shaft 401 and the first shaft sleeve 501.
  • the outer peripheral surface of the first output shaft 401 and the cross-section of the inner wall surface of the first shaft sleeve 501 are the same preset regular polygon.
  • the first output shaft 401 After the first output shaft 401 is inserted into the first shaft sleeve 501, the first output shaft 401 The outer peripheral surface of the first sleeve 501 is engaged with the inner wall surface of the first sleeve 501, or the limiting surface of the outer peripheral surface of the first output shaft 401 and the limiting surface of the inner wall surface of the first shaft sleeve 501 abut each other during work. Thereby, the relative rotation of the first output shaft 401 and the first sleeve 501 is restricted.
  • the second turntable 6 is provided with a second shaft sleeve 601 adapted to the shape of the second output shaft 402.
  • the second output shaft 402 is detachably inserted into the second shaft sleeve 601.
  • the shape matching of the second shaft sleeve 601 and the second output shaft 402 indicates that the second output shaft 402 can be inserted into the second shaft sleeve 601.
  • the outer peripheral surface of the second output shaft 402 and the inner wall surface of the second shaft sleeve 601 are mutually restricted to restrict the relative rotation of the second output shaft 402 and the second shaft sleeve 601.
  • the limiting surface on the outer peripheral surface of the second output shaft 402 and the limiting surface on the inner wall surface of the second shaft sleeve 601 limit each other to limit the relative position of the second output shaft 402 and the second shaft sleeve 601.
  • the cross section of the outer peripheral surface of the second output shaft 402 and the inner wall surface of the second shaft sleeve 601 are the same preset regular polygon.
  • the second output shaft 402 After the second output shaft 402 is inserted into the second shaft sleeve 601, the second output shaft 402 The outer peripheral surface of the second shaft sleeve 601 is engaged with the inner wall surface of the second shaft sleeve 601, or the limiting surface of the outer peripheral surface of the second output shaft 402 and the inner wall surface of the second shaft sleeve 601 abut each other during the working process. Thereby, the relative rotation of the second output shaft 402 and the second shaft sleeve 601 is restricted.
  • the first output shaft 401 and the first shaft sleeve 501 have multiple insertion positions, so that the first turntable 5 and the first mop have multiple installation positions relative to the chassis of the cleaning robot.
  • the second output shaft 402 and the second shaft sleeve 601 Multiple insertion positions so that the second turntable 6 and the second mop have multiple installation positions relative to the chassis of the cleaning robot, so that the first mop and the second mop can be at the target relative installation position (correct relative angle) .
  • the first output shaft 401 when the first output shaft 401 is mated with the first sleeve 501 at any one of a plurality of mating positions, and the second output shaft 402 is mated with any of a plurality of mating positions and
  • the second shaft sleeve 601 When the second shaft sleeve 601 is plugged in, the first mop and the second mop can be in a target relative installation position.
  • the gap between the first mop and the second mop is formed between the first long-diameter edge and the second short-diameter edge or the first
  • a gap between a mop and a second mop is formed between the second long diameter edge and the first short diameter edge.
  • the long-diameter edge of one mop corresponds to the long-diameter edge of the other mop, which causes the two mops to interfere seriously and fail to work normally.
  • the gap caused by the short-edge edge of one mop corresponds to the short-edge edge of the other mop at the rotation center line L.
  • the first mop and the second mop are rotationally symmetric graphics whose rotation angle is a preset angle.
  • the absolute value of the angle difference between the first plug-in position of the first plug-in shaft 401 and the plug-in position among the multiple plug-in positions of the first plug shaft 501 is N times the preset angle.
  • An absolute value of an angle difference between adjacent insertion positions in the multiple insertion positions is N times a preset angle, where N is a positive integer.
  • the first mop and the second mop are rotated when the first mop and the second mop are rotated.
  • the long edge of the first mop and the second mop can correspond to the short edge.
  • the user can insert the first output at any optional insertion position.
  • the shaft 401 and the first shaft sleeve 501 are connected to the second output shaft 402 and the second shaft sleeve 601 at any optional insertion position.
  • the first mop and the second mop are rotation-symmetric graphics with a rotation angle of 120 degrees. That is, the first mop coincides with the shape before the rotation every 120 degrees, and the second mop coincides with the shape before the rotation every 120 degrees.
  • the first output shaft 401 and the first sleeve 501 have three insertion positions, and the angle difference between adjacent insertion positions of the three output positions of the first output shaft 401 and the first sleeve 501 is 120. degree.
  • the second output shaft 402 and the second sleeve 601 have three insertion positions, and the angle difference between adjacent insertion positions among the three output positions of the second output shaft 402 and the second sleeve 601 is 120 degrees. .
  • the first mop and the second mop are rotationally symmetric graphics with a rotation angle of 60 degrees
  • the first mop coincides with the shape before rotation every 60 degrees
  • the second mop coincides with the shape before rotation every 60 degrees.
  • the first output shaft 401 and the first sleeve 501 have six insertion positions, and the angle difference between adjacent insertion positions of the six output positions of the first output shaft 401 and the first sleeve 501 is 60. degree.
  • the second output shaft 402 and the second sleeve 601 have six insertion positions, and the angle difference between adjacent insertion positions of the six output positions of the second output shaft 402 and the second sleeve 601 is 60 degrees.
  • the angle between the first output shaft 401 and the first sleeve 501 has three insertion positions, and the angle between adjacent insertion positions among the three output positions of the first output shaft 401 and the first sleeve 501.
  • the difference is 120 degrees.
  • the second output shaft 402 and the second sleeve 601 have three insertion positions, and the angle difference between adjacent insertion positions among the three output positions of the second output shaft 402 and the second sleeve 601 is 120 degrees. ;
  • the first output shaft 401 and the first sleeve 501 have two insertion positions, and the angle difference between adjacent insertion positions of the two output positions of the first output shaft 401 and the first sleeve 501 is 180 degrees .
  • the second output shaft 402 and the second sleeve 601 have two insertion positions, and the angle difference between adjacent insertion positions of the two output positions of the second output shaft 402 and the second sleeve 601 is 180 degrees. .
  • first mop and the second mop are non-rotationally symmetrical graphics, and an absolute value of an angle difference between adjacent insertion positions among the multiple insertion positions of the first output shaft 401 and the first sleeve 501 is N times the preset angle, the absolute value of the angle difference between adjacent plug positions of the multiple output positions of the second output shaft 402 and the second sleeve 601 is N times the preset angle; where N is positive Integer.
  • the first mop and the second mop are rotated when the first mop and the second mop are rotated.
  • the long edge of the first mop and the second mop can correspond to the short edge.
  • the user can insert the first output at any optional insertion position.
  • the shaft 401 and the first shaft sleeve 501 are connected to the second output shaft 402 and the second shaft sleeve 601 at any optional insertion position.
  • the first mop has a first long-diameter edge and a first short-diameter edge
  • the second mop has a second long-diameter edge and a second short-diameter edge.
  • Each 360-degree rotation of the first mop is the same as The shapes coincide, and every 360 degrees of rotation of the second mop coincide with the shape before the rotation.
  • the first output shaft 401 and the first sleeve 501 have a plug-in position
  • the second output shaft 402 and the second sleeve 601 have a plug-in position, which can be passed through the output shafts 401, 402 or
  • the shaft sleeves 501 and 601 are provided with a buckle structure so that the first output shaft 401 and the first shaft sleeve 501 have only one insertion position, and the second output shaft 402 and the second shaft sleeve 601 have only one insertion position.
  • first output shaft 401 is detachably inserted in the first sleeve 501 and the second output shaft 402 as detachably inserted in the second sleeve 601 as examples.
