WO2023087919A1

WO2023087919A1 - Self-moving cleaning robot, cleaning system, control method, and cleaning method

Info

Publication number: WO2023087919A1
Application number: PCT/CN2022/121120
Authority: WO
Inventors: 毕金廷; 黄竹生; 王箭; 班永
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2021-11-17
Filing date: 2022-09-23
Publication date: 2023-05-25

Abstract

A self-moving cleaning robot, a cleaning system, a control method, and a cleaning method. The self-moving cleaning robot comprises a machine body (1), and a water tank (4) arranged on the machine body (1). The water tank (4) comprises a tank body, wherein an air duct (32) is formed in an inner cavity of the tank body, a fan accommodating cavity (41) extending from the bottom of the tank body to the top of the tank body is arranged in the inner cavity of the tank body, an open end of the fan accommodating cavity (41) faces a lower portion of the tank body, an air duct inlet (320) is provided in a side wall of the tank body, and an air duct outlet (321) is provided at the top of the fan accommodating cavity (41); and the air duct (32), which is formed in the inner cavity of the tank body, and comprises a second channel (322) which is enclosed by an enclosing side wall (410) of the fan accommodating cavity (41) and a side wall of a corresponding portion of the tank body, and a first channel (323) which is located in the inner cavity of the tank body and is between the air duct inlet (320) and the fan accommodating cavity (41). By means of the self-moving cleaning robot, waste water generated during cleaning work can be sucked in the tank body, the waste water and an airflow are separated in the inner cavity of the tank body, the waste water is left in the inner cavity of the tank body, and the airflow is exhausted out of the tank body.

Description

Self-moving cleaning robot, cleaning system, control method and cleaning method

This application is required to be submitted to the China Patent Office on November 17, 2021. The application number is 202111365286.X, the title of the invention is "water tank and self-moving cleaning robot", the application number is 202122822726.1, and the title of the invention is "water tank and self-moving cleaning robot". , the application number is 202111365285.5, the invention name is "self-moving cleaning robot and cleaning system", the application number is 202122822600.4, the invention name is "self-moving cleaning robot and cleaning system", the application number is 202111365272.8, the invention name is "drum assembly and automatic Mobile cleaning robot", application number 202122824860.5, invention name "drum assembly and self-moving cleaning robot", application number 202111365281.7, invention name "self-moving floor scrubbing robot and control method", application number 202111365290.6, invention name "Cleaning system, base station and cleaning method", the application number is 202122822729.5, the invention name is "cleaning system and base station", the application number is 202111363992.0, the invention name is "water tank and cleaning equipment", the application number is 202122858778.4, the invention name is "water tank and cleaning equipment", the priority of the Chinese patent application, the entire content of which is incorporated in this application by reference.

technical field

The present disclosure relates to the field of robots, in particular to a self-moving cleaning robot; the present disclosure also relates to a cleaning system including the above-mentioned self-moving cleaning robot, as well as a control method and a cleaning method.

Background technique

The ground self-moving cleaning robot is a smart household appliance that can automatically complete cleaning tasks such as cleaning, vacuuming, and mopping in the room by virtue of certain artificial intelligence.

However, when the existing ground self-moving cleaning robot is mopping the floor, the recovery rate of water stains is low. After cleaning, some water stains will still remain on the ground, and the water stains will continue to adhere to dust and cause secondary pollution, reducing cleaning efficiency. People can also slip and fall due to water stains on the ground when walking on the ground.

Contents of the invention

An object of the embodiments of the present disclosure is to provide a self-moving cleaning robot, a cleaning system, a control method, and a cleaning method.

According to a first aspect of the present disclosure, a self-moving cleaning robot is provided, including a body and a water tank provided on the body, the water tank includes:

A box body, an air duct is formed in the inner cavity of the box body; a fan accommodation cavity extending from the bottom of the box body toward the top of the box body is provided in the inner cavity of the box body; the open end of the fan accommodation cavity Towards the bottom of the box; an air duct inlet is provided on the side wall of the box, and an air duct outlet is provided on the top of the fan accommodation chamber;

The air channel is formed in the inner cavity of the box body, including a second channel surrounded by the surrounding side wall of the fan accommodation cavity and the side wall of the corresponding part of the box body, and is located in the box inner cavity by The first channel between the inlet of the air duct and the housing cavity of the fan.

According to a second aspect of the present disclosure, there is provided a water tank, comprising:

According to a third aspect of the present disclosure, there is also provided a self-moving cleaning robot, including a body and a water tank assembly disposed in the body, the water tank assembly including:

Clean water tank;

The waste water tank has an air duct inlet;

Fan accommodation chamber, the opening of the fan accommodation chamber faces the bottom of the water tank assembly, the fan assembly is loaded into the fan accommodation chamber from the opening, and the top of the fan accommodation chamber is provided with an air duct outlet communicating with the sewage tank;

A second passage is provided between the clean water tank and the fan accommodation chamber, so that the airflow entering the sewage tank from the inlet of the air passage is discharged from the outlet of the air passage through the second passage.

A beneficial effect of the present disclosure is that when the self-mobile robot is working, negative pressure is generated in the air duct, and the sewage generated in the cleaning work can be sucked into the box from the inlet of the air duct. The first channel space of the box is relatively open, and the sewage and air flow can The first channel is fully separated, and the sewage remains in the inner cavity of the box, while the air flow evenly flows to the outlet of the air channel through the second channel in the box and is discharged to prevent the local air velocity from being too fast and taking away the sewage.

According to a fourth aspect of the present disclosure, there is provided a self-moving cleaning robot, including a body, and a machine set on the body,

a cleaning device configured to clean the work surface;

The first air passage, the entrance of the first air passage is adjacent to the cleaning device, and is configured to extract the sewage after the cleaning device cleans the working surface;

A sewage tank, the sewage tank is configured to accommodate the sewage after cleaning the working face, and a second air duct is arranged in the sewage tank;

A fan assembly, the fan assembly has a third air duct;

The first air duct and the third air duct communicate with the second air duct respectively; after the water vapor extracted by the first air duct enters the second air duct of the waste water tank, the liquid drops into the sewage tank, and the gas passes through the fan assembly. The third air duct is discharged.

According to five aspects of the present disclosure, a cleaning system is provided, including a self-moving cleaning robot, and a base station, the base station includes a base station body with an accommodating cavity, and an air-drying system is arranged in the base station body;

The accommodating cavity of the base station body is configured to accommodate the self-moving cleaning robot, and the first air duct inlet of the self-moving cleaning robot is configured to suck the air-drying airflow sent by the air-drying system to dry the cleaning device .

A beneficial effect of the present disclosure is that the first air channel is arranged on the rear side of the cleaning device, and can suck away the sewage behind the cleaning device, and the sewage sucked by the air channel can be separated from the gas in the second air channel in the sewage tank, In order to prevent the blower assembly from being affected by entering the third air channel, the energy of the blower assembly can be fully utilized, thereby improving work efficiency.

A sixth aspect of the present disclosure provides a self-moving cleaning robot, including a body, the body is provided with an installation cavity, and also includes a roller assembly installed in the installation cavity, the roller assembly includes:

a roller support, the roller support has a roller cavity;

The drum is rotatably connected in the drum cavity of the drum bracket; at least one end of the drum is provided with a pressing block, and the pressing block is rotatably connected with the drum and is configured to move along the direction of the drum under the action of the elastic device. Axially move to abut and seal with the side wall of the drum cavity.

A seventh aspect of the present disclosure provides a drum assembly including:

a roller support, the roller support has a roller cavity;

A beneficial effect of the present disclosure is that, in the roller assembly of the self-moving cleaning robot, the pressing block at one end of the roller can be sealed with the end surface of the roller support, and under the action of the elastic device, the contact between the pressing block and the barrel cavity of the roller support can be made The side walls are abutted and sealed together, which ensures the sealing performance between the two and facilitates the disassembly and assembly of the drum.

According to the eighth aspect of the present application, a self-moving scrubbing robot is provided, including:

a body, the body has an installation cavity;

a drum, the drum is rotatably connected in the installation cavity;

a wiper blade, the wiper blade is connected to the machine body and is configured to contact the drum so as to scrape off the liquid on the drum;

The roller and the wiper are configured so that when an obstacle is encountered, relative movement occurs between the roller and the wiper, so that the roller and the wiper are separated.

According to the ninth aspect of the present application, there is also provided a robot control method, the robot adopts a self-moving scrubbing robot; it also includes an identification device and a control unit, including the following steps:

S1000, the control unit sends a control signal to the driving mechanism after receiving the detection signal of the obstacle ahead obtained by the identification device;

S2000, after the driving mechanism receives the control signal, relative motion occurs between the driving roller and the wiper blade, so as to separate the rolling from the wiper blade.

A beneficial effect of the present application is that the wiper blade can scrape off the sewage on the drum during the rotation of the drum through the drum to clean the working surface, so as to improve the cleaning ability of the drum. When an obstacle is encountered, the drum and the wiper board Relative movement occurs to separate, and the wiper stops wiping to prevent sewage from remaining on the ground.

According to a tenth aspect of the present disclosure, there is provided a cleaning system comprising:

Cleaning equipment, the cleaning equipment includes a cleaning device, an air duct system, and a sewage tank; the cleaning device is configured to clean the working surface; the sewage tank is configured to accommodate sewage after cleaning the working surface; the air duct The system is configured to pump the sewage after cleaning the working surface of the cleaning device into the sewage tank;

A base station, the base station includes a base station body with an accommodating cavity, and an air-drying system is arranged in the base station body;

The accommodating cavity of the base station body is configured to accommodate the cleaning equipment, and the air duct system of the cleaning equipment is configured to suck the air-drying airflow sent by the air-drying system to dry the cleaning equipment.

According to an eleventh aspect of the present disclosure, there is provided a cleaning method implemented by a cleaning system, comprising:

The cleaning equipment enters the accommodation cavity of the base station to clean the cleaning device;

The cleaning equipment pumps the cleaned sewage into its sewage tank through its air duct system;

The air drying system of the base station sends air drying air to the cleaning device; the cleaning equipment draws air drying air through its air duct system to dry the cleaning equipment.

According to a twelfth aspect of the present disclosure, a base station is provided, including:

a base station having an accommodating cavity configured to accommodate cleaning equipment;

An air-drying system, the air-drying system forms an air outlet in the accommodation chamber of the base station, and the air outlet is configured to blow the air-drying airflow to the cleaning device of the cleaning device located in the accommodation chamber.

A beneficial effect of the present disclosure is that, after the cleaning equipment enters the accommodation cavity of the base station, the air duct system can suck the air-drying air sent by the air-drying system of the base station, dry the cleaning device and the residual water stains inside the cleaning equipment, and prevent the breeding of bacteria and the generation of peculiar smell .

According to a thirteenth aspect of the present disclosure, a water tank is provided, including a body and a water tank arranged on the body, the water tank includes:

a box body, the box body has an inner cavity;

An air duct, the air duct is arranged in the inner cavity of the box body, and an air duct inlet and an air duct outlet are respectively formed at different positions of the box body;

A water retaining part, the water retaining part is arranged on the inner wall of the box at a position adjacent to the outlet of the air duct, and is configured to block the pushed up water level.

According to a fourteenth aspect of the present disclosure, there is also provided a water tank, including:

a box body, the box body has an inner cavity;

A beneficial effect of the present disclosure is that the air flow in the air duct affects the water level of the liquid in the inner cavity of the water tank, and the liquid is pushed up toward the outlet of the air duct, and the water baffle in the water tank is arranged on the inner wall of the tank near the outlet of the air duct. It can block the water level being pushed up and prevent the liquid from being drawn out of the water tank from the outlet of the air duct. Moreover, through holes are arranged on the water deflector, and the airflow in the air duct can flow to the outlet of the air duct through the through holes.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a cross-sectional view of a self-moving cleaning robot provided by an embodiment of the present disclosure;

Fig. 2 is a cross-sectional view of a drum part provided by an embodiment of the present disclosure;

Fig. 3 is a cross-sectional view of the pressing block part of the roller provided by an embodiment of the present disclosure;

Fig. 4 is an exploded view of one end of the drum provided by an embodiment of the present disclosure;

Fig. 5 is an exploded view of the machine body, the drum, and the drum cover provided by an embodiment of the present disclosure;

Fig. 6 is a schematic structural view of a rotation prevention groove provided by an embodiment of the present disclosure;

Fig. 7 is a cross-sectional view of a roller bracket and a roller cover provided by an embodiment of the present disclosure;

Fig. 8 is a cross-sectional view of the front part of the body provided by an embodiment of the present disclosure;

Fig. 9 is a schematic structural diagram of a water supply device provided by an embodiment of the present disclosure;

Fig. 10 is a schematic diagram of the internal structure of a water supply device provided by an embodiment of the present disclosure;

Fig. 11 is an exploded view of a machine body and a drum assembly provided by an embodiment of the present disclosure;

Fig. 12 is a schematic diagram of a hinge shaft and a support base provided by an embodiment of the present disclosure;

Fig. 13 is a longitudinal sectional view of the intermediate position of the waste water tank provided by an embodiment of the present disclosure;

Fig. 14 is a schematic diagram of a battery and a heat dissipation module provided by an embodiment of the present disclosure;

Fig. 15 is an exploded view of a battery and a driving wheel provided by an embodiment of the present disclosure;

Fig. 16 is an exploded view of a sewage tank provided by an embodiment of the present disclosure;

Fig. 17 is a transverse cross-sectional view of a sewage tank provided by an embodiment of the present disclosure;

Fig. 18 is a transverse cross-sectional view of the water inlet and the drain of the sewage tank provided by an embodiment of the present disclosure;

Fig. 19 is an exploded view of a dust collecting device provided by an embodiment of the present disclosure;

Fig. 20 is a schematic diagram of the first position of the fool-proof mechanism provided by an embodiment of the present disclosure;

Fig. 21 is a schematic structural diagram of a fool-proof mechanism provided by an embodiment of the present disclosure;

Fig. 22 is a schematic structural diagram of a dust collecting device and a fool-proof mechanism provided by an embodiment of the present disclosure;

Fig. 23 is an exploded view of the sewage tank and the body provided by an embodiment of the present disclosure;

Fig. 24 is a top view of the lower casing of the sewage tank provided by an embodiment of the present disclosure;

Fig. 25 is a cross-sectional view in the horizontal direction of the water tank provided by an embodiment of the present disclosure;

Fig. 26 is a vertical cross-sectional view of a water tank provided by an embodiment of the present disclosure;

Fig. 27 is a bottom view of the self-moving cleaning robot provided by an embodiment of the present disclosure;

Fig. 28 is a flowchart of a robot control method provided by an embodiment of the present disclosure;

Fig. 29 is a schematic diagram of the overall structure of the cleaning system in an embodiment of the present disclosure;

Fig. 30 is a schematic structural diagram of a base station of a cleaning system in an embodiment of the present disclosure;

Fig. 31 is a schematic structural diagram of an air-drying system of the cleaning system in an embodiment of the present disclosure;

Fig. 32 is a partial structural diagram of a base station of the cleaning system in an embodiment of the present disclosure;

33 is a cross-sectional view of a base station of a cleaning system in one embodiment of the present disclosure;

Figure 34 is a schematic diagram of the operation of the cleaning system in one embodiment of the present disclosure;

35 is a flowchart of the cleaning method of the present disclosure.

The one-to-one correspondence between the component names and reference signs in Figures 1 to 35 is as follows:

1. Body; 11-A, floating part; 11-B, fixed part; 101, installation cavity; 102, clean water docking port; 103, anhydrous detection sensor; 1011, limit card slot; 120, hinge shaft; 13, Universal wheel; 14. Drop sensor; 15. Water tank tank; 16. Battery; 160. Battery installation frame; 161. Connecting wire; 17. Jacking part; 18. Support seat; ;20, roller; 200, assembly groove; 21, driving assembly; 210, rotating part; 22, pressing block; 221, anti-rotation part; 23, elastic device; , the first screw sleeve; 2411, the guide rod; 242, the fixed seat; 2420, the second screw sleeve; 243, the roller end cover; 2431, the flanging; 2432, the anti-rotation structure; , positioning structure; 28, roller support; 280, anti-rotation groove; 281, avoidance space; 282, locking slot; 283, limit buckle; 284, side wall; 29, roller cover; 291, slider ; 292, locking piece; 2920, engaging part; 31, the first air duct; 310, the first air duct outlet; 32, the second air duct; 320, the second air duct entrance; 321, the second air duct exit; 322, the second channel; 323, the first channel; 33, the third air channel; 4, sewage tank; 401, the upper shell; 4010, the third side wall; 4011, the fourth side wall; 402, the middle shell; 4020, the first side wall; 4021, the second side wall; 403, the lower shell; 4030, the side wall; 4031, the bottom wall; 41, the fan accommodation cavity; 410, the enclosed side wall; 411, the top wall; 42, Windshield mechanism; 43, drain port; 430, sewage suction pipe; 4301, butt joint; 431, first movable valve body; 44, cover plate; 45, foolproof mechanism; 451, cam; 4511, protrusion; 452, Torsion spring; 453, pressure receiving part; 46, first gate; 460, first soft sealing rubber; 47, second gate; 470, second soft sealing rubber; 48, water retaining plate; 49, water level detection device; 490 , storage tank; 491, first detection probe; 492, second detection probe; 5, clean water tank; 501, clean water supply port; 51, water inlet; 511, second movable valve body; 52, cooling module; 53 , conveying pipeline; 530, clean water suction pipe; 531, clean water tank connection valve; 532, elastic valve stem; 54, water pump; 6, dust collection device; 61, fixed bracket; , fan assembly; 8, drive wheel; 80, drive motor; 81, drive wheel mount; 9, auxiliary cleaning component; 90, water supply device; 901, main water inlet; 902, water supply channel; Water bar; 93, wiper board; 94, sealing edge; A, cleaning equipment; B, base station; 121, base station body; 1211, accommodation cavity; 122, air drying system; 1221, air outlet; 1222, air drying duct; 1223, base station fan; 1224, heating device; 123, waterway components; 124, sewage bucket; 125, clean water bucket.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way intended as any limitation of the disclosure, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

Cleaning equipment includes floor washing machines, vacuum cleaners, sweeping robots, etc., which play an efficient cleaning role in various places such as municipal sanitation, manufacturing workshops, and indoor environments. It reduces the labor cost of cleaning and improves work efficiency. It is a modern society. Indispensable equipment.

At present, some cleaning equipment is equipped with a water tank, an air duct and a fan. During the cleaning process, the fan duct provides negative pressure to suck the sewage in the cleaning area into the water tank. The movement speed of the cleaning equipment changes greatly under the working conditions of starting, collision, and overcoming obstacles, and the sewage in the water tank fluctuates. Discharged to the clean area through the fan, resulting in ineffective cleaning.

The ground self-moving cleaning robot is a kind of cleaning equipment, which can automatically complete cleaning tasks such as cleaning, vacuuming, and mopping in the room by virtue of certain artificial intelligence. The existing ground self-moving cleaning robot cleans the ground through a roller, and a suction port is provided behind the roller to absorb water stains. After a period of use, the roller needs to be disassembled for cleaning. However, it is inconvenient to disassemble and assemble between the drum and the body of the existing self-moving cleaning robot, and there is a problem of poor sealing, which leads to a large loss of wind force at the rear suction port, and it is easy to leave water stains on the ground, and the water stains will last. Attached dust will cause secondary pollution, reduce cleaning efficiency, and people will slip due to water stains on the ground when walking on the ground.

The present disclosure provides a self-moving cleaning robot, which includes a body capable of walking on a working surface by means of a control unit, and a cleaning device is arranged on the body, and the cleaning device is configured to clean the working surface. The self-moving cleaning robot can be a sweeping robot, and its cleaning working surface can be the ground.

The body is also provided with an air duct, a waste water tank and a fan assembly and the like. Wherein, the air duct includes a first air duct, the entrance of the first air duct is adjacent to the cleaning device, and is configured to extract the sewage after the cleaning device cleans the working surface, and the sewage tank is configured to accommodate the sewage after cleaning the working surface. The sewage tank is provided with a second air duct, the fan assembly has a third air duct, the first air duct and the third air duct are connected to the second air duct respectively; the fan assembly can provide negative pressure to the three air ducts, and the first air duct After the extracted water vapor enters the second air channel of the sewage tank, the liquid drops to the sewage tank, and the gas is discharged through the suction air channel of the fan assembly.

