Cotton fiber cleaning robot

Abstract

The invention discloses a cotton fiber cleaning robot which comprises a chassis, and a steering wheel set, a driving wheel set used for driving the robot to advance and a suction port rake assembly are arranged at the bottom of the chassis; the robot body comprises an electrical assembly and a collecting box which are arranged on the chassis, the collecting box comprises a cavity used for storing cotton fibers and an air suction assembly communicated with the cavity, and the cavity is communicated with the suction port rake assembly through an air channel pipeline; under the negative pressure action of the air suction assembly, air flow carries cotton fibers on the to-be-cleaned face to pass through the suction port rake assembly and is collected into the cavity through the air path pipeline; the left end and the right end of the suction port rake assembly are transversely arranged on the chassis in a protruding mode and rotatably connected to the inlet end of the air channel pipeline so that the suction port rake assembly can avoid obstacles through passive swing in the advancing process. According to the cotton fiber cleaning robot, the vacancy of a cleaning robot used in the cotton spinning field is made up, the cleaning efficiency is improved, the suction port rake assembly capable of passively swinging is arranged, obstacles can be effectively avoided, and therefore normal proceeding of cleaning work is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to a cotton floc cleaning robot. Background Art

[0002] A large amount of cotton flocs are generated during the processes of transportation, spinning, carding, drawing, etc. in a cotton spinning workshop. These cotton flocs float and gather in the workshop and settle on the ground. If not removed in time, it will not only affect the environmental hygiene of the workshop, but may also cause problems such as interfering with the operation of equipment, affecting production quality, and even causing fires.

[0003] In related technologies, a cleaning cart is driven manually to clean the cotton flocs, but it still relies on human participation, and the cotton flocs floating in the air in the workshop also affect the health of the drivers. For this reason, some related technologies introduce simple cleaning robots to automatically collect and clean the cotton flocs, but the cleaning effect and cleaning efficiency of such cleaning robots are not satisfactory.

[0004] In addition, due to the large number of equipment and complex space in a cotton spinning workshop, there are often various obstacles such as cables and temporarily placed objects on the ground. During the operation of the cleaning robot, the suction rake of the robot is prone to directly collide with the obstacles, which may not only cause the suction rake to deform and jam, but even lead to abnormal operation of the robot.

[0005] Therefore, how to design a cotton floc cleaning robot for the cotton spinning field that can effectively avoid obstacles is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0006] In view of the above-mentioned disadvantages of the related technologies, the purpose of the present application is to provide a cotton floc cleaning robot to solve the technical problems of poor cleaning effect, low efficiency, and inability to avoid obstacles of the existing simple cleaning robots.

[0007] To achieve the above purpose and other related purposes, the present application provides a cotton floc cleaning robot, including: a chassis, at the bottom of which there is a steering wheel group located at the front side, a driving wheel group located at the rear side for driving the robot to move forward, and a suction rake assembly disposed between the midpoint of the wheelbase of the driving wheel group and the steering wheel group and the steering wheel group; a robot body disposed on the chassis, including an electrical component and a collection box disposed on the chassis, the collection box including a chamber for storing cotton flocs and a suction air component communicated with the chamber, the chamber being communicated with the suction rake assembly through an air pipeline, and under the negative pressure action of the suction air component, the airflow carries the cotton flocs on the surface to be cleaned through the suction rake assembly and collects them into the chamber through the air pipeline; wherein, the left and right ends of the suction rake assembly protrude horizontally across the chassis and are rotatably connected to the inlet end of the air pipeline to avoid obstacles by passive swinging during the movement.

[0008] In summary, the cotton wadding cleaning robot provided by the present application realizes the automatic cleaning and collection of cotton wadding on the surface to be cleaned during the movement of the robot by arranging a steering wheel set, a driving wheel set, and a suction port rake assembly on the chassis, and arranging a chamber for storing cotton wadding and a suction air assembly communicated with the chamber on the robot body, improving the cleaning efficiency and ensuring the cleaning effect. By rotatably connecting the suction port rake assembly to the air duct, the suction port rake assembly can swing passively during the movement of the robot to avoid obstacles, thus avoiding abnormal operation of the robot caused by direct collision between the suction port rake assembly and obstacles and ensuring the normal progress of the cleaning work. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The specific features involved in the present application are shown in the appended claims. The features and advantages of the invention involved in the present application can be better understood by referring to the exemplary embodiments and the drawings described in detail below. A brief description of the drawings is as follows:

[0010] Figure 1 It shows a schematic structural diagram of the cotton wadding cleaning robot in an embodiment of the present application.

[0011] Figure 2 and Figure 3 They respectively show schematic cross-sectional diagrams of the cotton wadding cleaning robot in different embodiments of the present application.

[0012] Figure 4 It shows a schematic structural diagram of the cotton wadding cleaning robot in another perspective in an embodiment of the present application.

[0013] Figure 5 It shows a schematic structural diagram of the chassis in an embodiment of the present application.

[0014] Figure 6 It shows a schematic diagram of the suction port rake assembly swinging to avoid obstacles in an embodiment of the present application.

[0015] Figure 7 It shows a schematic structural diagram of the suction port rake assembly in an embodiment of the present application.

[0016] Figure 8a It shows the present application Figure 7 A schematic cross-sectional diagram of the suction port rake assembly in the shown embodiment.

[0017] Figure 8b It shows a schematic diagram of the flow of the air current carrying cotton wadding in the suction port rake assembly in an embodiment of the present application.

[0018] Figure 9 It shows a schematic structural diagram of the suction port rake in an embodiment of the present application.

[0019] Figure 10a Shown as this application Figure 9 The schematic diagram of the suction rake in a perspective view in the illustrated embodiment.

[0020] Figure 10b Shown as this application Figure 9 The schematic diagram of the suction rake in a perspective view in the illustrated embodiment.

[0021] Figure 11 Shown as the cross-sectional schematic diagram of the rotating connection component in an embodiment of this application.

[0022] Figure 12 Shown as the structural schematic diagram of the adjusting mechanism in an embodiment of this application. Detailed implementation manners

[0023] The following specific embodiments illustrate the implementation manners of this application. Those skilled in this technology can easily understand the advantages of this application and the achievable technical effects from the content disclosed in this specification. In the following description, some embodiments can refer to the drawings. It should be understood that other embodiments without the drawn drawings can also be used, and specific structural, component or mechanism, assembly, and operational changes can be made without departing from the spirit and scope of this application. The following detailed description should not be considered restrictive, and the scope of the embodiments of this application is only defined by the claims disclosed in this application. The terms used here are only for describing specific embodiments and are not intended to limit this application.

[0024] It should be understood that although the terms first, second, or third, etc. may be used in this document to describe various elements or parameters in some embodiments, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter, rather than to define the order, priority, or importance degree of multiple elements. For example, the first return spring can be called the second return spring, and similarly, the second return spring can be called the first return spring without departing from the scope of the described embodiments.

