A domestic cleaning robot

Abstract

The application discloses a household cleaning robot and belongs to the technical field of household robots. The household cleaning robot comprises a collecting box. The collecting box comprises a main body. A side opening is formed in the vertical side wall of the main body. A bottom opening is formed in the bottom surface of the main body. A filter core is arranged on the side opposite to the side opening of the main body. The application is provided with the collecting box, a sweeper, a converter, a cleaning and mopping device and a shell. When the bottom surface, the carpet and the junction of the ground and the carpet are cleaned, the converter can change the source position of the airflow entering the collecting box. Different negative pressure areas are generated at different positions below the shell. Greater negative pressure suction force can be used to intensively suck and sweep the edge of the carpet, the edge of the carpet is lifted, a rotating disc which can swing across the center line of the shell is matched, and the dead angle at the junction of the carpet and the ground is thoroughly cleaned.

Description

Technical Field

[0001] This invention belongs to the field of home robot technology, specifically relating to a home cleaning robot. Background Technology

[0002] Home cleaning robots, primarily those that combine sweeping and mopping, are intelligent assistants for modern home cleaning. The dustbin, water tank, and mop module work together, using laser navigation to plan cleaning paths and efficiently cover the entire house. They support remote control via an app, scheduled cleaning, and multiple mode switching. They can automatically return to their charging dock and collect dust. Some models also have obstacle avoidance and carpet recognition functions, easily freeing up your hands and effectively removing dust, hair, and stains from the floor, making home cleaning more worry-free and efficient, especially suitable for modern fast-paced families.

[0003] A Chinese invention patent with publication number CN113143120A discloses a sweeping and mopping robot and a sweeping and mopping method. It can perform sweeping and mopping operations simultaneously, has self-cleaning rollers, and can intelligently adjust the sweeping and mopping strategy based on the degree of dirt on the ground. It has many advantages such as small size, high stability, energy saving, and excellent cleaning effect. However, in the case of carpets, the mopping structure will wet the carpet and dirt. Therefore, the sweeping structure is often used to clean carpets. However, in actual use tests, the junction between the carpet and the ground is the area most easily contaminated, but it is also a dead corner for floor cleaning. This means that after cleaning, the junction between the carpet and the ground must be manually cleaned again, resulting in a poor user experience. In view of this, a household cleaning robot is provided. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a household cleaning robot.

[0005] The technical solution adopted to solve the above technical problems is:

[0006] A home cleaning robot includes:

[0007] A collection box, comprising a main body, a side opening on the vertical side wall of the main body, a bottom opening on the bottom surface of the main body, and a filter element disposed on the side opposite the side opening of the main body;

[0008] A sweeper, the sweeper including a relay housing installed at a side opening, the relay housing containing a rotatable sweeping roller;

[0009] A converter, the converter including a slider, the slider being capable of selectively blocking either the side opening or the bottom opening;

[0010] The cleaning device includes two cleaning devices, each including a turntable, a support arm mounted on the top of the turntable, a rotation drive component mounted on the free end of the support arm, and a vertical drive component located directly above the turntable on the top of the support arm.

[0011] The housing has a built-in base plate on which a reversing wheel and two drive wheels are installed in a triangular layout. The bottom of the housing has an opening, and a slit is provided at the center line of the bottom of the housing. A negative pressure machine is installed on the housing corresponding to the filter element, and an avoidance opening is provided on the housing corresponding to the support arm position.

[0012] The reversing wheel and drive wheel allow the device to move flexibly on the ground. During mopping, the negative pressure machine operates, working in conjunction with the rotating sweeping roller to attract and collect solid debris into the collection box. The vertical drive of the mop presses the turntable down to contact the ground for mopping. When it reaches the carpet area, the vertical drive lifts the turntable away from the carpet, using only the negative pressure of the negative pressure machine to clean the carpet. When moving along the junction of the carpet and the floor, the reversing wheel advances along the junction line, and the sliding vane blocks the side opening, allowing air to enter the collection box only through the bottom opening. The outer casing lags slightly behind the reversing wheel. The machine creates a stronger negative pressure suction zone at the narrow gap in the center line of the wheel, which vigorously suctions and cleans the carpet edges. The suction lifts the carpet edges up to create a gap with the ground, raising the turntable above the carpet to prevent it from getting dirty. The turntable above the ground is pressed down to contact the ground and, controlled by the rotating drive, swings across the center line towards the carpet, performing targeted mopping at the junction of the carpet and the ground. As the machine moves forward, the carpet edges gradually approach and move away from the gap, continuously cleaning the carpet edges and the bottom surface of the junction.

[0013] Furthermore, a bushing is installed at the free end of the support arm, and a spline groove is formed along the vertical inner wall of the bushing. The rotary drive component is vertically slidably connected to the bushing along the height direction through the spline groove.

[0014] Through the above technical solution, in order to ensure that the rotary drive component and the vertical drive component do not interfere with each other, when the support arm slides up and down, the bushing at the end of the support arm will slide vertically along the circumferential side wall of the rotary drive component. At the same time, the spline groove covers the vertical sliding stroke of the bushing, so that when the rotary drive component rotates, it can drive the bushing to rotate synchronously without being affected by the height of the bushing, thereby driving the support arm to swing around the rotary drive component.

[0015] Furthermore, a connecting frame is installed at the bottom of the vertical drive component, and a pressure plate is provided on the bottom surface of the connecting frame. The pressure plate is a quarter-ring structure whose center coincides with the center of the rotating drive component. A contact block is installed on the bottom surface of the pressure plate, and a contact head is provided on the support arm corresponding to the position of the contact block.

