CN106419766B

CN106419766B - Self-moving cleaning robot

Info

Publication number: CN106419766B
Application number: CN201510483485.9A
Authority: CN
Inventors: 唐泽恒
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2015-08-10
Filing date: 2015-08-10
Publication date: 2020-06-26
Anticipated expiration: 2035-08-10
Also published as: CN106419766A; WO2017025032A1

Abstract

The invention relates to a self-moving cleaning robot, belonging to the technical field of intelligent robots; the self-moving cleaning robot comprises a robot body (1), wherein a water distribution device and a cleaning unit are arranged at the bottom of the robot body, the water distribution device is used for distributing cleaning liquid to a surface to be cleaned, the water distribution device can float in the vertical direction relative to the robot body, and the water distribution device naturally adheres to the surface to be cleaned by means of self gravity during working. The self-moving cleaning robot can get over particles accumulated by dust and the like, can avoid being wound and accumulated by the dust, hair and the like, has high trafficability, and avoids the problems of unsmooth water outlet and the like caused by dust accumulation.

Description

Self-moving cleaning robot

Technical Field

The invention relates to a self-moving cleaning robot, and belongs to the technical field of intelligent robots.

Background

With the continuous improvement of living standard of people, the self-moving robot has more and more entered into the family of residents. Such a self-moving robot generally drives a traveling wheel provided at the bottom by a driving unit in the body 1 and performs a cleaning work of a surface to be cleaned during traveling. Moreover, generally, current self-moving robots have a function of automatically avoiding obstacles or preventing from falling from a high place, and some of the robots can also automatically search for a charger to charge before electric energy is exhausted. From the beginning, the self-moving robot has been developed to have only a cleaning and dust-sucking function, and to have a function of cleaning a surface to be cleaned by wetting the surface to be cleaned with liquid such as water, cleaning liquid, or disinfectant carried by the self-moving robot, or to have both a function of cleaning the surface to be cleaned and a function of cleaning and dust-sucking. Such a self-moving robot having a cleaning function is generally called a self-moving cleaning robot.

At present, most of self-moving cleaning robots in the market are provided with water diversion wool tops 2 at the bottom of a machine body 1, and the water diversion wool tops 2 can uniformly guide liquid which flows out from water outlets arranged above the water diversion wool tops 2 or is sprayed out from nozzles to the surface to be cleaned. As shown in fig. 2, fig. 2 shows a water-attracting wool top 2 used for a self-moving washing robot, and a brush for attracting water is generally provided on a lower surface of such a water-attracting wool top 2.

However, in practical use, since some particulate dirt (such as large solid particles like cigarette ends) is often distributed on the surface to be cleaned, when the robot encounters the particulate dirt, the particulate dirt can affect the trafficability of the robot due to the accumulation of the particulate dirt before the water diversion wool tops of the robot; (ii) a And the hair/silk thread on the surface to be cleaned is easy to be wound on the hair brush, and the water outlet or the nozzle on the upper part of the hair brush can be blocked along with the accumulation of the hair/silk thread, so that the water diversion wool tops can not wet the surface to be cleaned.

Disclosure of Invention

The present invention has been made in view of the above problems, and an object of the present invention is to provide a self-moving cleaning robot having high passability.

The technical problem to be solved by the invention is realized by the following technical scheme:

according to an embodiment of the present invention, there is provided a self-moving washing robot including a body, at the bottom of which a cleaning unit, a water distribution device for distributing cleaning liquid or the like to a surface to be cleaned, and a water distribution device cleaning unit that floats in a vertical direction with respect to the body and naturally adheres to the surface to be cleaned by its own weight when in operation.

Optionally, the water distribution device is a water diversion wool top.

Preferably, the water distribution device is a water diversion roller.

Preferably, the width of the water distribution device is smaller than that of the cleaning unit.

Preferably, the water guide roller has a water guide layer wrapped around the outside thereof, and the water guide layer guides the cleaning liquid to the surface to be cleaned.

Preferably, the outer surface of the drainage layer is smooth.

Preferably, the water diversion layer adopts water absorption materials.

Preferably, the water absorbing material is glass fiber cloth, woven cloth or a foaming material.

Preferably, the cleaning unit includes a sewage recovery device and a cleaning device.

