CN110876588B - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN110876588B CN110876588B CN201911205488.0A CN201911205488A CN110876588B CN 110876588 B CN110876588 B CN 110876588B CN 201911205488 A CN201911205488 A CN 201911205488A CN 110876588 B CN110876588 B CN 110876588B
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- Prior art keywords
- liquid
- pipe
- cleaning robot
- cleaning
- liquid outlet
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
- A47L11/4069—Driving or transmission means for the cleaning tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The cleaning robot comprises a main body, a driving wheel for driving the cleaning robot to move on a surface to be cleaned, a liquid storage tank for storing liquid, a cleaning piece for cleaning the surface to be cleaned and a liquid applying device, wherein the liquid in the liquid storage tank is periodically applied to the outside or the cleaning piece through the liquid applying pipe and the liquid outlet part by the cleaning robot through the liquid applying device, so that the liquid outlet speed or the liquid outlet amount of the liquid is effectively controlled, the water supply of the cleaning robot is stable, the cleaning robot can have different liquid supply modes, and the user experience is improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a cleaning robot.
Background
The cleaning robot mainly replaces manpower and is used for cleaning the family environment. The cleaning robot integrates an automatic cleaning technology and a humanized intelligent design, along with the development of the intelligent cleaning robot in the existing market, in order to further meet the cleaning requirements of users and greatly reduce the burdensome tasks of sweeping and mopping the floor of the users, the intelligent cleaning robot gradually realizes the multifunctional development from dust collection, sweeping to floor washing and mopping, a mop is mainly installed at the bottom of the intelligent cleaning robot to wipe a surface to be cleaned, or a water tank is installed on the cleaning robot to wet the surface to be cleaned, but in the prior art, the water supply mode of the water tank is single, the water outlet rate or the water outlet quantity is difficult to control, so that after the machine enters the water supply process (enters the wet wiping mode), water flows out continuously, too much water is discharged, the cleaning effect is poor, or the water outlet quantity is not uniform enough, the water outlet quantity is not enough, and the water cannot be completely wetted onto a cleaning cloth, the user experience is not good.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a cleaning robot, which includes a liquid applying device to solve the problem that the water tank has a single water supply mode and is difficult to control the water outlet rate or the water outlet amount, so that the cleaning robot can stably supply water, the water outlet rate or the water outlet amount of the cleaning robot can be effectively controlled, and the user experience is improved.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
the present invention provides a cleaning robot, including:
a main body;
a driving wheel configured to drive the cleaning robot to move on a surface to be cleaned;
a liquid storage tank configured to store liquid;
a cleaning member configured to clean a surface to be cleaned; and
a liquid application device comprising:
the liquid applying pipe comprises a liquid inlet pipe, a liquid outlet pipe and a connecting pipe, one end of the liquid inlet pipe is connected with the liquid storage box, one end of the liquid outlet pipe is connected with the liquid outlet component, two ends of the connecting pipe are respectively connected with the other end of the liquid inlet pipe and the other end of the liquid outlet pipe, and the power component is configured to periodically convey liquid in the liquid storage box to the liquid outlet component through the liquid applying pipe.
In one embodiment of the invention, the liquid inlet pipe and the connecting pipe and/or the liquid outlet pipe and the connecting pipe are connected through a connecting piece.
In one embodiment of the invention, the hardness of the connector is greater than the hardness of the liquid application tube.
In one embodiment of the invention, the power component comprises a mounting part, a driving motor and a rotating disc, the driving motor is mounted on the mounting part, the connecting pipe is mounted on the mounting part, and the driving motor drives the rotating disc to rotate, so that the rotating disc periodically presses the connecting pipe.
In one embodiment of the present invention, the rotating disk includes a pressing portion mounted to the rotating disk by a mounting shaft, and a distance from an edge of the pressing portion to a rotation center of the rotating disk is greater than a distance from the edge of the rotating disk to the rotation center of the rotating disk.
In one embodiment of the present invention, the mounting shaft protrudes from the top of the rotating disk and the bottom of the rotating disk, and the rotating disk further includes a reset member, which is mounted on the top of the rotating disk and the bottom of the rotating disk.
In an embodiment of the present invention, the top of the rotating disc and the bottom of the rotating disc are provided with abutting portions, one end of the reset member abuts against the abutting portion, and the other end abuts against the mounting shaft.
In one embodiment of the present invention, the connecting member is provided with a positioning portion, the mounting portion is provided with a positioning groove, and the connecting member is mounted to the positioning groove through the positioning portion to position the connecting pipe at the mounting portion.
In an embodiment of the invention, the two ends of the connecting piece are provided with connecting parts, so that the connecting pipe and the liquid inlet pipe or the connecting pipe and the liquid outlet pipe are prevented from falling off in the process of periodically conveying the liquid in the liquid storage tank to the liquid outlet part through the liquid applying pipe.
