Cleaning robot
By designing a fence module in the cleaning robot and changing the type of friction with the outside world, the problem of great walking resistance of the cleaning robot when it comes into contact with the window frame is solved, and the normal forward and work safety of the cleaning robot is achieved.
Patent Information
- Application Number
- CN202420120340.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-17
- Publication Date
- 2025-02-14
- Estimated Expiration
- 2034-01-17
AI Technical Summary
Existing cleaning robots are susceptible to frame friction resistance when they come into contact with window frames, resulting in increased walking resistance and unable to move forward normally.
A cleaning robot is designed, and its enclosure module is arranged on the outside of the cleaning module, which can change the type of force when the cleaning robot comes into contact with the outside world, thereby reducing walking resistance. The specific implementation method includes setting the fence module to switch the sliding friction force to rolling friction when contacted, or implementing this conversion by setting a ball or roller.
By changing the type of friction between the cleaning robot and the outside world, walking resistance is effectively reduced, ensuring the normal forward and work safety of the cleaning robot.
Smart Images
Figure CN222466782U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot. Background Art
[0002] With the improvement of living standards, people have higher and higher requirements for home cleaning, and begin to pursue more efficient and intelligent cleaning robots, such as window cleaning robots and sweeping robots.
[0003] Cleaning robots usually adopt vacuum adsorption, that is, a centrifugal fan or vacuum pump is used as a vacuum generating device to generate local negative pressure in the gap between the robot body and the surface to be cleaned. Under the action of pressure difference, the cleaning module of the robot adheres to the surface to be cleaned and wipes, thereby cleaning the surface to be cleaned.
[0004] Cleaning robots have high safety requirements. For example, when a window cleaning robot works on a window, its cleaning module usually touches the window frame. The cleaning module is easily depressurized by collision, causing the robot to lose balance and possibly fall. To ensure the safety of the robot, in the prior art, a fence is usually set on the outside of the cleaning module to prevent the cleaning module from directly contacting the frame. However, when the robot's fence contacts the window frame, it is affected by the friction resistance of the frame, which seriously interferes with the normal movement of the cleaning robot. Utility Model Content
[0005] The main purpose of the utility model is to provide a cleaning robot to solve the technical problem in the prior art that the cleaning robot cannot move forward normally due to the large resistance of the frame.
[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:
[0007] A cleaning robot, comprising:
[0008] main body;
[0009] A cleaning module is rotatably connected to the main body, and the cleaning module rotates to drive the main body to move;
[0010] The enclosure module is arranged on the outside of the cleaning module, and is used to change the type of force applied when the cleaning robot contacts the outside world.
[0011] In some embodiments, the enclosure module is used to switch the sliding friction between the cleaning robot and the outside world into rolling friction when the cleaning robot comes into contact with the outside world.
[0012] In some embodiments, the enclosure module is used to rotate on the surface of an external object when the cleaning robot comes into contact with the outside world.
[0013] In some embodiments, the enclosure module includes a retaining ring, which is rotatably disposed on the main body and is disposed around the cleaning module, with a gap between the retaining ring and the cleaning module.
[0014] In some embodiments, the surface of the retaining ring facing the surface to be cleaned is higher than the surface of the cleaning module facing the surface to be cleaned.
[0015] In some embodiments, the surface of the retaining ring facing the surface to be cleaned is not higher than the surface of the cleaning module facing the surface to be cleaned, and the retaining ring is floatingly connected to the main body.
[0016] In some embodiments, the cleaning robot further comprises a negative pressure device, a negative pressure chamber is formed on the cleaning module, and the negative pressure device is used to pump negative pressure into the negative pressure chamber so that the cleaning robot is adsorbed on the surface to be cleaned;
[0017] The cleaning module comprises:
[0018] A walking disc is rotatably connected to the main body, and the walking disc rotates to drive the main body to move;
[0019] The cleaning disc is arranged on the peripheral side of the walking disc, and the walking disc rotates to drive the cleaning disc to rotate.
[0020] In some embodiments, at least two cleaning modules are provided, central axes of at least two of the walking disks are inclined relative to the central axis of the main body, and the two walking disks rotate in opposite directions.
[0021] In some embodiments, at least two cleaning modules are provided, and at least two cleaning modules are located on the same side of the main body. At least two enclosure modules are provided, and one enclosure module is correspondingly arranged on the outside of one cleaning module.
