WO2021232525A1

WO2021232525A1 - Mopping robot with controllable continuous water output

Info

Publication number: WO2021232525A1
Application number: PCT/CN2020/096775
Authority: WO
Inventors: 欧保全; 许槐杰; 梁春林; 张振; 余振洋; 夏雪飞; 杨锴
Original assignee: 深圳市伽利略机器人有限公司
Priority date: 2020-05-22
Filing date: 2020-06-18
Publication date: 2021-11-25
Also published as: CN111449580A

Abstract

Disclosed is a mopping robot with controllable continuous water output, the mopping robot comprising a water tank (1), a mop support (3), a machine body outer shell (2), a moving assembly, a control assembly, a power supply assembly and a water control assembly. The control assembly comprises a control button (41) and a control circuit board (42). The water control assembly comprises a water pump (5), and the control circuit board (42) is electrically connected to the water pump (5) and controls the water pump (5) to start and stop. The control circuit board (42) is used to control the water pump (5) such that water in the water tank (1) is continuously delivered to the mop (33), achieving continuous wetting of the mop (33) during mopping, and can control the amount of water delivered, preventing damage to the floor caused by excessive moisture. The water tank (1) is internally provided with a check valve (18), which prevents water leakage of the water tank (1) while ensuring the water tank (1) has positive pressure inside same, prevents the occurrence of negative pressure in the tank caused by water output from the water tank (1), and prevents the water tank (1) from being unable to normally output water.

Description

Mopping robot capable of controlling continuous water output

Technical field

The invention relates to the field of automation equipment for cleaning, in particular to a mopping robot capable of controlling continuous water output.

Background technique

As a cleaning household appliance, the automatic cleaning robot greatly reduces the labor intensity of daily bottom surface cleaning and saves a lot of cleaning time, so it is more and more popular with users. Mopping is an important part of daily floor cleaning that cannot be ignored. There are many types of dedicated and non-dedicated robots developed for mopping, but most of the robots do not have a water tank or the setting of the water tank is unreasonable. The mop mainly depends on the user for cleaning. Clean and moisten the floor before starting, and cannot continue to add water to moisten the floor during the mopping process, resulting in insufficient cleaning power of the mopping robot.

technical problem

In view of the above-mentioned problem that the water tank of the mopping robot in the prior art cannot continuously produce water to wet the mop, the present invention provides a mopping robot that can control the continuous water flow. A water pump is set up, and the work of the water pump is controlled by a chip to continuously deliver water to the mop to keep the mop moist during the mopping process.

Technical solutions

The technical solution adopted by the present invention to solve the technical problem is: a mopping robot capable of controlling continuous water output, including a water tank, a mop support, a body shell, a moving component, a control component, a power supply component, and a water control component, in the body shell An accommodating cavity is provided, the moving component, the control component, the power supply component, and the water control component are arranged in the accommodating cavity, the water tank is connected to the body shell, and the mop support is arranged on the body shell. At the bottom, a mop is fixed on the mop support; the control assembly includes a control button and a control circuit board, the water control assembly includes a water pump, and the control circuit board is electrically connected to the water pump and controls the stop and stop of the water pump. Start; the water tank is provided with a first water supply port, the body shell is provided with a water inlet corresponding to the first water supply port, the water inlet communicates with the water inlet of the water pump, and the body shell is provided with The second water supply port, the water outlet of the water pump communicates with the second water supply port, and the water pump delivers water to the mop fixed to the mop support through the second water supply port.

The technical solution adopted by the present invention to solve its technical problems further includes:

Further, the second water supply port is provided with more than one, the water control assembly further includes a water separator, the water inlet of the water separator is connected with the water outlet of the water pump, and the water separator is provided with a second There are water outlets corresponding to the number of water supply ports, and the water outlets are respectively connected with the second water supply ports.

