WO2020103835A1

WO2020103835A1 - Robot cleaner and automatic cleaning method

Info

Publication number: WO2020103835A1
Application number: PCT/CN2019/119512
Authority: WO
Inventors: 张珂嘉; 周四海; 刘飞; 李维
Original assignee: 上海楠木机器人科技有限公司
Priority date: 2018-11-19
Filing date: 2019-11-19
Publication date: 2020-05-28
Also published as: US20220000327A1

Abstract

Provided in the present invention are a robot cleaner and an automatic cleaning method capable of realizing automatic cleaning. The robot cleaner comprises a lifting mechanism and a cleaning base. The cleaning base comprises a base body, a wiper mechanism disposed on the base body, and a spraying assembly having nozzles. The nozzles are arranged along a mopping component of the robot cleaner and form a structure used to spray water or mist to the mopping component. The wiper mechanism comprises a wiper. The wiper contacts the mopping component and moves with respect thereto so as to squeeze out the water while scraping off the objects attached on the mopping component. The lifting mechanism controls the mopping component to contact or separate from the wiper such that the mopping component is moved up or down.

Description

Cleaning robot and automatic cleaning method

Technical field

The invention relates to a cleaning robot and an automatic cleaning method.

Background technique

The cleaning robot is a kind of intelligent household appliances, which can automatically complete the floor cleaning work in the room with certain artificial intelligence. Generally, brush sweep and vacuum are adopted to absorb the ground debris into its own garbage storage box, so as to complete the function of cleaning the ground. When using the cleaning robot, the user usually only needs to put the cleaning robot on the ground, and the cleaning robot can roll and collect the ground dirt through the rotation of the brush, and then suck the dirt into the storage box through the dust suction port. However, the general cleaning robot can only clean the ground dust and some smaller and lighter dirt, which is not ideal for some stubborn stains.

In the current market, by setting a rag on the bottom of the cleaning robot (see the conventional cleaning robot mopping mechanism shown in FIG. 7, where 400 is the rag and 300 is the water tank), when the mopping time is longer, water and dirt adhere to Dragging on the flatbed may cause secondary pollution to the ground during the subsequent ground cleaning process, but will waste more time for the user. In addition, the cleaning of the flatbed mop requires the manual cleaning of the rag, which takes time and effort, is unhygienic, and affects the user experience.

In particular, the current sweeping and towing machine performs sweeping and mopping work at the same time, which has high requirements on the use environment. For example, there can be no objects that cannot be wetted like carpets in the use environment, and it is provided at the bottom of the prior art The rag is designed to be level with the ground, the rag has less pressure on the ground, and the mopping effect is not ideal.

In addition, the current sweeping and towing machine cannot select a mopping mode for different environments, cannot selectively mop the floor, and cannot separate the mop of the bathroom or kitchen from the mop of the living room or bedroom.

In addition, the mopping scheme adopted by the existing household cleaning robots is to install a cleaning water tank directly at the bottom of the robot. The cleaning water tank includes a water tank and a cleaning cloth attached to the bottom of the water tank. During the robot's travel, the water in the water tank continuously penetrates into the cloth In the middle, clean the ground. That is to say, by setting a mop at the bottom of the cleaning robot, the ground is mopped, and at the same time, by setting a water tank above the mop, the water in the water tank penetrates all the way to the mop to achieve wet mop. However, in this mopping device for cleaning robots, the cleaning water tank is installed at the bottom of the robot, and the pressure on the ground is insufficient, which affects the cleaning effect of the cloth. And when the mopping time is longer, it cannot be cleaned automatically, and water and dirt adhere to the flat mop. In the subsequent ground cleaning process, it may also cause secondary pollution to the ground, but it will waste more time and clean the user. Afterwards, the mop needs to be removed and manually cleaned, which affects the user experience.

Furthermore, in the existing cleaning robot, after the mopping is completed, the cleaning process of the cleaning robot's rags is manually and directly rinsed with water, and the water is not recycled and reused, and there is a waste of water.

In the prior art, when the cleaning robot is cleaning the cloth or charging on the return base, there is no guide and limit structure, which causes a position deviation during the return of the main body of the cleaning robot, and cannot accurately return to the designed position point for cloth cleaning Or the charging action prevents the cleaning robot body from completing the next step normally.

And the scraper on the cleaning base cleans the wiper by reciprocating movement. In this process, the wiper relatively obstructs the scraper movement, which will generate a friction force opposite to the direction of the scraper movement, and the direction of the friction force also follows the reciprocating movement of the scraper. Alternating back and forth.

Under the action of the alternating reciprocating friction force, the wiper holder will move left and right with the action of the force, so that the movement of the wiper holder will drive the cleaning robot body to move together, so that the cleaning robot body continuously moves forward and slowly deviates from the cleaning The position, that is, the left and right movement of the cleaning robot body further causes the cleaning robot to move away from the base. When the force of the scraper on the wiper holder is zero, the cleaning robot body stops moving and the scraper loses its cleaning effect on the wiper.

technical problem

The invention provides a cleaning robot and an automatic cleaning method, which can realize automatic cleaning.

Technical solution

An aspect of the present invention provides a cleaning robot having a lifting mechanism and a cleaning base. The cleaning base includes: a base body, a wiper mechanism provided on the base body, and a water spray assembly having a spray head; The spray head is arranged along the mopping part of the cleaning robot and is formed into a structure to spray water or spray on the mopping part; the wiper mechanism includes a scraper that contacts the mop part and Relative displacement to squeeze out water while scraping off the attachments on the mopping member; the lifting mechanism makes the mopping member contact or separate the mopping member and the scraper Raise or lower.

It may be that the mopping member includes a roller brush configured to be rotatable under the drive of a motor; the scraper is elongated, and the axes of the scraper and the roller brush are arranged in parallel.

It may be that the roller brush is configured to be in contact with the scraper after being lifted by a certain height in the vertical direction under the control of the lifting mechanism.

It may be that the floor mopping component includes a flat mop, and the wiper mechanism further includes a transmission mechanism driven by a drive motor assembly, so that the scraper moves linearly back and forth along the flat mop.

It may be that the wiper mechanism has a tilt angle, and the mopping member is configured to rotate by a corresponding tilt angle while being controlled to be lifted by the lifting mechanism.

It may be that the lifting mechanism includes a crank rocker mechanism, a gear pair or a screw mechanism.

It may be that the cleaning base has a charging device for charging the cleaning robot.

A method for automatically cleaning floor mopping components using the above cleaning robot is characterized in that it includes the following steps:

Step 1: Raise the mopping component through the lifting mechanism, and make the mopping component gradually approach the scraper of the cleaning base;

Step two, when the mopping part and the scraper form interference, stop approaching;

Step 3: Rotate the mopping part, spray the nozzle with water to rinse or spray wet the mopping part, the scraper scrapes off the attachments on the mopping part, and at the same time squeezes the water from the mopping part

Step 4, the spray head stops spraying water or spray, the mopping parts continue to rotate, and the scraper continues to squeeze out the water on the mopping parts;

Step 5: When the water stain on the mopping part is dried, the mopping part stops rotating.

Step one, make the mopping parts gradually lift up to the angle of the scraper of the cleaning base, and close to the scraper;

Step 3: The spray head rinses or sprays the moistening mopping parts, moves the scraper, scrapes off the attachments on the mopping parts, and squeezes out the water on the mopping parts;

Step four: The spray head stops spraying water or spray, and the scraper continues to squeeze out the water on the mopping parts;

Step 5. When the water stain on the mopping part is dried, the scraper stops moving.

It may include step 6: after the water stain on the mopping part is dried, the lifting mechanism drops the mopping part and continues mopping.

It may be that the first step to the sixth step are repeated until the cleaning work is completed.

It may also include: every time the mopping part cleans a certain area or time, it returns to the cleaning base for backwashing.

The invention also provides a lifting mechanism for a cleaning robot and a working method thereof to solve the problem that the cleaning robot cannot drag the floor in the indoor comprehensive environment at present.

On the one hand, the lifting mechanism in the present invention includes a driving component, a lifting component and a cleaning component connected in sequence; the driving component is used to drive the lifting component; the lifting component can make the cleaning component relative to the surface to be cleaned Lifting and lowering are realized; when the cleaning assembly is lowered to contact the surface to be cleaned, the cleaning assembly is configured to perform cleaning treatment on the surface to be cleaned; surface.

The present invention adopts the above-mentioned structure, and can independently perform sweeping and dragging (for example, it can only drag without sweeping, only sweep without dragging, etc.); and can improve the obstacle-crossing ability and can also exert pressure on the ground.

Preferably, the cleaning component is a flatbed tow, which is configured such that the cleaning work surface can be turned outward by a certain angle when it is lifted.

When the cleaning assembly swings with the rocker to raise a certain angle, the mop can be more easily cleaned.

The cleaning component can be flipped while lifting, or flipped after lifting. The advantage of this arrangement is that the cleaning assembly can be easily cleaned or washed, or the cleaning assembly can be replaced.

Preferably, the lifting mechanism further includes a processor and a drive assembly actuator; the processor receives a trigger signal and determines the position of the cleaning assembly according to the position information, thereby transmitting the execution signal to the drive assembly actuator; The drive assembly actuator is used to control the drive assembly according to the acquired execution signal.

Preferably, the lifting mechanism further includes a position detection device for detecting the position of the cleaning assembly and feeding back a position signal to the processor.

Preferably, there is also an identification module, the processor is connected to the identification module, the identification module can identify the surface to be cleaned, and transmit the information of the surface to be cleaned to the processor, the processor can Information forms a cleaning strategy.

The driving component may be a motor component, a pneumatic component or a hydraulic component.

The lifting assembly may be a link mechanism, a linear motion mechanism, or a gear pair.