[0022] In some embodiments, the rotation direction of the cleaning module is the same as or different from the rotation direction of the enclosure module.
[0023] In the technical solution of the utility model, the enclosure module is arranged outside the cleaning module to avoid direct contact between the cleaning module and the window frame, thereby improving the safety of the cleaning robot. At the same time, when the cleaning robot contacts the window frame, the enclosure module changes the type of force exerted by the window frame on the cleaning robot, thereby reducing the walking resistance of the cleaning robot and ensuring the normal movement of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 This is a schematic diagram of the structure of a cleaning robot in one embodiment of the utility model;
[0025] Figure 2 This is a schematic diagram of the structural decomposition of a cleaning robot in one embodiment of the utility model;
[0026] Figure 3 A schematic diagram of the working state of the cleaning robot in one embodiment of the utility model;
[0027] Figure 4 This is a schematic structural diagram of a cleaning robot in another embodiment of the present invention;
[0028] Figure 5 This is a structural schematic diagram of a cleaning robot in another embodiment of the utility model;
[0029] Figure 6 This is a schematic diagram of the structural decomposition of a cleaning robot in another embodiment of the utility model;
[0030] Figure 7 This is a structural schematic diagram of the main body and the walking plate in one embodiment of the utility model;
[0031] Figure 8 It is a schematic diagram of a walking scene of the walking disk in one embodiment of the utility model;
[0032] Fig. 9 This is a structural schematic diagram of the main body and the traveling plate in another embodiment of the utility model;
[0033] Fig.10 It is a schematic diagram of a walking scene of the walking disk in another embodiment of the utility model.
[0034] Description of Figure Numbers
[0035] Label name Label name 1 main body 2 Cleaning module 3 Fence module 31 Retaining Ring 21 Walking disc 22 Cleaning plate 11 Drive components 12 Universal joint structure 13 Negative pressure device 221 Negative pressure chamber 4 Spraying components DETAILED DESCRIPTION
[0036] In the present invention, the terms "disposed", "provided with", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0037] The orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0039] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.
[0040] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.
[0041] At present, people mostly use cleaning robots for household cleaning. The more common cleaning robots include sweeping robots, window cleaning robots, etc. Taking the window cleaning robot as an example, the traditional window cleaning robot usually includes a cleaning module, which is adsorbed on the glass window and used to perform cleaning operations on the window surface. The cleaning module usually has multiple bristles or cleaning glue to remove dirt and pollutants on the window. However, when the window cleaning robot works on the window, its cleaning module is easy to touch the window frame, and the cleaning module is collided and depressurized, causing the window cleaning robot to lose balance and may fall. In order to ensure the safety of the window cleaning robot, in the prior art, a fence is usually set on the outside of the cleaning module to prevent the cleaning module from directly contacting the frame. However, when the robot's fence contacts the window frame, it is affected by the friction resistance of the frame, which seriously interferes with the normal movement of the cleaning robot.
[0042] In this regard, an embodiment of the utility model proposes a cleaning robot, which can reduce the walking resistance of the cleaning robot and ensure the normal movement of the cleaning robot.
[0043] See also Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the structure of the cleaning robot in this embodiment, Figure 2 The schematic diagram of the structure of the cleaning robot in this embodiment is shown in FIG. The cleaning robot in this embodiment includes but is not limited to a window cleaning robot, a sweeping robot, etc. The surface to be cleaned includes but is not limited to a glass surface, a wall surface or a door surface. The following description is made by taking the cleaning robot as a window cleaning robot and the surface to be cleaned as a glass surface as an example.
[0044] The embodiment of the present application provides a cleaning robot, which includes a main body 1, a cleaning module 2 and an enclosure module 3. The cleaning module 2 is rotatably connected to the main body 1, and the cleaning module 2 rotates to drive the main body 1 to move; the enclosure module 3 is arranged outside the cleaning module 2, and the enclosure module 3 is used to change the type of force when the cleaning robot contacts the outside world.
[0045] In the embodiment of the present application, the main body 1 of the cleaning robot is the host part of the cleaning robot, which is used to control the operation of the cleaning module 2. Exemplarily, the main body 1 may include a housing and a negative pressure component, a driving component, etc. disposed in the housing, wherein the negative pressure component is in fluid communication with the cleaning module 2, and is used to make the cleaning module 2 generate negative pressure to be adsorbed on the surface to be cleaned, and the driving component is in transmission connection with the cleaning module 2, and is used to drive the cleaning module 2 to rotate to clean the surface to be cleaned, and drive the cleaning robot to walk.