The first air passage is relatively narrow, so the wind speed in the first air passage is relatively high, which can suck away the sewage after cleaning the working face. The second air channel in the waste water tank is relatively wide. After the water vapor in the first air channel enters the second air channel, the flow velocity decreases and the air pressure decreases. The heavier sewage is separated from the gas and stored in the sewage tank. The final gas is sucked into the third air channel.

For the convenience of subsequent descriptions, the embodiment of the present disclosure takes the traveling direction of the body as the front. The cleaning device is arranged near the front of the body, the fan assembly is arranged near the rear of the body, the first air passage is arranged behind the cleaning device, and the sewage tank is arranged between the first air passage and the fan assembly, so that the first air passage, the second The air duct and the third air duct have a longer path, which is conducive to the sufficient separation of water and gas in the second air duct of the waste water tank.

The air outlet of the fan assembly faces the working surface, and blows air on the working surface cleaned by the cleaning device, so as to accelerate the evaporation of residual water stains on the working surface. The heat of the fan assembly itself can heat the airflow, speed up the evaporation of water stains on the working surface, and make full use of the energy of the fan assembly.

The body is also provided with a clean water tank, which is used to store clean water, detergent and other cleaning fluids, and the clean water tank is configured to provide the cleaning fluid to the cleaning device, so as to improve the decontamination ability of the cleaning device and improve the self-moving cleaning robot. work efficiency.

As shown in Fig. 1 to Fig. 27, a specific embodiment of a self-moving cleaning robot of the present disclosure includes a body 1 on which a cleaning device, an air duct, a sewage tank 4, a fresh water tank 5, and a fan assembly 7 are arranged. Wherein, the air passage includes a first air passage 31 arranged on the body 1, a second air passage 32 arranged in the sewage tank 4 and communicating with the first air passage 31, and a second air passage 32 arranged in the fan assembly 7 and connected to the second air passage. The third air passage 33 connected with the passage 32.

As shown in Figure 1, the cleaning device is arranged at the front portion of the body 1, and the inlet of the first air passage 31 is arranged at the rear of the cleaning device and faces the working surface. When the body 1 walks along the working surface, the first air passage 31 The entrance, the cleaning device and the working surface form a relatively closed space, and the fan assembly 7 rotates to form a negative pressure, thereby forming an airflow flowing from the cleaning device to the air outlet of the fan assembly 7 in the air duct, so that the first air duct 31 can absorb Use the cleaning device to clean the sewage behind the working face. The air duct can not only absorb sewage, but also absorb solid particles on the working surface. When the sewage contains mixed solid particles, the first air channel 31 can simultaneously suck the sewage and the solid particles.

The bottom of the body 1 is also provided with a driving wheel 8 for walking. The driving wheel 8 is arranged behind the cleaning device. The cleaning device can clean the dirt and water stains on the working surface in front of the driving wheel 8, so as to prevent dust and water stains from affecting the driving. The friction between the wheel 8 and the working surface protects the driving wheel 8 and improves the movement capacity of the body 1.

cleaning device

The cleaning device may include a rag, a sweeping brush, a rolling brush, a roller, etc., and can wipe or clean the working surface during the walking of the body 1 . In one embodiment of the present disclosure, the cleaning device includes a roller 20, and an installation cavity is provided on the machine body 1. The roller 20 is rotatably connected in the installation cavity of the machine body 1, and can roll against the working surface. The surface of cylinder 20 can be provided with cleaning layer, and cleaning layer can be sponge, cotton cloth, fluff etc., and cleaning layer can wipe working surface during rolling process, and stains such as dust on adhesion working surface. The drum 20 may be configured as a hollow structure to reduce weight.

The drum 20 can be rolled in different ways. In some embodiments, the drum 20 can rotate by relying on the frictional force between the machine body 1 and the working surface when walking; in other embodiments, the drum 20 can rotate by the driving action of the driving mechanism.

In a specific embodiment of the present disclosure, as shown in FIG. 2 , a driving assembly 21 is provided on the machine body 1 , and the driving assembly 21 is connected with the drum 20 to drive the drum 20 to rotate. The driving assembly 21 includes a motor and a transmission mechanism. The output end of the motor is connected to one end of the drum 20 through the transmission mechanism to drive the drum 20 to rotate.

To facilitate cleaning and replacement of the drum 20 , one end of the drum 20 can be detachably connected to the drive assembly 21 , and the other end can be detachably connected to the body 1 in rotation. Further, in order to reduce the wind loss at the entrance of the first air passage 31, the two ends of the drum 20 and the corresponding positions of the machine body 1 are sealed.

In one embodiment of the present disclosure, the drum 20 is installed on the machine body 1 in the form of a drum assembly 2 . Referring to FIG. 5 and FIG. 11 , the drum assembly 2 includes a drum bracket 28 , a drum 20 mounted on the drum bracket 28 , and a drum cover 29 that limits the drum 20 to the drum bracket 28 .

Referring to Fig. 11, an installation cavity 101 is provided at a corresponding position on the body 1, and the shape of the installation cavity 101 matches the shape of the drum assembly 2, so that the drum assembly 2 can be installed in the installation cavity 101 of the body 1, and the drum 20 can protrude from the lower end surface of the machine body 1 to fit together with the working surface, and the working surface can be cleaned by the rotation of the roller 20 .

Continuing to refer to Fig. 5 and Fig. 11, the roller support 28 can be frame-shaped, groove-shaped and other structures, and the roller support 28 is provided with a roller cavity, and the roller 20 is rotatably connected in the roller cavity, and the roller cover plate 29 is in the shape of a frame. Installed on the open end of the roller bracket 28, and restrict the roller 20 in the roller cavity of the roller bracket 28, part of the roller 20 protrudes from the roller cover plate 29 frame for contacting with the working surface. The driving assembly 21 may be directly or through a transmission mechanism in transmission connection with the rotating member 210 provided in the drum support 28 . One end of the drum 20 is provided with an assembly groove 200 for assembling with the rotating member 210 to drive the drum 20 to rotate. A flange and/or a groove structure may be provided on the rotating member 210 to cooperate with a corresponding flange and/or groove structure in the fitting groove 200 . Alternatively, one end of the roller bracket 28 for cooperating with the transmission mechanism is provided with a relief structure, such as an escape groove, and the rotating member 210 is rotatably connected to the body and connected with the transmission mechanism. When the roller bracket 28 is installed, the relief structure at the corresponding position of the roller bracket 28 can directly pass through the rotating member 210, so that the roller bracket 28 is installed in the installation cavity 101 of the body 1, which will not be described in detail here.

The other end of the drum 20 can be sealingly connected with the end face of the drum bracket 28 by means of a pressure block 22 . Specifically, one end of the drum 20 is provided with a pressing block 22 , and the pressing block 22 is pre-pressed on the corresponding end of the drum 20 through an elastic device 23 . The outer end surface of the pressing block 22 abuts against the corresponding end surface of the roller cavity of the roller bracket 28, and under the action of the elastic device 23, a contact seal is formed between the outer end surface of the pressing block 22 and the end surface of the roller cavity.

The drum 20 is also rotatably connected to the drum bracket 28 through the pressing block 22 , and the pressing block 22 can be rotatably connected to the drum bracket 28 or to the drum 20 .

As shown in Figure 2, Figure 3 and Figure 4, the drum 20 also includes a base assembly 24 and a rotating shaft 25 supported in the drum 20, the base assembly 24 is relatively fixed to the drum 20, and the axial direction of the base assembly 24 It is consistent with the axial direction of the drum 20 . The rotating shaft 25 is configured to move along the axial direction of the base assembly 24, the rotating shaft 25 is connected to the pressing block 22 in relative rotation, and the rotating shaft 25 applies outward pressure to the pressing block 22 under the action of the elastic device 23, The briquetting block 22 is driven to be closely attached to the inner wall of the drum chamber to realize the sealing between the two. The base assembly 24 can be made of self-lubricating materials, which can reduce friction with the rotating shaft 25 and prolong the service life.

The base assembly 24 includes a drum end cover 243 for being supported in the drum 20 , and a fixing seat 242 fixed on the drum end cover 243 , the rotating shaft 25 passes through the fixing seat 242 and is configured to move along the axial direction of the drum 20 direction movement.

Specifically, the fixed seat 242 extends axially relative to the drum 20, and a guide channel is provided inside it. The rotating shaft 25 is co-located in the guide channel of the fixed seat 242. Move, thereby improving the stability of the rotating shaft 25.

The base assembly 24 also includes a roller end cover 241 connected to the fixing seat 242 or the roller end cover 243 , and the elastic device 23 is disposed between the rotating shaft 25 and the roller end cover 241 . When the roller 20 is installed in the installation cavity of the machine body 1, the elastic device 23 pre-presses the pressure block 22 on the end surface of the installation cavity through the rotating shaft 25 . The roller end cover 241 may be configured as a “concave” structure, and the elastic device 23 is arranged in the roller end cover 241 .

The roller end cover 241 , the fixing seat 242 and the roller end cover 243 of the base assembly 24 can be sequentially connected relative to the roller 20 from the inside to the outside, and the three can be integrally formed, or can be arranged as a separate connection structure. The connection methods of the split connection structure include but are not limited to screw connections, screw connections, bonding, plugging, etc.

In the embodiment of the present disclosure, the roller end cover 241 , the fixing seat 242 and the roller end cover 243 of the base assembly 24 adopt a split connection structure to facilitate the installation of the elastic device 23 and the rotating shaft 25 . Between the roller end cover 241 and the fixing seat 242 , and between the fixing seat 242 and the roller end cover 243 are clamped by the positioning structure 27 , which can facilitate the positioning of the three during installation. The roller end cover 241 , the fixing seat 242 and the roller end cover 243 can be further fixed by screws to improve connection stability. The roller end cover 241 , the fixing seat 242 and the roller end cover 243 may be provided with screw holes or screw sleeves for passing screws.

In a specific embodiment, referring to FIG. 4, first screw sleeves 2410 are provided on opposite sides of the roller end cover 241, second screw sleeves 2420 are provided on opposite sides of the fixing base 242, and threaded holes can be provided on the roller end cover. . The threaded hole, the first screw cover 2410 and the second screw cover 2420 are coaxially arranged, and the screw passes through the threaded hole, the first screw cover 2410 and the second screw cover 2420, and the roller end cover 241, the fixing seat 242 and the roller end cover 243 are fixedly connected together.

The fixing seat 242 can be made of self-lubricating material alone, and the roller end cover 241 and the roller end cover 243 can be made of other common materials, thereby saving cost.

Elastic device 23 can select compression spring, shrapnel, elastic block etc. for use. In the embodiment of the present disclosure, the elastic device 23 adopts a compression spring. Both the compression spring, the roller end cover 241 and the rotating shaft 25 can be connected by inserting fit.

The roller end cover 241 and/or the rotating shaft 25 can be provided with a guide structure that cooperates with the compression spring, such as a guide rod, a guide sleeve, etc., to guide the compression spring and improve the installation stability of the compression spring.

In one embodiment, a guide rod 2411 is provided on the roller end cover 241, and the guide rod 2411 is mated and inserted into the compression spring to fix and guide the compression spring; a slot is provided on the rotating shaft 25, and one end of the compression spring fits Plugged into the slot.

One end of the connecting elastic device 23 of the rotating shaft 25 can extend into the roller end cover 241, and is set as a limit end, the limit end can abut against the end face of the fixed seat 242, limit the position of the rotating shaft 25, and prevent the rotating shaft from 25 from the fixed seat 242. The radial size of the roller end cover 241 is sufficient to accommodate the limit end of the rotating shaft 25 , and the rotating shaft 25 can axially move into the roller end cover 241 under the action of an external force.

The drum end cover 243 can be close to the end face of the drum 20, and is arranged as a "concave" shape matching with the shape of the briquetting block 22. The drum end cover 243 is provided with a chamber for accommodating the briquetting block 22, and the outer circumference of the briquetting block 22 is in line with the A limiting structure is formed between the inner walls of the chamber of the roller end cover 243 to prevent the pressure block 22 from coming out of the chamber of the roller end cover 243 . The pressing block 22 can move along the axial direction of the drum, and one end of the rotating shaft 25 passes through the end cover 243 of the drum and is rotationally connected with the pressing block 22 . Driven by the elastic device 23 , the pressure block 22 partially protrudes from the end cover 243 of the roller and the end surface of the roller 20 , and cooperates with the corresponding position of the roller bracket 28 .

The edge of the roller end cover 243 is provided with a flange 2431 that engages with the edge of the end of the roller 20 to limit the position of the roller end cover 243 . An anti-rotation structure 2432 may be provided between the outside of the drum end cover 243 and the inner side of the drum 20. The anti-rotation structure 2432 includes grooves and protrusions that cooperate with each other. One of the grooves and protrusions is arranged on the outside of the drum end cover 243, and the other One is arranged on the inner side of the drum 20 and can prevent the drum end cover 243 from rotating relative to the drum 20 .

In order to ensure that the rotating shaft 25 can rotate smoothly relative to the pressing block 22 , a bearing 26 can be arranged between the rotating shaft 25 and the pressing block 22 . Specifically, a mounting groove is provided on the side of the pressing block 22 facing the rotating shaft 25, and one end of the rotating shaft 25 is inserted into the mounting groove, and the bearing 26 is arranged in the mounting groove, and the outer ring of the bearing 26 is fixedly connected with the pressing block 22, and the inner ring It is fixedly connected with the rotating shaft 25. One end of the connection pressing block 22 of the rotating shaft 25 can be processed with a shaft shoulder, and the bearing 26 is clamped at the shaft shoulder.

The outer end surface of the pressure block 22 may be provided with grooves and/or protrusions for circumscribing, and cooperate with the concave-convex part provided on the corresponding end surface of the roller bracket. The groove and/or protrusion should deviate from the center position of the pressure block 22, or be arranged in a non-circular shape.

In a specific embodiment of the present disclosure, referring to FIG. 4 , FIG. 5 , and FIG. 6 , the outer side of the pressure block 22 is provided with an anti-rotation portion 221 extending outward, and the inner wall of the drum cavity is provided with an anti-rotation portion that cooperates with the anti-rotation portion 221 . The groove 280 , the anti-rotation groove 280 can be set in a shape adapted to the anti-rotation part 221 . When the drum 20 is installed into the drum cavity, the anti-rotation part 221 fits into the anti-rotation groove 280 to prevent the pressure block 22 from following the rotation of the drum 20 .

In a specific embodiment of the present disclosure, the anti-rotation portion 221 and the anti-rotation groove 280 may be trapezoidal, rectangular, triangular, polygonal and other shapes well known to those skilled in the art. Through the cooperation of the anti-rotation part 221 and the anti-rotation groove 280 , not only can the drum 20 be supported on the drum bracket 28 , but also the rotation of the anti-rotation part 221 relative to the drum bracket 28 can be avoided.

In order to realize the installation and disassembly of the drum 20 , the anti-rotation groove 280 penetrates to the end surface of the drum bracket 28 . When assembling, one end of the roller 20 can be firstly loaded into the rotating part of the corresponding end of the roller bracket 28, and the other end is directly put the anti-rotation part 221 on the pressure block 22 into the anti-rotation groove 280. Of course, in order to ensure the seal between the drum 20 and the end face of the drum bracket 28, when the anti-rotation part 221 is installed, it needs to be moved to a predetermined distance in the direction of the drum 20, so that the elastic device 23 is in a pre-compressed state. After being installed in the anti-rotation groove 280 , under the action of the elastic device 23 , the anti-rotation part 221 is pushed against the side wall of the anti-rotation groove 280 . Finally, the anti-rotation portion 221 is restricted in the anti-rotation groove 280 by the roller cover plate 29 to prevent the anti-rotation portion 221 from coming out of the anti-rotation groove 280 .

The anti-rotation groove 280 may be disposed on the roller support 28 and corresponds to the anti-rotation portion 221 of the pressure block 22 , and the anti-rotation groove 280 radially extends out of the end of the roller support 28 . The drum cover 29 can close the anti-rotation groove 280 and limit the anti-rotation part 221 in the anti-rotation groove 280 . The drum cover 29 can be configured as a frame structure. The drum 20 can partially protrude from the middle of the drum cover plate 29, and stick to the ground for cleaning.

In one embodiment of the present disclosure, referring to FIG. 6 , a side wall portion 284 is provided in the drum cavity of the drum bracket 28, and the outer end surface of the pressure block 22 can be attached to the end surface of the side wall portion 284, and the elastic device Under the action of 23, the outer end surface of the pressure block 22 can always keep in contact with the end surface of the side wall part 284, which improves the sealing performance of the end surface between the drum 20 and the drum bracket 28. The position of the end face seal constitutes the first air part of the inlet of the air duct, thereby improving the suction capacity of the inlet of the first air duct.

The upper end of the side wall portion 284 (the opening end of the drum cavity) is provided with an avoidance groove, and the anti-rotation part 221 on the pressure block 22 can pass through the avoidance groove to cooperate with the anti-rotation groove 280 at the end position of the roller bracket 28 . The anti-rotation groove 280 can be provided, for example, at the position of the escape groove of the side wall portion 284 , which will not be described in detail here.

The roller cover 29 can be connected to the body 1 or the roller support 28 . The drum cover plate 29 adopts a detachable connection method, and the specific connection method includes but not limited to screw fixing, plugging, clamping and the like.

In a specific embodiment, the roller cover 29 is detachably connected to the roller support 28 . Referring to Fig. 5 and Fig. 7, a slider 291 is arranged on the roller cover 29, and the slider 291 is configured to be slidably fitted on the outside of the roller cover 29, and a locking member is also arranged on the rear side or back of the roller cover 29 292, the locking piece 292 cooperates with the sliding block 291, so that the user can drive the locking piece 292 located at the rear side or back of the roller cover 29 to move through the movement of the sliding block 291 on the outside of the roller cover 29.

In a specific embodiment of the present disclosure, the slider 291 can be guided and fitted in the corresponding guide groove provided on the roller cover 29, and is pre-pressed at the first position by an elastic device. When the slider 291 is driven to move to the second position , it is necessary to overcome the elastic force of the elastic device; after loosening, the slider 291 moves from the second position to the first position under the restoring force of the elastic device. The locking member 292 can cooperate with the sliding block 291 through grooves or other methods known to those skilled in the art, so that the locking member 292 can move synchronously with the sliding block 291 . An engaging portion 2920 may be provided on the locking member 292 , and the engaging portion 2920 may be arranged at, for example, an end position of the locking member 292 or any other position.

After the roller cover 29 is assembled on the roller support 28, the locking member 292 is located in the escape space 281 of the roller support 28, so that the user can drive the locking member 292 to move in the avoidance space 281 of the roller support 28 through the slider 291. The corresponding position of the roller support 28 is provided with a locking slot 282 for cooperating with the engaging portion 2920, so that when the slider 291 moves from the second position to the first position, the engaging portion 2920 of the locking member 292 can move to be in line with the engaging portion 2920. The locking slots 282 of the roller support 28 are fitted together to engage the roller cover 29 and the roller support 28 together. And under the action of the elastic device, the engaging portion 2920 and the locking slot 282 can be kept engaged together.

When the drum cover 29 needs to be removed, the driving slider 291 moves to the second position against the action of the elastic device, so that the slider 291 can drive the locking part 2920 of the locking part 292 to move to disengage from the locking slot 282 At this time, the drum cover 29 can be removed from the drum bracket 28 to replace or maintain the corresponding components, such as replacing or maintaining the drum 20 . There may be multiple locking parts 2920 on the locking piece 292, distributed at intervals along the extension direction of the roller cover 29; 28. Multiple locking structures can be provided in the extending direction of the roller cover 29 to ensure that the roller cover 29 can be firmly engaged with the roller bracket 28 and ensure the stability of the connection between the two.

When the cylinder 20 is installed, the briquetting block 22 is moved a certain distance towards the inner direction of the cylinder 20, so that the elastic device 23 produces a pre-pressure to the briquetting block 22, and then the cylinder 20 is packed into the drum bracket 28, and the briquetting block 22 of the cylinder is placed on the surface of the elastic device 23. The corresponding end faces of the roller support 28 are pressed under action, thereby realizing sealing. Install the roller cover 29 after the roller 20 is installed, assemble the roller cover 29 on the roller bracket 28, make the slider 291 of the roller cover 29 cooperate with the corresponding guide groove of the roller bracket 28, and then push the slider 291 from the first position Moving to the second position, the slider 291 drives the locking piece 292 on the roller cover 29 to move, so that the engaging portion 2920 of the locking piece 292 is matched with the locking groove 282 on the roller bracket 28 to lock the roller cover 29 and the roller support 28 snap together, and the roller 20 is limited between the roller support 28 and the roller cover 29 .

