Cleaning mechanism and cleaning robot

Abstract

The utility model belongs to the technical field of cleaning tools, and particularly relates to a cleaning mechanism and a cleaning robot. The rolling brush assembly and the disc brush assembly are sequentially arranged in the first direction. The rolling brush assembly comprises at least one rolling brush capable of rotating around the axis of the rolling brush assembly, and the rolling brush is provided with a first surface used for cleaning. The minimum distance between the projection of the geometric center of the disc brush assembly on the to-be-cleaned face and the projection of the first surface on the to-be-cleaned face is L, and L is larger than or equal to r * (v * theta / omega + 1). Therefore, the relative position between the rolling brush and the disc brush can be accurately controlled, water drops sputtered by the disc brush are prevented from polluting the rolling brush, and the requirements for flexibility and cleaning quality of cleaning tools are met.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning tools, and in particular relates to a cleaning mechanism and a cleaning robot. Background Art

[0002] In the prior art, in order to enrich the application scenarios of cleaning tools, a roller brush assembly and a disc brush assembly are simultaneously provided at the bottom of the cleaning tool, wherein the roller brush assembly is mainly used to sweep dry garbage into the dust collection system, and the disc brush assembly is generally equipped with a water supply system, which is mainly used to clean the stubborn dirt adhering to the surface to be cleaned. For example, the Chinese utility model patent with announcement number CN212788417U discloses a cleaning robot, which includes a roller brush assembly and a disc brush assembly, wherein the roller brush assembly is used to rotate the dust on the ground into the dust box, and the disc brush assembly is located at the front side of the roller brush assembly, and is used to sweep the dust on the ground backwards to the roller brush assembly. Through the cooperation of the roller brush assembly and the disc brush assembly, the cleaning robot can adapt to the cleaning needs under different working conditions. The Chinese utility model patent with announcement number CN215605457U discloses a self-moving cleaning device, which includes a disc cleaning part and a second cleaning part surrounding the outer periphery of the disc cleaning part, wherein the disc cleaning part is used to scrub the ground, and the second cleaning part is used to prevent liquid from being thrown out and prevent large particles from entering the disc cleaning part and affecting its normal operation. However, the above-mentioned cleaning robot does not take into account the problem that the dirty water splashed when the disc brush rotates will cause pollution to the roller brush; and although the above-mentioned self-moving cleaning device can play a certain blocking role on the liquid through the second cleaning part, the liquid will still be thrown out from the gap between the skirt bristles and the bottom edge of the skirt. In addition, the above-mentioned self-moving cleaning device is mainly to solve the problem of secondary pollution of the ground caused by dirty water, and does not involve the pollution problem of the roller brush. Therefore, there is no inspiration in the prior art to combine it with the above-mentioned cleaning robot and solve the pollution problem of the roller brush. Utility Model Content

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a cleaning mechanism and a cleaning robot to prevent the splashing water droplets from contaminating the roller brush during the operation of the disc brush and improve the overall cleaning quality.

[0004] In order to achieve the above-mentioned purpose and other related purposes, the utility model provides a cleaning mechanism, comprising:

[0005] Roller brush assembly, disc brush assembly;

[0006] The roller brush assembly and the disc brush assembly are arranged sequentially along a first direction;

[0007] The roller brush assembly includes at least one roller brush rotatable about its axis, and the roller brush has a first surface for cleaning;

[0008] The disc brush assembly includes at least two disc brushes and a brush disc seat, and a first bristle structure is further provided on the side of the disc brush facing the surface to be cleaned, and the disc brush can be driven to rotate relative to the brush disc seat to achieve the first bristle structure cleaning the surface to be cleaned;

[0009] The minimum distance between the projection of the geometric center of the disc brush assembly on the surface to be cleaned and the projection of the first surface on the surface to be cleaned is L, and

[0010] L ≥ r × (v × θ / ω + 1),

[0011] Wherein r is the radius from the outside of the first bristle structure to the rotation center of the disc brush, v is the radial velocity of the water droplets when they leave the edge of the disc brush, θ is 10°, and ω is the angular velocity of the disc brush.

[0012] The beneficial effect of this arrangement is that the right half of the above formula is a mathematical expression of any point on the Archimedean spiral. The utility model fits the movement trajectory of water droplets after they leave the disc brush to an Archimedean spiral, accurately quantifies the maximum splashing area of ​​the water droplets, and thus can accurately control the relative position between the roller brush and the disc brush, avoiding contamination of the roller brush by water droplets splashed by the disc brush, and taking into account the flexibility of the cleaning tool and the cleaning quality requirements.

[0013] In order to achieve the above-mentioned purpose and other related purposes, the utility model also provides a cleaning mechanism, including:

[0014] Roller brush assembly, disc brush assembly;

[0015] The roller brush assembly and the disc brush assembly are arranged sequentially along a first direction;

[0016] The roller brush assembly includes at least one roller brush rotatable about its axis, and the roller brush has a first surface for cleaning;

[0017] The disc brush assembly comprises at least two disc brushes, a brush disc seat, and a skirt. A first bristle structure is further provided on the side of the disc brush facing the surface to be cleaned. The disc brush can be driven to rotate relative to the brush disc seat to achieve the cleaning of the surface to be cleaned by the first bristle structure. The skirt is provided on the circumferential periphery of the brush disc seat.

[0018] The minimum distance between the projection of the geometric center of the disc brush assembly on the surface to be cleaned and the projection of the first surface on the surface to be cleaned is L, and

[0019] L ≥ r × (v × θ / ω + 1) + C,

[0020] Wherein r is the radius from the outside of the first bristle structure to the rotation center of the disc brush, v is the radial velocity of the water droplets when they leave the edge of the disc brush, θ is 10°, ω is the angular velocity of the disc brush, and C is the distance from the skirt to the outside of the first bristle structure.

[0021] The beneficial effects of such a configuration are as follows: in addition to limiting the position of the roller brush by the splashing range of the disc brush, this embodiment also provides a skirt, which can block the water droplets splashed by the disc brush, and further prevent the water droplets from contacting the roller brush; due to the presence of the skirt, the distance between the roller brush and the disc brush, in addition to meeting the limitations of the previous embodiment, also needs to reserve installation space for the skirt, so the above formula adds the distance from the skirt to the outside of the first bristle structure on the basis of the previous embodiment.

[0022] In an optional embodiment of the present invention, the disc brush assembly includes at least two disc brushes arranged along a second direction, and the second direction is perpendicular to the first direction. When the disc brush rotates relative to the brush disc seat and cleans the surface to be cleaned, the combined force direction of the disc brush assembly is consistent with the first direction.

[0023] The beneficial effect of such a configuration is that the disc brush will generate friction with the surface to be cleaned during operation. The direction of the resultant force of the disc brush assembly refers to the direction of the resultant force of the friction between each disc brush and the surface to be cleaned. In this embodiment, the direction of the resultant force is set to be consistent with the first direction. On the one hand, it can avoid lateral deviation of the cleaning mechanism when it moves along the surface to be cleaned, and on the other hand, it can also reduce the movement resistance of the cleaning mechanism and reduce energy consumption. In addition, the direction of the resultant force of the disc brush assembly is consistent with the first direction, which means that there are at least two groups of disc brushes with opposite rotation directions. This disc brush layout can gather stains to the center of the cleaning assembly, which is convenient for cleaning with a squeegee and improves the cleaning effect.

[0024] In an optional embodiment of the present invention, at least one of the disc brushes of the disc brush assembly rotates along a first rotation direction, and at least one of the disc brushes of the disc brush assembly rotates along a second rotation direction, and the first rotation direction and the second rotation direction are two opposite rotation directions.

[0025] The beneficial effect of such an arrangement is that the cleaning mechanism moves along the first direction when working. Since the disc brushes are arranged along the second direction, the components of the friction force in the second direction between the disc brush rotating along the first rotation direction and the disc brush rotating along the second rotation direction and the surface to be cleaned will offset each other, so that the direction of the combined force of each disc brush is consistent with the first direction, thereby achieving the above-mentioned effect of reducing movement resistance and reducing energy consumption.

[0026] In an optional embodiment of the present invention, the disc brush assembly includes four disc brushes, of which two disc brushes rotate along the first rotation direction and two disc brushes rotate along the second rotation direction.

[0027] The beneficial effects of such an arrangement are as follows: first, the number of disc brushes is an even number, and half of the disc brushes rotate in a first rotational direction, and the other half rotate in a second rotational direction, which can ensure that the component of the disc brush friction force in the second direction is perfectly offset; secondly, if the number of disc brushes is too large, the complexity of the transmission structure will increase, and if the number of disc brushes is too small, the diameter of the disc brushes must be increased to meet the cleaning width requirement, which will increase the size of the cleaning mechanism in the first direction and affect the flexibility of the cleaning mechanism. Therefore, setting the number of disc brushes to 4 in this embodiment is a relatively ideal arrangement.