More preferably, the connecting rod mechanism may be a crank connecting rod mechanism including a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate around the entire circumference under the action of the driving assembly At least one of the connecting rod and the rocker is configured to have a displacement in the vertical direction, and the cleaning assembly is connected to the rod member having the displacement in the vertical direction.

Alternatively, the crank connecting rod mechanism includes a space connecting rod mechanism, and at least one spherical pair is included between the crank, connecting rod and rocker.

Preferably, the linear motion mechanism includes a screw and a nut that are connected together, and the screw is configured to have a displacement in a vertical direction.

Preferably, the cleaning assembly includes a roller brush component.

Preferably, the cleaning assembly includes a flat plate member.

On the other hand, the present invention also provides a cleaning robot including the above-mentioned lifting mechanism.

Preferably, the cleaning robot is a household cleaning robot.

In addition, the present invention also provides the above-mentioned cleaning robot working method, including the following steps:

Step 1: The cleaning robot recognizes the surface to be cleaned and passes the information to the processor;

Step 2: The processor determines the cleaning strategy of the surface to be cleaned based on the received information;

Step 3: When the cleaning strategy in Step 2 is to clean the surface to be cleaned, the processor transmits the first execution signal to the drive assembly, the drive assembly drives the lifting assembly and disengages the cleaning assembly from the surface to be cleaned, and the processor executes the second The signal is transmitted to the sweeping module, which cleans the surface to be cleaned;

When the cleaning strategy in step 2 is to drag the surface to be cleaned, the processor transmits a third execution signal to the drive assembly, the drive assembly drives the lifting assembly and causes the cleaning assembly to contact the surface to be cleaned Ground processing, the processor transmits the fourth execution signal to the floor cleaning module, the floor cleaning module stops cleaning the surface to be cleaned;

When the cleaning strategy in step 2 is to sweep and drag the surface to be cleaned, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface Ground processing, the processor transmits the second execution signal to the floor cleaning module, the floor cleaning module cleans the surface to be cleaned;

When the cleaning strategy in step 2 is not to sweep or drag the surface to be cleaned, the processor transmits the first execution signal to the drive assembly, the drive assembly drives the lifting assembly and disengages the cleaning assembly from the surface to be cleaned, and the processor transmits the fourth execution signal to Sweeping module, the sweeping module stops cleaning the surface to be cleaned.

Thus, the cleaning robot provided by the present invention can independently control sweeping and dragging (for example, it can only drag without sweeping, only sweep without dragging, etc.); and can improve the obstacle-crossing ability and can also apply pressure to drag the ground.

It includes the following steps:

Step 3: When the cleaning strategy in step 2 is to mop the surface to be cleaned, the processor sends a mopping execution signal to the drive assembly, and the drive assembly drives the lifting assembly and brings the cleaning assembly into contact with the surface to be cleaned; when cleaning in step 2 The strategy is not to mop the surface to be cleaned, then the processor sends a non-mopping execution signal to the drive assembly, and the drive assembly drives the lift assembly and disengages the cleaning assembly from the surface to be cleaned.

Thus, the present invention can simply drag the floor.

Another aspect of the present invention also provides a pressure mopping mechanism for a cleaning robot, including a drive component, a lifting component, and a cleaning component connected in sequence; the drive component is used to drive the lifting component; the lifting component can Lifting and lowering the cleaning assembly relative to the surface to be cleaned; when the cleaning assembly is lowered to contact the surface to be cleaned, the cleaning assembly is configured to be able to clean the surface to be cleaned; when the The cleaning assembly is lifted away from the surface to be cleaned, and the cleaning assembly is configured not to hinder the movement of the cleaning robot; the lifting assembly has a telescopic mechanism that connects the lifting assembly and the cleaning assembly to Due to its telescopic performance, the cleaning assembly always conforms to the surface to be cleaned.

Preferably, the telescopic mechanism includes an elastic element.

Preferably, the lifting assembly includes a crank connecting rod mechanism including a crank, a connecting rod and a rocker connected in sequence, the crank is configured to be able to rotate around the entire circumference under the action of the driving assembly, the At least one of the connecting rod and the rocker is arranged to have a displacement in the vertical direction, the cleaning assembly is connected to a rod having a displacement in the vertical direction, and the telescopic mechanism is provided on the connecting rod.

Preferably, the cleaning assembly includes a roller brush component or a flat drag component.

A working method of a pressure applying mopping mechanism for a cleaning robot includes the following steps:

Step 1: The lifting component drives the cleaning component down until the cleaning component contacts the surface to be cleaned, and the cleaning component cleans the surface to be cleaned;

Step 2: The lifting component drives the cleaning component to lift, and the cleaning component is separated from the surface to be cleaned.

Preferably, in step one, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly down by a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply the first cleaning assembly Force.

Preferably, the lifting mechanism drives the cleaning assembly to lower the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation to prevent the first force applied to the cleaning assembly from being excessive, Correspondingly, the reaction force is too large and the cleaning robot is lifted.

The cleaning components involved in this application may include an active cleaning component (the cleaning component has a driving device to actively clean the surface to be cleaned, for example, a roller brush with a driving motor), or a passive cleaning component (using a cleaning robot) Walk to clean the surface to be cleaned).

The invention also provides a cleaning base and a working method thereof, which can realize automatic cleaning of the cleaning robot mopping mechanism.

The cleaning base includes: a base body, a wiper mechanism provided on the base body, and a water spray assembly having a spray head; the spray heads are arranged along the mopping part of the cleaning robot and formed to face The structure of the mopping member spraying water or spray; the wiper mechanism includes a scraper that contacts and is relatively displaced with the mopping member to scrape off the attachment on the mopping member while Water squeezed out.

Preferably, the mopping member includes a roller brush configured to rotate under the drive of a motor; the scraper is elongated, and the axes of the scraper and the roller brush are arranged in parallel.

Preferably, the mopping component includes a flat mop, and the wiper mechanism further includes a transmission mechanism driven by a drive motor assembly, so that the scraper moves linearly back and forth along the flat mop.

Preferably, the mopping member is configured to rotate and lift around a point controlled by a lifting mechanism. It may be that the wiper mechanism has an inclination angle, and the mopping member is configured to rotate by a corresponding inclination angle while being controlled to be lifted by the lifting mechanism.

The lifting mechanism may be a crank rocker mechanism, a gear pair or a screw mechanism.

The transmission mechanism may include a timing belt mechanism, a crank slider mechanism, or an eccentric cam mechanism.

When the mechanism is a crank slider mechanism, the crank slider mechanism may be connected to the scraper.

It may be provided with an automatic reversing mechanism of the scraper, the transmission mechanism is a belt-type transmission mechanism, and the belt-type transmission mechanism rotates in one direction under the action of the drive motor assembly, wherein the belt and the scraper automatically The reversing mechanism is connected to drive the scraper provided on the automatic reversing mechanism of the scraper to perform linear reciprocating motion.

When the transmission mechanism is a belt-type transmission mechanism, the scraper is fixed on the belt-type transmission mechanism, and further includes a position detection device, a processor, and a motor execution device, and the position detection device is used to detect the scraper Whether the position of the board reaches the return position, so that the position detection signal is sent to the processor, and the processor controls the motor actuator to reverse the motor, thereby driving the belt drive mechanism to change direction.

Preferably, the cleaning base has a charging device for charging the cleaning robot.

Preferably, the squeegee is provided with teeth.

The invention also provides an automatic cleaning method using the cleaning base, which includes the following steps:

Step 1: Make the mopping parts gradually approach the scraper of the cleaning base;

Step 3: The mopping parts are lifted and matched with the scraper. The spray head sprays water to rinse the mopping parts or wet the mopping parts. ;

Step four: The spray head stops spraying water, the mopping parts continue to rotate, and the scraper continues to squeeze out the water on the mopping parts;

Step 5. When the water stain on the mopping part is dried, the mopping part stops rotating.

Step 3: The nozzle sprays water to rinse or moisten the mopping parts, move the scraper, scrape the attachments on the mopping parts, and squeeze out the water on the mopping parts;

Step 4, the spray head stops spraying water, and the scraper continues to squeeze out the water on the mopping parts;

In the above method, it may further include: when the floor cleaning component of the cleaning robot cleans a certain area or time, navigate back to the cleaning base for backwashing by navigating.

Preferably, it is automatically backwashed after cleaning every 12-20 square meters.

Therefore, the invention can automatically wash back when the mop is dirty, and prevent the dirty mopping.

Preferably, there is also a dirt separation system, in which the water purification tank, the water purification pump, and the water spray assembly are connected in sequence; the filter water tank, the sewage pump and the sewage tank are connected in sequence; for receiving the dirty water after cleaning the rag and performing The filtered water tank for filtering is provided with a filter element; the sewage pump transports the water in the filtered water tank to the sewage tank, and the water purification tank provides a water source for the water spray assembly; the water purification pump The water of the water purification tank is delivered to the water spray assembly; the water spray assembly sprays the water to the rag.

Preferably, a water circulation filtering system is further provided, the water circulation filtering system is provided with: a filtering water tank that receives dirty water after cleaning the rag and filters the dirty water, the filtering water tank is provided with a filtering element; and the filtering water tank The water is delivered to the circulating water tank through the sewage pump; the circulating water tank that provides the water source for the water spray assembly while receiving the water from the sewage tank; the circulating water pump that transports the water from the circulating water tank to the water spray assembly; The component is used for spraying water to the rag; the filtered water tank, the sewage pump, the circulating water tank, the circulating water pump and the water spraying component are connected in sequence.

The description used in this application "the cleaning component is set to be capable of cleaning the surface to be cleaned" should be understood as follows: the cleaning component itself can actively clean the surface to be cleaned, and the cleaning component can be cleaned to the surface under external drive Cleaning treatment (see the embodiment described in detail later).

