WO2022083066A1 - 一种清洁机器人 - Google Patents

一种清洁机器人 Download PDF

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Publication number
WO2022083066A1
WO2022083066A1 PCT/CN2021/083244 CN2021083244W WO2022083066A1 WO 2022083066 A1 WO2022083066 A1 WO 2022083066A1 CN 2021083244 W CN2021083244 W CN 2021083244W WO 2022083066 A1 WO2022083066 A1 WO 2022083066A1
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WO
WIPO (PCT)
Prior art keywords
water
cleaning robot
roller
mopping
roller brush
Prior art date
Application number
PCT/CN2021/083244
Other languages
English (en)
French (fr)
Inventor
高子庆
陶智辉
Original Assignee
深圳市锐曼智能装备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市锐曼智能装备有限公司 filed Critical 深圳市锐曼智能装备有限公司
Publication of WO2022083066A1 publication Critical patent/WO2022083066A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices

Definitions

  • the invention belongs to the field of cleaning equipment, in particular to a cleaning robot.
  • Cleaning robots are special robots that serve human beings, mainly engaged in cleaning and cleaning of non-family large areas.
  • the cleaning robot has the following advantages: 1. Time-saving and labor-saving sweeping: The entire cleaning process does not require human control, which reduces the user's operating burden and saves time watching TV and accompanying family members. 2. Low noise: less than 70 decibels, the process of cleaning the room is free from noise. 3. Lightweight and compact: The small robot can easily clean the dead corners that ordinary vacuum cleaners cannot clean.
  • the volume of its water tank is limited and cannot be loaded with excessive water. Therefore, after the cleaning robot works for a short period of time, it needs to manually add water and manually clean the mopping parts. It can be seen that the existing cleaning robot still needs frequent manual maintenance when cleaning. For this reason, it is necessary to further improve the existing cleaning robots, so that people's cleaning work can be more time-saving and labor-saving.
  • the technical problem to be solved by the present invention is to provide a cleaning robot, which aims to solve the problem that the cleaning robot in the prior art requires frequent manual maintenance.
  • a cleaning robot includes a moving mechanism, a sweeping mechanism, a mopping mechanism and a main controller; the main controller is used to issue control instructions to each mechanism to control each mechanism to execute the corresponding control instructions.
  • the mopping mechanism includes a water tank, a water outlet pipeline and a roller brush used for rolling mopping, the water tank supplies water to the roller brush through the water outlet pipeline;
  • the cleaning robot further includes a water circulation system, the The water circulation system includes a squeezing roller for squeezing the rolling brush, a water receiving tray for accommodating the sewage squeezed out from the rolling brush, a filtering mechanism for filtering the sewage, and a water pump; the squeezing roller tightens the Attached to the periphery of the rolling brush, the axes of the two are parallel, the water receiving tray is located below the rolling brush, the filter mechanism is installed between the water receiving tray and the water pump, and the sewage in the water receiving tray After being filtered by the filtering mechanism, it
  • the water circulation system further includes a deflector
  • the mopping mechanism further includes a rolling brush mounting frame, the rolling brush is rotatably mounted on the rolling brush mounting frame, the squeezing roller and The deflectors are fixedly installed on the roller brush mounting frame, and the squeezing roller is located above the roller brush; the deflector is obliquely arranged between the water receiving tray and the roller brush, and its lower One side is connected to the drip tray.
  • the filter mechanism includes filter cotton, the filter cotton is laid at the bottom end of the water receiving tray, and the bottom of the water receiving tray is provided with a number of water outlet holes; the roller brush mounting frame is also provided with There is an installation groove for embedding the water receiving tray, the bottom of the installation groove has a space for accommodating sewage, and the space is communicated with the water pump through a pipeline.
  • the water circulation system further includes an ultraviolet light sterilization device, and the light outgoing direction of the ultraviolet light sterilization device faces the inside of the water receiving tray and/or the inside of the water tank.
  • the cleaning robot also includes a suspension mechanism, the suspension mechanism includes a suspension frame, the two side walls of the suspension frame are provided with waist-shaped holes extending in the vertical direction, and the two sides of the roller brush mounting frame are respectively An installation shaft extends out, and the installation shaft penetrates into the waist-shaped hole.
  • the mopping mechanism further includes a spray plate, the spray plate is located above the roller brush, the bottom of the spray plate is provided with a plurality of spray ports, and the plurality of spray ports are connected with all the spray ports.
  • the outlet pipe is connected.
  • the sweeping mechanism includes a sweeper and a vacuum cleaner
  • the sweeper is rotatably installed on the bottom of the cleaning robot
  • the vacuum cleaner includes a vacuum cleaner main body and a suction pipe
  • the suction pipe includes a conventional section and a suction pipe.