[0016] Through the above technical solution, to ensure that the support arm can be smoothly adjusted in height, the vertical drive component is a vertically telescopic electric actuator. When the vertical drive component extends, the support arm is pressed down by the pressure plate, causing the support arm to move downward. The quarter-ring pressure plate can always be positioned directly above the support arm connecting turntable when the support arm rotates around the rotary drive component, ensuring that the downward pressure on the turntable is stable and consistent, allowing for pressure mopping operations without affecting the positional stability of the connection between the rotary drive component and the support arm. Similarly, when the vertical drive component shortens, the contact block needs to drive the support arm upward through the contact head. The connection method between the contact heads of the contact blocks can be a dovetail groove sliding snap or a strong magnetic attraction, with the premise of not affecting the support arm being driven to swing by the rotary drive component while being driven to move up and down.

[0017] Furthermore, the turntable adopts a hollow structure, with a water outlet on the bottom surface and a mop pad installed on the bottom surface. The turntable is rotatably connected to the support arm, and a flexible hose that is connected to the rotation of the turntable is installed in the middle of the support arm. A receiving groove that cooperates with the flexible hose is opened at the top of the support arm. A water tank that is connected to the flexible hose is provided on the inner side of the outer shell above the support arm. A water supply head that penetrates the outer shell is provided at the highest point of the water tank.

[0018] The above technical solution addresses stubborn stains on the floor by pre-filling the water tank with cleaning solution via a water inlet during mopping. The tank contains a built-in micro-metering pump, whose outlet is connected to the end of a flexible hose. During mopping, the pump delivers a metered amount of cleaning solution from the tank to the rotating disc via the hose. The cleaning solution overflows from the outlet on the bottom of the disc, while the mop pad, fixed to the disc, is moistened by the solution, allowing for a wet scrubbing of the floor and making it easier to remove stubborn stains. The hose features a redundant length design to compensate for the vertical movement of the support arm and rotating disc. When the support arm moves upward, the hose can be coiled and stored in the receiving slot to prevent deformation or damage from being pressed against the bottom of the water tank. When the support arm moves downward, the hose is pulled out of the receiving slot to compensate for the change in the support arm's position away from the water tank, ensuring smooth water supply.

[0019] Furthermore, the cleaner also includes a swing frame, which is hinged to the bottom opening of the relay shell via a combing frame. The combing frame includes an end shaft, and a central rod is fixedly connected to the end shaft via a straight plate. Equally spaced support bars are rotatably installed on the outer circumference of the central rod. A sliding pin is installed at the free end of the support bar. A receiving groove is provided at the lower part of the swing frame to allow the sliding pin to slide horizontally.

[0020] To improve the deep cleaning capability of long-pile carpets, the above technical solution involves hinged installation of a swing frame at the bottom of the relay shell via a combing frame. The combing frame's support bars can swing downwards with the central rod to contact the carpet. As the equipment moves forward, the heads of the support bars insert into the long pile of the carpet to comb it. Simultaneously, because the end of the support bar away from the central rod is still slidably installed in the swing frame position via a sliding pin, the tail of the support bar is raised. In this way, the top surface of the support bar can be used as a guide to form a comb structure, pushing the deep hair and debris of the carpet upwards for attraction and collection.

[0021] Furthermore, the receiving groove opens downward and provides a space for the support bar, and the support bar has a circular end at one end of the central rod, with equidistant semi-circular grooves at the circular end.

[0022] With the above technical solution, when cleaning the floor, the combing frame does not need to touch the ground. At this time, the support strips are held in the receiving space to avoid disorderly contact with the ground and abnormal wear. When cleaning carpets, the heads of the support strips are designed with rounded ends, which makes it easier to insert into the long pile of the carpet and will not cause the equipment to be unable to move forward due to being too sharp. At the same time, the semi-circular groove extends horizontally. When the equipment moves forward, the extension direction of the semi-circular groove is at a 90-degree angle to the forward direction. This will trap hair or other solid debris in the semi-circular groove and smoothly scoop the debris up to the shallow surface of the carpet as the equipment moves forward, making it easier to attract and collect, thus improving the cleaning effect.

[0023] Furthermore, the combing frame also includes a rotating shaft, which is coaxially arranged with the end shaft. The swing frame is provided with a through hole corresponding to the position of the rotating shaft and the end shaft. An end seat is installed on the swing frame corresponding to the end shaft. A protrusion is provided at the end of the swing frame away from the end seat. A groove is provided at the bottom of the relay shell away from the end seat.

[0024] Through the above technical solution, the rotating shaft can improve the positional stability between the end shafts and avoid the swing frame from being unable to swing smoothly due to the force of the end shafts being close to each other. At the same time, during normal operation, the convex strip is stuck in the groove to ensure the positional stability of the swing frame. When it is necessary to disassemble the sweeping roller, the swing frame is pulled downward to make the convex strip disengage from the groove, and the sweeping roller is removed from the relay shell for cleaning or replacement.

[0025] Furthermore, the sweeper also includes a coupling and an auxiliary sleeve. End plates are installed at both ends of the sweeping roller. The swing frame is provided with a top plate below the end plates. The relay shell is provided with a baffle above the end plates. A first pin is provided in the center of the end plate facing the coupling. An insertion hole is opened in the middle of the coupling. A second pin is provided in the center of the end plate facing the auxiliary sleeve. A pin groove with an opening on one side is provided in the middle of the auxiliary sleeve. A through opening is opened in the lower part of the relay shell corresponding to the auxiliary sleeve.

