WO2021042984A1 - 一种清洁组件及智能清洁设备 - Google Patents

一种清洁组件及智能清洁设备 Download PDF

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Publication number
WO2021042984A1
WO2021042984A1 PCT/CN2020/109844 CN2020109844W WO2021042984A1 WO 2021042984 A1 WO2021042984 A1 WO 2021042984A1 CN 2020109844 W CN2020109844 W CN 2020109844W WO 2021042984 A1 WO2021042984 A1 WO 2021042984A1
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WO
WIPO (PCT)
Prior art keywords
connecting plate
cleaning
liquid containing
containing box
cleaning assembly
Prior art date
Application number
PCT/CN2020/109844
Other languages
English (en)
French (fr)
Inventor
刘晓明
谷二东
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to JP2022514858A priority Critical patent/JP7368605B2/ja
Priority to KR1020227009263A priority patent/KR20220050185A/ko
Priority to CA3150221A priority patent/CA3150221A1/en
Priority to US17/641,078 priority patent/US20220330780A1/en
Priority to EP20860746.5A priority patent/EP4026471A4/en
Priority to AU2020341965A priority patent/AU2020341965B2/en
Publication of WO2021042984A1 publication Critical patent/WO2021042984A1/zh
Priority to JP2023176876A priority patent/JP2023176006A/ja

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present invention relates to the technical field of intelligent cleaning equipment, in particular to a cleaning component and an intelligent cleaning equipment.
  • the automatic cleaning equipment can automatically perform cleaning operations, which is convenient for users.
  • an automatic cleaning robot with an automatic floor mopping function and an automatic floor sweeping function as an example, it is usually necessary to set a liquid storage box on the intelligent cleaning robot to provide a liquid source required for the floor mopping during the mopping work.
  • the liquid storage box of the existing intelligent cleaning robot is at the bottom of the main body of the intelligent cleaning robot and is connected to the main body of the intelligent cleaning robot.
  • the rag needs to be removed together with the liquid holding box.
  • the bottom surface of the intelligent cleaning robot needs to be turned upward, and then the liquid container is installed or disassembled.
  • the liquid container is installed and disassembled in this way, due to the need to flip the intelligent cleaning robot, it is easy to cause collision and damage to the top surface of the intelligent cleaning robot, and it is also easy to damage the sensors provided on the top surface of the intelligent cleaning robot, causing greater economic losses.
  • the leaked liquid may directly flow into the intelligent cleaning robot through the gap on the bottom surface when the liquid storage box is installed and unloaded, causing damage to the internal circuits and components of the intelligent cleaning robot. Fix the problem.
  • the embodiment of the present invention provides a cleaning component and an intelligent cleaning device having the cleaning component, which can replace the flexible cleaning body each time without disassembling the liquid container, and only needs to follow the forward or backward direction of the machine body
  • the flexible cleaning body can be disassembled by disassembling the connecting plate, which is convenient for operation and can avoid damage to the intelligent cleaning equipment that is easily caused by disassembling the liquid container in the prior art.
  • a cleaning component which can be installed on the main body of a smart cleaning device. It is characterized in that the cleaning component includes a connecting plate and a flexible cleaning body, and the cleaning component is detachable from the main body of the machine through the connecting plate.
  • the connecting plate When the connecting plate is inserted into or removed from the main body of the machine, the connecting plate moves in the forward or backward direction of the main body of the machine; the connecting plate and the flexible cleaning body are detachably connected by sliding components, which include mutually matched installation grooves and guides
  • the installation groove is provided on one of the connecting plate and the flexible cleaning body, and the guide bar is provided on the other of the connecting plate and the flexible cleaning body.
  • the guide bar can penetrate into the installation groove to connect the flexible cleaning body with The plates are connected, and the guide bar can pass through the installation groove to separate the flexible cleaning body from the connection plate.
  • one end of the installation groove is the installation end, and the other end is a stop end.
  • the guide bar can pass into or out of the installation groove through the installation end, and the stop end restricts the guide bar from passing through the stop end. Installation slot.
  • one end of the installation groove is closed, and the other end is an open structure.
  • the connecting plate is installed at the bottom of the liquid containing box through a guiding structure, and when the connecting plate is installed at the bottom of the liquid containing box, the connecting plate can be relative to the liquid containing box.
  • the box floats up and down.
  • an elastic member is provided on the side surface of the liquid containing box facing the connecting plate and/or on the side surface of the connecting plate facing the liquid containing box.
  • the elastic member includes a plurality of elastic buttons arranged at intervals.
  • the guide structure includes a guide protrusion and a guide groove that cooperate with each other, the guide protrusion is provided on one of the connecting plate and the liquid containing box, and the guide groove is provided on the connecting plate and the liquid containing box. On the other of the boxes; wherein the thickness of the guide protrusion is less than the thickness of the guide groove.
  • the connecting plate after the connecting plate is installed on the liquid containing box, it is connected to the liquid containing box through a connecting structure, and the connecting structure includes first connections that are matched with each other and are respectively arranged on the liquid containing box The structure and the second connecting structure arranged on the connecting plate.
  • connection structure further includes a control structure, the control structure is disposed on one of the liquid containing tank and the connection plate, and the control structure can control the connection and separation of the first connection structure and the second connection structure .
  • control structure is disposed on the connecting plate and is an integral structure with the second connecting structure.
  • the connecting plate is provided with an installation port for the first connecting structure to be inserted into the connecting plate and connected with the second connecting structure;
  • the control structure includes: a mounting frame, the mounting frame is movably arranged On the connecting plate, the second connecting structure is connected to one end of the mounting frame, so that the second connecting structure can move under the driving of the mounting frame; the operating member, the operating member is arranged at the other end of the mounting frame, opposite to the second connecting structure Set up so as to control the movement of the mounting frame through the operating part.
  • the connecting plate is provided with a water through hole communicating with the liquid containing tank, and is used to connect the water of the liquid containing tank to the flexible cleaning body.
  • the docking position of the water tank and the machine body are configured correspondingly.
  • the outer side wall of the water tank is opposite to the side wall of the machine body, and the bottom wall of the water tank is connected to the machine body.
  • the bottom wall faces each other.
  • the liquid containing box is detachably connected to the main body of the machine through a button, and the connecting plate is provided with a notch for avoiding the button, so as to control the installation and separation of the liquid containing box and the main body of the machine through the operation button .
  • a smart cleaning device which includes any of the cleaning components described above.
  • the cleaning assembly provided by the embodiments of the present invention and the intelligent cleaning device having the cleaning assembly.
  • the intelligent cleaning assembly can be installed on the main body of the intelligent cleaning device.
  • the cleaning assembly includes a connecting plate and a flexible cleaning body.
  • the connecting plate and the flexible cleaning body slide The assembly can be detachably connected.
  • the sliding assembly includes a mounting groove and a guide bar that cooperate with each other. The mounting groove is provided on one of the connecting plate and the flexible cleaning body, and the guide bar is provided on the other of the connecting plate and the flexible cleaning body.
  • the guide bar can be inserted into the installation groove to connect the flexible cleaning body to the connecting plate, and the guide bar can be passed out of the installation groove to separate the flexible cleaning body from the connecting plate; wherein the cleaning component can be connected to the main body of the machine through the connecting plate.
  • Disassemble the connection when the connecting plate is installed or removed from the main body of the machine, the connecting plate moves in the forward or backward direction of the main body of the machine, so that every time the flexible cleaning body is replaced, there is no need to disassemble the liquid container, only along the
  • the flexible cleaning body can be removed by removing the connecting plate in the front or back direction of the main body of the machine, which is convenient for operation and can avoid damage to the smart cleaning equipment that is easily caused by removing the liquid storage box in the prior art.
  • Figure 1 is an exploded view of a smart cleaning device according to an embodiment of the present invention
  • Figure 2 is an exploded view of the smart cleaning device of the embodiment of the present invention from another angle;
  • Figure 3 is an axonometric view of a smart cleaning device according to an embodiment of the present invention.
  • FIG. 4 is an axonometric view of the smart cleaning device of the embodiment of the present invention after removing the flexible cleaning body from another angle;
  • Figure 5 is an axonometric view of the main body of the machine according to an embodiment of the present invention.
