WO2023173568A1 - 下壳组件及清洁装置 - Google Patents

下壳组件及清洁装置 Download PDF

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Publication number
WO2023173568A1
WO2023173568A1 PCT/CN2022/092400 CN2022092400W WO2023173568A1 WO 2023173568 A1 WO2023173568 A1 WO 2023173568A1 CN 2022092400 W CN2022092400 W CN 2022092400W WO 2023173568 A1 WO2023173568 A1 WO 2023173568A1
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WO
WIPO (PCT)
Prior art keywords
module
cleaning
cleaning device
double
ribs
Prior art date
Application number
PCT/CN2022/092400
Other languages
English (en)
French (fr)
Inventor
刘越
Original Assignee
北京赫特智慧科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京赫特智慧科技有限公司 filed Critical 北京赫特智慧科技有限公司
Priority to JP2023557670A priority Critical patent/JP2024514053A/ja
Priority to KR1020237037131A priority patent/KR20230162081A/ko
Priority to AU2022445032A priority patent/AU2022445032A1/en
Priority to EP22931227.7A priority patent/EP4295738A4/en
Priority to CA3212919A priority patent/CA3212919A1/en
Publication of WO2023173568A1 publication Critical patent/WO2023173568A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • At least one embodiment of the present disclosure relates to a lower case assembly and a cleaning device.
  • cleaning devices used for home cleaning include window cleaning robots, floor sweeping robots, etc.
  • the adsorption device usually used by many cleaning devices is vacuum adsorption, that is, a centrifugal fan or a vacuum pump is used as a vacuum generating device to generate a local negative pressure in the gap between the robot body and the surface to be cleaned. Under the action of the pressure difference, the robot sticks to the surface. Attached to the surface to be cleaned, it can be used for surface cleaning, especially non-horizontal cleaning.
  • designing a solution that can increase the moving speed of the cleaning device while ensuring the cleaning effect has become a research direction for the continuous progress of the new generation of cleaning devices.
  • Embodiments of the present disclosure provide a lower case assembly and a cleaning device.
  • the lower shell assembly can combine the cleaning effect of the cleaning device with the traveling speed. It includes a module that can realize the rapid linear travel of the cleaning device and a module that can clean by rotating. While ensuring the moving speed of the cleaning device, The cleaning efficiency of the cleaning device is significantly improved.
  • An embodiment of the present disclosure provides a lower case assembly, including: a lower case body including a bottom and side portions, the bottom portion includes opposite first and second sides, and the side portions are disposed around the bottom to form a a cavity on the first side of the bottom; a first module, installed on the second side of the bottom; a second module, installed on the second side of the bottom, spaced apart from the first module , wherein the first module is configured to rotate around an axis of rotation, and the second module is configured to rotate around an axis perpendicular to the axis of rotation, and the axis of rotation points along the first side to the The direction of the second side extends.
  • the bottom includes a first mounting part and a second mounting part
  • the first mounting part is a part of the bottom corresponding to the first module
  • the second mounting part is a part of the bottom corresponding to the second module
  • the side part has a coupling surface away from the bottom, and the distance between the first mounting part and the coupling surface The distance between the second mounting part and the coupling surface is smaller than the distance between the first mounting part and the second mounting part so that there is a height difference between the first mounting part and the second mounting part.
  • the lower shell assembly provided by at least one embodiment of the present disclosure further includes a cover part
  • the second module includes a cleaning rack and a walking part
  • the bottom includes a first opening to install the walking part and the cover.
  • a shell portion is mounted on the bottom and configured to accommodate a portion of the walking component
  • the cleaning rack has a second opening to avoid the walking component.
  • the cleaning rack is provided with double-layered ribs
  • the bottom is provided with double-layered ribs.
  • the double-layered ribs on the cleaning rack are all annular and have a A groove is formed.
  • the double-layer ribs on the bottom are all annular and form grooves therebetween.
  • the double-layer ribs on the cleaning rack and the double-layer ribs on the bottom are plugged into each other.
  • the bottom There is an extension guide portion on the second side, the height of the extension guide portion is smaller than the height of each of the double-layer ribs on the bottom so that there is movement space between the cleaning rack and the bottom.
  • the cleaning rack has a movement amount in the height direction
  • the double-layer ribs on the bottom and the double-layer ribs on the cleaning rack provide guides for the cleaning rack to move in the height direction
  • the The extension guide portion is located outside the double-layer ribs on the bottom, and one of the double-layer ribs on the cleaning rack is disposed in a groove between the double-layer ribs on the bottom.
  • the cleaning rack The other of the double-layered ribs is disposed in a groove formed by the extending guide portion and the ribs of the bottom portion close to the extending guide portion.
  • the bottom is further provided with a sealing rib on the second side, and the sealing rib is located inside the double-layer rib on the bottom, and the The sealing rib and the rib close to the sealing rib among the double-layer ribs on the bottom form a receiving space to accommodate the seal, and the height of the extended guide portion is less than the height of the sealing rib,
  • the seal is configured to be compressible and has a height greater than either of the double-layered ribs and greater than a height of the sealing rib.
  • the bottom is provided with a limiting post on the second side, the cleaning erection has a limiting hole, and the limiting post cooperates with the limiting hole so that The cleaning rack and the bottom are connected by fasteners;
  • the lower shell assembly also includes a middle cover located on the first side of the bottom and installed on the bottom, and the middle cover and An air cavity is provided between the bottoms, and the second mounting portion of the bottom has an adsorption hole.
  • the mating portion of the limiting column and the limiting hole is connected to the air cavity through the adsorption hole.
  • the matching point between the limiting column and the limiting hole serves as a leakage detection hole;
  • the lower shell assembly also includes a negative pressure mechanism, which includes at least one of the air chambers, an air inlet hood, at least one fan, and an air outlet hood, wherein the air outlet hood includes at least two air outlet channels. .
  • the air chamber includes a first sub-air chamber corresponding to the first module, a second sub-air chamber corresponding to the second module and an electronic A control valve, the electronic control valve is configured to selectively control the opening area of the first sub-air chamber or the second sub-air chamber.
  • the air chamber includes a first sub-air chamber corresponding to the first module, a second sub-air chamber corresponding to the second module, and a third sub-air chamber corresponding to the first module.
  • An electronic control valve and a second electronic control valve are configured to control the opening area of the first sub-air chamber; the second electronic control valve is configured to control the second sub-air chamber. The opening area of the cavity.
  • the lower shell assembly provided by at least one embodiment of the present disclosure further includes a wiper strip, which is disposed at the front and/or rear of the walking component in the walking direction.
  • the walking component includes at least one roller, and a cleaning portion is provided on at least one side of the roller to clean dirt on the roller.
  • At least one sub-adsorption area is provided in the cleaning rack, wherein each of the sub-adsorption areas includes at least one sub-adsorption hole, and the at least one sub-adsorption area
  • the holes are arranged at intervals, and the cross section of each sub-adsorption hole is smaller than the opening cross section of the second opening.
  • the first module and the second module are arranged side by side, and the rotation center line of the first module is on the third side of the second module.
  • the first plane of symmetry is a plane passing through the center of the second module in a direction perpendicular to the linear traveling direction of the second module.
  • At least one embodiment of the present disclosure provides a lower case assembly.
  • the lower case assembly includes a plurality of first module sets and a plurality of second module sets, and the plurality of first module sets are arranged at intervals.
  • the plurality of first module sets are arranged at intervals.
  • the second module groups are arranged in parallel and spaced apart, and the rotation center line of each first module group does not overlap with the linear motion direction of each second module group.
  • At least one embodiment of the present disclosure provides a cleaning device, including the lower shell assembly described in any one of the above.
  • the cleaning device provided by at least one embodiment of the present disclosure further includes: at least one step-down switch, disposed at at least one end of the cleaning device, configured to detect the movement position information of the cleaning device, and set the The movement position information is fed back to the cleaning device, thereby controlling the traveling state of the cleaning device; and/or, at least one air leakage detection hole is provided at at least one end of the cleaning device and is configured to detect the cleaning device.
  • the moving position information of the device is fed back to the cleaning device, thereby controlling the traveling state of the cleaning device; a one-way part, the one-way part is a single direction along the air outlet direction of the cleaning device.
  • first cleaning piece and second cleaning piece the first cleaning piece is connected to the side of the first module away from the lower shell body, the second cleaning piece is connected to the second The module is away from the side of the lower shell body.
  • FIG. 1A is a schematic diagram of the overall structure of a cleaning device according to an embodiment of the present disclosure.
  • FIG. 1B is a partial structural diagram of a cleaning device according to an embodiment of the present disclosure.
  • FIG. 1C is a schematic structural diagram of an upper shell for a cleaning device according to an embodiment of the present disclosure.
  • FIG. 1D is an overall schematic diagram of a cleaning device according to an embodiment of the present disclosure.
  • FIG. 2 is a cross-sectional view along line A-A of the cleaning device in FIG. 1B.
  • FIG. 3A is a schematic structural diagram of the lower shell body of the lower shell assembly according to an embodiment of the present disclosure.
  • FIG. 3B is a schematic structural diagram of the lower shell body of the lower shell assembly provided by an embodiment of the present disclosure from another perspective.
  • FIG. 4 is a partially enlarged schematic view of the second module in the cleaning device in FIG. 2 .
  • FIG. 5A is a cross-sectional view along B-B of the cleaning device in FIG. 1D.
  • FIG. 5B is a schematic diagram of an air flow path in a cleaning device according to an embodiment of the present disclosure.
  • Figure 6 is a partial cross-sectional view of the connection between the auxiliary control panel and the middle cover according to an embodiment of the present disclosure.
  • FIG. 7 is a partial structural diagram of the second module in the cleaning device in FIG. 1D.
  • FIG. 8A is a schematic diagram of the relative positions of a first module and a second module in a cleaning device according to an embodiment of the present disclosure.
  • FIG. 8B is a schematic diagram of the relative positions of another first module and a second module in a cleaning device according to an embodiment of the present disclosure.
  • FIG. 8C is a schematic diagram of the relative positions of yet another first module and a second module in a cleaning device according to an embodiment of the present disclosure.
  • FIG. 9A is a schematic diagram of the water outlet range of the nozzle and the air outlet range of the air outlet in a cleaning device according to an embodiment of the present disclosure.
  • FIG. 9B is a schematic diagram of an air outlet provided by an embodiment of the present disclosure.
  • cleaning devices for example, window cleaning machines, sweeping robots, etc.
  • One category is a combination mode of double discs twisting and traveling, that is: double discs.
  • One of the discs rotates relative to the surface to be cleaned, thus playing a wiping role, while the other disc is relatively stationary to the surface to be cleaned. Its slow rotation can drive the wiping disc to rotate around it until the next cycle, where it is relatively stationary.
  • the disc swaps roles with the wiping disc, thus twisting and traveling.
  • Another type of window cleaning machine uses a combination mode of double crawler tracks. A circle of wiping cloth can be fixed around the crawler tracks. During the traveling process, the wiping cloth slides relative to the surface to be cleaned to wipe it.
