WO2022184066A1 - 清洁机器人 - Google Patents

清洁机器人 Download PDF

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Publication number
WO2022184066A1
WO2022184066A1 PCT/CN2022/078670 CN2022078670W WO2022184066A1 WO 2022184066 A1 WO2022184066 A1 WO 2022184066A1 CN 2022078670 W CN2022078670 W CN 2022078670W WO 2022184066 A1 WO2022184066 A1 WO 2022184066A1
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WO
WIPO (PCT)
Prior art keywords
mopping
cleaning robot
assembly
units
cleaning
Prior art date
Application number
PCT/CN2022/078670
Other languages
English (en)
French (fr)
Inventor
丁铁
Original Assignee
美智纵横科技有限责任公司
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Filing date
Publication date
Application filed by 美智纵横科技有限责任公司 filed Critical 美智纵横科技有限责任公司
Publication of WO2022184066A1 publication Critical patent/WO2022184066A1/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
    • A47L11/24—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
    • A47L11/28—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
    • A47L11/29—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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present application belongs to the field of cleaning technology, and specifically relates to a cleaning robot.
  • Cleaning robots are usually used to clean the ground waiting to be cleaned.
  • the operation is simple and the cleaning efficiency is high. It has gradually become a common household appliance in modern homes.
  • the cleaning robot in the prior art is usually a sweeping robot, which can only sweep and clean the ground with a single function, while the existing sweeping and mopping integrated cleaning robot usually realizes two functions of sweeping and mopping by replacing the brush head. Manual switching is required when replacing, which takes more time to complete the sweeping and mopping tasks, low sweeping and mopping efficiency, and poor user experience.
  • This application proposes a cleaning robot, including:
  • the sweeping assembly is mounted on the housing;
  • a mopping assembly the mopping device is mounted on the housing, and in the forward direction of the cleaning robot, the mopping assembly is located at the rear side of the sweeping assembly, and the mopping assembly includes a plurality of A mopping unit, the plurality of mopping units are used to rotate and clean the surface to be cleaned, and there is no gap between the projections of the adjacent mopping units on a plane perpendicular to the advancing direction.
  • the sweeping assembly and the mopping assembly are respectively installed on the housing, and the sweeping assembly is located on the front side of the mopping assembly. Therefore, when the cleaning robot moves, the sweeping assembly on the front side can The surface to be cleaned is cleaned first, and after the cleaning surface is cleaned by the sweeping assembly, the mopping assembly located on the rear side cleans it.
  • the sweeping assembly and the mopping assembly work in sequence, and the mopping assembly can remove a large amount of dust from the sweeping assembly. Cleaning after cleaning avoids the situation where too much dust is not conducive to the work of the mopping assembly, and ensures the overall work efficiency of the cleaning robot; in this embodiment, the multiple mopping units of the mopping assembly clean the surface to be cleaned by rotating.
  • the friction between the mopping unit and the surface to be cleaned is relatively large when the mopping unit is rotated and cleaned, and there is no gap between adjacent mopping units, so there is no cleaning dead angle, which ensures the cleaning effect of the cleaning robot on the surface to be cleaned.
  • the cleaning robot proposed according to the embodiment of the present application may also have the following technical features:
  • the mopping assembly further includes at least one mopping motor, and the mopping motor is drivingly connected to the mopping unit.
  • the number of the mopping motor is one, and the mopping motor is provided with multiple output shafts and is respectively drive-connected with a plurality of the mopping units.
  • the number of the mopping motors is multiple, and each mopping motor is drivingly connected to one of the mopping units.
  • the cleaning robot further includes a rotational speed detection device, and the rotational speed detection device is used to monitor the rotational speeds of the two mopping motors.
  • the included angle between the rotating shaft of the mopping unit and the output shaft of the mopping motor ranges from -2° to 2°.
  • the cleaning robot further includes two driving wheels, and the two driving wheels are mounted on the bottom of the housing.
  • the maximum distance between the outer edges of the plurality of mopping units is greater than the inner distance between the two driving wheels.
  • the sweeping assembly includes a fan, a side brush and a rolling brush, and the side brush and the rolling brush are arranged on the front side of the mopping unit.
  • the mopping assembly further includes a water tank and a water spray port communicated with the water tank, and the water spray port is located between the roller brush and the mopping unit.
  • FIG. 1 is a schematic structural diagram of a cleaning robot proposed by an embodiment of the application.
  • Fig. 2 is the top view of the cleaning robot shown in Fig. 1;
  • FIG. 3 is a top view of the cleaning robot shown in FIG. 2 after removing the upper cover;
  • Fig. 4 is a kind of bottom view of the cleaning robot shown in Fig. 1;
  • FIG. 5 is a schematic diagram of the internal structure of the cleaning robot according to the embodiment of the application.
  • FIG. 6 is another bottom view of the cleaning robot shown in FIG. 1 .
  • first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be restricted by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of example embodiments.
  • spatially relative terms may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures, such as “inner”, “outer”, “inner” “, “outside”, “below”, “below”, “above”, “above”, etc.
  • This spatially relative term is intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” or “above the other elements or features" above features". Thus, the example term “below” can encompass both an orientation of above and below.
