Drum-type cleaning robot

Abstract

A drum-type cleaning robot relates to the technical field of cleaning equipment, and comprises a machine body provided with a suction device; the cleaning roller is arranged at the bottom of the machine body; the cleaning roller comprises a roller body, the outer surface of the roller body is provided with a liquid-permeable cleaning layer, and the side wall of the roller body is provided with water seepage through holes; the hollow supporting body is arranged in the cylinder body, a suction through hole is formed in the side wall of the hollow supporting body, and a suction opening communicated with the suction device is formed in an inner cavity of the hollow supporting body; the water absorption layer is arranged between the outer surface of the supporting body and the inner surface of the cylinder body; the water seepage through holes enable the cleaning layer to be in fluid communication with the water absorption layer, and the suction through holes enable the water absorption layer to be in fluid communication with an inner cavity of the supporting body. The problem of secondary pollution caused by retention of sewage on the surface of the roller in the cleaning process can be solved.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and more particularly to a roller-type cleaning robot. Background Technology

[0002] Chinese patent document CN218738668U discloses a roller window cleaning machine, which includes a detachable roller and a drive mechanism, and wipes the glass surface by rotating the roller.

[0003] In practical applications, these types of roller cleaning equipment typically have a cleaning cloth or wiping layer on the outer surface of the roller, and are used in conjunction with a water spray device for wet cleaning. However, during the cleaning process, wastewater can easily remain on the cleaning cloth or wiping layer. Since the roller cannot be replaced or cleaned during operation, the residual wastewater can cause secondary pollution in subsequent wiping, affecting the cleaning effect. Summary of the Invention

[0004] The purpose of this invention is to provide a roller-type cleaning robot to solve the problem of secondary pollution caused by sewage remaining on the surface of the roller during the cleaning process.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] Roller-type cleaning robots, including:

[0007] The machine body is equipped with a suction device;

[0008] A cleaning roller is located at the bottom of the machine body;

[0009] The cleaning roller includes:

[0010] The cylinder has a liquid-permeable cleaning layer on its outer surface and water seepage holes on its side wall.

[0011] A hollow support body is provided inside the cylinder, with a suction through hole on its side wall and a suction port in its inner cavity that communicates with the suction device.

[0012] An absorbent layer is disposed between the outer surface of the support and the inner surface of the cylinder;

[0013] The permeable holes allow fluid communication between the cleaning layer and the absorbent layer, while the suction holes allow fluid communication between the absorbent layer and the inner cavity of the support body.

[0014] The machine body is also equipped with a sewage tank, and the suction device is in fluid communication with the sewage tank.

[0015] The wastewater tank is used to collect dirty liquid; the cleaning roller is used to contact the surface to be cleaned and absorb the dirty liquid.

[0016] Furthermore, the absorbent layer fills the annular space between the inner surface of the cylinder and the outer surface of the support, and covers the seepage hole and the suction hole, so that after the liquid enters the absorbent layer through the seepage hole, it can enter the inner cavity of the support through the suction hole.

[0017] Furthermore, at least one water seepage hole on the cylinder and at least one suction hole on the support are aligned in the radial direction to form a fluid communication path.

[0018] Furthermore, the suction port of the suction device connected to the inner cavity is located at the end of the support body.

[0019] Furthermore, the water seepage holes are provided in multiple locations and are distributed at intervals along the circumference of the cylinder.

[0020] Furthermore, the suction through holes are provided in multiple locations and are distributed at intervals along the circumference of the support.

[0021] Furthermore, the cleaning layer is a microfiber dust-free cloth.

[0022] Furthermore, the absorbent layer is a sponge.

[0023] Furthermore, an elastic buffer layer is provided between the cylinder and the cleaning layer.

[0024] Furthermore, the elastic buffer layer is a sponge.

[0025] Furthermore, the cleaning rollers include two rollers, both of which have their rotation axes parallel to the surface to be cleaned, and are located at the front end and rear end of the machine body along the direction of travel, respectively.

[0026] Furthermore, the machine body is provided with a wetting device that can directly or indirectly wet the cleaning rollers, so that at least one cleaning roller can perform wet wiping.

[0027] Furthermore, taking the direction of travel as a reference, the cleaning roller located on the front side serves as a wet wiping roller, which is wetted by the wetting device to perform wet wiping; the cleaning roller located on the rear side serves as a dry wiping roller, which is not wetted by the wetting device during operation and is used to perform dry wiping.

[0028] Furthermore, a set of walking mechanisms is provided on each of the left and right sides of the machine body;

[0029] Each walking mechanism includes a drive source and a walking component for contacting the surface to be cleaned, the walking component being a track or a walking drive wheel;

[0030] The drive source simultaneously drives the walking component to move and the corresponding cleaning roller to rotate through the transmission mechanism, so that the machine body moves on the surface to be cleaned;

[0031] The linear velocity and direction of the contact point between the cleaning roller and the surface to be cleaned are the same as the linear velocity and direction of the contact point between the traveling component and the surface to be cleaned.