  • the cleaning device travels slowly, and travel and cleaning are achieved during the continuous switching process of the double discs, which results in low cleaning efficiency; the combination mode of double crawler travel only passes around the crawler tracks
  • the cleaning efficiency of a fixed circle of wiping cloth is lower than that of a rotating wiping disc in contact with the cleaning surface. Usually, the cleaning surface cannot be completely cleaned, and the cleaning effect is poor.
  • Embodiments of the present disclosure provide a lower case assembly and a cleaning device.
  • the lower shell assembly includes: a lower shell body, a first module and a second module.
  • the lower shell body includes a bottom and a side part.
  • the bottom part includes an opposite first side and a second side.
  • the side part is arranged around the bottom to form a a cavity on the first side of the bottom;
  • the first module is installed on the second side of the bottom;
  • the second module is installed on the second side of the bottom, spaced apart from the first module, wherein the first module is Configured to rotate about an axis of rotation, the second module is configured to rotate about an axis perpendicular to the axis of rotation, the axis of rotation extending in a direction from the first side to the second side.
  • At least one embodiment of the present disclosure provides a lower shell assembly and a cleaning device that can combine the cleaning effect of the cleaning device with the traveling speed, including modules that can realize rapid linear travel of the cleaning device and modules that can be cleaned by rotation.
  • the combination not only ensures the moving speed of the cleaning device, but also significantly improves the cleaning efficiency of the cleaning device, thereby making the cleaning device have good cleaning performance.
  • the lower shell assembly and cleaning device are described below through some embodiments.
  • FIG. 1A is a schematic diagram of the overall structure of a cleaning device according to an embodiment of the present disclosure.
  • FIG. 1B is a partial structural diagram of a cleaning device according to an embodiment of the present disclosure.
  • FIG. 1C is a schematic structural diagram of an upper shell for a cleaning device according to an embodiment of the present disclosure.
  • FIG. 1D is an overall schematic diagram of a cleaning device according to an embodiment of the present disclosure.
  • Figure 2 is a cross-sectional view along line A-A of the cleaning device in Figure B.
  • the cleaning device 1 includes a housing assembly 01 , which includes a lower housing assembly 10 , a middle cover 20 and an upper housing 30 .
  • the lower shell assembly 10 includes: a lower shell body 100, a first module 630 and a second module 640.
  • the lower shell body 100 includes a bottom 600 and a side 610.
  • the bottom 600 includes an opposite first side 601 and a second side 602.
  • the side portion 610 is disposed around the bottom 600 to form a cavity 603 on the first side 601 of the bottom 600; the first module 630 and the second module 640 are installed on the second side 602 of the bottom 600, and the second module 640 is connected to the second side 602 of the bottom 600.
  • the first module group 630 is spaced apart.
  • the first module group 630 is configured to rotate around the rotation axis 678 .
  • the second module group 640 is configured to rotate around an axis perpendicular to the rotation axis 678 .
  • the rotation axis 678 points along the first side 601 towards the third module. Both sides extend in the direction of 602.
  • the first module 630 can rotate about the rotation axis 678 relative to the bottom 600; for example, the second module 640 can independently drive the cleaning device 1 to perform linear motion.
  • a variety of matching and mounting structures can be provided on the first side 601 of the lower housing body 100 to meet the installation and matching needs of various components in the cleaning device 1 , for example, various types of components in the cleaning device 1 .
  • Components may be disposed in the cavity 603 to implement corresponding device functions.
  • various components may include a driving motor 14, a battery pack 15, a main control board 23, and a driver 24.
  • the main control board 23 is provided with a control module, and the control module is configured to drive the cleaning device 1; the driver 24 may be used as a cleaning device.
  • the drive control component of the device 1; the upper shell 30 can also be provided with a nozzle 31, a button 32, an indicator light 33, and a decorative part 36, and the decorative part 36 includes a water tank rubber plug 35 and a water tank bottom shell 34.
  • the lower shell assembly 10 further includes a cover portion 12, which is detachably connected to the lower shell body 100 along its periphery.
  • the traveling member 296 of the cleaning device 1 or the driving member 297 of the traveling member 296 may be provided in the cover part 12 .
  • the first module 630 is configured to rotate around the rotation axis 678
  • the second module 640 is configured to rotate around an axis perpendicular to the rotation axis 678 .
  • the two cooperate with each other to realize a cleaning device. 1 can walk and turn in a straight line, and at the same time, the first module 630 can clean by rotating, that is, while ensuring the moving speed of the cleaning device 1, the cleaning efficiency of the cleaning device 1 is significantly improved, thereby making the cleaning device 1 have good cleaning performance. performance.
  • FIG. 3A is a schematic structural diagram of the lower shell body of the lower shell assembly according to an embodiment of the present disclosure.
  • FIG. 3B is a schematic structural diagram of the lower shell body of the lower shell assembly provided by an embodiment of the present disclosure from another perspective.
  • the bottom 600 includes a first mounting portion 631 and a second mounting portion 641.
  • the first mounting portion 631 is a portion of the bottom 600 corresponding to the first module 630
  • the second mounting portion 641 is
  • the side portion 610 of the portion of the bottom 600 corresponding to the second module 640 has a coupling surface 611 away from the bottom 600.
  • the distance L1 between the first mounting portion 631 and the coupling surface 611 is smaller than the distance L1 between the second mounting portion 641 and the coupling surface 611.
  • the distance L2 between them is such that there is a height difference ⁇ L between the first mounting part 631 and the second mounting part 641 .
  • the first module 630 can be installed on the first mounting portion 631 through fasteners, and at the same time, the first module 630 can rotate relative to the cleaning device 1 .
  • the first mounting part 631 may include a rotary connection shaft, and the first module 630 may be fixed on the rotary connection shaft from the center and may rotate along with the rotary connection shaft.
  • the fastener may be a bolt, or any other element that can realize rotational fixation of the first module 630 on the first mounting part 631 , which is not limited in the embodiments of the present disclosure.
  • the second module 640 can be connected to the second mounting part 641 through snapping, plugging, etc., and can move simultaneously with the cleaning device.
  • This disclosure does not limit the connection method between the second module 640 and the second mounting part 641.
  • the coupling surface 611 is located on the side of the side portion 610 away from the bottom 600.
  • the coupling surface 611 can achieve docking cooperation with the upper shell 30, so that the docking surface 690 in the upper shell 30 It overlaps with the coupling surface 611 to provide cover and protection for the components in the cleaning device 1 .
  • the second mounting part 641 is closer to the surface to be cleaned than the first mounting part 631.
  • the second mounting part 641 exposes the walking component to a height Z relatively reduced.
  • the second module 640 is installed on the second mounting part 641 by performing structural avoidance on the traveling part 296, the exposed surface of the traveling part 296 can be further shielded.
  • the cleaning rag can wrap the second module 640 to further reduce the exposed portion of the walking part 296 and make the bottom of the cleaning device 1 more beautiful. sex.
  • the lower shell assembly 10 further includes a cover portion 12, the second module 640 includes a cleaning rack 642 and a walking component 296, and the bottom 600 includes a first opening 606 to install the traveling component 296 and the cover. part 12, the cover part 12 is installed on the bottom 600 and is configured to accommodate a portion of the walking part 296, and the cleaning rack 642 has a second opening 607 to avoid the walking part 296.
  • the cover part 12 can be fixed on the first side 601 of the bottom 600 through a fastener, for example, through bolts, or any other suitable way to achieve a fixed connection, which is not limited by this disclosure.
  • a part of the walking part 296 and the driving part 297 of the walking part 296 can be accommodated in the cover part 12.
  • a part of the walking part 296 is disposed on the first side 601 of the bottom 600, and the other part extends to the bottom through the first opening 606.
  • the second side of 600 is 602.
  • the driving component 297 is disposed on the first side 601 of the bottom 600, adjacent to the traveling component 296, and is configured to drive the traveling component 296 to drive the cleaning device 1 along the traveling direction.
  • the opening area of the second opening 607 on the cleaning rack 642 is larger than the opening area of the first opening 606 of the bottom 600 .
  • the second opening 607 can provide an escape space for the walking member 296 so that the walking member 296 can rotate on the surface to be cleaned; in addition, the second opening 607 can also provide an air suction inlet for the cleaning device 1 so that the airflow can flow from the cleaning device 1 The bottom is inhaled through the second opening 607.
  • FIG. 4 is a partially enlarged schematic view of the second module in the cleaning device in FIG. 2 .
  • the cleaning rack 642 is provided with double-layer ribs 648
  • the bottom 600 is provided with double-layer ribs 647.
  • the double-layer ribs 648 on the cleaning rack 642 are annular and form grooves therebetween. 650.
  • the double-layer ribs 647 on the bottom 600 are all annular and form grooves 649 therebetween.
  • the double-layer ribs 648 on the cleaning rack 642 and the double-layer ribs 647 on the bottom 600 are plugged together.
  • the cleaning rack 642 and the bottom 600 are arranged in a plug-in manner through the double-layer ribs 648 and the double-layer ribs 647, which can prevent the cleaning rack 642 from moving relative to the bottom 600 in the direction perpendicular to the direction N, causing the cleaning rack 642 to Shaking affects the control effect of the cleaning device.
  • the direction N is perpendicular to the extension direction of the double-layer ribs 647 or the ribs in the double-layer ribs 648 .
  • the number of ribs on the cleaning rack 642 and the bottom 600 for plug-fitting may be the same or different, and the present disclosure does not limit this.
  • the present disclosure does not limit the number of ribs on the cleaning rack 642 and the bottom 600 for plug-fitting.
  • the two ribs can also be plugged together.
  • the ribs on the cleaning rack 642 or the bottom 600 can also be connected. Multiples may be included, resulting in increased strength at the plug fit.
  • the bottom 600 in the lower shell assembly 10 has an extension guide portion 651 on the second side 602, wherein the height of the extension guide portion 651 is M1, and the height of each rib in the double-layer ribs 647 is M2, and the height M1 of the extension guide portion 651 is less than the height M2 of each of the double-layer ribs 647 on the bottom 600, so that there is a moving space 652 between the cleaning rack 642 and the bottom 600 and the cleaning rack 642 is at a height of There is a movement amount M3 in the direction N.
  • the double-layer ribs 647 on the bottom 600 and the double-layer ribs 648 on the cleaning rack 642 provide guidance for the cleaning rack 642 to move in the height direction.
  • the height direction N is the extension direction of the double-layer ribs 647 or the double-layer ribs 648, and the height of each rib is the height in the height direction N.
  • the cleaning frame 642 has a movement amount M3 in the height direction N, which can reduce assembly errors of the cleaning device 1 and matching errors with the surface to be cleaned.
  • the cleaning device 1 performs a cleaning operation, the matching surfaces of the first module 630 and the second module 640 need to be highly consistent with the surface to be cleaned, that is, there is no height difference between the matching surfaces of the first module 630 and the second module 640 and the cleaning surface, so as to ensure that the matching surfaces are consistent with the cleaning surface. Full contact between surfaces.
  • the cleaning frame 642 can pass in the direction N in the moving space 652 Double layer ribs 648 move.
  • the numerical value of the movement amount M3 can be determined according to actual design requirements, and this disclosure does not limit this.
  • the extended guide portion 651 in the lower shell assembly 10 is located outside the double-layer ribs 647 on the bottom 600.