Beneficial effect

The invention can realize automatic cleaning. The above and other objects, features and advantages of the present invention will be better understood based on the following specific embodiments and referring to the accompanying drawings.

BRIEF DESCRIPTION

FIG. 1 is a schematic structural view of a lifting mechanism for a cleaning robot according to an embodiment of the present invention.

FIG. 2 is a schematic view of the cleaning unit in the embodiment shown in FIG. 1 turned over.

FIG. 3 is a schematic diagram showing the first limit position M. FIG.

FIG. 4 is a schematic diagram showing the second limit position N. FIG.

5 and 6 are schematic structural views of a lifting mechanism for a cleaning robot according to another embodiment of the present invention.

7 is a schematic structural view of a conventional cleaning robot mopping mechanism.

Fig. 8 shows the state of the crank connecting rod mechanism when the cleaning assembly is in contact with the ground, that is, lowered to the lowest position.

Fig. 9 shows the raised highest position of the crank connecting rod mechanism.

10 and 11 show a schematic diagram with a spring. FIG. 10 shows that the cleaning assembly is in contact with the ground, at this time the lifting assembly has not been lowered to the lowest position; FIG. 11 shows that on the basis of FIG. The spring) deforms and compresses, putting pressure on the cleaning assembly.

12 is a schematic structural view of a cleaning base according to the first embodiment of the present invention.

13 is a front view of the lifting mechanism in the mopping member of the cleaning robot to which the cleaning base of the first embodiment of the present invention is applied.

14 is a perspective view of the lifting mechanism in the mopping member of the cleaning robot to which the cleaning base of the first embodiment of the present invention is applied.

15 is a schematic view of the structure of the cleaning base of the second embodiment of the present invention.

16 is a partial schematic view of the mopping member of the cleaning robot to which the cleaning base of the second embodiment of the present invention is applied.

Fig. 17 is a schematic diagram of the structure of the filtering water tank.

18 is a flowchart of a dirt separation system according to an embodiment of the present invention.

FIG. 19 is a schematic structural view of the dirt separation system shown in FIG. 18.

20 is a schematic diagram of the structure of the dirt separation system shown in FIG.

21 is a cross-sectional view of the dirt separation system shown in FIG.

22 is a schematic view of the structure of a washing water circulation system according to an embodiment of the present invention.

Fig. 23 is another schematic diagram of the structure of a washing water circulation system according to an embodiment of the present invention.

Best Mode of the Invention

The present invention will be further described below with reference to the drawings and the following embodiments. It should be understood that the drawings and the following embodiments are provided only for teaching the best form for carrying out the present invention to those skilled in the art, rather than limiting the present invention. . In each figure, the same or corresponding reference numerals denote the same parts, and repeated explanations are omitted.

Aiming at the problem that the all-in-one sweeping and dragging machine performs sweeping and mopping work at the same time in the prior art, which has high requirements on the use environment, the present invention discloses a lifting mechanism for a cleaning robot, including a drive component, a lifting component and The cleaning assembly; the drive assembly is used to drive the lifting assembly; the lifting assembly enables the cleaning assembly to be raised and lowered relative to the surface to be cleaned; when the cleaning assembly is lowered to contact the surface to be cleaned, the The cleaning assembly is configured to be able to perform cleaning treatment on the surface to be cleaned; after the cleaning assembly is lifted up, it can not contact the surface to be cleaned.

Preferably, after the cleaning assembly is lifted, its lowest position is higher than the bottom surface of the cleaning robot, so as to improve the obstacle-crossing ability of the cleaning robot after being lifted.

The lifting structure is applied in the field of cleaning robots, which solves the problem that the technical solution of the combination of the water tank and the rag in the prior art cannot adapt to the indoor comprehensive environment, especially the more complicated indoor indoor environment, and by adjusting the cleaning components and the surface to be cleaned Pressure can exert pressure on the stubborn stains and drag the floor, which has achieved unexpected beneficial effects compared with the prior art.

The lifting structure has good expansion performance, especially after combining with artificial intelligence, it can choose whether to clean the surface to be cleaned according to the indoor environment and the surface to be cleaned.

[Realization of lifting action]

In an embodiment, it further includes a processor and an actuator for driving the assembly. The processor receives a trigger signal (including a lift trigger signal and a descent trigger signal) and obtains it according to position information (including preset position information or obtained from a position detection device) Position information) to determine the position of the cleaning assembly, and transmit the execution signal (including the lift execution signal and the down execution signal) to the drive assembly actuator; the drive assembly actuator is used to obtain the execution signal Controlling the driving component (to make the lifting component realize the lifting and lowering actions) until the processor obtains the adjusted position information again (including the preset adjusted position information and the adjusted position detected from the position detection device, etc. Information), the processor sends a signal to stop the execution to the actuator of the drive assembly.

Here, the adjusted position information should be interpreted as: the position information of the lifting assembly after the lifting or lowering action, which may be stored preset position information or position information acquired by the position detection device.

In the case where the position information is preset position information, the preset position information includes raised position information and lowered position information, respectively corresponding to the cleaning component being located in the raised position and the lowered position. The position of the cleaning component is adjusted in advance to be consistent with the preset position information, and this process can be adjusted at the factory setting.

In the case where the position information is position information detected by, for example, a position detection device, the position information includes lifted position information and lowered position information, and the processor combines the trigger signal and the position information to give a lifted or lowered execution signal. After the drive assembly actuator obtains the lift execution signal, it controls the drive assembly and drives the lift assembly to lift the cleaning assembly. Correspondingly, after the drive assembly actuator obtains the down execution signal, it controls the drive assembly and drives the lift assembly to descend the cleaning assembly.

In detail:

1. When the trigger signal is the lift trigger signal, the position detection device detects that the position information of the cleaning component is the lowered position, and the processor sends a lift execution signal to the drive component actuator; until the processor obtains the position information of the cleaning component as the lift position, process The device sends a stop execution signal to the actuator of the drive assembly;

2. When the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning component is the raised position, and the processor sends a descending execution signal to the driving component actuator; until the processor obtains the position information of the cleaning component as the descending position, process The device sends a stop execution signal to the actuator of the drive assembly;

3. When the trigger signal is the lift trigger signal, the position detection device detects that the position information of the cleaning assembly is the lift position, and the processor does not send an execution signal to the drive assembly actuator;

4. When the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning component is the descending position, and the processor does not send an execution signal to the drive component actuator;

The beneficial effect of the above setting is to make the action of the lifting assembly and the purpose of the trigger signal consistent, to avoid misoperation, see the third and fourth cases above, for example, when the trigger signal is the lift trigger signal, and the cleaning assembly is in the lift position At this time, if the processor does not judge the position of the cleaning component and directly sends a lifting command to the drive component actuator, the cleaning component will continue to do the lifting action from the lifting position, which will destroy the lifting mechanism.

Wherein, the position information of the cleaning assembly can be acquired and transmitted to the processor by a position detection device (position sensor), wherein the position detection device is preferably a Hall sensor (see FIG. 1, which shows the raised position Hall sensor A and the lowered position Hall sensor B).

[Structure of lifting assembly]

In the present invention, the lifting assembly may be any motion mechanism capable of realizing lifting movement. The lifting assembly has a lifting portion capable of generating displacement in a vertical direction (perpendicular to the surface to be cleaned). The cleaning assembly is connected to the lifting part. The displacement in the vertical direction includes: a linear displacement in the vertical direction, or a displacement with a component in the vertical direction.

The lifting assembly may be a link mechanism, a linear motion mechanism (such as a screw mechanism), or a gear pair having a lifting portion that generates a displacement in the vertical direction. The connecting rod mechanism may be a spatial connecting rod mechanism or a planar connecting rod mechanism, wherein when the connecting rod mechanism is a spatial connecting rod mechanism, at least one spherical pair is included between the crank, connecting rod and rocker.

Embodiment 1 (the lifting component is a crank connecting rod mechanism, and the cleaning component is a flat drag or rolling brush)

FIGS. 1-4 are structural diagrams of a lifting mechanism for a cleaning robot according to an embodiment of the present invention, wherein the cleaning components in FIGS. 1 and 2 are flat drags, and the cleaning components in FIGS. 3 and 4 are roller brushes. The driving component adopted in this embodiment is a motor component. The motor component includes a motor actuator, a motor, and a reduction gear box. The reduction gear box is used to adjust the rotation speed of the motor output. The lifting assembly is a crank connecting rod mechanism. The cleaning assembly may include, for example, a flatbed drag or a roller brush component.

In the embodiment shown in FIGS. 1-4, the cleaning robot may be connected to the cleaning assembly through at least one crank connecting rod mechanism. The number of crank connecting rod mechanisms arranged along the cleaning assembly can be determined according to the length dimension of the cleaning assembly. Preferably, there are two crank connecting rod mechanisms, which are respectively connected to both ends of the cleaning assembly. The crank connecting rod mechanism includes a crank 2, a connecting rod assembly 3 and a rocker connected in sequence. The crank connecting rod mechanism has a lifting rod that generates displacement in the vertical direction. The lifting rod is provided with a lifting part, and the cleaning assembly is connected with the lifting part.

The motor drives the reduction gearbox 1, the output shaft of the reduction gearbox 1 drives the crank 2 to rotate, and the crank 2 drives the connecting rod assembly to move, and the cleaning assembly 4 swings.