[0028] In an optional embodiment of the present invention, the disc brushes rotating along the first rotational direction and the disc brushes rotating along the second rotational direction are arranged adjacent to or at intervals.

[0029] The beneficial effects of such an arrangement are as follows: when disc brushes of different rotation directions are arranged adjacent to each other, the linear speed directions of adjacent sides of adjacent brush discs can be made consistent, thereby preventing the bristles of adjacent brush discs from causing motion interference, reducing bristle wear, and increasing the service life of the brush discs; when brush discs of different rotation directions are arranged at intervals, brush discs of the same rotation direction can be arranged on the same side of the second direction, which can simplify the drive structure of the brush disc, for example, two brush discs can be driven to rotate simultaneously by one motor.

[0030] In an optional embodiment of the present invention, the skirt is detachably connected to the brush disc seat.

[0031] The beneficial effect of such a configuration is that when the cleaning mechanism moves relative to the surface to be cleaned, the skirt will inevitably wear out, and during the cleaning process, foreign objects may sometimes get stuck inside the skirt. In this embodiment, the skirt and the brush disc seat are configured as a detachable structure, which can facilitate replacement and cleaning of the skirt.

[0032] In an optional embodiment of the present invention, second bristles are further provided on the side of the skirt facing the surface to be cleaned, and the length of the second bristle structure is smaller than the length of the first bristle structure.

[0033] The beneficial effects of such a setting are as follows: the function of the skirt is to suppress the working liquid from the water outlet inside the disc brush assembly from diffusing outwards, and at the same time, it has a certain restraining force on the downward pressure diffusion of the first bristle structure when it is in interference fit with the surface to be cleaned, so the skirt itself does not participate in the direct cleaning of the surface to be cleaned, and therefore does not need to be in interference fit with the surface to be cleaned. In this embodiment, the length of the second bristle is set to be smaller than the length of the first bristle structure, which can ensure that the first bristle structure is in full contact with the surface to be cleaned while avoiding excessive contact between the skirt and the surface to be cleaned, thereby further reducing the resistance of the cleaning mechanism during movement. It should be noted that the skirt can only increase the time that the working liquid stays inside the disc brush assembly to a certain extent, but cannot completely prevent the working liquid from overflowing, and some water droplets will still be thrown out from the gap between the skirt and the surface to be cleaned. Therefore, even under the premise of setting the skirt, the utility model uses the kinematic trajectory of water droplets to limit the position of the disc brush and the roller brush, which is still of great significance for ensuring the cleaning quality of the roller brush.

[0034] In an optional embodiment of the present invention, the first bristle structure includes an outer ring of bristles, and the outer ring of bristles is inclined from top to bottom in a direction away from the center of the disc brush.

[0035] The beneficial effects of this arrangement are as follows: since the outer ring bristles are inclined outward, when the first bristle structure is in interference fit with the surface to be cleaned, the outer ring bristles will deform outward, thereby increasing the cleaning radius of the disc brush; at the same time, the outer ring bristles can inhibit the cleaning liquid from the water outlet inside the disc brush assembly from diffusing outward, so that the cleaning liquid can fully stay on the inner side of the outer ring bristles, ensuring that the cleaning liquid is fully used to soften and dissolve dirt, avoiding unnecessary waste of the cleaning liquid; in addition, the outer ring bristles exert downward pressure on the surface to be cleaned and diffuse outward during cleaning, increasing the contact area between the outer ring bristles and the surface to be cleaned, thereby improving the cleaning effect.

[0036] In an optional embodiment of the present invention, the first bristle structure further includes an inner circle of bristles, and the inner circle of bristles is arranged perpendicular to the surface to be cleaned.

[0037] The beneficial effect of this arrangement is that the inner circle bristles are arranged perpendicular to the surface to be cleaned, which can maximize the interference between the bristles and the surface to be cleaned under the condition of a certain bristle length, thereby increasing the stress between the inner circle bristles and the surface to be cleaned and improving the cleaning quality.

[0038] In an optional embodiment of the present invention, the outer circle bristles are sleeved on the inner circle bristles, and the inner circle bristles and the outer circle bristles are arranged alternately.

[0039] The beneficial effect of this arrangement is that the inner circle bristles and the outer circle bristles can fill each other's gaps, ensuring full contact between the cleaning water and the bristles, preventing the cleaning water from being thrown out from the gaps between the bristles without contacting the bristles, thereby improving the utilization rate of the cleaning water and ensuring the cleaning quality of the disc brush.

[0040] In an optional embodiment of the present invention, the spacing between adjacent disc brushes is configured so that when the outer ring bristles are squeezed by the surface to be cleaned and deformed, partial areas of the outer ring bristles of adjacent disc brushes can overlap with each other.

[0041] The beneficial effect of such an arrangement is that in order to avoid interference between the rigid structures of adjacent disc brushes during installation, adjacent disc brushes need to be arranged at a certain distance from each other, which may cause cleaning dead angles between adjacent disc brushes. In this embodiment, partial areas of the outer ring bristles of adjacent disc brushes overlap with each other, which can avoid the above-mentioned cleaning dead angles between adjacent disc brushes.

[0042] In an optional embodiment of the present invention, the brush disc seat further comprises at least a water outlet, the water outlet is arranged on a side of the brush disc seat facing the surface to be cleaned, and the first bristle structure is arranged around the water outlet.

[0043] The beneficial effects of such a configuration are as follows: the clean water discharged from the water outlet can soften the stubborn dirt on the surface to be cleaned, and cooperate with the first brush structure to brush the surface to be cleaned, thereby ensuring efficient cleaning. In this embodiment, the water outlet is arranged on the brush plate seat, and the first brush structure is arranged around the water outlet, which can inhibit the overflow of the clean water, ensure that the clean water is in full contact with the stains, and improve the cleaning quality.

[0044] In order to achieve the above-mentioned purpose and other related purposes, the utility model also provides a cleaning robot, including the cleaning mechanism; and

[0045] A mobile carrier configured to be movable along the surface to be cleaned;

[0046] The cleaning mechanism is detachably connected to the mobile carrier;

[0047] It also includes the first direction and the second direction, the first direction is the moving direction of the mobile vehicle, and the second direction is perpendicular to the first direction.

[0048] The beneficial effects of such a configuration are as follows: the mobile carrier can carry the cleaning structure to automatically clean the surface to be cleaned along a preset path, saving manpower; the roller brush assembly and the disc brush assembly are arranged at intervals along the moving direction of the mobile carrier, and multi-stage cleaning of the same area of ​​the surface to be cleaned can be achieved, such as sweeping first and then brushing, thereby improving the cleaning quality; at the same time, the water washing function of the disc brush assembly can be used to clean complex stains such as oil spots on the surface to be cleaned.

[0049] In an optional embodiment of the present invention, the mobile carrier includes a driving wheel, and the disc brush assembly is installed in front of the driving wheel; the minimum length of the first bristle structure is H1, and

[0050] H1>S1×tanα,

[0051] Wherein S1 is the distance between the projection of the geometric center of the disc brush assembly on the surface to be cleaned and the projection of the rotation center of the driving wheel on the surface to be cleaned, and α is a preset climbing angle.

[0052] The beneficial effect of such a setting is as follows: during the climbing process of the mobile vehicle, when the front wheels have entered the slope but the rear wheels have not yet entered the slope, the disc brush will be lifted a certain distance relative to the surface to be cleaned. This distance is likely to cause the first bristle structure to separate from the surface to be cleaned, thereby creating a cleaning dead angle at the lower end of the slope; for this reason, the present embodiment sets the minimum length of the first bristle structure to be greater than the product of the distance between the projection of the geometric center of the disc brush assembly on the surface to be cleaned and the projection of the rotation center of the drive wheel on the surface to be cleaned and the preset climbing angle tangent function. This ensures that the bristles always maintain contact with the surface to be cleaned during the process of the mobile vehicle entering the slope, thereby avoiding the creation of cleaning dead angles.

[0053] In an optional embodiment of the present invention, the preset climbing angle α is 5°-20°.

[0054] The beneficial effects of such a setting are as follows: as can be seen from the formula of the previous embodiment, the larger the preset climbing angle, the longer the first bristle structure needs to be set, and if the first bristle structure is too long, it will affect its cleaning effect on the plane. For example, bristles that are too long may cause abnormal wear, affecting the service life and increasing replacement costs; in addition, bristles that are too long may not be able to fit tightly into the cleaning dead corners during rotation, and cannot effectively clean the corners and edge areas, thereby reducing the cleaning efficiency; bristles that are too long will also lead to increased dust and too little bottoming pressure, affecting the cleaning effect; this embodiment sets the preset climbing angle to 5°-20°, which can meet most slope cleaning needs without affecting the cleaning ability of the cleaning robot on the plane.

