Cleaning robot

Abstract

A cleaning robot relates to the technical field of intelligent cleaning equipment and is provided with a machine body with a rectangular or square outer contour, a walking part arranged at the bottom of the machine body and a negative pressure adsorption cavity used for integrally adsorbing the cleaning robot on a to-be-cleaned surface, and the walking part comprises walking wheels used for abutting against the to-be-cleaned surface and driving the machine body to move. A plurality of cleaning cloth mounting seats capable of rotating relative to the machine body are arranged at the bottom of the machine body at intervals and driven by a driving module, and cleaning cloth is mounted at the bottoms of the cleaning cloth mounting seats. The walking wheels are adopted as a walking mechanism, so that the cleaning robot can walk at a high speed on the surface to be cleaned with accumulated water without slipping, and higher walking stability and adaptability are achieved. And meanwhile, in the process that the cleaning robot executes linear advancing, the rag is tightly attached to the to-be-cleaned face and rotates relative to the to-be-cleaned face, and compared with the prior art, the continuously-rotating rag can more effectively remove stains, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent cleaning equipment, and particularly relates to a cleaning robot. Background Art

[0002] Chinese patent document CN108158477A discloses a surface cleaning robot and its crawler production process method. A cleaning part and a walking part are arranged at the bottom of its body. The walking part includes a crawler and a gear for driving the crawler to rotate. The cleaning part surrounds the bottom of the body and is fixed thereon. During operation, the crawler drives the body to move forward under the drive of the gear. During the movement of the body, the cleaning part fixed to the bottom of the body cleans the window. Chinese patent document CN117257162A discloses a wireless window cleaning robot for cleaning without dead corners. A cleaning cloth, driving wheels, crawlers and other components are arranged at the bottom of its shell. This cleaning robot also relies on the crawler to achieve straight-line walking and cleans the window glass through the cleaning cloth fixed to the bottom of the shell.

[0003] Almost all existing cleaning robots with straight-line walking fix the cleaning cloth at the bottom of the body and rely on the movement of the body to prompt the cleaning cloth to wipe the glass surface, and the cleaning effect is not ideal. In addition, due to the large contact area of the crawler, when the cleaning robot travels on a wet glass surface, the accumulated water on the contact surface of the crawler is difficult to drain, and water skidding is likely to occur, affecting the walking stability. Therefore, most of these cleaning robots can only be applicable to the cleaning operation of dry glass surfaces. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a cleaning robot to improve the problems of unsatisfactory cleaning effect and easy skidding of the cleaning robot in the prior art.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme: The cleaning robot has a body with a rectangular or square outer contour, and a walking part is arranged at the bottom of the body to form a negative pressure adsorption cavity for adsorbing the whole cleaning robot on the surface to be cleaned. A cover shell is installed on the body. The walking part includes walking wheels for abutting against the surface to be cleaned and driving the body to move. A plurality of cleaning cloth mounting seats capable of rotating relative to the body are also arranged at intervals at the bottom of the body. The cleaning cloth mounting seats are driven by a driving module and a cleaning cloth is installed at the bottom thereof.

[0006] Further, corner auxiliary cleaning mechanisms are arranged at the four corners of the bottom of the body. The corner auxiliary cleaning mechanisms are at least configured to wipe the corner areas that cannot be touched by the cleaning cloth due to the obstruction of the outer frame of the surface to be cleaned when the cleaning robot reaches the corners of the surface to be cleaned.

[0007] Further, the corner auxiliary cleaning mechanisms are configured to be able to rotate relative to the body.

[0008] Further, the corner auxiliary cleaning mechanism is in contact with the rag mounting base or the rag and rotates driven by the rotation of the above two.

[0009] Further, the corner auxiliary cleaning mechanism includes a cylindrical body that can rotate relative to the body and a wiping component arranged on the cylindrical body. The wiping component is driven to rotate by the cylindrical body to wipe the corner area of the surface to be cleaned.

[0010] Further, a base protruding downward is provided at the bottom of the body. The cylindrical body at least includes a needle roller bearing mounted on the base, and the wiping component is detachably mounted on the cylindrical body.

[0011] Wherein, the bottom end position of the wiping component is lower than the bottom end position of the cylindrical body.

[0012] Further, the wiping component is annularly sleeved on the cylindrical body.

[0013] Further, a contact part that can abut against the bottom of the cylindrical body and contact the surface to be cleaned is provided at the bottom of the wiping component.

[0014] Further, the wiping component is annularly plugged into the cylindrical body.

[0015] Further, the wiping component is fixed on the cylindrical body by threads.

[0016] Further, bristles or scraping blades are provided at the bottom of the wiping component.

[0017] Further, the rag mounting bases are divided into multiple groups, and each group includes at least two rag mounting bases. The number of the driving modules corresponds to the number of groups of the rag mounting bases, and each group of rag mounting bases is independently driven by a corresponding driving module.

[0018] Further, each group of rag mounting bases also corresponds to a traveling wheel one by one, and the driving module that drives the rag mounting base to rotate is also configured to drive the corresponding traveling wheel to rotate.

[0019] Further, a chamber is provided in the rag mounting base and forms the negative pressure adsorption chamber by being connected to the suction module. The traveling wheel is installed in the chamber of the corresponding rag mounting base and is located at the center of the rag mounting base. An installation hole penetrating the center of the rag mounting base is provided on the rag mounting base, and a support seat passing through the installation hole is installed on the body. The traveling wheel is installed on the support seat;

[0020] The driving module includes a motor connected to the body. The same set of rag mounting seats are connected to the same motor through a transmission structure (such as a gear transmission structure or a belt transmission structure). A first bevel gear is provided along the circumference of the mounting hole formed in the rag mounting seat. One end of the shaft of the traveling wheel is mounted with a second bevel gear that meshes with the first bevel gear. The first bevel gear is coaxially arranged with the rag mounting seat, and the second bevel gear is coaxially arranged with the traveling wheel.

