Self-moving cleaning equipment and cleaning system
By designing a columnar structure in the self-mobile cleaning device with an angle between the main brush module and both directions, the problem that the existing main brush module can only be cleaned in one direction is solved, and the effect of efficient cleaning in different directions is achieved, and the production and maintenance costs of the equipment are reduced.
Patent Information
- Application Number
- CN202421520803.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-06-28
AI Technical Summary
The main brush module of existing self-mobile cleaning devices can only be cleaned in one direction, resulting in a general user experience.
A self-moving cleaning device is designed, and its main brush module is arranged at an angle to the first and second directions, forming a columnar structure, and can form a parallelogram cleaning track when the machine body moves in the first or second direction.
It realizes that the main brush module has a large enough cleaning area when moving in different directions, which eliminates the horizontal rotation structure of the main brush module, making the overall structure of the cleaning equipment simpler and reducing production and maintenance costs.
Smart Images
Figure CN222917469U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of cleaning equipment, and particularly relates to a self - moving cleaning device and a cleaning system. Background Art
[0002] With the development of technology, a variety of self - moving cleaning devices with autonomous moving functions have emerged on the market. However, in related technologies, the main brush module can only clean in one direction, resulting in a general user experience. Summary of the Utility Model
[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related technologies.
[0004] To this end, a first aspect of the utility model provides a self - moving cleaning device.
[0005] A second aspect of the utility model provides a cleaning system.
[0006] In view of this, according to a first aspect of the embodiments of the present application, a self - moving cleaning device is proposed, including:
[0007] A machine body;
[0008] A moving wheel set, which is arranged on the machine body and is used to drive the machine body to move, so that the machine body moves along a first direction or a second direction;
[0009] A main brush module, which is arranged on the machine body, and the main brush module is arranged at an angle with the first direction and is also arranged at an angle with the second direction.
[0010] In a feasible implementation manner, the angle between the axis of the main brush module and the first direction is equal to the angle between the axis of the main brush module and the second direction.
[0011] In a feasible implementation manner, the second direction is perpendicular to the first direction.
[0012] In a feasible implementation manner, the self - moving cleaning device further includes:
[0013] A mopping module, which is arranged on the bottom surface of the machine body, is located on one side of the main brush module, and extends along the length direction of the main brush module.
[0014] In a feasible implementation manner, the mopping module includes a first boundary, and the first boundary is arranged parallel to the axis of the main brush module.
[0015] In a feasible implementation manner, the mopping module further includes a second boundary, and the second boundary is arranged along the boundary of the bottom surface of the machine body.
[0016] In a feasible implementation manner, the first long side of the main brush module is arranged close to the longest center line of the bottom surface of the machine body, and there is a gap between the first long side and the first boundary.
[0017] In a feasible implementation manner, the first boundary of the mopping module is arranged along the longest center line of the bottom surface of the machine body.
[0018] In a feasible implementation manner, the self - moving cleaning device further includes:
[0019] A side brush module, which is arranged on the machine body, and the side brush module is located on the other side of the main brush module, and part of the side brush module extends to the outside of the machine body.
[0020] In a feasible implementation manner, the self - moving cleaning device further includes:
[0021] Two robotic arms, which are symmetrically arranged on the machine body.
[0022] In a feasible implementation manner, the mobile wheel set is arranged on the robotic arm.
[0023] In a feasible implementation manner, the mobile wheel set includes:
[0024] A driving steering wheel, which is used to drive the machine body to rotate and move, and the driving steering wheel can rotate relative to the machine body;
[0025] A universal wheel, which is used to support the machine body, and the universal wheel can rotate relative to the machine body.
[0026] According to the second aspect of the embodiments of the present application, a cleaning system is proposed, including: the self - moving cleaning device described in any of the above technical solutions.
