Self-moving cleaning device

Abstract

The application provides a self-moving cleaning device, comprising a machine body, a main cleaning module, a liquid outlet structure and a fluffing roller, wherein the main cleaning module comprises a first driving structure and a track, the first driving structure is used for driving the track to rotate, the surface of the track is covered with a flexible main cleaning piece; the liquid flowing out of the liquid outlet structure is used for wetting the main cleaning piece; the fluffing roller is located behind the liquid outlet structure, the track passes through the liquid outlet structure first and then passes through the fluffing roller when the track rotates; the fluffing roller is in contact with the track, so that the main cleaning piece is fluffed under the action of rotation. The cleaning device provided by the application embodiment fluffs the main cleaning piece through the fluffing roller located behind the liquid outlet structure, so that the main cleaning piece can realize the fluffed state in the cleaning process of the sweeping robot, the cleaning frequency of the main cleaning piece is reduced, and the cleaning efficiency of the cleaning device is improved, and the cleaning effect is improved.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a self-moving cleaning device. Background Art

[0002] With the development of science and technology and the improvement of living standards, household cleaning equipment has become increasingly popular, reducing the burden of housework for humans. For example, robot vacuums, robot scrubbers, and sweeping and mopping robots have become increasingly popular.

[0003] In related technologies, taking a sweeping robot as an example, after a period of use, the mop of a crawler sweeping robot becomes flat due to the squeezing between the sweeping robot and the ground. The mop needs to be cleaned before it becomes fluffy. However, frequent cleaning of the mop will affect the cleaning efficiency.

[0004] Therefore, it is urgent to provide a cleaning device to solve at least one of the above-mentioned technical problems. Summary of the Invention

[0005] In view of the above problems, an embodiment of the present application provides a self-moving cleaning device.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] The present invention provides a cleaning device, comprising:

[0008] body;

[0009] a main cleaning module disposed below the body, the main cleaning module comprising a first drive structure and a crawler belt, the first drive structure being used to drive the crawler belt to rotate to clean the surface to be cleaned, the crawler belt surface being covered with a flexible main cleaning member;

[0010] a liquid outlet structure, located above the crawler, wherein the liquid flowing out of the liquid outlet structure is used to wet the main cleaning element;

[0011] A fluffing roller is provided along the length direction of the crawler belt. The fluffing roller is located behind the liquid outlet structure. When the crawler belt rotates, the crawler belt first passes through the liquid outlet structure and then passes through the fluffing roller.

[0012] The fluffing roller is in contact with the crawler belt to fluff the main cleaning element under the action of rotation.

[0013] The cleaning device provided in the embodiment of the present application fluffs the main cleaning part through the fluffing roller located behind the liquid outlet mechanism, so that the main cleaning part can be fluffed during the cleaning process of the sweeping robot, reducing the cleaning frequency of the main cleaning part, thereby improving the cleaning efficiency of the cleaning device and improving the cleaning effect.

[0014] In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features, other technical problems solved by the cleaning device provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought by the technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0016] Figure 1 A bottom view of the self-moving cleaning device provided by the embodiments of the present application;

[0017] Figure 2 A perspective structural schematic view of the self-moving cleaning device provided by the embodiments of the present application;

[0018] Figure 3 A partial structural exploded schematic view of the self-moving cleaning device provided by the embodiments of the present application;

[0019] Figure 4 A partial structural schematic view of a cross-sectional view at A-A in the self-moving cleaning device provided by the embodiments of the present application; Figure 1

[0020] A structural schematic view of the track and the track cover in the self-moving cleaning device provided by the embodiments of the present application; Figure 5

[0021] A partial structural schematic view of a cross-sectional view at B-B in the self-moving cleaning device provided by the embodiments of the present application; Figure 6 Figure 5 A perspective structural schematic view of the track cover in the self-moving cleaning device provided by the embodiments of the present application;

[0022] Figure 7 A perspective structural schematic view of the first lifting structure in the self-moving cleaning device provided by the embodiments of the present application;

[0023] Figure 8 A perspective structural schematic view of the first driving structure in the self-moving cleaning device provided by the embodiments of the present application;

[0024] Figure 9 A perspective structural schematic view of the second driving structure in the self-moving cleaning device provided by the embodiments of the present application;

[0025] Figure 10a ​A schematic diagram of the crawler structure of the self-propelled cleaning device provided in an embodiment of the present application;

[0026] Figure 10b for Figure 10a A schematic diagram of the partial structure of the cross-section at CC in the middle;

[0027] Figure 11 A schematic diagram of the exploded structure of the track cover and track of the self-propelled cleaning device provided in an embodiment of the present application;

[0028] Figure 12a A side view of a track cover and a track in a self-propelled cleaning device provided in an embodiment of the present application;

[0029] Figure 12b for Figure 12a Enlarged schematic diagram of point D in the middle.