[0055] In an optional embodiment of the present invention, the two driving wheels are respectively installed on both sides of the second direction of the mobile vehicle; the distance between the two driving wheels in the second direction is greater than the width of the disc brush assembly in the second direction.

[0056] The beneficial effect of such an arrangement is that since the disc brush assembly is arranged in front of the driving wheel, the distance between the driving wheels in the second direction is arranged in this embodiment to be greater than the width of the disc brush assembly in the second direction, which can prevent the driving wheel from passing through the cleaning area of ​​the disc brush assembly, thereby preventing the driving wheel from compacting the softened dirt on the surface to be cleaned again.

[0057] In an optional embodiment of the present invention, it also includes at least one side brush, which is installed on at least one side of the second direction and is located in front of the roller brush. The projection of the side brush on the surface to be cleaned at least partially overlaps with the projection of the mobile carrier on the surface to be cleaned.

[0058] The beneficial effects of this arrangement are as follows: the side brush can sweep dry garbage on the side of the mobile vehicle to the bottom of the mobile vehicle, and can sweep dry garbage in front of the roller brush into the cleaning area of ​​the roller brush, ensuring that the dry garbage can be fully collected by the dust collection system, and the cleaning area of ​​the side brush can cover the forward path of the drive wheel, thereby preventing dust and other dry garbage from adhering to the surface of the drive wheel.

[0059] In an optional embodiment of the utility model, the distance between the side of the side brush away from the central axis of the mobile vehicle and the central axis is greater than the distance between the end of the roller brush and the central axis; the distance between the end of the roller brush and the central axis is greater than the distance between the side of the disc brush assembly away from the central axis and the central axis, and the central axis is a geometric midline of the mobile vehicle parallel to the first direction.

[0060] The beneficial effects of such a configuration are as follows: it should be understood that the side brush and the roller brush are mainly used to clean dry garbage, while the disc brush is mainly used to clean stubborn dirt. In this embodiment, the cleaning range of dry garbage is larger than the cleaning range of the disc brush, which can ensure that the dry garbage on the surface to be cleaned has been fully removed before the disc brush cleans the surface, thereby avoiding additional cleaning burden caused by contact between dry garbage and cleaning water.

[0061] In an optional embodiment of the present invention, it further includes at least one lifting bracket, which is movably connected to the mobile carrier in a direction perpendicular to the surface to be cleaned, and at least one of the side brush, the roller brush assembly, and the disc brush assembly is detachably connected to the lifting bracket.

[0062] The beneficial effect of such arrangement is as follows: in this embodiment, one or more of the side brush, roller brush assembly and disc brush assembly can be arranged on the lifting bracket according to actual needs; the lifting bracket can drive the side brush, roller brush assembly or disc brush assembly to contact or separate from the surface to be cleaned, thereby meeting different cleaning needs; the side brush, roller brush assembly or disc brush assembly is detachably connected to the lifting bracket, which is convenient for replacement or maintenance of the side brush, roller brush assembly or disc brush assembly.

[0063] In an optional embodiment of the present invention, the number of the lifting brackets is at least two, and the two lifting brackets are respectively connected to the roller brush assembly and the disc brush assembly.

[0064] The beneficial effects of such a configuration are as follows: the roller brush assembly is used to clean dry garbage, and the disc brush assembly is used to clean wet garbage. This embodiment can achieve a separate dry garbage cleaning function, a separate wet garbage cleaning function, or simultaneous cleaning of dry garbage and wet garbage by controlling the rise and fall of two lifting brackets.

[0065] In an optional embodiment of the present invention, the side brush and the roller brush assembly are connected to the same lifting bracket.

[0066] The beneficial effect of such a configuration is that both the side brush and the roller brush assembly are structures used to clean dry garbage, and the two are generally used at the same time. Therefore, in this embodiment, the side brush and the roller brush assembly are installed on the same lifting bracket, which not only realizes the lifting function of the side brush and the roller brush assembly, but also simplifies the equipment structure and reduces the equipment cost.

[0067] In an optional embodiment of the present invention, a squeegee and / or a dust pusher assembly is further included, and the squeegee and / or the dust pusher assembly are sequentially arranged along the first direction with the roller brush assembly and the disc brush assembly.

[0068] The beneficial effects of this arrangement are: the squeegee can collect the wastewater generated after the disc brush is cleaned, and the dust pusher can perform secondary cleaning of the blind spots of the roller brush assembly in the dry garbage cleaning mode.

[0069] In an optional embodiment of the present invention, the squeegee and / or the dust pusher assembly are detachably connected to the mobile carrier.

[0070] The beneficial effect of such a configuration is that the squeegee and the dust pusher assembly are generally not used at the same time, so the two can share the same hanging point, which can simplify the equipment structure and reduce costs. In this embodiment, the squeegee and the dust pusher assembly are configured as detachable structures, which can facilitate the replacement of the squeegee and the dust pusher assembly.

[0071] In an optional embodiment of the utility model, the mobile carrier includes a driving wheel, the squeegee and / or dust pusher assembly is installed behind the driving wheel, and the portion where the squeegee and / or dust pusher assembly contacts the surface to be cleaned is provided with an elastic portion, the maximum deformation of the elastic portion is H2, and

[0072] H2>S2×tanα,

[0073] Wherein S2 is the distance between the projection of the geometric center of the squeegee and / or dust pusher assembly on the surface to be cleaned and the projection of the rotation center of the driving wheel on the surface to be cleaned, and α is a preset climbing angle.

[0074] The beneficial effect of such arrangement is as follows: since the squeegee and dust pusher assembly are arranged behind the driving wheel, therefore during the process of the mobile vehicle climbing a slope, when the front wheel has entered the slope but the driving wheel has not, the squeegee or dust pusher assembly will swing downward with the driving wheel as the fulcrum. At this time, the distance between the squeegee or dust pusher assembly and the surface to be cleaned is reduced. Since the squeegee or dust pusher assembly needs to always be in contact with the surface to be cleaned, the squeegee and dust pusher assembly need to have a certain deformation ability, and its maximum deformation amount should be greater than the above-mentioned reduced distance, otherwise the squeegee or dust pusher assembly will produce rigid interference with the surface to be cleaned, and the maximum value of the above-mentioned reduced distance is the product of the distance between the projection of the geometric center of the squeegee and / or dust pusher assembly on the surface to be cleaned and the projection of the rotation center of the driving wheel on the surface to be cleaned, and the tangent function of the preset climbing angle. In this embodiment, the above-mentioned maximum deformation amount is set to be greater than this product, which can well avoid the occurrence of the above-mentioned rigid interference problem.

[0075] In an optional embodiment of the present invention, the preset climbing angle is 5°-20°.

[0076] The beneficial effects of such a setting are as follows: it can be seen from the formula of the previous embodiment that the larger the preset climbing angle, the larger the maximum deformation of the elastic part, and excessively large maximum deformation of the elastic part will affect its contact effect with the surface to be cleaned on the plane. For example, it may cause the contact pressure between the squeegee or dustpan assembly and the surface to be cleaned to be too small, thereby affecting the cleaning effect of the squeegee or dustpan. In this embodiment, setting the preset climbing angle to 5°-20° can meet most slope cleaning needs without affecting the cleaning ability of the cleaning robot on the plane.

[0077] In an optional embodiment of the present invention, the two driving wheels are respectively installed on both sides of the second direction of the mobile vehicle, and the width of the squeegee and / or dust pusher assembly in the second direction is greater than the distance between the two driving wheels in the second direction.

