Cleaning robot

Abstract

The utility model relates to the technical field of intelligent cleaning equipment, in particular to a cleaning robot, at least one cavity is formed in the bottom of the cleaning robot, negative pressure is formed in the cavity through a suction module so that the cleaning robot can be adsorbed to a to-be-cleaned surface, and a cleaning rotary disc attached to the to-be-cleaned surface is driven by a driving module to rotate so as to execute the cleaning function; a containing cavity is formed in the center of the cleaning rotary disc, a walking mechanism is arranged in the containing cavity and comprises a belt wheel and a crawler belt installed on the belt wheel, and the crawler belt is configured to abut against the surface to be cleaned so as to drive the cleaning robot to walk on the surface to be cleaned. A transmission mechanism is arranged between the cleaning rotary disc and the belt wheel so that the cleaning rotary disc and the belt wheel can be driven by the same driving module. The walking mechanism adopts a crawler belt structure, so that the stability of the machine in the walking process can be enhanced.

Description

Technical Field

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

[0002] Chinese patent document CN117484524A discloses a cleaning robot that uses running wheels to roll over the surface to be cleaned, thereby achieving its walking function. However, due to the small contact area between the running wheels and the surface to be cleaned, the friction generated during walking may be insufficient, which can easily cause the robot to slip during walking, thereby affecting the stability of the robot. Utility Model Content

[0003] The utility model aims to provide a cleaning robot with better walking stability.

[0004] In order to achieve the above-mentioned object, the utility model adopts the following technical solution: the cleaning robot is provided with at least one chamber at the bottom thereof, a suction module is used to form a negative pressure in the chamber so as to adsorb the robot to the surface to be cleaned, and a driving module is used to drive the cleaning turntable in contact with the surface to be cleaned to rotate so as to perform the cleaning function;

[0005] A accommodating cavity is provided at the center of the cleaning turntable, and a walking mechanism is provided in the accommodating cavity. The walking mechanism includes a pulley and a track installed on the pulley. The track is configured to abut against the surface to be cleaned to drive the cleaning robot to walk on the surface to be cleaned. A transmission mechanism is provided between the cleaning turntable and the pulley so that the cleaning turntable and the pulley can be driven by the same drive module.

[0006] Furthermore, the chamber is a accommodating cavity arranged in the cleaning turntable.

[0007] Furthermore, the cleaning turntable is provided with a mounting hole running through the center thereof, the accommodating cavity is provided with a support whose top end passes through the mounting hole and is connected to the body of the cleaning robot, and the pulley is mounted on the support.

[0008] Furthermore, the pulley includes a driving wheel and a driven wheel, the driving wheel is located at the center of the cleaning turntable, and the transmission mechanism includes a bevel gear ring arranged on the periphery of the mounting hole of the cleaning turntable and a bevel gear arranged at one end of the shaft of the driving wheel, the bevel gear ring and the bevel gear are meshed with each other, the bevel gear ring and the cleaning turntable are coaxially arranged and located on the side facing the driving wheel shaft, and the bevel gear and the driving wheel are coaxially arranged.

[0009] Furthermore, the driving module includes a motor connected to the machine body, a ring gear is provided on the side of the cleaning turntable facing the machine body, and a power output end of the motor is connected to a gear meshing with the ring gear.

[0010] Furthermore, the driven wheels include at least two driven wheels located on both sides of the driving wheel and capable of causing the track to abut against the surface to be cleaned.

[0011] Furthermore, the pulleys (such as driving wheels and driven wheels) and the crawler belts are driven by friction transmission or meshing transmission.

[0012] Furthermore, the cleaning turntable is configured to be able to elastically deform under the pressure of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable sticks to the surface to be cleaned and the crawler is pressed against the surface to be cleaned.

[0013] Furthermore, at least one cleaning turntable is configured to be deflected relative to the body when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable is attached to the surface to be cleaned and the track is pressed against the surface to be cleaned.

[0014] Furthermore, the at least two cleaning turntables are configured so that before they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are staggered to form an angle, and after they are adsorbed onto the surface to be cleaned, the rotation axes of the at least two cleaning turntables are parallel, and the pressure of one side on the surface to be cleaned is greater than the pressure of other parts on the surface to be cleaned.

[0015] Furthermore, the cleaning robot further includes a deflection drive mechanism for applying a deflection force to the cleaning turntable configured to be deflectable relative to the body, thereby causing the cleaning turntable to deflect.