  • the dust inlet section is close to the cleaner, and a drainage hood is installed at the nozzle of the dust inlet section.
  • the main body of the vacuum cleaner includes an upper cover, a barrel body, a dust filter component, a chassis and a fan;
  • the upper cover is detachably covered on the barrel body, and the barrel body is detachably covered Covered on the chassis;
  • the barrel has a accommodating cavity for accommodating garbage and an installation cavity for installing the dust filter component, and a plurality of air inlet holes are opened on the wall of the installation cavity, and the accommodating cavity is
  • the air in the cavity enters the dust filter component through the air inlet hole
  • the dust filter component has an air outlet channel inside
  • the chassis is provided with an exhaust port at the position corresponding to the air outlet channel
  • the fan is located at the location of the air outlet channel.
  • the bottom of the chassis, and the air inlet of the fan faces the exhaust port.
  • the horizontal cross section of the accommodating cavity is annular, the installation cavity is located at the center of the accommodating cavity, and the dust filter component is in the shape of a hollow cylinder as a whole.
  • the cleaning robot further includes an anti-fall system
  • the anti-fall system includes an image acquisition device for collecting ground image information
  • the image acquisition device is electrically connected to the main controller, and the image acquisition device
  • the collected image information is sent to the main controller for processing to obtain current terrain information;
  • the main controller pre-stores information of various types of terrain and operation instructions corresponding to various types of terrain, the The main controller compares the current terrain information with all types of pre-stored terrain information to obtain the current terrain type, and the main controller controls the mobile mechanism to execute an operation instruction matching the current terrain type.
  • the present invention has the beneficial effects that the cleaning robot proposed by the present invention adds a water circulation system on the basis of the sweeping mechanism and the mopping mechanism, and the squeezing roller in the water circulation system can remove the sewage in the rolling brush. After being squeezed out, the water receiving tray can accommodate sewage. After the sewage in the water receiving tray is filtered by the filter mechanism, the second clean water is obtained, and the last clean water is pumped back into the water tank by the pump to continue to participate in the circulation.
  • FIG. 1 is a schematic three-dimensional structural diagram of a cleaning robot provided in this embodiment.
  • FIG. 2 is a schematic three-dimensional structural diagram of the cleaning robot shown in FIG. 1 from another angle.
  • FIG. 3 is a schematic diagram of an exploded structure of the cleaning robot shown in FIG. 1 .
  • FIG. 4 is a schematic diagram of an exploded structure of the mopping mechanism and the water circulation system in the cleaning robot provided in this embodiment.
  • FIG. 5 is a schematic structural diagram of a spray plate in the mopping mechanism shown in FIG. 4 .
  • FIG. 6 is another schematic diagram of the exploded structure of the mopping mechanism and the water circulation system provided in this embodiment.
  • FIG. 7 is a schematic cross-sectional view of the mopping mechanism provided in this embodiment.
  • FIG. 8 is a schematic diagram of the suspension mechanism and the mopping mechanism provided in this embodiment after being assembled.
  • FIG. 9 is a schematic three-dimensional structural diagram of the sweeping mechanism provided in this embodiment.
  • FIG. 10 is a schematic cross-sectional view of the sweeping mechanism provided in this embodiment.
  • FIG. 11 is a schematic diagram of an exploded structure of the sweeping mechanism provided in this embodiment.
  • FIG. 12 is a schematic diagram of the collision avoidance system provided in this embodiment being installed on the main mounting frame.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or through The intermediary is indirectly connected, which can be the internal communication of two components.
  • FIG. 1 to FIG. 3 show a preferred embodiment provided by the present invention, a cleaning robot, including a moving mechanism for moving the robot, a sweeping mechanism for cleaning garbage, and a mopping mechanism for mopping the floor.
  • the above-mentioned moving mechanism includes a wheel 1 mounted on the bottom of the main mounting frame 10 and a driving motor for driving the wheel 1 to rotate.
  • the above-mentioned mopping mechanism includes a water tank 21 , a water outlet pipeline 22 , a spray plate 23 , a rolling brush 24 for rolling and mopping, and a rolling brush mounting frame 25 .
  • the roller brush 24 is cylindrical as a whole, and is made of PU material.
  • the water tank 21 supplies water to the rolling brush 24 through the water outlet pipeline 22 , and the rolling brush 24 is rotatably mounted on the rolling brush mounting frame 25 .
  • the spray plate 23 is located above the roller brush 24, the top of the spray plate 23 is a clean water distribution tank 231, the bottom of the clean water distribution tank 231 is provided with two equalizing dams 232, the spray plate 23 has a flow channel inside, and the clean water distribution tank 231 and the clean water distribution tank 231 are provided.