[0021] Preferably, the transmission structure includes a toothed ring provided on the rag mounting seat and a gear that meshes with the toothed ring and is driven by the motor. Specifically, the transmission structure is a gear transmission structure, which includes a toothed ring and a gear. The toothed ring is provided on the rag mounting seat, and the gear is driven by the motor and meshes with the toothed ring on the same set of rag mounting seats. Among them, the gear can be directly connected to the motor output shaft or can be connected to the motor output shaft through a speed reducer. In addition, the gear can directly mesh with the toothed ring or can be connected to the toothed ring through a synchronous gear (for example, the gear meshes with the synchronous gear, and the synchronous gear then meshes with the toothed ring).

[0022] Further, the traveling wheel is configured to be able to deflect relative to the body to adjust the traveling direction of the cleaning robot. Preferably, the traveling wheel is configured to be able to deflect relative to the body in a direction parallel to the surface to be cleaned to adjust the traveling direction of the cleaning robot.

[0023] Further, the traveling wheel is configured to be able to elastically deform or displace when the cleaning robot is adsorbed on the surface to be cleaned, so that while the rag mounting seat is attached to the surface to be cleaned, the traveling wheel is tightly pressed against the surface to be cleaned.

[0024] Further, the rag mounting seat is configured to be able to elastically deform under the extrusion of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned;

[0025] At least two sets of rag mounting seats are configured such that after they are adsorbed on the surface to be cleaned, the pressure of one side of them on the surface to be cleaned is greater than the pressure of other parts of them on the surface to be cleaned, and at least after they are adsorbed on the surface to be cleaned, the rotation axes of the at least two sets of rag mounting seats are staggered to form an angle.

[0026] Further, at least one set of rag mounting seats is configured to be able to deflect relative to the body when the cleaning robot is adsorbed on the surface to be cleaned;

[0027] At least two sets of rag mounting seats are configured such that before they are adsorbed on the surface to be cleaned, the rotation axes of the at least two sets of rag mounting seats are staggered to form an angle, and after they are adsorbed on the surface to be cleaned, the rotation axes of the at least two sets of rag mounting seats are parallel, and the pressure of one side of them on the surface to be cleaned is greater than the pressure of other parts of them on the surface to be cleaned.

[0028] Furthermore, the surface of the walking wheels is provided with drainage textures (such as drainage grooves / grooves) for draining water on the wet surface to be cleaned, so as to maintain good friction.

[0029] As is well known, wetting the surface to be cleaned by spraying water can better remove stains. Different from the solution using a crawler as the walking mechanism in the background art, the present utility model uses walking wheels as the walking mechanism. Compared with the crawler, the walking wheels can better drain the accumulated water on the contact surface and avoid the phenomenon of hydroplaning (the contact surface of the crawler is large and hydroplaning is likely to occur), enabling the cleaning robot to walk at high speed on the surface to be cleaned with accumulated water without slipping, and having higher walking stability and adaptability. At the same time, during the straight-line movement of the cleaning robot, the cleaning cloth is closely attached to the surface to be cleaned and rotates relative to the surface to be cleaned. Compared with the way that the cleaning cloth is fixed in the background art, the continuously rotating cleaning cloth can more effectively remove stains and improve the cleaning efficiency. In addition, since the present utility model uses walking wheels to replace the traditional crawler structure, there are no problems such as the elongation and breakage of the crawler, reducing the maintenance and accessory replacement costs during use and being beneficial to reducing the failure rate of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a perspective view of the cleaning robot;

[0031] Figure 2 is an exploded view of the cleaning robot;

[0032] Figure 3 is a schematic diagram of the bottom structure of the cleaning robot Figure 1 ;

[0033] Figure 4 is a schematic diagram of the bottom structure of the cleaning robot Figure 2 ;

[0034] Figure 5 is a schematic diagram of the internal structure of the cleaning robot Figure 1 ;

[0035] Figure 6 is a schematic diagram of the internal structure of the cleaning robot Figure 2 ;

[0036] Figure 7 is a schematic diagram of the internal structure of the cleaning robot Figure 3 ;

[0037] Figure 8 is a cross-section of the cleaning robot Figure 1 ;

[0038] Figure 9 is a cross-section of the cleaning robot Figure 2 ;

[0039] Figure 10Schematic diagram of the structure of the rag mounting base and the traveling wheels;

[0040] Figure 11 Schematic diagram of the bottom structure of the cleaning robot Figure 3 ;

[0041] Figure 12 Front view of the cleaning robot;

[0042] Figure 13 Schematic diagram of the structure of the corner auxiliary cleaning mechanism and the base;

[0043] Figure 14 Exploded view of the corner auxiliary cleaning mechanism and the base.

[0044] In the figure:

[0045] 1 - rag mounting base 1a - chamber 1b - mounting hole

[0046] 2 - body 3 - traveling wheel 3a - shaft

[0047] 4 - drive module 4a - motor 4b - first bevel gear

[0048] 4c - second bevel gear 4d - gear ring 4e - gear

[0049] 4f - synchronous gear 5 - suction module 6 - support

[0050] 7 - controller 8 - housing 9 - fixing plate

[0051] 10 - nozzle 11 - air flow channel 12 - working chamber

[0052] 13 - corner auxiliary cleaning mechanism 13a - cylindrical body

[0053] 13b - wiping component 14 - convex part 15 - base. Detailed implementation manner

[0054] For the convenience of those skilled in the art to more clearly understand the concept of the present utility model, the following further description is made in conjunction with the embodiments and the drawings.

[0055] As Figures 1-14As shown, the cleaning robot of this embodiment mainly includes a suction module 5, a drive module 4, a controller 7, and a body 2. Different from existing tracked cleaning robots, the cleaning robot of this embodiment further includes a rotatable rag mounting base 1, which is usually a disc. A cleaning element with a wiping and decontamination function, such as a rag or a sponge, is installed at the bottom of the rag mounting base 1. Taking the rag as an example, the rag can be directly fixed to the bottom of the rag mounting base 1 or made into a hat shape to be put on the rag mounting base 1 for easy disassembly and replacement. Generally, a negative pressure adsorption cavity for adsorbing the whole cleaning robot onto the surface to be cleaned is formed at the bottom of the body 2. According to requirements, the number of the rag mounting bases 1 can be four or more. In this embodiment, the case where the number is four is specifically described. The above suction module 5 includes, but is not limited to, a negative pressure fan or a vacuum pump. In addition, a housing 8 for protecting internal parts can be installed on the body 2. The main switch of the machine can be set on the outside of the body 2, and a power indicator light can be configured on the housing 8. A horn capable of emitting a prompt sound can also be installed on the body 2 or the housing 8. In addition, since the air duct and the control circuit of the cleaning robot involved in this embodiment are similar to those of existing cleaning robots, for the purpose of simplifying the description, the above content will not be elaborated further.