[0032] Furthermore, the body includes a base and a floating plate that can move up and down relative to the base (i.e., float up and down);

[0033] The walking mechanism is mounted on the floating plate, and the cleaning roller is mounted on the base; or...

[0034] The walking mechanism is mounted on the base, and the cleaning roller is mounted on the floating plate.

[0035] Furthermore, the power output from the drive source is transmitted to the cleaning roller via a synchronous belt drive mechanism;

[0036] The synchronous belt drive mechanism includes two pulleys and a synchronous belt connecting the two pulleys. The two pulleys are respectively mounted on the base and the floating plate, one of which is connected to the drive source and the other is connected to the cleaning roller.

[0037] The timing belt is configured to allow the shaft spacing between the two pulleys to change with the relative up-and-down movement of the float and the base.

[0038] Furthermore, one end of the support is a closed end, and the other end is an open end;

[0039] The support body has a connecting seat at its open end, and the suction port is located on the connecting seat.

[0040] Furthermore, the cylinder is fitted around the periphery of the support body (with an absorbent layer sandwiched between them), and the two ends of its inner cavity are aligned with the closed end and the open end of the support body, respectively (i.e., the two ends of the inner wall of the cylinder are flush with the closed end and the open end of the support body, respectively); the open end of the cylinder extends to the outer periphery of the connecting seat (i.e., the open end of the cylinder extends outward and covers the outer periphery of the connecting seat) to ensure that the cylinder and the support body maintain good coaxiality and overall rigidity at the open end.

[0041] The inner wall of the open end of the cylinder is provided with an installation step, which is fixed to the outer wall of the connecting seat.

[0042] Furthermore, the connecting seat is provided with a sealing plug, which rotates synchronously with the cleaning roller, and its end forms a conical sealing surface;

[0043] The machine body is provided with a movable seat, and the movable seat is provided with a conical groove corresponding to the conical sealing surface. In the working state, the two fit together to form a dynamic sealing pair.

[0044] The sealing connector is provided with an axially penetrating flow channel hole.

[0045] The movable seat is in fluid communication with the suction device. The movable seat has a through hole that communicates with the flow channel hole, and the through hole is connected to the suction device through a pipe.

[0046] Furthermore, a bearing is installed on the inner wall of the cylinder, the outer ring of the bearing is fixedly connected to the inner wall of the cylinder, and the inner ring is fixed to the movable seat;

[0047] The movable seat is connected to the machine body through an elastic component, and a guide structure is provided between the movable seat and the machine body to guide the movable seat to move along the cylinder axis;

[0048] In operation, the clamping force of the elastic component causes the movable seat to press against the sealing plug and support the inner ring of the bearing; during disassembly, the movable seat can move in the opposite direction to release the clamping force.

[0049] Furthermore, the cylinder and the support are fixedly connected at the closed end by a rotating seat;

[0050] The rotating seat is connected to a drive shaft, which is fixedly connected to the output side synchronous pulley or is an integral part thereof.

[0051] This invention uses a hollow support body inside the cylinder and connects the support body to a suction device via a suction port. By utilizing negative pressure suction, dirty liquid that has penetrated through the liquid-permeable cleaning layer, been transported through the water-absorbing layer, and entered the inner cavity of the support body through the suction through hole is continuously extracted.

[0052] Therefore, during the wiping process of the cleaning roller, the dirty liquid that is wiped up can be removed in real time, avoiding secondary pollution caused by the retention of sewage on the surface of the roller.

[0053] Therefore, this cleaning roller not only performs cleaning functions as a wiping element, but also integrates a liquid suction channel inside, realizing an integrated structural design for cleaning operations and wastewater recycling. Attached Figure Description

[0054] Figure 1 For the three-dimensional cleaning robot Figure 1 ;

[0055] Figure 2 For the three-dimensional cleaning robot Figure 2 ;

[0056] Figure 3 For the three-dimensional cleaning robot Figure 3 ;

[0057] Figure 4 For the three-dimensional cleaning robot Figure 4 ;

[0058] Figure 5 This is an overall sectional view of the cleaning robot;

[0059] Figure 6 Partial cross-section of the cleaning robot Figure 1 ;

[0060] Figure 7 Partial cross-section of the cleaning robot Figure 2 ;

[0061] Figure 8 A schematic diagram showing the connection structure between the cleaning roller and the traveling mechanism;

[0062] Figure 9 For the three-dimensional cleaning roller Figure 1 ;

[0063] Figure 10 For the three-dimensional cleaning roller Figure 2 ;

[0064] Figure 11 This is an exploded view of the cleaning roller.

