Ground cleaning robot

Abstract

The invention discloses a ground cleaning robot which comprises a robot cabin, and an adsorption device, a moving device and a cleaning device which are arranged on the robot cabin, the adsorption device comprises a dust accumulation bin, a forward inclined centrifugal fan and an adsorption plate; the dust accumulation bin is arranged in the robot cabin body and communicates with an air inlet of the robot cabin body, the forward-inclining centrifugal fan is arranged in the dust accumulation bin, the adsorption plate is arranged at the bottom of the robot cabin body, and the adsorption plate is provided with a ground wiping tool; the moving device comprises two moving units which are coaxially arranged, and the two moving units are located on the two sides of the adsorption plate. The moving unit comprises a gear transmission device and rolling wheels, the gear transmission device is arranged in the robot cabin, and the gear transmission device is connected with the rolling wheels; the cleaning device comprises a rotating structure and a cleaning brush disc; the rotating structure is arranged in the robot cabin and connected with the cleaning brush disc, the cleaning brush disc is provided with the cleaning brush, and automatic and efficient cleaning of the ground is achieved.

Description

Technical Field

[0001] The invention relates to the field of cleaning equipment, and in particular to a floor cleaning robot. Background Art

[0002] In modern society, people's pace of life is accelerating, work pressure is increasing, leisure time is decreasing, and the time spent on housework is correspondingly reduced. Therefore, people hope to have automated equipment to help complete housework tasks such as floor cleaning to save time and energy and improve the quality of life, which provides a broad market demand for the birth of floor cleaning robots. In addition, globally, the aging of the population is gradually deepening, and the proportion of the elderly population is increasing. The physical function of the elderly is declining, and it is difficult for them to carry out heavy floor cleaning work. The automated cleaning function of the floor cleaning robot can meet their needs and bring convenience to their lives. However, under the traditional cleaning method, people are easily tired and need to rest, and it is difficult to work continuously for a long time.

[0003] During the working process, the existing cleaning robot first cleans the floor and then collects the dust. However, it is difficult to remove the watermarks on the bottom surface or the dust adhering to the floor, and the floor cannot be effectively cleaned. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a floor cleaning robot to achieve automatic cleaning of the floor.

[0005] The present invention is achieved through the following technical solutions: A floor cleaning robot comprises a robot cabin, and a suction device, a moving device and a cleaning device arranged thereon; The adsorption device includes a dust storage bin, a forward-inclined centrifugal fan and an adsorption plate; The dust storage bin is arranged in the robot cabin and is connected to the air inlet of the robot cabin. The forward-inclined centrifugal fan is arranged in the dust storage bin. The adsorption plate is arranged at the bottom of the robot cabin, and the adsorption plate is provided with a floor wiping tool. The mobile device includes two coaxially arranged mobile units, and the two mobile units are located on both sides of the adsorption plate; the mobile unit includes a gear transmission device and a roller, and the gear transmission device is arranged in the robot cabin, and the gear transmission device is connected to the roller; The cleaning device comprises a rotating structure and a cleaning brush disc; the rotating structure is arranged in the robot cabin, the rotating structure is connected to the cleaning brush disc, and a cleaning brush is arranged on the cleaning brush disc.

[0006] Preferably, a fixing plate is provided on the bottom surface of the robot cabin, an air inlet is provided at the front end of the fixing plate, and a dust storage bin is detachably provided on the fixing plate.

[0007] Preferably, the bottom surface of the dust storage bin is provided with an upwardly extending accommodating cavity, the side wall of the accommodating cavity is a hollow structure, the forward-inclined centrifugal fan is arranged in the accommodating cavity, and the forward-inclined centrifugal fan is connected to the motor.

[0008] Preferably, the side wall of the accommodating cavity is coated with a filter membrane.

[0009] Preferably, the gear transmission device is a worm gear transmission device, and the turbine of the worm gear transmission device is coaxially connected with the roller.

[0010] Preferably, the worm gear transmission device comprises a worm, a worm wheel and a motor; The motor is installed in the robot cabin, the output shaft of the motor is connected to the worm, the worm is meshed with the turbine, and the turbine is connected to the roller through the worm gear shaft.

[0011] Preferably, the rolling path includes a rubber wheel arranged on the wheel hub, and the worm gear shaft is installed on the base through a shaft seat.