Specifically, the motor output shaft is connected to the reduction gearbox 1. The output shaft of the reduction gearbox 1 is connected to the crank 2, and the crank 2 can rotate 360 degrees with the output shaft of the reduction gearbox 1. The other end of the crank 2 is connected to the connecting rod assembly 3, and the connecting rod assembly 3 and the crank 2 can rotate relatively. The link assembly 3 is connected to the cleaning assembly 4 and can rotate relatively. At least one of the link assembly and the rocker (cleaning assembly 4) is set to have a vertical displacement (see FIG. 3-4). The cleaning assembly is connected to a rod having a vertical displacement. The cleaning assembly can It is lifted from the second limit position N to the first limit position M. In this embodiment, the cleaning unit 4 is located on the rocker. The cleaning component may be fixed in the "middle" of the rocker or integrally formed with the rocker. Among the two ends of the rocker, the first end is connected to the connecting rod and the second end is connected to the body. The position of the cleaning assembly can be determined by position detection devices such as limit switches, infrared sensors, or Hall sensors.

Preferably, the crank connecting rod mechanism is two symmetrically arranged planar connecting rod mechanisms, respectively connected to both ends of the cleaning assembly. The crank connecting rod mechanism includes a crank, a connecting rod and a rocker connected in sequence (the connecting part of the cleaning robot serves as a frame). The rocker serves as a lifting rod. From the principle of the crank connecting rod mechanism, it can be known It is set to be able to rotate around the entire circle under the action of the drive assembly, which can convert the continuous rotation of the crank into the reciprocating motion of the rocker, and the rocker is set to swing in the vertical direction.

When the lifting assembly is a crank connecting rod mechanism, the rocker swings in the vertical direction, as shown in Figure 3-4. In this embodiment, the cleaning assembly includes a roller brush, and the roller brush includes a roller brush cover and roller brush. The brush is a hollow sleeve structure, the mop is wound on the outer surface of the hollow sleeve, and the roller brush cover is connected with the rocker. Preferably, the roller brush cover and the rocker are integrally formed. There are two limit positions for the swing of the rocker. When the rocker is at the first limit position M (see Figure 3), the roller brush is raised to the highest position, and when the rocker is at the second limit position N (see Figure 4), the roller brush The bristles touch the surface to be cleaned.

The two ends of the rolling brush and the two ends of the rolling brush cover are connected by bearings, and one end is provided with a drive shaft connected to the motor, thereby driving the rolling brush to rotate.

In the embodiment shown in FIGS. 1-2, the cleaning component is a flatbed tow, and the flatbed tow and the rocker are integrally formed, so as to realize the vertical movement of the flatbed tow. The flat mop includes a flat support and a mop connected to the lower surface of the flat support. The connection method is preferably velcro bonding, so that it is easy to replace the mop. There are two limit positions for the swing of the rocker. When the rocker is in the first limit position (see Figure 2, flip angle θ), the tablet is lifted to the highest position, and when the rocker is in the second limit position (see Figure 1), the tablet Drag parallel to and in contact with the surface to be cleaned.

When the cleaning component is a flatbed drag, when it swings with the rocker and lifts up to a certain angle, it can make the mop easier to be cleaned.

Example 2 (the lifting component is a screw, and the cleaning component is a flat drag or roller brush)

5 to 6 are schematic structural diagrams of a lifting mechanism for cleaning robots according to another embodiment of the present invention. The linear motion mechanism is preferably a screw. The screw includes a screw 12 and a nut 11 that are connected together, and the screw 12 is configured to have a displacement in a vertical direction. The cleaning assembly 14 is connected to the lower end of the screw 12.

There can be multiple screws connected to the cleaning assembly, and the screws are distributed along the length of the cleaning assembly. It is preferable to use one screw connected to the cleaning assembly, and the screw moves in the vertical direction, as can be seen from the principle of the screw mechanism, When the motor drives the screw nut 11 to rotate clockwise or counterclockwise, the screw can move upward or downward in the vertical direction accordingly.

As shown in FIG. 5, in this embodiment, the cleaning assembly 14 is a flat drag, and the flat drag is connected to the lower end of the screw. Preferably, the flat drag and the lower end of the screw are hinged. The advantage of this arrangement is that when the screw moves vertically downward When the surface to be cleaned has a certain slope, the flatbed tow can better fit the surface to be cleaned.

As shown in FIG. 6, when the screw 12 moves vertically upward, the flatbed tow can be turned outward about an axis parallel to the lateral direction of the cleaning robot. Preferably, the cleaning robot is provided with a stopper 15. When the screw moves vertically upwards, the inner side of the flat mop is resisted by the stopper 15, so that the outer side of the flat mop can rotate around the hinge, thereby turning the flat mop outward .

In one embodiment, the cleaning component is a roller brush. The roller brush includes a roller brush cover and a roller brush. The roller brush has a hollow sleeve structure. The mop is wrapped around the outer surface of the hollow sleeve. The roller brush cover is connected to the lower end of the screw.

The linear movement of the screw in the vertical direction has two limit positions. When the screw is in the first limit position, the roller brush is raised to the highest position, and when the screw is in the second limit position, the roller brush is lowered to contact the surface to be cleaned.

Example 3 (Pressing and Mopping Floor)

Another aspect of the present invention also provides a pressure mopping mechanism for a cleaning robot, including a drive component, a lifting component, and a cleaning component connected in sequence; the drive component is used to drive the lifting component; the lifting component can Lifting and lowering the cleaning assembly relative to the surface to be cleaned; when the cleaning assembly is lowered to contact the surface to be cleaned, the cleaning assembly is configured to be able to clean the surface to be cleaned; when the The cleaning assembly is lifted away from the surface to be cleaned, and the cleaning assembly is configured not to hinder the movement of the cleaning robot; the lifting assembly has a telescopic mechanism that connects the lifting assembly and the cleaning assembly to Due to its telescopic performance, the cleaning component always conforms to the surface to be cleaned, and a certain pressure can be applied to the surface to be cleaned.

Preferably, the telescopic mechanism includes an elastic element.

Specifically, as shown in FIGS. 8-11, FIG. 8 shows the state of the crank connecting rod mechanism when the cleaning assembly is in contact with the ground, that is, lowered to the lowest position. Fig. 9 shows the raised highest position of the crank connecting rod mechanism. In this embodiment, the telescopic mechanism is a spring. 10 and 11 show a schematic diagram with a spring. FIG. 10 shows that the cleaning assembly is in contact with the ground, at this time the lifting assembly has not been lowered to the lowest position; FIG. 11 shows that on the basis of FIG. The spring) deforms and compresses, putting pressure on the cleaning assembly.

In addition, the present invention also provides a working method of a pressure applying mopping mechanism for a cleaning robot, including the following steps:

Preferably, in step one, after the cleaning component contacts the surface to be cleaned, the lifting component continues to drive the cleaning component down by a first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply the first cleaning component One force. The maximum height of descent is preferably such that the robot cannot be lifted.

As a result, the floor can be raised and lowered, the mop can be washed, and the floor can be applied under pressure, and the pressure can be adjusted according to the situation. The cleaning robot provided by the present invention includes the above-mentioned lifting mechanism. Among them, as a preferred form, the cleaning robot may be a household cleaning robot.

At present, the cleaning components of cleaning robots on the market are all flat rags, which are connected to the bottom of the water tank and supply water to the rags through the water tank. In order to increase the water supply time and water supply, the water tank and the rag basically occupy all the space. However, the distance between the rag and the ground cannot be adjusted, and the process of sweeping and dragging cannot be performed independently. 7 is a schematic structural view of a conventional cleaning robot mopping mechanism. 400 is the rag and 300 is the water tank. It can be seen that the previous mopping mechanism has a water tank, and there is no space to arrange the lifting mechanism. The invention is provided with a lifting mechanism and the like. The space arrangement is specifically at the position of the original water tank and cleaning assembly. The water tank is removed, and only the lifting mechanism and cleaning assembly are provided. In addition, the sweeping module is the same as the prior art, and generally includes the cleaning assembly and vacuum suction.

Compared with the conventional household cleaning robots, the cleaning robot provided by the present invention is provided with the above-mentioned lifting mechanism, so that the sweeping and dragging can be performed independently (for example, it can only be dragged without sweeping, only sweep without dragging, etc.); You can put pressure on the floor.

The invention also provides a working method of the cleaning robot, including the following steps:

Step 1: The cleaning robot can identify the surface to be cleaned by a sensor (such as a camera) and pass the information to the processor;

The invention also provides a working mode of a cleaning robot which only mopping the floor:

Step 3: When the cleaning strategy in step 2 is to mop the surface to be cleaned, the processor sends a mopping execution signal to the drive assembly, and the drive assembly drives the lifting assembly and brings the cleaning assembly into contact with the surface to be cleaned; when cleaning in step 2 The strategy is that the surface to be cleaned is not mopped, and the processor sends a non-mopping execution signal to the drive assembly, and the drive assembly drives the lifting assembly and disengages the cleaning assembly from the surface to be cleaned.

A cleaning base for a cleaning robot includes: a base body, a wiper mechanism provided on the base body, and a water spray assembly having a spray head; the spray head is carried out along the mopping part of the cleaning robot Arranged and formed as a structure to spray water or spray on the mopping member; the wiper mechanism includes a scraper that contacts and is relatively displaced with the mopping member to remove the Squeeze out water as the attachment is scraped. The mopping parts on the cleaning robot can be lifted by the lifting mechanism and interfere with the wiper mechanism.

First embodiment

In the present invention, the mopping component may be a flat mop, and the mopping component is configured to be controlled to rotate around a point and be lifted by a lifting mechanism. It may be that the wiper mechanism has an inclination angle, and the mopping member is configured to rotate by a corresponding inclination angle while being controlled to be lifted by the lifting mechanism. The lifting mechanism may be a crank rocker mechanism, a gear pair or a screw mechanism. The wiper mechanism also includes a transmission mechanism driven by a drive motor assembly, which causes the scraper to drag linearly and reciprocate along the flat plate. The mopping parts are controlled by the lifting mechanism and interfere with the wiper mechanism. The transmission mechanism may be a timing belt mechanism, a crank slider mechanism, or an eccentric cam mechanism. Among them, there is also a scraper automatic reversing mechanism. The transmission mechanism is a belt-type transmission mechanism. The belt-type transmission mechanism rotates in one direction under the action of the drive motor assembly. The belt and the scraper automatic reversing mechanism are connected to drive the scraper. The scraper on the board automatic reversing mechanism makes linear reciprocating motion. The squeegee may be provided with teeth.

