CN112075884A

CN112075884A - Cleaning robot

Info

Publication number: CN112075884A
Application number: CN202011147248.2A
Authority: CN
Inventors: 高子庆; 陶智辉
Original assignee: Shenzhen Reeman Intelligent Equipment Co ltd
Current assignee: Shenzhen Reeman Intelligent Equipment Co ltd
Priority date: 2020-10-23
Filing date: 2020-10-23
Publication date: 2020-12-15
Anticipated expiration: 2040-10-23
Also published as: CN112075884B; WO2022083066A1

Abstract

The invention provides a cleaning robot which comprises a moving mechanism, a sweeping mechanism, a mopping mechanism and a main controller. The mopping mechanism comprises a water tank, a water outlet pipeline, the rolling brush and a water circulation system, wherein the water tank supplies water to the rolling brush through the water outlet pipeline. The water circulation system comprises an extrusion roller, a water receiving tray for containing sewage, a filtering mechanism and a water pump. The squeeze roller can extrude the sewage in the rolling brush, the extruded sewage flows into the water receiving tray, the sewage in the water receiving tray is filtered by the filtering mechanism to obtain secondary clean water, and the secondary clean water is pumped back into the water tank by the water pump to continue to participate in circulation. Since the sewage generated by mopping the floor is reused, the water in the water tank is slowly consumed, and the requirement of mopping the floor for a long time can be met even if the volume of the water tank is designed to be small. Meanwhile, because the water is not required to be added frequently, the cleaning efficiency is improved, and the labor cost is saved.

Description

Cleaning robot

Technical Field

The invention belongs to the field of cleaning equipment, and particularly relates to a cleaning robot.

Background

The cleaning robot is a special robot for human service, and is mainly used for cleaning and washing a large area in a non-family. The cleaning robot has the following advantages:

1. the floor sweeping saves time and labor: the whole cleaning process does not need to be controlled by people, the operation burden of a user is reduced, and time for watching television and accompanying with family is saved.

2. Low noise: less than 70 db, the process of cleaning the room is not affected by noise.

3. Light and small: the small-size robot can easily clean dead corners which cannot be cleaned by a common dust collector.

However, due to the lightweight and compact design of the cleaning robot, the volume of the water tank is limited and an excessive amount of water cannot be loaded. Therefore, after the cleaning robot works for a short time, it is necessary to manually replace water and manually wash the floor-mopping part. Therefore, the existing cleaning robot still needs frequent manual maintenance when cleaning. Therefore, there is a need for further improvement of the existing cleaning robot to make the cleaning work of people more time-saving and labor-saving.

Disclosure of Invention

The invention aims to provide a cleaning robot, and aims to solve the problem that the cleaning robot in the prior art needs manual frequent maintenance.

The invention is realized in this way, a cleaning robot, including moving mechanism, sweeping the floor mechanism, mopping the floor mechanism and master controller; the main controller is used for issuing control instructions to each mechanism so as to control each mechanism to execute actions corresponding to the control instructions; the mopping mechanism comprises a water tank, a water outlet pipeline and a rolling brush for rolling mopping, and the water tank supplies water to the rolling brush through the water outlet pipeline; the cleaning robot further comprises a water circulating system, wherein the water circulating system comprises an extrusion roller for extruding the rolling brush, a water receiving disc for containing sewage extruded from the rolling brush, a filtering mechanism for filtering the sewage and a water pump; the squeezing roller is tightly attached to the periphery of the rolling brush, the axes of the squeezing roller and the rolling brush are parallel, the water receiving disc is located below the rolling brush, the filtering mechanism is installed between the water receiving disc and the water pump, and sewage in the water receiving disc is pumped back into the water tank through the water pump after being filtered by the filtering mechanism.

Furthermore, the water circulation system further comprises a guide plate, the floor mopping mechanism further comprises a rolling brush mounting frame, the rolling brush is rotatably mounted on the rolling brush mounting frame, the squeezing roller and the guide plate are both fixedly mounted on the rolling brush mounting frame, and the squeezing roller is positioned above the rolling brush; the guide plate is obliquely arranged between the water receiving tray and the rolling brush, and the lower side of the guide plate is connected into the water receiving tray.