When disassembling the drum 20, move the slider 291 of the drum cover 29 from the second position to the first position, make the locking part 2920 of the locking member 292 disengage from the locking slot 282 of the drum bracket 28, and then remove the drum cover 29, take out the cylinder 20 on the cylinder support 28 again.

The body 1 is also provided with an auxiliary cleaning assembly 9. As shown in FIGS.

The auxiliary cleaning assembly 9 includes a spray head 91 facing the drum 20 and configured to spray water toward the drum 20 . The spray head 91 is connected with the clean water tank 5 and can spray the cleaning liquid in the clean water tank 5 on the surface of the drum 20 .

Specifically, the spray head 91 may be arranged behind the cleaning device and above the inlet of the first air duct 31 . One or more spray heads 91 may be provided, and when multiple spray heads 91 are provided, they may be arranged along the axial direction of the drum 20 . The spray head 91 may adopt an atomizing spray head 91, so that the cleaning liquid is sprayed more evenly, and the consumption speed of the cleaning liquid can be saved.

In one embodiment, referring to FIG. 9 and FIG. 10 , there are multiple spray heads 91 , and the multiple spray heads 91 are integrated on the water supply device 90 . The water supply device 90 may be a bar-shaped plate, parallel to the drum 20 . The water supply device 90 is also provided with a main water inlet 901 and a plurality of water supply channels 902, wherein the main water inlet 901 communicates with the fresh water tank 5, a plurality of nozzles 91 communicates with the main water inlet 901 through the water supply channel 902, and the clean water tank 5 passes through The main water inlet 901 provides cleaning liquid to a plurality of water supply channels 902 , and then supplies the cleaning liquid to the spray head 91 through the water supply channels 902 . There may be multiple water supply channels 902 for one-to-one correspondence with the spray heads 91, or they may be distributed in a tree shape.

In order to ensure that the plurality of nozzles 91 evenly spray the cleaning liquid to the cleaning device, the plurality of nozzles 91 are evenly distributed along the length direction of the water supply device 90, and the lengths and widths of the plurality of water supply channels 902 are the same, so that each nozzle 91 The water volume is the same as the water pressure. For example, in the embodiment shown in Fig. 9 and Fig. 10, there are eight nozzles 91, and the eight nozzles are evenly distributed on the water supply device 90. The position of the water outlet 901 extends to both sides, and the distance from the main water inlet 901 to each nozzle 91 is guaranteed to be the same by branching, so that the water pressure and water volume of each nozzle 91 are the same.

The water supply channel 902 of the water supply device 90 may be configured as a pipe structure, or may be configured as a groove structure. The water supply channel 902 of the groove structure can be hermetically attached to the surface of the body 1 to form a closed channel. The connection methods of the water supply device 90 and the body 1 include but not limited to welding, bonding, screw fixing and the like.

Referring to FIG. 8 , the auxiliary cleaning assembly 9 further includes a water leveling strip 92 , which is configured to closely adhere to the surface of the drum 20 , and evenly spread the cleaning solution on the surface of the drum 20 during the rotation of the drum 20 . Both ends of the water evening bar 92 extend along the axial direction of the drum 20 . With reference to the angle of view shown in Figure 5, the drum 20 rotates counterclockwise, and the water uniform strip 92 is arranged in front of the nozzle 91. During the rotation of the drum 20, the water uniform strip 92 spreads the cleaning solution on the surface of the drum 20 evenly, which can improve The cleaning effect of the drum 20.

The auxiliary cleaning assembly 9 further includes a wiper 93 configured to contact and cooperate with the surface of the drum 20 . The wiper 93 is arranged on the rear side of the drum 20 , above the inlet of the first air channel 31 , and below the spray head 91 . During the rotation of the drum 20 , the wiper blade 93 scrapes off the dirt, water stains, etc. adsorbed on the drum 20 . Dirt and water stains scraped off by the wiper blade 93 can fall into the inlet of the first air duct 31 below and be sucked away by the first air duct 31 . Both ends of the wiper 93 extend along the axial direction of the drum 20 and closely fit with the surface of the drum 20 to improve the sealing performance at the entrance of the first air duct 31 and reduce wind loss.

Thus, the drum 20 rotates to the position of the wiper 93 after cleaning the working surface, so that the wiper 93 can scrape off the sewage after the drum 20 has cleaned the working surface, and the scraped water can be scraped by the inlet of the first air duct 31. The sewage below is sucked away. In this case, the wiper blade 93 participates in delimiting the upper region of the inlet of the first air duct 31 . Referring to Fig. 8, the wiper 93 is located at the rear end of the drum 20, and is located at the upper end of the inlet of the first air duct 31. When the wiper 93 is in contact with the drum 20, the wiper 93, the drum 20, and the working A sealed area is enclosed between the surface and the lower area of the inlet of the first air passage 31, thereby ensuring the suction capacity of the inlet of the first air passage 31.

During the rotation of the drum 20, the nozzle 91 sprays the cleaning liquid on the surface of the drum 20, and the part of the drum 20 that is sprayed with the cleaning liquid rotates to the water leveling bar 92, spreads the cleaning liquid evenly through the water leveling bar 92, and then rotates to the bottom to work Wipe the working surface, the surface of the cylinder 20 wipes the working surface and then rotates to the wiper 93 for cleaning. The dirt and water stains scraped by the wiper 93 can be sucked away by the first air duct 31.

The water uniform strip 92 and the wiper blade 93 of the auxiliary cleaning assembly 9 have certain elasticity, can be elastically abutted on the surface of the cylinder 20, and can still adhere to the surface of the cylinder 20 after being worn by friction with the cylinder 20 for a long time. Even water bar 92, wiper blade 93 can adopt elastic material to make, as rubber, plastics or the like. The water uniform strip 92 and the wiper blade 93 can be set to be detachably connected with the body 1, and the connection method can be clamping, bonding, screw fixing, etc. When the water uniform strip 92 and the wiper blade 93 are used for a long time and are seriously worn , can be disassembled and replaced with new water-distributing strips 92 and wiper blades 93.

The bottom edge of the lower area of the entrance of the first air duct 31 can be provided with a sealing edge 94. When the machine body 1 walks along the working surface, the sealing edge 94 is attached to the working surface to further improve the sealing performance at the entrance of the first air duct 31. The sealing edge 94 can be made of elastic material, and can be elastically contacted with the working surface, and can still be attached to the working surface after wear and tear. The sealing edge 94 can be detachably connected to the edge of the first air duct 31 by clamping, bonding, screwing, etc., and can be replaced when the wear is serious.

The bottom of the drum 20 is attached to the working surface, the wiper 93 above the entrance of the first air duct 31 is attached to the drum 20, and the sealing edge 94 at the bottom edge of the entrance of the first air duct 31 is attached to the working surface, forming a closed structure , reducing the loss of wind in the air duct, thereby improving work efficiency.

After the drum 20 has been used for a period of time, the surface wears out and cannot be closely attached to the working surface, resulting in a large wind loss in the air duct, and the first air duct 31 cannot suck away the sewage scraped off by the wiper 93 .

In order to solve the above problem, in one embodiment, as shown in FIG. 8 , the body 1 can be configured to include a floating part 11-A and a fixed part 11-B, and the floating part 11-A and the fixed part 11-B are connected through a hinge shaft. are hinged together so that the floating part 11-A can rotate up and down relative to the fixed part 11-B around the hinge axis. The installation cavity, the roller 20, is provided on the floating part 11-A. The drum 20 is configured to keep in contact with the working surface under the action of gravity of itself and the floating part 11-A.

In another embodiment of the present disclosure, the drum assembly 2 is floatingly installed on the machine body 1 . As shown in Figures 11 and 12, the roller bracket 28 is provided with a hinge shaft 120, and the roller bracket 28 and the body 1 are hinged together through the hinge shaft 120, so that the roller bracket 28 can go up and down in the installation cavity 101 of the body 1 around the hinge shaft 120 move.

Referring to Fig. 11 and Fig. 12, a groove can be opened at the bottom of the body 1 at the edge of the installation cavity 101, and a support seat 18 cooperating with the hinge shaft 120 is arranged in the groove, and the support seat 18 is provided with an arc surface adapted to the hinge shaft 120 , the hinge shaft 120 can rotate relative to the support base 18 . Specifically, the support base 18 may include two arc surfaces, which can respectively cooperate with the two ends of the hinge shaft 120 . There can be multiple hinge shafts 120 on the roller bracket 28 , which are distributed at intervals along the extension direction of the drum bracket 28 .

A shaft gland 19 is also installed on the body 1, and the shaft gland 19 is covered on the groove where the support base 18 is located, and the hinge shaft 120 is limited in the groove, and the hinge shaft 120 is matched with the support base 18. The rotating shaft gland 19 is detachably connected to the body 1, and the connection method can be fixed by screws, plugged in, riveted and so on.

With such a structure, the drum assembly 2 composed of the drum bracket 28, the drum 20 assembled on the drum bracket 28, and the drum cover plate 29 can rotate relative to the body 1 as a whole, which makes the drum assembly 2 always under its own gravity. Allowing the cylinder 20 to contact and cooperate with the working surface improves the cleaning effect.

In one embodiment of the present disclosure, in order to limit the rotation angle of the roller assembly 2 , a limit buckle 283 is provided on the roller support 28 , and a limit buckle 1011 matching with the limit buckle 283 is provided on the body 1 . Referring to FIG. 11 , the limit card slot 1011 is set on the side opposite to the support seat 18 of the installation cavity 101 of the body 1 ; When assembling, firstly, the limit buckle 283 on the roller bracket 28 is inserted into the limit card slot 1011, then the hinge shaft 120 on the other side is loaded into the support seat 18, and finally the hinge shaft 120 is inserted into the support seat 18 through the rotating shaft cover 19. The hinge shaft 120 is limited on the support base 18 of the machine body 1 . One side of the roller bracket 28 is limited by the limit buckle 283 , and the other side is limited by the cooperation of the hinge shaft, the support seat and the rotating shaft gland 19 . This makes the amount of movement of the limit buckle 283 in the limit card slot 1011 limit the rotation range of the roller support 28 relative to the body 1 , so that the amount of movement of the roller assembly 2 can be limited within a certain range.

Of course, the limit buckle 283 can also be arranged on the machine body 1, and the limit clip groove 1011 can be arranged on the roller bracket 28, which can also realize the above functions, and will not be described in detail here.

The driving wheels 8 for supporting the body 1 are arranged at the bottom of the body 1 , and there are two driving wheels 8 distributed on opposite sides of the body 1 . The body 1 is also provided with a universal wheel 13, which is close to the drum 20 and can be supported on the ground together with the drive wheel 8 to keep the body 1 stable.

In one embodiment of the present disclosure, referring to FIG. 11 , the head of the body 1 is arranged in a rectangular structure, and a strike plate for detecting obstacles is arranged outside the front end of the body 1 , and the roller 20 is arranged at the bottom of the front end of the body 1 . Universal wheel 13 can be provided with at least two, is arranged on the body 1 and is positioned at the position between cylinder 20 and drive wheel 8, and is respectively arranged at the position close to cylinder 20 two ends, can pass through two universal wheels 13, two A driving wheel 8 firmly supports the machine body 1 on the working surface.

During the walking process of the body 1, the drum 20 can always be attached to the working surface, so as to avoid the drum 20 leaving the working surface due to the surface wear of the drum 20 or the uneven working surface, so as to ensure that the entrance of the first air duct 31 and the support of the working surface can be closed Space.

Water tank components

The water tank or water tank assembly of the self-moving cleaning robot includes a dirty water tank 4 and a fresh water tank 5, and a second air duct is formed in the water tank. Specifically, referring to FIG. 13 , the sewage tank 4 has a second air duct inlet 320 and a second air duct outlet 321 . The second air channel inlet 320 and the second air channel outlet 321 are respectively arranged on different positions of the water tank. Referring to FIG. The airflow and liquid entering the water tank from the second air duct inlet 320 can flow for a certain distance along the extension direction of the water tank, and during the flow, the liquid can gradually fall to the bottom of the water tank for storage under the action of its own gravity, and the gas Then flow out from the second air channel outlet 321 of the water tank, realizing gas-liquid separation.

The second air channel 32 is located between the second air channel inlet 320 and the second air channel outlet 321. The air ducts 33 are connected. The second air duct inlet 320 and the second air duct outlet 321 are all arranged at a higher position of the sewage tank 4. When the gas-carrying liquid enters the comparatively spacious inner cavity of the water tank through the second air duct inlet 320, the air flow velocity decreases and the gas carries the liquid. The capacity of the liquid decreases, so that the liquid can be separated from the gas and remain in the waste water tank 4 , and the gas can be discharged through the second air duct outlet 321 . In addition, the second air channel inlet 320 is set at a high position, which makes the air flow upwards in the inner cavity of the box, and under the action of gravity, the liquid will also be separated from the gas and remain in the waste water tank 4 .

It should be noted that the water level in the sewage tank 4 cannot be higher than the lowest point of the second air duct inlet 320 and the second air duct outlet 321, so as to prevent sewage from overflowing from the second air duct inlet 320 and the second air duct outlet 321, and , There should be a safe distance between the water level line in the waste water tank 4 and the outlet 321 of the second air duct, so as to prevent the sewage from being sucked into the fan assembly 7 by the airflow due to being too close to the outlet 321 of the second air duct. In order to maintain the minimum flow of air in the second air duct in the sewage tank 4 and ensure that the sewage enters the sewage tank 4 and is separated from the gas, the highest value of the water level line in the sewage tank 4 should be set and the water level should not exceed the maximum value. Therefore, a water level detection device can be provided on the sewage tank 4 to detect the water level, and the water level detection device can send a detection signal to the control unit of the self-moving cleaning robot.

The control unit can be connected with an alarm device. When the water level detection device detects that the water level in the sewage tank 4 is close to or reaches the highest value, the control unit controls the alarm device to send an alarm signal to remind the user. The alarm signal can be a warning light, a warning sound, etc., and the control unit can also control the fan assembly 7 to be closed, so as to prevent sewage from entering the fan assembly 7 and causing damage to the fan assembly 7.

Of course, the control unit can also control the self-mobile cleaning robot to enter the base station based on the electrical signal detected by the water level detection device, and extract the sewage from the sewage tank of the self-mobile cleaning robot into the base station.

The water tank can be arranged on the body 1 at a position behind the cleaning device. Referring to FIG. 16 , a water tank groove 15 is arranged above the body 1 , and the water tank groove 15 extends from a position adjacent to the cleaning device to the rear side of the body 1 , and the water tank is detachably installed in the water tank groove 15 . After the self-mobile cleaning robot works for a period of time, dust or other dirt is easy to deposit in the gap between the sewage tank 4 and the body 1, and the user can disassemble the water tank as a whole and clean it. The water tank and the water tank tank 15 can be engaged by a quick-release structure, including but not limited to buckles, slots and other quick-release mechanisms known to those skilled in the art.

Referring to FIG. 14 and FIG. 15 , batteries 16 can be arranged on both sides of the water tank tank 15 for supplying power to the body 1 . Specifically, battery installation frames 160 are respectively provided on both sides of the water tank tank 15 , and two batteries 16 are respectively installed on the battery installation frames 160 . The two batteries 16 can be connected in series, for example, the batteries 16 on both sides can be connected in series through the connection line 161, and the connection line 161 can be routed through the gap between the cleaning device and the water tank, or can be connected to any other requirements on the body 1. Routing is performed at the location required by the routing, and there is no limitation here.

In one embodiment of the present disclosure, the two driving wheels 8 can also be installed on the machine body 1 at the two sides of the tank tank 15 . Specifically, drive wheel mounts 81 are respectively provided at the positions on both sides of the water tank tank 15 on the body 1, and the open ends of the drive wheel mounts 81 face the bottom of the body 1, and the two battery mounts 160 can be respectively mounted on two The upper position of the drive wheel mount. The two driving wheels 8 are respectively installed in the driving wheel mounting seats 81 in various places, so that the body 1 is supported by the two driving wheels 8 and the body 1 is driven to walk. Wherein, referring to FIG. 15 , a driving motor 80 is also provided in the driving wheel mounting seat 81 , and the driving motor 80 is in transmission connection with the corresponding driving wheel 8 to drive the driving wheel 8 to rotate. Of course, the driving motor 80 and the driving wheel 8 can also be integrally installed in the driving wheel installation seat 81 in a modular form.

The sewage tank 4 and the clean water tank 5 of the present disclosure can be integrally processed and formed, and can also be formed by splicing multiple parts. In one embodiment, the waste water tank 4 is configured as a split structure, as shown in FIG. 16 , comprising an upper shell 401 , a middle shell 402 and a lower shell 403 that are snapped together in sequence. Wherein, the upper housing 401 forms the top surface of the sewage tank 4, the lower housing 403 forms the bottom surface of the sewage tank 4, and the middle housing 402 is arranged as a ring structure or a U-shaped hollow structure, and constitutes part of the side wall of the sewage tank 4, The connection methods of the three include but are not limited to bonding, welding, screw fixing, etc., and the joints are all equipped with sealing structures to prevent sewage leakage. The edge of the upper case 401 extends downwards and connects with the middle case 402 , and the second air channel inlet 320 is opened on the front side of the upper case 401 .

In one embodiment, the sewage tank 4 can be set to surround the fan assembly 7, and the rear end area of the second air channel 32 is evenly arranged around the air inlet of the fan assembly 7, so that the air inlet of the fan assembly 7 can The air is evenly fed from the surrounding directions, so as to avoid the situation that the local air velocity is too high, causing the air velocity in the waste water tank 4 to be too fast to fully separate the water and air.

Specifically, a fan accommodating chamber 41 may be provided on the lower casing 403 , and the opening end of the fan accommodating chamber 41 faces the bottom of the lower casing 403 . The fan housing chamber 41 passes through the hollow structure of the middle housing 402 and extends towards the upper housing 401 . The second air duct outlet 321 is arranged on the top of the fan housing chamber 41 and communicates with the fan housing chamber 41 . There is a gap between the top of the fan accommodation chamber 41 and the upper casing 401 , and the outlet 321 of the second air passage is the entrance of the third air passage 33 . The fan assembly 7 is installed in the fan accommodating chamber 41 , and the bottom of the fan accommodating chamber 41 is open, so that the fan assembly 7 can be loaded from the bottom of the fan accommodating chamber 41 . When the fan assembly 7 is in operation, the airflow sucked by it from the air duct system can be discharged downward from the bottom of the fan accommodation chamber 41 . The fan accommodation cavity 41 and the lower casing 403 may be integrally formed, such as integrally formed by injection molding; they may also be fixedly connected by welding, bonding, hot melting, etc., which is not limited in the present disclosure.

Referring to FIG. 16 , the fan housing chamber 41 is located on the side of the sewage tank 4 away from the second air channel inlet 320 , and the annular side wall of the fan housing chamber 41 and the corresponding side wall of the sewage tank 4 form a second channel 322 , which The second channel 322 is a part of the second air channel 32 . The area from the second air duct inlet 320 to the fan housing cavity 41 in the inner cavity of the sewage tank 4 is the first passage 323 of the second air duct 32 .

In one embodiment of the present disclosure, the second channel 322 may be an annular channel surrounding the circumferential direction of the fan housing chamber 41 , or may be an arc shape surrounding a part of the side wall of the fan housing chamber 41 . The shape and extension direction of the second channel 322 are related to the shape of the fan accommodation cavity 41 . For example, when the circumferential sidewall of the fan housing cavity 41 is rectangular, the second channel 322 surrounds or partially surrounds the rectangular sidewall. Referring to FIG. 25 , the second channel 322 is provided with two sections, which are respectively located on opposite sides of the fan accommodation cavity 41 and communicate with the first channel 323 respectively.

