A sweeping and mopping robot cleaning device and control method

Abstract

The application discloses a cleaning device and a control method of a sweeping and mopping robot, wherein a rolling brush and a comb tooth mechanism are arranged at a dust suction port of the device; the comb tooth mechanism comprises a comb tooth part, a scraping groove, an elastic member, a comb tooth root part, a first driving module and a second driving module; the tooth structure of the comb tooth part faces the rolling brush, and a rack is arranged on the side of the comb tooth part; the scraping groove surrounds the tooth structure of the comb tooth part; the elastic member is connected between the comb tooth part and the comb tooth root part; the comb tooth root part is connected with the first driving module; the first driving module is used for controlling the movement of the comb tooth root part, so as to adjust the distance between the comb tooth part and the rolling brush; the second driving module is connected with a transmission tooth, the transmission tooth is engaged with the rack, and the second driving module is used for driving the comb tooth part to move towards the comb tooth root part, so that the scraping groove scrapes the hair on the comb tooth part; therefore, the problem that the hair is wound on the comb tooth can be solved after the technical scheme is adopted, and the technical pain point that the existing technology cannot effectively remove the hair is obviously improved.

Description

Technical Field

[0001] This invention relates to the technical field of cleaning robots, and in particular to a cleaning device and control method for a sweeping and mopping robot. Background Technology

[0002] Currently available floor cleaning equipment is prone to hair entanglement in its rotating roller brush assembly when cleaning floors. As the roller brush rotates, the hair becomes increasingly tangled. If not cleaned in time, the roller brush will become deformed due to the hair entanglement, resulting in poor cleaning performance. In more serious cases, when hair gets caught in the rotating mechanism on both sides of the roller brush, it can cause bearing jamming and overload of the roller brush motor, affecting the normal operation and function of the roller brush.

[0003] To solve the problem of hair entanglement, most current floor cleaning equipment mainly uses comb-like structures or cutting blades. Among them, the comb-like structure solution, such as the patent with authorization announcement number CN207734104U, discloses a vacuum cleaner floor brush and vacuum cleaner. This vacuum cleaner mainly uses scraping brush teeth to loosen the hair entangled on the roller brush assembly, which then accumulates into clumps on the bristle brush teeth. After the bristle brush teeth are loosened, the hair clumps are sucked into the airflow channel under the action of airflow.

[0004] While existing technologies can partially solve the problem of hair entanglement on the roller brush assembly, after the bristles are loosened by the scraping brush teeth, a large amount of hair still accumulates and becomes entangled on the bristle-collecting brush teeth. Furthermore, because the negative pressure suction port is perpendicular to the bristle-collecting brush teeth, the suction power is weak, making it difficult to remove the entangled hair, thus affecting cleaning efficiency. Additionally, the need for manual adjustment to change the working state of the bristle-collecting brush teeth can also lead to ineffective and timely removal of hair during cleaning, causing further hair accumulation and entanglement, thus affecting the overall cleaning efficiency of the robot vacuum cleaner. Moreover, because the interference fit between the brush teeth and the roller brush is fixed and cannot be adaptively adjusted, a large interference fit will excessively wear down the roller brush bristles, while a small interference fit will not effectively scrape off hair, resulting in hair residue and secondary pollution.

[0005] In addition, cutting blade-type solutions, such as the patent with publication number CN116901141A, disclose a hair-cutting device that can intermittently cut hair entangled on a roller brush, solving the problem of hair entanglement. However, this solution also has problems such as ineffective removal of cut hair, secondary entanglement, and low hair cleaning efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a cleaning device and control method for a sweeping and mopping robot, so as to solve the problem that the existing technology cannot effectively remove hair.

[0007] To address the aforementioned technical problems, this invention provides a sweeping and mopping robot cleaning device. The device has a roller brush and a comb mechanism installed at its suction port. The comb mechanism includes comb teeth, a scraping groove, an elastic element, comb tooth roots, a first drive module, and a second drive module. The comb teeth are located between the roller brush and the comb tooth roots, with the tooth-like structure of the comb teeth facing the roller brush, and the sides of the comb teeth are provided with toothed strips. The scraping groove is a frame-like structure, surrounding the tooth-like structure of the comb teeth. The elastic element connects the comb teeth and the comb tooth roots. The comb tooth roots are connected to the first drive module. The first drive module controls the movement of the comb tooth roots to adjust the distance between the comb teeth and the roller brush. The second drive module is connected to transmission teeth that mesh with the toothed strips. The second drive module drives the comb teeth to move towards the comb tooth roots so that the scraping groove scrapes away hair from the comb teeth.

