Cotton fiber cleaning robot

Abstract

The utility model discloses a cotton fiber cleaning robot which comprises a chassis, a suction port harrow assembly, a cleaning device and a cleaning device. The robot body is arranged on the chassis and comprises an electrical assembly and a collecting box which are arranged on the chassis, and the collecting box comprises a first cavity and an air suction assembly, and the first cavity is used for storing cotton fibers and communicates with the suction port rake assembly through an air channel pipeline; the air suction assembly is provided with an air inlet communicating with the first cavity and an air outlet facing the upper side. Under the suction action of the air inlet of the air suction assembly, air flow carries cotton fibers on the to-be-cleaned face to pass through the suction port rake assembly, the cotton fibers are collected into the first cavity through the air path pipeline and then discharged upwards from the air outlet towards the top side of the robot body. According to the cotton fiber cleaning robot, the vacancy of a cleaning robot used in the cotton spinning field is made up, by arranging the air outlet facing the upper side, airflow can be exhausted upwards from the top side of the robot body, and cotton fibers on the to-be-cleaned face can be effectively prevented from being raised by the airflow.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a cotton lint cleaning robot. Background Technology

[0002] During the processes of transportation, spinning, carding, and drawing in cotton spinning workshops, a large amount of cotton lint is generated. This cotton lint floats and accumulates in the workshop and settles on the ground. If it is not removed in time, it will not only affect the cleanliness of the workshop environment, but may also cause problems such as interfering with equipment operation, affecting production quality, and even causing fires.

[0003] In some related technologies, cleaning carts are manually driven to remove cotton lint, but this still relies on human intervention, and the cotton lint floating in the workshop can also affect the health of the drivers. Therefore, some related technologies have introduced simple cleaning robots to automatically collect and sweep the cotton lint, but these robots are not satisfactory in terms of cleaning effect and efficiency.

[0004] In addition, the robot needs to expel airflow when performing cleaning work. Lightweight materials such as cotton fibers are easily stirred up by the airflow. If the airflow is expelled from the bottom of the robot, the cotton fibers will be disturbed and move away from the surface to be cleaned, which is detrimental to the cleaning work. If the airflow is expelled from the sides of the robot, the stirred-up cotton fibers may get stuck in the textile equipment or stick to the surface of the textile fabric, affecting product quality.

[0005] Therefore, how to design a cotton lint cleaning robot for the cotton textile industry that can prevent cotton lint from being stirred up during cleaning is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of the shortcomings of the above-mentioned related technologies, the purpose of this application is to provide a cotton lint cleaning robot to solve the problems of poor cleaning effect, low efficiency, and cotton lint being easily stirred up, which affects the cleaning work and product quality of existing simple cleaning robots.

[0007] To achieve the above and other related objectives, this application provides a cotton lint cleaning robot, comprising: a chassis with a wheel set for driving the robot and a suction rake assembly at its bottom; and a robot body mounted on the chassis, including electrical components and a collection box mounted on the chassis. The collection box includes a first chamber for storing cotton lint, which is connected to the suction rake assembly via an air passage pipe, and a suction assembly. The suction assembly has an air inlet connected to the first chamber and an air outlet facing upward. Under the suction action of the air inlet of the suction assembly, the airflow carries the cotton lint on the surface to be cleaned through the suction rake assembly and the air passage pipe, collecting the cotton lint into the first chamber and then discharging it upward toward the top side of the robot body from the air outlet.

[0008] In summary, the cotton lint cleaning robot provided in this application, by setting a wheel assembly and a suction rake assembly on the chassis for movement, and setting a chamber for storing cotton lint and a suction assembly on the robot body, achieves automated cleaning and collection of cotton lint on the surface to be cleaned during the robot's movement, improving cleaning efficiency and ensuring cleaning effect. By setting an upward-facing air outlet, airflow can be discharged upwards from the top side of the robot body, effectively preventing cotton lint on the surface to be cleaned from being stirred up by the airflow, thus avoiding interference with the cleaning work, and also avoiding impact on textile operations and product quality. Attached Figure Description

[0009] The specific features involved in this application are shown in the appended claims. The features and advantages of the invention can be better understood by referring to the exemplary embodiments and accompanying drawings described in detail below. A brief description of the drawings is as follows:

[0010] Figure 1 and Figure 2 The images shown are schematic diagrams of the cotton cleaning robot in different embodiments of this application.

[0011] Figure 3 This application is displayed. Figure 1 A cross-sectional schematic diagram of the cotton lint cleaning robot in the illustrated embodiment.

[0012] Figure 4 This application is displayed. Figure 2 A cross-sectional schematic diagram of the cotton lint cleaning robot in the illustrated embodiment.

[0013] Figure 5 This application is displayed. Figure 1 The illustrated embodiment shows a schematic diagram of the cotton cleaning robot from another perspective.

[0014] Figure 6 This application is displayed. Figure 2 The illustrated embodiment shows a schematic diagram of the cotton cleaning robot from another perspective.

[0015] Figure 7 This application is displayed. Figure 1 A schematic diagram of the chassis of the cotton lint cleaning robot in the embodiment.

[0016] Figure 8 This application is displayed. Figure 2 A schematic diagram of the chassis of the cotton lint cleaning robot in the embodiment.

[0017] Figure 9 This application is displayed. Figure 7 A schematic diagram of the suction rake assembly in the illustrated embodiment.

[0018] Figure 10 This application is displayed. Figure 8 A schematic diagram of the suction rake assembly in the illustrated embodiment.

[0019] Figure 11a This application is displayed. Figure 9 A cross-sectional schematic diagram of the suction rake assembly in the illustrated embodiment.

[0020] Figure 11b The diagram shows the flow of air carrying cotton wool within the suction rake assembly in one embodiment of this application.

[0021] Figure 12 This application is displayed. Figure 10 A schematic cross-sectional view of the suction rake in the illustrated embodiment.

[0022] Figure 13a and Figure 13b These are shown as in this application. Figure 9 A schematic diagram of the suction rake in the illustrated embodiment from another perspective.

[0023] Figure 14a and Figure 14b These are shown as in this application. Figure 10 A schematic diagram of the suction rake in the illustrated embodiment from another perspective.

[0024] Figure 15 This application is displayed. Figure 7 The illustration shows a schematic diagram of the suction rake assembly swinging to avoid obstacles.

[0025] Figure 16 The diagram shown is a cross-sectional schematic of a rotating connection assembly in one embodiment of this application.

[0026] Figure 17 The diagram shown is a structural schematic of the adjustment mechanism in one embodiment of this application. Detailed Implementation

[0027] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand the advantages and technical effects of this application from the content disclosed in this specification. In the following description, some embodiments may be referenced to the accompanying drawings. It should be understood that other embodiments not shown in the drawings may also be used, and changes in specific structures, parts or mechanisms, components, and operations may be made without departing from the spirit and scope of this application. The following detailed description should not be considered limiting, and the scope of the embodiments of this application is limited only by the claims published in this application. The terminology used herein is for describing particular embodiments only and is not intended to limit this application.

[0028] It should be understood that although the terms first, second, or third, etc., may be used herein to describe various elements or parameters in some embodiments, these elements or parameters should not be limited by these terms. These terms are used only to distinguish one element or parameter from another, and not to define the order, priority, or importance of multiple elements. For example, a first chamber may be referred to as a second chamber, and similarly, a second chamber may be referred to as a first chamber, without departing from the scope of the various described embodiments.

