CN112075884B - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN112075884B CN112075884B CN202011147248.2A CN202011147248A CN112075884B CN 112075884 B CN112075884 B CN 112075884B CN 202011147248 A CN202011147248 A CN 202011147248A CN 112075884 B CN112075884 B CN 112075884B
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- Prior art keywords
- water
- rolling brush
- sewage
- mopping
- dust
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- 238000004140 cleaning Methods 0.000 title claims abstract description 45
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 152
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 238000005096 rolling process Methods 0.000 claims abstract description 53
- 238000001914 filtration Methods 0.000 claims abstract description 45
- 239000010865 sewage Substances 0.000 claims abstract description 27
- 238000010408 sweeping Methods 0.000 claims abstract description 13
- 239000000428 dust Substances 0.000 claims description 45
- 238000005507 spraying Methods 0.000 claims description 10
- 229920000742 Cotton Polymers 0.000 claims description 8
- 230000001954 sterilising effect Effects 0.000 claims description 8
- 238000004659 sterilization and disinfection Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 241001417527 Pempheridae Species 0.000 description 11
- 239000007921 spray Substances 0.000 description 10
- 239000000725 suspension Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Sustainable Development (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a cleaning robot which comprises a moving mechanism, a sweeping mechanism, a mopping mechanism and a master controller. The mopping mechanism comprises a water tank, a water outlet pipeline, a 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 a squeeze roller, a water receiving tray for accommodating sewage, a filtering mechanism and a water pump. The squeeze roller can squeeze out sewage in the round brush, and sewage in the water collector flows into to squeeze out flows into, and the sewage in the water collector filters the back through filtering mechanism, obtains sub clean water, and sub clean water continues to participate in the circulation in the water tank through the water pump suction back. Because the sewage generated by mopping is reused, the water consumption in the water tank is very slow, and even if the volume of the water tank is designed to be smaller, the requirement of mopping for a long time can be met. Meanwhile, because frequent water addition is not needed, the cleaning efficiency is improved, and the labor cost is saved.
Description
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 serving human and mainly used for cleaning, cleaning and the like of a large area of non-family. The cleaning robot has the following advantages:
1. Time and labor saving for sweeping floor: the whole cleaning process does not need to be controlled by people, so that the operation burden of a user is reduced, and the time for watching television and accompanying family members is saved.
2. Low noise: less than 70 db, the process of cleaning the room is free from the bitter of noise.
3. Light and small: the robot with small volume can easily clean dead angles which cannot be cleaned by the common dust collector.
However, the cleaning robot has a limited capacity of a water tank due to its lightweight and compact design, and cannot be loaded with an excessive amount of water. Therefore, after the cleaning robot works for a short period of time, it is necessary to manually add water and manually clean the floor mopping member. As can be seen, the existing cleaning robots still require frequent maintenance by hand when performing cleaning operations. Therefore, it is necessary to further improve the existing cleaning robot so as to save time and labor for cleaning.
Disclosure of Invention
The invention aims to solve the technical problem that the cleaning robot in the prior art needs to be frequently maintained manually.
The invention is realized in such a way that the 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 floor mopping mechanism comprises a water tank, a water outlet pipeline and a rolling brush for rolling and mopping, wherein the water tank supplies water to the rolling brush through the water outlet pipeline; the cleaning robot further comprises a water circulation system, wherein the water circulation system comprises a squeezing roller for squeezing the rolling brush, a water receiving tray for containing sewage squeezed from the rolling brush, a filtering mechanism for filtering the sewage and a water pump; the squeezing rollers are tightly attached to the periphery of the rolling brush, the axes of the squeezing rollers and the rolling brush are parallel, the water receiving disc is located below the rolling brush, the filtering mechanism is arranged between the water receiving disc and the water pump, and sewage in the water receiving disc is filtered by the filtering mechanism and then pumped back into the water tank through the water pump.