[0025] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to also include the plural forms unless the context clearly dictates otherwise. It should be further understood that the terms "comprising", "including" indicate the presence of the stated features, steps, operations, elements, components, items, species, and / or groups, but do not preclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, items, species, and / or groups. For example, a process, method, system, product or apparatus that comprises a series of steps or units need not be limited to those steps or units expressly listed, but may include other steps or units not expressly listed or inherent to these process, method, product or apparatus. Additionally, the term "and / or" as used hereinafter to describe an association relationship of associated objects represents that three relationships may exist, for example, A and / or B, may represent: the case where A exists alone, the case where both A and B exist simultaneously, and the case where B exists alone. Additionally, the character " / ", unless otherwise specified, generally represents an "and / or" relationship between the associated objects before and after. Additionally, in the description of the embodiments of the present application, "a plurality of" means two or more than two. Furthermore, the terms "or" and "and / or" as used herein are interpreted inclusively, or mean any one or any combination. An exception to this definition occurs only when the combination of elements, functions, steps or operations are mutually exclusive in some manner.

[0026] It should also be understood that when an element such as a layer, region or substrate is referred to as being "on" another element or extending "onto" another element, the element can be directly on the other element or directly extend onto the other element, or intervening elements may also be present. Conversely, when an element is referred to as being "directly on" another element or "directly extending onto" another element, no intervening elements are present. It will also be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, no intervening elements are present. Additionally, the term "coupled" generally means physically, mechanically, magnetically and / or electrically coupled or connected, and in the absence of specific contrary language, does not preclude the presence of intervening elements between the items being coupled or associated.

[0027] Relative terms such as "below", "above", "upper", "lower", "horizontal", or "vertical" may be used herein to describe the relationship of one element, layer, or region to another element, layer, or region as illustrated in the figures. It will be understood that these terms are intended to encompass different device orientations other than the orientation depicted in the figures. In this application, "vertical", "horizontal", and "parallel" are defined as including cases within ±10% of the standard definition. For example, vertical generally refers to an angle of 90° relative to a reference line, but in this application, vertical refers to cases within the range of 80° to 100°. Unless otherwise explicitly stated, comparative quantity terms such as "above" and "below" are intended to encompass the concept of equality. As an example, "above" can not only mean "greater than" in the mathematical sense, but also "equal to".

[0028] The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit this application. When used herein, unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms as well. It will also be understood that when used herein, the terms "comprises", "comprising", "includes", and / or "including" specify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0029] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will also be understood that the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art, and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0030] In view of the technical problems described in the background art, this application provides a cotton wadding cleaning robot. By providing a steering wheel set, a driving wheel set, and a suction port rake assembly on the chassis, and providing a chamber for storing cotton wadding and a suction air assembly communicating with the chamber on the robot body, the robot realizes the automatic cleaning and collection of cotton wadding on the surface to be cleaned during the traveling process, improves the cleaning efficiency, and ensures the cleaning effect. By rotatably connecting the suction port rake assembly to the air duct, the suction port rake assembly can swing passively to avoid obstacles during the traveling process of the robot, thereby avoiding abnormal operation of the robot caused by direct collision between the suction port rake assembly and obstacles, and ensuring the normal progress of the cleaning work.

[0031] The cotton floss cleaning robot described in this application refers to a robotic device suitable for performing cotton floss cleaning work in a cotton spinning mill or other spaces. The cotton floss to be cleaned includes waste cotton, discarded cotton, or flying cotton attached to the ground during the cotton spinning process. The cotton floss cleaning robot can either be commanded by a user, such as an operator controlling the cotton floss cleaning robot to perform the cotton floss cleaning work on the surface to be cleaned through a handheld remote control or an application program installed on a smart terminal. The cotton floss cleaning robot can also complete the cotton floss cleaning work on the surface to be cleaned by itself, such as by running a pre-programmed procedure or rule. In the following embodiments of this application, a cotton floss cleaning robot that can autonomously perform positioning and navigation and autonomously complete the cleaning work will be used as an example for illustration.

[0032] Among them, the surface to be cleaned refers to the ground where the area to be cleaned is located. In the embodiment where it is applicable to the workshop of a cotton spinning mill, the surface to be cleaned is, for example, the ground of the workshop. In the embodiments of this application, the surface to be cleaned can also be referred to as the cleaning surface, the ground, the walking surface, etc. It should be noted that in some of the following embodiments, for the sake of easy understanding, the plane parallel to the surface to be cleaned is called the horizontal plane, and correspondingly, the direction indicated parallel to the surface to be cleaned can be regarded as the horizontal direction. The plane perpendicular to the surface to be cleaned is called the vertical plane, and correspondingly, the direction indicated perpendicular to the surface to be cleaned can be regarded as the vertical direction or the perpendicular direction.

[0033] For the convenience of understanding and clear expression, in the embodiments of this application, the direction in which the cotton floss robot advances is defined as the forward direction (for example Figure 1 the direction indicated by the dotted arrow in the figure), correspondingly, one side of the forward direction of the cotton floss robot is defined as the front side or the front end. The reverse direction of the forward direction of the cotton floss robot is defined as the backward direction, and correspondingly, one side of the backward direction of the cotton floss robot is defined as the rear side or the rear end. In addition, in the embodiments of this application, the left side (or the left end) and the right side (or the right end) are also distinguished based on the forward direction of the cotton floss robot. That is, with the forward direction of the cotton floss cleaning robot as the front-facing direction of the cotton floss cleaning robot, its left side is the left side or the left end, and its right side is the right side or the right end.

[0034] Please refer to Figure 1 , which shows a schematic structural diagram of the cotton floss cleaning robot in an embodiment of this application. As Figure 1 shown, the cotton floss cleaning robot includes: a chassis 1 and a robot body 2. The chassis 1 is used to support and drive the robot body 2 to travel on the surface to be cleaned to perform the cleaning operation, and a suction rake assembly 13 is configured thereon.

[0035] Please refer to Figure 2 and Figure 3 , which respectively show schematic cross-sectional views of the cotton floss cleaning robot in different embodiments of this application, asFigure 1 As shown, the robot body 2 is disposed on the chassis 1, such as Figure 2 shown, the robot body 2 includes an electrical component 21 and a collection box 22 disposed on the chassis 1. In Figure 2 the example shown, the electrical component 21 is vertically disposed on the front side of the robot body 2, and the collection box 22 is disposed on the rear side of the electrical component 21.

[0036] In one embodiment, the electrical component 21 is configured to include a control device for controlling the operation of various components, structures, assemblies, mechanisms, members, devices, or apparatuses in the cotton floss cleaning robot, such as for planning the movement trajectory of the cotton floss cleaning robot, for controlling the traveling or obstacle avoidance actions of the cotton floss cleaning robot, etc.

[0037] In one embodiment, the control device includes: a processing unit, a storage unit, and a plurality of interface units. Each of the interface units is respectively connected to a device or component or mechanism in the cotton floss cleaning robot that is independently encapsulated and transmits data through an interface. The control device further includes at least one of the following: a prompting device, a human-machine interaction device, etc. The interface unit determines its interface type according to the connected device or component or mechanism, and it includes but is not limited to: a universal serial interface, a video interface, an industrial control interface, a wireless communication port, etc. The storage unit is used to store a cleaning program, and the processing unit is connected to the storage unit and is used to control the various components or components or structures in the cotton floss cleaning robot to coordinate and implement the cleaning work on the surface to be cleaned when executing the cleaning program.

[0038] In one embodiment, as Figure 2 shown, the collection box 22 includes a chamber 221 and a suction component 222. The chamber 221 is communicated with the suction rake component 13 through an air duct 223. Under the negative pressure of the suction component 222, the airflow carries the cotton floss on the surface to be cleaned through the suction rake component 13 and is collected into the chamber 221 through the air duct 223. In order to distinguish the chamber 221 for collecting cotton floss from the chamber for accommodating the suction component 222 in subsequent embodiments, the chamber 221 for collecting cotton floss is referred to as the first chamber 221, and the chamber 224 for accommodating the suction component 222 is referred to as the second chamber 224. The first chamber 221 and the second chamber 224 will not be elaborated upon when mentioned subsequently.