  • Figure 6 is an exploded view of the connection structure of the pallet and the water tank according to the embodiment of the present invention.
  • Figure 7 is an exploded view of the connection structure between the pallet and the water tank from another angle according to the embodiment of the present invention.
  • FIG. 8 is an exploded view of the connecting structure of the pallet and the control structure provided on the pallet according to the embodiment of the present invention.
  • Fig. 9 is an enlarged view of the partial structure of position A in Fig. 8;
  • FIG. 10 is a schematic structural diagram of an integrated structure of a second hook and a control structure according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural view of the connecting structure of the pallet and the control structure provided on the pallet according to the embodiment of the present invention.
  • Fig. 12 is an enlarged view of the partial structure of position B in Fig. 11.
  • orientation words appearing in the following description are all directions shown in the figure, and do not limit the specific structure of the cleaning assembly 200 and the intelligent cleaning device of the present invention.
  • the terms “installation” and “connection” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or Integrally connected; it can be directly connected or indirectly connected.
  • the specific meanings of the above-mentioned terms in the present invention can be understood according to specific circumstances.
  • the embodiment of the present invention provides an intelligent cleaning device, which can clean the flexible cleaning device by removing the connecting plate along the front or rear direction of the machine body without disassembling the liquid storage box every time the flexible cleaning body is replaced.
  • the body is disassembled together, which is convenient for operation and can avoid damage to the intelligent cleaning equipment that is easily caused by disassembling the liquid container in the prior art.
  • Figure 1 shows an exploded view of the smart cleaning device of an embodiment of the present invention
  • Figure 2 shows an exploded view of the smart cleaning device of an embodiment of the present invention from another angle
  • Figure 3 shows An isometric view of the smart cleaning device of an embodiment of the present invention
  • FIG. 4 shows an isometric view of the smart cleaning device of an embodiment of the present invention from another angle
  • FIG. 1 shows an exploded view of the smart cleaning device of an embodiment of the present invention
  • Figure 2 shows an exploded view of the smart cleaning device of an embodiment of the present invention from another angle
  • Figure 3 shows An isometric view of the smart cleaning device of an embodiment of the present invention
  • FIG. 4 shows an isometric view of the smart cleaning device of an embodiment of the present invention from another angle
  • FIG. 5 shows an isometric view of the machine body 100 of an embodiment of the present invention Axonometric view;
  • Figure 6 shows an exploded view of the connection structure of the pallet 20 and the water tank in an embodiment of the present invention;
  • Figure 7 shows the explosion of the connection structure of the pallet 20 and the water tank in another angle of the embodiment of the present invention
  • Figure 8 shows an exploded view of the connecting structure of the pallet 20 and the control structure 23 provided on the pallet 20 according to an embodiment of the present invention;
  • Figure 9 shows an enlarged view of the partial structure of the position A in Figure 8;
  • 10 shows a schematic structural diagram of an integrated structure of the second hook 202 and the control structure 23 according to an embodiment of the present invention;
  • FIG. 11 shows the pallet 20 and the control structure 23 provided on the pallet 20 according to an embodiment of the present invention.
  • FIG. 12 shows an enlarged view of the partial structure at position B in FIG. 11.
  • Backward The direction opposite to the forward direction of the smart cleaning device.
  • the smart cleaning device provided by an embodiment of the present invention includes a machine main body 100 and a cleaning assembly 200, wherein the machine main body 100 is used to carry various functional components of the intelligent cleaning device, and the cleaning assembly 200 is detachably arranged at On the main body 100 of the machine, when the cleaning assembly 200 is installed or removed from the main body 100, the cleaning assembly 200 can move along the front or rear direction of the main machine 100.
  • the cleaning assembly 200 includes a layered liquid container, a connecting plate, and a flexible cleaning body.
  • the connecting plate is installed at the bottom of the liquid container through a guiding structure. When the connecting plate is installed in the liquid container, Behind the bottom of the tank, the connecting plate can float up and down relative to the liquid containing tank.
  • the smart cleaning device is the smart cleaning robot 1, the connecting plate is the pallet 20, the flexible cleaning body is the cleaning cloth 21, and the liquid storage tank is the water tank 22.
  • the guide structure includes a guide protrusion 201 and a guide groove 221 that cooperate with each other.
  • the guide protrusion 201 is provided on the pallet 20, and the guide groove 221 is provided in On the water tank 22; wherein, the thickness of the guide protrusion 201 is less than the thickness of the guide groove 221, so that after the pallet 20 is installed at the bottom of the water tank 22, the pallet 20 can float up and down relative to the water tank 22.
  • the thickness of the guide protrusion 201 specifically refers to the thickness of the guide protrusion 201 in the height direction of the intelligent cleaning robot 1
  • the groove thickness of the guide groove 221 refers to the height direction of the intelligent cleaning robot 1. 221 thickness.
  • the guiding structure is not limited to the above-mentioned structural form.
  • the specific structure of the guiding structure can also be set as follows: the guiding structure includes a guiding protrusion 201 and a guiding groove 221 that cooperate with each other, and the guiding protrusion 201 is arranged on the water tank 22 to guide The groove 221 is provided on the pallet 20; wherein the thickness of the guiding protrusion 201 is smaller than the groove thickness of the guiding groove 221, so that the pallet 20 can float up and down relative to the water tank 22 after the pallet 20 is installed at the bottom of the water tank 22.
  • the thickness of the guide protrusion 201 specifically refers to the thickness of the guide protrusion 201 in the height direction of the intelligent cleaning robot 1, and the groove thickness of the guide groove 221 may also refer to the thickness of the guide groove 221 in the height direction of the intelligent cleaning robot 1.
  • the structural design of the guiding structure only needs to meet the installation requirements of the water tank 22 and the pallet 20 and ensure that the pallet 20 can move along the forward or backward direction of the intelligent cleaning robot 1.
  • the design of the guiding structure should also satisfy that when the pallet 20 is installed on the water tank 22, the pallet 20 can float up and down relative to the water tank 22.
  • the entire cleaning assembly 200 can be detached from the machine body 100 of the smart cleaning robot 1 along the front or rear direction of the smart cleaning robot 1, and the pallet 20 can also be detached along the smart cleaning robot 1.
  • the forward or backward direction of the robot 1 is separately detached from the main body of the intelligent cleaning robot 1, which is convenient for operation.
  • the smart cleaning equipment provided by the embodiment of the present invention.
  • the connecting structure includes mutually matched and separately arranged The first connection structure on the water tank 22 and the second connection structure on the pallet 20.
  • the first connection structure is a first hook 222 provided on the water tank 22
  • the second connection structure is a second hook 202 provided on the pallet 20, and the pallet 20 passes through the guide structure.
  • connection structure further includes a control structure 23, the control structure 23 is disposed on the pallet 20, the control structure 23 can control the connection and connection of the first hook 222 and the second hook 202 Separate.
  • the control structure 23 and the second hook 202 are an integral structure, and the control structure 23 includes: a mounting frame 231.
  • the mounting frame 231 is movably disposed on the pallet 20, and the second hook 202 Is connected to one end of the mounting frame 231, so that the second hook 202 can be moved to the stopping position or the avoiding position under the driving of the mounting frame 231; the operating member 232, the operating member 232 are arranged at the other end of the mounting frame 231, and the first The two hooks 202 are arranged relative to each other, so as to control the movement of the mounting frame 231 through the operating member 232.
  • the specific operation process is as follows: when the operating member 232 is pressed toward the inside of the main body of the intelligent cleaning robot 1, the entire control structure 23 moves toward the inside of the main body of the intelligent cleaning robot 1. At this time, the second hook 202 is driven by the control structure 23.
  • the guide structure can be further moved along the guide structure.
  • the pallet 20 is detached from the water tank 22, which is convenient for operation.
  • the second hook 202 is at the stopping position under the restriction of the guide protrusion 201, so that the first hook 222 and the second hook 202
  • the mutual connection further makes the water tank 22 and the pallet 20 firmly connected.
  • the guiding protrusion 201 is provided on the pallet 20, and the guiding protrusion 201 is an elastic structure.