Further, the water tank is provided on the top of the body shell, the first water supply port of the water tank is provided at the bottom of the water tank, and a water stop device is provided on the first water supply port, and the water stop device includes a water stop device. Water support, spring, smart valve and rubber plug. The water stop support is fixed at the bottom of the water tank by a buckle, the smart valve is cross-shaped, and the upper end of the smart valve is covered with a spring and inserted into the stop. In the water bracket, the smart valve is fixed in the water stop bracket so that the smart valve can move up and down, the left and right ends of the smart valve abut against the bottom of the water tank to restrict the smart valve from moving downward, and the rubber plug Set at the first water supply port, the smart valve abuts the rubber plug and the lower end of the smart valve extends through the rubber plug to the outside of the water tank; the water inlet of the body shell is provided with a filter element and A filter element sleeve for fixing the filter element, the filter element sleeve is in an annular shape that coincides with the first water supply port, and the filter element is arranged in the middle of the filter element sleeve and can abut against the smart valve.

Further, the bottom of the water tank is further provided with a stop port, a stop valve is provided on the stop port, one end of the stop valve is a fixed end fixed to the stop port, and the shape of the fixed end In line with the shape of the stop port, the other end of the stop valve is a stop end that extends into the water tank 1, and the stop valve gradually becomes flat from the middle of the valve body to the end of the stop end. , The end of the stop end is provided with an air-permeable gap.

Further, the stop valve is made of a soft material, and the soft material is one of silica gel, rubber or fluorosilicone rubber.

Further, the control assembly further includes an infrared transceiver connected to the control circuit board, the infrared transceiver is arranged on the top of the body shell and can send an infrared signal to the space above the mopping robot, the control circuit board Control the infrared transceiver to send and receive infrared signals.

Further, the body shell includes an upper shell and a bottom plate, the mop support is fixed on the bottom plate, the shape of the mop support matches the shape of the bottom plate, and more than one installation is provided on the mop support The corresponding position on the bottom plate is provided with a mounting slot for inserting the screw column, and a buffer spring is provided between the bottom of the mounting column and the bottom of the mounting slot and connected by screws, so that the mop support is fixed by screws Nailed and kept in contact with the ground under the push of the buffer spring.

Further, an anti-collision strip is provided on the side of the mopping robot, the anti-collision strip is in a hollow ring shape, and the anti-collision strip is arranged on the side of the body shell or the mop support around the mopping robot. Above, the body shell or the mop support is provided with an anti-collision bar installation groove arranged along the side, and the anti-collision bar is installed in the anti-collision bar installation groove.

Further, the bottom of the mop support is provided with velcro for fixing the mop, and the velcro is distributed on the bottom of the mop support in a circular array with the center of the mop support as the center.

Further, the water tank includes a tank body and a water tank bottom plate serving as the bottom of the water tank, the tank body opening downwards, the water tank bottom plate is arranged at the opening of the tank body and connected with the top of the body shell, the water tank The bottom plate is provided with a first magnet, and the top of the body shell in contact with the bottom of the water tank is provided with a second magnet. The first magnet and the second magnet are correspondingly arranged and attracted to each other, so that the water tank is detachably fixed. On the top of the body shell.

Beneficial effect

The mopping robot capable of controlling the continuous water output of the present invention uses the control circuit board to control the water pump to continuously deliver the water in the water tank to the mop, so as to realize the continuous wetting of the mop during the mopping process, and can scientifically control the amount of water delivered to avoid Excessive moisture causes damage to the floor; and there is a stop valve in the water tank to ensure that the pressure in the water tank is positive while avoiding water leakage in the water tank, preventing the negative pressure in the tank caused by the water from the water tank, and avoiding the phenomenon that the water tank cannot normally discharge water; There is a spring on the mop support, so that the mop will not be separated from the ground due to the movement of the robot, to ensure that the mop remains in contact with the ground, and to ensure the cleaning force of the mop on the ground; at the same time, a setting on the side of the mopping robot surrounds the mopping robot. The anti-collision bar can buffer the collision of the mopping robot during the mopping process, reduce the collision noise, and protect the robot and the collision object.

Description of the drawings

FIG. 1 is a schematic diagram of an exploded structure of a preferred embodiment of a mopping robot capable of controlling and continuously discharging water according to the present invention.