[0039] In this embodiment, the suction component 222 is used to form a negative pressure to provide the power for the cotton floss on the surface to be cleaned to enter the first chamber 221. As Figure 2 shown, the suction component 222 can be configured to include a fan, and the fan can be, for example, configured on the top of the first chamber 221. After the fan is started, the first chamber 221 can be sucked, so as to form a negative pressure in the first chamber 221, so that the airflow carrying cotton floss flows along Figure 2 and Figure 3The arrow F shown by the dashed line enters the first chamber 221. It should be understood that compared with the commercial cleaning robots used to clean sewage or garbage in the related art, the cotton floc cleaning robot described in the present application is for cleaning cotton flocs on the surface to be cleaned. Since cotton flocs have the characteristics of low density and light weight compared with sewage, the air suction assembly 222 of the cotton floc cleaning robot only needs to provide a relatively low power and suction force to effectively clean the cotton flocs on the surface to be cleaned. In one embodiment, for example, the power of the air suction assembly 222, such as a blower, is configured to be approximately 700W, and the suction force it provides is approximately 5.5kPa - 6.5kPa. Preferably, the suction force generated by the blower is approximately 6kPa.

[0040] In one embodiment, such as Figure 2 and Figure 3 shown, the collection box 22 further includes a second chamber 224 provided on the upper side of the first chamber 221, and the second chamber 224 is used to accommodate the air suction assembly 222. In one example, a partition plate is provided between the first chamber 221 and the second chamber 224, and the first chamber 221 and the second chamber 224 can be formed by the housing of the robot body 2 surrounding the partition plate. In this example, the air suction assembly 222 can be arranged in the second chamber 224 in the form of being fixed to the partition plate.

[0041] It should be understood that the first chamber needs to communicate with the outside of the robot so that the air flow can be discharged from the robot body 2, thereby forming an air flow path to provide the negative pressure. Light materials such as cotton flocs are easily carried and lifted by the air flow. If the air flow is discharged from the lower side of the robot body 2, it will cause the cotton flocs to be disturbed and leave the surface to be cleaned, which is not conducive to the cleaning work. In the application scenario of a cotton spinning mill workshop, if the air flow is discharged from the periphery of the robot body 2, the lifted cotton flocs may get stuck in the textile equipment or adhere to the surface of the woven fabric, affecting the product quality. In view of this, in one embodiment, such as Figure 2 shown, the air suction assembly 222 has an air outlet 225 arranged upward so that the air flow is discharged upward from the top side of the robot body 2. In this embodiment, the upward discharge of the air flow from the top side can effectively prevent the cotton flocs from being lifted, thereby avoiding affecting the cleaning work of the surface to be cleaned and at the same time avoiding affecting the textile operation and product quality.

[0042] Specifically, in an embodiment where the air suction assembly 222 is configured as a blower, the air suction assembly 222 may be configured to include an air inlet structure and an air outlet structure. The air inlet structure is used to suck air flow into the air suction assembly 222, and the air outlet structure is used to discharge the air flow out of the air suction assembly 222. In some implementation manners, the air inlet structure may be configured to include an impeller and an air inlet. The air inlet is communicated with the first chamber 221, and the impeller is used to guide the air flow in the first chamber 221 to enter the air inlet structure from the air inlet when rotating at a high speed. The air outlet 225 may be configured in the air outlet structure, for example. In some examples, the air outlet structure may further include an air outlet channel, which may be configured as a diversion hose, for example, to direct the air flow flowing out of the air outlet 225 to the outside of the robot body 2.

[0043] In this embodiment, under the suction of the air suction assembly 222, the air flow carrying cotton fluffs can enter the first chamber 221 from the suction rake assembly 13 along the arrow F. Thereafter, the cotton fluffs are intercepted in the first chamber 221 for collection, the air flow enters the air suction assembly 222 from the air inlet, and then is discharged from the air outlet 225 out of the robot body 2.

[0044] In one embodiment, as Figure 2 and Figure 3 shown, the second chamber 224 has a first hole (not shown) and a second hole 2241. The first hole is communicated with the first chamber 221 to configure the air inlet, and the second hole 2241 is located at the top of the collection box 22 to configure the air outlet 225. In this example, the first hole may be correspondingly disposed directly below the air inlet, and the second hole may be correspondingly disposed directly above the air outlet 225 to shorten the flow path of the air flow discharged from the robot body 2.

[0045] In one embodiment, please refer to Figures 1 to 3 , a wind guiding portion 2242 corresponding to the second hole 2241 protruding from the top is further provided on the collection box 22. In Figure 1 the shown example, the wind guiding portion 2242 has an annular structure and is integrally formed with the collection box 22. The range enclosed by the annular structure forms the second hole 2241. Specifically, the air flow can enter the air inlet from the first hole, then flow to the second hole 2241 through the air outlet 225 of the air suction assembly 222, and finally be guided to the outside of the robot body 2 through the wind guiding portion 2241.

[0046] In one embodiment, the air suction assembly 222 is provided as one group or two groups arranged side by side. For example, in Figure 2 the shown example, the air suction assembly 222 is configured as one group, and in Figure 3 the shown example, the air suction assembly 222 may be configured as two groups. It should be noted here that Figure 3The air suction assembly 222 is omitted for the convenience of illustrating the relative position of the second chamber 224, which should not be construed as a limitation to this application. Of course, the air suction assembly 222 can also be configured with other quantities, as long as it can provide negative pressure and discharge the air flow from the robot body, and this application does not impose any restrictions on this.

[0047] In one embodiment, the pipe diameter of the air path pipeline 223 is set to any value between 7 cm and 15 cm. For example, it can be approximately 7 cm, 7.5 cm, 8 cm, 8.5 cm, 9 cm, 9.5 cm, 10 cm, 10.5 cm, 11 cm, 11.5 cm, 12 cm, 12.5 cm, 13 cm, 13.5 cm, 14 cm, 14.5 cm, 15 cm, etc. However, this is not a limitation. Those skilled in the art can design the specific diameter of the air path pipeline 223 according to the size range of the cotton wool to be cleaned.

[0048] In one embodiment, as Figure 3 shown, the air path pipeline 223 has an inlet end 2231 and an outlet end 2232. The inlet end 2231 is communicated with the suction port rake assembly 13, and the outlet end 2232 is located inside the robot body 2 to communicate with the first chamber 221. In this embodiment, the air path pipeline 223 also has a pipeline body with a bent setting between the inlet end 2231 and the outlet end 2232, so that the air flow carrying the cotton wool enters the pipeline body from the inlet end 2231 and enters the first chamber 221 from the outlet end 2232. Among them, the outlet end 2232 of the air path pipeline 223 can be arranged on the aforementioned partition plate.