[0046] The cleaning module 2 of this embodiment may include a brush, a cleaning rubber disc, a roller brush, etc. The cleaning module 2 is rotatably connected to the main body 1. Exemplarily, the cleaning module 2 is rotatably arranged at the bottom of the main body 1 (the side of the main body 1 facing the surface to be cleaned), and the cleaning module 2 rotates to clean the surface to be cleaned and drive the cleaning robot to walk. In one embodiment, the cleaning module 2 also includes at least one spraying assembly 4, which is used to spray a cleaning liquid onto the cleaning rubber disc of the cleaning module 2 or onto the surface to be cleaned to wet the surface to be cleaned. Among them, the spraying assembly 4 may include a nozzle, and the cleaning liquid may be water, a commercially available detergent, or a mixture of water and a commercially available detergent. When the spraying assembly 4 is set to one, the spraying assembly 4 is set on one side of the travel direction of the cleaning module 2; when the spraying assembly 4 is set to two, the two spraying assemblies 4 are respectively arranged on both sides of the cleaning module 2. The spraying assembly 4 can be set at different positions of the main body 1, such as on the side or bottom surface of the main body 1.
[0047] The enclosure module 3 of this embodiment is used to change the type of force applied when the cleaning robot contacts the outside world. Specifically, the enclosure module 3 is arranged on the outside of the cleaning module 2. When the cleaning robot contacts the outside world during its walking process, the enclosure module 3 changes the type of force applied to the cleaning robot to reduce the travel resistance of the cleaning robot. It should be noted that the contact of the cleaning robot with the outside world can be understood as the contact of the cleaning robot with the glass frame, and the type of force applied can include sliding friction, rolling friction, etc. Exemplarily, when the cleaning robot contacts the outside world, the enclosure module 3 switches the sliding friction between the cleaning robot and the outside world to rolling friction. When the cleaning robot walks along the glass frame, the enclosure module 3 contacts the glass frame and is subjected to a sliding friction opposite to the direction of travel of the cleaning robot. At this time, the enclosure module 3 of the embodiment of the present application can switch the sliding friction applied to the cleaning robot to rolling friction.
[0048] In one embodiment, the enclosure module 3 is rotatably arranged on the main body 1. When the cleaning robot contacts the outside world, the enclosure module 3 rotates on the surface of the external object under the action of the tangential sliding friction force, thereby switching the sliding friction force on the cleaning robot to rolling friction force. Figure 3 As shown, Figure 3 The schematic diagram of the cleaning robot moving along the lower frame of the glass is shown. When the cleaning robot moves to the right, the enclosure module 3 is subjected to a sliding friction force to the left when in contact with the lower frame of the glass. At this time, the enclosure module 3 rotates clockwise on the surface of the lower frame of the glass under the action of the tangential sliding friction force, thereby switching the sliding friction force on the cleaning robot to rolling friction, thereby reducing the resistance of the cleaning robot.
[0049] In another embodiment, a ball or roller is provided on the edge of the enclosure module 3. When the enclosure module 3 contacts the glass frame, the roller or ball rotates under the action of the tangential sliding friction force, thereby switching the sliding friction force on the cleaning robot to rolling friction force.
[0050] Please continue reading Figure 2 In some embodiments, the enclosure module 3 includes a retaining ring 31 , which is rotatably disposed on the main body 1 , and the retaining ring 31 is disposed around the cleaning module 2 , and there is a gap between the retaining ring 31 and the cleaning module 2 .
[0051] In this embodiment, the retaining ring 31 is rotatably arranged on the main body 1, specifically on the side of the main body 1 facing the surface to be cleaned, and the retaining ring 31 surrounds the outside of the cleaning module 2. When in contact with the glass frame, the retaining ring 31 is subjected to the tangential sliding friction of the glass frame and rotates, thereby switching the sliding friction to rolling friction. There is a gap between the retaining ring 31 and the cleaning module 2, so that the cleaning module 2 will not be interfered by the retaining ring 31 when the retaining ring 31 rotates, thereby ensuring the normal operation of the cleaning module 2.
[0052] In one embodiment, a rolling element, such as a ball or a roller, is arranged between the retaining ring 31 and the main body 1. When the retaining ring 31 rotates, the rolling element rolls to reduce the friction between the retaining ring 31 and the main body 1, thereby reducing the travel resistance of the cleaning robot.
