CN108451434B

CN108451434B - Scrubbing robot

Info

Publication number: CN108451434B
Application number: CN201810267375.2A
Authority: CN
Inventors: 牛立群
Original assignee: Shanxi Jiashida Robot Technology Co Ltd
Current assignee: Shanxi Jiashida Robot Technology Co Ltd
Priority date: 2018-03-28
Filing date: 2018-03-28
Publication date: 2024-06-11
Anticipated expiration: 2038-03-28
Also published as: CN108451434A

Abstract

The present invention provides a scrubbing robot comprising: the window cleaning device comprises an adsorption component for being adsorbed on a window body, a first walking component for moving on the window body and a window body cleaning system; a floor scrubbing apparatus including a second walking assembly for movement over the floor and a floor cleaning system, the body of the floor scrubbing apparatus having a mounting slot, the window scrubbing apparatus being configured to be able to be inserted into and removed from the mounting slot. Therefore, the scrubbing robot is a cleaning robot integrating functions of sweeping floor and wiping window, the whole floor scrubbing robot is formed after the window wiping device is embedded into the floor wiping device, and the window wiping device is an independent window wiping machine after being taken out from the window wiping device, so that the floor scrubbing robot has the advantages of rich functions, low cost, less occupied storage space, convenience in operation and improvement of user experience.

Description

Scrubbing robot

Technical Field

The invention relates to the field of cleaning instruments, in particular to a scrubbing robot.

Background

With the improvement of the living standard of people, the household living environment is more and more emphasized, and particularly, the indoor cleaning is very important, and in the background, more and more indoor cleaning tools start to appear to replace or relieve the heavy manpower and household labor. For daily cleaning of floor dust and debris, the labor amount is also large, and currently, a sweeping robot is gradually used for cleaning the floor. For daily window dust cleaning, window cleaning robots are currently being used gradually.

The floor cleaning robot and the window cleaning robot are designed for cleaning floors and windows respectively, the walking modes of the machine body and the garbage types of the two application occasions are different, and the specific structures of the floor cleaning robot and the window cleaning robot are different and are difficult to interchange, so that users need to purchase the floor cleaning robot and the window cleaning robot respectively, the cost is high, more storage space is occupied, and the user experience is poor.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a scrubbing robot.

Specifically, the technical scheme is as follows:

A scrubbing robot comprising:

the window cleaning device comprises an adsorption component for being adsorbed on a window body, a first walking component for moving on the window body and a window body cleaning system;

A floor scrubbing apparatus comprising a second travelling assembly for movement over the floor and a floor cleaning system, the body of the floor scrubbing apparatus having a mounting slot, the window scrubbing apparatus being configured to be able to be inserted into and removed from the mounting slot.

In some preferred embodiments, the window wiping device further comprises a power output assembly, the floor wiping device further comprises a power input assembly in driving connection with the second walking assembly, and the power input assembly is configured to be in driving connection with the power output assembly.

In some preferred embodiments, the window cleaning system comprises a first set of rotating wipes and at least one first nozzle disposed at the bottom of the body of the window cleaning apparatus, a first water tank disposed within the body, the first water tank being connected to the first nozzle by a conduit.

In some preferred embodiments, the first traveling assembly includes a first crawler travel mechanism and a second crawler travel mechanism, the first crawler travel mechanism and the second crawler travel mechanism being located on opposite sides of the fuselage bottom.

In some preferred embodiments, the second walking assembly comprises more than two roller modules, and the power input assembly is in transmission connection with the roller modules.

In some preferred embodiments, the roller module comprises a roller body, a roller frame and a transmission mechanism, wherein the transmission mechanism is arranged in the roller frame, a power input end of the transmission mechanism comprises a power input shaft, the power input shaft extends out of the roller frame, and a power output end of the transmission mechanism is supported on and in transmission connection with the roller body.

In some preferred embodiments, the power output assembly comprises output terminals respectively extending from central shafts of respective crawler wheels of the first crawler running mechanism and the second crawler running mechanism, the power input assembly is formed by the power input shaft, and an end face of the power input shaft is provided with a connecting groove which is matched with the output terminals and used for installing the output terminals and rotating along with the output terminals.

In some preferred embodiments, the power input shaft is movably arranged on the roller frame in a penetrating manner, a reset spring is sleeved on the power input shaft, one end of the reset spring is abutted against the power input shaft, and the other end of the reset spring is abutted against the roller frame, so that the power input shaft can stretch out and draw back elastically when the window cleaning device is mounted in the mounting groove and is tightly connected with the output terminal.

In some preferred embodiments, the transmission mechanism comprises a first rolling gear, a second rolling gear and a rack transmission belt, the power output end comprises a power output shaft, two ends of the rack transmission belt are respectively meshed with the first rolling gear and the second rolling gear, the first rolling gear is sleeved on the power input shaft, the second rolling gear is sleeved on the power output shaft, and the roller body is sleeved on the power output shaft.