[0026] To ensure convenient assembly and disassembly of the sweeping roller using the above technical solution, during installation, one end of the sweeping roller is inserted into the coupling's insertion hole via a pin. The inner wall of the insertion hole slides in contact with the outer wall of the pin to ensure stable transmission of driving force. Then, the second pin is slidably installed into the pin groove along the through-hole to prevent the sweeping roller from moving horizontally and disengaging from the coupling. After that, the swing frame is closed, and the top plate and baffle are used to center and limit the end plate. At this point, the sweeping roller can be driven to rotate stably. Similarly, when disassembling the sweeping roller, simply open the swing frame, slide the second pin along the pin groove and through-hole to loosen one end of the sweeping roller, and then pull the sweeping roller out of the insertion hole for quick disassembly.

[0027] Furthermore, the relay shell has a beveled end face at the contact position of the main body, a guide groove corresponding to the slider is provided in the center of the beveled end face, a sliding groove is provided on the base plate corresponding to the slider position, a pusher is provided on the bottom surface of the slider, and a maintenance cover is installed on the outer shell corresponding to the pusher.

[0028] Through the above technical solution, in order to achieve the sliding of the slide between the side opening and the bottom opening, the pusher contacts the bottom surface of the slide. When the pusher rotates clockwise, it will push the slide along the sliding groove towards the bottom opening. At this time, the top of the slide is pulled downward away from the guide groove and separated from the side opening until the slide completely blocks the bottom opening, so that air can only enter the collection box through the side opening. This works in conjunction with the sweeper to suction and clean the solids on the bottom surface and carpet. When the pusher rotates counterclockwise, it will push the slide along the guide groove towards the side opening. At this time, the top of the slide is pushed upward along the guide groove and coincides with the side opening until the slide completely opens the bottom opening, so that air can only enter the collection box through the bottom opening. A high-speed airflow is generated at the narrow gap, which powerfully suctions and cleans the edges of the carpet and lifts it off the ground.

[0029] Furthermore, the base plate is equipped with folding devices on both sides of the reversing wheel, the housing has a built-in power supply module, the top of the housing is provided with a vision module and a switch button, and the housing is provided with an anti-collision module on the vertical outer wall between the two folding devices.

[0030] Through the above technical solution, the collector gathers solid debris from both sides towards the center of the outer shell so that it can be collected by the sweeper in the middle, increasing the cleaning coverage. The power supply module uses a lithium battery as the core, and is equipped with a recharge and discharge control module, which makes the device's movement range more flexible and eliminates the need to drag a power cord. The vision module, together with the anti-collision module, can perform obstacle avoidance cleaning. The switch button is used to start and stop the device's operation.

[0031] The beneficial effects of this invention are as follows:

[0032] This invention, through the arrangement of a collection box, a sweeper, a converter, a mop, and a housing, allows for the cleaning of the bottom surface, carpet, and the junction between the floor and carpet. The converter can change the source of airflow entering the collection box, creating areas with different negative pressure at different locations under the housing. This allows for enhanced vacuuming and sweeping of carpet edges using greater negative pressure suction, lifting the carpet edges. Combined with a turntable that can swing across the center line of the housing, it can thoroughly clean the hard-to-reach corners at the junction of carpet and floor.

[0033] This invention optimizes the cleaning device by using a rotating drive component in conjunction with a support arm to swing the turntable, thereby changing the cleaning coverage area. The pressure between the turntable and the ground is provided by a vertical drive component located directly above the turntable, resulting in a short transmission path and preventing torsional shear forces from being generated at the support arm position. This ensures the vertical stability of the support arm and the turntable without affecting the vertical sliding at the connection between the rotating drive component and the support arm.

[0034] This invention, through the setting of the comb frame, installs a comb frame at the lower end of the sweeper. When sweeping carpets, it can form an inclined comb structure, which can more easily insert into the long pile of the carpet and scrape the solid debris deep in the carpet to the surface, so as to thoroughly clean the long pile carpet. During maintenance, the swing frame is hinged to the comb frame and can swing away from the relay shell under the limit of the comb frame, so as to quickly disassemble and assemble the sweeping roller for cleaning and maintenance. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the present invention with the outer shell removed;

[0037] Figure 3 This is a schematic diagram of the structure between the cleaner, the collection box, and the negative pressure unit of the present invention;

[0038] Figure 4 This is a breakdown diagram of the cleaner of the present invention. Figure 1 ;

[0039] Figure 5 This is a breakdown diagram of the cleaner of the present invention. Figure 2 ;

[0040] Figure 6 This is a schematic diagram showing the separation between the comb frame and the combing rack of the present invention;

[0041] Figure 7 This is a cross-sectional schematic diagram of the unfolded state between the swing frame and the combing rack of the present invention;

[0042] Figure 8 This is a schematic diagram of the structure between the water tank and the cleaning device of the present invention;

[0043] Figure 9 This is a cross-sectional schematic diagram of the cleaning device of the present invention;

[0044] Figure 10 This is a cross-sectional schematic diagram showing the cleaner, collection box, and converter of the present invention;

[0045] Figure 11 This is a cross-sectional view of the substrate and the converter of the present invention;

[0046] Figure 12 This is a schematic diagram of the state from a downward viewing angle of the present invention;

[0047] Figure 13 for Figure 7 An enlarged schematic diagram of point a in the middle.

