Cleaning robot

Abstract

The invention discloses a cleaning robot, which is used for cleaning the surface of an environment and comprises a plurality of movable wiping structures, a plurality of cleaning devices and a plurality of cleaning devices, each movable wiping structure is connected with the adjacent movable wiping structure at least through one flexible connecting part; and the moving device is configured to drive at least part of the wiping structures to move. The surface to be cleaned is cleaned through the plurality of movable wiping structures with the first surfaces used for cleaning the environment surface; each movable wiping structure is connected with the adjacent movable wiping structure at least through one flexible connecting part; through the flexible connecting part, the wiping structures can be deformed to adapt to cleaning surfaces in irregular shapes, the purpose of cleaning uneven surfaces is achieved, the cleaning robot is further provided with the moving device for driving at least part of the movable wiping structures to move, and the purpose of moving of the cleaning robot is achieved.

Description

Technical Field

[0001] The present application relates to a cleaning robot, and in particular to a cleaning robot used for cleaning electronic devices. Background Art

[0002] Robot technology is becoming more and more mature nowadays. With the continuous development and progress of science and technology and society, cleaning robots have gradually entered people's lives. Cleaning robots, also known as automatic cleaning machines, smart vacuum cleaners, robot vacuum cleaners, etc., are a kind of smart home appliances. They can rely on certain artificial intelligence to automatically complete floor cleaning in the room. They generally use brushing and vacuuming methods to absorb ground debris into their own garbage storage box, thereby completing the function of floor cleaning.

[0003] In recent years, cleaning robot products have been rapidly popularized and applied, and have been greatly improved in terms of structure and specific functions. Due to the fact that cleaning robots clean automatically and have a certain level of intelligence, the use prospects of cleaning robots are very prominent. The body of the cleaning robot is a wireless machine, mainly in the form of a disc, but currently cleaning robots are used to clean the floor of the home, and generally can only clean flat floors. There are no cleaning robots for electronic devices, which reduces the practicality and scope of application of cleaning robots. For this reason, we propose a robot intelligent device. Summary of the invention

[0004] In order to solve the problems of the prior art, the present application provides a cleaning robot that can clean uneven surfaces.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a cleaning robot for cleaning an environmental surface, comprising a plurality of movable wiping structures having a first surface for cleaning an environmental surface; a flexible connection portion, each of the movable wiping structures being connected to an adjacent movable wiping structure via at least one flexible connection portion; and a moving device configured to drive at least part of the plurality of the wiping structures to move.

[0006] As a further improvement, at least part of the movable wiping structure is provided with a chamber for accommodating the movable device.

[0007] As a further improvement, including a robot stabilizing device, at least part of the movable wiping structure is provided with a chamber for accommodating the robot stabilizing device.

[0008] As a further improvement, it includes an air suction blower unit, and the robot stabilizing device is a suction cup, and the suction cup is connected to the air suction blower unit through an air pipe.

[0009] As a further improvement, the movable wiping structure includes square ring-shaped foam.

[0010] As a further improvement, a water tank is included, and the movable wiping structure is provided with a liquid flow hole for the cleaning liquid to flow out, and the liquid flow hole is connected to the water tank through a conduit.

[0011] As a further improvement, the catheter is arranged on the lower surface of the flexible connecting part by means of attachment.

[0012] As a further improvement, the plurality of movable wiping structures are arranged in a matrix.

[0013] As a further improvement, the moving device includes a roller, a first motor for controlling the rotation of the roller, and a second motor for controlling the direction of the roller.

[0014] As a further improvement, the roller is connected to the first motor via a gear, and the roller is connected to the second motor via a roller bearing.

[0015] As a further improvement, a limiting sleeve is provided on the outside of the roller bearing, and the limiting sleeve includes a first limiting sleeve and a second limiting sleeve respectively located on both sides of the first gear.