12 is a schematic structural view of a cleaning base according to the first embodiment of the present invention. 13 is a front view of the lifting mechanism in the mopping member of the cleaning robot to which the cleaning base of the first embodiment of the present invention is applied. 14 is a perspective view of the lifting mechanism in the mopping member of the cleaning robot to which the cleaning base of the first embodiment of the present invention is applied. As shown in FIGS. 12-14, it can be seen that the cleaning base of the first embodiment is suitable for a cleaning robot equipped with a mopping member (flat mop).

Specifically, the cleaning robot to which the cleaning base of the first embodiment is applied has a flat floor mopping member (flat mop). The mopping component can be controlled to be lifted or lowered by the lifting mechanism, and it is rotated and raised around a point, and it can be matched with the scraper with a certain tilt angle on the cleaning base when it is rotated to a certain angle.

The rotation angle ranges from 20 ° to 90 °, preferably from 30 ° to 60 °, and the angle is the angle between the flat tow and the horizontal plane.

As shown in FIGS. 13 and 14, the lifting mechanism may include: a drive motor assembly, a crank 52, a connecting rod 53, a flat plate 54, and a base 55, wherein the crank 52 and the base 55, the connecting rod 53, and the flat plate 54 form a crank rocker mechanism. The flat plate 54 is provided on the connecting rod 53. When the cloth on the flat plate 54 needs cleaning, the drive motor assembly drives the crank 52 to make a circular motion, and the crank 52 drives the connecting rod 53 to move, and the flat plate 54 makes a rotational movement around the rotation point S under a force , Can move from the tablet position point C to the tablet position point c. The cleaning robot returns to the cleaning base to clean the cloth. After the cleaning of the rag is completed, the cleaning robot continues to clean the ground. Under the action of the lifting mechanism, the flat plate 54 is lowered to a position parallel to the horizontal plane and remains stationary. Under the action of the lifting mechanism, the rag and the ground are kept in interference and the pressure remains unchanged. .

The flatbed mopping mechanism of the present invention has a power source, which can increase the pressure of the flatbed to the ground through the mechanical mechanism and increase the cleaning effect.

The crank rocker mechanism has been described as an example above, but as a lifting mechanism, a gear pair, a screw mechanism, etc. can also be used to raise or lower the mopping member.

12 is a schematic structural view of a cleaning base according to the first embodiment of the present invention. As shown in FIG. 12, the cleaning base of the first embodiment of the present invention includes a base body 21, a wiper mechanism provided on the base body 21, and a water spray assembly 23 having a spray head. The wiper mechanism includes a scraper 22 and a transmission mechanism 25. The transmission mechanism 25 is driven by a drive motor assembly 26, which can cause the scraper 22 provided on the transmission mechanism 25 to be linearly reciprocated along the flat plate.

When the cleaning cloth on the cleaning robot needs to be cleaned and returned to the base position, the water spray assembly 23 first rinses the cleaning cloth, and at the same time, drives the motor assembly 26 through the transmission mechanism 25 to realize the linear reciprocating movement of the scraper 22 to the cleaning cloth Perform reciprocating cleaning to remove dirt from the cloth. After the spraying time is over, the scraper 22 can continue to work to remove water stains from the cloth. The water stains in the cleaning process can be collected into the water tank 27 in the base, and the filtered water can be collected again by the water pump for secondary use.

Specifically, the water spray assembly 23 is arranged along the flatbed to spray water to the flatbed, so that the water jet from the spray head can cover the flatbed. At the same time, the water spray assembly 23 can generate a water flow with a certain pressure and wash the flatbed tow. The water spray assembly 23 can also generate a spray and wet the flatbed mop. The spray direction of the spray head (longitudinal angle, horizontal angle) is adjustable. The shape of the water flow of the nozzle may include a conical shape, a fan shape, etc., and is not limited to the row shown in the figure. When the rag on the flatbed is attached to the scraper of the wiper mechanism, the scraper 22 can scrape off the attachments of the flatbed and can squeeze out the water on the flatbed. The squeegee 22 may be provided with teeth.

The transmission mechanism can make the scraper linearly reciprocate along the longitudinal direction or the lateral direction of the side surface of the flat plate where the rag is provided. The implementation of the transmission mechanism includes but is not limited to: a synchronous belt mechanism, a crank slider mechanism, or an eccentric cam mechanism.

In one embodiment, the transmission mechanism may include a belt transmission mechanism. The belt transmission mechanism can rotate forward and reverse under the action of the drive motor assembly 26. Accordingly, the belt on the belt transmission mechanism can rotate forward and reverse to drive the Scraper on the belt.

The washing base may also have a sink. The spray head can be arranged above the water tank or in the water tank. The wiper mechanism can also be installed in the sink. A filter element for filtering sewage can also be arranged in the sink. The scraper 22 is provided above the filter, the attachment scraped off by the scraper 22 on the flat plate is trapped by the filter, and the water squeezed out by the scraper on the flat drag passes through the filter and flows into the water tank provided downstream of the filter. The water tank is connected to the water tank through the first water pump, and the water tank is connected to the spray head through the second water pump. The bottom of the water tank may have a slope, and its function is to allow the water in the water tank to quickly concentrate to the bottom of the slope, thereby preventing air from entering the first water pump and generating air bubbles. When cleaning the mop cylinder, place the mop cylinder in the sink, and spray the nozzle to wet the mop cylinder. The mop cylinder rotates under the drive of a motor, and the scraper contacts the mop cylinder to scrape off the sewage. When squeezing out the mop cylinder, first stop the spray head to spray water, and the scraper continues to wipe the water until the water stains on the mop cylinder are dried (the water stains on the mop cylinder without dripping without external force).

The automatic cleaning method of the cleaning base of this embodiment may include the following steps:

Step 5: When the water stains on the mopping parts are dried (the water stains on the mopping parts can be dripped without the help of external force, and it does not only mean that there is no water on the mopping parts), stop the scraper mobile.

Second embodiment

15 is a schematic view of the structure of the cleaning base according to the second embodiment of the present invention. As shown in FIG. 15, the cleaning base of this embodiment includes a base body 71, a wiper mechanism 72 provided on the base body 71, and a water spray assembly having a spray head 73.

16 is a partial schematic view of the mopping member of the cleaning robot to which the cleaning base of the second embodiment of the present invention is applied. As shown in FIG. 16, the cleaning base of this embodiment can be applied to a cleaning robot equipped with a mopping member (rolling brush 74). In this embodiment, the mopping member may be a roller brush 74, which is configured to rotate under the drive of a motor;

The mopping member is configured to be controlled to rotate and lift around a point by a lifting mechanism. It may be that the wiper mechanism has an inclination angle, and the mopping member is configured to rotate by a corresponding inclination angle while being controlled to be lifted by the lifting mechanism. The lifting mechanism may be a crank rocker mechanism, a gear pair or a screw mechanism.

The wiper mechanism may include a scraper, which may be elongated, and the axes of the scraper and the roller brush are arranged in parallel.

The mopping component (rolling brush 74) can be controlled to be lifted or lowered, and can be brought into contact with the scraper of the wiper mechanism 72 after being lifted by a certain height in the vertical direction. There is a cylindrical mop cylinder inside the mopping part, and the mop cylinder can rotate under the drive of a motor.

The spray head 73 can spray water to the roller brush 74, and at the same time, the spray head 73 can generate a water flow under a certain pressure and rinse the roller brush 74. The spray head 73 can also generate spray and wet the roller brush 74.

In this embodiment, the spray heads 73 are arranged along the axial direction of the roller brush 74, and the water flow from the spray head 73 can cover the roller brush (at least one closed line area on the roller brush).

The spray direction (longitudinal angle and lateral angle) of the spray head 73 is adjustable, and the extending direction of the spray direction may be perpendicular to the axis of the roller brush 74. The shape of the water flow of the nozzle includes a conical shape, a fan shape, etc., and is not limited to the row shown in the figure.

The wiper mechanism 72 may have a long blade. The axes of the squeegee and the roller brush 74 are arranged in parallel. The squeegee may have an inclined angle, so that the bristles of the roller brush and the squeegee may gradually contact and gradually interfere. The "interference" in the present invention means that the scraper is inserted into the bristles of the mopping member or forms pressure on the surface of the mopping member.

The inclined surface of the scraper may be flat or curved. When the roller brush rotates and lifts up to fit the scraper, the scraper can scrape off the attachments on the roller brush, and at the same time can squeeze the water from the roller brush.

The squeegee can also be provided with a toothed part. When the roller brush interferes with the squeegee, the toothed part can reduce the load and reduce the resistance of the roller brush to rotate, thereby reducing the power consumption.

In addition, the cleaning base of the present embodiment may also have a water tank. The spray head 73 may be disposed above or in the water tank. The wiper mechanism 72 may also be installed in the water tank. A filter element for filtering sewage can also be arranged in the sink. The scraper is arranged above the filter, the attachments scraped off by the scraper on the roller brush are trapped by the filter, and the water squeezed out by the scraper on the roller brush flows through the filter into the water tank provided downstream of the filter. The water tank is connected to the water tank through the first water pump, and the water tank is connected to the spray head through the second water pump. The bottom of the water tank may have a slope, and its function is to allow the water in the water tank to quickly concentrate to the bottom of the slope, thereby preventing air from entering the first water pump and generating air bubbles. When cleaning the mop cylinder, place the mop cylinder in the sink, and spray the nozzle to wet the mop cylinder. The mop cylinder rotates under the drive of a motor, and the scraper contacts the mop cylinder to scrape off the sewage. When squeezing the mop cylinder, first stop the spray nozzle, and the scraper continues to wipe the water until the water stains on the mop cylinder are dried (the water stains on the mop cylinder without dripping without external force, and Not just that there is no water on the mopping parts).

the cleaning method

Step one, make the mopping part (rolling brush) gradually approach the scraper of the cleaning base;

Step 3: The mopping part rotates, the spray head sprays water to rinse the mopping part or wet the mopping part, and the scraper will attach the mopping part

Scrape the objects and squeeze out the water from the mopping parts;

Step 5: When the water stains on the mopping parts are dried (the water stains on the mop tube can be dripped without external force), the mopping parts stop rotating.