  • the flow channel is connected, the bottom of the spray plate 23 is provided with a plurality of spray ports 233 , the flow channel is communicated with the spray ports 233 , and the spray ports 233 are communicated with the water outlet pipeline 22 .
  • the plurality of spray ports 233 are arranged along the length direction of the spray plate 23 , so that water can be sprayed onto the roller brush 24 evenly.
  • the water tank 21 has a handle 211, so that the cleaning personnel can lift the water tank 21 to add water or clean it.
  • the above-mentioned water circulation system includes a squeezing roller 31 for squeezing the rolling brush 24 , a water receiving tray 32 for accommodating the sewage squeezed out from the rolling brush 24 , a deflector 33 , and a filter for filtering the sewage Filter mechanism, ultraviolet light sterilization device and water pump 34.
  • Both the squeezing roller 31 and the deflector 33 are fixedly installed on the rolling brush mounting frame 25, the squeezing roller 31 is close to the periphery of the rolling brush 24, and the axes of the two are parallel.
  • the roller 31 is located above the rolling brush 24.
  • the squeezing roller 31 is in the shape of a stick with a wave-like structure on its surface. The wave-like structure can increase the frictional force when it contacts the rolling brush and avoid slipping .
  • the deflector 33 is inclined (at a certain angle to the horizontal plane) and is arranged between the water receiving plate 32 and the roller brush 24, and its lower side is connected to the water receiving plate 32, so that the sewage can be guided from the roller brush 24 to the receiving plate 32. in the water tray 32.
  • roller brush mounting frame 25 is a skeleton-type metal frame, which is more convenient to assemble and can better ensure the positional accuracy of the rotating shaft.
  • the filtering mechanism is installed between the water receiving tray 32 and the water pump 34 , and the sewage in the water receiving tray 32 is filtered by the filtering mechanism and then pumped back into the water tank 21 through the water pump 34 .
  • the above-mentioned filter mechanism includes filter cotton 35, the filter cotton 35 is laid at the bottom end position inside the water receiving tray 32, and the bottom of the water receiving tray 32 is provided with a number of water outlet holes 321; the roller brush mounting frame 25
  • the sewage filtered by the two filter cottons becomes sub-clean water, and the sub-clean water is pumped back into the water tank 21 by the water pump 34 . Further, a chip collecting groove 253 is provided at the bottom of the groove in the installation groove 251 .
  • the above-mentioned ultraviolet light sterilization device is used to sterilize the water (it can be the water before filtering or the second-clean water after filtering).
  • a UV lamp tube capable of emitting ultraviolet rays is used as the light source.
  • the sterilized secondary clean water is pumped back into the water tank 21 through the water pump 34 .
  • the filtered water can also be pumped into the water tank 21 , and then the water in the water tank 21 can be sterilized.
  • the above-mentioned suspension mechanism includes a vertically arranged suspension frame 4 , two side walls of the suspension frame 4 are provided with waist-shaped holes 41 extending in the vertical direction, and two sides of the roller brush mounting frame 25 respectively extend out
  • the shaft 254 is installed, and the shaft 254 is inserted into the waist-shaped hole 41 .
  • the mounting shaft 254 moves up and down in the waist hole 41 to ensure that the roller brush 24 is in full contact with the ground, so as to avoid missing brushes and mopping.
  • elastic components can also be embedded in the waist-shaped hole 41 to increase the adhesion of the roller brush 24 to the ground and ensure the cleaning effect.
  • the above-mentioned sweeping mechanism includes two cleaners 51 and one vacuum cleaner 52 , and the two cleaners 51 are symmetrically installed on both sides of the bottom of the cleaning robot in a rotatable manner.
  • the cleaner 51 is claw-shaped, which is made of elastic material.
  • both cleaners 51 rotate inwardly (that is, the cleaner 51 on the left rotates clockwise, and the cleaner 51 on the right rotates clockwise. 51 rotates counterclockwise), and presses against the ground, the cleaner 51 deforms into a plane structure parallel to the ground.
  • the claw-shaped cleaner 51 can provide a temporary accommodation space for the garbage to prevent the garbage from being thrown out.
  • the vacuum cleaner 52 includes a vacuum cleaner body and a vacuum pipe 521.
  • the vacuum pipe 521 includes a regular section and a vacuum port section.
  • the vacuum port section is close to the cleaner 51. Dust and garbage enter the suction hood 5211 of the dust suction pipe 521 .
  • the main body of the vacuum cleaner includes an upper cover 522 , a barrel body 523 , a dust filtering component 524 , a chassis 525 and a fan 526 .
  • the upper cover 522 covers the barrel body 523 in a detachable manner, and the barrel body 523 covers the chassis 525 in a detachable manner.
  • the upper cover 522 is connected to the top end of the barrel body 523 by means of locking, and the bottom end of the barrel body 523 is connected to the chassis 525 by means of screw connection.