  • the guiding protrusion 201 can be positioned at the second The hook 202 is squeezed and elastically deformed to separate the first hook 222 from the second hook 202.
  • the guide protrusion 201 can be restored to the original state, so that The first hook 222 is connected to the second hook 202.
  • control structure 23 can be, but is not limited to, the above-mentioned structure.
  • the control structure 23 can also be provided on the water tank 22.
  • the control structure 23 can be an integral structure with the first hook 222, which can control the first hook 222.
  • a hook 222 and a second hook 202 are connected and separated.
  • the pallet 20 and the cleaning cloth 21 are detachably connected by a sliding assembly.
  • the sliding assembly includes a mounting groove 203 and a guide bar 211 that cooperate with each other.
  • the installation groove 203 is provided on the pallet 20, and the guide bar 211 is provided on the cleaning cloth 21, and the guide bar 211 can penetrate into the installation groove 203 to connect the cleaning cloth 21 and the pallet 20.
  • the guide bar 211 can pass through the installation groove 203 to separate the cleaning cloth 21 from the pallet 20, so that when the cleaning cloth 21 needs to be disassembled, the cleaning cloth 21 can be directly removed from the pallet 20 for replacement or cleaning, which is convenient It can also solve the problem that the existing smart cleaning robot 1 needs to turn the smart cleaning robot 1 over and then remove the water tank 22 or the pallet 20 together when replacing the cleaning cloth 21, which is likely to cause collision and damage to the smart cleaning robot 1 , It is also easy to damage the sensors on the smart cleaning robot 1, and even easily cause damage to the internal circuits and components of the smart cleaning robot 1, resulting in irreparable problems and further technical problems of greater economic loss.
  • the pallet 20 is detachably connected to the water tank 22.
  • the pallet 20 When the pallet 20 is inserted into or removed from the machine body 100, the pallet 20 moves along the front or rear direction of the machine body 100, and the cleaning cloth 21 together with the pallet 20 is removed from the smart
  • the cleaning robot 1 is disassembled from the water tank 22.
  • the pallet 20 of the cleaning assembly 200 When the pallet 20 of the cleaning assembly 200 is assembled to or removed from the water tank 22, the pallet 20 moves in the forward or backward direction of the machine body 100, and Normally, the forward direction and the backward direction of the machine body 100 are horizontal, which makes the loading and disassembling of the pallet 20 with the cleaning cloth 21 more convenient, and further solves the need to turn the intelligent cleaning robot 1 over in the prior art.
  • the cleaning assembly 200 can be disassembled until the bottom surface is facing upwards, which makes the replacement and maintenance of the cleaning assembly 200 more convenient.
  • the smart cleaning device may be, but is not limited to, the smart cleaning robot 1.
  • the smart cleaning device may also be a solar panel cleaning device or a building exterior wall cleaning device.
  • the cleaning assembly 200 may be of but not limited to the above-mentioned structure.
  • the installation groove 203 may also be provided on the cleaning cloth 21, and the guide bar 211 may also be provided on the pallet 20. As long as the mounting and dismounting of the pallet 20 and the cleaning cloth 21 can be conveniently realized.
  • the mounting groove 203 is provided at one end of the pallet 20 on the side away from the machine body 100, and the guide bar 211 is provided on the cleaning cloth 21 and is opposite to the mounting groove 203.
  • the corresponding position is the end of the cleaning cloth 21.
  • the mounting groove 203 can also be provided in the middle of the side of the pallet 20 away from the main body 100 of the machine.
  • the guide strip 211 is on the cleaning cloth 21. The position corresponds to the installation groove 203 and is also set in the middle of the cleaning cloth 21.
  • one end of the installation groove 203 on the pallet 20 is the installation end, and the other end is a stop end.
  • the guide bar 211 can pass through the installation end into or out of the installation groove 203 and pass through the stop end.
  • the restricting guide bar 211 passes through the mounting groove 203 from the stop end.
  • the guide bar 211 may be a plastic rod or a steel rod with a certain rigidity, or may be a flexible strip.
  • the cross-sectional shape of the guide bar 211 may be circular or other non-circular shapes.
  • the cross-sectional shape of the mounting groove 203 on the pallet 20 is a C-shape or a shape similar to the C-shape, as long as the guide bar 211 can be accommodated and defined.
  • One end of the installation groove 203 is a projecting end, and the projecting end does not have a stop structure for the guide bar 211 to extend ,
  • the other end is a stop end, and the stop end has a stop structure to prevent the guide bar 211 from coming out of this end.
  • one end of the installation groove 203 is closed, and the other end is open.
  • the tail of the cleaning cloth 21 is fixed on the pallet 20 through the guide strip 211 and the mounting groove 203, which improves the stability of the fixing and prevents the cleaning cloth 21 from falling off.
  • the guide bar 211 and the installation groove 203 are located on the pallet 20 in a direction facing the smart cleaning robot 1.
  • the cleaning cloth 21 may be a cleaning cloth 21 made of the same material as a whole, or a composite cleaning cloth 21 of different materials used in different positions.
  • the cleaning cloth 21 is a composite cleaning cloth 21, the main body of the cleaning cloth 21 is basically semicircular, the inner layer is a water seepage area, and a material with a higher water seepage rate is selected; the middle layer is For the dirty area, harder materials are used to scrape off harder materials on the ground; the outer layer is a water absorption area, which is used to absorb water from the bottom surface and remove water stains and water marks, and materials with better water absorption effects are used. This can improve cleaning efficiency.
  • the guide bar 211 is arranged on a straight section of a semicircle.
  • a water hole 206 is provided on the support plate 20 for connecting the water in the water tank 22 to the cleaning cloth 21.
  • the water tank 22 may be an electronically controlled water tank 22 provided with a peristaltic pump, and a waterway board is provided inside the intelligent cleaning robot 1.
  • the waterway board is the same way waterway board 25, which is the same way.
  • the waterway plate 25 is arranged between the main body of the machine 100 and the pallet 20, and is detachably connected to the main body 100 of the machine, and the waterway plate 25 of the same journey is provided with water inlets and outlets 251.
  • the water outlet pipe of the pump is connected, and the position of the water outlet 251 is set corresponding to the water passage hole 206 on the pallet 20, so that the water in the water tank 22 passes through the water outlet 251 of the waterway plate 25 on the same route and the passage on the pallet 20.
  • the water holes 206 flow to the cleaning cloth 21.
  • the water tank 22 is set corresponding to the shape of the docking position of the machine main body 100. After the water tank 22 is installed on the machine main body 100, the water tank The outer side wall of 22 is opposite to the side wall of the machine body 100, the bottom wall of the water tank 22 is opposite to the bottom wall of the machine body 100, and the water tank 22 at least partially surrounds the outside of the fan in the machine body 100, as shown in Figure 2 As shown, the fan is arranged inside the fan installation position 16.
  • the water tank 22 can be connected and separated from the machine body 100 through the button 24, and the pallet 20 is provided with a gap 204 for the avoid button 24, Specifically, the notch 204 is a notch 204 provided on the top of the pallet 20 that matches the shape of the button 24.
  • pressing the button 24 can realize the cleaning assembly 200 and the machine. Separation of the main body 100.
  • an elastic member 205 is provided on the side surface of the pallet 20 facing the water tank 22.
  • the pallet 20 and the water tank 22 are brought into elastic contact, which can make the water tank 22 float up and down relatively smoothly, and the elastic member 205 on the pallet 20 abuts against the bottom surface of the water tank 22, so that the pallet 20 and The pressing force generated between the ground can further make the cleaning cloth 21 more closely fit the ground and achieve a better cleaning effect.
  • the elastic member 205 includes a plurality of elastic buttons arranged at intervals on the side surface of the baffle facing the water tank 22, and springs are arranged inside the elastic buttons.
  • the elastic member 205 can be, but is not limited to, the above-mentioned structure.
  • the elastic member 205 can also be arranged on the side surface of the water tank 22 facing the pallet 20.
  • the elastic member 205 includes a plurality of spaces arranged on the water tank 22 facing the pallet 20. Elastic buttons on one side of the surface.