[0008] In one embodiment, the inner surface of the scraper groove is arranged adjacent to the outer surface of the tooth-like structure of the comb teeth; or the inner surface of the scraper groove abuts against the outer surface of the tooth-like structure of the comb teeth.

[0009] In one embodiment, the elastic element is a spring.

[0010] In one embodiment, the first drive module is a scissor telescoping device.

[0011] In one embodiment, the cleaning device of the sweeping and mopping robot further includes a first monitoring mechanism, which is used to monitor the amount of hair on the roller brush; when the amount of hair on the roller brush is less than a preset value of hair on the brush, the first driving module is used to increase the distance between the comb teeth and the roller brush; when the amount of hair on the roller brush is greater than the preset value of hair on the brush, the first driving module is used to shorten the distance between the comb teeth and the roller brush.

[0012] In one embodiment, the first monitoring mechanism includes a first laser emitter and a first laser receiver, which are respectively located on opposite sides of the roller brush.

[0013] In one embodiment, the cleaning device of the sweeping and mopping robot further includes a second monitoring mechanism for monitoring the amount of hair on the comb teeth; when the amount of hair on the comb teeth is measured to be more than a preset value of hair on the teeth, the second drive module is used to control the comb teeth to move towards the root of the comb teeth, and then reset the position of the comb teeth; when the amount of hair on the comb teeth is measured to be less than the preset value of hair on the teeth, the position of the comb teeth is maintained.

[0014] In one embodiment, the second monitoring mechanism includes a second laser emitter and a second laser receiver, which are respectively located on opposite sides of the comb teeth.

[0015] To address the aforementioned technical problems, this invention also provides a control method for a sweeping and mopping robot cleaning device. The sweeping and mopping robot cleaning device employs the following control method: a first monitoring mechanism is set up to monitor the amount of hair on the roller brush; when the measured amount of hair on the roller brush is less than a preset value, the first drive module increases the distance between the comb teeth and the roller brush; when the measured amount of hair on the roller brush is greater than the preset value, the first drive module shortens the distance between the comb teeth and the roller brush; a second monitoring mechanism is set up to monitor the amount of hair on the comb teeth; when the measured amount of hair on the comb teeth is greater than the preset value, the second drive module controls the comb teeth to move towards the root of the comb teeth, and then resets the position of the comb teeth; when the measured amount of hair on the comb teeth is less than the preset value, the position of the comb teeth is maintained.

[0016] The beneficial effects of this invention are as follows:

[0017] Since the first drive module is used to control the movement of the comb tooth root to adjust the distance between the comb tooth and the roller brush, when there are many hairs on the roller brush, the distance between the comb tooth and the roller brush can be shortened to enhance the cleaning power of the roller brush. When there are few hairs on the roller brush, the distance between the comb tooth and the roller brush can be increased to reduce the wear on the roller brush.

[0018] Furthermore, since the second drive module is connected to a transmission tooth that meshes with the rack, the second drive module is used to drive the comb teeth to move towards the root of the comb teeth so that the scraper can scrape off the hair on the comb teeth. Therefore, when there is a lot of hair wrapped around the comb teeth, the comb teeth can be controlled to move independently so that the scraper can scrape off the hair on the comb teeth, thus achieving hair removal.

[0019] Therefore, by adopting this technical solution, the problem of hair getting tangled on the comb teeth can be solved, significantly improving the technical pain point that existing technologies cannot effectively remove hair. Attached Figure Description

[0020] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a structural schematic diagram provided by a preferred embodiment of the present invention;

[0022] Figure 2 yes Figure 1 A schematic diagram of the disassembled structure;

[0023] Figure 3 yes Figure 2 A partially enlarged structural diagram;

[0024] Figure 4 This is a flowchart illustrating the control method principle of the present invention.