[0029] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” and “including” indicate the presence of the stated features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. For example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices. Additionally, the term “and / or,” which may be used hereinafter, describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, the character “ / ”, unless otherwise specified, generally indicates that the preceding and following related objects have an “and / or” relationship. Additionally, in the description of embodiments of this application, “multiple” refers to two or more. Furthermore, the terms “or” and “and / or” as used herein are interpreted as inclusive, or mean either one or any combination thereof. Exceptions to this definition only arise when a combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0030] It should also be understood that when an element, such as a layer, region, or substrate, is referred to as being "on" another element or extending "on" another element, the element may be directly on or directly extending onto the other element, or intermediate elements may be present. Conversely, when an element is referred to as being "directly on" another element or "directly extending onto" another element, no intermediate elements are present. It will also be understood that when an element is referred to as being "connected" or "attached" to another element, it may be directly connected or coupled to the other element, or intermediate elements may be present. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, no intermediate elements are present. Furthermore, the term "coupled" generally means physical, mechanical, magnetic, and / or electrical coupling or connection, and in the absence of specific contrasting language, the presence of intermediate elements between coupled or associated items is not excluded.

[0031] Relative terms such as “below,” “above,” “upper,” “lower,” “horizontal,” or “vertical” may be used herein to describe the relationship between one element, layer, or region and another element, layer, or region illustrated in the figures. It will be understood that these terms are intended to cover different device orientations other than those depicted in the figures. In this application, “vertical,” “horizontal,” and “parallel” are defined as including cases within ±10% of the standard definition. For example, vertical typically refers to an angle of 90° relative to a reference line, but in this application, vertical refers to cases including those within 80° to 100°. Unless otherwise expressly stated, comparative quantitative terms (such as “above” and “below”) are intended to cover the concept of equality. As an example, “above” can mean not only “greater than” in a mathematical sense but also “equal to.”

[0032] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. When used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that, when used herein, the terms “comprising,” “including,” “containing,” and / or “comprising” designate the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0033] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It will also be understood that terms used herein shall be interpreted as having the meaning consistent with their meaning in the context of this specification and the relevant field, and shall not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0034] In view of the technical problems described in the background art, this application provides a cotton lint cleaning robot. By equipping the chassis with wheels and a suction rake assembly for movement, and the robot body with a chamber for storing cotton lint and a suction assembly, the robot achieves automated cleaning and collection of cotton lint on the surface to be cleaned during movement, improving cleaning efficiency and ensuring cleaning effect. By setting an upward-facing air outlet, airflow can be discharged upwards from the top side of the robot body, effectively preventing cotton lint on the surface to be cleaned from being stirred up by the airflow, thus avoiding interference with the cleaning work, and also avoiding impact on textile operations and product quality.

[0035] The cotton lint cleaning robot described in this application refers to a robotic device suitable for cleaning cotton lint in cotton mills or other spaces. The cotton lint to be cleaned includes fallen cotton, waste cotton, or lint adhering to the ground during the cotton spinning process. The cotton lint cleaning robot can be controlled by a user, such as an operator using a handheld remote control or an application installed on a smart terminal, to perform the cotton lint cleaning work on the surface to be cleaned. The cotton lint cleaning robot can also complete the cotton lint cleaning work autonomously, for example, by running pre-programmed programs or rules. In the following embodiments of this application, a cotton lint cleaning robot capable of autonomous positioning and navigation and autonomously completing cleaning work will be used as an example for illustration.

[0036] In this context, the surface to be cleaned refers to the ground where the area to be cleaned is located. In embodiments applicable to cotton mill workshops, the surface to be cleaned is, for example, the workshop floor. In embodiments of this application, the surface to be cleaned may also be referred to as a cleaning surface, floor, walking surface, etc. It should be noted that, in some of the following embodiments, for ease of understanding, a plane parallel to the surface to be cleaned is referred to as a horizontal plane, and the corresponding direction parallel to the surface to be cleaned can be considered a horizontal direction; a plane perpendicular to the surface to be cleaned is referred to as a vertical plane, and the corresponding direction perpendicular to the surface to be cleaned can be considered a vertical direction or a perpendicular direction.

[0037] For ease of understanding and clear description, in the embodiments of this application, the direction in which the cotton robot moves is defined as forward (e.g., Figure 1 and Figure 2 The direction indicated by the dashed arrow (indicated by the direction of travel) is defined as the front side or front end of the cotton wadding robot. The opposite direction of travel is defined as the rearward direction, and the side of the cotton wadding robot facing backward is defined as the rear side or rear end. Furthermore, in embodiments of this application, the left side (or left end) and right side (or right end) are distinguished based on the forward direction of the cotton wadding robot. That is, the forward direction of the cotton wadding cleaning robot is considered its frontal orientation; its left side is the left side or left end, and its right side is the right side or right end. Additionally, in some embodiments of this application, the lateral direction can be understood as the direction in which the cotton wadding cleaning robot extends from the left to the right.

[0038] Please see Figure 1 and Figure 2 The figures shown are schematic diagrams of the cotton lint cleaning robot in different embodiments of this application. Figure 1 and Figure 2 As shown, the cotton lint cleaning robot includes a chassis 1 and a robot body 2. The chassis 1 supports and drives the robot body 2 to move on the surface to be cleaned to perform cleaning operations, and a suction rake assembly 13 is disposed on the chassis.

[0039] Please see Figure 3 and Figure 4 , Figure 3 This application is displayed. Figure 1 A cross-sectional schematic diagram of the cotton lint cleaning robot in the embodiment shown. Figure 4 This application is displayed. Figure 2 A cross-sectional schematic diagram of the cotton lint cleaning robot in the illustrated embodiment. Figure 1 and Figure 2 As shown, the robot body 2 is mounted on the chassis 1, as... Figure 3 and Figure 4 As shown, the robot body 2 includes electrical components 21 and a collection box 22 mounted on the chassis 1. Figure 3 and Figure 4 In the example shown, the electrical component 21 is vertically disposed on the front side of the robot body 2, and the collection box 22 is disposed on the rear side of the electrical component 21.

[0040] In one embodiment, the electrical component 21 is configured to include a control device for controlling the operation of various parts, structures, components, mechanisms, parts, equipment, or devices in the cotton cleaning robot, such as for planning the movement trajectory of the cotton cleaning robot, controlling the movement or obstacle avoidance actions of the cotton cleaning robot, etc.

[0041] In one embodiment, the control device includes a processing unit, a storage unit, and multiple interface units. Each interface unit is connected to an independently packaged device, component, or mechanism within the cotton lint cleaning robot that transmits data via an interface. The control device also includes at least one of the following: a prompting device, a human-machine interface device, etc. The interface unit determines its interface type based on the connected device, component, or mechanism, including but not limited to: a universal serial interface, a video interface, an industrial control interface, a wireless communication port, etc. The storage unit stores the cleaning program, and the processing unit is connected to the storage unit. When executing the cleaning program, the processing unit controls the various components or structures within the cotton lint cleaning robot to coordinate and perform the cleaning work on the surface to be cleaned.

[0042] In one embodiment, such as Figure 3 and Figure 4 As shown, the collection box 22 includes a first chamber 221 for storing cotton wool and a suction assembly 222. The first chamber 221 is connected to the suction rake assembly 13 via an air passage pipe 223. Specifically, under the negative pressure of the suction assembly 222, the airflow carries the cotton wool on the surface to be cleaned through the suction rake assembly 13 and collects it into the chamber 221 via the air passage pipe 223.