In some preferred embodiments, the floor cleaning system comprises a roller brush disposed at the bottom of the body of the floor scrubbing apparatus, a second set of rotating wipes, and at least one second nozzle, the body of the floor scrubbing apparatus being internally provided with a waste bin and a second water tank, the second water tank being in communication with the second nozzle by a conduit, the waste bin interfacing the roller brush to receive and store waste from the roller brush;

Preferably, the bottom of the machine body of the window cleaning device is provided with a first fixed rag;

preferably, the bottom of the body of the floor wiping device is provided with a second fixed wipe.

The invention has at least the following beneficial effects:

the scrubbing robot provided by the invention comprises: the window cleaning device comprises an adsorption component for being adsorbed on a window body, a first walking component for moving on the window body and a window body cleaning system; a floor scrubbing apparatus including a second walking assembly for movement over the floor and a floor cleaning system, the body of the floor scrubbing apparatus having a mounting slot, the window scrubbing apparatus being configured to be able to be inserted into and removed from the mounting slot.

Therefore, the scrubbing robot is an integral function cleaning robot integrating the functions of sweeping floor and wiping window, the window wiping device can be conveniently embedded into or pulled out of the floor wiping device, the complete floor wiping robot is formed after the window wiping device is embedded into the floor wiping device, and the window wiping device is an independent window wiping machine after being taken out of the window wiping device.

In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an oblique view of a scrubbing robot in an embodiment of the present invention;

FIG. 2 is an exploded view of a scrubbing robot in an embodiment of the present invention;

FIG. 3 is a first perspective view of a window wiping device according to an embodiment of the invention;

FIG. 4 is a second perspective view of a window wiping device according to an embodiment of the invention;

FIG. 5 is a first exploded view of a window wiping device in accordance with an embodiment of the invention;

FIG. 6 is an enlarged partial view of the first track running mechanism portion of FIG. 5;

FIG. 7 is a second exploded view of a window wiping device in accordance with an embodiment of the invention;

FIG. 8 is a schematic view of a first upper shell in an embodiment of the invention;

FIG. 9 is a schematic view of a first lower housing in an embodiment of the invention;

FIG. 10 is a schematic illustration of a first wipe drive and first rotary wipe combination according to an embodiment of the present invention;

FIG. 11 is an exploded view of a first rotary wipe according to an embodiment of the present invention;

FIG. 12 is an oblique view of a floor scrubbing apparatus in accordance with an embodiment of the present invention;

FIG. 13 is a first exploded view of the floor scrubbing apparatus of the present invention;

FIG. 14 is an oblique view of a first roller module according to an embodiment of the invention;

FIG. 15 is a first exploded view of the first roller module according to the embodiment of the present invention;

FIG. 16 is a second exploded view of the first roller module according to the embodiment of the present invention;

FIG. 17 is a cross-sectional view of a first roller module according to an embodiment of the invention;

FIG. 18 is a second exploded view of the floor scrubbing apparatus of the present invention;

FIG. 19 is a schematic view of the components on a base plate in an embodiment of the invention;

FIG. 20 is a schematic view of a base plate in an embodiment of the invention;

FIG. 21 is a schematic view of a trash box according to an embodiment of the invention;

FIG. 22 is a schematic view of a first wipe drive and first rotary wipe combination according to an embodiment of the present invention;

FIG. 23 is a schematic view of an upper shell and an obstacle avoidance sensing plate according to an embodiment of the present invention;

FIG. 24 is a schematic view of a first rotating wipe according to an embodiment of the present invention;

FIG. 25 is an exploded view of a first rotary wipe according to an embodiment of the present invention.

Description of main reference numerals:

10-a window wiping device; 101-a body of a window wiping device; 1011-a first upper shell; 1012-a first lower shell; 1021-a first obstacle avoidance sensing plate; 1022-a second obstacle avoidance sensing plate; 1031-a first crawler travel mechanism; 1032-a second crawler travel mechanism; 104-a first water tank; 1041-a first water filling flap; 1042-handle; 105-adsorption nozzle; 1061-first rotating wipe; 10611—a first wipe body; 10612-first input gear; 10613-a first carousel; 10614-a first weight ring; 10615—a first central axis; 1062-a second rotating wipe; 107-a first nozzle; 108-a first battery; 1091-first wipe drive; 10911-a first power box; 10912-a first output gear; 1092-second wipe drive; 110-a negative pressure generating component; 111-a water pump; 1121-a first travel drive mechanism; 1122-a second travel drive mechanism; 113-a first motherboard; 120-output terminals; 20-a floor wiping device; 201-a body of the floor scrubbing device; 2011-a bottom plate; 2012-a second upper shell; 2021-third turning wipe; 20211-third wipe body; 20212-third turntable; 20213-third input gear; 20214-third weight ring; 20215-third central axis; 2022-fourth turning wipe; 2031-a first roller module; 2032-a second roller module; 20311-a roller body; 20312-a roller frame; 20313-a mount; 20314-connecting grooves; 203151-a first rolling gear; 203152-a second rolling gear; 203153-a power input shaft; 203154-power take-off; 203155-rack belt; 203156-return springs; 20316-vertical shock absorber; 20317-transverse shock absorber; 203121-first half-shell; 203122-second half-shell; 203161-vertical support arms; 203162-vertical springs; 203163-mounting holes; 204-rolling brush; 205-a guide wheel; 206-a nozzle; 207-a roller brush cover; 208-a second battery; 209-rolling brush driving; 210-a guide wheel groove; 211-a rolling brush groove; 212-a garbage box; 2121-cartridge; 2122-lid; 2123-locking; 2124-door; 2125-garbage bin handle; 2131-third wipe drive; 2132-fourth wipe drive; 2141-a third wipe well; 2142-fourth wipe wells; 215-a third obstacle avoidance sensing plate; 216-a second water filling flap.