  • the double-layer ribs 648 on the cleaning rack 642 include ribs 6481 and ribs 6482, where , the ribs 6481 are disposed in the grooves 649 between the double-layer ribs 647 of the bottom 600, and the ribs 6482 in the double-layer ribs 648 on the cleaning rack 642 are disposed near the extended guide portion 651 and the bottom 600.
  • the groove 653 formed by the ribs 6472 of the guide portion 651 are formed by the ribs 6472 of the guide portion 651 .
  • the extension direction of the extension guide portion 651 is consistent with the double-layer ribs 647 or the double-layer ribs 648, thereby providing a guide for the cleaning rack 642 when it moves in the moving space 652 through the double-layer ribs 648, and preventing the cleaning rack 642 from being moved in the moving space 652.
  • Moving in the direction perpendicular to the direction N is beneficial to improving the adsorption effect.
  • the bottom 600 is also provided with a sealing rib 654 on the second side 602.
  • the sealing rib 654 is located inside the double-layer rib 648 on the bottom 600.
  • the sealing rib 654 and the double-layer rib 648 on the bottom 600 The ribs 6481 of the ribs 648 close to the sealing rib 654 form a receiving space to accommodate the sealing member 655 , and the height M1 of the extension guide portion 651 is smaller than the height M4 of the sealing rib 654 .
  • the seal 655 is configured to be compressible, the height M5 of the seal 655 is greater than the height of any one of the double-layer ribs 647 and the double-layer ribs 648 and is greater than the height M4 of the sealing rib 654 .
  • the arrangement of the seal 655 can prevent the air flow sucked from the second opening 607 from leaking from the matching gap between the double-layer ribs 647 and the double-layer ribs 648, thereby acting as a seal to ensure the adsorption strength of the cleaning device 1.
  • the height M5 of the seal 655 is greater than the height of any one of the double-layer ribs 647 and the double-layer ribs 648, that is, the height M5 of the seal 655 is greater than the height M2 of the double-layer ribs 647, and is greater than the height M2 of the double-layer ribs.
  • the height M6 of 648 is greater than the height M4 of the sealing rib 654, which can ensure that the cleaning rack 642 has a movement amount M3 in the height direction N, and the setting of the seal 655 can be such that when the cleaning rack 642 moves in the direction close to the bottom 600 , providing a moving buffering effect for the cleaning rack 642 to avoid collision or wear during relative movement between the cleaning rack 642 and the bottom 600, thus damaging the device.
  • the sealing member 655 can be made of foam or any material that can be squeezed and sealed, and this disclosure is not limited thereto.
  • the bottom 600 is provided with a limiting post 656 on the second side 602, and the cleaning rack 642 is provided with a limiting hole 657.
  • the limiting post 656 and the limiting hole 657 cooperate to ensure that the cleaning rack 642 and the bottom 600 are fastened.
  • the pieces are connected.
  • a fastener can be provided on the limiting column 656, but there is no connection between the fastener and the limiting hole 657. Under the limiting effect of the fastener, the cleaning rack 642 is stuck on the bottom 600 by the fastener. It will not fall off in the direction away from the bottom 600 .
  • the cleaning frame 642 can be displaced at the limiting hole 657, and the displacement stroke can be Y.
  • the displacement stroke Y may be the same as the movement amount M3 of the cleaning frame 642 .
  • the fastener may be a bolt, or any part that can meet the above assembly requirements, and this disclosure is not limited thereto.
  • FIG. 5A is a cross-sectional view along B-B of the cleaning device in FIG. 1D.
  • the lower shell assembly 10 also includes a middle cover 20.
  • the middle cover 20 is located on the first side 601 of the bottom 600 and is installed on the bottom 600. There is an air vent between the middle cover 20 and the bottom 600.
  • the second mounting part 642 of the bottom 600 has an adsorption hole 659.
  • the mating position of the limiting post 656 and the limiting hole 657 is connected with the air chamber 658 through the adsorbing hole 659 to ensure the mating of the limiting post 656 and the limiting hole 658. as a vent.
  • the size of the fastener will be such that there is a certain gap after the limiting post 656 and the limiting hole 657 are matched, so that the airflow can flow through the gap.
  • the lower shell assembly 10 also includes a fan 21 and an air outlet hood 22.
  • the middle cover 20 is provided with a recess 660, and an air inlet 204 is provided in the recess 660.
  • the fan 21 is located between the air outlet hood 22 and the middle cover 20. Between the recesses 660 , the air outlet cover 22 is sealingly connected to the periphery of the recess 660 of the middle cover 20 , and the space between the lower case body 100 and the middle cover 20 forms an air cavity 658 .
  • the gas entering from the air inlet 204 will be directly discharged from the air outlet hood 22 due to the sealing structure of the air outlet hood 22 and the recess 660 of the middle cover 20 to avoid gas leakage and ensure the adsorption effect.
  • the gap between the limiting post 656 and the limiting hole 657 can be used as a vent hole to change the air chamber 658.
  • the air pressure causes the cleaning device 1 to perform corresponding control operations.
  • At least one air leakage detection hole can also be directly provided in other positions in the cleaning device 1 , for example, it can be provided at the edge of the second module to make it easier to detect the traveling status of the cleaning device 1 , thereby providing more timely and sensitive cleaning services.
  • Device 1 serves as a reminder.
  • the air chamber 658 includes a first sub-air chamber 661 corresponding to the first module 630 , a second sub-air chamber 662 corresponding to the second module 640 , a first electronic control valve 663 and a second Electronic control valve 664, wherein the first electronic control valve 663 is configured to control the opening and closing of the first sub-air chamber 661 and adjust the opening area of the first sub-air chamber 661; the second electronic control valve 664 is configured to control the second The opening and closing of the sub-air chamber 662 adjusts the opening area of the second sub-air chamber 662.
  • the lower shell assembly 10 includes a negative pressure mechanism 05 .
  • the negative pressure mechanism 05 includes at least one air chamber 658 , an air inlet hood 203 , at least one fan 21 and an air outlet hood 22 .
  • the air outlet hood 22 includes There are at least two air outlet channels, namely air outlet channel 666 and air outlet channel 667.
  • the upper shell 30 in the cleaning device 1 includes an air outlet 372 and an air outlet 374 .
  • the air outlet hood 22 includes a guide end 262 and a guide end 264 , and the guide ends 262 and 264 are located on the middle cover 20
  • the contour portion 26 is located above the surface 267 of the upper shell 30 , and the air guide end 262 is connected to the air outlet 372 , and the air guide end 264 is connected to the air outlet 374 , so that the airflow passes through the air outlet hood 22 from the outlet of the upper shell 30 .
  • the air outlet 372 and the air outlet 374 discharge.
  • FIG. 5B is a schematic diagram of an air flow path in a cleaning device according to an embodiment of the present disclosure.
  • the main path of the airflow in the cleaning device 1 may include: the fan 21 operates, and the airflow enters the fan 21 from the bottom of the cleaning device 1 through the air inlet 204 of the air inlet hood 203 ; the fan 21 includes multiple airflows.
  • the airflow entering the air inlet hood 203 flows through the fan 21 in the direction away from the lower shell assembly 10 of the cleaning device 1 to the air outlet hood 22; finally, the airflow can flow from the guide end 262 and the guide end of the air outlet hood 22.
  • the flow end 264 flows out and is discharged from the cleaning device 1 through the air outlet 372 and the air outlet 374 .
  • the first electronic control valve 663 is provided at the air inlet passage of the first sub-air chamber 661
  • the second electronic control valve 664 is provided at the air inlet passage of the second sub-air chamber 662 .
  • the first electronic control valve 663 and the second electronic control valve 664 can be controlled separately, that is, they can be selectively opened and closed, and the control is not synchronized.
  • the opening size of the first sub-air chamber 661 corresponding to the first module 630 and the second sub-air chamber corresponding to the second module 640 can also be adjusted.
  • the opening size of 662 is adjusted to adjust the air inlet volume so that the pressures between the first module 630 and the second module 640 and the surface to be cleaned are different, so as to better control the movement of the cleaning device 1 .
  • the negative pressure mechanism 05 can also have multiple combination modes such as dual fans, single air chamber and dual air outlet channels, or dual fans, dual air chambers, and double air outlet channels.
  • the air chamber 658 , the number and design form of the air inlet hood 203, the fan 21 and the air outlet hood 22 are not limited.
  • the cleaning device 1 can be suitable for surface cleaning in various situations.
  • the negative pressure mechanism 05 can increase the pressure between the cleaning device 1 and the horizontal surface, increase friction, and improve the cleaning effect.
  • the negative pressure mechanism 05 can cause the cleaning device 1 to be adsorbed on the non-horizontal surfaces.
  • the cleaning device 1 is a window cleaning robot, and the surface to be cleaned includes windows or walls.
  • the windows may be framed or frameless.
  • framed windows can be household windows, frameless windows can be large floor-to-ceiling windows, etc.
  • Figure 6 is a partial cross-sectional view of the connection between the auxiliary control panel and the middle cover according to an embodiment of the present disclosure.
  • a pressure sensor 668 is provided in the air chamber 658 , and the sensor 668 is configured to detect the air pressure in the air chamber 658 .
  • the cleaning device 1 further includes a detection chamber 550 , and the detection chamber 550 is connected with the air chamber 658 .
  • the detection chamber 550 and the air chamber 658 constitute a sealed chamber.
  • the detection cavity 550 is located between the auxiliary control board 522 and the middle cover 20 .
  • the middle cover 20 is provided with at least one detection hole 560 .
  • the detection cavity 550 is connected to the wind chamber 500 through the detection hole 560 .
  • the detection hole 560 can play a role in balancing the air pressure between the air chamber 500 and the detection chamber 550 .
  • the detection hole 560 can also reduce the water vapor in the air cavity from contacting the air pressure sensor 540, thereby preventing the air pressure sensor 540 from unstable operation and ensuring the accuracy of air pressure detection.
  • FIG. 7 is a partial structural diagram of the second module in the cleaning device in FIG. 1D.
  • wiper strips namely wiper strips 670 and wiper strips 671 , are provided at both the front and rear of the traveling member 296 in the traveling direction.
  • the second module 640 in the cleaning device 1 moves with the walking part 296, by setting the wiper strip 670 and the wiper strip 671, the stains, such as water, etc., on the walking part 296 in the traveling direction can be scraped.
  • the wiper strips 670 and 671 can prevent the window cleaning machine from slipping and falling.
  • the number and form of the wiper strips 670 or 671 can be determined according to actual product design requirements, and this disclosure does not limit this.
  • the walking component 296 includes at least one roller 673, and a cleaning portion 672 is provided on at least one side of the roller 673 to clean the dirt on the roller.
  • a cleaning portion 672 is provided on at least one side of the roller 673 to clean the dirt on the roller.
  • one or more rollers can also be provided in the walking component 296 to meet different product design requirements.
  • two cleaning parts 672 may be provided, and the cleaning parts 672 may be provided at two opposite ends of the traveling member 296 along the traveling direction, or may be determined according to actual design requirements. This disclosure does not specify the location of the cleaning parts 672 . limit.
  • the cleaning part 672 may be a cleaning brush; or the cleaning part 672 may be any other component capable of cleaning the walking component 296 , which is not limited by the present disclosure.