[0043] In this embodiment, the suction assembly 222 is used to create negative pressure to provide the power for the lint on the surface to be cleaned to enter the first chamber 221, such as... Figure 3 and Figure 4 As shown, the suction assembly 222 can be configured to include a fan, which can be, for example, positioned at the top of the first chamber 221. After the fan is started, it can draw air from the first chamber 221, thereby creating a negative pressure within the first chamber 221, so that the airflow carrying the cotton fibers can flow along... Figure 3 and Figure 4 Arrow F, indicated by the dashed line, enters the first chamber 221. It should be understood that, compared to commercial cleaning robots used for cleaning sewage or garbage in related technologies, the cotton lint cleaning robot described in this application is designed to clean cotton lint from a surface to be cleaned. Because cotton lint has a lower density and lighter weight compared to sewage, the suction component 222 of the cotton lint cleaning robot only needs to provide lower power and suction to effectively clean the cotton lint from the surface. In one embodiment, for example, the power configuration of the suction component 222, which is a fan, is approximately 700W, providing a suction force of approximately 5.5kPa-6.5kPa; preferably, the suction force generated by the fan is approximately 6kPa.

[0044] In one embodiment, such as Figure 3 and Figure 4 As shown, the collection box 22 also includes a second chamber 224 disposed above the first chamber 221, the second chamber 224 for accommodating the suction assembly 222. In one example, a partition plate is provided between the first chamber 221 and the second chamber 224, and the first chamber 221 and the second chamber 224 can be formed by the shell of the robot body 2 surrounding the partition plate. In this example, the suction assembly 222 can be fixed to the partition plate and disposed within the second chamber 224.

[0045] It should be understood that the first chamber 221 needs to be connected to the outside of the robot so that the airflow can be discharged from the robot body 2, thereby forming an airflow path to provide the negative pressure. Lightweight materials such as cotton lint are easily lifted by airflow. If the airflow is discharged from the lower side of the robot body 2, the cotton lint will be disturbed and move away from the surface to be cleaned, which is detrimental to the cleaning work. In the application scenario of a cotton mill workshop, if the airflow is discharged from the periphery of the robot body 2, the lifted cotton lint may get stuck in the textile equipment or adhere to the surface of the woven fabric, affecting product quality. In view of this, in one embodiment, such as Figure 3 and Figure 4 As shown, the suction assembly 222 has an air outlet 225 facing upwards so that the airflow is discharged upwards from the top side of the robot body 2. In this embodiment, the upward discharge of airflow from the top side can effectively prevent cotton lint from being stirred up, thereby avoiding affecting the cleaning work of the surface to be cleaned, and at the same time avoiding affecting the textile operation and product quality.

[0046] In one embodiment, such as Figure 3 and Figure 4As shown, the suction assembly 222 further includes an air inlet, which is connected to the first chamber 221. Under the suction action of the air inlet of the suction assembly 222, the airflow carries the cotton wool on the surface to be cleaned through the suction rake assembly 13 and the air passage 223 to collect the cotton wool into the first chamber 221, and then discharges it upwards from the air outlet 225 toward the top side of the robot body 2.

[0047] Specifically, in embodiments where the suction assembly 222 is configured as a fan, the suction assembly 222 may be configured to include an air inlet structure and an air outlet structure. The air inlet structure is used to draw airflow into the suction assembly 222, and the air outlet structure is used to discharge airflow out of the suction assembly 222. In some implementations, the air inlet structure may be configured to include an impeller and an air inlet, the air inlet communicating with a first chamber 221. The impeller is used to guide the airflow in the first chamber 221 from the air inlet into the air inlet structure when rotating at high speed. The air outlet 225 may be configured, for example, in the air outlet structure. In some examples, the air outlet structure may further include an air outlet channel, which may be configured, for example, as a flexible guide tube, for guiding the airflow flowing from the air outlet 225 to the outside of the robot body 2.

[0048] In one embodiment, such as Figure 3 and Figure 4 As shown, the second chamber 224 has a first opening (not shown) and a second opening 2241. The first opening communicates with the first chamber 221 to accommodate the air inlet, and the second opening 2241 is located at the top of the collection box 22 to accommodate the air outlet 225. In this example, the first opening may be positioned directly below the air inlet, and the second opening 2241 may be positioned directly above the air outlet 225 to shorten the flow path of the airflow exiting the robot body 2.

[0049] In one embodiment, please refer to Figures 1 to 4 The collection box 22 is also provided with a wind guide 2242 protruding from the top, corresponding to the second hole 2241. Figure 1 and Figure 2 In the example shown, the air guide 2242 has a ring-shaped structure and is integrally formed with the collection box 22. The area enclosed by the ring-shaped structure forms the second hole 2241. Specifically, the airflow can enter the air inlet from the first hole, then flow through the air outlet 225 of the suction assembly 222 to the second hole 2241, and finally be guided to the outside of the robot body 2 through the air guide 2241.

[0050] In one embodiment, the suction assemblies 222 are configured as one set or two sets arranged side by side. For example, in Figure 3 In the example shown, the suction assembly 222 is configured as a group, in Figure 4In the example shown, the suction assembly 222 can be configured as two sets. It should be noted that... Figure 4 For ease of illustration regarding the relative position of the second chamber 224, a set of suction components 222 has been omitted and should not be construed as a limitation of this application. Of course, the number of suction components 222 can also be configured, as long as they can provide negative pressure and expel airflow from the robot body; this application does not impose any limitations on this.

[0051] In one embodiment, the diameter of the air passage 223 is set to any value between 7cm and 15cm, for example, approximately 7cm, 7.5cm, 8cm, 8.5cm, 9cm, 9.5cm, 10cm, 10.5cm, 11cm, 11.5cm, 12cm, 12.5cm, 13cm, 13.5cm, 14cm, 14.5cm, 15cm, etc. However, it is not limited to this, and those skilled in the art can design the specific diameter of the air passage 223 according to the size range of the cotton lint to be cleaned.

[0052] In one embodiment, such as Figure 4 As shown, the air passage 223 has an inlet end 2231 and an outlet end 2232. The inlet end 2231 is connected to the suction rake assembly 13, and the outlet end 2232 is located inside the robot body 2 to connect to the first chamber 221. In this embodiment, the air passage 223 also has a pipe body that is bent between the inlet end 2231 and the outlet end 2232, so that the airflow carrying cotton wool enters the pipe body from the inlet end 2231 and enters the first chamber 221 from the outlet end 2232. The outlet end 2232 of the air passage 223 can be disposed on the aforementioned partition plate.

[0053] Please see Figure 5 and Figure 6 , Figure 5 This application is displayed. Figure 1 The illustrated embodiment is a structural diagram of the cotton lint cleaning robot from another perspective. Figure 6 This application is displayed. Figure 2 The illustrated embodiment shows a schematic diagram of the cotton lint cleaning robot from another perspective. Figure 5 and Figure 6 As shown, the main body 2233 of the gas pipeline 223 is externally positioned between the electrical component 21 and the collection box 22. Figure 5 and Figure 6In the example shown, the main body 2233 is configured as part of the pipeline body in an exposed form. A preset gap is provided between the right side of the electrical component 21 and the right side of the collection box 22, and the main body 2233 of the air passage 223 is placed within the preset gap. The size of the preset gap can be determined according to the diameter of the main body 2233. In this embodiment, the external main body 2233 allows the air passage 223 to avoid complex structures such as the electrical component 21 within the robot body 2, while allowing the air passage 223 to be set in a straighter shape or with a larger diameter, thereby reducing air resistance generated when airflow flows along the air passage 223 and reducing lint blockage within the air passage 223. Furthermore, the external main body 2233 also facilitates observation and repair by the operator when lint blockage occurs.