[0016] Beneficial effects: The present application cleans the surface to be cleaned through a plurality of movable wiping structures having a first surface for cleaning the environmental surface; each movable wiping structure is connected to an adjacent movable wiping structure through at least one flexible connection portion; through the flexible connection portion, each wiping structure can be deformed to adapt to an irregularly shaped cleaning surface, thereby achieving the purpose of cleaning uneven surfaces. A moving device is also configured to drive at least part of the plurality of movable wiping structures to move, so that the cleaning robot can achieve the purpose of movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attached Figure 1 is a schematic structural diagram of an embodiment of a cleaning robot including an air suction blower unit; Attached Figure 2 is a top view of the cleaning robot without the suction blower unit; Attached Figure 3 is a bottom view of the cleaning robot without the suction blower unit; Attached Figure 4 It is a schematic diagram of the structure of the water tank arrangement in the cleaning robot; Attached Figure 5 This is a partial enlarged picture of the cleaning robot from an upward angle; Attached Figure 6 It is a partial enlarged view of the wiping unit of the cleaning robot; Attached Figure 7 It is a schematic diagram of the structure of the suction cup of the cleaning robot; Attached Figure 8 It is a schematic diagram of the distribution of the suction cups and moving devices of the cleaning robot; Attached Fig. 9 is a cross-sectional view of a moving device of a cleaning robot; Attached Fig.10 It is an exploded view of the mobile device of the cleaning robot; Attached Fig.11 This is a schematic diagram of using a cleaning robot to clean a laptop keyboard; Attached Fig.12 This is a schematic diagram of using a cleaning robot to clean the bottom of a notebook; Attached Fig.13 It is a working schematic diagram of a display screen of a laptop computer in a cleaning working state using a cleaning robot; Attached Fig.14 This is a working diagram of using a cleaning robot to climb from a laptop keyboard to a display screen. Implementation

[0018] Hereinafter, the terms used in the specification will be briefly described, and the embodiments will be described in detail. All terms including descriptive terms or technical terms used herein should be interpreted as having meanings understood by those of ordinary skill in the art. However, these terms may have different meanings according to the intentions of those of ordinary skill in the art, precedents, or the emergence of new technologies.

[0019] In addition, some terms can be selected by the applicant, and in this case, the meaning of the selected terms will be described in detail in the detailed description of the embodiment. Therefore, the terms used herein must be defined based on the meaning of the terms together with the description in the entire specification. In addition, when a component "includes" or "contains" an element, unless there is a specific description to the contrary, the component may also include other elements without excluding other elements. In the following description, terms such as "component" and "module" indicate a unit for processing at least one function or operation, wherein the unit and module can be implemented as hardware or software or by combining hardware and software and implemented.

[0020] Embodiments will now be described more fully with reference to the accompanying drawings. However, embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the embodiments to those of ordinary skill in the art. In the following description, well-known functions or structures are not described in detail because they will obscure the embodiments with unnecessary details, and throughout the specification, the same reference numerals in the drawings represent the same or similar elements.

[0021] A cleaning robot for cleaning an environmental surface comprises a plurality of movable wiping structures having a first surface for cleaning the environmental surface; a flexible connection portion, each movable wiping structure being connected to an adjacent movable wiping structure via at least one flexible connection portion; and a moving device configured to drive at least part of the plurality of movable wiping structures to move. Since each movable wiping structure is connected to an adjacent wiping structure via at least one flexible connection portion, when part of the movable wiping structures is driven to move by the moving device, part of the wiping structures that move first will drive other wiping structures to move, thereby finally realizing the overall movement of the cleaning robot.

[0022] In order to optimize the robot's volume and achieve balance during movement, the cleaning robot of the present application is configured so that the wiping structure connected to the mobile device can be arranged overlapping with the mobile device. Specifically, at least part of the movable wiping structure is provided inside with a chamber for accommodating the mobile device.

[0023] The cleaning robot may further include a robot stabilizing device, and a chamber for accommodating the robot stabilizing device may be disposed inside at least a portion of the movable wiping structure. For example, a chamber for accommodating the robot stabilizing device may be disposed inside a movable wiping structure that is not connected to the moving device. In this way, the moving device is disposed under the partially movable wiping structure, and the stabilizing device is disposed under the other partially movable wiping structure.

[0024] The robot stabilizing device is a suction cup, and the stabilizing device may also include an air suction blower unit, and the suction cup is connected to the air suction blower unit through an air pipe. The air suction blower unit deflates or extracts air from the suction cup, so that the suction cup can switch between two states of stopping adsorbing the environmental surface and adsorbing the environmental surface, so that the cleaning robot can switch between moving and stopping.