  • the running component 296 may be a track wheel set, and the cleaning part 672 may also be configured to clean impurities on the track and track wheels.
  • the traveling component 296 is a crawler wheel set
  • the number of the crawler wheel set may not be limited to one, that is, it may be increased to multiple according to design requirements to increase the cleaning area and cleaning intensity of the cleaning device.
  • the cleaning rack 642 is provided with at least one sub-adsorption area 675, wherein each sub-adsorption area 675 includes at least one sub-adsorption hole 676, and the at least one sub-adsorption hole 676 is spaced apart, and each sub-adsorption hole The cross section of 676 is smaller than the opening cross section of the second opening 607 .
  • the number of sub-adsorption areas 675 is two, and the two sub-adsorption areas 675 are disposed on both sides of the second opening 607 .
  • the airflow can enter the side of the cleaning rack 642 close to the fan 21 from the second opening 607, and then pass through the adsorption hole of the second mounting part 641 659 enters the wind cavity 658.
  • the airflow can also enter the side of the cleaning rack 642 close to the fan 21 from the sub-adsorption area 675 through the sub-adsorption hole 676, and then enter the air cavity 658.
  • the opening area of the second opening 607 can serve as the main suction area of the cleaning device 1 .
  • the design method of combining the main adsorption area and the sub-adsorption area can increase the area of the negative pressure chamber in the cleaning device 1 and improve the adsorption effect. For example, when there is one sub-adsorption hole 676, it is easy to process and manufacture, and the cost can be reduced; when there are multiple sub-adsorption holes 676, it can ensure that the air inlet volume of the cleaning rack 642 is expanded, thereby ensuring the safety of the cleaning rack during the adsorption process. Strength, reducing damage and deformation, the present disclosure does not limit the number of sub-adsorption holes 676.
  • the number and positional relationship of the first module 630 and the second module 640 in the cleaning device 1 may include multiple types.
  • 8A is a schematic diagram of the relative positions of a first module and a second module in a cleaning device according to an embodiment of the present disclosure.
  • 8B is a schematic diagram of the relative positions of another first module and a second module in a cleaning device according to an embodiment of the present disclosure.
  • 8C is a schematic diagram of the relative positions of yet another first module and a second module in a cleaning device according to an embodiment of the present disclosure.
  • the first module 630 and the second module 640 are arranged side by side, and the rotation axis 678 of the first module 630 is within the first symmetry plane 679 of the second module 640, wherein the first symmetry
  • the plane 679 is a plane passing through the center of the second module 640 perpendicular to the linear traveling direction of the second module 640 .
  • the second module 640 is structurally symmetrical relative to the first symmetry plane 679 .
  • the first module 6308 and the second module 6408 are arranged side by side.
  • the first module 6308 can rotate in the direction Y or the opposite direction of the direction Y
  • the second module 6408 can rotate in the direction X or the opposite direction of the direction X. Go straight in the opposite direction.
  • the corresponding force of the first module 6308 is F4;
  • the corresponding force of the first module 6308 is F3.
  • the driving force that should be applied to it is F1
  • the driving force that should be applied to it is F2.
  • one of the first module 6308 and the second module 6408 can be used as the driving wheel set.
  • the driving force received by the first module 6308 can be kept constant by adjusting the driving force F1 or driving force F2 received by the second module 6408, so that the second module
  • the group 6408 cooperates with the first module 6308 to realize the forward, backward and turning movements of the cleaning device.
  • the second module 6408 can also be used as a driving wheel set, so that the driving force received by the second module 6408 is constant, and the movement state of the cleaning device can be controlled by adjusting the driving force to the first module 6308.
  • the lower shell assembly 10 may include a plurality of first module groups 630 and a plurality of second module groups 640 , and the plurality of first module groups 630 are spaced apart.
  • the second module groups 640 are arranged in parallel and spaced apart, and the rotation center line of each first module group does not overlap with the linear motion direction of each second module group.
  • the cleaning device may include a first module 6318 and a second module 6418, which are arranged side by side and spaced apart, and the rotation center line L2 of the first module 6318 is consistent with the linear motion of the second module 6418. There is no overlap in the direction L1 to ensure that the first module 6318 and the second module 6418 can travel together.
  • the number of first modules and second modules in the cleaning device may also be multiple.
  • the lower shell assembly may include a first module 6328, a first module 6338, a second module 6428, a second module 6438, and a second module 6448.
  • the first module 6328 and the first module The groups 6338 are arranged in parallel and spaced apart, the second module 6428, the second module 6438 and the second module 6448 are arranged in parallel and spaced apart, and the rotation center line of each first module is independent of the linear motion direction of each second module. overlap.
  • the first module 6328 and the first module 6338 may also be arranged in a non-parallel manner.
  • the design form of the actual product can be made more diverse, further improving the overall performance of the cleaning device.
  • the present disclosure also provides a cleaning device, including any of the above lower housing components.
  • the cleaning device provided by the embodiment of the present disclosure further includes at least one step-down switch, at least one air leakage detection hole 686, a one-way part, a first cleaning part and a second cleaning part.
  • the cleaning device 1 includes two actuated switches, namely accelerating switch 680 and accelerating switch 681 .
  • the accelerating switch 680 is provided at the first end 683 of the cleaning device 1
  • the accelerating switch 681 is provided at the cleaning device 1 .
  • Second end 682 of device 1 the step-down switch 680 or the step-down switch 681 can also be provided at the third end 684 of the cleaning device 1 .
  • the first end 682 , the second end 683 and the third end 684 of the cleaning device 1 can be at any edge or corner position on the lower housing body 100 of the cleaning device 1 so as to be easily detected.
  • Each step-down switch in the cleaning device 1 is configured to detect the moving position information of the cleaning device 1 and feed back the moving position information to the cleaning device, thereby controlling the traveling state of the cleaning device 1 to prevent the cleaning device 1 from moving to the area to be cleaned. outside.
  • At least one leakage detection hole 686 is disposed in the second area 687 of the second module 640 near the second end 682 or in the first area (not shown) near the first end 683 , configured to change and feedback the air pressure within the cleaning device 1 .
  • the first area and the second area 687 are symmetrical with respect to the first plane of symmetry 679 .
  • the second area 687 can be an area close to the step-down switch 681, which can easily change the air pressure of the air chamber 658 through the air leakage detection hole 686 in time when the cleaning device 1 moves outside the surface to be cleaned, so as to serve as a reminder.
  • the air leakage detection hole 686 and each step-down switch can perform the function of step-down detection, and can provide the cleaning device 1 with double protection from falling.
  • the working principle of the air leakage detection hole 686 please refer to the above-mentioned description of the cooperation between the limiting post 656 and the limiting hole 658 as the air leakage hole, which will not be described again here.
  • FIG. 9A is a schematic diagram of the water outlet range of the nozzle and the air outlet range of the air outlet in a cleaning device according to an embodiment of the present disclosure.
  • FIG. 9B is a schematic diagram of an air outlet provided by an embodiment of the present disclosure.
  • the air outlet 910 includes a one-way portion 911.
  • the one-way portion 911 is unidirectionally conductive along the air outlet direction M. That is, when the airflow flows out of the air outlet 910 along the air outlet direction M, the one-way portion 911 is unidirectionally conductive.
  • the one-way portion 911 is opened, and when the airflow flows to the air outlet 910 against the air outlet direction M, the one-way portion 911 is closed, so the airflow cannot flow in from the air outlet 910 against the air outlet direction M.
  • the airflow can only flow out of the air outlet 910 along the air outlet direction M.
  • the gas pressure inside the cleaning device can also be adjusted through the one-way part 911.
  • the one-way part 911 may be a one-way valve or a one-way valve.
  • the form of the one-way part 911 includes but is not limited to this, and the one-way part 911 may also be other forms of structures.
  • the water outlet area of the nozzle 31 is A1, and the air outlet range of the air outlet 372 is A2. Since the one-way portion 911 is provided inside the air outlet 910, the airflow inside the cleaning device 1 can be prevented. The external air flow near the air outlet 910 is interfered, so that the air flows in and out in an orderly manner, and the water outlet area A1 and the air outlet range A2 do not overlap. Similarly, the air outlet range (not shown) of the air outlet 374 does not overlap with the water outlet area A1. Therefore, when the cleaning device 1 is operating, water sprayed from the nozzle 31 can be prevented from entering the cleaning device 1 from the air inlet 204 .
  • the first cleaning member (not shown) can be bonded or clipped on the side of the first module 630 away from the lower housing body, and the second cleaning member (not shown) can be bonded or clipped on the second module 630 .
  • 640 is away from the side of the shell body to be lowered.
  • the first cleaning member can be connected to the corresponding buckle on the first module 630 through a ring member; the second cleaning member can be connected to the corresponding buckle on the second module 640 through a ring member.
  • the first cleaning element and the first module 630 may be fixed in the same manner or different from the second cleaning element and the second module 640 in a fixed manner, which is not limited by the present disclosure.
  • first cleaning member and the second cleaning member may include cleaning rags or cleaning brushes, and other elements that can achieve a cleaning effect.
  • This disclosure does not limit the materials of the first cleaning member and the second cleaning member.
  • a rectification structure 691 is provided at the air inlet hood 203 to guide the airflow entering the air cavity 658 so that the airflow can enter the fan 21 more smoothly.
  • the fan 21 is connected to the middle cover 20 , a shock absorber is provided between the fan 21 and the middle cover 20 , and a shock absorber is also provided between the fan 21 and the air outlet hood 22 .
  • the shock-absorbing member is used to play a shock-absorbing role during the operation of the cleaning device 1, thereby protecting the device.
  • the shock-absorbing member may be a silicone ring, or any other element that acts as a shock-absorbing buffer, and this disclosure is not limiting.
  • the battery pack 15 is disposed between the upper case 30 and the lower case assembly 10, and the battery pack 15 is fixed by ribs 6152 on the upper case 10 and ribs 6150 on the lower case assembly 10. position, without using any other fixing elements, which can reduce the number of parts of the cleaning device 1.