FIG. 2 is a schematic diagram of the front structure of a mopping robot capable of controlling and continuously outputting water according to a preferred embodiment of the present invention.

Fig. 3 is a schematic diagram of the A-A cross-sectional structure of Fig. 2.

4 is a schematic diagram of the structure of the water stop device at the first water supply port and the matched filter element and filter element sleeve in the preferred embodiment of the mopping robot capable of controlling and continuously outputting water according to the present invention.

Fig. 5 is a schematic structural diagram of the internal components of the body shell in a preferred embodiment of the mopping robot capable of controlling and continuously discharging water according to the present invention.

In the figure, 1, water tank, 11, box body, 12, first magnet, 13, water tank bottom plate, 14, water stop bracket, 15, spring, 16, smart valve, 17, rubber plug, 18, stop valve, 2 , Body shell, 21, second magnet, 22, filter sleeve, 23, filter element, 24, upper shell, 25, bottom plate, 3, mop support, 31, buffer spring, 32, screw, 33, mop, 34, anti Bump strip, 35, Velcro, 41, control button, 42, control circuit board, 5. Water pump, 51, water separator, 61, drive motor, 62, electric universal wheel.

The best mode of the present invention

This embodiment is a preferred embodiment of the present invention, and other principles and basic structures that are the same as or similar to those of this embodiment fall within the protection scope of the present invention.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "Bottom", "Inner", "Outer" and other indications of the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description, but not indicating or implying the pointed device Or the element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features.

The preferred embodiment of the mopping robot capable of controlling continuous water output is shown in reference body 1-3, and includes a water tank 1, a mop support 3, a body shell 2, a moving component, a control component, a power supply component, and a water control component. The body shell 2 is provided with a accommodating cavity, the mobile component, the control component, the power supply component and the water control component are arranged in the accommodating cavity, the water tank 1 is connected with the body shell 2, the mop bracket 3 is arranged at the bottom of the body shell 2, and the mop bracket 3 is fixed with a mop 33. The control component includes a control button 41 and a control circuit board 42. The water control component includes a water pump 5. The control circuit board 42 is electrically connected to the water pump 5 and controls the stop and start of the water pump 5. The water tank 1 is provided with a first water supply port, and the body shell 2 is provided with a water inlet corresponding to the first water supply port. The water outlet is in communication with the second water supply port, and the water pump 5 delivers water to the mop 33 fixed on the mop support 3 through the second water supply port.

In order to make the moisture on the mop 33 uniform, there are more than one second water supply ports. In this embodiment, there are four second water supply ports. The second water supply ports are distributed in a circular array with the center of the bottom of the body casing 2 as the center of the circle. In order to cooperate with multiple second water supply ports, the water control assembly further includes a water divider 51. The water inlet of the water divider 51 is connected with the water outlet of the water pump 5, and the water divider 51 is provided with water outlets corresponding to the number of the second water supply ports. In this embodiment, the water outlet of the water separator is provided with four water outlets respectively connected to the four second water supply ports.