[0049] Please refer to Figure 4 , which shows a schematic structural diagram of the cotton wool cleaning robot in another perspective in one embodiment of this application. As Figure 4 shown, the main body part 2233 of the air path pipeline 223 is externally arranged between the electrical component 21 and the collection box 22. In Figure 4 the example shown, the main body part 2233 is configured as a part of the pipeline body existing in an exposed form. A preset gap is provided between the right side of the electrical component 21 and the right side of the collection box 22, and the main body part 2233 of the air path pipeline 223 is placed in the preset gap. Among them, the size of the preset gap can be determined according to the pipe diameter of the main body part 2233. In this embodiment, the externally arranged main body part 2233 enables the air path pipeline 223 to avoid complex structures such as the electrical component 21 in the robot body 2, and at the same time allows the air path pipeline 223 to be set in a straighter form or a larger diameter, thereby reducing the air resistance generated when the air flow flows along the air path pipeline 223 and reducing the blockage of cotton wool in the air path pipeline 223. In addition, the externally arranged main body part 2233 also facilitates the observation and maintenance by the operator when the cotton wool is blocked.

[0050] In one embodiment, as Figure 1 shown, a door structure 226 for opening and closing the first chamber 221 is provided on the collection box 22. In the Figure 1 example shown, the door structure 226 is provided on the left side of the robot body 2. In some examples, the front side of the door structure 226 is pivotally connected to the collection box 22, and its rear side can be connected to the collection box 22 through a snap structure, and the operator can open or close the snap structure to open and close the door structure 226. In one example, as Figure 1 shown, a window 2261 is provided on the door structure 226, and the window 2261 can be configured with a transparent material such as acrylic, etc., so that the operator can observe whether the first chamber 221 is full of cotton wool. In one example, the capacity of the first chamber 221 is configured to be approximately 150L.

[0051] In one embodiment, a collection bag (not shown) is provided in the first chamber 221, and the collection bag has an interface connected to the air duct 223 to receive the air flow carrying cotton wool. In one implementation, the interface of the collection bag can be arranged around the air duct 223 through a clamping structure, so that the cotton wool can enter the collection bag through the interface. In some examples, the clamping structure is configured to include a sealing ring to prevent the cotton wool from leaking to the outside of the collection bag.

[0052] In one embodiment, the collection bag has air permeability to discharge the air flow under the negative pressure of the air suction component 222 and retain the cotton wool. In some examples, the collection bag can be configured with a material having air holes such as non-woven fabric, melt-blown fabric, etc., so that after the air flow carrying cotton wool enters the collection bag from the interface, while retaining the cotton wool, the collection bag can allow the air flow to filter out from the air holes and enter the air inlet, and then flow to the outside of the robot body 2 from the air outlet 225 through the air guiding part 2241.

[0053] In one embodiment, the collection bag is provided with a zipper opening for cleaning the cotton wadding stored therein through the zipper opening. In one example, the zipper opening is disposed on a side close to the door structure 226 to facilitate the operator to open and close the zipper opening for cleaning the cotton wadding in the collection bag. Specifically, when the operator observes through the window 2261 that the cotton wadding in the first chamber 221 is full, the door structure 226 can be opened through the buckle structure on the door structure 226, and then the collection bag can be opened by opening the zipper opening, so as to realize the cleaning of the cotton wadding. After emptying the cotton wadding, close the zipper opening, and then close the door structure 226 to start the cleaning work again. In some examples, the zipper opening may not be provided. In this case, the collection bag can be configured as a disposable structure. When the operator observes that the collection bag is full of cotton wadding, the door structure 226 can be directly opened to take out the collection bag full of cotton wadding from the first chamber 221 and replace it with a new collection bag.

[0054] In one embodiment, a detection device for detecting whether the collection bag is installed is provided in the first chamber 221. In one example, the detection device can be configured to include a photoelectric sensor. The photoelectric sensor generates a sensing signal according to the monitoring of whether the optical path is blocked by the collection bag, and transmits the sensing signal to the aforementioned control device. The control device can generate a control signal according to the sensing signal, and the control signal can be used to control a warning device to emit an alarm signal to prompt the operator to perform the next operation.

[0055] In some examples, the warning device can be configured to include indicator lights of different colors, for example. For example, when the control device receives the sensing signal that the collection bag is not installed, the generated control signal controls the red indicator light of the warning device to flash to prompt the operator to install the collection bag. When the control device receives the sensing signal that the collection bag is installed in place, the generated control signal controls the green indicator light of the warning device to turn on to prompt the operator to continue the cleaning work. Of course, in some other examples, the detection device can also be configured to include a magnetic sensor or a micro pressure sensor, etc., but not limited thereto, as long as it can detect whether the collection bag is installed.

[0056] In one embodiment, the chassis 1 can be integrally formed of materials such as plastic, metal, etc., and is configured with a plurality of pre-formed grooves, depressions, clamping positions or similar structures to realize the installation or integration of various components, structures, assemblies, mechanisms, components, devices, or apparatuses.

[0057] Please refer to Figure 5 , showing a schematic structural diagram of the chassis in one embodiment of the present application, as Figure 5As shown, on the basis of providing a suction rake assembly 13 at the bottom of the chassis 1, a steering wheel set 11 and a driving wheel set 12 are further provided. The steering wheel set 11 is located at the front side, and the driving wheel set 12 is located at the rear side, and is used to drive the robot to move forward.

[0058] In one embodiment, as Figure 5 shown, the driving wheel set 12 is configured to include two driving wheels, and the two driving wheels are coaxially arranged on the left and right sides of the chassis 1 to serve as power wheels for directly driving the cotton floss cleaning robot to perform a traveling action. Among them, the traveling action includes but is not limited to moving forward, backward, turning, etc. In one implementation manner, the two driving wheels can be respectively connected to a driving device to drive the cotton floss cleaning robot to perform a reciprocating movement back and forth along a preset movement track, or to realize a rotational movement or a curved movement, etc. by using the speed difference of the respective driving devices. The driving device can be configured to include, for example, a driving motor. In some examples, the driving device may further include a speed reducer for adjusting the rotation speed of the driving wheel, and further adjusting the traveling speed of the cotton floss cleaning robot.

[0059] In one embodiment, the steering wheel set 11 is configured to include at least one steering wheel. In Figure 5 the shown example, the steering wheel set 11 is configured to include one steering wheel. In this example, the steering wheel is arranged at the middle position of the front side of the chassis 1, and is used to support the weight of the front side part of the cotton floss cleaning robot and passively realize the turning action of the cotton floss cleaning robot in cooperation with the differential of the driving devices connected to the two driving wheels of the driving wheel set 12. In another example, the steering wheel set 11 can also be configured to include two steering wheels respectively arranged on the left and right sides of the chassis 1, but it is not limited thereto, as long as it can realize the driven movement in cooperation with the driving wheel set 12. In some examples, the steering wheel can be configured as a universal wheel.

[0060] It should be understood that during the traveling process of the cotton floss cleaning robot, the steering wheel set 11 and the driving wheel set 12 will generate friction with the surface to be cleaned, resulting in the accumulation of static electricity on the chassis 1. These static electricity may generate electric sparks, thereby igniting the cotton floss on the surface to be cleaned. In view of this, in one embodiment, as Figure 4 shown, an electrostatic elimination component 15 for eliminating the static electricity generated when the robot is walking is provided at the rear side of the chassis 1. In one example, the electrostatic elimination component 15 can be configured as a conductive wire, and the conductive wire is connected to the chassis 1 and closely adheres to the surface to be cleaned, and directly conducts the static electricity on the chassis 1 to the surface to be cleaned through physical contact with the surface to be cleaned. In this example, the conductive wire can be configured as a carbon fiber bundle or a metal alloy wire, etc.