[0056] Generally, the four rag mounting bases 1 are spaced apart and can be distributed at any position on the bottom of the cleaning robot. However, for the sake of ensuring the stability of the machine, in this embodiment, the four rag mounting bases 1 are evenly distributed at the bottom of the body 2 (such as at the four corners). These rag mounting bases 1 can be grouped in pairs, and each pair is controlled separately. Specifically, in this embodiment, the four rag mounting bases 1 are evenly divided into two groups and symmetrically arranged on both sides of the bottom of the body 2. Refer to Figure 3 、 4 . Different from the practice of existing cleaning robots using a tracked walking mechanism, the cleaning robot of this embodiment mainly relies on the walking wheels 3 to walk on the surface to be cleaned. The aforementioned surface to be cleaned includes, but is not limited to, the surface of a plate member (such as a vertical glass window, a glass curtain wall, etc.). In this embodiment, the surface to be cleaned is mainly a glass window for description. In this embodiment, a walking part is provided at the bottom of the body 2, and the walking part includes walking wheels 3 for abutting against the surface to be cleaned and driving the body 2 to move. Among them, four walking wheels 3 are provided at the bottom of the body 2, so that the cleaning robot can achieve four-wheel drive and walk efficiently.

[0057] From Figure 1It can be seen that the overall shape of the cleaning robot in this embodiment adopts a square (rectangular or square) outer contour. Of course, this design can be adjusted to other shapes according to needs. Each side of the robot corresponds to two rag mounting seats 1 (in fact, the number of rag mounting seats 1 is still four). In the design, it is sought to make the sum of the diameters of the two rag mounting seats 1 corresponding to each side of the body 2 close to the corresponding side length of that side, so as to ensure that the rag mounting seats 1 can cover almost the entire width of one side of the robot. This layout ensures that during the walking process of the robot, the cleaning area can be maximally covered. Through such a design, the four rag mounting seats 1 work together to significantly expand the cleaning coverage area of the robot. Such optimization not only improves the cleaning efficiency, but also enables the robot to handle a larger area during a single walk, thus achieving higher working performance in the cleaning task.

[0058] To improve the problem of poor cleaning effect of existing cleaning robots, in this embodiment, the rag originally fixed on the machine is installed on the rag mounting seat 1, and the rotation of the rag mounting seat 1 drives the rag to continuously contact the surface to be cleaned, improving the cleaning effect. Among them, a cleaning robot equipped with a fixed rag can usually only clean the surface to be cleaned once during a single walk. In contrast, for the rag installed on the rag mounting seat 1 in this embodiment, due to the continuous rotation of the rag mounting seat 1, the rag can clean the same area multiple times. This multi-frequency cleaning method can more effectively remove stains and achieve a more excellent cleaning effect.

[0059] Since the shape of the cleaning robot is square and the rotation coverage area of the rag mounting seat 1 is circular, when the robot moves to the corner of the square glass, the corner area will not be touched by the rag at the bottom of the rag mounting seat 1 (equivalent to the corner area not being covered by the rotation coverage area of the rag mounting seat 1), making the corner area of the glass a cleaning dead corner. Different from traditional cleaning robots, in this embodiment, corner auxiliary cleaning mechanisms 13 are provided at the four corners of the bottom of the body 2. Usually, one corner auxiliary cleaning mechanism 13 is provided at each of the four corners of the bottom of the body 2, as can be seen in Figure 11 、 12 . When the cleaning robot performs cleaning work on the glass surface, the corner auxiliary cleaning mechanism 13 can wipe the area outside the rotation track of the rag mounting seat 1 / rag (that is, outside the rotation coverage area of the rag mounting seat 1 / rag), which can expand the cleaning coverage range of the cleaning robot and improve the cleaning efficiency. Moreover, when the cleaning robot reaches the corner of the glass surface, the corner auxiliary cleaning mechanism 13 can also wipe the corner area that cannot be touched by the rag due to the obstruction of the outer frame of the surface to be cleaned (that is, the glass frame), thereby reducing cleaning dead corners such as window corners and improving the cleaning effect. The bottom end surface of the rag mounting seat 1 is usually covered by the rag, so their rotation tracks and rotation coverage areas are the same.

[0060] Generally speaking, the corner auxiliary cleaning mechanism 13 can wipe the glass surface by relying on the movement of the machine. However, in order to further improve the cleaning efficiency and cleaning effect, the corner auxiliary cleaning mechanism 13 can be set to be rotatable relative to the machine body 2. Specifically, the corner auxiliary cleaning mechanism 13 includes a rotatable cylindrical body 13a and a wiping component 13b mounted on the cylindrical body 13a. The wiping component 13b is driven to rotate by the cylindrical body 13a to wipe the glass surface. Among them, the cylindrical body 13a can be driven to rotate by a driving motor, so as to drive the wiping component 13b to rotate; alternatively, the cylindrical body 13a or the wiping component 13b can rotate by abutting against the glass frame and moving; or, the rotating rag mounting seat 1 or rag is used to drive the cylindrical body 13a or the wiping component 13b to rotate.

[0061] In this embodiment, the last method is selected, that is, the rotating rag mounting seat 1 or rag is used to drive the corner auxiliary cleaning mechanism 13 (that is, the cylindrical body 13a or the wiping component 13b) to rotate. Specifically, the cylindrical body 13a or the wiping component 13b is in contact with the rag mounting seat 1 or rag and is driven to rotate when the rag mounting seat 1 or rag rotates. Compared with other methods, the method adopted in this embodiment does not require additional driving elements, saves costs, and helps to simplify the structure. At the same time, since there is no need to move the machine close to the glass frame anymore, external factors such as the glass frame are reduced, and the movement stability of the machine can be better.

