Multi-scene intelligent cleaning equipment

Abstract

The invention discloses multi-scene intelligent cleaning equipment which comprises a box body with a walking mechanism, a mechanical arm is installed outside the box body, a waterway pipeline is arranged in the mechanical arm, a water tank is arranged in the box body, an inner end connector of the water tank communicates with a lower end connector of the waterway pipeline, an outer end connector of the water tank is led out of the box body, and a rotating frame is installed in the box body. A plurality of operation heads are arranged on the rotating frame, a pick-and-place opening corresponding to the rotating frame is formed in the box body, the front end of the mechanical arm is connected with the operation heads through the pick-and-place opening, an upper end connector of the waterway pipeline is communicated with the operation heads at the front end of the mechanical arm, and a power supply device is installed in the box body. The cleaning equipment drives the operation head at the front end of the mechanical arm to operate through the mechanical arm arranged outside, the working space of the operation head is not limited, multi-direction and multi-angle aiming can be achieved, cleaning scenes such as a closestool and a wall face, especially the interior of the closestool can be cleaned without dead corners, cleaning which cannot be achieved through a conventional floor sweeping robot, a sweeping robot, a floor washing machine and the like is achieved, and the cleaning efficiency is improved. Automatic work is carried out through software and program control.

Description

Technical Field

[0001] The present application relates to a cleaning device, in particular to a sweeping device. Background Art

[0002] Smart home products such as sweeping robots, sweeping and mopping robots, and floor scrubbers have been developed for many years. Although their walking route planning and automatic mop cleaning are already very intelligent, the cleaning surface of these products is the ground, and their application scenarios are limited. Compared with sweeping robots and sweeping and mopping robots, floor scrubbers are more autonomous and flexible to use and can mop wherever there is dirt, but they require human operation. Compared with floor scrubbers, sweeping robots and sweeping and mopping robots can work autonomously, but corners and other places are still dead corners that these products find difficult to clean. Summary of the Invention

[0003] Purpose of the invention: The purpose of this application is to provide a multi-scenario intelligent cleaning device that can be used in toilets and wall areas to achieve automated work.

[0004] Technical solution: A multi-scene intelligent cleaning device, comprising a box with a walking mechanism, a robotic arm installed outside the box, a water pipeline arranged inside the robotic arm, a water tank arranged inside the box, the inner end interface of the water tank is connected to the lower end interface of the water pipeline, the outer end interface of the water tank is led out from the box, a rotating frame is installed in the box, a plurality of operating heads are arranged on the rotating frame, a pick-up and release port is opened on the box corresponding to the rotating frame, the front end of the robotic arm is connected to the operating head from the pick-up and release port, the upper end interface of the water pipeline is connected to the operating head at the front end of the robotic arm, and a power supply device is installed in the box.

[0005] Furthermore, the water pipeline includes a cleaning pipeline and a return water pipeline, and the water tank includes a clean water tank, a washing liquid tank, and a return water tank. The inner water outlet interfaces of the clean water tank and the washing liquid tank are connected to the lower water inlet interface of the cleaning pipeline, and the inner water inlet interface of the return water tank is connected to the lower water outlet interface of the return water pipeline. The outer water inlet interface and outer emptying interface of the clean water tank and the washing liquid tank are both led out from the box body, and the outer water outlet interface of the return water tank is led out from the box body.

[0006] Furthermore, the operating head includes a high-pressure spray gun, a rotating brush head, and a vacuum suction cup. The high-pressure spray gun and rotating brush head are connected to the upper water outlet interface of the cleaning pipeline, and the vacuum suction cup is connected to the upper water inlet interface of the return water pipeline. The high-pressure spray gun and rotating brush head are used to spray water to clean dirty areas, and the vacuum suction cup is used to suck up accumulated water.

[0007] Furthermore, a pump is connected between the inner end interface of the water tank and the lower end interface of the water pipeline.

[0008] Furthermore, a sliding cover is installed on the box body at the taking-in and putting-out opening. After the robot arm takes out the operating head, the sliding cover covers the taking-in and putting-out opening to prevent the box body from being contaminated.

[0009] Furthermore, the robotic arm is a seven-axis rotating connection structure with six degrees of freedom. The front end of the robotic arm is connected to a dexterous hand, and the rear end of the dexterous hand and the front end of the seventh axis form a linear connection structure through a telescopic joint. The telescopic joint can buffer the force applied when the operating head contacts the cleaning surface.