[0016] Unlike existing technologies, this new model replaces the wheels of the travel mechanism with a crawler track structure, which increases the contact area with the surface to be cleaned, improves friction during travel, reduces slippage, and enhances the stability of the machine during travel. Furthermore, compared to wheels, crawlers have better grip on smooth or wet surfaces, providing more stable support. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Three-dimensional cleaning robot Figure 1 ;

[0018] Figure 2 Three-dimensional cleaning robot Figure 2 ;

[0019] Figure 3 For cleaning the turntable, crawler structure and drive module Figure 1 ;

[0020] Figure 4 For cleaning the turntable, crawler structure and drive module Figure 2 ;

[0021] Figure 5 Schematic diagram of the disassembly of the cleaning turntable, crawler structure and drive module Figure 1 ;

[0022] Figure 6 Schematic diagram of the disassembly of the cleaning turntable, crawler structure and drive module Figure 2 ;

[0023] Figure 7 Schematic diagram of the disassembly of the cleaning turntable, crawler structure and drive module Figure 3 ;

[0024] Figure 8 It is a three-dimensional diagram of the crawler structure;

[0025] Figure 9 A perspective view of a cleaning turntable;

[0026] Figure 10 This is a schematic diagram of the installation of the support and crawler structure.

[0027] In the picture:

[0028] 1 - Cleaning turntable 1a - Chamber 1b - Mounting hole

[0029] 1c——Bevel gear ring 1d——Gear ring 2——Suction module

[0030] 3——Support 3a——Connection seat 3b——Bottom shell

[0031] 3b1——through hole 4——driving wheel 4a——shaft

[0032] 4b——bevel gear 4c——bearing 5——driven wheel

[0033] 5a——Connecting shaft 6——Crawler track 7——Machine body

[0034] 8——Drive module 8a——Motor 8b——Gear

[0035] 9——Controller 10——Deflection housing 10a——Rotation shaft

[0036] 11——Spring. DETAILED DESCRIPTION

[0037] In order to facilitate those skilled in the art to more clearly understand the concept of the present invention, it is further described below in conjunction with embodiments and drawings.

[0038] Similar to the existing cleaning robot, the cleaning robot of this embodiment also includes components such as a cleaning turntable 1, a suction module 2, a driving module 8, a controller 9 and a body 7. Figure 1 、 2The number of cleaning turntables 1 can be multiple, for example, two or four. This embodiment specifically describes the number as two. The suction module 2 includes but is not limited to a negative pressure blower or a vacuum pump. In addition, since the air duct and 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 repeated.

[0039] The cleaning robot of this embodiment is an adsorption-type cleaning machine. The surfaces that can be cleaned (i.e., the surface to be cleaned) include but are not limited to the surfaces of flat plates (such as upright glass windows, glass curtain walls, etc.). In order for the cleaning robot to be adsorbed on the surface to be cleaned, at least one chamber 1a should be provided at the bottom of the cleaning robot. A negative pressure is formed in the chamber 1a by the suction module 2 to adsorb the cleaning robot on the surface to be cleaned, and the cleaning function is performed by the cleaning turntable 1 that is attached to the surface to be cleaned. The above-mentioned chamber 1a can be provided on the body 7 or on the cleaning turntable 1. Figure 3 、 7 As shown, in this embodiment, the chamber 1a is arranged in the cleaning turntable 1. Like the existing cleaning robots, the cleaning robot of this embodiment also relies on a walking mechanism to walk on the surface to be cleaned. The difference is that the walking mechanism is different. In this embodiment, the walking wheels are replaced with a crawler structure to increase the contact area with the surface to be cleaned and improve walking stability. Specifically, as Figure 6-8 and Figure 10 As shown, the running mechanism of this embodiment includes a track structure mounted on a support 3. The track structure includes pulleys and a track 6 mounted on the pulleys. The pulleys include a driving wheel 4 and a driven wheel 5. The track 6 is mounted on the driving wheel 4 and the driven wheel 5. The pulleys (driving wheel 4 and driven wheel 5) are mounted on the support 3. A accommodating cavity is defined within the cleaning turntable 1, and a mounting hole 1b is defined through the center of the cleaning turntable 1. The top end of the support 3 is connected to the body 7 through the mounting hole 1b, providing support for the track structure. The running mechanism (such as the driving wheel 4, the driven wheel 5, and the track 6) can be mounted within the accommodating cavity within the cleaning turntable 1. When the aforementioned chamber 1a is provided on the cleaning turntable 1, the accommodating cavity within the cleaning turntable 1 can serve as the chamber 1a. During use, after the cleaning robot is attached to the surface to be cleaned, the track 6 can abut / press against the surface to be cleaned and, driven by the drive module 8, roll along the surface to propel the cleaning robot across the surface.

