Chassis device and cleaning equipment

Abstract

The invention provides a chassis device and cleaning equipment, and belongs to the technical field of cleaning equipment, the chassis device comprises a ground washing rolling brush assembly, a water absorption raking assembly and a driving wheel set, in the advancing direction of the chassis device, the driving wheel set is arranged in front of the ground washing rolling brush assembly, and the ground washing rolling brush assembly is arranged in front of the water absorption raking assembly; the axis of the driving wheel set is a central axis, the cleaning width of the ground washing rolling brush assembly is smaller than the water absorption width of the water absorption scrabbling assembly, the cleaning width is the length of the ground washing rolling brush assembly parallel to the central axis, and the water absorption width is the length of the water absorption scrabbling assembly parallel to the central axis; and when the chassis device turns at a set turning radius, the water absorption area of the water absorption raking assembly on the ground covers the area of the ground cleaned by the ground cleaning rolling brush assembly. According to the chassis device, the situation that water stains exist on the ground during turning of the chassis device is avoided.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment, and in particular, relates to a chassis device and a cleaning equipment. Background Art

[0002] A cleaning robot generally includes a chassis device and a floor-cleaning module disposed on the chassis device. The floor-cleaning module generally includes a roller brush assembly and a squeegee assembly. The roller brush assembly is used to scrub the floor, and the squeegee assembly is used to absorb the sewage on the surface to be cleaned. When the cleaning robot turns, water stains remain on the floor, that is, the squeegee assembly fails to effectively absorb the water stains on the floor when the cleaning robot turns. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a chassis device and a cleaning device to solve the technical problem in the prior art that the squeegee assembly fails to effectively absorb water stains on the ground when the cleaning robot turns.

[0004] To achieve the above purpose, the technical solution adopted in this application is:

[0005] A first aspect of the present application provides a chassis device, including a floor scrubbing roller brush assembly, a squeegee assembly, and a driving wheel assembly, wherein:

[0006] Along the traveling direction of the chassis device, the driving wheel assembly is arranged in front of the floor-washing roller brush assembly, and the floor-washing roller brush assembly is arranged in front of the squeegee assembly;

[0007] The axis of the driving wheel assembly is the central axis, and the cleaning width of the floor scrubbing roller brush assembly is smaller than the water absorbing width of the squeegee assembly, wherein the cleaning width is the length of the floor scrubbing roller brush assembly parallel to the central axis, and the water absorbing width is the length of the squeegee assembly parallel to the central axis;

[0008] When the chassis device turns within a set turning radius, the water absorbing area of ​​the squeegee assembly on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly.

[0009] In some implementations, the projection of the chassis device onto the ground forms a projection area. When the center of the turning radius of the chassis device is located outside the projection area, the farthest distance between the scrubbing roller brush assembly and the center of the circle is smaller than the farthest distance between the squeegee assembly and the center of the circle; the closest distance between the scrubbing roller brush assembly and the center of the circle is smaller than the closest distance between the squeegee assembly and the center of the circle.

[0010] In some implementations, when the chassis device rotates around the origin, half of the water suction width of the squeegee assembly is greater than the farthest distance of the scrubbing roller brush assembly from the origin.

[0011] In some implementations, the projection of the chassis device onto the ground forms a projection area. When the turning radius of the chassis device is greater than 0 and the center of the turning radius of the chassis device is located in the projection area, the sum of the shortest distance of the scrubbing roller brush assembly from the origin and the turning radius of the chassis device is less than half of the water absorption width of the squeegee assembly.

[0012] In some implementations, when the cleaning width of the scrubbing roller brush assembly and the water absorbing width of the squeegee assembly are preset values, the turning radius R of the chassis device, the distance between the squeegee assembly and the central axis, and the distance between the scrubbing roller brush assembly and the central axis are limited so that the water absorbing area of ​​the squeegee assembly on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly.

[0013] In some implementations, the projection of the chassis device onto the ground forms a projection area. When the center of the turning radius of the chassis device is outside the projection area, the value range of the turning radius R of the chassis device is R>350mm; and / or, when the center of the turning radius of the chassis device is within the projection area, the value range of the turning radius R of the chassis device is 0≤R<180mm.

[0014] In some implementations, the distance t1 from the position of the squeegee assembly closest to the central axis to the central axis is in the range of 108≤t1≤204mm;

[0015] The distance t2 from the side of the scrubbing roller brush assembly close to the central axis to the central axis is in the range of 75≤t2≤110mm;

[0016] The distance t3 from the side of the scrubbing roller brush assembly away from the central axis to the central axis has a value range of 134≤t3≤165mm.

[0017] In some implementations, the drive wheel set is a differential drive wheel set.

[0018] In some implementations, the chassis device further includes a sweeping roller brush assembly, and the sweeping roller brush assembly is disposed in front of the driving wheel set along the travel direction of the chassis device.

[0019] In some implementations, the height of the sweeping roller brush assembly is adjustable; the height of the scrubbing roller brush assembly and the squeegee assembly are adjustable.

[0020] In some implementations, the chassis device includes a first universal wheel group and a second universal wheel group. Along the travel direction of the chassis device, the first universal wheel group is arranged in front of the sweeping roller brush assembly, and the second universal wheel group is arranged between the washing roller brush assembly and the squeegee assembly; the second universal wheel group is height-adjustable together with the squeegee assembly.

[0021] A second aspect of the present application is a cleaning device, comprising a chassis device as provided by any of the above technical solutions.