[0053] In one embodiment, Figure 4 As shown, the surface e of the retaining ring 31 facing the surface to be cleaned is higher than the surface f of the cleaning module 2 facing the surface to be cleaned. When observed from the side perspective of the cleaning robot, the retaining ring 31 only blocks part of the cleaning module 2, thereby avoiding the friction force generated by the contact between the retaining ring 31 and the surface to be cleaned from hindering the normal operation of the cleaning robot.
[0054] In another embodiment, Figure 5 As shown, the surface e of the retaining ring 31 facing the surface to be cleaned is not higher than the surface f of the cleaning module 2 facing the surface to be cleaned, and the retaining ring 31 is floatingly connected to the main body 1.
[0055] In this embodiment, the surface e of the retaining ring 31 can be set flush with the surface f of the cleaning module 2, so that the surface e of the retaining ring 31 fits the surface to be cleaned when the cleaning robot is working. Alternatively, the surface e of the retaining ring 31 is set to protrude from the surface f of the cleaning module 2. In this case, the retaining ring 31 is connected to the main body 1 in a floating manner. When the retaining ring 31 contacts the surface to be cleaned, it floats and rises, so that the surface e of the retaining ring 31 is flush with the surface f of the cleaning module 2.
[0056] Please continue reading Figure 1 and Figure 2 In some embodiments, at least two cleaning modules 2 are provided, and at least two cleaning modules 2 are located on the same side of the main body 1 . At least two enclosure modules 3 are provided, and one enclosure module 3 is correspondingly arranged on the outside of one cleaning module 2 .
[0057] In this embodiment, two cleaning modules 2 and two enclosure modules 3 are respectively provided. For example, the two cleaning modules 2 are provided on the same side of the main body 1 facing the surface to be cleaned. In some cleaning work scenarios, the two cleaning modules 2 are arranged up and down. One enclosure module 3 is provided around one cleaning module 2.
[0058] In some embodiments, see Figure 6 , Figure 6 The cleaning robot of this embodiment further comprises a negative pressure device 13 , a cleaning disc 22 is provided with a negative pressure chamber 221 , and the negative pressure device 13 is connected to the negative pressure chamber 221 to generate negative pressure in the negative pressure chamber 221 .
[0059] The negative pressure device 13 of this embodiment is used to generate negative pressure so that the cleaning disc 22 is adsorbed on the surface to be cleaned. The negative pressure device 13 can be an exhaust fan, a vacuum pump, etc. In this embodiment, the cleaning disc 22 is provided with a negative pressure chamber 221, and the negative pressure device 13 is connected to the negative pressure chamber 221. When the negative pressure device 13 is working, the negative pressure chamber 221 generates negative pressure, so that the cleaning disc 22 is adsorbed on the surface to be cleaned. As a result, the cleaning robot can be applied to surface cleaning in various situations. For example, when applied to cleaning on a horizontal surface, the negative pressure device 13 can increase the pressure between the cleaning disc 22 and the horizontal surface, increase friction, and improve the cleaning effect. When applied to cleaning on a non-horizontal surface, the cleaning disc 22 can be adsorbed on a non-horizontal surface, so that cleaning can be performed on a non-horizontal surface such as a window or a wall. Optionally, the walking disc 21 is arranged in the negative pressure chamber 221, and the cleaning disc 22 surrounds the walking disc 21, making the cleaning robot structure more compact.
[0060] The cleaning module 2 of this embodiment includes:
[0061] The walking plate 21 is rotatably connected to the main body 1, and the walking plate 21 rotates to drive the main body 1 to move;
[0062] The cleaning disc 22 is disposed on the peripheral side of the traveling disc 21 . The traveling disc 21 rotates to drive the cleaning disc 22 to rotate.
[0063] In this embodiment, two cleaning modules 2 are provided, and the two walking discs 21 rotate to drive the cleaning robot to move and the cleaning disc 22 to rotate. Specifically, the walking disc 21 of this embodiment is rotatably connected to the main body 1, and the two walking discs 21 rotate synchronously to drive the cleaning robot to move.
[0064] In some embodiments, see Figure 7 and Fig. 9 The central axes of the two walking discs 21 are inclined relative to the central axis of the main body 1, and the two walking discs 21 rotate in opposite directions, so that the directions of the friction forces on the two walking discs 21 are consistent, and the cleaning robot walks under the action of the friction forces in the same direction. Figure 7 and Figure 8 As shown, the central axes of the two walking discs 21 are tilted outward relative to the central axis of the main body 1, and the contact area 21a of the two walking discs 21 and the surface to be cleaned is located on the side away from the two walking discs 21. At this time, the rotation direction of the enclosure module 3 is the same as the rotation direction of the walking disc 21.