In this embodiment, the water tank 1 is arranged on the top of the body shell 2, which can effectively increase the self-weight of the mopping robot and improve the cleaning ability of the mopping robot. In order to make the weight uniform, the water tank 1 of this embodiment is an annular water tank, and a boss is provided in the middle of the casing 2 of the machine body, and the water tank 1 is nested on the boss. The water tank includes a tank body 11 and a water tank bottom plate 13 as the bottom of the water tank. The tank body 11 opens downward, and the water tank bottom plate 13 is arranged at the opening of the tank body 11 and is connected to the top of the body shell. The first water supply port of the water tank 1 is arranged on the bottom plate 13 of the water tank 1. In order to prevent the water in the tank from leaking out when the water tank is installed, a water stop device is provided on the first water supply port. The water stop device includes a water stop bracket 14, a spring 15, a smart valve 16 and a rubber plug 17. The water stop bracket 14 is a ring-shaped bracket for fixing the spring 15 and the smart valve 16, through a buckle set on the bottom plate 13 of the water tank. fixed. The smart valve 16 is cross-shaped. The upper end of the smart valve 16 is covered with a spring 15 and inserted into the water stop bracket 14, so that the smart valve 16 can move up and down and fixed in the water stop bracket 14. The left and right ends of the smart valve 16 Abutting with the bottom of the water tank 1 restricts the smart valve 16 from moving down. The rubber plug 17 is arranged at the first water supply port. The smart valve 16 abuts the rubber plug 17 and the lower end of the smart valve 16 extends through the rubber plug 17 to the water tank 1 outside. In order to cooperate with the smart valve 16, a filter element 23 and a filter element sleeve 22 for fixing the filter element 23 are provided on the water inlet of the body shell 2. Able to abut the smart valve 16. Under normal conditions, due to the force of the spring 15, the lower end of the smart valve 16 extends outward and abuts against the rubber plug 17, so that the first water supply port is closed, and the water in the water tank 1 will not leak out; when the water tank 1 is installed in the body When the top of the housing 2 is at the corresponding position, the lower end of the smart valve 16 abuts against the filter element 23, so that the position of the smart valve 16 rises and does not abut the rubber plug 17, the first water supply port is opened, and the water in the water tank 1 flows from the first It flows out from a water supply port and flows to the water pump 5 through the water inlet.

In order to ensure that the pressure in the water tank 1 is positive and that the water in the water tank 1 can flow out smoothly, the bottom of the water tank 1, that is, the bottom plate 13 of the water tank is also provided with a stop port, and a stop valve 18 is provided on the stop port to stop the flow. One end of the valve 18 is a fixed end fixed to the stop port, and the shape of the fixed end is consistent with the shape of the stop port. The other end of the stop valve 18 is a stop end that extends into the water tank 1. The middle part of the body gradually becomes flattened toward the end of the stop end, and the end of the stop end is provided with an air-permeable gap. When the water tank 1 cavity is full of water, the surrounding water squeezes the stop end to close the stop end, and the water will not stay from the stop end; when the water in the water tank 1 starts to decrease, the water in the water tank 1 cavity The pressure becomes negative. In order to balance the internal and external pressures, the stop end is squeezed out under the action of air pressure, and the air enters the cavity of the water tank 1 from the stop end. The stop end flows out until the water level drops below the stop end. In order to ensure the function of the stop valve 18, the stop valve 18 is made of a soft material. The soft material is one of silica gel, rubber or fluorosilicone rubber. In this embodiment, silica gel is used.

After the mopping robot is cleaned, it may stay under obstacles such as the table, which is not conducive for the user to find. Therefore, the control component in this embodiment also includes an infrared transceiver connected to the control circuit board 42. The device is arranged on the top of the body shell 2 and can send infrared signals to the space above the mopping robot, and the control circuit board 42 controls the infrared transceiver to send and receive infrared signals. When in use, the control circuit board 42 controls the infrared transceiver to send out infrared signals, and judges the obstacles above the mopping robot through the bounced infrared signals received by the infrared transceiver, and if there are obstacles, the mobile components are controlled to continue to move until the The obstacle above the infrared signal feedback disappears.

In order to make the mop close to the ground at all times and ensure the cleaning effect of the mopping robot, in this embodiment, the body shell 2 includes an upper shell and a bottom plate, and the mop bracket 3 is fixed on the bottom plate. The shape of the mop bracket 3 is the same as the shape of the bottom plate. The mop bracket 3 is provided with more than one mounting post. In this embodiment, in order to make the force uniform, there are four mounting posts. The corresponding positions on the bottom plate are provided with mounting slots for inserting screw posts. The bottom of the mounting post A buffer spring 31 is provided between the bottom of the installation groove and connected by screws. The buffer spring 31 continuously exerts a downward pushing force on the mop support 3, and the screws limit the downward position of the mop support 3, so that the mop support 3 is fixed by the screws. And under the elastic force of the buffer spring 31, it keeps in contact with the ground.

In order to reduce the collision noise and protect the robot and the collision object, an anti-collision bar 34 is provided on the side of the mopping robot. The anti-collision bar 34 is in the shape of a hollow ring. On the side of the machine body shell 2 or the mop bracket 3 is provided with an anti-collision strip installation groove along the side, and the anti-collision strip 34 is installed in the anti-collision strip installation groove. In this embodiment, the anti-collision bar installation groove is provided on the side of the mop support 3, and the anti-collision bar 34 is installed on the mop support 3.