During operation, the air flow carries liquid from the second air channel inlet 320 into the first channel 323 of the second air channel. When flowing in the first channel 323 , due to the low velocity of the air flow, the liquid falls to the bottom of the waste water tank 4 under the action of its own gravity for storage. The air flows into the second channel 322 through the first channel 323 , flows upward evenly through the second channel 322 , and finally flows out from the second air channel outlet 321 located at the top of the fan accommodation cavity 41 . In addition, when the airflow in the second channel 322 rises, its liquid-carrying ability decreases, and the liquid falls into the bottom of the waste water tank 4 for storage under the action of its own gravity, which further improves the effect of gas-liquid separation.

The setting of the second channel 322 enables the air flow to flow evenly to the second air channel outlet 321 from the surrounding direction, thereby avoiding the excessively high local air velocity, causing the air flow to carry part of the liquid from the second air channel outlet 321 to flow like a fan assembly 7 questions. The second channel 322 is surrounded by a part of the side wall of the lower housing 403 , a part of the side wall of the middle housing 402 , a part of the side wall of the upper housing 401 and the side wall of the blower chamber 41 .

In one embodiment of the present disclosure, a water tank assembly is provided, and the water tank assembly includes the above-mentioned fresh water tank 5 , dirty water tank 4 and fan accommodation cavity 41 .

The fan accommodation chamber 41 is used for installing the fan assembly 7 , the opening of the fan accommodation chamber 41 faces the bottom of the water tank assembly, and the fan assembly can be loaded into the fan accommodation chamber 41 through the opening. The sewage tank 4 has an air duct inlet, and the top of the blower fan housing chamber 41 is provided with an air duct outlet communicating with the sewage tank 4. Specifically, the air duct inlet can be the second air duct inlet 320, and the air duct outlet can be the second air duct Exit 321. A second channel 322 is provided between the clean water tank 5 and the fan housing chamber 41 , so that the airflow entering the sewage tank from the inlet of the air channel can be discharged from the outlet of the air channel through the second channel 322 .

In one embodiment of the present disclosure, in order to improve the gas-liquid separation capability of the second air duct 32, a wind-shielding mechanism 42 is also provided in the sewage tank 4, as shown in Fig. 13 and Fig. 26 , the bottom of the wind-shielding mechanism 42 is low. on the top of the fan housing chamber 41; thereby preventing the water vapor in the first passage 323 from directly flowing out from the second air passage outlet 321, and part of the water vapor needs to bypass the bottom of the windshield mechanism 42 and enter the second passage 322 Among them, a part moves upwards and enters the second air channel outlet 321 at the top of the fan accommodation cavity 41 .

Specifically, the wind-shielding mechanism 42 can be arranged on the top of the waste water tank 4 , and can be located at any position between the second air channel inlet 320 and the fan accommodation chamber 41 . The airflow entering from the second air duct inlet 320 is hindered by the wind shielding mechanism 42 , and needs to bypass the bottom of the wind shielding mechanism 42 , and then flow to the second air duct outlet 321 at the top of the fan accommodation chamber 41 . The wind blocking mechanism 42 prolongs the flow path of the airflow in the second air channel 32 and changes the flow direction of the airflow, which is beneficial to fully separate the sewage from the gas in the waste water tank 4 .

Preferably, the windshield mechanism 42 can be arranged near the second air channel outlet 321 or adjacent to the position of the fan accommodation cavity 41, and the bottom of the windshield mechanism 42 extends downwards to be lower than the top of the fan accommodation chamber 41 and higher than the waste water tank 4, the highest value of the water level line, a gap for airflow to pass is formed between the windshield mechanism 42 and the side wall of the fan housing chamber 41. After the airflow in the waste water tank 4 bypasses the bottom of the windshield mechanism 42, it flows upward along the gap between the windshield mechanism 42 and the sidewall of the fan housing chamber 41, and then reaches the second air duct outlet 321. When the air flow in the waste water tank 4 bypasses the windshield mechanism 42 and flows upwards, the ability to carry water stains decreases, so that the water stains can be more fully separated from the gas.

The wind-shielding mechanism 42 can be arranged as a structure such as a plate or a strip, and is vertically fixedly connected to the top of the sewage tank 4. The connection methods between the wind-shielding mechanism 42 and the sewage tank 4 include but are not limited to integral molding, bonding, and plugging. etc.

The clean water tank 5 and the dirty water tank 4 can be installed independently, installed on the body 1 respectively, or can be installed together to improve the integration of the body 1 . The clean water tank 5 and the dirty water tank 4 may be integrally formed, or may be formed by splicing a plurality of parts, which is not limited in the present disclosure. The clean water tank 5 can be arranged on one side of the dirty water tank 4 , or can be arranged around the dirty water tank 4 in a partially surrounding manner. The position of the above clean water tank is just an example, and the present disclosure does not limit it.

In one embodiment of the present disclosure, as shown in FIG. 16 and FIG. 17 , the edge of the middle housing 402 of the waste water tank 4 is provided with a semi-open groove towards the upper housing 401 , and the bottom of the upper housing 401 is also provided with a corresponding groove. The groove at the bottom of the upper housing 401 and the groove of the middle housing 402 are snapped together to form a closed clean water tank 5 . The clean water tank 5 can be configured into a ring structure based on the shape of the middle casing 402, for example, it can be arranged around the edge of the dirty water tank. Of course, the clean water tank 5 can also be surrounded in a C-shape or a U-shape. For example, in the embodiment shown in Fig. 13 and Fig. 16, since the front end of the upper casing 401 needs to be provided with a second air duct inlet 320, the clean water tank 5 is arranged around the three side walls of the dirty water tank, which is approximately U-shaped or C-shaped. font.

Specifically referring to FIG. 16 and FIG. 17 , the middle part of the middle casing 402 is hollowed out, and its edge is provided with a first side wall 4020 on the outside and a second side wall 4021 on the inside. The first side wall 4020 and the second side wall 4021 are parallel and spaced apart, and form a groove with an open end with the bottom of the middle housing 402 . Based on a similar structure, the edge position of the upper case 401 is provided with a third side wall 4010 on the outside and a fourth side wall 4011 on the inside. The top encloses a groove that is open at one end. When assembling, the third side wall 4010 of the upper case 401 is docked with the first side wall 4020 of the middle case 402, and the fourth side wall 4011 of the upper case 401 is connected with the second side wall 4021 of the middle case 402. Butted together, so that the groove of the upper casing 401 and the groove of the middle casing 402 together form a sealed clean water tank 5 .

The clean water tank 5 can be in an annular structure, or in a C-shaped or U-shaped structure. For example, in the structure of Fig. 16 and Fig. 17, the middle casing 402 and the upper casing 401 are all in a rectangular structure, and the clean water tank 5 extends to the three sides of the middle casing 402 and the upper casing 401. This is because the upper casing A second air channel inlet 320 is provided on the front side wall of the body 401 .

Clear water tank 5 is connected with conveying pipeline, and water pump 54 is installed on the conveying pipeline, and the nozzle 91 of auxiliary cleaning assembly 9 is installed at the end, and conveying pipeline can extract the water or cleaning liquid in the clear water tank 5 by water pump 54 and deliver to nozzle 91, Then spray cleaning liquid or clear water to the cleaning device through the spray nozzle 91 .

In a specific embodiment, as shown in Fig. 14 and Fig. 18, a clean water supply port 501 can be provided on the clean water tank 5, and a clean water docking port 102 connected with the clean water supply port 501 can be provided on the body 1, when the water tank is assembled on the body 1 Finally, the clean water docking port 102 on the body 1 can be docked with the clean water supply port 501 on the water tank to communicate with the clean water tank 5 .

The clean water connection port 102 is connected with the delivery pipe 53 so as to deliver the water or cleaning liquid in the clean water tank to the position of the spray head 91 through the delivery pipe 53 . The clean water tank 5 can be provided with a clean water tank communication valve 531 connected to the clean water supply port 501. The clean water tank communication valve 531 has an elastic valve stem 532 for opening and closing the clean water tank communication valve 531. The elastic valve stem 532 is closed when not subjected to external force. Clean water tank communication valve 531. The body 1 is provided with an opening structure that cooperates with the elastic valve stem 532. When the clean water tank 5 is installed on the body 1, the delivery pipe 53 is connected to the connection valve 531 of the clean water tank, and the opening structure can lift the elastic valve stem 532 to open the clean water Tank communication valve 531. After the clean water tank 5 is disassembled from the body 1, the delivery pipe 53 is disconnected from the clean water tank communication valve 531, and the elastic valve stem 532 resets to close the clean water tank communication valve 531 to prevent the cleaning liquid in the clean water tank 5 from leaking.

As shown in FIG. 18 , a clean water suction pipe 530 can be set in the clean water tank 5 , one end of the clean water suction pipe 530 is connected with the clean water tank communication valve 531 , and the other end extends to the bottom of the clean water tank 5 . The clear water suction pipe 530 can communicate with the delivery pipe 53 through the clear water tank connecting valve 531 to absorb the cleaning solution at the bottom of the clear water tank 5 . According to the position of the clean water tank communication valve 531 or other structural requirements, the clean water suction pipe 530 can be set as a straight pipe or an elbow.

An anhydrous detection sensor 103 can also be provided on the body 1, and the anhydrous detection sensor 103 can be used to detect whether there is water passing through the delivery pipeline 53 to detect abnormalities. When an abnormality occurs, the anhydrous detection sensor 103 can send a detection signal to the control unit, and the control unit can send an alarm based on the detection signal.

Continuing to refer to FIG. 14 , both the anhydrous detection sensor 103 and the water pump 54 on the body 1 can be arranged on the body 1 below the waste water tank 4 . The first air duct outlet 310 is disposed on the machine body 1 between the anhydrous detection sensor 103 and the water pump 54 , and the first air duct outlet 310 is used to communicate with the second air duct inlet 320 .

17, the lower housing 403 includes a bottom wall 4031 and a side wall 4030, the side wall 4030 of the lower housing 403 is connected with the lower part of the first side wall 4020 of the middle housing 402, so that the upper housing 401 , The inner walls of the middle housing 402 and the lower housing 403 form the waste water tank 4 . That is, the side wall 4030 , the bottom wall 4031 of the lower case 403 , the bottom and the second side wall 4021 of the middle case 402 , the fourth side wall 4011 and the top of the upper case 401 jointly enclose the above-mentioned waste water tank 4 .

The fan accommodation chamber 41 and the lower housing 403 may be integrally formed, and the fan accommodation chamber 41 may extend from the bottom wall 4031 of the lower housing 403 toward the upper housing 401 to form a fan accommodation chamber 41 with an open lower end. The fan accommodating cavity 41 can also be regarded as an upwardly extending protrusion formed on the bottom wall 4031 of the lower casing 403 . In this structure, the sewage tank 4 is composed of the inner wall of the lower housing 403 (including the side wall 4030 and the bottom wall 4031 ), the enclosed side wall 410 and the top wall 411 of the fan housing chamber 41, and the second side wall of the middle housing 402. 4021 and the fourth side wall 4011 of the upper casing 401 and its top. Wherein, the enclosed side wall 410 of the fan accommodation cavity 41 is parallel to and spaced apart from the second side wall 4021 of the middle casing 402 and the fourth side wall 4011 of the upper casing 401, and encloses the second side wall of the second air duct 32. Channel 322.

Since the fan housing chamber 41 is arranged on the side away from the second air channel inlet 320 in the sewage tank 4, the area between the second air channel inlet 320 and the fan housing chamber 41 in the sewage tank 4 is the first part of the second air channel. One channel 323. That is, the second air passage can be divided into two parts as a whole, one part is the first passage 323 adjacent to the second air passage inlet 320 , and the second passage 322 adjacent to the second air passage outlet 321 . This makes the airflow entering the first channel 323 through the second air channel inlet 320 finally pass through the second channel 322 around the fan accommodation cavity 41 , and finally flow out from the second air channel outlet 321 at the top of the fan accommodation cavity 41 .

In another embodiment of the present disclosure, the dirty water tank 4 and the clean water tank 5 may also be of an integrated structure. That is, the dirty water tank 4 and the clean water tank 5 can be regarded as a whole water tank. The first side wall 4020, the third side wall 4010, and the side wall 4030 are the side walls of the water tank as a whole, the bottom wall 4031 of the lower housing 403 is the bottom wall of the water tank, and the top wall of the upper housing 401 is the top wall of the water tank. The top wall, the side wall and the bottom wall of the water tank enclose the inner chamber structure of the water tank.

Wherein, the fourth side wall 4011 of the upper housing 401, the second side wall 4021 and the bottom wall of the middle housing 402 are integrally the partition between the clean water tank 5 and the dirty water tank 4, and the partition divides the inner chamber of the water tank into clean water tanks. Tank 5 and sewage tank 4.

In one embodiment of the present disclosure, the clean water tank 5 is surrounded by the partition part, part of the side wall and part of the top wall of the water tank, and the rest of the inner cavity of the water tank is the dirty water tank 4 . Certainly, it is also possible that the clean water tank 5 is surrounded by the partition part, part of the side wall and part of the bottom wall 4031 of the water tank, and the remaining part of the inner cavity of the water tank is the dirty water tank 4 .

Wherein, the bottom wall 4031 of the water tank is provided with an upward protrusion away from the position of the second air channel inlet 320, forming a fan accommodation chamber 41 with an open lower end, and there is a gap between the top wall 411 of the fan accommodation chamber 41 and the top of the water tank. The outlet 321 of the second air duct is disposed on the top wall 411 of the fan accommodation cavity 41 . Wherein, the enclosed side wall 410 of the fan accommodation cavity 41 limits the shape of the sewage tank 4, and the above-mentioned second channel 322 is formed between the enclosed side wall 410 and the partition, and the second air channel 322 is formed in the sewage tank 4. The position from the side where the inlet 320 is located to the fan accommodation cavity 41 is the first channel 323 of the second air channel 32 .

As shown in FIG. 16 and FIG. 17 , the sewage tank 4 is provided with a drain port 43 through which the sewage in the sewage tank 4 can be discharged. The clean water tank 5 is provided with a water inlet 51 through which water or cleaning fluid can be replenished to the clean water tank 5 . Both the drain port 43 and the water inlet port 51 may be disposed on the upper case 401 . When returning to the base station from the mobile robot, the outfall 43 and the water inlet 51 can be connected with the sewage pipes and water injection pipes provided on the base station, and the clean water tank 5 is provided with cleaning fluid by the base station, and the sewage in the dirty water tank 4 is extracted.

Sewage suction pipe 430 can be set in the sewage tank 4, the sewage suction pipe 430 upper end corresponds to the drain 43, and the lower end extends to the bottom of the sewage tank to absorb the sewage at the bottom of the sewage tank. After the mobile robot returns to the base station, the sewage pipe of the base station extends from the outlet 43 to connect with the sewage suction pipe 430 to extract the sewage in the sewage tank 4 . According to the position of the drain port 43 or other structural requirements, the sewage suction pipe 430 can be set as a straight pipe or a curved pipe. The upper end of the sewage suction pipe 430 can be provided with a butt joint 4301, and the butt joint 4301 is used for connecting the sewage pipe. The butt joint 4301 can be made of materials with certain elasticity, such as rubber, plastic, etc., and the two ends of the butt joint 4301 can be respectively sealed and connected with the sewage suction pipe 430 and the sewage discharge pipe to ensure drainage efficiency.

In one embodiment of the present disclosure, as shown in FIG. 18 , a first movable valve body 431 may be provided in the drain port 43 of the sewage tank 4 . , the first movable valve body 431 can be pushed to open, so as to conduct the passage between the sewage pipe and the sewage tank 4 . When the sewage pipe is separated from the sewage tank, the first movable valve body 431 automatically resets to close the sewage water suction pipe to prevent sewage from leaking when shaking. The structure of the first movable valve body 431 can be a structure well known to those skilled in the art, and will not be described in detail here.

Correspondingly, the position of the water inlet 51 of the clean water tank 5 can also be provided with a corresponding structure for docking with the water injection pipe of the base station, such as the second movable valve body 511 . When the water injection pipe is docked with the second movable valve body 511, the second movable valve body 511 can be pushed to open to conduct the passage between the water injection pipe and the clean water tank 5, so that the fresh water tank 5 can be replenished through the base station. After the water injection pipe broke away, the second movable valve body 511 reset to close the water inlet 51 of the clean water tank 5, avoiding the leakage of water or cleaning fluid in the clean water tank 5. The second movable valve body 511 can adopt the same structure as the first movable valve body 431 , or can adopt other structures well known to those skilled in the art, which will not be described in detail here.

The cleaning fluid in the clean water tank 5 can also be used to dissipate heat to the heating elements on the body 1 . The heating element includes at least the chip of the control unit, which has heating elements such as resistors and diodes. When the temperature of the heating element is too high, the working efficiency of the chip will be affected. Specifically, as shown in FIG. 14 , the clean water tank 5 can be connected to the heat dissipation module 52 through a pipeline to provide lower-temperature cleaning liquid to the heat dissipation module 52, and the heat dissipation module 52 is set together with the heating element to water-cool the heating element. The heat dissipation module 52 may be a heat exchanger, which is in full contact with the surface of the heating element to take away the heat of the heating element. The cleaning liquid passing through the heat dissipation module 52 can reduce the temperature of the chip, and there is no need to separately install a heat dissipation device for heat dissipation, which improves the integration of the body 1 . Heating element can be arranged at the position near clean water tank 5 or cleaning device, to reduce the length of water pipe. In addition, the temperature of the cleaning liquid increases after passing through the heat dissipation module 52 , and when it is transported to the cleaning device, it can speed up the dissolution of stains on the working surface, thereby improving cleaning efficiency.

In one embodiment, the pipeline connected to the heat dissipation module 52 may be the delivery pipeline 53 through which the clean water tank 5 provides the cleaning solution to the cleaning device, and the water pump 54 provides the cleaning solution to the cleaning device and the heating unit through the delivery pipeline 53 at the same time, which can save costs. Improve the integration of body 1.

In another embodiment, the heat dissipation module 52 can be connected with the clean water tank 5 through a circulation pipeline, and a water pump is also arranged on the circulation pipeline, and the water pump pumps the cleaning liquid in the clean water tank 5 to the heat dissipation module 52 through the circulation pipeline. The heating element is water-cooled, and then sent back to the clean water tank 5 through the circulation pipeline. In this embodiment, the cooling module 52 of the circulation pipeline and the spray head 91 of the delivery pipeline 53 can work relatively independently without interfering with each other.

A dust collection device 6 may be provided in the sewage tank 4 , and the dust collection device 6 is configured to filter particulate matter in the water vapor entering the second air duct 32 . As shown in Figure 19, the sewage tank 4 is provided with an accommodation cavity for installing the dust collecting device 6, and a cover plate 44 assembled at the opening position of the accommodation cavity, the dust collecting device 6 can be disassembled by opening the cover plate 44, so as to collect Dust device 6 is cleaned. The dust collection device can be a dust collection box, a filter mesh bag, or other devices capable of filtering.

The dust collection device 6 is provided with an inlet and an outlet, and also has a filter screen structure for filtering solid dirt. The inlet of the dust collection device 6 communicates with the second air duct inlet 320, and the outlet communicates with the inside of the sewage tank 4. The air flow carries the liquid through the second air duct inlet 320. The second air duct inlet 320 first enters the dust collection device 6, and the solid dirt in the airflow is intercepted in the dust collection device 6 by the filter screen structure, and gas and sewage can enter the sewage tank 4 through the filter screen 62 structure. The dust collecting device 6 can be arranged in any shape and structure, as long as it can realize the function of filtering solid dirt.

In one embodiment, the dust collection device 6 is installed on the top of the waste water tank 4 and is close to the second air duct inlet 320. The dust collection device 6 includes a fixed bracket 61 and a filter screen 62 installed on the bracket. The fixed bracket 61 It is detachably connected in the sewage tank 4 , the inlet of the dust collecting device 6 is arranged on the fixed bracket 61 , and the filter screen 62 is used as the outlet of the dust collecting device 6 .

The dust collecting device 6 needs to be disassembled frequently for cleaning. In order to prevent the user from forgetting to install the dust collecting device 6 , a fool-proof mechanism 45 can be provided in the accommodation cavity of the sewage tank 4 . As shown in Figure 19, Figure 20, and Figure 21, the fool-proof mechanism 45 has a first position and a second position; after the dust collector 6 is disassembled, the fool-proof mechanism 45 moves to the first position higher than the mounting surface of the cover plate 44, preventing Installation of the cover plate 44: when the dust collecting device 6 is installed, the dust collecting device 6 pushes the fool-proof mechanism 45 to rotate to the second position lower than the mounting surface of the cover plate 44, and the cover plate 44 can be installed.