According to the present invention, the spray heads are arranged laterally along the mopping member, the purpose is to enable the water flow from the spray head to cover the mopping member, and the spray head can spray water to the mopping member, and at the same time, the spray head can generate a certain pressure of water flow Wash the ground parts; or the spray head can generate spray and wet the mopping parts. Moreover, when the mopping member is attached to the scraper of the wiper mechanism, the scraper can scrape off the attachment of the mopping member, and at the same time can squeeze out the water on the mopping member. Therefore, the cleaning base of the present invention can effectively perform automatic cleaning of the mopping mechanism of the cleaning robot, and at the same time prevent secondary pollution to the ground during the cleaning process of the ground.

In addition, the aforementioned water tank may correspond to a filtering water tank described later, the filter element may correspond to a filtering element described later, for example, it may be a filter, etc., the first water pump may correspond to a sewage pump described later, and the water tank may correspond to a circulating water tank or The waste water tank and the second water pump can correspond to the circulating water pump described later.

Water circulation method: dirty separation system

An embodiment of the present invention may further include a dirt separation system, wherein the water purification tank, the water purification pump, and the water spray assembly (for example, including the spray head) are connected in sequence; the filter water tank, the sewage pump, and the sewage tank are sequentially connected; The dirty water and filtering the dirty water, the filtered water tank is provided with a filter element; the sewage pump transports the water in the filtered water tank to the sewage tank; the clean water tank provides a water source for the water spray assembly; The water of the water purification tank is delivered to the water spray assembly by the water purification pump; the water spray assembly sprays the water to the rag.

The cleaning base of the present invention has a water supply system and a sewage collection system. The water supply system is used to supply water to the water spray assembly, and the sewage collection system is used to collect dirty water after cleaning the mopping components.

As shown in FIG. 18, an embodiment of the present invention may further include a dirt separation system for cleaning robots. The water supply system includes a clean water tank and a clean water pump, and the sewage collection system includes a filtered water tank, a sewage pump, and a sewage tank, including sequential connection. Water purification tank, water purification pump, water spray element. It may further include a filter water tank, a sewage pump and a sewage tank connected in sequence.

Fig. 17 is a schematic structural view of a filtered water tank, which corresponds to the water tank described above. Referring to FIGS. 19-21, the filter tank is provided with filter elements. The filtering water tank is used to receive the dirty water after cleaning the cloth and filter the dirty water.

The filtered water tank includes a filter tank 104 and a sewage receiving tank 103. The filter box 104 is used to receive the dirty water for cleaning the rag, and is provided with a water guide tube, and the sewage receiving box 103 is used to filter the dirty water, and is provided with a water guide hole, and the water guide tube and the water guide hole are sealed to cooperate, so that the The filter tank 104 can be detachably connected from the sewage receiving tank 103.

The filter box 104 is provided with an inclined surface that can guide the water flowing into the filter box 104 into the water guide pipe to enter the sewage receiving tank 103. The sewage receiving tank is provided with a water level detection sensor 201, so that the corresponding water pump is adjusted according to the water level in the sewage receiving tank, so that the water level in the sewage receiving tank 103 is always lower than the lower edge of the water guide hole, so that the water in the filter tank can It always flows to the sewage receiving tank 103.

Specifically, the water level sensor 201 is used to detect whether the water level of the sewage receiving tank 103 is higher than the upper limit, and adjust the motor according to the water level detection. If it is higher than the upper limit, increase the water level by adjusting the suction through the sewage pump. In one embodiment, the height of the upper limit is the height of the lowest point of the inlet pipe.

The filter box 104 is provided with a water inlet pipe, the sewage receiving tank 103 is provided with a water inlet hole, and the water inlet pipe and the water inlet hole are hermetically matched. The sewage receiving tank outlet 202 of the sewage receiving tank 103 is connected to the sewage pump.

The sewage pump 101 is used to transfer the water in the filtered water tank to the sewage tank. The sewage pump 101 has a sewage pump inlet pipe 1011 and a sewage pump outlet pipe 1012, and the water discharged from the sewage pump outlet pipe 1012 flows to the sewage tank.

The water purification tank 102 is used to provide a water source for the water spray element. The circulating water pump is used to transfer the water in the water purification tank 102 to the water spray element. The water spray element is used to spray water to the rag. In one embodiment, the structure of the filtered water tank includes a filter tank 104 and a sewage receiving tank 103. The filter tank 104 is used to receive dirty water used for cleaning rags. The sewage tank 103 is used to filter dirty water. The filter box filter 1041 is a part of the filter box 104, and the filter box filter 1041 is provided on the top of the filter box 104. When in use, the filter box filter 1041 in the filter box 104 will first retain large particles of dirt and hair. The sewage receiving tank filter 1031 is a part of the sewage receiving tank 103. The sewage receiving tank filter 1031 is disposed at the bottom of the sewage receiving tank 103. After passing through the sewage receiving tank filter 1031 in the sewage receiving tank, it has the function of secondary filtration, and small particulate matter in the sewage will be left behind.

In one embodiment, the sewage receiving tank 103 is provided with a water level sensor, and the water level sensor is used to detect whether the water level of the sewage receiving tank is higher than the upper limit, and if it is higher than the upper limit, the sewage pump increases suction to adjust the water level. In one embodiment, the height of the upper limit is the height of the lowest point of the water inlet pipe (aqueduct).

The filter box is provided with a water inlet pipe, the sewage receiving box is provided with a water inlet hole, and the water inlet pipe and the water inlet hole are hermetically matched.

In one embodiment, the water purification tank is detachably connected to the water circulation filtration system, and the sewage tank is provided with a water injection port, whereby water can be changed. In one embodiment, the water purification tank is provided with a lower water mark. In one embodiment, the water purification tank is provided with a water shortage alarm.

In one embodiment, the water pressure of the water spout can be controlled by a water purification pump connected to the water spout assembly. The spray direction of the spray head (longitudinal angle, horizontal angle) is adjustable. The extending direction of the spray direction may be perpendicular to the axis of the roller brush 74. The shape of the water flow of the nozzle includes a conical shape, a fan shape, etc., and is not limited to one row.

The sewage tank is set to be detachable, and a water full alarm sensor is set.

The filter box 104 can be freely taken out from the base. After each cleaning, the filter box can be taken out to clean the large particles and hair in the filter screen to avoid clogging. The sewage receiving box 103 can also be disassembled. After a certain number of cleanings, the sewage receiving box can be disassembled to clean or replace the filter net in the sewage receiving box to avoid the filtering effect of the sewage receiving box from decreasing or blocking.

In addition, after the sewage flows through the filter box, the dirt on the rag will be left on the filter sheet, which is convenient for cleaning the dirt.

In one embodiment, the water supply system includes a faucet and an inlet pipe, and the sewage collection system includes a filtered water tank, a sewage pump, an outlet pipe, and a floor drain connected in sequence. As shown in FIG. 22, the water spray assembly is connected to the faucet 66 through the inlet pipe. The filtered water tank is connected to the outlet pipe through the sewage pump, and the outlet pipe is connected to the floor drain 88. Water is supplied to the water spray assembly through the valve-controlled faucet.

The benefit of this circulation method is to directly combine the water circulation system for cleaning the base with the home hardware, thereby reducing manual intervention and realizing smart home.

In one embodiment, the water supply system includes a faucet 66, an inlet pipe, a water purification tank 102 and a water purification pump 105 connected in sequence, and the sewage collection system includes a filtered water tank, sewage pump 101 and floor drain 88 connected in sequence, as shown in FIG. 23, The water spray assembly 23 is connected to the water purification tank 102 through the water purification pump 105, and the faucet 66 is connected to the water purification tank 102 through the water inlet pipe. The water purification tank 102 is provided with a water inlet valve capable of opening and closing the water inlet pipe. The water level in the tank opens and closes the water inlet pipe. In one embodiment, the water inlet valve can be a float switch 106. The float switch can rise and fall with the change of the water level. When the float is at the highest point, the float switch closes the water inlet pipe. Enter the water inlet tank. When the water level in the water inlet tank drops, the float drops with the drop of the water level. At this time, the float switch opens the water inlet pipe, and water can enter the water purification tank until the float reaches the highest point. The float switch closes the water inlet pipe. The filtered water tank is connected to the outlet pipe through the sewage pump, and the outlet pipe is connected to the floor drain.

In each of the above embodiments, the cleaning base may additionally have a charging device for charging the household cleaning robot. The water is supplied to the water spraying component through the water purification tank, which avoids the uncontrollable water spraying effect or the unsatisfactory cleaning effect when the faucet directly flows to the water spraying component due to the unstable pressure at the water faucet.

The interference in the present invention means that the scraper and the wiper are in contact, and the front end of the scraper is deep into the wiper surface by a certain distance.

A cleaning robot according to an embodiment of the present invention has a lifting mechanism and a washing machine base. The washing machine base includes: a base body, a wiper mechanism provided on the base body, and a water spray assembly having a spray head; the spray head Arranged along the mopping parts of the cleaning robot and formed into a structure to spray water or spray on the mopping parts; the wiper mechanism includes a scraper that contacts the mop parts and is relatively displaced To squeeze out the water while scraping off the attachments on the mopping member; the lifting mechanism lifts or lifts the mopping member in the form of contacting or separating the mopping member from the scraper decline. The overall cleaning robot of the present invention will be further described below with reference to several embodiments.