[0061] As described above, in the present application, the air suction assembly 222, such as a blower, is disposed on the upper side of the robot body 2. Since a blower generally has a relatively large mass, its configuration at a relatively high position will raise the center of gravity of the cotton floc cleaning robot. In addition, although the capacity of the first chamber 221 is large, even when it is fully loaded, the mass of the cotton flocs collected therein is relatively light. At this time, if the overall center of gravity of the robot is not lowered, for example, when the robot climbs, descends, or avoids obstacles (such as avoiding items often provided in the robot's travel path, such as buffer strips), the risk of the robot tipping over will increase. In view of this, in one embodiment, a battery assembly is disposed on the lower side of the chassis 1 (the battery assembly is disposed in the accommodating space 16 configured as a trough), and the battery assembly is located between the drive wheel set 12 and the suction rake assembly 13. Specifically, the battery assembly is disposed in the middle area of the chassis 1 and is located below the surface of the chassis 1 that supports the collection box 22. More specifically, the battery assembly is suspended on the lower side of the chassis 1 in a hanging manner, for example Figure 2 the accommodating space 16 configured as a trough shown in is the position for setting the battery assembly. In this way, the self-weight of the battery assembly can balance the excessively high center of gravity caused by the air suction assembly 222, thereby reducing the overall center of gravity of the cotton floc cleaning robot to avoid the robot tipping over during travel. It should be noted here that in related art, cleaning robots will set cleaning components such as roller brushes or scrubbers on the lower side of the chassis, so that there is no extra space for configuring the battery assembly on the lower side of the chassis, so it can only be disposed on the upper side of the chassis, such as the setting position of the battery assembly shown in the patent publication number WO2024149176A1.

[0062] In some examples, the battery assembly can be configured to include a battery for supplying power to the aforementioned electrical components such as the control device and the drive device. The battery can be configured as a nickel-metal hydride battery, a lithium battery, or the like.

[0063] In one embodiment, please refer to Figure 2 and Figure 3 , an accommodating space 16 for assembling the battery assembly is provided on the chassis 1. The accommodating space 16 can be configured as a trough, for example. The lower side of the trough protrudes toward the surface to be cleaned, and the upper side of the trough has an opening, and the opening is covered by the collection box 22. In some examples, the collection box 22 can be flipped relative to the chassis 1 toward the rear side of the robot body 2 to expose the opening, so as to facilitate an operator to replace or repair the battery assembly through the opening. In one implementation, the rear side of the collection box 22 and the chassis 1 are axially connected by a hinge, and the front side can be detachably connected by, for example, screws or snaps.

[0064] In one embodiment, as Figure 5As shown, the suction rake assembly 13 is disposed between the midpoint of the wheelbase of the steering wheel set 11 and the drive wheel set 12 and the steering wheel set 11. It should be understood that the midpoint of the wheelbase refers to the midpoint of the distance between the steering wheel set 11 and the drive wheel set 12. In an example where the steering wheel set 11 is configured to include one steering wheel and the drive wheel set 12 is configured to include two drive wheels, the midpoint of the wheelbase can be understood as the midpoint of the distance between the midpoint of the line connecting the steering wheel and the two drive wheels, and specifically can be presented as Figure 5 the position where the point O shown is located. That is, in this embodiment, the suction rake assembly 13 is integrally disposed in the front half of the chassis 1 and is located behind the steering wheel set 11.

[0065] In one embodiment, in order to increase the area of the suction rake assembly 13 covering the surface to be cleaned during the cleaning operation to improve the cleaning efficiency, as Figure 5 shown, the left and right ends of the suction rake assembly 13 protrude horizontally across the chassis 11. In other words, the width of the left and right ends of the suction rake assembly 13 is greater than the width of the chassis 11 at the left and right ends, so as to increase the cleaning area of the suction rake assembly 13.

[0066] In one embodiment, as Figure 5 shown, the distance d by which the left and right ends of the suction rake assembly 13 protrude from the chassis is set to any value between 5 mm and 7 mm. Wherein, the distance d can be understood as the length between the outermost edges of the left and right ends of the suction rake assembly 13 relative to the left and right edges of the chassis 1. In some examples, the distance d can be approximately 5 mm, 5.1 mm, 5.15 mm, 5.2 mm, 5.3 mm, 5.4 mm, 5.5 mm, 5.6 mm, 5.7 mm, 5.8 mm, 5.9 mm, 6 mm, 6.1 mm, 6.2 mm, 6.3 mm, 6.4 mm, 6.5 mm, 6.6 mm, 6.7 mm, 6.8 mm, 6.9 mm, 7 mm, etc.

[0067] As mentioned above, due to the large number of equipment and complex space in the cotton spinning workshop, there are often various obstacles such as cables and temporary placed objects on the ground. During the operation of the cotton floss cleaning robot, the suction rake assembly 13 is prone to directly collide with obstacles, which will not only cause deformation and jamming of the suction rake assembly 13, but even lead to abnormal operation of the cotton floss cleaning robot. In view of this, in one embodiment, as Figure 5 shown, the suction rake assembly 13 is rotatably connected to the inlet end 2231 of the air duct 223 to avoid obstacles by passive swinging during the traveling process. Wherein, the obstacle refers to an object located on the traveling route of the cotton floss cleaning robot that will block the robot, such as textile equipment such as spinning machines or weaving machines, doors, walls, columns, tables, chairs, cables, and other placed objects on the surface to be cleaned.

[0068] Specifically, please refer toFigure 6 and in combination with Figure 5 , wherein Figure 6 shows a schematic diagram of the suction rake assembly swinging to avoid obstacles in an embodiment of the present application. When the right side of the suction rake assembly 13 is collided, it tends to swing backward, so that the suction rake assembly 13 rotates counterclockwise along the Figure 5 dashed arrow direction shown in Figure 6 to present the state shown in

[0069] Please refer to Figure 7 , which shows a schematic structural diagram of the suction rake assembly in an embodiment of the present application. As Figure 7 shown, the suction rake assembly 13 includes a suction rake 131, a rotating connection assembly 132, and a reset assembly 133. The suction rake 131 is used to clean the surface to be cleaned, the rotating connection assembly 132 is used to realize the swinging of the suction rake 131, and the reset assembly 133 is connected to the chassis 1 and the suction rake 131 to reset the suction rake 131.

[0070] Please refer to Figure 8a and Figure 9 , wherein Figure 8a shows a cross-sectional schematic diagram of the suction rake assembly in the embodiment shown in the present application Figure 7 , Figure 9 which shows a schematic structural diagram of the suction rake in an embodiment of the present application. As Figure 8a and Figure 9 shown, the suction rake 131 has a suction inlet 1311 and a suction rake outlet 1312. The suction inlet 1311 faces the surface to be cleaned, and the suction rake outlet 1312 is vertically communicated with the suction inlet 1311. Specifically, please refer to Figure 8b , which shows a schematic diagram of the flow of the air flow carrying cotton fluffs in the suction rake assembly in an embodiment of the present application. Figure 8b The cotton fluffs to be cleaned are schematically shown by a mass structure C, and the flow direction of the air flow is schematically shown by a dashed arrow. The combination of the mass structure C and the dashed arrow can be used to schematically show the flow direction of the air flow carrying cotton fluffs. As Figure 8b shown, under the negative pressure provided by the suction component 222, the air flow carrying cotton fluffs enters the suction rake 131 from the suction inlet 1311, and then enters the inlet end 2231 of the air path pipe 223 through the suction rake outlet 1311.