[0048] Reference numerals: 1. Outer shell; 11. Base plate; 111. Sliding groove; 12. Drive wheel; 13. Reversing wheel; 14. Clearance opening; 15. Slit; 16. Opening; 17. Bushing; 2. Retractor; 3. Cleaner; 31. Support arm; 311. Hose; 312. Contact head; 313. Receiving groove; 32. Rotary drive component; 321. Bushing; 33. Vertical drive component; 331. Connecting frame; 332. Pressure plate; 333. Contact block; 34. Turntable; 4. Converter; 41. Sliding plate; 42. Pusher component; 5. Cleaner; 51. Relay shell; 511. Guide groove; 512. Groove; 513. Sloping end face; 51 4. Through-hole; 52. Swing frame; 521. Top plate; 522. Raised strip; 523. Through hole; 524. Receiving groove; 53. Sweeping roller; 531. End plate; 532. Pin 1; 533. Pin 2; 54. Baffle; 55. Auxiliary sleeve; 551. Pin groove; 56. Coupling; 561. Insertion hole; 6. Collection box; 61. Main body; 62. Top cover; 63. Bottom opening; 64. Side opening; 65. Filter element; 7. Water tank; 71. Water supply head; 8. Negative pressure machine; 9. Combing frame; 91. Rotating shaft; 92. Straight plate; 93. End shaft; 94. End seat; 95. Middle rod; 96. Sliding pin; 97. Support bar; 98. Semi-annular groove. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0050] like Figure 1 - Figure 13 As shown, this embodiment provides a household cleaning robot, which discloses a specific configuration for effectively cleaning carpets, floors, and the junction between carpets and floors:

[0051] Regarding Collection Box 6, please refer to... Figure 2 , Figure 3 and Figure 10 The collection box 6 is inserted into the outer casing 1 from top to bottom, located between the cleaner 5 and the negative pressure machine 8. The cover plate on the top of the outer casing 1 can be lifted up to facilitate the installation and removal of the collection box 6. At the same time, after the cover plate is closed, the cover plate can press the collection box 6 down to prevent the collection box 6 from moving up and down and getting out of the working position. The collection box 6 includes a main body 61. The top of the main body 61 has an opening and a removable top cover 62. Opening the top cover 62 allows the solid debris inside the main body 61 to be cleaned. A side opening 64 is opened on the vertical side wall of the main body 61, corresponding to the position of the cleaner 5, so that air can enter the main body 61. A bottom opening 63 is opened on the bottom surface of the main body 61, extending downward. A filter element 65 is provided on the side of the main body 61 opposite to the side opening 64, corresponding to the negative pressure machine 8, so as to trap solid impurities and allow the gas in the main body 61 to enter the negative pressure machine 8.

[0052] Regarding sweeper 5, please refer to... Figure 4 and Figure 5 The cleaner 5 includes a relay shell 51. The bottom of the relay shell 51 and the side near the collection box 6 are both open. The relay shell 51 is installed at the side opening 64 and fixed on the base plate 11 so that the airflow below can pass smoothly through the relay shell 51 into the collection box 6 and carry solid impurities into the collection box 6. The relay shell 51 has a rotating sweeping roller 53 inside, which uses rotation to push the solid impurities below upward to improve the cleaning ability.

[0053] Regarding converter 4, please refer to... Figure 10 and Figure 11 The converter 4 includes a slider 41, which is made of a plastic sheet or metal sheet that can be elastically deformed. It can be bent at 120 degrees and is arranged in the substrate 11 between the side opening 64 and the bottom opening 63. The length of the slider 41 is precisely designed. When it is pushed and slids between the side opening 64 and the bottom opening 63, when one end of the slider 41 blocks the side opening 64, the slider 41 will be displaced from the bottom opening 63. When one end of the slider 41 blocks the bottom opening 63, the slider 41 will be displaced from the side opening 64. That is, the slider 41 can selectively block one of the side opening 64 and the bottom opening 63.

[0054] Regarding the cleaning device 3, please refer to... Figure 8 and Figure 9The cleaning device 3 has two units, symmetrically arranged on both sides of the outer shell 1, to improve the cleaning coverage. The cleaning device 3 includes a turntable 34, with a support arm 31 installed on the top of the turntable 34. The support arm 31 and the turntable 34 are connected by a rotary driver. The rotary driver is a micro motor, which is fixed at the end of the support arm 31 and the motor shaft extends vertically downward. The lower end of the motor shaft is connected to the turntable 34. The top of the turntable 34 and the support arm 31 are connected by a bearing assembly to ensure the stability of the turntable 34 rotation. A rotary drive component 32 is installed on the free end of the support arm 31. The rotary drive component 32 can drive the turntable 34 to swing around the rotation center of the rotary drive component 32 through the support arm 31. A vertical drive component 33 is provided on the top of the support arm 31 directly above the turntable 34. The vertical drive component 33 can move the turntable 34 up and down by pressing down and lifting the support arm 31.

[0055] Regarding the outer casing 1, the outer casing 1 adopts a cylindrical hollow structure. The outer casing 1 contains a base plate 11, which provides mounting positions and wiring channels for component assembly and circuit connection. A reversing wheel 13 and two drive wheels 12 are mounted on the base plate 11 in a triangular layout. The reversing wheel 13 controls forward movement, and the drive wheels 12 provide forward and backward driving force. An opening 16 is provided at the bottom of the outer casing 1, located directly below the sweeper 5, to facilitate airflow. A slit 15 is provided at the center line of the bottom of the outer casing 1. A bushing 17 is installed on the base plate 11 at the slit 15 so that the bottom opening 63 can be vertically inserted into the slit 15 for positioning. The inner diameter of the slit 15 is smaller than the inner diameter of the opening 16 so that the airflow can enter the collection box 6 directly without passing through the sweeper 5. A negative pressure machine 8 is installed on the outer casing 1 corresponding to the filter element 65. The negative pressure machine 8 can generate negative pressure in the collection box 6. An avoidance opening 14 is provided on the outer casing 1 corresponding to the support arm 31 so that the mop sweeper 3 can swing to change the mopping coverage area.