  • the surface of the water tank 22 facing the pallet 20 and the surface of the pallet 20 facing the water tank 22 can also be provided with elastic members 205 at the same time.
  • the elastic member 205 is provided on the side surface of the water tank 22 facing the pallet 20 and the side surface of the pallet 20 facing the water tank 22 at the same time, it is more preferable to be provided on the side surface of the water tank 22 facing the pallet 20
  • the elastic member 205 and the elastic member 205 arranged on the side surface of the pallet 20 facing the water tank 22 are arranged in a staggered manner, so as to further enable the water tank 22 and the pallet 20 to achieve a better elastic contact effect.
  • the machine body 100 includes a sensing system (not shown in the figure) and a control system (not shown in the figure). ), drive system 10, energy system, human-computer interaction system, dry cleaning unit 13, etc.
  • a sensing system not shown in the figure
  • a control system not shown in the figure
  • drive system 10
  • energy system human-computer interaction system
  • dry cleaning unit 13 etc.
  • the main parts of the smart cleaning equipment will be explained below.
  • the machine body 100 further includes an upper cover, a front part, a rear part, a chassis, and the like.
  • the machine body 100 has an approximately circular shape, and may also have other shapes, including but not limited to an approximately D-shaped shape with a front and back circle.
  • the sensing system includes a position determining device located above the main machine body 100, a buffer located in the forward part of the main machine body 100, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices. These sensing devices provide various position information and motion status information of the machine to the control system.
  • the position determination device includes but is not limited to infrared transmitting and receiving devices, cameras, and laser distance measuring devices (LDS).
  • the driving system 10 is used to drive the machine body 100 and the components thereon to move for automatic walking and cleaning.
  • the driving system 10 includes a driving wheel module 101.
  • the driving system 10 can issue a driving command based on distance and angle information, such as x, y, and ⁇ components, to manipulate the intelligent cleaning robot 1 to travel across the ground.
  • the driving wheel module 101 can control the left wheel and the right wheel at the same time.
  • the driving wheel module 101 includes a left driving wheel module and a right driving wheel module respectively.
  • the left and right driving wheel modules are opposed to each other along a transverse axis defined by the machine body 100.
  • the left and right driving wheel modules are arranged symmetrically.
  • the intelligent cleaning robot 1 may include one or more driven wheels 102, which include but are not limited to universal wheels.
  • the driving wheel module 101 includes a walking wheel, a driving motor, and a control circuit for controlling the driving motor.
  • the driving wheel module 101 can also be connected to a circuit for measuring driving current and an odometer.
  • the driving wheel module 101 can be detachably connected to the machine body 100, which is convenient for disassembly, assembly and maintenance.
  • the driving wheel may have a biased drop suspension system, fastened in a movable manner, such as rotatably attached, to the main body 100 of the machine, and receive a spring bias that is biased downward and away from the main body 100 of the machine.
  • the spring bias allows the driving wheel to maintain contact and traction with the ground with a certain ground force, and at the same time, the cleaning elements (such as the roller brush 131, etc.) of the intelligent cleaning robot 1 also contact the ground with a certain pressure.
  • the forward part 14 of the machine body 100 can carry a buffer.
  • the driving wheel module 101 drives the smart cleaning robot 1 to walk on the ground.
  • the buffer detects the driving path of the smart cleaning robot 1 via a sensor system, such as an infrared sensor.
  • the smart cleaning robot 1 can control the driving wheel module 101 to make the smart cleaning robot 1 respond to the event, such as staying away from the obstacle, through the event detected by the buffer, such as obstacles and walls.
  • the control system is set on the main circuit board in the main body of the machine 100, including non-transitory memory such as hard disk, flash memory, random access memory, and computing processor for communication, such as central processing unit, application processor, application processor
  • a positioning algorithm such as SLAM, is used to draw a real-time map of the environment where the intelligent cleaning robot 1 is located.
  • the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, which greatly improves the cleaning efficiency of the intelligent cleaning robot 1.
  • the energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery under-voltage monitoring circuit are connected to the single-chip control circuit.
  • the host is connected to the charging pile for charging through charging electrodes arranged on the side or below the fuselage. If dust is attached to the exposed charging electrode, the plastic body around the electrode will melt and deform due to the accumulation of electric charges during the charging process, and even cause the electrode itself to deform, and normal charging cannot continue.
  • the human-computer interaction system 12 includes buttons on the panel of the host for users to select functions; it may also include a display screen and/or indicator light and/or speaker.
  • the display screen, indicator light and speaker show the user the current state of the machine or Function options; can also include mobile phone client programs.
  • the mobile phone client can show users the map of the environment where the equipment is located, and the location of the machine, which can provide users with richer and more user-friendly functional items.
  • the intelligent cleaning robot 1 can move in various combinations with respect to the following three mutually perpendicular axes defined by the machine body 100 Traveling on the ground: front and rear axis X (that is, the axis along the direction of the forward part 14 and the backward part 15 of the machine body 100), the transverse axis Y (that is, the axis perpendicular to the axis X and in the same horizontal plane as the axis X) and the center is perpendicular Axis Z (axis perpendicular to the plane formed by axis X and axis Y).
  • front and rear axis X that is, the axis along the direction of the forward part 14 and the backward part 15 of the machine body 100
  • the transverse axis Y that is, the axis perpendicular to the axis X and in the same horizontal plane as the axis X
  • the center is perpendicular Axis Z (axis perpendicular to the plane formed by axi
  • the forward driving direction along the front-rear axis X is denoted as “forward”, and the backward driving direction along the front-rear axis X is denoted as “rearward”.
  • the lateral axis Y essentially extends between the right wheel and the left wheel of the smart cleaning robot 1 along the axis defined by the center point of the driving wheel module 101.
  • the intelligent cleaning robot 1 can rotate around the Y axis.
  • the intelligent cleaning robot 1 can rotate around the Z axis. In the forward direction of the smart cleaning robot 1, when the smart cleaning robot 1 is tilted to the right of the X axis, it is “turn right”, and when the smart cleaning robot 1 is tilted to the left of the X axis, it is “turn left”.
  • the dust box is installed in the accommodating cavity by means of mechanical gripping, the clip shrinks when the gripping hand is gripped, and when the gripping hand is released, the gripping piece stretches out and is stuck in the groove accommodating the gripping cavity in the accommodating cavity. .
  • the above-mentioned cleaning assembly 200 serves as the wet cleaning part of the intelligent cleaning robot 1, and its main function is to wipe the surface to be cleaned (such as the ground) through the cleaning cloth 21 containing the cleaning liquid.
  • the main function of the dry cleaning part 13 is to clean the fixed particle contaminants on the cleaned surface through a structure such as a cleaning brush.
  • the main cleaning function of the dry cleaning part 13 comes from the second cleaning part formed by the roller brush 131, the dust box, the fan, the air outlet, and the connecting parts between the four.
  • the roller brush 131 which has a certain interference with the ground, sweeps the garbage on the ground and rolls it to the front of the suction port between the roller brush 131 and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box. .
  • the dust removal ability of the intelligent cleaning robot 1 can be characterized by the dust pick-up efficiency (Dust pick-up efficiency) of the garbage.
  • the cleaning efficiency DPU is affected by the structure and material of the roller brush 131, and is affected by the dust suction port, the dust box, the fan, the air outlet, and one of the four.
  • the wind utilization rate of the air duct formed by the connecting parts is affected by the type and power of the wind turbine.
  • the dry cleaning assembly 200 may further include a side brush 132 having a rotating shaft, which is at a certain angle with respect to the ground, for moving debris to the cleaning area of the roller brush 131 of the second cleaning part.
  • the embodiment of the present invention also provides a cleaning assembly 200, which may be the aforementioned cleaning assembly 200.