[0022] In some implementations, the cleaning device also includes a sewage tank, a dust box, and a negative pressure generating component, which are supported on a chassis device, and the sewage tank and the dust box are respectively matched with a squeegee assembly and a sweeping roller brush assembly of the chassis device, and the sewage tank and the dust box are connected to the negative pressure generating component through a valve body, and the valve body is controlled to switch the negative pressure generating component to be connected to the sewage tank or to the dust box.

[0023] The beneficial effect of the present application is that by setting the cleaning width of the scrubbing roller brush assembly to be smaller than the water absorption width of the squeegee assembly, when the chassis device moves forward in a straight line on the ground, the water absorption area of ​​the squeegee assembly on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly, thereby ensuring that no water stains remain on the ground when the chassis device moves straight forward; in addition, the present embodiment also arranges that when the chassis device turns within a set turning radius, the water absorption area of ​​the squeegee assembly on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly, thereby preventing water stains on the ground when the chassis device turns, thereby ensuring the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 A schematic diagram of the structure of a chassis device provided in an embodiment of the present application;

[0026] Figure 2 A bottom view schematic diagram of a chassis device provided in an embodiment of the present application;

[0027] Figure 3 A schematic diagram of the motion trajectory of the chassis device provided in an embodiment of the present application when performing a large radius turn;

[0028] Figure 4 A schematic diagram of the motion trajectory of the chassis device provided in an embodiment of the present application when turning in situ;

[0029] Figure 5 A schematic diagram of the motion trajectory of the chassis device provided in an embodiment of the present application when performing a small radius turn.

[0030] Among them, the reference numerals in the figure are:

[0031] 1- Chassis device;

[0032] 101-floor-scrubbing roller brush assembly; 102-squeegee assembly; 103-driving wheel assembly; 104-floor-sweeping roller brush assembly; 105-first universal wheel assembly; 106-second universal wheel assembly; 107-side brush assembly;

[0033] 1031 - first driving wheel; 1032 - second driving wheel. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, but cannot be understood as limiting the present application.

[0035] In the description of the present application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inside", "outside", "up", "down", "left", "right", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0036] In order to clearly describe the technical solution of the present application, the words "first", "second" and the like are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit the difference.

[0037] In this application, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In this application, "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0039] It should be noted that, in this application, words such as "in one embodiment", "exemplarily", "for example", etc. are used to indicate examples, illustrations or descriptions. Any embodiment or design described in this application as "in one embodiment", "exemplarily", "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment", "exemplarily", "for example", etc. is intended to present related concepts in a specific way.

[0040] See also Figure 1-Figure 2 , Figure 1 This is a schematic diagram of the structure of the chassis device 1 provided in an embodiment of the present application. Figure 2 This is a bottom view of the chassis device 1 provided in an embodiment of the present application. For ease of description, in this embodiment, the length direction of the chassis device 1 is defined as the X-axis direction, the width direction of the chassis device 1 is defined as the Y-axis direction, and the height direction of the chassis device 1 is defined as the Z-axis direction, wherein the X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0041] The chassis device 1 provided in the embodiment of the present application may be a chassis of a cleaning device, and the cleaning device may be a floor scrubber robot or a multifunctional cleaning robot. Figure 1 The chassis device 1 includes a floor scrubbing roller brush assembly 101 , a squeegee assembly 102 and a driving wheel assembly 103 .

[0042] See also Figure 1 , along the traveling direction of the chassis device 1, that is Figure 1 In the direction of the middle X-axis, the driving wheel assembly 103 is arranged in front of the floor scrubbing roller brush assembly 101, and the floor scrubbing roller brush assembly 101 is arranged in front of the squeegee assembly 102.

[0043] The scrubbing roller brush assembly 101 rotates and the cleaning device can selectively spray water on the ground, so that the scrubbing roller brush assembly 101 can scrub the ground. The squeegee assembly 102 is located at the rear side of the scrubbing roller brush assembly 101 in the direction of travel, and is used to absorb dirty water on the ground.

[0044] In a specific example, a spray assembly is provided on the scrubbing roller brush assembly 101, and the spray assembly is connected to a water tank on the cleaning equipment. The water tank is used to provide clean water or cleaning liquid to the spray assembly, and the spray assembly further sprays clean water or cleaning liquid onto the scrubbing roller brush assembly 101 and the surface to be cleaned, so that the scrubbing roller brush assembly 101 can scrub the ground.

[0045] In a specific example, the squeegee assembly 102 is connected to a sewage tank on the cleaning equipment, and the sewage tank is connected to a negative pressure generating assembly. When the negative pressure generating assembly is working, the sewage tank and the water absorption chamber of the squeegee assembly 102 can generate negative pressure to absorb the sewage on the surface to be cleaned.

[0046] The driving wheel set 103 is used to enable the entire cleaning device to automatically move along the surface to be cleaned, thereby enabling the cleaning device to clean the ground. Specifically, the driving wheel set 103 can enable the cleaning device to move forward in a straight line, turn, and so on. Figure 2 , schematically illustrates the central axis L1 of the driving wheel set 103 , where the central axis L1 of the driving wheel set 103 is the axis of the rotating shaft on the driving wheel set 103 .

[0047] In one example, the central axis L1 of the driving wheel set 103 is the center line in the length direction of the chassis device 1. Figure 2 In the direction of the middle X axis, the distance from the front end of the chassis device 1 to the central axis L1 is equal to the distance from the rear end of the chassis device 1 to the central axis L1, so as to balance the force of the driving wheel group 103 and make the chassis device 1 move stably.