Specifically, the fool-proof mechanism 45 includes a cam 451 rotatably connected to the sewage tank 4, and a torsion spring 452 that preloads the cam 451 at the first position. The torsion spring 452 can be mounted on the axle of the cam 451 through a bracket. The cam 451 has a protruding portion 4511 protruding from its base circle. In the first position, the protruding portion 4511 is higher than the mounting surface of the cover plate 44 . The end of the protruding portion 4511 can be provided with a flat or arc-shaped surface, and the cam 451 cannot be driven to rotate when the cover plate 44 is installed, so that the installation cannot be performed.

The foolproof mechanism 45 also includes a pressure receiving portion 453 connected to the cam 451 , and the pressure receiving portion 453 is eccentrically arranged with respect to the axle of the cam 451 . The dust collecting device 6 is provided with a pressing portion 63 corresponding to the pressing portion 453 ; the pressing portion 63 is configured to cooperate with the pressing portion 453 to rotate the cam 451 from the first position to the second position. The pressing part 63 may be disposed at the bottom of the fixing bracket 61 .

The dust collector 6 is installed into the accommodating cavity vertically during installation, and the pressure applying part 63 can press down the pressure receiving part 453 of the fool-proof mechanism 45, thereby driving the cam 451 to rotate from the first position to the second position, The protruding portion 4511 of the cam 451 avoids the mounting surface of the cover plate 44 . After the dust collecting device 6 is removed, the cam 451 is reset to the first position driven by the torsion spring 452, and the protrusion 4511 rotates to the installation position of the cover plate 44, so that the cover plate 44 cannot be installed, thereby preventing the user from missing the installation of the dust collecting device 6.

In a specific embodiment, the pressing portion 63 of the fixing bracket 61 can be set as a rib plate extending downward, and the pressing portion 453 of the fool-proof mechanism 45 can be arranged obliquely. In the first position, the pressing portion 453 One end close to the fixed bracket 61 is tilted up, so that the rotation angle of the cam 451 can be increased. The protruding portion 4511 of the cam 451 may be configured in an arc-shaped structure to avoid damage to the cover plate 44 . In addition, there should be a groove for avoiding the cam 451 on the side of the pressing part 63 on the fixing bracket 61 , so as to prevent the fixing bracket 61 from interfering with the cam 451 when it is loaded into the sewage tank 4 .

Two fool-proof mechanisms 45 can be provided, and they are arranged on opposite sides of the dust collecting device 6, and both sides of the fixing bracket 61 are correspondingly provided with pressing parts 63, and when the dust collecting device 6 is installed, the two sides of the fixing bracket 61 The pressure applying part 63 simultaneously presses the pressure receiving part 453 corresponding to the foolproof mechanism 45 on both sides, and drives the protruding part 4511 of the cam 451 to avoid the installation position of the cover plate 44 .

After the sewage tank 4 is disassembled, in order to prevent the sewage from overflowing, a gate can be installed at the second air duct inlet 320 and the second air duct outlet 321 outlet, and the gate can close the entrance and exit of the second air duct after the sewage tank 4 is disassembled, thereby avoiding The inlet and outlet of the second air duct leak.

As shown in Figure 13, the second air duct entrance 320 is provided with a first gate 46, one end of the first gate 46 is elastically connected to the sewage tank 4, the other end is a free end, the first gate 46 is preloaded on the second The position of the air channel inlet 320 is to close the second air channel inlet 320 .

The first gate 46 can adopt its own elastic material, such as rubber, sheet metal, etc., to close the second air duct inlet 320 by its own elastic force, and can also be elastically connected to the waste water tank 4 by installing torsion springs or shrapnel and other components, and The first gate 46 is closed by means of the elastic force of the torsion spring or the spring, and the first gate 46 can open the second air channel inlet 320 under the action of an external force. The second air channel inlet 320 faces downward, corresponding to the upwardly disposed end of the first air channel 31 . The first gate 46 is arranged on the inner side of the second air channel inlet 320 , and can be arranged horizontally or obliquely, and its free end can be rotated toward the inside of the waste water tank 4 to open the inlet.

The body 1 is provided with a jacking portion 17, as shown in Figure 16, the jacking portion 17 is configured to lift the first gate 46 to open the second air duct inlet 320 when the waste water tank 4 is loaded into the body 1, and communicate with all Describe the first air duct 31 and the second air duct 32. Specifically, the jacking part 17 can be arranged in the end of the first air channel 31, and when the sewage tank 4 is installed in the machine body 1, the jacking part 17 can overcome the elastic force of the first gate 46 and push the first gate 46 upward. ; When the sewage tank 4 is disassembled, the first gate 46 leaves the jacking portion 17, and closes the second air duct inlet 320 under the action of elastic force to prevent sewage from leaking out.

The jacking portion 17 can be configured as a vertical plate, a column, etc., and its connection with the body 1 includes but not limited to integral molding, bonding, screw fixing, and the like. At least two jacking portions 17 can be provided, at least two jacking portions 17 are arranged at intervals, and the heights of the tops are equal, so that the first gate 46 can be jacked up at the same time. The end of the jacking portion 17 for jacking up the first gate 46 may be arranged in an arc-shaped structure, so as to avoid excessive concentration of pressure on the first gate 46 .

In order to improve the sealing effect, the first soft sealing rubber 460 can be arranged around the junction of the second air duct inlet 320 and the first air duct 31, as shown in FIG. The edge of the inlet 320 may also be arranged on the edge of the outlet of the first air duct 31, and the connection method may be a fixed connection such as bonding or clamping. The first soft sealing glue 460 has certain elasticity, and can seal the connection gap between the second air duct inlet 320 and the first air duct 31 to reduce wind loss.

In one embodiment, a groove is formed on the outer side of the edge of the second air channel inlet 320, and the first soft sealing rubber 460 is a ring structure, one side of which is embedded in the groove, and the other side is set as a flaring . After the waste water tank 4 is installed in the machine body 1 , the first soft sealing rubber 460 elastically abuts against the edge of the opening of the first air duct 31 , thereby sealing the gap between the second air duct inlet 320 and the first air duct 31 .

The second air duct outlet 321 is provided with a second gate 47, as shown in Figure 13, Figure 17, and Figure 24, the second gate 47 is configured to close the outlet under elastic action, and form a negative pressure effect on the fan assembly 7 Open the outlet to communicate with the second air channel 32 and the third air channel 33 .

Specifically, one end of the second gate 47 is elastically connected to the sewage tank 4 or the fan accommodation chamber 41 , and the other end is a free end. The second gate 47 can be made of self-elastic material, such as rubber, metal sheet, etc., and can also generate elastic force by installing components such as torsion springs or shrapnel. The second air duct outlet 321 faces downward, and the second gate 47 is arranged on the outside of the second air duct outlet 321. The negative pressure generated during the operation of the fan assembly 7 can overcome the elastic force of the second gate 47, so that the second gate 47 is downward. Move and open the second air duct outlet 321 . After the fan assembly 7 is closed, the second gate 47 closes the second air duct outlet 321 under the action of elastic force, so as to prevent sewage from leaking from the second air duct outlet 321 . The second air duct outlet 321 is arranged on the top of the fan housing cavity 41, and the top structure of the fan housing chamber 41 is relatively thin. Provide enough room to move. Or, the top wall of the fan accommodation chamber 41 is inclined, so that the second gate 47 can also be inclinedly arranged in the fan accommodation chamber 41 at the position of the second air duct outlet 321 .

In order to improve the sealing effect, the connection between the second air duct outlet 321 and the air inlet of the fan assembly 7 can be surrounded by a second sealing rubber 470, and the second sealing rubber 470 can be arranged on the edge of the second air duct outlet, for example, on the fan The location where the second air duct exits in the accommodation cavity 41 can also be provided on the fan assembly 7 . The second soft sealing rubber 470 has a certain elasticity, and can seal the gap between the second air duct outlet 321 and the air inlet of the fan assembly 7 to reduce wind loss.

Water tank fender structure

The water tank provided by the present disclosure can not only be used for storing liquid, but also can be used for storing sewage. Certainly, according to different application scenarios, the water tank may only include the clean water tank, or only the dirty water tank. Water tanks can be used in cleaning equipment, such as floor washing machines, sweeping robots, etc., to store liquids such as clean water, sewage, and detergents; they can also be used in industrial liquid-containing systems, such as steam-water separators, etc. Those skilled in the art can apply the water tank to suitable equipment as required.

The water tank includes a box body, the box body has an inner cavity, and an air channel is arranged in the inner cavity, and an air channel inlet and an air channel outlet are respectively formed at different positions of the box body. As shown in FIG. 25 , the water tank includes the above-mentioned dirty water tank 4 and clean water tank 5 . Wherein, the inner cavity of the casing can be the inner cavity of the waste water tank 4, and the air channel in the inner cavity can be the second air channel 32, and the air channel inlet and the air channel outlet are respectively the second air channel inlet 320 and the second air channel Exit 321.

After the water level in the sewage tank 4 rises to a certain level, under the negative pressure of the second air duct 32 , the liquid is pushed up toward the outlet of the second air duct 32 . In addition, when the water tank is used in equipment such as sweeping robots, if the equipment walks or the speed of movement changes, the liquid in the waste water tank 4 will shake. Push up to the second air channel outlet 321 under the action of inertia. When the height of the liquid at the outlet 321 of the second air passage is too high, the liquid is easily sucked away from the outlet 321 of the second air passage. In addition, a water level detection device is usually provided in the water tank, for example, a water level detection device for detecting that the water is full. When the water level is pushed up, the water level detection device is also easily triggered, so that the water level detection device sends a false full water signal.

For this, a water retaining part can be set in the waste water tank 4, as shown in Figure 25 and Figure 26, the water retaining part can be a water retaining plate 48 structure. The water baffle 48 is arranged on the inner wall of the box at a position adjacent to the second air channel outlet 321, which can block the pushed up water level and prevent the liquid from being drawn out of the water tank from the second air channel outlet 321. Moreover, the water baffle 48 is provided with a through hole, and the airflow in the second air duct 32 can pass through the through hole to flow to the second air duct outlet 321 , so as to prevent the water baffle 48 from affecting the flow of the airflow. The through holes on the water retaining plate 48 can be arranged in multiples and evenly distributed on the water retaining plate 48, so as to reduce the hindrance to the air flow.

As the water level in the sewage tank 4 rises, the space of the second air channel 32 gradually narrows. A preset water level line should be set in the sewage tank 4, and the preset water level line can be a scale line expressing full water in the sewage tank 4. A safe distance is left between the preset water level and the second air duct outlet 321 to prevent the water level from being too close to the second air duct outlet 321 . In one embodiment, the water baffle 48 can be set at the preset water level of the sewage tank 4 .

Since the second passage 322 of the second air passage 32 is relatively narrow and is close to the outlet 321 of the second air passage, under the action of negative pressure, the liquid in the second passage 322 is pushed up. In one embodiment, the water baffle 48 may be disposed in the second channel 322 to prevent the liquid in the second channel 322 from being pushed up.

The water baffle 48 is arranged horizontally, and can be arranged in a shape suitable for the second channel 322 . The outer side of the water baffle 48 is connected to the inner wall of the waste water tank 4, and the inner side is connected to the enclosed side wall 410 of the fan housing cavity 41. The connection methods include but are not limited to welding, buckle connection, bonding, integral injection molding and screw connection, etc. .

In one embodiment of the present disclosure, the water retaining part is configured to float on the water surface, for example, is configured to float on the sewage in the sewage tank 4 . When the sewage water level in the sewage tank 4 gradually increased, the water retaining portion also increased thereupon. The water retaining part can match the shape of the second channel 322 , especially the water retaining part can be limited in the second channel 322 so that it can only rise in the height direction with the increase of sewage.

In one embodiment of the present disclosure, the water retaining part may be made of a material that can float on the liquid surface, such as a foam material or a plastic material that can float in sewage.

In one embodiment of the present disclosure, the water retaining part can be made of flexible materials. When the sewage in the sewage tank 4 is pushed up, the water retaining part can have a certain deformation ability as the water surface rises, but the flexible water retaining part It can still suppress the extent of the water surface being pushed up, and to a certain extent, it can also prevent the water surface from being pushed up.

Water level detection device

In some embodiments of the present disclosure, as shown in FIG. 25 and FIG. 26 , a water level detection device 49 is also provided in the sewage tank 4, and the water level detection device 49 is used to detect the water level in the inner cavity of the water tank. When the water level detection device 49 detects that the water level reaches the preset water level line, the second air duct 32 can be closed or stop providing negative pressure to the second air duct 32, so as to prevent the liquid in the sewage tank 4 from being blown by the air flow in the second air duct 32. Take out from the second air duct outlet 321.

The water level detecting device 49 of the present disclosure may be a capacitive type, or other structures for detecting the water level through electrical conduction, and those skilled in the art may select according to needs.

In one embodiment of the present disclosure, the water level detection device 49 includes a first detection probe 491 and a second detection probe 492, and both the first detection probe 491 and the second detection probe 492 are conductors. The water level detection device 49 is configured to be triggered when the first detection probe 491 and the second detection probe 492 are connected by liquid, and send out a detection signal.

The first detection probe 491 and the second detection probe 492 can be arranged adjacently or at intervals in the inner cavity of the water tank, for example, can be arranged at the second air duct inlet 320, or at the second air duct outlet 321, Or be arranged in the middle of the inner cavity of the water tank. Due to the effect of the air flow in the second air duct 32, the liquid in the water tank fluctuates to a certain extent in the extending direction of the second air duct 32, and the liquid is pushed up toward the second air duct outlet 321, resulting in The water level is higher than the water level of the second air channel inlet 320 . In order to improve the accuracy of the measurement results, in a preferred embodiment, the first detection probe 491 and the second detection probe 492 may be respectively arranged at positions close to the middle in the extending direction of the second air duct 32 . Further, the first detection probe 491 and the second detection probe 492 can be respectively arranged on opposite sides of the extension direction of the second air duct 32, so that the distance between the two probes can be increased and the accuracy of the detection result can be improved. sex.

In one embodiment, the first detection probe 491 and the second detection probe 492 may be located between the water deflector 48 and the second air duct inlet 320 . The bottom ends of the first detection probe 491 and the second detection probe 492 are set at the preset water level. Specifically, the first detection probe 491 and the second detection probe 492 may be connected to the top of the water tank and extend downward.

In one embodiment, the side wall of the box body is provided with a receiving groove 490 that deviates from the air passage, and the receiving groove 490 can be arranged on the side wall of the sewage tank extending from the second air passage inlet to the second air passage outlet. , and adjacent to the communication area between the second channel 322 and the first channel 323 . The first detection probe 491 and/or the second detection probe 492 are disposed in the receiving groove 490 . The accommodating groove 490 can be configured as a groove-shaped structure or a tubular structure, and extends along the height direction of the side wall of the box body. The accommodating groove 490 communicates with the second air duct 32 , and the liquid in the water tank can enter the accommodating groove 490 .

In a specific embodiment, only one accommodating groove 490 is provided, and one of the first detection probe 491 and the second detection probe 492 is arranged in the accommodating groove 490, or the first detection probe 491 and the second detection probe 492 are all disposed in the receiving groove 490 . In another specific embodiment, two accommodating grooves 490 are provided, and the first detection probe 491 is disposed in one of the two accommodating grooves 490 , and the second detection probe 492 is disposed in the other.

In detail, the extension direction of the second air duct is defined as the X-axis direction, and the direction perpendicular to the X-axis is defined as the Y-axis direction. The receiving groove 490 extends toward the Y-axis direction and deviates from the second air duct. The accommodating groove 490 can be configured in a cylindrical shape, and the cross section is a C-shaped structure. Since the storage tank 490 deviates from the second air channel 32, the water level in the storage tank 490 is less affected by the air flow and is not easily pushed up, so the first detection probe 491 and/or the second detection probe 492 inside it The accuracy of the detection result is high.

Since the triggering of the water level signal requires both probes to be in contact with the liquid, it is only necessary to place one of the probes in the accommodation groove 490 . Of course, for those skilled in the art, both probes can also be arranged in the receiving grooves of the offset air duct. For example, a receiving groove is provided on the left and right sides of the inner wall of the box, and the first detecting probe 491 and the second detecting probe 492 are respectively arranged in the receiving groove.

The liquid stored in the inner cavity of the water tank is the sewage generated by the cleaning equipment during the cleaning work, and the sewage is mixed with solid impurities. In some embodiments, there is a gap between at least one of the first detection probe 491 and the second detection probe 492 and the side wall of the box. The inner wall of the water tank is in a wet state. If solid impurities are mixed in the liquid in the water tank, the solid impurities may be stuck between the first detection probe 491, the second detection probe 492 and the inner wall of the water tank. The first detection probe 491 and the second detection probe 492 can be conducted through the wet side wall of the water tank, resulting in inaccurate detection results. In this embodiment, there is a gap between at least one of the first detection probe 491 and the second detection probe 492 and the side wall of the tank, which can prevent at least one detection probe from being stuck between the inner wall of the water tank. Therefore, the conduction of the first detection probe 491 and the second detection probe 492 due to solid impurities is prevented.

The bottom ends of the first detection probe 491 and the second detection probe 492 may both be flush with the preset water level, or one of them may be flush with the preset water level, and the other may be lower than the preset water level. Since the first detection probe 491 and the second detection probe 492 are conducting when they contact the liquid in the water tank at the same time, the trigger position of the first detection probe 491 and the second detection probe 492 depends on the one with the higher bottom end. , when the height of the liquid reaches the first detection probe 491 and the second detection probe 492 , the relatively higher bottom end can be turned on and triggered.

Since the liquid water level in the tank is pushed up towards the outlet of the second air duct under the action of the air flow in the air duct, when the liquid water level at the positions where the first detection probe 491 and the second detection probe 492 are located is pushed up. In some embodiments, one of the bottom ends of the first detection probe 491 and the second detection probe 492 is not higher than the preset water level line, and the other bottom end is higher than the preset water level line, wherein the bottom end is not higher than One of the preset water levels can ensure contact with the liquid, and the bottom end of the other probe is higher than the preset water level, thereby eliminating the problem of triggering the preset water level when the liquid is pushed up by the water level. Only when the water level in the water tank reaches the preset water level, the pushed up water level can touch the probe under the action of airflow or when walking, thereby triggering the reminder signal of the preset water level.

The blower assembly can stop working based on the detection signal of the water level detection device of the water tank, preventing the water level of the sewage from entering the blower assembly from exceeding the preset water level line.

Floating and anti-water structure

An embodiment of the present disclosure provides a self-propelled floor scrubbing robot, including the body 1 of the self-propelled cleaning robot, the drum 20 and the wiper 93 described in the above embodiments. The machine body 1 has an installation cavity, and the drum 20 is rotatably connected in the installation cavity. The wiper blade 93 is connected to the machine body 1 and configured to contact the drum 20 to scrape off the liquid on the drum 20 . The liquid scraped off by the wiper 93 is the sewage after cleaning the working face. For the specific structure of the self-moving floor scrubbing robot, reference may be made to the self-moving cleaning robot in the above-mentioned embodiments, and the similarities will not be repeated here.

The difference between the self-moving scrubbing robot in this embodiment and the self-moving scrubbing robot in Embodiment 1 mainly lies in that the drum 20 and the wiper 93 are configured such that when an obstacle is encountered, the drum 20 and the wiper 93 There is relative movement between them, so that the drum 20 is separated from the wiper blade 93 .

This is because there may be obstacles such as steps and thresholds on the working surface such as the home ground. When the robot crosses these obstacles, the drum 20 is suspended or lifted, and the entrance of the first air duct 31 cannot form a closed space, resulting in relatively large wind loss. Large, the water stains scraped off by the wiper blade 93 from the drum 20 cannot be sucked away by the first air duct 31, and thus fall on the working surface.

When an obstacle is encountered, the wind force at the entrance of the first air duct 31 is insufficient, so that the drum 20 and the wiper blade 93 are relatively moved and disengaged, which can prevent the wiper blade 93 from scraping water stains from the drum 20, thereby preventing the wind on the working surface. left sewage on it.