The first embodiment (passive wiper for washing machine base)

Specifically, the cleaning robot to which the cleaning base of the first embodiment is applied has a cylindrical mopping member (rolling brush) at the rear. The mopping member can be controlled to be lifted or lowered by a lifting mechanism (the structure of the lifting mechanism will be described later), and can be brought into contact with the scraper of the wiper mechanism after being lifted by a certain height in the vertical direction. There is a cylindrical mop cylinder inside the mopping part, and the mop cylinder can rotate under the drive of a motor.

The spray head can spray water to the rolling brush, and at the same time, the spray head can generate a water flow with a certain pressure and rinse the rolling brush. The spray head can also generate spray and wet the roller brush.

In this embodiment, the spray heads are arranged along the axial direction of the roller brush, and the water flow from the spray head can cover the roller brush (at least a closed line area on the roller brush).

The spray direction (longitudinal angle, lateral angle) of the spray head is adjustable, and the extending direction of the spray direction can be perpendicular to the axis of the roller brush. The shape of the water flow of the nozzle includes a conical shape, a fan shape, etc., and is not limited to the row shown in the figure.

The wiper mechanism has a long scraper. The axes of the scraper and the roller brush are arranged in parallel. The squeegee may have an inclined angle, so that the bristles of the roller brush and the squeegee may gradually contact and gradually interfere. The "interference" in the present invention means that the scraper is inserted into the bristles of the mopping member or forms pressure on the surface of the mopping member. The inclined surface of the scraper may be flat or curved. When the roller brush rotates and lifts up to fit the scraper, the scraper can scrape off the attachments on the roller brush, and at the same time can squeeze the water from the roller brush. The squeegee may be provided with a toothed portion. When the roller brush interferes with the squeegee, the toothed portion may reduce the load, reduce the resistance of the roller brush to rotate, and thereby reduce power consumption.

The automatic cleaning method for cleaning the base in this embodiment may include the following steps:

Step 1: Raise the roller brush through the lifting mechanism, and make the roller brush gradually approach the scraper of the cleaning base;

Step two, when the roller brush and the scraper form interference, stop approaching;

Step 3: The roller brush rotates, the nozzle sprays water to rinse the roller brush or wet the roller brush, the scraper scrapes the attachments from the roller brush, and at the same time squeezes the water from the roller brush

Step 4, the spray head stops spraying water, the roller brush continues to rotate, and the scraper continues to squeeze the water from the roller brush;

Step 5: When the water stains on the roller brush are dried (the water stains on the roller brush without the help of external force, no water drops), the roller brush stops rotating.

In addition, the cleaning base may also have a sink. The cleaning base has a charging device for charging the household cleaning robot.

The spray head can be arranged above the water tank or in the water tank. The wiper mechanism can also be installed in the sink. A filter element for filtering sewage can also be arranged in the sink. The scraper is arranged above the filter, the additional crops scraped by the scraper on the roller brush are intercepted by the filter, and the water squeezed out by the scraper on the roller brush flows through the filter into the water tank provided downstream of the filter. The water tank is connected to the water tank through the first water pump, and the water tank is connected to the spray head through the second water pump. The bottom of the water tank may have a slope, and its function is to allow the water in the water tank to quickly concentrate to the bottom of the slope, thereby preventing air from entering the first water pump and generating air bubbles. When cleaning the mop cylinder, place the mop cylinder in the sink, and spray the nozzle to wet the mop cylinder. The mop cylinder rotates under the drive of a motor, and the scraper contacts the mop cylinder to scrape off the sewage. When squeezing the mop cylinder, first stop the spray head and spray, and the scraper continues to wipe the water until the water stains on the mop cylinder are dried (the water stains on the mop cylinder without dripping without external force are not meant to be There is no water on the mopping parts).

Second embodiment (active wiping of washing machine base)

The cleaning base of the second embodiment is suitable for a cleaning robot to which a floor mopping component (flat mop) is attached.

Specifically, the cleaning robot to which the cleaning base of the second embodiment is applied has a flat floor mopping member (flat mop). The mopping component can be controlled to be lifted or lowered by the lifting mechanism. It rotates and lifts around a point, and rotates to a certain angle to cooperate with the scraper with a certain inclination angle on the cleaning base.

The lifting mechanism may include: a driving motor assembly, a crank, a connecting rod, a flat plate, and a base, wherein the crank and the base, the connecting rod, and the flat plate constitute a crank rocker mechanism. The flat plate is set on the connecting rod. When the cloth on the flat plate needs to be cleaned, the drive motor assembly drives the crank to make a circular motion. The crank drives the connecting rod to move. The flat plate makes a rotational movement around the rotation point S under the state of force. Move to the position c of the tablet. The cleaning robot returns to the cleaning base and cleans the cloth. After the cleaning of the rag is completed, the cleaning robot continues to clean the ground. Under the action of the lifting mechanism, the flat plate falls to a position parallel to the horizontal plane and remains stationary. Under the action of the lifting mechanism, the rag and the ground are kept in interference and the pressure remains unchanged.

The crank rocker mechanism has been described as an example above, but as the lifting mechanism, a gear pair, a screw mechanism, etc. can also be used to raise or lower the mopping member.

The cleaning base of the second embodiment of the present invention includes a base body, a wiper mechanism provided on the base body, and a water spray assembly having a spray head. Wherein, the wiper mechanism includes a scraper and a transmission mechanism. The transmission mechanism is driven by a drive motor assembly, which can make the scraper provided on the transmission mechanism drag along a flat plate to reciprocate in a straight line.

When the cleaning cloth on the cleaning robot needs to be cleaned and returned to the base position, the water spray assembly first rinses the cleaning cloth, and at the same time, the drive motor component realizes the linear reciprocating movement of the scraper through the transmission mechanism to clean the cleaning cloth, This removes dirt from the cloth. After the spraying time is over, the scraper can continue to work to remove water stains from the cloth. Water stains during the cleaning process can be collected into the water tank in the base, and the filtered water can be collected by the water pump for secondary use.

Specifically, the water spray components are arranged along the flat tow and spray water to the flat tow so that the water flow sprayed from the spray head can cover the flat tow. At the same time, the water spray assembly can generate a certain pressure of water flow and flush the flatbed tow. The water spray assembly can also generate spray and moisten the mop. The spray direction of the spray head (longitudinal angle, horizontal angle) is adjustable. The shape of the water flow of the nozzle may include a conical shape, a fan shape, etc., and is not limited to the row shown in the figure. When the rag on the flatbed is attached to the scraper of the wiper mechanism, the scraper can scrape off the attachment of the flatbed, and at the same time can squeeze out the water on the flatbed. The squeegee can be provided with toothed portions.

In one embodiment, the transmission mechanism may include a belt transmission mechanism. The belt transmission mechanism can rotate forward and reverse under the action of the drive motor assembly. Correspondingly, the belt on the belt transmission mechanism can rotate forward and reverse to drive the belt. On the scraper.

In addition, the embodiment of the flatbed mop of the present invention can also have an automatic cleaning water tank, which cleans the wipes after cleaning and scrapes off excess water stains on the wipes, solving the problem of accumulation of water stains and manual cleaning of wipes when the existing robot cleans the ground .

The cleaning base may have a charging device for charging the household cleaning robot.

The washing base may also have a sink. The spray head can be arranged above the water tank or in the water tank. The wiper mechanism can also be installed in the sink. A filter element for filtering sewage can also be arranged in the sink. The scraper is arranged above the filter, the attached crops scraped off by the scraper on the flat plate are intercepted by the filter, and the water squeezed out by the scraper on the flat drag passes through the filter and flows into the water tank provided downstream of the filter. The water tank is connected to the water tank through the first water pump, and the water tank is connected to the spray head through the second water pump. The bottom of the water tank may have a slope, and its function is to allow the water in the water tank to quickly concentrate to the bottom of the slope, thereby preventing air from entering the first water pump and generating air bubbles. When cleaning the mop cylinder, place the mop cylinder in the sink, and spray the nozzle to wet the mop cylinder. The mop cylinder rotates under the drive of a motor, and the scraper contacts the mop cylinder to scrape off the sewage. When squeezing out the mop cylinder, first stop the spray head to spray water, and the scraper continues to wipe the water until the water stains on the mop cylinder are dried (the water stains on the mop cylinder without dripping without external force).

Step 1: The tablet drags gradually close to the scraper of the cleaning base;

Step two, when the flatbed drag and the scraper form interference, stop approaching;

Step 3: The nozzle sprays water to rinse or moisten the flat mop, move the scraper, scrape off the attachment on the flat mop, and squeeze out the water on the flat mop;

Step 4, the spray head stops spraying water, and the scraper continues to squeeze the water from the flat plate;

Step 5: When the water stain on the flatbed is dried (the water stain on the flatbed is not dripping without external force, it does not mean that there is no water on the mopping part), so that the scraper stops moving.

Structure of lifting mechanism

The following also shows a lifting mechanism of a cleaning robot, including a driving component, a lifting component and a cleaning component connected in sequence; the driving component is used to drive the lifting component; the lifting component can make the cleaning component relative to The surface to be cleaned is lifted and lowered; when the cleaning component is lowered to contact the surface to be cleaned, the cleaning component is set to be capable of cleaning the surface to be cleaned; when the cleaning component is lifted to disengage from the For the surface to be cleaned, the cleaning assembly is arranged so as not to hinder the movement of the cleaning robot.