  • the battery pack 15 can also be placed externally to the cleaning device 1 and electronically connected to a circuit board through wires to reduce the weight of the cleaning device 1 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Cleaning In General (AREA)
  • Filters For Electric Vacuum Cleaners (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Paper (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Developing Agents For Electrophotography (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

一种下壳组件(10)和清洁装置(1)，下壳组件(10)包括：下壳本体(100)、第一模组(630)和第二模组(640)，下壳本体(100)包括底部(600)和侧部(610)，底部(600)包括相对的第一侧(601)和第二侧(602)，侧部(610)围绕底部(600)设置以形成在底部(600)的第一侧(601)的凹腔(603)；第一模组(630)安装在下壳本体(100)的第二侧(602)；第二模组(640)安装在下壳本体(100)的第二侧(602)，与第一模组(630)间隔设置，第一模组(630)被配置为围绕旋转轴线(678)转动，第二模组(640)被配置为围绕垂直于旋转轴线(678)的轴线转动，旋转轴线(678)沿第一侧(601)指向第二侧(602)的方向延伸。下壳组件(10)及清洁装置(1)可以将清洁装置(1)的清洁效果与行进速度结合，既包括能够实现清洁装置(1)快速直线行进的模组，又包括能够通过旋转进行清洁的模组，在保证清洁装置(1)的移动速度的同时，显著提高了清洁装置(1)的清洁效率。

Description

下壳组件及清洁装置
相关申请的交叉引用
本申请要求于2022年3月16日递交的中国专利申请第202220579663.3号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开至少一实施例涉及一种下壳组件及清洁装置。
背景技术
随着现代科技的快速发展，智能家居的理念逐步深入人心，通过网络化综合智能控制和管理，智能家居已逐渐能够实现“以人为本”的全新家居生活体验。其中，各式各样的智能家用电器层出不穷，用于家居清洁的清洁装置包括擦窗机器人、扫地机器人等。多种清洁装置通常采用的吸附装置是通过真空吸附的方式，即以离心风机或真空泵等作为真空产生装置，使机器人机体和待清洁表面间的空隙产生局部负压，在压力差作用下机器人贴附在待清洁表面，从而可以用于表面清洁，尤其是非水平面清洁。为提升和改进各类清洁装置的清洁性能，设计一种能够在保证清洁效果的同时，提成清洁装置的移动速率的方案，成为新一代清洁装置不断进步的研究方向。
发明内容
本公开实施例提供一种下壳组件及清洁装置。该下壳组件可以将清洁装置的清洁效果与行进速度结合，既包括能够实现清洁装置快速直线行进的模组，又包括能够通过旋转进行清洁的模组，在保证清洁装置的移动速度的同时，显著提高了清洁装置的清洁效率。
本公开的实施例提供一种下壳组件，包括：下壳本体，包括底部和侧部，所述底部包括相对的第一侧和第二侧，所述侧部围绕所述底部设置以形成在所述底部的第一侧的凹腔；第一模组，安装在所述底部的第二侧；第二模组，安装在所述底部的第二侧，与所述第一模组间隔设置，其中，所述第一模组被配置为围绕旋转轴线转动，所述第二模组被配置为围绕垂直于所述旋转轴线的轴线转动，所述旋转轴线沿所述第一侧指向所述第二侧的方向延伸。
例如，本公开至少一实施例提供的下壳组件，所述底部包括第一安装部和第二安装部，所述第一安装部为所述底部的对应于所述第一模组的部分，所述第二安装部为所述底部的对应于所述第二模组的部分，所述侧部具有远离所述底部的结合面，所述第一安装部与所述结合面之间的距离小于所述第二安装部与所述结合面之间的距离以使得所述第一安装部和所述第二安装部之间具有高度差。
例如，本公开至少一实施例提供的下壳组件，还包括罩壳部，所述第二模组包括清洁架和行走部件，所述底部包括第一开口以安装所述行走部件和所述罩壳部，所述罩壳部安 装在所述底部上并被配置为容纳所述行走部件的一部分，所述清洁架具有第二开口，以避让所述行走部件。
例如，本公开至少一实施例提供的下壳组件，所述清洁架设有双层筋条，所述底部设有双层筋条，所述清洁架上的双层筋条均呈环形并在其间形成凹槽，所述底部上的双层筋条均呈环形并在其间形成凹槽，所述清洁架上的双层筋条和所述底部上的双层筋条插接设置，所述底部在所述第二侧具有延伸导向部，所述延伸导向部的高度小于所述底部上的双层筋条中每个筋条的高度以使得所述清洁架和所述底部之间具有移动空间且所述清洁架在高度方向上具有移动量，所述底部上的双层筋条和所述清洁架上的双层筋条为所述清洁架在所述高度方向上移动提供导向，所述延伸导向部位于所述底部上的双层筋条的外侧，所述清洁架上的双层筋条中的一个设置在所述底部的双层筋条之间的凹槽中，所述清洁架上的双层筋条中的另一个设置在所述延伸导向部和所述底部的靠近该所述延伸导向部的筋条形成的凹槽内。
例如，本公开至少一实施例提供的下壳组件，所述底部在所述第二侧还设有密封筋条，所述密封筋条位于所述底部上的双层筋条的内侧，所述密封筋条和所述底部上的双层筋条中的靠近该所述密封筋条的筋条形成容置空间以容纳密封件，所述延伸导向部的高度小于所述密封筋条的高度，所述密封件被配置为可被压缩，所述密封件的高度大于所述双层筋条中的任一个的高度，并大于所述密封筋条的高度。
例如，本公开至少一实施例提供的下壳组件，所述底部在所述第二侧设有限位柱，所述清洁架设有限位孔，所述限位柱和所述限位孔配合以使得所述清洁架和所述底部通过紧固件相连；所述下壳组件还包括中盖，所述中盖位于所述底部的第一侧，并安装在所述底部上，所述中盖和所述底部之间设有风腔，所述底部的所述第二安装部具有吸附孔，所述限位柱和所述限位孔的配合处与所述风腔通过所述吸附孔连通以使得所述限位柱和所述限位孔的配合处作为泄气检测孔；
所述下壳组件还包括负压机构，所述负压机构包括至少一个所述风腔、进风罩、至少一个风机以及出风罩，其中，所述出风罩包括至少两个出风通道。
例如，本公开至少一实施例提供的下壳组件，所述风腔包括对应于所述第一模组的第一子风腔、对应于所述第二模组的第二子风腔和电子控制阀，所述电子控制阀被配置为选择性地控制所述第一子风腔或所述第二子风腔的开口面积。
例如，本公开至少一实施例提供的下壳组件，所述风腔包括对应于所述第一模组的第一子风腔、对应于所述第二模组的第二子风腔、第一电子控制阀以及第二电子控制阀，所述第一电子控制阀被配置为控制所述第一子风腔的开口面积；所述第二电子控制阀被配置为控制所述第二子风腔的开口面积。
例如，本公开至少一实施例提供的下壳组件，还包括刮水条，所述刮水条设置在所述行走部件的行走方向的前部，和/或后部。
例如，本公开至少一实施例提供的下壳组件，所述行走部件包括至少一个滚轮，在所述滚轮的至少一侧设置清洁部以清理所述滚轮上的污物。
例如，本公开至少一实施例提供的下壳组件，所述清洁架中设有至少一个子吸附区，其中，每个所述子吸附区中包括至少一个子吸附孔，所述至少一个子吸附孔间隔设置，并且每个所述子吸附孔的截面小于所述第二开口的开口截面。
例如，本公开至少一实施例提供的下壳组件，所述第一模组与所述第二模组并排设置，且所述第一模组的旋转中心线在所述第二模组的第一对称平面内，所述第一对称平面为在垂直于所述第二模组的直线行走方向上经过所述第二模组的中心的平面。
例如，本公开至少一实施例提供的下壳组件，所述下壳组件包括多个第一模组以及多个第二模组，且所述多个第一模组间隔设置，所述多个第二模组并列间隔设置，并且每个所述第一模组的旋转中心线与每个所述第二模组的直线运动方向无交叠。
本公开至少一实施例提供一种清洁装置，包括上述任一项所述的下壳组件。
例如，本公开至少一实施例提供的清洁装置，还包括：至少一个踏空开关，设置在所述清洁装置的至少一个端部，被配置为检测所述清洁装置的移动位置信息，并将所述移动位置信息反馈至所述清洁装置，进而控制所述清洁装置的行进状态；和/或，至少一个泄气检测孔，设置在所述清洁装置的至少一个端部，被配置为检测所述清洁装置的移动位置信息，并将所述移动位置信息反馈至所述清洁装置，进而控制所述清洁装置的行进状态；单向部，所述单向部沿所述清洁装置的出风方向是单向导通的；第一清洁件和第二清洁件，所述第一清洁件连接在所述第一模组远离所述下壳本体的一侧，所述第二清洁件连接在所述第二模组远离所述下壳本体的一侧。
附图说明
图1A为本公开的一实施例提供的一种清洁装置的整体结构示意图。
图1B为本公开的一实施例提供的一种用于清洁装置的局部结构示意图。
图1C为本公开的一实施例提供的一种用于清洁装置的上壳的结构示意图。
图1D为本公开的一实施例提供的一种用于清洁装置的整体示意图。
图2为图1B中的清洁装置沿A-A的剖视图。
图3A为本公开的一实施例提供的下壳组件中下壳本体的结构示意图。
图3B为本公开的一实施例提供的下壳组件中下壳本体的另一视角的结构示意图。
图4为图2中的清洁装置中第二模组的局部放大示意图。
图5A为图1D中的清洁装置沿B-B的剖视图。
图5B为本公开的一实施例提供的一种清洁装置中气流的流通路线的示意图。
图6为本公开的一实施例提供的辅控制板与中盖连接处的局部剖面图。
图7为图1D中的清洁装置中第二模组的局部结构示意图。
图8A为本公开的一实施例提供的一种清洁装置中一种第一模组与第二模组的相对位置示意图。
图8B为本公开的一实施例提供的一种清洁装置中另一种第一模组与第二模组的相对位置示意图。
图8C为本公开的一实施例提供的一种清洁装置中再一种第一模组与第二模组的相对位置示意图。
图9A为本公开的一实施例提供的一种清洁装置中喷嘴出水范围与出风口的出风范围的示意图。
图9B本公开一实施例提供的一种出风口的示意图。
具体实施方式
为了使得本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例的附图，对本公开实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于所描述的本公开的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外定义，本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
附图中各个部件或结构并非严格按照比例绘制，为了清楚起见，可能夸大或缩小各个部件或结构的尺寸，但是这些不应用于限制本公开的范围。为了保持本公开实施例的以下说明清楚且简明，可省略已知功能和已知部件的详细说明。