Detailed Description

Examples

The embodiment provides a scrubbing robot which is used for replacing manual cleaning operation of floors and windows.

As shown in fig. 1 and 2, the scrubbing robot 1 includes a window cleaning device 10 and a floor cleaning device 20. Wherein the window wiping device 10 comprises an adsorption component for being adsorbed to the window, a first walking component for moving on the window and a window cleaning system, the floor wiping device comprises a second walking component for moving on the floor and a floor cleaning system, the body 201 of the floor wiping device is provided with a mounting groove 21, and the window wiping device 10 is configured to be capable of being embedded in and separated from the mounting groove 21.

Preferably, the window wiping device 10 further comprises a power output assembly, and the floor wiping device 20 further comprises a power input assembly drivingly connected to the second running assembly, the power input assembly being configured to be drivingly connectable to the power output assembly.

Wherein, as shown in fig. 3-7, the adsorption component, the first walking component and the window cleaning system are arranged at the bottom of the machine body 101 of the window cleaning device, and the power output component extends out of the machine body 101 of the window cleaning device. The body 101 of the preferred window cleaning apparatus includes a first upper case 1011 and a first lower case 1012, the first upper case 1011 and the first lower case 1012 are enclosed together to form an accommodating space inside the body 101 of the window cleaning apparatus, and a first battery 108, a main board 113, and the like are provided inside the accommodating space, and the first upper case 1011 and the first lower case 1012 are preferably detachable.

As a specific adsorption assembly, the window cleaning device comprises a plurality of adsorption nozzles 105 distributed at the bottom of the body of the window cleaning device, and correspondingly, a negative pressure generating assembly 110 is arranged in the body of the window cleaning device, and the negative pressure generating assembly 110 is respectively connected with each adsorption nozzle 105 through a pipeline so as to generate negative pressure between a window to be cleaned and the adsorption nozzles 105. Illustratively, as shown in fig. 4, the number of the adsorption nozzles 105 is 4, and the adsorption stability is more firmly ensured by distributing the plurality of adsorption nozzles 105 at different positions, so that the body 101 of the window cleaning device is prevented from falling from the window surface.

The cavity of the adsorption nozzle 105 and the attaching working plane form a vacuum negative pressure section with a fixed size, the compression force of the whole machine on the working plane can be adjusted by adjusting the vacuum negative pressure degree, and the adsorption function of the whole machine can be realized by adjusting the compression force on the working plane to be not smaller than the minimum adsorption pressure.

As a preferred first traveling assembly, the first traveling assembly includes a first crawler 1031 and a second crawler 1032, and the first crawler 1031 and the second crawler 1032 are located on both sides of the bottom of the main body 101 of the window cleaning apparatus, respectively. Preferably, the first crawler belt running mechanism 1031 and the second crawler belt running mechanism 1032 have the same structural composition and size specification, and their specific structures include structures of crawler belts, more than two crawler wheels, rotating shafts and the like, which will not be further described in the present embodiment.

It will be appreciated by those skilled in the art that to drive the first travel assembly, a first set of travel drive assemblies is provided within the body 101 of the window wiping device. When the first travel assembly includes a first track running gear 1031 and a second track running gear 1032, the first travel drive assembly preferably includes a first travel drive mechanism 1121 and a second travel drive mechanism 1122, the first travel drive mechanism 1121 is drivingly connected to the first track running gear 1031, and the second travel drive mechanism 1122 is drivingly connected to the second track running gear 1032. Preferably, the first traveling driving mechanism 1121 and the second traveling driving mechanism 1122 have the same structural composition and dimensions, and their specific structures include a driving motor, a reduction gearbox, a transmission system, etc., and the driving motor generates initial power, and after passing through the reduction gearbox, the transmission system of the traveling driving mechanism, the rotating shaft of the crawler traveling mechanism, and the crawler wheels, the power is transmitted to the crawler to rotate the crawler around the crawler wheels, which will not be further described in this embodiment. The first crawler 1031 and the second crawler 1032 can respectively and bidirectionally rotate and control the speed, thereby realizing the functions of steering, acceleration and deceleration, etc., and enabling the main body 101 of the window cleaning device to travel along a pre-planned path on a working plane on a window.

When the first traveling assembly includes the first crawler 1031 and the second crawler 1032, it is preferable that the power output assembly includes the output terminals 120 respectively protruded from the central axes of the respective crawler wheels of the first crawler 1031 and the second crawler 1032, and the output terminals are a small-sized hexagonal cylinder as illustrated in fig. 6, for example.