In one embodiment of the present invention, the cleaning robot further comprises a controller, the liquid outlet part is mounted to the main body, and if the cleaning robot enters a first cleaning mode, the controller controls the liquid applying device to periodically apply the liquid in the liquid tank to the outside or the cleaning member via the liquid applying pipe and the liquid outlet part; if the cleaning robot enters a second cleaning mode, the controller controls the liquid applying device to stop applying the liquid.
Compared with the prior art, the technical scheme of the embodiment of the invention at least has the following beneficial effects:
in an embodiment of the invention, the cleaning robot comprises a main body, a driving wheel for driving the cleaning robot to move on a surface to be cleaned, a liquid storage tank for storing liquid, a cleaning piece for cleaning the surface to be cleaned and a liquid applying device, wherein the liquid applying device comprises a liquid applying pipe and a power component, the liquid applying pipe comprises a liquid inlet pipe, a liquid outlet pipe and a connecting pipe, one end of the liquid inlet pipe is connected with the liquid storage tank, one end of the liquid outlet pipe is connected with a liquid outlet component, two ends of the connecting pipe are respectively connected with the other end of the liquid inlet pipe and the other end of the liquid outlet pipe, the power component is configured to periodically convey the liquid in the liquid inlet pipe to the liquid outlet pipe, the cleaning robot periodically applies the liquid in the liquid storage tank to the outside or the cleaning piece through the liquid applying pipe and the liquid outlet component by the liquid applying device, the liquid outlet rate or the liquid outlet amount of the liquid is effectively controlled, so that the liquid supply of the cleaning robot is stable, the cleaning robot can have different liquid supply modes, and the user experience is improved.
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 or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a perspective view of a cleaning robot in an embodiment of the present invention;
FIG. 2 is a bottom view of the cleaning robot in an embodiment of the present invention;
FIG. 3 is an exploded view of a cleaning member in accordance with one embodiment of the present invention;
FIG. 4 is a schematic view of a liquid application device in an embodiment of the present invention;
FIG. 5 is a schematic, disassembled view of a liquid application device in an embodiment of the present invention;
FIG. 6 is a schematic view of a connector according to an embodiment of the present invention;
FIG. 7 is a schematic exploded view of a rotatable disk in accordance with an embodiment of the present invention;
FIG. 7A is a schematic view of three pressing portions provided in one embodiment of the present invention;
FIG. 7B is a schematic view of three pressing portions provided in another embodiment of the present invention;
FIG. 8 is a bottom view of a reservoir in an embodiment of the invention;
FIG. 9 is a cross-sectional view of a reservoir in an embodiment of the invention;
FIG. 10 is a flow chart of liquid application while the cleaning robot is in operation in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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 terms "front", "rear", "left" and "right" in the present description refer to the forward direction of the cleaning robot, and the terms "top", "bottom", "up", "down", "horizontal" and "vertical" in the present description refer to the state of the cleaning robot during normal operation.
The patent of the present invention is an exemplary illustration of a cleaning robot mainly used for cleaning a floor home environment, and in other embodiments, the cleaning robot may also be used for cleaning other indoor or outdoor environments, for example: the environment of restaurants, stations, airports and the like is cleaned.
Referring to fig. 1 and 2, fig. 1 is a perspective view of a cleaning robot according to an embodiment of the present invention, and fig. 2 is a bottom view of the cleaning robot according to an embodiment of the present invention. The cleaning robot of the present invention includes a main body 100, a driving wheel 20 for driving the cleaning robot to move on a surface to be cleaned, a tank 30 configured to store liquid, a cleaning member 10 for cleaning the surface to be cleaned, and a liquid applying device. The body 100 is generally circular in shape in this embodiment, and in other embodiments, the body 100 may be generally oval, triangular, D-shaped, or other shapes in shape. The surface to be cleaned can be a relatively smooth floor surface, a carpeted surface, or other surface to be cleaned.
The driving wheels 20 include left and right driving wheels 21 and omni wheels 22, the left and right driving wheels 21 are installed at left and right sides of a bottom of the main body 100, the bottom is a surface of the main body 100 facing a surface to be cleaned, and the driving wheels 20 are configured to carry the cleaning robot and drive the cleaning robot to move on the surface to be cleaned. The surface to be cleaned can be a relatively smooth floor surface, a carpeted surface, or other surface to be cleaned. The left and right driving wheels 21 are configured to be at least partially extendable and retractable to the bottom of the main body 100. The omni-directional wheel 22 is installed at a front position of the bottom of the main body 100, and the omni-directional wheel 22 is a movable caster wheel which can horizontally rotate 360 degrees, so that the cleaning robot can flexibly steer. The left and right driving wheels 21 and the omni-directional wheel 22 are installed to form a triangle, so that the walking stability of the cleaning robot is improved.