[0065] In the picture:

[0066] 1—Body, 1a—Base, 1b—Floating plate

[0067] 2 – Suction device; 3 – Cleaning roller; 3a – Cylinder body;

[0068] 3a1 – Water seepage through hole; 3b – Cleaning layer; 3c – Support body;

[0069] 3c1 – Suction through hole, 3c2 – Suction port, 3d – Absorbent layer

[0070] 4 – Wetting device; 5 – Cleaning cloth; 6a – Track drive wheel;

[0071] 6b – Driven wheel; 6c – Track; 7a – Input-side synchronizer wheel;

[0072] 7b – Output side synchronous pulley; 7c – Synchronous belt; 8a – Motor;

[0073] 8b – worm gear, 8c – worm wheel, 8d – power distribution shaft

[0074] 9 – Guide wheel; 10 – Suction module; 11 – Connecting seat;

[0075] 12—Sealing connector plug; 13—Modible seat; 13a—Conical groove;

[0076] 14 – Bearing; 15 – Elastic component; 16 – Rotary seat;

[0077] 17 - Drive shaft. Detailed Implementation

[0078] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0079] like Figure 1-11 As shown, this embodiment provides a roller-type cleaning robot, which includes a body 1, and a suction device 2, a wastewater tank, a suction module 10, a walking mechanism, and a controller mounted on the body 1. The suction device 2 is fluidly connected to the wastewater tank, forming a liquid recovery system used to suction and collect the dirty liquid generated during the cleaning process into the wastewater tank. A cleaning roller 3 is located at the bottom of the body 1. The cleaning roller 3 contacts the surface to be cleaned (such as a floor, wall, or glass surface), and under the action of the suction device 2, the dirty liquid that has seeped into its surface is guided into an internal flow channel and discharged. Simultaneously, an adsorption chamber is constructed at the bottom of the body 1. The suction module 10 (such as a negative pressure fan or vacuum pump) is connected to this adsorption chamber to extract air from the chamber to create a negative pressure, thereby enabling the entire robot to adhere to a vertical or inclined surface to be cleaned (such as a wall or glass surface). The walking mechanism is used to drive the cleaning robot to move on the surface to be cleaned. The air duct, walking mechanism, and control circuit of the cleaning robot are similar to those of existing cleaning robots in this embodiment, and will not be described in detail for simplicity.

[0080] In some embodiments, the cleaning roller 3 serves as the sole surface contact cleaning element, independently performing the wiping operation; in other embodiments, the cleaning roller 3 is used in conjunction with another cleaning component (e.g., a flat cleaning cloth) to jointly clean the surface, wherein the cleaning roller 3 can perform main cleaning or pre-cleaning / post-treatment functions.

[0081] Taking a composite cleaning element consisting of a cleaning roller 3 and a flat cleaning cloth (hereinafter referred to as "cleaning cloth 5") as an example: the cleaning roller 3 and the cleaning cloth 5 are both located at the bottom of the machine body 1; the cleaning cloth 5 covers the bottom of the machine body 1 as a whole, but has an opening at the corresponding installation position of the cleaning roller 3, so that the outer peripheral surface of the cleaning roller 3 can pass through the opening and directly contact the surface to be cleaned.

[0082] like Figure 5-7 and Figure 11 As shown, the cleaning roller 3 includes a cylinder 3a as the main structure, a hollow support 3c coaxially disposed inside the cylinder 3a, and a water-absorbing layer 3d disposed between the inner surface of the cylinder 3a and the outer surface of the support 3c.

[0083] The outer surface of the cylinder 3a is covered with a liquid-permeable cleaning layer 3b, which has both decontamination ability and liquid permeability; the side wall of the cylinder 3a is provided with a plurality of water seepage holes 3a1, which are used to guide the sewage permeated by the cleaning layer 3b into the water absorption layer 3d.

[0084] The support 3c is a hollow tubular structure with a suction through hole 3c1 on its side wall for introducing sewage in the absorbent layer 3d into the inner cavity of the support 3c; the end (axial end) of the support 3c is provided with a suction port 3c2 for connecting a suction device 2 to apply negative pressure to the inner cavity.

[0085] The absorbent layer 3d serves as a transport and buffer layer for sewage, enabling the cleaning layer 3b, the seepage through hole 3a1, the suction through hole 3c1, and the inner cavity of the support 3c to form a connected fluid path, thereby achieving the directional drainage of sewage from the surface of the drum through the internal structure to the external suction device 2.

[0086] During the cleaning process, wastewater on the glass surface is absorbed by the cleaning layer 3b and then enters the absorbent layer 3d through the seepage holes 3a1 on the side wall of the cylinder 3a. Under the negative pressure of the support 3c, it is quickly discharged into the inner cavity through the suction holes 3c1. This process eliminates the need for additional external cleaning components such as squeegees, achieving immediate removal of wastewater and effectively solving the problem of secondary pollution caused by wastewater remaining on the roller surface during cleaning.