  • first output shaft 401 may be connected to the first turntable 5 in other ways, such as welding or screw connection
  • second output shaft 402 may also be connected to the second turntable 6 in other ways, such as Welding, threaded connections, etc.
  • control method of the cleaning robot includes:
  • the mop driving mechanism 4 drives the first turntable 5 and the first mop 1a to rotate around the rotation axis of the first turntable 5 relative to the chassis of the cleaning robot, and drives the second turntable 6 and the second mop 2a rotates relative to the chassis of the cleaning robot around the rotation axis of the second turntable 6;
  • the drag drive mechanism 4 drives the first dial 5 and the second dial 6 to rotate
  • the rotation direction of the first dial 5 and the second dial 6 is controlled to be opposite, and the first The rotation speed of the turntable 5 and the second turntable 6 is the same.
  • the gap between the first mop 1a and the second mop 2a is always formed between the long-diameter edge and the short-diameter edge.
  • the method before the step of “when the drag driving mechanism 4 drives the first turntable 5 and the second turntable 6 to rotate”, the method further includes:
  • the first mop 1a is installed to a first plug-in position
  • the second mop 2a is installed to a second plug-in position.
  • the gap between the first mop 1a and the second mop 2a is formed between the first long-diameter edge 101a and the second short-diameter edge 201a or the gap between the first mop 1a and the second mop 2a. It is formed between the second long-diameter edge 101a and the first short-diameter edge 201a.
  • the short-diameter edge of one mop corresponds to the long-diameter edge of the other mop and rotates at the first rotation.
  • a gap between the first mop and the second mop is formed between the short-diameter edge of one mop and the long-diameter edge corresponding to the other mop.

Landscapes

  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

本申请涉及一种拖擦件、拖擦装置、清洁机器人及清洁机器人的控制方法。该拖擦件包括第一拖布和第二拖布，第一拖布具有第一旋转中心，第二拖布具有第二旋转中心，第一旋转中心与第二旋转中心的距离为旋转中心距。第一拖布及第二拖布旋转时，其中一块拖布的短径边缘会相对应到另一块拖布的长径边缘，在第一旋转中心与第二旋转中心的连线处，其中一块拖布的短径边缘与另一块拖布相对应的长径边缘之间形成第一拖布和第二拖布之间的缝隙。

Description

拖擦件、拖擦装置、清洁机器人及清洁机器人的控制方法
相关申请
本申请要求2018年8月28日申请的，申请号201810987148.7，名称为“拖擦件、拖擦装置及清洁机器人”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请属于清洁设备技术领域，特别是涉及一种拖擦件、拖擦装置、清洁机器人及清洁机器人的控制方法。
背景技术
这里的陈述仅提供与本申请有关的背景信息，而不必然地构成现有技术。
随着清洁领域的发展，目前出现了越来越多的各种各类的清洁设备，其中，有很多清洁设备采用了圆形的双转盘的结构进行清洁，即通过旋转两块拖布进行清洁。然而，由于加工上的误差，两块拖布之间无法刚好做到边缘相切且中间不留缝隙。若拖布较小，则两块拖布之间一般会留有缝隙；若拖布较大，则两块拖布通常会相互挤压变形，导致两块拖布之间形成缝隙。上述缝隙将导致现有的清洁设备在清洁时无法一次性清除清洁区域内的所有灰尘或污垢，因此很多清洁设备必须对清洁区域进行多次清洁，才能把清洁区域内的所有灰尘或污垢清除干净。
发明内容
本申请针对现有的清洁设备在清洁时无法一次性清除清洁区域内的所有灰尘或污垢的技术问题，提供一种拖擦件、拖擦装置、清洁机器人及清洁机器人的控制方法。
为解决上述技术问题，一方面，本申请实施例提供了一种拖擦件，用于清洁机器人拖擦及清扫地面，包括第一拖布和第二拖布，所述第一拖布具有第一旋转中心，所述第二拖布具有第二旋转中心，所述第一旋转中心与所述第二旋转中心的距离为旋转中心距；
所述第一拖布包括第一长径边缘和第一短径边缘，所述第一长径边缘和第一短径边缘相连接的点为第一端点，所述第一长径边缘上任意一点至所述第一旋转中心的距离大于所述旋转中心距的一半，所述第一短径边缘上任意一点至所述第一旋转中心的距离小于所述旋转中心距的一半，其中，所述第一端点至所述第一旋转中心的距离等于所述旋转中心距的一半；
