A cleaning robot

Abstract

This invention relates to the field of intelligent devices, specifically disclosing a cleaning robot. The robot comprises two hinged main bodies, a first robot body and a second robot body. Each robot body has a water inlet on one side and a water outlet on the other. The water inlet is equipped with a water suction component and a cleaning component, while the water outlet has a filter basket. Both the first and second robot bodies are equipped with drive wheel assemblies, and an angle adjustment component is provided between adjacent robot bodies. When the cleaning robot encounters an obstacle, the angle adjustment component can adjust the angle of either the first or second robot body, creating a certain angle between them. This allows the first robot body to smoothly climb slopes and cross from one work surface to another, ensuring the entire cleaning robot can successfully overcome obstacles and improving work continuity and efficiency.

Description

Technical Field

[0001] This invention relates to the field of smart devices, and in particular to a cleaning robot. Background Technology

[0002] The aquarium cleaning robot can automatically clean the bottom and walls of the aquarium, removing dirt, algae, and fish waste. During the cleaning process, the robot uses a cleaning brush at the bottom to clean the inner walls of the aquarium. The dirt generated is immediately sucked in through the water inlet on the robot body, filtered through the filter basket on the robot body, and then discharged from the outlet.

[0003] Based on an understanding of the relevant technologies, it is known that during the cleaning process, aquarium cleaning robots will encounter the corners of the aquarium. At this point, it becomes difficult for the aquarium cleaning robot to move from one vertical surface to another to clean, which affects the continuity and efficiency of the aquarium cleaning robot's work. Summary of the Invention

[0004] The purpose of at least one specific embodiment of the present invention is to overcome the deficiencies of the prior art and provide a cleaning robot.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A cleaning robot, comprising: The robot body has a water inlet on one side and a water outlet on the other side. The water-absorbing component is located at the water inlet; The cleaning component is located at the water inlet; A filter basket, which is installed at the water outlet; Drive wheel assembly, which is mounted on the robot body; There are multiple robot bodies, and adjacent robot bodies are hinged together. The robot body includes at least a first robot body and a second robot body that are hinged together. An angle adjustment component is provided between the adjacent first robot body and second robot body. When the first robot body or the second robot body encounters an obstacle, the angle adjustment component can adjust the angle of the first robot body or the second robot body so that the first robot body and the second robot body form a certain angle. When the first robot body and the second robot body are at a certain angle, the drive wheel assembly on the first robot body is raised relative to the bottom plane of the second robot body.

[0006] Furthermore, the angle adjustment assembly includes an angle adjustment motor mounted on the second robot body, a drive shaft connected to the angle adjustment motor, a drive gear fixedly mounted on the end of the drive shaft, and a driven gear fixedly mounted on the first robot body and meshing with the drive gear.

[0007] Furthermore, a first rotating seat is provided on one side of the first robot body, and a second rotating seat is provided on one side of the second robot body. The first rotating seat and the second rotating seat are hinged together by a pin.

[0008] Furthermore, the drive shaft is constructed as a pin shaft. When the angle adjustment motor drives the drive gear to rotate, the drive gear drives the first robot body to rotate relative to the second robot body around the pin shaft through the driven gear. The first robot body rotates towards the top of the second robot body, causing the drive wheel assembly on the first robot body to be raised relative to the drive wheel assembly on the second robot body.

[0009] Furthermore, the water suction assembly includes a motor, a rotating shaft connected to the motor, and a turbine mounted on the rotating shaft. When the motor drives the turbine to rotate, external water is sucked into the inlet and flows to the outlet.

[0010] Furthermore, an installation channel is provided inside the robot body between the water inlet and the water outlet. The motor is fixedly installed in the installation channel by a retainer, and the installation channel keeps the water inlet and the water outlet connected.

[0011] Furthermore, the cleaning assembly includes multiple cleaning brushes mounted on a rotating shaft, with the brushes located at the water inlet and conforming to the bottom surface of the robot body.

[0012] Furthermore, the drive wheel assembly includes a first drive motor mounted on the first robot body and a first drive wheel connected to the first drive motor; The drive wheel assembly also includes a second drive motor mounted on the second robot body and a second drive wheel connected to the second drive motor.

[0013] Furthermore, the filter basket is detachably installed at the water outlet; The filter basket has a connecting part on one side and an opening on the other side. A one-way valve is provided at the installation channel. After the filter basket is installed at the water outlet, the connecting part is connected to the one-way valve. The opening faces the top of the robot body. A cover plate is installed on the top of the robot body, and the cover plate covers the opening of the filter basket.