[0030] Description of reference numerals:

[0031] 1- Cleaning equipment;

[0032] 10-body; 11-upper cover; 12-chassis; 13-side brush; 14-roller brush; 15-dust box; 16-main fan; 17-drive wheel;

[0033] 20-main cleaning module; 2a-main cleaning assembly; 21-crawler; 210-main cleaning part;

[0034] 22 - Track cover; 22a - Track cavity; 221 - Comb structure; 222 - Sewage suction port; 223 - Window; 224 - Main body; 225 - Side portion; 2251 - Second mounting hole; 2252 - Inner buckle portion;

[0035] 23 - Second transmission assembly; 231 - Active roller; 232 - Driven roller; 2321 - Overlapping portion; 233 - Shaft seat; 2331 - Limiting groove; 234 - Unlocking member; 2341 - Button; 2342 - Spring; 2343 - Limiting protrusion; 24 - Wiping structure; 241 - First wiper element; 242 - Second wiper element; 243 - Water receiving trough;

[0036] 25 - first lifting structure; 251 - lifting motor; 252 - lifting assembly; 2521 - first connecting member; 2522 - second connecting member; 2523 - connecting rope; 2524 - receiving slot;

[0037] 26-transparent part; 27-color sensor; 28-position switch;

[0038] 30 - Fluffing roller; 31 - First roller shaft; 32 - Fluffing hook; 33 - First drive structure; 332 - First transmission assembly; 3321 - Worm gear structure; 332a - Worm; 332b - Worm wheel; 3322 - First gear structure; 3323 - Second gear structure; 3324 - Housing; 3325 - First mounting hole; 3326 - Third mounting hole;

[0039] 40-liquid outlet structure; 41-liquid outlet; DETAILED DESCRIPTION

[0040] The inventive concept of the present application is as follows: the cleaning device 1 includes a main cleaning module 20 and a fluffing roller 30, the main cleaning module 20 includes a first drive structure 33 and a crawler 21, the crawler 21 rotates under the driving force of the first drive structure 33, and the surface of the crawler 21 is covered with a plurality of main cleaning parts 210, and the main cleaning parts 210 clean the surface to be cleaned during the rotation process. The fluffing roller 30 is arranged along the length direction of the crawler 21, the fluffing roller 30 is in contact with the crawler 21, and is used to flip up the main cleaning part 210 to improve the cleaning effect. The surface to be cleaned can be, but is not limited to, the surface or scene of an object such as the ground, a table, glass, or a wall. For ease of description, the surface to be cleaned hereinafter will be described using the ground as an example. The main cleaning part 210 can be a flexible rag, and the material of the rag is not specifically limited.

[0041] The present invention provides a self-propelled cleaning device 1, which can be a self-propelled cleaning robot or a handheld floor scrubber. The cleaning robot is a wet or dry type, and as an example, the cleaning robot is a mopping robot or a sweeping and mopping robot.

[0042] First, some of the components of a sweeping and mopping cleaning robot are introduced below.

[0043] like Figure 1 and Figure 2 As shown, the cleaning robot (hereinafter referred to as "robot") has a body 10, which includes a chassis 12 and an upper cover 11. The chassis 12 is connected to the upper cover 11, and a receiving cavity is defined between the chassis 12 and the upper cover 11. The body 10 is generally formed in a circular, D-shaped, rectangular, or other shape. The outline of the body 10 refers to the circular outline, D-shaped outline, or rectangular outline of the body 10. For example, Figure 1 and Figure 2 In the embodiment, the outline of the fuselage 10 is a circular structure. For example, the range of the outline of the fuselage 10 can be determined according to the projection of the fuselage 10 on the horizontal plane.

[0044] The robot includes a dry cleaning module and a wet cleaning module, which move along the direction of the body 10. Figure 1In the direction of arrow s1, the dry cleaning module is located in front of the wet cleaning module. Both the dry cleaning module and the wet cleaning module are connected to the chassis 12 and / or the upper cover 11, and most of their components are housed in the accommodating cavity. The dry cleaning module is used to sweep the floor, while the wet cleaning module is used to wet mop the cleaned interior, thus forming a sweep-first, mop-later mode for effective floor cleaning.

[0045] In an alternative embodiment, if Figure 1 and Figure 2 As shown, the dry cleaning module includes at least a side brush 13, a roller brush 14, a dust box 15 and a main fan 16. Figure 1 In the direction of arrow s1 shown in the figure, the side brush 13 is located in front of the roller brush 14, the dust box 15 and the main fan 16, and the side brush 13 can rotate to gather the garbage on the ground to the inside of the robot, that is, to push the garbage toward the dust box 15, so that the dust box 15 can collect the garbage by suction or other means.

[0046] For example, the side brush 13 can be located in front of the dust box 15 and near the edge of the robot body 10. Specifically, the side brush 13 can be located at the edge of a position including, but not limited to, the left front or right front of the dust box 15. This allows at least a portion of the side brush 13 to be located outside the outline of the robot body 10 during rotation. This allows the side brush 13 to gather debris outside the outline of the robot body 10 toward the inside of the robot, thereby increasing the cleaning range. The side brush 13 can be a rubber strip or a bristle brush, as long as it can clean the floor, and is not limited here.

[0047] The roller brush 14 is rotatably mounted in a roller brush chamber at the bottom of the chassis 12. The roller brush 14 can clean up the garbage on the ground during its rolling process. The number of roller brushes 14 can be set according to specific needs and is not limited in this application. The dust box 15 and the main fan 16 are respectively arranged in the accommodating chamber of the body 10. The main fan 16 is configured to provide negative pressure wind to the dust box 15. The body 10 is provided with a dust suction port connected to the dust box 15, and the dust suction port is connected to the roller brush chamber. In this way, the roller brush 14 is used to collect garbage on the ground to the dust suction port. Under the action of the negative pressure suction force generated by the main fan 16, garbage and dust particles can be sucked into the dust box 15 through the dust suction port to achieve the purpose of cleaning the ground. The main fan 16 includes but is not limited to a negative pressure fan, and can also be replaced with other negative pressure generating devices, such as a vacuum pump.