The cleaning robot may further include a brush assembly 90 and a dust box, the brush assembly 90 includes a rolling brush 91 and an edge brush 92, the rolling brush 91 is disposed in a first receiving groove formed in the bottom of the main body 100, the first receiving groove is formed by sinking from the bottom of the main body 100 toward the top, the main body 100 is further provided with a second receiving groove 13, the second receiving groove 13 is communicated with the first receiving groove through a suction port 131, the dust box is mounted in the second receiving groove 13, the dust box is provided with a dust inlet, and the dust inlet is in butt joint with the suction port 131. The rolling brush 91 may be any one or a combination of a brush and a glue brush, and the rolling brush 91 is driven to rotate around an axis substantially perpendicular to the advancing direction of the cleaning robot by an internally installed rolling brush driving motor. The side brushes 92 are provided at the left and/or right front portions of the main body 100. The edge brush 92 may rotate along an axis substantially perpendicular to the body. The side brush 92 has a plurality of long bristles spaced around the shaft, the long bristles extending outward beyond the contour of the main body 100 for sweeping the garbage on the ground beyond the coverage of the contour of the main body 100 to the position of the receiving groove at the bottom of the main body 100, and the rolling brush 91 further sweeps the garbage to the dust box. It is conceivable that the cleaning robot is not provided with the rolling brush 91, and a dust suction duct is extended from the suction port 131 to clean the surface to be cleaned.
The cleaning robot further includes a controller 50, the controller 50 is installed in the main body 100, and the controller 50 may include a plurality of components respectively controlling each component, or may be provided with only one component controlling all the components. For example: the controller 50 may include a main controller provided to the main body 100, a driving wheel controller sensing speed information of the driving wheel 20 and controlling the driving wheel 20 to adjust the operation of the cleaning robot, and the like. The controllers of all the components transmit respective information to the main controller, and the main controller processes the information according to all the components and respectively feeds corresponding control instructions back to all the components. All the components take the main controller as a center, communicate with each other and transmit signals. The controller 50 may be a micro-control unit such as a single chip, an FPGA, an ASIC, or a DSP.
The cleaning member 10 is installed at the rear side of the main body 100, and wipes a surface to be cleaned. In other embodiments, the cleaning member 10 can be installed at a front portion or a middle portion of the main body 100, and the cleaning member 10 can be separately arranged to clean a surface to be cleaned, or the cleaning member 10 can be arranged to cooperate with the brush assembly 90 to clean the surface to be cleaned. Referring to fig. 3, fig. 3 is an exploded view of a cleaning member according to an embodiment of the present invention. The cleaning piece 10 comprises a mounting piece 11, a mopping assembly 13 mounted on the mounting piece 11 and a releasing component 16, wherein a first rail, a second rail arranged opposite to the first rail and a positioning protrusion are arranged on one surface of the mounting piece 11 facing to a surface to be cleaned. Mop subassembly 13 includes mop 15 and with mop mounting panel 14 that mop 15 is connected, mop 15 with mop mounting panel 14's connected mode can be through magic subsides are pasted, perhaps fixes the bonding with the adhesive, can also be with the fine rule will mop 15 sew up in mop mounting panel 14. The hardness of the mop mounting plate 14 is greater than that of the mop 15, mounting holes 143 are formed in the mop mounting plate 14 corresponding to the positioning protrusions, and the mop assembly 13 moves toward the other end along one end of the first rail and the other end of the second rail until the mounting holes 143 are in butt joint with the positioning protrusions, so that the mop assembly 13 is positioned at the mounting member 11.
The release member 16 is configured to disengage the mounting hole 143 from the locating projection to detach the mop assembly 13 from the mount 11. In particular, the release member 16 comprises a first portion 161 and a second portion 162 substantially perpendicular to the first portion 161, one of the first and second rails being formed between the first portion 161 and the surface of the mount 11 facing the surface to be cleaned. The releasing member 16 further includes a first elastic member 163 and a rod 164, the releasing member 16 is mounted to the second portion 162 through the first elastic member 163, such that the rod 164 is inclined from the second portion 162 toward the first portion 161, and the first elastic member 163 is a torsion spring. The mounting part 11 is provided with an opening 114 corresponding to the supporting rod 164, an external force is applied to the releasing component 16, the supporting rod 164 extends out of the surface of the mounting part 11 facing to the surface to be cleaned through the opening 114, the mounting hole 143 is separated from the positioning bulge, and the mopping assembly 13 is detached from the mounting part 11. In other embodiments, the release component 16 may be further configured to be connected to the positioning protrusion, when an external force is applied to the release component 16, the positioning protrusion retracts into the mounting component 11, so that the user can take out the mop assembly 13 without applying a large force to the mop assembly 13, and the mop assembly 13 can be directly shaken out when the cleaning robot is shaken or rocked. In other embodiments, the first elastic member 163 may also be a spring, a tension spring, a compression spring, or other first elastic members, and the corresponding mounting structure is deformed correspondingly, so that the other first elastic members have the same function as the torsion spring in this embodiment.