  • the barrel body 523 has a accommodating cavity for accommodating garbage and an installation cavity for installing the dust filter part 524.
  • the wall of the installation cavity is provided with a number of air inlet holes, and the air in the accommodating cavity enters the dust filter part 524 through the air inlet holes.
  • the chassis 525 is provided with an air outlet 5251 at the position corresponding to the air outlet channel
  • the fan 526 is located under the chassis 525
  • the air inlet of the fan 526 faces the air outlet 5251.
  • the top end is mounted on the upper cover 522 .
  • the horizontal section of the accommodating cavity is annular
  • the installation cavity is located at the center of the accommodating cavity
  • the dust filter member 524 is in the shape of a hollow cylinder as a whole.
  • Air, dust and garbage are sucked into the accommodating cavity of the barrel 523 from the dust suction port, and the air flows into the dust filter part 524 under the suction force of the fan 526 for filtering, and then is discharged through the air outlet channel and the exhaust port 5251. Robot outside.
  • the above-mentioned anti-collision system includes a plurality of rollers 6 .
  • the rollers 6 are installed at the edge of the main mounting frame 10 and protrude from the outer side of the main mounting frame 10 .
  • the main mounting frame 10 is a beam-type complete machine frame, which has high strength and is easy to process.
  • the above-mentioned spray plate 23, the rolling brush 24 for rolling and mopping the floor, the rolling brush mounting frame 25, the squeezing roller 31, the water receiving tray 32, the deflector 33, the filter mechanism, and the suspension frame 4 are jointly made into an integral module.
  • the integral module is assembled on the main mounting frame 10 in a detachable manner.
  • a shock absorbing structure is provided above the wheel 1 .
  • the above-mentioned anti-fall system includes an image collection device for collecting ground image information, and the image collection device sends the collected image information to the main controller for processing to obtain current terrain information.
  • the main controller has pre-stored information of various terrain types (including but not limited to: flat terrain, stepped terrain) and operation instructions corresponding to various types of terrain.