  • the device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • the working process of the sweeping and mopping integrated cleaning robot that can realize the sweeping and mopping functions on the market is usually sweeping first and then mopping, and its sweeping module and mopping module need to be manually switched, which leads to a long time for cleaning , the cleaning efficiency is low; and the user's hands are easily polluted when the sweeping module and the mopping module are manually switched, resulting in poor user experience;
  • the embodiment of the present application proposes a cleaning robot, the sweeping function and the mopping function can be simultaneously Or proceed in sequence, without the need for manual replacement by the user, which greatly improves the cleaning efficiency of the cleaning robot and improves the user experience.
  • an embodiment of the present application proposes a cleaning robot 100 .
  • the cleaning robot 100 includes a housing 10 , a sweeping assembly, and a mopping assembly, wherein the sweeping assembly is installed on the housing 10 ;
  • the mopping device is installed on the housing 10, and in the forward direction of the cleaning robot 100, the mopping assembly is located at the rear side of the mopping assembly, the mopping assembly includes a plurality of mopping units 31, and the plurality of mopping units 31 are used for rotating Clean the surface to be cleaned, and there is no gap between the projections of adjacent mopping units on a plane perpendicular to the advancing direction.
  • the sweeping assembly and the mopping assembly are installed on the housing 10 respectively, and the sweeping assembly is located on the front side of the mopping assembly. Therefore, when the cleaning robot 100 moves, the sweeping assembly on the front side The component can first clean the surface to be cleaned, and after the cleaning surface is cleaned by the sweeping component, the mopping component located on the rear side cleans it.
  • the mopping assembly continues to be cleaned, avoiding the situation caused by excessive dust that is unfavorable to the work of the mopping assembly, and ensuring the overall work efficiency of the cleaning robot 100; in this embodiment, the multiple mopping units 31 of the mopping assembly pass through
  • the surface to be cleaned is cleaned by rotating, the friction force between the mopping unit 31 and the surface to be cleaned is relatively large when the mopping unit 31 is rotated and cleaned, and there is no gap between adjacent mopping units, and no cleaning dead angle will be generated, which ensures the cleaning robot 100.
  • the cleaning effect of the surface to be cleaned is cleaned by rotating, the friction force between the mopping unit 31 and the surface to be cleaned is relatively large when the mopping unit 31 is rotated and cleaned, and there is no gap between adjacent mopping units, and no cleaning dead angle will be generated, which ensures the cleaning robot 100.
  • the cleaning effect of the surface to be cleaned is described in this embodiment, the multiple mopping units 31 of the mopping assembly pass through
  • the shape of the housing 10 of the cleaning robot 100 proposed in this embodiment can be set to be rectangular or approximately rectangular, and the housing 10 includes a main body, a front bumper 11 and an upper cover 12 , and the front bumper 11 It is connected to the front side of the main body, which can be connected by bolts or screws; the upper cover 12 is connected to the top of the main body; the sweeping component and the mopping component are respectively connected to the main body, which can be located inside the main body and at the bottom of the main body; please refer to the figure 4.
  • the sweeping component is arranged on the main body at a position close to the front bumper 11, and the mopping component is arranged on the main body at a position away from the front bumper 11. That is to say, when the cleaning robot 100 moves along the set path, any At the position to be cleaned, it is first cleaned by the sweeping component, and then cleaned by the mopping component.
  • the sweeping assembly includes a dust collection module and a dust collection module
  • the dust collection module includes a fan 23, a roller brush 22 and a side brush 21.
  • the number of side brushes 21 is set to two , the two side brushes 21 are respectively connected to the bottom of the casing 10, and are located at the two corners close to the front bumper 11, respectively.
  • the cleaning range of the sweeping assembly is enlarged;
  • the roller brush 22 is connected to the bottom of the housing 10 and is located near the center of the bottom of the housing 10, and the roller brush 22 cleans the surface to be cleaned by rolling cleaning;
  • the dust collection module includes a dust collection box 24. As shown in FIG. 3, the dust collecting box 24 is arranged in the casing 10. As shown in FIG.
  • the fan 23 is arranged in the casing 10, and the fan 23 is communicated with the dust collecting box 24.
  • the floor is swept.
  • the side brush 21 and the roller brush 22 clean the dust and other sundries on the surface to be cleaned, and the dust and other sundries are collected into the dust collecting box 24 under the action of the fan 23 .
  • the mopping assembly specifically includes a plurality of mopping units 31 and mopping motors 32 , and one mopping motor 32 may be provided, or a plurality of mopping motors 32 may be provided.
  • the mopping unit 31 In driving connection with the mopping unit 31 and driving the mopping unit 31 to rotate, the mopping unit 31 is used for contacting the surface to be cleaned, such as the ground, to clean the surface to be cleaned by rotating.
  • the mopping motor 32 is installed in the housing 10 and is located on the side of the main body of the housing 10 away from the front bumper 11 , so as to facilitate connection with the mopping unit 31 .
  • the mopping motor 32 is set as a multi-output shaft motor, which is used for connecting with multiple mopping units 31 respectively.
  • the number of mopping units 31 may be two, three or more. Specifically, in the following embodiments, the number of mopping units 31 is set to two as an example for description.
  • the mopping motor 32 can be configured as a dual-output shaft motor. It can be understood that both ends of the dual-output shaft motor are respectively provided with output shafts, and the two output shafts are respectively connected to the two mopping units 31 in a driving manner, so as to be able to simultaneously
  • the two mopping units 31 are driven to rotate, and the rotational speeds of the two mopping units 31 are consistent, so as to achieve uniform cleaning of the surface to be cleaned; moreover, in this embodiment, the rotation and cleaning of the mopping unit 31 increases the difference between the two mopping units 31 and the surface to be cleaned.