[0062] In this embodiment, pedestals 15 are provided at the four corners of the bottom of the machine body 2. The pedestals 15 protrude downward to form protruding portions 14. The protruding portions 14 can be cylindrical or cylindrical. Among them, the wiping component 13b can be annular, for example, it can be a ring sleeve component made of PVC foam material. The wiping component 13b is usually sleeved on the cylindrical body 13a and extends beyond the bottom of the cylindrical body 13a, that is, the bottom position of the wiping component 13b is lower than the bottom position of the cylindrical body 13a. The bottom of the wiping component 13b is used to contact the glass surface for wiping it. The wiping component 13b can be tightly sleeved on the cylindrical body 13a or can be rotatably sleeved on the cylindrical body 13a. The cylindrical body 13a can be installed on the protruding portion 14 with a gap to realize relative rotation between the two. The cylindrical body 13a can also be fixedly installed on the protruding portion 14, and then the wiping component 13b is rotatably sleeved on the cylindrical body 13a, and the rotation of the wiping component 13b can also be realized. The connection methods between these components include but are not limited to the above methods, and appropriate methods can be selected according to specific requirements in actual applications.

[0063] In this embodiment, the cylindrical body 13a at least includes a needle roller bearing mounted on the protrusion 14 of the base 15, and the wiping member 13b is detachably mounted on the cylindrical body 13a. Here, the cylindrical body 13a is taken as an example of a needle roller bearing for illustration. As Figure 13 , 14 shown, the annular wiping member 13b is sleeved on the needle roller bearing, and the needle roller bearing is then mounted on the protrusion 14. The wiping member 13b can rotate on the protrusion 14 through the needle roller bearing. Among them, the ways in which the cylindrical body 13a or the wiping member 13b contacts the rag mounting seat 1 or the rag include but are not limited to squeezing contact (i.e., tight fitting), gear meshing, etc. In actual application, it can be reasonably selected according to specific requirements. Taking the contact between the wiping member 13b and the rag mounting seat 1 as an example, reference can be made to Figure 11 , 12 . The rag mounting seat 1 is driven by the driving module to rotate, thereby driving the wiping member 13b in contact with it to rotate, so as to realize the wiping and cleaning of the glass surface. During use, the side of the wiping member 13b is usually in tight fit with the side of the rag mounting seat 1, and sufficient friction is generated between the two through appropriate contact pressure, which can ensure that the wiping member 13b can be driven to rotate together when the rag mounting seat 1 rotates. It is worth mentioning that in this embodiment, the rotating rag mounting seat 1 drives the wiping member 13b (equivalent to the driven part) to rotate together, so that the rag mounting seat 1 and the wiping member 13b can work simultaneously to clean the glass together, thereby improving the cleaning efficiency and cleaning effect.

[0064] For the convenience of disassembly, assembly and replacement, the base 15 can be mounted on the machine body 2 by means of snap connection. Reference can be made to Figures 11-14 . The needle roller bearing can also be fixed on the protrusion 14 by snap. In order to increase the contact area between the annular wiping member 13b and the glass surface, a contact part that abuts against the bottom of the cylindrical body 13a and contacts the glass surface can be provided at the bottom of the wiping member 13b, and this contact part can be a cleaning retaining ring or a cleaning retaining piece. In addition, the annular wiping member 13b can not only be sleeved on the cylindrical body 13a, but also be mounted on the cylindrical body 13a by threads (including internal threads and external threads) to facilitate disassembly, assembly and replacement. In addition, the wiping member 13b can not only be an annular member, but also an annular plug-shaped member. The annular plug-shaped wiping member 13b can be fixed by being squeezed and inserted into the cylindrical body 13a. Moreover, bristles or rubber scraping blades can be provided at the bottom of the wiping member 13b to improve the cleaning ability.

[0065] To achieve boundary detection of the cleaning robot, an infrared sensor for detecting the glass surface to determine whether the robot reaches the glass boundary may also be provided at the base 15. The infrared sensor can be installed in the convex portion 14 of the cylindrical structure, so that the infrared sensor can pass through the convex portion 14 to detect the glass surface. Of course, the wiping member 13b is also annular (a ring-shaped cleaning retaining ring can be provided at its bottom end), which can avoid interfering with the detection of the infrared sensor. In addition, a vertical notch can be provided at the end of the convex portion 14 of the cylindrical structure to facilitate the installation of the cylindrical body 13a on the convex portion 14 more easily.

[0066] Generally speaking, in traditional tracked cleaning robots, an independent chamber is usually provided in the middle of the body. This chamber is either located between the two tracks or includes the tracks. The purpose of doing this is to form a negative pressure in the chamber so that the robot can adsorb on the surface to be cleaned. However, since there is only one adsorption chamber, once air leakage occurs, the adsorption force between the robot and the surface to be cleaned will be weakened, which may cause the robot to be unable to maintain stable adsorption, thus increasing the risk of falling. Different from the above traditional method, in this embodiment, a chamber 1a is integrated in each rag mounting seat 1. Through the connection with the suction module 5, the air in the chamber 1a can be extracted, thereby forming a negative pressure adsorption chamber and generating a negative pressure adsorption force, enabling the cleaning robot to firmly adsorb on the surface to be cleaned. In the adsorption state, the cleaning element (rag) on the rag mounting seat 1 closely adheres to the surface to be cleaned and rotates with the rag mounting seat 1, thereby performing an efficient cleaning function. A significant advantage of this embodiment is the adoption of a multi-point adsorption mechanism. By providing an adsorption chamber 1a on each of the four rag mounting seats 1, compared with the traditional design of only providing one adsorption chamber in the middle of the body, this multi-point distribution significantly enhances the reliability of adsorption. Even if one of the adsorption chambers 1a leaks air, the other chambers 1a can still provide adsorption force, which helps to prevent the robot from falling.