[0087] The absorbent layer 3d is made of a highly absorbent porous material (such as open-cell polyurethane sponge), which is tightly fitted into the outer periphery of the support 3c in the form of an annular sleeve and accommodated in the annular gap (i.e., annular space) between the inner wall of the cylinder 3a and the support 3c, forming a continuous annular liquid-absorbing medium. When the cleaning roller 3 rolls on a surface such as glass, surface sewage permeates through the outer liquid-permeable cleaning layer 3b and enters the absorbent layer 3d through the seepage holes 3a1 on the side wall of the cylinder 3a. Due to the capillary adsorption capacity of the absorbent layer 3d, it can quickly absorb and temporarily store liquid; at the same time, the inner cavity of the support 3c is maintained under negative pressure by the external suction device 2, causing the liquid in the absorbent layer 3d to migrate towards the suction holes 3c1 under the pressure difference, and finally be sucked into the inner cavity of the support 3c through the suction holes 3c1, and discharged into the sewage tank by the suction device 2. This structure realizes the directional drainage of sewage from the outside to the inside, effectively preventing liquid from accumulating in the cleaning layer 3b.

[0088] To improve liquid transfer efficiency, in this embodiment, some of the seepage holes 3a1 on the cylinder 3a and some of the suction holes 3c1 on the support 3c are aligned with each other in the radial direction (i.e., their projections coincide along the radial direction of the cylinder 3a). In this way, liquid entering through the seepage holes 3a1 can migrate along the shortest radial path to the corresponding suction holes 3c1 in the absorbent layer 3d, reducing the lateral diffusion distance, lowering flow resistance, and thus improving the sewage discharge response speed and suction efficiency.

[0089] The support body 3c is a hollow cylindrical structure with an inner cavity that is open at one end and closed at the other. The suction port 3c2 is located on the open end face of the support body 3c, facilitating connection to the suction device 2. This layout avoids creating holes for connecting the suction device 2 on the side wall of the cylinder 3a, thus maintaining the integrity of the outer contour of the roller and promoting smooth movement during rolling and the sealing of the internal structure.

[0090] The permeation holes 3a1 are spaced circumferentially on the side wall of the cylinder 3a (they can be uniformly or non-uniformly distributed), and the suction holes 3c1 are also spaced circumferentially on the side wall of the support 3c. The number of holes can be adjusted according to the axial length of the drum and the expected cleaning area. This circumferential multi-hole design ensures that multiple holes remain connected to the internal flow channels during the drum's rotation, effectively preventing suction interruptions caused by local blockages or changes in posture, thereby ensuring the continuity and reliability of sewage collection and discharge.

[0091] The cleaning layer 3b is made of microfiber lint-free cloth, which is made of ultra-fine denier fibers. The fiber structure is dense and the pores are uniform, which has strong cleaning ability and good liquid permeability. This material can effectively wipe away the dust and stains on the glass surface, and also allows water to quickly penetrate from the cleaning layer 3b to the water seepage hole 3a1 area on the side wall of the cylinder 3a. At the same time, it does not easily shed lint, avoiding secondary pollution.

[0092] The cleaning layer 3b can be fixed to the outer surface of the cylinder 3a by means of adhesive, hot pressing, snap fastening or sewing; in a specific embodiment, adhesive is used to achieve rapid assembly.

[0093] Both the cylinder 3a and the support 3c can be made of rigid materials such as metal or hard engineering plastics to provide stable rotational support. Hard engineering plastics are preferred because they are readily available and inexpensive.

[0094] In this embodiment, a hollow support body 3c is set inside the cylinder 3a, and the support body 3c is connected to the suction device 2 via the suction port 3c2. Using negative pressure suction, the dirty liquid that has seeped into the liquid-permeable cleaning layer 3b, been transported through the water-absorbing layer 3d, and entered the inner cavity of the support body 3c through the suction through-hole 3c1 is continuously extracted. Therefore, during the wiping process of the cleaning roller 3 on the surface to be cleaned, the dirty liquid that is wiped up can be removed in real time, avoiding secondary pollution caused by wastewater remaining on the roller surface. Thus, this cleaning roller 3 not only performs the cleaning function as a wiping element, but also integrates a liquid suction channel, realizing an integrated structural design for cleaning operations and wastewater recovery.

[0095] For ease of description, in this embodiment, the front end, rear end, left side, and right side of the body 1 are all determined based on its direction of travel.

[0096] like Figure 4 As shown, the machine body 1 is equipped with a wetting device 4, which can directly or indirectly wet the cleaning roller 3. "Direct wetting" refers to the wetting device 4 (e.g., a nozzle) directly spraying cleaning liquid (such as clean water) onto the surface of the cleaning roller 3; "indirect wetting" refers to the wetting device 4 spraying cleaning liquid onto the area to be cleaned that the cleaning roller 3 is about to pass over, and the cleaning roller 3 becomes wetted upon contact with this wetted area during its rolling process. In this embodiment, direct wetting is preferred to ensure that the cleaning roller 3 achieves a sufficient and controllable degree of wetness.