  • the friction between the mopping units further improves the cleaning effect of the mopping unit 31 .
  • the number of mopping motors 32 is set to a plurality, and the plurality of mopping motors 32 are in one-to-one correspondence with the plurality of mopping units 31 and are connected in a driving manner, that is, Each mopping motor 32 drives a mopping unit 31 to rotate; in this embodiment, the mopping unit 31 rotates and cleans to increase the friction between the mopping unit 31 and the surface to be cleaned, further improving the cleaning effect of the mopping unit 31 .
  • the cleaning robot 100 further includes a rotational speed detection device, which is used to monitor the rotational speeds of the two mopping motors 32, so as to know the rotational speed of the two mopping motors 32.
  • the rotational speed of the two mopping units 31 can be set as a rotation speed sensor; the number of rotation speed detection devices can be set to two, and the two rotation speed detection devices are respectively used to monitor the rotation speed of the two mopping motors 32, thereby ensuring the speed of the two mopping motors 32.
  • the rotational speed is consistent, thereby further improving the cleaning effect of the mopping unit 31 .
  • the rotational speed detection device can be connected in communication with the general controller of the cleaning robot 100, and the general controller is connected in communication with the two mopping motors 32 respectively. Therefore, during the working process of the cleaning robot 100, The two rotational speed detection devices respectively transmit the monitored rotational speed signals of the mopping motors 32 to the main controller, and the main controller controls the two mopping motors 32 by judging whether the rotational speeds of the two mopping motors 32 are consistent. Exemplarily, when the rotational speeds of the two mopping motors 32 are inconsistent, the master controller may adjust the rotational speed of one of the mopping motors 32 to make the rotational speeds of the two mopping motors 32 consistent.
  • the mopping motor 32 is connected in communication with the main controller.
  • the main controller can perform overload protection by feeding back the current of the mopping motor 32, thereby avoiding mopping.
  • the motor 32 continues to run in an overloaded state, thereby prolonging the service life of the mopping motor 32 .
  • the structures of the two mopping units 31 are the same, and the two mopping units 31 may be arranged at intervals or adjacent to each other.
  • the two mopping units 31 31 are arranged adjacently and the inner edges of the two mopping units 31 are in contact or slightly overlapped. This setting method can prevent omissions in the cleaning process and prevent the generation of cleaning dead corners, that is, the cleaning range of the mopping units 31 is guaranteed. The cleaning effect of the mopping unit 31 is further improved.
  • the number of mopping units 31 is set to three, and the structures of the three mopping units 31 may be the same or different. If there is no gap between the projections of the two adjacent mopping units 31 on the plane perpendicular to the advancing direction, the above three mopping units 31 are arranged adjacently and the edges of the adjacent mopping units 31 are in contact or slightly overlapped , such an arrangement can prevent omissions in the cleaning process and prevent the occurrence of cleaning dead corners, that is, the cleaning range of the mopping unit 31 is guaranteed, and the cleaning effect of the mopping unit 31 is further improved.
  • the mopping unit 31 includes a turntable and a mopping cloth connected to the turntable.
  • the structures of the two mopping units 31 are the same, so the structures of the two turntables are the same.
  • the two turntables are both disc-shaped, and the diameters of the two turntables are equal, which can evenly clean the surface to be cleaned; on the basis of the above embodiment, as shown in FIG. 5 , the mopping unit 31 and the mopping The motor 32 is driven and connected.
  • the side of the turntable facing the mopping motor 32 is used to connect with the output shaft of the mopping motor 32, so that the turntable can be driven by the mopping motor 32 to rotate, thereby realizing mopping.
  • the motor 32 drives the mopping unit 31 to rotate and clean.
  • the mopping unit 31 is driven by the mopping motor 32 to rotate around the set rotation axis.
  • a certain angle is formed between the rotation axis and the output shaft of the mopping motor 32 , specifically, the included angle between the rotation axis and the horizontal plane ranges from -2° to 2°, and exemplarily, the included angle may be -1°, 0° or 1°.
  • the included angle between the rotating shaft of the mopping unit 31 and the output shaft of the mopping motor 32 there is an included angle between the rotating shaft of the mopping unit 31 and the output shaft of the mopping motor 32, and accordingly, the included angle between the rotating shaft of the mopping unit 31 and the horizontal plane ranges from 88° to 92°, Therefore, the included angle between the plane on which the bottom surface of the mopping unit 31 is located and the horizontal plane ranges from -2° to 2°, that is to say, the bottom surface of the mopping unit 31 has a small inclination with the horizontal plane.
  • the unit 31 is rotated under the driving of the mopping motor 32, the smaller inclination increases the pressure between the mopping unit 31 and the surface to be cleaned, thereby increasing the pressure between the mopping unit 31 and the surface to be cleaned.
  • the friction force further improves the cleaning effect of the mopping unit 31 .
  • the mopping cloth can be wrapped on the turntable.
  • the mopping cloth can be connected to the turntable through connecting parts such as Velcro, adhesive, etc.
  • the mopping cloth is connected to the side of the turntable away from the mopping motor 32, that is, the turntable.
  • the mop is used to contact the surface to be cleaned to clean the surface to be cleaned.
  • the mop can only clean the surface to be cleaned by rotating and rubbing, or it can clean the surface to be cleaned by soaking.