[0067] Another advantage of the cleaning robot in this embodiment is that the rag is installed on the rag mounting seat 1, enabling the rag to have closer contact with the surface to be cleaned during the rotation of the rag mounting seat 1, thereby achieving a more uniform and efficient cleaning effect. The advantages of this design are mainly reflected in two aspects: First, the rotation of the rag mounting seat 1 can drive the rag to contact the surface to be cleaned with a certain pressure and angle, which helps to achieve a more uniform cleaning effect; Second, compared with the fixed rag of the existing cleaning robot, the rotating rag mounting seat 1 provides a dynamic cleaning mechanism, allowing the rag to continuously contact the surface to be cleaned, rather than relying solely on the movement of the robot itself. In this way, the cleaning robot in this embodiment can more effectively remove stains and improve the cleaning efficiency.

[0068] In this embodiment, drainage textures (such as drainage grooves / grooves) are provided on the surface of the walking wheel 3 (similar to the tread of a tire) to further enhance its ability to drain water on a wet surface. Specifically, the drainage textures can be a plurality of grooves provided on the circumference of the walking wheel 3 for contacting the surface to be cleaned. At least one end of the groove penetrates the end face of the walking wheel 3, so that when the walking wheel 3 presses on the surface to be cleaned, the liquid (such as water) on the surface to be cleaned can flow out smoothly along the groove, effectively avoiding liquid accumulation, reducing the formation of a water film, maintaining the friction between the walking wheel 3 and the surface to be cleaned, and ensuring that the cleaning robot can maintain stable adhesion and walking performance on a wet or water-stained surface. As needed, the grooves can be straight, curved, or of other shapes. Taking the straight grooves as an example, they can be distributed in a staggered manner on the circumferential surface of the walking wheel 3. In addition, the drainage textures provided on the surface of the walking wheel 3 are not limited to groove or drainage groove structures. It can also be that the surface of the walking wheel 3 is in a certain uneven shape, as long as a drainage channel can be formed between the walking wheel 3 and the surface to be cleaned when the walking wheel 3 presses on the surface to be cleaned.

[0069] When the cleaning robot is working, the driving module 4 simultaneously drives two groups of walking wheels 3 (with the same rotational speed) to roll in the same direction on the surface to be cleaned, and the cleaning robot can move straight; when it encounters a situation where it needs to turn (such as reaching the boundary of the surface to be cleaned or passing by an obstacle), the rotational speed of one group of walking wheels 3 can be slowed down, and then the other group of walking wheels 3 with a faster speed can swing with the group of walking wheels 3 with a slower speed as the rotation axis, thereby achieving a turn (similar to a tank's steering). Of course, the above-mentioned slowed-down walking wheel 3 can also directly stop rotating, and the so-called speed is a relative state.

[0070] Among them, the two walking wheels 3 in the same group of rag mounting seats 1 can be linked through corresponding linkage structures, and a single driving module 4 is used to simultaneously drive the two walking wheels 3 in the same group to roll in the same direction.

[0071] Generally speaking, the rag mounting seat 1 and the walking wheel 3 are driven by different driving modules 4, but this not only increases the number of driving elements but also correspondingly increases the cost. For this reason, in this embodiment, a transmission structure is used to connect the rag mounting seat 1 and the corresponding walking wheel 3 to achieve linkage, thereby saving the number of driving elements and reducing the cost. Specifically, in this embodiment, a motor is used to drive the rag mounting seat 1 to rotate, and the rotational power of the rag mounting seat 1 is transmitted through the transmission structure, and then drives the walking wheel 3 to rotate. For the specific structure, please refer to Figure 2 、 4, 6 - 10. The advantages of this design are obvious: First, it reduces the number of motors required because one motor can perform the dual tasks of cleaning and walking, thus reducing costs. Second, when the robot is walking, the rag mounting base 1 can rotate synchronously, which means that the cleaning work and the walking action can be carried out simultaneously, greatly improving the cleaning efficiency.

[0072] Exemplarily, this embodiment provides a transmission structure that enables the rag mounting base 1 and the walking wheels 3 to work together. Specifically as follows: The walking wheels 3 are located at the central position of the rag mounting base 1 and are installed in the chamber 1a inside the rag mounting base 1. The rag mounting base 1 is provided with a mounting hole 1b that penetrates its center. A support 6 is installed on the body 2 and passes through the mounting hole 1b. The walking wheels 3 are installed on the support 6. The drive module 4 includes a motor 4a installed on the body 2. A gear ring 4d is provided on the rag mounting base 1. The gear ring 4d can be an internal gear ring or an external gear ring. In this embodiment, an external gear ring is selected. The gear ring 4d of the rag mounting base 1 meshes with a gear 4e, and the gear 4e is connected to the power output shaft of the motor 4a (of course, the motor 4a can also be connected to a speed reducer / reduction device, and the speed reducer / reduction device is then connected to the gear 4e). In this way, when the motor 4a rotates, it will drive the rag mounting base 1 to rotate for cleaning work. In addition, a first bevel gear 4b is provided on the periphery of the mounting hole 1b opened in the rag mounting base 1. One end of the shaft 3a of the walking wheel 3 is installed with a second bevel gear 4c. The first bevel gear 4b meshes with the second bevel gear 4c. The first bevel gear 4b is coaxially arranged with the rag mounting base 1, and the second bevel gear 4c is coaxially arranged with the walking wheel 3. In this way, the rotating rag mounting base 1 can drive the walking wheels 3 to roll through the bevel gear structure. In addition, the middle part of the rag can be hollowed out and designed as an annular structure, and the rag covers the bottom end surface of the rag mounting base 1, so that when the rag is installed on the rag mounting base 1, it can avoid the walking wheels 3 and prevent interference with the rolling of the walking wheels 3.