所述第二拖布包括第二长径边缘和第二短径边缘，所述第二长径边缘和第二短径边缘相连接的点为第二端点，所述第二长径边缘上任意一点至所述第二旋转中心的距离大于所述旋转中心距的一半，所述第二短径边缘上任意一点至所述第二旋转中心的距离小于所述旋转中心距的一半，其中，所述第二端点至所述第二旋转中心的距离等于所述旋转中心距的一半；
所述第一拖布和第二拖布旋转时，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙形成于所述第一长径边缘与所述第二短径边缘之间或所述第一拖布和第二拖布之间的缝隙形成于所述第二长径边缘与所述第一短径边缘之间。
另一方面，本申请实施例提供一种拖擦装置，包括第一转盘、第二转盘及上述的拖擦件，所述第一转盘的侧边与所述第二转盘的侧边间隔设置，所述第一拖布固定连接在所述第一转盘的底部并跟随所述第一转盘旋转，所述第二拖布固定连接在所述第二转盘的底部并跟随所述第二转盘旋转，所述第一转盘的旋转轴线通过所述第一旋转中心，所述第二转盘的旋转轴线通过所述第二旋转中心。
再一方面，本申请实施例提供一种清洁机器人，其中，包括拖擦驱动机构及上述的拖擦装置，在所述拖擦驱动机构的驱动作用下，所述第一转盘及第一拖布能够相对于该清洁机器人的底盘绕所述第一转盘的旋转轴线旋转，所述第二转盘及第二拖布能够相对于该清洁机器人的底盘绕所述第二转盘的旋转轴线旋转。
再一方面，本申请实施例提供一种清洁机器人的控制方法，应用于清洁机器人，所述清洁机器人的控制方法包括：所述拖擦驱动机构驱动所述第一转盘及第一拖布相对于该清洁机器人的底盘绕所述第一转盘的旋转轴线旋转，且驱动所述第二转盘及第二拖布相对于该清洁机器人的底盘绕所述第二转盘的旋转轴线旋转；其中，所述拖擦驱动机构驱动所述第一转盘和所述第二转盘旋转时，控制所述第一转盘和所述第二转盘的旋转方向相反，且所述第一转盘和所述第二转盘的旋转速度相同，在旋转的过程中，所述第一拖布和所述第二拖布之间的缝隙始终形成于长径边缘和短径边缘之间。
本申请实施例提供的拖擦件、拖擦装置、清洁机器人及清洁机器人的控制方法，所述第一拖布包括通过一第一端点相接的第一长径边缘和第一短径边缘，所述第一长径边缘上任意一点至所述第一旋转中心的距离大于所述旋转中心距的一半，所述第一短径边缘上任意一点至所述第一旋转中心的距离小于所述旋转中心距的一半，其中，所述第一端点至所述第一旋转中心的距离等于所述旋转中心距的一半。所述第二拖布包括通过一第二端点相接的第二长径边缘和第二短径边缘，所述第二长径边缘上任意一点至所述第二旋转中心的距离大于所述旋转中心距的一半，所述第二短径边缘上任意一点至所述第二旋转中心的距离小于所述旋转中心距的一半，其中，所述第二端点至所述第二旋转中心的距离等于所述旋转中心距的一半。这样，第一拖布及第二拖布旋转时，其中一块拖布的短径边缘会相对应到另一块拖布的长径边缘，在第一旋转中心与第二旋转中心的连线处，其中一块拖布的短径边缘与另一块拖布相对应的长径边缘之间形成第一拖布和第二拖布之间的缝隙。在第一拖布及第二拖布旋转时该缝隙不断左右变化，即使第一拖布及第二拖布加工上存在误差，第一拖布和第二拖布在旋转工作时，也能覆盖第一拖布及第二拖布之间的缝隙位置，这样，本实施例的拖布能够通过旋转工作，覆盖传统的两圆形拖布工作时出现的中间未清洁间隙区域，从而提高了清洁设备的清洁效率。
附图说明
图1是本申请第一实施例提供的拖擦件的示意图（类三角形）；
图2是本申请第一实施例提供的拖擦件其第一拖布和第二拖布之间的缝隙宽度大于0的示意图（所述第一旋转中心与第二旋转中心的连线穿过第一短径边缘上距离所述第一旋转中心最近的一点以及第二长径边缘上距离所述第二旋转中心最远的一点）；
图3是本申请第一实施例提供的拖擦件其第一拖布和第二拖布之间的缝隙宽度大于0的示意图（所述第一旋转中心与第二旋转中心的连线穿过第一端点以及第二端点）；
图4是本申请第一实施例提供的拖擦件其第一拖布和第二拖布之间的缝隙宽度大于0的示意图（所述第一旋转中心与第二旋转中心的连线穿过第二短径边缘上距离所述第二旋转中心最近的一点以及第一长径边缘上距离所述第一旋转中心最远的一点）；
图5是本申请第一实施例提供的拖擦件其第一拖布和第二拖布在旋转时二者之间的缝隙轮廓线图；
图6为本申请第一实施例提供的拖擦件其第一拖布和第二拖布在旋转时，第一拖布旋转一第一插接位置，第二拖布旋转一第二插接位置的示意图；
图7是本申请第一实施例提供的拖擦件其第一拖布和第二拖布之间的缝隙宽度为0且所述第一拖布和第二拖布挤压干涉的示意图（所述第一旋转中心与第二旋转中心的连线穿过第一短径边缘距离所述第一旋转中心最近的一点以及第二长径边缘上距离所述第二旋转中心最远的一点）；
图8是本申请第一实施例提供的拖擦件在基站上自清洁的原理图；
图9是本申请第二实施例提供的拖擦件的示意图（类四边形）；
图10是本申请第三实施例提供的拖擦件的示意图（类椭圆形）；
图11是本申请第五实施例提供的清洁机器人的拖擦驱动机构的示意图；
图12是本申请第五实施例提供的清洁机器人的拖擦驱动机构的第一输出轴及第二输出轴的示意图；
图13是本申请第五实施例提供的清洁机器人的拖擦装置的示意图。
具体实施方式
为了使本申请所解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步的详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
第一实施例
参见图1至图8，本申请第一实施例提供的拖擦件，用于清洁机器人拖擦及清扫地面，该拖擦件包括第一拖布1a和第二拖布2a，第一拖布1a具有第一旋转中心O1，第二拖布2a具有第二旋转中心O2，第一旋转中心O1与第二旋转中心O2的距离为旋转中心距。旋转中心距为第一旋转中心O1与第二旋转中心O2的连线L的长度。下文中，第一旋转中心O1与第二旋转中心O2的连线简称为旋转中心连线L。
第一实施例中，第一拖布1a及第二拖布1b大致呈类三角形。
如图1所示，第一拖布1a包括通过一第一端点相接的第一长径边缘101a和第一短径边缘102a，第一长径边缘101a上任意一点至第一旋转中心O1的距离大于旋转中心距的一半，第一短径边缘102a上任意一点至第一旋转中心O1的距离小于旋转中心距的一半，其中，第一端点至第一旋转中心O1的距离等于旋转中心距的一半。
第二拖布2a包括通过一第二端点相接的第二长径边缘201a和第二短径边缘202a，第二长径边缘201a上任意一点至第二旋转中心O2的距离大于旋转中心距的一半，第二短径边缘202a上任意一点至第二旋转中心O2的距离小于旋转中心距的一半，其中，第二端点至第二旋转中心O2的距离等于旋转中心距的一半。
如图2至图4所示，第一拖布1a和第二拖布2a旋转时，在旋转中心连线L处，第一拖布1a和第二拖布2a之间的缝隙形成于第一长径边缘101a与第二短径边缘202a之间或第一拖布1a和第二拖布2a之间的缝隙形成于第二长径边缘201a与第一短径边缘102a之间。
图2至图4为第一拖布1a和第二拖布2a之间的缝隙宽度大于0时的三种不同角度的缝隙的示意图。第一拖布1a和第二拖布2a缝隙大于0通常是由于加工误差导致。由图2至图4可以看出，在某一瞬间三种不同角度的缝隙下都会出现未清洁区域，未清洁区域为拖布未能清洁到的区域，该未清洁区域由缝隙导致。其中，图2为旋转中心连线L穿过第一短径边缘102a上距离第一旋转中心O1最近的一点以及第二长径边缘201a上距离第二旋转中心O2最远的一点的状态图。图3为旋转中心连线L穿过第一端点以及第二端点的状态图。图4是旋转中心连线L穿过第二短径边缘202a上距离第二旋转中心O2最近的一点以及第一长径边缘101a上距离第一旋转中心O1最远的一点。图2、图3及图4所示的三种状态下，第一拖布1a与第二拖布2a之间的缝隙分别用X1、X2及X3表示。