[0012] Preferably, the rotating structure comprises a stepping motor, a rotating turbine and a worm; The stepper motor is fixed in the robot cabin, the output shaft of the stepper motor is connected to the worm, the rotating turbine is installed in the robot cabin through a bearing seat, the rotating turbine is meshed with the worm, and the rotating turbine is connected to the cleaning brush plate through a rotating shaft. The cleaning brush plate is located at the bottom of the robot cabin.

[0013] Preferably, a plurality of cleaning devices are provided in the robot cabin, and the plurality of cleaning devices are arranged at intervals around the circumference.

[0014] Preferably, the robot cabin comprises a base and a cover, and the cover is disposed on the base and is detachably connected.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides a floor cleaning robot, comprising a robot cabin, and an adsorption device, a moving device and a cleaning device arranged thereon; the adsorption system thereof adopts a coordinated design of a forward-inclined centrifugal fan and a bottom wiping plate to form an integrated "suction-wiping" cleaning mode, and cooperates with the dynamic operation of a rotatable cleaning brush disc to significantly improve the removal efficiency of stubborn stains; a double coaxial gear transmission moving unit enables the robot to maintain flexible steering and stable obstacle crossing capabilities in a complex ground environment through precise power distribution, and the minimum turning radius control and terrain adaptability are better than those of traditional robots; the integrated design realizes the cleaning efficiency, spatial adaptability and maintenance convenience of the floor cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 is an internal diagram of the floor cleaning robot of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the floor cleaning robot of the present invention; Figure 3 It is a structural schematic diagram of the fan adsorption device of the present invention; Figure 4 It is a structural schematic diagram of the mobile device of the present invention; Figure 5 It is a schematic diagram of the structure of the cleaning device of the present invention; Figure 6 It is a schematic structural diagram of the turbine mechanism of the present invention.

[0018] In the figure: 1-base, 2-button assembly, 101-exhaust port, 102-forward centrifugal fan, 103-adsorption plate, 104-fan volute, 105-motor, 106-coupling, 201-cover, 202-connecting bolts, 203-worm, 204-worm gear shaft, 205-worm gear, 206-connecting bottom plate, 207-motor, 208-roller outer ring, 209-wheel hub, 301-stepping motor, 302-connecting bolts, 303-rotating turbine, 304-small worm, 305-assembly housing, 306-cleaning brush plate. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] like Figure 1 and Figure 2 As shown, a floor cleaning robot comprises a base 1 and an adsorption device I, a moving device II and a cleaning device III arranged thereon. A button assembly 2 is also arranged on the base 1, and the button assembly 2 is used to control the movement of the floor cleaning robot.

[0021] The adsorption device is set in the middle of the base. By driving the forward-inclined centrifugal fan, the fan blades exhaust the gas to form a negative pressure at the air inlet, which adsorbs the dust on the ground. The moving device is located on both sides of the middle of the robot. There are rollers under the moving device. When the ground cleaning robot encounters a ground with a large slope, the adsorption device cooperates to enable the robot to walk and clean while being stable. The cleaning device is located at the rear of the ground cleaning robot, and the motor drives the worm gear transmission, which in turn drives the cleaning brush disc to rotate to achieve the cleaning function.

[0022] like Figure 3 As shown, the adsorption device includes a fixing plate, an air inlet 101 , a forward-inclined centrifugal fan 102 , an adsorption plate 103 , a dust storage bin 104 and a motor 105 .

[0023] The fixed plate is embedded in the middle of the base, and an air inlet 101 is provided at the front end of the fixed plate. The dust bin 104 is detachably provided on the fixed plate, and an accommodating cavity extending upward is provided on the bottom surface of the dust bin 104. The side wall of the accommodating cavity is a hollow structure. The forward-inclined centrifugal fan 102 is arranged in the accommodating cavity, and the motor is arranged on the top of the dust bin 104 and is connected to the forward-inclined centrifugal fan 102 through a coupling 106. Both ends of the adsorption plate 103 are connected to the fixed plate, and a replaceable cleaning tool is provided on the bottom surface of the adsorption plate 103.

[0024] The cleaning tool is a mop. When working, the motor 105 rotates to drive the forward-inclined centrifugal fan 102 to rotate, so that air enters the dust bin 104 through the air inlet 101. The outer wall surface of the accommodating cavity is covered with filter cotton. The filter membrane is located in the dust bin. Under the action of negative pressure, external air enters the dust bin through the air inlet to collect dust. At the same time, the cleaning tool cleans the ground.

[0025] The bottom surface of the adsorption plate is provided with Velcro, and the mop is adhered to the adsorption plate to facilitate the cleaning and replacement of the mop.