[0048] The robot also includes a walking system for driving the body 10 to move and realize the self-moving walking function on the surface to be cleaned. The walking system includes at least a driver and a driving wheel 17. The driving wheel 17 moves under the driving action of the driver. There can generally be two driving wheels 17, and the two driving wheels 17 are symmetrically arranged at the bottom of the body 10. In addition, the walking system can be swingably arranged on the body 10 so that the cleaning device 1 has the function of overcoming obstacles during the walking process. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of an object such as the ground, a table, glass, or a wall. For the sake of convenience, the surface to be cleaned below is described using the ground as an example.

[0049] The perception system includes a light-emitting diode (LDS) located above the body 10, a buffer and visual sensor located at the front of the body 10, edge sensors located on the front sidewalls of the body 10, and ultrasonic sensors and downward-looking sensors located at the bottom of the body 10, among other sensing devices. The LDS, buffer, and edge sensors all measure distance to determine the distance between the edge of the body 10 and obstacles. The control system uses this distance to control the cleaning device 1 to perform corresponding actions, such as obstacle avoidance and edge cleaning. The ultrasonic sensor is used to identify carpet signals, and the control system uses these signals to control the main cleaning module 20 and auxiliary cleaning modules of the cleaning device 1 to lift, or to control the cleaning device 1 to return to the base station, charge the robot, collect dust, clean the main cleaning component 2a, or remove and install the main cleaning module 20. The visual sensor is used to image the environment in which the cleaning device 1 is located to obtain obstacle information. Based on this information, the control system controls the cleaning device 1 to perform actions, such as obstacle avoidance, obstacle traversal, and edge cleaning.

[0050] In this embodiment, along the direction of travel of the body 10, the body 10 has a front portion, a rear portion, and a connecting portion or a middle portion connecting the front and rear portions of the body 10, with the dust box 15, the roller brush 14, or the drive wheel 17 as the boundary. The dust box 15, the roller brush 14, or the drive wheel 17 is disposed in the connecting portion or the middle portion.

[0051] For example, taking the roller brush 14 or the dust box 15 as an example, the portion of the body 10 located in front of the roller brush 14 or the dust box 15 is referred to as the front portion of the body 10, and the portion located behind the roller brush 14 or the dust box 15 is referred to as the rear portion of the body 10. Typically, the roller brush 14 is located in the area between the two drive wheels 17.

[0052] In an alternative embodiment, the main cleaning module 20 is disposed at the rear of the body 10, and the side brushes 13 are disposed at the front of the body 10 in the forward direction of the body 10. For example, they are distributed on the right side of the body 10 to form a right edge; or, they are both located on the left side of the body 10 to form a left edge.

[0053] Along the moving direction of the fuselage 10 , the main cleaning component 2a of the main cleaning module 20 is arranged behind the roller brush 14 , which facilitates the robot's cleaning operation of first dry sweeping and then wet mopping, and also facilitates the layout of the internal space of the fuselage 10 .

[0054] Optimally, the auxiliary cleaning member of the auxiliary cleaning assembly can also be replenished with water so that the auxiliary cleaning member is in a moist state for wet cleaning of the floor. Alternatively, the auxiliary cleaning member can be left dry without replenishing water, which results in a weaker cleaning effect than wet mopping.

[0055] In some scenarios, the main cleaning assembly 2a needs to be raised. For example, when the main body 10 is on a carpet, the main cleaning assembly 2a needs to be in a raised position to avoid wetting the carpet. Or, in scenarios such as when the main cleaning assembly 2a needs to be raised to avoid being stuck on an obstacle or returning to the base station, the main cleaning assembly 2a needs to be in a raised position to prevent it from being detached from the main body 10. Therefore, the cleaning device 1 also includes a first lifting structure 25, which is disposed in the main body 10 and is used to drive the main cleaning assembly 2a to be raised to switch between the mopping position and the raised position.

[0056] For the main cleaning component 2a, there are many ways to clean the main cleaning component 2a. For example, please refer to Figure 4 The main cleaning assembly 2a includes a crawler 21 rotatably mounted on a crawler cover 22 and located below the crawler cover 22. The first driving mechanism 33 drives the crawler 21 to move to clean the ground waiting to be cleaned.

[0057] Next, the main cleaning module 20 and the fluffing roller 30 are introduced in detail in the following embodiment.

[0058] like Figure 1 and Figure 4 As shown, when the fuselage 10 moves forward, that is, along Figure 4 When the arrow s1 shown in FIG moves, the driving wheel 17 and the roller brush 14 are moved along Figure 4 The track 21 rotates in the direction of the arrow r1, that is, counterclockwise. Figure 4 The direction of rotation of the track 21 is opposite to that of the roller brush 14 and the driving wheel 17, so that the track 21 and the roller brush 14 or the driving wheel 17 form a relative speed, thereby ensuring a better cleaning effect.

[0059] Furthermore, if Figure 5 and Figure 6As shown, the fluffing roller 30 includes a first roller 31 and a fluffing hook 32. The connecting end of the fluffing hook 32 is fixed to the first roller 31, which is arranged along the length of the track 21. The free end of the fluffing hook 32 is curved. The free end of the fluffing hook 32 is curved in the same direction as the rotation of the first roller 31. This makes it easier to flip the main cleaning member 210 on the track 21, so that the main cleaning member 210 remains fluffy at all times during the cleaning process, thereby improving the cleaning effect and further reducing the frequency of the robot returning to the base station to clean the main cleaning member 210. The main cleaning member 210 can be a flexible rag, and the material of the rag is not specifically limited.

[0060] There are multiple fluffing hooks 32 , and the multiple fluffing hooks 32 are evenly distributed around the axis of the first roller 31 in the circumferential direction, so that the fluffing hooks 32 can continuously flip up the main cleaning part 210 during the rotation process.

