WO2021114975A1 - Module de nettoyage, robot de nettoyage et système de nettoyage - Google Patents

Module de nettoyage, robot de nettoyage et système de nettoyage Download PDF

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Publication number
WO2021114975A1
WO2021114975A1 PCT/CN2020/127054 CN2020127054W WO2021114975A1 WO 2021114975 A1 WO2021114975 A1 WO 2021114975A1 CN 2020127054 W CN2020127054 W CN 2020127054W WO 2021114975 A1 WO2021114975 A1 WO 2021114975A1
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WO
WIPO (PCT)
Prior art keywords
bracket
cleaning
state
attachment element
force
Prior art date
Application number
PCT/CN2020/127054
Other languages
English (en)
Chinese (zh)
Inventor
谢明健
饶尧
Original Assignee
苏州宝时得电动工具有限公司
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
Priority claimed from CN201911281590.9A external-priority patent/CN112971630A/zh
Priority claimed from CN201922243354.XU external-priority patent/CN211723014U/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2021114975A1 publication Critical patent/WO2021114975A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the invention relates to the technical field of cleaning equipment, in particular to a cleaning module, a cleaning robot and a cleaning system.
  • the cleaning robot generally uses cleaning media (such as paper towels, mops, etc.) to perform cleaning operations.
  • the cleaning media is installed on a cleaning tool (such as a mop board) or the machine body.
  • the cleaning robot drives the cleaning media to move along a set route. Move on the working surface (such as the bottom plate, glass) to realize the cleaning operation. It is inevitable that with the prolongation of the cleaning operation time, the stains attached to the cleaning medium increase, and the cleaning effect becomes worse. For this reason, the dirty cleaning medium has to be removed and replaced with a clean cleaning medium.
  • cleaning robots on the market generally use magic sticking/bristles sticking to stick the cleaning medium on the cleaning tool or the machine body.
  • the cleaning medium needs to be replaced, the cleaning medium needs to be manually removed, and then replaced with a new cleaning medium, and finally the cleaning medium is installed on the cleaning tool or the machine body.
  • This method requires human intervention to manually replace the cleaning medium, and the user is likely to get his hands dirty during the process of replacing the cleaning medium, and the user experience is poor.
  • embodiments of the present invention provide a cleaning module, a cleaning robot configured with the cleaning module, and a cleaning system including the cleaning robot, which can automatically replace the cleaning medium without user intervention and improve user experience .
  • the present invention provides the following technical solutions.
  • a second bracket that is detachably attached to the first bracket is provided, and a clutch that operably drives the second bracket to switch between the attached state and the separated state is provided on the first bracket.
  • the second bracket can be driven by the clutch actuator to switch from the attached state attached to the first bracket to the separated state separated from the first bracket, thereby realizing the release of the old cleaning medium and the new cleaning medium Replacement.
  • the clutch actuator acts to restore the second bracket from the separated state to the attached state attached to the first bracket. Therefore, the replacement of the cleaning medium does not require manual operation and intervention, and the user experience is better.
  • FIG. 1 is a schematic diagram of an assembly structure of a cleaning module according to a non-limiting embodiment of the present invention
  • Fig. 2 is a schematic diagram of an exploded structure of the cleaning module shown in Fig. 1;
  • Fig. 3 is a schematic side view of the cleaning module shown in Fig. 1 or Fig. 2 when the second bracket is in an attached state;
  • FIG. 4 is a side cross-sectional view of the cleaning module shown in FIG. 1 or FIG. 2 when the second bracket is in an attached state;
  • Figure 5 is a side sectional view of the cleaning module shown in Figure 1 or Figure 2 when the second bracket is in a separated state;
  • Fig. 6 is a schematic side view of a cleaning module according to a non-limiting embodiment of the present invention.
  • FIG. 7 is a schematic diagram of the structure between the cleaning medium and the second holder when the second holder is parallel to the cleaning direction;
  • Fig. 8 is a schematic diagram of the structure between the cleaning medium and the second support when the second support is not parallel to the cleaning direction.
  • the direction of the cleaning module of the embodiment of the present invention that points to or faces the working surface under normal use is defined as “down”
  • the opposite direction or the direction facing away from the working surface is defined as “up”
  • the upward direction shown in FIGS. 1 to 5 is defined as “up”
  • the downward direction shown in FIGS. 1 to 5 is defined as “down”.
  • the cleaning module of the embodiment of the present invention can be configured in a cleaning robot, and can be dragged by the cleaning robot to move along the cleaning direction on the working surface to perform cleaning operations.
  • the cleaning robot may be configured with a housing, and the cleaning module 100 may be provided at the bottom of the housing.
  • the bottom of the housing may also be provided with a walking mechanism for dragging the cleaning robot to move in the cleaning direction L, and the walking mechanism may be provided in front of the cleaning module 100 along the cleaning direction L.
  • the cleaning robot in the embodiment of the present invention may also include other necessary modules or components, such as rolling brushes, side brushes, suction ports, dust boxes, batteries, motors, and so on. It should be noted that other necessary modules or components included in the cleaning robot can be any suitable existing structure. In order to clearly and briefly describe the technical solution provided by the present invention, the above-mentioned parts will not be repeated here, and the accompanying drawings in the specification have also been simplified accordingly. However, it should be understood that the scope of the present invention is not limited thereby.
  • the cleaning robot equipped with the cleaning module of the embodiment of the present invention can be used in cleaning operation scenarios including but not limited to sweeping, mopping, and window cleaning.
  • the cleaning module of the embodiment of the present invention is configured in a mopping robot, and the mopping robot can drive the cleaning module to contact the ground to wipe the ground.
  • the cleaning module 100 of the embodiment of the present invention may include a first bracket 1 and a second bracket 2.
  • the second bracket 2 is detachably attached to the first bracket 1, so that the second bracket 2 has an attached state attached to the first bracket 1 and a separated state at least partially separated from the first bracket 1.
  • the second bracket 2 is at least partially separated from the first bracket 1 in a separated state, which may include: the second bracket 2 is completely separated from the first bracket 1, and there is no connection or contact relationship between the two, as shown in FIG. 5 The situation indicated.
  • the second bracket 2 is partly separated from the first bracket 1, but there is still a partial connection or contact relationship.
  • one side of the second bracket 2 is rotatably connected with the first bracket 1, and the second bracket 2 can rotate around the rotational connection point between the second bracket 2 and the first bracket 1.