[0073] To further reduce the driving elements, this embodiment also enables the two rag mounting bases 1 in each group to be linked. For example, as Figure 2 , 7 shown, the gear rings 4d on the two rag mounting bases 1 in each group are simultaneously meshed with a synchronizing gear 4f, and the gear 4e connected to the output shaft of the motor 4a meshes with the synchronizing gear 4f. In this way, one motor can simultaneously control the two rag mounting bases 1 and the two walking wheels 3 in the same group to achieve synchronous operation. Of course, the synchronizing gear 4f can also replace the gear 4e described above and be directly connected to the output shaft of the motor 4a to directly drive the synchronizing gear 4f to rotate by the motor 4a.

[0074] In actual application, between the output shaft of the motor 4a (such as the gear 4e connected to the output shaft) and the rag mounting base 1 (such as the gear ring 4d on the rag mounting base 1), they can be connected not only through gear transmission but also through belt transmission (such as V-belt or synchronous belt). However, relatively speaking, the gear transmission structure is more preferable.

[0075] In this way, this embodiment not only realizes the synchronous operation of the rag mounting base 1 and the traveling wheels 3, but also greatly reduces the number of required driving elements, improving the overall efficiency and performance.

[0076] It is worth mentioning that in this embodiment, the motor 4a drives the gear ring 4d on the rag mounting base 1 through the gear 4e to first drive the rag mounting base 1 to rotate, and then drives the first bevel gear 4b arranged along the periphery of the mounting hole 1b of the rag mounting base 1 to rotate through the rotation of the rag mounting base 1. Finally, the second bevel gear 4c installed on the shaft rod of the traveling wheel 3 is driven by the first bevel gear 4b to drive the traveling wheel 3 to roll. Since the traveling wheel 3 is driven by the rag mounting base 1 through the gear transmission structure, the rotational speed of the traveling wheel 3 can be different from that of the rag mounting base 1, and the rotational speed of the rag mounting base 1 can be lower than that of the traveling wheel 3.

[0077] Since the cleaning robot provided by this embodiment can make the rotational speed of the rag mounting base 1 lower than that of the traveling wheel 3, when the motor 4a stops, the rag mounting base 1 with a lower rotational speed will produce a dragging effect on the high-speed rotating traveling wheel 3 (similar to the engine braking of a car). Therefore, the traveling wheel 3 can stop within a short time, which can better avoid the accident of the machine falling from the edge of the glass and improve the use safety.

[0078] In addition, in this embodiment, a first bevel gear 4b (this first bevel gear 4b is equivalent to a bevel gear ring) is arranged along the periphery of the mounting hole 1b opened on the rag mounting base 1, and a second bevel gear 4c meshing with the first bevel gear 4b is installed at the end of the shaft rod of the traveling wheel 3 below it to transmit power to the traveling wheel 3. According to the force analysis during the bevel gear transmission process, when the rag mounting base 1 drives the traveling wheel 3 to rotate, the first bevel gear 4b will apply a downward component force to the second bevel gear 4c, and this component force is transmitted through the shaft rod 3a and acts on the traveling wheel 3, which can increase the normal pressure exerted by the traveling wheel 3 on the glass surface (that is, increase the friction between the traveling wheel 3 and the glass), so as to better avoid the situation of the traveling wheel 3 slipping relative to the glass surface (especially obvious when the glass surface is wet), and improve the traveling stability of the cleaning robot on the glass surface (especially on the wet and slippery glass surface).

[0079] In this embodiment, a gear ring 4d is directly arranged on the rag mounting base 1 and a first bevel gear 4b is arranged on the periphery of the mounting hole 1b to first transmit the power of the motor 4a to the rag mounting base 1, and then drive the running wheel 3 whose rotating shaft 3a is perpendicular to the rag mounting base 1 to roll at different speeds, thereby realizing complex power transmission in an extremely compact space through an extremely simple structure.

[0080] In addition, since the existing cleaning robot usually needs to change direction when turning, the body 2 usually needs to change direction together, resulting in a less than ideal customer experience. Therefore, in actual application, the walking wheel 3 can be designed to be deflected relative to the body 2 (usually deflected in a direction parallel to the surface to be cleaned), so as to achieve the effect that the body 2 is stationary and only the walking wheel 3 is turned, so that it will appear that the machine is running more smoothly, and the travel efficiency of the machine can be further improved. For example, the walking wheel 3 is configured to be able to deflect 90 degrees relative to the body 2 to achieve a right-angle turn in situ, and of course other deflection angles are also possible. The specific implementation method includes, but is not limited to, designing the support 6 on which the walking wheel 3 is installed to be movably installed on the body 2, and then driving the support 6 to rotate on the body 2 through a driving element (such as a motor), and the walking wheel 3 will follow the support 6 to rotate around the rotation axis of the support 6 by a certain angle (such as 90 degrees), thereby achieving the orientation adjustment of the walking wheel 3. In contrast, conventional tracked robots are very limited in turning and cleaning operations in narrow spaces, whereas the cleaning robot of this embodiment has higher operational flexibility by providing deflectable walking wheels 3, and can adapt to turning and cleaning operations in narrow spaces.

[0081] like Figure 3 , 4 As shown, the two ends of the shaft rod 3a of the running wheel 3 are installed in the U-shaped installation grooves on both sides of the bottom of the support 6, and then the fixing plate 9 is installed at the bottom of the support 6 to restrict the two ends of the shaft rod 3a of the running wheel 3 in the installation grooves and enable it to rotate therein. Among them, the fixing plate 9 is provided with a "C" or "匚" shaped through hole around the running wheel 3 to achieve air circulation in the chamber 1a of the rag mounting seat 1. Such a design not only looks more beautiful, but also makes the structure more compact by cleverly utilizing the limited space.

[0082] In order to make the driving wheel 3 closely adhere to the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned, the driving wheel 3 can be made of an elastically deformable rubber or plastic material, and its bottom end position is lower than the bottom end position of the rag mounting seat 1. When the cleaning robot is placed on the surface to be cleaned, the driving wheel 3 first contacts the surface to be cleaned. When the cleaning robot is adsorbed on the surface to be cleaned, the driving wheel 3 undergoes elastic deformation under the extrusion of the surface to be cleaned, and thus is tightly pressed against the surface to be cleaned. At the same time, the rag mounting seat 1 also adheres to the surface to be cleaned. Of course, the driving wheel 3 can be entirely made of an elastically deformable rubber or plastic material, or only the circumferential part in contact with the surface to be cleaned can be made of an elastically deformable rubber or plastic material, and the middle part can be made of a hard material.