[0048] See also Figure 2 In this embodiment, the cleaning width S of the scrubbing brush assembly 101 is smaller than the water absorption width B of the squeegee assembly 102, wherein the cleaning width S is the length of the scrubbing brush assembly 101 parallel to the central axis L1, and the water absorption width B is the length of the squeegee assembly 102 parallel to the central axis L1. Figure 2 In the direction of the Y axis, one end of the squeegee assembly 102 protrudes from one end of the corresponding side of the roller brush assembly 101. Figure 2 , which illustrates the length a of one end of the squeegee assembly 102 and the corresponding end of the scrubbing roller brush assembly 101 along the width direction of the chassis device 1. When the chassis device 1 moves forward in a straight line on the ground, the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, so that when the chassis device 1 moves forward in a straight line on the ground, no water stains are left on the ground.

[0049] See also Figure 2 , illustrating the center line of the chassis device 1 parallel to the X-axis direction, and calling the center line the horizontal center line L2. In an example, the distances from both ends of the floor scrubbing roller brush assembly 101 to the horizontal center line L2 are the same, and the distances from both ends of the squeegee assembly 102 to the horizontal center line L2 are the same.

[0050] In this embodiment, relevant parameters such as the scrubbing roller brush assembly 101 and the squeegee assembly 102 can be set so that when the chassis device 1 turns within the set turning radius, the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, so as to avoid water stains on the ground when the chassis device 1 turns, affecting the customer experience.

[0051] In the present embodiment, by setting the cleaning width of the scrubbing roller brush assembly 101 to be smaller than the water absorption width of the squeegee assembly 102, when the chassis device 1 moves forward in a straight line on the ground, the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, thereby ensuring that no water stains remain on the ground when the chassis device 1 moves straight. In addition, the present embodiment also sets that when the chassis device 1 turns within a set turning radius, the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, thereby preventing water stains on the ground when the chassis device 1 turns, thereby ensuring the cleaning effect.

[0052] In one embodiment, the projection of the chassis device 1 onto the ground forms a projection area. When the center of the turning radius of the chassis device 1 is located outside the projection area (i.e., when the chassis device 1 makes a large turn), the farthest distance between the scrubbing roller brush assembly 101 and the center of the circle is smaller than the farthest distance between the squeegee assembly 102 and the center of the circle; the closest distance between the scrubbing roller brush assembly 101 and the center of the circle is smaller than the closest distance between the squeegee assembly 102 and the center of the circle.

[0053] See also Figure 3 , illustrates the center O2 of the turning radius of the chassis device 1. The center O2 is not located on the chassis device 1, and the central axis of the driving wheel set 103 passes through the center O2.

[0054] See also Figure 3 , R is the turning radius of the chassis device 1, the intersection of the central axis L1 and the horizontal center line L2 is 01, and R is the distance between the intersection 01 and the center O2. Figure 3 Four concentric circles are shown in the figure, and the radii of the four concentric circles are r1, r2, r3, and r4 respectively. When the chassis device 1 rotates one circle, r1 is the motion trajectory of the farthest end of the squeegee assembly 102 from the circle center O2 when the chassis device 1 rotates one circle, r2 is the motion trajectory of the farthest end of the scrubbing roller brush assembly 101 from the circle center O2 when the chassis device 1 rotates one circle, r3 is the motion trajectory of the closest end of the squeegee assembly 102 from the circle center O2 when the chassis device 1 rotates one circle, and r4 is the motion trajectory of the closest end of the scrubbing roller brush assembly 101 from the circle center O2 when the chassis device 1 rotates one circle.

[0055] The cleaning width of the scrubbing roller brush assembly 101 is set to S, the water absorption width of the squeegee assembly 102 is set to B, the closest distance between the squeegee assembly 102 and the central axis L1 is t1, the distance between the side of the scrubbing roller brush assembly 101 close to the central axis L1 and the central axis L1 is t2, and the distance between the side of the scrubbing roller brush assembly 101 far from the central axis L1 and the central axis L1 is t3.

[0056] When the chassis device 1 makes a big turn, in order to achieve that the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, it is necessary that r1>r2 (i.e., the farthest distance from the scrubbing roller brush assembly 101 to the center of the circle is less than the farthest distance from the squeegee assembly 102 to the center of the circle), r3>r4 (i.e., the closest distance from the scrubbing roller brush assembly 101 to the center of the circle is less than the closest distance from the squeegee assembly 102 to the center of the circle), according to Figure 3 :

[0057]

[0058] Since r1>r2, r3>r4, then

[0059]

[0060] In this embodiment, by limiting the maximum distance of the roller brush assembly 101 from the center of the circle to be smaller than the maximum distance of the squeegee assembly 102 from the center of the circle, the closest distance of the floor scrubbing roller brush assembly 101 from the center of the circle is smaller than the closest distance of the squeegee assembly 102 from the center of the circle, so that when the disc device 1 makes a large turn, the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the floor scrubbing roller brush assembly 101, so as to avoid water stains on the ground when the chassis device 1 makes a large turn.

[0061] In one embodiment, when the chassis device 1 rotates around the origin, half of the water absorption width of the squeegee assembly 102 is greater than the farthest distance between the scrubbing roller brush assembly 101 and the origin.

[0062] See also Figure 4 , illustrates the center O2 of the chassis device 1 when it rotates around the origin, and the center O2 is the intersection of the central axis L1 and the horizontal center line L2. Figure 4 A circle with a radius of r5 is shown in FIG. 1 . When the chassis device 1 rotates one circle, r5 is the motion trajectory of the farthest end of the scrubbing roller brush assembly 101 from the center of the circle O2 when the chassis device 1 rotates one circle.