  • the second bracket 2 rotates away from the first bracket 1, the second bracket 2 is switched to the separated state, but the second bracket 2 still has a part connected with the first bracket 1.
  • the second bracket 2 is completely separated from the first bracket 1 as the main scenario in which the second bracket 2 is in a separated state, but the protection scope of the embodiment of the present invention is not limited thereby.
  • FIG. 1 Fig. 1 and Fig. 4 are schematic diagrams of the structure when the second bracket 2 is in the attached state.
  • FIG. 5 it is a schematic diagram of the structure when the second bracket 2 is in a separated state.
  • the cleaning medium 3 may be clamped between the second bracket 2 and the first bracket 1.
  • the cleaning robot can drive the cleaning module 100 to perform cleaning operations.
  • the cleaning medium 3 originally clamped between the first bracket 1 and the second bracket 2 is released.
  • the cleaning medium 3 can be taken out.
  • the cleaning medium 3 can be any substance or material that can be used to clean the work surface, for example, including but not limited to paper towels, mops, etc., which is not limited in the embodiment of the present invention.
  • the first bracket 1 may be provided with a clutch actuator 4, which can drive the second bracket 2 to switch between the attached state and the detached state.
  • the clutch actuator 4 has a resting state and a working state. When the clutch actuator 4 is switched between the resting state and the working state, the second bracket 2 can be driven to switch between the attached state and the separated state.
  • Both the clutch actuator 4 and the second bracket 2 have two states.
  • the two states of the clutch actuator 4 can correspond to the two states of the second bracket 2 respectively.
  • the second bracket 2 when the clutch actuator 4 is in a resting state, the second bracket 2 may be in an attached state.
  • the clutch actuator 4 when the clutch actuator 4 is in a working state, the second bracket 2 is in a separated state.
  • the second bracket 2 can be driven by the clutch actuator 4 to switch from the attached state to the separated state accordingly.
  • the second bracket 2 can be restored from the separated state to the attached state accordingly.
  • the first bracket 1 can apply an attachment force to the second bracket 2, and the existence of the attachment force makes the second bracket 2 always have a tendency to be in the attached state, or switch movement toward the attached state. the trend of. Therefore, the second bracket 2 is usually in the attached state under the action of no external force opposite to the attaching force.
  • the clutch actuator 4 needs to apply a separating force opposite to the attaching force to the second bracket 2, and the value of the separating force should be greater than the attaching force. The value of the relay force.
  • the clutch actuator 4 when the clutch actuator 4 switches from the resting state to the working state, the clutch actuator 4 can apply a separating force to the second bracket 2 to drive the second bracket 2 to switch from the attached state to the separated state. In other words, when the clutch actuator 4 is in a resting state, it does not apply a separating force to the second bracket 2. When the clutch actuator 4 is in the working state, the separation force is applied to the second bracket 2.
  • the clutch actuator 4 when the clutch actuator 4 is in a resting state, the second bracket 2 is in an attached state under the action of the attachment force, and the cleaning medium 3 is clamped between the first bracket 1 and the second bracket 2.
  • the cleaning robot can drag the cleaning module 100 of this embodiment to move on the working surface, and the cleaning medium 3 performs cleaning operations on the working surface.
  • the cleaning operation is performed for a predetermined time or after the cleaning operation of the working surface is completed, the cleaning medium 3 becomes dirty.
  • the clutch actuator 4 can be switched from the resting state to the working state to apply a separation force that overcomes the attachment force to the second bracket 2 so that the second bracket 2 is switched from the attached state to the separated state, and the cleaning medium 3 released.
  • the dirty cleaning medium 3 can be removed and replaced with a new or clean cleaning medium 3 on the second support 2. Then the clutch actuator 4 is switched to the resting state, and the separation force applied to the second bracket 2 is removed. Then the second bracket 2 is automatically reset to the attached state under the drive of the attachment force, so that the replaced cleaning medium 3 is clamped between the second bracket 2 and the first bracket 1. Subsequently, the next round of cleaning operations can be carried out.
  • the attachment force may be a field force.
  • the purpose of applying the attachment force can be achieved without the aid of a tangible physical connection member, so that the structure can be simplified.
  • the structure of the first support 1 and the second support 2 will not be changed, so that the cleaning module 100 can maintain better structural integrity.
  • the field force may be a magnetic field force.
  • the first bracket 1 may be provided with a first attachment element 5
  • the second bracket 2 may be provided with a first attachment element 5 corresponding to the first attachment element 5.
  • Two attachment element 6. one of the first attachment element 5 and the second attachment element 6 is a magnetic element, and the other is a magnetizable element or a magnetic element. Then the attachment force may be the magnetic attraction force of the first attachment element 5 to the second attachment element 6.
  • the magnetic element may be a magnetic element capable of generating a magnetic field, for example, a magnet with its own magnetism (such as a permanent magnet or a hard magnet), or an electromagnetic element (such as an electromagnet) capable of generating magnetism after being energized.
  • the magnetizable element may be made of a magnetizable material such as iron, cobalt, nickel, etc., which can be attracted by magnetic force.
  • the first bracket 1 can apply an attachment force to the second bracket 2 by the force of a magnetic field, so at least one of the first attachment element 5 and the second attachment element 6 is a magnetic element, and the other is a magnetic element.
  • An element that can interact with a magnetic element magnetically For example, one of the first attachment element 5 and the second attachment element 6 is a magnetic element, and the other is a magnetizable element.
  • both the first attachment element 5 and the second attachment element 6 are magnetic elements.
  • first bracket 1 By arranging the first attachment element 5 and the second attachment element 6 on the first bracket 1 and the second bracket 2, and the first attachment element 5 and the second attachment element 6 are attracted to each other by the force of a magnetic field, thereby The purpose of the first bracket 1 applying an attachment force to the second bracket 2 is achieved.
  • the second bracket 2 is in an attached state (as shown in Figs. 3 and 4).
  • the first attachment element 5 is separated from the second attachment element 6, the second bracket 2 is in a separated state (as shown in FIG. 5).
  • the first bracket 1 exerts an attachment force on the second bracket 2 at the same time.
  • the second bracket 2 also exerts a reaction force opposite to the attachment force on the first bracket 1.
  • the value of the attachment force and the reaction force are equal. Specifically, as shown in Figs. 3 and 4, the attachment force is upward and the reaction force is downward.
  • the separation force applied by the clutch actuator 4 to the second bracket 2 is downward, which is opposite to the direction of the attachment force.
  • the magnetizable element may be an additional component or the first attachment element.
