WO2022083468A1 - 清洁机器人及拖擦件支架 - Google Patents

清洁机器人及拖擦件支架 Download PDF

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Publication number
WO2022083468A1
WO2022083468A1 PCT/CN2021/123055 CN2021123055W WO2022083468A1 WO 2022083468 A1 WO2022083468 A1 WO 2022083468A1 CN 2021123055 W CN2021123055 W CN 2021123055W WO 2022083468 A1 WO2022083468 A1 WO 2022083468A1
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WO
WIPO (PCT)
Prior art keywords
liquid
groove
bracket
cleaning robot
leakage
Prior art date
Application number
PCT/CN2021/123055
Other languages
English (en)
French (fr)
Inventor
王国云
陈智龙
Original Assignee
深圳瑞科时尚电子有限公司
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Publication date
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Publication of WO2022083468A1 publication Critical patent/WO2022083468A1/zh

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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
    • A47L11/282—Floor-scrubbing machines, motor-driven 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits

Definitions

  • the present application relates to the field of robotics, and in particular, to a cleaning robot and a mopping member bracket.
  • cleaning robots with sweeping and mopping functions are becoming more and more popular.
  • This type of cleaning robot has a water tank and a mopping element, and the wet mopping element can clean the ground.
  • Embodiments of the present application provide a cleaning robot and a mopping member bracket that can solve or improve the above problems.
  • a cleaning robot is provided.
  • the cleaning robot includes:
  • the body the bottom of which is provided with a liquid outlet
  • a bracket which is arranged at the bottom of the body and can move relative to the body
  • a mopping member arranged on the bracket, used for cleaning the cleaning object
  • a plurality of liquid leakage grooves are arranged along the movement direction of the bracket; the liquid discharged through the liquid outlet is distributed to the liquid leakage groove through the plurality of leakage grooves. on the wiper.
  • a cleaning robot in another embodiment of the present application, includes:
  • the body the bottom of which is provided with a liquid outlet
  • a bracket which has a central axis and is rotatably arranged at the bottom of the body;
  • a mopping member arranged on the bracket, used for cleaning the cleaning object
  • a plurality of liquid leakage grooves are arranged along the rotation direction of the bracket; the liquid discharged through the liquid outlet is distributed to the liquid leakage groove through the plurality of leakage grooves. and the distance between one of the liquid leakage grooves and the central axis is 1/3-2/3 of the minimum turning radius of the dragging member.
  • a wiper bracket in yet another embodiment of the present application, includes a mounting plate.
  • the installation disk has two opposite disk surfaces, which are a first disk surface and a second disk surface; a power access structure is provided on the first disk surface, and the power access structure is used to connect a device that drives the installation disk to move. a power source; the second disk surface is used to connect the wiping member; on the liquid inlet position of the installation disk, a plurality of penetrating through the first disk surface and the second disk are arranged along the moving direction of the mounting disk Liquid leakage grooves on the disk surface; the liquid entering the plurality of liquid leakage grooves from the first disk surface side is distributed to the mopping member.
  • a plurality of liquid leakage grooves are arranged on the support, and the positions of the plurality of liquid leakage grooves correspond to the positions of the liquid outlet of the body; during the movement of the support, the liquid discharged from the liquid outlet will It drips into each leakage tank one after another, and then distributes to multiple positions of the wiping member through each leakage tank; under the condition of ensuring the strength of the mounting plate, the more the number of leakage tanks or the grooves of each leakage tank The longer it is, the better the wetting uniformity of the mop will be.
  • FIG. 1 is a schematic structural diagram of the bottom of a cleaning robot provided by an embodiment of the present application.
  • FIG. 2 is a side view of a cleaning robot provided by an embodiment of the present application.
  • 3a is a schematic diagram of a first realization structure of an elliptical mounting plate in a bracket provided by an embodiment of the application;
  • 3b is a schematic diagram of a second implementation structure of an oval mounting plate in a bracket provided by an embodiment of the application;
  • 3c is a schematic diagram of a third implementation structure of an elliptical mounting plate in a bracket provided by an embodiment of the application;
  • 3d is a schematic diagram of a fourth implementation structure of an elliptical mounting plate in a bracket provided by an embodiment of the application;
  • FIG. 4a is a schematic diagram of a first realization structure of a circular mounting plate in a bracket provided by an embodiment of the application;
  • 4b is a schematic diagram of a second implementation structure of a circular mounting plate in a bracket provided by an embodiment of the application;
  • 4c is a schematic diagram of a third implementation structure of a circular mounting plate in a bracket provided by an embodiment of the application;
  • 4d is a schematic diagram of a fourth realization structure of a circular mounting plate in a bracket provided by an embodiment of the application;
  • FIG. 5 is a schematic diagram of a bracket provided with a communication groove provided in an embodiment of the present application.
  • Fig. 6a is the A-A direction sectional view of Fig. 5;
  • Fig. 6b is a partial enlarged view of Fig. 6a;
  • FIG. 7a is a schematic diagram of another implementation structure in which a communication groove is provided on the bracket provided by the embodiment of the application;
  • Fig. 7b is a partial enlarged schematic view of region B in the structure shown in Fig. 7a;
  • Fig. 7c is a partial perspective schematic view of the structure shown in Fig. 7a;
  • Figure 7d is a cross-sectional view taken along the line A-A in Figure 7a;
  • Fig. 7e is a partial perspective schematic view of the structure shown in Fig. 7d;
  • FIG. 8 is a schematic diagram of a reciprocating linear motion of a mopping member of a cleaning robot according to an embodiment of the present application
  • FIG. 9 is a schematic structural diagram of a support for driving a reciprocating linear motion of a dragging member provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a solution for arranging a liquid outlet on a body according to an embodiment of the present application.
  • the user uses an existing cleaning robot to clean the ground.
  • the cleaning robot mops the ground while vacuuming.
  • the user found that there were still black spots and other stains on the ground cleaned by the cleaning robot.
  • the user can only control the cleaning robot to clean again, or control the cleaning robot to clean the area again. Cleaning again may not necessarily be able to clean, it needs to be repeated many times. Users may give up and manually clean the black spots on the ground that have not been cleaned.
  • the direct feeling is that the cleaning ability of the cleaning robot is limited, and the favorability will decrease.
  • the inventors have studied the above problems and found that one of the reasons for the above problems is that the mopping member (or rag) of the cleaning robot is not uniformly wet.
  • the wetted part of the mopping element is a wet mopping, and the part that is not wetted or thoroughly wetted is a dry mopping. For stubborn stains such as black spots, dry mopping cannot be cleaned. Therefore, the present application provides the following embodiments to solve or improve the above problems.
  • a cleaning robot is provided in an embodiment of the present application.
  • the cleaning robot includes: a body 1 , a bracket 7 and a mopping member 2 .
  • the bracket 7 is arranged at the bottom of the body 1 and can move relative to the body 1 .
  • the bottom of the body 1 is provided with a liquid outlet. More specifically, the body 1 is provided with a water tank 3, and the bottom of the water tank 3 (ie, the side facing the bracket) is provided with a liquid outlet.
  • the mopping member 2 is arranged on the bracket 7, and is used for cleaning the cleaning objects (such as the ground, the table top, etc.). Referring to FIG. 3a to FIG.
  • a plurality of liquid leakage grooves 71 are provided along the moving direction of the bracket 7; the liquid discharged through the liquid outlet is The plurality of leakage grooves 71 are distributed on the mopping member 2 .