[0026] Optionally, the dust bin includes a box body and a top cover, the box body and the top cover are connected by a snap buckle, the box body is detachably mounted on the base, and the entrance of the dust bin is connected to the inlet.

[0027] For example, the box body is embedded in the base through the positioning column, the top of the base is installed with a cover plate, and the cover plate is pressed on the dust bin. When cleaning the dust bin, the dust bin can be taken out for cleaning by removing the cover plate.

[0028] like Figure 4As shown, the mobile device includes two coaxial mobile units, which are symmetrically arranged at both ends of the base. The outer cover of the mobile unit is provided with a cover shell 201, and the cover shell 201 is located on the base and fixed; the mobile unit includes a worm 203, a worm gear shaft 204, a worm gear 205, a connecting base plate 206, a motor 207, a roller outer ring 208 and a hub 209.

[0029] The rotating motor 207 is installed on the base. The motor 207 serves as a power source and uses a motor transmission system to control the smooth movement of the roller. The output shaft 202 of the motor 207 is connected to the worm 203. The rotation of the motor drives the worm 203 to rotate. The worm 203 is meshed with the turbine 205. The turbine 205 is connected to the hub 209 through the worm gear shaft 204. A rubber wheel is provided on the hub 209. The worm gear shaft 204 is installed on the base through an axle seat.

[0030] The rotation of the motor drives the worm 203 to rotate, and then transmits power to the worm wheel 205. The worm wheel 205 drives the hub 209 to rotate through the worm wheel shaft 204. The hub 209 rotates synchronously with the roller outer ring 208. When the motor rotates forward or reverse, the roller moves on the ground.

[0031] When the two motors rotate at the same speed, the cleaning robot moves in a straight line. When the two motors rotate at different speeds, the cleaning robot turns to the side with slower motor speed. When one motor stops and the other rotates, the robot can rotate around the axis of the stopped roller.

[0032] like Figure 5 and 6 As shown, the cleaning device includes a stepping motor 301 , a connecting bolt 302 , a rotating turbine 303 , a worm 304 and a cleaning brush disc 306 .

[0033] A plurality of cleaning devices are installed on the base, and the plurality of cleaning devices are arranged at intervals around the circumference; For example, two cleaning devices are spaced apart at the front end of the base to clean the ground during movement.

[0034] The stepper motor 301 is fixed on the base through a motor seat. The stepper motor 301 serves as a power source. The output shaft of the stepper motor 301 is connected to the worm 304. The rotating turbine 303 is installed on the base through a bearing seat. The rotating turbine 303 is meshed with the worm 304. The rotating turbine 303 is connected to the cleaning brush disc 306 through a rotating shaft. The cleaning brush disc 306 is located on the bottom surface of the base, and a replaceable brush is provided on the cleaning brush disc 306.

[0035] The stepper motor 301 is used as a power source. The rotation of the motor 301 drives the worm 304 to rotate, thereby transmitting power to the rotating turbine 303. The cleaning brush plate is installed under the rotating turbine 303 through a connecting piece. The rotation of the turbine drives the cleaning brush plate 306 to rotate to achieve the purpose of cleaning the floor. The rotation of the cleaning brush plate can achieve a variety of speed changes.

[0036] The working principle of the applied floor cleaning robot is described in detail below.

[0037] When the floor cleaning robot starts working, the button assembly 2 is turned on to convert the robot state to the start state. The adsorption device is located in the middle of the floor cleaning robot. The motor 105 rotates to drive the forward centrifugal fan 102 to rotate. When the adsorption device is working, the air inlet generates negative pressure, and the dust gas is sucked from the air inlet and accumulated in the dust bin, so as to achieve the adsorption and collection of dust in the environment. In the mobile device, the rotating motor 208 is used as a power source. The rotation of the motor drives the worm 203 to rotate, and then transmits the power to the worm wheel 205. The worm wheel 205 drives the roller to rotate according to the worm wheel shaft 204. When the friction force of the roller rolling on the ground is greater than the adsorption force generated by the negative pressure fan, the robot can grasp the ground and maintain balance. After that, the robot will walk on the ground. Because the mobile devices are installed on both sides of the robot, two motors drive a roller respectively, so as to achieve its free movement in the horizontal and vertical directions. When the motor rotates forward or reverse, the roller will move on the ground. When one motor stops and the other motor rotates, the robot can turn around the axis of the stopped roller. When the robot reaches the predetermined position, the stepper motor 301 in the cleaning device serves as a power source. The rotation of the motor 301 drives the worm 304 to rotate, thereby transmitting power to the rotating turbine 303. The cleaning brush plate is installed under the rotating turbine 303 through a connecting piece. The rotation of the turbine drives the cleaning brush plate 306 to rotate to achieve the purpose of cleaning the glass, and the rotation of the cleaning brush plate can achieve a variety of speed changes.