Abstract

一种清洁组件(200)及智能清洁设备，清洁组件(200)可安装于智能清洁设备的机器主体(100)上，清洁组件(200)包括连接板和柔性清洁体，连接板和柔性清洁体通过滑动组件可拆卸连接，滑动组件包括相互配合的安装槽(203)和导向条(211)，安装槽(203)设置于连接板和柔性清洁体的其中一者上，导向条(211)设置于连接板和柔性清洁体中的另一者上。该清洁组件(200)在更换柔性清洁体时，不需要拆卸液体容置箱，只需要沿着机器主体(100)的前向或者后向方向拆卸连接板即可将柔性清洁体一并拆卸下来，方便操作的同时能够避免现有技术中的拆卸液体容置箱易造成的智能清洁设备的损坏。

Description

一种清洁组件及智能清洁设备
相关申请的交叉引用
本申请要求于2019年9月5日递交的中国专利申请第201910839233.3号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本发明涉及智能清洁设备技术领域，特别是涉及一种清洁组件及智能清洁设备。
背景技术
随着技术的发展，出现了多种多样的自动清洁设备。比如，自动扫地机器人、自动拖地机器人及同时具有自动扫地功能和自动拖地功能的智能清扫机器人等，自动清洁设备可以自动执行清洁操作，方便用户。以带有自动拖地功能和和自动扫地功能的自动清扫机器人为例，其在进行拖地工作时通常需要在智能清扫机器人上设置液体容置箱，以提供拖地需要的液体源。现有的智能清扫机器人的液体容置箱在智能清扫机器人主体的底部且与智能清扫机器人的机器主体连接，通常情况下，在更换抹布时，需要将抹布连同液体容置箱一起拆卸下来，而在拆卸液体容置箱时需要将智能清扫机器人的底面翻转至朝上，然后进行液体容置箱的安装或拆卸。这样进行液体容置箱的安装和拆卸时，由于需要翻转智能清扫机器人，容易造成智能清扫机器人顶面碰撞和损坏，还容易损坏设置在智能清扫机器人顶面的传感器，造成较大经济损失。另外，若液体容置箱存在泄露问题，那么进行液体容置箱装卸时，泄露的液体可能直接通过底面的缝隙流进智能清扫机器人内部，造成智能清扫机器人内部的电路和部件的损坏，产生不可修复的问题。
发明内容
本发明实施例提供一种清洁组件及具有该清洁组件的智能清洁设备，能够在每次更换柔性清洁体时，不需要拆卸液体容置箱，只需要沿着机器主体的前向或者后向方向拆卸连接板即可将柔性清洁体一并拆卸下来，方便操作的同时能够避免现有技术中的拆卸液体容置箱易造成的智能清洁设备的损坏。
一方面，根据本发明实施例提出了一种清洁组件，可安装于智能清洁设备的机器主体上，其特征在于，清洁组件包括连接板和柔性清洁体，清洁组件通过连接板与机器主体可拆卸连接，连接板装入或拆出机器主体时，连接板沿机器主体的前向或后向方向移动；连接板和柔性清洁体通过滑动组件可拆卸连接，滑动组件包括相互配合的安装槽和导向条，安装槽设置于连接板和柔性清洁体的其中一者上，导向条设置于连接板和柔性清洁体中的另一者上，导向条可穿入安装槽内以使柔性清洁体与连接板相连接，且导向条可从安装槽内穿出以使柔性清洁体与连接板相分离。
根据本发明实施例的一个方面，安装槽一端为安装端，另一端为止挡端，导向条可通过安装端穿入或穿出安装槽，并且通过止挡端限制导向条由止挡端穿出安装槽。
根据本发明实施例的一个方面，安装槽一端封闭，另一端为开口结构。
根据本发明实施例的一个方面，进一步包括液体容置箱，连接板通过导向结构安装于液体容置箱底部，当连接板被安装于液体容置箱底部后，连接板能够相对于液体容置箱上下浮动。
根据本发明实施例的一个方面，液体容置箱面向连接板的一侧表面上和/或连接板上面向液体容置箱的一侧表面上设置有弹性件，当连接板被安装在液体容置箱上后，使连接板和液体容置箱之间为弹性接触。
根据本发明实施例的一个方面，弹性件包括多个间隔设置的弹性纽扣。
根据本发明实施例的一个方面，导向结构包括相互配合的导向凸起和导向槽，导向凸起设置于连接板和液体容置箱的其中一者上，导向槽设置于连接板和液体容置箱中的另一者上；其中，导向凸起的厚度小于导向槽的槽厚。
根据本发明实施例的一个方面，连接板安装于液体容置箱上后，通过连接结构与液体容置箱相连接，连接结构包括相互配合的且分别设置于液体容置箱上的第一连接结构和设置于连接板上的第二连接结构。
根据本发明实施例的一个方面，连接结构还包括控制结构，控制结构设置于液体容置箱和连接板的其中一者上，控制结构能够控制第一连接结构和第二连接结构的连接和分离。
根据本发明实施例的一个方面，控制结构设置于连接板上，且与第二连接结构为一体式结构。
根据本发明实施例的一个方面，连接板上设有供第一连接结构装入连接板并与第二连接结构相连接的安装口；其中，控制结构包括：安装架，安装架可移动地设置于连接板上，第二连接结构连接于安装架的一端，以使第二连接结构能够在安装架的带动下移动；操作件，操作件设置于安装架的另一端，与第二连接结构相对设置，以便于通过操作件控制安装架的移动。
根据本发明实施例的一个方面，连接板上设置有与液体容置箱相连通的通水孔，用于将液体容置箱的水连通至柔性清洁体上。
根据本发明实施例的一个方面，水箱与机器主体的对接位置形状对应设置，将水箱安装于机器主体上后，水箱的外侧壁与机器主体的侧壁相对接，水箱的底壁与机器主体的底壁相对接。
根据本发明实施例的一个方面，液体容置箱通过按钮与机器主体可拆卸连接，连接板上具有用于避让按钮的豁口，以便于通过操作按钮控制液体容置箱与机器主体的安装与分离。
另一方面，根据本发明实施例提出了一种智能清洁设备，包括上述任一项的清洁组件。
本发明实施例提供的清洁组件及具有该清洁组件的智能清洁设备，智能清洁组件可安装于智能清洁设备的机器主体上，清洁组件包括连接板和柔性清洁体，连接板和柔性清洁体通过滑动组件可拆卸连接，滑动组件包括相互配合的安装槽和导向条，安装槽设置于连接板和柔性清洁体的其中一者上，导向条设置于连接板和柔性清洁体中的另一者上，导向条可穿入安装槽内以使柔性清洁体与连接板相连接，导向条可从安装槽内穿出以使柔性清洁体与连接板相分离；其中，清洁组件通过连接板与机器主体可拆卸连接，连接板装入或拆出机器主体时，连接板沿机器主体的前向或后向方向移动，能够在每次更换柔性清洁体时，不需要拆卸液体容置箱，只需要沿着机器主体的前向或者后向方向拆卸连接板即可将柔性清洁体一并拆卸下来，方便操作的同时能够避免现有技术中的拆卸液体容置箱易造成的智能清洁设备的损坏。
附图说明
下面将参考附图来描述本发明示例性实施例的特征、优点和技术效果。
图1是本发明实施例的智能清洁设备的爆炸图；
图2是本发明实施例的智能清洁设备的另一角度的爆炸图；
图3是本发明实施例的智能清洁设备的轴测图；
图4是本发明实施例的智能清洁设备去掉柔性清洁体后的另一角度的轴测图；
图5是本发明实施例的机器主体的轴测图；
图6是本发明实施例的托板与水箱的连接结构的爆炸图；
图7是本发明实施例的另一角度的托板与水箱的连接结构的爆炸图；
图8是本发明实施例的托板和设置于托板上的控制结构的连接结构的爆炸图；
图9是图8中A位置的局部结构放大图；
图10是本发明实施例的第二卡勾与控制结构的一体式结构的结构示意图；
图11是本发明实施例的托板和设置于托板上的控制结构的连接结构的结构示意图；
图12是图11中B位置的局部结构放大图。
图中，
1-智能清扫机器人；
100-机器主体；
10-驱动系统；101-驱动轮模块；102-从动轮；
11-悬崖传感器；
12-人机交互系统；
13-干式清洁部；131-滚刷；132-边刷；
14-前向部分；
15-后向部分；
16-风机安装位置；
200-清洁组件；
20-托板；201-导向凸起；202-第二卡勾；203-安装槽；204-豁口；205-弹性件；206-通水孔；207-安装口；
21-清洁布；211-导向条；
22-水箱；221-导向槽；222-第一卡勾；
23-控制结构；231-安装架；232-操作件；
24-按钮；
25-同程水路道板；251-出水口。
在附图中，相同的部件使用相同的附图标记。附图并未按照实际的比例绘制。
具体实施方式