Further, the water circulation system further comprises a guide plate, the mopping mechanism further comprises a rolling brush mounting frame, the rolling brush is rotatably mounted on the rolling brush mounting frame, the squeeze roller and the guide plate are fixedly mounted on the rolling brush mounting frame, and the squeeze roller is located above the rolling brush; the guide plate is obliquely arranged between the water receiving disc and the rolling brush, and the lower side of the guide plate is connected into the water receiving disc.
Further, the filtering mechanism comprises filtering cotton, the filtering cotton is paved at the bottom end position inside the water receiving disc, and a plurality of water outlets are formed in the bottom of the water receiving disc; the water collector is characterized in that the rolling brush mounting frame is further provided with a mounting groove for embedding the water collector, the bottom of the mounting groove is provided with a space for containing sewage, and the space is communicated with the water pump through a pipeline.
Further, the water circulation system further comprises an ultraviolet sterilization device, and the light emergent direction of the ultraviolet sterilization device faces the inside of the water receiving disc and/or the inside of the water tank.
Further, the cleaning robot further comprises a hanging mechanism, the hanging mechanism comprises a hanging frame, kidney-shaped holes extending along the vertical direction are formed in two side walls of the hanging frame, mounting shafts extend out of two sides of the rolling brush mounting frame respectively, and the mounting shafts penetrate into the kidney-shaped holes.
Further, the 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 spraying ports are communicated with the water outlet pipeline.
Further, the sweeping mechanism comprises a sweeper and a dust collector, the sweeper is rotatably arranged 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 the dust collection opening section is provided with a drainage cover at a pipe orifice.
Further, the dust collector main body comprises an upper cover, a barrel body, a dust filtering component, a chassis and a fan; the upper cover is covered on the barrel body in a detachable mode, and the barrel body is covered on the chassis in a detachable mode; the dust filtering device comprises a dust filtering component, a fan and a barrel body, wherein the dust filtering component is arranged on the barrel body, the barrel body is provided with a containing cavity for containing garbage and a mounting cavity for mounting the dust filtering component, a plurality of air inlets are formed in the wall body of the mounting cavity, air in the containing cavity enters the dust filtering component through the air inlets, an air outlet channel is formed in the dust filtering component, an air outlet is formed in the chassis, the position of the chassis, corresponding to the air outlet channel, of the air outlet channel, the fan is located below the chassis, and the air inlet of the fan faces the air outlet.
Further, the horizontal section of holding the chamber is annular, the installation chamber is located hold the central point in chamber, dust filter part wholly is hollow tube-shape.
Further, the cleaning robot further comprises an anti-falling system, the anti-falling system comprises an image acquisition device for acquiring ground image information, the image acquisition device is electrically connected with the main controller, and the image acquisition device sends the acquired image information to the main controller for processing to obtain current topographic information; the master controller is used for comparing the current terrain information with all the pre-stored terrain information of all the types to obtain the current terrain type, and the master controller is used for controlling the moving mechanism to execute the operation instruction matched with the current terrain type.
Compared with the prior art, the invention has the beneficial effects that:
According to the cleaning robot provided by the invention, the water circulation system is additionally arranged on the basis of the sweeping mechanism and the mopping mechanism, the squeezing rollers in the water circulation system can squeeze out sewage in the rolling brush, the sewage can be contained in the water receiving tray, the sewage in the water receiving tray is filtered by the filtering mechanism to obtain secondary clean water, and finally the secondary clean water is pumped back into the water tank by the water pump to continue to participate in circulation.
Because the sewage generated by mopping is reused, the water consumption in the water tank is very slow, and even if the volume of the water tank is designed to be smaller, the requirement of mopping for a long time can be met. Meanwhile, because frequent water addition is not needed, the cleaning efficiency is improved, and the labor cost is saved.