[0025] The movable wiping structure can be configured with any wiping unit of a material that can clean the surface of the environment, such as cotton cloth, fish scale cloth, microfiber cloth, non-woven cloth, scouring pad, etc. Preferably, it can be set as a square ring-shaped foam.

[0026] The cleaning robot may also be equipped with a water tank, which is connected to the movable wiping structure through a water tank pipe. A liquid flow hole may be provided on the movable wiping structure. The liquid flow hole of the movable wiping structure is connected to the water tank through a conduit. The conduit may be provided on the lower surface of the flexible connecting portion by attaching.

[0027] A plurality of movable wiping structures are arranged in a matrix, and each movable wiping structure is connected to an adjacent movable wiping structure via a flexible connection portion.

[0028] The moving device includes a roller, a first motor for controlling the rotation of the roller, and a second motor for controlling the direction of the roller. The roller is connected to the first motor through a gear, and the roller is connected to the second motor through a roller bearing. A limiting sleeve is sleeved outside the roller bearing, and the limiting sleeve includes a first limiting sleeve and a second limiting sleeve respectively located on both sides of the first gear.

[0029] The principle of the present invention is described in detail below with reference to the preferred embodiments of the present invention with reference to the accompanying drawings.

[0030] See attached Figure 1 To Attachment Figure 8 A cleaning robot comprises a main body 4, a flexible and movable wiping structure 1 arranged on the main body 4, and a moving device for driving the movable wiping structure 1 to move, a water storage tank 5 close to and connected to the movable wiping structure 1, each movable wiping structure 1 is connected to an adjacent movable wiping structure 1 through at least one flexible connecting portion 6; wherein the moving device is configured to drive at least part of the plurality of movable wiping structures 1 to move. In this embodiment, the moving device comprises a roller 10, and a roller cover 7 may be provided on the roller 10, and the roller cover 7 is connected to the main body 4 to provide support for the moving device. The water storage tank 5 is connected to the main body 4 through a pipe 51.

[0031] The wiping structure 1 includes flexible wiping units 8, each wiping unit 8 includes a first cleaning surface for cleaning the bottom surface. In some embodiments, each wiping unit 8 may also include at least one second cleaning surface that is at a certain angle to the first cleaning surface, and the second cleaning surface of each wiping unit 8 is formed around the first cleaning surface.

[0032] The movable wiping structure 1 includes a first wiping structure and a second wiping structure. The first wiping structure is configured to be provided with a cavity for accommodating a stabilizing device and a wiping unit 8 surrounding the cavity, and the second wiping structure is provided with a cavity for accommodating a moving device and a wiping unit 8 surrounding the cavity. In some embodiments, the movable wiping structure 1 may also include a third wiping structure, which is only provided with a wiping unit 8.

[0033] The cleaning robot includes a control module. The control module generates a control signal according to the detection signal to adjust at least one of the cleaning task or the moving task. The cleaning robot can be equipped with at least one of an angle sensor, an edge sensor, and a distance sensor. The angle sensor can be a gyroscope or an electronic compass; the edge sensor can be an infrared sensor; and the distance sensor can be an odometer.

[0034] In some embodiments, the number of the first wiping structures is greater than the number of the second wiping structures. The second wiping structures may be arranged at the four corners of the main body 4. In some embodiments, the second wiping structures may be arranged at the center of the main body 4, and the number of the second wiping structures arranged at the center of the main body 4 may be more than one, for example, two may be arranged, distributed along the diagonal line of the main body 4.

[0035] The stabilizing device is a suction cup 9. The suction cup 9 allows the main body 4 to be stably adsorbed on the surface of the environment to be cleaned, so that the wiping unit 8 can wipe the object. The suction cup 9 may include a first suction cup cavity and a second suction cup cavity, and the first suction cup cavity and the second suction cup cavity are connected. The top of the first suction cup cavity is connected to the main body 4, and the bottom of the second suction cup cavity is in contact with the surface of the environment to be cleaned. The diameter of the second suction cup cavity gradually increases from top to bottom. When the cleaning robot equipped with a water tank 5 moves, the suction cup 9 contacts the surface of the environment to be cleaned to support the cleaning robot.