[0054] In one embodiment, such as Figure 1 and Figure 2 As shown, the collection box 22 is equipped with a door structure 226 for opening and closing the first chamber 221. Figure 1 and Figure 2 In the example shown, the door structure 226 is located on the left side of the robot body 2. In some examples, the front side of the door structure 226 is pivotally connected to the collection box 22, and its rear side is connected to the collection box 22 via a snap-fit ​​structure. The operator can open or close the door structure 226 by opening or closing the snap-fit ​​structure. In one example, as... Figure 1 and Figure 2 As shown, the door structure 226 is provided with a window 2261, which may be configured as a transparent material such as acrylic, so that the operator can observe whether the cotton wool in the first chamber 221 is full. In one example, the capacity of the first chamber 221 is configured to be approximately 150L.

[0055] In one embodiment, a collection bag (not shown) is disposed within a first chamber 221. The collection bag has an interface connecting to an air passage 223 to receive an airflow carrying cotton fibers. In one implementation, the interface of the collection bag is disposed on the periphery of the air passage 223 via a snap-fit ​​structure, allowing the cotton fibers to enter the collection bag through the interface. In some examples, the snap-fit ​​structure is configured to include a sealing ring to prevent cotton fibers from leaking to the outside of the collection bag.

[0056] In one embodiment, the collection bag is breathable to expel the airflow and retain the cotton fibers under the negative pressure of the suction assembly 222. In some examples, the collection bag may be configured as a material with ventilated holes, such as non-woven fabric or meltblown fabric, so that after the airflow carrying the cotton fibers enters the collection bag from the interface, the collection bag retains the cotton fibers while allowing the airflow to be filtered out through the vents and enter the air inlet, and then flow from the air outlet 225 through the air guide 2241 to the outside of the robot body 2.

[0057] In one embodiment, the collection bag is provided with a zipper opening for emptying the cotton wool stored inside. In one example, the zipper opening is located near the door structure 226 to facilitate the operator in opening and closing the zipper opening to empty the cotton wool inside the collection bag. Specifically, when the operator observes through window 2261 that the first chamber 221 is full of cotton wool, the operator can open the door structure 226 using the latch structure on the door structure 226, and then open the collection bag by opening the zipper opening, thereby emptying the cotton wool. After emptying the cotton wool, the zipper opening is closed, and then the door structure 226 is closed to start the cleaning process again. In some examples, the zipper opening may not be provided. In this case, the collection bag can be configured as a disposable structure. When the operator observes that the collection bag is full of cotton wool, the operator can directly open the door structure 226 to remove the full collection bag from the first chamber 221 and replace it with a new collection bag.

[0058] In one embodiment, a detection device for detecting whether the collection bag is installed is provided in the first chamber 221. In one example, the detection device may be configured to include a photoelectric sensor, which generates a sensing signal based on whether the light path is blocked by the collection bag, and transmits the sensing signal to the aforementioned control device. The control device can generate a control signal based on the sensing signal, and the control signal can be used to control an alarm device to issue an alarm signal to prompt the operator to perform the next operation.

[0059] In some examples, the warning device may be configured to include indicator lights of different colors. For instance, when the control device receives a sensing signal that the collection bag is not installed, its generated control signal controls the red indicator light of the warning device to flash, prompting the operator to install the collection bag. When the control device receives a sensing signal that the collection bag is installed, its generated control signal controls the green indicator light of the warning device to illuminate, prompting the operator to continue the cleaning work. Of course, in other examples, the detection device may also be configured to include a magnetic sensor or a miniature pressure sensor, but is not limited thereto, as long as it can detect whether the collection bag is installed.

[0060] In one embodiment, the chassis 1 may be integrally formed from materials such as plastic or metal, and has a plurality of pre-formed grooves, recesses, slots or similar structures configured thereon to enable the installation or integration of various parts, structures, components, mechanisms, parts, equipment or devices.

[0061] Please see Figure 7 and Figure 8 , Figure 7 This application is displayed. Figure 1 A schematic diagram of the chassis structure of the cotton lint cleaning robot in the embodiment. Figure 8 This application is displayed. Figure 2 A schematic diagram of the chassis structure of the cotton lint cleaning robot in this embodiment. Figure 7 and Figure 8 As shown, in addition to the suction rake assembly 13, the bottom of the chassis 1 is further equipped with a set of wheels for driving the robot's movement. Specifically, as... Figure 7 and Figure 8 As shown, the wheel set can be configured to include a steering wheel set 11 and a drive wheel set 12. The steering wheel set 11 is located on the front side, and the drive wheel set 12 is located on the rear side, used to drive the robot to move.

[0062] In one embodiment, such as Figure 7 and Figure 8 As shown, the drive wheel assembly 12 is configured to include two drive wheels, which are coaxially arranged on the left and right sides of the chassis 1 to serve as power wheels for directly driving the cotton cleaning robot to move. The moving motion includes, but is not limited to, forward, backward, and turning. In one implementation, the two drive wheels can be connected to a drive device to drive the cotton cleaning robot to perform reciprocating motion along a pre-set trajectory, or to achieve rotational or curvilinear motion by utilizing the speed difference between their respective drive devices. The drive device may, for example, include a drive motor. In some examples, the drive device may also include a speed reducer for adjusting the rotational speed of the drive wheels, thereby adjusting the moving speed of the cotton cleaning robot.

[0063] In one embodiment, the steering wheel assembly 11 is configured to include at least one steering wheel. Figure 7 and Figure 8In the example shown, the steering wheel assembly 11 is configured to include one steering wheel. In this example, the steering wheel is located at the center of the front side of the chassis 1, and is used to passively achieve the steering action of the cotton cleaning robot by supporting the weight of the front part of the robot and cooperating with the differential speed of the drive device connected to the two drive wheels of the drive wheel assembly 12. In another example, the steering wheel assembly 11 may also be configured to include two steering wheels respectively located on the left and right sides of the chassis 1, but it is not limited to this, as long as it can achieve the driven movement in conjunction with the drive wheel assembly 12. In some examples, the steering wheel may be configured as a swivel wheel.

[0064] It should be understood that during the movement of the cotton lint cleaning robot, friction between the steering wheel assembly 11 and the drive wheel assembly 12 and the surface to be cleaned will cause static electricity to accumulate on the chassis 1. This static electricity may generate electric sparks, thereby igniting the cotton lint on the surface to be cleaned. In view of this, in one embodiment, as... Figure 5 and Figure 6 As shown, a static electricity eliminator 15 is provided on the rear side of the chassis 1 to eliminate static electricity generated by the robot during movement. In one example, the static electricity eliminator 15 can be configured as a conductive wire, which is connected to the chassis 1 and closely adheres to the surface to be cleaned. Through physical contact with the surface to be cleaned, static electricity on the chassis 1 is directly conducted to the surface to be cleaned. In this example, the conductive wire can be configured as a carbon fiber bundle or a metal alloy wire, etc.

[0065] As mentioned above, in this application, for example, the suction component 222 of a fan is positioned on the upper side of the robot body 2. Since the fan typically has a relatively large mass, its placement at a relatively high position will raise the center of gravity of the lint-cleaning robot. Furthermore, although the first chamber 221 has a large capacity, even when fully loaded, the mass of the lint collected within it will be relatively light. In this case, if the robot's overall center of gravity is not lowered, for example when the robot is climbing, descending, or avoiding obstacles (such as buffer zones or other items commonly placed in the robot's path), the risk of the robot tipping over will increase. In view of this, in one embodiment, a battery assembly is provided on the lower side of the chassis 1 (the battery assembly is disposed in the receiving space 16 configured as a trough), and the battery assembly is located between the drive wheel assembly 12 and the steering wheel assembly 11. Specifically, the battery assembly is disposed in the middle area of ​​the chassis 1 and is located below the surface of the chassis 1 supporting the collection box 22. More specifically, the battery assembly is suspended on the lower side of the chassis 1 in a suspended manner, for example... Figure 2The configuration shown is such that the accommodating space 16 of the tank is used to house the battery assembly. In this way, the weight of the battery assembly can balance the excessively high center of gravity caused by the suction assembly 222, thereby lowering the overall center of gravity of the lint cleaning robot and preventing it from tipping over during movement. It should be noted that cleaning robots in related technologies have cleaning components such as roller brushes or scrubbers on the underside of the chassis, leaving no extra space for the battery assembly. Therefore, it can only be placed on the upper side of the chassis, for example, in the position shown in patent publication number WO2024149176A1.