[0014] Furthermore, the first robot body is equipped with a first angle sensor and an obstacle detection sensor, and the second robot body is equipped with a second angle sensor; The first angle sensor, the second angle sensor, the obstacle detection sensor, the angle adjustment assembly, the water absorption assembly, and the drive wheel assembly are all connected to the control system via signals. When the obstacle detection sensor detects an obstacle, the control system starts the angle adjustment motor of the angle adjustment component, and the first robot body rotates relative to the second robot body, so that the drive wheel component on the first robot body is raised relative to the bottom plane of the second robot body, and the cleaning robot forms a slope state. When the cleaning robot starts moving uphill, the control system controls the water suction component on the first robot body to reduce its rotation speed, while simultaneously controlling the water suction component on the second robot body to increase its rotation speed. When the cleaning robot crosses a slope, the control system increases the rotation speed of the water-absorbing component on the first robot body and decreases the rotation speed of the water-absorbing component on the second robot body.

[0015] The beneficial effects of this invention are as follows: When the cleaning robot encounters an obstacle and needs to cross from one working surface to another, the angle adjustment component can adjust the angle of the first robot body or the second robot body so that the first robot body and the second robot body form a certain angle; when the first robot body and the second robot body form a certain angle, the drive wheel assembly on the first robot body is in a raised state relative to the bottom plane of the second robot body. Under the thrust of the drive wheel assembly on the second robot body, the first robot body can smoothly rise up and smoothly cross from one working surface to another, thereby ensuring that the entire cleaning robot can smoothly cross obstacles and improve the continuity and efficiency of the work; Moreover, when the cleaning robot starts climbing a slope, the control system reduces the rotation speed of the water-absorbing component on the first robot body and increases the rotation speed of the water-absorbing component on the second robot body. When the cleaning robot crosses a slope, the control system increases the rotation speed of the water-absorbing component on the first robot body and reduces the rotation speed of the water-absorbing component on the second robot body. This improves the stability of the cleaning robot when crossing a slope, ensuring that the first and second robot bodies will not fall off the working surface throughout the entire process from starting to crossing the slope. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a cleaning robot in one embodiment of this application.

[0018] Figure 2 This is a structural schematic diagram of the cleaning robot from another angle in one embodiment of this application.

[0019] Figure 3 This is a cross-sectional schematic diagram of a cleaning robot in one embodiment of this application.

[0020] Figure 4 for Figure 3 A partial structural diagram.

[0021] Figure 5 for Figure 3 A structural diagram from another angle.

[0022] Figure 6 for Figure 3 Enlarged view of area A in the image.

[0023] Figure 7 This is a schematic diagram of the cleaning robot before it starts moving uphill in this application;

[0024] Figure 8 This is a schematic diagram of the first state of the cleaning robot during the slope-starting process of this application.

[0025] Figure 9 This is a schematic diagram of the second form of the cleaning robot during the slope-starting process of this application.

[0026] Figure 10 This is a schematic diagram of the cleaning robot crossing a slope according to this application.

[0027] Figure 11 This is a schematic diagram of the control principle of this application. Detailed Implementation

[0028] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Reference Figure 1 , Figure 2 A cleaning robot 100 includes at least two hinged first robot bodies 10 and second robot bodies 20. One side of the first robot body 10 and the second robot body 20 is provided with a water inlet 30 and the other side is provided with a water outlet 40. A water suction component 50 and a cleaning component 60 are provided at the water inlet 30, and a filter basket 70 is provided at the water outlet 40. In addition, a drive wheel assembly 80 is installed on both the first robot body 10 and the second robot body 20.

[0030] In this embodiment, an angle adjustment component 90 is provided between adjacent first robot body 10 and second robot body 20. When the first robot body 10 or the second robot body 20 encounters an obstacle, the angle adjustment component 90 can adjust the angle of the first robot body 10 or the second robot body 20 so that the first robot body 10 and the second robot body 20 form a certain angle. When the first robot body 10 and the second robot body 20 are at a certain angle, the drive wheel assembly 80 on the first robot body 10 is raised relative to the bottom plane 201 of the second robot body 20.

[0031] The first robot body 10 has a first rotating seat 101 on one side, and the second robot body 20 has a second rotating seat 202 on one side. The first rotating seat 101 and the second rotating seat 202 are hinged together by a pin 102.

[0032] Specifically, the angle adjustment assembly 90 includes an angle adjustment motor 901 mounted on the second robot body 20, a drive shaft 902 connected to the angle adjustment motor 901, a drive gear 903 fixedly mounted on the end of the drive shaft 902, and a driven gear 904 fixedly mounted on the first robot body 10 and meshing with the drive gear 903.