In a preferred window cleaning system, the window cleaning system comprises at least one first nozzle 107 and a first set of rotating wipes arranged at the bottom of the body 101 of the window cleaning device, wherein a first water tank 104 is arranged inside the body, and the first water tank 104 is connected with the first nozzle 107 by a pipeline. Illustratively, as shown in FIG. 4, the number of first nozzles 107 is 4, distributed over the edge of the rotating wipe. It should be noted that the number of the first nozzles 107 is 4, which is only one example in the present embodiment, and the number thereof may be 2, 4, or others. In this embodiment, the first nozzle 107 has a water spraying hole (not shown) therein, and the water spraying hole is connected to the first water tank 104 by a pipe.

Therefore, when the window cleaning device 10 works, the cleaning liquid can be sprayed by the water spraying assembly, the cleaning liquid is supplemented in time, the cleaning cloth is prevented from being dried after being used for a period of time, the window cleaning device 10 can continuously work for a long time, in addition, the cleaning liquid can be sprayed to increase the dirt removing capacity of the cleaning cloth, and the cleaning effect of the window cleaning device 10 is enhanced. Moreover, the rotary rag can independently rotate, so that the dirt removing capacity is further improved.

Preferably, a water pump 111 is arranged in the body 101 of the window cleaning device, and the water pump 111 is arranged between the first water tank 104 and the first nozzle 107 and is used for pumping water in the first water tank 104 to the water spraying assembly through a pipeline and then spraying the water. Specifically, as shown in fig. 3, 7 and 8, the first water tank 104 is mounted on the first upper case 1011, the body of the first water tank 104 is located inside the first upper case 1011, the water filling port cover 1041 of the first water tank 104 is located at the outer surface of the first upper case 1011, and a user can open the water filling port cover 1041 from the outside of the main body 101 of the window cleaning apparatus, so that cleaning liquid can be conveniently added to the first water tank 104. The water pump 111 is provided at the water outlet of the first water tank 104, and supplies water in the first water tank 104 to the first nozzle 107 through a pipe, and then, the water is discharged from the first nozzle 107. Preferably, a handle 1042 is integrally provided on the tank cover of the first tank 104 to facilitate opening the tank cover.

Preferably, as shown in fig. 4, 10-11, the number of turning wipes in the first set of turning wipes is two, a first turning wipe 1061 and a second turning wipe 1062, respectively. The first rotary cleaning cloth 1061 includes a first cleaning cloth body 10611, a first rotating disc 10613, a first input gear 10612 and a first central shaft 10615, where the first cleaning cloth body 10611 is fixed on the outer side of the disc surface of the first rotating disc 10613, the first input gear 10612 is fixedly sleeved on the first rotating disc 10613 in a coaxial manner, the first central shaft 10615 is fixed on the body 101 of the window cleaning device, and the first rotating disc 10613 is rotatably sleeved on the first central shaft 10615 in a coaxial manner. The second rotary cleaning cloth 1062 includes a second cleaning cloth body, a second rotary disc, a second input gear and a second central shaft, the second cleaning cloth body is fixed on the outer side of the disc surface of the second rotary disc, the second input gear is fixedly sleeved on the second rotary disc in a coaxial manner, the second central shaft is fixed on the machine body 101 of the window cleaning device, and the second rotary disc is rotatably sleeved on the second central shaft in a coaxial manner. Correspondingly, a wiper drive assembly is provided within the body 101 of the window wiping device. Preferably, the wipe drive assembly includes a first wipe drive 1091 drivingly connected to the first rotating wipe 1061 and a second wipe drive 1902 drivingly connected to the first rotating wipe 1062. Taking the first cleaning cloth driving 1091 as an example, the first cleaning cloth driving 1091 is in transmission connection with the first rotating cleaning cloth 1061, the first cleaning cloth driving 1091 comprises a first power box 10911 and a first output gear 10912, the first output gear 10912 is meshed with the first input gear 10612, and power output by the first power box 10911 is transmitted to the first input gear 10612 through the first output gear 10912.

Preferably, the first and second rotary wipes 1061, 1062 are identical in shape and size, thereby improving the overall structural stability of the window cleaning apparatus 10, reducing part count, and facilitating maintenance.

Preferably, the rotating wipe assembly includes a weighted ring, as shown in fig. 10-11, with the first rotating wipe 1061 having a first weighted ring 10614 positioned over the first rotating tray 10613.

Preferably, the bottom of the body 101 of the window cleaning apparatus is provided with a first fixed wipe (not shown in the figures). Preferably, the first fixed wipe covers substantially the entire bottom outer surface of the body 101 of the window wiping device. The first and second rotary wipes 1061 and 1062 are simultaneously rotated in opposite directions at the same rotational speed by the control circuit assembly, respectively, and the first tank 104 periodically sprays a mist of cleaning liquid through the nozzles to wet the work surface soil by the control circuit assembly. The nozzle sprays cleaning liquid, and the first rag body 10611 and the second rag body rotate to wipe, and finally the first fixed rag thoroughly wipes to realize the cleaning and decontamination functions together.

Preferably, the body 101 of the window cleaning apparatus is provided with a barrier sensing assembly. As shown in fig. 3, 5, etc., the barrier sensing assembly may include a first barrier-avoiding sensing plate 1021 and a second barrier-avoiding sensing plate 1022 respectively disposed on both front and rear sides of the main body 101 of the window cleaning apparatus.