  • the main controller compares the current terrain information with all types of pre-stored terrain The terrain information is compared to obtain the current terrain type, and the main control controls the mobile mechanism to execute the operation instruction matching the current terrain type.
  • the above-mentioned battery is a rechargeable battery, which is detachably installed in the battery slot 101 of the main mounting frame 10 .
  • the battery is electrically connected to the various mechanisms and systems described above.
  • Each of the above-mentioned mechanisms and systems is electrically connected to the main controller, and the main controller can issue control instructions to each mechanism/system to control each mechanism/system to perform actions corresponding to the control instructions.
  • the main controller can also receive and process the information fed back by various institutions/systems.
  • the cleaning robot proposed in this embodiment adds a water circulation system on the basis of the sweeping mechanism and the mopping mechanism.
  • the squeezing roller 31 in the water circulation system can squeeze out the sewage in the roller brush 24, and the water receiving tray 32 can accommodate Sewage, after the sewage in the water receiving tray 32 is filtered by the filter mechanism, the second clean water is obtained, and the last clean water is pumped back into the water tank 21 by the water pump 34 to continue to participate in the circulation.
  • the sewage generated by mopping is reused, the water in the water tank 21 is consumed very slowly. Even if the volume of the water tank 21 is designed to be small, it can meet the requirement of mopping for a long time. At the same time, since it is not necessary to manually add water frequently, the cleaning efficiency is improved and labor costs are saved.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Sustainable Development (AREA)
  • Cleaning In General (AREA)

Abstract

一种清洁机器人，包括：移动机构、扫地机构、拖地机构以及主控器；拖地机构包括水箱（21）、出水管路（22）、滚刷（24）以及水循环系统，水箱（21）通过出水管路（22）给滚刷（24）供水；水循环系统包括挤压辊（31）、用于容纳污水的接水盘（32）、过滤机构以及水泵（34）；挤压辊（31）可以将滚刷（24）中的污水挤压出来，挤压出的污水流入接水盘（32），接水盘（32）内的污水经过过滤机构过滤后，得到次干净水，次干净水经水泵（34）抽回水箱（21）内继续参与循环。由于拖地产生的污水被再次利用，所以水箱（21）内的水消耗得很慢，即使将水箱（21）体积设计得较小，也能满足长时间拖地的需求。同时，由于不需要人工频繁加水，提高了清洁效率，节省了人工成本。

Description

一种清洁机器人 技术领域
本发明属于清洁设备领域，尤其涉及一种清洁机器人。
 背景技术
清洁机器人是为人类服务的特种机器人，主要从事非家庭大面积的清洁、清洗等工作。清洁机器人具有以下优点：1、扫地省时、省力：整个清洁过程不需要人控制，减轻用户操作负担，省下时间看电视、陪家人。2、低噪音：小于70分贝，清洁房间的过程免受噪音之苦。3、轻便小巧：体积小的机器人可轻松打扫普通吸尘器清理不到的死角。
但是，由于清洁机器人的轻便小巧设计，其水箱的容积有限，不能装载过多的水量。所以，清洁机器人工作一小段时间后，就需要人工加换水以及人工清洗拖地部件。可见，现有的清洁机器人在进行清洁工作时，仍需要人工频繁维护。为此，有必要对现有的清洁机器人作进一步改进，以使人们的清洁工作更加省时、省力。
 技术问题
本发明所要解决的技术问题在于提供一种清洁机器人，旨在解决现有技术中的清洁机器人需要人工频繁维护的问题。
 技术解决方案
本发明是这样实现的，一种清洁机器人，包括移动机构、扫地机构、拖地机构以及主控器；所述主控器用于向各机构下达控制指令，以控制各机构执行与控制指令相应的动作；所述拖地机构包括水箱、出水管路以及用于滚动拖地的滚刷，所述水箱通过所述出水管路给所述滚刷供水；所述清洁机器人还包括水循环系统，所述水循环系统包括用于挤压所述滚刷的挤压辊、用于容纳从所述滚刷挤压出的污水的接水盘、用于过滤污水的过滤机构以及水泵；所述挤压辊紧贴所述滚刷的周缘，两者的轴线平行，所述接水盘位于所述滚刷下方，所述过滤机构安装于所述接水盘与水泵之间，所述接水盘内的污水经过所述过滤机构过滤后，通过所述水泵抽回所述水箱内。
进一步的，所述水循环系统还包括导流板，所述拖地机构还包括滚刷安装架，所述滚刷以可转动的方式安装在所述滚刷安装架上，所述挤压辊以及导流板均固定安装在所述滚刷安装架上，所述挤压辊位于所述滚刷上方；所述导流板倾斜设置在所述接水盘与滚刷之间，其较低的一侧接入所述接水盘。
进一步的，所述过滤机构包括过滤棉，所述过滤棉铺设在所述接水盘内部的底端位置，所述接水盘的底部设置有若干出水孔；所述滚刷安装架上还设置有用于嵌置所述接水盘的安装槽，所述安装槽的底部具有容纳污水的空间，所述空间通过管道与所述水泵连通。
进一步的，所述水循环系统还包括紫外光杀菌装置，所述紫外光杀菌装置的光线出射方向朝向所述接水盘内部和/或水箱内部。
进一步的，所述清洁机器人还包括悬挂机构，所述悬挂机构包括悬挂框架，所述悬挂框架的两侧壁开设有沿竖向方向延伸的腰形孔，所述滚刷安装架的两侧分别延伸出安装轴，所述安装轴穿入所述腰形孔内。
进一步的，所述拖地机构还包括喷淋板，所述喷淋板位于所述滚刷上方，所述喷淋板的底部设有多个喷淋口，所述多个喷淋口与所述出水管路连通。
进一步的，所述扫地机构包括清扫器以及吸尘器，所述清扫器以可旋转的方式安装在清洁机器人的底部，所述吸尘器包括吸尘器主体以及吸尘管，所述吸尘管包括常规段以及吸尘口段，所述吸尘口段靠近所述清扫器，所述吸尘口段于管口处安装有引流罩。
进一步的，所述吸尘器主体包括上盖、桶体、灰尘过滤部件、底盘以及风机；所述上盖以可拆卸的方式盖罩在所述桶体上，所述桶体以可拆卸的方式盖罩在所述底盘上；所述桶体具有用于容纳垃圾的容纳腔以及用于安装所述灰尘过滤部件的安装腔，所述安装腔的壁体上开设有若干进气孔，所述容纳腔中的空气通过所述进气孔进入所述灰尘过滤部件内，所述灰尘过滤部件的内部具有出气通道，所述底盘对应所述出气通道的位置开设有排气口，所述风机位于所述底盘下方，并且所述风机的进风口朝向所述排气口。
进一步的，所述容纳腔的水平截面呈环状，所述安装腔位于所述容纳腔的中心位置，所述灰尘过滤部件整体呈中空的筒状。
进一步的，所述清洁机器人还包括防跌系统，所述防跌系统包括用于采集地面图像信息的图像采集装置，所述图像采集装置与所述主控器电连接，所述图像采集装置将采集到的图像信息发送至所述主控器中进行处理，得到当前地形信息；所述主控器内预存有多种地形类型的信息以及分别与各种类地形所对应的操作指令，所述主控器将当前地形信息与其预存的所有类型的地形信息作对比，得到当前地形类型，所述主控制控制所述移动机构执行与当前地形类型相匹配的操作指令。
 有益效果
本发明与现有技术相比，有益效果在于：本发明提出的清洁机器人，在扫地机构、拖地机构的基础上增设了水循环系统，该水循环系统中的挤压辊可以将滚刷中的污水挤压出来，接水盘可容纳污水，接水盘中的污水经过过滤机构过滤后，得到次干净水，最后次干净水经水泵抽回水箱内继续参与循环。
由于拖地产生的污水被再次利用，所以水箱内的水消耗得很慢，即使将水箱体积设计得较小，也能满足长时间拖地的需求。同时，由于不需要人工频繁加水，提高了清洁效率，节省了人工成本。
 附图说明
图1是本实施例提供的一种清洁机器人的立体结构示意图。
图2是图1所示清洁机器人另一角度的立体结构示意图。
图3是图1所示清洁机器人的分解结构示意图。
图4是本实施例提供的清洁机器人中的拖地机构以及水循环系统的分解结构示意图。
图5是图4所示拖地机构中的喷淋板的结构示意图。
图6是本实施例提供的拖地机构以及水循环系统的另一分解结构示意图。
图7是本实施例提供的拖地机构的剖视示意图。
图8是本实施例提供的悬挂机构与拖地机构装配后的示意图。
图9是本实施例提供的扫地机构的立体结构示意图。
图10是本实施例提供的扫地机构的剖视示意图。
图11是本实施例提供的扫地机构的分解结构示意图。
图12是本实施例提供的防撞系统安装在主安装架上的示意图。
 本发明的最佳实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制；术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性；此外，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个部件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
请参阅图1至图3，示出了本发明提供的一较佳实施例，一种清洁机器人，包括用于移动机器人的移动机构、用于清扫垃圾的扫地机构、用于拖地的拖地机构、水循环系统、防止机器人颠簸的悬挂机构、防止机器人跌倒的防跌系统、防止机器人撞伤的防撞系统、用于承载上述各种机构及系统的主安装架10、为机器人提供电能的电池以及主控器。
上述移动机构包括安装于主安装架10底部的轮子1以及驱动轮子1转动的轮子的驱动电机。
请参阅4及图5，上述拖地机构包括水箱21、出水管路22、喷淋板23、用于滚动拖地的滚刷24以及滚刷安装架25。于本实施例中，滚刷24整体呈圆筒状，其采用PU材料制成。水箱21通过出水管路22给滚刷24供水，滚刷24以可转动的方式安装在滚刷安装架25上。喷淋板23位于滚刷24上方，喷淋板23的顶部为清水分配槽231，清水分配槽231的底部设置有两个均水坝232，喷淋板23内部具有流道，清水分配槽231与流道连通，喷淋板23的底部设有多个喷淋口233，流道与喷淋口233连通，喷淋口233与出水管路22连通。多个喷淋口233沿喷淋板23的长度方向排布，从而可将水均匀地喷淋到滚刷24上。水箱21具有提手211，以便于清洁人员提起水箱21加水或清洗。
请参阅图6，上述水循环系统包括用于挤压滚刷24的挤压辊31、用于容纳从滚刷24挤压出的污水的接水盘32、导流板33、用于过滤污水的过滤机构、紫外光杀菌装置以及水泵34。
挤压辊31以及导流板33均固定安装在滚刷安装架25上，挤压辊31紧贴滚刷24的周缘，两者的轴线平行，接水盘32位于滚刷24下方，挤压辊31位于滚刷24上方，于本实施例中，挤压辊31呈棍状，其表面上设置有波浪状结构，通过该波浪状结构可增加其与滚刷接触时的摩擦力，避免打滑。导流板33倾斜（与水平面呈一定夹角）设置在接水盘32与滚刷24之间，其较低的一侧接入接水盘32，从而可将污水从滚刷24引导至接水盘32内。
为了避免水流入轴承内，影响轴承，上述滚刷24、挤压辊31的两端嵌置有挡水墙。滚刷安装架25为骨架式金属架，其装配更方便，更能保证转轴位置精度。
过滤机构安装于接水盘32与水泵34之间，接水盘32内的污水经过过滤机构过滤后，通过水泵34抽回水箱21内。具体的，请一同参阅图7，上述过滤机构包括过滤棉35，过滤棉35铺设在接水盘32内部的底端位置，接水盘32的底部设置有若干出水孔321；滚刷安装架25上还设置有用于嵌置接水盘32的安装槽251，安装槽251的底部还铺设有第二道过滤棉252，安装槽251底部具有容纳污水的空间，该空间通过管道36与水泵34连通。经过两道过滤棉过滤的污水变为次干净水，次干净水被水泵34抽回至水箱21内。进一步的，安装槽251内的槽底设置有集屑槽253。
上述紫外光杀菌装置用于给水（可以是过滤前的水，也可以过滤后的次干净水）杀菌，紫外光杀菌装置的光线出射方向朝向接水盘32内部和/或水箱21内部。于本实施例中，采用能发出紫外线的UV 灯管作为光源。经过杀菌后的次干净水经过水泵34抽回水箱21内，当然，也可以将过滤后的水抽至水箱21内，然后对水箱21内的水进行杀菌。
请参阅图8，上述悬挂机构包括竖向设置的悬挂框架4，所述悬挂框架4的两侧壁开设有沿竖向方向延伸的腰形孔41，滚刷安装架25的两侧分别延伸出安装轴254，安装轴254穿入腰形孔41内。当拖地模块在拖地过程中遇到不平整的地面时，通过安装轴254在腰形孔41内上下活动来保证滚刷24与地面的充分接触，从而避免漏刷漏拖。进一步的，还可以在腰形孔41内嵌置弹性部件，以增加滚刷24对地面的附着力，保证清洁效果。
请参阅图9，上述扫地机构包括两个清扫器51以及一个吸尘器52，两个清扫器51以可旋转的方式对称地安装在清洁机器人底部的两侧。于本实施例中，清扫器51呈爪形，其由弹性材料制作，在清扫时，两个清扫器51均朝内侧方向旋转（即左侧的清扫器51顺时针旋转，右侧的清扫器51逆时针旋转），并抵压着地面，清扫器51变形为与地面平行的平面结构。爪形的清扫器51可为垃圾提供暂时的容纳空间，避免垃圾被甩到外面。
请参阅图10，吸尘器52包括吸尘器主体以及吸尘管521，吸尘管521包括常规段以及吸尘口段，吸尘口段靠近清扫器51，吸尘口段于管口处设置有用于引导灰尘以及垃圾进入吸尘管521的引流罩5211。
具体的，吸尘器主体包括上盖522、桶体523、灰尘过滤部件524、底盘525以及风机526。上盖522以可拆卸的方式盖罩在桶体523上，桶体523以可拆卸的方式盖罩在底盘525上。于本实施例中，上盖522通过锁扣的方式与桶体523的顶端连接，桶体523的底端通过螺纹连接方式与底盘525连接。桶体523具有用于容纳垃圾的容纳腔以及用于安装灰尘过滤部件524的安装腔，安装腔的壁体上开设有若干进气孔，容纳腔中的空气通过进气孔进入灰尘过滤部件524内，灰尘过滤部件524的内部具有出气通道，底盘525对应出气通道的位置开设有排气口5251，风机526位于底盘525下方，并且风机526的进风口朝向排气口5251，吸尘管521的顶端安装在上盖522上。于本实施例中，容纳腔的水平截面呈环状，安装腔位于容纳腔的中心位置，灰尘过滤部件524整体呈中空的筒状。空气、灰尘以及垃圾从吸尘口一同被吸进桶体523的容纳腔内，而空气则在风机526的吸力下流入灰尘过滤部件524进行过滤，然后再经出气通道、排气口5251排放到机器人外面。
请参阅图11，上述防撞系统包括若干个滚轮6，所述滚轮6安装在主安装架10的边缘位置，并且凸出于主安装架10的外侧面。