[0025] The attached figures are labeled as follows:

[0026] 100. Sweeping and mopping robot cleaning device;

[0027] 10. Roller brush;

[0028] 20. Comb mechanism; 21. Comb teeth; 22. Scraper groove; 23. Elastic element; 24. Comb root; 25. First drive module; 26. Second drive module; 27. Rack; 28. Transmission tooth. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0030] This invention provides a cleaning device for a sweeping and mopping robot, the implementation of which is as follows: Figures 1 to 4 As shown, a roller brush 10 and a comb mechanism 20 are installed at the suction port of the sweeping and mopping robot cleaning device. The comb mechanism 20 includes comb teeth 21, scraping grooves 22, elastic elements 23, comb tooth roots 24, a first drive module 25, and a second drive module 26. The comb teeth 21 are located between the roller brush 10 and the comb tooth roots 24, with the tooth-like structure of the comb teeth 21 facing the roller brush 10, and the side of the comb teeth 21 is provided with a toothed strip 27. The scraping grooves 22 are frame-like structures, surrounding the comb teeth 21. Outside the toothed structure; an elastic element 23 is connected between the comb teeth 21 and the comb root 24; the comb root 24 is connected to the first drive module 25; the first drive module 25 is used to control the movement of the comb root 24, thereby adjusting the distance between the comb teeth 21 and the roller brush 10; the second drive module 26 is connected to a transmission tooth 28, which meshes with the rack 27, and the second drive module 26 is used to drive the comb teeth 21 to move towards the comb root 24 so that the scraper groove 22 scrapes the hair on the comb teeth 21.

[0031] When applying the application, if it is necessary to clean the hair on the roller brush 10, the first drive module 25 is used to control the root 24 of the comb teeth to move towards the roller brush 10. The comb teeth 21 will also move and come into contact with the roller brush 10, thereby cleaning the hair on the roller brush 10 and causing the hair to be concentrated and wrapped around the comb teeth 21. If there is a lot of hair on the comb teeth 21, the second drive module 26 can be used to control the comb teeth 21 to move towards the root 24 of the comb teeth. At this time, due to the relative position change between the comb teeth 21 and the scraping groove 22, the scraping groove 22 can scrape the hair off the comb teeth 21. The scraped hair will be sucked away by the cleaning device of the sweeping and mopping robot, thereby solving the problem of hair wrapped around the comb teeth and significantly improving the technical pain point that the existing technology cannot effectively remove hair.

[0032] In order to more thoroughly remove hair from the comb teeth 21, the distance between the scraping groove 22 and the comb teeth 21 should be minimized as much as possible. For example, the inner surface of the scraping groove 22 can be arranged adjacent to the outer surface of the tooth-like structure of the comb teeth 21, that is, the two are in a near-abutting state, so as to ensure that the scraping groove 22 can remove hair comprehensively and efficiently during the movement of the comb teeth 21, and ensure that the movement of the comb teeth 21 is relatively smooth. Of course, the inner surface of the scraping groove 22 can also be directly abutted to the outer surface of the tooth-like structure of the comb teeth 21. As long as the tightness of the abutment is appropriate, the same effect can be achieved.

[0033] In addition, the aforementioned elastic element 23 is mainly used to realize the reset of the comb teeth 21. For example, after the second drive module 26 controls the comb teeth 21 to move, once the second drive module 26 stops working, the transmission tooth 28 can become a self-rotating state. At this time, the elastic element 23 can push the comb teeth 21 away from the comb root 24, thereby realizing the reset of the comb teeth 21. Therefore, any component that can apply elastic thrust can be used as the aforementioned elastic element 23. For example, components made of elastic materials such as rubber and silicone are optional. In this embodiment, the elastic element 23 is set as a spring, which further improves the stiffness, stability and service life of the elastic element 23.

[0034] The first drive module 25 mentioned above is used to control the movement of the comb tooth root 24. As long as it can control the forward and backward movement of the comb tooth root 24, it is sufficient. Therefore, commonly used telescopic rods, telescopic arms, lead screws, etc. are all acceptable solutions. In this embodiment, the first drive module 25 is set as a scissor telescopic device.

[0035] It should be noted that the scissor-type telescopic mechanism relies primarily on the coordination between two scissor arms. Generally, one scissor arm is fixed, while the other can extend or retract. When extension or retraction is needed, simply push the extendable scissor arm to engage it with the other scissor arm, thus achieving the extension or retraction effect.