[0097] The number of cleaning rollers 3 can be one or more. When there is one, it can be set at the front or rear end of the machine body 1 along the traveling direction; when there are multiple, such as two, they can be set at the front and rear ends of the machine body 1 along the traveling direction, respectively. The rotation axis of each cleaning roller 3 is parallel to the surface to be cleaned.

[0098] Taking the setup of two cleaning rollers 3 as an example. Based on the direction of travel, the cleaning roller 3 located at the front (end) acts as a wet wiping roller, supplied with liquid by the wetting device 4, for wet wiping, primarily removing stubborn dirt. The cleaning roller 3 located at the rear (end) acts as a dry wiping roller, not actively wetted by the wetting device 4, for secondary wiping of the wet-wiped surface to remove residual water stains or watermarks, thus achieving integrated cleaning and drying. The front cleaning roller 3 undertakes the main cleaning task, while the rear cleaning roller 3 focuses on drying or supplementary cleaning; their combined action effectively improves the overall cleaning effect. In some embodiments, based on the direction of travel, the front cleaning roller 3 acts as a dry wiping roller, and the rear cleaning roller 3 acts as a wet wiping roller; in other embodiments, both cleaning rollers 3 either act as wet wiping rollers or both act as dry wiping rollers.

[0099] like Figure 1-4 As shown, in this embodiment, a set of walking mechanisms is provided on the left and right sides of the machine body 1. Each set of walking mechanisms includes a drive source and a walking component for contacting the surface to be cleaned. The walking component is a track 6c or a walking drive wheel. The drive source drives the walking component to move and the corresponding cleaning roller 3 to rotate simultaneously through a transmission mechanism, so that the machine body 1 moves on the surface to be cleaned.

[0100] The linear velocity magnitude and direction of the contact point between the cleaning roller 3 and the surface to be cleaned are consistent with the linear velocity magnitude and direction of the contact point between the traveling component and the surface to be cleaned.

[0101] Generally, the rotation direction of the cleaning roller 3 is not limited. However, if the linear velocity of its contact point with the surface to be cleaned is opposite to the direction of travel of the machine body 1, the roller will be forcibly dragged, which not only increases travel resistance and reduces efficiency, but may also damage the surface or affect the cleaning effect due to frictional heat or slippage. Therefore, in this embodiment, the cleaning roller 3 is configured such that the linear velocity (including magnitude and direction) of its contact point with the surface to be cleaned is consistent with the travel speed of the corresponding traveling mechanism driving the machine body 1 on the surface to be cleaned (i.e., the linear velocity of the contact point between the traveling component and the surface to be cleaned). With this configuration, the cleaning roller 3 is in a pure rolling state during the wiping process, avoiding sliding friction caused by speed differences, thereby reducing overall machine travel resistance, reducing energy consumption, and improving cleaning efficiency and runtime. Simultaneously, there is no relative slippage between the roller and the surface to be cleaned, effectively preventing watermarks, drag marks, or stains from spreading during wiping, ensuring consistent cleaning quality.

[0102] This embodiment provides two optional structures for the walking mechanism to adapt to different usage scenarios. The first is a tracked walking mechanism (see...). Figure 1-4 and Figure 8 The first type includes a tracked drive wheel 6a, a driven wheel 6b, and a track 6c that surrounds both and rubs against the surface to be cleaned. The track 6c, as a walking component, generates driving force through friction between its outer surface and the surface to be cleaned. The second type is a wheeled walking mechanism, which is relatively simple in structure and includes one or more driving wheels that directly contact the surface to be cleaned. These driving wheels, as walking components, are driven through friction between their wheel surfaces and the surface to be cleaned. Both structures can effectively drive the cleaning robot to move on the surface to be cleaned, and one can be chosen according to actual needs. In this embodiment, a tracked walking mechanism is preferred.

[0103] like Figure 3As shown, in this embodiment, the robot body 1 includes a base 1a and a floating plate 1b mounted on the base 1a. The floating plate 1b can float up and down relative to the base 1a (i.e., move vertically). The walking mechanism and the cleaning roller 3 are respectively mounted on the floating plate 1b and the base 1a (i.e., the walking mechanism is mounted on the floating plate 1b, and the cleaning roller 3 is mounted on the base 1a; or, the walking mechanism is mounted on the base 1a, and the cleaning roller 3 is mounted on the floating plate 1b). When the robot works on the glass surface (the surface to be cleaned), the robot body 1 forms a negative pressure at the bottom through the suction module 10, causing the entire robot to adhere to the glass surface. Since there may be minor unevenness, dirt accumulation, or obstacles such as mounting frames on the glass surface, the up and down floating of the floating plate 1b allows the walking mechanism and the cleaning roller 3 to independently conform to the shape of the glass surface, avoiding local suspension or overpressure caused by rigid connection. More importantly, this floating structure helps maintain the sealing gap between the bottom adsorption area of ​​the robot body 1 and the glass surface, preventing negative pressure leakage due to local warping, thereby ensuring adsorption stability. Meanwhile, the cleaning roller 3 remains in close contact with the glass surface under negative pressure, and the walking mechanism maintains effective friction drive to prevent slippage. Therefore, when working on complex glass surfaces, the robot can reliably adsorb and move stably, achieving uniform and efficient cleaning, significantly improving work reliability and cleaning effectiveness.