Further, the filtering mechanism comprises filtering cotton, the filtering cotton is laid at the bottom end of the interior of the water pan, and a plurality of water outlet holes are formed in the bottom of the water pan; still be provided with on the round brush mounting bracket and be used for inlaying the mounting groove of water collector, the bottom of mounting groove has the space that holds sewage, the space pass through the pipeline with the water pump intercommunication.

Furthermore, the water circulation system further comprises an ultraviolet light sterilization device, and the light emitting direction of the ultraviolet light sterilization device faces towards the inside of the water receiving tray and/or the inside of the water tank.

Further, cleaning machines people is still including hanging the mechanism, it includes suspension frame to hang the mechanism, suspension frame's both sides wall is seted up along the waist shape hole that vertical direction extends, the installation axle extends respectively to the both sides of round brush mounting bracket, the installation axle penetrates the waist shape is downthehole.

Furthermore, the floor mopping mechanism further comprises a spraying plate, the spraying plate is located above the rolling brush, a plurality of spraying ports are formed in the bottom of the spraying plate, and the plurality of spraying ports are communicated with the water outlet pipeline.

Further, the mechanism of sweeping the floor includes sweeper and dust catcher, the bottom at cleaning machines people is installed with rotatable mode to the sweeper, the dust catcher includes dust catcher main part and dust absorption pipe, the dust absorption pipe includes conventional section and dust absorption mouth section, the dust absorption mouth section is close to the sweeper, the drainage cover is installed in the mouth of pipe department to the dust absorption mouth section.

Further, the dust collector main body comprises an upper cover, a barrel body, a dust filtering part, a chassis and a fan; the upper cover is detachably covered on the bucket body, and the bucket body is detachably covered on the chassis; the garbage can comprises a can body, a dust filtering part and a base plate, wherein the can body is provided with a containing cavity for containing garbage and an installation cavity for installing the dust filtering part, a plurality of air inlets are formed in the wall body of the installation cavity, air in the containing cavity enters the dust filtering part through the air inlets, an air outlet channel is formed in the dust filtering part, an air outlet is formed in the base plate corresponding to the air outlet channel, the fan is located below the base plate, and the air inlet of the fan faces the air outlet.

Furthermore, the horizontal section of the accommodating cavity is annular, the mounting cavity is positioned in the center of the accommodating cavity, and the whole dust filtering component is in a hollow cylinder shape.

Further, the cleaning robot further comprises a falling prevention system, the falling prevention system comprises an image acquisition device used for acquiring ground image information, the image acquisition device is electrically connected with the master controller, and the image acquisition device sends the acquired image information to the master controller for processing to obtain current terrain information; the main controller is internally pre-stored with information of various terrain types and operation instructions corresponding to various terrains respectively, the main controller compares the current terrain information with all types of terrain information pre-stored by the main controller to obtain the current terrain type, and the main controller controls the moving mechanism to execute the operation instructions matched with the current terrain type.

Compared with the prior art, the invention has the beneficial effects that:

according to the cleaning robot, the water circulation system is additionally arranged on the basis of the floor sweeping mechanism and the floor mopping mechanism, sewage in the rolling brush can be extruded out by the extrusion roller in the water circulation system, the sewage can be accommodated in the water receiving disc, the sewage in the water receiving disc is filtered by the filtering mechanism to obtain secondary clean water, and the secondary clean water is pumped back into the water tank by the water pump to continuously participate in circulation.

Since the sewage generated by mopping the floor is reused, the water in the water tank is slowly consumed, and the requirement of mopping the floor for a long time can be met even if the volume of the water tank is designed to be small. Meanwhile, because the water is not required to be added frequently, the cleaning efficiency is improved, and the labor cost is saved.