下面将详细描述本发明的各个方面的特征和示例性实施例。在下面的详细描述中，提出了许多具体细节，以便提供对本发明的全面理解。但是，对于本领域技术人员来说很明显的是，本发明可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本发明的示例来提供对本发明的更好的理解。在附图和下面的描述中，至少部分的公知结构和技术没有被示出，以便避免对本发明造成不必要的模糊；并且，为了清晰，可能夸大了部分结构的尺寸。此外，下文中所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。
下述描述中出现的方位词均为图中示出的方向，并不是对本发明的清洁组件200及智能清洁设备的具体结构进行限定。在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本发明中的具体含义。
本发明实施例提供一种智能清洁设备，能够在每次更换柔性清洁体时，不需要拆卸液体容置箱，只需要沿着机器主体的前向或者后向方向拆卸连接板即可将柔性清洁体一并拆卸下来，方便操作的同时能够避免现有技术中的拆卸液体容置箱易造成的智能清洁设备的损坏。
为了更好地理解本发明，下面结合图1至12根据本发明实施例的智能清洁设备及清洁组件200进行详细描述。
请参阅图1至图12，图1示出了本发明实施例的智能清洁设备的爆炸图；图2示出了本发明实施例的智能清洁设备的另一角度的爆炸图；图3示出了本发明实施例的智能清洁设备的轴测图；图4示出了本发明实施例的智能清洁设备的另一角度的轴测图；图5示出了本发明实施例的机器主体100的轴测图；图6示出了本发明实施例的托板20与水箱的连接结构的爆炸图；图7示出了本发明实施例的另一角度的托板20与水箱的连接结构的爆炸图；图8示出了本发明实施例的托板20和设置于托板20上的控制结构23的连 接结构的爆炸图；图9示出了图8中A位置的局部结构放大图；图10示出了本发明实施例的第二卡勾202与控制结构23的一体式结构的结构示意图；图11示出了本发明实施例的托板20和设置于托板20上的控制结构23的连接结构的结构示意图；图12示出了图11中B位置的局部结构放大图。
名称定义：
前向：智能清洁设备的前进方向。
后向：与智能清洁设备的前向相反的方向。
请参阅图1至图7，本发明实施例提供的智能清洁设备，包括机器主体100及清洁组件200，其中机器主体100用于承载智能清洁设备的各个功能部件，清洁组件200可拆卸地设置在机器主体100上，清洁组件200装入或拆出机器主体100时，清洁组件200可沿机器主体100的前向或后向方向移动。在一些可选的实施例中，清洁组件200包括层叠设置的液体容置箱、连接板和柔性清洁体，连接板通过导向结构安装于液体容置箱底部，当连接板被安装于液体容置箱底部后，连接板能够相对于液体容置箱上下浮动。在一些可选的实施例中，智能清洁设备为智能清扫机器人1，连接板为托板20，柔性清洁体为清洁布21，液体容置箱为水箱22。
本发明实施例提供的智能清洁设备，在一些可选的实施例中，导向结构包括相互配合的导向凸起201和导向槽221，导向凸起201设置于托板20上，导向槽221设置于水箱22上；其中，导向凸起201的厚度小于导向槽221的槽厚，使得托板20被安装于水箱22底部后，托板20能够相对于水箱22上下浮动。可选的，导向凸起201的厚度具体指在智能清扫机器人1的高度方向上、导向凸起201的厚度，且导向槽221的槽厚是指在智能清扫机器人1的高度方向上、导向槽221的厚度。
可以理解的是，导向结构并不限于上述结构形式，导向结构的具体结构也可以设置为：导向结构包括相互配合的导向凸起201和导向槽221，导向凸起201设置于水箱22上，导向槽221设置于托板20上；其中，导向凸起201的厚度小于导向槽221的槽厚，使得托板20被安装于水箱22底部后，托板20能够相对于水箱22上下浮动。导向凸起201的厚度具体指在智能清扫机器人1的高度方向上、导向凸起201的厚度，且导向槽221的槽厚也可以指在智能清扫机器人1的高度方向上、导向槽221的厚度。导向结构的结构设计只要能够满足水箱22和托板20的安装要求，并能够保证托板20能够沿着智能清扫机器人1的前向或后向方向移动即可。可选的，导向结构的设计还要满足当将托板20安装于水箱22上后，托板20能够相对于水箱22上下浮动。
本发明实施例提供的智能清洁设备，清洁组件200整体可沿着智能清扫机器人1的前向或者后向方向从智能清扫机器人1的机器主体100上拆卸下来，托板20也可以沿着智能清扫机器人1的前向或者后向方向单独从智能清扫机器人1主体上拆卸下来，操作方便。
请进一步参阅图6及图7，本发明实施例提供的智能清洁设备，进一步地，托板20 安装于水箱22上后，通过连接结构与水箱22相连接，连接结构包括相互配合的且分别设置于水箱22上的第一连接结构和设置于托板20上的第二连接结构。在一些可选的实施例中，第一连接结构为设置于水箱22上的第一卡勾222，第二连接结构为设置于托板20上的第二卡勾202，托板20通过导向结构安装于水箱22底部后，第一卡勾222和第二卡勾202能够相互卡合，使得托板20和水箱22连接稳固。
请进一步参阅图8至图12，可选的，连接结构还包括控制结构23，控制结构23设置于托板20上，控制结构23能够控制第一卡勾222和第二卡勾202的连接和分离。在一些可选的实施例中，控制结构23与第二卡勾202为一体式结构，控制结构23包括：安装架231，安装架231可移动地设置于托板20上，第二卡勾202连接于安装架231的一端，以使第二卡勾202能够在安装架231的带动下移动至止挡位置或避让位置；操作件232，操作件232设置于安装架231的另一端，与第二卡勾202相对设置，以便于通过操作件232控制安装架231的移动。具体操作过程为：当向着智能清扫机器人1主体内部的方向按压操作件232时，整个控制结构23向着智能清扫机器人1主体内部的方向移动，此时第二卡勾202在控制结构23的带动下向着智能清扫机器人1主体内部的方向移动至避让位置，使得第一卡勾222和第二卡勾202分离，在第一卡勾222和第二卡勾202分离后，可以进一步沿着导向结构将托板20从水箱22上拆卸下来，操作方便。在更换完清洁布21后，重新将托板20安装至水箱22底部后，第二卡勾202在导向凸起201的限制下处于止挡位置，使得第一卡勾222和第二卡勾202相互连接，进一步使得水箱22和托板20稳固连接。
在一些可选的实施例中，导向凸起201设置于托板20上，且导向凸起201为弹性结构体，在第二卡勾202移动至避让位置时，导向凸起201能够在第二卡勾202的挤压下弹性变形，以使第一卡勾222与第二卡勾202分离，在第二卡勾202移动至止挡位置时，导向凸起201能够恢复至原始状态，以使第一卡勾222与第二卡勾202相连接。
可以理解的是，控制结构23可以但不限于上述结构形式，控制结构23还可以设置于水箱22上，且可选的，控制结构23可以与第一卡勾222为一体式结构，能够控制第一卡勾222和第二卡勾202的连接和分离。
请参阅图1、图2及图12，本发明实施例提供的智能清洁设备，托板20和清洁布21通过滑动组件可拆卸连接，滑动组件包括相互配合的安装槽203和导向条211，在一些可选的实施例中，安装槽203设置于托板20上，导向条211设置于清洁布21上，导向条211可穿入安装槽203内以使清洁布21与托板20相连接，导向条211可从安装槽203内穿出以使清洁布21与托板20相分离，如此使得需要拆卸清洁布21时，可以直接将清洁布21从托板20上拆卸下来更换或者清洗，方便操作，同时也能够解决现有的智能清扫机器人1在更换清洁布21时需要将智能清扫机器人1翻转过来再将水箱22或者托板20一同拆下时，容易造成智能清扫机器人1的碰撞和损坏，还容易损坏智能清扫机器人1上的传感器，甚至容易造成智能清扫机器人1内部电路和部件损坏，产生不可修复的问题， 进一步造成较大经济损失的技术问题。托板20与水箱22可拆卸连接，托板20装入或拆出机器主体100时，托板20沿机器主体100的前向或后向方向移动，将清洁布21连同托板20一同从智能清扫机器人1的水箱22上拆卸下来，由于清洁组件200的托板20在装配至水箱22上或者从水箱22上拆除时，托板20沿机器主体100的前向方向或后向方向运动，而通常情况下机器主体100的前向方向及后向方向为水平方向，所以使得带清洁布21的托板20的装入和拆卸更加方便，进一步解决了现有技术中需要将智能清扫机器人1翻转至底面朝上才能够拆卸清洁组件200的技术问题，这样使得清洁组件200的更换和维护更加方便。可以理解的是，智能清洁设备可以为但不限于智能清扫机器人1，在其他一些可选的实施例中，智能清洁设备还可以是太阳能电池板清洁装置或大楼外墙清洁装置等。