[0071] As described above, due to the characteristics of the sewage or solid waste with high density and easy deposition (such as solid waste like gravel, screws or nuts, broken glass, etc. in a factory environment) that need to be suctioned by commercial cleaning robots in the related art, a suction air component with a relatively large power and large suction force needs to be configured. To adapt to the collection of solid waste, the cleaning robot also needs to be configured with a suction rake with a relatively narrow suction port coverage area to ensure the negative pressure at the suction port. The suction rake is usually designed to be, for example, slender strip-shaped, so as to ensure the concentrated suction force of the suction rake and achieve the expected cleaning effect. However, in the working environment where the cotton floss cleaning robot provided in the present application is used, due to the characteristics of the cotton floss that need to be suctioned, which is light in weight, large in volume, and easy to suspend and disperse, the requirement for suction force of the robot is reduced. Compared with the requirement of traditional cleaning robots for high negative pressure (strong suction force) at the inlet of the suction rake, the present application pays more attention to the suction port coverage area to ensure the working efficiency. Therefore, a relatively wide suction rake 131 is adopted in the present application to expand the suction range / area. For example, in the example where the cotton floss is in an irregular spherical or agglomerated structure, the common diameter of the cotton floss or cotton ball is about 3 cm to 5 cm.

[0072] In one embodiment, as Figure 6 shown, the longitudinal width z of the suction rake 131 is configured to be any value between 10 cm and 25 cm. For example, it can be approximately 10 cm, 10.5 cm, 11 cm, 11.5 cm, 12 cm, 12.5 cm, 13 cm, 13.5 cm, 14 cm, 14.5 cm, 15 cm, 15.5 cm, 16 cm, 16.5 cm, 17 cm, 17.5 cm, 18 cm, 18.5 cm, 19 cm, 19.5 cm, 20 cm, 20.5 cm, 21 cm, 21.5 cm, 22 cm, 22.5 cm, 23 cm, 23.5 cm, 24 cm, 24.5 cm, 25 cm, etc. It should be noted that the longitudinal width z of the suction rake 131 refers to the maximum distance from the front side to the rear side of the suction rake 131.

[0073] In one embodiment, as Figure 8a shown, the suction rake 131 has a middle cavity 1310 that expands from the suction rake outlet 1312 towards the suction inlet 1311. Please refer to Figure 10a and Figure 10b , Figure 10a which shows a schematic diagram of the suction rake in a perspective view of the embodiment shown in the present application Figure 9 . Figure 10b which shows a schematic diagram of the suction rake in a perspective view of the embodiment shown in the present application. As Figure 9 shown, the middle cavity 1310 also narrows from the middle region towards the left and right end regions to ensure the stability of the negative pressure inside the suction rake 131. In one example, as Figure 10a shown, Figure 9As shown, from the perspective of the front end or the rear end, the suction rake 131 is configured as a hollow structure generally in the shape of an isosceles trapezoid. The hollow structure is the middle cavity 1310. The suction inlet 1311 is located at the lower end of the isosceles trapezoid, and the suction rake outlet 1312 is located at the upper end of the isosceles trapezoid. In this example, during the process that the airflow flows from the suction inlet 1311 to the middle cavity 1310 and is output to the suction rake outlet 1312, a flow channel that gradually narrows from bottom to top is formed to form a stable flow velocity at the suction inlet 1311, thereby maintaining the stability of the negative pressure at the suction inlet 1311. It should be understood that the connection between the suction rake outlet 1311 and the gas pipeline 223 results in a relatively large negative pressure in the middle region of the middle cavity 1310 and a relatively small negative pressure in the left and right end regions. In this embodiment, by designing the middle cavity 1310 to narrow from the middle region to the left and right end regions, a tapered flow channel is formed when the airflow flows from the suction rake outlet 1312 to the left and right ends, thereby forming a uniform negative pressure in the middle cavity 1310.

[0074] In one embodiment, as Figure 10b shown, the connection between the suction rake outlet 1311 and the gas pipeline 223 results in a relatively large negative pressure in the middle region of the middle cavity 1310 and a relatively small negative pressure in the left and right end regions. Furthermore, the cavity regions provided at both end portions of the suction rake 131 are relatively narrow. However, considering the working environment where the robot of the present application is located and the cotton fluffs it collects are irregular spherical or agglomerated objects, the width W of the cavity regions provided at both end portions of the suction rake 131 is greater than the diameter of common cotton fluffs. For example, the width is greater than the diameter of common cotton fluffs or cotton clusters, which is approximately 3 cm to 5 cm.

[0075] In another embodiment, as Figure 10b shown, the front side of the suction rake 131 has a curvature at the corners N facing the left and right ends. In this embodiment, the curvature design at the corners N can avoid the accumulation and entanglement of cotton fluffs at both ends of the suction rake 131 caused by a right-angle design, so that the cotton fluffs can smoothly enter the interior of the suction rake 131 from both ends of the suction rake 131, ensuring the smooth progress of the cleaning work.

[0076] It should be understood that in the related art, the suction rake that can avoid obstacles is prone to generate a hard resistance at the connection between the suction rake and the airflow pipeline when being laterally collided, which may cause deformation and mechanical damage to the suction rake. In view of this, in one embodiment, as Figure 9 and Figure 10a shown, the suction rake 131 includes a main body portion 1313 and a guiding portion 1314. The guiding portion 1314 is bent backward from the main body portion 1313 and is used to guide the force to the rear side when the suction rake 131 is laterally collided to prompt the suction rake 131 to swing back and forth. Among them, the lateral collision means that the obstacle impacts the suction rake 131 along the axis L1 direction where the main body portion 1313 is located, as shown in Figure 10aThe direction indicated by the black arrow. In this embodiment, the guiding portion 1314 bent backward can decompose the impact force when the suction port rake 131 is laterally collided into a component force toward the rear side, so as to convert the hard resistance into a front-back swing with the rotation connection assembly 132 as the axis, enabling the obstacle to pass through smoothly. It should be noted here that the guiding portion 1314 bent backward is likely to contact the chassis 1, facilitating the subsequent-described induction component to sense the swing of the suction port rake 131. For details, refer to the description in the subsequent embodiments, which will not be elaborated here.

[0077] In one embodiment, the main body portion 1313 and the guiding portion 1314 are integrally formed. As Figure 10a shown, the axis L2 where the guiding portion 1314 is located is inclined backward relative to the axis L1 where the main body portion 1313 is located, and there is an angle α between the two, so that the suction port rake 131 swings back and forth with the rotation connection assembly 132 as the axis when being collided. Please combine Figure 5 and Figure 6 , when the right side of the suction port rake 131 is collided, the guiding portion 1314 on its right side tends to swing backward, thereby driving the suction port rake 131 to rotate along the direction indicated by the dotted arrow in Figure 5 , presenting the state shown in Figure 6 .

[0078] In some examples, the angle α at which the guiding portion 1314 is bent backward is 30° to 60°. For example, it can be approximately 30°, 31°, 32°, 33°, 34°, 35°, 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44°, 45°, 46°, 47°, 48°, 49°, 50°, 51°, 52°, 53°, 54°, 55°, 56°, 57°, 58°, 59°, 60°, etc.

[0079] In some other embodiments, the guiding portion 1314 can also be made of a flexible material such as rubber, so that it can generate temporary deformation when impacted by an obstacle to allow the obstacle to pass through.