[0083] Since the traveling mechanism of the cleaning robot uses the driving wheel 3, enabling it to adapt to the cleaning work on a wet surface, therefore, in this embodiment, nozzles 10 (such as atomizing nozzles) are further provided on the side of the body 2 (such as the front and rear sides) for spraying water onto the surface to be cleaned during travel to moisten the surface to be cleaned and reduce the cleaning difficulty. Of course, a water tank for supplying water to the nozzles 10 is also provided on the body 2.

[0084] Generally speaking, the chambers 1a of the four rag mounting seats 1 can be separately controlled by a plurality of suction modules 5. However, in order to reduce the number of suction modules 5, make the machine structure more compact, and reduce costs, the chambers 1a of the four rag mounting seats 1 can also be controlled by the same suction module 5. Each of the four chambers 1a is connected to the working chamber 12 where the suction module 5 is located through an air flow channel 11, as can be seen in Figure 6 . Such a setting can not only save the number of suction modules 5 used, but also easily maintain the pressure balance of the four chambers 1a.

[0085] Generally speaking, the cleaning robot can rely on the driving wheel 3 to achieve walking. However, in order to further increase the walking speed, the rag mounting seat 1 can also be utilized to provide an additional driving force through the rotating rag mounting seat 1, jointly driving the cleaning robot to walk with the rolling driving wheel 3.

[0086] As an implementation manner, at least one set of rag mounting bases 1 can deflect relative to the body 2 when the cleaning robot is adsorbed on the surface to be cleaned. For example, one set of rag mounting bases 1 or two sets of rag mounting bases 1 can deflect. Hereinafter, the case where two sets of rag mounting bases 1 can deflect will be taken as an example for illustration. When the two sets of rag mounting bases 1 are placed on the surface to be cleaned, one side of them first contacts the surface to be cleaned. And after they are adsorbed on the surface to be cleaned, the pressure of this side on the surface to be cleaned is greater than the pressure of other parts of them on the surface to be cleaned. And before the rag mounting bases 1 are adsorbed on the surface to be cleaned, the rotation axes of the two sets of rag mounting bases 1 intersect to form an angle. After the rag mounting bases 1 are adsorbed on the surface to be cleaned, the two sets of rag mounting bases 1 deflect, and the corresponding rotation axes of the two sets of rag mounting bases 1 will be parallel. Moreover, these two sets of rag mounting bases 1 can rotate relative to the surface to be cleaned in a suitable direction so that the resultant force of all the static frictional forces exerted by the surface to be cleaned on all the rag mounting bases 1 is greater than zero and points to one side of the cleaning robot. In the above cleaning robot, the driving module 4 can drive the two sets of walking wheels 3 to roll on the surface to be cleaned at the same time, so as to realize the straight-line walking of the cleaning robot, and the walking speed is faster. At the same time, when the above two sets of rag mounting bases 1 perform the cleaning function, the resultant force of all the static frictional forces exerted by the surface to be cleaned on all the rag mounting bases 1 also points to the traveling direction, and this resultant force also serves as the driving force for the straight-line walking of the cleaning robot. In this way, the walking speed of the cleaning robot will be further increased.

[0087] Of course, the direction of the resultant force of all the static frictional forces exerted by the surface to be cleaned on all the rag mounting bases 1 referred to in this embodiment is not limited to the above manner. It may also not point to the direction of the straight-line walking of the cleaning robot driven by the two sets of walking wheels 3. For example, this resultant force may point to a direction deviating from the direction of the straight-line walking of the cleaning robot driven by the two sets of walking wheels 3, thereby forming a component force in the same direction as the direction of the straight-line walking of the cleaning robot driven by the two sets of walking wheels 3 to serve as the driving force for driving the cleaning robot to go straight, or forming a component force in the opposite direction to the direction of the straight-line walking of the cleaning robot driven by the two sets of walking wheels 3 to serve as the resistance for driving the cleaning robot to go straight. In addition, the direction of this resultant force may also be completely opposite to the direction of the straight-line walking of the cleaning robot driven by the two sets of walking wheels 3, and can be selected as needed in actual applications.

[0088] When the cleaning robot works, the corresponding driving module 4 drives the two sets of rag mounting bases 1 to rotate relative to the surface to be cleaned in opposite directions (the two rag mounting bases 1 of one set both rotate counterclockwise, and the two rag mounting bases 1 of the other set both rotate clockwise) at the same time. The resultant force of all the static frictional forces exerted by the surface to be cleaned on the two sets of rag mounting bases 1 is greater than zero and points to one side of the cleaning robot, so that the cleaning robot travels in a straight line along the direction of the resultant force. At the same time, the two sets of walking wheels 3 also drive the cleaning robot to travel in the same direction. Under the combined drive of the walking wheels 3 and the rag mounting bases 1, the traveling speed of the cleaning robot is faster.

[0089] To ensure that when the two groups of rag mounting seats 1 rotate in opposite directions, their corresponding traveling wheels 3 can roll in the same direction, the two groups of second bevel gears 4c can be respectively arranged on different sides of the two groups of rag mounting seats 1 (mainly referring to the first bevel gears 4b integrated therewith) (that is, one group of second bevel gears 4c is arranged on the left side of the corresponding rag mounting seat 1, and the other group of second bevel gears 4c is arranged on the right side of the corresponding rag mounting seat 1). Also, to ensure that when the two groups of rag mounting seats 1 rotate in opposite directions, the cleaning robot can be driven to walk in a straight line, the deflection directions of the two groups of rag mounting seats 1 when adsorbed on the surface to be cleaned can be set to different directions (the left side of one group of rag mounting seats 1 deflects upward and the right side deflects downward, that is, deflects clockwise, and the left side of the other group of rag mounting seats 1 deflects downward and the right side deflects upward, that is, deflects counterclockwise).