[0010] Furthermore, it also includes a base station, the base station is provided with a return chamber, the bottom surface of the return chamber is provided with a track, the return chamber is provided with a charging module and a water channel joint, when the box body returns to the base station, the track is matched and docked with the walking mechanism, the charging module is matched and docked with the power supply device, and the water channel joint is matched and docked with the outer end interface of the water tank.

[0011] Furthermore, operation screens are respectively provided on the box and the base station.

[0012] Furthermore, the power supply device is electrically connected to the walking mechanism, the robotic arm, the rotating frame, and the pump to provide working power after the box is separated from the base station.

[0013] Furthermore, the walking mechanism is Mecanum wheels installed at the four corners of the bottom of the box.

[0014] Beneficial effects: The cleaning equipment of the present application drives the operating head at its front end through an externally arranged robotic arm. The working space of the operating head is not restricted and can be aimed in multiple directions and angles. For cleaning scenes such as toilets and walls, especially the inside of toilets, it can clean without dead ends, achieving cleaning that cannot be achieved by conventional sweeping robots, sweeping and mopping robots, and floor scrubbers. The cleaning equipment relies on software and program control to perform automated work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the exterior of the cleaning equipment of this application, with the robotic arm extended;

[0016] Figure 2 The robotic arm of the cleaning equipment is in the folded state;

[0017] Figure 3 This is a schematic diagram of the interior of the cleaning equipment;

[0018] Figure 4 This is a schematic diagram of the connection between the water tank and the water pipeline;

[0019] Figure 5 It is a schematic diagram of the structure of the rotating frame and the operating head;

[0020] Figure 6Set up a schematic diagram for the slide;

[0021] Figure 7 Schematic diagram of the base station structure;

[0022] Figure 8 This is a schematic diagram of the coordination between the box and the base station;

[0023] Figure 9 (a)-(c) are schematic diagrams of the high-pressure spray gun, rotating brush head, and vacuum suction cup structures, respectively;

[0024] Figure 10 (a)-(d) are diagrams of the human-computer interaction interface. DETAILED DESCRIPTION

[0025] The present application is further explained below with reference to the accompanying drawings and specific embodiments.

[0026] A multi-scenario intelligent cleaning device comprises a box with a walking mechanism and a base station.

[0027] As attached Figures 1 to 3 As shown, a Mecanum wheel 21 is installed at each of the four corners of the bottom of the box 1 to form a walking mechanism 2. The four Mecanum wheels 21 drive the box 1 to move smoothly. A water tank 5 is provided inside the box 1, specifically a clean water tank 51, a washing liquid tank 52, and a return water tank 53 arranged in parallel. The robot arm 3 is installed on the outside of the box 1 and can be installed on the top of the box 1 to provide the robot arm 3 with a larger extension space. The internal space of the robot arm 3 is used to set the water pipeline 4, specifically a cleaning pipeline 41 and a return water pipeline 42 arranged in parallel. Figure 4 As shown, the return water pipe 42 is connected to the return water tank 53, and the water flow direction is from the return water pipe 42 to the return water tank 53. The inner end water inlet interface 531 of the return water tank 53 is connected to the lower end water outlet interface 421 of the return water pipe 42. The connecting pipe 82 between the inner end water inlet interface 531 and the lower end water outlet interface 421 can be connected to the required pump 8 for installation. The outer end water outlet interface 532 of the return water tank 53 is led out from the box body 1. The clean water tank 51 and the washing liquid tank 52 are both connected to the cleaning pipe 41. The water flow direction is from the clean water tank 51 to the cleaning pipe 41. The water flows from the washing liquid tank 52 to the cleaning pipeline 41, and the inner water outlet interface of the clean water tank 51 and the inner water outlet interface of the washing liquid tank 52 are connected to the connecting branch pipe and then connected to the lower water inlet interface of the cleaning pipeline 41 through the connecting pipe 81. The required pump 8 can be connected and installed on the connecting pipe 81. The outer water inlet interface 511 and the outer emptying interface 512 of the clean water tank 51, and the outer water inlet interface 521 and the outer emptying interface 522 of the washing liquid tank 52 are led out from the box body 1. The clean water tank 51 and the washing liquid tank 52 can supply water to the cleaning pipeline 41 simultaneously or separately.