Preferably, a safety rope (not shown) is further included, one end of the safety rope is connected to the body 101 of the window cleaning apparatus, and the other end of the safety rope is connected to an external fixing structure. By tying the safety rope, the accident can be avoided if an unavoidable falling event occurs.

Preferably, the second walking assembly comprises more than two roller modules, each roller module comprises a roller body, a roller frame and a transmission mechanism, and the power input assembly is in transmission connection with the roller modules. Specifically, the two roller modules are a first roller module 2031 and a second roller module 2032, respectively, the guide wheel is disposed on the front side of the bottom of the machine body, and the first roller module 2031 and the second roller module 2032 are disposed on the rear side of the bottom of the machine body.

In this embodiment, the first roller module 2031 and the second roller module 2032 preferably have the same structural composition and size, which is convenient for installation and motion control, and also allows for good interchangeability of components of the roller modules, reduces the types of components, and is convenient for maintenance.

Taking the first roller module 2031 as an example, please refer to fig. 13-17 together, which includes a roller body 20311, a roller frame 20312 and a transmission mechanism, wherein the transmission mechanism is disposed in the roller frame 20312, a power input end of the transmission mechanism includes a power input shaft 203153, a power input shaft 203153 extends out of the roller frame 20312, and a power output end of the transmission mechanism is supported on and in transmission connection with the roller body 20311. The power input assembly of the floor scrubbing apparatus 20 is formed by a power input shaft 203153, the end face of the power input shaft 203153 is provided with a connecting slot 20314, and the connecting slot 20314 is matched with the output terminal 120 for mounting the output terminal 120 and rotating with the output terminal 120.

Preferably, the first roller module 2031 further comprises a fixed frame, the roller frame 20312 is provided with a closed inner cavity, a transmission mechanism is arranged in the inner cavity of the roller frame 20312, a power input end of the transmission mechanism extends out from the upper side of the roller frame 20312, a power output end of the transmission mechanism extends out from the lower side of the roller frame 20312, the power output end of the transmission mechanism is supported on and in transmission connection with the roller body 20311, and the upper end of the roller frame 20312 is elastically supported on the fixed frame 20313.

The roller frame 20312 may be formed by combining a box-shaped first half shell 203121 and a box-shaped second half shell 203122, wherein the first half shell 203121 and the second half shell 203122 are detachably connected, and when the first half shell 203121 and the second half shell 203122 are buckled together, a closed inner cavity is formed inside the roller frame 20312 formed by combining the first half shell 203121 and the second half shell 203122. Accordingly, the upper and lower sides of the roller frame 20312 are provided with openings, respectively, such that the power input shaft 203153 and the power output end of the transmission mechanism protrude from the corresponding openings, respectively.

Preferably, a base with two ends penetrating is arranged in the machine body, the roller frame 20312 is located in the base, and the fixing frame 20313 is fixed on the top of the base. As a preferred holder 20313, it is a box-like structure of inverted buckle, and when the holder 20313 is fastened to the base, the base and the holder 20313 form a closed space. Accordingly, the holder 20313 has an opening from which the power input shaft 203153 can protrude.

Preferably, the transmission mechanism further comprises a first rolling gear 203151, a second rolling gear 203152 and a rack transmission belt 203155, the power output end of the transmission mechanism comprises a power output shaft 203154, two ends of the rack transmission belt 203155 are respectively meshed with the first rolling gear 203151 and the second rolling gear 203152, the first rolling gear 203151 is sleeved on the power input shaft 203153, the second rolling gear 203152 is sleeved on the power output shaft 203154, and the roller body 20311 is sleeved on the power output shaft 203154. Preferably, an end surface of the power input shaft 203153 extending out of one end of the roller frame 20312 is provided with a connection groove 20314, and the connection groove 20314 may be provided with a coupling or a transmission shaft or the like for introducing driving force. Therefore, when the power input shaft 203153 is driven by other power mechanisms, the power input shaft 203153 drives the first rolling gear 203151 to rotate, the first rolling gear 203151 drives the second rolling gear 203152 to rotate through the rack driving belt 203155, the second rolling gear 203152 drives the power output shaft 203154 to rotate, the power output shaft 203154 drives the roller body 20311 to rotate, and finally, the roller body 20311 drives the motor body to move on the working surface.

Preferably, the power input shaft 203153 is movably penetrating through the roller frame 20312, the power input shaft 203153 is sleeved with a return spring 203156, one end of the return spring 203156 is abutted against the power input shaft 203153, and the other end of the return spring 203156 is abutted against the roller frame 20312, so that the power input shaft 203153 can elastically stretch and contract and be tightly connected with the output terminal 120 when the window cleaning device 10 is mounted in the mounting groove 21.

In this embodiment, since the roller body 20311, the roller frame 20312, the fixing frame 20313 and the transmission mechanism are integrated into a roller module, in the roller module, the roller frame 20312 has a closed inner cavity, the transmission mechanism is disposed in the inner cavity of the roller frame 20312, the power input end of the transmission mechanism extends from the upper side of the roller frame 20312, the power output end of the transmission mechanism extends from the lower side of the roller frame 20312, and the power output end is supported on and in transmission connection with the roller body 20311. Therefore, the damage of the clamping shell of the transmission mechanism caused by the garbage particles can be prevented, the integral roller module is more neat and occupied space is reduced in the machine body, the maintenance is easy, and the user experience is improved.