[0078] The beneficial effect of such a configuration is as follows: since the squeegee and dust pusher assembly are arranged at the rear of the mobile vehicle, the cleaning range of this embodiment is set to be larger than the distance between the two driving wheels in the second direction, so that the cleaning range of the squeegee and dust pusher assembly can fully cover the movement trajectory of the driving wheel, thereby avoiding residual wheel marks on the surface after cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 is a three-dimensional diagram of a cleaning robot provided by an embodiment of the utility model;

[0080] Figure 2 is a bottom view of the cleaning robot provided by an embodiment of the utility model;

[0081] Figure 3 It is a schematic diagram of the working principle of the side brush provided by the embodiment of the utility model;

[0082] Figure 4 It is a schematic diagram of the positional relationship between the disc brush assembly, the roller brush assembly and the driving wheel provided in an embodiment of the utility model;

[0083] Figure 5 It is a bottom view of the disc brush assembly provided by the embodiment of the utility model;

[0084] Figure 6 is a side view of a disc brush assembly provided in an embodiment of the utility model;

[0085] Figure 7 This is a schematic diagram of the climbing principle of the cleaning robot provided by an embodiment of the utility model;

[0086] Figure 8 is a side view of the cleaning robot provided by an embodiment of the utility model with the housing removed;

[0087] Fig. 9 It is a schematic diagram of the cleaning range of each module of the cleaning robot provided in an embodiment of the utility model;

[0088] Fig.10 It is a schematic diagram of the relative positions of the disc brush and the roller brush provided in the embodiment of the utility model;

[0089] Fig.11 This is a front view of the cleaning robot provided by an embodiment of the utility model;

[0090] Fig.12 This is a schematic diagram of the environment recognition principle of the cleaning robot provided by the embodiment of the utility model;

[0091] Fig.13 is a bottom view of the cleaning robot provided by an embodiment of the utility model in another state;

[0092] Fig.14 is a side view of the cleaning robot provided by an embodiment of the utility model in a sweeping mode;

[0093] Fig.15 is a side view of the cleaning robot provided by an embodiment of the utility model in an omnidirectional cleaning mode;

[0094] Fig.16 is a side view of the cleaning robot provided by an embodiment of the utility model in a pure floor-washing mode;

[0095] Fig.17 is a side view of the cleaning robot provided by an embodiment of the utility model in a sewage recovery mode;

[0096] Fig.18 It is a side view of the cleaning robot provided by an embodiment of the utility model in the dust pushing mode. DETAILED DESCRIPTION

[0097] The following describes the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0098] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0099] Commercial cleaning robots are automated cleaning devices that can perform vacuuming, mopping, and cleaning in commercial places such as offices, shops, and hotels. Its structure usually includes: a main body, which is usually composed of a body and cleaning equipment mounted on the body. The body usually has moving parts such as wheels or tracks for moving on the ground, and the cleaning equipment includes vacuum cleaners, mops, and other cleaning equipment for handling different types of cleaning tasks; a sensor system, in which commercial cleaning robots are usually equipped with various types of sensors for sensing the surrounding environment, identifying obstacles, and locating their own positions. Common sensors include laser radar, infrared sensors, and cameras. Through these sensor systems, cleaning robots can achieve autonomous navigation, obstacle avoidance, and other functions; a control system, in which the control system of a cleaning robot is usually composed of a master controller and multiple slave controllers. The master controller is responsible for overall operation control and path planning, while the slave controllers are responsible for starting and stopping each cleaning equipment and adjusting the working mode.

[0100] The cleaning apparatus may include, for example, a roller brush assembly and a disc brush assembly. The roller brush assembly is mainly used to sweep dry garbage into the dust collection system, while the disc brush assembly is generally equipped with a water supply system, which is mainly used to clean the stubborn dirt adhered to the surface to be cleaned. However, the existing cleaning apparatus does not take into account the problem that the sewage splashed when the disc brush rotates will pollute the roller brush; although some cleaning apparatuses can block the liquid to a certain extent through the skirt, the liquid will still be thrown out from the gap between the bristles of the skirt and the bottom edge of the skirt. In order to improve the flexibility of the cleaning tool during movement, the existing cleaning apparatus will set the roller brush assembly and the disc brush assembly too close, which will cause the sewage generated when the disc brush assembly is cleaned to splash onto the roller brush, thereby polluting the roller brush. At the same time, the sewage splashed onto the roller brush will also cause a large amount of dry garbage to adhere to the roller brush, affecting the cleaning effect. If the distance between the roller brush assembly and the disc brush assembly is set too large, it will affect the flexibility of the cleaning tool. Therefore, it is difficult for existing cleaning tools to take into account both flexibility and cleaning quality. To this end, the utility model accurately quantifies the splashing range of water droplets according to the movement trajectory of water droplets splashed by the disc brush assembly, and installs the roller brush assembly outside the splashing range. While ensuring a compact structure, it effectively avoids contamination of the roller brush by sewage and improves the cleaning quality.

[0101] See also Figure 1-18 As shown, the technical solution of the utility model is described in detail below in conjunction with specific embodiments:

[0102] See also Figure 1 , 2 As shown, the cleaning robot provided by the embodiment of the utility model includes a mobile carrier and a cleaning mechanism; the mobile carrier is configured to be able to move along the surface to be cleaned 1, see Figure 1 As shown, in a specific embodiment, the mobile vehicle may include, for example, a chassis 100, drive wheels 110, steering wheels 120 and a shell 200, wherein the drive wheels 110 are installed at the rear positions on both sides of the chassis 100, the steering wheels 120 are installed at the front end of the chassis 100, and a series of driving and control elements are provided above the chassis 100, which can realize the autonomous walking of the mobile vehicle, and the shell 200 is installed above the chassis 100, and shields the above-mentioned driving and control elements to form a more complete appearance.

[0103] It should be understood that in the present invention, the shape and structure of the mobile carrier are not unique. As long as it can achieve autonomous movement on the surface 1 to be cleaned, it should be applicable to the present invention. For example, in some other embodiments, the driving wheel can be set at the front end of the chassis, the steering wheel can be set at the rear end of the chassis, or the driving wheel itself can be used as a steering wheel.

[0104] See also Fig.11 , 12As shown in the specific embodiment, the mobile vehicle can sense the surrounding environment through detection modules such as 3D radar 210, line laser 250, camera 220, guided ultrasonic wave 240 and the like in conjunction with fill light 230 to achieve autonomous walking. The radar detection range 211, the camera detection range 221 and the line laser detection range 251 are respectively as shown in FIG. Fig.12 shown.

[0105] In a specific embodiment, the cleaning mechanism is detachably connected to the mobile carrier to facilitate replacement and maintenance of the cleaning mechanism; the mobile carrier can carry the cleaning structure to automatically clean the surface to be cleaned 1 along a preset path, saving manpower, and the roller brush assembly and the disc brush assembly are arranged at intervals along the moving direction of the mobile carrier, so as to achieve multi-stage cleaning of the same area of ​​the surface to be cleaned 1, such as sweeping first and then brushing, thereby improving the cleaning quality, and at the same time, the water washing function of the disc brush assembly 20 can be used to clean complex stains such as oil spots on the surface to be cleaned 1.

[0106] See also Figure 2 , 10 As shown, in a specific embodiment, the cleaning mechanism includes a roller brush assembly 10 and a disc brush assembly 20; the roller brush assembly 10 and the disc brush assembly 20 are arranged in sequence along a first direction x; wherein the first direction x is the front-to-back direction when the mobile carrier moves, and the roller brush assembly 10 is installed in front of the disc brush assembly 20. The roller brush assembly 10 includes at least one roller brush 11 that can rotate around its axis, and the roller brush 11 has a first surface for cleaning; the disc brush assembly 20 includes at least two disc brushes 21, a brush disc seat 23, and a skirt 22, and a first bristle structure 211 is further provided on the side of the disc brush 21 facing the surface 1 to be cleaned, and the disc brush 21 can be driven to rotate relative to the brush disc seat 23 to achieve the cleaning of the surface 1 to be cleaned by the first bristle structure 211, and the brush disc seat 23 is provided with the skirt on the circumferential periphery. 22; The minimum distance between the projection of the geometric center of the disc brush assembly 20 on the surface to be cleaned 1 and the projection of the first surface on the surface to be cleaned 1 is L, and L≥r×(v×θ / ω+1)+C, wherein r is the radius from the outside of the first bristle structure 211 to the rotation center of the disc brush 21, v is the radial velocity when the water droplets leave the edge of the disc brush 21, θ is 10°, ω is the angular velocity of the disc brush 21, and C is the distance from the skirt 22 to the outside of the first bristle structure 211.

[0107] like Fig.10As shown, the utility model fits the motion trajectory of water droplets after they leave the disc brush 21 into an Archimedean spiral, and r×(v×θ / ω+1) in the above formula is a functional expression of the Archimedean spiral. The distance between the landing point of the water droplets on the surface 1 to be cleaned and the rotation center of the disc brush 21 is R. Since the trajectory of the water droplets conforms to the Archimedean spiral, R=r×(v×θ / ω+1). The splashed water droplets will fall in a circular area with R as the radius and the rotation center of the disc brush 21 as the center. Therefore, in theory, as long as L≥r×(v×θ / ω+1), the water droplets can be prevented from contacting the roller brush 11. However, in this embodiment, since a skirt 22 is also provided between the disc brush 21 and the roller brush 11, it is necessary to reserve installation space for the skirt 22, so L is set to L≥r×(v×θ / ω+1)+C. It should be understood that in some other embodiments, the skirt 22 may not be provided, and in this case, L may be set to L≥r×(v×θ / ω+1).

[0108] The utility model accurately quantifies the maximum splashing area of ​​water droplets according to the splashing trajectory of water droplets, so that the relative position between the roller brush 11 and the disc brush 21 can be accurately controlled to avoid the water droplets splashed by the disc brush 21 from contaminating the roller brush 11, and takes into account the flexibility and cleaning quality requirements of the cleaning tool. In addition to limiting the position of the roller brush 11 by the splashing range of the disc brush 21, this embodiment also provides a skirt 22, which can block the water droplets splashed by the disc brush 21, and further prevent the water droplets from contacting the roller brush 11.