[0056] The working principle of this embodiment is as follows:

[0057] During the cleaning operation, the reversing wheel 13 and the drive wheel 12 enable the equipment to move flexibly on the ground. The negative pressure machine 8 starts working and draws the air near the ground into the collection box 6 along the cleaner 5. A negative pressure area is formed at the open opening 16. With the rotation of the sweeping roller 53, solid debris in this area is attracted and collected into the collection box 6. The filter element 65 traps the solids and discharges the air out of the collection box 6, thus forming a continuous suction airflow to clean solid debris on the ground and carpet.

[0058] During the cleaning and mopping operation, the sweeper 5 and the negative pressure machine 8 do not stop. The mop 3, driven by the vertical drive component 33, presses the turntable 34 down to contact the ground, applies pressure to the cleaned bottom surface, and removes stubborn stains. During the process, the rotating drive component 32 can drive the turntable 34 to swing away from the center line of the outer shell 1 through the support arm 31. It can extend horizontally to a distance from the vertical side wall of the equipment, and move the equipment back to the inside corner of the wall to mop the 90-degree angle position that the equipment cannot enter, reducing the dead corners of mopping.

[0059] Upon reaching the carpet, the vertical drive unit 33 lifts the turntable 34 away from the carpet, and the sliding plate 41 blocks the bottom opening 63. The negative pressure from the negative pressure machine 8, combined with the sweeping roller 53 of the sweeper 5, cleans the carpet over a large area. As it moves along the boundary between the carpet and the floor, the reversing wheel 13 advances along the boundary line. The center line of the outer casing 1 is parallel to the edge of the carpet. At this time, the sliding plate 41 blocks the side opening 64, allowing air to enter the collection box 6 only through the bottom opening 63. The outer casing 1, slightly behind the center line of the reversing wheel 13, creates a stronger negative pressure suction area at the slit 15, which more effectively cleans the carpet edges, as carpet edges are more prone to dirt. This targeted cleaning of easily soiled areas provides a more thorough cleaning. The device effectively cleans the carpet by using suction to overcome the weight of the carpet edges, lifting them upwards to create a gap with the floor. The turntable 34 above the carpet is lifted to prevent damage to the carpet, while the turntable 34 above the floor is pressed down to contact the floor. Controlled by the rotating drive 32, the turntable 34 swings across the center line towards the carpet. At this time, the area where the carpet and the floor meet is covered by the cleaning range of the turntable 34, performing targeted mopping operations on the floor in this area and eliminating cleaning dead corners at the carpet and floor junction. As the device moves forward, the carpet edges gradually approach and move away from the gap 15. When they approach, they are lifted to clean the floor in this area, and when they move away from the carpet, they fall back to their original covering position, continuously cleaning the carpet edges and the floor at the junction.

[0060] In a further embodiment, to ensure that the rotary drive member 32 and the vertical drive member 33 do not interfere with each other, refer to Figure 9 A bushing 321 is installed at the free end of the support arm 31. The bushing 321 is a ring-shaped vertically installed at the end of the support arm 31. A spline groove is opened along the vertical inner wall of the bushing 321. The rotary drive 32 is vertically slidably connected to the bushing 321 along the height direction through the spline groove. When the support arm 31 slides up and down, the bushing 321 at the end of the support arm 31 will slide vertically along the circumferential side wall of the rotary drive 32. At the same time, the spline groove covers the vertical sliding stroke of the bushing 321, so that the rotary drive 32 can rotate without being affected by the height of the bushing 321, and drive the bushing 321 to rotate synchronously, thereby driving the support arm 31 to swing around the rotary drive 32.

[0061] In a further embodiment, to ensure that the support arm 31 can be smoothly adjusted in height, refer to Figure 9 The vertical drive component 33 is a vertically telescopic electric actuator. A connecting frame 331 is installed at the bottom of the vertical drive component 33, which increases the contact area between the vertical drive component 33 and the pressure plate 332. The pressure plate 332 is provided on the bottom surface of the connecting frame 331, thereby increasing the connection between the two. The pressure plate 332 is a quarter-ring structure with its center coinciding with the center of the rotating drive component 32. A contact block 333 is installed on the bottom surface of the pressure plate 332, and a contact head 312 is provided on the support arm 31 corresponding to the contact block 333. When the vertical drive component 33 extends, the pressure plate 332 presses down on the support arm 31, causing the support arm 31 to move downward. The quarter-ring pressure plate 332 can always keep the support arm 31 directly above the turntable 34 when the support arm 31 rotates around the rotating drive component 32, ensuring that the turntable 34 is securely connected to the turntable 33. 4. The downward pressure is stable and consistent, allowing for pressurized mopping without affecting the positional stability of the connection between the rotary drive 32 and the support arm 31. Similarly, when the vertical drive 33 is shortened, the contact block 333 needs to drive the support arm 31 upward through the contact head 312. It should be emphasized that the connection method of the contact head 312 between the contact blocks 333 adopts an arc-shaped dovetail groove sliding engagement, which does not affect the horizontal sliding while ensuring that it will not disengage during vertical movement. It should be noted that the contact head 312 is made of strong magnetic material, while the contact block 333 is made of soft magnetic material. The contact head 312 and the contact block 333 can attract each other through magnetic force, which ensures that the support arm 31 is driven to swing by the rotary drive 32 while ensuring that the support arm 31 is driven to move up and down by the vertical drive 33.