  • the cleaning robot 100 proposed in this embodiment may be provided with a water tank 33, and the water tank 33 is used for Store the water and spray the mop with water to soak the mop and keep it wet to clean the surface to be cleaned.
  • the cleaning robot 100 proposed in this embodiment further includes a walking assembly, which is used to drive the cleaning robot 100 to move.
  • the walking assembly includes two driving wheels 41 installed at the bottom of the housing 10 .
  • the drive wheels 41 are respectively close to the left and right sides of the housing 10 and are symmetrically arranged.
  • the walking assembly also includes a universal wheel 42 , which is installed at the bottom of the housing 10 and is arranged close to the housing 10 .
  • the position of the front bumper 11 is used to change the moving direction of the cleaning robot 100 .
  • the distance between the universal wheel 42 and the above two driving wheels 41 is equal to ensure the stability of the cleaning robot 100 .
  • the sweeping assembly includes two side brushes 21 and roller brushes 22 .
  • the two side brushes 21 are located on both sides of the universal wheel 42 respectively;
  • the roller brush 22 is located in the middle of the two driving wheels 41 .
  • the distance between the roller brush 22 and the two driving wheels 41 is equal, which ensures the stability of the cleaning robot 100 during operation and ensures that the cleaning robot 100 can evenly clean the surface to be cleaned.
  • the maximum distance L1 between the outer edges of the two mopping units 31 It is greater than the inner distance L2 of the two driving wheels 41.
  • the inner distance of the two driving wheels 41 refers to the distance between the inner edges of the two driving wheels 41 in FIG. 4;
  • the turntables are set in a circular shape.
  • the maximum width of the two mopping units 31 refers to the length of the connecting line between the outer edges of the two mopping units 31 in the direction perpendicular to the advancing direction of the cleaning robot 100.
  • connection line passes through the centers of the two mopping units 31 , that is, the maximum width that the two mopping units 31 can clean.
  • the arrangement in which the width L1 of the two mopping units 31 is greater than the distance L2 between the two driving wheels 41 ensures a larger cleaning range of the mopping unit 31 and further improves the cleaning effect of the mopping unit 31 .
  • the mopping assembly further includes a water tank 33 and a water spout 34 communicated with the water tank 33 , the water spout 34 communicates with the water tank 33 , and the water spout 34 can face the mopping unit 31 .
  • the water tank 33 is used to hold clean water or mixed liquid mixed with detergent, disinfectant, etc., so the water spray port 34 is used to spray clean water or other mixed liquids toward the mopping unit 31 , which is not specifically limited in this embodiment.
  • the water tank 33 is provided in the housing 10; as shown in FIG. In the vertical direction, the water tank 33 is located above the water spray port 34, and in the horizontal direction, the water spray port 34 is located on the rear side of the roller brush 22, so that it is convenient to spray water toward the mopping unit 31; on the basis of the above embodiment,
  • the mopping unit 31 includes a turntable and a mop connected to the turntable.
  • the water or mixed liquid sprayed from the water spout 34 can be sprayed on the mop, so that the mop rotates and rubs with the surface to be cleaned and realizes the cleaning of the surface to be cleaned. cleaning etc.
  • the water spout 34 is connected in communication with the general controller of the cleaning robot 100, and the general controller can set the interval time of water spray from the water spout 34 to ensure that the mopping cloth in the mopping unit 31 is in a wet state, Thus, the cleaning effect of the mopping unit 31 is guaranteed.
  • the water tank 33 may also be provided with a liquid level sensor.
  • the cleaning robot 100 may be provided with a display screen or an alarm; the liquid level sensor is communicated with the main controller, and the display screen or alarm is also connected to The main controller is connected in communication, and the liquid level sensor can monitor the liquid level of the liquid in the water tank 33, and transmit the liquid level signal to the main controller.
  • the main controller judges the liquid level in the water tank 33 according to the liquid level.
  • the master controller controls the alarm to give an alarm or the display screen to show that the liquid volume is insufficient, so as to remind the user to add water to the water tank 33 .