随着现代科技的不断进步，智能家居的理念成为引领时尚的潮流，随之适用于智能清洁的各种清洁装置层出不穷。对此，本公开的发明人发现，市场上清洁装置(例如，擦窗机，扫地机器人等)大致分为两类，一类是双圆盘扭动行进的组合模式，即：双圆盘的其中一圆盘与待清洁面相对转动，从而起到擦拭作用，而另一圆盘与待清洁面相对静止，其缓慢转动可以带动擦拭的圆盘绕其转动行进，直到下一周期，相对静止的圆盘与擦拭的圆盘互换角色，从而扭动行进。另一类擦窗机是采用双履带行进的组合模式，在履带四周可以固定一圈擦拭布，行进过程中擦拭布与待清洁面相对滑动从而将其擦拭。
然而，对于双圆盘扭动行进的组合模式，清洁装置的行进速度较慢，并且在双盘的不断切换过程中实现行进和清洁，清洁效率低下；双履带行进的组合模式，仅通过履带四周固定的一圈擦拭布进行清洁，其清洁效率低于带有转动的擦盘与清洁面接触擦拭的模式，通常无法彻底将清洁面清洁干净，清洁效果不佳。
本公开的实施例提供一种下壳组件和清洁装置。下壳组件包括：下壳本体、第一模组和第二模组，下壳本体包括底部和侧部，底部包括相对的第一侧和第二侧，侧部围绕所述底部设置以形成在底部的第一侧的凹腔；第一模组安装在底部的第二侧；第二模组安装在 底部的第二侧，与第一模组间隔设置，其中，所述第一模组被配置为围绕旋转轴线转动，所述第二模组被配置为围绕垂直于所述旋转轴线的轴线转动，所述旋转轴线沿所述第一侧指向所述第二侧的方向延伸。
本公开至少一实施例提供的用下壳组件及清洁装置，可以将清洁装置的清洁效果与行进速度结合，既包括能够实现清洁装置快速直线行进的模组，又包括能够通过旋转进行清洁的模组，在保证清洁装置的移动速度的同时，显著提高了清洁装置的清洁效率，进而使得清洁装置具有良好的清洁性能。
下面通过一些实施例对下壳组件及清洁装置进行说明。
图1A为本公开的一实施例提供的一种清洁装置的整体结构示意图。图1B为本公开的一实施例提供的一种用于清洁装置的局部结构示意图。图1C为本公开的一实施例提供的一种用于清洁装置的上壳的结构示意图。图1D为本公开的一实施例提供的一种用于清洁装置的整体示意图。图2为图B中的清洁装置沿A-A的剖视图。
参考图1A和图2，清洁装置1包括壳体组件01，该壳体组件01包括下壳组件10、中盖20以及上壳30。下壳组件10包括：下壳本体100、第一模组630以及第二模组640，下壳本体100包括底部600和侧部610，底部600包括相对的第一侧601和第二侧602，侧部610围绕底部600设置以形成在底部600的第一侧601的凹腔603；第一模组630和第二模组640安装在底部600的第二侧602，并且第二模组640与第一模组630间隔设置，第一模组630被配置为围绕旋转轴线678转动，第二模组640被配置为围绕垂直于旋转轴线678的轴线转动，旋转轴线678沿第一侧601指向第二侧602的方向延伸。例如，第一模组630可以相对于底部600绕旋转轴线678旋转；例如，第二模组640可以到单独驱动清洁装置1进行直线运动。
参考图1A和图2，下壳本体100的第一侧601上可以设置多种配合与安装结构，以满足清洁装置1中的各类部件进行安装与匹配，例如，清洁装置1中的各类部件可以设置于凹腔603中以实现相应的器件功能。例如，各类部件可以包括驱动电机14、电池组15、主控制板23、驱动器24，例如，主控制板23上设有控制模块，控制模块被配置为驱动清洁装置1；驱动器24可以作为清洁装置1的驱动控制元件；上壳30上还可以设置有喷嘴31、按键32、指示灯33、装饰件36，且装饰件36上包括水箱胶塞35和水箱底壳34。下壳组件10还包括罩壳部12，罩壳部12沿其周边与下壳本体100可拆卸连接。例如，在罩壳部12中，可设置清洁装置1的行走部件296或行走部件296的驱动部件297。
参考图1A和图2，第一模组630被配置为围绕旋转轴线678转动，第二模组640被配置为围绕垂直于旋转轴线678的轴线转动，二者通过相互配合，进而可以实现清洁装置1的直线行走及转弯，同时第一模组630能够通过旋转进行清洁，即在保证清洁装置1的移动速度的同时，显著提高了清洁装置1的清洁效率，进而使得清洁装置1具有良好的清洁性能。
图3A为本公开的一实施例提供的下壳组件中下壳本体的结构示意图。图3B为本公开的一实施例提供的下壳组件中下壳本体的另一视角的结构示意图。
参考图2、图3A和图3B，底部600包括第一安装部631和第二安装部641，第一安装部631为底部600的对应于第一模组630的部分，第二安装部641为底部600的对应于第二模组640的部分，侧部610具有远离底部600的结合面611，第一安装部631与结合面611之间的距离L1小于第二安装部641与结合面611之间的距离L2以使得第一安装部631和第二安装部641之间具有高度差ΔL。
例如，第一模组630可以通过紧固件安装在第一安装部631，并同时满足第一模组630能够相对于清洁装置1旋转。例如，在本公开的一些实施例中，第一安装部631可以包括旋转连接轴，第一模组630可以从中心处固定在该旋转连接轴上，并可以随着旋转连接轴旋转。例如，紧固件可以是螺栓，或者其他任何可以实现将第一模组630在第一安装部631上旋转固定的元件，本公开的实施例对此不作限制。
例如，第二模组640可以通过卡接、插接等方式连接在第二安装部641上，并能够随清洁装置同时行进。本公开对于第二模组640和第二安装部641的连接方式不作限制。
参考图2、图1C、图3A和图3B，结合面611位于侧部610远离底部600的一侧，该结合面611可以实现与上壳30的对接配合，使得上壳30中的对接面690与结合面611重合，从而为清洁装置1中的部件提供遮盖及保护。
例如，当第一安装部631与结合面611之间的距离L1小于第二安装部641与结合面611之间的距离L2，并使得第一安装部631和所述第二安装部641之间具有高度差ΔL时，第二安装部641比第一安装部631更贴近于待清洁面，当行走部件296与待清洁面的距离一定时，则第二安装部641将行走部件外露的高度Z相对减小。当第二模组640通过对行走部件296进行结构避让而安装于第二安装部641后，可以进一步对行走部件296的外露表面进行遮蔽。更进一步地，当第二模组640上设置有清洁件，例如清洁抹布时，清洁抹布可以将第二模组640包裹，进一步减少行走部件296的外露部分，使得清洁装置1的底部更具美观性。
参考图1A、图2和图3A，下壳组件10还包括罩壳部12，第二模组640包括清洁架642和行走部件296，底部600包括第一开口606以安装行走部件296和罩壳部12，罩壳部12安装在底部600上并被配置为容纳行走部件296的一部分，清洁架642具有第二开口607，以避让行走部件296。
例如，罩壳部12可以通过固定件固定在底部600的第一侧601，例如，可通过螺栓固定连接，以及其他任何可实现固定连接的合适方式，本公开对此不作限制。例如，罩壳部12内可以容纳行走部件296的一部分，以及行走部件296的驱动部件297，行走部件296的一部分设置在底部600的第一侧601，另一部分通过第一开口606伸出至底部600的第二侧602。驱动部件297设置在底部600的第一侧601，与行走部件296相邻，并被配置为驱动行走部件296沿行走方向带动清洁装置1行进。
例如，清洁架642上的第二开口607的开口面积大于底部600的第一开口606的开口面积。第二开口607可以为行走部件296提供避让空间，以使得行走部件296能够在待清洁面上转动；此外，第二开口607还可以为清洁装置1提供吸风入口，使得气流可以从清 洁装置1的底部经第二开口607吸入。
图4为图2中的清洁装置中第二模组的局部放大示意图。
参考图2、图3B和图4，清洁架642设有双层筋条648，底部600设有双层筋条647，清洁架642上的双层筋条648均呈环形并在其间形成凹槽650，底部600上的双层筋条647均呈环形并在其间形成凹槽649，清洁架642上的双层筋条648和底部600上的双层筋条647插接设置。例如，清洁架642和底部600通过双层筋条648和双层筋条647通过插接的方式设置，可以避免清洁架642相对于底部600在垂直于方向N的方向移动，造成清洁架642产生晃动，影响清洁装置的控制效果。方向N为垂直于双层筋条647或双层筋条648中的筋条的延伸方向。
例如，清洁架642和底部600上进行插接配合的筋条的数量可以相同，也可以不相同，本公开对此不作限制。同时，本公开对清洁架642和底部600上进行插接配合的筋条的数量也不作限制。例如，清洁架642上的筋条可以是一个，底部600上的筋条可以是两个，两者也能够实现筋条间的插接配合，例如，清洁架642或底部600上的筋条也可以包括多个，从而使得插接配合处的强度增强。
参考图2和图4，下壳组件10中的底部600在第二侧602具有延伸导向部651，其中，延伸导向部651的高度为M1，双层筋条647中每个筋条的高度为M2，且延伸导向部651的高度M1小于底部600上的双层筋条647中每个筋条的高度M2，以使得清洁架642和底部600之间具有移动空间652并使得清洁架642在高度方向N上具有移动量M3，底部600上的双层筋条647和清洁架642上的双层筋条648为清洁架642在高度方向上移动提供导向。其中，高度方向N为双层筋条647或双层筋条648的延伸方向，且各筋条的高度均为在高度方向N上的高度。
例如，清洁架642在高度方向N上具有移动量M3，可以减小清洁装置1的装配误差，以及与待清洁表面之间的匹配误差。当清洁装置1进行清洁操作时，第一模组630和第二模组640分别与待清洁面的匹配面需保持高度一致，即二者与清洁面的匹配面无高度差，以保证与清洁表面之间的充分接触。因此，当清洁装置1存在装配误差或零件设计误差，导致第一模组630和第二模组640与待清洁面的匹配面高度不一致时，清洁架642可以在移动空间652内朝方向N通过双层筋条648进行移动。例如，移动量M3的数值大小可以按照实际设计要求而定，本公开对此不作限制。
参考图2和图4，下壳组件10中的延伸导向部651位于底部600上的双层筋条647的外侧，清洁架642上的双层筋条648包括筋条6481和筋条6482，其中，筋条6481设置在底部600的双层筋条647之间的凹槽649中，清洁架642上的双层筋条648中的筋条6482设置在延伸导向部651和底部600的靠近该延伸导向部651的筋条6472形成的凹槽653内。
例如，延伸导向部651的延伸方向与双层筋条647或双层筋条648一致，从而可为清洁架642通过双层筋条648在移动空间652内移动时提供导向，避免清洁架642在垂直于方向N的方向上移动，有利于提升吸附效果。
参考图2和图4，底部600在第二侧602还设有密封筋条654，密封筋条654位于底部600上的双层筋条648的内侧，密封筋条654和底部600上的双层筋条648中的靠近该密封筋条654的筋条6481形成容置空间以容纳密封件655，延伸导向部651的高度M1小于密封筋条654的高度M4。
参考图2和图4，密封件655被配置为可被压缩，密封件655的高度M5大于双层筋条647和双层筋条648中的任一个的高度并大于密封筋条654的高度M4。