  • a plurality of liquid leakage grooves are arranged on the support, and the positions of the plurality of liquid leakage grooves correspond to the positions of the liquid outlet of the body; during the movement of the support, the liquid discharged from the liquid outlet will be successively discharged.
  • the dripping drops into each leakage tank, and then distributes to multiple positions of the wiping element through each leakage tank; under the condition of ensuring the strength of the mounting plate, the more the number of leakage tanks or the length of each leakage tank Longer, the wetting uniformity of the mop will be better.
  • the length of the leakage grooves 71 can increase the number of leakage grooves; the long grooves of the leakage grooves 71 can reduce the number of leakage grooves 71 .
  • the bracket 7 includes an installation plate, the installation plate is an oval plate, the number of the leakage grooves 71 is six, and the groove length of the leakage grooves 71 can be shorter, and the specific length depends on the actual size of the installation plate to decide.
  • Figures 4a and 4b are examples in which the mounting plate is a circular plate, and the same six leakage grooves 71 are provided.
  • Figures 3c and 3d show an example in which the installation plate is an oval plate and there are three liquid leakage grooves 71. In this case, the groove length of the liquid leakage grooves 71 may be longer.
  • Figures 4c and 4d are examples in which the mounting plate is a circular plate and the leakage grooves 71 are three.
  • both ends of the liquid leakage groove 71 may be arc-shaped ends, as shown in FIGS. 3 a , 3 d , 4 b and 4 c , that is, the liquid leakage groove 71 can be in the shape of a racetrack.
  • both ends of the liquid leakage groove 71 are straight edge ends, as shown in FIGS. 3b , 3c , 4a and 4d , that is, the liquid leakage groove 71 is fan-shaped.
  • the leakage tank 71 may be rectangular. The shape of the leak groove is related to the shape of the mounting plate and the way the bracket moves.
  • the mounting plate can be circular, oval, etc., and the leakage groove set on the mounting plate can be racetrack or fan ring.
  • the bracket reciprocates in a straight line relative to the body, the mounting plate may be polygonal (eg, rectangular, etc.), and correspondingly, the liquid leakage groove provided on the mounting plate may be rectangular.
  • the cleaning robot provided in this embodiment further includes a walking device.
  • the traveling device may include a driving mechanism 41 , a driving wheel 4 , a driven wheel 6 and the like.
  • the driving mechanism 41 such as a motor, etc., outputs rotational power to drive the driving wheel 4 to rotate to realize the walking of the robot on the ground or on the desktop.
  • the bracket 7 has a rotation axis 77 , the rotation axis 77 is perpendicular to the bottom surface of the body 1 , and the bracket 7 rotates around the rotation axis 77 .
  • the bracket 7 reciprocates in the traveling direction of the body 1 .
  • the relative movement between the mopping member 2 and the ground includes not only the movement of the robot as a whole on the ground, but also the rotation and/or horizontal reciprocating motion of the mopping member 2 relative to the ground, so that the mopping can be enhanced
  • the mopping force of the mopping part 2 is increased, and the mopping times of the mopping part are increased to realize repeated mopping on the ground, thereby improving the mopping effect of the mopping part, especially helping to clean stubborn stains adhering to the ground.
  • the body 1 of the cleaning robot also includes a casing and a chassis.
  • the casing is arranged on the chassis and is used to protect the structural components and electrical components arranged between the casing and the chassis, such as processors, sensors, motors, water tanks, garbage collection devices, and the like.
  • the mopping member 2 may be various parts capable of mopping the ground, such as mop cloth or sponge.
  • the bracket includes an installation plate, and the installation plate has two opposite plate surfaces, namely a first plate surface and a second plate surface.
  • the first disk surface may be opposite to the bottom of the body, and the second disk surface may face away from the bottom of the body (ie, toward the cleaning surface).
  • the wiping member can be arranged on the second disc surface, and the first disc surface is opposite to the liquid outlet at the bottom of the body.
  • the wiping element 2 is detachably connected to the mounting plate of the bracket 7, for example, the wiping element 2 is pasted on the lower end surface of the mounting disk by using Velcro, a buckle, etc., so as to facilitate the disassembly and replacement of the wiping element.
  • the dragging member 2 and the mounting plate of this embodiment are both oval.
  • the wiping member 2 and the mounting plate may also be in other shapes such as circle, triangle, rectangle, hexagon, sector, etc., which are not specifically limited in this embodiment.
  • the two sets of elliptical mounting discs and dragging members are dislocated. That is, the length D of the line connecting the rotation centers of the two groups of elliptical mounting disks and the wiper is less than the sum of the maximum rotation radii of the two groups of elliptical mounting disks and the wiper, that is, r1+r2.
  • the two sets of mounting discs and the dragging pieces can be turned in the same direction or different; they can also be switched to rotate in the same direction and in the opposite direction, that is, within a certain period of time, the two sets of mounting discs and the dragging pieces rotate in the opposite direction and the other After a period of time, it changes to reverse rotation.
  • the communication groove 72 is a groove with a lower middle and high sides, and the groove bottom of the communication groove 72 is a smooth arc-shaped groove bottom.
  • the droplets will gather to the bottom of the communication groove due to the action of gravity, preventing the water droplets from flowing to the outside of the communication groove and the leakage groove.
  • the notch end surface 721 of the communication groove 72 can be connected with the arc groove bottom through a transition arc segment, so that at least part of the water droplets that drop on the notch end surface 721 can follow the filter circle. The arc segment slides into the groove bottom of the communicating groove.
  • a communication groove 72 is provided between adjacent liquid leakage grooves 71 ; the liquid from the liquid outlet to the communication groove 72 passes through the The communication groove 72 flows into the liquid leakage groove 71 so as to be distributed from the liquid leakage groove 71 to the mopping member 2 , thereby wetting the mopping member 2 .
  • the groove width of the leakage tank is related to many factors such as the size of the liquid outlet on the body and the strength of the bracket. In specific implementation, the groove width, groove length and the number of leakage grooves can be reasonably designed based on these factors.
  • the groove width of the communication groove may be greater than, less than or equal to the groove width of the leakage groove, and the specific implementation needs to be determined based on the structure of the leakage groove.
  • the groove wall of the leakage tank 71 is not higher than the disk surface of the mounting plate, and the groove width of the communication groove is larger than the groove width of the leakage tank, so that more drainage can fall on the groove-to-tank connection.
  • the liquid at the place enters the leakage tank to reduce the splash of liquid.
  • the liquid that does not enter the leakage tank will be thrown out of the body by the moving bracket, and part of the splashed liquid may fall to the place that has been cleaned by the mopping element, affecting the cleaning effect of the cleaning robot.
  • the wall of the leakage groove 71 protrudes from the surface of the mounting plate, and the groove width of the communication groove 72 is not greater than (ie less than or equal to) the
  • the groove width of the leakage groove 71 is suitable, and the groove walls 711 on both sides of the leakage groove 71 beyond the surface of the mounting plate can be located on both sides of the liquid outlet of the body to prevent the liquid flowing out of the liquid outlet from splashing to other locations.
  • the communication groove 72 may have a rough inner wall of the groove.
  • the rough inner wall of the groove can reduce the possibility of water droplets entering the connecting groove and splashing out.
  • the inner wall of the connecting groove 72 is provided with a splash-proof structure; the splash-proof structure destroys the surface tension of the droplets falling into the communication groove 72 .