[0109] See also Figure 5 As shown, in an optional embodiment of the utility model, the disc brush assembly 20 includes at least two disc brushes 21 arranged along the second direction y, and the second direction y is perpendicular to the first direction x. Specifically, the second direction y is the width direction of the mobile carrier. When the disc brush 21 rotates relative to the brush disc seat 23 and cleans the surface to be cleaned 1, the resultant force direction of the disc brush assembly 20 is consistent with the first direction x. It should be understood that the disc brushes 21 described in this embodiment are arranged along the second direction y, which does not mean that the centers of all disc brushes 21 must be located on a straight line parallel to the second direction y, but means that the centers of the disc brushes 21 are roughly distributed along the second direction y, for example, the centers of the disc brushes 21 can also be distributed along an arc track.

[0110] It should be understood that the disc brush 21 will generate friction with the surface to be cleaned 1 during operation. The resultant force direction of the disc brush assembly 20 refers to the resultant force direction of the friction between each disc brush 21 and the surface to be cleaned 1. In this embodiment, the resultant force direction is set to be consistent with the first direction x. On the one hand, it can avoid the side deviation of the cleaning mechanism when it moves along the surface to be cleaned 1. On the other hand, it can also reduce the movement resistance of the cleaning mechanism and reduce energy consumption. In addition, since the resultant force direction of the disc brush assembly 20 is consistent with the first direction, there are at least two groups of disc brushes 21 with opposite rotation directions, such as Figure 5 The rotation directions of the four disc brushes 21 are clockwise, clockwise, counterclockwise, and counterclockwise from left to right. This layout of the disc brushes 21 can gather stains to the center of the cleaning component, making it easier for the squeegee 40 to clean them, thereby improving the cleaning effect.

[0111] See also Figure 5 As shown, in a specific embodiment, the two disc brushes 21 on the left side of the disc brush assembly 20 rotate in a clockwise direction, and the two disc brushes 21 on the right side of the disc brush assembly 20 rotate in a counterclockwise direction. When the mobile carrier is working, it moves in a first direction x. Since the disc brushes 21 are arranged in a second direction y, the friction force between the disc brush 21 rotating in a clockwise direction and the disc brush 21 rotating in a counterclockwise direction and the surface to be cleaned 1 in the second direction y will cancel each other out, so that the direction of the resultant force of each disc brush 21 is consistent with the first direction x, thereby achieving the above-mentioned effect of reducing movement resistance and reducing energy consumption.

[0112] See also Figure 5 As shown, in an optional embodiment of the utility model, the number of disc brushes 21 of the disc brush assembly 20 is 4, of which the number of disc brushes 21 rotating along the first rotation direction r1 is 2, and the number of disc brushes 21 rotating along the second rotation direction r2 is 2. In this embodiment, the number of disc brushes 21 is an even number, and half of the disc brushes 21 rotate along the first rotation direction r1, and the other half of the disc brushes 21 rotate along the second rotation direction r2, which can ensure that the friction force of the disc brush 21 in the second direction y is offset; secondly, if the number of disc brushes 21 is too large, the complexity of the transmission structure will increase, and if the number of disc brushes 21 is too small, the diameter of the disc brush 21 must be increased to meet the cleaning width requirements, which will increase the size of the cleaning mechanism in the first direction x and affect the flexibility of the cleaning mechanism. Therefore, in this embodiment, setting the number of disc brushes 21 to 4 is a more optimal arrangement.

[0113] It should be understood that the number of the disc brushes 21 is not unique. For example, in some other embodiments, the number of the disc brushes 21 can be inferred based on the size of the space reserved between the roller brush 11 and the driving wheel 110. Figure 4As shown, the number K of disc brushes 21 can be set according to the ratio of the maximum width d1 of the disc brush assembly 20, the overlapping width 4×d3 between the bristles of the disc brush 21, and the distance d2 from the rubber of the roller brush assembly 10 to the front end surface of the driving wheel 110, that is, (d1-4×d3) / d2≥K.

[0114] See also Figure 5 As shown, in an optional embodiment of the utility model, the disc brushes 21 rotating along the first rotation direction r1 and the disc brushes 21 rotating along the second rotation direction r2 are arranged adjacently or at intervals. When disc brushes 21 with different rotation directions are arranged adjacently, the linear speed directions of the adjacent sides of the adjacent disc brushes 21 can be made consistent, thereby preventing the bristles of the adjacent disc brushes 21 from causing motion interference, reducing bristle wear, and increasing the service life of the brush disc; when disc brushes 21 with different rotation directions are arranged at intervals, the disc brushes 21 with the same rotation direction can be arranged on the same side of the second direction y, which can simplify the drive structure of the disc brush 21, for example, two disc brushes 21 can be driven to rotate simultaneously by one motor.

[0115] See also Figure 6 As shown, in an optional embodiment of the utility model, the skirt 22 is detachably connected to the brush disc seat 23. When the cleaning mechanism moves relative to the surface 1 to be cleaned, the skirt 22 will inevitably be worn, and during the cleaning process, foreign objects may sometimes get stuck inside the skirt 22. In this embodiment, the skirt 22 and the brush disc seat 23 are set to a detachable structure, which can facilitate the replacement and cleaning of the skirt 22.

[0116] See also Figure 6 As shown, in an optional embodiment of the utility model, the side of the skirt 22 facing the surface 1 to be cleaned is further provided with second bristles, and the length of the second bristles is less than the length of the first bristle structure 211. It should be understood that the function of the skirt 22 is to suppress the outward diffusion of the working fluid of the water outlet 24 inside the disc brush assembly 20, and at the same time, it has a certain restraining force on the downward pressure diffusion of the first bristle structure 211 when it is in interference fit with the surface 1 to be cleaned. Therefore, the skirt 22 itself does not participate in the direct cleaning of the surface 1 to be cleaned, and therefore does not need to be in interference fit with the surface 1 to be cleaned. In this embodiment, the length of the second bristles is set to be less than the length of the first bristle structure 211, which can ensure that the first bristle structure 211 is in full contact with the surface 1 to be cleaned while avoiding excessive contact between the skirt 22 and the surface 1 to be cleaned, thereby further reducing the resistance of the cleaning mechanism during movement. It should be noted that the skirt 22 can only increase the time that the working fluid stays inside the disc brush assembly 20 to a certain extent, but cannot completely prevent the working fluid from overflowing, and some water droplets will still be thrown out from the gaps between the bristles of the skirt 22 and the gaps between the skirt 22 and the surface 1 to be cleaned. Therefore, even if the skirt 22 is provided, the utility model uses the kinematic trajectory of the water droplets to limit the positions of the disc brush 21 and the roller brush 11, which is still of great significance for ensuring the cleaning quality of the roller brush 11.

[0117] It should be noted that the structure of the skirt 22 is not unique. For example, in some other embodiments, the skirt 22 can also be a baffle made of elastic material, such as a rubber plate, a silicone plate, etc.

[0118] See also Figure 6 As shown, in an optional embodiment of the utility model, the first bristle structure 211 includes outer ring bristles 2111, and the outer ring bristles 2111 are arranged obliquely from top to bottom in a direction away from the center of the disc brush 21. Since the outer ring bristles 2111 are inclined outward, when the first bristle structure 211 is interference-fitted with the surface to be cleaned 1, the outer ring bristles 2111 will deform outward, thereby increasing the cleaning radius of the disc brush 21. At the same time, the outer ring bristles 2111 can inhibit the cleaning liquid from the water outlet 24 inside the disc brush assembly 20 from diffusing outward, so that the cleaning liquid fully stays inside the outer ring bristles 2111, ensuring that the cleaning liquid is fully used to soften and dissolve dirt, and avoiding unnecessary waste of the cleaning liquid; in addition, the outer ring bristles 2111 exert downward pressure on the surface to be cleaned 1 during cleaning and diffuse outward, increasing the contact area between the outer ring bristles 2111 and the surface to be cleaned 1, thereby improving the cleaning effect.

[0119] See also Figure 5 As shown, in an optional embodiment of the utility model, the first bristle structure 211 further includes an inner circle bristle 2112, and the inner circle bristle 2112 is arranged perpendicular to the surface to be cleaned 1. The inner circle bristle 2112 is arranged perpendicular to the surface to be cleaned 1, which can maximize the interference between the bristles and the surface to be cleaned 1 when the bristle length is constant, thereby increasing the stress between the inner circle bristle 2112 and the surface to be cleaned 1 and improving the cleaning quality.