[0080] In one embodiment, as Figure 9 shown, a guiding wheel 1315 is provided on the guiding portion 1314. In Figure 10aIn the example shown, two guide wheels 1315 are arranged on the upper side of each side guide portion 1314, one of which is arranged protrudingly in the direction of the axis L2, and the other guide wheel 1315 is arranged protrudingly on the front side of the guide portion 1314, so that when the guide portion 1314 is hit by an obstacle, the obstacle can be brought into rolling contact with the guide wheel 1315 to guide the suction rake 131 to swing backward and avoid the obstacle. In this example, the arrangement of the guide wheel 1315 can also reduce the friction between the obstacle and the guide portion 1314, thereby ensuring the service life of the suction rake 131.

[0081] See also Figure 11 , which is a cross-sectional schematic diagram of a rotating connection assembly in one embodiment of the present application, such as Figure 11 As shown, the rotating connection assembly 132 includes a fixed portion 1321 and a rotating portion 1322, wherein the fixed portion 1321 is connected to the inlet end 2231 of the gas pipeline 223, and the rotating portion 1322 is connected to the suction port rake outlet 1312 of the suction port rake 131 so that the suction port rake 131 can be passively swung back and forth with the position of the suction port rake outlet 1312 as the rotation center. In some examples, the fixed portion 1321 can be fixedly connected to the inlet end 2231 of the gas pipeline 223 by a flange or a bolt, and the rotating portion 1322 can be connected to the suction port rake outlet 1312 of the suction port rake 131 by a threaded structure.

[0082] In one example, if Figure 11 As shown, the rotating part 1322 includes a connecting structure and a rotating structure, the connecting structure is used to connect the suction rake outlet 1312, and the rotating structure can be configured as a bearing member 1323 to rotatably connect the fixed part 1321. Specifically, the bearing member 1323 has an inner ring and an outer ring that can rotate relatively, the fixed part 1321 is connected to the outer ring of the bearing member 1323, and the connecting structure is connected to the inner ring of the bearing member 1323 to realize the rotation of the connecting structure relative to the fixed part 1321, thereby realizing the swing of the suction rake 131 with the position of the suction rake outlet 1312 as the rotation center.

[0083] In one embodiment, if Figure 11 As shown, a sealing gasket 1324 is provided between the rotating portion 1322 and the fixed portion 1321 to prevent the airflow carrying cotton wool from leaking from the gap between the rotating portion 1322 and the fixed portion 1321 when passing through the rotating connection assembly 132. In some examples, the sealing gasket can be configured as an "O"-shaped rubber ring, but its shape and material are not limited thereto, as long as airtightness can be ensured.

[0084] In one embodiment, if Figure 7 As shown, the reset assembly 133 includes a first reset spring 1331 and a second reset spring 1332 that are symmetrically arranged.Figure 5 The first ends of the first return spring 1331 and the second return spring 1332 are respectively connected to the left and right ends of the suction port rake 131, and the second ends are respectively connected to the chassis 1. In some examples, ear seats are respectively provided on the left and right sides of the chassis 1 and the left and right ends of the suction port rake 131 to connect the first ends and the second ends of the first return spring 1331 and the second return spring 1332 respectively.

[0085] For example, when the cotton floss cleaning robot does not encounter an obstacle, the first return spring 1331 and the second return spring 1332 present Figure 5 the initial state shown. When the right side of the suction port rake 131 collides with the obstacle and swings backward under the action of an external force to present Figure 6 the state shown, the second return spring 1322 is in a compressed state, and the first return spring 1331 is in a stretched state. After the obstacle passes, the external force acting on the suction port rake 131 disappears, and the first return spring 1331 and the second return spring 1332 release their elastic potential energy and thus return to the initial state, thereby driving the suction port rake 131 to rotate clockwise to return to Figure 5 the position shown.

[0086] In one embodiment, an induction component for sensing the swing of the suction port rake assembly 13 is provided on the chassis 1. In one example, when the induction component determines that the suction port rake assembly 13 swings, it generates a position signal and transmits the position signal to the control device. The control device generates a movement instruction according to the position signal, and the movement instruction is used to re-plan the movement trajectory of the cotton floss cleaning robot. For example, the movement direction of the cotton floss cleaning robot can be adjusted by adjusting the rotation angle of the steering wheel group 11 to avoid the obstacle.

[0087] In one implementation, the induction component can be configured as an optical sensor or an optical camera, etc., for transmitting the position signal to the control device to re-plan the movement trajectory of the cotton floss cleaning robot when the suction port rake assembly 13 swings but does not touch the chassis 1. In another implementation, the induction component can be configured as a micro switch or a touch sensor, etc., for transmitting the position signal to the control device to re-plan the movement trajectory of the cotton floss cleaning robot when the guiding part 1314 of the suction port rake 13 hits the chassis 1.

[0088] In one embodiment, the operator can directly operate the cotton wadding cleaning robot to avoid obstacles. In this embodiment, a control panel can be arranged at the rear side of the robot body 2, and a plurality of buttons can be configured on the control panel, such as a start button, a travel button, a pause button, a steering button, etc. In some examples, the control panel can also be configured as a liquid crystal display screen to allow the operator to input instructions such as start, travel, pause, or steering through a touch screen method.

[0089] In one embodiment, the vertical distance between the suction port rake assembly 13 and the surface to be cleaned is set to any value between 15 mm and 35 mm. For example, it can be approximately 15 mm, 15.1 mm, 15.2 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm, 21 mm, 22 mm, 23 mm, 24 mm, 25 mm, 26 mm, 27 mm, 28 mm, 29 mm, 30 mm, 31 mm, 32 mm, 33 mm, 34 mm, 35 mm, etc.

[0090] In one embodiment, the suction port rake assembly 13 is connected to the chassis 1 through an adjusting mechanism, and the adjusting mechanism is used to adjust the vertical distance between the suction port rake assembly 13 and the surface to be cleaned. Wherein, the vertical distance refers to the gap between the bottom end of the suction port rake 13 and the surface to be cleaned in the vertical direction. In this embodiment, the adjusting mechanism can appropriately raise or lower the suction port rake assembly 13 according to the actual condition of the surface to be cleaned, so as to ensure that the suction port rake 131 is always in the best cleaning position during the cleaning work, and avoid poor cleaning effect caused by too large vertical distance or scraping between the suction port rake 131 and the surface to be cleaned caused by too small vertical distance.

[0091] Please refer to Figure 12 , which shows a schematic structural diagram of the adjusting mechanism in one embodiment of the present application. As Figure 12 shown, the adjusting mechanism 14 includes a bolt 141 and a spring 142. The bolt 141 passes through the chassis 1 and is fixed on the suction port rake assembly 13. The spring 142 is sleeved on the bolt 141 in a manner that one end abuts against the suction port rake assembly 13 and the other end abuts against the chassis 1. When the bolt 141 is screwed, the spring 142 adjusts the vertical distance between the suction port rake assembly 13 and the surface to be cleaned by compression or stretching.

[0092] For example, when the bolt 141 is screwed clockwise, the spring 142 compresses between the chassis 1 and the suction port rake assembly 13, thereby driving the suction port rake assembly 13 to rise, so that the vertical distance between the suction port rake assembly 13 and the surface to be cleaned increases. When the bolt 141 is screwed counterclockwise, the distance between the chassis 1 and the suction port rake assembly 13 increases, allowing the spring 142 to be in a relaxed state, thereby reducing the vertical distance between the suction port rake assembly 13 and the surface to be cleaned. In Figure 12In the illustrated example, the adjusting mechanism 14 is configured into four groups.