  • the splash-proof structure includes a plurality of bumps 73 arranged on the inner wall of the groove.
  • the communication groove 72 may be a concave groove.
  • a concave groove is a groove formed by a smooth curve with low ends in the middle of the groove. This kind of concave groove has little effect on the strength of the mounting plate, and can also play the role of splash-proof and drainage.
  • the structure of the plurality of bumps is not shown in the communication groove.
  • the inner wall of the groove of the communication groove in the structure shown in FIGS. 7a to 7e can also be provided with a plurality of bumps. .
  • the bracket 7 is rotatably arranged at the bottom of the body 1 . That is, the bracket 7 can rotate relative to the body 1 .
  • the groove centerlines of the plurality of leakage grooves 71 are located on the same circle 100 .
  • the bracket 7 includes an installation plate, and the intersection of the rotation center axis of the bracket and the installation plate is the rotation center of the installation plate.
  • the circle 100 takes the rotation center of the mounting plate as the center of the circle, and takes the distance from the corresponding position of the liquid outlet to the center of the circle as the radius.
  • the communication grooves 72 between adjacent liquid leakage grooves 71 also have groove centerlines, and the groove centerlines of the communication grooves 72 are also located on the circle 100 .
  • the mounting plate of the bracket 7 shown in FIG. 5 is provided with a ring of liquid leakage grooves 71 . That is to say, the mopping member installed on the mounting plate receives the inflowing liquid from the position corresponding to the liquid leakage groove in this circle, and then the liquid flowing into the mopping member infiltrates the whole circle inward and outward from this position. Drag the piece. If this ring of leakage grooves is too close to the center of rotation of the mounting plate, the central area of the wiper will infiltrate the earliest, and the outer ring of the wiper will infiltrate slower.
  • the radius of the circle 100 can be determined simply by making the inner area of the circle 100 equal to the outer area of the circle 100 .
  • the above content is for the solution with only one circle of multiple leakage grooves.
  • a plurality of liquid outlets can be provided on the body, and correspondingly, two or three liquid leakage grooves can be set on the mounting plate of the bracket.
  • the liquid leakage groove 71 needs to have a distance from the rotation center axis of the bracket 7 .
  • the setting position of the liquid outlet at the bottom of the body cannot face the rotation center of the bracket (ie, the intersection of the rotation center axis of the bracket and the mounting plate). Further, as shown in FIG.
  • the bracket 7 includes an installation plate, and the installation plate has a first plate surface 75 and a second plate surface 76 opposite to each other.
  • the first disk surface 75 is provided with a power access structure 74, such as a rotating shaft interface.
  • the power access structure 74 is a shaft structure protruding from the first disk surface which can be connected to the power source.
  • the groove edge of the leakage groove 71 close to the central axis of rotation may coincide with the outer wall of the power access structure, or may have a certain distance from the outside of the power access structure.
  • the mounting plate of the bracket 7 is provided with multiple circles of liquid leakage grooves similar to those shown in FIG.
  • the inner side of the liquid leakage groove of the inner ring closest to the rotation center axis of the bracket (that is, the groove edge close to the rotation center axis) ) needs to have the distance from the rotation center axis of the bracket 7 .
  • a cleaning robot in a specific embodiment, includes a body, a bracket and a mopping member.
  • the bottom of the body is provided with a liquid outlet.
  • the bracket has a central axis of rotation and is rotatably arranged on the bottom of the body.
  • the mopping element is arranged on the bracket and is used for cleaning the cleaning object.
  • a plurality of liquid leakage grooves are arranged along the rotation direction of the bracket; the liquid discharged through the liquid outlet is distributed to the liquid leakage groove through the plurality of leakage grooves.
  • the distance between one of the liquid leakage grooves and the central axis is 1/3-2/3 of the minimum turning radius of the wiping member.
  • the distance between the leakage tank and the central axis may be: as shown in FIG. 5 , the distance d between the tank centerline of the leakage tank 71 and the center axis 70 .
  • the central axis 70 in FIG. 5 is perpendicular to the page.
  • a power shaft is provided at the bottom of the body, and the power shaft can output rotational power.
  • the bracket 7 is connected with the power shaft to rotate with the power shaft.
  • FIG. 2 shows the structure after the bracket 7 is connected with the power shaft, so the power shaft is not shown in FIG. 2 .
  • the outer periphery of the power shaft is provided with at least one of the liquid outlets.
  • the liquid outlet may be provided with one liquid outlet, and this liquid outlet may be opposite to one liquid leakage groove among the plurality of liquid leakage grooves during the rotation of the support.
  • the liquid outlet can also be provided in multiples, as shown in FIG. 8 , in which the bracket performs reciprocating linear motion. If the support rotates, on the outer circumference of the power shaft, the arrangement of the plurality of liquid outlets includes at least one of the following:
  • At least some of the plurality of liquid outlets are distributed along the radial direction of the axial section of the power shaft;
  • At least some of the plurality of liquid outlets are evenly distributed along the circumferential direction of a circle.
  • the body includes two power shafts (not shown in the figure), and the two power shafts are respectively connected with two brackets.
  • two liquid outlets are provided on the outer periphery of the power shaft, and the two liquid outlets 11 are distributed along the radial direction of the shaft section of the power shaft.
  • two circles of leakage grooves 71 may be provided on the mounting plate of the bracket 7 , and the number of each circle of leakage grooves 71 may be 3 (as shown in FIG. 10 ), 5, or 6, and so on.
  • the liquid dripped from the two liquid outlets can sequentially fall into each liquid leakage groove on the corresponding ring.
  • the circle may be concentric with the rotation center of the shaft section of the power shaft, or it may not be concentric.
  • the embodiment does not specifically limit this.
  • the mounting plate of the bracket 7 performs a reciprocating linear motion relative to the body 1; the direction of the body 1 is perpendicular to the reciprocating linear motion.
  • a plurality of liquid outlets 11 are provided (shown by dotted lines in FIG. 8 , which are blocked by the bracket 7 and the dragging member 2); as shown in FIG. Multiple leakage grooves 71 on the same line.
  • the bracket is provided with a plurality of liquid leakage grooves along the movement direction at the position corresponding to the liquid outlet, and the connection between the grooves is a concave groove (low in the middle and high on both sides) ) to ensure that the water droplets can be completely and evenly distributed on the rag.
  • the effect of "evenness” in the front is brought about by multiple leakage grooves.
  • the effect of "complete” is due to the concave groove and the effect of the anti-splash structure in the concave groove, which reduces the amount of liquid splashing, so that the liquid (or droplets) discharged from the liquid outlet basically enters the drag inside the wiper.
  • a number of liquid leakage grooves are annularly distributed along the rotating shaft of the mounting plate, and the radial position of the liquid leakage grooves corresponds to the position of the drip hole (ie the liquid outlet) of the water tank.
  • the water in the water tank will have a high probability of dripping into the leakage groove of the mounting plate, and a small probability that it will drip into the communication groove. Water droplets that fall into the leaking tank will directly contact the mopping element and be absorbed by the mopping element.
  • the number of the leakage grooves is not less than three. Less than 3, in order to achieve the above-mentioned "uniform" effect, such as two, may affect the strength of the stent.
  • the brackets and wiping members in the above-mentioned cleaning robot embodiments can be designed as replaceable components. That is, the bracket is detachably connected to the body. When the bracket is damaged or has poor wettability, the user can purchase a new bracket to replace the bracket of the original robot and improve the cleaning performance of the existing robot. That is, this embodiment provides a mopping member bracket that can be installed on the cleaning robot body provided by the above-mentioned embodiments.