[0027] A self - moving cleaning device and a cleaning system of the present application, compared with the prior art, have the beneficial effects that:
[0028] The self - moving cleaning device provided by the embodiment of the present application includes a machine body, a moving wheel set, and a main brush module. The moving wheel set is arranged at the bottom of the machine body to drive the machine body to turn and move through the moving wheel set, so that the machine body can rotate to the first direction or the second direction and then move along the first direction or the second direction. By setting the main brush module at an angle to both the first direction and the second direction, that is, the main brush module is inclined and arranged between the area formed by the intersection of the straight line where the first direction is located and the straight line where the second direction is located on the machine body, and the main brush module has a columnar structure. At this time, no matter whether the machine body moves in the first direction or the second direction, the main brush module can form a cleaning track in the shape of a parallelogram, so that the main brush module has a large enough cleaning area when the machine body moves in the first direction and the second direction. On the one hand, the main brush module has a columnar structure and is inclined and arranged between the first direction and the second direction, so that no matter whether the machine body moves in the first direction or the second direction, the main brush module can form a cleaning track in the shape of a parallelogram with a certain width, thereby ensuring that the main brush module has a large enough cleaning area when the machine body moves in the first direction and the second direction. On the other hand, since the main brush module can generate a sufficient cleaning width during the process of moving along the first direction or the second direction with the machine body, the main brush module can effectively clean during the process of moving along the first direction and the second direction with the machine body without having a horizontal rotation function, which can save the horizontal rotation structure of the main brush module, make the overall structure of the cleaning device more concise, effectively reduce the production cost of the product, and reduce the subsequent maintenance and repair costs of the product. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered as a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:
[0030] Figure 1 It is a schematic structural diagram of the self - moving cleaning device according to an embodiment of the present application from the first angle;
[0031] Figure 2 It is a schematic structural diagram of the mopping module when the bottom surface of the machine body of the self - moving cleaning device according to an embodiment of the present application is circular;
[0032] Figure 3 It is a schematic structural diagram of the self - moving cleaning device according to an embodiment of the present application from the second angle;
[0033] Wherein, Figures 1 to 3 The corresponding relationship between the reference numerals in
[0034] 10. Machine body; 11. Mobile wheel set; 12. Main brush module; 13. Mopping module; 14. Side brush module; 15. Robot arm; 16. Step; 17. First boundary; 18. Second boundary;
[0035] 111. Driving steering wheel; 112. Omnidirectional wheel. Detailed implementation manner
[0036] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.
[0037] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.
[0038] In the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.
[0039] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.
[0040] The embodiment of the present application provides a self - moving cleaning device. Specifically, the self - moving cleaning device may be a self - moving cleaning robot or other types of cleaning robots that meet the requirements. Among them, the self - moving cleaning robot is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of a user. Specifically, the self - moving cleaning device may include a floor sweeper, a sweeping and mopping integrated machine, etc.
[0041] Such asFigure 1 As shown in the figure, the self - moving cleaning device proposed in the first aspect of the embodiment of the present application includes: a machine body, a moving wheel set, and a main brush module; the moving wheel set is arranged on the machine body, and the moving wheel set is used to drive the machine body to move, so that the machine body moves along a first direction or a second direction; the main brush module is arranged on the machine body, the main brush module is arranged at an angle with the first direction, and the main brush module is arranged at an angle with the second direction.
[0042] The self - moving cleaning device provided by the embodiment of the present application includes a machine body, a moving wheel set, and a main brush module. The moving wheel set is arranged at the bottom of the machine body to drive the machine body to turn and move through the moving wheel set, so that the machine body can rotate to the first direction or the second direction and then move along the first direction or the second direction. By arranging the main brush module at an angle with both the first direction and the second direction, that is, the main brush module is obliquely arranged between the region formed by the intersection of the straight line where the first direction is located and the straight line where the second direction is located on the machine body, and the main brush module is in a columnar structure. At this time, no matter whether the machine body moves in the first direction or the second direction, the main brush module can form a cleaning track in the shape of a parallelogram, so that the main brush module has a large enough cleaning area when the machine body moves in the first direction and the second direction, ensuring the cleaning efficiency of the main brush module.
[0043] For the self - moving cleaning device provided by the embodiment of the present application, on the one hand, the main brush module is columnar and obliquely arranged between the first direction and the second direction, so that no matter whether the machine body moves in the first direction or the second direction, the main brush module can form a cleaning track in the shape of a parallelogram with a certain width, thereby ensuring that the main brush module has a large enough cleaning area when the machine body moves in the first direction and the second direction; on the other hand, since the main brush module can generate a sufficient cleaning width during the process of moving along the first direction or the second direction with the machine body, the main brush module can effectively clean during the process of moving along the first direction and the second direction with the machine body without having a horizontal rotation function, so that the horizontal rotation structure of the main brush module can be omitted, making the overall structure of the cleaning device more concise, effectively reducing the production cost of the product, and reducing the subsequent maintenance and repair costs of the product.