Drawings

Fig. 1 is a schematic perspective view of a cleaning robot provided in this embodiment;

FIG. 2 is a schematic perspective view of the cleaning robot of FIG. 1 from another angle;

FIG. 3 is an exploded schematic view of the cleaning robot of FIG. 1;

fig. 4 is an exploded schematic view of a floor mopping mechanism and a water circulation system in the cleaning robot provided in the present embodiment;

FIG. 5 is a schematic view of the spray plate of the mopping mechanism of FIG. 4;

FIG. 6 is another exploded view of the floor mopping mechanism and the water circulation system provided in the present embodiment;

FIG. 7 is a schematic cross-sectional view of the mopping mechanism provided in the present embodiment;

FIG. 8 is a schematic view of the suspension mechanism and the floor-mopping mechanism provided in this embodiment after assembly;

fig. 9 is a schematic perspective view of the sweeping mechanism provided in this embodiment;

fig. 10 is a schematic cross-sectional view of the sweeping mechanism provided in this embodiment;

fig. 11 is an exploded schematic view of the sweeping mechanism provided in this embodiment;

fig. 12 is a schematic view of the collision avoidance system of the present embodiment mounted to a main mount.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 3, a cleaning robot according to a preferred embodiment of the present invention is shown, which includes a moving mechanism for moving the robot, a sweeping mechanism for sweeping garbage, a mopping mechanism for mopping a floor, a water circulation system, a suspension mechanism for preventing the robot from bumping, a fall prevention system for preventing the robot from falling down, an anti-collision system for preventing the robot from being collided, a main mounting frame 10 for carrying the above mechanisms and systems, a battery for providing electric energy to the robot, and a main controller.

The moving mechanism includes a wheel 1 installed at the bottom of the main mounting frame 10 and a driving motor for driving the wheel 1 to rotate.

Referring to fig. 4 and 5, the floor mopping mechanism includes a water tank 21, a water outlet pipeline 22, a spraying plate 23, a rolling brush 24 for rolling and mopping the floor, and a rolling brush mounting frame 25. In the present embodiment, the roller brush 24 is generally cylindrical and is made of PU material. The water tank 21 supplies water to the roll brush 24 through the water outlet line 22, and the roll brush 24 is rotatably mounted on the roll brush mounting bracket 25. The spraying plate 23 is located above the rolling brush 24, the top of the spraying plate 23 is a clear water distribution groove 231, two uniform dams 232 are arranged at the bottom of the clear water distribution groove 231, a flow channel is formed inside the spraying plate 23, the clear water distribution groove 231 is communicated with the flow channel, a plurality of spraying ports 233 are formed in the bottom of the spraying plate 23, the flow channel is communicated with the spraying ports 233, and the spraying ports 233 are communicated with the water outlet pipeline 22. The plurality of spray ports 233 are arranged in the length direction of the spray plate 23 so that water can be uniformly sprayed onto the drum brush 24. The water tank 21 has a handle 211 to facilitate a cleaning person lifting the water tank 21 for adding water or washing.

Referring to fig. 6, the water circulation system includes a squeezing roller 31 for squeezing the roller brush 24, a water receiving tray 32 for receiving the sewage squeezed from the roller brush 24, a guide plate 33, a filtering mechanism for filtering the sewage, an ultraviolet light sterilization device, and a water pump 34.

Squeeze roll 31 and guide plate 33 are all fixed mounting on round brush mounting bracket 25, and squeeze roll 31 hugs closely the periphery of round brush 24, and axis between them is parallel, and the water collector 32 is located round brush 24 below, and squeeze roll 31 is located round brush 24 top, and in this embodiment, squeeze roll 31 is the rod form, is provided with wavy structure on its surface, through the frictional force of this wavy structure when multiplicable its and round brush contact, avoids skidding. The guide plate 33 is obliquely arranged (forming a certain included angle with the horizontal plane) between the water pan 32 and the rolling brush 24, and the lower side of the guide plate is connected to the water pan 32, so that sewage can be guided into the water pan 32 from the rolling brush 24.