[0066] In some examples, the battery assembly may be configured to include a battery for powering electrical components such as the aforementioned control device and drive device, and the battery may be configured as a nickel-metal hydride battery or a lithium battery.

[0067] In one embodiment, please refer to Figure 3 and Figure 4 The chassis 1 has a receiving space 16 for assembling the battery assembly. The receiving space 16 can be configured, for example, as a groove, with its lower side protruding towards the surface to be cleaned and its upper side having an opening covered by a collection box 22. In some examples, the collection box 22 can be flipped relative to the chassis 1 towards the rear of the robot body 2 to expose the opening, thereby facilitating the replacement or repair of the battery assembly by an operator through the opening. In one implementation, the collection box 22 is hinged to the rear of the chassis 1, and its front side can be detachably connected by means such as screws or clips.

[0068] In one embodiment, to increase the area of ​​the surface to be cleaned covered by the suction rake assembly 13 during cleaning operations and thus improve cleaning efficiency, such as... Figure 7 and Figure 8 As shown, the suction rake assembly 13 is horizontally mounted on the chassis 11 with its left and right ends protruding. In other words, the width of the left and right ends of the suction rake assembly 13 is greater than the width of the chassis 11 at its left and right ends, so as to increase the cleaning area of ​​the suction rake assembly 13.

[0069] In one embodiment, such as Figure 7 and Figure 8As shown, the distance d from the left and right ends of the suction rake assembly 13 protruding from the chassis is set to any value between 5mm and 7mm. Here, distance d can be understood as the length between the outermost edges of the left and right ends of the suction rake assembly 13 and the left and right edges of the chassis 1. In some examples, the distance d can be approximately 5mm, 5.1mm, 5.15mm, 5.2mm, 5.3mm, 5.4mm, 5.5mm, 5.6mm, 5.7mm, 5.8mm, 5.9mm, 6mm, 6.1mm, 6.2mm, 6.3mm, 6.4mm, 6.5mm, 6.6mm, 6.7mm, 6.8mm, 6.9mm, 7mm, etc.

[0070] In one embodiment, such as Figure 7 As shown, the suction rake assembly 13 is disposed between the midpoint of the wheelbase between the steering wheel assembly 11 and the drive wheel assembly 12, and the steering wheel assembly 11. It should be understood that the midpoint of the wheelbase refers to the midpoint of the distance between the steering wheel assembly 11 and the drive wheel assembly 12. In the example where the steering wheel assembly 11 is configured to include one steering wheel and the drive wheel assembly 12 is configured to include two drive wheels, the midpoint of the wheelbase can be understood as the midpoint of the distance between the midpoints of the lines connecting the steering wheel and the two drive wheels, specifically as follows: Figure 7 The location of point O is shown. That is, in this embodiment, the suction rake assembly 13 is entirely disposed in the front half of the chassis 1 and is located behind the steering wheel assembly 11.

[0071] It should be understood that in the related art, during the movement of the lint-cleaning robot, lint on the surface to be cleaned can easily become entangled in the steering wheel assembly 11, thus affecting the robot's movement, for example, causing the robot to deviate from its predetermined movement trajectory. In view of this, in another embodiment, such as... Figure 8 As shown, the suction rake assembly 13 is located on the front side of the steering wheel assembly 11. In this embodiment, during the movement of the cotton lint cleaning robot, the cotton lint on the surface to be cleaned is first sucked into the first chamber 221 by the suction of the suction assembly 222 through the suction rake assembly 13. This intercepts the cotton lint located on the front side of the steering wheel assembly 11, thus preventing the cotton lint from getting stuck in the steering wheel assembly 11 and ensuring the normal movement of the cotton lint cleaning robot. Compared with the design of placing the suction rake assembly on the rear side of the steering wheel assembly in related technologies, the front-mounted suction rake assembly 13 in this embodiment cleans the cotton lint before it comes into contact with the steering wheel assembly 11, solving the problem of cotton lint getting tangled in the steering wheel assembly from the source.

[0072] Please see Figure 9 and Figure 10 , Figure 9 This application is displayed. Figure 7 The schematic diagram of the suction rake assembly in the embodiment shown is as follows. Figure 10 This application is displayed. Figure 8A schematic diagram of the suction rake assembly in the illustrated embodiment. Figure 9 and Figure 10 As shown, the suction rake assembly 13 includes a suction rake 131, which is used to clean the surface to be cleaned.

[0073] Please see Figure 11a and Figure 12 , Figure 11a This application is displayed. Figure 9 A cross-sectional schematic diagram of the suction rake assembly in the illustrated embodiment. Figure 12 This application is displayed. Figure 10 A schematic cross-sectional view of the suction rake in the illustrated embodiment. (See diagram below.) Figure 11a and Figure 12 As shown, the suction rake 131 includes a vertically extending suction inlet 1311 and a suction rake outlet 1312. In one example, the suction inlet 1311 faces the surface to be cleaned, and the suction rake outlet 1312 can communicate with the inlet end 2231 of the air passage 223. For details, please refer to... Figure 11b The diagram shows the flow of air carrying cotton wool within the suction rake assembly in one embodiment of this application. Figure 11b The image uses a clump-like structure C to represent the cotton fibers to be removed, and a dashed arrow to indicate the direction of airflow. The combination of the clump-like structure C and the dashed arrow can be used to indicate the direction of airflow carrying the cotton fibers. Figure 11b As shown, under the negative pressure provided by the suction assembly 222, the airflow carrying cotton wool enters the suction rake 131 from the suction port 1311, and then enters the inlet end 2231 of the air passage 223 through the suction rake outlet 1311.

[0074] As mentioned earlier, commercially available cleaning robots in related technologies require high-powered suction components due to the characteristics of the wastewater or dense, easily deposited solid waste (such as gravel, screws or nuts, broken glass, etc. in a factory environment). To adapt to the collection of solid waste, these cleaning robots also need to be equipped with a narrow suction rake to ensure negative pressure at the suction inlet. The suction rake is usually designed, for example, in a long and thin strip shape, to ensure concentrated suction and achieve the desired cleaning effect. However, in the working environment of the cotton lint cleaning robot provided in this application, the cotton lint to be sucked is lightweight, bulky, and easily suspended and dispersed, resulting in a lower requirement for suction power. Compared to the traditional cleaning robot's pursuit of high negative pressure (strong suction) at the suction rake inlet, this application focuses more on the suction inlet coverage area to ensure work efficiency. Therefore, this application uses a wider suction rake 131 to expand the suction range / area. For example, in the case of cotton fibers that are irregularly spherical or clump-shaped structures, the diameter of the cotton fibers or clumps is typically 3 to 5 cm.

[0075] In one embodiment, with Figure 8 As shown in the example, the longitudinal width z of the suction rake 131 can be any value between 10cm and 25cm, such as approximately 10cm, 10.5cm, 11cm, 11.5cm, 12cm, 12.5cm, 13cm, 13.5cm, 14cm, 14.5cm, 15cm, 15.5cm, 16cm, 16.5cm, 17cm, 17.5cm, 18cm, 18.5cm, 19cm, 19.5cm, 20cm, 20.5cm, 21cm, 21.5cm, 22cm, 22.5cm, 23cm, 23.5cm, 24cm, 24.5cm, 25cm, etc. It should be noted that the longitudinal width z of the suction rake 131 refers to the maximum distance between the front and rear sides of the suction rake 131.