例如，密封件655的设置可以防止从第二开口607吸入的气流从双层筋条647和双层筋条648的配合间隙中漏出，起到密封作用，以保证清洁装置1的吸附强度。同时，密封件655的高度M5大于双层筋条647和双层筋条648中的任一个的高度，即密封件655的高度M5大于双层筋条647的高度M2，且大于双层筋条648的高度M6，并大于密封筋条654的高度M4，可以保证清洁架642在高度方向N上具有移动量M3，并且，密封件655的设置可以为清洁架642朝向靠近底部600的方向移动时，对清洁架642提供移动缓冲作用，避免清洁架642与底部600之间的相对运动时发生撞击或磨损，损坏器件。
例如，密封件655可以采用泡棉及任何可以挤压和密封的材料，本公开对此不作限制。
如图2所示，底部600在第二侧602设有限位柱656，清洁架642上设有限位孔657，限位柱656和限位孔657配合以使得清洁架642和底部600通过紧固件相连。例如，限位柱656上可以设置紧固件，而紧固件与限位孔657之间无连接，清洁架642在紧固件的限位作用下，通过紧固件卡在底部600上而不致朝远离底部600的方向脱落。同时，紧固件设置于限位柱656上后，清洁架642在限位孔657处可以进行移位，移位行程可以为Y。例如，移位行程Y可以与清洁架642的移动量M3相同。例如，紧固件可以是螺栓，或任何可满足上述装配需求的零件，本公开对此不作限制。
图5A为图1D中的清洁装置沿B-B的剖视图。
参考图1A、图2和图5A，下壳组件10还包括中盖20，中盖20位于底部600的第一侧601，并安装在底部600上，中盖20和底部600之间设有风腔658，底部600的第二安装部642具有吸附孔659，限位柱656和限位孔657的配合处与风腔658通过吸附孔659连通以使得限位柱656和限位孔658的配合处作为泄气孔。例如，紧固件的尺寸大小将满足限位柱656和限位孔657的配合后存在一定间隙，使得气流可以从该间隙中流通。
参考图1A和图5A，下壳组件10还包括风机21和出风罩22，中盖20设有凹陷660，凹陷660中设有进风口204，风机21位于出风罩22和中盖20的凹陷660之间，出风罩22与中盖20的凹陷660的周边密封连接，下壳本体100和中盖20之间的空间形成风腔658。
例如，当风机21运行时，从进风口204中进入的气体，将由于出风罩22与中盖20的凹陷660的密封结构而直接从出风罩22排出，以免气体泄露，保证吸附效果。
例如，限位柱656和限位孔657之间存在配合间隙，可以使得气体可以通过该间隙流入到清洁架642靠近底部600的一侧，进而再通过吸附孔659进入到风腔658内，从而改变风腔658的气压。例如，当清洁装置1移动到清洁区域以外的区域时，例如清洁装置1部分与待清洁面分离时，限位柱656和限位孔657之间间隙可以作为一个泄气孔，改变风 腔658的气压，使得清洁装置1进行相应的控制操作。
例如，清洁装置1中也可以在其他位置直接设置至少一个泄气检测孔，例如可以设置在第二模组的边缘处，以更易于检测到清洁装置1的行进状态，从而更加及时和灵敏为清洁装置1起到提示作用。
参考图2和图5A，风腔658包括对应于第一模组630的第一子风腔661、对应于第二模组640的第二子风腔662、第一电子控制阀663以及第二电子控制阀664，其中，第一电子控制阀663被配置为控制第一子风腔661的启闭，调整第一子风腔661的开口面积；第二电子控制阀664被配置为控制第二子风腔662的启闭，调整第二子风腔662的开口面积。
参考与1和图5A，下壳组件10包括负压机构05，负压机构05包括至少一个风腔658、进风罩203、至少一个风机21以及出风罩22，其中，出风罩22包括至少两个出风通道，即出风通道666和出风通道667。
参考图1A，清洁装置1中的上壳30包括出风口372和出风口374，出风罩22包括导流端262和导流端264，且导流端262和导流端264位于中盖20的轮廓部26的靠近上壳30的表面267的上方，并且导流端262与出风口372连通、导流端264与出风口374连通，从而将气流经过出风罩22从上壳30的出风口372和出风口374排出。
图5B为本公开的一实施例提供的一种清洁装置中气流的流通路线的示意图。
参考图1A和图5B，气流在清洁装置1中的主流经路线可以包括：风机21运转，气流从清洁装置1的底部从进风罩203的进风口204进入风机21；风机21包括多个气流孔215，进入进风罩203中的气流沿远离清洁装置1的下壳组件10的方向经过风机21流通至出风罩22；最后，气流可从出风罩22上的导流端262和导流端264流出，并由出风口372和出风口374排出清洁装置1。
参考图2和图5A，第一电子控制阀663设置于第一子风腔661的进气通道处，第二电子控制阀664设置于第二子风腔662的进气通道处。例如，第一电子控制阀663可以与第二电子控制阀664分别调控，即二者可选择性地开启和关闭，控制不同步。通过设置第一电子控制阀663与第二电子控制阀664，还可以调整对应于第一模组630的第一子风腔661的开口大小和对应于第二模组640的第二子风腔662的开口大小，进而调整进风量，以使第一模组630和第二模组640与待清洁表面之间的压力呈现不同，便于更好地控制清洁装置1的运动。
例如，在一些实施例中，负压机构05也可以是双风机，单风腔和双出风通道或双风机、双风腔和双出风通道等多种组合模式，本公开对于风腔658、进风罩203、风机21以及出风罩22的数量和设计形式不作限制。
该清洁装置1可以适用于多种情况下的表面清洁。例如，用在水平面上的清洁，负压机构05可以增大清洁装置1与水平面之间的压力，增加摩擦力，提高清洁效果。用于非水平面的清洁，负压机构05可以使清洁装置1吸附在非水平面上。
在一些示例中，清洁装置1是擦窗机器人，待清扫面包括窗户或墙面。例如，窗户可以是有框窗户或者无框窗户。例如，有框窗户可以是家用的窗户，无框窗户可以是大型落 地窗等。
图6为本公开的一实施例提供的辅控制板与中盖连接处的局部剖面图。
参考图1A、图5A和图6，在风腔658内设置有压力传感器668，传感器668被配置为检测风腔658内的气压。如图6所示，清洁装置1还包括检测腔550，且检测腔550与风腔658连通。检测腔550和风腔658构成密封腔。检测腔550位于辅控制板522和中盖20之间，中盖20设有至少一个检测孔560，检测腔550与风腔500通过检测孔560连通。其中，检测孔560可以起到平衡风腔500和检测腔550之间的气压的作用。另外，检测孔560还可以降低风腔内的水汽接触到气压传感器540，避免气压传感器540的工作不稳定，保证气压检测的准确度。
图7为图1D中的清洁装置中第二模组的局部结构示意图。
参考图1A、图2和图7，在行走部件296的行走方向的前后均设置刮水条，即刮水条670和刮水条671。例如，当清洁装置1中的第二模组640随着行走部件296移动时，通过设置刮水条670和刮水条671，可以刮去行走部件296在行进方向上的污渍，例如水等，避免水过多时行走部件296发生打滑，进而影响清洁装置1的吸附效果。例如，当清洁装置1为擦窗机时，刮水条670和刮水条671可以避免擦窗机打滑发生的跌落。
例如，刮水条670或刮水条671的数量和形式可以根据实际产品设计的需求而定，本公开对此不作限制。
参考图2和图7，行走部件296包括至少一个滚轮673，在滚轮673的至少一侧设置有清洁部672以清理滚轮上的污物。例如，行走部件296中也可以设置一个或多个滚轮，以满足不同的产品设计需求。通过设置清洁部672，可以对行走部件296实现清洁，并保证行走部件296在行进方向上无卡滞、正常平稳的移动。
例如，清洁部672可以设置为2个，并且清洁部672可以设置于行走部件296沿行进方向上相对的两端，或者也可以根据实际设计需求而定，本公开对于清洁部672的设置位置不作限制。
例如，在本公开的一些实施例中，清洁部672可以是清洁毛刷；或者，清洁部672也可以是任何其他的能够实现对行走部件296实现清洁的部件，本公开对此不作限制。
例如，在本公开的一些实施例中，行走部件296可以是履带轮组，清洁部672也可以配置为清洁履带和履带轮上的杂质。例如，行走部件296为履带轮组时，履带轮组的数量可以不限于一个，即可以根据设计需求增加为多个，以增加清洁装置的清洁面积和清洁力度。
参考图2和图7，清洁架642中设有至少一个子吸附区675，其中，每个子吸附区675中包括至少一个子吸附孔676，至少一个子吸附孔676间隔设置，并且每个子吸附孔676的截面小于第二开口607的开口截面。如图7所示，子吸附区675的数量为两个，且两个子吸附区675设置在第二开口607的两侧。
参考图1A、图2、图5A及图7，在负压机构05的作用下，气流可以从第二开口607进入清洁架642靠近风机21的一侧，进而通过第二安装部641的吸附孔659进入到风腔 658中。同时，气流也可以从子吸附区675通过子吸附孔676进入清洁架642靠近风机21的一侧，进而进入到风腔658中。例如，第二开口607的开口区域可以作为清洁装置1的主吸附区。采用主吸附区和子吸附区结合的设计方式可以增大清洁装置1中负压腔的面积，提高吸附效果。例如，当子吸附孔676设置为一个时，便于加工制造，可以减小成本；当子吸附孔676为多个时，可以保证扩大清洁架642的进风量，进而在吸附过程中保证清洁架的强度，减少损坏和变形，本公开对于子吸附孔676的数量不作限制。
例如，在本公开的一些实施例中，清洁装置1中的第一模组630和第二模组640的数量和位置关系可以包括多种。
图8A为本公开的一实施例提供的一种清洁装置中一种第一模组与第二模组的相对位置示意图。图8B为本公开的一实施例提供的一种清洁装置中另一种第一模组与第二模组的相对位置示意图。图8C为本公开的一实施例提供的一种清洁装置中再一种第一模组与第二模组的相对位置示意图。
参考图2和图8A，第一模组630与第二模组640并排设置，且第一模组630的旋转轴线678在第二模组640的第一对称平面679内，其中，第一对称平面679为在垂直于第二模组640的直线行走方向上经过第二模组640的中心的平面。第二模组640相对于第一对称平面679结构对称。
图2中的第一模组630与第二模组640的相对位置关系与图8A相同。
如图8A所示，第一模组6308与第二模组6408并排设置，第一模组6308可以按照方向Y或方向Y的反方向转动，第二模组6408可以按照方向X或方向X的反方向直线行进。
例如，第一模组6308在驱动元件的作用下，(例如，驱动元件可以与图1A所示的驱动电机14相同)按照方向Y方向转动时，第一模组6308对应的作用力为F4；反之，第一模组6308对应的作用力为F3。例如，第二模组6408按照方向X行进时，则应对其施加的驱动力为F1，反之，则应对其施加的驱动力为F2。
例如，可以使得第一模组6308与第二模组6408之一作为驱动轮组。当第一模组6308作为驱动轮组时，当第一模组6308受到的驱动力可以保持一定，通过调节第二模组6408所受到的驱动力F1或驱动力F2的大小，使得第二模组6408与第一模组6308配合协调，实现清洁装置的前进、后退及转弯等运动。同理，也可以使得第二模组6408作为驱动轮组，使得第二模组6408受到的驱动力一定，通过调节对第一模组6308的驱动力大小来控制清洁装置的运动状态。
例如，参考图2，在本公开的一些实施例中，下壳组件10可以包括多个第一模组630以及多个第二模组640，且多个第一模组630间隔设置，多个第二模组640并列间隔设置，并且每个第一模组的旋转中心线与每个第二模组的直线运动方向无交叠。