  • Figures 3a to 7e show schematic structural views of the wiper bracket. Specifically, as shown in Figures 5 and 6a, the wiper bracket 7 includes a mounting plate.
  • the installation disk has two opposite disk surfaces, namely a first disk surface 75 and a second disk surface 76; a power access structure 74 is provided on the first disk surface 75, and the power access structure is used to connect and drive the A power source (such as a motor on a cleaning robot) for the movement of the installation plate; the second plate surface 76 is used to connect the mopping member 2 .
  • a power source such as a motor on a cleaning robot
  • the second plate surface 76 is used to connect the mopping member 2 .
  • a communication groove 72 is provided between adjacent liquid leakage grooves 71; the liquid entering the communication groove 72 flows into the leakage groove 71 through the communication groove 72 to prevent From the leak tank 71 to the wiper 2 .
  • the inner wall of the communication groove 72 may be provided with a plurality of convex points 73 ; the plurality of convex points 73 destroy the surface tension of the droplets dropped into the communication groove 72 .
  • the communication groove is a concave groove.
  • the installation plate rotates; as shown in FIG. 5 , the groove centerlines of the plurality of liquid leakage grooves 71 are located on the same circle 100, and the circle 100 takes the rotation center of the installation plate as the center of the circle, and takes the rotation center of the installation plate as the center.
  • the distance from the liquid inlet position to the center of the circle is the radius.
  • the mounting plate performs a reciprocating linear motion; as shown in FIG. 9 , the mounting plate has a plurality of liquid inlet positions along the direction perpendicular to the reciprocating linear motion; the mounting plate corresponds to one liquid inlet position , and a plurality of leakage grooves with the groove center line on the same straight line are arranged.
  • the power access structure is connected to a rotating power source, and the mounting plate is rotated; the mounting plate has a rotating shaft interface (ie, the power access structure 74 in the figure);
  • the rotating shaft is interfaced to the edge of the mounting plate, and the height of the first plate surface gradually decreases. That is, the first disk surface of the mounting disk is an inclined surface gradually decreasing from the center to the edge. In this way, a very small amount of liquid dropped on the first disc surface and cannot be distributed to the mopping member through the liquid leakage groove can flow out to the outside of the body along the inclined surface.
  • the user replaces the bracket on the cleaning robot with the mopping member bracket provided in this embodiment, and then installs the mopping member on the bracket.
  • the user starts the cleaning robot, and the cleaning robot travels according to the planned path or according to the path set by the user, and cleans the ground during the traveling process.
  • the water tank outlet of the cleaning robot drips liquid according to the design requirements.
  • the sweeping and mopping integrated robot vacuums the ground surface of the indoor area according to the planned path, and then uses the rag behind the suction port to mop the ground.
  • the bottom of the sweeping and mopping integrated robot is provided with two brackets that can be rotated relative to the body, and rags are respectively installed on the two brackets.