Preferably, the sewage recovery device comprises a suction nozzle assembly and a scraping strip, and the cleaning device comprises a rolling brush and/or a wiping cloth.

Preferably, the rolling brush is provided with a brush shaft, and brush bristles are arranged on the brush shaft and are arranged in a V shape or an arc shape.

Preferably, the rolling brush, the wiping cloth, the water guide roller, the glass cloth and the scraping strip are replaceable.

In summary, the self-moving cleaning robot of the present invention adopts a design that the water distribution device can float in the vertical direction with respect to the machine body, so that when encountering obstacles of granular dirt, the water distribution device can move upwards to get over the obstacles, thereby avoiding the granular dirt from accumulating on the water distribution device, scratching the floor and affecting the trafficability of the robot. In addition, the self-moving robot can also adopt a water diversion roller wheel with rolling friction between the self-moving robot and the floor to replace a water diversion wool top, and the water diversion roller wheel is also coated with a water diversion layer with a smooth outer surface, so that the phenomenon that the walking of the robot is hindered by hair winding and the like is prevented, the trafficability of the robot is further improved, the smooth water diversion layer is not easy to stick hair or dust and the like, and the problems of blockage of an upper water outlet, unsmooth water outlet and the like can be avoided.

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for a person skilled in the art that other embodiments and drawings can be obtained according to the embodiments shown in the drawings without any inventive work.

Fig. 1 is a bottom view of a body 1 of a self-moving washing robot of the present invention;

FIG. 2 is a schematic view of a water-diverting sliver 2 used in the prior art;

fig. 3 is a perspective view of a part of the bottom surface of the body 1 of the self-moving washing robot and the water guide roller 3 according to the present invention;

fig. 4 is a sectional view of a part of the bottom of the body 1 of the self-moving washing robot of the present invention;

FIG. 5 is an enlarged view of circled portion A indicated in FIG. 4;

fig. 6 is a sectional view of the self-moving cleaning robot of the present invention.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The self-moving washing robot of the present invention includes a body 1. At the bottom of the machine body 1, a cleaning unit and a water distribution device are arranged. Preferably, the water distribution device is positioned on the front side of the cleaning unit. The water distribution device serves to distribute the cleaning liquid over the surface to be cleaned, such as the floor, and is floatable in the vertical direction relative to the machine body 1. When the water distributor works, the water distributor naturally sticks to the surface to be cleaned by means of self gravity.

The design that makes the water distribution device float in the vertical direction about organism 1 for when meetting the hindrance of granular filth, the water distribution device can move upward thereby cross these obstacles, can avoid granular filth to pile up in the water distribution device, and fish tail floor and influence the trafficability characteristic of robot.

Specifically, referring to fig. 1, fig. 1 is a bottom view of the self-moving washing robot of the present invention, wherein B represents an advancing direction of the self-moving washing robot. As can be seen from fig. 1, in the traveling direction of the self-moving robot, at the bottom of the machine body 1, a water distribution roller 3 as a component of the water distribution device, and a wiper strip 6 and a rolling brush 7 as a component of the cleaning unit are sequentially provided, wherein the water distribution roller 3 is floatable in the vertical direction with respect to the machine body 1. This floating can be achieved in the manner shown in figure 3.