[0063] The cleaning width of the scrubbing brush assembly 101 is set to S, the water absorbing width of the squeegee assembly 102 is set to B, and the distance between the side of the scrubbing brush assembly 101 away from the central axis L1 and the central axis L1 is set to t3.

[0064] When the chassis device 1 rotates around the origin, if the water absorption area of ​​the squeegee assembly 102 on the ground is to cover the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, B / 2>r5 is required (that is, half of the water absorption width of the squeegee assembly 102 is greater than the farthest distance from the scrubbing roller brush assembly 101 to the origin). Figure 4 :

[0065]

[0066] Since B / 2>r5, then

[0067]

[0068] In this embodiment, by limiting half of the water absorption width of the squeegee assembly 102 to be greater than the farthest distance from the origin of the scrubbing brush assembly 101, when the disc device 1 turns on the spot, the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing brush assembly 101, so as to avoid water stains on the ground when the chassis device 1 rotates on the spot.

[0069] In one embodiment, the projection of the chassis device 1 onto the ground forms a projection area. When the turning radius of the chassis device 1 is greater than 0 and the center of the turning radius of the chassis device 1 is located in the projection area (i.e., when the chassis device 1 makes a small radius turn), the sum of the closest distance of the scrubbing roller brush assembly 101 to the origin and the turning radius of the chassis device 1 is less than half of the water absorption width of the squeegee assembly 102.

[0070] See also Figure 5 , illustrates the center O2 of the turning radius of the chassis device 1, the center O2 is located on the chassis device 1, and the central axis of the driving wheel group 103 passes through the center O2.

[0071] See also Figure 5 , R is the turning radius of the chassis device 1, the intersection of the central axis L1 and the horizontal center line L2 is 01, and R is the distance between the intersection 01 and the center O2. Figure 5 A circle with a radius of r6 is shown in FIG. When the chassis device 1 rotates one circle, r6 is the motion trajectory of the closest end of the scrubbing roller brush assembly 101 to the center of the circle O2 when the chassis device 1 rotates one circle.

[0072] The cleaning width of the scrubbing brush assembly 101 is set to S, the water absorbing width of the squeegee assembly 102 is set to B, and the distance between the side of the scrubbing brush assembly 101 close to the central axis L1 and the central axis L1 is set to t2.

[0073] When the chassis device 1 rotates at a small radius, if the water absorption area of ​​the squeegee assembly 102 on the ground is to cover the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, B / 2>(R+r6) is required (that is, the sum of the shortest distance of the scrubbing roller brush assembly 101 from the origin and the turning radius of the chassis device 1 is less than half of the water absorption width of the squeegee assembly 102). Figure 4 :

[0074]

[0075] Since B / 2>(R+r6), then

[0076]

[0077] In this embodiment, the sum of the shortest distance between the scrubbing roller brush assembly 101 and the origin and the turning radius of the chassis device 1 is limited to be less than half of the water absorption width of the squeegee assembly 102, so that when the disc device 1 makes a small radius turn, the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, so as to avoid water stains on the ground when the chassis device 1 rotates in place.

[0078] In one embodiment, when the cleaning width of the scrubbing roller brush assembly 101 and the water absorption width of the squeegee assembly 102 are preset values, the turning radius R of the chassis device 1, the distance between the squeegee assembly 102 and the central axis, and the distance between the scrubbing roller brush assembly 101 and the central axis are limited so that the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101.

[0079] Combined with the above Figure 3-Figure 5 From the analysis, it can be known that when the chassis device 1 turns, the water absorption area of ​​the squeegee assembly 102 on the ground must cover the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, which is related to the following parameters: the turning radius R of the chassis device 1, the cleaning width S of the scrubbing roller brush assembly 101, the water absorption width B of the squeegee assembly 102, the closest distance between the squeegee assembly 102 and the central axis L1 is t1, the distance between the side of the scrubbing roller brush assembly 101 close to the central axis L1 and the central axis L1 is t2, and the distance between the side of the scrubbing roller brush assembly 101 far from the central axis L1 and the central axis L1 is t3.

[0080] Usually, during the product design phase, key parameters for the cleaning effect are preset, that is, the cleaning width of the scrubbing brush assembly 101 is set to S and the water absorption width of the squeegee assembly 102 is set to B. According to the structural design, for example, the structure is as compact as possible to facilitate the cleaning equipment to pass through a narrow passage, it is necessary to further design the distance t1 between the squeegee assembly 102 and the central axis L1, the distance t2 between the side of the scrubbing brush assembly 101 close to the central axis L1 and the distance t3 between the side of the scrubbing brush assembly 101 far from the central axis L1, and then plan the path of the chassis device 1, that is, plan the turning radius range of the chassis device 1, so that the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing brush assembly 101.

[0081] For example, when the cleaning width is S and the water absorption width is B, which are predetermined values, when the chassis device 1 makes a large turn, in order to achieve that the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the floor scrubbing roller brush assembly 101, the parameters t1, t2, t3 and the turning radius R need to satisfy:

[0082]

[0083] For example, in combination with the compact layout, the ranges of parameters t1, t2, t3 and turning radius R can be reasonably designed.