Referring to fig. 4 and 5, fig. 4 is a schematic view of a liquid application device according to an embodiment of the present invention, and fig. 5 is a schematic exploded view of the liquid application device according to an embodiment of the present invention. The liquid applying apparatus 80 includes a liquid applying pipe 81 and a power member 82, the liquid applying pipe 81 includes a liquid inlet pipe 801, a liquid outlet pipe 803 and a connecting pipe 802, one end of the liquid inlet pipe 801 is connected to the liquid storage tank 30, one end of the liquid outlet pipe 803 is connected to the liquid outlet member 70, both ends of the connecting pipe 802 are respectively connected to the other end of the liquid inlet pipe 801 and the other end of the liquid outlet pipe 803, and the power member 82 is configured to periodically deliver the liquid in the liquid storage tank 30 to the liquid outlet member 70 through the liquid applying pipe 81. The liquid inlet pipe 801 and the connecting pipe 802 and the liquid outlet pipe 803 and the connecting pipe 802 are connected by connecting pieces 810, in this embodiment, the number of the connecting pieces 810 is two, one of the connecting pieces is connected with the liquid inlet pipe 801 and the connecting pipe 802, and the other is connected with the liquid outlet pipe 803 and the connecting pipe 802. The power unit 82 includes a mounting portion 820, and the connection pipe 802 is mounted to the mounting portion 820. Referring to fig. 6, fig. 6 is a schematic view of a connecting member according to an embodiment of the invention. The connecting member 810 is provided with a positioning portion 811, the positioning portion 811 extends out of a limiting protrusion 8111 in the radial direction of the connecting member 819, the mounting portion 820 is provided with a positioning groove 821, a limiting portion 8211 is arranged in the positioning groove 821, and when the connecting member 810 is mounted in the positioning groove 821, the limiting portion 8211 limits the mounting position of the limiting protrusion 8111, so that the connecting pipe 802 is positioned in the mounting portion 820.
The connecting member 810 is provided with a through hole 814 penetrating through two ends of the connecting member 810, so that the liquid inlet pipe 801, the connecting pipe 802 and the liquid outlet pipe 803 are connected to form a circulation path. The connecting part 810 is characterized in that a circular truncated cone-shaped connecting part 813 is formed at two ends of the connecting part 810 facing the positioning part 811, the connecting part 813 is circular truncated cone-shaped, the area of the bottom surface of the circular truncated cone, close to the positioning part 811, of the connecting part 813 is larger than the area of the bottom surface of the circular truncated cone, close to the liquid inlet pipe 801 or the liquid outlet pipe 803, of the connecting part 813, and when the connecting part 810 connects the liquid inlet pipe 801 and the connecting pipe 802 and connects the liquid outlet pipe 803 and the connecting pipe 802, at least part of the side surface of the circular truncated cone of the connecting part 813 is coated by the liquid inlet pipe 801, the connecting pipe 802 and the liquid outlet pipe 803. In order to improve the connection firmness, it is preferable that the liquid inlet pipe 801, the connecting pipe 802, and the liquid outlet pipe 803 cover the entire circular truncated cone side surface of the connecting portion 813. The hardness of connecting piece 810 is greater than the hardness that pipe 81 was applyed to liquid, pipe 81 is applyed to liquid is the hose of being made by the flexible glue material, and the extrusion can produce elastic deformation, receives the partial isolated liquid of extrusion force and is in the flow in pipe 81 is applyed to liquid, connecting piece 810 is made by ebonite material, can not produce the deformation, can be in the connection feed liquor pipe 801 with connecting pipe 802 and connect drain pipe 803 with install behind the connecting pipe 802 in installation department 820 plays fine positioning effect.
In another embodiment, the connector 810 may further include a concave portion 812 between the positioning portion 811 and the connecting portion 813, the liquid inlet pipe 801, the connecting pipe 802, and the liquid outlet pipe 803 cover the connecting portion 813 and the concave portion 812, the connector 810 further includes an elastic clip 815, the elastic clip 815 is clamped at the position of the concave portion 812, and clamps and presses the liquid outlet pipe 803 and the liquid inlet pipe 801 into the mounting portion 820 to assist in pressing, and when the power member 82 periodically transfers the liquid in the liquid storage tank 30 to the liquid outlet member 70 through the liquid applying pipe 81, an impact force due to squeezing may exist, and the elastic clip 815 may further allow the connecting pipe 802 and the liquid inlet pipe 801, that is, the connecting pipe 802 and the liquid outlet pipe 803 to fall off. In other embodiments, only one connecting member 810 may be provided to connect the liquid inlet pipe 801 and the connecting pipe 802, and the connecting pipe 802 and the liquid outlet pipe 803 are integrally formed, or connect the liquid outlet pipe 803 and the connecting pipe 802, and the liquid inlet pipe 801 and the connecting pipe 802 are integrally formed. The elastic clip 815 may also be provided with only one connector 810 clamped to the outlet 803 and the connecting tube 802.