[0028] Combined with attachment Figure 1 As shown, the robot arm 3 is a seven-axis rotation connection structure with six degrees of freedom, namely, the translational freedom of linear movement along the X, Y, and Z axes and the rotational freedom of rotation around the X, Y, and Z axes. The rear end of the robot arm 3 is fixed to the top of the box body 1, and the connecting pipes 81 and 82 are connected from the outside of the robot arm 3 to the lower end interfaces of the cleaning pipeline 41 and the return pipeline 42 inside it. The front end of the robot arm 3 (that is, the front end of the seventh axis) is installed with a dexterous hand 31, and the rear end of the dexterous hand 31 and the front end of the seventh axis form a linear connection structure with the telescopic joint 32.

[0029] Combined with attachment Figure 5 As shown, a rotating frame 6 is installed in the box body 1, which can be installed on the protective plate 54 arranged outside the water tank 5. A plurality of bayonet holes 62 are opened on the edge of the rotating frame 6 in the circumference, and an operating head 61 is arranged in each bayonet hole 62. The operating head 61 includes but is not limited to a high-pressure spray gun, a rotating brush head, a vacuum suction cup, and the like. Figure 9 (a)-(c) are schematic diagrams of the structures of the high-pressure spray gun, the rotating brush head, and the vacuum suction cup, respectively. A take-in and put-out port 11 is provided on the top surface of the box body 1 corresponding to the rotating frame 6. The rotating frame rotates the operating head to the take-in and put-out port 11 according to the need to take the operating head. The dexterous hand 31 at the front end of the robot arm 3 extends into the box body 1 from the take-in and put-out port 11 and clamps the operating head from the rotating frame 6. When clamping, the high-pressure spray gun and the rotating brush head are connected to the upper water outlet interface of the cleaning pipeline 41, and the vacuum suction cup is connected to the upper water inlet interface of the return water pipeline 42, forming a water flow path. Combined with the attached Figure 6 As shown, a sliding cover 12 is installed at the access opening 11. It can be installed on the inside of the top surface of the box body 1 to reduce component interference when the robot arm operates on the outside of the top surface. After the robot arm removes the operating head, the sliding cover covers the access opening to prevent contamination inside the box. The high-pressure spray gun and rotating brush head are used to spray water to clean dirty areas, and the vacuum suction cup is used to dry accumulated water.

[0030] The operating head 61 can also be set up as a 3D scanning head, a steam mop head, etc., and the internal space of the robotic arm can be used to set up circuits connected to the 3D scanning head, and set up a steam generator connected to the steam mop head, so that the cleaning equipment of this application can have multiple operating functions.

[0031] A power supply device 7 is installed in the housing 1 and can be mounted at the bottom of the housing 1. This device provides power for the housing 1 after it is separated from the base station 9. An operation screen 13 is mounted on the housing 1 for human-machine interaction. The power supply device 7 is electrically connected to the travel mechanism 2, the robotic arm 3, the rotating frame 6, the pump 8, and the operation screen 13 to provide power. The housing 1 also houses a camera 14 and a laser radar 15 for travel and route planning.

[0032] As attached Figure 7 、 8As shown, the base station 9 is a vertical structure, and an operation screen 13 is also installed on the base station 9. An open return chamber 91 is provided on the front side of the base station 9 for the box 1 to partially enter the return chamber 91. A track 92 is provided on the bottom surface of the return chamber 91. The track 92 is matched with the Mecanum wheel 21 to guide and position the box back to the base station. A charging module 93 is provided on the bottom surface of the return chamber 91. When the box 1 returns to the base station 9, the charging module 93 is matched with the power supply device 7 to charge the power supply device. A plurality of water channel joints 94 are also provided on the wall surface, which match and dock with the outer water inlet interface 511 of the clean water tank 51 and the outer water inlet interface 521 of the washing liquid tank 52, so as to replenish liquid into the clean water tank and the washing liquid tank when needed, match and dock with the outer emptying interface 512 of the clean water tank 51 and the outer emptying interface 522 of the washing liquid tank 52, so as to lead out the clean water tank and the washing liquid tank when needed, and match and dock with the outer water outlet interface 532 of the return water tank 53 to lead out the sewage in the return water tank 53.