[0090] It should be noted that there are many structures for realizing the deflectable rag mounting seat 1. One of the ways is shown below: The same group of rag mounting seats 1, traveling wheels 3, and drive module 4 are installed on a deflection housing (not shown in the figure). This deflection housing is then installed on the body 2 through a rotating shaft, and a deflection driving mechanism (such as an elastic member made of elastic cotton or the like) for applying a deflection acting force to the rag mounting seat 1 that can deflect relative to the body 2 can be arranged between the deflection housing and the body 2. By means of the deflection acting force applied by this deflection driving mechanism, when the two groups of rag mounting seats 1 are placed on the surface to be cleaned, one side of them first contacts the surface to be cleaned, and after the two groups of rag mounting seats 1 are adsorbed on the surface to be cleaned, the pressure of the aforementioned side (that is, the side that first contacts the surface to be cleaned) on the surface to be cleaned is greater than the pressure of its other parts on the surface to be cleaned.

[0091] As another implementation manner, the two groups of rag mounting seats 1 can undergo elastic deformation under the extrusion of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned. When the two groups of rag mounting seats 1 are placed on the surface to be cleaned, one side of them first contacts the surface to be cleaned, and after they are adsorbed on the surface to be cleaned, the pressure of this side on the surface to be cleaned is greater than the pressure of its other parts on the surface to be cleaned. Moreover, before and after the rag mounting seats 1 are adsorbed on the surface to be cleaned, the rotation axes of the two groups of rag mounting seats 1 are staggered to form an angle (the rotation axes of the two rag mounting seats 1 in the same group can be in the same plane and parallel to each other). Also, the two groups of rag mounting seats 1 can rotate relative to the surface to be cleaned in a suitable direction so that the resultant force of all the static frictional forces applied by the surface to be cleaned to all the rag mounting seats 1 is greater than zero and points to the side of the cleaning robot. The working principle of the rotating rag mounting seats 1 and the rolling traveling wheels 3 jointly driving the cleaning robot to go straight in this implementation manner is similar to the aforementioned implementation manner. For the sake of simplicity of expression, the above content will not be elaborated further.

[0092] The above embodiments are preferred implementation solutions of the present utility model. Any obvious substitution without departing from the concept of the technical solution is within the protection scope of the present utility model.

Claims

1. A cleaning robot, comprising a body (2) with a rectangular or square outer contour, and a walking portion arranged at the bottom of the body (2) and forming a negative pressure adsorption chamber for adsorbing the cleaning robot as a whole onto a surface to be cleaned, characterized in that: The walking portion comprises walking wheels (3) for abutting against the surface to be cleaned and driving the machine body (2) to move; a plurality of rag mounting seats (1) capable of rotating relative to the machine body (2) are also arranged at intervals at the bottom of the machine body (2); the rag mounting seats (1) are driven by a driving module (4) and a rag is mounted at the bottom thereof.

2. The cleaning robot according to claim 1, characterized in that: Corner auxiliary cleaning mechanisms (13) are provided at the four corners of the bottom of the body (2); the corner auxiliary cleaning mechanisms (13) are at least configured to wipe the corner areas that cannot be reached by the rag due to the obstruction of the outer frame of the surface to be cleaned when the cleaning robot reaches the corners of the surface to be cleaned.

3. The cleaning robot according to claim 2, characterized in that: The corner auxiliary cleaning mechanism (13) is configured to be rotatable relative to the machine body (2).

4. The cleaning robot according to claim 3, characterized in that: The corner auxiliary cleaning mechanism (13) is in contact with the rag mounting seat (1) or the rag and is driven to rotate when the two rotate.

5. The cleaning robot according to claim 4, characterized in that: The corner auxiliary cleaning mechanism (13) comprises a cylindrical body (13a) that can rotate relative to the machine body (2) and a wiping component (13b) disposed on the cylindrical body (13a), and the wiping component (13b) is driven by the cylindrical body (13a) to rotate so as to wipe the corner area of ​​the surface to be cleaned.

6. The cleaning robot according to claim 5, characterized in that: The bottom of the machine body (2) is provided with a base (15) protruding downwards, the cylindrical body (13a) comprises at least one needle bearing mounted on the base (15), and the wiping component (13b) is detachably mounted on the cylindrical body (13a).

7. The cleaning robot according to any one of claims 1 to 6, characterized in that: The rag mounting seats (1) are divided into a plurality of groups and each group comprises at least two rag mounting seats (1); the number of the driving modules (4) corresponds to the number of groups of rag mounting seats (1), and each group of rag mounting seats (1) is driven individually by a corresponding driving module (4).

8. The cleaning robot according to claim 7, characterized in that: Each set of rag mounting seats (1) also corresponds to a running wheel (3) one by one, and the driving module (4) that drives the rag mounting seats (1) to rotate is also configured to drive the corresponding running wheels (3) to rotate.

9. The cleaning robot according to claim 7, characterized in that: The rag mounting seat (1) is provided with a chamber (1a) therein and is connected to the suction module (5) to form the negative pressure adsorption chamber; the walking wheel (3) is mounted in the chamber (1a) of the rag mounting seat (1) corresponding thereto and is located at the center of the rag mounting seat (1); the rag mounting seat (1) is provided with a mounting hole (1b) passing through the center thereof; a support (6) passing through the mounting hole (1b) is mounted on the machine body (2); and the walking wheel (3) is mounted on the support (6); The driving module (4) comprises a motor (4a) connected to the machine body (2); the same set of rag mounting seats (1) are connected to the same motor (4a) via a transmission structure; a first bevel gear (4b) is arranged on the periphery of a mounting hole (1b) provided in the rag mounting seat (1); a second bevel gear (4c) meshing with the first bevel gear (4b) is arranged on one end of a shaft (3a) of the walking wheel (3); the first bevel gear (4b) is coaxially arranged with the rag mounting seat (1); and the second bevel gear (4c) is coaxially arranged with the walking wheel (3).

10. The cleaning robot according to claim 7, characterized in that: The walking wheels (3) are configured to be able to deflect relative to the body (2) so as to adjust the walking direction of the cleaning robot.

Images