[0044] Further, the first direction and the second direction are the main moving directions for the operation of the cleaning device. The cleaning device walks alternately in the first direction and the second direction according to the planned operation track for cleaning, and thus can achieve a full coverage of the predetermined cleaning range.
[0045] As Figure 1 shown, in a feasible implementation manner, the angle between the axis of the main brush module and the first direction is equal to the angle between the axis of the main brush module and the second direction.
[0046] In this technical solution, the angle between the axis of the main brush module and the first direction is equal to the angle between the axis of the main brush module and the second direction, so that the track width when the main brush module follows the machine body moving in the first direction is the same as the track width when the main brush module follows the machine body moving in the second direction, thereby making the cleaning efficiency of the main brush module higher and the cleaning effect more balanced in the first direction and the second direction, and at the same time ensuring the cleaning efficiency of the main brush module in the first direction and the second direction.
[0047] Further, as Figure 1 and Figure 2 shown, the bottom surface of the machine body is a centrally symmetric structure. The bottom surface of the machine body can be circular or square to reduce the space required for the machine body to rotate and ensure the stability and flexibility of the machine body during rotation and movement. The main brush module is arranged at the symmetric center of the bottom surface of the machine body, so that the main brush module can more easily contact the dust and debris on both sides of the walking track during the movement process, which helps to improve the cleaning effect and efficiency of the main brush module.
[0048] In a feasible implementation manner, the second direction is perpendicular to the first direction.
[0049] In this technical solution, the second direction is perpendicular to the first direction. The moving wheel group drives the machine body to run along two main moving directions, namely front-back and left-right horizontally, so that the cleaning path of the cleaning device is simple and the omission is reduced. And when the length of the main brush module remains unchanged, the cleaning track widths in the first direction and the second direction are the same and reach the maximum, ensuring that the main brush module can more efficiently cover the cleaning area when the machine body runs forward and backward and left and right.
[0050] Further, the included angle between the axis of the main brush module and the first direction can be 30 - 60 degrees; the included angle between the axis of the main brush module and the second direction can be 30 - 60 degrees. In an optional embodiment, the included angle between the axis of the main brush module and the first direction can be 30°, and the included angle between the axis of the main brush module and the second direction can be 30°.
[0051] As Figure 1 and Figure 2 shown, in a feasible implementation manner, the self-propelled cleaning device further includes: a mopping module; the mopping module is arranged on the bottom surface of the machine body, the mopping module is located on one side of the main brush module, and the mopping module extends along the length direction of the main brush module.
[0052] In this technical solution, the mopping module is arranged on the bottom surface of the machine body so that the cleaning device has the function of mopping and cleaning; the mopping module is located on one side of the main brush module, and the mopping module extends along the length direction of the main brush module. When the machine body runs in the first direction or the second direction, the mopping module can form a rectangular cleaning track, so that the mopping module can achieve effective mopping coverage when the machine body runs in the first direction and the second direction, ensuring the mopping efficiency of the cleaning device.
[0053] Furthermore, the width of the mopping module extends in a direction away from the main brush module along the direction perpendicular to the main brush module, so as to increase the coverage area of the mopping module under the condition that the wiping width of the mopping module is fixed, and further increase the duration of the mopping module covering and wiping the same area during the walking of the machine body, improving the cleaning effect of the mopping module.
[0054] As Figure 1 and Figure 2 shown, in a feasible implementation, the mopping module includes a first boundary, and the first boundary is arranged parallel to the axis of the main brush module.
[0055] In this technical solution, the mopping module includes a first boundary. The first boundary of the mopping module is arranged parallel to the axis of the main brush module, and the mopping module is close to the main brush module to reduce the distance between the mopping module and the main brush module, improve the utilization rate of the space on the bottom surface of the machine body, thereby increasing the repeated coverage duration of the mopping module when the machine body walks, and improving the cleaning effect of the mopping module by continuously covering the previously wiped track during the movement of the machine body.
[0056] As Figure 1 and Figure 2 shown, in a feasible implementation, the mopping module further includes a second boundary, and the second boundary is arranged along the boundary of the bottom surface of the machine body.
[0057] In this technical solution, the mopping module further includes a second boundary. The second boundary of the mopping module is arranged along the boundary of the bottom surface of the machine body to increase the area of the mopping module, so that when the mopping module follows the machine body to move for mopping, it has a larger coverage area and improves the cleaning efficiency of the mopping module.