Drawings
Fig. 1 is a schematic perspective view of a cleaning robot according to the present embodiment;
FIG. 2 is a schematic view of a perspective view of the cleaning robot of FIG. 1 at another angle;
FIG. 3 is an exploded view of the cleaning robot of FIG. 1;
fig. 4 is an exploded structural schematic view of a mopping mechanism and a water circulation system in the cleaning robot provided in the present embodiment;
FIG. 5 is a schematic view of the structure of the shower plate in the mopping mechanism of FIG. 4;
FIG. 6 is a schematic view of another exploded structure of the floor mopping mechanism and the water circulation system provided in this embodiment;
FIG. 7 is a schematic cross-sectional view of the floor mopping mechanism provided by the present embodiment;
FIG. 8 is a schematic view of the suspension mechanism and the mopping mechanism according to the present embodiment after assembly;
Fig. 9 is a schematic perspective view of the sweeping mechanism according to the present embodiment;
fig. 10 is a schematic cross-sectional view of the sweeping mechanism provided in the present embodiment;
fig. 11 is an exploded view of the sweeping mechanism according to the present embodiment;
fig. 12 is a schematic view of the collision avoidance system provided in this embodiment mounted on the primary mount.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be the communication between the two parts. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 3, there is shown a cleaning robot according to a preferred embodiment of the present invention, which includes a moving mechanism for moving the robot, a sweeping mechanism for sweeping the garbage, a mopping mechanism for mopping the floor, a water circulation system, a suspension mechanism for preventing the robot from jolting, a falling prevention system for preventing the robot from falling, a collision prevention system for preventing the robot from being bumped, a main mounting frame 10 for carrying the above mechanisms and systems, a battery for supplying power to the robot, and a main controller.
The moving mechanism includes a wheel 1 mounted 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 spray plate 23, a rolling brush 24 for rolling and mopping, and a rolling brush mounting frame 25. In this embodiment, the rolling brush 24 is cylindrical and made of PU material. The water tank 21 supplies water to the roller brush 24 through the water outlet pipe 22, and the roller brush 24 is rotatably mounted on the roller brush mounting bracket 25. The spray plate 23 is located the round brush 24 top, and the top of spray plate 23 is clear water distribution groove 231, and the bottom of clear water distribution groove 231 is provided with two samming dams 232, and spray plate 23 inside has the runner, and clear water distribution groove 231 and runner intercommunication are equipped with a plurality of spray mouths 233, and the runner communicates with spray mouths 233, and spray mouths 233 and outlet pipe way 22 intercommunication. The plurality of spray ports 233 are arranged along the length direction of the spray plate 23 so that water can be uniformly sprayed onto the roll brush 24. The water tank 21 has a handle 211 to facilitate the cleaning personnel lifting the water tank 21 for water addition or washing.
Referring to fig. 6, the water circulation system includes a pressing roller 31 for pressing the rolling brush 24, a water receiving tray 32 for receiving sewage pressed from the rolling brush 24, a baffle 33, a filtering mechanism for filtering the sewage, an ultraviolet sterilization device, and a water pump 34.
Squeeze roll 31 and guide plate 33 are all fixed mounting on round brush mounting bracket 25, squeeze roll 31 hugs closely the periphery of round brush 24, and the axis of both is parallel, and water collector 32 is located the round brush 24 below, and squeeze roll 31 is located the round brush 24 top, in this embodiment, squeeze roll 31 is the rod form, is provided with wavy structure on its surface, frictional force when can increase its and round brush contact through this wavy structure, avoids skidding. The deflector 33 is disposed between the water pan 32 and the roller brush 24 in an inclined manner (at an angle to the horizontal surface), and the lower side of the deflector is connected to the water pan 32, so that sewage can be guided into the water pan 32 from the roller brush 24.
In order to prevent the bearing from being affected by the water flowing into the bearing, water blocking walls are embedded at both ends of the rolling brush 24 and the squeeze roller 31. The rolling brush mounting frame 25 is a skeleton type metal frame, so that the assembly is more convenient, and the position accuracy of the rotating shaft can be ensured.