[0104] It should be understood that if the walking mechanism and the cleaning roller 3 are both rigidly mounted on the same component (e.g., both fixed to the base 1a or both fixed to the floating plate 1b), two types of technical risks may be introduced: First, due to the cumulative errors in manufacturing and assembly, it is difficult to ensure that the walking mechanism and the cleaning roller 3 are simultaneously in close contact with the glass surface, which may easily lead to poor sealing of the adsorption area at the bottom of the robot body 1 and cause negative pressure leakage; Second, if the cleaning roller 3 partially pushes the walking mechanism away from the glass surface due to installation height or position deviation, it will cause insufficient adhesion of the walking component, thereby causing slippage or walking instability. In this embodiment, by setting the walking mechanism and the cleaning roller 3 on the relatively vertically floating base 1a and floating plate 1b respectively, independent vertical displacement degrees of freedom are provided for both, thereby enabling adaptive compensation of installation errors and effectively avoiding mechanical interference of the cleaning roller 3 on the walking mechanism. This design fundamentally avoids the above risks, ensuring the sealing reliability of the adsorption system while guaranteeing the stability of the walking drive, and significantly improving the robot's working performance on the glass surface.

[0105] In this embodiment, the power output from the drive source is transmitted to the cleaning roller 3 via a synchronous belt drive mechanism. The synchronous belt drive mechanism includes two pulleys (also referred to as synchronous pulleys) and a synchronous belt 7c connecting the two pulleys. The two pulleys are respectively mounted on the base 1a and the float 1b, one of which is connected to the drive source, and the other is connected to the cleaning roller 3. The synchronous belt 7c is configured to allow the axial distance between the two pulleys to change with the relative vertical movement of the float 1b and the base 1a.

[0106] Specifically (see) Figure 3 , 4 8) The synchronous belt drive mechanism includes an input-side synchronous pulley 7a (i.e., one pulley), an output-side synchronous pulley 7b (i.e., another pulley), and a synchronous belt 7c connecting the two. The input-side synchronous pulley 7a is mounted on the base 1a, and the output-side synchronous pulley 7b is mounted on the float 1b (or vice versa), so that the synchronous belt 7c spans between the relatively vertically floating base 1a and float 1b. The synchronous belt 7c is installed with a allowance for displacement compensation, keeping the drive mechanism in a non-taut state and forming a controllable buffer gap between the two pulleys. When the float 1b moves up and down relative to the base 1a, this allowance allows the shaft spacing of the two pulleys to passively change, thereby absorbing relative displacement while maintaining effective meshing between the synchronous belt 7c and the pulleys, ensuring continuous power transmission. The synchronous belt drive uses a meshing transmission method, with the tooth profiles of the pulleys (synchronous pulleys) and the synchronous belt 7c matching, preventing slippage even during changes in shaft spacing.

[0107] It is worth noting that the synchronous belt drive mechanism is not directly connected to the traveling mechanism, but rather shares the same drive source with it, and drives the cleaning roller 3 and the traveling components respectively through independent transmission paths. Specifically, the power from the drive source is divided into two paths via a power distribution structure (e.g., the two ends of the worm gear 8c) (see...). Figure 3 , 4 8): One path drives the traveling mechanism via a planetary gear reducer; the other path drives the cleaning roller 3 via a synchronous belt drive mechanism bridging the base 1a and the floating plate 1b. This design achieves efficient power distribution and ensures reliable operation of the cleaning roller 3 even when the floating plate 1b floats relative to the base 1a through structural decoupling. In some embodiments, the synchronous belt drive mechanism can also be connected to the traveling mechanism. For example, the input pulley (i.e., the input synchronous pulley 7a) of the synchronous belt drive mechanism can be coaxially fixed to the sun gear, planet carrier, or other rotating output components in the planetary gear reducer that drives the traveling mechanism, thereby allowing for the selection of different speed outputs according to actual needs and improving the flexibility of system configuration.

[0108] like Figure 8 As shown, in this embodiment, the driving source is a motor 8a, and a worm gear 8b is fixedly mounted on its output shaft. The worm gear 8b meshes with a worm wheel 8c to transmit power to the worm wheel 8c. The worm wheel 8c is coaxially fixed on a power distribution shaft 8d, and the two ends of the power distribution shaft 8d serve as a first output end and a second output end, respectively. The first output end drives the walking mechanism through a first transmission mechanism (such as a planetary gear reduction set), and the second output end drives the cleaning roller 3 through a second transmission mechanism (such as a synchronous belt transmission mechanism).