[0036] The advantage of the scissor-like telescopic principle is that it allows an object to maintain balance and stability while extending or retracting, preventing it from breaking or tilting. Furthermore, this principle enables rapid extension and retraction, making it ideal for applications requiring frequent extension and retraction.

[0037] Furthermore, to achieve automatic cleaning of hair on the roller brush 10, this embodiment preferably includes a first monitoring mechanism in the cleaning device of the sweeping and mopping robot. The first monitoring mechanism is used to monitor the amount of hair on the roller brush 10. When the amount of hair on the roller brush 10 is less than the preset value of hair on the brush, the first drive module 25 is used to increase the distance between the comb teeth 21 and the roller brush 10. When the amount of hair on the roller brush 10 is greater than the preset value of hair on the brush, the first drive module 25 is used to shorten the distance between the comb teeth 21 and the roller brush 10.

[0038] If the amount of hair on the roller brush 10 is less than the preset value, it means that there is less hair on the roller brush 10 and cleaning is not necessary for the time being. In this case, increasing the distance between the comb teeth 21 and the roller brush 10 can reduce the wear caused by the comb teeth 21 on the roller brush 10.

[0039] If the amount of hair on the roller brush 10 is greater than the preset value, it indicates that there is a lot of hair on the roller brush 10. At this time, the distance between the comb teeth 21 and the roller brush 10 is shortened, which strengthens the cleaning power of the comb teeth 21 on the roller brush 10, thereby avoiding excessive hair entanglement and affecting the normal operation of the roller brush 10.

[0040] Obviously, by adding a first monitoring mechanism, the distance between the comb teeth 21 and the roller brush 10 can be automatically adjusted, thus balancing the service life of the roller brush 10 and the cleaning effect on the roller brush 10. In order to realize the monitoring function of the first monitoring mechanism, various methods can be used, such as using a camera to take relevant pictures and then using relevant programs to analyze and judge them.

[0041] However, in order to make the hair volume judgment and analysis more accurate and efficient, this embodiment preferably sets the first monitoring mechanism to include a first laser emitter and a first laser receiver, with the first laser emitter and the first laser receiver respectively located on opposite sides of the roller brush 10.

[0042] Therefore, during monitoring, the first laser emitter will emit a laser to the first laser receiver. After receiving the laser, the first laser receiver can determine whether the amount of hair on the roller brush 10 is more than or less than the preset value of hair on the brush by judging the degree to which the laser transmission is blocked by the hair of the roller brush 10.

[0043] Furthermore, to achieve automatic cleaning of hair on the comb teeth 21, this embodiment preferably includes a second monitoring mechanism in the cleaning device of the sweeping and mopping robot. The second monitoring mechanism is used to monitor the amount of hair on the comb teeth 21. When the amount of hair on the comb teeth 21 is more than the preset value of hair on the teeth, the second drive module 26 is used to control the comb teeth 21 to move towards the root of the comb teeth 24, and then reset the position of the comb teeth 21. When the amount of hair on the comb teeth 21 is less than the preset value of hair on the teeth, the position of the comb teeth 21 is maintained.

[0044] If the amount of hair on the comb teeth 21 is less than the preset value, it means that there is less hair on the comb teeth 21 and cleaning is not necessary for the time being. At this time, keep the comb teeth 21 still and continue to remove hair from the roller brush 10.

[0045] If the amount of hair on the comb teeth 21 is greater than the preset value, it indicates that there is a lot of hair on the comb teeth 21. At this time, the comb teeth 21 is moved so that the scraper groove 22 can be used to remove the hair from the comb teeth 21, thus avoiding excessive hair entanglement that would affect the normal operation of the comb teeth 21.

[0046] Obviously, by adding a second monitoring mechanism, the hair removal of the comb teeth 21 can be performed automatically, thus taking into account both the hair removal effect of the roller brush 10 and the hair removal effect of the comb teeth 21. In order to realize the monitoring function of the second monitoring mechanism, various methods can be used, such as using a camera to take relevant pictures and then using relevant programs to analyze and judge.