The filtering mechanism is arranged between the water receiving disc 32 and the water pump 34, and sewage in the water receiving disc 32 is filtered by the filtering mechanism and then pumped back into the water tank 21 through the water pump 34. Specifically, referring to fig. 7 together, the filtering mechanism includes a filter cotton 35, where the filter cotton 35 is laid at a bottom end position inside the water pan 32, and a plurality of water outlet holes 321 are formed at the bottom of the water pan 32; the rolling brush mounting frame 25 is further provided with a mounting groove 251 for embedding the water receiving disc 32, the bottom of the mounting groove 251 is further paved with a second filter cotton 252, the bottom of the mounting groove 251 is provided with a space for containing sewage, and the space is communicated with the water pump 34 through the pipeline 36. The sewage filtered by the two pieces of filter cotton is changed into sub-clean water, and the sub-clean water is pumped back into the water tank 21 by the water pump 34. Further, a chip collecting groove 253 is provided at the bottom of the mounting groove 251.
The ultraviolet sterilization device is used for sterilizing water (water before filtration or sub-clean water after filtration), and the light emitting direction of the ultraviolet sterilization device faces the inside of the water receiving tray 32 and/or the inside of the water tank 21. In this embodiment, a UV lamp capable of emitting ultraviolet rays is used as the light source. The sterilized secondary clean water is pumped back into the water tank 21 by the water pump 34, and of course, the filtered water can be pumped into the water tank 21, and then the water in the water tank 21 can be sterilized.
Referring to fig. 8, the suspension mechanism includes a suspension frame 4 disposed vertically, two side walls of the suspension frame 4 are provided with kidney-shaped holes 41 extending along a vertical direction, two sides of the rolling brush mounting frame 25 respectively extend out of mounting shafts 254, and the mounting shafts 254 penetrate into the kidney-shaped holes 41. When the floor mopping module encounters uneven ground in the process of mopping, the mounting shaft 254 moves up and down in the kidney-shaped hole 41 to ensure that the rolling brush 24 is fully contacted with the ground, so that the condition that the cleaning brush is leaked is avoided. Further, an elastic member may be embedded in the kidney-shaped hole 41 to increase the adhesion of the rolling brush 24 to the ground, thereby ensuring the cleaning effect.
Referring to fig. 9, the sweeping mechanism includes two sweepers 51 and a cleaner 52, and the two sweepers 51 are rotatably and symmetrically installed at both sides of the bottom of the cleaning robot. In this embodiment, the sweepers 51 are claw-shaped, which are made of elastic material, and when cleaning, both sweepers 51 rotate in the inner direction (i.e., the left-hand sweeper 51 rotates clockwise and the right-hand sweeper 51 rotates counterclockwise), and press against the ground, and the sweepers 51 deform into a planar structure parallel to the ground. The claw-shaped sweeper 51 can provide a temporary accommodating space for the garbage and prevent the garbage from being thrown outside.
Referring to fig. 10, the cleaner 52 includes a cleaner body and a suction pipe 521, the suction pipe 521 includes a conventional section and a suction port section, the suction port section is adjacent to the cleaner 51, and a drainage cover 5211 for guiding dust and garbage into the suction pipe 521 is provided at a nozzle of the suction port section.
Specifically, the cleaner body includes an upper cover 522, a tub 523, a dust filtering part 524, a chassis 525, and a blower 526. The upper cover 522 is detachably covered on the tub 523, and the tub 523 is detachably covered on the bottom plate 525. In this embodiment, the upper cover 522 is connected to the top end of the barrel 523 by a locking manner, and the bottom end of the barrel 523 is connected to the bottom plate 525 by a threaded connection manner. The barrel 523 has a holding cavity for holding garbage and a mounting cavity for mounting the dust filtering component 524, a plurality of air inlets are formed in the wall body of the mounting cavity, air in the holding cavity enters the dust filtering component 524 through the air inlets, an air outlet channel is formed in the dust filtering component 524, an air outlet 5251 is formed in the position, corresponding to the air outlet channel, of the chassis 525, the fan 526 is located below the chassis 525, an air inlet of the fan 526 faces the air outlet 5251, and the top end of the dust collection pipe 521 is mounted on the upper cover 522. In this embodiment, the horizontal section of the accommodating chamber is annular, the installation chamber is located at the center of the accommodating chamber, and the dust filtering member 524 is entirely hollow and cylindrical. Air, dust and garbage are sucked into the accommodating chamber of the tub 523 from the dust suction port, and the air flows into the dust filtering part 524 for filtering under the suction force of the blower 526, and is then 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, where the rollers 6 are mounted on the edge of the main mounting frame 10 and protrude from the outer side surface of the main mounting frame 10.