[0062] In a further embodiment, to clean stubborn stains on the floor, refer to Figure 9The turntable 34 has a hollow structure. A water outlet is located on the bottom surface of the turntable 34, and a mop pad is installed on the bottom surface. The turntable 34 is rotatably connected to the support arm 31. A flexible hose 311, which is rotatably connected to the turntable 34, is installed in the middle of the support arm 31. A receiving groove 313, which mates with the flexible hose 311, is opened at the top of the support arm 31. A water tank 7, which is connected to the flexible hose 311, is located on the inner side of the outer casing 1 above the support arm 31. A water replenishment head 71, which penetrates the outer casing 1, is located at the highest point of the water tank 7. During mopping, cleaning fluid is pre-filled into the water tank 7 through the water replenishment head 71. Replenishment can be done manually or automatically by setting up an automatic replenishment station. The water tank 7 has a built-in micro metering pump, the outlet of which is connected to the end of the flexible hose 311. When mopping, the micro metering pump delivers cleaning solution from the water tank 7 to the turntable 34 via the hose 311. The cleaning solution overflows from the outlet on the bottom of the turntable 34, and the mop pad, fixed to the bottom of the turntable 34, is moistened by the cleaning solution, allowing for wet scrubbing of the floor and making it easier to remove stubborn stains. The hose 311 features a redundant length design to compensate for the vertical movement of the support arm 31 and the turntable 34. Specifically, when the support arm 31 moves upward, the hose 311 can be coiled and stored in the receiving groove 313 to prevent it from being pressed against the bottom of the water tank 7, causing deformation or even damage. When the support arm 31 moves downward, the hose 311 is pulled out of the receiving groove 313 to compensate for the change in position of the support arm 31 away from the water tank 7, ensuring smooth water supply.

[0063] In a further embodiment, to improve the deep cleaning capability of long-pile carpets, refer to Figure 7 The sweeper 5 also includes a swing frame 52, which is hinged to the bottom opening of the relay housing 51 via a combing frame 9. The combing frame 9 includes an end shaft 93, which is fixedly connected to a central rod 95 via a straight plate 92. Equally spaced support bars 97 are rotatably mounted on the outer circumference of the central rod 95. A swing frame 52 is hinged to the bottom of the relay housing 51 via the combing frame 9. The support bars 97 of the combing frame 9 can swing downwards with the central rod 95 to contact the carpet. A sliding pin 96 is installed at the free end of the support bar 97. A receiving groove 524 is provided at the bottom of the swing frame 52 to allow the sliding pin 96 to slide horizontally. As the device moves forward, [refer to...] Figure 13 The head of the support bar 97 is inserted into the long pile of the carpet to comb the long pile. At the same time, because the end of the support bar 97 away from the center bar 95 is still slidably installed in the receiving groove 524 of the swing frame 52 through the sliding pin 96, the tail of the support bar 97 is raised. In this way, the top surface of the support bar 97 can be used to form a comb structure, pushing the hair and debris deep in the carpet upward to the surface of the carpet so that they can be attracted and collected.

[0064] In a further embodiment, refer to Figure 3The receiving groove 524 opens downwards and provides space for the support bar 97. When cleaning the floor, the combing rack 9 does not need to contact the floor. At this time, the support bar 97 is secured in the receiving space to prevent disorderly contact with the floor and abnormal wear. The support bar 97 has a round end at one end of the central rod 95, and equidistant semi-circular grooves 98 are formed at the round end. When cleaning carpets, refer to... Figure 13 The head of the support bar 97 is designed with a rounded head, making it easier to insert into the long pile of the carpet without being too sharp and causing the device to be unable to move forward. At the same time, the semi-circular groove 98 extends horizontally. When the device moves forward, the extension direction of the semi-circular groove 98 forms a 90-degree angle with the forward direction, which will trap hair or other solid debris in the semi-circular groove 98. As the device moves forward, the debris will be smoothly scooped up to the shallow surface of the carpet, making it easier to be attracted and collected, thus improving the cleaning effect.

[0065] In a further embodiment, refer to Figure 6 The combing frame 9 also includes a rotating shaft 91, which is installed between two straight plates 92. The rotating shaft 91 is coaxial with the end shaft 93. The swing frame 52 has through holes 523 corresponding to the positions of the rotating shaft 91 and the end shaft 93. At the same time, the swing frame 52 also has straight grooves corresponding to the straight plates 92. The end of the swing frame 52 away from the end seat 94 has a protrusion 522, and the bottom of the relay shell 51 away from the end seat 94 has a groove 512. The rotating shaft 91 can improve the positional stability between the end shafts 93 and prevent the swing frame 52 from being unable to swing smoothly due to the end shafts 93 being close to each other under force. At the same time, during normal operation, the protrusion 522 is stuck in the groove 512 to ensure the positional stability of the swing frame 52. When disassembling the sweeping roller 53, pull the swing frame 52 downward to disengage the protrusion 522 from the groove 512, and remove the sweeping roller 53 from the relay housing 51 for cleaning or replacement. An end seat 94 is installed at the end shaft 93 corresponding to the swing frame 52. The end seat 94 is rotatably connected to the end shaft 93, so that both the swing frame 52 and the straight plate 92 can rotate around the end seat 94. A drive motor can be installed at the end of the end shaft 93. By using the forward rotation of the drive motor, the straight plate 92 can be driven to rotate clockwise, which can complete the downward swing of the head of the straight plate 92 to comb the carpet. Similarly, the drive motor can reverse to retract the straight plate 92. Automatic retraction and extension can adapt to different cleaning requirements of the floor and carpet, resulting in a higher degree of automation.