如图1所示，第一拖布1a与第二拖布2a的侧边轮廓线形状相同。第一拖布1a包括相同的多条（此处为3条）第一长径边缘101a和相同的多条（此处为3条）第一短径边缘102a，多条第一长径边缘101a和多条第一短径边缘102a交替连接，第一长径边缘101a上的点到第一旋转中心O1的距离由两个端点向中点逐渐变大，第一短径边缘102a上的点到第一旋转中心O1的距离由两个端点向中点逐渐变小。其中，此处的端点为第一长径边缘101a和第一短径边缘102a的交点，即上述的第一端点。在多条第一长径边缘101a和多条第一短径边缘102a交替连接时，每一第一长径边缘101a的两端分别为第一端点，每一第一短径边缘102a的两端分别为第一端点。
第二拖布2a包括相同的多条（此处为3条）第二长径边缘201a和相同的多条第二短径边缘202a，多条第二长径边缘201a和多条第二短径边缘202a交替连接，第二长径边缘201a上的点到第二旋转中心O2的距离由两个端点向中点逐渐变大，第二短径边缘202a上的点到第二旋转中心O2的距离由两个端点向中点逐渐变小。其中，此处的端点为第二长径边缘201a和第二短径边缘202a的交点，即上述的第二端点。在多条第二长径边缘201a和多条第二短径边缘202a交替连接时，每一第二长径边缘201a的两端分别为第二端点，每一第二短径边缘202a的两端分别为第二端点。
由此，第一长径边缘101a上距离第一旋转中心O1最远的一点为第一长径边缘101a的中点，第二长径边缘201a上距离第二旋转中心O2最远的一点为第二长径边缘201a的中点，第一短径边缘102a上距离第一旋转中心O1最近的一点为第一短径边缘102a的中点，第二短径边缘202a上距离第二旋转中心O2最近的一点为第二短径边缘202a的中点。
图5是第一拖布1a和第二拖布2a在旋转时二者之间的缝隙轮廓线图，图中LK表示缝隙轮廓线图。可以看出，图2中的缝隙X1在图3及图4所示状态下都会被第一拖布1a和第二拖布2a覆盖。同样，图3中的缝隙X2在图2及图4所示状态下都会被第一拖布1a和第二拖布2a覆盖。同样，图4中的缝隙X3在图2及图3所示状态下都会被第一拖布1a和第二拖布2a覆盖。清洁机器人在清洁的时候，由于第一拖布1a和第二拖布2a的转速较高，通常一秒内几转到几十转，所以清洁机器人在清理区域时，极短时间内就能覆盖掉中间漏掉的区域，提高清洁机器人的清洁效率。
另外，从图5中可以看出，在第一拖布1a和第二拖布2a旋转过程中，第一拖布1a和第二拖布2a之间形成的缝隙的位置一直在变化，这样，前面出现的缝隙会在极短的时间内会被后面旋转上来的第一拖布1a的第一长径边缘101a或第二拖布2a的第二长径边缘201a给覆盖掉。
图7是本申请第一实施例提供的拖擦件其第一拖布和第二拖布之间的缝隙宽度为0且第一拖布1a和第二拖布2a挤压干涉的示意图。第一拖布1a和第二拖布2a缝隙为0且挤压干涉通常是由于加工误差导致。由此，加工误差导致尺寸偏大的第一拖布1a和第二拖布2a工作的时候也能将一次清洁掉中间漏掉的区域。并且，如图8所示，加工尺寸过大的第一拖布1a和第二拖布2a还可以具备清洁机器人在基站3进行拖布自清洁时，通过第一拖布1a和第二拖布2a的相互干涉进行第一拖布1a和第二拖布2a的侧边的自清洁的功能。图6至图8中用GS表示干涉区域。如图7所示，基站3上设置有清洁肋301，以增强拖布的清洁效果。
通常情况下清洗侧边需要针对拖布的长径边缘和短径边缘设计机构去刮蹭拖布从而实现拖布侧边的清洁。但是，由于拖布转速较高，长径边缘和短径边缘长度相差较大，对于机构需要具有一定的形变量和一定抗刮蹭能力，往往机构的成本会过高或者寿命不行。
在本申请实施例中，第一拖布1a和第二拖布2a的转速一样，二者的接触点距离旋转中心的距离不一样，例如一块拖布的长径边缘和另一块拖布的短径边缘接触。此时，它们在接触的时候产生的线速度不一样，形成了速度差，从而有助于提高清洁效果。因此，利用第一拖布1a和第二拖布2a之间挤压干涉进行侧边自清洁是比较合理的清洁方式。
这样，第一拖布及第二拖布在基站上进行自清洁的时候，若设计的第一拖布及第二拖布的尺寸偏大，它们在相同转速的工作时，会有干涉的区域，例如一块拖布的长径边缘和另一块拖布的小径边缘挤压干涉。它们在接触的时候产生的线速度不一样，形成了速度差，从而实现了拖布侧边自清洁的效果。
在另一些具体的实现方式中，如果第一拖布1a和第二拖布2a设计的刚好没有误差，则第一拖布1a和第二拖布2a之间的缝隙宽度为0，第一拖布1a和第二拖布2a恰好接触。
第一实施例中，第一拖布1a的底面与第二拖布2a的底面平齐。
在一些示例中，第一拖布1a的底面与第二拖布2a的底面平齐是指第一拖布1a的底面与第二拖布2a的底面永久的平齐，即在任何工作状态，第一拖布1a的底面与第二拖布2a的底面一直保持平齐。
在另一些示例中，第一拖布1a的底面与第二拖布2a的底面平齐是指第一拖布1a的底面与第二拖布2a的底面临时性的平齐，即在某些工作状态，当第一拖布1a的底面与第二拖布2a未发生相对的偏转时，第一拖布1a的底面与第二拖布2a的底面平齐，而当第一拖布1a的底面与第二拖布2a发生相对的偏转时，第一拖布1a的底面与第二拖布2a的底面也可出现不平齐的状态。
第一实施例中，第一长径边缘101a为由第一旋转中心O1向外凸的弧形边缘，第一短径边缘102a为直线边缘。第二长径边缘201a为由第二旋转中心O2向外凸的弧形边缘，第二短径边缘202a为直线边缘。
然而，在第一实施例的一些替代实施例中，第一短径边缘102a也可以为由第一旋转中心O1向外凸的弧形边缘。同样，第二短径边缘202a为由第二旋转中心O2向外凸的弧形边缘。
可以理解，第一实施例以第一拖布1a及第二拖布2a大致呈类三角形为例进行说明，本申请实施例的第一拖布和第二拖布的侧边轮廓线还可以为其它的具体形状，本申请实施例对第一拖布和第二拖布的侧边轮廓线形状不作具体限定，例如第一拖布和第二拖布的侧边轮廓线形状还可以为第二实施例、或第三实施例所示的形状。
第二实施例
请参照图9，本申请第二实施例提供的拖擦件，包括第一拖布1b和第二拖布2b，第一拖布1b具有第一旋转中心O1，第二拖布2b具有第二旋转中心O2，第一旋转中心O1与第二旋转中心O2的距离为旋转中心距。旋转中心距为第一旋转中心O1与第二旋转中心O2的连线L的长度。下文中，第一旋转中心O1与第二旋转中心O2的连线简称为旋转中心连线L。
第二实施例中，第一拖布1b及第二拖布2b大致呈类四边形。
如图9所示，第一拖布1b包括通过一第一端点相接的第一长径边缘101b和第一短径边缘102b，第一长径边缘101b上任意一点至第一旋转中心O1的距离大于旋转中心距的一半，第一短径边缘102b上任意一点至第一旋转中心O1的距离小于旋转中心距的一半，其中，第一端点至第一旋转中心O1的距离等于旋转中心距的一半。第二拖布2b包括通过一第二端点相接的第二长径边缘201b和第二短径边缘202b，第二长径边缘201b上任意一点至第二旋转中心O2的距离大于旋转中心距的一半，第二短径边缘202b上任意一点至第二旋转中心O2的距离小于旋转中心距的一半，其中，第二端点至第二旋转中心O2的距离等于旋转中心距的一半。