  • the element 5 or the second attachment element 6 is part of its own structure.
  • the magnetic element is arranged on the first support 1
  • the magnetizable element is an iron block arranged on the second support 2
  • the second support 2 is made of iron material at least at the position corresponding to the magnetic element (including the second support 2 The whole is made of iron material).
  • the number of the first attachment element 5 and the second attachment element 6 can be multiple, and multiple first attachments
  • the element 5 and the second attachment element 6 are respectively provided at positions close to the edge of the first bracket 1 and the second bracket 2.
  • the first bracket 1 has at least a pair of opposite first sides
  • the second bracket 2 has a second side corresponding to the at least one pair of first sides.
  • the plurality of first attachment elements 5 are distributed on at least one pair of first sides
  • the plurality of second attachment elements 6 are distributed on at least one pair of second sides.
  • the second bracket 2 can be attached to the first bracket 1 along the peripheral edge, so that the attachment strength of the second bracket 2 can be improved.
  • the first attachment element 5 and the second attachment element 6 are respectively arranged on the edges of the first bracket 1 and the second bracket 2, which will not occupy the cleaning work area in the middle of the first bracket 1 and the second bracket 2, thereby avoiding The first attachment element 5 and the second attachment element 6 interfere with the cleaning operation area of the first support 1 and the second support 2 to ensure the smooth progress of the cleaning operation.
  • the first bracket 1 and the second bracket 2 are substantially rectangular, the first bracket 1 has two pairs of opposed first sides, and the second bracket 2 also has two pairs of opposed second sides. side.
  • the side edge can be understood as the part of the bracket close to the edge.
  • the plurality of first attachment elements 5 and the plurality of second attachment elements 6 may be evenly distributed on at least a pair of the first side and the second side.
  • the plurality of first attachment elements 5 are equally divided into two groups, which are respectively provided on a pair of two first sides.
  • the plurality of first attachment elements 5 are equally divided into four groups, and are respectively arranged on two pairs of four first sides.
  • multiple second attachment elements 6 can be set by reference.
  • first attachment elements 5 are preferably provided on the surface (lower surface) of the first side facing the second side
  • second attachment elements 6 are preferably provided on the second side facing the first side.
  • the first bracket 1 may have a plurality of first corner points
  • the second bracket 2 has a second corner point corresponding to the plurality of first corner points.
  • the first corner point may be the intersection of two first sides
  • the second corner point may be the intersection of two second sides.
  • at least the first attachment element 5 is provided at the first corner point
  • the second attachment element 6 is provided at least at the second corner point.
  • the number of the first corner point and the second corner point is four as shown in FIG. 2, the number of the first attachment element 5 and the second attachment element 6 is not less than four (four or four the above).
  • the first bracket 1 is configured as a substantially plate-shaped structure
  • the second bracket 2 is configured as a frame structure with a hollowed-out area 201 in the middle, and includes a plurality of side edges, which are connected end to end to form a hollowed-out middle part. Area 201.
  • the shape of the second bracket 2 is adapted to the shape of the first bracket 1, so that the two can achieve better assembly, and ensure that the two can be better fitted after assembly to form a relatively complete structure.
  • the first bracket 1 When the second bracket 2 is in the attached state, the first bracket 1 can be at least partially embedded in the middle hollow area 201 of the second bracket 2.
  • the lower surface of the first bracket 1 can be accommodated in the central hollowed-out area 201, and at least part of the lower surface of the cleaning medium 3 extends outside the central hollowed-out area 201. That is to say, when the second bracket 2 is in the attached state and the cleaning medium 3 is clamped between the first bracket 1 and the second bracket 2, the lower surface of the first bracket 1 is located in the hollow area of the second bracket 2.
  • the inside of the 201 does not extend outside the middle hollowed-out area 201, and at least part of the lower surface of the cleaning medium 3 is located outside the middle hollowed-out area 201.
  • the cleaning robot drags the cleaning module 100 to move on the work surface, only the cleaning medium 3 is in contact with the work surface, and the lower surface of the first support 1 is not stored in the hollowed-out area 201 of the second support 2 Work surface contact.
  • the first support 1 is prevented from touching the ground, the traveling resistance of the cleaning robot is reduced, and the first support 1 is prevented from contacting the work surface.
  • the support 1 and/or the working surface are mechanically damaged or scratched.
  • the depth of the middle hollow area 201 is configured to be greater than the depth of the first bracket 1 embedded in the middle hollow area 201 and smaller than the sum of the depth of the first bracket 1 embedded in the middle hollow area 201 and the thickness of the cleaning medium 3.
  • the depth of the insertion of the first bracket 1 into the central hollowed-out area 201 may be the maximum distance from the upper surface of the embedded portion of the second bracket 2 corresponding to the first bracket 1 to the lower surface of the first bracket 1.
  • the first bracket 1 may be in the shape of a regular rectangular block with a flat bottom surface.
  • the second bracket 2 is also a regular rectangle, and its four second sides are all straight sides.
  • the lower surface thereof may be parallel to the upper surface or the lower surface of the second side of the second bracket 2.
  • the depth at which the first bracket 1 is embedded in the middle hollow area 201 may be the vertical distance between the upper surface of the second bracket 2 and the lower surface of the first bracket 1.
  • the cleaning robot drags the cleaning module 100 to move on the working surface, the cleaning medium 3 is in surface contact with the working surface, and the cleaning medium 3 adheres to the working surface with its surface exposed in the hollowed-out area 201 in the middle.
  • the first bracket 1 may be in the shape of an irregular rectangular block, and the upper surface may be a flat surface, and the lower surface may be a curved surface.
  • the longitudinal cross-sectional shape of the lower surface of the first bracket 1 is arc-shaped.
  • a pair of two oppositely arranged first sides of the first support 1 perpendicular to the cleaning direction L may be straight sides, and a pair of two oppositely arranged first sides that are parallel to the cleaning direction L may be arcs.
  • Shaped side (as shown in Figure 1 and Figure 2).
  • the depth of the first bracket 1 embedded in the middle hollow area 201 may be the vertical distance between the upper surface of the second bracket 2 and the lowest point of the arc-shaped lower surface of the first bracket 1.
  • the cleaning medium 3 contacts the working surface with its part that contacts the lowest point of the arc-shaped lower surface of the first support 1, and this The contact is a line contact.
  • the second support 2 has two arc-shaped sides 203 located on both sides of the cleaning direction L, and the upper surface of the arc-shaped sides 203 is connected to the upper surface of the first support 1.