[0033] The automation of the cleaning equipment of this application relies on software and program control, such as controlling the filling or draining of liquid into the water tank, controlling the rotating frame, controlling the connection between the operating head and the cleaning pipe or the return pipe according to the type of the operating head, controlling the movement of the walking mechanism, controlling the charging and discharging, controlling the operation of the robotic arm, etc. Figure 10 (a)-(d) show some human-computer interaction interface diagrams controlled by software and programs.

[0034] The cleaning equipment of the present application drives the operating head at its front end through an externally arranged robotic arm. The working space of the operating head is not restricted and it can be aimed in multiple directions and angles. For cleaning scenes such as toilets and walls, especially the inside of toilets, it can clean without dead angles, achieving cleaning that cannot be achieved by conventional sweeping robots, sweeping and mopping robots, and floor scrubbers.

Claims

1. A multi-scenario intelligent cleaning device, comprising a housing (1) with a walking mechanism (2), characterized in that: The mechanical arm (3) is installed outside the box (1), a water pipe (4) is arranged inside the mechanical arm (3), a water tank (5) is arranged inside the box (1), an inner end interface of the water tank (5) is communicated with a lower end interface of the water pipe (4), an outer end interface of the water tank (5) is led out from the box (1), a rotating frame (6) is installed inside the box (1), a plurality of operating heads (61) are arranged on the rotating frame (6), a take-in and put-out port (11) is opened on the box (1) corresponding to the rotating frame (6), the front end of the mechanical arm (3) is connected to the operating head (61) through the take-in and put-out port (11), the upper end interface of the water pipe (4) is communicated with the operating head (61) at the front end of the mechanical arm (3), and a power supply device (7) is installed in the box (1).

2. The multi-scenario intelligent cleaning device according to claim 1, characterized in that: The water pipeline (4) includes a cleaning pipeline (41) and a return water pipeline (42); the water tank (5) includes a clean water tank (51), a washing liquid tank (52), and a return water tank (53); the inner end water outlet interfaces of the clean water tank (51) and the washing liquid tank (52) are both in communication with the lower end water inlet interface of the cleaning pipeline (41); the inner end water inlet interface of the return water tank (53) is in communication with the lower end water outlet interface of the return water pipeline (42); the outer end water inlet interface and the outer end emptying interface of the clean water tank (51) and the washing liquid tank (52) are both led out from the box body (1); the outer end water outlet interface of the return water tank (53) is led out from the box body (1).

3. The multi-scenario intelligent cleaning device according to claim 2, characterized in that: The operating head (61) comprises a high-pressure spray gun, a rotating brush head, and a vacuum suction cup. The high-pressure spray gun and the rotating brush head are connected to the upper water outlet interface of the cleaning pipeline (41), and the vacuum suction cup is connected to the upper water inlet interface of the return water pipeline (42).

4. The multi-scenario intelligent cleaning device according to claim 1, characterized in that: A pump (8) is connected between the inner end interface of the water tank (5) and the lower end interface of the water pipeline (4).

5. The multi-scenario intelligent cleaning device according to claim 1, characterized in that: A sliding cover (12) is installed on the box body (1) at the taking-in / put-out opening (11).

6. The multi-scenario intelligent cleaning device according to claim 1, characterized in that: The robotic arm (3) is a seven-axis rotation connection structure with six degrees of freedom. The front end of the robotic arm (3) is connected to a dexterous hand (31), and the rear end of the dexterous hand (31) and the front end of the seventh axis form a linear connection structure via a telescopic joint (32).

7. The multi-scenario intelligent cleaning device according to claim 1, characterized in that: The utility model further comprises a base station (9), wherein the base station (9) is provided with a return chamber (91), the bottom surface of the return chamber (91) is provided with a track (92), and the return chamber (91) is provided with a charging module (93) and a waterway connector (94). When the box body (1) returns to the base station (9), the track (92) is matched and docked with the walking mechanism (2), the charging module (93) is matched and docked with the power supply device (7), and the waterway connector (94) is matched and docked with the outer end interface of the water tank (5).

8. The multi-scenario intelligent cleaning device according to claim 7, characterized in that: An operation screen (13) is respectively provided on the box (1) and the base station (9).

9. The multi-scenario intelligent cleaning device according to claim 4, characterized in that: The power supply device (7) is electrically connected to the walking mechanism (2), the mechanical arm (3), the rotating frame (6), and the pump (8).

10. The multi-scenario intelligent cleaning device according to claim 1, characterized in that: The walking mechanism (2) is a Mecanum wheel (21) installed at the four corners of the bottom of the box (1).

Images