[0033] In this embodiment, the drive shaft 902 is constructed as a pin 102, that is, the drive shaft 902 and the pin 102 share a common shaft. The first rotating seat 101 and the second rotating seat 202 can be hinged through the drive shaft 902. When the angle adjustment motor 901 drives the drive gear 903 to rotate, the drive gear 903 drives the first robot body 10 to rotate relative to the second robot body 20 with the pin 102 as the center through the driven gear 904. The first robot body 10 rotates toward the top of the second robot body 20, causing the drive wheel assembly 80 on the first robot body 10 to be raised relative to the drive wheel assembly 80 on the second robot body 20.

[0034] Furthermore, refer to Figures 3 to 6 The water suction assembly 50 includes a motor 501, a rotating shaft 502 connected to the motor 501, and a turbine 504 mounted on the rotating shaft 502. When the motor 501 drives the turbine 504 to rotate, a negative pressure is formed at the water inlet 30, and external water is sucked into the water inlet 30 and flows to the water outlet 40.

[0035] Furthermore, an installation channel 200 is provided in the first robot body 10 and the second robot body 20 between the water inlet 30 and the water outlet 40. The motor 501 is fixedly installed in the installation channel 200 by the retainer 503, and the installation channel 200 keeps the water inlet 30 and the water outlet 40 connected.

[0036] Furthermore, the cleaning assembly 60 includes a plurality of cleaning brushes 601 mounted on the rotating shaft 502. The cleaning brushes 601 are located at the water inlet 30 and are attached to the bottom surfaces of the first robot body 10 and the second robot body 20.

[0037] Furthermore, the drive wheel assembly 80 includes multiple components. The drive wheel assembly 80 mounted on the first robot body 10 includes a first drive motor 801 mounted on the first robot body 10 and a first drive wheel 801b connected to the first drive motor 801a. In this embodiment, there are two first drive wheels 801b on the first robot body 10. Each of the two first drive wheels 801b has an independent first drive motor 801a. When the first robot body 10 turns, the rotational speeds of the two first drive motors 801a can be different, and differential steering can be achieved through the two first drive wheels 801b.

[0038] The drive wheel assembly 80 mounted on the second robot body 20 includes a second drive motor 802a mounted on the second robot body 20 and a second drive wheel 802b connected to the second drive motor 802a. Similarly, in this embodiment, there are two second drive wheels 802b on the second robot body 20, and each of the two second drive wheels 802b has an independent second drive motor 802a. When the second robot body 20 turns, the rotation speeds of the two second drive motors 802a can be different, and differential steering can be achieved through the two second drive wheels 802b.

[0039] Furthermore, the filter basket 70 is detachably installed at the outlet 40. One side of the filter basket 70 has a connecting part 701, and the other side has an opening 702. A one-way valve 210 is provided at the installation channel 200. After the filter basket 70 is installed at the outlet 40, the connecting part 701 is connected to the one-way valve 210. The opening 702 faces the top of the robot body. A cover plate 300 is installed on the top of the robot body, and the cover plate 300 covers the opening 702 of the filter basket 70.

[0040] The cleaning robot 100 primarily operates in fish tanks or swimming pools. Taking the cleaning process of a fish tank as an example, in this embodiment, when the cleaning robot 100 cleans the inner wall of the fish tank, the first robot body 10 serves as the head, and the second robot body 20 serves as the tail. The drive wheel assemblies 80 at the bottom of both the first and second robot bodies 10 and 20 provide forward propulsion. After the motor 501 of the water suction assembly 50 inside the first and second robot bodies 10 and 20 is started, it drives the turbine 504 and the cleaning brush 601 to rotate synchronously. During the rotation of the turbine 504, a negative pressure is created at the water inlet 30, drawing external water into the water inlet 30 and flowing towards the water outlet 40. Under the action of the negative pressure at the water inlet 30, the first… The main body 10 of the robot and the second main body 20 can be attached to the wall of the fish tank. At the same time, as the turbine 504 rotates, the cleaning brush 601 scrubs the wall of the fish tank. During the scrubbing process, the dirt on the fish tank wall is brushed off and sucked into the water inlet 30 and into the installation channel 200. Then, it enters the filter basket 70 through the one-way valve 210 at the end of the installation channel 200. The filter basket 70 filters the dirt in the water flow. The filtered water flows out from the top cover 300. The function of the one-way valve 210 is to ensure that the water with dirt does not flow back after entering the filter basket 70. When the cleaning robot 100 is not in use, the cover 300 can be removed, and then the filter basket 70 can be disassembled to empty the dirt and other debris trapped in the filter basket 70.