  • the lower surface fits.
  • the arc-shaped side 203 of the second bracket 2 can better fit the arc-shaped lower surface of the second bracket 2, thereby increasing the contact area between the two. Attachment strength and stability.
  • the lower surface of the first bracket 1 is formed with an accommodation groove 104 that matches the arc-shaped side 203, and the thickness of the arc-shaped side 203 is not greater than the depth of the accommodation groove 104.
  • the cleaning module 100 can prevent the second support 2 from contacting the working surface during the cleaning operation, and then can prevent the second support 2 and/or the working surface from being mechanically damaged due to the contact between the second support 2 and the working surface. Or scratched.
  • the arc-shaped lower surface of the first bracket 1 does not exceed the middle hollow area 201 of the second bracket 2, and the first bracket 1 is perpendicular to the cleaning
  • the lower surfaces at both ends of the direction L protrude downward to form an arc-shaped boss, and the lower surface of the boss is recessed inward to form a receiving groove 104 .
  • the height of the accommodating groove 104 is at least not higher than the arc-shaped surface of the first support 1, so that when the arc-shaped side 203 of the second support 2 is inserted into the accommodating groove 104, the lower surface of the first support 1 will not Exceed the hollowed-out area 201 in the middle of the second bracket 2.
  • any side of the second support 2 is not parallel to the cleaning direction L.
  • the two straight second side edges of the second bracket 2 are substantially perpendicular to the cleaning direction L, so any arc-shaped side edge 203 is not parallel to the cleaning direction L.
  • a wing 101 is formed on the outer side of the arc-shaped lower surface of the first bracket 1 along the cleaning direction L, and the wing 101 is higher than the lowest point of the arc-shaped lower surface of the first bracket 1.
  • the second bracket 2 has straight sides 202 located on both sides of the arc-shaped side 203 along the cleaning direction L and respectively connected to both ends of the arc-shaped side 203.
  • the straight side 202 is higher than the lower surface of the arc-shaped side 203. lowest point.
  • the wing 101 is matched with the straight side 202, and when the second bracket 2 is in the attached state, the straight side 202 is matched with the wing 101.
  • the number of wings 101 is two, and the two wings 101 are located on the front and back sides of the first bracket 1 along the cleaning direction L, and the wings 101 may specifically be the front edges of the first bracket 1.
  • a lug or connecting ear structure formed by horizontally extending outward from the rear edge.
  • the number of straight sides 202 is also two, and the two straight sides 202 are located on the front side and the back side of the second bracket 2 along the cleaning direction L.
  • the wing 101 Since the wing 101 is higher than the lowest point of the arc-shaped lower surface of the first bracket 1, the wing 101 will not contact the working surface during the cleaning operation of the cleaning module 100. In the same way, the straight side 202 that is arranged in close contact with the wing 101 does not contact the working surface.
  • the cleaning module 100 moves on the working surface, only the cleaning medium 3 clamped between the first bracket 1 and the second bracket 2 contacts the working surface, while the first bracket 1 and the second bracket 2 are in contact with the working surface. Both are lifted above the working surface, so as to avoid scratches between the first bracket 1 and the second bracket 2 and the working surface during the cleaning operation, resulting in obstruction of the movement of the cleaning module 100 and the appearance of the cleaning module 100 and/or the working surface. Problems with mechanical damage or scratches.
  • the second limiting step 2022 can be locked into the first limiting step 1011, thereby realizing the limiting and fixing of the second bracket 2 and the first bracket 1 along the cleaning direction L, Avoid the phenomenon that the second bracket 2 and the first bracket 1 fall off during the cleaning operation.
  • the first attachment element 5 and the second attachment element 6 may be provided on the wings 101 of the first bracket 1 and the straight sides 202 of the second bracket 2, respectively.
  • the lower surface of the wing 101 may be recessed inwardly to form a plurality of first mounting grooves
  • the upper surface of the straight side 202 may be recessed inwardly to form a plurality of second mounting grooves.
  • the number of installation slots and the second installation slots are equal and arranged in one-to-one correspondence.
  • the first attachment element 5 can be fixedly embedded in the first installation groove
  • the second attachment element 6 can be fixedly embedded in the second installation groove.
  • the first attachment element 5 and the second attachment are respectively provided on the wing 101 and the straight side 202
  • the elements 6 can generate attachment force to adsorb each other, thereby driving the wing 101 and the straight side 202 to fit together, so as to better realize the assembly of the first bracket 1 and the second bracket 2 and improve the first bracket 1. Attachment strength and stability to the second bracket 2.
  • the separation force applied by the clutch actuator 4 to the second bracket 2 to prompt the second bracket 2 to switch from the attached state to the separated state or to maintain the second bracket 2 in the separated state can be a field force or a mechanical force. force.
  • the field force can also be a magnetic field force.
  • the second bracket 2 can be switched from the separated state to the attached state or maintained in the attached state under the action of the magnetic field force (specifically, the mutually repelling magnetic repulsion force). Under the action of suction), it is switched from the attached state to the separated state or is maintained in the separated state.
  • the clutch actuator 4 may include a driving off element, and the second bracket 2 may be provided with a matching element corresponding to the driving off element.
  • one of the driving element and the matching element may be an electromagnetic element, and the other may be a magnetic element or an electromagnetic element.
  • it may include: one of the driving element and the mating element is an electromagnetic element, the other is a magnetic element, and both the driving element and the mating element are electromagnetic elements.
  • the electromagnetic element and the magnetic element can be explained with reference to the above explanation, and will not be repeated here.
  • the number of the driving element and the matching element can also be multiple, and they can be arranged on the edges of the first bracket 1 and the second bracket 2, specifically, they can be arranged on the wing 101 and the second bracket of the first bracket 1.
  • the plurality of driving elements and the plurality of first attachment elements 5 arranged on the wing 101 of the first bracket 1 are arranged alternately.
  • the plurality of matching elements are arranged on the straight side of the second bracket 2.
  • the plurality of second attachment elements 6 on 202 are also alternately arranged at intervals.
  • the electromagnetic element is heavier than the magnetic element, the structure is more complicated, and it consumes electrical energy.
  • the attachment force needs to overcome the total amount of the second bracket 2 and the structure (including the cleaning medium 3 and the mating elements) thereon. weight. Therefore, the total weight of the second bracket 2 and the structure on it should be reduced as much as possible.