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Abstract

一种清洁机器人（100），包括壳体（10）、扫地组件和拖地组件。扫地组件安装在壳体（10）上；拖地组件安装在壳体（10）上，且在沿清洁机器人（100）前进的方向上，拖地组件位于扫地组件的后侧，拖地组件包括多个拖地单元（31），多个拖地单元（31）用于旋转清洁待清洁面，相邻的拖地单元（31）在与前进方向垂直的平面上的投影之间没有间隙。清洁机器人（100）在工作时，待清洁面经过扫地组件的清扫后，再由位于后侧的拖地组件进行清洁，扫地组件和拖地组件依次按顺序工作，避免了灰尘过多不利于拖地组件工作的情况，保证了清洁机器人（100）整体的工作效率；拖地单元（31）旋转清洁时与待清洁面之间的摩擦力较大，保证了对待清洁面的清洁效果。

Description

清洁机器人
优先权信息
本申请要求于2021年03月04日提交至中国国家知识产权局的、申请号为CN202120472445.5、名称为“清洁机器人”的中国专利申请的优先权和权益，其全部内容通过引用结合在本申请中。
技术领域
本申请属于清洁技术领域，具体涉及一种清洁机器人。
背景技术
本部分提供的仅仅是与本公开相关的背景信息，其并不必然是现有技术。
随着科技的进步和生活水平的提高，清洁机器人越来越受到人们的欢迎，清洁机器人通常用于对地面等待清洁面进行清扫，操作简单且清扫效率高，逐渐成为现代家庭的常用家电。
但现有技术中的清洁机器人通常为扫地机器人，扫地机器人只能对地面进行扫地清洁，功能单一，而现有的扫拖一体式清洁机器人通常通过更换刷头实现扫地和拖地两种功能，在更换时需要人工手动切换，完成扫拖清洁任务所花的时间较多，扫拖效率低，用户体验差。
申请内容
本申请的目的是至少解决现有的清洁机器人扫拖效率低的问题。该目的是通过以下技术方案实现的：
本申请提出了一种清洁机器人，包括：
壳体；
扫地组件，所述扫地组件安装在所述壳体上；
拖地组件，所述拖地装置安装在所述壳体上，在沿所述清洁机器人的前进方向上，所述拖地组件位于所述扫地组件的后侧，所述拖地组件包括 多个拖地单元，所述多个拖地单元用于旋转清洁待清洁面，相邻的所述拖地单元在与所述前进方向垂直的平面上的投影之间没有间隙。
根据本申请实施例提出的清洁机器人，扫地组件和拖地组件分别安装在壳体上，并且扫地组件位于拖地组件的前侧，由此，当清洁机器人移动时，位于前侧的扫地组件能够先对待清洁面进行清扫，待清洁面经过扫地组件的清扫后，再由位于后侧的拖地组件进行清洁，扫地组件和拖地组件依次按顺序工作，拖地组件能够在扫地组件将大量灰尘清扫后进行清洁，避免了灰尘过多不利于拖地组件工作的情况，保证了清洁机器人整体的工作效率；本实施例中拖地组件的多个拖地单元通过旋转的方式清洁待清洁面，拖地单元旋转清洁时与待清洁面之间的摩擦力较大，且相邻的拖地单元之间没有间隙，不会产生清洁死角，保证了清洁机器人对待清洁面的清洁效果。
另外，根据本申请实施例提出的清洁机器人，还可以具有如下的技术特征：
在本申请的一些实施例中，所述拖地组件还包括至少一个拖地电机，所述拖地电机与所述拖地单元传动连接。
在本申请的一些实施例中，所述拖地电机的数量为一个，所述拖地电机设置为多输出轴并与多个所述拖地单元分别传动连接。
在本申请的一些实施例中，所述拖地电机的数量为多个，每个所述拖地电机与一个所述拖地单元传动连接。
在本申请的一些实施例中，所述清洁机器人还包括转速检测装置，所述转速检测装置用于监测两个所述拖地电机的转速。
在本申请的一些实施例中，所述拖地单元的旋转轴与所述拖地电机的输出轴之间的夹角的范围为-2°～2°。
在本申请的一些实施例中，所述清洁机器人还包括两个驱动轮，两个所述驱动轮安装在所述壳体的底部。
在本申请的一些实施例中，在沿与所述清洁机器人前进的方向垂直的方向上，多个所述拖地单元的外边缘之间的最大间距大于两个所述驱动轮的内侧间距。
在本申请的一些实施例中，所述扫地组件包括风机、边刷和滚刷，所述边刷和所述滚刷设置在所述拖地单元的前侧。
在本申请的一些实施例中，所述拖地组件还包括水箱和与所述水箱连通的喷水口，所述喷水口位于所述滚刷与所述拖地单元之间。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的附图标记表示相同的部件。
在附图中：
图1为本申请实施例提出的清洁机器人的结构示意图；
图2为图1所示清洁机器人的俯视图；
图3为图2所示清洁机器人去掉上盖后的俯视图；
图4为图1所示清洁机器人的一种仰视图；
图5为本申请实施例的清洁机器人的内部结构示意图；
图6为图1所示清洁机器人的另一种仰视图。
附图中各标记表示如下：
100、清洁机器人；
10、壳体；11、前撞；12、上盖；
21、边刷；22、滚刷；23、风机；24、集尘盒；
31、拖地单元；32、拖地电机；33、水箱；34、喷水口；
41、驱动轮；42、万向轮。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施方式。虽然附图中显示了本公开的示例性实施方式，然而应当理解的是，可以以各种形式实现本公开而不应被这里阐述的实施方式所限制。相反的，提供这些实施方式是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