[0041] Reference Figures 7 to 10 During the cleaning process on the inner wall of the fish tank, the cleaning robot 100 can move back and forth on the inner wall of the fish tank. During the back and forth movement, the cleaning brush 601 can thoroughly clean the inner wall of the fish tank. During the cleaning process, the cleaning robot 100 needs to cross from one working surface S1 to another working surface S2 on the inner wall of the fish tank. Therefore, the cleaning robot 100 needs to have the ability to cross two working surfaces that are at an angle to each other. Since the first robot body 10 and the second robot body 20 are hinged to each other, when the angle between the working surface S1 and the working surface S2 is greater than 90 degrees, the first robot body 10 can smoothly transition from the working surface S1 to the working surface S2 under the thrust of the drive wheel assembly 80 on the second robot body 20. If the angle between working surface S1 and working surface S2 is less than or equal to 90 degrees, when the cleaning robot 100 transitions from working surface S1 to working surface S2, working surface S2 will create a large resistance on the first robot body 10. Under the thrust of the drive wheel assembly 80 on the second robot body 20, the hinge position between the first robot body 10 and the second robot body 20 is prone to bulging, causing the head of the first robot body 10 to not lift up smoothly and slope. Therefore, in this embodiment, an angle adjustment assembly 90 is provided between the first robot body 10 and the second robot body 20. Moreover, the first robot body 10 is provided with a first angle sensor 103 and an obstacle detection sensor 104, and the second robot body 20 is provided with a second angle sensor 203. Reference Figure 11 The first angle sensor 103, the second angle sensor 203, the obstacle detection sensor 104, the angle adjustment component 90, the water absorption component 50, and the drive wheel component 80 are all connected to the control system 400. When obstacle detection sensor 104 detects an obstacle (taking the corner obstacle formed by working surfaces S1 and S2 as an example), control system 400 starts angle adjustment motor 901 of angle adjustment component 90. The first robot body 10 rotates relative to the second robot body 20, causing the drive wheel assembly 80 on the first robot body 10 to rise relative to the bottom plane of the second robot body 20. The first robot body 10 of cleaning robot 100 raises its head and forms a slope. Under the thrust of drive wheel assembly 80 on the second robot body 20, drive wheel assembly 80 at the bottom of the first robot body 10 can contact working surface S2, and the first robot body 10 is working... The surface S1 and the working surface S2 are inclined, and the second robot body 20 is still attached to the working surface S1. At this time, the tilt state of the first robot body 10 is detected by the first angle sensor 103, and the tilt state of the second robot body 20 is detected by the second angle sensor 203. When the cleaning robot 100 starts to slope, the second angle sensor 203 detects that the second robot body 20 is attached to the working surface S1. The control system 400 controls the rotation speed of the water absorption component 50 on the first robot body 10 to decrease, and at the same time controls the rotation speed of the water absorption component 50 on the second robot body 20 to increase, so as to ensure that the second robot body 20 can be stably attached to the working surface S1. Although there is an angle between working surfaces S1 and S2, both working surfaces S1 and S2 may be vertical relative to the ground. Therefore, after the second robot body 20 stably adheres to working surface S1, when the first robot body 10 raises its head and forms an incline, the entire cleaning robot 100 can stably adhere to the wall of the fish tank (working surface S1). After the first robot body 10 raises its head and forms an incline, the drive wheel assembly 80 at the bottom of the first robot body 10 drives the first robot body 10 to walk on working surface S2. The drive wheel assembly 80 at the bottom of the second robot body 20 drives the second robot body 20 to continue walking on working surface S1. During the incline process... During the process, the first robot body 10 and the second robot body 20 rotate relative to each other until the first robot body 10 is in contact with the working surface S2. At this time, the control system 400 controls the rotation speed of the water absorption component 50 on the first robot body 10 to increase, and at the same time controls the rotation speed of the water absorption component 50 on the second robot body 20 to decrease, so as to ensure that the first robot body 10 can be stably attached to the working surface S2. During the process of crossing the slope, the entire cleaning robot 100 can be stably attached to the wall of the fish tank (working surface S2), which improves the stability of the cleaning robot 100 when crossing the slope. From the start of the slope to the crossing of the slope, the first robot body 10 and the second robot body 20 will not fall off the working surface.