  • the driving element may be an electromagnetic element
  • the mating element is a magnetic element. That is, a heavy electromagnetic element is used as a driving element to be placed on the first support 1, and a lighter magnetic element is used as a mating element to be set on the second support 2, so as to maximize the second support 2 The purpose of weight loss.
  • the driving element and the mating element need to be configured to not apply a separating force to the second bracket 2 when the second bracket 2 needs to be switched or kept in the attached state, and to act on the second bracket 2 when the second bracket 2 needs to be switched or kept in the separated state. It exerts a separation force.
  • At least one of the driving element and the mating element is an electromagnetic element, so the application or cancellation of the separation force can be realized when the electromagnetic element is energized or de-energized.
  • the resting state of the clutch actuator 4 may be the state when the electromagnetic element is not energized, and the working state may be the state when the electromagnetic element is energized.
  • the polarity of the driving element facing the mating element is the same as the polarity of the mating element facing the driving element, and the separating force may be the magnetic repulsion force of the driving element to the mating element.
  • the driving element is an electromagnetic element
  • the mating element is a magnetic element
  • the polarity of the magnetic element facing the electromagnetic element is N-pole
  • the polarity of the electromagnetic element facing the magnetic element when the electromagnetic element is energized is also the N-pole.
  • the electromagnetic element does not generate magnetism
  • the second bracket 2 is attached to the first bracket 1 under the action of the magnetic attraction of the first attachment element 5 and the second attachment element 6 on.
  • the clutch actuator 4 is switched to the working state, the electromagnetic element is energized to generate magnetism, thereby repelling each other with the magnetic element.
  • the magnetic repulsion force generated between the driving element and the mating element is greater than the magnetic attraction force between the first attachment element 5 and the second attachment element 6.
  • the second bracket 2 is driven to be separated from the first bracket 1 and switched to the separated state.
  • the component (repelling element) included in the clutch actuator 4 can be applied or cancelled without direct physical contact with the second bracket 2, thereby realizing the first The state of the second bracket 2 is switched and maintained.
  • the clutch actuator 4 can be in direct physical contact with the second support 2 to realize the application or withdrawal of the separation force and the second support 2 State switching and maintenance.
  • the clutch actuator 4 may include a drive shaft 401 and a separation cam 402 provided on the drive shaft 401; the separation cam 402 can be The driving shaft 401 drives the cam surface to extend or retract the edge of the first bracket 1.
  • the drive shaft 401 is arranged on the first support 1 in a manner substantially consistent with the length direction of the first support 1, and the drive shaft 401 is rotatably connected to the first support 1, and can be relatively connected to the first support 1.
  • the rotation occurs to drive the separation cam 402 to rotate.
  • the driving shaft 401 and the first can be arranged to rotate in a manner that a connecting plate 7 can be provided on the first bracket 1, and a shaft hole 701 for the drive shaft 401 to pass through can be provided on the connecting plate 7, and the drive shaft 401 It can be rotated in the shaft hole 701 of the connecting plate 7.
  • connecting plates 7 there may be two or more connecting plates 7, and two or more connecting plates 7 are arranged on the upper surface of the first support 1 along the length direction of the first support 1.
  • the number of the connecting plates 7 is two, and the two connecting plates 7 are respectively provided at positions close to the two ends of the first bracket 1 along the length direction thereof.
  • the drive shaft 401 may be driven to rotate by a power mechanism such as a motor (not shown).
  • a driven gear may be provided on the driving shaft 401, and a driving gear may be provided on the output shaft of the motor, and the driving gear meshes with the driven gear, so that the driving shaft 401 is driven by the rotational motion output by the motor.
  • the number of the separating cams 402 can be two, which are respectively arranged at two ends of the driving shaft 401 and correspond to the two oppositely arranged sides of the second bracket 2 respectively. Therefore, the separation force can be uniformly applied to the second support 2 and the state switching efficiency of the second support 2 can be improved.
  • the two separating cams 402 respectively correspond to the two arc-shaped sides 203 of the second bracket 2. Since the height of the cam surface of the separating cam 402 is constantly changing during the rotation, the force applied to the second bracket 2 in contact with it can be changed.
  • the first bracket 1 is provided with an opening 102 corresponding to the separating cam 402, and the opening 102 penetrates through the edge of the first bracket 1.
  • the upper and lower surfaces so as to face the second bracket 2.
  • the separating cam 402 can be driven by the drive shaft 401 so that its cam surface enters or moves out of the opening 102 to achieve contact or separation with the second bracket 2.
  • the clutch actuator 4 may only include a drive shaft 401 and a separation cam 402, and the separation cam 402 that is driven to rotate by the drive shaft 401 directly applies a separation force to the second bracket 2.
  • the resting state of the clutch actuator 4 may be the state when the separating cam 402 does not apply a separating force to the second bracket 2, and the working state may be the separating cam 402 applying a separating force to the second bracket 2.
  • the separating force may be the top contact force directly applied by the separating cam 402 to the second bracket 2.
  • the state when the separating cam 402 does not apply a separating force to the second bracket 2 includes: the separating cam 402 is not in contact with the second bracket 2, and the separating protrusion is only in contact with the second bracket 2, but there is no mutual force. .
  • the separation cam 402 does not contact the second bracket 2 specifically because the separation cam 402 is spaced from the second bracket 2.
  • the separation cam 402 is driven by the drive shaft 401 to rotate and retract into the opening 102, or the separation cam 402 is partially located in the opening 102.
  • the part is located outside the opening 102, and the lowermost end of the part located outside the opening 102 is located above the second bracket 2.
  • the separation protrusion only contacts the second support 2 but no interaction force can be that the separation protrusion only rests on the second support 2 without applying any force to the second support 2.
  • the state when the separating cam 402 exerts a separating force on the second bracket 2 can be that the separating cam 402 is driven by the drive shaft 401 to rotate until its cam surface touches the second bracket 2 and applies the separating force to the second bracket 2. The force that deviates from the attachment force.
  • the separation cam 402 does not apply a separation force to the second bracket 2, that is, the clutch actuator 4 is in a resting state (as shown in FIGS. 3 and 4), and the separation cam 402 is located at the opening 102 Inside, the lower edge of the first bracket 1 is not protruded, the second bracket 2 is attached to the first bracket 1 under the action of the attachment force, and the second bracket 2 is in the attached state at this time.
  • the driving shaft 401 rotates (clockwise as shown in FIGS. 3 to 5 )
  • the separating cam 402 is driven to extend through the opening 102 and contact the arc-shaped side 203 of the second bracket 2.