[0093] In some other embodiments, the adjusting mechanism 14 may also be configured to include a screw rod and a motor, and the motor drives the screw rod to rotate clockwise or counterclockwise to achieve automatic adjustment of the vertical distance.

[0094] In summary, for the cotton floss cleaning robot disclosed in this application, by providing a steering wheel set, a driving wheel set, and a suction port rake assembly on the chassis, and providing a chamber for storing cotton floss and a suction air assembly communicated with the chamber on the robot body, the robot realizes the automatic cleaning and collection of cotton floss on the surface to be cleaned during the traveling process, improves the cleaning efficiency, and ensures the cleaning effect. By rotatably connecting the suction port rake assembly to the air duct, the suction port rake assembly can swing passively to avoid obstacles during the traveling process of the robot, thus avoiding abnormal operation of the robot caused by direct collision between the suction port rake assembly and obstacles, and ensuring the normal progress of the cleaning work. By providing an air outlet facing upward, the air flow can be discharged upward from the top side of the robot body, which can effectively prevent the cotton floss on the surface to be cleaned from being lifted by the air flow, thus avoiding affecting the cleaning work of the surface to be cleaned, and at the same time avoiding affecting the textile operation and product quality. By providing an adjusting mechanism for adjusting the vertical distance between the suction port rake assembly and the surface to be cleaned, the suction port rake is always in the best cleaning position during the cleaning work, avoiding poor cleaning effect caused by too large a distance from the surface to be cleaned, or abrasion between the suction port rake and the surface to be cleaned caused by too small a distance.

[0095] The above embodiments are only illustrative of the inventive essence of this application and the beneficial effects obtained therefrom, and are not used to limit this application. Any person familiar with this technology can modify or change the above embodiments without departing from the principles and scopes of this application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in this application should still be covered by the claims of this application.

Claims

1. A cotton wadding cleaning robot, characterized in that, Comprising: A chassis, at the bottom of which there is a steering wheel set located at the front side, a drive wheel set for driving the robot to move forward located at the rear side, and a suction rake assembly arranged between the midpoint of the wheelbase of the drive wheel set and the steering wheel set and the steering wheel set; A robot body, arranged on the chassis, including an electrical component and a collection box arranged on the chassis. The collection box includes a chamber for storing cotton wadding and a suction air component communicated with the chamber. The chamber is communicated with the suction rake assembly through an air duct. Under the negative pressure action of the suction air component, the airflow carries the cotton wadding on the surface to be cleaned through the suction rake assembly and is collected into the chamber through the air duct; Wherein, the left and right ends of the suction rake assembly protrude horizontally across the chassis and are rotatably connected to the inlet end of the air duct, so as to avoid obstacles by passive swinging during the movement.

2. The cotton wadding cleaning robot according to claim 1, characterized in that, The suction rake assembly includes: A suction rake, having a suction inlet facing the surface to be cleaned and a suction rake outlet vertically penetrating the suction inlet; A rotation connection assembly, including a fixed part connected to the inlet end of the air duct and a rotation part connected to the suction rake outlet, so that the suction rake can passively swing back and forth with the position of the suction rake outlet as the rotation center; A reset assembly, connected to the chassis and the suction rake to reset the suction rake.

3. The cotton wadding cleaning robot according to claim 2, wherein The suction rake includes a main body part and guiding parts bent backward from both ends of the main body part. The guiding parts are used for guiding the force to the rear side when the suction rake is laterally collided, so as to prompt the suction rake to swing back and forth.

4. The cotton wadding cleaning robot according to claim 3, wherein, Guiding wheels are arranged on the guiding parts.

5. The cotton wadding cleaning robot according to claim 3, characterized in that, The angle at which the guiding part is bent backward is 30° to 60°.

6. The cotton wadding cleaning robot according to claim 2, wherein, The suction rake has a middle cavity extending from the suction rake outlet towards the suction inlet, and the middle cavity also narrows from the middle area to the left and right end areas to ensure the stability of the negative pressure inside the suction rake.

7. The cotton wadding cleaning robot according to claim 2, wherein, A sealing gasket is arranged between the rotation part and the fixed part.

8. The cotton wadding cleaning robot according to claim 2, wherein The reset assembly includes symmetrically arranged first reset springs and second reset springs. The first ends of the first reset springs and the second reset springs are respectively connected to the left and right ends of the suction rake, and the second ends are respectively connected to the chassis.

9. The cotton wadding cleaning robot according to claim 2, wherein, An induction component for sensing the swing of the suction rake assembly is arranged on the chassis.

10. The cotton wadding cleaning robot according to claim 1, characterized in that, The main part of the air duct is externally arranged between the electrical component and the collection box.

11. The cotton wadding cleaning robot according to claim 1, characterized in that, The pipe diameter of the air duct is set to any value between 7 cm and 15 cm.

12. The cotton wadding cleaning robot according to claim 1, characterized in that, The distance that the left and right ends of the suction rake assembly protrude from the chassis is set to any value between 5 mm and 7 mm.

13. The cotton wadding cleaning robot according to claim 1, wherein, The vertical distance between the suction rake assembly and the surface to be cleaned is set to any value between 15 mm and 35 mm.

14. The cotton wadding cleaning robot according to claim 1, characterized in that, The suction rake assembly is connected to the chassis through an adjusting mechanism, and the adjusting mechanism is used to adjust the vertical distance between the suction rake assembly and the surface to be cleaned.

15. The cotton wadding cleaning robot according to claim 14, characterized in that, The adjustment mechanism includes a bolt and a spring. The bolt passes through the chassis and is fixed to the suction rake assembly. The spring is sleeved on the bolt in such a way that one end abuts against the suction rake assembly and the other end abuts against the chassis. When the bolt is screwed, the spring adjusts the vertical distance between the suction rake assembly and the surface to be cleaned by compression or expansion.

16. The cotton wadding cleaning robot according to claim 1, wherein, The air suction assembly has an air outlet arranged upward so that the air flow is discharged upward from the top side of the robot body.

17. The cotton wadding cleaning robot according to claim 1 or 16, characterized in that, The air suction assembly is arranged in one group or two groups arranged side by side.

18. The cotton wadding cleaning robot according to claim 1, wherein, A collection bag is arranged in the chamber. The collection bag has a docking port communicating with the air duct to receive the air flow carrying cotton wadding.

19. The cotton wadding cleaning robot according to claim 18, characterized in that, The collection bag has air permeability to discharge the air flow and retain the cotton wadding under the negative pressure of the air suction assembly.

20. The cotton wadding cleaning robot according to claim 18, wherein, The collection bag is provided with a zipper opening to clean the cotton wadding stored therein through the zipper opening.

21. The cotton wadding cleaning robot according to claim 18, wherein A detection device for detecting whether the collection bag is installed is arranged in the chamber.

22. The cotton wadding cleaning robot according to claim 1, wherein, A door structure for opening and closing the chamber is arranged on the collection box.

23. The cotton wadding cleaning robot according to claim 1, wherein, A battery assembly is arranged on the lower side of the chassis. The battery assembly is located between the drive wheel set and the suction rake assembly.

24. The cotton wadding cleaning robot according to claim 1, wherein, An electrostatic elimination assembly for eliminating static electricity generated when the robot walks is arranged at the rear side of the chassis.

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