In order to facilitate the disassembly and washing of the mop 33, the bottom of the mop holder 3 is provided with a Velcro 35 for fixing the mop 33. In order to make the force of the mop 33 uniform, the Velcro 35 in this embodiment has eight pieces and is divided into two layers for the mop The center of the support 3 is a circle centered in a circumferential array distributed on the bottom of the mop support 3.

In order to fix the water tank, a plurality of first magnets 12 made of magnets are provided on the bottom 13 of the water tank, and a plurality of second magnets 21 are also provided on the top of the body shell 2 in contact with the bottom 13 of the water tank. The second magnets 21 are also made of magnets. , The first magnet 12 and the second magnet 21 are correspondingly arranged and attracted to each other, so that the water tank 1 is detachably fixed on the top of the body shell 2.

The moving components of the mopping robot in this embodiment include a drive motor 61, a transmission gear set and an electric universal wheel 62. The drive motor 61 drives the electric universal wheel 62 to start and steer through the transmission gear set. The drive motor 61 and the transmission gear set are arranged in the accommodating cavity of the body shell 2, and the middle of the body shell bottom plate is also provided with a moving cavity with an opening facing the ground. The electric universal wheel 62 is arranged in the moving cavity and can directly contact the ground and push The mopping robot moves.

The mopping robot capable of controlling the continuous water output of the present invention uses the control circuit board to control the water pump to continuously deliver the water in the water tank to the mop, so as to achieve continuous moistening of the mop during the mopping process, and can scientifically control the amount of water delivered to avoid Excessive moisture causes damage to the floor; and there is a stop valve in the water tank to ensure that the pressure in the water tank is positive while avoiding water leakage in the water tank, preventing the negative pressure in the tank caused by the water from the water tank, and avoiding the phenomenon that the water tank cannot normally discharge water; There is a spring on the mop support, so that the mop will not be separated from the ground due to the movement of the robot, to ensure that the mop remains in contact with the ground, and to ensure the cleaning force of the mop on the ground; at the same time, a setting on the side of the mopping robot surrounds the mopping robot. The anti-collision bar can buffer the collision of the mopping robot during the mopping process, reduce the collision noise, and protect the robot and the collision object.