  • the drive shaft 401 continues to rotate, and the height of the cam surface of the separating cam 402 in contact with the second bracket 2 gradually increases, so that the force exerted by the separating cam 402 on the second bracket 2 also gradually increases until it exceeds the attachment force, and the second bracket 2 Disengage from the first support 1 and move downwards, and switch to the separated state.
  • This embodiment is a scenario in which the separating cam 402 directly contacts the second bracket 2 and exerts a separating force on the second bracket 2. Since the separation cam 402 is required to directly contact the second bracket 2, the size of the separation cam 402 is also required to be relatively large. In this way, the volume and weight of the separating cam 402 are relatively large, which is not conducive to assembly. The increase in the size of the separation cam 402 will also increase the force arm of the rotation resistance, resulting in a larger load on the motor that drives the drive shaft 401 to rotate. Therefore, the power requirements of the motor are relatively high, and it may even happen that the drive shaft 401 cannot be driven due to the insufficient output power of the motor, which may cause the motor to burn.
  • the clutch actuator 4 may further include a separation lever 403, one end of the separation lever 403 is rotatably connected to the first bracket 1, and the other end is a free end.
  • the separation cam 402 is in contact with the separation lever 403, and the free end of the separation lever 403 abuts on the second bracket 2.
  • a shift lever fixing block 103 is provided on the first bracket 1 in a detachable manner (for example, a snap connection), and the inner side of the shift lever fixing block 103 is provided with an insertion hole 103 a.
  • One end (upper end) of the separating lever 403 is provided with a plug shaft 403a that fits with the socket 103a, and the plug shaft 403a can be inserted into the socket 103a and can rotate in the socket 103a. In this way, the rotation connection between the separating lever 403 and the first bracket 1 is realized.
  • the resting state of the clutch actuator 4 may be the state when the separating cam 402 does not apply a separating force to the second bracket 2 through the separating lever 403, and the working state may be the separating cam 402 passing the separating lever 403.
  • the separating force may be the pushing force exerted by the separating cam 402 on the second bracket 2 indirectly through the free end of the separating lever 403.
  • the state when the separating cam 402 does not apply a separating force to the second bracket 2 through the separating lever 403 includes: the free end of the separating lever 403 is placed on the second bracket 2, but the separating cam 402 is not separated from the second bracket 2.
  • the shift lever 403 is in contact; or, the free end of the separation shift lever 403 is placed on the second bracket 2, and the separation cam 402 and the separation shift lever 403 only contact but have no mutual force.
  • the separation cam 402 is not in contact with the separation lever 403, specifically, the separation cam 402 is separated from the separation lever 403.
  • the separation cam 402 is driven by the drive shaft 401 to rotate and retract into the opening 102, or the separation cam 402 is partially located in the opening 102.
  • a part is located outside the opening 102, and the lowermost end of the part located outside the opening 102 is located above the separation lever 403.
  • the separation protrusion and the separation lever 403 are only in contact with no interaction force. This may mean that the separation protrusion only rests on the separation lever 403 without applying any force to the separation lever 403.
  • the state when the separating cam 402 applies a separating force to the second bracket 2 through the separating lever 403 can be that the separating cam 402 is driven to rotate by the drive shaft 401 until its cam surface touches the separating lever 403.
  • the rod 403 rotates around its one end under the top contact action of the separation cam 402, and its free end contacts the second bracket 2 and exerts a force away from the attachment force on the second bracket 2.
  • the separation cam 402 does not apply a separation force to the second bracket 2 through the separation lever 403, that is, the clutch actuator 4 is in a resting state (as shown in FIGS. 3 and 4), and the separation The cam 402 is located in the opening 102 and does not protrude from the lower edge of the first bracket 1.
  • the separation lever 403 is also received in the opening 102, the second bracket 2 is attached to the first bracket 1 under the action of the attachment force, and the second bracket 2 is in the attached state at this time.
  • the drive shaft 401 rotates (clockwise rotation as shown in Figures 3 to 5)
  • the separation cam 402 is driven to extend through the opening 102 and touch the separation lever 403.
  • the separation lever 403 is on the top of the separation cam 402.
  • the separation lever 403 does not contact the second bracket 2. Specifically, the free end of the separating lever 403 is located above the second bracket 2. Since the separation cam 402 is located above the separation lever 403, the separation lever 403 does not contact the second bracket 2 and the separation lever 403 does not contact the second bracket 2 either.
  • a reset member 405 may be provided between the separation lever 403 and the first bracket 1, and the reset member 405 can apply a reset force to the separation lever 403 so that its free end always has a deviation from the first bracket.
  • the two brackets rotate in two directions.
  • the restoring member 405 can be a torsion spring, sleeved outside the plug shaft 403a, one end abuts the separation lever 403, and the other end abuts the first bracket 1, which applies to the separation lever 403 as shown in FIGS. 3 to 5 Torque in counterclockwise direction.
  • the resetting member 405 can then apply a resetting force to the separating lever 403.
  • the separating lever 403 rotates around its connection point with the first bracket 1, and then its free end rotates in a direction away from the second bracket 2 (upward as shown in FIGS. 3 to 5). Thereby, the separation of the separation lever 403 and the second bracket 2 is achieved.
  • the cleaning robot configured with the cleaning module 100 of the embodiment of the present invention may encounter obstacles (such as carpets) during the cleaning operation. Therefore, in order to ensure that the cleaning operation can continue, the cleaning module 100 is designed to have an obstacle crossing function.
  • the shaft hole 701 provided on the connecting plate 7 for the drive shaft 401 to pass through is an elongated opening extending in the up and down direction, and the outer surface of the connecting plate 7 is recessed with a groove 702 formed inward.
  • the clutch actuator 4 also includes a lifting cam 404 arranged on the drive shaft 401 and received in the groove 702, and the cam surface of the lifting cam 404 is in contact with the upper groove bottom of the groove 702.
  • the lifting cam 404 and the separating cam 402 are arranged opposite to each other, that is, the lifting cam 404 and the separating cam 402 are separated by a phase angle of 180° in the circumferential direction.
  • the number of lifting cams 404 can also be two, which are respectively provided at both ends of the drive shaft 401.
  • the outer surface of each connecting plate 7 is formed with a groove 702, and the two lifting cams 404 are respectively received in the two grooves 702.