[0061] In an optional embodiment, the fluffing roller 30 rotates following the track 21 under the rotation of the track 21, that is, the fluffing roller 30 has no drive and is a driven structure.

[0062] In an optional embodiment, the fluffing roller 30 is an active structure and further includes a first drive structure 33. The first drive structure 33 includes a first motor (not shown) and a first transmission assembly 332. The input end of the first transmission assembly 332 is connected to the first motor, and the first transmission assembly 332 has two output ends, which respectively drive the track 21 and the fluffing roller 30 to rotate. Using the same first motor to simultaneously drive the track 21 and the fluffing roller 30 can significantly save assembly space and reduce the cost of the cleaning device 1. The track 21 and the fluffing roller 30 can also be driven by different motors, which is not limited in this embodiment.

[0063] In an optional embodiment, the fluffing roller 30 and the track 21 rotate in the same direction. Figure 4 The fluffing roller 30 rotates in the direction of arrow r2 shown in the figure, and the fluffing roller 30 and the main cleaning member 210 move relative to each other, so that the main cleaning member 210 can be turned up more easily.

[0064] Alternatively, the fluffing roller 30 may be positioned along Figure 4 The fluffing roller 30 rotates in the direction of r3 shown in the figure. The rotation direction of the fluffing roller 30 is opposite to the rotation direction of the track 21. The free end of the fluffing roller 30 moves in the same direction as the main cleaning member 210. Compared with the previous embodiment, this embodiment has a poor effect in flipping up the main cleaning member 210, but can greatly reduce power consumption.

[0065] The fluffing roller 30 and the crawler belt 21 rotate in the same or opposite directions, both within the scope of protection of the present application.

[0066] Furthermore, when the rotation direction of the fluffing roller 30 is opposite to that of the track 21, the rotation speed of the fluffing roller 30 is greater than that of the track 21, thereby improving the fluffing effect of the main cleaning element 210. As an example, the rotation speed of the fluffing roller 30 is 3 times, 4 times, or 5 times the rotation speed of the track 21. The specific multiple of the rotation speed of the fluffing roller 30 and the rotation speed of the track 21 can be set according to specific circumstances and is not limited in this embodiment of the application.

[0067] The length of the fluffing roller 30 is greater than or equal to the length of the crawler 21, so that the fluffing roller 30 can cover the crawler 21 in the length direction of the crawler 21, so that the fluffing roller 30 can be used to fluff the entire area of ​​the main cleaning part 210 of the crawler 21. The length direction of the crawler 21 is perpendicular to the travel direction of the fuselage 10, that is, Figure 4 The direction of the arrow s1 is shown in FIG.

[0068] Conversely, if the fluffing roller 30 only fluffs a portion of the main cleaning element 210 of the track 21, a large drop in height will form between the unfluffed area of ​​the main cleaning element 210 and the fluffed area, significantly reducing the cleaning effect of the unfluffed area of ​​the main cleaning element 210. Thus, the length of the fluffing roller 30 being greater than or equal to the length of the track 21 ensures the cleaning effect of the cleaning device 1.

[0069] The cleaning equipment 1 also includes a liquid outlet structure 40, which is located above the track 21. The liquid flowing out of the liquid outlet structure 40 is used to moisten the main cleaning part 210. The liquid outlet structure 40 continuously supplies water to the main cleaning part 210 during the entire cleaning process, so that the main cleaning part 210 is always in a moist state. The main cleaning part 210 in a moist state can better absorb and decompose stains, further improving the cleaning effect.

[0070] Along the forward direction of the fuselage 10 , the fluffing roller 30 is located behind the liquid outlet structure 40 . During the rotation of the crawler 21 , the crawler 21 first passes through the liquid outlet structure 40 and then passes through the fluffing roller 30 .

[0071] In an alternative embodiment, if Figures 3 to 6 As shown, the main cleaning module 20 also includes a track cover 22 and a second transmission assembly 23. The track cover 22 is connected to the bottom of the chassis 12 of the machine body 10, and the track 21 is located in the track cavity 22a formed by the track cover 22. The track 21 surrounds the second transmission assembly 23, which includes a driving roller 231 and a driven roller 232. The driving roller 231 and the driven roller 232 are arranged in parallel along the travel direction of the machine body 10. The first drive structure 33 is used to drive the driving roller 231 to rotate, and drives the driven roller 232 and the track 21 to rotate together.

[0072] The fluffing roller 30 is mounted on the track cover 22. Figure 4 The figure shows the height of the fluffing roller 30 in the robot. Figure 4The direction of arrow s2 shown in the figure is located between the track cover 22 and the track 21, so that the fluffing roller 30 can simultaneously fluff the main cleaning member 210 on the track 21 during the robot cleaning process, thereby keeping the robot in an efficient cleaning state.

[0073] like Figure 6 As shown, the liquid outlet structure 40 is installed on the track cover 22 and is at least partially located below the track cover 22. The liquid discharged from the liquid outlet structure 40 wets the main cleaning member 210 on the surface of the track 21. Figure 6 The crawler belt 21 and the main cleaning member 210 are not shown.

[0074] like Figure 7 As shown, the liquid outlet structure 40 includes a plurality of first liquid outlets 41, the first liquid outlets 41 face the track 21, and the plurality of first liquid outlets 41 are spaced apart along the length direction of the track 21. The plurality of first liquid outlets 41 correspond to the length of the track 21 to improve the uniformity of the wetting of the main cleaning part 210 on the track 21.