Referring to fig. 7, fig. 7 is a schematic exploded view of a rotating disc according to an embodiment of the present invention. The power unit 82 further includes a driving motor 850 and a rotating disc 830 mounted on the mounting portion 820, the connecting pipe 802 is mounted on the mounting portion 820, and the driving motor 850 drives the rotating disc 830 to rotate, so that the rotating disc 830 periodically presses the connecting pipe 802. The rotary disk 830 includes a pressing portion 835, the pressing portion 835 is mounted to the rotary disk 830 by a mounting shaft 836, and a distance from an edge of the pressing portion 835 to a rotation center of the rotary disk 830 is greater than a distance from the edge of the rotary disk 830 to a rotation center 831 of the rotary disk 830. The rotating disk 830 includes an upper portion 832, a lower portion 834, and an intermediate portion 833, the upper portion 832 and the lower portion 834 are disk structures, the intermediate portion 833 is a cylindrical structure, and the upper portion 833, the intermediate portion 833, and the lower portion 834 are integrally formed. The upper portion 832 and the lower portion 834 define mounting shaft holes 839, the mounting shaft 836 protrudes from the top of the rotary plate 830 and the bottom of the rotary plate 830 through the mounting shaft holes 839, i.e., one end of the mounting shaft 836 protrudes from the upper portion 832, and the other end protrudes from the lower portion 834, the pressing portion 835 is mounted between the upper portion 832 and the lower portion 834 through the mounting shaft 836, and the pressing portion 835 can rotate around the mounting shaft 836.
The mounting groove has been seted up to the upper seat of installation department 820, rolling disc 830 install in the mounting groove, connecting pipe 802 install in rolling disc 803 with between the inner wall of mounting groove, rolling disc 830 is in rotate under the drive of driving motor 850, rolling disc 830 revolves the axis of rotation center 831 position and rotates, extrusion portion 835 follows rolling disc 830 rotates periodically the extrusion connecting pipe 802. When the pressing portion 835 presses the connection pipe 802, the pressing portion 835 may rotate around the mounting shaft 836, so that friction between the pressing portion 835 and the connection pipe 802 when pressing the connection pipe 802 is reduced, and abrasion of the connection pipe 802 is reduced. The mounting shaft 836 has a relative movement gap with respect to the mounting shaft hole 839, so that the pressing portion 835 can block a free flow of liquid in the connection pipe 802 during the pressing of the connection pipe 802.
The rotating disc further comprises a reset member 837, the reset member is mounted on the top of the rotating disc 830 and the bottom of the rotating disc 830, the top of the rotating disc 830 and the bottom of the rotating disc 830 are provided with abutting portions 838, one end of the reset member 837 abuts against the abutting portions 838, and the other end abuts against the mounting shaft 836. The reset member 837 is configured such that the pressing portion 835 moves with a gap when pressing the connection pipe 802, and returns to an original position when the pressing portion 835 rotates to not press the connection pipe 802. If the pressing portion 835 is provided in one, two reset members 837 are required to be installed at the top of the rotating disk 830 and the bottom of the rotating disk 830, respectively. In this embodiment, it is preferable to provide two squeezing portions 835, the two squeezing portions 835 are oppositely installed on the rotating plate 830, and the two squeezing portions 835 alternately squeeze the connecting pipe 802, so that the liquid in the liquid storage tank 30 can be uniformly delivered to the liquid outlet member 70 in a segmented manner.
In another embodiment, please refer to fig. 7A and 7B, fig. 7A is a schematic diagram of three pressing portions in one embodiment of the present invention, and fig. 7B is a schematic diagram of three pressing portions in another embodiment of the present invention. The pressing portions 835 may be three, and when the pressing portions 835 are three, one installation manner is to uniformly arrange the pressing portions 835 on the rotating disc 830, that is, an included angle a between a connecting line of every two installation shafts 836 to a rotation center of the rotating disc 830 is 120 degrees, and compared with an embodiment in which two pressing portions 835 are provided, the three pressing portions 835 are uniformly arranged, so that the amount of water delivered to each section of the liquid outlet member 70 may be less. When the three pressing portions 835 are provided, another installation manner is non-uniform installation, so that the pressing portions 835 can deliver different water output amounts to the liquid outlet part 70.