[0036] The cleaning robot further includes an air suction blower unit 3. The air suction blower unit 3 is connected to each suction cup 9 through an air pipe 2. When the air suction blower unit 3 receives a control signal from the control module, the suction cup 9 is deflated or evacuated, so that the cleaning robot can switch between moving and stopping. The suction cup 9 is connected to the air suction blower unit 3 through an air pipe 91, and each air pipe 91 can be attached to the lower surface of the flexible connection part 6.

[0037] The movable wiping structure 1 may be roughly in a square shape, and each movable wiping structure 1 is connected by a retractable flexible rubber.

[0038] Several main wiping structures 1 can be configured to be connected to the water tank 5, and the remaining wiping structures 1 are connected to one of the wiping structures 1 connected to the water tank 5 through the conduit 52. Specifically, the wiping unit 8 has a plurality of flow holes 81 for allowing the cleaning liquid to flow out. Each wiping unit 8 is interconnected through the conduit 52. The conduit 52 can be set on the lower surface of the retractable flexible rubber by attaching it. Of course, in some embodiments, the conduit 52 can be set inside the retractable flexible rubber by penetrating it. In the optimized embodiment, the flow holes 81 of each wiping unit 8 can also be connected to each other through the conduit 52. It should be understood that the wiping unit 8 of each movable wiping structure 1 can also be directly connected to the water tank 5.

[0039] The wiping unit 8 may include a foam 8 with square edges. The foam 8 includes a first humidifying surface connected to the water tank 5 and a second humidifying surface in contact with the object to be wiped; the liquid in the water tank 5 flows out through the liquid flow hole 81, which can prevent dust from blocking the outlet of the water tank 5.

[0040] The water tank 5 can be configured to be arranged above the main body 4, or it can be configured so that a part of the water tank 5 is embedded in the main body 4. Water or cleaning liquid can be added to the water tank 5. When the water tank 5 is provided with cleaning liquid, the cleaning liquid in the water tank 5 flows into the wiping unit 8 through the conduit 52. The wiping unit 8 has a liquid flow hole 81, and the cleaning liquid flows out through the liquid flow hole 81. When the liquid added to the water tank 5 is water, the principle of water flowing out is the same as the principle of cleaning liquid flowing out, which will not be repeated here.

[0041] Each movable wiping structure 1 may further include a cavity for containing cleaning liquid, the cavity being connected to the water storage tank 5 , the cleaning liquid in the cavity being transported to the wiping structure 1 through the conduit 52 , and finally the cleaning liquid may flow out through the liquid flow holes 81 on the wiping structure 1 .

[0042] Reference Fig. 9 and attached Fig.10 The moving device may include a roller 10, a first motor 11 for controlling the rotation of the roller 10, and a second motor 12 for controlling the direction of the roller 10. When the moving direction needs to be switched, the second motor 12 is used to control the direction of the roller 10 to rotate, and then the first motor 11 is used to control the roller 10 to roll, so that the cleaning robot can move 360 ​​degrees.

[0043] The roller 10 includes a first surface which is generally annular and is used for rolling on the surface to be cleaned, and a second surface which is provided with a first gear 13. The first surface is the outer surface of the roller 10, and the second surface is the inner surface of the roller 10. The roller 10 is meshed with the first motor 11 through a gear 13, and the first motor 11 drives the gear 13 to rotate the roller 10.

[0044] The second motor 12 is connected to the roller 10 through a roller bearing 14, and the roller bearing 14 passes through the ring-mounted roller 10 and is connected to the second motor 12. When the second motor 12 controls the roller bearing 14 to rotate, the roller bearing 14 controls the direction of the roller 10. The roller bearing 14 includes a cylindrical body and connecting shafts extending from both ends of the body, and the connecting shaft is used to connect to the second motor 12. The roller bearing 14 is also formed with a receiving cavity for receiving the first motor 11, and the receiving cavity is eccentrically arranged on the body of the roller bearing 14.