[0075] In an optional embodiment, the robot further includes at least a water replenishment structure (not shown) for replenishing water to the main cleaning element 210 on the track 21, thereby moistening the main cleaning element 210 on the track 21. This allows the main cleaning element 210 to be moistened or wetted while mopping the floor, thereby achieving wet cleaning and improving cleaning effectiveness. The water replenishment structure includes at least a clean water tank and a clean water pipeline. The clean water pipeline connects the clean water tank and the liquid inlet, thereby directing liquid from the clean water tank through the liquid inlet and the first liquid outlet 41, and then to the track 21.

[0076] In related technologies, since the crawler 21 has a large contact area with the ground during movement, the main cleaning element 210 needs to be continuously replenished with water to moisten it. The scraper is then used to scrape away the wastewater to ensure effective cleaning. Currently, robots are equipped with a scraper that is parallel to the direction of travel of the body 10 and located behind the crawler 21. The wastewater scraped away by the scraper requires a separate wastewater tank. This wastewater tank not only takes up a lot of space, but is also prone to scale buildup, which can lead to blockage of the sewage pipe, requiring the user to frequently clean the tank.

[0077] Based on this, in an optional embodiment, as Figure 4 and Figure 6 As shown, the main cleaning module 20 includes a wiper structure 24, which is located above the track 21 and is disposed at the bottom of the track cover 22. The wiper structure 24 includes a first wiper member 241 and a second wiper member 242, which are spaced apart. The first wiper member 241, the second wiper member 242, and the bottom wall of the track cover 22 form a water receiving groove 243.

[0078] During the rotation of the crawler 21 while mopping the ground, the crawler 21 first passes through the first wiper 241 and then the second wiper 242. At least under the squeezing action of the second wiper 242, the dirty water on the crawler 21 is scraped into the water receiving trough 243. The water receiving trough 243 of the embodiment of the present application occupies a small space, and there is no problem of sewage pipes being blocked by scale. Of course, the operator does not need to clean the water receiving trough 243.

[0079] After the main cleaning member 210 covering the crawler 21 is scraped by the first wiper member 241 and the second wiper member 242 , the surface of the main cleaning member 210 becomes flat due to the squeezing effect, which greatly affects the cleaning effect.

[0080] Based on this, the direction of travel along the fuselage 10 is Figure 4 In the direction of arrow s1 shown in FIG, the wiper structure 24 is located between the liquid outlet structure 40 and the fluffing roller 30, and the fluffing roller 30 is located behind the wiper structure 24. It can be understood that when the wiper structure 24 scrapes the dirty water off the track 21 and flattens it, the fluffing roller 30 acts on the track 21 and flips up the main cleaning element 210, causing it to become fluffy again, greatly reducing the impact on the cleaning effect caused by the wiper structure 24 flattening the main cleaning element 210.

[0081] The first wiper element 241 and the second wiper element 242 extend downward from the bottom wall of the track cover 22 , that is, extend along the height direction of the fuselage 10 .

[0082] Furthermore, the length of the second wiper member 242 extending from the bottom wall of the track cover 22 is greater than that of the first wiper member 241. It can be understood that during the rotation of the track 21, the extrusion force formed between the first wiper member 241 and the track 21 is smaller than the extrusion force formed between the second wiper member 242 and the track 21. The first wiper member 241 performs preliminary wiping on the track 21, and the second wiper member 242 performs wiping again, thereby improving the scraping effect of the main cleaning member 210 covering the surface of the track 21.

[0083] The first wiper 241 is provided with at least one first gap, which connects the spaces on both sides of the first wiper 241 in the rotation direction of the crawler 21. When the first wiper 241 picks up the sewage on the main cleaning element 210, the scraped sewage flows into the water receiving trough 243 from the first gap.

[0084] The first wiper member 241 has a plurality of first gaps, which are spaced apart along the length direction of the track 21. The first wiper member 241 with a plurality of first gaps can comb the main cleaning member 210 to improve the uniformity of the main cleaning member 210. In addition, the first wiper member 241 with a plurality of first gaps constitutes a comb tooth structure, which can prevent larger particles on the main cleaning member 210 from entering the water receiving groove 243, thereby greatly reducing the occurrence of the situation where the suction port is blocked by large particles.

[0085] In an alternative embodiment, if Figures 4 to 7 As shown, the track cover 22 is further provided with a comb-tooth structure 221, which is in interference contact with the track 21. Along the travel direction of the fuselage 10, the comb-tooth structure 221 is located in front of the first wiper element 241, and the liquid outlet structure 40 is located between the comb-tooth structure 221 and the first wiper element 241. When the track 21 rotates to drag the ground, it passes through the comb-tooth structure 221, the first wiper element 241, and the second wiper element 242 in sequence.

[0086] Furthermore, the comb tooth structure 221 is provided with a plurality of second gaps, which connect the spaces on both sides of the comb tooth structure 221 in the rotation direction of the track 21. The comb tooth structure 221 can block large-sized particles from entering the interior of the equipment, thereby preventing large-sized particles from causing damage to the equipment.

[0087] like Figure 7 As shown, the two ends of the second wiper 242 extend along the moving direction of the fuselage 10 and are connected to the comb-tooth structure 221. In this way, the second wiper 242 and the comb-tooth structure 221 form a chamber, which can not only greatly reduce the occurrence of liquid discharged from the liquid outlet structure 40 dripping to the ground, but also greatly reduce the occurrence of dirty water scraped by the first wiper 241 and the second wiper 242 dripping to the ground, further improving the cleaning effect of the robot.