  • the lifting cam 404 is configured to act before the separating cam 402. Specifically, the lifting cam 404 first pushes the first support 1 to move upward, and then the separation cam 402 pushes the second support 2 upward. As the first bracket 1 moves upward, the second bracket 2 is still attached to the first bracket 1. Therefore, the upward movement of the first support 1 will drive the second support 2 to move upward along with it. Thus, the upward movement of the entire cleaning module 100 is realized.
  • the cam surface of the lifting cam 404 is in contact with the bottom of the upper groove of the groove 702
  • the height gradually increases.
  • the drive shaft 401 can move downward in the elongated opening, and the height of the first support 1 gradually increases.
  • the second bracket 2 is still in an attached state where it is attached to the first bracket 1.
  • the entire cleaning module 100 is lifted up.
  • the free end contacted by the separating lever 403 reaches the second bracket 2 (as shown in FIG. 4 )
  • the highest point of the cam surface of the lifting cam 404 is in contact with the bottom of the upper groove of the groove 702.
  • the cleaning module 100 reaches the maximum lifting height.
  • the motor drives the drive shaft 401 to rotate, and the drive shaft 401 further drives the separation cam 402 and the lifting cam 404
  • the separation cam 402 pushes against the separation lever 403 to rotate its free end toward the second bracket 2 and stops when the free end of the separation lever 403 touches the second bracket 2.
  • the cleaning module 100 reaches the maximum lifting height, and the universal wheel provided at the bottom of the cleaning robot casing touches the ground to achieve obstacle crossing.
  • the drive shaft 401 continues to rotate, the contact height between the cam surface of the lifting cam 404 and the upper bottom of the groove 702 gradually decreases, and the height of the first bracket 1 gradually decreases.
  • the contact height between the cam surface of the separating cam 402 and the separating lever 403 gradually increases, so that the free end of the separating lever 403 gradually presses down the second bracket 2 until the second bracket 2 is separated from the first bracket 1. Subsequently, the replacement operation of the cleaning medium 3 can be performed.
  • the second bracket 2 is in the attached state or the separated state when the clutch actuator 4 is in the resting state or working state.
  • the relationship between the state of the second bracket 2 and its switching and the state of the clutch actuator 4 and its switching is not limited to the foregoing embodiment.
  • the second feasible embodiment when the clutch actuator 4 is in a resting state, the second bracket 2 is in a separated state.
  • the second bracket 2 is in the attached state.
  • the second bracket 2 when the clutch actuator 4 is switched from the resting state to the working state, the second bracket 2 can be switched from the separated state to the attached state. In contrast, when the clutch actuator 4 is switched from the working state to the resting state, the second bracket 2 can be correspondingly switched from the attached state to the separated state.
  • the clutch actuator 4 can exert an attractive force on the second bracket 2, and the attractive force can make the second bracket 2 always have a tendency to be in the attached state, or to switch movement toward the attached state. Specifically, when the clutch actuator 4 is in a working state, the attraction force is generated or exists. When the clutch actuator 4 is in a resting state, the attractive force disappears.
  • the second bracket 2 can be restored from the separated state to the attached state under the drive of the attractive force exerted by the clutch actuator 4 on it.
  • the attractive force exerted by the clutch actuator 4 on the second bracket 2 disappears, and the second bracket 2 moves downward to the separated state under the action of gravity.
  • the corresponding relationship between the states of the clutch actuator 4 and the second bracket 2 in this embodiment is just the opposite.
  • the way for the second bracket 2 to switch to the separated state is to rely on its own gravity, so that it is not necessary to use the first bracket 1 to switch the second bracket 2 to the separated state as in the first embodiment. It is equipped with a cam or an electromagnetic element-magnetic element/electromagnetic element that repels each other after being energized.
  • the structure can be simplified.
  • the clutch actuator 4 may include an active attachment element, and the second bracket 2 may be provided with a passive attachment element corresponding to the active attachment element.
  • One of the active attachment element and the passive attachment element is an electromagnetic element, and the other is a magnetic element or an electromagnetic element.
  • it may include: one of the active attachment element and the passive attachment element is an electromagnetic element, and the other is a magnetic element; and both the active attachment element and the passive attachment element are electromagnetic elements.
  • the electromagnetic element and the magnetic element can be explained with reference to the above explanation, and will not be repeated here.
  • the number of active attachment elements and passive attachment elements can also be multiple, and they can be arranged on the edges of the first bracket 1 and the second bracket 2, specifically, they can be arranged on the wing 101 of the first bracket 1. And the straight side 202 of the second bracket 2.
  • the electromagnetic element is heavier than the magnetic element, the structure is more complicated, and it consumes electric energy.
  • the attachment force needs to overcome the second bracket 2 and the structure on it (including the cleaning medium 3, passive attachment elements) The total weight. Therefore, in order to reduce the total weight of the second bracket 2 and the structure on it as much as possible.
  • the active attachment element may be an electromagnetic element, while the passive attachment element adopts a magnetic element. That is, a relatively heavy electromagnetic element is provided on the first support 1 as an active attachment element, and a lighter magnetic element is provided on the second support 2 as a passive attachment element, so that the second support 2 To achieve the maximum weight loss purpose.
  • the resting state of the clutch actuator 4 may be the state when the electromagnetic element is not energized, and the working state may be the state when the electromagnetic element is energized. Moreover, when the clutch actuator 4 is in the working state, the polarity of the active attachment element facing the passive attachment element is different from the polarity of the passive attachment element facing the active attachment element, and the attractive force can be the active attachment element. Magnetic attraction to passively attached components.
  • the active attachment element is an electromagnetic element
  • the passive attachment element is a magnetic element
  • the polarity of the magnetic element facing the electromagnetic element is N-pole
  • the polarity of the electromagnetic element facing the magnetic element when the electromagnetic element is energized is also the N-pole.
  • the magnetic attraction force generated between the active attachment element and the passive attachment element is greater than the sum of the weight of the second bracket 2 and the cleaning medium 3.
  • the second bracket 2 is attached to the first bracket 1 under the action of the magnetic attraction force generated between the active attachment element and the passive attachment element, and is restored to the attached state.
  • the cleaning module 100 of the embodiment of the present invention is provided with a second bracket 2 that is detachably attached to the first bracket 1, and is provided on the first bracket 1 to operably drive the second bracket 2 in the attached state and
  • the clutch actuator 4 switches between the separated states.
  • the clutch actuator 4 can drive the second bracket 2 to switch from the attached state attached to the first bracket 1 to the separated state separated from the first bracket 1, thereby realizing the old cleaning medium 3 Release and replacement of new cleaning medium 3.