  • the cleaning liquid in the water tank is discharged from the liquid outlet at the bottom of the body under the control of the controller. Most of the discharged liquid drips into the plurality of leakage grooves of the bracket, and the liquid entering the leakage grooves is distributed to the rag to soak the rag. A small amount of droplets will fall into the concave grooves between two adjacent leaking grooves.
  • the surface tension of the water droplets is destroyed by the action of multiple bumps in the concave grooves, which greatly reduces the reaction force received by the water droplets. Avoid splashing of droplets, and at the same time, water droplets will flow to the bottom of the trough due to the action of potential energy in the trough, and then enter the leakage trough. The dampened rag is rotated into contact with the floor to clean the floor.
  • Cleaning robots are robots used for cleaning floors in large places in supermarkets or hotels.
  • the robot can move autonomously, and it can also be driven by the user or remotely controlled to clean the ground.
  • the body of the cleaning robot is provided with a water tank, the bottom of the body is provided with a rotating power shaft, and the bottom of the body is provided with a liquid outlet that has a certain distance from the power shaft and is communicated with the water tank.
  • the power shaft is connected with a bracket that rotates with the power shaft, and a removable mop is installed on the bracket.
  • the bracket rotates under the drive of the power shaft, and the pumping mechanism pumps out an appropriate amount of cleaning liquid from the water tank to the liquid outlet under the control of the controller, so as to flow from the liquid outlet to the bracket.
  • Part of the cleaning liquid flowing to the bracket enters the leakage tank and is distributed to the rag, and the other part enters the sump, and flows into the leakage trough to the rag through the sump.
  • the dampened rag is rotated into contact with the floor to clean the floor.

Landscapes

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

Abstract

一种清洁机器人及拖擦件支架（7），其中，清洁机器人包括：机体（1），其底部设有出液口（11）；支架（7），设置在机体（1）底部，并能相对机体（1）运动；拖擦件（2），设置在支架（7）上，用于对清洁对象进行清洁。支架（7）的对应出液口（11）的位置上，沿支架（7）的运动方向设有多个漏液槽（71）；经出液口（11）排出的液体经多个漏液槽（71）分布到拖擦件（2）上。通过在支架（7）上设置多个漏液槽（71），有助于提高拖擦件（2）的湿润均匀度。

Description

清洁机器人及拖擦件支架
交叉引用
本申请引用于2020年10月22日递交的名称为“清洁机器人及拖擦件支架”的第202011142033.1号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及机器人技术领域，尤其涉及一种清洁机器人及拖擦件支架。
背景技术
目前，带有扫地及拖地功能的清洁机器人越来越受欢迎。这类清洁机器人带有水箱及拖擦件，润湿后的拖擦件便可对地面进行清洁。
发明内容
本申请实施例提供一种能够解决或改善上述问题的清洁机器人及拖擦件支架。
在本申请的一个实施例中，提供了一种清洁机器人。该清洁机器人包括：
机体，其底部设有出液口；
支架，设置在所述机体底部，并能相对所述机体运动；
拖擦件，设置在所述支架上，用于对清洁对象进行清洁；
其中，所述支架的对应所述出液口的位置上，沿所述支架的运动方向设有多个漏液槽；经所述出液口排出的液体经所述多个漏液槽分布到所述拖擦件上。
在本申请的另一个实施例中，提供了一种清洁机器人。该清洁机器人包括：
机体，其底部设有出液口；
支架，具有中心轴且可旋转的设置在所述机体底部；
拖擦件，设置在所述支架上，用于对清洁对象进行清洁；
其中，所述支架的对应所述出液口的位置上，沿所述支架的转动方向设有多个漏液槽；经所述出液口排出的液体经所述多个漏液槽分布到所述拖擦件上；且其中一个所述漏液槽距离所述中心轴的间距为所述拖擦件的最小转动半径的1/3-2/3。
在本申请的又一个实施例中，提供了一种拖擦件支架。该拖擦件支架包括安装盘。所述安装盘具有两个相对的盘面，分别为第一盘面和第二盘面；所述第一盘面上设有动力接入结构，所述动力接入结构用于连接驱动所述安 装盘运动的动力源；所述第二盘面用于连接所述拖擦件；所述安装盘的入液位置上，沿所述安装盘的运动方向设有多个贯穿所述第一盘面和所述第二盘面的漏液槽；自所述第一盘面侧进入所述多个漏液槽的液体分布到所述拖擦件。
本申请实施例提供的技术方案，通过在支架上设置多个漏液槽，且多个漏液槽的位置与机体的出液口位置对应；在支架运动过程中，出液口排出的液体会陆续滴落至各个漏液槽内，再经各漏液槽分布到拖擦件的多个位置处；在保证安装盘强度的情况下，漏液槽的数量越多或各漏液槽的槽长更长，拖擦件的湿润均匀性会更好。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请一实施例提供的清洁机器人底部结构示意图；
图2为本申请实施例提供的清洁机器人的侧面视图；
图3a为本申请实施例提供的支架中椭圆形安装盘的第一种实现结构的示意图；
图3b为本申请实施例提供的支架中椭圆形安装盘的第二种实现结构的示意图；
图3c为本申请实施例提供的支架中椭圆形安装盘的第三种实现结构的示意图；
图3d为本申请实施例提供的支架中椭圆形安装盘的第四种实现结构的示意图；