In this embodiment, the main mounting frame 10 is a girder type whole machine framework, and the whole machine has high strength and easy processing. The spray plate 23, the rolling brush 24 for rolling and mopping, the rolling brush mounting frame 25, the squeeze roller 31, the water pan 32, the deflector 33, the filtering mechanism and the suspension frame 4 are manufactured together into an integral module, and the integral module is detachably assembled on the main mounting frame 10. In order to avoid the influence of jolting up and down on parts when the robot encounters a concave-convex field, a damping structure is arranged above the wheels 1.
The anti-falling system comprises an image acquisition device for acquiring ground image information, wherein the image acquisition device sends the acquired image information to a main controller for processing to obtain current topographic information. The master controller is used for comparing the current terrain information with all the pre-stored terrain information of all the types to obtain the current terrain type, and the master control controls the moving mechanism to execute the operation instruction matched with the current terrain type.
The above-described battery is a rechargeable battery, which is detachably mounted in the battery compartment 101 of the main mount 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 may also receive and process information fed back by the various mechanisms/systems.
The cleaning robot provided by the embodiment is additionally provided with the water circulation system on the basis of the sweeping mechanism and the mopping mechanism, the squeezing roller 31 in the water circulation system can squeeze out 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 finally the secondary clean water is pumped back into the water tank 21 by the water pump 34 to continue to participate in circulation.
Since the sewage generated by mopping is reused, the water in the water tank 21 is consumed slowly, and the requirement of mopping for a long time can be satisfied even if the volume of the water tank 21 is designed to be small. Meanwhile, because frequent water addition is not needed, the cleaning efficiency is improved, and the labor cost is saved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (3)
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 floor mopping mechanism comprises a water tank, a water outlet pipeline and a rolling brush for rolling and mopping, wherein the water tank supplies water to the rolling brush through the water outlet pipeline; the cleaning robot is characterized by further comprising a water circulation system, wherein the water circulation system comprises a squeezing roller for squeezing the rolling brush, a water receiving tray for containing sewage squeezed from the rolling brush, a filtering mechanism for filtering the sewage and a water pump; the squeezing rollers are tightly attached to the periphery of the rolling brush, the axes of the squeezing rollers and the rolling brush are parallel, the water receiving disc is positioned below the rolling brush, the filtering mechanism is arranged 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;
The water circulation system further comprises a guide plate, the mopping mechanism further comprises a rolling brush mounting frame, the rolling brush is rotatably mounted on the rolling brush mounting frame, the squeeze roller and the guide plate are fixedly mounted on the rolling brush mounting frame, and the squeeze roller is located above the rolling brush; the guide plate is obliquely arranged between the water receiving disc and the rolling brush, and the lower side of the guide plate is connected with the water receiving disc;
the filter mechanism comprises filter cotton, the filter cotton is paved at the bottom end position inside the water receiving disc, and a plurality of water outlets are formed in the bottom of the water receiving disc; the rolling brush mounting rack is also provided with a mounting groove for embedding the water receiving disc, the bottom of the mounting groove is provided with a space for accommodating sewage, and the space is communicated with the water pump through a pipeline;
The water circulation system further comprises an ultraviolet sterilization device, and the ray emergent direction of the ultraviolet sterilization device faces the inside of the water receiving disc and/or the inside of the water tank;