[0076] In one embodiment, such as Figure 11a and Figure 12 As shown, the suction rake 131 has a central cavity 1310 that extends from the suction rake outlet 1312 toward the suction inlet 1311. See also... Figures 13a to 14b , Figure 13a and Figure 13b These are shown as in this application. Figure 9 The schematic diagram shown in the embodiment is a view of the suction rake from another perspective. Figure 14a and Figure 14b These are shown as in this application. Figure 10 A schematic diagram of the suction rake in the illustrated embodiment from another perspective. (See diagram below.) Figures 13a to 14b As shown, the central cavity 1310 also narrows from the middle region to the left and right end regions to ensure stable negative pressure within the suction rake 131. In one example, as... Figure 9 and Figure 10 As shown, viewed from the front or rear side, the suction rake 131 is configured as a hollow structure generally in the shape of an isosceles trapezoid, which is the central cavity 1310. The suction inlet 1311 is located on the lower side of the isosceles trapezoid, and the suction rake outlet 1312 is located on the upper side of the isosceles trapezoid. In this example, as the airflow flows from the suction inlet 1311 to the central cavity 1310 and is output to the suction rake outlet 1312, a flow channel that gradually narrows from bottom to top is formed to create a stable flow velocity at the suction inlet 1311, thereby maintaining the stability of the negative pressure at the suction inlet 1311. It should be understood that the connection between the suction rake outlet 1311 and the air passage 223 results in a larger negative pressure in the middle region of the central cavity 1310 and a smaller negative pressure in the left and right end regions. In this embodiment, the central cavity 1310 is designed to narrow from the middle region to the left and right end regions, so that when the airflow flows from the suction rake outlet 1312 to the left and right end regions, a gradually narrowing flow channel is formed, thereby forming a uniform negative pressure in the central cavity 1310.

[0077] In one embodiment, such as Figure 13b and Figure 14b As shown, the connection between the suction rake outlet 1311 and the air passage 223 results in a larger negative pressure in the middle area of ​​the central cavity 1310 and a smaller negative pressure in the left and right end areas. Consequently, the cavity areas set at the two ends of the suction rake 131 are relatively narrow. However, considering the working environment of the robot in this application and the fact that the collected cotton is irregularly shaped or lumpy, the width W of the cavity areas set at the two ends of the suction rake 131 is greater than the diameter of common cotton, for example, the width is greater than the diameter of common cotton or cotton clumps by about 3cm to 5cm.

[0078] In another embodiment, such as Figure 13b and Figure 14b As shown, the front side of the suction rake 131 has an arc at the left and right corners N. In this embodiment, the arc design at corner N can avoid the accumulation and tangling of cotton fibers at both ends of the suction rake 131 caused by the right angle design, so that the cotton fibers can smoothly enter the interior of the suction rake 131 from both ends, ensuring the smooth progress of the cleaning work.

[0079] It should be understood that, due to the large number of equipment and complex space in cotton spinning workshops, and the presence of various obstacles such as cables and temporary items on the ground, the suction rake assembly 13 of the cotton cleaning robot is prone to direct collisions with these obstacles during operation. This can cause deformation or jamming of the suction rake assembly 13, and may even lead to malfunctions in the cotton cleaning robot. Therefore, in one embodiment, the suction rake assembly 13 is rotatably connected to the inlet end 2231 of the air duct 223 to passively sway and avoid obstacles during movement. These obstacles refer to objects located on the path of the cotton cleaning robot that obstruct its movement, such as textile equipment like spinning or weaving machines, doors, walls, pillars, tables, chairs, cables, and other items placed on the surface to be cleaned.

[0080] Specifically, please refer to Figure 15 This application is displayed as such. Figure 7 The illustrated embodiment is a schematic diagram of the suction rake assembly swaying to avoid obstacles. When the right side of the suction rake assembly 13 is impacted, it tends to sway backward, causing the suction rake assembly 13 to move along... Figure 7 The dashed arrow shown is rotated counterclockwise to present... Figure 15 The state shown is such that the obstacle can pass through.

[0081] It should be understood that in related technologies, the obstacle-avoiding suction rake is prone to generating rigid resistance at the connection between the suction rake and the airflow duct when subjected to lateral impact, which can lead to deformation and mechanical damage to the suction rake. In view of this, in one embodiment, as... Figure 13aAs shown, the suction rake 131 includes a main body 1313 and a guide part 1314, in order to... Figure 14a In the illustrated embodiment, the main body portion 1317 is differentiated, and... Figure 13a The suction rake 131 shown includes a main body portion 1313, referred to as the first main body portion 1313. Figure 14a The main body portion 1317 of the suction rake 131 shown is referred to as the second main body portion 1317. In subsequent embodiments, the first main body portion 1313 and the second main body portion 1317 will not be described again.

[0082] exist Figure 13a In the illustrated embodiment, the guide portion 1314 is formed by bending rearward from the first main body portion 1313, and is used to guide the force to the rearward side when the suction rake 131 is subjected to a lateral impact, so as to cause the suction rake 131 to swing back and forth. The lateral impact refers to the obstacle impacting the suction rake 131 along the axis L1 of the first main body portion 1313, as shown in the figure. Figure 13a The direction indicated by the black arrow in the middle. In this embodiment, the rearward-bending guide portion 1314 can decompose the impact force of the suction rake 131 when it is subjected to a lateral collision into a rearward component force, so as to transform the rigid resistance into a back-and-forth swinging motion with the rotating connecting component 132 as the axis, allowing the obstacle to pass smoothly. It should be noted that the rearward-bending guide portion 1314 can easily contact the chassis 1, thereby facilitating the sensing component described in the subsequent embodiments to sense the swinging motion of the suction rake 131. For details, please refer to the description in the subsequent embodiments, which will not be repeated here.

[0083] In one embodiment, the first main body portion 1313 and the guide portion 1314 are integrally formed, such as Figure 13a As shown, the axis L2 where the guide portion 1314 is located is inclined backward relative to the axis L1 where the first main body portion 1313 is located, with an angle α between them, so that the suction rake 131 swings back and forth around the rotating connecting assembly 132 when it is hit. Please refer to Figure 7 and Figure 15 When the right side of the suction rake 131 is impacted, its right guide portion 1314 tends to swing backward, thereby causing the suction rake 131 to generate along... Figure 7 Rotate in the direction indicated by the dashed arrow to present... Figure 15 The state shown.

[0084] In some examples, the angle α at which the guide portion 1314 bends rearward is between 30° and 60°. For example, it can be approximately 30°, 31°, 32°, 33°, 34°, 35°, 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44°, 45°, 46°, 47°, 48°, 49°, 50°, 51°, 52°, 53°, 54°, 55°, 56°, 57°, 58°, 59°, 60°, etc.

[0085] In one embodiment, such as Figure 13a As shown, a guide wheel 1315 is provided on the guide section 1314. Figure 13a In the example shown, two guide wheels 1315 are arranged on the upper side of each guide portion 1314. One guide wheel 1315 protrudes along the axis L2, and the other guide wheel 1315 protrudes from the front side of the guide portion 1314. This allows the guide portion 1314 to roll into contact with the guide wheel 1315 when it is impacted by an obstacle, guiding the suction rake 131 to swing backward and avoid the obstacle. In this example, the guide wheels 1315 also reduce friction between the obstacle and the guide portion 1314, thereby ensuring the service life of the suction rake 131.