[0058] In some examples, as Figure 2 shown, the bottom surface of the machine body is circular, the second boundary is an arc line, and the mopping module is in a bow shape.
[0059] As a preferred solution, as Figure 1As shown, the bottom surface of the machine body is square, the second boundary consists of two perpendicular lines, and the mopping module is an isosceles right triangle, so that the track width of the mopping module when the machine body moves along the first direction and the second direction is the same, and the cleaning effect is not affected by the running direction of the machine body.
[0060] As Figure 1 and Figure 2 shown, in a feasible implementation, the first boundary of the mopping module is arranged along the longest center line of the bottom surface of the machine body; the first long side of the main brush module is arranged close to the longest center line of the bottom surface of the machine body, and there is a gap between the first long side and the first boundary.
[0061] In this technical solution, both the first boundary of the mopping module and the first long side of the main brush module are arranged along the longest center line of the bottom surface of the machine body, so that the length of the main brush module reaches the maximum, and at the same time the area of the mopping module reaches the maximum, so as to improve the sweeping and mopping efficiency of the cleaning device. There is a gap between the first long side and the first boundary to ensure that the mopping module and the main brush module do not interfere with each other when they have the maximum working area, thus ensuring the effectiveness of the sweeping and mopping work of the cleaning device.
[0062] In some examples, as Figure 1 shown, the bottom surface of the machine body is square, and the longest center line of the bottom surface of the machine body is the straight line where the diagonal of the machine body is located; when the bottom surface of the machine body is circular, the longest center line of the machine body is the straight line where the diameter of the machine body is located.
[0063] In this technical solution, the first boundary of the mopping module is arranged along the longest center line of the bottom surface of the machine body, and the second boundary of the mopping module is arranged along the boundary of the bottom surface of the machine body, so that the mopping module covers half of the bottom surface of the machine body, and further makes the length and width of the mopping module reach the maximum, so that the coverage area of the mopping module when the machine body walks reaches the maximum, improves the utilization efficiency of the bottom surface of the machine body, and improves the cleaning efficiency of the mopping module.
[0064] In some examples, as Figure 2 shown, the bottom surface of the machine body is circular, the first boundary of the mopping module is arranged along the longest center line of the bottom surface of the machine body, the second boundary is an arc line, and the mopping module is semi-circular.
[0065] As Figure 1 and Figure 2 shown, in a feasible implementation, the self-moving cleaning device further includes: a side brush module; the side brush module is arranged on the machine body, and the side brush module is located on the other side of the main brush module, and part of the side brush module extends to the outside of the machine body.
[0066] In this technical solution, the side brush module and the main brush module are arranged on the other half of the bottom surface of the machine body. The side brush module and the mopping module are respectively arranged on both sides of the main brush module, so as to use the side brush module to roll and sweep the garbage on the ground, gather the dirt, facilitate the main brush module to perform centralized cleaning, and also use the side brush module to clean the dead corners, thereby further increasing the cleaning coverage area of the cleaning device, reducing the cleaning dead corners, and ensuring the cleanliness of each position after cleaning.
[0067] As Figure 3 shown, in a feasible implementation manner, the self-moving cleaning device further includes: two robotic arms, the robotic arms are symmetrically arranged on the machine body, and the mobile wheel set is arranged on the robotic arms.
[0068] In this technical solution, robotic arms are arranged on both sides of the machine body to realize the functions of the machine body crossing obstacles and going up and down steps through the movement of the robotic arms, improve the obstacle-crossing ability of the cleaning device, and enhance the practicability of the cleaning device; when the machine body needs to be cleaned, the two robotic arms retract, so that the mobile wheel set at the bottom of the robotic arms contacts the ground, and the machine body is driven to turn through the mobile wheel set to adjust the moving direction of the cleaning device.
[0069] In this technical solution, the machine body has a square structure. When the two robotic arms are unfolded to drive the machine body to cross obstacles, the machine body with a square structure is more evenly stressed and not prone to tipping over, ensuring the stability of the cleaning device when crossing obstacles.
[0070] It can be understood that when both robotic arms and side brush modules are arranged on the machine body, it should be ensured that the side brush module extends from at least one side of the machine body. At this time, even if the robotic arms block part of the side brush module, the machine body can be turned to make the side brush module contact two adjacent walls respectively, so as to clean the included angle position between the two adjacent walls.