图4a为本申请实施例提供的支架中圆形安装盘的第一种实现结构的示意图；
图4b为本申请实施例提供的支架中圆形安装盘的第二种实现结构的示意图；
图4c为本申请实施例提供的支架中圆形安装盘的第三种实现结构的示意图；
图4d为本申请实施例提供的支架中圆形安装盘的第四种实现结构的示意图；
图5为本申请实施例提供的支架上设有连通凹槽的示意图；
图6a为图5的A-A向剖视图；
图6b为图6a的局部放大图；
图7a为本申请实施例提供的支架上设有连通凹槽的另一种实现结构的示意图；
图7b为图7a所示结构中B区域的局部放大示意图；
图7c为图7a所示结构的局部立体示意图；
图7d为图7a中A-A向剖视图；
图7e为图7d所示结构的局部立体示意图；
图8为本申请实施例提供的清洁机器人的拖擦件往复直线运动的示意图；
图9为本申请实施例提供的带动拖擦件往复直线运动的支架的结构示意图；
图10为本申请实施例提供的机体上出液口设置方案的示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的结构、部件等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。此外，下述各实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
用户使用现有清洁机器人对地面进行清洁，该清洁机器人行走过程中，边吸尘边拖地。过一会儿，用户发现清洁机器人清洁过的地面上还是有黑点等污渍。这时，用户只能控制清洁机器人再次清洁一遍，或是控制清洁机器人再对该区域进行清洁。再次清洁也不一定能清洁干净，需反复多次才行。用户可能就会放弃，直接手动来清洁地上的没有被清洁干净的黑点。对于用户来说，其直接的感受是清洁机器人的清洁能力有限，好感度会下降。
而发明人对上述问题进行了研究，发现出现上述问题的原因之一是清洁机器人的拖擦件(或抹布)湿润不均匀。拖擦件被湿润的部分是湿拖，未被湿润或润透的部分是干拖。对于黑点等顽固污渍来说，干拖是不能清洁干净的。为此，本申请提供了如下各实施例，以解决或改善上述问题。
参见图1和图2所示，本申请一实施例提供的清洁机器人。该清洁机器人包括：机体1、支架7及拖擦件2。其中，所述支架7设置在所述机体1底部，并能相对所述机体1运动。所述机体1的底部设有出液口，更具体的，所述机体1上设有水箱3，水箱3的底部(即朝向所述支架的一侧)设有出液口。所述拖擦件2设置在所述支架7上，用于对清洁对象(如地面、桌面等)进行清洁。参见图3a至图4d所示，所述支架的对应所述出液口的位置上，沿所述支架7的运动方向设有多个漏液槽71；经所述出液口排出的液体经所述多个漏液槽71分布到所述拖擦件2上。
本实施例提供的技术方案，通过在支架上设置多个漏液槽，且多个漏液槽的位置与机体的出液口位置对应；在支架运动过程中，出液口排出的液体会陆续滴落至各个漏液槽内，再经各漏液槽分布到拖擦件的多个位置 处；在保证安装盘强度的情况下，漏液槽的数量越多或各漏液槽的槽长更长，拖擦件的湿润均匀性会更好。
具体的，在保证支架强度的情况下，漏液槽71的槽长短，可增加漏液槽的数量；漏液槽71的槽长长，可减少漏液槽71的数量。如图3a和3b所示支架7包括安装盘，安装盘为椭圆形盘，所述漏液槽71设置为六个，漏液槽71的槽长可短一些，具体长度需根据安装盘实际尺寸来定。图4a和4b为安装盘为圆形盘的实例，同样的所述漏液槽71设置为六个。图3c和3d为安装盘为椭圆形盘，漏液槽71为三个的实例，此时漏液槽71的槽长可长一些。图4c和4d为安装盘为圆形盘，漏液槽71为三个的实例。
具体实施时，所述漏液槽71的两端可以为弧形端，如图3a、3d、4b和4c所示，即所述漏液槽71可呈跑道型。或者，所述漏液槽71的两端为直边端，如图3b、3c、4a和4d所示，即所述漏液槽71为扇环形。又或者，所述漏液槽71可以是矩形。漏液槽的形状与安装盘的形状相关及支架的运动方式有关。比如，支架相对机体作旋转运动，安装盘可为圆形、椭圆形等，则设置在安装盘上的漏液槽可以是跑道型或扇环形。又比如，支架相对机体作直线往复运动，安装盘可以为多边形(如矩形等)，相应的，设置在安装盘上的漏液槽可以是矩形。
参见图1和图2所示，本实施例提供的所述清洁机器人还包括行走装置。该行走装置可包括驱动机构41、驱动轮4、从动轮6等。驱动机构41如电机等，输出旋转动力，以带动驱动轮4旋转实现机器人在地面或桌面上的行走。
参见图2所示，所述支架7具有旋转轴77，所述旋转轴77垂直于所述机体1的底面，所述支架7绕所述旋转轴77旋转。或者，所述支架7在所述机体1的行进方向上往复运动。在拖擦过程中，拖擦件2与地面之间的相对运动不仅包括机器人整体在地面上的移动，还包括拖擦件2相对于地面的旋转和/或水平往复运动，从而可以增强拖擦件2的拖擦力度，并增多拖擦件的拖擦次数，实现对地面的反复拖擦，进而可以改善拖擦件的拖擦效果，尤其有助于清洁粘附于地面上的顽固污渍。
清洁机器人的机体1还包括壳体和底盘。所述壳体设置在所述底盘上，用于保护设置在所述壳体与所述底盘之间的结构部件及电器元件，如处理器、传感器、电机、水箱、垃圾回收装置等。
拖擦件2可以为拖布或海绵等各种能够对地面进行拖擦的部件。如图6a和图9所示，所述支架包括安装盘，安装盘具有两个相对的盘面，分别为第一盘面和第二盘面。其中，第一盘面可与所述机体的底部相对，第二盘面可背向机体底部(即朝向清洁面)。拖擦件可设置在第二盘面上，第一盘面与机体底部的出液口相对。拖擦件2与支架7的安装盘可拆卸连接，比如利用魔术贴、卡扣等将拖擦件2粘贴于安装盘的下端面，以便于拆装更换拖擦件。
参见图1所示，该实施例的拖擦件2和安装盘均为椭圆形。实际上，在其他实施例中，拖擦件2及安装盘还可以是圆形、三角形、长方形、六 边形、扇形等等其他形状，本实施例对此不作具体限定。
如图1所示，若机体上设置有两组椭圆形的安装盘及拖擦件，这两组椭圆形的安装盘和拖擦件错位布置。即，两组椭圆形的安装盘及拖擦件的旋转中心连线长度D小于所述两组椭圆形的安装盘及拖擦件的最大旋转半径和，即r1+r2。两组安装盘及拖擦件可以转向相同，也可以转向不同；还可以可切换地进行同向转动和反向转动，也即某一段时间内两组安装盘及拖擦件反向转动而另一段时间内又改变为反向转动。
具体的，如图7a、7b及7c所示，连通凹槽72为中间低两边高的凹槽，连通凹槽72的槽底为圆滑的弧形槽底，这样落入连通凹槽72内的液滴会由于重力作用向连通凹槽底部聚拢，避免水滴流至连通凹槽及漏液槽的外侧。更具体的，参见图7b,所述连通凹槽72的槽口端面721可通过过渡圆弧段与弧形槽底衔接，这样滴落到槽口端面721上的至少部分水滴可顺着过滤圆弧段滑入连通凹槽的槽底。
从图7d和7e可知，落入连通凹槽72内的水滴将会在自身重力以及支架7自转的作用，从图7e所示的连通凹槽72的两端落入相应漏液槽71中。
进一步的，如图5至所示，沿所述支架7的运动方向，相邻漏液槽71间设有连通凹槽72；经所述出液口至所述连通凹槽72的液体经所述连通凹槽72流入漏液槽71内，以从漏液槽71分布到所述拖擦件2，进而湿润所述拖擦件2。其中，漏液槽的槽宽与机体上出液口的尺寸、支架的强度等诸多因素有关。在具体实施时，可基于这些因素合理的设计漏液槽的槽宽、槽长以及漏液槽的数量。连通凹槽的槽宽大于、小于或等于漏液槽槽宽均可，具体实施时需基于漏液槽的结构来定。图5和6a所示的方案中，漏液槽71的槽壁不高于安装盘的盘面，连通凹槽的槽宽大于漏液槽槽宽的方案，可引流更多落在槽与槽连接处的液体进入漏液槽内，减少液体飞溅。未进入漏液槽内的液体会被运动中的支架甩出至机体外，部分飞溅的液体可能会落至已被拖擦件清洁过的地方，影响清洁机器人的清洁效果。因此，减少液体飞溅有助于提高清洁机器人的清洁效果。对于图7a、7b、7c、7d和7e所述的结构，漏液槽71的槽壁凸出所述安装盘盘面的结构，连通凹槽72的槽宽不大于(即小于或等于)所述漏液槽71的槽宽较为合适，漏液槽71超出安装盘盘面的两侧槽壁711可位于机体出液口的两侧，以阻挡从出液口流出液体喷溅到其他位置。
其中，所述连通凹槽72可具有粗糙的槽内壁。粗糙的槽内壁可缓解水滴进入连通凹槽飞溅出的可能。或者，所述连接凹槽72的槽内壁设有防溅结构；所述防溅结构破坏滴至所述连通凹槽72内液滴的表面张力。具体的，如图6a和图6b所示，所述防溅结构包括设置在所述槽内壁的多个凸点73。