[0109] To ensure a more stable transmission trajectory for the synchronous belt 7c, this embodiment includes a positioning part on the body 1 (such as base 1a or float 1b). This positioning part acts on the free section between the two pulleys of the synchronous belt. The positioning part is designed primarily to provide guidance rather than tension, thus suppressing lateral deviation or vibration of the synchronous belt 7c during transmission caused by vibration or floating. In one embodiment, the positioning part includes an elastic member that buffers the dynamic load on the synchronous belt 7c through elastic deformation; in another embodiment, the positioning part includes a freely rotatable guide wheel 9 that engages with the synchronous belt 7c in a rolling contact manner, reducing frictional resistance. This design improves transmission stability and operational reliability without interfering with the normal tension adjustment of the synchronous belt 7c.

[0110] In some embodiments, an elastic buffer layer, preferably an open-cell polyurethane sponge or latex sponge, can be added between the outer surface of the cylinder 3a and the cleaning layer 3b. This buffer layer has moderate compression resilience, which allows for local deformation when the roller contacts an uneven glass surface, enabling the cleaning layer 3b to better conform to the surface being cleaned. Furthermore, regardless of whether the cleaning roller 3 is driven by an independent drive source, shares a drive source with the walking mechanism, or is a passively rotating structure, the linear velocity of its outer surface may momentarily differ from the robot's walking linear velocity due to factors such as assembly tolerances, wheel diameter errors, transmission clearances, or surface slippage. In this case, the elastic buffer layer can absorb the relative displacement between the roller and the surface being cleaned through its own elastic deformation, transforming rigid sliding friction into flexible buffering, thereby alleviating the dragging phenomenon and ensuring consistent walking stability and cleaning effect.

[0111] like Figure 5-11 As shown, in this embodiment, one end of the support 3c is a closed end, and the other end is an open end; the cylinder 3a is fitted around the outer periphery of the support 3c (with an absorbent layer 3d sandwiched between them), and the two ends of its inner cavity are aligned with the closed end and the open end of the support 3c, respectively, forming corresponding closed and open ends; a connecting seat 11 is fixedly provided at the open end of the support 3c, and a suction port 3c2 is provided on the connecting seat 11 for connecting the inner cavity of the support 3c with the external suction device 2; the open end of the cylinder 3a extends to the outer periphery of the connecting seat 11, forming a covering over it. In some embodiments, an installation step can be provided on the inner wall of the open end of the cylinder 3a, which cooperates with the outer wall of the connecting seat 11 for fixation, so as to enhance the overall rigidity.

[0112] The connecting seat 11 is provided with a sealing connecting plug 12. The sealing connecting plug 12 is fixed to the connecting seat 11 by a snap-fit ​​part (such as a radial snap, a snap ring groove fit structure or a threaded connection) and rotates synchronously with the support body 3c and the cylinder 3a. The end of the sealing connecting plug 12 forms a conical sealing surface, and its cone angle (the angle between the two generatrices) is preferably 30° to 60° to balance sealing performance and assembly alignment.

[0113] The body 1 (such as a base 1a or a floating plate 1b with rollers installed) is provided with a movable seat 13, and the movable seat 13 is provided with a conical groove 13a corresponding to the conical sealing surface; in the working state, the conical sealing surface and the conical groove 13a fit together to form a dynamic sealing pair.

[0114] A bearing 14 is installed on the inner wall of the cylinder 3a. The outer ring of the bearing 14 is fixedly connected to the inner wall of the cylinder 3a, while the inner ring is fixed to the movable seat 13. The movable seat 13 is connected to the machine body 1 via an elastic component 15 (such as a spring or sheet), and a guide structure is provided between the movable seat 13 and the machine body 1 to guide the movable seat 13 to move axially along the cylinder 3a. In the working state, the clamping force of the elastic component 15 drives the movable seat 13 to move towards the connecting seat 11, so that the conical groove 13a on the movable seat 13 fits against the conical sealing surface of the sealing connecting plug 12 to form a dynamic sealing pair. At the same time, the inner ring of the bearing 14 is reliably confined in the support part of the movable seat 13 and kept stationary, thereby providing stable support for the rotating cleaning roller 3 and ensuring the sealing of the suction channel. During maintenance or disassembly, the elastic force is overcome to move the movable seat 13 in the opposite direction, which releases the clamping force on the connecting seat 11 and the support on the inner ring of the bearing 14, achieving quick separation.

[0115] The sealing plug 12 has an axial through hole (i.e., a flow channel hole) inside. One end of the through hole is connected to the suction port 3c2, and the other end opens at the center of its conical end face. The conical groove 13a of the movable seat 13 has a through hole at the bottom center, which is aligned with the through hole. The movable seat 13 also has a connecting channel inside, which is connected to the through hole and connected to the suction device 2 through a hose to discharge sewage.