第一拖布1b和第二拖布2b旋转时，在旋转中心连线L处，第一拖布1b和第二拖布2b之间的缝隙形成于第一长径边缘101b与第二短径边缘202b之间或第一拖布1b和第二拖布2b之间的缝隙形成于第二长径边缘201b与第一短径边缘102b之间。
如图9所示，第一拖布1b与第二拖布2b的侧边轮廓线形状相同。第一拖布1b包括相同的多条（此处为4条）第一长径边缘101b和相同的多条（此处为4条）第一短径边缘102b，多条第一长径边缘101b和多条第一短径边缘102b交替连接，第一长径边缘101b上的点到第一旋转中心O1的距离由两个端点向中点逐渐变大，第一短径边缘102b上的点到第一旋转中心O1的距离由两个端点向中点逐渐变小。其中，此处的端点为第一长径边缘101b和第一短径边缘102b的交点。
第二拖布2b包括相同的多条（此处为4条）第二长径边缘201b和相同的多条第二短径边缘202b，多条第二长径边缘201b和多条第二短径边缘202b交替连接，第二长径边缘201b上的点到第二旋转中心O2的距离由两个端点向中点逐渐变大，第二短径边缘202b上的点到第二旋转中心O2的距离由两个端点向中点逐渐变小。其中，此处的端点为第二长径边缘201b和第二短径边缘202b的交点。
第二实施例的拖擦件具有与第一实施例的拖擦件同样的功能。第二实施例的拖擦件的具体实现方式可对应参阅第一实施例中的相关描述，以及第二实施例的拖擦件的其它未描述部分可参阅对第一实施例的拖擦件的具体描述。
第三实施例
请参照图10，本申请第三实施例提供的拖擦件，包括第一拖布1c和第二拖布2c，第一拖布1c具有第一旋转中心O1，第二拖布2b具有第二旋转中心O2，第一旋转中心O1与第二旋转中心O2的距离为旋转中心距。旋转中心距为第一旋转中心O1与第二旋转中心O2的连线L的长度。下文中，第一旋转中心O1与第二旋转中心O2的连线简称为旋转中心连线L。
第三实施例中，第一拖布1c及第二拖布1c大致呈类四边形。
如图10所示，第一拖布1c包括通过一第一端点相接的第一长径边缘101c和第一短径边缘102c，第一长径边缘101c上任意一点至第一旋转中心O1的距离大于旋转中心距的一半，第一短径边缘102c上任意一点至第一旋转中心O1的距离小于旋转中心距的一半，其中，第一端点至第一旋转中心O1的距离等于旋转中心距的一半。第二拖布2c包括通过一第二端点相接的第二长径边缘201c和第二短径边缘202c，第二长径边缘201c上任意一点至第二旋转中心O2的距离大于旋转中心距的一半，第二短径边缘202c上任意一点至第二旋转中心O2的距离小于旋转中心距的一半，其中，第二端点至第二旋转中心O2的距离等于旋转中心距的一半。
第一拖布1c和第二拖布2c旋转时，在旋转中心连线L处，第一拖布1c和第二拖布2c之间的缝隙形成于第一长径边缘101c与第二短径边缘202c之间或第一拖布1c和第二拖布2c之间的缝隙形成于第二长径边缘201c与第一短径边缘102c之间。
如图10所示，第一拖布1c与第二拖布2c的侧边轮廓线形状相同。第一拖布1c包括相同的多条（此处为2条）第一长径边缘101c和相同的多条（此处为2条）第一短径边缘102c，多条第一长径边缘101c和多条第一短径边缘102c交替连接，第一长径边缘101c上的点到第一旋转中心O1的距离由两个端点向中点逐渐变大，第一短径边缘102c上的点到第一旋转中心O1的距离由两个端点向中点逐渐变小。其中，此处的端点为第一长径边缘101c和第一短径边缘102c的交点。
第二拖布2c包括相同的多条（此处为2条）第二长径边缘201c和相同的多条第二短径边缘202c，多条第二长径边缘201c和多条第二短径边缘202c交替连接，第二长径边缘201c上的点到第二旋转中心O2的距离由两个端点向中点逐渐变大，第二短径边缘202c上的点到第二旋转中心O2的距离由两个端点向中点逐渐变小。其中，此处的端点为第二长径边缘201c和第二短径边缘202c的交点。
第三实施例的拖擦件具有与第一实施例的拖擦件同样的功能。第三实施例的拖擦件的具体实现方式可对应参阅第一实施例中的相关描述，以及第三实施例的拖擦件的其它未描述部分可参阅对第一实施例的拖擦件的具体描述。
第四实施例
本申请第四实施例还提供了一种拖擦装置。该拖擦装置包括第一转盘5、第二转盘6及上述任一实施例的拖擦件。
第一转盘5的侧边与第二转盘6的侧边间隔设置，以使得第一转盘5与第二转盘6不会发生接触，而相对独立的旋转。第一拖布固定连接在第一转盘5的底部并跟随第一转盘5旋转，第二拖布固定连接在第二转盘6的底部并跟随第二转盘6旋转，第一转盘5的旋转轴线通过第一旋转中心O1，第二转盘6的旋转轴线通过第二旋转中心O2。
其中，第一拖布和第一转盘5的连接方式、以及第二拖布和第二转盘6的连接方式分别有多种，可以为可拆卸连接，也可以为不可拆卸连接，例如，第一拖布和第一转盘5的连接方式、以及第二拖布和第二转盘6的连接方式包括但不限于胶粘、螺栓连接、通过第一拖布和第一转盘5之间设置的魔术贴粘贴连接、或纽扣卡接等等。
优选地，在第四实施例中，第一转盘5的侧边轮廓线和第一拖布的侧边轮廓线形状相同，第一转盘5的侧边轮廓线位于第一拖布的侧边轮廓线之内。第二转盘6的侧边轮廓线和第二拖布的侧边轮廓线形状相同，第二转盘6的侧边轮廓线位于第二拖布的侧边轮廓线之内。这样，在保持第一转盘5和第二转盘6不接触时，第一拖布和第二拖布之间可有一定的安装和/或制造误差范围。
在具体的一些示例中，沿从第一旋转中心O1向外放射的不同射线，第一转盘5的侧边轮廓线和第一拖布的侧边轮廓线之间的距离相等；沿从第二旋转中心O2向外放射的不同射线，第二转盘6的侧边轮廓线和第二拖布的侧边轮廓线之间的距离相等。从而第一转盘5对第一拖布的作用力较均衡，第二转盘6对第二拖布的作用力较均衡。
第五实施例
如图11至图13所示，本申请第五实施例提供的清洁机器人，包括拖擦驱动机构4及上述的第四实施例的拖擦装置。在拖擦驱动机构4的驱动作用下，第一转盘5及第一拖布1a能够相对于该清洁机器人的底盘绕第一转盘5的旋转轴线旋转，第二转盘6及第二拖布2a能够相对于该清洁机器人的底盘绕第二转盘6的旋转轴线旋转。
优选地，第五实施例中，拖擦驱动机构4包括第一输出轴401及第二输出轴402，第一输出轴401的下端连接在第一转盘5的旋转中心位置，第二输出轴402的下端连接在第二转盘6的旋转中心位置，第一输出轴401的轴心与第一转盘5的旋转轴线重合，第二输出轴402的轴心与第二转盘6的旋转轴线重合。
如图11及图12所示，拖擦驱动机构4还包括蜗杆电机403、与第一输出轴401驱动连接的第一涡轮及与第二输出轴402驱动连接的第二涡轮，蜗杆电机403用于输出转矩，第一涡轮及第二涡轮均与蜗杆电机403啮合，以向第一输出轴401及第二输出轴402传递转矩。具体的工作过程为：蜗杆电机403输出的转矩传递到第一涡轮及第二涡轮，带动第一涡轮及第二涡轮转动，然后第一涡轮带动第一输出轴401转动，第二涡轮带动第二输出轴402转动。因第一输出轴401的下端连接在第一转盘5的旋转中心位置，第二输出轴402的下端连接在第二转盘6的旋转中心位置，这样，在拖擦驱动机构4的驱动作用下，第一转盘5及第一拖布能够相对于该清洁机器人的底盘绕第一转盘5的旋转轴线旋转，第二转盘6及第二拖布能够相对于该清洁机器人的底盘绕第二转盘6的旋转轴线旋转。