Referring to fig. 3, fig. 3 is a perspective view of a part of the bottom surface of the body 1 of the self-moving washing robot and the water guide roller 3 according to the present invention. In fig. 3, the water guide roller 3 and the bottom of the machine body 1 provided with two mounting frames 8 for mounting the water guide roller 3 are shown in an exploded manner. Note that other components such as the roller brush 7 and the wiper strip 6 are not attached in fig. 3. As can be seen in fig. 3, the bottom of the mounting frame 8 has an opening that is smaller in size than the approximate diameter of the two mounting ends of the catchment rollers 3. When installation diversion gyro wheel 3, can upwards exert oneself, the elastic deformation that makes the opening of mounting bracket 8 take place restorable so that the spacing hole 9 of mounting bracket 8 is pushed to the both ends of installing of diversion gyro wheel 3. Typically, the limiting hole 9 in the mounting frame 8 is elongated and has a longer vertical length and a shorter horizontal length. In this way, the mounting frame 8 can provide a floating space for the water guide roller 3 relative to the machine body 1 in the vertical direction, but strictly limit the relative displacement between the water guide roller 3 and the machine body 1 in the horizontal direction. In the working process, the two mounting ends of the water diversion roller 3 are not contacted with the upper edge and the lower edge of the limiting hole 9 generally, and are limited only by the front edge and the rear edge of the limiting hole 9 and the surface to be cleaned. In the limit state, both mounting ends of the water guide roller 3 may contact the lower edge of the limiting hole 9, and at the same time, the water guide roller 3 must contact the surface to be cleaned in order to guide water uniformly onto the surface to be cleaned. That is, in general, the lower edge does not constitute a practical support for both mounting ends of the water guide roller 3, and the weight of the water guide roller 3 is borne by the surface to be cleaned, that is, the water guide roller 3 naturally adheres to the surface to be cleaned by its own weight. Thus, when the water diversion roller 3 encounters granular dirt higher than the surface to be cleaned, the water diversion roller can naturally move upwards to roll over the obstacle, the passing ability of the robot is improved, and the possibility that the granular obstacle is accumulated on the water diversion roller 3 is greatly reduced, so that the floor is prevented from being scratched, and the robot is prevented from passing.

In the above, the water distribution device is exemplified by the water guide roller 3. Of course, the water distribution device is not limited to the water guide roller 3, and other options are available. For example, a conventional water-conducting wool top 2 as shown in fig. 2 can also be used. Besides the water guiding wool tops 2 in the traditional shape, the water guiding wool tops 2 can be designed to be tilted in the advancing direction, so that the water guiding wool tops can conveniently cross obstacles. Compare with traditional flat water diversion wool top 2, the front end of perk is located the top of barrier when meetting granular barrier, and can not lead to the barrier to push in the place ahead of water diversion wool top 2, like this, moves ahead along with the continuation of robot, because granular barrier piles up in water diversion wool top 2 below, water diversion wool top 2 receives oblique ascending power, therefore upwards floats and crosses the barrier, has improved trafficability characteristic. The water-diverting tops 2 are preferably designed in an arc shape.

Compared with the water diversion wool tops 2, the design of the water diversion idler wheels 3 ensures that the self-moving cleaning robot has rolling friction in the walking process, the passing resistance is smaller than that of the water diversion wool tops 2, the self abrasion is small, and the floor is not easy to scratch. The water diversion wool tops 2 are in sliding friction with the floor, so that the floor is easily scratched, and the water diversion hairbrush is easily abraded. Therefore, the invention preferably takes the form of a water-diverting roller 3.

In addition, preferably, the diversion rollers 3 are wrapped by the diversion layer 4, and the diversion layer 4 preferably has a smooth outer surface. Therefore, the water diversion layer 4 can not be adhered with dust, hair and the like due to the smooth outer surface, and the water outlet is blocked. The water diversion layer 4 is made of water absorbing material, and preferably, the water diversion layer 4 is made of high-speed water absorbing material, so that liquid such as water or cleaning liquid can be quickly diffused in the water diversion layer 4, and the water distribution becomes more uniform. And the water guide cloth is preferably made of a fiber fabric such as a glass fiber cloth, a woven cloth, or the like, or a foamed material or the like. Thus, the good durability of the glass fiber and the good water permeability and water conductivity of the glass cloth made of the glass fiber enable the water guide roller 3 of the present invention to be used for a longer time and to guide the cleaning solution to the surface to be cleaned more uniformly. The cleaning liquid can be made to flow out in the manner shown in fig. 4. Fig. 4 is a sectional view of a part of the bottom surface of the body 1 of the self-moving washing robot of the present invention, and fig. 5 is an enlarged view of a circled portion a indicated in fig. 4. The circled portion of fig. 4 shows a water outlet device for spraying cleaning solution to a water distribution device, which is provided with a nozzle 10 and is connected with a water tank provided in the machine body 1, and can uniformly spray the cleaning solution in the water tank onto the water guide roller 3 by means of a water pump.