应理解的是，文中使用的术语仅出于描述特定示例实施方式的目的，而无 意于进行限制。除非上下文另外明确地指出，否则如文中使用的单数形式“一”、“一个”以及“所述”也可以表示包括复数形式。术语“包括”、“包含”、“含有”以及“具有”是包含性的，并且因此指明所陈述的特征、步骤、操作、元件和/或部件的存在，但并不排除存在或者添加一个或多个其它特征、步骤、操作、元件、部件、和/或它们的组合。
尽管可以在文中使用术语第一、第二、第三等来描述多个元件、部件、区域、层和/或部段，但是，这些元件、部件、区域、层和/或部段不应被这些术语所限制。这些术语可以仅用来将一个元件、部件、区域、层或部段与另一区域、层或部段区分开。除非上下文明确地指出，否则诸如“第一”、“第二”之类的术语以及其它数字术语在文中使用时并不暗示顺序或者次序。因此，以下讨论的第一元件、部件、区域、层或部段在不脱离示例实施方式的教导的情况下可以被称作第二元件、部件、区域、层或部段。
为了便于描述，可以在文中使用空间相对关系术语来描述如图中示出的一个元件或者特征相对于另一元件或者特征的关系，这些相对关系术语例如为“内部”、“外部”、“内侧”、“外侧”、“下面”、“下方”、“上面”、“上方”等。这种空间相对关系术语意于包括除图中描绘的方位之外的在使用或者操作中装置的不同方位。例如，如果在图中的装置翻转，那么描述为“在其它元件或者特征下面”或者“在其它元件或者特征下方”的元件将随后定向为“在其它元件或者特征上面”或者“在其它元件或者特征上方”。因此，示例术语“在……下方”可以包括在上和在下的方位。装置可以另外定向(旋转90度或者在其它方向)并且文中使用的空间相对关系描述符相应地进行解释。
目前市面上能够实现扫地和拖地功能的扫拖一体式清洁机器人的工作过程通常为先扫地，后拖地，且其扫地模块和拖地模块需要人工切换，由此导致清洁所用的时间较长，清洁效率较低；而且手动切换扫地模块和拖地模块时容易污染用户手部，导致用户体验较差；对此，本申请实施例提出了一种清洁机器人，扫地功能和拖地功能能够同时或依次进行，无需用户手动更换，极大提高了清洁机器人的清洁效率，提升了用户体验。
如图1至图5所示，本申请的实施例提出了一种清洁机器人100，该清洁机器人100包括壳体10、扫地组件和拖地组件，其中，扫地组件安装在壳 体10上；拖地装置安装在壳体10上，且在沿清洁机器人100的前进方向上，拖地组件位于扫地组件的后侧，拖地组件包括多个拖地单元31，多个拖地单元31用于旋转清洁待清洁面，相邻的拖地单元在与前进方向垂直的平面上的投影之间没有间隙。
本实施例提出的清洁机器人100中，扫地组件和拖地组件分别安装在壳体10上，并且扫地组件位于拖地组件的前侧，由此，当清洁机器人100移动时，位于前侧的扫地组件能够先对待清洁面进行清扫，待清洁面经过扫地组件的清扫后，再由位于后侧的拖地组件进行清洁，扫地组件和拖地组件依次按顺序工作，在扫地组件将大量灰尘清扫后，拖地组件再继续进行清洁，避免了灰尘过多导致的不利于拖地组件工作的情况，保证了清洁机器人100整体的工作效率；本实施例中拖地组件的多个拖地单元31通过旋转的方式清洁待清洁面，拖地单元31旋转清洁时与待清洁面之间的摩擦力较大，且相邻的拖地单元之间没有间隙，不会产生清洁死角，保证了清洁机器人100对待清洁面的清洁效果。
具体地，请参阅图1和图2，本实施例提出的清洁机器人100的壳体10的形状可以设置为矩形或近似矩形，壳体10包括主体、前撞11和上盖12，前撞11连接在主体的前侧，具体可以通过螺栓或螺钉相连接；上盖12连接在主体的顶部；扫地组件和拖地组件分别连接在主体上，具体可以位于主体内部以及主体的底部；请参阅图4，扫地组件设置在主体上靠近前撞11的位置，拖地组件设置在主体上远离前撞11的位置，也就是说，清洁机器人100在沿设定路径移动时，该路径上的任意一处待清洁位置先经扫地组件清扫，随后经拖地组件清洁。
在本申请的一些实施例中，扫地组件包括起尘模块和集尘模块，起尘模块包括风机23、滚刷22和边刷21，如图4所示，边刷21的数量设置为两个，两个边刷21分别连接在壳体10的底部，且分别位于靠近前撞11的两个边角处，边刷21的部分刷体在水平方向上超出壳体10的边缘，由此增大了扫地组件的清扫范围；滚刷22连接在壳体10的底部，且位于壳体10底部靠近中央的位置，滚刷22通过滚动清洁的方式清扫待清洁面；集尘模块包括集尘盒24，如图3所示，集尘盒24设置在壳体10内，如图5所示，风机23设置在壳体10内，且风机23与集尘盒24相连通，本实施例中扫地组件在工作过程中，边刷21和 滚刷22清扫待清洁面上的灰尘等杂物，并在风机23的作用下使灰尘等杂物被收集到集尘盒24中。
在本申请的一些实施例中，拖地组件具体包括多个拖地单元31以及拖地电机32，拖地电机32可以设置有一个，也可以设置有多个，具体地，拖地电机32用于与拖地单元31传动连接并带动拖地单元31旋转，拖地单元31用于与待清洁面如地面相接触，通过旋转的方式对待清洁面进行清洁。在上述实施方式的基础上，拖地电机32安装在壳体10内，并位于壳体10的主体中远离前撞11的一侧，从而便于与拖地单元31连接。