Preferably, the upper end of the roller frame 20312 is elastically supported on the fixed frame 20313 by a vertical shock absorber 20316, and the lower end of the vertical shock absorber 20316 is provided with a mounting hole 203163, and the power input shaft 203153 is slidably inserted into the mounting hole 203163. As a preferred vertical shock absorber 20316, it includes a vertical support arm 203161 and a vertical spring 203162, the vertical support arm 203161 is fixed or abutted against a corresponding mounting seat in the fixed frame 20313, a mounting hole 203163 is provided at the lower end of the vertical support arm 203161, a power input shaft 203153 is slidably inserted in the mounting hole 203163, and two ends of the vertical spring 203162 can respectively abut against the fixed frame 20313 and the power input shaft 203153. As one implementation of sliding, the mounting hole 203163 has a length greater than the maximum outer diameter of its internal power input shaft 203153, such that the power input shaft 203153 threaded within the mounting hole 203163 can slide up and down. Thereby, when a vibration impact in the vertical direction occurs, the vertical damper 20316 can play a role of damping.

Preferably, the upper end of the roller frame 20312 is also elastically supported on the fixed frame 20313 by a lateral shock absorber 20317, and both ends of the lateral shock absorber 20317 are respectively connected with the roller frame 20312 and the fixed frame 20313 for shock absorption when the roller frame 20312 swings laterally. As a preferable lateral damper 20317, it is constituted by a spring provided laterally, both ends of which are connected to the fixing frame 20313 and the roller frame 20312, respectively, and the lateral damper 20317 can play a role in damping when a lateral shock impact occurs.

Moreover, the vertical damper 20316 and the lateral damper 20317 can operate independently and in conjunction with each other, for example, when the roller frame 20312 swings, both operate at the same time. Therefore, since the upper end of the roller frame 20312 is elastically supported on the fixing frame 20313, the vibration impact is reduced when the machine body passes over an obstacle or a rough working surface.

Preferably, the second walking assembly further comprises a guide wheel 205, the guide wheel 205 is arranged in a guide wheel groove 210 in front of the bottom of the body 201 of the floor scrubbing device, and the guide wheel 205 has steering capability, preferably a universal wheel. The roller bodies in the first roller module and the second roller module and the guide wheel 205 form stable three-point support, so that the advancing stability of the floor wiping device 20 can be further ensured. The roller bodies in the first roller module and the second roller module can respectively and bidirectionally rotate, the control processing of the circuit component is controlled by the floor wiping device 20 to coordinate and unify the respective rotation speed and steering, and finally the advancing direction, the advancing speed and the advancing route of the whole machine are jointly realized.

Preferably, as shown in fig. 12-25, the floor cleaning system comprises a rolling brush 204, a second set of rotary wiping cloths and a second nozzle 206, wherein a rolling brush drive 209, a second set of wiping cloth drive components, a garbage box 212 and a second water tank are arranged in the body 201 of the floor cleaning device, the rolling brush drive 209 is in transmission connection with the rolling brush 204, the second set of wiping cloth drive components are in transmission connection with the second set of rotary wiping cloth components, the second water tank is communicated with the second nozzle 206 through a pipeline, and the rolling brush 204 is closer to the front of the advancing direction of the roller module relative to the second set of rotary wiping cloth components, and the garbage box 212 is in butt joint with the rolling brush 204 to receive and store garbage from the rolling brush 204.

The body 201 of the floor scrubbing device is a main body component of the floor scrubbing device 20, and as a preferred floor scrubbing device, the body 201 includes a second upper case 2012 and a bottom plate 2011, the second upper case 2012 and the bottom plate 2011 enclose together to form an accommodating space inside the body 201 of the floor scrubbing device, and a second battery 208, a main board and other structures are arranged inside the accommodating space, and the second upper case 2012 and the bottom plate 2011 are preferably detachable.

Preferably, the bottom of the body 201 of the floor scrubbing apparatus has a rolling brush groove 211 recessed inward, the shape of the rolling brush groove 211 is preferably arc-shaped, and the rolling brush 204 is disposed in the rolling brush groove 211. The rolling brush groove 211 is provided with a garbage outlet, the garbage outlet faces the inside of the machine body 201 of the floor wiping device, when the rolling brush 204 rotates, garbage particles lifted by the rolling brush 204 can move along with the rolling brush 204 in the rolling brush groove 211, and when the garbage particles move to the garbage outlet, the garbage particles are thrown out of the rolling brush groove 211 from the garbage outlet under the action of centrifugal force. Preferably, the rolling brush cover 207 is provided at the notch of the rolling brush groove 211, and the rolling brush cover 207 can shield a part of the rolling brush 204, and the rolling brush cover 207 is detachably connected with the outer edge of the groove wall of the rolling brush groove 211, so that the rolling brush 204 can be cleaned or replaced conveniently.