[0088] The track cover 22 also has a sewage suction port 222 located within the water receiving trough 243. Sewage scraped by the first and second wiper members 241 and 242 is discharged through the sewage suction port 222. The cleaning apparatus 1 also includes a first sewage pipe (not shown) and a sewage tank (not shown). The first sewage pipe connects the sewage tank and the sewage suction port 222, respectively. Under the action of suction force, the sewage in the water receiving trough 243 is transported to the sewage tank through the sewage suction port 222.

[0089] Furthermore, the sewage suction port 222 protrudes from the bottom of the track cover 22 to facilitate the suction of sewage.

[0090] In an optional embodiment, the track cover 22 further has a viewing window 223 , which is located between the wiper structure 24 and the liquid outlet structure 40 . The viewing window 223 is used to collect the appearance of the track 21 to detect dirt on the track 21 .

[0091] The main cleaning module 20 also includes a color sensor 27 (not shown). The color sensor 27 is located above the viewing window 223 to collect the color of the track 21 through the viewing window 223 and determine the degree of dirtiness of the main cleaning element 210 based on the color of the track 21. There is space between the color sensor 27 and the track 21 so that the color sensor 27 can obtain a certain field of view. The greater the distance between the color sensor 27 and the track 21, the larger the field of view, thereby obtaining detection information of a larger area of ​​the track 21 and the main cleaning element 210.

[0092] The main cleaning module 20 further includes a transparent member 26, such as, but not limited to, glass, which covers the viewing window 223. During the rotation of the track 21, the lower surface of the transparent member 26 contacts the main cleaning member 210. The main cleaning member 210 can clean the lower surface of the transparent member 26, but at the same time, dirt particles in the main cleaning member 210 can also cause wear on the surface of the transparent member 26.

[0093] Alternatively, the track 21 does not contact the lower surface of the transparent part 26 during rotation, that is, there is a certain distance between the window 223 and the transparent part 26, so as to prevent the dirt particles in the main cleaning part 210 from causing wear on the surface of the transparent part 26. However, the dirt generated during the rotation of the track 21 will enter the interior of the track cover 22 through the window 223.

[0094] Of course, the dirt detection of the main cleaning component 210 in the embodiment of the present application is not limited to the color sensor 27.

[0095] Again, the following embodiment will provide a detailed introduction to the first lifting structure 25 of the main cleaning module 20 .

[0096] like Figure 8 As shown, the main cleaning module 20 also includes a first lifting structure 25, which is used to drive the track cover 22 to perform lifting movement and drive the track 21 to perform synchronous lifting movement, so that the main cleaning module 20 is in a mopping position or a raised position. Exemplarily, when the main cleaning module 20 is in the mopping state, the track 21 descends under the action of the first lifting structure 25 and contacts the ground to clean the ground, that is, the track 21 is in the mopping position. Another exemplary embodiment is that when the main cleaning module 20 is moving to the cleaning area, the track 21 is lifted under the action of the first lifting structure 25 and maintains a distance from the ground, that is, the track 21 is in the raised position.

[0097] Specifically, if Figure 3 and Figure 8 As shown, the first lifting structure 25 includes a lifting motor 251 and a lifting assembly 252. The lifting motor 251 is mounted on the track cover 22 and is located below the chassis 12 of the machine body 10. The lifting assembly 252 is connected to the chassis 12 and the lifting motor 251. Driven by the lifting motor 251, the lifting assembly 252 drives the lifting motor 251 and the track cover 22 to move upward and downward relative to the chassis 12. The installation of the lifting motor 251 on the track cover 22 can improve the assembly convenience of the cleaning device 1.

[0098] Alternatively, the lifting motor 251 is installed on the chassis 12 , and the track cover 22 is driven by the lifting motor 251 to move up and down following the lifting assembly 252 .

[0099] Furthermore, the lifting assembly 252 includes a first connecting member 2521, a second connecting member 2522, and two connecting ropes 2523. The first connecting member 2521 and the second connecting member 2522 are both fixedly connected to the chassis 12. One connecting rope 2523 is connected to the first connecting member 2521 at one end and to the lifting motor 251 at the other end. The other connecting rope 2523 is connected to the second connecting member 2522 at one end and to the lifting motor 251 at the other end. The connecting ropes 2523 are wound or unwound by the lifting motor 251 to raise or lower the track cover 22. By way of example, the connecting ropes 2523 are steel wire ropes, but are not limited thereto.

[0100] The track cover 22 is also provided with two receiving grooves 2524, which are used to accommodate the connecting rope 2523 respectively, and the receiving grooves 2524 match the connecting rope 2523 so that the connecting rope 2523 can move along the direction of the receiving grooves 2524 to ensure the stability and safety of the lifting movement of the track cover 22.

[0101] Again, the following embodiment introduces the first transmission assembly 332 of the fluffing roller 30 in detail. Figure 5 and Figure 9 shown.

[0102] In an alternative embodiment, if Figure 5 and Figure 9 As shown, the first transmission assembly 332 includes a worm gear structure 3321, a first gear structure 3322, and a second gear structure 3323. The first motor drives the worm 332a in the worm gear structure 3321. The worm wheel 332b in the worm gear structure 3321 has two layers of teeth, one of which is connected to the first gear structure 3322 to drive the driving roller 231 and thus the track 21. The other layer of teeth is connected to the second gear structure 3323 to drive the fluffing roller 30.