[0038] The floor cleaning robot is also provided with a control unit, which is connected to the motors of the adsorption device I, the moving device II and the cleaning device III. At the same time, a cleaning path can be prefabricated in the control unit according to the cleaning area to realize automatic cleaning operation.

[0039] The present invention has the following beneficial technical effects: (1) It uses a high-speed brush cleaning method, which can be cleaned without water, has controllable size, can be processed, and has low cost and is easy to implement.

[0040] (2) The cleaning brush plates on the left and right sides can increase the contact area with the ground, ensuring that the ground on both sides can be fully wiped.

[0041] (3) Two motors are used to drive a roller respectively, so that it can move freely in the horizontal and vertical directions.

[0042] (4) The worm gear has a large transmission ratio, which can convert the high speed of the motor into a low speed and increase the torque. This allows the robot to move at a moderate speed, making it easier to clean the floor more effectively, allowing it to repeatedly wipe stains and making less noise when working.

[0043] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A floor cleaning robot, characterized in that: It includes a robot cabin, and a suction device, a moving device and a cleaning device arranged thereon; The adsorption device includes a dust storage bin, a forward-inclined centrifugal fan and an adsorption plate; The dust storage bin is arranged in the robot cabin and is connected to the air inlet of the robot cabin. The forward-inclined centrifugal fan is arranged in the dust storage bin. The adsorption plate is arranged at the bottom of the robot cabin, and the adsorption plate is provided with a floor wiping tool. The mobile device includes two coaxially arranged mobile units, and the two mobile units are located on both sides of the adsorption plate; the mobile unit includes a gear transmission device and a roller, the gear transmission device is arranged in the robot cabin, and the gear transmission device is connected to the roller; The cleaning device comprises a rotating structure and a cleaning brush disc; the rotating structure is arranged in the robot cabin, the rotating structure is connected to the cleaning brush disc, and a cleaning brush is arranged on the cleaning brush disc.

2. A floor cleaning robot according to claim 1, characterized in that: A fixing plate is arranged on the bottom surface of the robot cabin body, an air inlet is arranged at the front end of the fixing plate, and a dust storage bin is detachably arranged on the fixing plate.

3. A floor cleaning robot according to claim 1, characterized in that: The bottom surface of the dust storage bin is provided with an accommodating cavity extending upward, the side wall of the accommodating cavity is a hollow structure, the forward-inclined centrifugal fan is arranged in the accommodating cavity, and the forward-inclined centrifugal fan is connected to the motor.

4. A floor cleaning robot according to claim 3, characterized in that: The side wall of the accommodating cavity is covered with a filter membrane.

5. A floor cleaning robot according to claim 1, characterized in that: The gear transmission device is a worm gear transmission device, and the worm gear of the worm gear transmission device is coaxially connected with the roller.

6. A floor cleaning robot according to claim 5, characterized in that: The worm gear transmission device comprises a worm, a worm wheel and a motor; The motor is installed in the robot cabin, the output shaft of the motor is connected to the worm, the worm is meshed with the turbine, and the turbine is connected to the roller through the worm gear shaft.

7. A floor cleaning robot according to claim 6, characterized in that: The rolling path includes a wheel hub on which a rubber wheel is arranged, and a worm gear shaft is installed on a base through an axle seat.

8. The floor cleaning robot according to claim 1, characterized in that: The rotating structure includes a stepping motor, a rotating turbine and a worm; The stepper motor is fixed in the robot cabin, the output shaft of the stepper motor is connected to the worm, the rotating turbine is installed in the robot cabin through a bearing seat, the rotating turbine is meshed with the worm, and the rotating turbine is connected to the cleaning brush plate through a rotating shaft. The cleaning brush plate is located at the bottom of the robot cabin.

9. The floor cleaning robot according to claim 1, characterized in that: A plurality of cleaning devices are arranged in the robot cabin, and the plurality of cleaning devices are arranged at intervals around the circumference.

10. The floor cleaning robot according to claim 1, characterized in that: The robot cabin comprises a base and a cover, wherein the cover is disposed on the base and is detachably connected.

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