The lifting mechanism of this form can be applied to the cleaning robot of the foregoing embodiment, for example. The driving component adopted in this embodiment is a motor component. The motor component includes a motor actuator, a motor, and a reduction gear box. The reduction gear box is used to adjust the rotation speed of the motor output. The lifting assembly is a crank connecting rod mechanism, and the cleaning assembly includes a rolling brush component.

In one embodiment, the crank connecting rod mechanism includes a crank, a connecting rod assembly and a rocker connected in sequence.

The motor drives the reduction gearbox, and the output shaft of the reduction gearbox drives the crank to rotate, and the crank drives the connecting rod to move to realize the swing of the cleaning assembly.

Specifically, the motor output shaft is connected to the gearbox. The output shaft of the gearbox is connected to the crank, which can rotate with the gearbox output shaft. The other end of the crank is connected with the connecting rod assembly, and the connecting rod assembly and the crank can rotate relatively. The connecting rod assembly is connected with the cleaning assembly and can rotate relatively. At least one of the connecting rod and the rocker (cleaning assembly) is set to have a vertical displacement, and the cleaning assembly can be lifted from position to position. In this embodiment, the cleaning unit is located on the rocker. It may be that the cleaning assembly is fixed in the "middle" of the rocker. Among the two ends of the rocker, the first end is rotatably connected to the connecting rod, and the second end is rotatably connected to the fuselage. The position of the cleaning assembly can be determined by limit switches or infrared sensors.

The driving assembly adopted in another embodiment is the same as the preceding embodiment as a motor assembly. The motor assembly includes a motor actuator, a motor, and a reduction gearbox. The reduction gearbox is used to adjust the output speed of the motor. In this embodiment, the lifting assembly is a gear pair mechanism. The cleaning assembly includes a flat plate part. The motor drives the reduction gearbox, the output shaft of the reduction gearbox and the support rod are connected by a gear pair, the output shaft of the reduction gearbox rotates, and the support rod realizes ascent and descent. Specifically, the motor output shaft is connected to the gearbox. The output shaft of the reduction gearbox is connected with the support rod through a gear pair, and the support rod is connected with the cleaning component. The cleaning component can rotate back and forth, left and right relative to the support rod.

Those skilled in the art can understand various improvements or other embodiments of the present invention based on the above description. Therefore, the above description should be interpreted only as an illustrative description, which is provided to teach those skilled in the art the best form for carrying out the present invention. The details of one or more of its structure and functions can be changed substantially without departing from the spirit of the invention.

Claims

A cleaning robot, characterized in that

With lifting mechanism and cleaning base,

The cleaning base includes:

A base body, a wiper mechanism provided on the base body, and a water spray assembly with a spray head;

The spray heads are arranged along the mopping parts of the cleaning robot and formed into a structure that sprays water or spray on the mopping parts;

The wiper mechanism includes a scraper that contacts and is relatively displaced with the mopping member to squeeze out water while scraping off the attachments on the mopping member;

The cleaning base has a water supply system and a sewage collection system, the water supply system is used to supply water to the water spray assembly, and the sewage collection system is used to collect dirty water after cleaning the mopping components;

The lifting mechanism raises or lowers the mopping member in the form of contacting or separating the mopping member and the scraper.
The cleaning robot according to claim 1, wherein:

The mopping component includes a roller brush configured to rotate under the drive of a motor;

The scraper has a long shape, and the axes of the scraper and the roller brush are arranged in parallel.
The cleaning robot according to claim 2, wherein:

The roller brush is configured to be brought into contact with the scraper after being lifted by a certain height in the vertical direction under the control of the lifting mechanism.
The cleaning robot according to claim 1, wherein:

The mopping component includes a flat mop,

The wiper mechanism also includes a transmission mechanism driven by a drive motor assembly, which causes the scraper to reciprocate in a straight line along the flat plate.
The cleaning robot according to claim 4, wherein:

The wiper mechanism has an inclination angle, and the mopping member is configured to rotate by a corresponding inclination angle while being controlled to be lifted by the elevating mechanism.
The cleaning robot according to any one of claims 1 to 5, wherein:

The lifting mechanism includes: a driving component, a lifting component and a cleaning component connected in sequence;

The driving assembly is used to drive the lifting assembly;

The lifting assembly enables the cleaning assembly to be raised and lowered relative to the surface to be cleaned;

When the cleaning component is lowered to contact the surface to be cleaned, the cleaning component is configured to be able to perform a cleaning process on the surface to be cleaned; after the cleaning component is lifted up, it can not contact the surface to be cleaned.
The cleaning robot according to claim 6, wherein:

The lifting assembly has a telescopic mechanism that connects the lifting assembly and the cleaning assembly so that the cleaning assembly always conforms to the surface to be cleaned by its telescopic performance, and a certain pressure can be applied to the surface to be cleaned.
The cleaning robot according to any one of claims 1 to 7, wherein:

The cleaning base has a charging device for charging the cleaning robot.
The cleaning robot according to claim 1, wherein the water supply system includes a water purification tank and a water purification pump, and the sewage collection system includes a filtering water tank, a sewage pump and a sewage tank, wherein the water purification tank, the water purification pump, The water spray components are connected in sequence; the filter water tank, sewage pump and sewage tank are connected in sequence;

The filtering water tank for receiving the dirty water after cleaning the mopping parts and filtering the dirty water is provided with a filtering element;

The sewage pump conveys the water in the filtered water tank to the sewage tank;

The water purification tank provides a water source for the water spray assembly;

Transmitting the water of the water purification tank to the water spraying assembly through the water purification pump;

The water spray assembly sprays water to the mopping part.
The cleaning robot according to claim 1, wherein the water supply system includes a faucet and a water inlet pipe, the sewage collection system includes a filtered water tank, a sewage pump, an outlet pipe and a floor drain connected in sequence, and the water spray assembly The water inlet pipe is connected with the faucet, the filtered water tank is connected with the sewage pump and the water outlet pipe, and the water outlet pipe is connected with the floor drain.
The cleaning robot according to claim 1, wherein the water supply system includes sequentially connected faucets, water inlet pipes, water purification tanks and water purification pumps, and the sewage collection system includes sequentially connected filtration water tanks, sewage pumps and floor drains , Wherein a water inlet valve capable of opening and closing the water inlet pipe is provided in the water purification tank, a faucet is connected to the water purification tank through the water inlet pipe, the water purification tank is connected to the water spray assembly through a water purification pump, and the filtered water tank The sewage pump is connected to the floor drain.
A method for automatically cleaning mopping parts using the cleaning robot according to any one of claims 1-3, 6-11, characterized in that it includes the following steps:

Step 1: Raise the mopping component through the lifting mechanism, and make the mopping component gradually approach the scraper of the cleaning base;

Step two, when the mopping part and the scraper form interference, stop approaching;

Step 3: Rotate the mopping part, spray the nozzle with water to rinse or spray wet the mopping part, the scraper scrapes off the attachments on the mopping part, and at the same time squeezes the water from the mopping part

Step 4, the spray head stops spraying water or spray, the mopping parts continue to rotate, and the scraper continues to squeeze out the water on the mopping parts;

Step 5: When the water stain on the mopping part is dried, the mopping part stops rotating.
A method for automatically cleaning mopping parts by using the cleaning robot according to any one of claims 1, 4-11, characterized in that it includes the following steps:

Step one, make the mopping parts gradually lift up to the angle of the scraper of the cleaning base, and close to the scraper;

Step two, when the mopping part and the scraper form interference, stop approaching;

Step 3: The spray head rinses or sprays the moistening mopping parts, moves the scraper, scrapes off the attachments on the mopping parts, and squeezes out the water on the mopping parts;

Step four: The spray head stops spraying water or spray, and the scraper continues to squeeze out the water on the mopping parts;

Step 5. When the water stain on the mopping part is dried, the scraper stops moving.
The automatic cleaning method according to claim 12 or 13, wherein

Step 6 is also included: after the water stain on the mopping part is dried, the lifting mechanism drops the mopping part and continues to mopping the floor.
The automatic cleaning method according to claim 14, characterized in that

The steps one to six are repeated until the cleaning work is completed.
The automatic cleaning method according to any one of claims 12 to 15, wherein

It also includes: every time the floor cleaning component cleans a certain area or time, it returns to the cleaning base for backwashing.
A working method of a cleaning robot according to claims 1, 6-7, characterized by comprising the following steps:

Step 1: The cleaning robot recognizes the surface to be cleaned and passes the information to the processor;

Step 2: The processor determines the cleaning strategy of the surface to be cleaned based on the received information;

Step 3: When the cleaning strategy in Step 2 is to clean the surface to be cleaned, the processor transmits the first execution signal to the drive assembly, the drive assembly drives the lifting assembly and disengages the cleaning assembly from the surface to be cleaned, and the processor executes the second The signal is transmitted to the sweeping module, which cleans the surface to be cleaned;

When the cleaning strategy in step 2 is to drag the surface to be cleaned, the processor transmits a third execution signal to the drive assembly, the drive assembly drives the lifting assembly and causes the cleaning assembly to contact the surface to be cleaned Ground processing, the processor transmits the fourth execution signal to the floor cleaning module, the floor cleaning module stops cleaning the surface to be cleaned;

When the cleaning strategy in step 2 is to sweep and drag the surface to be cleaned, the processor transmits a third execution signal to the driving component, the driving component drives the lifting component and makes the cleaning component contact the surface to be cleaned, and the cleaning component drags the surface Ground processing, the processor transmits the second execution signal to the floor cleaning module, the floor cleaning module cleans the surface to be cleaned;

When the cleaning strategy in step 2 is not to sweep or drag the surface to be cleaned, the processor transmits the first execution signal to the drive assembly, the drive assembly drives the lifting assembly and disengages the cleaning assembly from the surface to be cleaned, and the processor transmits the fourth execution signal to Sweeping module, the sweeping module stops cleaning the surface to be cleaned.