如图8B所示，清洁装置可以包括一个第一模组6318和一个第二模组6418，二者并列间隔设置，并且第一模组6318的旋转中心线L2与第二模组6418的直线运动方向L1无交叠，以保证第一模组6318可以和第二模组6418配合行进。
进一步地，清洁装置中的第一模组和第二模组也可以为多个。如图8C所示，下壳组件可以包括第一模组6328、第一模组6338、第二模组6428、第二模组6438以及第二模组6448，第一模组6328和第一模组6338并列间隔设置，第二模组6428、第二模组6438以及第二模组6448并列间隔设置，并且每个第一模组的旋转中心线与每个第二模组的直线运动方向无交叠。例如，第一模组6328、第一模组6338也可以为非并列的设置形式。
通过改变至少一个第一模组以及至少一个第二模组的数量以及相对位置，可以使得实际产品的设计形式更加多样化，进一步提升了清洁装置的整体性能。
本公开还提供一种清洁装置，包括上述任一所述下壳组件。
例如，本公开的实施例提供的清洁装置还包括至少一个踏空开关、至少一个泄气检测孔686、单向部、第一清洁件和第二清洁件。
如图1A所示，清洁装置1包括两个踏空开关，即踏空开关680和踏空开关681，踏空开关680设置于清洁装置1的第一端部683，踏空开关681设置于清洁装置1的第二端部682。例如，踏空开关680或踏空开关681还可以设置在清洁装置1的第三端部684。由图1A可知，清洁装置1的第一端部682、第二端部683和第三端部684可以是清洁装置1中的下壳本体100上的任何边缘或角落的位置，以易于检测到清洁装置1的行进状态。清洁装置1中的各个踏空开关被配置为检测清洁装置1的移动位置信息，并将移动位置信息反馈至清洁装置，进而控制清洁装置1的行进状态，以防止清洁装置1移动至待清洁区域之外。
参考图1A和图2，至少一个泄气检测孔686设置于第二模组640的靠近第二端部682的第二区域内687或靠近第一端部683的第一区域(未示出)内，被配置为改变并反馈清洁装置1内的气压。第一区域与第二区域687相对于第一对称平面679对称。例如，第二区域687可以是靠近踏空开关681的区域，易于在清洁装置1行进至待清洁面之外时及时地通过泄气检测孔686改变风腔658的气压，以起到提示的作用。泄气检测孔686与各个踏空开关均能起到踏空检测的功能，可以为清洁装置1提供防止跌落的双重保护。关于泄气检测孔686的作用原理可参见前述关于限位柱656和限位孔658的配合处作为泄气孔的相关描述，在此不再赘述。
图9A为本公开的一实施例提供的一种清洁装置中喷嘴出水范围与出风口的出风范围的示意图。图9B本公开一实施例提供的一种出风口的示意图。
参考图9A、图9B，出风口910包括单向部911，单向部911沿出风方向M是单向导通的，也即，当气流沿着出风方向M从出风口910流出时，单向部911开启，当气流逆着出风方向M流通至出风口910时，单向部911关闭，因此气流逆着出风方向M无法从出风口910流入。通过设置单向部911，可以实现气流只能沿着出风方向M从出风口910流出。同时，还可以通过单向部911调整清洁装置内部的气体压力。
例如，单向部911可以是单向阀或单向瓣膜，当然，单向部911的形式包括但不限于此，单向部911也可为其他形式的结构。
参考图1A、图9A和图9B，喷嘴31的出水区域为A1，出风口372的出风范围为A2， 由于出风口910内部设置有单向部911，可以使得清洁装置1内部的气流不受出风口910附近的外界气流的干扰，从而有序的按照一个方向进出流动，并且出水区域为A1与出风范围为A2无交叠。同理，出风口374的出风范围(未示出)也与出水区域为A1无交叠。因此，当清洁装置1运转时，可以避免喷嘴31喷出的水从进风口204进入清洁装置1。
例如，第一清洁件(未示出)可以粘接或卡接在第一模组630远离下壳本体的一侧，第二清洁件(未示出)粘接或卡接在第二模组640远离待下壳本体的一侧。例如，第一清洁件可以通过一个环形件与第一模组630上对应设置的卡扣进行连接；第二清洁件可以通过一个环形件与第二模组640上对应设置的卡扣进行连接。例如，第一清洁件与第一模组630的固定方式可以和第二清洁件与第二模组640的固定方式相同或不同，本公开对此不作限制。
例如，第一清洁件和第二清洁件可以包括清洁抹布或清洁毛刷，以及其他可以起到清洁效果的元件，本公开对于第一清洁件和第二清洁件的材料不作限制。
例如，如图5A所示，在清洁装置1中，进风罩203处设置有整流结构691，以对进入到气腔658内的气流进行导向，使得气流能够更加顺畅地进入至风机21。
例如，参考图1A和图5B，在清洁装置1中，风机21连接在中盖20上，风机21与中盖20之间设置有减震件，风机21与出风罩22之间也设置有减震件，以在清洁装置1的操作过程中起到减震作用，从而保护器件。例如，减震件可以是硅胶圈，或者其他任何起到减震缓冲的元件，本公开对此不作限制。
参考图1A、图1B和图1C，电池组15设置在上壳30和下壳组件10之间，通过上壳10上的筋位6152和下壳组件10上的筋位6150固定电池组15的位置，不需要使用任何其他的固定元件，可以减少清洁装置1的零部件数量。例如，在本公开的一些实施例中，电池组15也可以外置于清洁装置1，通过电线与电路板等电子连接，减轻清洁装置1的重量。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，本公开的保护范围应以所述权利要求的保护范围为准。

Claims (15)

  1. 一种下壳组件，包括：
    下壳本体，包括底部和侧部，所述底部包括相对的第一侧和第二侧，所述侧部围绕所述底部设置以形成在所述底部的第一侧的凹腔；
    第一模组，安装在所述底部的第二侧；以及
    第二模组，安装在所述底部的第二侧，与所述第一模组间隔设置，
    其中，所述第一模组被配置为围绕旋转轴线转动，所述第二模组被配置为围绕垂直于所述旋转轴线的轴线转动，所述旋转轴线沿所述第一侧指向所述第二侧的方向延伸。
  2. 根据权利要求1所述的下壳组件，其中，所述底部包括第一安装部和第二安装部，所述第一安装部为所述底部的对应于所述第一模组的部分，所述第二安装部为所述底部的对应于所述第二模组的部分，所述侧部具有远离所述底部的结合面，所述第一安装部与所述结合面之间的距离小于所述第二安装部与所述结合面之间的距离以使得所述第一安装部和所述第二安装部之间具有高度差。
  3. 根据权利要求2所述的下壳组件，还包括罩壳部，其中，所述第二模组包括清洁架和行走部件，所述底部包括第一开口以安装所述行走部件和所述罩壳部，所述罩壳部安装在所述底部上并被配置为容纳所述行走部件的一部分，所述清洁架具有第二开口，以避让所述行走部件。
  4. 根据权利要求3所述的下壳组件，其中，所述清洁架设有双层筋条，所述底部设有双层筋条，所述清洁架上的双层筋条均呈环形并在其间形成凹槽，所述底部上的双层筋条均呈环形并在其间形成凹槽，所述清洁架上的双层筋条和所述底部上的双层筋条插接设置，所述底部在所述第二侧具有延伸导向部，所述延伸导向部的高度小于所述底部上的双层筋条中每个筋条的高度以使得所述清洁架和所述底部之间具有移动空间且所述清洁架在高度方向上具有移动量，所述底部上的双层筋条和所述清洁架上的双层筋条为所述清洁架在所述高度方向上移动提供导向，所述延伸导向部位于所述底部上的双层筋条的外侧，所述清洁架上的双层筋条中的一个设置在所述底部的双层筋条之间的凹槽中，所述清洁架上的双层筋条中的另一个设置在所述延伸导向部和所述底部的靠近该所述延伸导向部的筋条形成的凹槽内。
  5. 根据权利要求4所述的下壳组件，其中，所述底部在所述第二侧还设有密封筋条，所述密封筋条位于所述底部上的双层筋条的内侧，所述密封筋条和所述底部上的双层筋条中的靠近该所述密封筋条的筋条形成容置空间以容纳密封件，所述延伸导向部的高度小于所述密封筋条的高度，所述密封件被配置为可被压缩，所述密封件的高度大于所述双层筋条中的任一个的高度，并大于所述密封筋条的高度。
  6. 根据权利要求3-5任一项所述的下壳组件，其中，所述底部在所述第二侧设有限位柱，所述清洁架设有限位孔，所述限位柱和所述限位孔配合以使得所述清洁架和所述底部通过紧固件相连；
    还包括中盖，所述中盖位于所述底部的第一侧，并安装在所述底部上，所述中盖和所述底部之间设有风腔，所述底部的所述第二安装部具有吸附孔，所述限位柱和所述限位孔的配合处与所述风腔通过所述吸附孔连通以使得所述限位柱和所述限位孔的配合处作为泄气检测孔；
    还包括负压机构，所述负压机构包括至少一个所述风腔、进风罩、至少一个风机以及出风罩，其中，所述出风罩包括至少两个出风通道。
  7. 根据权利要求6所述的下壳组件，其中，所述风腔包括对应于所述第一模组的第一子风腔、对应于所述第二模组的第二子风腔和电子控制阀，所述电子控制阀被配置为选择性地控制所述第一子风腔或所述第二子风腔的开口面积。
  8. 根据权利要求6所述的下壳组件，其中，所述风腔包括对应于所述第一模组的第一子风腔、对应于所述第二模组的第二子风腔、第一电子控制阀以及第二电子控制阀，
    所述第一电子控制阀被配置为控制所述第一子风腔的开口面积；所述第二电子控制阀被配置为控制所述第二子风腔的开口面积。
  9. 根据权利要求3-8任一项所述的下壳组件，还包括刮水条，所述刮水条设置在所述行走部件的行走方向的前部，和/或后部。
  10. 根据权利要求3-9任一项所述的下壳组件，其中，所述行走部件包括至少一个滚轮，在所述滚轮的至少一侧设置清洁部以清理所述滚轮上的污物。
  11. 根据权利要求3-10任一项所述的下壳组件，其中，所述清洁架中设有至少一个子吸附区，其中，
    每个所述子吸附区中包括至少一个子吸附孔，所述至少一个子吸附孔间隔设置，并且每个所述子吸附孔的截面小于所述第二开口的开口截面。
  12. 根据权利要求1-11任一项所述的下壳组件，其中，所述第一模组与所述第二模组并排设置，且所述第一模组的旋转中心线在所述第二模组的第一对称平面内，所述第一对称平面为在垂直于所述第二模组的直线行走方向上经过所述第二模组的中心的平面。
  13. 根据权利要求1-12任一项所述的下壳组件，包括多个第一模组以及多个第二模组，且所述多个第一模组间隔设置，所述多个第二模组并列间隔设置，并且每个所述第一模组的旋转中心线与每个所述第二模组的直线运动方向无交叠。
  14. 一种清洁装置，包括根据权利要求1-13任一项所述的下壳组件。
  15. 根据权利要求14所述的清洁装置，还包括：
    至少一个踏空开关，设置在所述清洁装置的至少一个端部，被配置为检测所述清洁装置的移动位置信息，并将所述移动位置信息反馈至所述清洁装置，进而控制所述清洁装置的行进状态；
    和/或，至少一个泄气检测孔，设置在所述清洁装置的至少一个端部，被配置为检测所述清洁装置的移动位置信息，并将所述移动位置信息反馈至所述清洁装置，进而控制所述清洁装置的行进状态；
    单向部，所述单向部沿所述清洁装置的出风方向是单向导通的；以及
    第一清洁件和第二清洁件，所述第一清洁件连接在所述第一模组远离所述下壳本体的一侧，所述第二清洁件连接在所述第二模组远离所述下壳本体的一侧。
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