The cleaning unit of the self-moving washing robot of the present invention preferably includes a sewage recovery device for recovering sewage and a cleaning device for cleaning a surface to be cleaned. As described above, in the direction of the arrow in fig. 1, at the bottom of the body 1 of the self-moving robot, the water distribution roller 3, which is a component of the water distribution device, the roll brush 7, which is a component of the cleaning unit, and the wiper strip 6 are sequentially disposed. The scraping strip 6 can be used as a part of a sewage recovery device, and is provided with a suction nozzle component for absorbing sewage, an opening of the suction nozzle component can be arranged in the scraping strip, the suction nozzle component is connected with a recovery barrel arranged in the machine body 1, and a built-in water pump can provide suction force for the suction nozzle component. Typically, the wiper strip 6 is made of an elastic material such as rubber or other composite material having flexibility and durability. The roller brush 7 can be used as a part of a cleaning device, and brush bristles are arranged on a brush shaft of the roller brush 7, and when the roller brush rotates, the brush bristles flap the surface to be cleaned to loosen stubborn stains. The bristles can be arranged in a V shape or an arc shape, which is beneficial to removing deep dirt on the floor or the carpet, and when the bristles rotate, the dirt, the sewage and the like are concentrated towards the middle and are not easy to throw away. Of course, the bristles could also be arranged in other ways, such as undulating, etc. In addition, the cleaning device may also include other components such as a wipe.

Further, fig. 6 is a sectional view of the self-moving washing robot of the present invention, in which the water guide roller 3, the mounting frame 8, and the nozzle 10 as a water outlet above the water guide roller 3 are shown, and those skilled in the art can more specifically understand the positional relationship of the respective components by referring to fig. 6 in conjunction with the previous drawings.

Note that in the present invention, the width of the water distribution device is preferably smaller than the width of the cleaning unit, so that the suction nozzle assembly and the scraping strip 6 in the cleaning unit can clean all the water left on the surface to be cleaned by the water distribution device, and ensure that no water stain is left on the surface to be cleaned after cleaning.

In the present invention, the components or devices mentioned are all conveniently replaced. That is, irreversible wear that may occur over time may be addressed by providing a replacement.

It will be apparent to those skilled in the art that, based upon the teachings of the invention, other alternative embodiments than those described above may be devised without departing from the spirit of the invention.

Claims

1. A self-moving washing robot, comprising a machine body (1), in the bottom of the machine body (1), a water distribution device and a cleaning unit are arranged, the water distribution device is used for distributing cleaning liquid to the surface to be cleaned, characterized in that: the water distribution device for organism (1) can be followed vertical direction and floated, and the during operation, the water distribution device rely on self gravity paste naturally treat clean surface, the water distribution device contains diversion gyro wheel (3), the tip of diversion gyro wheel is equipped with mounting bracket (8), be equipped with spacing hole (9) of elongate on the mounting bracket to the installation end of diversion gyro wheel is pushed into the spacing hole of mounting bracket, spacing hole can provide the space of floating for the organism for the diversion gyro wheel in vertical direction.

2. The self-moving washing robot as claimed in claim 1, wherein the width of the water distribution device is smaller than the width of the cleaning unit.

3. A self-moving washing robot according to claim 1, characterized in that the catchment roller (3) has a catchment layer (4) wrapped around its exterior, the catchment layer (4) leading the cleaning liquid to the surface to be cleaned.

4. A self-moving washing robot according to claim 3, characterized in that the outer surface of the draining layer (4) is smooth.

5. A self-moving washing robot as claimed in claim 3, characterised in that the water diverting layer (4) is of a water-absorbing material.

6. The self-moving cleaning robot as claimed in claim 5, wherein the water absorbing material is glass fiber cloth, woven cloth or foam.

7. The self-propelled washing robot of claim 6 wherein said cleaning unit includes a waste water recovery device and a cleaning device.

8. A self-moving washing robot according to claim 7, characterised in that said sewage recovery device comprises a suction nozzle assembly and a scraper bar (6), and said cleaning device comprises a roller brush (7) and/or a rag.

9. A self-moving washing robot as claimed in claim 8, characterized in that the rolling brush (7) has a brush shaft on which the bristles are arranged in a V-shaped or arc-shaped arrangement.

10. A self-moving washing robot according to claim 9, characterized in that the water-diverting rollers (3), the water-diverting layer (4), the wiper strip (6) and the rolling brush (7) are replaceable.