[0040] In the above crawler structure (traveling mechanism), the driven wheels 5 include at least two driven wheels 5 located on both sides of the driving wheel 4. After the cleaning robot is adsorbed on the surface to be cleaned, the two driven wheels 5 can press against the crawler 6, causing the crawler 6 to press against the surface to be cleaned. Figure 6-8 and Figure 10As shown, in this embodiment, there is one driving wheel 4 and two driven wheels 5. The two driven wheels 5 are located on either side of the driving wheel 4 and are arranged in a triangular shape (e.g., an isosceles triangle). The top of the driving wheel 4 contacts the track 6, and the bottom of the driving wheel 4 contacts or is away from the track 6. Furthermore, the two driven wheels 5 are symmetrically located on either side of the driving wheel 4. The driving wheel 4 is positioned higher than the two driven wheels 5. The top of the driving wheel 4 contacts the upper track 6, and the bottom of the driving wheel 4 is away from the lower track 6. The track 6 can be a synchronous belt with smooth inner and outer surfaces, forming a friction transmission with the driving wheel 4 and the driven wheels 5. Alternatively, it can be a synchronous belt with a smooth outer surface and teeth on the inner surface, forming a meshing transmission with the driving wheel 4 and the driven wheels 5. The latter embodiment is preferred. Specifically, in this embodiment, the outer circumferences of the driving wheel 4 and the driven wheel 5 and the inner circumference of the track 6 are all provided with teeth, and the driving wheel 4, the driven wheel 5, and the track 6 are meshed with each other.

[0041] The number of supports 3 and track structures (traveling mechanisms) corresponds to each other and can be multiple. This embodiment illustrates a case where both supports 3 and track structures are two. When the cleaning robot is operating, the drive module 8 simultaneously drives two tracks 6 (at the same rotational speed) to roll in the same direction across the surface to be cleaned, enabling the cleaning robot to travel in a straight line. When turning (e.g., reaching the edge of the surface to be cleaned or encountering an obstacle) is necessary, the speed of one track 6 is slowed down, allowing the faster track 6 to yaw around the slower track 6, thereby enabling the robot to turn. Of course, the slowed track 6 can also stop rotating directly; the speeds referred to are relative. By replacing the running wheels with track structures (primarily the tracks 6), this embodiment increases the contact area with the surface to be cleaned, improves friction during travel, reduces slippage, and enhances the stability of the robot during travel. Furthermore, compared to running wheels, tracks 6 have better grip on smooth or wet surfaces, providing more stable support.

[0042] In this embodiment, the track structure (traveling mechanism) is disposed on the inner side of the cleaning turntable 1 (i.e., within the accommodating cavity / chamber 1a). The cleaning turntable 1 and the track structure are grouped in a one-to-one correspondence. The track structure (primarily the driving wheel 4) and the cleaning turntable 1 in each group are linked via a transmission mechanism (such as a gear transmission mechanism, and more specifically, a bevel gear structure). The drive module 8 is configured to drive the cleaning turntable 1 to rotate, thereby driving the track structure to move (for example, driving the driving wheel 4 to rotate). There may be multiple drive modules 8, such as two or four, and two in this embodiment. Each drive module 8 drives one cleaning turntable 1 and track structure (primarily the driving wheel 4).