In order to prevent water from flowing into the bearing and affecting the bearing, water retaining walls are embedded at two ends of the rolling brush 24 and the squeezing roller 31. The rolling brush mounting frame 25 is a framework type metal frame, so that the assembly is more convenient, and the position precision of the rotating shaft can be ensured.

The filtering mechanism is arranged between the water receiving tray 32 and the water pump 34, and sewage in the water receiving tray 32 is filtered by the filtering mechanism and then is pumped back into the water tank 21 through the water pump 34. Specifically, referring to fig. 7, the filtering mechanism includes filter cotton 35, the filter cotton 35 is laid at the bottom end of the inside of the water pan 32, and the bottom of the water pan 32 is provided with a plurality of water outlet holes 321; the rolling brush mounting frame 25 is further provided with a mounting groove 251 for embedding the water pan 32, a second filter cotton 252 is laid at the bottom of the mounting groove 251, a space for containing sewage is arranged at the bottom of the mounting groove 251, and the space is communicated with the water pump 34 through a pipeline 36. The sewage filtered by the two filter cottons is changed into secondary clean water, and the secondary clean water is pumped back into the water tank 21 by the water pump 34. Further, a chip collecting groove 253 is arranged at the bottom of the installation groove 251.

The ultraviolet sterilizer is used for sterilizing water (which may be water before filtering or secondary clean water after filtering), and the light emitting direction of the ultraviolet sterilizer faces the inside of the water receiving tray 32 and/or the inside of the water tank 21. In this embodiment, a UV lamp tube capable of emitting ultraviolet rays is used as the light source. The sterilized second clean water is pumped back into the water tank 21 by the water pump 34, and of course, the filtered water may be pumped into the water tank 21 and then the water in the water tank 21 may be sterilized.

Referring to fig. 8, the suspension mechanism includes a suspension frame 4 vertically disposed, two side walls of the suspension frame 4 are provided with a waist-shaped hole 41 extending along a vertical direction, two sides of the roller brush mounting frame 25 respectively extend to form a mounting shaft 254, and the mounting shaft 254 penetrates into the waist-shaped hole 41. When the mopping module encounters uneven ground in the mopping process, the mounting shaft 254 moves up and down in the slotted hole 41 to ensure that the rolling brush 24 is in full contact with the ground, so that the missed brushing and the missed mopping are avoided. Furthermore, an elastic component can be embedded in the waist-shaped hole 41 to increase the adhesive force of the rolling brush 24 to the ground and ensure the cleaning effect.

Referring to fig. 9, the sweeping mechanism includes two sweepers 51 and a vacuum cleaner 52, and the two sweepers 51 are rotatably and symmetrically installed at two sides of the bottom of the cleaning robot. In the present embodiment, the cleaning devices 51 are claw-shaped and made of elastic material, and when cleaning, both the cleaning devices 51 rotate in the inner direction (i.e., the cleaning device 51 on the left rotates clockwise, and the cleaning device 51 on the right rotates counterclockwise), and press against the ground, so that the cleaning devices 51 are deformed into a plane structure parallel to the ground. The claw-shaped sweeper 51 can provide a temporary accommodating space for garbage, and the garbage is prevented from being thrown to the outside.

Referring to fig. 10, the vacuum cleaner 52 includes a main body and a suction pipe 521, the suction pipe 521 includes a normal section and a suction opening section, the suction opening section is close to the cleaner 51, and a flow guide cover 5211 for guiding dust and garbage to enter the suction pipe 521 is disposed at a nozzle of the suction opening section.