The power component 82 further comprises a transmission component, the transmission component is mounted on a base 823 of the mounting portion 820, the driving motor 850 is fixed on the base 823 through two screws 822, a belt tooth 842 is fixed at a position corresponding to the driving motor 850, a transmission shaft 843 is fixed on the base 823 and is matched with the transmission shaft 843 from the driving motor 850, a belt 845 performs relative working movement, a copper sleeve 846 is embedded in an upper seat of the mounting portion 820, the upper seat of the mounting portion 820 and the base 823 are combined into a box body through four screws 822, the rotating disc 830 is matched with the mounting portion 820, the connecting pipe 802 is pressed into a mounting groove formed in the upper seat of the mounting portion 820 around the rotating disc 830, liquid in the liquid storage box 30 enters the connecting pipe 802 mounted in the mounting groove through the liquid inlet pipe 801 and then rotates through the rotating disc 830, the extrusion portion 835 is extruded to the liquid outlet pipe 803 and is connected to the liquid outlet component 70, and a working water outlet line is formed. After the cleaning robot stops working, the pressing portion 835 still presses the connection pipe 802, so that the liquid in the liquid storage tank 30 does not flow to the liquid outlet member 70 by itself, and the water outlet is effectively stopped.
Referring to fig. 8 and 9, fig. 8 is a bottom view of a liquid storage tank according to an embodiment of the present invention, and fig. 9 is a cross-sectional view of the liquid storage tank according to an embodiment of the present invention. In this embodiment, the liquid applying device 80 is disposed inside the reservoir 30. The liquid outlet part 70 is installed at the bottom of the liquid storage tank 30, and the liquid inlet pipe 801 is connected to the bottom of the liquid storage tank 30, so that the liquid in the liquid storage tank 30 can be completely conveyed to the liquid outlet part 70. The liquid outlet part 70 is provided with a plurality of liquid outlets 701, and when the power part 82 conveys a section of liquid to the liquid outlet part 70, the liquid is divided into a plurality of parts and flows out of the liquid outlets 701 respectively. A cleaning piece 10 is mounted at the bottom of the cleaning robot main body 100 corresponding to the position of the liquid outlet part 70, a mounting piece 11 of the cleaning piece 10 is provided with a liquid flow hole corresponding to the liquid outlet 701, the mounting piece 11 may be formed at the bottom of the main body 100, or may be detachably mounted at the bottom of the main body 100. After flowing out from the liquid outlet 701, the liquid flows through the liquid flowing hole to the mop assembly 13, so as to wet the mop cloth 15, thereby realizing the periodic application of the liquid in the liquid storage tank 30 through the liquid applying pipe 81 and the liquid outlet part 70 by the pressing of the power part 82 to the cleaning member 10.
In other embodiments, the liquid outlet part 70 is installed at the front of the main body 100, the liquid outlet part 70 is provided with only one liquid outlet 701, and the liquid in the liquid storage tank 30 is periodically applied outwards through the liquid applying pipe 81 and the liquid outlet part 70 by the pressing of the power part 82, wherein the outwards is the surface to be cleaned in the forward direction of the cleaning robot. In other embodiments, the cleaning robot may further include a functional module, the functional module is an air humidifier, the liquid outlet part 70 is disposed on the functional module, the side wall of the functional module is provided with a plurality of liquid outlets 701, and the liquid in the liquid storage tank 30 is periodically ejected out of the liquid outlets 701 disposed on the functional module through the liquid applying pipe 81 and the liquid outlet part 70 by being pressed by the power part 82. The liquid can be atomized by the atomizing module before being sprayed out from the liquid outlet 701, so that the liquid is sprayed out in a water vapor mode, and the air humidification effect is improved.
In some embodiments, the outer wall of the liquid storage tank 30 is provided with a communication contact 301, the liquid storage tank 30 is mounted to the main body 100, and is in communication with the controller 50, if the cleaning robot enters a first cleaning mode, the controller 50 controls the liquid applying device 80 to periodically apply the liquid in the liquid storage tank 30 to the outside or the cleaning member 10 via the liquid applying pipe 81 and the liquid outlet part 70; if the cleaning robot enters the second cleaning mode, the controller 50 controls the liquid applying device 80 to stop applying the liquid. The liquid stored in the reservoir 30 may be clear water or cleaning liquid. Referring specifically to fig. 10, fig. 10 is a flow chart of liquid application during operation of the cleaning robot according to an embodiment of the present invention.
S10, the cleaning robot starts working, the trigger condition for the cleaning robot to start working may be manual trigger or self-starting of the cleaning robot, and the manual trigger mode may be pressing a switch button to start working the cleaning robot or starting working the cleaning robot by giving a signal to start working to the cleaning robot through a remote controller, an App, or other mobile terminal device. The cleaning robot self-start may be a cleaning robot self-start to operate by the time of completion of charging or scheduled start of operation through a memory function of the controller 50. After the cleaning robot starts working, the working mode of the cleaning robot needs to be judged in real time, and the liquid application modes in the liquid storage tank 30 are controlled to be different in different working modes.