[0103] The first transmission assembly 332 also includes a housing 3324, which has a chamber that accommodates the worm gear structure 3321, the first gear structure 3322, and the second gear structure 3323. The housing 3324 is connected to the track cover 22 and has a first mounting hole 3325 defined therein. One end of the driving roller 231 is inserted into the first mounting hole 3325, securing the outer periphery of the driving roller 231 relative to the machine body 10. The housing 3324 also has a third mounting hole 3326 defined therein. One end of the fluffing roller 30 is inserted into the third mounting hole 3326, securing the outer periphery of the fluffing roller 30 relative to the machine body 10.

[0104] The two output ends of the first transmission assembly 332 are located at the same end of the crawler belt 21 .

[0105] Again, the second transmission assembly 23 of the main cleaning module 20 is described in detail in the following embodiment. Figures 10a to 12b shown.

[0106] like Figure 10a and Figure 10b As shown, the second transmission assembly 23 also includes a shaft seat 233 and an unlocking member 234. The active roller 231 and the driven roller 232 are rotatably connected to the two sides of the shaft seat 233 respectively. The unlocking member 234 is connected to the shaft seat 233. The unlocking member 234 has an unlocked state and a locked state relative to the track cover 22.

[0107] When the unlocking member 234 is in the unlocked state, the unlocking member 234 is separated from the track cover 22 , and the track 21 and the second transmission assembly 23 can be separated from the fuselage 10 .

[0108] When the unlocking member 234 is in the locked state, the unlocking member 234 is fixed relative to the track cover 22 , and the track 21 and the second transmission assembly 23 cannot be separated from the fuselage 10 .

[0109] Specifically, the unlocking member 234 includes a first spring 2342 and a button 2341. One end of the first spring 2342 is connected to the shaft seat 233, and the other end is connected to the button 2341. One end of the button 2341 is located outside the shaft seat 233 and is movable relative to the shaft seat 233. The button 2341 is provided with a limiting protrusion 2343. The shaft seat 233 is provided with a limiting groove 2331, and the limiting protrusion 2343 is located within the limiting groove 2331. When an external force acts on the button 2341, the limiting protrusion 2343 moves within the limiting groove 2331, thereby shifting the unlocking member 234 from the locked state to the unlocked state. The first spring 2342 can also be other elastic members, and this embodiment of the application is not limited thereto.

[0110] Figure 10bThe unlocking member 234 is shown in the schematic diagram of the locked state. The operator presses the two buttons 2341 at both ends of the shaft seat 233 at the same time. One button 2341 is pressed along the Figure 10b Move in the direction of the middle arrow n1, and the other keys 2341 along Figure 10b Move in the direction of the middle arrow n2. During the movement of the button 2341, the first spring 2342 is compressed and stressed. At this time, the two buttons 2341 and the shaft seat 233 are separated from the track cover 22, and then the second transmission assembly is separated from the track cover 22.

[0111] Of course, when the second transmission assembly needs to be installed on the track cover 22, the operator also presses the two buttons 2341 at both ends of the axle seat 233 at the same time, and aligns the buttons 2341 with the second mounting hole 2251 on the track cover 22. The button 2341 is inserted into the second mounting hole 2251 under the action of the first spring 2342 to achieve locking of the second transmission assembly 23 and the track cover 22.

[0112] like Figure 11 As shown, the track cover 22 includes a main portion 224 and side portions 225 extending downward from each end of the main portion 224. The main portion 224 extends along the length of the track 21 and defines a track cavity 22a. A second mounting hole 2251 is provided in the side portion 225, which mates with the button 2341. When the unlocking member 234 is in the unlocked state, it is located outside the second mounting hole 2251. When the unlocking member 234 is in the locked state, it is at least partially inserted into the second mounting hole 2251.

[0113] One end of the active roller 231 is inserted into the first mounting hole 3325, securing the outer periphery of the active roller 231 relative to the machine body 10. The buttons 2341 at each end of the shaft seat 233 are inserted into the track cover 22, securing the outer periphery of the driven roller 232 relative to the machine body 10. Related art uses clips or fasteners to secure the outer periphery of the driven roller 232 relative to the machine body 10, but this significantly complicates disassembly.

[0114] Based on this, Figure 11 and Figure 12a As shown, in the embodiment of the present application, overlapping portions 2321 are respectively provided at both ends of the driven roller 232. The overlapping portions 2321 surround part of the outer wall of the side portion 225 and are kept relatively fixed with the side portion 225 by friction, so as to prevent the driven roller 232 from falling, thereby keeping the track 21 flush with the horizontal plane.

[0115] It should be noted that when the second transmission assembly 23 needs to be disassembled, the operator presses the buttons 2341 at both ends of the shaft seat 233 at the same time to separate the shaft seat 233 from the track cover 22. When the shaft seat 233 is separated from the track cover 22, the driven roller 232 rotates around the axis of the active roller 231, that is, Figure 12a The arrow m shows the direction of movement, Figure 12a 2 shows that the axis of the cross section of the active roller 231 is the center of the circle, and the distance between the driven roller 232 and the active roller 231 is the radius. It can be understood that when the second transmission assembly 23 is disassembled, the driven roller 232 performs a circular motion.

[0116] When the crawler belt 21 is in the process of rotation, that is, the cleaning device 1 is in the process of cleaning, the driven roller 232 is subjected to a force in the vertical direction. Figure 12a In the direction of arrow s2 shown in the figure, during the cleaning process, the overlapping portion 2321 of the driven roller 232 is easily separated from the surface of the track cover 22 due to its own gravity.