[0084] For example, when the cleaning width is S and the water absorption width is B, which are predetermined values, when the chassis device 1 rotates around the origin, in order to achieve that the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, the parameter t3 needs to satisfy:

[0085]

[0086] For example, when the cleaning width is S and the water absorption width is B, which are predetermined values, when the chassis device 1 rotates with a small radius, in order to achieve that the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, the parameter t3 and the turning radius R need to satisfy:

[0087]

[0088] If the chassis device 1 is required to make a large turn, an original turn, and a small turn while ensuring that the water absorption area of ​​the squeegee assembly 102 on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly 101, the above-mentioned limiting conditions for the parameters t1, t2, t3 and the turning radius R need to be met at the same time.

[0089] In one scenario, the minimum passage width of the chassis device 1 is no greater than 600 mm.

[0090] In this embodiment, by limiting the turning radius R of the chassis device 1, when the key parameters of the cleaning effect (i.e., the water absorption width B and the cleaning width S) are preset values, the chassis device 1 can be made as compact as possible to facilitate the cleaning equipment to pass through narrow passages.

[0091] In one embodiment, the projection of the chassis device 1 onto the ground forms a projection area. When the center of the turning radius of the chassis device 1 is located outside the projection area, the value range of the turning radius R of the chassis device 1 is R>350 mm.

[0092] In this embodiment, when the cleaning width S of the scrubbing roller brush assembly 101 and the water absorption width B of the squeegee assembly 102 are preset values, the distance t1 from the position of the squeegee assembly 102 closest to the central axis to the central axis can be set in the range of 108≤t1≤204mm; the distance t2 from the side of the scrubbing roller brush assembly 101 close to the central axis to the central axis can be set in the range of 75≤t2≤110mm; the distance t3 from the side of the scrubbing roller brush assembly 101 away from the central axis to the central axis can be set in the range of 134≤t3≤165mm, so that the turning radius R of the chassis device 1 has a value range of R>350mm, so that the water absorption area of ​​the squeegee assembly 102 on the ground can cover the area of ​​the ground cleaned by the scrubbing roller brush assembly 101.

[0093] In a specific example, the distance t1 from the position of the squeegee assembly 102 closest to the central axis to the central axis is 108mm or 145mm or 150mm or 161mm or 170mm or 176mm or 204mm; the distance t2 from the side of the scrubbing roller brush assembly 101 close to the central axis to the central axis is 75mm or 80mm or 94mm or 100mm or 110mm; the distance t3 from the side of the scrubbing roller brush assembly 101 far from the central axis to the central axis is 134mm or 140mm or 149mm or 150mm or 165mm.

[0094] In a specific example, the cleaning width S of the scrubbing roller brush assembly 101 ranges from 400 mm to 440 mm; the water absorption width B of the squeegee assembly 102 ranges from 500 mm to 560 mm.

[0095] For example, the cleaning width S of the scrubbing roller brush assembly 101 is 400 mm or 410 mm or 420 mm or 430 mm or 440 mm, etc.; the water absorption width B of the squeegee assembly 102 is 500 mm or 510 mm or 520 mm or 530 mm or 540 mm or 550 mm or 560 mm, etc.

[0096] In this embodiment, the turning radius R and the parameters t1, t2, and t3 are limited so that the water absorption area of ​​the squeegee assembly 102 on the ground can cover the area of ​​the ground cleaned by the scrubbing roller brush assembly 101.

[0097] In one embodiment, when the center of the turning radius of the chassis device 1 is located within the projection area, the value range of the turning radius R of the chassis device is 0≤R<180 mm.

[0098] In this embodiment, when the cleaning width S of the scrubbing roller brush assembly 101 and the water absorption width B of the squeegee assembly 102 are preset values, the distance t1 from the position of the squeegee assembly 102 closest to the central axis to the central axis can be set in the range of 108≤t1≤204mm; the distance t2 from the side of the scrubbing roller brush assembly 101 close to the central axis to the central axis can be set in the range of 75≤t2≤110mm; the distance t3 from the side of the scrubbing roller brush assembly 101 away from the central axis to the central axis can be set in the range of 134≤t3≤165mm, so that the turning radius R of the chassis device can be set in the range of 0≤R<180mm, so that the water absorption area of ​​the squeegee assembly 102 on the ground can cover the area of ​​the ground cleaned by the scrubbing roller brush assembly 101.

[0099] In a specific example, the distance t1 from the position of the squeegee assembly 102 closest to the central axis to the central axis is 108mm or 145mm or 150mm or 161mm or 170mm or 176mm or 204mm; the distance t2 from the side of the scrubbing roller brush assembly 101 close to the central axis to the central axis is 75mm or 80mm or 94mm or 100mm or 110mm; the distance t3 from the side of the scrubbing roller brush assembly 101 far from the central axis to the central axis is 134mm or 140mm or 149mm or 150mm or 165mm.

[0100] In a specific example, the cleaning width S of the scrubbing roller brush assembly 101 ranges from 400 mm to 440 mm; the water absorption width B of the squeegee assembly 102 ranges from 500 mm to 560 mm.

[0101] For example, the cleaning width S of the scrubbing roller brush assembly 101 is 400 mm or 410 mm or 420 mm or 430 mm or 440 mm, etc.; the water absorption width B of the squeegee assembly 102 is 500 mm or 510 mm or 520 mm or 530 mm or 540 mm or 550 mm or 560 mm, etc.

[0102] In this embodiment, the turning radius R and the parameters t1, t2, and t3 are limited so that the water absorption area of ​​the squeegee assembly 102 on the ground can cover the area of ​​the ground cleaned by the scrubbing roller brush assembly 101.