[0066] In a further embodiment, to ensure convenient assembly and disassembly of the sweeping roller 53, refer to Figure 4 and Figure 5The sweeper 5 also includes a coupling 56 and an auxiliary sleeve 55, which are symmetrically installed on both sides of the relay housing 51. The sweeper roller 53 has end plates 531 installed at both ends, and bearings can be installed at the positions of the end plates 531. The swing frame 52 is located below the end plates 531 and has a top plate 521 with a rounded top surface. The relay housing 51 is located above the end plates 531 and has a baffle 54, which also has a rounded shape. A top plate 521 and a baffle 54 form a set, symmetrically arranged vertically at the positions of the end plates 531. The center of the top surface of the top plate 521 and the center of the bottom surface of the baffle 54 are coaxial with the centers of the coupling 56 and the auxiliary sleeve 55. A pin 1 532 is centrally located on the end plate 531 facing the coupling 56. The pin 1 532 has a notch on its circumferential sidewall. A insertion hole 561 is located in the middle of the coupling 56. The inner contour of the insertion hole 561 matches the outer contour of the pin 1 532, allowing them to interlock and rotate synchronously after insertion. A second pin 533 is centrally located on the end plate 531 facing the auxiliary sleeve 55. A third pin 533 is located in the middle of the auxiliary sleeve 55. The pin groove 551 has a side opening, and the relay housing 51 has a through opening 514 at the lower part of the auxiliary sleeve 55. The width of the pin groove 551 and the through opening 514 is greater than the outer diameter of the second pin 533 to ensure that the second pin 533 can pass through smoothly. Specifically, when installing the sweeping roller 53, one end of the sweeping roller 53 is inserted into the insertion hole 561 of the coupling 56 through the first pin 532. The inner wall of the insertion hole 561 slides in contact with the outer wall of the first pin 532 to ensure stable transmission of driving force. Then, the second pin 533 is slidably installed along the through opening 514. The sweeping roller 53 is inserted into the pin groove 551 to prevent it from moving horizontally and disengaging from the coupling 56. Then, the swing frame 52 is closed, and the top plate 521 and the baffle 54 are used to clamp and center the end plate 531. At this time, the sweeping roller 53 can be driven to rotate stably. Similarly, when disassembling the sweeping roller 53, simply open the swing frame 52, and the pin 533 can be slid along the pin groove 551 and the through hole 514 to loosen one end of the sweeping roller 53. Then, the sweeping roller 53 can be pulled out from the insertion hole 561 to achieve quick disassembly.

[0067] In a further embodiment, to achieve the sliding of the slider 41 between the side opening 64 and the bottom opening 63, refer to Figure 10 and Figure 11The relay shell 51 has a beveled end face 513 at the contact position with the main body 61. The beveled end face 513 has the same inclination angle as the side wall of the main body 61 at that location, allowing them to fit together. The beveled end face 513 has a guide groove 511 corresponding to the slider 41 in the center. The base plate 11 has a sliding groove 111 corresponding to the slider 41. The bottom surface of the slider 41 has a pusher 42, which is a horizontally arranged roller. The outer wall of the roller has a rubber ring to increase the contact friction with the bottom surface of the slider 41 and ensure smooth pushing. A motor is installed at the end of the roller, which can drive the roller to rotate forward and backward. The outer shell 1 has a maintenance cover plate installed at the position corresponding to the pusher 42. By opening the maintenance cover plate, the roller and the motor can be repaired and replaced. The pusher 42 contacts the bottom surface of the slider 41. A ball bearing can also be installed at the position directly opposite the top surface of the slider 41 to avoid friction between the pusher 42 and the top surface of the sliding groove 111 due to compression. Excessive resistance affects the smooth horizontal movement of the sliding plate 41. When the pusher 42 rotates clockwise, it will push the sliding plate 41 along the sliding groove 111 towards the bottom opening 63. At this time, the top of the sliding plate 41 is pulled downward from the guide groove 511 and disengaged from the side opening 64 until the sliding plate 41 completely blocks the bottom opening 63, allowing air to enter the collection box 6 only through the side opening 64. This works in conjunction with the sweeper 5 to suction and clean the solids on the bottom surface and carpet. When the pusher 42 rotates counterclockwise, it will push the sliding plate 41 along the guide groove 511 towards the side opening 64. At this time, the top of the sliding plate 41 is pushed upward along the guide groove 511 and coincides with the side opening 64 until the sliding plate 41 completely opens the bottom opening 63, allowing air to enter the collection box 6 only through the bottom opening 63. This generates a high-speed airflow at the slit 15, which powerfully suctions and cleans the edges of the carpet and lifts it off the ground.

[0068] In a further embodiment, refer to Figure 1 and Figure 12 The base plate 11 is equipped with collectors 2 on both sides of the reversing wheel 13. The collectors 2 gather solid debris on both sides towards the center of the outer shell 1 so that it can be collected by the sweeper 5 in the middle, increasing the cleaning coverage. The outer shell 1 has a built-in power supply module, which uses a lithium battery as the core and is equipped with a charging and discharging control module, so that the movement range of the device can be more flexible and there is no need to drag a power cord. The top of the outer shell 1 is equipped with a vision module and a switch button. The switch button is used to start and stop the operation of the device. The outer shell 1 is equipped with an anti-collision module on the vertical outer wall between the two collectors 2. The vision module, together with the anti-collision module, can perform obstacle avoidance cleaning. With the help of the preset map, it can perform completely non-invasive ground cleaning.