[0043] like Figure 3-9As shown, in this embodiment of the cleaning robot, the drive module 8 includes a motor 8a connected to the body 7. The cleaning turntable 1 is provided with a ring gear 1d (this ring gear 1d can be internal or external, in this embodiment, it is internal). The ring gear 1d can be located on the side facing the body 7. The power output of the motor 8a is connected to a gear 8b that meshes with the ring gear 1d (the connection between the power output of the motor 8a and the gear 8b includes, but is not limited to, a direct connection, or an indirect connection via a transmission structure such as a reduction gear). A bevel ring gear 1c is provided around the mounting hole 1b of the cleaning turntable 1. A bevel gear 4b that meshes with the bevel ring gear 1c is mounted on one end of the shaft 4a of the driving wheel 4. The bevel ring gear 1c is coaxial with the cleaning turntable 1, and the bevel gear 4b is coaxial with the driving wheel 4. The bevel ring gear 1c can be located on the side facing the shaft 4a of the driving wheel 4, that is, closer to the surface to be cleaned. The operating principle of the drive module 8 is as follows: motor 8a drives gear 8b to rotate, which in turn drives ring gear 1d, causing cleaning disc 1 to rotate accordingly. The rotating cleaning disc 1 then drives bevel gear 4b via bevel ring gear 1c. Bevel gear 4b then drives driving wheel 4 to rotate coaxially, which in turn drives track 6, which in turn rotates driven wheel 5. The linked cleaning disc 1 and track structure can operate synchronously. When the track structure (traveling mechanism) drives the cleaning robot to move, the corresponding cleaning disc 1 also rotates synchronously to perform its cleaning function. This not only improves cleaning efficiency but also ensures a good cleaning effect.

[0044] The cleaning turntable 1 can be made of an elastically deformable rubber or plastic material. Before the cleaning robot attaches to the surface to be cleaned, the bottom of the cleaning turntable 1 is lower than the bottom of the track 6. When the cleaning robot attaches to the surface to be cleaned, the cleaning turntable 1 elastically deforms under the pressure of the surface to be cleaned, clinging to the surface to be cleaned, while the track 6 is also pressed tightly against the surface to be cleaned. The elastic deformation of the cleaning turntable 1 not only allows the track 6 to adhere tightly to the surface to be cleaned, but also, after the cleaning turntable 1 elastically deforms, its contact with the surface to be cleaned becomes tighter, improving the sealing of chamber 1a. This increases the pressure differential between the inside and outside of chamber 1a, raising the negative pressure within chamber 1a. This reduces the power required by the suction module 2 during the robot's movement, achieving energy savings. Of course, the outer layer of the track 6 can also be made of a material with a certain degree of elasticity.

[0045] Generally speaking, before and after the cleaning robot is adsorbed on the surface to be cleaned, the axis of the cleaning turntable 1 is perpendicular to the surface to be cleaned, and the axis of the track structure (such as the driving wheel 4, the driven wheel 5 and the track 6) is parallel to the surface to be cleaned. Of course, as needed, it is also possible that before the cleaning robot is adsorbed on the surface to be cleaned, the axis of the cleaning turntable 1 is inclined to the surface to be cleaned, and the same is true for the track structure. For example, at least one cleaning turntable 1 is configured to be able to deflect relative to the body 7 when the cleaning robot is adsorbed on the surface to be cleaned. The following example uses the two cleaning turntables 1 that can deflect relative to the body 7. Specifically, if Figure 2 、 4 As shown, two deflection housings 10 are mounted on the body 7. These two deflection housings 10 are connected to the body 7 via two parallel, spaced-apart sets of rotating shafts 10a. The rotation axis of the rotating shafts 10a is perpendicular to the rotation axis of the cleaning turntable 1. The deflection housings 10 can deflect relative to the body 7 about the rotating shafts 10a when the cleaning robot is attached to the surface to be cleaned. The cleaning turntable 1 is connected to the deflection housings 10, and the support 3 for mounting the crawler structure is connected to the body 7 through the deflection housings 10. Specifically, the top end of the support 3 passes through the mounting hole 1b and connects to the deflection housing 10. The drive module 8 (e.g., the motor 8a) is also mounted on the deflection housing 10. Before the cleaning turntables 1 are attached to the surface to be cleaned, the rotation axes of the two cleaning turntables 1 are staggered to form an angle. After the cleaning turntables 1 are attached to the surface to be cleaned, the two deflection housings 10 can drive the cleaning turntables 1 and the track structure thereon to deflect relative to the body 7. The corresponding rotation axes of the two cleaning turntables 1 will be parallel, and the rotation axes of the two track structures (for example, the rotation axis of the driving wheel 4, the rotation axis of the driven wheel 5, and the rotation axis of the track 6) will be aligned. Further, when the cleaning robot is placed on the surface to be cleaned, one side of the cleaning turntable 1 first contacts the surface to be cleaned and deflects relative to the body 7. When the cleaning turntable 1 is attached to the surface to be cleaned, the pressure on the surface to be cleaned by this side is greater than the pressure on the surface to be cleaned by the other parts of the cleaning turntable 1, and the track 6 is also pressed tightly against the surface to be cleaned. Of course, the cleaning robot can also be provided with a deflection drive mechanism for applying a deflection force to the cleaning turntable 1 configured to be deflected relative to the body 7 to cause it to deflect. Specifically, a deflection drive mechanism capable of applying a deflection force to the deflection housing 10 to cause it to deflect is provided between the deflection housing 10 and the body 7, such as an elastic component such as a spring 11, and the two ends of the spring 11 are respectively connected to the deflection housing 10 and the body 7.