The waste bin 212 is provided with a waste inlet, and the waste outlet communicates with the waste inlet. Accordingly, the garbage is thrown out of the roller brush groove 211 from the garbage outlet by centrifugal force, and then can enter the garbage box 212 from the garbage inlet. Preferably, the inside of the waste inlet is provided with a door 2124 capable of closing the waste inlet. The door 2124 is configured so that the waste inlet is opened only when the roller brush 204 is rotated, thereby preventing the waste inlet from exposing waste in the waste bin 212 in the non-operating state.

As a preferred waste bin 212, the waste bin 212 includes a bin 2121 and a bin cover 2122, the waste inlet is provided on the bin 2121, the bin cover 2122 is rotatably provided on the bin 2121, and a lock 2123 is provided between the bin cover 2122 and the bin 2121. Because the cover 2122 is rotatably disposed on the housing 2121, a user or maintenance personnel can open the cover 2122 on the housing 2121 to facilitate cleaning of the waste in the waste bin 212. Because the lock catch 2123 is arranged between the box cover 2122 and the box 2121, the box cover 2122 on the box 2121 can be opened only under the allowable condition. A waste bin handle 2125 is preferably provided on the bin 2121 to facilitate movement of the waste bin 212 by a user or maintenance personnel.

Preferably, the second set of rotating wipe assemblies comprises a plurality of rotating wipes, the second set of wipe drive assemblies comprises a plurality of wipe drives, the number of wipe drives is equal to and corresponds to the number of rotating wipes one to one, the wipe drives comprise a drive box and an output gear, and the output gear is meshed with the input gear.

Further preferably, the number of the second set of rotating rags is 2, namely, a third rotating rag 2021 and a fourth rotating rag 2022, taking the third rotating rag 2021 as an example, the third rotating rag 2021 includes a third rag body 20211, a third rotary disc 20212, a third input gear 20213 and a third central shaft 20215, the third rag body 20211 is fixed on the outer surface of the disc surface of the third rotary disc 20212, the third input gear 20213 is fixedly sleeved on the third rotary disc 20212 in a coaxial manner, the third central shaft 20215 is fixed on the body 201 of the floor scrubbing device, and the third rotary disc 20212 is rotatably sleeved on the third central shaft 20215 in a coaxial manner. Accordingly, the wipe drive assembly includes a third wipe drive 2131 and a fourth wipe drive 2132, the third wipe drive 2131 drivingly connected to the third rotary wipe 2021 and the fourth wipe drive 2132 drivingly connected to the second wipe drive 2132. Taking the third rag driver 2131 as an example, the third rag driver 2131 is in transmission connection with the third rotary rag 2021, the third rag driver 2131 includes a third power box and a third output gear, the third output gear is meshed with the third input gear 20213, and the power output by the third power box is transmitted to the third input gear 20213 through the third output gear.

Preferably, the third rotary wipe 2021 and the fourth rotary wipe 2022 are identical in shape and size to each other, thereby improving the stability of the overall construction of the floor scrubbing apparatus 20, reducing the part count, and facilitating maintenance.

Preferably, the rotating wipe assembly includes a weighted ring, as shown in fig. 13 and 14, with the third rotating wipe 2021 having a first weighted ring 20214 nested on the inside of the first input gear 20213.

Preferably, the bottom of the body 201 of the floor scrubbing apparatus has a cloth chute recessed inward, and the turntable and the input gear are located in the cloth chute. The back of the rag body covers the notch outer edge of the rag groove, so that the back of the rag body can seal the rag groove. The groove wall of the rag groove is provided with a notch, and the outer edge of the input gear is exposed out of the notch, so that the input gear can be meshed with the output gear. Illustratively, the number of turning wipes is 2, and the third and fourth turning wipes 2021 and 2022, respectively, are the third and fourth wipe wells 2141 and 2142, respectively.

Preferably, the number of the second nozzles 206 is multiple, and a water outlet is arranged below the second water tank and is communicated with the second nozzles 206 through a pipeline. Specifically, the second water tank is integrated in the second upper case 2012, and the second water filling port cover 216 of the water tank is located at an outer surface of the second upper case 2012, and a user can open the second water filling port cover 216 from outside the body 201 of the floor scrubbing apparatus, so as to fill the second water tank with water. The bottom of the water tank is provided with one or more water outlets, and cleaning liquid in the water tank is conveyed to the nozzle 206 through a pipeline after passing through the water outlets and then sprayed out of the nozzle 206.

In this embodiment, the third rotary rag 2021 and the fourth rotary rag 2022 may be simultaneously rotated and wiped at the same rotation speed and in opposite directions respectively under the control of the control circuit assembly, and the second water tank periodically sprays the cleaning liquid mist through the nozzle to wet the dirt on the working surface. The second nozzle 206 sprays the cleaning liquid, and the third cloth body 20211 and the fourth cloth body spin-wipe. Therefore, when the floor wiping device 20 works, the rolling brush 204 and the garbage box 212 cooperate to clean hair scraps and large-particle garbage in advance, the water spraying component sprays cleaning liquid to wet the working surface, and the rotating rag component thoroughly erases dirt on the working surface when rotating, so that the cleaning capability of the floor wiping device 20 is remarkably improved.