[0065] In another embodiment, if Fig. 9 and Fig.10As shown, the central axes of the two walking discs 21 are tilted inward relative to the central axis of the main body 1, and the contact area 21a of the two walking discs 21 and the surface to be cleaned is located on the side close to the two walking discs 21. At this time, the rotation direction of the enclosure module 3 is opposite to that of the walking disc 21.
[0066] Please continue reading Figure 6 In some embodiments, the main body 1 further includes a driving assembly 11, which may include a motor. The output end of the driving assembly 11 is connected to a universal joint structure 12, which is connected to the walking disc 21 to drive the walking disc 21 to rotate at a certain angle.
[0067] The cleaning disc 22 of this embodiment can be rotatably connected to the main body 1 and is arranged on the peripheral side of the walking disc 21. The walking disc 21 rotates to drive the cleaning disc 22 to rotate, so as to perform the cleaning work of the cleaning robot. Optionally, the cleaning disc 22 can be directly connected to the walking disc 21, and the rotation of the walking disc 21 drives the cleaning disc 22 to rotate. Alternatively, the cleaning disc 22 is connected to the driving assembly 11, and the driving assembly 11 drives the cleaning disc 22 to rotate. A brush, sponge, rag, rubber scraper, etc. can be set on the cleaning disc 22 for different cleaning scenarios.
[0068] Optionally, the two walking discs may rotate alternately to realize twisting walking of the cleaning robot. For example, the first walking disc rotates and the second walking disc does not move, and the first walking disc is twisted at a certain angle relative to the second walking disc, and then the first walking disc does not move and the second walking disc rotates, so that the second walking disc is twisted at a certain angle relative to the first walking disc, and the cycle continues, thereby realizing twisting walking of the cleaning robot.
[0069] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.
Claims
1. A cleaning robot, characterized in that: include: main body; A cleaning module is rotatably connected to the main body, and the cleaning module rotates to drive the main body to move; A blocking module, which is disposed outside the cleaning module and is used to change the type of force applied when the cleaning robot contacts the outside world; The enclosure module is used to switch the sliding friction between the cleaning robot and the outside world into rolling friction when the cleaning robot contacts the outside world.
2. The cleaning robot according to claim 1, characterized in that: The enclosure module is used to rotate on the surface of an external object when the cleaning robot comes into contact with the outside world.
3. The cleaning robot according to claim 1, characterized in that: The enclosure module comprises a retaining ring, which is rotatably arranged on the main body and is arranged around the cleaning module, with a gap between the retaining ring and the cleaning module.
4. The cleaning robot according to claim 3, characterized in that: The surface of the retaining ring facing the surface to be cleaned is higher than the surface of the cleaning module facing the surface to be cleaned.
5. The cleaning robot according to claim 3, characterized in that: The surface of the retaining ring facing the surface to be cleaned is not higher than the surface of the cleaning module facing the surface to be cleaned, and the retaining ring is floatingly connected to the main body.
6. The cleaning robot according to claim 1, characterized in that: The cleaning robot further comprises a negative pressure device, a negative pressure chamber is formed on the cleaning module, and the negative pressure device is used to pump negative pressure into the negative pressure chamber so that the cleaning robot is adsorbed on the surface to be cleaned; The cleaning module comprises: A walking disc is rotatably connected to the main body, and the walking disc rotates to drive the main body to move; The cleaning disc is arranged on the peripheral side of the walking disc, and the walking disc rotates to drive the cleaning disc to rotate.
7. The cleaning robot according to claim 6, characterized in that: At least two cleaning modules are provided, the central axes of at least two of the walking disks are inclined relative to the central axis of the main body, and the two walking disks rotate in opposite directions.
8. The cleaning robot according to any one of claims 1 to 7, characterized in that: At least two cleaning modules are provided, and at least two cleaning modules are located on the same side of the main body. At least two enclosure modules are provided, and one enclosure module is correspondingly arranged on the outside of one cleaning module.
9. The cleaning robot according to any one of claims 1 to 7, characterized in that: The rotation direction of the cleaning module is the same as or different from the rotation direction of the enclosure module.