Cleaning robot

Abstract

The utility model provides a kind of cleaning robot, it includes: host computer, host computer has driving component, to drive host computer in workspace by driving component and move;Mechanical arm, mechanical arm is set to host computer, and mechanical arm is movably set relative to host computer;Cleaning component, at least part of cleaning component is movably set to host computer;Wherein, mechanical arm can pick up cleaning component, to clean surrounding environment by cleaning component.The cleaning robot of the utility model embodiment solves the technical problem that cleaning robot in relevant technology has more dead angle.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment, and more specifically, to a cleaning robot. Background Technology

[0002] The cleaning robots in the relevant technologies have obvious shortcomings in actual use: there are many cleaning dead spots when the cleaning robots in the relevant technologies are working, and they cannot effectively clean some hard-to-reach corners, crevices and other areas, resulting in poor cleaning effect when the cleaning robots in the relevant technologies are used in actual use.

[0003] It is evident that cleaning robots in related technologies suffer from numerous cleaning blind spots. Currently, no effective solution has been proposed to address these issues.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background art described herein. Therefore, the background art may contain information that would not be considered part of the prior art by those skilled in the art. Utility Model Content

[0005] The main objective of this invention is to provide a cleaning robot to solve the technical problem of numerous blind spots in the cleaning of cleaning robots in related technologies.

[0006] To achieve the above objectives, embodiments of the present invention provide a cleaning robot, comprising: a host computer having a drive component to drive the host computer to move within a workspace; a robotic arm disposed on the host computer and movably disposed relative to the host computer; and a cleaning component, at least a portion of which is movably disposed on the host computer; wherein the robotic arm can pick up the cleaning component to clean the surrounding environment using the cleaning component.

[0007] Furthermore, the robotic arm includes a picking component for picking up a cleaning component, wherein the picking component includes at least one of the following: a clamping structure capable of clamping or releasing the cleaning component; an electromagnet structure capable of attracting or releasing a magnetic component, wherein the cleaning component is provided with a magnetic component; or a negative pressure structure capable of attracting the cleaning component by generating negative pressure.

[0008] Furthermore, the robotic arm includes a picking component for picking up a cleaning component. The picking component includes a clamping structure that can clamp or release the cleaning component. The cleaning component includes a clamping part that matches the clamping structure. The clamping structure picks up the cleaning component by clamping the clamping part.

[0009] Furthermore, the main unit is provided with a mating part. When the robotic arm places the cleaning component on the main unit, the mating part mates with the cleaning component to fix and / or position the cleaning component.

[0010] Furthermore, the mating part achieves its fixing and / or positioning function through at least one of the following structures: a groove structure in which the cleaning component can be placed; a snap-fit ​​structure in which the cleaning component is fixed to the main unit; a clamping and fixing structure in which the clamping and fixing structure clamps and fixes the cleaning component; a magnetic fixing structure in which the cleaning component is fixed to the main unit; a negative pressure fixing structure in which the negative pressure fixing structure generates negative pressure to adsorb and fix the cleaning component; and an adhesive fixing structure in which the adhesive fixing structure adhesively fixes the cleaning component.

[0011] Furthermore, there are multiple cleaning components, including a first cleaning component and a second cleaning component. The first cleaning component and the second cleaning component are different cleaning components. Both the first cleaning component and the second cleaning component are at least partially movably disposed on the host. The robotic arm can selectively pick up the first cleaning component or the second cleaning component to clean the surrounding environment.

[0012] Furthermore, the first cleaning component is a vacuuming component, and the second cleaning component is a lint-collecting component; and / or, the main unit includes a vacuuming device that vacuums the area traversed by the main unit; wherein, the first cleaning component includes a vacuuming pipe, the first end of which is connected to the vacuuming device, and when the vacuuming device is working, the vacuuming device drives the dust at the second end of the vacuuming pipe to enter the vacuuming device through the vacuuming pipe, and the first end and the second end are opposite ends of the vacuuming pipe.

[0013] Furthermore, the main unit includes a vacuuming device that vacuums the area it passes through; wherein, the first cleaning component includes a vacuuming pipe, the first end of which is connected to the vacuuming device, and when the vacuuming device is working, the vacuuming device drives the dust at the second end of the vacuuming pipe to enter the vacuuming device through the vacuuming pipe, and the first end and the second end are opposite ends of the vacuuming pipe.

[0014] Furthermore, the first cleaning component includes a valve structure disposed in the vacuum suction pipe to open or close the vacuum suction pipe; and / or, the first cleaning component includes a suction head disposed at the second end of the vacuum suction pipe.

[0015] Furthermore, the cleaning robot includes a rotating brush head, which is telescopically and / or oscillatingly mounted on the main unit. A robotic arm can pick up the rotating brush head and move it.

[0016] Furthermore, the cleaning robot includes: a vision detection module, which is located in the host unit; and a controller, in which the drive components, robotic arm, and vision detection module are all communicatively connected. The controller controls the movement of the drive components and robotic arm based on the information detected by the vision detection module.

[0017] The cleaning robot applying the technical solution of this utility model includes: a main unit, which has a driving component to drive the main unit to move within a workspace; a robotic arm, which is disposed on the main unit and movably disposed relative to the main unit; and a cleaning component, at least a portion of which is movably disposed on the main unit. The robotic arm can pick up the cleaning component to clean the surrounding environment. This cleaning robot, with its robotic arm and movable cleaning component on the main unit, allows the robotic arm to pick up the cleaning component from the main unit during actual use, thereby cleaning the surrounding environment. This allows the robotic arm to reach various locations for cleaning without requiring the main unit to enter these hard-to-reach areas, effectively improving the flexibility of the cleaning robot. It is particularly effective for cleaning corners and crevices that are difficult for the main unit to reach, reducing or eliminating cleaning dead spots and thus solving the technical problem of numerous cleaning dead spots in related technologies. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0019] Figure 1 This is a structural schematic diagram of an embodiment of the cleaning robot of this utility model.

[0020] The above figures include the following reference numerals:

[0021] 1. Main unit; 11. First mating part; 12. Second mating part; 2. Robotic arm; 21. Pick-up component; 3. First cleaning component; 31. First clamping part; 32. Suction head; 4. Second cleaning component; 41. Second clamping part; 5. Vision inspection module; 6. Cleaning device. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] Please refer to Figure 1To address the technical problems in the background section, embodiments of this utility model provide a cleaning robot, comprising: a host 1, the host 1 having a drive component to drive the host 1 to move within a workspace; a robotic arm 2, the robotic arm 2 being disposed on the host 1 and movably disposed relative to the host 1; and a cleaning component, at least a portion of which is movably disposed on the host 1; wherein the robotic arm 2 can pick up the cleaning component to clean the surrounding environment.

[0024] This cleaning robot, with its structural design, incorporates a robotic arm 2 and movable cleaning components on the main unit 1. In practical use, the robotic arm 2 picks up the cleaning components from the main unit 1 and uses them to clean the surrounding environment. This allows the robotic arm 2 to reach various locations for cleaning without requiring the main unit 1 to enter these hard-to-reach areas, effectively improving the robot's flexibility. It is particularly effective at cleaning corners and crevices that are difficult for the main unit 1 to access, reducing or eliminating cleaning blind spots and thus solving the technical problem of numerous cleaning blind spots in related technologies.

[0025] In practical implementation, cleaning components can be various types of parts that perform cleaning functions, such as vacuuming components, brushing components, wiping components, lint-collecting components, etc. By setting corresponding cleaning components on the main unit 1, the cleaning robot can perform cleaning more flexibly according to cleaning needs, improving the versatility of the cleaning robot in different cleaning scenarios and ensuring better cleaning results.

[0026] In other alternative embodiments, the cleaning robot can also be designed with multiple cleaning components according to cleaning needs and its own capacity, which can further expand the cleaning function of the cleaning robot, make it adaptable to more cleaning scenarios, and further improve the flexibility and cleaning effect of the cleaning robot.

[0027] like Figure 1 As shown, in some preferred embodiments, there are multiple cleaning components, including a first cleaning component 3 and a second cleaning component 4. The first cleaning component 3 and the second cleaning component 4 are different cleaning components, and both the first cleaning component 3 and the second cleaning component 4 are at least partially movably disposed on the host 1. The robotic arm 2 can selectively pick up the first cleaning component 3 or the second cleaning component 4 to clean the surrounding environment. By setting the first cleaning component 3 and the second cleaning component 4, the robotic arm 2 can pick up different cleaning components to perform cleaning operations according to cleaning needs, enabling the cleaning robot to meet more cleaning needs and adapt to different cleaning scenarios, thereby improving the cleaning effect of the cleaning robot in different scenarios and solving the problem in related technologies where the robot's function is limited, resulting in an inability to flexibly adjust the cleaning strategy according to changes in the cleaning scenario.

[0028] In some optional embodiments, the robotic arm 2 includes a picking member 21 for picking up cleaning components. For example, when the cleaning components include the first cleaning component 3 and the second cleaning component 4 described above, the picking member 21 can selectively pick up either the first cleaning component 3 or the second cleaning component 4. The picking member 21 includes at least one of the following: a clamping structure that can clamp or release the first cleaning component 3 or the second cleaning component 4; an electromagnet structure that can attract or release magnetic components, wherein both the first cleaning component 3 and the second cleaning component 4 are provided with magnetic components; or a negative pressure structure that can attract the first cleaning component 3 or the second cleaning component 4 by generating negative pressure.

[0029] like Figure 1 As shown, in a specific embodiment, the robotic arm 2 includes a picking component 21 to pick up a first cleaning component 3 or a second cleaning component 4. The picking component 21 includes a clamping structure that can clamp or release the first cleaning component 3 or the second cleaning component 4. Specifically, to facilitate the clamping structure in picking up the cleaning component, a clamping portion is designed on the cleaning component. Specifically, for the case where the cleaning component includes the aforementioned first cleaning component 3 and second cleaning component 4, the first cleaning component 3 includes a first clamping portion 31 that matches the clamping structure. The clamping structure picks up the first cleaning component 3 by clamping the first clamping portion 31. And / or, the second cleaning component 4 includes a second clamping portion 41 that matches the clamping structure. The clamping structure picks up the second cleaning component 4 by clamping the second clamping portion 41.

[0030] In this embodiment, by designing a first clamping part 31 on the first cleaning component 3 and / or a second clamping part 41 on the second cleaning component 4, a clamping force structure matching the clamping structure can be provided, thereby ensuring the stability of the robotic arm 2 clamping the first cleaning component 3 and / or the second cleaning component 4, avoiding the situation where the first cleaning component 3 or the second cleaning component 4 falls off during the operation, and ensuring the reliability of the cleaning robot's operation.

[0031] Preferably, the host unit 1 is provided with a mating part. When the robotic arm 2 places the cleaning component on the host unit 1, the mating part engages with the cleaning component to fix and / or position the cleaning component. Specifically, when the cleaning component includes the first cleaning component 3 and the second cleaning component 4 as described above, the host unit 1 is provided with a first mating part 11. When the robotic arm 2 places the first cleaning component 3 on the host unit 1, the first mating part 11 engages with the first cleaning component 3 to fix and / or position the first cleaning component 3. The host unit 1 is provided with a second mating part 12. When the robotic arm 2 places the second cleaning component 4 on the host unit 1, the second mating part 12 engages with the second cleaning component 4 to fix and / or position the second cleaning component 4.

[0032] The fixing and positioning mentioned here have two different functions. Fixing means applying a force to the first cleaning component 3 or the second cleaning component 4 to fix it to the host 1 and prevent it from falling off. Positioning means using a limiting structure to place the first cleaning component 3 or the second cleaning component 4 in an accurate position, thereby ensuring that the subsequent robotic arm 2 can grasp the first cleaning component 3 or the second cleaning component 4 more accurately.

[0033] The first mating part 11 or the second mating part 12 achieves its fixing and / or positioning function through at least one of the following structures: a groove structure in which the corresponding cleaning component can be placed; a snap-fit ​​structure in which the corresponding cleaning component is fixed to the main unit 1; a clamping and fixing structure in which the clamping and fixing structure clamps and fixes the corresponding cleaning component; a magnetic fixing structure in which the corresponding cleaning component is fixed to the main unit 1; a negative pressure fixing structure in which the negative pressure fixing structure generates negative pressure to adsorb and fix the corresponding cleaning component; and an adhesive fixing structure in which the adhesive fixing structure adhesively fixes the corresponding cleaning component.

[0034] like Figure 1 As shown, in a specific embodiment, the first cleaning component 3 is a vacuuming component, and the second cleaning component 4 is a lint-adhesive component. In this embodiment, the first cleaning component 3 is designed as a vacuuming component, and the second cleaning component 4 is designed as a lint-adhesive component. By gripping the vacuuming component or the lint-adhesive component with the robotic arm 2, the vacuuming component or the lint-adhesive component can be extended into some hard-to-reach locations (such as corners, crevices, etc.) for cleaning. The vacuuming component can remove dust, hair, and other structures from the surface of the area to be cleaned, and the lint-adhesive component can further clean the dust and hair adhering to the surface of the area to be cleaned more effectively, ensuring the cleaning effect.

[0035] In practice, the specific structural forms of the vacuuming component and the lint-removing component can vary, as long as they can achieve the corresponding vacuuming and lint-removing functions. For example, in an optional embodiment, the vacuuming component is a separate small vacuum cleaner, and the lint-removing component is a lint roller.

[0036] In addition, the main unit 1 includes a vacuuming device that vacuums the area it passes through. The first cleaning component 3 includes a vacuuming pipe, with its first end connected to the vacuuming device. When the vacuuming device is working, dust at the second end of the vacuuming pipe is driven through the pipe into the vacuuming device. The first and second ends are opposite ends of the vacuuming pipe. In this embodiment, the main unit 1 of the cleaning robot includes a vacuuming device. For example, existing robotic vacuum cleaners typically carry their own vacuuming devices to vacuum the areas they pass through. This embodiment utilizes this vacuuming device by designing a vacuuming pipe and connecting its first end to the device. When the vacuuming device is working, dust at the second end of the pipe is sucked into the device. Thus, a single vacuuming device can achieve both large-area vacuuming and targeted vacuuming of specific areas, effectively controlling the cost of the cleaning robot.

[0037] The first cleaning component 3 includes a valve structure disposed in the suction pipe to open or close the suction pipe; and / or, the first cleaning component 3 includes a suction head 32 disposed at the second end of the suction pipe. By designing the suction head 32 at the second end of the suction pipe, and by designing the shape of the suction head 32, air intake can be optimized, and the suction range at the second end of the suction pipe can be better controlled, thereby improving the suction effect. In a preferred embodiment, the opening degree of the suction head 32 is adjustable, thereby regulating the suction speed and better controlling the suction process. In another preferred embodiment, the suction head 32 is provided with bristles, which can brush up dust in the environment near the suction head 32, thereby better absorbing the dust.

[0038] In one optional embodiment, the cleaning robot includes a rotating brush head, which is retractable and / or oscillatingly mounted on the main unit 1. A robotic arm 2 can pick up the rotating brush head and move it. By designing a rotatable, retractable, and / or oscillating brush head, the robotic arm 2 can pick up the brush head and move it, thereby moving the rotating brush head to the location requiring targeted cleaning. The rotation of the brush head intensifies the cleaning of that location, improving the cleaning effect of the cleaning robot. In actual implementation, the specific structure of the rotating brush head can be flexibly selected. For example, it can be connected to the output shaft of a motor, thereby driving its rotation. The motor is fixed to the end of a sleeve-type telescopic rod, and the body of the sleeve-type telescopic rod can be pivotally mounted on the main unit 1 of the cleaning robot, thereby adjusting the orientation of the rotating brush head. In this way, the robotic arm 2 can flexibly move the rotating brush head to various positions to meet the cleaning needs of different locations.

[0039] The cleaning robot includes: a vision detection module 5, which is located on the host 1; a controller, a drive component, a robotic arm 2, and the vision detection module 5 are all connected to the controller in communication. The controller controls the drive component and the robotic arm 2 to move according to the information detected by the vision detection module 5.

[0040] In one specific embodiment, the cleaning components include the first cleaning component 3 and the second cleaning component 4 described above. The controller can control the robotic arm 2 to pick up the corresponding cleaning components and perform cleaning operations based on the information detected by the vision detection module 5.

[0041] In this embodiment, by designing a vision detection module 5 and a controller, the actions of various components of the cleaning robot can be systematically controlled, enabling them to work together to complete effective cleaning. For example, in actual use, the vision detection module 5 acquires images of the surrounding environment and sends the images to the controller. The controller's built-in AI recognition algorithm can identify the locations that need further cleaning and the cleaning methods required. Then, the controller controls the robotic arm 2 to pick up the corresponding cleaning components and perform the appropriate cleaning operation on those locations. For example, the first cleaning component 3 is a vacuum cleaner, and the second cleaning component 4 is a lint roller. When the AI ​​recognition algorithm identifies an area that needs vacuuming, the controller controls the robotic arm 2 to pick up the vacuum cleaner and perform the vacuuming operation. When the AI ​​recognition algorithm identifies an area that needs lint removal, the controller controls the robotic arm 2 to pick up the lint roller and perform the lint removal operation.

[0042] In one specific embodiment, the cleaning robot also includes a cleaning device 6, which is disposed at the bottom of the main unit 1 to clean the area traversed by the main unit 1. In actual implementation, the specific type of cleaning device 6 can be flexibly selected according to the actual cleaning needs; for example, the cleaning device 6 can be a roller brush, a roller mop, etc.

[0043] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0044] This utility model embodiment of the cleaning robot includes: a main unit 1, which has a driving component to drive the main unit 1 to move within a workspace; a robotic arm 2, which is disposed on the main unit 1 and movably disposed relative to the main unit 1; and a cleaning component, at least a portion of which is movably disposed on the main unit 1. The robotic arm 2 can pick up the cleaning component to clean the surrounding environment. This cleaning robot, with its robotic arm 2 and movable cleaning component on the main unit 1, allows the robotic arm 2 to pick up the cleaning component from the main unit 1 during actual use, thereby cleaning the surrounding environment. This allows the robotic arm 2 to reach various locations for cleaning without requiring the main unit 1 to enter these hard-to-reach areas, effectively improving the flexibility of the cleaning robot. It is particularly effective for cleaning corners and crevices that are difficult for the main unit 1 to reach, reducing or eliminating cleaning dead spots and thus solving the technical problem of numerous cleaning dead spots in related technologies.

[0045] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus 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 such processes, methods, products, or apparatus.

[0048] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A cleaning robot, characterized in that, include: A host (1) having a drive component to drive the host (1) to move within a workspace; A robotic arm (2) is disposed on the host (1) and is movably disposed relative to the host (1); A cleaning component, at least a portion of which is movably disposed on the host unit (1); The robotic arm (2) can pick up the cleaning component to clean the surrounding environment.

2. The cleaning robot according to claim 1, wherein, The robotic arm (2) includes a picking component (21) for picking up the cleaning component, wherein the picking component (21) includes at least one of the following: A clamping structure that can clamp or release the cleaning component; An electromagnet structure, wherein the electromagnet structure can attract or release a magnetic attraction component, and the cleaning component is provided with the magnetic attraction component; A negative pressure structure that can draw in the cleaning component by generating negative pressure.

3. The cleaning robot according to claim 1, wherein, The robotic arm (2) includes a picking component (21) for picking up the cleaning component, the picking component (21) including a clamping structure for clamping or releasing the cleaning component; The cleaning component includes a clamping part that matches the clamping structure. The clamping structure clamps the clamping part to pick up the cleaning component.

4. The cleaning robot according to claim 1, characterized in that, The host (1) is provided with a mating part. When the robotic arm (2) places the cleaning component on the host (1), the mating part cooperates with the cleaning component to fix and / or position the cleaning component.

5. The cleaning robot according to claim 4, wherein The mating part achieves its fixing and / or positioning function through at least one of the following structures: The cleaning component can be placed within the groove structure. A snap-fit ​​structure is provided, through which the cleaning component is fixed to the host (1); A clamping and fixing structure is provided to clamp and fix the cleaning component. A magnetic fixing structure is used to fix the cleaning component to the host (1); A negative pressure fixing structure, wherein the negative pressure fixing structure generates negative pressure to adsorb and fix the cleaning component; An adhesive fixing structure is provided for adhesively fixing the cleaning component.

6. The cleaning robot according to any one of claims 1 to 5, wherein, The cleaning components are multiple, including a first cleaning component (3) and a second cleaning component (4). The first cleaning component (3) and the second cleaning component (4) are different cleaning components. Both the first cleaning component (3) and the second cleaning component (4) are at least partially movably disposed on the host (1). The robotic arm (2) can selectively pick up the first cleaning component (3) or the second cleaning component (4) to clean the surrounding environment.

7. The cleaning robot according to claim 6, wherein, The first cleaning component (3) is a vacuuming component, and the second cleaning component (4) is a lint-collecting component; and / or, The host (1) includes a vacuuming device, which vacuums the area that the host (1) passes through; wherein, the first cleaning component (3) includes a vacuuming pipe, the first end of which is connected to the vacuuming device, and when the vacuuming device is working, the vacuuming device drives the dust at the second end of the vacuuming pipe to enter the vacuuming device through the vacuuming pipe, and the first end and the second end are the opposite ends of the vacuuming pipe.

8. The cleaning robot according to claim 7, wherein, The first cleaning component (3) includes a valve structure disposed in the vacuum suction pipe to open or close the vacuum suction pipe; and / or, The first cleaning component (3) includes a suction head (32) which is disposed at the second end of the suction pipe.

9. The cleaning robot according to any one of claims 1 to 5, characterized in that, The cleaning robot includes: A rotating brush head is provided on the host (1) in a telescopic and / or swingable manner. The robotic arm (2) can pick up the rotating brush head and drive it to move.

10. The cleaning robot according to any one of claims 1 to 5, wherein, The cleaning robot includes: A visual inspection module (5) is disposed on the host (1); The controller, the drive component, the robotic arm (2), and the vision detection module (5) are all connected to the controller in communication. The controller controls the drive component and the robotic arm (2) to move according to the information detected by the vision detection module (5).

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