如图13所示，第一转盘5上设置有与第一输出轴401形状适配的第一轴套501，第一输出轴401可拆卸地插接于第一轴套501中。第一轴套501与第一输出轴401形状适配表示第一输出轴401可插接于第一轴套501中。第一输出轴401的外周面与第一轴套501的内壁面相互限位，以限制第一输出轴401与第一轴套501的相对旋转。具体来说，第一输出轴401的外周面上的限位面和第一轴套501的内壁面上的限位面互相限位，以限制第一输出轴401和第一轴套501的相对转动。例如，第一输出轴401的外周面和第一轴套501的内壁面的横截面都为相同的预设正多边形，第一输出轴401插入第一轴套501中后，第一输出轴401的外周面和第一轴套501的内壁面卡接，或者在工作过程中，第一输出轴401的外周面的限位面和第一轴套501的内壁面的限位面相互抵接，从而限制第一输出轴401和第一轴套501的相对转动。
第二转盘6上设置有与第二输出轴402形状适配的第二轴套601，第二输出轴402可拆卸地插接于第二轴套601中。第二轴套601与第二输出轴402形状适配表示第二输出轴402可插接于第二轴套601中。第二输出轴402的外周面与第二轴套601的内壁面相互限位，以限制第二输出轴402与第二轴套601的相对旋转。具体来说，第二输出轴402的外周面上的限位面和第二轴套601的内壁面上的限位面互相限位，以限制第二输出轴402和第二轴套601的相对转动。例如，第二输出轴402的外周面和第二轴套601的内壁面的横截面都为相同的预设正多边形，第二输出轴402插入第二轴套601中后，第二输出轴402的外周面和第二轴套601的内壁面卡接，或者在工作过程中，第二输出轴402的外周面的限位面和第二轴套601的内壁面的限位面相互抵接，从而限制第二输出轴402和第二轴套601的相对转动。
第一输出轴401与第一轴套501具有多个插接位置，以使得第一转盘5及第一拖布相对清洁机器人的底盘具有多个安装位置，第二输出轴402与第二轴套601具有多个插接位置，以使得第二转盘6及第二拖布相对清洁机器人的底盘具有多个安装位置，以此使得第一拖布及第二拖布能够处于目标相对安装位置（正确的相对角度）。换言之，当第一输出轴401以多个插接位置中的任一插接位置和第一轴套501插接，且第二输出轴402以多个插接位置中的任一插接位置和第二轴套601插接时，第一拖布及第二拖布能够处于目标相对安装位置。当第一拖布及第二拖布处于目标相对安装位置时，在旋转中心连线L处，第一拖布和第二拖布之间的缝隙形成于第一长径边缘与第二短径边缘之间或第一拖布和第二拖布之间的缝隙形成于第二长径边缘与第一短径边缘之间。
这样，避免出现第一拖布和第二拖布配对时，在旋转中心连线L处，其中一块拖布的长径边缘对应另一块拖布的长径边缘所引起两拖布严重干涉而无法正常工作的问题。或者，避免出现第一拖布和第二拖布配对时，在旋转中心连线L处，其中一块拖布的短径边缘对应另一块拖布的短径边缘引起的缝隙过大的问题。
优选地，第一拖布和第二拖布为旋转角为预设角度的旋转对称图形。第一输出轴401与第一轴套501的多个插接位置中的相邻插接位置的角度差的绝对值为预设角度的N倍，第二输出轴402与第二轴套601的多个插接位置中的相邻插接位置的角度差的绝对值为预设角度的N倍；其中，N为正整数。这样，只要在初始配置时，保证第一输出轴401与第一轴套501插接，以及第二输出轴402与第二轴套601插接后，第一拖布和第二拖布旋转时，在旋转中心连线L处，第一拖布和第二拖布能长径边缘对应短径边缘，则在用户使用本实施例的清洁机器人时，用户可以以任意可选的插接位置插接第一输出轴401与第一轴套501，以及以任意可选的插接位置插接第二输出轴402与第二轴套601。例如，第一拖布和第二拖布为旋转角为120度的旋转对称图形。即，第一拖布每旋转120度就与旋转前的形状重合，第二拖布每旋转120度就与旋转前的形状重合。此时，第一输出轴401与第一轴套501有3个插接位置，第一输出轴401与第一轴套501的3个插接位置中的相邻插接位置的角度差为120度。另外，第二输出轴402与第二轴套601有3个插接位置，第二输出轴402与第二轴套601的3个插接位置中的相邻插接位置的角度差为120度。
例如：第一拖布和第二拖布为旋转角为60度的旋转对称图形时，第一拖布每旋转60度就与旋转前的形状重合，第二拖布每旋转60度就与旋转前的形状重合。此时，第一输出轴401与第一轴套501有6个插接位置，第一输出轴401与第一轴套501的6个插接位置中的相邻插接位置的角度差为60度。另外，第二输出轴402与第二轴套601有6个插接位置，第二输出轴402与第二轴套601的6个插接位置中的相邻插接位置的角度差为60度，其它实施例中，第一输出轴401与第一轴套501有3个插接位置，第一输出轴401与第一轴套501的3个插接位置中的相邻插接位置的角度差为120度。另外，第二输出轴402与第二轴套601有3个插接位置，第二输出轴402与第二轴套601的3个插接位置中的相邻插接位置的角度差为120度；或者第一输出轴401与第一轴套501有2个插接位置，第一输出轴401与第一轴套501的2个插接位置中的相邻插接位置的角度差为180度。另外，第二输出轴402与第二轴套601有2个插接位置，第二输出轴402与第二轴套601的2个插接位置中的相邻插接位置的角度差为180度。
另一实施例中，第一拖布及第二拖布为非旋转对称图形，第一输出轴401与第一轴套501的多个插接位置中的相邻插接位置的角度差的绝对值为预设角度的N倍，第二输出轴402与第二轴套601的多个插接位置中的相邻插接位置的角度差的绝对值为预设角度的N倍；其中，N为正整数。这样，只要在初始配置时，保证第一输出轴401与第一轴套501插接，以及第二输出轴402与第二轴套601插接后，第一拖布和第二拖布旋转时，在旋转中心连线L处，第一拖布和第二拖布能长径边缘对应短径边缘，则在用户使用本实施例的清洁机器人时，用户可以以任意可选的插接位置插接第一输出轴401与第一轴套501，以及以任意可选的插接位置插接第二输出轴402与第二轴套601。
例如，第一拖布具有一第一长径边缘和一第一短径边缘，第二拖布具有一第二长径边缘和一第二短径边缘，第一拖布每旋转360度就与旋转前的形状重合，第二拖布每旋转360度就与旋转前的形状重合。此时，第一输出轴401与第一轴套501有1个插接位置，另外，第二输出轴402与第二轴套601有1个插接位置，可通过于输出轴401、402或者轴套501、601上设置卡扣等结构使得第一输出轴401与第一轴套501只有1个插接位置，第二输出轴402与第二轴套601只有1个插接位置。
可以理解，上述实施例以第一输出轴401可拆卸地插接于第一轴套501中，以及第二输出轴402可拆卸地插接于第二轴套601中为例进行说明，在本申请的其它实施例中，第一输出轴401可以和第一转盘5采用其它的连接方式，例如焊接、螺纹连接等，第二输出轴402也可以和第二转盘6采用其它的连接方式，例如焊接、螺纹连接等。
综上所述，所述清洁机器人使用操作的过程中，所述清洁机器人的控制方法包括：
所述拖擦驱动机构4驱动所述第一转盘5及第一拖布1a相对于该清洁机器人的底盘绕所述第一转盘5的旋转轴线旋转，且驱动所述第二转盘6及第二拖布2a相对于该清洁机器人的底盘绕所述第二转盘6的旋转轴线旋转；