[0086] In one embodiment, such as Figure 9 As shown, the suction rake assembly 13 also includes a rotating connection assembly 132 and a reset assembly 133. The rotating connection assembly 132 is used to realize the swinging of the suction rake 131, and the reset assembly 133 is connected to the chassis 1 and the suction rake 131 to reset the suction rake 131.

[0087] Please see Figure 16 The image shown is a cross-sectional schematic diagram of a rotating connection assembly in one embodiment of this application, as follows: Figure 16 As shown, the rotating connection assembly 132 includes a fixed part 1321 and a rotating part 1322. The fixed part 1321 is connected to the inlet end 2231 of the gas pipeline 223, and the rotating part 1322 is connected to the suction rake outlet 1312 so that the suction rake 131 can passively swing back and forth with the suction rake outlet 1312 as the rotation center. In some examples, the fixed part 1321 can be fixedly connected to the inlet end 2231 of the gas pipeline 223 by a flange or bolts, and the rotating part 1322 can be connected to the suction rake outlet 1312 by a threaded structure.

[0088] In one example, such as Figure 16As shown, the rotating part 1322 includes a connecting structure and a rotating structure. The connecting structure is used to connect to the suction rake outlet 1312, and the rotating structure can be configured as a bearing member 1323 to rotatably connect to the fixed part 1321. Specifically, the bearing member 1323 has an inner ring and an outer ring that can rotate relative to each other. The fixed part 1321 is connected to the outer ring of the bearing member 1323, and the connecting structure is connected to the inner ring of the bearing member 1323 to realize the rotation of the connecting structure relative to the fixed part 1321, thereby realizing the passive oscillation of the suction rake 131 with the suction rake outlet 1312 as the rotation center.

[0089] In one embodiment, such as Figure 16 As shown, a sealing gasket 1324 is provided between the rotating part 1322 and the fixed part 1321 to prevent airflow carrying cotton fibers from leaking through the gap between the rotating part 1322 and the fixed part 1321 when passing through the rotating connecting assembly 132. In some examples, the sealing gasket may be configured as an "O" ring rubber ring, but its shape and material are not limited thereto, as long as airtightness can be guaranteed.

[0090] In one embodiment, such as Figure 9 As shown, the reset assembly 133 includes a first reset spring 1331 and a second reset spring 1332 symmetrically arranged. Please refer to... Figure 7 The first ends of the first return spring 1331 and the second return spring 1332 are respectively connected to the left and right ends of the suction rake 131, and the second ends are respectively connected to the chassis 1. In some examples, the left and right sides of the chassis 1 and the left and right ends of the suction rake 131 are respectively provided with lugs to connect the first and second ends of the first return spring 1331 and the second return spring 1332.

[0091] For example, when the lint-cleaning robot does not encounter an obstacle, the first return spring 1331 and the second return spring 1332 are in a state of equilibrium. Figure 7 In the initial state shown, the suction rake 131 collides with the obstacle on the right side and swings backward under the action of external force. Figure 15 In the indicated state, the second return spring 1322 is in a compressed state, and the first return spring 1331 is in a stretched state. After the obstacle passes, the external force acting on the suction rake 131 disappears, and the first return spring 1331 and the second return spring 1332 release their elastic potential energy, thus returning to the initial state. This causes the suction rake 131 to rotate clockwise to return to its original position. Figure 7 The location shown.

[0092] In one embodiment, a sensing component is provided on the chassis 1 for sensing the swaying of the suction rake assembly 13. In one example, when the sensing component determines that the suction rake assembly 13 is swaying, it generates a position signal and transmits the position signal to the control device. The control device generates a movement command based on the position signal. The movement command is used to replan the movement trajectory of the lint cleaning robot. For example, the movement direction of the lint cleaning robot can be adjusted by adjusting the rotation angle of the steering wheel assembly 11 to avoid obstacles.

[0093] In one implementation, the sensing component may be configured as an optical sensor or optical camera, etc., for transmitting the position signal to the control device to replan the movement trajectory of the cotton lint cleaning robot when the suction rake assembly 13 swings but does not touch the chassis 1. In another implementation, the sensing component may be configured as a micro switch or touch sensor, etc., for transmitting the position signal to the control device to replan the movement trajectory of the cotton lint cleaning robot when the guide portion 1314 of the suction rake 13 impacts the chassis 1.

[0094] In one embodiment, the operator can directly control the cotton cleaning robot to avoid obstacles. In this embodiment, a control panel can be provided on the rear side of the robot body 2. The control panel can be equipped with multiple buttons, such as a start button, a move button, a pause button, and a turn button. In some examples, the control panel can also be configured as an LCD screen to allow the operator to input commands such as start, move, pause, or turn via touch screen.

[0095] In another embodiment, such as Figure 10 and Figure 14a As shown, the suction rake 131 includes a second main body 1317 and buffer parts 1318 located at the left and right ends of the second main body 1317 to buffer the robot from collisions with obstacles during its movement.

[0096] In some examples, the buffer 1318 may be made of a flexible material such as rubber, polyurethane, or silicone, allowing it to undergo temporary deformation upon impact with an obstacle and return to its original shape after the obstacle has passed. Figure 10The initial state shown provides cushioning against obstacle impacts. In some examples, the second main body 1317, serving as the skeleton of the suction rake 131, can be made of high-strength materials such as alloy or stainless steel. In some examples, a slot structure can be pre-installed in the second main body 1317, allowing the buffer portion 1318 to be connected to the second main body 1317 via a snap-fit ​​connection. In some examples, the buffer portion 1318 can also be configured as a single integral structure, circumferentially attached to the second main body 1317 via screwing or bonding, thereby achieving the connection between the buffer portion 1318 and the second main body 1317.

[0097] In one embodiment, such as Figure 14a As shown, the buffer portion 1318 is inclined backward from both the left and right ends of the second main body portion 1317 to form a fixed angle with the second main body portion 1317. In other words, the axis L4 on which the buffer portion 1318 is located is inclined backward relative to the axis L3 on which the second main body portion 1317 is located, and there is a fixed angle β between them. In some examples, the fixed angle β can be set to any value between 10° and 25°. For example, it can be approximately 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, etc.

[0098] In one embodiment, the chassis 1 is further provided with a collision avoidance component (not shown) located in front of the suction rake 131, the collision avoidance component at least completely covering the second main body 1317 in the lateral direction. In this embodiment, the collision avoidance component can contact the obstacle before the suction rake 131 when the robot is moving, thereby protecting the suction rake 131. In some examples, the collision avoidance component may be configured as a flexible material such as rubber, silicone, or polyurethane.

[0099] For example, in some examples, the anti-collision component completely covers the front side of the second main body 1317 in the lateral direction. In other examples, the length of the anti-collision component is greater than the length of the second main body 1317, so that while completely covering the second main body 1317, it can also partially or completely cover the buffer portions 1318 at both ends, thereby achieving overall protection of the suction rake 131.

[0100] In one embodiment, the vertical distance between the suction rake assembly 13 and the surface to be cleaned is set to any value between 15mm and 35mm. For example, it can be approximately 15mm, 15.1mm, 15.2mm, 16mm, 17mm, 18mm, 19mm, 20mm, 21mm, 22mm, 23mm, 24mm, 25mm, 26mm, 27mm, 28mm, 29mm, 30mm, 31mm, 32mm, 33mm, 34mm, 35mm, etc.

[0101] In one embodiment, the suction rake assembly 13 is connected to the chassis 1 via an adjustment mechanism. This adjustment mechanism adjusts the vertical distance between the suction rake assembly 13 and the surface to be cleaned. The vertical distance refers to the gap between the bottom of the suction rake 13 and the surface to be cleaned in the vertical direction. In this embodiment, the adjustment mechanism can appropriately raise or lower the suction rake assembly 13 according to the actual condition of the surface to be cleaned, ensuring that the suction rake 131 is always in the optimal cleaning position during cleaning, avoiding poor cleaning results due to an excessively large vertical distance, or scratches between the suction rake 131 and the surface to be cleaned due to an excessively small vertical distance.