[0120] See also Figure 5 As shown, in an optional embodiment of the utility model, the outer ring bristles 2111 are sleeved on the inner ring bristles 2112, and the inner ring bristles 2112 are arranged alternately with the outer ring bristles 2111. The inner ring bristles 2112 and the outer ring bristles 2111 can fill the gap between each other, ensuring that the cleaning water is fully in contact with the bristles, and preventing the cleaning water from being thrown out from the gap between the bristles without contacting the bristles, thereby improving the utilization rate of the cleaning water and ensuring the cleaning quality of the disc brush 21.

[0121] See also Figure 4 , 5As shown, in an optional embodiment of the utility model, the spacing between adjacent disc brushes 21 is configured so that when the outer ring bristles 2111 are squeezed by the surface 1 to be cleaned and deformed, the outer ring bristles 2111 of adjacent disc brushes 21 can partially overlap each other. In order to avoid the rigid structures of adjacent disc brushes 21 interfering with each other during installation, the adjacent disc brushes 21 need to be arranged at a certain distance, which may cause cleaning dead corners between adjacent disc brushes 21. In this embodiment, the outer ring bristles 2111 of adjacent disc brushes 21 partially overlap each other, which can avoid the above-mentioned cleaning dead corners between adjacent disc brushes 21.

[0122] See also Figure 5 As shown, in an optional embodiment of the utility model, the brush disc seat 23 further includes at least a water outlet 24, the water outlet 24 is arranged on the side of the brush disc seat 23 facing the surface to be cleaned 1, and the first bristle structure 211 is arranged around the water outlet 24. The clean water discharged from the water outlet 24 can soften the stubborn dirt on the surface to be cleaned 1, and cooperate with the first bristle structure 211 to brush the surface to be cleaned 1, ensuring efficient cleaning; in this embodiment, the water outlet 24 is arranged on the brush disc seat 23, and the first bristle structure 211 is arranged around the water outlet 24, which can inhibit the overflow of clean water, ensure that the clean water is fully in contact with the stains, and improve the cleaning quality.

[0123] See also Figure 7 As shown, in an optional embodiment of the utility model, the disc brush assembly 20 is installed in front of the driving wheel 110; the minimum length of the first bristle structure 211 is H1, and H1>S1×tanα, wherein S1 is the distance between the projection of the geometric center of the disc brush assembly 20 on the surface to be cleaned 1 and the projection of the rotation center of the driving wheel 110 on the surface to be cleaned 1, and α is a preset climbing angle. During the climbing process of the mobile vehicle, when the front wheels have entered the slope but the rear wheels have not yet entered the slope, the disc brush 21 will be lifted a certain distance relative to the surface to be cleaned 1. This distance is likely to cause the first bristle structure 211 to separate from the surface to be cleaned 1, thereby creating a cleaning dead angle at the lower end of the slope; for this reason, the present embodiment sets the minimum length of the first bristle structure 211 to be greater than the product of the distance between the projection of the geometric center of the disc brush assembly 20 on the surface to be cleaned 1 and the projection of the rotation center of the driving wheel 110 on the surface to be cleaned 1 and the preset climbing angle tangent function. This ensures that the bristles always maintain contact with the surface to be cleaned 1 during the process of the mobile vehicle entering the slope, thereby avoiding the creation of cleaning dead angles.

[0124] In an optional embodiment of the utility model, the preset climbing angle α is 5°-20°. It can be seen from the formula of the previous embodiment that the larger the preset climbing angle, the longer the first bristle structure 211 needs to be set, and the first bristle structure 211 that is too long will affect its cleaning effect on the plane. For example, the first bristle structure 211 that is too long may cause abnormal wear, affect the service life, and increase the replacement cost; in addition, the first bristle structure 211 that is too long may not fit tightly to the cleaning dead corner during rotation, and cannot effectively clean the corners and edge areas, thereby reducing the cleaning efficiency; the first bristle structure 211 that is too long will also cause increased dust and too low bottoming pressure, affecting the cleaning effect; this embodiment sets the preset climbing angle to 5°-20°, which can meet most of the slope cleaning needs without affecting the cleaning ability of the cleaning robot on the plane.

[0125] See also Fig. 9 As shown, in an optional embodiment of the utility model, the two driving wheels 110 are respectively installed on both sides of the mobile vehicle in the second direction y; the distance D3 between the two driving wheels 110 in the second direction y is greater than the width D2 of the disc brush assembly 20 in the second direction y. Since the disc brush assembly 20 is arranged in front of the driving wheel 110, the distance between the driving wheels 110 in the second direction y is set to be greater than the width of the disc brush assembly 20 in the second direction y in this embodiment, which can prevent the driving wheel 110 from passing through the cleaning area of ​​the disc brush assembly 20, thereby preventing the driving wheel 110 from compacting the softened dirt on the surface to be cleaned again.

[0126] See also Figure 3 As shown, in an optional embodiment of the utility model, at least one side brush 30 is further included, the side brush 30 is installed on at least one side of the second direction y, and the side brush 30 is located in front of the roller brush 11, and the projection of the side brush 30 on the surface to be cleaned 1 overlaps at least partially with the projection of the mobile carrier on the surface to be cleaned 1. It should be understood that the effective cleaning area of ​​the side brush 30 is mainly the front half of the side brush 30, and the front half can be divided into a straightening area 31 and a cleaning area 32, wherein the straightening area 31 is used to sweep the dry garbage outside the mobile carrier to the front of the mobile carrier, and the cleaning area 32 is used to sweep the dry garbage in front of the roller brush 11 into the cleaning area of ​​the roller brush 11, so as to be collected by the dust suction port 12 above the roller brush 11. The cleaning area of ​​the side brush 30 can cover the forward path of the driving wheel 110, thereby preventing dry garbage such as dust from adhering to the surface of the driving wheel 110.

[0127] It should be noted that only one side brush 30 is provided in the illustrated embodiment because the cleaning robot generally moves in a zigzag path along the edge of the surface to be cleaned 1, so there is an uncleaned area on only one side of the mobile carrier. In other embodiments, when the cleaning robot reciprocates along an arcuate path, the side brushes 30 may be provided on both sides of the mobile carrier.

[0128] See also Fig. 9 As shown, in an optional embodiment of the utility model, the distance A between the side of the side brush 30 away from the central axis of the mobile vehicle and the central axis is greater than the distance D1×1 / 2 between the end of the roller brush 11 and the central axis; the distance D1×1 / 2 between the end of the roller brush 11 and the central axis is greater than the distance D2×1 / 2 between the side of the disc brush assembly 20 away from the central axis and the central axis, and the central axis is a geometric midline of the mobile vehicle parallel to the first direction x. It should be understood that the side brush 30 and the roller brush 11 are mainly used to clean dry garbage, while the disc brush 21 is mainly used to clean stubborn dirt. In this embodiment, the cleaning range of dry garbage is greater than the cleaning range of the disc brush 21, which can ensure that the dry garbage on the surface 1 to be cleaned has been fully removed before the disc brush 21 cleans the surface 1 to be cleaned, avoiding the dry garbage from contacting with cleaning water to cause additional cleaning burden.

[0129] See also Figure 8 As shown, in an optional embodiment of the utility model, at least one lifting bracket is further included, and the lifting bracket is movably connected to the mobile carrier in a direction perpendicular to the surface to be cleaned 1, and at least one of the side brush 30, the roller brush assembly 10, and the disc brush assembly 20 is detachably connected to the lifting bracket. In this embodiment, one or more of the side brush 30, the roller brush assembly 10, and the disc brush assembly 20 can be set on the lifting bracket according to actual needs. The lifting bracket can drive the side brush 30, the roller brush assembly 10, or the disc brush assembly 20 to contact or separate from the surface to be cleaned 1, thereby meeting different cleaning needs. The side brush 30, the roller brush assembly 10, or the disc brush assembly 20 is detachably connected to the lifting bracket, which is convenient for replacing or repairing the side brush 30, the roller brush assembly 10, or the disc brush assembly 20.

[0130] See also Figure 8As shown, in an optional embodiment of the utility model, the number of the lifting brackets is at least 2, namely, a first lifting bracket 130 and a second lifting bracket 140, and the two lifting brackets are connected to the roller brush assembly 10 and the disc brush assembly 20 respectively. The roller brush assembly 10 is used to clean dry garbage, and the disc brush assembly 20 is used to clean wet garbage. In this embodiment, by controlling the rise and fall of the two lifting brackets, a separate dry garbage cleaning function, a separate wet garbage cleaning function, or simultaneous cleaning of dry garbage and wet garbage can be achieved. The side brush 30 and the roller brush assembly 10 can be installed on the first lifting bracket 130 at the same time. The side brush 30 and the roller brush assembly 10 are both structures for cleaning dry garbage, and the two are generally used at the same time. Therefore, in this embodiment, the side brush 30 and the roller brush assembly 10 are installed on the same lifting bracket, which not only realizes the lifting function of the side brush 30 and the roller brush assembly 10, but also simplifies the equipment structure and reduces the equipment cost. In some other embodiments, in order to further improve the flexibility of the side brush 30 and the roller brush assembly 10, the side brush 30 and the roller brush assembly 10 may be installed on different lifting brackets respectively.