In one embodiment, the drum 20 can be set to move relative to the body 1, and the wiper 93 is set so that the body 1 is relatively fixed. When an obstacle is encountered, the drum 20 moves away from the wiper 93, for example, in Embodiment 1 As described in , the drum assembly 2 is rotatably connected to the machine body 1. When an obstacle is encountered, the drum assembly 2 is configured to move away from the wiper blade 93 so that the wiper blade 93 leaves the drum 20 and no longer The sewage on the cylinder 20 is scraped off. In another embodiment, the drum 20 is set to be fixed relative to the machine body 1 , and the wiper 93 is set to be movable relative to the machine body 1 , and when an obstacle is encountered, the wiper 93 moves away from the drum 20 .

The motion of cylinder 20 or wiper blade 93 can be realized by drive mechanism, those skilled in the art can set drive mechanism based on prior art, such as motor, drive shaft, gear assembly, connecting rod etc., and motion mode can be rotation, swing, Linear motion and the like are not specifically limited to the driving mechanism in this embodiment.

In one embodiment provided by the present disclosure, as shown in FIG. 8 , the machine body 1 can be configured to include a floating part 11-A and a fixed part 11-B, and the floating part 11-A and the fixed part 11-B are hinged through a hinge shaft. together. The floating part 11-A can rotate up and down relative to the fixed part 11-B around the hinge axis. The installation chamber and the roller 20 are arranged on the floating part 11-A, and the wiper 93 is arranged on the fixed part 11-B; the roller 20 is configured to keep in contact with the working surface under the gravity of itself and the floating part 11-A. The floating part 11 -A is configured to rotate relative to the fixed part 11 -B when encountering an obstacle, so that the drum 20 is separated from the wiper blade 93 .

The floating part 11-A can be rotated in different ways in the following embodiments.

In one embodiment, the floating part 11-A is configured to rotate relative to the fixed part 11-B under the hindering force of the obstacle, for example, when the obstacle is a threshold, the roller 20 is lifted up when passing the threshold , thereby driving the floating part 11-A to rotate upward relative to the fixed part 11-B.

In another embodiment, a driving mechanism is provided between the floating part 11-A and the fixed part 11-B, and the driving mechanism is configured to drive the floating part 11-A to rotate relative to the fixed part 11-B.

In yet another embodiment, an elastic preloading device is provided between the floating part 11-A and the fixed part 11-B, and the floating part 11-A is configured to be preloaded on the working surface by the elastic preloading device.

In one embodiment, the wiper blade 93 may be movably connected to the machine body 1 , and further includes a driving mechanism configured to drive the wiper blade 93 to move away from the drum 20 . Specifically, the wiper blade 93 is movably connected to the body 1 through the matching structure of the gear and the rack, the wiper blade 93 is connected with the rack, the driving mechanism drives the gear to rotate, and the gear drives the rack to move, thus driving the wiper. Water board 93 sports.

In this embodiment, when the machine body 1 encounters an obstacle, the rotation speed of the drum 20 can also be reduced. After the rotation speed of the drum 20 is reduced, the wiper 93 can prevent the sewage on the drum 20 from being scraped off, thereby preventing the sewage from remaining on the working surface.

The machine body 1 further includes an identification device configured to identify an obstacle in front; the drive mechanism drives the wiper blade 93 away from the drum 20 in response to a signal that the identification device identifies an obstacle in front. The identification device may be a device such as a camera or a radar.

The self-moving scrubbing robot also includes a control unit, which can receive the signal sent by the identification device, and can send a control signal to the driving mechanism on the body 1 to control the operation of the driving mechanism.

The identification device can send the obtained detection signal of the obstacle in front to the control unit, and the control unit sends a control signal to the drive mechanism after receiving the detection signal, and after the drive mechanism receives the control signal, an occurrence between the drive roller 20 and the wiper blade 93 occurs. Relative movement, so that the drum 20 is separated from the wiper blade 93 .

In one embodiment, the control unit sends a control signal to the drive mechanism after receiving the detection signal of the obstacle in front obtained by the identification device; after the drive mechanism receives the control signal, relative motion occurs between the drive roller 20 and the wiper blade 93 , so that the drum 20 is disengaged from the wiper 93, thereby avoiding scraping the sewage. Wherein, the driving mechanism may drive the floating part 11 -A to move away from the wiper blade 93 , or the driving mechanism may drive the wiper blade 93 to move away from the drum 20 .

In one embodiment, after the control unit receives the detection signal of the obstacle ahead obtained by the recognition device, it controls the rotation speed of the drum 20 to decrease. Specifically, the control unit can control the speed of the drum 20 to drop to 0-150 rpm, so as to prevent the wiper 93 from scraping the sewage on the drum 20 .

In one embodiment of the present disclosure, referring to FIG. 27 , a drop sensor 14 is also provided. There may be two drop sensors 14, which are respectively arranged at the bottom of the machine body 1 and at the front end of the drum 20. The drop sensor 14 can be used to detect Whether there is a fall, for example, after moving to the step position, the drop sensor 14 can detect the existence of a fall ahead in time, then the robot should be controlled to stop at this time, or move backwards to avoid the robot from falling from the steps.

The present disclosure also provides a method for controlling a robot. The robot is the above-mentioned self-moving scrubbing robot, which includes an identification device and a control unit. The control method includes the following steps:

S1000, the control unit sends a control signal to the driving mechanism after receiving the detection signal of the obstacle ahead obtained by the identification device.

When the machine body 1 encounters an obstacle in front of the working surface, the obstacle can be a threshold, a step, etc., and the identification device can obtain the obstacle detection signal, and send the detection signal to the control unit; the control unit is based on the obstacle sent by the identification device Object detection signal, send control signal to the drive mechanism.

In step S1000, the control unit may control the speed of the drum to drop to 0-150 rpm after receiving the detection signal of the obstacle ahead obtained by the recognition device. In the case of a slower rotating speed of the drum, less sewage is scraped off by the wiper, or the sewage cannot be scraped off. At this time, the driving mechanism controlled by the control unit is the driving assembly connected to the drum.

S2000, after the drive mechanism receives the control signal, a relative movement occurs between the driving roller and the wiper blade, so that the roller is separated from the wiper blade.

The driving mechanism can drive the floating part 11-A of the body 1 to rotate relative to the fixed part 11-B, thereby separating the roller 20 on the floating part 11-A from the wiper blade 93 on the fixed part 11-B; It is also possible to directly drive the wiper blade 93 to move so that the wiper blade 93 leaves the drum 20 .

In step S2000, the driving mechanism drives the floating part to move away from the wiper blade; or, the driving mechanism drives the wiper blade to move away from the roller.

The present disclosure also provides a cleaning system, including a cleaning device and a base station. The cleaning device is provided with a cleaning device configured to clean a working surface. The cleaning equipment will produce sewage during the cleaning process, and the cleaning equipment can extract the sewage after cleaning the working surface to prevent the sewage from remaining on the working surface. The cleaning equipment can be a self-moving robot or a handheld device with a cleaning function, such as a hand-held cleaning machine, the self-moving cleaning robot described in the above embodiment, or other household or commercial cleaning equipment such as a vacuum cleaner with a wet mopping function . The cleaning equipment also includes an air duct system and a sewage tank, wherein the sewage tank is configured to contain the sewage after cleaning the working surface, the air duct system is connected with the sewage tank, and the air duct system is configured to clean the working surface with the cleaning device The final sewage is pumped into the waste water tank. After the cleaning equipment extracts sewage, water stains will remain inside, and it is difficult to clean it directly. If it is not dried in time, bacteria will grow inside the cleaning equipment and produce peculiar smell.

The base station can integrate charging, dust collection, drainage, water replenishment, drying and other functions, and can charge the self-mobile robot, remove dirt and sewage, replenish cleaning fluid, and dry. When the water level detection device detects that the water level of the sewage tank 4 reaches the highest value, the control unit can control the body 1 to return to the base station, and discharge the sewage in the sewage tank 4 to the base station.

The base station includes a base station body. The base station body has an accommodating chamber for accommodating cleaning equipment. The base station body is also provided with a drying air duct capable of blowing air drying air into the accommodating chamber. After the cleaning work is suspended or finished, the cleaning equipment enters into the accommodation chamber of the base station and is dried by the air-drying airflow. The air duct system of the cleaning equipment is configured to suck the air-drying airflow sent by the air-drying system, which can dry the remaining water stains inside the cleaning equipment through the air-drying airflow.

The accommodating cavity of the base station can be set at the top, middle or bottom of the base station body, and can be adaptively set according to the corresponding cleaning equipment. For example, in one embodiment of the present disclosure, the cleaning device is a handheld vacuum cleaner, and the user needs a handheld device for cleaning work, and the accommodating cavity can be set on the top of the base station body, so that the user can take and place the handheld vacuum cleaner from the top of the base station body. In another embodiment of the present disclosure, the cleaning equipment is the above-mentioned self-moving cleaning robot, which can walk on the ground by itself and clean the ground. Drive into the storage chamber, or walk through the slope to the storage chamber at a certain height.

Fig. 29 is a schematic diagram of the overall structure of the cleaning system in one embodiment. In the embodiment shown in Fig. 29, the cleaning device A of the cleaning system is the self-moving cleaning robot in the above embodiment, and the accommodation chamber 1211 is set at the bottom of the base station body 121 The opening of the accommodating cavity 1211 is disposed on the side or front of the base station body 121, and the cleaning device A can enter the accommodating cavity 1211 of the base station through the opening.

The bottom of the housing chamber 1211 shown in Figure 29 and Figure 30 is not flush with the ground, but has a certain height from the ground. At this time, a slope can be set at the opening of the housing chamber 1211, and the slope is determined by the opening of the housing chamber 1211. The location extends obliquely to the ground, which enables the cleaning device A to drive into the accommodating chamber 1211 along the slope on the ground, or leave the accommodating chamber 1211 along the slope.

Fig. 30 and Fig. 31 are structural schematic diagrams of the base station of the cleaning system in an embodiment. The air drying system 122 forms an air outlet 1221 in the accommodation chamber 1211 of the base station B, and the air drying system blows the air drying air into the accommodation chamber 1211 through the air outlet. The air outlet is configured to blow the air-dry airflow to the cleaning device of the cleaning device A located in the accommodating chamber 1211 to dry the cleaning device; when the air duct system of the cleaning device A is opened, the air-dry airflow blown out of the air outlet is sucked into In the air duct system, this can dry the air duct system of the cleaning device A and internal components such as the waste water tank.

In detail, the direction of the air outlet should be close to and towards the cleaning device, and the number of air outlets can be provided in multiples and distributed around the cleaning device to improve the stable drying efficiency of the cleaning device. The cleaning device may be, but not limited to, a rag, a roller, a cleaning brush, a scraper, etc. Other conventional cleaning devices all fall within the protection scope of the present disclosure. In the embodiment shown in FIG. 30 , there are three air outlets 1221 , and the three air outlets 1221 can be arranged in a transverse direction (extending direction of the cleaning device) and arranged at intervals, corresponding to the position of the cleaning device.

In one embodiment, referring to FIG. 30 , a groove 1212 is provided at the bottom of the housing chamber 1211 of the base station B, and the groove 1212 is used to cooperate with the cleaning device. After the cleaning device A enters the housing chamber 1211, at least part of the cleaning device can fit into the In the groove 1212, the positioning of the cleaning device is realized. The air outlet 1221 can be arranged on the side wall of the groove 1212, can face the cleaning device, and blow dry air to the cleaning device. Alternatively, it can be arranged on the side wall of the accommodating cavity 1211, as long as it can ensure that the air outlet 1221 of the base station B can face the cleaning device of the cleaning device A after the cleaning device A enters the base station B.

Since the groove 1212 is provided at the bottom of the accommodating chamber 1211, when the cleaning device A enters the accommodating chamber 1211 of the base station, the cleaning device can cooperate with the groove 1212 to position the cleaning device A and prevent the cleaning device A from being placed in the base station. B shakes or slips out of the accommodating chamber 1211.

In some embodiments of the present disclosure, as shown in FIG. 31 , the air drying system 122 includes an air drying duct 1222 , a base station fan 1223 and a heating device 1224 . Wherein, the drying air duct 1222 communicates with the air outlet 1221 , the base station fan 1223 is configured to form a negative pressure in the air drying duct, and the air drying air duct 1222 forms an airflow flowing toward the air outlet 1221 . The heating device 1224 may be arranged in the drying air duct 1222 , and provide heat source to the drying air duct 1222 to heat the airflow in the drying air duct 1222 . The airflow in the drying air duct 1222 is configured to be heated by the heating device 1224 to form a drying airflow, which is blown out from the air outlet 1221 to dry the cleaning equipment.

The drying air duct 1222 may be a pipe, or an air duct formed by a cavity opened in the base station body 121 , and the air outlet 1221 and the base station fan 1223 are respectively arranged at both ends of the air drying duct 1222 . In addition, the drying air duct 1222 may be formed with multiple branches to form multiple air outlets in the accommodating cavity 1211 . Alternatively, one air outlet 1221 is provided, and the ends of the multi-channel air-drying air ducts 1222 are connected to the same air outlet 1221 . The above-mentioned structural settings of the air-drying air duct 1222 and the air outlet 1221 are only examples, and are not intended to limit the present disclosure. Those skilled in the art can make settings according to actual structural settings or assembly requirements.

The base station fan 1223 may be, but not limited to, an axial flow fan, a centrifugal fan, etc., and may be fixedly installed on the base station body 121 . The heating device 1224 includes but is not limited to electric heating wires, heating sheets, heat exchange tubes, etc. The airflow flowing in the air duct passes through the heating device 1224 and then heats up to form an air-dried airflow supplied to the air outlet. The temperature of the air-dried airflow can be compared with the power of the heating device 1224 and wind speed. In addition, one or more heating devices 1224 may be provided, which will not be described in detail here.

Referring to Fig. 31 and Fig. 32, the base station B takes the opening direction of the accommodating chamber 1211 as the front side, the air-drying system 122 can be arranged on the rear side of the base station body 121, and the end of the air-drying duct 1222 extends from the rear side of the base station body 121 to the accommodating chamber In 1211 , communicate with the air outlet 1221 in the accommodating cavity 1211 , or form the above-mentioned air outlet 1221 in the accommodating cavity 1211 .

Clean water tanks can also be provided in the cleaning equipment A of the present disclosure, and the clean water tanks are used to store clean water, cleaning agents and other cleaning fluids. During the cleaning process of cleaning equipment A, the clean water tank can provide cleaning liquid to the cleaning device, improving the cleaning efficiency of the cleaning device. After the cleaning device wipes the ground, the cleaning liquid forms sewage. The air duct system of cleaning equipment A is close to cleaning equipment A and can suck sewage into the waste water tank of cleaning equipment A.

In some embodiments, referring to FIG. 32 , the base station B is provided with a waterway assembly 123, through which the sewage from the sewage tank of the cleaning equipment A can be pumped into the base station B, and the clean water tank of the cleaning equipment A can be supplemented with cleaning liquid . When the cleaning device A enters the receiving cavity 1211 of the base station B, the waterway component 123 of the base station B can extract the sewage in the sewage tank through the outlet of the cleaning device A, and replenish the clean water tank through the water inlet of the cleaning device A with cleaning liquid.

In a specific implementation manner, referring to FIG. 33 , a sewage bucket 124 and a clean water bucket 125 may be set in the base station B, wherein the sewage bucket 124 and the clean water bucket 125 are connected to the waterway assembly 123 . In addition, the base station B is also equipped with a power device, which can be a water pump or a motor capable of providing negative pressure. By providing negative pressure to the waterway assembly 123, the sewage in the sewage tank can be pumped to pump cleaning liquid to the clean water tank.

For example, in a specific embodiment of the present disclosure, a vacuum negative pressure port can also be provided on the sewage tank 124, and the vacuum negative pressure port can be connected to the sewage tank 124 and the waterway assembly 123 through a pipeline. When the waterway assembly 123 and the cleaning equipment A When the sewage tank is connected, a negative pressure can be formed in the sewage tank 124 at the vacuum negative pressure port by the motor to extract the sewage stored in the sewage tank of the cleaning equipment A, so that the sewage can enter the sewage tank 124 smoothly.

In order for the cleaning device A to enter the accommodation chamber 1211 of the base station B smoothly, in some embodiments, referring to Fig. 29 and Fig. 30, the opening end of the accommodation chamber 1211 has a flaring structure 1213, and the left and right sides of the opening end of the accommodation chamber 1211 are facing outwards. The inclination, for example, can be set at an inclination angle greater than 5°, so that the cleaning equipment A can be guided, so that the cleaning equipment A can smoothly enter the accommodating cavity 1211 .

In some other embodiments, guide wheels 1214 may be provided on the inner walls of the opposite sides of the accommodating chamber 1211, and the rotation axis of the guide wheels 1214 is perpendicular to the movement direction of the cleaning device A entering the accommodating chamber 1211. When the cleaning device A enters the accommodating chamber At 1211, the side wall and the guide wheel 1214 roll and fit together. The guide wheel 1214 can guide the cleaning equipment A, and can also reduce the frictional resistance between it and the cleaning equipment A.

In addition, a positioning structure may also be provided in the accommodating cavity 1211 to limit the position of the cleaning device A. Referring to FIG. The positioning structure can cooperate with part of the cleaning device A, such as the corners of the cleaning device A, the universal wheels or driving wheels of the cleaning device for walking, and the like. Positioning structures include but are not limited to structures such as slots, steps, and bumps.

In one embodiment, as shown in FIG. 30 , the positioning structure is a positioning groove 1215, and there may be two positioning grooves 1215, corresponding to the number of driving wheels of the cleaning device A respectively. The positioning groove 1215 can be set at the bottom of the receiving chamber 1211. When the cleaning device A enters the receiving chamber 1211, the driving wheel at the bottom can fit into the positioning groove 1215 to position the cleaning device A so that the waterway assembly 123 can be accurately Align the drain and water inlet of cleaning device A.

The overall shape of the cleaning device A can be set to be circular, rectangular, triangular, etc., which is not limited in the present disclosure. When the cleaning device A enters the accommodating chamber 1211, it can enter by moving forward or backward.

In a specific embodiment of the present disclosure, referring to FIG. 29 , based on the forward direction of the cleaning device A, the cleaning device A is in the shape of a D as a whole, which includes a rectangular structure at the front end and a curved structure at the rear end. The cleaning device A enters into the accommodation chamber 1211 of the base station B in a forward manner, that is, the rectangular structure at the front end enters the accommodation chamber first, which is different from the traditional backward manner in which the curved surface first enters the accommodation chamber. The flaring structure provided in the present disclosure and the guide wheel 1214 provided on the side wall are beneficial for the cleaning device A to advance its rectangular structure into the accommodating cavity first.

Usually, the front end of the self-moving cleaning robot is equipped with a bumper sensor structure. When the self-moving cleaning robot hits an obstacle, the bumper sensor is triggered, which can control the self-moving cleaning robot to retreat to avoid the obstacle in front thing. After the mobile cleaning robot enters the station in a forward manner, it is necessary to turn off or block the signal of the collision sensor.

For example, in one embodiment of the present disclosure, the charging contacts of the self-moving cleaning robot are set on the striker structure. Contact butt. At this time, the signal of the collision plate sensor should be turned off to avoid misoperation such as retreating from the mobile cleaning robot.

As mentioned above, when the cleaning device A enters the accommodation chamber of the base station B, the cleaning device A can be charged, the sewage stored in the cleaning device A can be pumped out, the clean water tank can be filled, and the cleaning device A can be charged. The cleaning device performs cleaning and other operations.

To this end, the present disclosure also provides a cleaning method implemented by the above-mentioned cleaning system, referring to FIG. 34 and FIG. 35 , including the following steps:

Step S1000: The cleaning equipment enters the accommodation chamber of the base station to clean the cleaning device.

When the cleaning equipment is finished and enters the accommodation cavity of the base station, corresponding operations can be performed according to actual needs. For example, when the cleaning equipment is severely depleted, the cleaning equipment can be charged first, and then the cleaning work can be performed.

In one embodiment of the present disclosure, before cleaning the cleaning device, the sewage from the sewage tank of the cleaning equipment can be preferably extracted into the sewage tank of the base station according to the current actual situation, and the clean water tank of the cleaning equipment can be cleaned by the clean water tank of the base station. Hydrate.

For example, when there is a lot of sewage in the sewage tank of the cleaning equipment and reaches the design fullness, the sewage from the cleaning equipment should be pumped out through the sewage pipe installed on the base station first. When there is not much water in the clean water tank of the cleaning equipment, the clean water tank of the cleaning equipment should be supplemented with water through the water injection pipe provided on the base station.