[0116] Since the sealing plug 12 rotates with the drum, while the movable seat 13 and the hose remain stationary, the two achieve continuous fluid conduction through the dynamic seal of the conical surface, thereby avoiding the suction hose from getting tangled or interfering during the rotation of the drum.

[0117] In addition, the cylinder 3a and the support 3c are fixedly connected at the closed end by a rotating seat 16. The rotating seat 16 is connected to the drive shaft 17, and the drive shaft 17 is connected to the output side synchronous wheel (the two are fixedly connected or are an integral part) to drive the cleaning roller 3 to rotate synchronously as a whole.

[0118] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any content that does not depart from the technical solution of the present invention shall still fall within the patent scope of the technical solution of the present invention.

Claims

1. A roller-type cleaning robot, characterized in that, include: The body (1) is provided with a suction device (2); A cleaning roller (3) is disposed at the bottom of the machine body (1); The cleaning roller (3) includes: The cylinder (3a) has a liquid-permeable cleaning layer (3b) on its outer surface and a water-permeable through hole (3a1) on its side wall. A hollow support (3c) is provided inside the cylinder (3a), and its side wall is provided with a suction through hole (3c1), and its inner cavity is provided with a suction port (3c2) connected to the suction device (2). A water-absorbing layer (3d) is disposed between the outer surface of the support (3c) and the inner surface of the cylinder (3a); The permeable hole (3a1) allows the cleaning layer (3b) to be in fluid communication with the absorbent layer (3d), and the suction hole (3c1) allows the absorbent layer (3d) to be in fluid communication with the inner cavity of the support (3c).

2. The roller-type cleaning robot according to claim 1, characterized in that, The absorbent layer (3d) fills the annular space between the inner surface of the cylinder (3a) and the outer surface of the support (3c), and covers the seepage hole (3a1) and the suction hole (3c1) so that after the liquid enters the absorbent layer (3d) through the seepage hole (3a1), it can enter the inner cavity of the support (3c) through the suction hole (3c1).

3. The roller-type cleaning robot according to claim 1, characterized in that, At least one water seepage hole (3a1) on the cylinder (3a) is radially aligned with at least one suction hole (3c1) on the support (3c) to form a fluid communication path.

4. The roller-type cleaning robot according to claim 1, characterized in that, The suction port (3c2) is located at the end of the support (3c).

5. The roller-type cleaning robot according to claim 1, characterized in that, The cleaning rollers (3) include two, whose rotation axes are parallel to the surface to be cleaned, and are located at the front end and rear end of the machine body (1) along the direction of travel, respectively.

6. The roller-type cleaning robot according to claim 5, characterized in that, The machine body (1) is provided with a wetting device (4) that can directly or indirectly wet the cleaning roller (3) so that at least one cleaning roller (3) performs wet wiping.

7. The roller-type cleaning robot according to claim 6, characterized in that, Based on the direction of travel, the cleaning roller (3) located on the front side is used as a wet wiping roller and is wetted by the wetting device (4) to perform wet wiping; the cleaning roller (3) located on the rear side is used as a dry wiping roller to perform dry wiping.

8. The roller-type cleaning robot according to claim 1 or 5, characterized in that, The machine body (1) is provided with a set of walking mechanisms on its left and right sides respectively; Each walking mechanism includes a drive source and a walking component for contacting the surface to be cleaned, the walking component being a track or a walking drive wheel; The drive source simultaneously drives the walking component to move and the corresponding cleaning roller (3) to rotate through the transmission mechanism, so that the machine body (1) moves on the surface to be cleaned; The magnitude and direction of the linear velocity of the cleaning roller (3) at the contact point with the surface to be cleaned are the same as the magnitude and direction of the linear velocity of the traveling component at the contact point with the surface to be cleaned.

9. The roller-type cleaning robot according to claim 8, characterized in that, The body (1) includes a base (1a) and a floating plate (1b) that can move up and down relative to the base (1a). The walking mechanism is mounted on the floating plate (1b), and the cleaning roller (3) is mounted on the base (1a); or, The walking mechanism is mounted on the base (1a), and the cleaning roller (3) is mounted on the floating plate (1b).

10. The roller-type cleaning robot according to claim 9, characterized in that, The power output from the drive source is transmitted to the cleaning roller (3) through a synchronous belt drive mechanism. The synchronous belt drive mechanism includes two pulleys and a synchronous belt connecting the two pulleys. The two pulleys are respectively mounted on the base (1a) and the floating plate (1b), one of which is connected to the drive source and the other is connected to the cleaning roller (3). The timing belt is configured to allow the axial spacing between the two pulleys to change with the relative up-and-down movement of the float (1b) and the base (1a).

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