[0045] The second motor 12 includes a first surface that can rotate in the circumferential direction and a driving shaft extending from the first surface. In some embodiments, the driving shaft extends from the middle of the first surface. An outer rod is provided below the first surface, and the outer rod includes a first rod body connected to the driving shaft, and two connecting arms 16 extending downward from two sides of the first rod body. A connecting hole for the connecting hole of the roller bearing 14 to penetrate is provided at one end of the connecting arm 16 away from the first rod body. The second motor 12 drives the driving shaft to rotate, and the driving shaft drives the connecting arm 16 to rotate, and the connecting arm 16 drives the roller bearing 14 to rotate through the connecting hole.

[0046] A limiting sleeve 15 may also be provided outside the roller bearing 14 . The limiting sleeve 15 is sleeved outside the roller bearing 14 , and two limiting sleeves 15 may be provided, which are respectively provided on both sides of the first gear 13 .

[0047] Attached Figures 11 to 14 The cleaning robot shown in the present application is shown in the working state of cleaning a laptop computer, wherein the attached Fig.11 Schematic diagram of the cleaning robot cleaning the laptop keyboard. The cleaning robot's multiple wiping structures 1 can extend into the gap of the keyboard to clean the keyboard. Fig.12 is a schematic diagram of the cleaning robot cleaning the bottom of a notebook; Fig.13 This is a schematic diagram of the cleaning robot cleaning the display screen of a laptop computer in working state. With the help of the suction force of the suction cup, the cleaning robot can be attached to the display screen of the upright laptop computer. Fig.14 It is a working schematic diagram of a cleaning robot climbing from a laptop keyboard to a display screen; part of the wiping structure 1 of the cleaning robot still remains on the surface where the keyboard is located, and another part of the wiping structure 1 has climbed to the display screen of the upright laptop computer for cleaning.

[0048] It should be understood that the embodiments described herein should be considered in a descriptive sense only and not for the purpose of limitation. The description of the features or aspects within each implementation side should generally be considered to be applicable to other similar features or aspects in other embodiments. Although one or more embodiments have been described with reference to the accompanying drawings, it will be understood by those of ordinary skill in the art that various changes in form and detail may be made therein without departing from the spirit and scope defined by the appended claims.

Claims

1. A cleaning robot for cleaning an environmental surface, characterized in that: include A plurality of movable wiping structures (1) having a first surface for cleaning an environmental surface; Flexible connecting portion (6), each of the movable wiping structures (1) being connected to an adjacent movable wiping structure (1) via at least one flexible connecting portion (6); as well as The moving device is configured to drive at least part of the plurality of wiping structures (1) to move.

2. The cleaning robot according to claim 1, characterized in that : At least part of the movable wiping structure (1) is provided with a chamber for accommodating the movable device.

3. The cleaning robot according to claim 1, characterized in that : It includes a robot stabilizing device, and at least part of the movable wiping structure (1) is provided with a chamber for accommodating the robot stabilizing device.

4. The cleaning robot according to claim 3, characterized in that : It comprises an air suction blower unit (3), wherein the robot stabilizing device is a suction cup (9), and the suction cup (9) is connected to the air suction blower unit (3) via an air pipe (2).

5. The cleaning robot according to claim 1, characterized in that The movable wiping structure (1) comprises a square ring-shaped foam (8).

6. The cleaning robot according to claim 1, characterized in that : comprising a water storage tank (5), the movable wiping structure (1) being provided with a liquid flow hole (81) for the cleaning liquid to flow out, the liquid flow hole (81) being connected to the water storage tank (5) via a conduit (52).

7. The cleaning robot according to claim 6, characterized in that The catheter (52) is arranged on the lower surface of the flexible connecting portion (6) by means of an adhesive bonding method.

8. The cleaning robot according to claim 1, characterized in that The plurality of movable wiping structures (1) are arranged in a matrix.

9. The cleaning robot according to claim 1, characterized in that The moving device comprises a roller (10), a first motor (11) for controlling the rotation of the roller (10), and a second motor (12) for controlling the direction of the roller (10).

10. The cleaning robot according to claim 9, characterized in that : The roller (10) is connected to the first motor (11) via a gear (13), and the roller (10) is connected to the second motor (12) via a roller bearing (14).

11. The cleaning robot according to claim 10, characterized in that The roller bearing (14) is externally sleeved with a limiting sleeve (15), and the limiting sleeve (15) comprises a first limiting sleeve and a second limiting sleeve respectively located on two sides of the first gear (13).

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