可以理解的是，清洁组件200可以为并不限于上述结构形式，在其他一些可选的实施例中，安装槽203也可以设置于清洁布21上，导向条211也可以设置于托板20上，只要能够方便实现托板20和清洁布21的安装和拆卸即可。
例如在如图1及图12所示的实施例中，安装槽203设置于托板20的远离机器主体100的一侧的一端端部，导向条211设置于清洁布21上与安装槽203相对应的位置，也即清洁布21的端部。但可以理解的是，在其他一些可选的实施例中，安装槽203也可以设置于托板20的远离机器主体100的一侧的中部位置，相应的，导向条211在清洁布21上的位置与安装槽203相对应，也设置于清洁布21的中部位置。
本发明实施例提供的智能清洁设备，托板20上的安装槽203一端为安装端，另一端为止挡端，导向条211可通过安装端穿入或穿出安装槽203，并且通过止挡端限制导向条211由止挡端穿出安装槽203。
在一些可选的实施例中，导向条211可以是具有一定刚度的塑料杆或钢制杆等，也可以是柔性的条状物。导向条211的横截面形状可以为圆形或非圆的其他形状。托板20上的安装槽203的横截面形状为C型或与C型相似的形状，只要保证能够容纳并限定导向条211即可。安装槽203的供清洁布21伸出的开口朝下，即C型的开口朝下，安装槽203的一端为伸入端，该伸入端不具有止挡结构，以供导向条211伸入，另一端为止挡端，该止挡端具有止挡结构，以防止导向条211从此端脱出。换而言之，安装槽203的一端封闭，另一端为开口。清洁布21的尾部通过导向条211与安装槽203配合的方式，固定在托板20上，提高了固定的稳定性，防止清洁布21脱落。该导向条211和安装槽203位于托板20上朝向智能清扫机器人1前向的方向上。通过这种先安装导向条211，再将清洁布21粘在魔术贴上的方式，确保清洁布21安装正确。
请进一步参阅图1及图2，清洁布21可以是整体为同一材质的清洁布21，也可以是不同位置采用不同材质的复合式清洁布21。在一些可选的实施例中，清洁布21为复合式清洁布21，该清洁布21主体基本上呈半圆形，其内层为渗水区，选用渗水率较高的材质；中间层为去污区，采用较为硬质的材料，用于刮去地面较硬物质；外层为吸水区， 用于吸收底面的水分，去除水渍水痕，采用吸水效果较好的材料。这样可以提高清洁效率。导向条211设置在半圆形的直线段上。
请进一步参阅图5及图6，本发明实施例提供的智能清洁设备，托板20上设置有通水孔206，用于将水箱22的水连通至清洁布21上。在一些可选的实施例中，水箱22可以为设置有蠕动泵的电控水箱22，智能清扫机器人1内部设置水路道板，可选的，水路道板为同程水路道板25，同程水路道板25设置于机器主体100与托板20之间，其与机器主体100可拆卸连接，且同程水路道板25上设置有进水口和出水口251，进水口与水箱22内部的蠕动泵的出水管道相连接，出水口251的位置与托板20上的通水孔206位对应设置，以便于水箱22的水经由同程水路道板25的出水口251和托板20上的通水孔206流至清洁布21上。
请进一步参阅图1及图2，本发明实施例提供的智能清洁设备，水箱22与所述机器主体100的对接位置形状对应设置，将所述水箱22安装于所述机器主体100上后，水箱22的外侧壁与机器主体100的侧壁相对接，水箱22的水箱底壁与机器主体100的底壁相对接，且水箱22至少部分包围在机器主体100内的风机的外侧，如图2所示，风机设置于风机安装位置16内部，在一些可选的实施例中，水箱22可以通过按钮24实现与机器主体100的连接和分离，托板20上设置有用于避让按钮24的豁口204，具体的，豁口204为设置于托板20顶部的与按钮24的外形相匹配的豁口204，需要将清洁组件200从机器主体100上拆卸下来时，按住按钮24即可实现清洁组件200与机器主体100的分离。
请进一步参阅图6，本发明实施例提供的智能清洁设备，在一些可选的实施例中，托板20上面向水箱22的一侧表面上设置有弹性件205，当托板20被安装在水箱22上后，使托板20和水箱22之间为弹性接触，能够使得水箱22的上下浮动较为平稳，且托板20上的弹性件205抵触水箱22底面，使得工作时，托板20和地面之间产生压紧力，能够进一步使清洁布21和地面更加贴合，达到更好的清洁效果。可选的，弹性件205包括多个间隔设置于挡板面向水箱22的一侧表面的弹性纽扣，弹性纽扣内部均设置弹簧。
可以理解的是，弹性件205可以但不限于为上述结构，弹性件205也可以设置于水箱22面向托板20的一侧表面上，弹性件205包括多个间隔设置于水箱22面向托板20的一侧表面的弹性纽扣。当然，水箱22面向托板20的一侧表面上和托板20上面向水箱22的一侧表面上也可以同时设置弹性件205，当托板20被安装在水箱22上后，使托板20和水箱22之间为弹性接触。当所述水箱22面向托板20的一侧表面和所述托板20面向水箱22的一侧表面上同时设置弹性件205时，较为优选的，设置于水箱22面向托板20的一侧表面的弹性件205和设置于托板20面向水箱22的一侧表面的弹性件205错位设置，以进一步使得水箱22和托板20件达到更优的弹性接触效果。
请进一步参阅图1及图2，本发明实施例提供的智能清洁设备，在一些可选的实施例中，机器主体100包括感知系统(图中未示出)、控制系统(图中未示出)、驱动系统10、能源系统、人机交互系统及干式清洁部13等。下面将对智能清洁设备的各主要部分 进行说明。
在一些可选的实施例中，机器主体100还包括上封盖、前向部分、后向部分和底盘等。机器主体100具有近似圆形形状，也可以为其他形状，包括但不限于前方后圆的近似D形形状。
感知系统包括位于机器主体100上方的位置确定装置、位于机器主体100的前向部分的缓冲器、悬崖传感器和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置。这些传感装置向控制系统提供机器的各种位置信息和运动状态信息。位置确定装置包括但不限于红外发射接收装置、摄像头、激光测距装置(LDS)。
驱动系统10用以驱动机器主体100及其上的部件移动，以进行自动行走和清扫。驱动系统10包括驱动轮模块101，驱动系统10可基于距离和角度信息，例如x、y及θ分量，发出驱动命令而操纵智能清扫机器人1跨越地面行驶。驱动轮模块101可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动轮模块101分别包括左驱动轮模块和右驱动轮模块。左、右驱动轮模块沿着由机器主体100界定的横向轴对置，可选的，左、右驱动轮模块对称设置。为了智能清扫机器人1能够在地面上更为稳定地运动或者更强的运动能力，智能清扫机器人1可以包括一个或者多个从动轮102，从动轮包括但不限于万向轮。
驱动轮模块101包括行走轮和驱动马达以及控制驱动马达的控制电路，驱动轮模块101还可以连接测量驱动电流的电路和里程计。驱动轮模块101可以可拆卸地连接到机器主体100上，方便拆装和维修。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接，到机器主体100上，且接受向下及远离机器主体100偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时智能清扫机器人1的清洁元件(如滚刷131等)也以一定的压力接触地面。
机器主体100的前向部分14可承载缓冲器，在清洁过程中驱动轮模块101推进智能清扫机器人1在地面行走时，缓冲器经由传感器系统，例如红外传感器，检测智能清扫机器人1的行驶路径中的一个或多个事件，智能清扫机器人1可通过由缓冲器检测到的事件，例如障碍物、墙壁，而控制驱动轮模块101使智能清扫机器人1来对事件做出响应，例如远离障碍物。