[0103] In one embodiment, the driving wheel set 103 is a differential driving wheel set. The differential driving wheel set is mainly composed of two or more driving wheels, the rotation speeds of which can be independently controlled, and the chassis device 1 can achieve various motion modes such as turning, moving forward, and moving backward by the speed difference between different driving wheels.

[0104] In a specific example, the driving wheel group 103 includes a first driving wheel 1031 and a second driving wheel 1032, and the first driving wheel 1031 and the second driving wheel 1032 are respectively arranged on both sides of the traveling direction of the chassis device 1. Specifically in this embodiment, the first driving wheel 1031 is located on the left side of the cleaning robot, and the second driving wheel 1032 is located on the right side of the cleaning robot. When the rotation speeds of the first driving wheel 1031 and the second driving wheel 1032 are the same, the cleaning robot goes straight; when the rotation speed of the first driving wheel 1031 is greater than the rotation speed of the second driving wheel 1032, the cleaning robot turns right; when the rotation speed of the second driving wheel 1032 is greater than the rotation speed of the first driving wheel 1031, the cleaning robot turns left. By designing the speed difference between the first driving wheel 1031 and the second driving wheel 1032, the chassis device 1 can turn in place, the chassis device 1 can turn with a large radius, and the chassis device 1 can turn with a small radius.

[0105] In a specific example, the first driving wheel 1031 and the second driving wheel 1032 both include hub motors to respectively realize the rotation and speed adjustment of the first driving wheel 1031 and the second driving wheel 1032 .

[0106] The driving wheel set 103 provided in this embodiment is a differential driving wheel set, which can realize the movement modes of turning and moving forward at different radii of the chassis device 1.

[0107] In one embodiment, see Figure 1 The chassis device 1 includes a first universal wheel set 105 and / or a second universal wheel set 106 .

[0108] The first universal wheel set 105 cooperates with the first driving wheel 1031 and the second driving wheel 1032 to form a triangular support, thereby improving the walking stability of the chassis device 1; the second universal wheel set 106 cooperates with the first driving wheel 1031 and the second driving wheel 1032 to form a triangular support, thereby improving the walking stability of the chassis device 1.

[0109] When the chassis device 1 includes both the first universal wheel set 105 and the second universal wheel set 106 , the first universal wheel set 105 is disposed in front of the second universal wheel set 106 along the traveling direction of the chassis device 1 .

[0110] Preferably, the first universal wheel set 105 and the second universal wheel set 106 have the same structure.

[0111] Exemplarily, the first universal wheel set 105 includes three universal wheels, and the three universal wheels can rotate 360 ​​degrees. Optionally, the diameters of the three universal wheels are the same to ensure effective support for the chassis device 1; or, the diameters of two universal wheels are smaller than the diameter of the other universal wheel, and the universal wheel with a larger diameter is located at the rear side of the two universal wheels with a smaller diameter in the traveling direction, which can improve the obstacle crossing ability of the chassis device 1.

[0112] In one example, see Figure 1 The second universal wheel assembly 106 is disposed between the floor scrubbing roller brush assembly 101 and the squeegee assembly 102 to make the structure of the chassis device 1 compact and minimize the size of the chassis device 1 so that the chassis device 1 can pass through narrow passages.

[0113] In one embodiment, see Figure 1 and Figure 2 The chassis device 1 also includes a sweeping roller brush assembly 104 , and the sweeping roller brush assembly 104 is arranged in front of the driving wheel group 103 along the moving direction of the chassis device 1 .

[0114] The sweeping roller brush assembly 104 is used to sweep the solid waste on the surface to be cleaned and sweep the solid waste into the dust box of the chassis device 1.

[0115] In one example, the sweeping roller brush assembly 104 is a rubber-bristle integrated roller brush.

[0116] In one scenario, the sweeping roller brush assembly 104 can clean garbage with a height of 20 mm.

[0117] In this embodiment, by providing the sweeping roller brush assembly 104, not only can the floor scrubber assembly 101 and the squeegee assembly 102 be used to scrub the floor, but the sweeping roller brush assembly 104 can also be used to clean the floor, and can achieve the effect of separating dry and wet cleaning, so that the cleaning device has more cleaning modes. In addition, please refer to Figure 2 The sweeping roller brush assembly 104 is arranged in front of the scrubbing roller brush assembly 101 along the direction of the X-axis, which can realize front sweeping and back scrubbing, and dry and wet separation, which is more in line with the cleaning process.

[0118] In one embodiment, the chassis device 1 also includes a side brush assembly 107, and the side brush assembly 107 is arranged on at least one side of the moving direction of the sweeping roller brush assembly 104. The side brush assembly 107 is used to sweep the garbage inward and backward, so that the garbage is gathered on the front side of the sweeping roller brush assembly 104 to be swept by the sweeping roller brush assembly 104, thereby improving the cleaning effect.

[0119] Preferably, side brush assemblies 107 are provided on both the left and right sides of the sweeping roller brush assembly 104 in the direction of travel.

[0120] In a specific example, the length of the two side brush assemblies 107 along the width direction of the chassis device 1 is 580 mm to 600 mm. For example, the length of the two side brush assemblies 107 along the width direction of the chassis device 1 is 590 mm.

[0121] In one embodiment, the height of the sweeping roller brush assembly 104 is adjustable, and the height of the scrubbing roller brush assembly 101 and the squeegee assembly 102 are adjustable.