[0117] Based on this, Figure 12a and Figure 12b As shown, in the embodiment of the present application, an inner buckle 2252 is provided on the side portion 225 at a position corresponding to the upper end of the overlap portion 2321. The inner buckle 2252 bends and extends toward the active roller 231 so that in the vertical direction, the upper end of the overlap portion 2321 overlaps the inner buckle 2252, thereby causing friction not only in the vertical direction but also in the horizontal direction between the inner wall of the overlap portion 2321 and the side portion 225. The horizontal friction between the inner wall of the overlap portion 2321 and the side portion 225 can ensure that the driven roller 232 is always located at the same horizontal plane as the active roller 231 during rotation, ensuring that the crawler 21 can remain flush with the horizontal plane during the cleaning process, further ensuring the cleaning effect of the cleaning device 1. In addition, since the driven roller 232 performs a circular motion when disassembling the second transmission assembly 23, the provision of the inner buckle 2252 on the side portion 225 of the track cover 22 does not affect the disassembly of the second transmission assembly 23.

[0118] In an alternative embodiment, if Figure 11 and Figure 12a As shown, the main cleaning module 20 also includes an in-position switch 28, which is mounted on the side portion 225 and opposite the overlap portion 2321. When the driven roller 232 contacts the in-position switch 28, the in-position switch 28 generates an in-position signal, which indicates that the track 21 is in place. After the track 21 is in place, it rotates and cleans to ensure effective cleaning.

[0119] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0120] Throughout this specification, references to "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" mean that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative references to the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A self-moving cleaning device, characterized in that: The cleaning device (1) comprises: fuselage (10); A main cleaning module (20) is provided below the machine body (10), the main cleaning module (20) comprising a first driving structure (33) and a crawler (21), the first driving structure (33) being used to drive the crawler (21) to rotate so as to clean the surface to be cleaned, the surface of the crawler (21) being covered with a flexible main cleaning member (210); a liquid outlet structure (40) located above the crawler belt (21), wherein the liquid flowing out of the liquid outlet structure (40) is used to wet the main cleaning element (210); A fluffing roller (30) is arranged along the length direction of the crawler (21), and the fluffing roller (30) is located behind the liquid outlet structure (40). When the crawler (21) rotates, the crawler (21) first passes through the liquid outlet structure (40) and then passes through the fluffing roller (30); wherein the fluffing roller (30) contacts the crawler (21) to fluff the main cleaning member (210) under the action of rotation; The fluffing roller (30) comprises: A first roller (31) is arranged along the length direction of the crawler (21); A fluffing hook (32) is provided along the length direction of the crawler (21) to cover the crawler (21) in the length direction of the crawler (21), a connecting end of the fluffing hook (32) is fixed to the first roller (31), and a free end of the fluffing hook (32) is curved.

2. The cleaning device according to claim 1, characterized in that The length of the fluffing roller (30) is greater than or equal to the length of the crawler (21) so as to contact the crawler (21) in the length direction of the crawler (21); wherein the length direction of the crawler (21) is perpendicular to the travel direction of the cleaning device (1).

3. The cleaning device according to claim 1, characterized in that The rotation direction of the fluffing roller (30) is the same as the rotation direction of the crawler (21).

4. The cleaning device according to claim 1, characterized in that The rotation direction of the fluffing roller (30) is opposite to the rotation direction of the crawler (21).

5. The cleaning device according to claim 4, characterized in that The rotation speed of the fluffing roller (30) is greater than the rotation speed of the crawler belt (21).

6. The cleaning device according to any one of claims 1 to 5, characterized in that The bending direction of the free end of the fluffing hook (32) is the same as the rotation direction of the first roller (31).

7. The cleaning device according to claim 6, characterized in that There are multiple fluffing hooks (32), and the multiple fluffing hooks (32) are evenly distributed along the axial direction of the first roller (31).

8. The cleaning device according to claim 1, characterized in that The first driving structure (33) comprises a first motor, and the first motor is also used to drive the fluffing roller (30) to rotate.

9. The cleaning device according to claim 8, characterized in that The first driving structure (33) further includes: A first transmission assembly (332), wherein the input end of the first transmission assembly (332) is connected to the first motor, and the first transmission assembly (332) has two output ends, and the two output ends respectively drive the crawler (21) and the fluffing roller (30) to rotate.

10. The cleaning device according to claim 9, characterized in that The first transmission assembly (332) comprises a worm gear structure (3321), a first gear structure (3322), and a second gear structure (3323); The first motor drives the worm in the worm gear structure (3321) to rotate; The worm wheel in the worm gear structure (3321) has double-layer teeth, one layer of the double-layer teeth is connected to the first gear structure (3322) to drive the crawler (21) to rotate; the other layer of the double-layer teeth is connected to the second gear structure (3323) to drive the fluffing roller (30) to rotate.

11. The cleaning device according to claim 9, characterized in that The two output ends of the first transmission assembly (332) are located at the same end of the crawler belt (21).

12. The cleaning device according to claim 1, characterized in that The main cleaning module (20) further includes: A track cover (22) is connected to the bottom of the chassis (12) of the fuselage (10); the track (21) is located in a track cavity (22a) of the track cover (22); the fluffing roller (30) is installed on the track cover (22); along the height direction of the fuselage (10), the fluffing roller (30) is located between the track cover (22) and the track (21).

13. The cleaning device according to claim 12, characterized in that The liquid outlet structure (40) is installed on the track cover (22) and is at least partially located below the track cover (22); The liquid outlet structure (40) comprises a plurality of liquid outlets (41), the liquid outlets (41) facing the crawler belt (21), and the plurality of liquid outlets (41) are distributed at intervals along the length direction of the crawler belt (21).

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