[0047] However, in order to make the hair volume judgment and analysis more accurate and efficient, this embodiment preferably sets up a second monitoring mechanism including a second laser emitter and a second laser receiver, with the second laser emitter and the second laser receiver respectively located on opposite sides of the comb teeth 21.

[0048] Therefore, during monitoring, the second laser emitter will emit a laser to the second laser receiver. After receiving the laser, the second laser receiver can determine whether the amount of hair on the comb teeth 21 is more than or less than the preset value of hair on the teeth by judging the degree to which the laser transmission is blocked by the hair on the comb teeth 21.

[0049] Based on the above embodiments, the present invention also provides a control method for a sweeping and mopping robot cleaning device. The sweeping and mopping robot cleaning device employs the following control method: a first monitoring mechanism is set up to monitor the amount of hair on the roller brush 10; when the measured amount of hair on the roller brush 10 is less than a preset value of hair on the brush, a first drive module 25 is used to increase the distance between the comb teeth 21 and the roller brush 10; when the measured amount of hair on the roller brush 10 is greater than the preset value of hair on the brush, the first drive module 25 is used to shorten the distance between the comb teeth 21 and the roller brush 10; a second monitoring mechanism is set up to monitor the amount of hair on the comb teeth 21; when the measured amount of hair on the comb teeth 21 is greater than the preset value of hair on the teeth, a second drive module 26 is used to control the comb teeth 21 to move towards the comb root 24, and then reset the position of the comb teeth 21; when the measured amount of hair on the comb teeth 21 is less than the preset value of hair on the teeth, the position of the comb teeth 21 is maintained.

[0050] Its working principle and beneficial effects are the same as those described above, so they will not be described again here.

[0051] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A sweeping and mopping robot cleaning device, characterized in that, The vacuum port of the sweeping and mopping robot cleaning device is equipped with a roller brush and a comb mechanism. The comb mechanism includes comb teeth, scraper grooves, elastic elements, comb tooth roots, a first drive module, and a second drive module. The comb teeth are located between the roller brush and the root of the comb teeth, the tooth-like structure of the comb teeth faces the roller brush, and the side of the comb teeth is provided with a toothed strip; The scraper groove has a frame-like structure, and the scraper groove surrounds the tooth-like structure of the comb teeth. The elastic element is connected between the comb teeth and the comb root; The root of the comb teeth is connected to the first drive module; The first drive module is used to control the movement of the root of the comb teeth, thereby adjusting the distance between the comb teeth and the roller brush; The second drive module is connected to a transmission tooth, which meshes with the rack. The second drive module is used to drive the comb teeth to move towards the root of the comb teeth so that the scraper groove scrapes away the hair on the comb teeth. The cleaning device of the sweeping and mopping robot also includes a first monitoring mechanism, which is used to monitor the amount of hair on the roller brush; When the amount of hair on the roller brush is less than a preset value, the first drive module is used to increase the distance between the comb teeth and the roller brush. When the amount of hair on the roller brush is measured to be greater than a preset value of hair on the brush, the first drive module is used to shorten the distance between the comb teeth and the roller brush. The first monitoring mechanism includes a first laser emitter and a first laser receiver, which are respectively located on opposite sides of the roller brush; The cleaning device of the sweeping and mopping robot also includes a second monitoring mechanism, which is used to monitor the amount of hair on the comb teeth; When the amount of hair on the comb teeth is measured to be more than the preset value of hair on the teeth, the second drive module is used to control the comb teeth to move towards the root of the comb teeth, and then reset the position of the comb teeth. When the amount of hair on the comb teeth is less than a preset value, the position of the comb teeth is maintained. The second monitoring mechanism includes a second laser emitter and a second laser receiver, which are respectively located on opposite sides of the comb teeth.

2. The sweeping and mopping robot cleaning device according to claim 1, characterized in that, The inner surface of the scraper groove is arranged adjacent to the outer surface of the tooth-like structure of the comb teeth. Alternatively, the inner surface of the scraper groove may abut against the outer surface of the tooth-like structure of the comb teeth.

3. The cleaning device for a sweeping and mopping robot according to claim 1, characterized in that, The elastic element is a spring.

4. The sweeping and mopping robot cleaning device according to claim 1, characterized in that, The first drive module is a scissor telescopic device.

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