[0131] See also Figure 2 , 8 As shown in , 13, in an optional embodiment of the utility model, a squeegee 40 and / or a dust pusher assembly 50 are further included, and the squeegee 40 and / or the dust pusher assembly 50 are sequentially arranged with the roller brush assembly 10 and the disc brush assembly 20 along the first direction x. The squeegee 40 can collect the sewage generated after the disc brush 21 is cleaned, and the dust pusher can perform secondary cleaning on the cleaning blind area of ​​the roller brush assembly 10 in the dry garbage cleaning mode. The squeegee 40 and / or the dust pusher assembly 50 are detachably connected to the mobile carrier. The squeegee 40 and the dust pusher assembly 50 are generally not used at the same time, so the two can share the same hanging point, which can simplify the equipment structure and reduce costs. In this embodiment, the squeegee 40 and the dust pusher assembly 50 are set as a detachable structure, which can facilitate the replacement of the squeegee 40 and the dust pusher assembly 50.

[0132] See also Figure 7As shown, in an optional embodiment of the utility model, the squeegee 40 and / or the dust pusher assembly 50 are installed behind the driving wheel 110, and an elastic part is provided at the portion where the squeegee 40 and / or the dust pusher assembly 50 contacts the surface 1 to be cleaned, and the maximum deformation of the elastic part is H2, and H2>S2×tanα, wherein S2 is the distance between the projection of the geometric center of the squeegee 40 and / or the dust pusher assembly 50 on the surface to be cleaned 1 and the projection of the rotation center of the driving wheel 110 on the surface to be cleaned 1, and α is a preset climbing angle. Since the squeegee 40 and the dust pusher assembly 50 are arranged behind the driving wheel 110, when the mobile vehicle is climbing a slope, when the front wheel has entered the slope but the driving wheel 110 has not entered the slope, the squeegee 40 or the dust pusher assembly 50 will swing downward with the driving wheel 110 as a fulcrum. At this time, the distance between the squeegee 40 or the dust pusher assembly 50 and the surface to be cleaned 1 is shortened. Since the squeegee 40 or the dust pusher assembly 50 needs to be in contact with the surface to be cleaned 1 at all times, the squeegee 40 and the dust pusher assembly 50 need to have a certain deformation ability. , and its maximum deformation should be greater than the above-mentioned reduced distance, otherwise the squeegee 40 or the dust pusher assembly 50 will produce rigid interference with the surface to be cleaned 1, and the maximum value of the above-mentioned reduced distance is the product of the distance between the projection of the geometric center of the squeegee 40 or the dust pusher assembly 50 on the surface to be cleaned 1 and the projection of the rotation center of the driving wheel 110 on the surface to be cleaned 1 and the tangent function of the preset climbing angle. In this embodiment, the above-mentioned maximum deformation is set to be greater than the product, which can well avoid the occurrence of the above-mentioned rigid interference problem.

[0133] In an optional embodiment of the utility model, the preset climbing angle is 5°-20°. It can be seen from the formula of the previous embodiment that the larger the preset climbing angle, the larger the maximum deformation of the elastic part, and the excessive maximum deformation of the elastic part will affect its contact effect with the surface to be cleaned 1 on the plane, for example, it may cause the contact pressure between the squeegee 40 or the dust pusher assembly 50 and the surface to be cleaned 1 to be too small, thereby affecting the cleaning effect of the squeegee 40 or the dust pusher assembly 50. In this embodiment, setting the preset climbing angle to 5°-20° can meet most slope cleaning needs without affecting the cleaning ability of the cleaning robot on the plane.

[0134] See also Fig. 9As shown, in an optional embodiment of the utility model, the two driving wheels 110 are respectively installed on both sides of the second direction y of the mobile vehicle, and the width D4 of the squeegee 40 and / or the dust pusher assembly 50 in the second direction y is greater than the distance D3 between the two driving wheels 110 in the second direction y. Since the squeegee 40 and the dust pusher assembly 50 are arranged at the rear of the mobile vehicle, the cleaning range of the squeegee 40 and the dust pusher assembly 50 is set to be greater than the distance between the two driving wheels 110 in the second direction y in this embodiment, so that the cleaning range of the squeegee 40 and the dust pusher assembly 50 can fully cover the movement track of the driving wheel 110, avoiding residual wheel marks on the surface after cleaning.

[0135] Based on the lifting and detachable characteristics of the above-mentioned cleaning modules, the cleaning robot of the utility model can switch between the following working modes:

[0136] Sweeping mode, such as Fig.14 As shown, when the sweeping mode is turned on or the camera 220 detects that there is solid garbage in front of the machine body, the side brush 30 rotates to gather the garbage, the roller brush 11 descends to the ground to clean the ground, and the four small disc brushes 21 and the squeegee 40 at the rear of the machine are in a raised state to ensure that they do not touch the ground. An ultrasonic detection unit 60 can also be set at the front end of the bottom of the mobile carrier to detect the material of the ground. When the ultrasonic detection shows that the cleaning environment in front is a soft material such as carpet, the disc brush 21 and the squeegee 40 are raised, and the robot starts the sweeping mode.

[0137] All-round cleaning mode, such as Fig.15 As shown, when the ultrasonic detection front cleaning environment is a hard material such as a wooden floor or ceramic floor tile, the landing disc brush 21 and the squeegee 40 cooperate with the side brush 30 and the roller brush 11 to perform all-round cleaning. In the all-round cleaning mode or when the camera 220 detects that there is solid and liquid garbage in front of the machine body, the side brush 30 rotates to gather the garbage, the roller brush 11 descends to the ground for pre-sweeping, and the four small disc brushes 21 synchronously descend to the ground and rotate at the same time, and clean water falls from the four small disc brushes 21 to scrub the ground, and the squeegee 40 at the rear of the machine descends to the ground to recycle sewage.

[0138] Pure floor washing mode, such as Fig.16 As shown, in the pure floor washing mode or when the camera 220 detects that there is liquid garbage in front of the machine body and cleaning is required, the side brush 30 and the roller brush 11 rise to the highest point, and the four small disc brushes 21 are lowered to the ground and rotate at the same time, and clean water falls from the four small disc brushes 21 to scrub the ground, and the squeegee 40 at the rear of the machine is lowered to the ground to recycle the sewage;

[0139] Wastewater recycling mode, such as Fig.17As shown, in the sewage recovery mode or when the camera 220 detects that there is liquid garbage in front of the machine body, the side brush 30, the roller brush 11 and the disc brush 21 rise to the highest point simultaneously, and the sewage will not be beaten and scattered, and the squeegee 40 falls to recover the sewage.

[0140] Dust push mode, such as Fig.18 As shown, in the dust-pushing mode or when the camera 220 detects that there is only floating dust or other garbage on the ground in front of the machine body, the side brush 30 remains in a fixed position and does not rotate. Optionally, in order to ensure that the floating dust is not raised, the side brush 30 is also defined as a component that can be raised and lowered separately. In this mode, the side brush 30 does not rotate and does not beat the dust. The roller brush 11 rotates to collect part of the dust and loosens the floating dust adhering to the ground. The four small disc brushes 21 are in a raised state to ensure that they do not touch the ground; unlike the floor washing mode, Fig.13 , 18 As shown, the squeegee 40 needs to be manually replaced with a dust push module, and the dust push module is lowered to the ground to clean the ground. In order to ensure the cleaning effect of the dust push, this solution uses a rectangular mop to increase the cleaning area, and the interference between the dust push and the ground can be adjusted by lifting to reduce the travel resistance, or the dust push cloth is made into a ring, and a motor is added to drive the ring dust push cloth to rotate at any time to clean the ground and reduce the travel resistance.

[0141] In summary, the utility model accurately quantifies the maximum splashing area of ​​water droplets according to the splashing trajectory of water droplets, so that the relative position between the roller brush 11 and the disc brush 21 can be accurately controlled to avoid the water droplets splashed by the disc brush 21 from contaminating the roller brush 11, and takes into account the flexibility of the cleaning tool and the cleaning quality requirements. The utility model sets the minimum length of the first bristle structure 211 to be greater than the product of the distance between the projection of the geometric center of the disc brush assembly 20 on the surface to be cleaned 1 and the projection of the rotation center of the driving wheel 110 on the surface to be cleaned 1 and the preset climbing angle tangent function, so as to ensure that the bristles always keep in contact with the surface to be cleaned 1 during the process of the mobile carrier entering the slope, thereby avoiding the generation of cleaning dead corners. The utility model sets the maximum deformation of the elastic part of the squeegee 40 and the dust pusher assembly 50 to be greater than the product of the distance between the projection of the geometric center of the squeegee 40 and / or the dust pusher assembly 50 on the surface to be cleaned 1 and the projection of the rotation center of the driving wheel 110 on the surface to be cleaned 1 and the tangent function of the preset climbing angle, which can avoid the rigid interference problem when the cleaning robot climbs. The utility model realizes the switching of each cleaning module between different states through the lifting bracket, meeting the needs of various different cleaning scenarios.