[0071] As Figure 1 and Figure 3 shown, in a feasible implementation manner, the mobile wheel set includes: a drive steering wheel and a universal wheel; the drive steering wheel is used to drive the machine body to rotate and move, and the drive steering wheel can rotate relative to the machine body; the universal wheel is used to support the machine body, and the universal wheel can rotate relative to the machine body.
[0072] In this technical solution, the two mobile wheel sets are symmetrically arranged on the machine body. The two universal wheels and the two drive steering wheels support the machine body at the same time. The drive steering wheel can rotate relative to the machine body itself to adjust the orientation of the machine body and realize the steering function of the cleaning device; at the same time, the drive steering wheel itself has a driving function and can drive the machine body to move to realize the walking function of the cleaning device.
[0073] Further, both the driving steering wheel and the omnidirectional wheels in the moving wheel set can rotate 360 degrees in the horizontal direction. The omnidirectional wheels are arranged at one end where the robotic arm is hinged to the machine body, and the driving steering wheel is arranged at the free end of the robotic arm. When the robotic arm extends, the free end of the robotic arm first contacts the contact surface, and then the driving steering wheel located at the free end first contacts the contact surface, enabling timely control of the steering and movement of the machine body, thereby improving the flexibility of the movement of the cleaning device.
[0074] According to the second aspect of the present application, a cleaning system is provided, including: a self - moving cleaning device according to any one of the above - mentioned technical solutions.
[0075] The cleaning system provided by the embodiments of the present application includes the self - moving cleaning device according to any of the above - mentioned technical solutions, so this cleaning system has all the beneficial effects of the self - moving cleaning device of the above - mentioned technical solutions.
[0076] It is easy for those skilled in the art to understand that, on the premise of no conflict, the above - mentioned advantageous ways can be freely combined and superimposed.
[0077] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above is only the preferred implementation manner of the present application. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present application, several improvements and variations can still be made, and these improvements and variations should also be regarded as within the protection scope of the present application.
Claims
1. A self-moving cleaning device, characterized in that: The self-moving cleaning device comprises: Machine body; A moving wheel set, wherein the moving wheel set is arranged on the machine body, and the moving wheel set is used to drive the machine body to move, so that the machine body moves along a first direction or a second direction; A main brush module is arranged on the machine body, the main brush module is arranged at an angle to the first direction, and the main brush module is arranged at an angle to the second direction.
2. A self-moving cleaning device according to claim 1, characterized in that: The angle between the axis of the main brush module and the first direction is equal to the angle between the axis of the main brush module and the second direction.
3. A self-moving cleaning device according to claim 2, characterized in that: The second direction is perpendicular to the first direction.
4. A self-moving cleaning device according to claim 2, characterized in that: The self-moving cleaning device also includes: A mopping module is arranged on the bottom surface of the machine body, the mopping module is located on one side of the main brush module, and the mopping module extends along the length direction of the main brush module.
5. A self-moving cleaning device according to claim 4, characterized in that: The mopping module includes a first boundary, and the first boundary is arranged parallel to the axis of the main brush module.
6. A self-moving cleaning device according to claim 5, characterized in that: The mopping module further includes a second boundary, and the second boundary is arranged along a boundary of the bottom surface of the machine body.
7. A self-moving cleaning device according to claim 6, characterized in that: The first long side of the main brush module is arranged close to the longest center line of the bottom surface of the machine body, and there is a gap between the first long side and the first boundary.
8. A self-moving cleaning device according to claim 6, characterized in that: The first boundary of the mopping module is arranged along the longest center line of the bottom surface of the machine body.
9. A self-moving cleaning device according to claim 4, characterized in that: The self-moving cleaning device also includes: A side brush module is disposed on the machine body and is located on the other side of the main brush module, and a portion of the side brush module extends to the outside of the machine body.
10. The self-moving cleaning device according to claim 1, characterized in that: The self-moving cleaning device also includes: Two mechanical arms are symmetrically arranged on the machine body.
11. A self-moving cleaning device according to claim 10, characterized in that: The self-moving cleaning device also includes: The moving wheel set is arranged on the mechanical arm.
12. A self-moving cleaning device according to any one of claims 1 to 11, characterized in that: The mobile wheel set comprises: A driving steering wheel, the driving steering wheel is used to drive the machine body to rotate and move, and the driving steering wheel can rotate relative to the machine body; A universal wheel is used to support the machine body, and the universal wheel can rotate relative to the machine body.
13. A cleaning system, characterized in that: It comprises a self-moving cleaning device as described in any one of claims 1 to 12.