Specifically, the cleaner body includes an upper cover 522, a tub 523, a dust filter 524, a chassis 525, and a fan 526. Upper cover 522 is removably covered on bucket 523, and bucket 523 is removably covered on base 525. In this embodiment, the upper cover 522 is connected to the top end of the barrel 523 through a locking manner, and the bottom end of the barrel 523 is connected to the chassis 525 through a threaded connection manner. The barrel 523 has a holding cavity for holding garbage and an installation cavity for installing the dust filter 524, a plurality of air inlets are formed in the wall body of the installation cavity, air in the holding cavity enters the dust filter 524 through the air inlets, an air outlet channel is formed in the dust filter 524, an air outlet 5251 is formed in the position, corresponding to the air outlet channel, of the base plate 525, the fan 526 is located below the base plate 525, an air inlet of the fan 526 faces the air outlet 5251, and the top end of the dust suction pipe 521 is installed on the upper cover 522. In this embodiment, the horizontal section of the accommodating chamber is annular, the mounting chamber is located at the center of the accommodating chamber, and the entire dust filter 524 is hollow and cylindrical. Air, dust and garbage are sucked into the accommodating cavity of the tub 523 from the suction port, and the air flows into the dust filter 524 by the suction force of the blower 526 to be filtered, and then is discharged to the outside of the robot through the air outlet passage and the air outlet 5251.

Referring to fig. 11, the collision avoidance system includes a plurality of rollers 6, and the rollers 6 are mounted at the edge of the main mounting frame 10 and protrude from the outer side of the main mounting frame 10.

In this embodiment, the main mounting frame 10 is a girder-type overall frame, which has high overall strength and is easy to process. The spraying plate 23, the rolling brush 24 for rolling and mopping the floor, the rolling brush mounting frame 25, the squeezing roller 31, the water pan 32, the guide plate 33, the filtering mechanism and the suspension frame 4 are manufactured into an integral module together, and the integral module is assembled on the main mounting frame 10 in a detachable mode. In order to avoid the robot when meetting unsmooth place, jolt the influence to the part from top to bottom, wheel 1 top is provided with shock-absorbing structure.

The falling prevention system comprises an image acquisition device for acquiring ground image information, wherein the image acquisition device transmits the acquired image information to the master controller for processing to obtain the current topographic information. The main controller is internally pre-stored with information of various terrain types (including but not limited to flat terrain and step terrain) and operation instructions corresponding to various terrains, compares the current terrain information with all types of pre-stored terrain information to obtain the current terrain type, and controls the moving mechanism to execute the operation instructions matched with the current terrain type.

The above-mentioned battery is a rechargeable battery, which is detachably mounted in the battery well 101 of the main mounting bracket 10. The battery is electrically connected to the various mechanisms and systems described above.

The mechanisms and the systems are electrically connected with the main controller, and the main controller can issue control instructions to the mechanisms/systems so as to control the mechanisms/systems to execute actions corresponding to the control instructions. In addition, the master controller can also receive and process the information fed back by each mechanism/system.

The cleaning robot provided by the embodiment is additionally provided with the water circulation system on the basis of the floor sweeping mechanism and the floor mopping mechanism, the squeezing roller 31 in the water circulation system can squeeze out the sewage in the rolling brush 24, the water receiving tray 32 can contain the sewage, the sewage in the water receiving tray 32 is filtered by the filtering mechanism to obtain secondary clean water, and the final clean water is pumped back into the water tank 21 by the water pump 34 to continuously participate in circulation.

Since the sewage generated by mopping is reused, the water in the water tank 21 is slowly consumed, and the demand for mopping for a long time can be satisfied even if the volume of the water tank 21 is designed to be small. Meanwhile, because the water is not required to be added frequently, the cleaning efficiency is improved, and the labor cost is saved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A cleaning robot comprises a moving mechanism, a sweeping mechanism, a mopping mechanism and a main controller; the main controller is used for issuing control instructions to each mechanism so as to control each mechanism to execute actions corresponding to the control instructions; the mopping mechanism comprises a water tank, a water outlet pipeline and a rolling brush for rolling mopping, and the water tank supplies water to the rolling brush through the water outlet pipeline; the cleaning robot is characterized by further comprising a water circulating system, wherein the water circulating system comprises an extrusion roller for extruding the rolling brush, a water receiving tray for containing sewage extruded from the rolling brush, a filtering mechanism for filtering the sewage and a water pump; the squeezing roller is tightly attached to the periphery of the rolling brush, the axes of the squeezing roller and the rolling brush are parallel, the water receiving disc is located below the rolling brush, the filtering mechanism is installed between the water receiving disc and the water pump, and sewage in the water receiving disc is pumped back into the water tank through the water pump after being filtered by the filtering mechanism.