  • the clutch actuator 4 functions to restore the second bracket 2 from the separated state to the attached state attached to the first bracket 1. Therefore, the replacement of the cleaning medium 3 does not require manual operation and intervention, and the user experience is better.
  • the embodiments of the present invention also provide a cleaning robot using or configuring the cleaning module 100 of the above-mentioned embodiment, and a cleaning system including the cleaning robot, as in the following embodiments. Since the cleaning robot and cleaning system solve the problem in principle, and the technical effects that can be achieved are similar to the above-mentioned embodiment of the cleaning module 100, the implementation of the cleaning robot and the cleaning system can refer to the implementation of the above-mentioned cleaning module 100, and there is no repetition. Go into details again.
  • the cleaning robot includes a housing and a cleaning module 100 provided at the bottom of the housing.
  • the cleaning module 100 includes: a first bracket 1; a second bracket 2, which is detachably attached to the first bracket 1, and is attached to the first bracket 1 to clamp the cleaning medium 3 between the second bracket 2 and the first bracket 1.
  • the cleaning robot may also include a walking mechanism provided at the bottom of the housing for dragging the cleaning robot to move in the cleaning direction L; the second support 2 has multiple sides, and the cleaning medium 3 is clamped on the second support 2 Between the multiple sides and the first support 1; none of the sides is parallel to the cleaning direction L.
  • the cleaning system includes: a cleaning robot and a base station for the cleaning robot to stop.
  • the cleaning robot includes a housing and a cleaning module 100 provided at the bottom of the housing.
  • the cleaning module 100 includes: a first bracket 1; a second bracket 2, which is detachably attached to the first bracket 1, and is attached to the first bracket 1 to clamp the cleaning medium 3 between the second bracket 2 and the first bracket 1.
  • the attached state between a bracket 1 and the separated state separated from the first bracket 1 to release the cleaning medium 3; the clutch actuator 4 is arranged on the first bracket 1 and is used to drive the second bracket 2 in the attached state Switch between and separated state.
  • the base station has a replacement area for the second bracket 2 to be placed, a recycling area for the old cleaning medium 3 to be placed, and a storage area for accommodating the new cleaning medium 3.
  • the base station is equipped with a removal mechanism and a replacement mechanism. When the cleaning robot is parked on the base station and the second bracket 2 is in a separated state, the removal mechanism is used to transfer the old cleaning medium 3 placed in the replacement area to the recycling area, and the replacement mechanism is used to clean the new cleaning medium in the storage area. The medium 3 is replaced on the second bracket 2 located in the replacement area.

Landscapes

  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

L'invention concerne un module de nettoyage (100), un robot de nettoyage et un système de nettoyage. Le module de nettoyage (100) comprend un premier support (1) ; un second support (2) relié amovible au premier support (1), ayant un état relié dans lequel le second support (2) est relié au premier support (1) pour bloquer un agent de nettoyage (3) entre le second support (2) et le premier support (1), et un état séparé dans lequel le second support (2) est au moins partiellement séparé du premier support (1) pour libérer l'agent de nettoyage (3) ; un élément d'exécution d'embrayage (4) disposé sur le premier support (1) et utilisé pour amener le second support (2) à changer d'état entre l'état relié et l'état séparé. Le module de nettoyage (100) peut réaliser automatiquement le remplacement de l'agent de nettoyage (3) sans intervention de l'utilisateur, et offre ainsi une bonne expérience d'utilisateur.
PCT/CN2020/127054 2019-12-13 2020-11-06 Module de nettoyage, robot de nettoyage et système de nettoyage WO2021114975A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201922243354.X 2019-12-13
CN201911281590.9A CN112971630A (zh) 2019-12-13 2019-12-13 清洁模块、清洁机器人及清洁系统
CN201911281590.9 2019-12-13
CN201922243354.XU CN211723014U (zh) 2019-12-13 2019-12-13 清洁模块、清洁机器人及清洁系统

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WO2021114975A1 true WO2021114975A1 (fr) 2021-06-17

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WO (1) WO2021114975A1 (fr)

Citations (8)

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Publication number Priority date Publication date Assignee Title
JPH1057283A (ja) * 1996-08-19 1998-03-03 Sanyo Electric Co Ltd 電気掃除機用吸込具
US9192274B1 (en) * 2015-04-15 2015-11-24 Egenpower Inc. Floor wiping mechanism for self-propelled floor cleaner
CN106889955A (zh) * 2015-12-19 2017-06-27 天津蓝莓信息技术有限责任公司 一种自动更换清洁机器人抹布的装置及方法
CN207755219U (zh) * 2017-06-23 2018-08-24 杭州九阳小家电有限公司 一种清洁机器人系统
CN110151065A (zh) * 2019-05-21 2019-08-23 深圳市银星智能科技股份有限公司 柔性清洁薄片安装机构及清洁机器人
CN209315757U (zh) * 2018-10-31 2019-08-30 江苏美的清洁电器股份有限公司 出水控制装置和具有其的水箱组件、扫地机器人
CN211723013U (zh) * 2019-10-25 2020-10-23 苏州宝时得电动工具有限公司 清洁机器人
CN211723014U (zh) * 2019-12-13 2020-10-23 苏州宝时得电动工具有限公司 清洁模块、清洁机器人及清洁系统

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1057283A (ja) * 1996-08-19 1998-03-03 Sanyo Electric Co Ltd 電気掃除機用吸込具
US9192274B1 (en) * 2015-04-15 2015-11-24 Egenpower Inc. Floor wiping mechanism for self-propelled floor cleaner
CN106889955A (zh) * 2015-12-19 2017-06-27 天津蓝莓信息技术有限责任公司 一种自动更换清洁机器人抹布的装置及方法
CN207755219U (zh) * 2017-06-23 2018-08-24 杭州九阳小家电有限公司 一种清洁机器人系统
CN209315757U (zh) * 2018-10-31 2019-08-30 江苏美的清洁电器股份有限公司 出水控制装置和具有其的水箱组件、扫地机器人
CN110151065A (zh) * 2019-05-21 2019-08-23 深圳市银星智能科技股份有限公司 柔性清洁薄片安装机构及清洁机器人
CN211723013U (zh) * 2019-10-25 2020-10-23 苏州宝时得电动工具有限公司 清洁机器人
CN211723014U (zh) * 2019-12-13 2020-10-23 苏州宝时得电动工具有限公司 清洁模块、清洁机器人及清洁系统

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