[0122] When only the sweeping roller brush assembly 104 is to be operated, the height of the scrubbing roller brush assembly 101 and the squeegee assembly 102 can be raised; when only the scrubbing roller brush assembly 101 and the squeegee assembly 102 are to be operated, the height of the sweeping roller brush assembly 104 can be raised.

[0123] In a specific example, the chassis device 1 includes a first lifting mechanism and a second lifting mechanism, the first lifting mechanism is connected to the sweeping roller brush assembly 104, the first lifting mechanism is used to adjust the height of the sweeping roller brush assembly 104, the second lifting mechanism is connected to the scrubbing roller brush assembly 101 and the squeegee assembly 102, the second lifting mechanism is used to change the height of the scrubbing roller brush assembly 101 and the squeegee assembly 102; or, in other specific examples, the chassis device 1 includes a first lifting mechanism, a second lifting mechanism and a third lifting mechanism, the first lifting mechanism is connected to the sweeping roller brush assembly 104, the first lifting mechanism is used to adjust the height of the sweeping roller brush assembly 104, the second lifting mechanism is connected to the scrubbing roller brush assembly 101, the second lifting mechanism is used to change the height of the scrubbing roller brush assembly 101, the third lifting mechanism is connected to the squeegee assembly 102, and the third lifting mechanism is used to change the height of the squeegee assembly 102.

[0124] In one embodiment, the second universal wheel set 106 is height-adjustable together with the squeegee assembly 102 .

[0125] In a specific example, the second universal wheel set 106 and the squeegee assembly 102 are adjusted in height through the same lifting mechanism, and the second universal wheel set 106 can be used to limit the height of the squeegee assembly 102 when it is lowered.

[0126] In one embodiment, the first universal wheel set 105 is disposed in front of the sweeping roller brush assembly 104, and the first universal wheel set 105 is located between the two side brush assemblies 107, so as to make the structure of the chassis device 1 compact and minimize the size of the chassis device 1.

[0127] An embodiment of the present application provides a cleaning device, comprising the chassis device 1 provided in any of the above embodiments.

[0128] As for the chassis device 1, the specific structure has been described above and will not be described in detail here.

[0129] The cleaning device provided in the embodiment of the present application not only ensures that there is no water stain remaining on the ground when the chassis device 1 is moving straight, but also ensures that there is no water stain remaining on the ground when the chassis device 1 turns within a set turning radius, so as to keep the ground clean and improve the user experience.

[0130] In one embodiment, the cleaning device also includes a sewage tank, a dust box and a negative pressure generating component, the sewage tank and the dust box are supported on the chassis device 1, the sewage tank and the dust box are respectively matched with the squeegee assembly 102 and the sweeping roller brush assembly 104 of the chassis device 1, the sewage tank and the dust box are connected to the negative pressure generating component through a valve body, and the valve body is controlled to switch the negative pressure generating component to be connected to the sewage tank or to be connected to the dust box.

[0131] The sewage tank cooperates with the squeegee assembly 102, which means that the sewage tank is connected to the water suction chamber of the squeegee assembly 102 through a pipe; the dust box cooperates with the sweeping roller brush assembly 104, which means that the dust box is connected to the dust box that cooperates with the sweeping roller brush assembly 104 through a pipe, and the sweeping roller brush assembly 104 can sweep solid garbage into the dust box when it rotates.

[0132] Specifically, when the negative pressure generating component is connected to the sewage tank and is not connected to the dust box, the negative pressure generating component is started at this time, so that the sewage tank and the water absorption chamber of the squeegee assembly 102 can generate negative pressure, so as to absorb the sewage on the surface to be cleaned; when the negative pressure generating component is connected to the dust box and is not connected to the sewage tank, the negative pressure generating component is started at this time, so that the dust box can generate negative pressure, so as to absorb the solid garbage swept into the dust box by the sweeping roller brush assembly 104. In one scenario, the negative pressure generating component can be connected to the sewage tank and the dust box at the same time by controlling the valve body.

[0133] In this embodiment, the sewage box and the dust box share a negative pressure generating component, so the number of parts on the cleaning equipment can be reduced, which is conducive to the miniaturization of the cleaning equipment.

[0134] In one embodiment, the cleaning device further includes an ultrasonic recognition device, which is connected to a control device of the cleaning device. The ultrasonic recognition device is used to recognize hard floors and carpets, so as to easily solve complex cleaning needs.

[0135] The working modes of the cleaning device provided in the embodiments of the present application may include the following:

[0136] 1. Dry cleaning mode: The side brush assembly 107 sweeps the garbage to the middle of the chassis device 1, and the sweeping roller brush assembly 104 descends. The sweeping roller brush assembly 104 rotates to sweep the garbage into the dust box, and the garbage in the dust box is absorbed into the dust box by the action of the negative pressure generating assembly, so that the lint, paper scraps and other garbage sticking to the ground can be swept more cleanly.

[0137] 2. Floor washing mode: the floor washing roller brush assembly 101 and the squeegee assembly 102 descend, the floor washing roller brush assembly 101 rotates and can selectively spray water on the ground, and the squeegee assembly 102 sucks the sewage on the ground under the action of the negative pressure generating assembly.

[0138] 3. Sweeping / scrubbing mode: the side brush assembly 107 sweeps the garbage to the middle of the chassis device 1, the sweeping roller brush assembly 104 descends, and the sweeping roller brush assembly 104 rotates to sweep the garbage into the dust box, and the garbage in the dust box is absorbed into the dust box by the action of the negative pressure generating assembly; at the same time, the scrubbing roller brush assembly 101 and the squeegee assembly 102 descend, the scrubbing roller brush assembly 101 rotates and can selectively spray water on the ground, and the squeegee assembly 102 sucks the sewage on the ground under the action of the negative pressure generating assembly.