2. The cleaning robot of claim 1, wherein the water circulation system further comprises a deflector, the mopping mechanism further comprises a roller brush mounting bracket, the roller brush is rotatably mounted on the roller brush mounting bracket, the squeeze roller and the deflector are both fixedly mounted on the roller brush mounting bracket, and the squeeze roller is located above the roller brush; the guide plate is obliquely arranged between the water receiving tray and the rolling brush, and the lower side of the guide plate is connected into the water receiving tray.

3. The cleaning robot as claimed in claim 2, wherein the filtering mechanism includes filter cotton, the filter cotton is laid at the bottom end position inside the water pan, and a plurality of water outlet holes are formed in the bottom of the water pan; still be provided with on the round brush mounting bracket and be used for inlaying the mounting groove of water collector, institute the bottom of mounting groove has the space that holds sewage, the space pass through the pipeline with the water pump intercommunication.

4. A cleaning robot as claimed in any one of claims 1 to 3, wherein said water circulation system further comprises ultraviolet sterilizing means having a light emitting direction directed toward the inside of said water receiving tray and/or the inside of said water tank.

5. The cleaning robot as claimed in any one of claims 1 to 3, further comprising a suspension mechanism, wherein the suspension mechanism comprises a suspension frame vertically disposed, two side walls of the suspension frame are provided with waist-shaped holes extending along a vertical direction, two sides of the rolling brush mounting frame respectively extend to form mounting shafts, and the mounting shafts penetrate into the waist-shaped holes.

6. The cleaning robot as claimed in any one of claims 1 to 3, wherein the floor mopping mechanism further comprises a spray plate located above the roller brush, and a plurality of spray ports are provided at a bottom of the spray plate and communicate with the water outlet pipe.

7. The cleaning robot of any one of claims 1 to 3, wherein the sweeping mechanism comprises a sweeper and a dust collector, the sweeper is rotatably mounted at the bottom of the cleaning robot, the dust collector comprises a dust collector main body and a dust collection pipe, the dust collection pipe comprises a conventional section and a dust collection opening section, the dust collection opening section is close to the sweeper, and a drainage cover is mounted at a pipe opening of the dust collection opening section.

8. The cleaning robot of claim 7, wherein the cleaner body includes an upper cover, a tub, a dust filter, a chassis, and a fan; the upper cover is detachably covered on the bucket body, and the bucket body is detachably covered on the chassis; the garbage can comprises a can body, a dust filtering part and a base plate, wherein the can body is provided with a containing cavity for containing garbage and an installation cavity for installing the dust filtering part, a plurality of air inlets are formed in the wall body of the installation cavity, air in the containing cavity enters the dust filtering part through the air inlets, an air outlet channel is formed in the dust filtering part, an air outlet is formed in the base plate corresponding to the air outlet channel, the fan is located below the base plate, and the air inlet of the fan faces the air outlet.

9. The cleaning robot as claimed in claim 8, wherein the housing chamber has a ring-shaped horizontal cross-section, the mounting chamber is located at a central position of the housing chamber, and the dust filter member has a hollow cylindrical shape as a whole.

10. The cleaning robot as claimed in any one of claims 1 to 3, further comprising a fall prevention system, wherein the fall prevention system comprises an image acquisition device for acquiring ground image information, the image acquisition device is electrically connected with the master controller, and the image acquisition device transmits the acquired image information to the master controller for processing to obtain current terrain information; the main controller is internally pre-stored with information of various terrain types and operation instructions corresponding to various terrains respectively, the main controller compares the current terrain information with all types of terrain information pre-stored by the main controller to obtain the current terrain type, and the main controller controls the moving mechanism to execute the operation instructions matched with the current terrain type.