Preferably, the bottom of the body 201 of the floor scrubbing device is provided with a second stationary wipe (not shown). Preferably, the second stationary wipe covers substantially the entire bottom exterior surface of the body 201 of the floor scrubbing device. Thus, the rolling brush 204 is cleaned in advance, the water spraying component sprays cleaning liquid to wet, the cleaning cloth component rotates to wipe, and finally the cleaning cloth is thoroughly wiped, so that the cleaning and decontamination are effectively and thoroughly cleaned in an all-around process.

Preferably, a barrier sensing assembly is also provided on the body 201 of the floor scrubbing apparatus for sensing an obstacle in front of the floor scrubbing apparatus 20. The barrier sensing assembly of the floor wiping device may include a third barrier sensing plate 215, the third barrier sensing plate 215 being mounted in front of the second upper case 2012 and being a part of the second upper case 2012. The rotation speed and the steering of the first driving wheel 2031 and the second driving wheel 2032 are coordinated and unified through the control processing of the third obstacle avoidance sensing plate 215 component and the control circuit component of the floor cleaning machine, and finally the running direction, the running speed and the running route of the whole machine are jointly realized.

Those skilled in the art will appreciate that the drawing is merely a schematic illustration of a preferred implementation scenario and that the modules or flows in the drawing are not necessarily required to practice the invention.

Those skilled in the art will appreciate that modules in an apparatus in an implementation scenario may be distributed in an apparatus in an implementation scenario according to an implementation scenario description, or that corresponding changes may be located in one or more apparatuses different from the implementation scenario. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.

The above-mentioned inventive sequence numbers are merely for description and do not represent advantages or disadvantages of the implementation scenario.

The foregoing disclosure is merely illustrative of some embodiments of the invention, and the invention is not limited thereto, as modifications may be made by those skilled in the art without departing from the scope of the invention.

Claims

1. A scrubbing robot comprising:

A floor scrubbing apparatus comprising a second travelling assembly for movement over the floor and a floor cleaning system, the floor scrubbing apparatus having a body with a mounting slot, the window scrubbing apparatus being configured to be able to be inserted into and removed from the mounting slot;

The window cleaning device further comprises a power output assembly, the first walking assembly comprises a walking mechanism, and the power output assembly comprises an output terminal extending out of the walking mechanism; the floor wiping device further comprises a power input assembly, the power input assembly is in transmission connection with the second walking assembly, the power input assembly is configured to be in transmission connection with the power output assembly, the power input assembly comprises a power input shaft, and the power input shaft is connected with the output terminal.

2. The scrubbing robot of claim 1, wherein said window cleaning system comprises a first set of rotating wipes and at least one first nozzle disposed at a bottom of a body of said window scrubbing device, a first water tank disposed within said body of said window scrubbing device, said first water tank being connected to said first nozzle by a conduit.

3. The scrubbing robot of claim 1, wherein said first traveling assembly comprises a first crawler and a second crawler, said first crawler and said second crawler being located on opposite sides of a bottom of a body of said window scrubbing apparatus.

4. The scrubbing robot of claim 3, wherein said second walking assembly comprises more than two roller modules, said power input assembly drivingly connected to said roller modules.

5. The scrubbing robot of claim 4, wherein said roller module comprises a roller body, a roller frame and a transmission mechanism, said transmission mechanism is disposed in said roller frame, a power input end of said transmission mechanism comprises a power input shaft, said power input shaft extends out of said roller frame, and a power output end of said transmission mechanism is supported on and drivingly connected to said roller body.

6. The scrubbing robot of claim 5, wherein said power take-off assembly comprises output terminals extending from central axes of respective crawler wheels of said first crawler travel mechanism and said second crawler travel mechanism, respectively, said power take-off assembly being formed by said power take-off shaft, an end face of said power take-off shaft being provided with a connecting slot, said connecting slot being mated with said output terminals for mounting said output terminals and rotating therewith.

7. The scrubbing robot of claim 6, wherein said power input shaft is movably disposed through said roller frame, a return spring is sleeved on said power input shaft, one end of said return spring abuts against said power input shaft, and the other end of said return spring abuts against said roller frame, for enabling said power input shaft to elastically expand and contract and be tightly connected to said output terminal when said window cleaning device is mounted in said mounting groove.

8. The scrubbing robot of claim 5, wherein said transmission mechanism comprises a first rolling gear, a second rolling gear and a rack transmission belt, said power output end comprises a power output shaft, two ends of said rack transmission belt are respectively meshed with said first rolling gear and said second rolling gear, said first rolling gear is sleeved on said power input shaft, said second rolling gear is sleeved on said power output shaft, and said roller body is sleeved on said power output shaft.

9. The scrubbing robot of claim 1, wherein said floor cleaning system comprises a roller brush disposed at a bottom of a body of said floor scrubbing apparatus, a second set of rotating wipes, and at least one second nozzle, said body of said floor scrubbing apparatus being internally provided with a waste bin and a second water tank, said second water tank being in communication with said second nozzle by a conduit, said waste bin interfacing said roller brush to receive and store waste from said roller brush.

10. The scrubbing robot of claim 1, wherein a bottom of a body of said window scrubbing apparatus is provided with a first stationary wipe.

11. The scrubbing robot of claim 1, wherein a bottom of said floor scrubbing apparatus body is provided with a second stationary wipe.