[0046] In addition, if Figure 10As shown, the shaft 4a of the driving wheel 4 can be mounted on the support 3 via a bearing 4c, and the connecting shaft 5a of the driven wheel 5 is also rotatably mounted on the support 3. The support 3 may include a connecting seat 3a connected to the body 7 or the deflection housing 10, and a bottom housing 3b mounted on the bottom end of the connecting seat 3a to fix the shaft 4a of the driving wheel 4 and the connecting shaft 5a of the driven wheel 5. Figure 3 、 7 As shown, the bottom shell 3b is provided with a plurality of through holes 3b1, which can connect the chamber 1a in the cleaning turntable 1 with the outside.

[0047] The above embodiments are preferred implementation schemes of the present invention. Any obvious replacements without departing from the concept of the present technical solution are within the protection scope of the present invention.

Claims

1. A cleaning robot having at least one chamber (1a) provided at its bottom, wherein a suction module (2) forms a negative pressure in the chamber (1a) to adsorb the cleaning robot onto a surface to be cleaned, and a driving module (8) drives a cleaning turntable (1) attached to the surface to be cleaned to rotate to perform a cleaning function, characterized in that: A receiving cavity is provided at the center of the cleaning turntable (1), and a walking mechanism is provided in the receiving cavity. The walking mechanism comprises a pulley and a crawler (6) mounted on the pulley. The crawler (6) is configured to abut against the surface to be cleaned to drive the cleaning robot to walk on the surface to be cleaned. A transmission mechanism is provided between the cleaning turntable (1) and the pulley so that the cleaning turntable (1) and the pulley can be driven by the same driving module (8).

2. The cleaning robot according to claim 1, characterized in that: The chamber (1a) is a receiving chamber provided in the cleaning turntable (1).

3. The cleaning robot according to claim 1 or 2, characterized in that: The cleaning turntable (1) is provided with a mounting hole (1b) penetrating the center thereof, and a support (3) is provided in the accommodating cavity, the top end of which passes through the mounting hole (1b) and is connected to the body (7) of the cleaning robot, and the pulley is mounted on the support (3).

4. The cleaning robot according to claim 3, characterized in that: The pulley comprises a driving wheel (4) and a driven wheel (5), the driving wheel (4) being located at the center of the cleaning turntable (1), the transmission mechanism comprising a bevel gear ring (1c) provided on the periphery of the mounting hole (1b) of the cleaning turntable (1) and a bevel gear (4b) provided at one end of the shaft (4a) of the driving wheel (4), the bevel gear ring (1c) and the bevel gear (4b) being meshed with each other, the bevel gear ring (1c) and the cleaning turntable (1) being coaxially arranged and located on the side facing the driving wheel shaft (4a), and the bevel gear (4b) and the driving wheel (4) being coaxially arranged.

5. The cleaning robot according to claim 4, characterized in that: The driving module (8) comprises a motor (8a) connected to the machine body (7); a gear ring (1d) is provided on the side of the cleaning turntable (1) facing the machine body (7); and a gear (8b) meshing with the gear ring (1d) is connected to the power output end of the motor (8a).

6. The cleaning robot according to claim 4, characterized in that: The driven wheels (5) include at least two driven wheels (5) located on both sides of the driving wheel (4) and capable of causing the crawler belt (6) to abut against the surface to be cleaned.

7. The cleaning robot according to claim 1, characterized in that: The pulley and the crawler belt (6) are friction-driven or meshing-driven.

8. The cleaning robot according to claim 1 or 2, characterized in that: The cleaning turntable (1) is configured to be able to elastically deform under the pressure of the surface to be cleaned when the cleaning robot is adsorbed on the surface to be cleaned, so that the cleaning turntable (1) is attached to the surface to be cleaned and the crawler (6) is pressed against the surface to be cleaned.

9. The cleaning robot according to claim 8, characterized in that: At least one cleaning turntable (1) is configured to be able to deflect relative to the body (7) when the cleaning robot is adsorbed on the surface to be cleaned.

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