[0069] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

Claims

1. A household cleaning robot, characterized in that, include: Collection box (6), the collection box (6) includes a main body (61), the main body (61) has a side opening (64) on its vertical side wall, the main body (61) has a bottom opening (63) on its bottom surface, and a filter element (65) is provided on the side opposite to the side opening (64) of the main body (61). The sweeper (5) includes a relay housing (51) installed at the side opening (64) and has a rotating sweeping roller (53) inside. The converter (4) includes a slider (41) which is capable of selectively blocking the side opening (64) and the bottom opening (63); Cleaning device (3), two cleaning devices (3) are provided, the cleaning device (3) includes a turntable (34), a support arm (31) is installed on the top of the turntable (34), a rotation drive (32) is installed on the free end of the support arm (31), and a vertical drive (33) is provided on the top of the support arm (31) directly above the turntable (34). The outer shell (1) has a base plate (11) inside. A reversing wheel (13) and two drive wheels (12) are installed on the base plate (11) in a triangular layout. An open opening (16) is provided at the bottom of the outer shell (1). A slit (15) is provided at the center line of the bottom of the outer shell (1). A negative pressure machine (8) is installed on the outer shell (1) corresponding to the filter element (65). An avoidance opening (14) is provided on the outer shell (1) corresponding to the support arm (31).

2. The household cleaning robot according to claim 1, characterized in that, The free end of the support arm (31) is equipped with a bushing (321), and the bushing (321) has a spline groove along its vertical inner wall. The rotary drive (32) is vertically slidably connected to the bushing (321) along the height direction through the spline groove.

3. The household cleaning robot according to claim 2, characterized in that, The vertical drive component (33) is equipped with a connecting frame (331) at its bottom end. The bottom surface of the connecting frame (331) is provided with a pressure plate (332). The pressure plate (332) is a quarter-ring structure whose center coincides with the center of the rotating drive component (32). The bottom surface of the pressure plate (332) is equipped with a contact block (333). The support arm (31) is provided with a contact head (312) corresponding to the position of the contact block (333).

4. The household cleaning robot according to claim 3, characterized in that, The turntable (34) adopts a hollow structure. The bottom surface of the turntable (34) is provided with a water outlet and a mop pad is installed on the bottom surface. The turntable (34) is rotatably connected to the support arm (31). A flexible hose (311) that is connected to the turntable (34) is installed in the middle of the support arm (31). A receiving groove (313) that cooperates with the flexible hose (311) is opened at the top of the support arm (31). A water tank (7) that is connected to the flexible hose (311) is provided on the inner side of the outer shell (1) above the support arm (31). The highest point of the water tank (7) is provided with a water supply head (71) that penetrates the outer shell (1).

5. The household cleaning robot according to claim 1, characterized in that, The cleaner (5) also includes a swing frame (52), which is hinged to the bottom opening of the relay shell (51) via a combing frame (9). The combing frame (9) includes an end shaft (93), which is fixedly connected to a central rod (95) via a straight plate (92). The central rod (95) has equidistantly arranged support bars (97) rotatably mounted on its outer circumference. The free end of the support bars (97) is equipped with a sliding pin (96). The lower part of the swing frame (52) is provided with a receiving groove (524) for the sliding pin (96) to slide horizontally.

6. The household cleaning robot according to claim 5, characterized in that, The receiving groove (524) opens downward and provides a receiving space for the support bar (97). The support bar (97) has a circular end at one end of the middle rod (95), and the circular end has semi-circular grooves (98) arranged at equal intervals.

7. The household cleaning robot according to claim 5, characterized in that, The combing frame (9) also includes a rotating shaft (91), which is coaxially arranged with the end shaft (93). The swing frame (52) is provided with a through hole (523) corresponding to the rotating shaft (91) and the end shaft (93). The swing frame (52) is provided with an end seat (94) corresponding to the end shaft (93).

8. The household cleaning robot according to claim 5, characterized in that, The sweeper (5) also includes a coupling (56) and an auxiliary sleeve (55). The sweeping roller (53) has end plates (531) installed at both ends. The swing frame (52) is provided with a top plate (521) below the end plate (531). The relay shell (51) is provided with a baffle (54) above the end plate (531). The end plate (531) facing the coupling (56) is provided with a pin rod (532) in the center. The coupling (56) has a hole (561) in the middle. The end plate (531) facing the auxiliary sleeve (55) is provided with a pin rod (533) in the center. The auxiliary sleeve (55) has a pin groove (551) with an opening on one side in the middle. The relay shell (51) is provided with a through hole (514) at the lower part of the auxiliary sleeve (55).

9. The household cleaning robot according to claim 1, characterized in that, The relay shell (51) has a beveled end face (513) at the contact position with the main body (61). The beveled end face (513) has a guide groove (511) corresponding to the slider (41) in the center. The base plate (11) has a sliding groove (111) corresponding to the slider (41). The bottom surface of the slider (41) has a pusher (42). The outer shell (1) has a maintenance cover plate installed at the pusher (42).

10. The household cleaning robot according to claim 1, characterized in that, The base plate (11) is equipped with a folding device (2) on both sides of the reversing wheel (13). The top of the housing (1) is provided with a visual module and a switch button. The housing (1) is provided with an anti-collision module on the vertical outer wall between the two folding devices (2).

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