其中，所述拖擦驱动机构4驱动所述第一转盘5和所述第二转盘6旋转时，控制所述第一转盘5和所述第二转盘6的旋转方向相反，且所述第一转盘5和所述第二转盘6的旋转速度相同，在旋转的过程中，所述第一拖布1a和所述第二拖布2a之间的缝隙始终形成于长径边缘和短径边缘之间。
在一实施例中，“所述拖擦驱动机构4驱动所述第一转盘5和所述第二转盘6旋转时”的步骤之前还包括：
所述第一输出轴401与所述第一轴套501之间存在多个第一插接位置，所述第二输出轴402与所述第二轴套601之间存在多个第二插接位置， 将所述第一拖布1a安装到一第一插接位置，将所述第二拖布2a安装到一第二插接位置，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布1a和第二拖布2a之间的缝隙形成于所述第一长径边缘101a与所述第二短径边缘201a之间或所述第一拖布1a和第二拖布2a之间的缝隙形成于所述第二长径边缘101a与所述第一短径边缘201a之间。
本申请实施例提供的拖擦件、拖擦装置及清洁机器人，第一拖布及第二拖布旋转时，其中一块拖布的短径边缘会相对应到另一块拖布的长径边缘，在第一旋转中心与第二旋转中心的连线处，其中一块拖布的短径边缘与另一块拖布相对应的长径边缘之间形成第一拖布和第二拖布之间的缝隙。在两块拖布旋转时该缝隙不断左右变化，这样，本实施例的拖布能够通过旋转工作，覆盖传统的两圆形拖布工作时出现的中间未清洁间隙区域，从而提高了清洁设备的清洁效率。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种拖擦件，用于清洁机器人拖擦及清扫地面，其中，包括第一拖布和第二拖布，所述第一拖布具有第一旋转中心，所述第二拖布具有第二旋转中心，所述第一旋转中心与所述第二旋转中心的距离为旋转中心距；
    所述第一拖布包括第一长径边缘和第一短径边缘，所述第一长径边缘和第一短径边缘相连接的点为第一端点，所述第一长径边缘上任意一点至所述第一旋转中心的距离大于所述旋转中心距的一半，所述第一短径边缘上任意一点至所述第一旋转中心的距离小于所述旋转中心距的一半，其中，所述第一端点至所述第一旋转中心的距离等于所述旋转中心距的一半；
    所述第二拖布包括第二长径边缘和第二短径边缘，所述第二长径边缘和第二短径边缘相连接的点为第二端点，所述第二长径边缘上任意一点至所述第二旋转中心的距离大于所述旋转中心距的一半，所述第二短径边缘上任意一点至所述第二旋转中心的距离小于所述旋转中心距的一半，其中，所述第二端点至所述第二旋转中心的距离等于所述旋转中心距的一半；
    所述第一拖布和第二拖布旋转时，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙形成于所述第一长径边缘与所述第二短径边缘之间或所述第一拖布和第二拖布之间的缝隙形成于所述第二长径边缘与所述第一短径边缘之间。
  2. 根据权利要求1所述的拖擦件，其中，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙宽度为0，所述第一拖布和第二拖布恰好接触或挤压干涉；或者是，
    在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙宽度大于0，所述第一拖布和第二拖布间隔。
  3. 根据权利要求1所述的拖擦件，其中，所述第一拖布与所述第二拖布的侧边轮廓线形状相同；
    所述第一拖布包括相同的多条所述第一长径边缘和相同的多条所述第一短径边缘，多条所述第一长径边缘和多条所述第一短径边缘交替连接，所述第一长径边缘上的点到第一旋转中心的距离由两个端点向中点逐渐变大，所述第一短径边缘上的点到第一旋转中心的距离由两个端点向中点逐渐变小；
    所述第二拖布包括相同的多条所述第二长径边缘和相同的多条所述第二短径边缘，多条所述第二长径边缘和多条所述第二短径边缘交替连接，所述第二长径边缘上的点到第二旋转中心的距离由两个端点向中点逐渐变大，所述第二短径边缘上的点到第二旋转中心的距离由两个端点向中点逐渐变小。
  4. 根据权利要求3所述的拖擦件，其中，所述第一长径边缘为由所述第一旋转中心向外凸的弧形边缘，所述第一短径边缘为直线边缘或由所述第一旋转中心向外凸的弧形边缘；
    所述第二长径边缘为由所述第二旋转中心向外凸的弧形边缘，所述第二短径边缘为直线边缘或由所述第二旋转中心向外凸的弧形边缘。
  5. 根据权利要求1所述的拖擦件，其中，所述第一长径边缘为由所述第一旋转中心向外凸的弧形边缘，所述第一短径边缘为直线边缘或由所述第一旋转中心向外凸的弧形边缘；
    所述第二长径边缘为由所述第二旋转中心向外凸的弧形边缘，所述第二短径边缘为直线边缘或由所述第二旋转中心向外凸的弧形边缘。
  6. 一种拖擦装置，其中，包括第一转盘、第二转盘及拖擦件，所述第一转盘的侧边与所述第二转盘的侧边间隔设置，所述拖擦件包括第一拖布和第二拖布，所述第一拖布具有第一旋转中心，所述第二拖布具有第二旋转中心，所述第一旋转中心与所述第二旋转中心的距离为旋转中心距；
    所述第一拖布包括第一长径边缘和第一短径边缘，所述第一长径边缘和第一短径边缘相连接的点为第一端点，所述第一长径边缘上任意一点至所述第一旋转中心的距离大于所述旋转中心距的一半，所述第一短径边缘上任意一点至所述第一旋转中心的距离小于所述旋转中心距的一半，其中，所述第一端点至所述第一旋转中心的距离等于所述旋转中心距的一半；
    所述第二拖布包括第二长径边缘和第二短径边缘，所述第二长径边缘和第二短径边缘相连接的点为第二端点，所述第二长径边缘上任意一点至所述第二旋转中心的距离大于所述旋转中心距的一半，所述第二短径边缘上任意一点至所述第二旋转中心的距离小于所述旋转中心距的一半，其中，所述第二端点至所述第二旋转中心的距离等于所述旋转中心距的一半；
    所述第一拖布和第二拖布旋转时，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙形成于所述第一长径边缘与所述第二短径边缘之间或所述第一拖布和第二拖布之间的缝隙形成于所述第二长径边缘与所述第一短径边缘之间；
    所述第一拖布固定连接在所述第一转盘的底部并跟随所述第一转盘旋转，所述第二拖布固定连接在所述第二转盘的底部并跟随所述第二转盘旋转，所述第一转盘的旋转轴线通过所述第一旋转中心，所述第二转盘的旋转轴线通过所述第二旋转中心。
  7. 根据权利要求6所述的拖擦装置，其中，所述第一转盘的侧边轮廓线和所述第一拖布的侧边轮廓线形状相同，所述第一转盘的侧边轮廓线位于所述第一拖布的侧边轮廓线之内；
    所述第二转盘的侧边轮廓线和所述第二拖布的侧边轮廓线形状相同，所述第二转盘的侧边轮廓线位于所述第二拖布的侧边轮廓线之内。
  8. 根据权利要求6所述的拖擦装置，所述第一转盘的侧边轮廓线和所述第一拖布的侧边轮廓线形状相同，或所述第一转盘的侧边轮廓线位于所述第一拖布的侧边轮廓线之内；
    所述第二转盘的侧边轮廓线和所述第二拖布的侧边轮廓线形状相同，或所述第二转盘的侧边轮廓线位于所述第二拖布的侧边轮廓线之内。
  9. 根据权利要求6所述的拖擦装置，其中，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙宽度为0，所述第一拖布和第二拖布恰好接触或挤压干涉；或者是，
    在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙宽度大于0，所述第一拖布和第二拖布间隔。