[0042] In summary, when the cleaning robot 100 encounters an obstacle and needs to cross from one working surface S1 to another working surface S2, the angle adjustment component 90 can adjust the angle of the first robot body 10 or the second robot body 20 so that the first robot body 10 and the second robot body 20 form a certain angle. When the first robot body 10 and the second robot body 20 form a certain angle, the drive wheel assembly 80 on the first robot body 10 is raised relative to the bottom plane 201 of the second robot body 20. Under the thrust of the drive wheel assembly 80 on the second robot body 20, the first robot body 10 can smoothly rise up and cross from one working surface S1 to another working surface S2, thereby ensuring that the entire cleaning robot 100 can smoothly cross obstacles and improve the continuity and efficiency of the work.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot, comprising: The robot body has a water inlet on one side and a water outlet on the other side; A water-absorbing component is located at the water inlet; A cleaning component is located at the water inlet; A filter basket is installed at the water outlet; A drive wheel assembly, which is mounted on the robot body; Its characteristic is that the number of robot bodies is multiple, and adjacent robot bodies are hinged to each other; The robot body includes at least a first robot body and a second robot body that are hinged together. An angle adjustment component is provided between the adjacent first robot body and second robot body. When the first robot body or the second robot body encounters an obstacle, the angle adjustment component can adjust the angle of the first robot body or the second robot body so that the first robot body and the second robot body form a certain angle. When the first robot body and the second robot body are at a certain angle, the drive wheel assembly on the first robot body is raised relative to the bottom plane of the second robot body.

2. The cleaning robot according to claim 1, characterized in that, The angle adjustment assembly includes an angle adjustment motor mounted on the second robot body, a drive shaft connected to the angle adjustment motor, a drive gear fixedly mounted on the end of the drive shaft, and a driven gear fixedly mounted on the first robot body and meshing with the drive gear.

3. The cleaning robot according to claim 2, characterized in that, The first robot body has a first rotating seat on one side, and the second robot body has a second rotating seat on one side. The first rotating seat and the second rotating seat are hinged together by a pin.

4. The cleaning robot according to claim 3, characterized in that, The drive shaft is configured as the pin shaft. When the angle adjustment motor drives the drive gear to rotate, the drive gear drives the first robot body to rotate relative to the second robot body with the pin shaft as the center through the driven gear. The first robot body rotates towards the top of the second robot body, causing the drive wheel assembly on the first robot body to be raised relative to the drive wheel assembly on the second robot body.

5. The cleaning robot according to claim 3, characterized in that, The water absorption assembly includes a motor, a rotating shaft connected to the motor, and a turbine mounted on the rotating shaft. When the motor drives the turbine to rotate, external water is drawn into the water inlet and flows to the water outlet.

6. The cleaning robot according to claim 5, characterized in that, The robot body has an installation channel located between the water inlet and the water outlet. The motor is fixedly installed in the installation channel by a retainer, and the installation channel keeps the water inlet and the water outlet connected.

7. The cleaning robot according to claim 5, characterized in that, The cleaning assembly includes multiple cleaning brushes mounted on the rotating shaft, the cleaning brushes being located at the water inlet and conforming to the bottom surface of the robot body.

8. The cleaning robot according to claim 1, characterized in that, The drive wheel assembly includes a first drive motor mounted on the first robot body and a first drive wheel connected to the first drive motor. The drive wheel assembly also includes a second drive motor mounted on the second robot body and a second drive wheel connected to the second drive motor.

9. The cleaning robot according to claim 6, characterized in that, The filter basket is detachably installed at the water outlet; The filter basket has a connecting part on one side and an opening on the other side. A one-way valve is provided at the installation channel. After the filter basket is installed at the water outlet, the connecting part connects to the one-way valve. The opening faces the top of the robot body. A cover plate is installed on the top of the robot body, and the cover plate covers the opening of the filter basket.

10. The cleaning robot according to claim 5, characterized in that, The first robot body is equipped with a first angle sensor and an obstacle detection sensor, and the second robot body is equipped with a second angle sensor; The first angle sensor, the second angle sensor, the obstacle detection sensor, the angle adjustment assembly, the water absorption assembly, and the drive wheel assembly are all signal-connected to the control system. When the obstacle detection sensor detects an obstacle, the control system controls the angle adjustment motor of the angle adjustment component to start, and the first robot body rotates relative to the second robot body, so that the drive wheel assembly on the first robot body is raised relative to the bottom plane of the second robot body, and the cleaning robot forms a slope state; When the cleaning robot starts climbing a slope, the control system controls the rotation speed of the water-absorbing component on the first robot body to decrease, while simultaneously controlling the rotation speed of the water-absorbing component on the second robot body to increase. When the cleaning robot crosses a slope, the control system controls the rotation speed of the water-absorbing component on the first robot body to increase, while simultaneously controlling the rotation speed of the water-absorbing component on the second robot body to decrease.

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