The S20 cleaning robot enters a first cleaning mode, and the S40 liquid applying device periodically applies the liquid in the liquid storage tank to the outside or the cleaning piece through the liquid applying pipe and the liquid outlet part. The first mode of operation of the cleaning robot is a mode in which liquid can be applied to the cleaning elements 10 or outwardly, and is in a normal operating condition when the cleaning robot is running on a floor surface without getting trapped. The controller 50 controls the driving motor 850 to drive the rotating disc 830 to rotate, and the squeezing portion 835 periodically squeezes the connecting pipe 802, so as to uniformly and sequentially segment the liquid in the liquid storage tank 30 from the liquid inlet pipe 801 to the liquid outlet pipe 803 via the connecting pipe 802, and then the liquid enters the liquid outlet part 70 and flows from the liquid outlet 701 to the cleaning member 10 or is sprayed out from the liquid outlet 701. The controller 50 can also control the rotation speed of the driving motor 850 to drive the rotating disc 830 to rotate, so that the same amount of water is extruded at different time, and the liquid outlet rate is controlled.
The S30 cleaning robot enters the second cleaning mode and the S50 liquid applying means stops applying the liquid. When the cleaning robot walks to a soft surface to be cleaned, it can be determined that the cleaning robot enters the second cleaning mode, and the liquid applying device 80 stops applying the liquid to the cleaning member 10 or applies the liquid to the outside.
When the cleaning robot enters the charging mode, the cleaning robot can be judged to enter the second cleaning mode, and the cleaning robot needs to stop applying liquid when entering the mode of finding and recovering the charging seat or when charging is carried out on the charging seat. When the cleaning robot searches for the recharging seat, the walking speed is reduced, the cleaning effect is poor, and secondary pollution is easily caused by continuously applying liquid. The cleaning robot enters into charging after the charging contact of the charging seat is successfully butted, and stops applying liquid, so that the liquid is prevented from flowing out to contact with the charging contact of the charging seat, and short circuit of a charging circuit is prevented or other potential safety hazards are prevented. When the cleaning robot is in the abnormal working state, it may be judged that the cleaning robot enters the second cleaning mode, and the abnormal working state may be that the cleaning robot is trapped or stuck. The cleaning robot enters the second cleaning mode, which may be one or more of the above. When the cleaning robot enters the second operation mode, the controller 50 controls the driving motor 850 to stop driving, the rotating disc 830 stops rotating, the pressing portion 835 keeps pressing the connection pipe 802, prevents the liquid from flowing through the connection pipe 802, and stops applying the liquid to the cleaning member 10 or to the outside.
In this embodiment, the cleaning robot enters different cleaning modes according to different actual working conditions, and in the corresponding cleaning modes, the controller 50 can effectively control whether the liquid in the liquid storage tank 30 continuously flows to the cleaning member 10 or whether the liquid is continuously sprayed outwards, so that the liquid application of the cleaning robot is intelligently controlled. And the liquid applying device 80 comprises a liquid applying pipe 81 and a power component 82, the liquid applying pipe 81 comprises a liquid inlet pipe 801, a liquid outlet pipe 803 and a connecting pipe 802, the power component 82 further comprises a driving motor 850 and a rotating disc 830 which are installed on the installation part 820, the rotating disc 830 is provided with an extrusion part 835, the rotating disc 830 is driven by the driving motor 850 to rotate, the extrusion part 835 extrudes the connecting pipe 802, the liquid in the liquid storage tank 30 is uniformly and sequentially distributed from the liquid inlet pipe 801 to the liquid outlet pipe 803 through the connecting pipe 802 in a segmented mode, and then the liquid enters the liquid outlet component 70 and flows out from the liquid outlet 701, so that the water supply of the cleaning robot is stable.