在一具体实施方案中，如图6a、6b、7a和7b所示，所述连通凹槽72可为洼型槽。洼型槽即槽中间低两端高的圆滑曲线形成的凹槽。这种洼型槽对安装盘的强度影响不大，还能起到防溅、引流的作用。图7a至7e所示图示中连通凹槽内未示出多个凸点的结构，实际上，图7a至7e所示的 结构中的连通凹槽的槽内壁上也可设置多个凸点。
在一种可实现的技术方案中，如图1、图3a至图5所示，所述支架7可旋转的设置在所述机体1的底部。即所述支架7能相对所述机体1作旋转运动。所述多个漏液槽71的槽中线位于同一圆100上。如图5所示，所述支架7包括安装盘，所述支架的旋转中心轴与所述安装盘的交点即所述安装盘的旋转中心。所述圆100以所述安装盘的旋转中心为圆心，以所述出液口对应位置至所述圆心的距离为半径。这里需要补充的是，相邻漏液槽71间的连通凹槽72也具有槽中线，连通凹槽72的槽中线也位于该圆100上。
参见图5所示的支架7的安装盘，该安装盘上设有一圈漏液槽71。也就是说，安装在安装盘上的拖擦件是自这一圈漏液槽对应的位置处接收流入的液体，然后流入拖擦件的液体再由这一圈位置向内、向外浸润整个拖擦件。若这一圈漏液槽太靠近安装盘的旋转中心，则拖擦件的中心区域会最早浸润，拖擦件的外圈浸润较慢。若这一圈漏液槽太靠近安装盘的盘边缘，也是不利于快速均匀浸润拖擦件的。为此，需要合理的设置槽中线位于同一圆上的多个漏液槽71，换句话来说，就是要合理确定多个漏液槽71的槽中线所在圆的圆半径与安装盘轮廓尺寸的关系。假设，所述安装盘为圆形，问题就转化为：多个漏液槽71的槽中线所在圆的圆半径与安装盘半径的关系问题。
实际实现时，可简单的将所述圆100内面积与圆100外面积相等的方式来确定所述圆100的半径。或者，结合理解计算及实际实验(或测试)数据等为多个漏液槽71的槽中线所在圆的圆半径确定一个取值范围。比如，多个漏液槽71的槽中线所在圆的圆半径为r，所述安装盘的半径为R，则r＝55％～65％R。若安装盘为椭圆，椭圆安装盘的长轴为L，则r＝55％～65％(L/2)。
上述内容是针对仅设有一圈多个漏液槽的方案。实际上，为了加快浸润拖擦件，机体上可设置多个出液口，相应的，支架的安装盘上可设置两圈、三圈等漏液槽。但不管漏液槽采用何种方式设置，需要说明的是，本实施例中漏液槽71需与所述支架7的旋转中心轴具有一间距。相应的，所述机体底部出液口的设置位置就不能对着所述支架的旋转中心(即支架的旋转中心轴与安装盘的交点)。更进一步的，如图6a所示，所述支架7包括安装盘，安装盘具有相对的第一盘面75和第二盘面76。其中，所述第一盘面75上设有动力接入结构74，例如旋转轴接口。该动力接入结构74从外观来看，为一可连接动力源的凸出所述第一盘面的轴结构。漏液槽71的靠近所述旋转中心轴的槽边可与所述动力接入结构的外壁重合，也可与所述动力接入结构的外部具有一定的距离。假设支架7的安装盘上设有多圈类似于图5中的多个漏液槽，最靠近支架的旋转中心轴的内圈漏液槽的槽内侧边(即靠近旋转中心轴的槽边)需与所述支架7的旋转中心轴具有所述间距。
在一具体实施方案中，一种清洁机器人包括机体、支架及拖擦件。其 中，机体底部上设有出液口。支架具有旋转中心轴且可旋转的设置在所述机体底部。拖擦件设置在支架上，用于对清洁对象进行清洁。其中，所述支架的对应所述出液口的位置上，沿所述支架的旋转方向设置有多个漏液槽；经所述出液口排出的液体经所述多个漏液槽分布到所述拖擦件上；其中，其中一个所述漏液槽距离所述中心轴的间距为所述拖擦件的最小转动半径的1/3-2/3。
这里漏液槽距离所述中心轴的间距可以是：如图5所示的，漏液槽71的槽中线距离所述中心轴70的距离d。图5中中心轴70垂直于纸面。
进一步的，本实施例提供的所述清洁机器人中，所述机体的底部设有动力轴，所述动力轴可输出旋转动力。所述支架7与所述动力轴连接，以随所述动力轴旋转。图2示出了所述支架7与所述动力轴连接后的结构，因此动力轴未在图2中示出。在所述机体的底部，所述动力轴的外周设有至少一个所述出液口。
具体实施时，所述出液口可设置一个，这一个出液口在所述支架旋转过程中可与多个漏液槽中的一个漏液槽相对。随着支架的旋转，出液口滴出的液体可顺次落入各漏液槽内。当然，所述出液口也可设置为多个，如图8所示的支架做往复直线运动的方案。若所述支架做旋转运动，则在所述动力轴的外周，多个所述出液口的设置方式包括如下中的至少一种：
多个所述出液口中至少部分出液口沿所述动力轴轴截面径向方向分布；
多个所述出液口中至少部分出液口沿一圆形的圆周方向均布。
参见图10所示，所述机体包括两个动力轴(图中未示出)，这两个动力轴分别连接两个支架。针对图10中的一个动力轴来说，该动力轴外周设置有两个出液口，这两个出液口11沿所述动力轴的轴截面径向方向分布。相应的，所述支架7的安装盘上可设置两圈漏液槽71，每圈漏液槽71的数量可以是3个(如图10所示)、或5个、或6个等等。在支架7旋转过程中，这两个出液口滴出的液体可顺次落入相对应圈上的各漏液槽内。
上述“多个所述出液口中至少部分出液口沿一圆形的圆周方向均布”中的所述圆形可以与所述动力轴的轴截面的旋转中心同心，也可不同心，本实施例对此不作具体限定。
在另一种可实现的技术方案中，如图8所示，所述支架7的安装盘相对所述机体1作往复直线运动；所述机体1的沿垂直于所述往复直线运动的方向上设置多个出液口11(图8中被支架7和拖擦件2遮挡采用虚线表示)；参见图9所示，所述安装盘上对应一个出液口的位置处，设置有槽中线在同一直线上的多个漏液槽71。
本实施例提供的清洁机器人，该结构最大的特点在于支架在对应出液口的位置上沿运动方向设置了多个漏液槽，槽与槽之间的连接为洼型槽(中间低两边高)，保证水滴能够完全且均匀的分布到抹布上。其中，前面“均匀”这一效果，是多个漏液槽所带来的。“完全”这一效果，是因为洼型槽，且洼型槽内的防溅结构的作用，减少了液体溅出量，使得出液口排出 的液体(或液滴)基本上都进入了拖擦件内。
以如图1所示的支架的安装盘作旋转运动的方案为例，对本实施例提供的技术方案如何达到均匀湿润拖擦件的原理进行说明。沿安装盘的旋转轴一圈环形分布若干个漏液槽，同时漏液槽的径向位置与水箱的滴水孔(即出液口)位置相对应。当安装盘旋转时，水箱的水将有大概率滴落在安装盘的漏液槽中，小概率会滴落在连通凹槽处。滴落在漏液槽中的水滴将直接接触到拖擦件，被拖擦件所吸收。如图6a、6b所示，小概率滴落在洼型槽(即连通凹槽)内，洼型槽内的小凸点将破坏水滴的表面张力，大大降低水滴受到的反作用力，避免造成液滴飞溅；同时水滴在洼型槽内由于势能的作用将向洼型槽的底部流动进而进入漏液槽。
参见图3a、3b、3c、3d、4a、4b、4c、4d等所示的实施例中，所述漏液槽的数量不少于3个。少于3个，为了达到上述提及的“均匀”的效果，比如两个，可能会影响到支架的强度。
上述清洁机器人实施例中的支架、拖擦件可作为可替换部件来设计。即，支架可拆卸的连接在机体上。在支架损坏或润湿性能差时，用户可购买新款的支架，以将原机器人的支架替换下来，提高已有机器人的清洁性能。即本实施例提供一种可安装在上述实施例提供的清洁机器人机体上的拖擦件支架。图3a至图7e示出了拖擦件支架的结构示意图。具体的，如图5和6a所示，所述拖擦件支架7包括安装盘。所述安装盘具有两个相对的盘面，分别为第一盘面75和第二盘面76；所述第一盘面75上设有动力接入结构74，所述动力接入结构用于连接驱动所述安装盘运动的动力源(如清洁机器人上的电机)；所述第二盘面76用于连接所述拖擦件2。所述安装盘的对应所述出液口的位置上，沿所述安装盘的运动方向设有多个贯穿所述第一盘面和第二盘面的漏液槽，自所述第一盘面侧进入所述多个漏液槽的液体分布到所述拖擦件。
进一步的，沿所述安装盘的运动方向，相邻漏液槽71间设有连通凹槽72；进入所述连通凹槽72的液体经所述连通凹槽72流入漏液槽71内，以从漏液槽71至所述拖擦件2。所述连通凹槽72的槽内壁可设有多个凸点73；所述多个凸点73破坏滴至所述连通凹槽72内液滴的表面张力。所述连通凹槽为洼型槽。
进一步的，所述安装盘作旋转运动；如图5所示，所述多个漏液槽71的槽中线位于同一圆100上，所述圆100以所述安装盘的旋转中心为圆心，以所述入液位置至所述圆心的距离为半径。
或者，所述安装盘作往复直线运动；如图9所示，所述安装盘上沿垂直于所述往复直线运动的方向具有多个入液位置；所述安装盘上对应一个入液位置处，设置有槽中线在同一直线上的多个漏液槽。
进一步的，参见图6a所述，所述动力接入结构连接旋转动力源，所述安装盘作旋转运动；所述安装盘具有旋转轴接口(即图中的动力接入结构74)；自所述旋转轴接口至所述安装盘的边缘，所述第一盘面的高度逐渐 降低。即所述安装盘的第一盘面为自中心向边缘逐渐降低的斜面。这样滴在第一盘面上而不能通过漏液槽分布到拖擦件的极少量液体能沿所述斜面流出至机体外部。
这里需要说明的是：有关支架的更详细的结构可参见上文中的相应内容，此处不作赘述。
用户将清洁机器人上的支架替换为本实施例提供的拖擦件支架，然后将拖擦件安装在支架上。用户启动清洁机器人，清洁机器人按照规划路径或按照用户设定的路径行进，并在行进过程中对地面进行清洁。清洁机器人的水箱出液口按照设计要求滴液，滴下来的液滴大部分落在了漏液槽内，进入漏液槽内的液体漏出至拖擦件上，被拖擦件吸收；还有一小部分液滴落在了相邻漏液槽间的连通凹槽上，液滴的表面张力被连通凹槽内的多个凸点破坏，降低了液滴滴落所受到的反作用力，避免造成液滴飞溅；在连通凹槽内的水滴由于势能的作用将向凹槽底部流动进而流入漏液槽内，再经漏液槽漏至拖擦件上；清洁机器人的拖擦件被完全且均匀的润湿。完全且均匀润湿的拖擦件与地面或桌面等待清洁面摩擦，可大大提高清洁效果，也无需重复执行。用户更换完拖擦件支架后，发现清洁机器人清洁过的地面清洁的非常干净，即便是之前不能清洁的黑点能顽固污渍也被清洁干净，顿时会提升对清洁机器人的使用满意度。
下面将结合具体应用场景对本实施例提供的所述技术方案进行说明。
场景1、
用户使用扫拖一体机器人在家清洁地面。扫拖一体机器人按照规划路径对室内区域的地面向吸尘再使用位于吸尘口后侧的抹布对地面进行拖擦。扫拖一体机器人的底部设有两个可相对所述机体旋转的支架，这两个支架上分别安装了抹布。水箱内的清洁液在控制器的控制下从机体底部的出液口排出。排出的液体大多数滴落至支架的多个漏液槽中，进入漏液槽的液体分布到抹布，以浸润抹布。还有少量的液滴会滴落在两相邻漏液槽间的洼型槽内，因洼型槽内多个凸点的作用破坏了水滴的表面张力，大大降低水滴收到的反作用力，避免造成液滴飞溅，同时水滴在洼型槽内由于势能的作用将向洼型槽的底部流动，进而进入漏液槽。浸湿的抹布与地面旋转接触，对地面进行清洁。
场景2、
清洁机器人为商超或酒店的大型场所使用的用于清洁地面的机器人。该机器人可以具有自主移动能力，也可由用户驾驶或遥控对地面进行清洁。该清洁机器人的机体内部设有水箱，机体底部设有旋转动力轴，所述机体底部设有与动力轴具有一定距离且与水箱连通的出液口。动力轴上连接有随动力轴旋转的支架，支架上安装有可拆卸的拖布。支架在动力轴的驱动下旋转，泵水机构在控制器的控制下从水箱中泵出适量的清洁液至出液口，以从出液口流向支架。流向支架的清洁液一部分进入漏液槽分布到抹布， 还有一部分进入洼型槽，经洼型槽流入漏液槽至抹布。浸湿的抹布与地面旋转接触，对地面进行清洁。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (20)

  1. 一种清洁机器人，其特征在于，包括：
    机体，其底部设有出液口；
    支架，设置在所述机体底部，并能相对所述机体运动；
    拖擦件，设置在所述支架上，用于对清洁对象进行清洁；
    其中，所述支架的对应所述出液口的位置上，沿所述支架的运动方向设有多个漏液槽；经所述出液口排出的液体经所述多个漏液槽分布到所述拖擦件上。
  2. 根据权利要求1所述的清洁机器人，其特征在于，沿所述支架的运动方向，相邻漏液槽间设有连通凹槽；
    经所述出液口至所述连通凹槽的液体经所述连通凹槽流入漏液槽内，以从漏液槽分布到所述拖擦件。
  3. 根据权利要求2所述的清洁机器人，其特征在于，所述连通凹槽具有粗糙的槽内壁。
  4. 根据权利要求2所述的清洁机器人，其特征在于，所述连通凹槽的槽内壁设有防溅结构；
    所述防溅结构破坏滴至所述连通凹槽内液滴的表面张力。
  5. 根据权利要求4所述的清洁机器人，其特征在于，所述防溅结构包括设置在所述槽内壁的多个凸点。
  6. 根据权利要求2所述的清洁机器人，其特征在于，所述连通凹槽的槽宽不大于所述漏液槽的槽宽。
  7. 根据权利要求2至6中任一项所述的清洁机器人，其特征在于，所述连通凹槽为洼型槽。
  8. 根据权利要求1至6中任一项所述的清洁机器人，其特征在于，所述支架相对所述机体作旋转运动；
    所述多个漏液槽的槽中线位于同一圆上，所述圆以所述支架的旋转中心为圆心，以所述出液口对应位置至所述圆心的距离为半径。
  9. 根据权利要求1至6中任一项所述的清洁机器人，其特征在于，所述支架相对所述机体作往复直线运动；
    所述机体的沿垂直于所述往复直线运动的方向上设置多个出液口；
    所述支架上对应一个出液口的位置处，设置有槽中线在同一直线上的多个漏液槽。
  10. 根据权利要求1至6中任一项所述的清洁机器人，其特征在于，所述支架具有用于安装所述拖擦件的安装盘，所述安装盘为圆盘、椭圆盘、多边形盘或扇形盘。
  11. 根据权利要求1至6中任一项所述的清洁机器人，其特征在于，所述漏液槽呈跑道型、矩形或扇环形。
  12. 根据权利要求1至6中任一项所述的清洁机器人，其特征在于，所述支架可旋转的设置在机体的底部，所述漏液槽与所述支架的旋转中心轴具 有一间距。
  13. 根据权利要求1至6中任一项所述的清洁机器人，其特征在于，所述机体的底部设有动力轴，所述动力轴输出旋转动力；
    所述支架与所述动力轴连接，以随所述动力轴旋转；
    在所述机体的底部，所述动力轴的外周设有至少一个所述出液口。
  14. 根据权利要求13所述的清洁机器人，其特征在于，所述动力轴的外周设有多个所述出液口；多个所述出液口的设置方式包括如下中的至少一种：
    多个所述出液口中至少部分出液口沿所述动力轴轴截面径向方向分布；
    多个所述出液口中至少部分出液口沿一圆形的圆周方向均布。
  15. 根据权利要求1至6中任一项所述的清洁机器人，其特征在于，所述支架包括安装盘；
    所述安装盘具有两个相对的盘面，分别为第一盘面和第二盘面；
    所述第一盘面上设有动力接入结构，所述动力接入结构用于连接驱动所述安装盘运动的动力源；
    所述第二盘面用于连接所述拖擦件；
    所述安装盘的对应所述出液口的位置上，沿所述安装盘的运动方向设有多个贯穿所述第一盘面和所述第二盘面的漏液槽；自所述第一盘面侧进入所述多个漏液槽的液体分布到所述拖擦件。
  16. 根据权利要求15所述的清洁机器人，其特征在于，所述动力接入结构连接旋转动力源，所述安装盘作旋转运动；
    所述安装盘具有旋转轴接口；
    自所述旋转轴接口至所述安装盘的边缘，所述第一盘面的高度逐渐降低。
  17. 一种清洁机器人，其特征在于，包括：
    机体，其底部设有出液口；
    支架，具有中心轴且可旋转的设置在所述机体底部；
    拖擦件，设置在所述支架上，用于对清洁对象进行清洁；
    其中，所述支架的对应所述出液口的位置上，沿所述支架的转动方向设有多个漏液槽；经所述出液口排出的液体经所述多个漏液槽分布到所述拖擦件上；且其中一个所述漏液槽距离所述中心轴的间距为所述拖擦件的最小转动半径的1/3-2/3。
  18. 一种拖擦件支架，其特征在于，包括安装盘；
    所述安装盘具有两个相对的盘面，分别为第一盘面和第二盘面；
    所述第一盘面上设有动力接入结构，所述动力接入结构用于连接驱动所述安装盘运动的动力源；
    所述第二盘面用于连接所述拖擦件；
    所述安装盘的入液位置上，沿所述安装盘的运动方向设有多个贯穿所述第一盘面和所述第二盘面的漏液槽；自所述第一盘面侧进入所述多个漏液槽的液体分布到所述拖擦件。
  19. 根据权利要求18所述的拖擦件支架，其特征在于，沿所述安装盘的运动方向，相邻漏液槽间设有连通凹槽；
    进入所述连通凹槽的液体经所述连通凹槽流入漏液槽内，以从漏液槽分布到所述拖擦件。
  20. 根据权利要求19所述的拖擦件支架，其特征在于，所述连通凹槽的槽内壁设有多个凸点；
    所述多个凸点破坏滴至所述连通凹槽内液滴的表面张力。
PCT/CN2021/123055 2020-10-22 2021-10-11 清洁机器人及拖擦件支架 WO2022083468A1 (zh)

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