  10. 根据权利要求6所述的拖擦装置，其中，所述第一拖布与所述第二拖布的侧边轮廓线形状相同；
    所述第一拖布包括相同的多条所述第一长径边缘和相同的多条所述第一短径边缘，多条所述第一长径边缘和多条所述第一短径边缘交替连接，所述第一长径边缘上的点到第一旋转中心的距离由两个端点向中点逐渐变大，所述第一短径边缘上的点到第一旋转中心的距离由两个端点向中点逐渐变小；
    所述第二拖布包括相同的多条所述第二长径边缘和相同的多条所述第二短径边缘，多条所述第二长径边缘和多条所述第二短径边缘交替连接，所述第二长径边缘上的点到第二旋转中心的距离由两个端点向中点逐渐变大，所述第二短径边缘上的点到第二旋转中心的距离由两个端点向中点逐渐变小。
  11. 根据权利要求6所述的拖擦装置，其中，所述第一长径边缘为由所述第一旋转中心向外凸的弧形边缘，所述第一短径边缘为直线边缘或由所述第一旋转中心向外凸的弧形边缘；
    所述第二长径边缘为由所述第二旋转中心向外凸的弧形边缘，所述第二短径边缘为直线边缘或由所述第二旋转中心向外凸的弧形边缘。
  12. 根据权利要求6所述的拖擦装置，其中，所述第一拖布的底面与第二拖布的底面平齐。
  13. 一种清洁机器人，其中，包括拖擦驱动机构及拖擦装置，所述拖擦装置包括第一转盘、第二转盘及拖擦件，所述第一转盘的侧边与所述第二转盘的侧边间隔设置，所述拖擦件包括第一拖布和第二拖布，所述第一拖布具有第一旋转中心，所述第二拖布具有第二旋转中心，所述第一旋转中心与所述第二旋转中心的距离为旋转中心距；
    所述第一拖布包括第一长径边缘和第一短径边缘，所述第一长径边缘和第一短径边缘相连接的点为第一端点，所述第一长径边缘上任意一点至所述第一旋转中心的距离大于所述旋转中心距的一半，所述第一短径边缘上任意一点至所述第一旋转中心的距离小于所述旋转中心距的一半，其中，所述第一端点至所述第一旋转中心的距离等于所述旋转中心距的一半；
    所述第二拖布包括第二长径边缘和第二短径边缘，所述第二长径边缘和第二短径边缘相连接的点为第二端点，所述第二长径边缘上任意一点至所述第二旋转中心的距离大于所述旋转中心距的一半，所述第二短径边缘上任意一点至所述第二旋转中心的距离小于所述旋转中心距的一半，其中，所述第二端点至所述第二旋转中心的距离等于所述旋转中心距的一半；
    所述第一拖布和第二拖布旋转时，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙形成于所述第一长径边缘与所述第二短径边缘之间或所述第一拖布和第二拖布之间的缝隙形成于所述第二长径边缘与所述第一短径边缘之间；
    所述第一拖布固定连接在所述第一转盘的底部并跟随所述第一转盘旋转，所述第二拖布固定连接在所述第二转盘的底部并跟随所述第二转盘旋转，所述第一转盘的旋转轴线通过所述第一旋转中心，所述第二转盘的旋转轴线通过所述第二旋转中心；
    在所述拖擦驱动机构的驱动作用下，所述第一转盘及第一拖布能够相对于该清洁机器人的底盘绕所述第一转盘的旋转轴线旋转，所述第二转盘及第二拖布能够相对于该清洁机器人的底盘绕所述第二转盘的旋转轴线旋转。
  14. 根据权利要求13所述的清洁机器人，其中，所述第一转盘的侧边轮廓线和所述第一拖布的侧边轮廓线形状相同，所述第一转盘的侧边轮廓线位于所述第一拖布的侧边轮廓线之内；
    所述第二转盘的侧边轮廓线和所述第二拖布的侧边轮廓线形状相同，所述第二转盘的侧边轮廓线位于所述第二拖布的侧边轮廓线之内。
  15. 根据权利要求13所述的清洁机器人，其中，所述拖擦驱动机构包括第一输出轴及第二输出轴，所述第一输出轴的下端连接在所述第一转盘的旋转中心位置，所述第二输出轴的下端连接在所述第二转盘的旋转中心位置，所述第一输出轴的轴心与所述第一转盘的旋转轴线重合，所述第二输出轴的轴心与所述第二转盘的旋转轴线重合。
  16. 根据权利要求15所述的清洁机器人，其中，所述拖擦驱动机构还包括蜗杆电机、与所述第一输出轴驱动连接的第一涡轮及与所述第二输出轴驱动连接的第二涡轮，所述蜗杆电机用于输出转矩，所述第一涡轮及第二涡轮均与所述蜗杆电机啮合，以向所述第一输出轴及第二输出轴传递转矩。
  17. 根据权利要求15所述的清洁机器人，其中，所述第一转盘上设置有与所述第一输出轴形状适配的第一轴套，所述第一输出轴可拆卸地插接于所述第一轴套中，所述第一输出轴的外周面与所述第一轴套的内壁面相互限位，以限制所述第一输出轴与所述第一轴套的相对旋转；
    所述第二转盘上设置有与所述第二输出轴形状适配的第二轴套，所述第二输出轴可拆卸地插接于所述第二轴套中，所述第二输出轴的外周面与所述第二轴套的内壁面相互限位，以限制所述第二输出轴与所述第二轴套的相对旋转；
    所述第一输出轴与所述第一轴套具有多个第一插接位置，以使得所述第一转盘及第一拖布相对清洁机器人的底盘具有多个第一安装位置，所述第二输出轴与所述第二轴套具有多个第二插接位置，以使得所述第二转盘及第二拖布相对清洁机器人的底盘具有多个第二安装位置，以此使得所述第一拖布及第二拖布能够处于目标相对安装位置；当所述第一拖布及第二拖布处于目标相对安装位置时，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙形成于所述第一长径边缘与所述第二短径边缘之间或所述第一拖布和第二拖布之间的缝隙形成于所述第二长径边缘与所述第一短径边缘之间。
  18. 根据权利要求17所述的清洁机器人，所述第一拖布绕所述第一旋转中心每旋转预设角度后与旋转前的形状重合，所述第二拖布绕所述第二旋转中心每旋转预设角度后与旋转前的形状重合，所述第一输出轴与所述第一轴套之间存在多个第一插接位置，相邻第一插接位置之间的旋转角为所述预设角度的N倍；
    所述第二输出轴与所述第二轴套之间存在多个第二插接位置，相邻第二插接位置之间的旋转角为所述预设角度的N倍，其中，N为正整数。
  19. 一种清洁机器人的控制方法，应用于如权利要求13所述的清洁机器人，其特征在于，所述清洁机器人的控制方法包括：
    所述拖擦驱动机构驱动所述第一转盘及第一拖布相对于该清洁机器人的底盘绕所述第一转盘的旋转轴线旋转，且驱动所述第二转盘及第二拖布相对于该清洁机器人的底盘绕所述第二转盘的旋转轴线旋转；
    其中，所述拖擦驱动机构驱动所述第一转盘和所述第二转盘旋转时，控制所述第一转盘和所述第二转盘的旋转方向相反，且所述第一转盘和所述第二转盘的旋转速度相同，在旋转的过程中，所述第一拖布和所述第二拖布之间的缝隙始终形成于长径边缘和短径边缘之间。
  20. 如权利要求19所述的清洁机器人的控制方法，其特征在于，“所述拖擦驱动机构驱动所述第一转盘和所述第二转盘旋转时”的步骤之前还包括：
    所述第一输出轴与所述第一轴套之间存在多个第一插接位置，所述第二输出轴与所述第二轴套之间存在多个第二插接位置， 将所述第一拖布安装到一第一插接位置，将所述第二拖布安装到一第二插接位置，在所述第一旋转中心与第二旋转中心的连线处，所述第一拖布和第二拖布之间的缝隙形成于所述第一长径边缘与所述第二短径边缘之间或所述第一拖布和第二拖布之间的缝隙形成于所述第二长径边缘与所述第一短径边缘之间。
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