It can also be that, before the cleaning equipment enters the base station for cleaning, regardless of the current state of the clean water tank and the sewage tank of the cleaning equipment, the sewage in the sewage tank is first extracted to replenish the clean water tank, which is beneficial to the subsequent cleaning of the cleaning device. Clean up.

When the cleaning mode is turned on, water is supplied to the cleaning device of the cleaning device, and the cleaning device is turned on to clean the cleaning device. Wherein, water can be supplied to the cleaning device through the clean water tank of the cleaning device itself, so as to clean the cleaning device. It is also possible to supply water to the cleaning device through the clean water bucket of the base station, so as to clean the cleaning device. Alternatively, the two supply water to the cleaning device at the same time, and the cleaning device can complete its own cleaning work during its own rotation.

In one embodiment of the present disclosure, during the cleaning process of the cleaning device, the main fan of the cleaning device is not turned on, that is, the air duct system of the cleaning device does not work, so that the water supplied to the cleaning device will drop to the base station through the cleaning device In the groove of the groove, part of the cleaning device can be immersed in the water of the groove.

For example, when the cleaning equipment is the self-moving cleaning robot of the present disclosure, the cleaning device can scrape off the water on the cleaning device through the wiper blade during the rotation process, and the scraped water will fall to the cleaning device that cooperates with the cleaning device. in the groove. When a certain amount of water is deposited in the groove, the cleaning device is immersed in water. When the cleaning device continues to rotate, the cleaning device can be cleaned by the water in the groove.

Step S2000: The cleaning device pumps the cleaned sewage into its sewage tank through its air duct system.

After the cleaning device is cleaned, the main fan of the cleaning device is turned on, and the cleaned sewage is pumped into the sewage tank through the air duct system of the cleaning device for storage. When the cleaning equipment enters the base station, it can form a seal with the bottom of the base station accommodation cavity through the soft glue at the inlet of the air duct system, so that the water in the cleaning device and the groove can be sucked into the sewage tank through the air duct system.

When the cleaning equipment is the self-moving cleaning robot mentioned above in the present disclosure, the water scraped off by the wiper of the cleaning device can be directly sucked into the waste water tank by the air duct system. After wiping, the cleaning device can absorb the water in the groove, continue to scrape off the absorbed water on the cleaning device through the wiper, and be sucked into the sewage tank by the air duct system, so that the cleaning device and The water in the groove is all pumped into the recovery tank.

In an embodiment of the present disclosure, step S1000 and step S2000 may be repeated multiple times, so as to clean the cleaning device repeatedly. The number of specific cleaning times can be set according to actual needs, for example, step S1000 and step S2000 can be performed twice.

Step S3000: the air drying system of the base station sends air drying air to the cleaning device; the cleaning equipment draws air drying air through its air duct system to dry the cleaning equipment.

Turn on the air-drying system of the base station, and the fan of the base station will blow the heated air-dried airflow to the cleaning device through the air-drying air duct to dry the cleaning device. In addition, the main fan of the cleaning equipment is turned on at this time, and the air-dry airflow blown out of the air-drying air duct can be sucked in through its air duct system, so as to dry the air duct system of the cleaning equipment.

Before the fan of the base station works or when it starts to work, the main fan of the cleaning equipment works at the first power, for example, it can work at full power for 1-3 minutes, so that the moisture contained in the solid waste in the dust collection device can be sucked out to realize solid waste removal. Further separation of garbage and moisture. After this step is completed, the main fan of the cleaning device can work under the second power, for example, it can enter a low power mode, and the air-drying airflow blown out by the base station can be sucked into the entire air duct to gradually dry the air duct.

In one embodiment of the present disclosure, before step S3000, a step of pumping the sewage in the sewage tank of the cleaning equipment to the sewage tank of the base station is also included. This makes it possible to also air dry the waste water tank, avoiding the build-up of bacteria and odors in the waste water tank.

When the cleaning equipment is the self-moving cleaning robot mentioned above in the present disclosure, the air-dry airflow inhaled by the inlet of the first air duct can flow through the first air duct, the sewage tank, and the third air duct to dry the entire air duct system.

After the above cleaning and drying are completed, the cleaning equipment can be put into the charging mode, and the cleaning equipment can be charged through the base station.

Application Scenario 1

The control system of the self-mobile scrubbing robot starts to work after receiving the work order. It walks on the ground through the driving wheels, and the roller rolls against the ground to clean the dust and water stains on the ground. The nozzle sprays the cleaning liquid in the clean water tank to the roller. On the upper part, the even water strip spreads the cleaning liquid on the roller evenly to improve the cleaning effect of the roller. After the roller wipes the ground, it turns to the wiper. The water stains and dirt on the surface of the roller are scraped off by the wiper and fall to the In the entrance of the first air passage, the edge of the entrance of the first air passage, the roller, the wiper and the ground form a closed space, and the fan assembly forms a negative pressure in the air passage, so that the wiped water will pass through the entrance of the first air passage. The water stains and dirt scraped by the board are directly sucked into the sewage tank, and the sewage will not fall to the ground, let alone accumulate on the working surface, which greatly improves the cleaning and suction effect.

The solid particles inhaled in the air duct enter the sewage tank and are filtered by the dust collection device, and are stored in the dust collection device. The gas and liquid inhaled by the air channel are separated in the sewage tank, and the liquid is stored at the bottom of the sewage tank, and the gas enters the second channel of the second air channel, and flows uniformly from the surrounding directions to the second air channel in the second channel. To prevent the local airflow from being too fast and causing the airflow to suck out the liquid in the waste water tank. The air flow enters the third air channel from the outlet of the second air channel, and the fan assembly blows the gas in the third air channel from the bottom of the body to the ground, thereby accelerating the evaporation speed of the residual water stains on the ground.

Application Scenario 2

The roller assembly of the self-mobile robot is installed in the installation cavity at the bottom of the body, wherein the roller of the roller assembly is detachably installed on the roller bracket.

When installing the drum, put the drum into the drum bracket, and then restrict the drum to the drum bracket by the drum cover. When installing the roller cover, first push the slider to move from the first position to the second position, and at this time assemble the roller cover on the roller support. After the slider is released, the slider returns from the second position to the first position under the force of the elastic device, and the slider drives the locking part on the roller cover to move, so that the locking part of the locking part can be connected with the locking part on the roller bracket. The locking slots fit together to fasten the roller cover and the roller support together, and the roller is limited between the roller support and the roller cover.

When disassembling the drum, push the slide block to move from the first position to the second position, so that the engaging portion of the locking piece is disengaged from the locking slot of the drum bracket, and then the drum cover is removed, so that the drum on the drum bracket can be taken out.

Application Scenario 3

Since the mobile robot walks on the ground, the drum rotates and rubs against the ground for cleaning. The wiper can scrape off the dirt and sewage on the drum. After a period of use, the surface of the drum is worn out. The drum assembly is rotatably connected to the body through a hinge shaft, so that the drum assembly keeps the drum in contact with the ground under the action of gravity, that is, the drum assembly is floating and can rotate up and down relative to the body.

During the long-term working process of the self-mobile robot, when the rollers are worn out or the ground is uneven, the rollers can always roll on the ground under the action of gravity, thereby avoiding the gap between the rollers and the ground. The first air duct entrance and the ground are always sealed to avoid wind loss in the air duct, resulting in the first air duct being unable to suck away the sewage scraped off by the wiper. In addition, the contact between the roller and the ground is always maintained, which can improve the cleaning effect of the roller on the floor, and even if the roller is worn out, its cleaning ability on the floor can be maintained.

Application Scenario 4

When the sewage tank is installed into the machine body, the outlet of the first air duct on the machine body is connected with the entrance of the second air duct on the sewage tank, and the jacking part on the body can push open the first gate at the entrance of the second air duct, so that the first air duct The inlet of the third air duct on the machine body is connected with the outlet of the second air duct on the sewage tank. When the fan assembly on the body is turned on, a negative pressure is formed in the third air duct, and the second air duct exits. The second gate can be opened under the action of negative pressure, so that the second air passage and the third air passage communicate, so that the first air passage, the second air passage and the third air passage communicate with each other, and air flow is formed in the air passage. After the waste water tank is disassembled from the machine body, the first gate and the second gate can be automatically closed to prevent the internal liquid from overflowing through the second air channel inlet or the second air channel outlet.

Application Scenario 5

The dust collection device in the waste water tank needs to be cleaned regularly. When disassembling, first open the cover plate on the top of the waste water tank, then take out the dust collection device in the chamber, clean up the garbage in the dust collection device or replace it with a new dust collection device. After the dust collecting device is taken out, under the action of the torsion spring, the cam of the fool-proof mechanism in the housing cavity rotates from the second position to the first position, thereby occupying the installation position of the cover plate, and the cover plate cannot be installed at this time. This can prevent the user from forgetting to install the dust collection device and install the cover directly, causing the solid particles in the second air duct to be unable to be collected. The suction effect of the road is greatly reduced.

Only when the dust collecting device is installed, the pressure applying part of the dust collecting device can drive the pressure receiving part of the fool-proof mechanism to move, so that the cam rotates from the first position to the second position, avoiding the installation space of the cover plate. Installing the cover plate at the corresponding position ensures the collection of solid particles in the air duct and also ensures the sealing of the second air duct.

Application Scenario 6

When the self-mobile robot is working, it walks on the ground facing forward. The ground is cleaned by the cleaning device. The fan of the self-mobile robot provides negative pressure to the air duct. The sewage generated after cleaning the ground is sucked into the first air duct by the air flow, and then passed through the second air duct. The channel inlet enters the inner cavity of the water tank. Sewage and air flow are separated in the water tank, the sewage remains in the inner cavity of the water tank, and the air flow is discharged from the outlet of the second air duct. Under the action of the air flow, the sewage tends to be pushed up toward the outlet of the second air duct; in addition, the inlet of the second air duct is close to the front end of the water tank, and the outlet of the second air duct is close to the rear end of the water tank. Under certain circumstances, the sewage will also tend to be pushed up to the outlet of the second air duct under the action of inertia, causing the sewage to be easily sucked into the outlet of the second air duct by the air flow; or causing the water level detection device to be triggered by mistake.

The water baffle in the water tank can prevent the sewage from being pushed up, and the airflow in the second air channel can flow to the outlet of the second air channel through the through hole of the water baffle, thereby preventing the sewage around the second air channel from being sucked into the second air channel by the airflow. channel outlet; at the same time, it can also avoid false triggering of the water level detection device.

Application Scenario 7

The water tank is used to store the sewage generated by the cleaning equipment. The inner cavity of the water tank sucks the sewage carrying the liquid through the inlet of the second air channel. The sewage and the air flow are separated in the water tank, and the sewage remains in the inner cavity of the water tank. Exit discharge. Sewage is stored in the inner cavity of the water tank, and the water level detection device arranged in the inner cavity of the water tank can detect the height of the water level. When the sewage water level reaches the preset water level line, the first detection probe and the second detection probe of the water level detection device can pass through the sewage to generate a detection signal, and the fan assembly stops working based on the detection signal to prevent the water level of the sewage from being too high and is sucked into the fan assembly.

Among the first detection probe and the second detection probe, the bottom of one detection probe is higher than the preset water level, and the other end is lower than or equal to the preset water level. In this way, only when the water level in the waste water tank reaches the preset water level, the water level pushed up can touch the detection probe whose bottom is higher than the preset water level under the action of the robot walking or the air duct, so that the two A detection probe sends out an electrical signal that the water is full.

Application Scenario 8

During the cleaning process of the self-moving floor scrubbing robot on the ground, the recognition device at the front of the body detects obstacles on the ground. When an obstacle is detected on the ground, the recognition device sends a detection signal to the control system. Based on the control signal, the control system can control the wiper blade to leave the drum and stop scraping the sewage on the drum, so as to avoid water stains and dirt remaining on the ground at the entrance of the first air duct when the drum overcomes obstacles.

In another application scenario, when an obstacle is detected on the ground, the control system can control the drum to reduce the speed based on the control signal, so as to greatly reduce the amount of sewage scraped by the wiper from the drum, which can also avoid water stains and dirt remains on the ground.

Application Scenario 9

After the cleaning equipment completes the cleaning work and enters the accommodation cavity of the base station, the sewage discharge pipe and water injection pipe on the base station are respectively connected to the drain port and water inlet on the cleaning equipment to extract the sewage in the sewage tank of the cleaning equipment to the sewage tank of the base station The clean water tank of the cleaning equipment is replenished through the clean water bucket of the base station.

After that, water can be supplied to the cleaning device of the cleaning device through the clean water tank of the cleaning device or/and the clean water bucket of the base station to clean the cleaning device. After the cleaning is completed, the main fan of the cleaning equipment is turned on, and the cleaned sewage is pumped into the sewage tank, and the sewage in the sewage tank is pumped again into the sewage tank of the base station for storage.

Turn on the fan of the base station to make the air-drying air duct of the base station blow out the air-drying airflow to the cleaning device of the cleaning equipment, and the air-drying airflow system of the cleaning equipment will inhale the air-drying airflow blown out, thereby drying the air duct system and sewage tank of the cleaning equipment.

Having described various embodiments of the present disclosure above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principle of each embodiment, practical application or technical improvement in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

A self-moving cleaning robot is characterized in that it includes a body and a water tank arranged in the body, and the water tank includes:

A box body, an air duct is formed in the inner cavity of the box body; a fan accommodation chamber extending from the bottom of the box body toward the top of the box body is provided in the inner cavity of the box body; the opening of the fan accommodation chamber faces The bottom of the box; the box is provided with an air duct inlet, and an air duct outlet is provided at the top of the fan accommodation chamber;

An air duct, the air duct includes a second channel surrounded by the enclosed side wall of the fan accommodation cavity and the side wall of the corresponding part of the box, and is located in the inner cavity of the box from the air duct inlet to the fan accommodation chamber. the first channel.
The self-moving cleaning robot according to claim 1, characterized in that, the air duct inlet and the fan accommodation chamber are respectively located on opposite sides of the box body.
The self-moving cleaning robot according to claim 1, wherein a clean water tank and a dirty water tank are formed in the inner cavity of the box body; the air channel and the fan accommodation chamber are located in the dirty water tank.
The self-moving cleaning robot according to claim 3, wherein a spacer is provided in the inner cavity of the box, and the spacer extends along the extension direction of at least part of the side walls of the box, and The inner cavity of the box body is divided into a sewage tank and a clean water tank.
The self-moving cleaning robot according to claim 3, wherein the box body includes an upper shell, a middle shell, and a lower shell that are sequentially fastened together; wherein, the middle shell is a hollow structure, A groove is provided at the edge of the middle casing and/or the upper casing, and the grooves of the middle casing and the upper casing are enclosed together to form the clean water tank; the upper casing, The middle casing and the lower casing surround the waste water tank.
The self-moving cleaning robot according to claim 5, wherein the fan accommodation chamber passes through the middle casing, and there is a gap between the top of the fan accommodation chamber and the upper casing; the fan accommodation chamber, the upper casing The housing, the middle housing and the lower housing surround the waste water tank.
The self-moving cleaning robot according to claim 6, characterized in that a water inlet communicating with the clean water tank and a drain communicating with the dirty water tank are arranged on the top of the upper casing.
The self-moving cleaning robot according to claim 1, wherein a wind-shielding mechanism is provided in the water tank; the bottom of the wind-shielding mechanism is lower than the top of the fan accommodation chamber; the wind-shielding mechanism is It is configured to make the airflow in the air duct bypass the bottom of the fan accommodation chamber.
The self-moving cleaning robot according to claim 8, characterized in that, the wind blocking mechanism is arranged at a position where the first channel communicates with the second channel, and extends downward from the top of the box.
The self-moving cleaning robot according to claim 1, characterized in that, a dust collection device docked with the air duct inlet is provided in the inner cavity of the water tank, and the dust collection device is configured to filter the air from the wind. Foreign matter in the water vapor entering the channel entrance.
The self-moving cleaning robot according to claim 10, characterized in that, the inner cavity of the water tank is provided with an accommodating cavity for installing the dust collecting device, and a cover plate assembled at the opening position of the accommodating cavity , a fool-proof mechanism is provided in the accommodation cavity; the fool-proof mechanism has a first position and a second position;

After the dust collecting device is disassembled, the fool-proof mechanism moves to the first position higher than the installation surface of the cover plate;

When the dust collecting device is installed, the dust collecting device pushes the fool-proof mechanism to rotate to a second position lower than the mounting surface of the cover plate.
The self-moving cleaning robot according to claim 11, wherein the fool-proof mechanism comprises a cam rotatably connected to the box body, and a torsion spring pre-pressing the cam at the first position;

The foolproof mechanism also includes a pressure receiving part connected to the cam, and the dust collecting device is provided with a pressure applying part corresponding to the pressure receiving part; the pressure applying part is configured to be connected to the pressure receiving part cooperate to rotate the cam from the first position to the second position.
The self-moving cleaning robot according to claim 1, characterized in that, the box is further provided with a first gate pre-pressed at the entrance of the air duct;

The body is provided with a jacking portion, and the jacking portion is configured to lift up the first gate to open the air duct inlet when the water tank is installed into the body.
The self-moving cleaning robot according to claim 1, wherein the outlet of the air duct is provided with a second gate;

The second gate is configured to close the outlet of the air duct under the action of elasticity, and move to open the outlet of the air duct under the action of negative pressure in the air duct.
A water tank is characterized in that it comprises:

A box body, an air duct is formed in the inner cavity of the box body; a fan accommodation cavity extending from the bottom of the box body toward the top of the box body is provided in the inner cavity of the box body; the open end of the fan accommodation cavity Towards the bottom of the box; an air duct inlet is provided on the side wall of the box, and an air duct outlet is provided on the top of the fan accommodation cavity;

The air channel is formed in the inner cavity of the box body, including a second channel surrounded by the surrounding side wall of the fan accommodation cavity and the side wall of the corresponding part of the box body, and is located in the box inner cavity by The first channel between the inlet of the air duct and the housing cavity of the fan.
A self-moving cleaning robot is characterized in that it includes a body and a water tank assembly arranged in the body, and the water tank assembly includes:

Clean water tank;

The waste water tank has an air duct inlet;

Fan accommodation chamber, the opening of the fan accommodation chamber faces the bottom of the water tank assembly, the fan assembly is loaded into the fan accommodation chamber from the opening, and the top of the fan accommodation chamber is provided with an air duct outlet communicating with the sewage tank;

A second passage is provided between the clean water tank and the fan accommodation chamber, so that the airflow entering the sewage tank from the inlet of the air passage is discharged from the outlet of the air passage through the second passage.
A self-moving cleaning robot, characterized in that it includes a body, and is arranged on the body,

a cleaning device configured to clean the work surface;

The first air passage, the entrance of the first air passage is adjacent to the cleaning device, and is configured to extract the sewage after the cleaning device cleans the working surface;

A sewage tank, the sewage tank is configured to accommodate the sewage after cleaning the working face, and a second air duct is arranged in the sewage tank;

A fan assembly, the fan assembly has a third air duct;

The first air duct and the third air duct communicate with the second air duct respectively; after the water vapor extracted by the first air duct enters the second air duct of the waste water tank, the liquid drops into the sewage tank, and the gas passes through the fan assembly. The third air duct is discharged.
The self-moving cleaning robot according to claim 17, wherein the cleaning device is arranged near the front of the body, and the blower assembly is arranged near the rear of the body.
The self-moving cleaning robot according to claim 18, wherein a driving wheel is further arranged on the body, and the driving wheel is arranged behind the cleaning device.
The self-moving cleaning robot according to claim 19, wherein the bottom of the body is provided with two universal wheels, and the universal wheels are provided on the body between the cleaning device and the driving wheel. position, and are distributed on opposite sides of the body.
The self-moving cleaning robot according to claim 17, wherein a clean water tank is further provided on the body, and the clean water tank is configured to provide cleaning liquid to the cleaning device.
The self-moving cleaning robot according to claim 17, wherein a dust collecting device is arranged in the dirty water tank, and the dust collecting device is configured to filter particulate matter entering the water vapor in the second air duct.
The self-moving cleaning robot according to claim 22, characterized in that, the sewage tank is provided with an accommodating cavity for installing a dust collecting device, and a cover plate assembled at the opening of the accommodating cavity, and in the accommodating cavity A fool-proof mechanism is arranged in the body; the fool-proof mechanism has a first position and a second position;