the cleaning robot further comprises a hanging mechanism, the hanging mechanism comprises a hanging frame which is vertically arranged, kidney-shaped holes which extend along the vertical direction are formed in two side walls of the hanging frame, mounting shafts extend out of two sides of the rolling brush mounting frame respectively, and the mounting shafts penetrate into the kidney-shaped holes;
The floor mopping mechanism further comprises a spraying plate, the spraying plate is positioned above the rolling brush, a plurality of spraying ports are formed in the bottom of the spraying plate, and the spraying ports are communicated with the water outlet pipeline;
The cleaning mechanism comprises a cleaner and a dust collector, the cleaner is rotatably arranged 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 port section, the dust collection port section is close to the cleaner, and a drainage cover is arranged at a pipe orifice of the dust collection port section;
The dust collector main body comprises an upper cover, a barrel body, a dust filtering component, a chassis and a fan; the upper cover is covered on the barrel body in a detachable mode, and the barrel body is covered on the chassis in a detachable mode; the dust filtering device comprises a dust filtering component, a fan and a barrel body, wherein the dust filtering component is arranged on the barrel body, the barrel body is provided with a containing cavity for containing garbage and a mounting cavity for mounting the dust filtering component, a plurality of air inlets are formed in the wall body of the mounting cavity, air in the containing cavity enters the dust filtering component through the air inlets, an air outlet channel is formed in the dust filtering component, an air outlet is formed in the chassis, the position of the chassis, corresponding to the air outlet channel, of the air outlet channel, the fan is located below the chassis, and the air inlet of the fan faces the air outlet.
2. The cleaning robot of claim 1, wherein the receiving chamber has a circular horizontal section, the installation chamber is located at a central position of the receiving chamber, and the dust filtering member has a hollow cylindrical shape as a whole.
3. The cleaning robot according to any one of claims 1 or 2, further comprising an anti-falling system, wherein the anti-falling system comprises an image acquisition device for acquiring ground image information, the image acquisition device is electrically connected with the main controller, and the image acquisition device sends the acquired image information to the main controller for processing to obtain current topographic information; the master controller is used for comparing the current terrain information with all the pre-stored terrain information of all the types to obtain the current terrain type, and controlling the moving mechanism to execute the operation instruction matched with the current terrain type.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011147248.2A CN112075884B (en) | 2020-10-23 | 2020-10-23 | Cleaning robot |
| PCT/CN2021/083244 WO2022083066A1 (en) | 2020-10-23 | 2021-03-26 | Cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011147248.2A CN112075884B (en) | 2020-10-23 | 2020-10-23 | Cleaning robot |
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| CN112075884A CN112075884A (en) | 2020-12-15 |
| CN112075884B true CN112075884B (en) | 2024-05-10 |
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| CN112075884B (en) * | 2020-10-23 | 2024-05-10 | 深圳市锐曼智能装备有限公司 | Cleaning robot |
| CN113331750A (en) * | 2021-07-01 | 2021-09-03 | 深圳市锐曼智能装备有限公司 | Floor mopping machine |
| CN114010114A (en) * | 2021-12-03 | 2022-02-08 | 江苏集萃智能制造技术研究所有限公司 | Automatic purification water circulation mechanism of unmanned ground washing robot |
| CN114952891A (en) * | 2022-06-14 | 2022-08-30 | 汤志强 | Intelligent cleaning robot |
| CN115178511B (en) * | 2022-07-27 | 2024-03-12 | 深圳市瑞驰文体科技发展有限公司 | Ball table cleaning robot capable of intelligent path planning |
| CN115444320A (en) * | 2022-09-13 | 2022-12-09 | 永康市百岁康科技有限公司 | Floor washing machine with automatic cleaning rolling brush structure |
| CN115487618B (en) * | 2022-10-13 | 2024-06-07 | 沈阳建筑大学 | Full-automatic robot to dust treatment and filtering structure thereof |
| CN115990593A (en) * | 2023-03-24 | 2023-04-21 | 威海海洋职业学院 | Automatic cleaning device of fish-like underwater robot |
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Also Published As
| Publication number | Publication date |
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| WO2022083066A1 (en) | 2022-04-28 |
| CN112075884A (en) | 2020-12-15 |
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