于本实施例中，主安装架10为大梁式整机骨架，整机强度高，且加工容易。上述喷淋板23、用于滚动拖地的滚刷24、滚刷安装架25、挤压辊31、接水盘32、导流板33、过滤机构、悬挂框架4共同制作成整体模块，该整体模块可拆卸式方式装配在主安装架10上。为了避免机器人在遇到凹凸场地时，上下颠簸对零件的影响，轮子1上方设置有减震结构。
上述防跌系统包括用于采集地面图像信息的图像采集装置，图像采集装置将采集到的图像信息发送至主控器中进行处理，得到当前地形信息。主控器内预存有多种地形类型（包括但不限于：平地地形、台阶地形）的信息以及分别与各种类地形所对应的操作指令，主控器将当前地形信息与其预存的所有类型的地形信息作对比，得到当前地形类型，主控制控制移动机构执行与当前地形类型相匹配的操作指令。
上述电池为可充电电池，其以可拆卸的方式安装在主安装架10的电池槽101内。电池与上述各种机构及系统电连接。
上述各机构、系统均与主控器电连接，主控器可向各机构/系统下达控制指令，以控制各机构/系统执行与控制指令相应的动作。此外，主控器也可以接收并处理各机构/系统反馈的信息。
本实施例提出的清洁机器人，在扫地机构、拖地机构的基础上增设了水循环系统，该水循环系统中的挤压辊31可以将滚刷24中的污水挤压出来，接水盘32可容纳污水，接水盘32中的污水经过过滤机构过滤后，得到次干净水，最后次干净水经水泵34抽回水箱21内继续参与循环。
由于拖地产生的污水被再次利用，所以水箱21内的水消耗得很慢，即使将水箱21体积设计得较小，也能满足长时间拖地的需求。同时，由于不需要人工频繁加水，提高了清洁效率，节省了人工成本。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种清洁机器人，包括移动机构、扫地机构、拖地机构以及主控器；所述主控器用于向各机构下达控制指令，以控制各机构执行与控制指令相应的动作；所述拖地机构包括水箱、出水管路以及用于滚动拖地的滚刷，所述水箱通过所述出水管路给所述滚刷供水；其特征在于，所述清洁机器人还包括水循环系统，所述水循环系统包括用于挤压所述滚刷的挤压辊、用于容纳从所述滚刷挤压出的污水的接水盘、用于过滤污水的过滤机构以及水泵；所述挤压辊紧贴所述滚刷的周缘，两者的轴线平行，所述接水盘位于所述滚刷下方，所述过滤机构安装于所述接水盘与水泵之间，所述接水盘内的污水经过所述过滤机构过滤后，通过所述水泵抽回所述水箱内。
  2. 如权利要求1所述的清洁机器人，其特征在于，所述水循环系统还包括导流板，所述拖地机构还包括滚刷安装架，所述滚刷以可转动的方式安装在所述滚刷安装架上，所述挤压辊以及导流板均固定安装在所述滚刷安装架上，所述挤压辊位于所述滚刷上方；所述导流板倾斜设置在所述接水盘与滚刷之间，其较低的一侧接入所述接水盘。
  3. 如权利要求2所述的清洁机器人，其特征在于，所述过滤机构包括过滤棉，所述过滤棉铺设在所述接水盘内部的底端位置，所述接水盘的底部设置有若干出水孔；所述滚刷安装架上还设置有用于嵌置所述接水盘的安装槽，所所述安装槽的底部具有容纳污水的空间，所述空间通过管道与所述水泵连通。
  4. 如权利要求1至3中任意一项的清洁机器人，其特征在于，所述水循环系统还包括紫外光杀菌装置，所述紫外光杀菌装置的光线出射方向朝向所述接水盘内部和/或水箱内部。
  5. 如权利要求1至3中任意一项的清洁机器人，其特征在于，所述清洁机器人还包括悬挂机构，所述悬挂机构包括竖向设置的悬挂框架，所述悬挂框架的两侧壁开设有沿竖向方向延伸的腰形孔，所述滚刷安装架的两侧分别延伸出安装轴，所述安装轴穿入所述腰形孔内。
  6. 如权利要求1至3中任意一项的清洁机器人，其特征在于，所述拖地机构还包括喷淋板，所述喷淋板位于所述滚刷上方，所述喷淋板的底部设有多个喷淋口，所述多个喷淋口与所述出水管路连通。
  7. 如权利要求1至3中任意一项的清洁机器人，其特征在于，所述扫地机构包括清扫器以及吸尘器，所述清扫器以可旋转的方式安装在清洁机器人的底部，所述吸尘器包括吸尘器主体以及吸尘管，所述吸尘管包括常规段以及吸尘口段，所述吸尘口段靠近所述清扫器，所述吸尘口段于管口处安装有引流罩。
  8. 如权利要求7所述的清洁机器人，其特征在于，所述吸尘器主体包括上盖、桶体、灰尘过滤部件、底盘以及风机；所述上盖以可拆卸的方式盖罩在所述桶体上，所述桶体以可拆卸的方式盖罩在所述底盘上；所述桶体具有用于容纳垃圾的容纳腔以及用于安装所述灰尘过滤部件的安装腔，所述安装腔的壁体上开设有若干进气孔，所述容纳腔中的空气通过所述进气孔进入所述灰尘过滤部件内，所述灰尘过滤部件的内部具有出气通道，所述底盘对应所述出气通道的位置开设有排气口，所述风机位于所述底盘下方，并且所述风机的进风口朝向所述排气口。
  9. 如权利要求8所述的清洁机器人，其特征在于，所述容纳腔的水平截面呈环状，所述安装腔位于所述容纳腔的中心位置，所述灰尘过滤部件整体呈中空的筒状。
  10. 如权利要求1至3中任意一项的清洁机器人，其特征在于，所述清洁机器人还包括防跌系统，所述防跌系统包括用于采集地面图像信息的图像采集装置，所述图像采集装置与所述主控器电连接，所述图像采集装置将采集到的图像信息发送至所述主控器中进行处理，得到当前地形信息；所述主控器内预存有多种地形类型的信息以及分别与各种类地形所对应的操作指令，所述主控器将当前地形信息与其预存的所有类型的地形信息作对比，得到当前地形类型，所述主控制控制所述移动机构执行与当前地形类型相匹配的操作指令。
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