After the dust collecting device is disassembled, the fool-proof mechanism moves to the first position higher than the installation surface of the cover plate;

When the dust collecting device is installed, the dust collecting device pushes the fool-proof mechanism to rotate to a second position lower than the mounting surface of the cover plate.
The self-moving cleaning robot according to claim 23, wherein the fool-proof mechanism comprises a cam rotatably connected to the sewage tank, and a torsion spring pre-pressing the cam at the first position;

The fool-proof mechanism also includes a pressure receiving part connected to the cam, and the dust collecting device is provided with a pressure applying part corresponding to the pressure receiving part; the pressure applying part is configured to cooperate with the pressure receiving part to move the cam from The first position rotates to the second position.
The self-moving cleaning robot according to claim 17, wherein the sewage tank is provided with a first gate pre-pressed at the entrance of the second air duct;

The machine body is provided with a jacking part, and the jacking part is configured to lift up the first gate to open the entrance of the second air duct and communicate with the first air duct when the waste water tank is installed into the machine body. and second airway.
The self-moving cleaning robot according to claim 17, characterized in that, the sewage tank includes an upper shell, a middle shell, and a lower shell that are sequentially fastened together; wherein, the middle shell is a hollow structure, Grooves are arranged on its edge, and the grooves of the middle casing and the upper casing are enclosed together to form a clean water tank; the upper casing, middle casing and lower casing surround the dirty water tank.
The self-moving cleaning robot according to claim 26, wherein another groove is provided on the edge of the upper casing, and the groove of the upper casing is docked with the groove of the middle casing , have jointly formed the described clean water tank.
The self-moving cleaning robot according to claim 26, characterized in that, the lower housing is provided with a fan accommodation cavity whose opening end is located at the bottom of the lower housing, and the fan accommodation cavity passes through the middle housing and faces upward The direction of the casing extends; the top of the fan accommodation chamber is provided with a second air duct outlet for communicating with the third air duct, and the fan accommodation chamber is surrounded by the second air passage in the sewage tank. The second channel of the air duct.
The self-moving cleaning robot according to claim 28, characterized in that, the sewage tank is surrounded by the lower housing, the fan accommodation chamber, the middle housing and the upper housing.
According to the self-moving cleaning robot according to claim 28, it is characterized in that, a wind-shielding mechanism is arranged in the sewage tank; the bottom of the wind-shielding mechanism is lower than the top of the fan accommodation cavity; it enters the second channel The water vapor bypasses the bottom of the windshield mechanism and then moves upwards and enters the second air channel outlet on the top of the fan housing chamber.
The self-moving cleaning robot according to claim 28, characterized in that, the outlet of the second air duct is provided with a second gate, and the second gate is configured to close the outlet of the second air duct under elastic action, And open the outlet of the second air passage under the negative pressure formed by the fan assembly, so as to communicate with the second air passage and the third air passage.
The self-moving cleaning robot according to claim 17, wherein the cleaning device is a roller assembly connected to the body.
The self-moving cleaning robot according to claim 32, wherein the roller assembly includes a roller bracket and a roller mounted on the roller bracket, and the roller bracket is rotatably connected to the body through a hinge shaft; The roller support is configured to keep the roller in contact with the working surface under the action of its own gravity.
The self-moving cleaning robot according to claim 33, characterized in that, the roller support is also provided with an extended limit buckle, and the corresponding position on the body is provided with a button for matching with the limit buckle The limit card slot; the limit card slot is configured to limit the rotation angle of the roller support relative to the body.
The self-moving cleaning robot according to claim 33, wherein a spray head is arranged on the body, and the spray head is configured to spray water to the cylinder.
The self-moving cleaning robot according to claim 35, characterized in that a wiper is provided on the body, and the wiper is configured to contact and cooperate with the drum.
The self-moving cleaning robot according to claim 36, wherein the wiper is arranged on the body at a position above the entrance of the first air duct, and the wiper participates in enclosing the entrance of the first air duct upper area of .
The self-moving cleaning robot according to claim 37, characterized in that, one end of the roller is provided with a pressing block, the pressing block is pre-pressed at the end position of the roller, and is in surface contact with the corresponding position of the body together.
The self-moving cleaning robot according to claim 38, characterized in that, the lower area of the first air duct inlet is configured to extend toward the working surface, and is surrounded by the wiper blade, the drum, and the working surface. sealed area.
The self-moving cleaning robot according to claim 36, characterized in that, the drum and the wiper are configured such that when an obstacle is encountered, relative motion occurs between the drum and the wiper so that the drum and the wiper The water board is detached.
A cleaning system, characterized in that it includes the self-moving cleaning robot according to any one of claims 17 to 40, and also includes a base station, the base station includes a base station body with an accommodating cavity, and an air-drying robot is arranged in the base station body. system;

The accommodating cavity of the base station body is configured to accommodate the self-moving cleaning robot, and the first air duct inlet of the self-moving cleaning robot is configured to suck the air-drying airflow sent by the air-drying system to dry the cleaning device .
A self-moving cleaning robot, characterized in that: it includes a body, the body is provided with an installation cavity, and also includes a roller assembly installed in the installation cavity, the roller assembly includes:

a roller support, the roller support has a roller cavity;

The drum is rotatably connected in the drum cavity of the drum bracket; at least one end of the drum is provided with a pressing block, and the pressing block is rotatably connected with the drum and is configured to move along the direction of the drum under the action of the elastic device. Axially move to abut and seal with the side wall of the drum cavity.
The self-propelled cleaning robot according to claim 42, further comprising a base assembly supported in the drum, and a rotating shaft configured to move along the axial direction of the base assembly, so The rotating shaft and the pressing block are rotatably connected together through bearings.
The self-propelled cleaning robot according to claim 43, characterized in that, the base assembly includes a drum end cover for supporting in the drum, and a fixing seat fixed on the drum end cover, and the rotating shaft Passes through the fixed seat and is configured to move along the axial direction of the drum.
The self-moving cleaning robot according to claim 44, characterized in that, the base assembly further comprises a roller end cover connected to the fixed seat or the roller end cover, and the elastic device is arranged on the rotating shaft Between the end cover of the roller and the roller, the rotating shaft is configured to move axially outward along the roller under the action of the elastic device.
The self-moving cleaning robot according to claim 44, characterized in that, the roller end cover is provided with a chamber for accommodating the briquetting block, and a preventing device is provided between the outer circumference of the briquetting block and the inner wall of the chamber. The limit structure for the pressure block to come out.
The self-propelled cleaning robot according to claim 42, characterized in that, the other end of the drum cavity is provided with a rotating part controlled by the drive assembly, and the other end of the drum is provided for extending into and engaging with the rotating part. Mounting slots that fit together.
The self-moving cleaning robot according to claim 42, characterized in that, the outer end surface of the pressure block is provided with a groove and/or a protrusion for circumscribing.
According to the self-moving cleaning robot according to claim 42, it is characterized in that, an outwardly extending anti-rotation part is provided on the outer end surface of the pressure block; Locking slots that fit together.
The self-propelled cleaning robot according to claim 42, further comprising a frame-shaped roller gland, the roller gland is configured to confine the roller in the roller cavity of the roller support, the The roller is exposed from the frame of the roller gland.
The self-moving cleaning robot according to any one of claims 42 to 50, characterized in that: the roller bracket is rotatably connected to the body through a hinge shaft, and is configured to make the roller and the working robot under the action of its own gravity. faces remain in contact.
The self-moving cleaning robot according to claim 51, characterized in that: the hinged shaft is arranged on one side of the roller support, and the body is provided with a support seat for carrying the hinged shaft; it also includes a rotating shaft cover, The shaft gland is configured to constrain the hinge shaft in the support seat.
The self-moving cleaning robot according to claim 52, characterized in that: the other side of the roller bracket is provided with a limit buckle, and the corresponding position on the body is provided with a limit card slot; or, the roller support The other side of the body is provided with a limit card slot, and the corresponding position on the body is provided with a limit buckle;

The limit buckle protrudes into the limit card slot, and the limit card slot is configured to limit the rotation angle of the roller support relative to the machine body.
According to the self-moving cleaning robot according to claim 42, it is characterized in that: a wiper blade is also arranged on the body, and the wiper blade is in contact with the roller; the lower area of the body is configured to The working surface extends in the direction, and forms a sealed area of the first air channel inlet with the wiper blade, the roller and the working surface.
The self-propelled cleaning robot according to claim 54, characterized in that: the lower area of the body is provided with a sealing edge, and the sealing edge is configured to be in contact with the working surface.
A drum assembly, characterized in that it comprises:

a roller support, the roller support has a roller cavity;

The drum is rotatably connected in the drum cavity of the drum bracket; at least one end of the drum is provided with a pressing block, and the pressing block is rotatably connected with the drum and is configured to move along the direction of the drum under the action of the elastic device. Axially move to abut and seal with the side wall of the drum cavity.
A self-moving scrubbing robot, characterized in that it comprises:

a body, the body has an installation cavity;

a drum, the drum is rotatably connected in the installation cavity;

a wiper blade, the wiper blade is connected to the machine body and is configured to contact the drum so as to scrape off the liquid on the drum;

The roller and the wiper are configured so that when an obstacle is encountered, relative movement occurs between the roller and the wiper, so that the roller and the wiper are separated.
The self-moving floor scrubbing robot according to claim 57, wherein the body includes a floating part and a fixed part hinged together, the installation cavity and the roller are arranged on the floating part, and the wiper blade It is arranged on the fixed part; the roller is configured to keep in contact with the working surface under the action of gravity of itself and the floating part;

The floating part is configured to rotate relative to the fixed part when encountering an obstacle, so that the roller is separated from the wiper blade.
The self-propelled floor scrubbing robot according to claim 58, wherein the floating part is configured to rotate relative to the fixed part under the blocking force of obstacles.
The self-moving floor scrubbing robot according to claim 58, wherein a driving mechanism is arranged between the floating part and the fixed part, and the driving mechanism is configured to drive the floating part to rotate relative to the fixed part.
The self-moving floor scrubbing robot according to claim 58, wherein an elastic device is provided between the floating part and the fixed part, and the floating part is configured to be pre-pressed on the working surface by the elastic device.
The self-moving floor scrubbing robot according to claim 57, further comprising a roller support with a roller cavity, the roller is rotatably connected to the roller support; the roller support is rotatably connected to the roller support through a hinge shaft. In the installation cavity of the machine body, the roller bracket is configured to keep the roller in contact with the working surface under the action of its own gravity; and is configured to move away from the wiper blade when encountering an obstacle.
The self-moving floor scrubbing robot according to claim 57, wherein the wiper blade is movably connected to the body, and further comprises a driving mechanism configured to drive the wiper blade to move away from the rollers.
The self-moving floor scrubbing robot according to claim 63, characterized in that, the wiper blade is movably connected to the body through a gear and rack cooperation structure.
The self-moving floor scrubbing robot according to claim 63, further comprising an identification device configured to identify an obstacle in front; the drive mechanism recognizes an obstacle ahead in response to the identification device signal to drive the wiper blade away from the drum.
The self-moving floor scrubbing robot according to claim 65, wherein the identification device can be a camera or a radar.
The self-propelled floor scrubbing robot according to claim 57, characterized in that, when the drum encounters an obstacle, its rotational speed is reduced to 0-150 rpm.
The self-moving floor scrubbing robot according to any one of claims 57 to 67, further comprising an air duct and a sewage tank, the air duct is configured to draw the sewage scraped off the drum into the sewage tank .
A control method for a robot, the robot adopts the self-moving floor scrubbing robot according to any one of claims 57 to 68; it also includes an identification device and a control unit, characterized in that it includes the following steps:

S1000, the control unit sends a control signal to the driving mechanism after receiving the detection signal of the obstacle ahead obtained by the identification device;

S2000, after the driving mechanism receives the control signal, relative motion occurs between the driving roller and the wiper blade, so as to separate the rolling from the wiper blade.
The control method according to claim 69, characterized in that in step S2000, the driving mechanism drives the floating part to move away from the wiper blade.
The control method according to claim 69, characterized in that in step S2000, the driving mechanism drives the wiper blade to move away from the roller.
The control method according to claim 69, characterized in that: in the step S1000, after the control unit receives the detection signal of the obstacle in front obtained by the identification device, the speed of the control drum is reduced to 0-150 rpm.
A cleaning system, characterized in that it comprises:

Cleaning equipment, the cleaning equipment includes a cleaning device, an air duct system, and a sewage tank; the cleaning device is configured to clean the working surface; the sewage tank is configured to accommodate sewage after cleaning the working surface; the air duct The system is configured to pump the sewage after cleaning the working surface of the cleaning device into the sewage tank;

A base station, the base station includes a base station body with an accommodating cavity, and an air-drying system is arranged in the base station body;

The accommodating chamber of the base station body is configured to accommodate the cleaning device, and the air duct system of the cleaning device is configured to suck the air-drying airflow sent by the air-drying system to dry the cleaning device.
The cleaning system according to claim 73, wherein the air drying system forms an air outlet in the accommodation chamber of the base station, and the air outlet is configured to blow the air drying air to the cleaning device of the cleaning equipment located in the accommodation chamber .
The cleaning system according to claim 74, characterized in that: the bottom of the accommodating cavity of the base station is provided with a groove for cooperating with at least part of the cleaning device.
The cleaning system according to claim 74, characterized in that: a base station fan is provided on the base station body, the air-drying system includes an air-drying air channel and a base station fan, and the base station fan is configured to be in the air-drying air channel Negative pressure is formed; a heating device is also included, and the airflow in the air drying system is configured to be blown out from the air outlet after being heated by the heating device.
The cleaning system according to claim 73, wherein the opening end of the accommodating cavity has a flaring structure.
The cleaning system according to claim 73, characterized in that: the inner walls on opposite sides of the accommodating cavity are provided with guide wheels for rolling fit with the side walls of the cleaning device.
The cleaning system according to claim 77 or 78, characterized in that: based on the forward direction of the cleaning equipment, the overall cleaning equipment is D-shaped, which includes a rectangular structure at the front end and a curved surface structure at the rear end; The cleaning equipment enters into the receiving chamber of the base station in an advancing manner.
The cleaning system according to claim 73, wherein the cleaning device is a self-moving robot or a handheld device.
A cleaning method implemented by the cleaning system according to any one of claims 73 to 80, characterized in that it comprises:

The cleaning equipment enters the accommodation cavity of the base station to clean the cleaning device;

The cleaning equipment pumps the cleaned sewage into its sewage tank through its air duct system;

The air drying system of the base station sends air drying air to the cleaning device; the cleaning equipment draws air drying air through its air duct system to dry the cleaning equipment.
The cleaning method according to claim 81, characterized in that, in the step of cleaning the cleaning device, the clean water tank in the cleaning equipment supplies water to the cleaning device to clean the cleaning device; or/and the clean water of the base station The bucket supplies water to the cleaning device for rinsing the cleaning device.
The cleaning method according to claim 82, wherein the cleaning device is a drum rotatably connected to the machine body, and in the step of cleaning the drum, water is supplied to the drum and the drum is rotated for cleaning.
The cleaning method according to claim 83, characterized in that, during the cleaning process of the drum, the air duct system of the cleaning equipment does not work, and the water absorbed by the drum is scraped to the bottom of the base station by the wiper blade during the rotation of the drum. In the groove, at least part of the cleaning device is immersed in the water of the groove for cleaning.
The cleaning method according to claim 84, characterized in that, in the step of pumping the sewage into the sewage tank, the air duct system of the cleaning equipment is opened, and the sewage scraped off by the wiper blade during the rotation of the drum is extracted into its waste water tank.
The cleaning method according to claim 85, characterized in that, during the rotation of the drum, the sewage in the groove is adsorbed, and the air duct system of the cleaning equipment scrapes the drum by the wiper during the rotation. The sewage under it is pumped into its waste water tank.
The cleaning method according to claim 81, characterized in that, before the step of drying the cleaning equipment, it also includes the step of pumping the sewage in the sewage tank of the cleaning equipment to the sewage tank of the base station.
The cleaning method according to claim 81, characterized in that the steps of cleaning the cleaning device and pumping the sewage back to the sewage tank are performed at least twice before drying the cleaning equipment.
According to the cleaning method described in claim 81, it is characterized in that, before the step of drying the cleaning equipment, the main fan of the cleaning equipment works at the first power to suck out the moisture contained in the solid waste in the dust collection box; In the step of drying the cleaning equipment, the main fan of the cleaning equipment works at the second power; wherein, the first power is greater than the second power.
The cleaning method according to claim 81, wherein the air duct system of the cleaning equipment includes a second air duct located in the sewage tank, a first air duct connecting the sewage tank and the cleaning device, and a first air duct connecting the sewage tank and the cleaning device. The third air duct of the fan assembly; the air duct system dries the first air duct, the sewage tank and the third air duct by extracting the air-dried airflow delivered by the air-drying system.
A base station, characterized in that it comprises:

a base station having an accommodating cavity configured to accommodate cleaning equipment;

An air-drying system, the air-drying system forms an air outlet in the accommodation chamber of the base station, and the air outlet is configured to blow the air-drying airflow to the cleaning device of the cleaning device located in the accommodation chamber.
A cleaning device, characterized in that it includes a body and a water tank arranged on the body, the water tank includes:

a box body, the box body has an inner cavity;

An air duct, the air duct is arranged in the inner cavity of the box body, and an air duct inlet and an air duct outlet are respectively formed at different positions of the box body;

A water retaining part, the water retaining part is arranged on the inner wall of the box at a position adjacent to the outlet of the air duct, and is configured to block the pushed up water level.
The cleaning device according to claim 92, characterized in that, the bottom of the box is provided with a fan accommodation cavity opening downward, and the fan accommodation cavity extends from the bottom of the box to the top of the box, The outlet of the air duct is arranged on the top of the fan accommodation chamber; the enclosed side wall of the fan accommodation chamber and part of the side wall of the box body enclose the second channel in the air duct.
The cleaning device according to claim 93, wherein the shape of the water retaining part matches the shape of the second channel, and the water retaining part is arranged between the fan accommodation cavity and the box body in the second channel.
The cleaning device according to claim 94, characterized in that, the water retaining part is a water retaining plate, and the water retaining plate is provided with a through hole for air flow to pass through.
The cleaning device according to claim 95, characterized in that, the water baffle is connected to the enclosed side wall of the fan accommodation cavity and the side wall corresponding to the box body.
The cleaning device according to claim 95, wherein the water baffle is arranged at a position not higher than a preset water level line in the tank.
The cleaning device according to claim 94, wherein the water blocking part is configured to float on the surface of the liquid in the tank.
The cleaning device according to claim 98, wherein the water retaining part is made of flexible material.
The cleaning device according to claim 92, wherein a water level detection device is further provided in the tank, and the water level detection device includes a first detection probe and a second detection probe, and is configured to: when the The first detection probe and the second detection probe are triggered when they are connected through the liquid.
The cleaning device according to claim 100, wherein the first detection probe and the second detection probe are arranged at intervals on opposite sides of the air duct extending direction.
The cleaning device according to claim 101, characterized in that, the air duct inlet and the air duct outlet are respectively arranged at opposite ends of the box, and the space between the air duct inlet and the fan accommodation cavity in the box is The location forms the first channel of the air duct.
The cleaning device according to claim 101, characterized in that, the side wall of the box body at the position where the first channel and the second channel are communicated is provided with an accommodating groove that deviates from the direction in which the air duct extends, and the accommodating groove Extending along the height direction of the side wall of the box; the first detection probe or/and the second detection probe are arranged in the accommodating groove.
The cleaning device according to claim 100, wherein the bottom end of one of the first detection probe and the second detection probe is not higher than the preset water level, and the other bottom end is higher than The preset water level.
The cleaning device according to claim 100, characterized in that there is a gap between at least one of the first detection probe, the second detection probe and the side wall of the box.
The cleaning device according to any one of claims 92 to 105, wherein the water tank is a sewage tank.
A water tank is characterized in that it comprises:

a box body, the box body has an inner cavity;

An air duct, the air duct is arranged in the inner cavity of the box body, and an air duct inlet and an air duct outlet are respectively formed at different positions of the box body;

A water retaining part, the water retaining part is arranged on the inner wall of the box at a position adjacent to the outlet of the air duct, and is configured to block the pushed up water level.