[0102] The following adjustment mechanism is connected to Figure 1 The specific structure of the adjustment mechanism will be explained using the chassis 1 of the cotton lint cleaning robot shown as an example. Please refer to [link / reference]. Figure 17 The diagram shown is a schematic representation of the adjusting mechanism in one embodiment of this application. Figure 9 As shown, the adjustment mechanism 14 includes a bolt 141 and a spring 142. The bolt 141 passes through the base plate 1 and is fixed to the suction rake 131. The spring 142 is sleeved on the bolt 141 with one end abutting against the suction rake 131 and the other end abutting against the base plate 1. When the bolt 141 is twisted, the spring 142 adjusts the vertical distance between the suction rake 131 and the surface to be cleaned by compressing or relaxing.

[0103] For example, when bolt 141 is turned clockwise, spring 142 is compressed between the base 1 and the suction rake 131, causing the suction rake 131 to rise, thereby increasing the vertical distance between the suction rake 131 and the surface to be cleaned. When bolt 141 is turned counterclockwise, the distance between the base 1 and the suction rake 131 increases, allowing spring 142 to relax, thereby decreasing the vertical distance between the suction rake 131 and the surface to be cleaned. Figure 17 In the example shown, the adjustment mechanism 14 is configured as four groups.

[0104] In some other embodiments, the adjustment mechanism 14 may also be configured to include a screw and a motor, wherein the motor drives the screw to rotate clockwise or counterclockwise to achieve automatic adjustment of the vertical distance.

[0105] In summary, the cotton lint cleaning robot disclosed in this application, by setting a wheel set and a suction rake assembly on the chassis for movement, and setting a chamber for storing cotton lint and a suction assembly on the robot body, achieves automated cleaning and collection of cotton lint on the surface to be cleaned during the robot's movement, improving cleaning efficiency and ensuring cleaning effect. By setting an upward-facing air outlet, airflow can be discharged upwards from the top side of the robot body, effectively preventing cotton lint on the surface to be cleaned from being stirred up by the airflow, thus avoiding interference with the cleaning work, and also avoiding impact on textile operations and product quality. By setting the suction rake assembly in front of the steering wheel set, the suction rake assembly can clean the cotton lint before it comes into contact with the steering wheel set during the robot's movement, thereby preventing cotton lint from getting tangled in the steering wheel set and thus avoiding affecting the robot's movement. By rotatably connecting the suction rake assembly to the air duct, the assembly can passively sway during robot movement to avoid obstacles, thus preventing robot malfunctions caused by direct collisions and ensuring normal cleaning operations. An adjustable mechanism ensures the vertical distance between the suction rake assembly and the surface to be cleaned is always maintained at the optimal cleaning position, preventing poor cleaning results due to excessive distance or scraping due to insufficient distance.

[0106] The above embodiments are merely illustrative of the inventive essence and beneficial effects of this application, and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the principles and scope of this application. Therefore, all equivalent modifications or alterations achieved by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A wiper cleaning robot, characterized by, include: The chassis has wheels and a suction rake assembly at its bottom for driving the robot. The robot body, mounted on the chassis, includes electrical components and a collection box mounted on the chassis. The collection box includes a first chamber for storing cotton wool, which is connected to the suction rake assembly via an air passage pipe, and a suction assembly. The suction assembly has an air inlet connected to the first chamber and an air outlet facing upward. Under the suction action of the air inlet of the suction assembly, the airflow carries the cotton wool on the surface to be cleaned through the suction rake assembly and the air passage pipe, collecting the cotton wool into the first chamber and then discharging it upward toward the top side of the robot body from the air outlet.

2. The lint cleaning robot of claim 1, wherein, The suction components are configured as one set or two sets arranged side by side.

3. The lint cleaning robot of claim 1, wherein, The collection box further includes a second chamber disposed on the upper side of the first chamber for accommodating the air intake assembly. The second chamber has a first hole communicating with the first chamber to configure the air inlet and a second hole located on the top of the collection box to configure the air outlet.

4. The lint cleaning robot of claim 3, wherein, The collection box is also provided with a wind guide protruding from its top, corresponding to the second hole.

5. The lint cleaning robot of claim 1, wherein, The wheel set includes a steering wheel set and a drive wheel set located on the front and rear sides respectively. The left and right ends of the suction rake assembly protrude horizontally on the front side of the steering wheel set or are horizontally positioned between the midpoint of the wheelbase between the drive wheel set and the steering wheel set and the steering wheel set.

6. The lint cleaning robot of claim 5, wherein, The suction rake assembly includes a suction rake, which includes a main body and buffer portions located at the left and right ends of the main body to buffer impacts with obstacles during travel.

7. The lint cleaning robot of claim 5, wherein, The suction rake assembly includes: A suction rake has a suction inlet facing the surface to be cleaned and a suction rake outlet communicating vertically with the suction inlet; The rotating connection assembly includes a fixed part connected to the inlet end of the air passage pipe and a rotating part disposed on the fixed part. The rotating part is connected to the outlet of the suction rake so that the suction rake can passively swing back and forth with the outlet position of the suction rake as the rotation center. A reset assembly is connected to the chassis and the suction rake to reset the suction rake.

8. The lint cleaning robot of claim 7, wherein, The suction rake includes a main body and guide portions formed by bending backward from both ends of the main body. The guide portions are used to guide the force to the rear when the suction rake is subjected to a lateral impact, so as to cause the suction rake to swing back and forth.

9. The lint cleaning robot of claim 1, wherein, The vertical distance between the suction rake assembly and the surface to be cleaned is set to any value between 15mm and 35mm.

10. The lint cleaning robot of claim 1, wherein, The suction rake assembly is connected to the chassis via an adjustment mechanism, which is used to adjust the vertical distance between the suction rake assembly and the surface to be cleaned.

11. The lint cleaning robot of claim 10, wherein, The adjustment mechanism includes a bolt and a spring. The bolt passes through the chassis and is fixed to the suction rake assembly. The spring is sleeved on the bolt with one end abutting against the suction rake assembly and the other end abutting against the chassis or the bolt. When the bolt is turned, the spring is compressed or extended to adjust the vertical distance between the suction rake assembly and the surface to be cleaned.

12. The lint cleaning robot of claim 1, wherein, The main body of the gas pipeline is located outside the electrical components and the collection box.

13. The lint cleaning robot of claim 1, wherein, The diameter of the gas pipeline is set to any value between 7cm and 15cm.

14. The lint cleaning robot of claim 1, wherein, The first chamber is provided with a collection bag, which has a connection port to the air passage pipe to receive airflow carrying cotton fibers.

15. The lint cleaning robot of claim 14, wherein, The collection bag is provided with a zipper opening for emptying the cotton wool stored inside.

16. The lint cleaning robot of claim 14, wherein, The first chamber is equipped with a detection device for detecting whether the collection bag is installed.

17. The lint cleaning robot of claim 1, wherein, The collection box is equipped with a door structure for opening and closing the first chamber.

18. The lint cleaning robot of claim 1, wherein, The wheel set includes a steering wheel set and a drive wheel set located on the front and rear sides respectively, and a battery assembly is disposed on the underside of the chassis between the drive wheel set and the steering wheel set.

19. The lint cleaning robot of claim 1, wherein, The rear side of the chassis is equipped with an electrostatic discharge component to eliminate static electricity generated by the robot when it walks.

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