在一种可选的实施方式中，拖地电机32的数量设置为一个，则该拖地电机32设置为多输出轴电机，用于与多个拖地单元31分别连接，本实施例中，拖地单元31的数量可以为两个、三个或三个以上。具体地，以下实施例以拖地单元31的数量设置为两个为例进行描述。
相应地，拖地电机32可以设置为双输出轴电机，可以理解地，双输出轴电机的两端分别设置有输出轴，两个输出轴分别与两个拖地单元31传动连接，从而能够同时带动两个拖地单元31转动，且两个拖地单元31的转速一致，实现对待清洁面的均匀清扫；而且，本实施例中拖地单元31转动清洁的方式增大了与待清洁面之间的摩擦力，进一步提高了拖地单元31的清洁效果。
在另一种可选的实施方式中，如图5所示，拖地电机32的数量设置为多个，多个拖地电机32分别与多个拖地单元31一一对应并传动连接，即每个拖地电机32带动一个拖地单元31转动；本实施例中拖地单元31转动清洁的方式增大了与待清洁面之间的摩擦力，进一步提高了拖地单元31的清洁效果。
在上述实施方式的基础上，为了保证两个拖地单元31的转速一致，本实施例中清洁机器人100还包括转速检测装置，转速检测装置用于监测两个拖地电机32的转速，从而获知两个拖地单元31的转速。具体地，转速检测装置可以设置为转速传感器；转速检测装置的数量可以设置为两个，两个转速检测装置分别用于监测两个拖地电机32的转速，进而保证两个拖地电机32的转速一致，从而进一步提高拖地单元31的清洁效果。
需要说明的是，本实施例中转速检测装置可以与清洁机器人100的总控制器通信连接，总控制器与两个拖地电机32分别通信连接，由此，在 清洁机器人100的工作过程中，两个转速检测装置分别将监测到的拖地电机32的转速信号传递给总控制器，总控制器通过判断两个拖地电机32的转速是否一致来控制两个拖地电机32。示例性地，当两个拖地电机32的转速不一致时，总控制器可以通过调节其中一个拖地电机32的转速使两个拖地电机32的转速达到一致。
进一步地，本实施例中拖地电机32与总控制器通信连接，当拖地电机32过负载时，总控制器可以通过拖地电机32反馈电流的方式对其进行过载保护，从而避免拖地电机32在过负载的状态下持续运行，进而延长拖地电机32的使用寿命。
本实施例中两个拖地单元31的结构相同，两个拖地单元31可以间隔设置，也可以紧邻设置，在一种可选的实施方式中，如图4所示，两个拖地单元31相邻设置且两个拖地单元31的内侧边缘相接触或稍有重叠，这样的设置方式能够防止在清洁过程中造成遗漏，防止产生清洁死角，即保证了拖地单元31的清洁范围，进一步提高了拖地单元31的清洁效果。
在另一种可选的实施方式中，如图6所示，拖地单元31的数量设置为三个，三个拖地单元31的结构可以相同，也可以不同，根据上述实施方式中每相邻的两个拖地单元31在垂直于前进方向的平面上的投影之间没有间隙，则上述三个拖地单元31相邻设置且相邻的拖地单元31的边缘相接触或稍有重叠，这样的设置方式能够防止在清洁过程中造成遗漏，防止产生清洁死角，即保证了拖地单元31的清洁范围，进一步提高了拖地单元31的清洁效果。
进一步地，以拖地单元31的数量设置为两个为例，拖地单元31包括转盘和连接在转盘上的拖布，两个拖地单元31的结构相同，故两个转盘的结构相同，如图4所示，两个转盘均设置为圆盘状，两个转盘的直径相等，能够均匀清洁待清洁面；在上述实施方式的基础上，如图5所示，拖地单元31与拖地电机32传动连接，具体地，转盘的面向拖地电机32的一侧用于与拖地电机32的输出轴相连接，由此，转盘能够在拖地电机32的带动下旋转，从而实现拖地电机32带动拖地单元31旋转清洁。
进一步地，根据上述实施方式，拖地单元31在拖地电机32的带动下绕设定的旋转轴旋转，本实施例中，旋转轴与拖地电机32的输出轴之间形 成一定的夹角，具体地，旋转轴与水平面之间的夹角的范围为-2°～2°，示例性地，该夹角可以取值为-1°、0°或1°。
可以理解地，拖地单元31的旋转轴与拖地电机32的输出轴之间具有夹角，据此，拖地单元31的旋转轴与水平面之间的夹角范围为88°～92°，故拖地单元31的底面所在的平面与水平面之间的夹角范围为-2°～2°，也就是说，拖地单元31的底面与水平面之间具有较小的倾斜度，当拖地单元31在拖地电机32的带动下转动时，较小的倾斜度使得拖地单元31与待清洁面局部之间的压力增大，从而增大了拖地单元31与待清洁面之间的摩擦力，进一步提高了拖地单元31的清洁效果。
进一步地，本实施例中拖布可以包裹在转盘上，示例性地，拖布可以通过魔术贴、胶粘剂等连接件与转盘连接，具体地，拖布连接在转盘背离拖地电机32的一侧，即转盘的朝下的一侧，拖布用于与待清洁面相接触以清洁待清洁面。进一步地，拖布可以仅通过转动摩擦的方式清洁待清洁面，也可以通过浸湿的方式清洁待清洁面，示例性地，本实施例提出的清洁机器人100可以设置有水箱33，水箱33用于储存水并朝拖布喷洒水，以浸湿拖布，使拖布在湿润状态下清洁待清洁面。
进一步地，本实施例提出的清洁机器人100还包括行走组件，行走组件用于带动清洁机器人100移动，如图4所示，行走组件包括安装在壳体10底部的两个驱动轮41，两个驱动轮41分别靠近壳体10的左右两侧且对称设置，此外，行走组件还包括万向轮42，万向轮42安装在壳体10的底部，且万向轮42设置在靠近壳体10的前撞11的位置，用于改变清洁机器人100的移动方向，在此基础上，万向轮42与上述两个驱动轮41之间的距离相等，以保证清洁机器人100的稳定性。