[0142] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

[0143] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of the embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more specific details or by other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of the embodiments of the present invention.

Claims

1. A cleaning mechanism, characterized in that: include: Roller brush assembly, disc brush assembly; The roller brush assembly and the disc brush assembly are arranged sequentially along a first direction; The roller brush assembly includes at least one roller brush rotatable about its axis, and the roller brush has a first surface for cleaning; The disc brush assembly includes at least two disc brushes and a brush disc seat, and a first bristle structure is further provided on the side of the disc brush facing the surface to be cleaned, and the disc brush can be driven to rotate relative to the brush disc seat to achieve the first bristle structure cleaning the surface to be cleaned; The minimum distance between the projection of the geometric center of the disc brush assembly on the surface to be cleaned and the projection of the first surface on the surface to be cleaned is L, and L ≥ r × (v × θ / ω + 1), Wherein r is the radius from the outside of the first bristle structure to the rotation center of the disc brush, v is the radial velocity of the water droplets when they leave the edge of the disc brush, θ is 10°, and ω is the angular velocity of the disc brush.

2. A cleaning mechanism, characterized in that: include: Roller brush assembly, disc brush assembly; The roller brush assembly and the disc brush assembly are arranged sequentially along a first direction; The roller brush assembly includes at least one roller brush rotatable about its axis, and the roller brush has a first surface for cleaning; The disc brush assembly comprises at least two disc brushes, a brush disc seat, and a skirt. A first bristle structure is further provided on the side of the disc brush facing the surface to be cleaned. The disc brush can be driven to rotate relative to the brush disc seat to achieve the cleaning of the surface to be cleaned by the first bristle structure. The skirt is provided on the circumferential periphery of the brush disc seat. The minimum distance between the projection of the geometric center of the disc brush assembly on the surface to be cleaned and the projection of the first surface on the surface to be cleaned is L, and L ≥ r × (v × θ / ω + 1) + C, Wherein r is the radius from the outside of the first bristle structure to the rotation center of the disc brush, v is the radial velocity of the water droplets when they leave the edge of the disc brush, θ is 10°, ω is the angular velocity of the disc brush, and C is the distance from the skirt to the outside of the first bristle structure.

3. The cleaning mechanism according to claim 1 or 2, characterized in that: The disc brush assembly includes at least two disc brushes arranged along a second direction, the second direction is perpendicular to the first direction, and when the disc brush rotates relative to the brush disc seat and cleans the surface to be cleaned, the combined force direction of the disc brush assembly is consistent with the first direction.

4. The cleaning mechanism according to claim 3, characterized in that: At least one of the disc brushes of the disc brush assembly rotates along a first rotation direction, and at least one of the disc brushes of the disc brush assembly rotates along a second rotation direction, and the first rotation direction and the second rotation direction are two opposite rotation directions.

5. The cleaning mechanism according to claim 4, characterized in that: The disc brush assembly has four disc brushes, of which two are rotating along the first rotation direction and two are rotating along the second rotation direction.

6. The cleaning mechanism according to claim 5, characterized in that: The disc brushes rotating along the first rotational direction and the disc brushes rotating along the second rotational direction are arranged adjacent to or at intervals.

7. The cleaning mechanism according to claim 2, characterized in that: The skirt is detachably connected to the brush disc seat.

8. The cleaning mechanism according to claim 2, characterized in that: The side of the skirt facing the surface to be cleaned is further provided with second bristles, and the length of the second bristles is smaller than the length of the first bristle structure.

9. The cleaning mechanism according to claim 1 or 2, characterized in that: The first bristle structure includes outer ring bristles, and the outer ring bristles are arranged obliquely from top to bottom in a direction away from the center of the disc brush.

10. The cleaning mechanism according to claim 9, characterized in that: The first bristle structure further includes an inner circle of bristles, and the inner circle of bristles is arranged perpendicular to the surface to be cleaned.

11. The cleaning mechanism according to claim 10, characterized in that: The outer circle bristles are sleeved on the inner circle bristles, and the inner circle bristles and the outer circle bristles are arranged alternately.

12. The cleaning mechanism according to claim 11, characterized in that: The spacing between adjacent disc brushes is configured such that when the outer ring bristles are squeezed by the surface to be cleaned and deformed, partial areas of the outer ring bristles of adjacent disc brushes can overlap with each other.

13. The cleaning mechanism according to claim 1 or 2, characterized in that: The brush disc seat further comprises at least a water outlet, wherein the water outlet is arranged on a side of the brush disc seat facing the surface to be cleaned, and the first bristle structure is arranged around the water outlet.

14. A cleaning robot, characterized in that: A cleaning mechanism comprising any one of claims 1 to 13; and A mobile carrier configured to be movable along the surface to be cleaned; The cleaning mechanism is detachably connected to the mobile carrier; It also includes the first direction and the second direction, the first direction is the moving direction of the mobile vehicle, and the second direction is perpendicular to the first direction.

15. The cleaning robot according to claim 14, characterized in that: The mobile carrier includes a driving wheel, and the disc brush assembly is installed in front of the driving wheel; the minimum length of the first bristle structure is H1, and H1>S1×tanα, Wherein S1 is the distance between the projection of the geometric center of the disc brush assembly on the surface to be cleaned and the projection of the rotation center of the driving wheel on the surface to be cleaned, and α is a preset climbing angle.

16. The cleaning robot according to claim 15, characterized in that: The preset climbing angle α is 5°-20°.

17. The cleaning robot according to claim 15, characterized in that: The two driving wheels are respectively installed on both sides of the mobile carrier in the second direction; the distance between the two driving wheels in the second direction is greater than the width of the disc brush assembly in the second direction.

18. The cleaning robot according to claim 14, characterized in that: It also includes at least one side brush, which is installed on at least one side of the second direction and is located in front of the roller brush. The projection of the side brush on the surface to be cleaned at least partially overlaps with the projection of the mobile carrier on the surface to be cleaned.

19. The cleaning robot according to claim 18, characterized in that: The distance between the side of the side brush away from the central axis of the mobile vehicle and the central axis is greater than the distance between the end of the roller brush and the central axis; the distance between the end of the roller brush and the central axis is greater than the distance between the side of the disc brush assembly away from the central axis and the central axis, and the central axis is a geometric midline of the mobile vehicle parallel to the first direction.

20. The cleaning robot according to claim 18, characterized in that: It also includes at least one lifting bracket, which is movably connected to the mobile carrier in a direction perpendicular to the surface to be cleaned, and at least one of the side brush, the roller brush assembly, and the disc brush assembly is detachably connected to the lifting bracket.

21. The cleaning robot according to claim 20, characterized in that: The number of the lifting brackets is at least two, and the two lifting brackets are connected to the roller brush assembly and the disc brush assembly respectively.

22. The cleaning robot according to claim 21, characterized in that: The side brush and the roller brush assembly are connected to the same lifting bracket.

23. The cleaning robot according to claim 15, characterized in that: It also includes a squeegee and / or a dust pusher assembly, and the squeegee and / or the dust pusher assembly are arranged sequentially with the roller brush assembly and the disc brush assembly along a first direction.

24. The cleaning robot according to claim 23, characterized in that: The squeegee and / or the dust pusher assembly are detachably connected to the mobile carrier.

25. The cleaning robot according to claim 23, characterized in that: The mobile carrier includes a driving wheel, the squeegee and / or dust pusher assembly is installed behind the driving wheel, the squeegee and / or dust pusher assembly is provided with an elastic part at a position in contact with the surface to be cleaned, and the maximum deformation amount of the elastic part is H2, and H2>S2×tanα, Wherein S2 is the distance between the projection of the geometric center of the squeegee and / or dust pusher assembly on the surface to be cleaned and the projection of the rotation center of the driving wheel on the surface to be cleaned, and α is a preset climbing angle.

26. The cleaning robot according to claim 25, characterized in that: The preset climbing angle is 5°-20°.

27. The cleaning robot according to claim 23, characterized in that: The two driving wheels are respectively installed on both sides of the mobile vehicle in the second direction, and the width of the squeegee and / or dust pusher assembly in the second direction is greater than the distance between the two driving wheels in the second direction.

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