控制系统设置在机器主体100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如SLAM，绘制智能清扫机器人1所在环境中的即时地图。并且结合缓冲器、悬崖传感器11和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得智能清扫机器人1的工作更加符合主人的要求，有更好的用户体验。进一步 地，控制系统能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高智能清扫机器人1的清扫效率。
能源系统包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。
人机交互系统12包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
请进一步参阅图3，为了更加清楚地描述智能清扫机器人1的行为，进行如下方向定义：智能清扫机器人1可通过相对于由机器主体100界定的如下三个相互垂直轴的移动的各种组合在地面上行进：前后轴X(即沿机器主体100的前向部分14和后向部分15方向的轴线)、横向轴Y(即垂直于轴X且与轴X在同一水平面的轴)及中心垂直轴Z(垂直于轴X和轴Y所组成的平面的轴)。沿着前后轴X的前向驱动方向标示为“前向”，且沿着前后轴X的向后驱动方向标示为“后向”。横向轴Y实质上是沿着由驱动轮模块101的中心点界定的轴心在智能清扫机器人1的右轮与左轮之间延伸。
智能清扫机器人1可以绕Y轴转动。当智能清扫机器人1的前向部分向上倾斜，向后向部分向下倾斜时为“上仰”，且当智能清扫机器人1的前向部分向下倾斜，向后向部分向上倾斜时为“下俯”。另外，智能清扫机器人1可以绕Z轴转动。在智能清扫机器人1的前向方向上，当智能清扫机器人1向X轴的右侧倾斜为“右转”，当智能清扫机器人1向X轴的左侧倾斜为“左转”。
尘盒以机械抠手卡接的方式将尘盒安装在容纳腔中，抠手被抠住时卡件收缩，抠手放开时卡件伸出卡在容纳腔中容纳卡件的凹槽中。
上述清洁组件200作为智能清扫机器人1的湿式清洁部，其主要作用是通过含有清洁液的清洁布21对被清洁表面(如地面)进行擦拭。而干式清洁部13的主要作用是通过清扫刷等结构清扫被清洁表面的固定颗粒污染物。干式清洁部13的主要清洁功能源于滚刷131、尘盒、风机、出风口以及四者之间的连接部件所构成的第二清洁部。与地面具有一定干涉的滚刷131将地面上的垃圾扫起并卷带到滚刷131与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。智能清扫机器人1的除尘能力可用垃圾的清扫效率DPU(Dust pick up efficiency)进行表征，清扫效率DPU受滚刷131结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风 力利用率影响，受风机的类型和功率影响。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁智能清扫机器人1来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的智能清扫机器人1，可以进化为充一次电清扫100平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会增加。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁组件200还可包含具有旋转轴的边刷132，旋转轴相对于地面成一定角度，以用于将碎屑移动到第二清洁部的滚刷131的清扫区域中。
本发明实施例还提供一种清洁组件200，其可以为上述的清洁组件200。
虽然已经参考可选择的实施例对本发明进行了描述，但在不脱离本发明的范围的情况下，可以对其进行各种改进并且可以用等效物替换其特征在于的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本发明并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (15)

  1. 一种清洁组件，可安装于智能清洁设备的机器主体上，其特征在于，所述清洁组件包括连接板和柔性清洁体，所述清洁组件通过所述连接板与所述机器主体可拆卸连接，所述连接板装入或拆出所述机器主体时，所述连接板沿所述机器主体的前向或后向方向移动；所述连接板和所述柔性清洁体通过滑动组件可拆卸连接，所述滑动组件包括相互配合的安装槽和导向条，所述安装槽设置于所述连接板和所述柔性清洁体的其中一者上，所述导向条设置于所述连接板和所述柔性清洁体中的另一者上，所述导向条可穿入所述安装槽内以使所述柔性清洁体与所述连接板相连接，且所述导向条可从所述安装槽内穿出以使所述柔性清洁体与所述连接板相分离。
  2. 根据权利要求1所述的清洁组件，其特征在于，所述安装槽一端为安装端，另一端为止挡端，所述导向条可通过所述安装端穿入或穿出所述安装槽，并且通过所述止挡端限制所述导向条由所述止挡端穿出所述安装槽。
  3. 根据权利要求1或2所述的清洁组件，其特征在于，所述安装槽一端封闭，另一端为开口结构。
  4. 根据权利要求1所述的清洁组件，其特征在于，进一步包括液体容置箱，所述连接板通过导向结构安装于所述液体容置箱底部，当所述连接板被安装于所述液体容置箱底部后，所述连接板能够相对于所述液体容置箱上下浮动。
  5. 根据权利要求4所述的清洁组件，其特征在于，所述液体容置箱面向所述连接板的一侧表面上和/或所述连接板面向所述液体容置箱的一侧表面上设置有弹性件，当所述连接板被安装在所述液体容置箱底部后，使所述连接板和所述液体容置箱之间为弹性接触。
  6. 根据权利要求5所述的清洁组件，其特征在于，所述弹性件包括多个间隔设置的弹性纽扣。
  7. 根据权利要求4所述的清洁组件，其特征在于，所述导向结构包括相互配合的导向凸起和导向槽，所述导向凸起设置于所述连接板和所述液体容置箱的其中一者上，所述导向槽设置于所述连接板和所述液体容置箱中的另一者上；其中，
    所述导向凸起的厚度小于所述导向槽的槽厚。
  8. 根据权利要求4所述的清洁组件，其特征在于，所述连接板安装于所述液体容置箱上后，通过连接结构与所述液体容置箱相连接，所述连接结构包括相互配合的且分别设置于所述液体容置箱上的第一连接结构和设置于所述连接板上的第二连接结构。
  9. 根据权利要求8所述的清洁组件，其特征在于，所述连接结构还包括控制结构，所述控制结构设置于所述液体容置箱和所述连接板的其中一者上，所述控制结构用于控制所述第一连接结构和所述第二连接结构的连接和分离。
  10. 根据权利要求9所述的清洁组件，其特征在于，所述控制结构设置于所述连接板上，且与所述第二连接结构为一体式结构。
  11. 根据权利要求10所述的清洁组件，其特征在于，所述连接板上设有供所述第一连 接结构装入所述连接板并与所述第二连接结构相连接的安装口；其中，
    所述控制结构包括：
    安装架，所述安装架可移动地设置于所述连接板上，所述第二连接结构连接于所述安装架的一端，以使所述第二连接结构能够在所述安装架的带动下移动；
    操作件，所述操作件设置于所述安装架的另一端，与所述第二连接结构相对设置，以便于通过所述操作件控制所述安装架的移动。
  12. 根据权利要求4所述的清洁组件，其特征在于，所述连接板上设置有与所述液体容置箱相连通的通水孔，用于将所述液体容置箱的水连通至所述柔性清洁体上。
  13. 根据权利要求4所述的清洁组件，其特征在于，所述液体容置箱与所述机器主体的对接位置形状对应设置，将所述液体容置箱安装于所述机器主体上后，所述液体容置箱的外侧壁与所述机器主体的侧壁相对接，所述液体容置箱的底壁与所述机器主体的底壁相对接。
  14. 根据权利要求4所述的清洁组件，其特征在于，所述液体容置箱通过按钮与所述机器主体可拆卸连接，所述连接板上具有用于避让所述按钮的豁口，以便于通过操作所述按钮控制所述液体容置箱与所述机器主体的安装与分离。
  15. 一种智能清洁设备，其特征在于，包括上述1-14任一项所述的清洁组件。
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