Claims

A mopping robot capable of controlling continuous water output, which is characterized by comprising a water tank (1), a mop support (3), a body shell (2), a moving component, a control component, a power supply component and a water control component. The body shell (2) An accommodating cavity is provided inside, the moving component, the control component, the power supply component and the water control component are arranged in the accommodating cavity, the water tank (1) is connected with the body shell (2), so The mop support (3) is arranged at the bottom of the body shell (2), and a mop (33) is fixed on the mop support (3); the control assembly includes a control button (41) and a control circuit board (42) , The water control component includes a water pump (5), the control circuit board (42) is electrically connected to the water pump (5) and controls the stop and start of the water pump (5); the water tank (1) is provided with There is a first water supply port, the body shell (2) is provided with a water inlet corresponding to the first water supply port, and the water inlet is in communication with the water inlet of the water pump (5), and the body shell (2) is A second water supply port is provided, and the water outlet of the water pump (5) is in communication with the second water supply port, and the water pump (5) delivers water to the mop ( 33) On.
The mopping robot with controllable and continuous water output according to claim 1, wherein the second water supply port is provided with more than one, and the water control component further includes a water divider (51), and the water divider The water inlet of (51) is connected with the water outlet of the water pump (5), the water divider (51) is provided with water outlets corresponding to the number of the second water supply ports, and the water outlets are respectively connected with the second water supply ports.
The mopping robot with controllable and continuous water output according to claim 1, characterized in that the water tank (1) is arranged on the top of the body shell (2), and the first water supply port of the water tank (1) is arranged At the bottom of the water tank (1), a water stop device is provided on the first water supply port. The water stop device includes a water stop bracket (14), a spring (15), a smart valve (16) and a rubber plug (17). ), the water stop bracket (14) is fixed to the bottom of the water tank (1) by a buckle, the smart valve (16) is cross-shaped, and the upper end of the smart valve (16) is sleeved with a spring (15) and Is inserted into the water stop bracket (14) so that the smart valve (16) can move up and down and fixed in the water stop bracket (14). The left and right ends of the smart valve (16) are connected to the The bottom of the water tank (1) abuts to limit the downward movement of the smart valve (16), the rubber plug (17) is arranged at the first water supply port, the smart valve (16) and the rubber plug (17) The lower end of the abutting and smart valve (16) passes through the rubber plug (17) and extends to the outside of the water tank (1); the water inlet of the body shell (2) is provided with a filter element (23) and a fixed place The filter element sleeve (22) of the filter element (23), the filter element sleeve (22) is in an annular shape that coincides with the first water supply port, and the filter element (23) is arranged in the middle of the filter element sleeve (22) and can Abut the smart valve (16).
The mopping robot with controllable and continuous water output according to claim 1, characterized in that the bottom of the water tank (1) is also provided with a stop port, and a stop valve (18) is provided on the stop port, so One end of the stop valve (18) is a fixed end fixed to the stop port, the shape of the fixed end is consistent with the shape of the stop port, and the other end of the stop valve (18) extends into To the stop end inside the water tank (1), the stop valve (18) gradually becomes flat from the middle of the valve body to the end of the stop end, and the end of the stop end is provided with an air-permeable gap.
The mopping robot with controllable and continuous water output according to claim 4, characterized in that the stop valve (18) is made of a soft material, and the soft material is silicone, rubber or fluorosilicone rubber. A sort of.
The mopping robot capable of controlling continuous water output according to claim 1, wherein the control component further comprises an infrared transceiver connected to the control circuit board (42), and the infrared transceiver is arranged on the body shell The top of (2) can send infrared signals to the space above the mopping robot, and the control circuit board (42) controls the infrared transceiver to send and receive infrared signals.
The mopping robot with controllable and continuous water output according to claim 1, characterized in that, the body shell (2) includes an upper shell and a bottom plate, the mop support (3) is fixed on the bottom plate, and the The shape of the mop support (3) is consistent with the shape of the bottom plate, the mop support (3) is provided with more than one mounting post, and the corresponding position on the bottom plate is provided with a mounting groove for inserting the screw post, A buffer spring (31) is provided between the bottom of the installation column and the bottom of the installation groove and is connected by screws, so that the mop support (3) is fixed by the screw and is held to the ground under the push of the buffer spring (31). Abut.
The mopping robot with controllable and continuous water output according to claim 7, characterized in that an anti-collision strip (34) is provided on the side of the mopping robot, and the anti-collision strip (34) is in a hollow ring shape, The anti-collision bar (34) surrounds the mopping robot and is arranged on the side of the body shell (2) or the mop bracket (3), and the body shell (2) or the mop bracket (3) is provided with An anti-collision strip installation groove is arranged along the side, and the anti-collision strip (34) is installed in the anti-collision strip installation groove.
The mopping robot with controllable and continuous water output according to claim 1, characterized in that the bottom of the mop support (3) is provided with a Velcro (35) for fixing the mop (33), and the Velcro ( 35) The mop support (3) is distributed in a circumferential array at the bottom of the mop support (3) with the center of the mop support (3) as the center.
The mopping robot with controllable and continuous water output according to claim 3, characterized in that, the water tank comprises a tank body (11) and a water tank bottom plate (13) as the bottom of the water tank, and the opening of the tank body (11) is downward , The water tank bottom plate (13) is arranged at the opening of the box body (11) and is connected to the top of the body shell, the water tank bottom plate (13) is provided with a first magnet (12), and the body shell (2) A second magnet (21) is provided on the top contacting the bottom plate (13) of the water tank. The first magnet (12) and the second magnet (21) are arranged correspondingly and attract each other, so that the water tank (1 ) Is detachably fixed on the top of the body shell (2).