[0139] 4. Vacuuming mode: The dust on the ground is absorbed by the suction pipe of the cleaning equipment.

[0140] 5. Dust pushing mode: Use the dust pushing component to push and concentrate dry pollutants such as dust and debris on the ground for subsequent cleaning.

[0141] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A chassis device, characterized in that: It comprises a floor-scrubbing roller brush assembly (101), a squeegee assembly (102) and a driving wheel assembly (103), wherein: Along the travel direction of the chassis device (1), the driving wheel assembly (103) is arranged in front of the floor-cleaning roller brush assembly (101), and the floor-cleaning roller brush assembly (101) is arranged in front of the squeegee assembly (102); The cleaning width of the scrubbing roller brush assembly (101) is smaller than the water absorbing width of the squeegee assembly (102), wherein the axis of the driving wheel assembly (103) is the central axis, the cleaning width is the length of the scrubbing roller brush assembly (101) parallel to the central axis, and the water absorbing width is the length of the squeegee assembly (102) parallel to the central axis; When the chassis device (1) turns within a set turning radius, the water absorption area of ​​the squeegee assembly (102) on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly (101).

2. The chassis device according to claim 1, characterized in that: The projection of the chassis device (1) onto the ground forms a projection area, and when the center of the turning radius of the chassis device (1) is located outside the projection area, the farthest distance between the floor scrubbing roller brush assembly (101) and the center of the circle is smaller than the farthest distance between the squeegee assembly (102) and the center of the circle; and the shortest distance between the floor scrubbing roller brush assembly (101) and the center of the circle is smaller than the shortest distance between the squeegee assembly (102) and the center of the circle.

3. The chassis device according to claim 1, characterized in that: When the chassis device (1) rotates around the origin, half of the water absorption width of the squeegee assembly (102) is greater than the farthest distance of the scrubbing roller brush assembly (101) from the origin.

4. The chassis device according to claim 1, characterized in that: The projection of the chassis device (1) onto the ground forms a projection area, and when the turning radius of the chassis device is greater than 0 and the center of the turning radius of the chassis device (1) is located within the projection area, the sum of the shortest distance of the floor scrubbing roller brush assembly (101) from the origin and the turning radius of the chassis device (1) is less than half of the water absorption width of the squeegee assembly (102).

5. The chassis device according to claim 1, characterized in that: When the cleaning width of the scrubbing roller brush assembly (101) and the water absorbing width of the squeegee assembly (102) are preset values, the turning radius R of the chassis device (1), the distance between the squeegee assembly (102) and the central axis, and the distance between the scrubbing roller brush assembly (101) and the central axis are limited so that the water absorbing area of ​​the squeegee assembly (102) on the ground covers the area of ​​the ground cleaned by the scrubbing roller brush assembly (101).

6. The chassis device according to claim 5, characterized in that: The projection of the chassis device (1) onto the ground forms a projection area, and when the center of the turning radius of the chassis device (1) is located outside the projection area, the value range of the turning radius R of the chassis device (1) is R>350 mm; and / or, When the center of the turning radius of the chassis device (1) is located within the projection area, the value range of the turning radius R of the chassis device is 0≤R<180 mm.

7. The chassis device according to claim 5, characterized in that: The distance t1 between the position of the squeegee assembly (102) closest to the central axis and the central axis has a value range of 108≤t1≤204mm; The distance t2 from the side of the scrubbing roller brush assembly (101) close to the central axis to the central axis is in the range of 75≤t2≤110mm; The distance t3 from the side of the scrubbing roller brush assembly (101) away from the central axis to the central axis has a value range of 134≤t3≤165mm.

8. The chassis device according to any one of claims 1 to 7, characterized in that: The driving wheel set (103) is a differential driving wheel set.

9. The chassis device according to any one of claims 1 to 7, characterized in that: The chassis device (1) further comprises a sweeping roller brush assembly (104); along the moving direction of the chassis device (1), the sweeping roller brush assembly (104) is arranged in front of the driving wheel assembly (103).

10. The chassis device according to claim 9, characterized in that The height of the sweeping roller brush assembly (104) is adjustable; the height of the scrubbing roller brush assembly (101) and the squeegee assembly (102) are adjustable.

11. The chassis device according to claim 9, characterized in that: The chassis device (1) comprises a first universal wheel set (105) and a second universal wheel set (106); along the moving direction of the chassis device (1), the first universal wheel set (105) is arranged in front of the sweeping roller brush assembly (104), and the second universal wheel set (106) is arranged between the scrubbing roller brush assembly (101) and the squeegee assembly (102); the second universal wheel set (106) is height-adjustable together with the squeegee assembly (102).

12. A cleaning device, characterized in that: A chassis device (1) comprising any one of claims 1-11.

13. The cleaning device according to claim 12, characterized in that The cleaning device further comprises a sewage tank, a dust box and a negative pressure generating assembly, wherein the sewage tank and the dust box are supported on the chassis device (1), and the sewage tank and the dust box are respectively matched with a squeegee assembly (102) and a sweeping roller brush assembly (104) of the chassis device (1), and the sewage tank and the dust box are connected to the negative pressure generating assembly via a valve body, and the valve body is controlled to switch the negative pressure generating assembly to be connected to the sewage tank or the negative pressure generating assembly to be connected to the dust box.

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