In the embodiment of the invention, the cleaning robot includes a main body 100, a driving wheel 20 for driving the cleaning robot to move on a surface to be cleaned, a liquid storage tank 30 for storing liquid, a cleaning member 10 for cleaning the surface to be cleaned, and a liquid applying device 80, the liquid applying device 80 includes a liquid applying pipe 81 and a power member 82, the liquid applying pipe 81 includes a liquid inlet pipe 801, a liquid outlet pipe 803, and a connecting pipe 802, one end of the liquid inlet pipe 801 is connected to the liquid storage tank 30, one end of the liquid outlet pipe 803 is connected to a liquid outlet member 70, two ends of the connecting pipe 802 are respectively connected to the other end of the liquid inlet pipe 801 and the other end of the liquid outlet pipe 803, the power member 82 is configured to periodically deliver the liquid in the liquid inlet pipe 801 to the liquid outlet pipe 803, so that the cleaning robot periodically delivers the liquid in the liquid storage tank 30 to the outside or to the liquid outlet through the liquid applying pipe 81 and the liquid outlet member 70 by the liquid applying device 80 The cleaning piece 10 is applied to effectively control the liquid outlet rate or the liquid outlet amount of the liquid, so that the liquid supply of the cleaning robot is stable, the cleaning robot can have different liquid supply modes, and the user experience is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "an alternative embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (8)
1. A cleaning robot, characterized by comprising:
a main body;
a driving wheel configured to drive the cleaning robot to move on a surface to be cleaned;
a liquid storage tank configured to store liquid;
a cleaning member configured to clean a surface to be cleaned; and
a liquid application device comprising:
the liquid applying pipe comprises a liquid inlet pipe, a liquid outlet pipe and a connecting pipe, one end of the liquid inlet pipe is connected with the liquid storage tank, one end of the liquid outlet pipe is connected with the liquid outlet component, two ends of the connecting pipe are respectively connected with the other end of the liquid inlet pipe and the other end of the liquid outlet pipe, and the power component is configured to periodically convey liquid in the liquid storage tank to the liquid outlet component through the liquid applying pipe;
the power part includes a rotating disk configured to periodically press the connection pipe; the rotating disc comprises a squeezing part, the squeezing part is mounted on the rotating disc through a mounting shaft, and the squeezing part can rotate around the mounting shaft;
the mounting shaft has relative movement clearance relative to the mounting shaft hole of the rotating disc;
the mounting shaft protrudes out of the top of the rotating disc and the bottom of the rotating disc, the rotating disc further comprises a first reset piece and a second reset piece, and the first reset piece and the second reset piece are respectively mounted on the top of the rotating disc and the bottom of the rotating disc;
the top of rolling disc with the bottom of rolling disc is provided with butt portion, the butt portion at the top of rolling disc with the installation axle is in interval setting in the radial direction of rolling disc, the butt portion of the bottom of rolling disc with the installation axle is in interval setting in the radial direction of rolling disc, the first piece that resets is located the top of rolling disc, the first one end butt that resets in the butt portion that corresponds, the other end butt in the installation axle, the first piece that resets is located the bottom of rolling disc, the second resets one end butt in the butt portion that corresponds, the other end butt in the installation axle.
2. The cleaning robot as claimed in claim 1, wherein the liquid inlet pipe and the connecting pipe and/or the liquid outlet pipe and the connecting pipe are connected by a connecting member.
3. The cleaning robot of claim 2, wherein the connector has a hardness greater than a hardness of the liquid application tube.
4. The cleaning robot as claimed in claim 1, wherein the power unit further includes a mounting portion, and a driving motor mounted to the mounting portion, the connecting pipe being mounted to the mounting portion, the driving motor driving the rotary disk to rotate.
5. The cleaning robot according to claim 4, wherein a distance from an edge of the pressing portion to the rotation center of the rotating disk is larger than a distance from the edge of the rotating disk to the rotation center of the rotating disk.
6. The cleaning robot according to claim 2, wherein the connecting member is provided with a positioning portion, the mounting portion is provided with a positioning groove, and the connecting member is mounted to the positioning groove by the positioning portion to position the connecting pipe at the mounting portion.
7. The cleaning robot as claimed in claim 6, wherein the connecting member has connecting portions formed at both ends thereof to prevent the connecting tube from falling off from the inlet tube or the connecting tube from the outlet tube during the liquid in the liquid storage tank is periodically transferred to the liquid outlet part through the liquid applying tube.
8. The cleaning robot as claimed in claim 1, further comprising a controller, the liquid outlet part being mounted to the main body, the controller controlling the liquid applying device to periodically apply the liquid in the liquid tank to the outside or to the cleaning member via the liquid applying pipe and the liquid outlet part if the cleaning robot enters a first cleaning mode; if the cleaning robot enters a second cleaning mode, the controller controls the liquid applying device to stop applying the liquid.
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| CN201911205488.0A CN110876588B (en) | 2019-11-29 | 2019-11-29 | Cleaning robot |
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| CN201911205488.0A CN110876588B (en) | 2019-11-29 | 2019-11-29 | Cleaning robot |
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| CN110876588B true CN110876588B (en) | 2022-03-08 |
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| CN111265153B (en) * | 2020-03-20 | 2022-11-18 | 科沃斯机器人股份有限公司 | Robot control method and device and robot |
| CN111345748A (en) * | 2020-04-30 | 2020-06-30 | 深圳市银星智能科技股份有限公司 | Cleaning robot |
| CN111973087B (en) * | 2020-08-19 | 2021-11-30 | 浙江明鹏新能源科技有限公司 | Cleaning system and cleaning robot |
| DE112020001864T5 (en) * | 2020-08-19 | 2022-04-07 | Zhejiang UBP New Energy Tech Co., Ltd. | Sweeping system and cleaning robot |
| CN112515572A (en) * | 2020-09-04 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Cleaning module and cleaning robot |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |