Cotton fiber cleaning robot

Abstract

The utility model discloses a cotton fiber cleaning robot which comprises a chassis which comprises a steering wheel set, a driving wheel set and a suction port rake assembly arranged on the front side of the steering wheel set. The robot body comprises an electrical assembly and a collecting box, the collecting box comprises a cavity and an air suction assembly communicated with the cavity, the cavity is communicated with the suction port rake assembly through an air channel pipeline, and under the negative pressure effect of the air suction assembly, air flow carries cotton fibers on the to-be-cleaned face to be collected into the cavity through the suction port rake assembly and the air channel pipeline; wherein the suction port harrow assembly comprises a suction port harrow which is transversely arranged on the chassis in a manner that the left side and the right side protrude, and the suction port harrow comprises a main body part and buffering parts which are located at the left end and the right end of the main body part so as to buffer collision with obstacles in the advancing process. According to the cotton fiber cleaning robot, the vacancy of a cleaning robot used in the cotton spinning field is made up, cotton fibers are prevented from being wound in the steering wheel set in the mode of the front suction port rake, and the collision between the robot and an obstacle in the advancing process can be buffered by arranging the buffering part.

Description

Technical Field

[0001] This application relates to the technical field of cleaning robots, 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 related technologies, cleaning carts are manually driven to remove lint, but this still relies on human intervention, and the lint floating in the workshop can affect the health of the drivers. To address this, some technologies have introduced simple cleaning robots for automated collection and cleaning of lint, but these robots are not satisfactory in terms of cleaning effectiveness and efficiency. Furthermore, during the robot's movement, lint easily gets tangled on the front wheel axle, hindering the robot's progress.

[0004] In addition, due to the large number of equipment and complex space in cotton spinning workshops, there are often various obstacles such as cables and temporary items on the ground. During operation, the suction rake of the cleaning robot is prone to direct collision with the obstacles, which may not only cause the suction rake to deform or get stuck, but also lead to abnormal operation of the robot.

[0005] Therefore, how to design a cotton cleaning robot for the cotton spinning industry that can prevent cotton lint from getting tangled on the wheel axle and can effectively avoid obstacles 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 technical problems of poor cleaning effect, low efficiency, inability to avoid obstacles, and cotton lint easily getting tangled on the wheel axle, which affects the robot's movement.

[0007] To achieve the above and other related objectives, this application provides a cotton lint cleaning robot, comprising: a chassis with a steering wheel assembly and a drive wheel assembly located at the front and rear sides respectively for driving the robot forward, and a suction rake assembly located at the front of the steering wheel assembly; a robot body mounted on the chassis, including electrical components and a collection box mounted on the chassis, the collection box including a chamber for storing cotton lint and a suction assembly connected to the chamber, the chamber being connected to the suction rake assembly via an air passage pipe, under the negative pressure of the suction assembly, airflow carrying cotton lint from the surface to be cleaned through the suction rake assembly and the air passage pipe collects the cotton lint into the chamber; wherein, the suction rake assembly includes suction rakes protruding horizontally from the chassis at both left and right ends, the suction rake including a main body and buffer portions located at the left and right ends of the main body to buffer impacts with obstacles during movement.

[0008] In summary, the cotton lint cleaning robot provided in this application, by assembling a steering wheel assembly, a drive wheel assembly, and a suction rake assembly on its chassis, and by incorporating a chamber for storing cotton lint and a suction assembly connected to the chamber on the robot body, achieves automated cleaning and collection of cotton lint on the surface to be cleaned during robot movement, improving cleaning efficiency and ensuring cleaning effectiveness. By positioning the suction rake assembly in front of the steering wheel assembly, it can clean the cotton lint before it comes into contact with the steering wheel assembly during robot movement, thus preventing cotton lint from becoming entangled in the steering wheel assembly and affecting robot movement. The presence of buffer sections at both ends of the suction rake's main body buffers collisions with obstacles during robot movement and further facilitates obstacle avoidance, ensuring the normal operation of the cleaning work. 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 The diagram shown is a structural schematic of a cotton cleaning robot according to one embodiment of this application.

[0011] Figure 2 The diagram shown is a cross-sectional schematic of a cotton cleaning robot in one embodiment of this application.

[0012] Figure 3 The diagram shown is a partially enlarged view of the suction assembly in one embodiment of this application.

[0013] Figure 4 The diagram shown is a structural schematic of the cotton cleaning robot in one embodiment of this application from another perspective.

[0014] Figure 5 The diagram shown is a structural schematic of the chassis in one embodiment of this application.

[0015] Figure 6 The diagram shown is a structural schematic of the suction rake assembly in one embodiment of this application.

[0016] Figure 7a This application is displayed. Figure 6 A schematic cross-sectional view of the suction rake in the illustrated embodiment.

[0017] Figure 7b The diagram shows the flow of air carrying cotton wool within the suction rake in one embodiment of this application.

[0018] Figure 8a and Figure 8b These are shown as in this application. Figure 6 A schematic diagram of the suction rake in the illustrated embodiment from another perspective.

[0019] Figure 9 The diagram shown is a structural schematic of the adjustment mechanism in one embodiment of this application. Detailed Implementation

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.”

[0025] 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.

[0026] 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.

[0027] In view of the technical problems described in the background art, this application provides a cotton lint cleaning robot. By assembling a steering wheel assembly, a drive wheel assembly, and a suction rake assembly on the chassis, and by incorporating a chamber for storing cotton lint and a suction assembly communicating with the chamber on the robot body, the robot achieves automated cleaning and collection of cotton lint on the surface to be cleaned during its movement, improving cleaning efficiency and ensuring cleaning effectiveness. By positioning the suction rake assembly in front of the steering wheel assembly, it can clean the cotton lint before it comes into contact with the steering wheel assembly during robot movement, thus preventing cotton lint from becoming entangled in the steering wheel assembly and affecting the robot's movement. By providing buffer sections at both ends of the suction rake's main body, the robot can cushion collisions with obstacles during movement and further avoid obstacles, ensuring the normal operation of the cleaning work.

[0028] 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.

[0029] 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.

[0030] 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 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.

[0031] Please see Figure 1 The diagram shows a schematic representation of a cotton lint cleaning robot in one embodiment of this application. Figure 1 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.

[0032] Please see Figure 2and combined Figure 1 ,in, Figure 2 The image shown is a cross-sectional schematic diagram of a cotton lint cleaning robot in one embodiment of this application. Figure 1 As shown, the robot body 2 is mounted on the chassis 1, as... Figure 2 As shown, the robot body 2 includes electrical components 21 and a collection box 22 mounted on the chassis 1. Figure 2 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.

[0033] 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.

[0034] 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.

[0035] In one embodiment, such as Figure 2 As shown, the collection box 22 includes a chamber 221 for storing cotton wool and a suction assembly 222 connected to the chamber 221. The chamber 221 is connected to the suction rake assembly 13 via an air passage pipe 223. 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. To distinguish it from the chamber containing the suction assembly 222 in subsequent embodiments, the chamber 221 for collecting cotton wool is referred to as the first chamber 221, and the chamber 224 for containing the suction assembly 222 is referred to as the second chamber 224. The first chamber 221 and the second chamber 224 will not be described again in the following references.

[0036] 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 2As 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 2 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.

[0037] In one embodiment, such as Figure 2 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.

[0038] It should be understood that the first chamber 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. Therefore, please refer to... Figure 3 and combined Figure 2 ,in, Figure 3 The diagram shown is a partially enlarged schematic of the suction component in one embodiment of this application, as follows: Figure 2 and Figure 3 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. Figure 2 and Figure 3 In the illustrated embodiment, the airflow being discharged from the top side upwards can effectively prevent cotton lint from being stirred up, thereby avoiding affecting the cleaning of the surface to be cleaned, and also avoiding affecting textile operations and product quality.

[0039] 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.

[0040] In this embodiment, the airflow carrying cotton fibers can enter the first chamber 221 from the suction rake assembly 13 along arrow F under the suction action of the suction assembly 222. After that, the cotton fibers are trapped in the first chamber 221 for collection. The airflow enters the suction assembly 222 from the air inlet and is then discharged from the robot body 2 through the air outlet 225.

[0041] In one embodiment, such as Figure 3 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.

[0042] In one embodiment, please refer to Figures 1 to 3 The collection box 22 is also provided with a wind guide 2242 protruding from the top, corresponding to the second hole 2241. Figure 1 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.

[0043] 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 2 In the example shown, the suction assembly 222 can be configured as two sets. It should be noted that... Figure 2For the purpose of illustrating the internal structure of the second chamber 224, one set of suction components 222 has been omitted, and this should not be construed as a limitation of this application. Of course, the suction components 222 can be configured in other numbers, as long as they can provide negative pressure and expel airflow from the robot body, and this application does not impose any restrictions on this.

[0044] 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.

[0045] In one embodiment, such as Figure 2 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.

[0046] Please see Figure 4 The image shown is a structural schematic diagram of the cotton lint cleaning robot from another perspective in one embodiment of this application, as shown below. Figure 4 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 4 In 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.

[0047] In one embodiment, such as Figure 1 As shown, the collection box 22 is equipped with a door structure 226 for opening and closing the first chamber 221. Figure 1 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 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] Please see Figure 5 The diagram shown is a schematic representation of the chassis structure in one embodiment of this application. Figure 5As shown, in addition to the suction rake assembly 13, the bottom of the chassis 1 is further provided with a steering wheel assembly 11 and a drive wheel assembly 12. The steering wheel assembly 11 is located on the front side, and the drive wheel assembly 12 is located on the rear side, used to drive the robot to move.

[0055] In one embodiment, such as Figure 5 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.

[0056] In one embodiment, the steering wheel assembly 11 is configured to include at least one steering wheel. Figure 5 In 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.

[0057] 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 4 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.

[0058] 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 2 The 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.

[0059] 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.

[0060] In one embodiment, please refer to Figure 2 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.

[0061] As mentioned earlier, in existing lint-cleaning robots, lint on the surface to be cleaned easily becomes entangled in the steering wheel assembly 11 during movement, thus affecting the robot's movement and potentially causing it to deviate from its intended trajectory. Therefore, in one embodiment, as... Figure 5 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.

[0062] Please see Figure 6 The image shown is a structural schematic diagram of the suction rake assembly in one embodiment of this application. Figure 6 As shown, the suction rake assembly 13 includes a suction rake 131, which is used to clean the surface to be cleaned.

[0063] Please see Figure 7a This application is displayed as such. Figure 6 A schematic cross-sectional view of the suction rake in the illustrated embodiment. (See diagram below.) Figure 7a 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 7b The diagram shows the flow of air carrying cotton fibers within the suction rake in one embodiment of this application. Figure 7b 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 7b 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.

[0064] 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.

[0065] In one embodiment, such as Figure 5 As shown, the longitudinal width z of the suction rake 131 is configured to be any value between 10cm and 25cm, for example, 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.

[0066] In one embodiment, such as Figure 7a 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... Figure 8a and Figure 8b The following are respectively displayed as in this application. Figure 6 A schematic diagram of the suction rake in the illustrated embodiment from another perspective. (See diagram below.) Figure 8a 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 6As 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.

[0067] In one embodiment, such as Figure 8b 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.

[0068] In another embodiment, such as Figure 8b 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.

[0069] In one embodiment, to increase the area covered by the suction rake 131 during cleaning to improve the cleaning efficiency of cotton lint, such as... Figure 5 As shown, the suction rake 131 protrudes horizontally from the left and right ends of the base 11. In other words, the width of the left and right ends of the suction rake 131 is greater than the width of the base 11 at the left and right ends, so as to increase the cleaning area of ​​the suction rake assembly 13.

[0070] In one embodiment, such as Figure 5As shown, the distance d from the left and right ends of the suction rake 131 protruding from the chassis is set to any value between 5mm and 7mm. Here, the distance d can be understood as the length between the outermost edges of the left and right ends of the suction rake 131 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.

[0071] As mentioned earlier, 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 131 of the cotton lint cleaning robot is prone to direct collisions with these obstacles during operation. This can cause the suction rake 131 to deform or become stuck, and may even lead to malfunctions in the cotton lint cleaning robot. Therefore, in one embodiment, as... Figure 6 and Figure 8a As shown, the suction rake 131 includes a main body 1313 and buffer parts 1314 located at the left and right ends of the main body 1313 to buffer the robot from collisions with obstacles during its movement. The obstacles refer to objects located in the path of the cotton cleaning robot that would obstruct the robot's movement, such as textile equipment like spinning or weaving machines, doors, walls, pillars, tables, chairs, cables, and other objects placed on the surface to be cleaned.

[0072] In some examples, the buffer 1314 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 8a The initial state shown provides cushioning against obstacle impacts. In some examples, the main body 1313, 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 main body 1313, allowing the buffer portion 1314 to be connected to the main body 1313 via a snap-fit ​​connection. In some examples, the buffer portion 1314 can also be configured as a single integral structure, circumferentially attached to the main body 1313 via screwing or bonding, thereby achieving the connection between the buffer portion 1314 and the main body 1313.

[0073] In one embodiment, such as Figure 8aAs shown, the buffer portion 1314 is inclined backward from both the left and right ends of the main body portion 1313 to form a fixed angle with the main body portion 1313. In other words, the axis L2 on which the buffer portion 1314 is located is inclined backward relative to the axis L1 on which the main body portion 1313 is located, and there is a fixed angle α between them. In some examples, the fixed angle α 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.

[0074] 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 main body 1313 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.

[0075] For example, in some examples, the anti-collision component completely covers the front side of the main body 1313 in the lateral direction. In other examples, the length of the anti-collision component is greater than the length of the main body 1313, so that while completely covering the main body 1313, it can also partially or completely cover the buffer portions 1314 at both ends, thereby achieving overall protection of the suction rake 131.

[0076] 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.

[0077] 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.

[0078] Please see Figure 9The 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.

[0079] 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 9 In the example shown, the adjustment mechanism 14 is configured as four groups.

[0080] 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.

[0081] In summary, the cotton lint cleaning robot disclosed in this application, by assembling a steering wheel assembly, a drive wheel assembly, and a suction rake assembly on its chassis, and by incorporating a chamber for storing cotton lint and a suction assembly connected to the chamber on the robot body, achieves automated cleaning and collection of cotton lint on the surface to be cleaned during robot movement, thereby improving cleaning efficiency and ensuring cleaning effect. By positioning the suction rake assembly in front of the steering wheel assembly, it can clean the cotton lint before it comes into contact with the steering wheel assembly during robot movement, thus preventing cotton lint from becoming entangled in the steering wheel assembly and affecting robot movement. The suction rakes, protruding horizontally from the left and right sides of the chassis, increase the cleaning area of ​​the surface to be cleaned, thereby improving cleaning efficiency. The buffer sections on the left and right sides of the main body of the suction rake can cushion collisions with obstacles during robot movement and further avoid obstacles, ensuring the normal operation of the cleaning work. By designing an upward-facing air outlet, airflow is directed upwards from the top of the robot body, effectively preventing lint on the surface to be cleaned from being stirred up by the airflow, thus avoiding interference with the cleaning process and preventing impacts on textile operations and product quality. An adjustable mechanism for the vertical distance between the suction rake and the surface ensures that the suction rake is always in the optimal cleaning position during cleaning, preventing poor cleaning results due to excessive distance or scratches caused by insufficient distance.

[0082] 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 a steering wheel set and a drive wheel set located on the front and rear sides respectively for driving the robot to move, and a suction rake assembly located on the front side of the steering wheel set. The robot body is mounted on the chassis and includes electrical components and a collection box mounted on the chassis. The collection box includes a chamber for storing cotton wool and a suction assembly connected to the chamber. The chamber is connected to the suction rake assembly through an air passage pipe. Under the negative pressure 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 to collect the cotton wool into the chamber. The suction rake assembly includes a suction rake protruding horizontally from the left and right ends of the chassis. The suction rake includes a main body and buffer parts located at the left and right ends of the main body to buffer impacts with obstacles during travel.

2. The lint cleaning robot of claim 1, wherein, The buffer section is tilted backward from the left and right ends of the main body to form a fixed angle with the main body.

3. The lint cleaning robot of claim 2, wherein, The fixed included angle is set to any value between 10° and 25°.

4. The lint cleaning robot of claim 1, wherein, The suction rake includes a vertically penetrating suction inlet and a suction rake outlet, as well as a central cavity extending from the suction rake outlet toward the suction inlet. The central cavity also narrows from the middle region to the left and right end regions to ensure stable negative pressure inside the suction rake.

5. The lint cleaning robot of claim 1, wherein, The chassis is also equipped with a collision protection component located in front of the suction rake, which at least completely covers the main body in the lateral direction.

6. The lint cleaning robot of claim 1, wherein, The distance between the left and right ends of the suction rake protruding from the chassis is set to any value between 5mm and 7mm.

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

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

9. The lint cleaning robot of claim 8, wherein, The adjustment mechanism includes a bolt and a spring. The bolt passes through the chassis and is fixed to the suction rake. The spring is sleeved on the bolt with one end abutting against the suction rake and the other end abutting against the chassis. When the bolt is turned, the spring is compressed or extended to adjust the vertical distance between the suction rake and the surface to be cleaned.

10. 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.

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

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

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

14. The lint cleaning robot of claim 13, wherein, The collection bag is breathable to expel the airflow and retain the cotton fibers under the negative pressure of the suction assembly.

15. The cotton lint cleaning robot according to claim 13, characterized in that, The collection bag is provided with a zipper opening for emptying the cotton wool stored inside.

16. The lint cleaning robot of claim 13, wherein, The 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 chamber.

18. The lint cleaning robot of claim 1, wherein, A battery assembly is provided on the underside of the chassis, and the battery assembly is located between the drive wheel assembly and the steering wheel assembly.

19. The lint cleaning robot of claim 1, wherein, The tail of the chassis is provided with an electrostatic elimination assembly for eliminating electrostatic generated by the robot when walking.

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