在上述实施方式的基础上，扫地组件包括两个边刷21和滚刷22，具体地，两个边刷21分别位于万向轮42的两侧；滚刷22位于两个驱动轮41的中间，且滚刷22与两个驱动轮41之间的距离相等，保证清洁机器人100在工作过程中的稳定性，以及保证清洁机器人100能够均匀清洁待清洁面。
在上述实施方式的基础上，请继续参阅图4或图6，本实施例在沿与清洁机器人100的前进方向相垂直的方向上，两个拖地单元31的外边缘之间的最大 间距L1大于两个驱动轮41的内侧间距L2，可以理解地，两个驱动轮41的内侧间距指的是图4中两个驱动轮41的内侧边缘之间的距离；以两个拖地单元31的转盘均设置为圆形为例，两个拖地单元31的最大宽度指的是，在垂直于清洁机器人100的前进方向上，两个拖地单元31的外侧边缘之间的连线的长度，且该连线经过两个拖地单元31的圆心，即两个拖地单元31能够清洁到的最大宽度。本实施例中两个拖地单元31的宽度L1大于两个驱动轮41之间的间距L2的设置方式保证了拖地单元31的较大的清洁范围，进一步提高了拖地单元31的清洁效果。
进一步地，在本申请的一些实施例中，拖地组件还包括水箱33和与水箱33连通的喷水口34，喷水口34与水箱33连通，且喷水口34能够朝拖地单元31喷水，需要说明的是，本实施例中水箱33用于盛放清水或混合有洗涤剂、消毒液等的混合液体，故喷水口34用于朝拖地单元31喷洒清水或其他混合液体，本实施例对此不作具体限定。
如图3所示，水箱33设置在壳体10中；如图4所示，喷水口34位于壳体10的底部，并且位于滚刷22与拖地单元31之间，也就是说，在竖直方向上，水箱33位于喷水口34的上方，在水平方向上，喷水口34位于滚刷22的后侧，从而便于朝拖地单元31喷水；在上述实施方式的基础上，拖地单元31包括转盘和与转盘连接的拖布，本实施例中喷水口34喷出的水或混合液体能够喷洒到拖布上，使拖布在与待清洁面转动摩擦的同时实现对待清洁面的清洗等工作。
进一步地，本实施例中喷水口34与清洁机器人100的总控制器通信连接，总控制器可以设定喷水口34喷水的间隔时间，以保证拖地单元31中拖布处于湿润状态，从而保证拖地单元31的清洁效果。
此外，本实施例中水箱33内还可以设置有液位传感器，相应地，清洁机器人100上可以设置有显示屏或报警器；液位传感器与总控制器通信连接，显示屏或报警器也与总控制器通信连接，液位传感器能够监测水箱33中液体的液位，并将液位信号传递给总控制器，总控制器根据液位判断水箱33中的液量状况，当液位低于设定值时，总控制器控制报警器报警或控制显示屏显示液量不足，从而提醒用户向水箱33中加水。
以上，仅为本申请较佳的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (10)

  1. 一种清洁机器人，其特征在于，包括：
    壳体；
    扫地组件，所述扫地组件安装在所述壳体上；
    拖地组件，所述拖地装置安装在所述壳体上，在沿所述清洁机器人的前进方向上，所述拖地组件位于所述扫地组件的后侧，所述拖地组件包括多个拖地单元，所述多个拖地单元用于旋转清洁待清洁面，相邻的所述拖地单元在与所述前进方向垂直的平面上的投影之间没有间隙。
  2. 根据权利要求1所述的清洁机器人，其特征在于，所述拖地组件还包括至少一个拖地电机，所述拖地电机与所述拖地单元传动连接。
  3. 根据权利要求2所述的清洁机器人，其特征在于，所述拖地电机的数量为一个，所述拖地电机设置为多输出轴并与多个所述拖地单元分别传动连接。
  4. 根据权利要求2所述的清洁机器人，其特征在于，所述拖地电机的数量为多个，每个所述拖地电机与一个所述拖地单元传动连接。
  5. 根据权利要求4所述的清洁机器人，其特征在于，所述清洁机器人还包括转速检测装置，所述转速检测装置用于监测两个所述拖地电机的转速。
  6. 根据权利要求2至5任一项所述的清洁机器人，其特征在于，所述拖地单元的旋转轴与所述拖地电机的输出轴之间的夹角的范围为-2°～2°。
  7. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括两个驱动轮，两个所述驱动轮安装在所述壳体的底部。
  8. 根据权利要求7所述的清洁机器人，其特征在于，在沿与所述清洁机器人前进的方向垂直的方向上，所述多个拖地单元的外边缘之间的最大间距大于两个所述驱动轮的内侧间距。
  9. 根据权利要求1所述的清洁机器人，其特征在于，所述扫地组件包括风机、边刷和滚刷，所述边刷和所述滚刷设置在所述拖地单元的前侧。
  10. 根据权利要求9所述的清洁机器人，其特征在于，所述拖地组件还包括水箱和与所述水箱连通的喷水口，所述喷水口位于所述滚刷与所述拖地单元之间。
PCT/CN2022/078670 2021-03-04 2022-03-01 清洁机器人 WO2022184066A1 (zh)

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CN217408652U (zh) * 2022-03-16 2022-09-13 北京赫特智慧科技有限公司 下壳组件及清洁装置
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