Robot vacuum cleaner

Abstract

This disclosure provides a cleaning robot comprising a robot body (10), a drive system (30), and a cleaning system (20), wherein the drive system (30) is provided on the robot body (10) and is used to drive the cleaning robot to operate on a cleaning surface, and the cleaning system (20) is provided on the robot body (10), and the cleaning system includes a main cleaning assembly (24) provided parallel to the cleaning surface, and the main cleaning assembly (24) is provided so as to be movable relative to the robot body (10) such that at least a portion of the main cleaning assembly (24) can extend from the circumferential outer edge of the robot body.

Description

Cross - reference to related applications

[0001] This disclosure is based on a Chinese patent application with application number 202310546681.0 and filing date of May 15, 2023, claims the priority of the Chinese patent application, and the entire content of the Chinese patent application is incorporated herein by reference.

Technical Field

[0002] This disclosure relates to the field of smart home technology, and particularly to a cleaning robot.

Background Art

[0003] With the development of modern society, the number of people concentrating on work is increasing, and there is almost no time left for cleaning the house. However, daily cleaning and maintaining household hygiene always affect people's quality of life. To save time and maintain household hygiene, more people are purchasing cleaning robots so that they can clean the house timely and conveniently. The cleaning robot can automatically complete the floor cleaning work in the room with a certain level of artificial intelligence.

Summary of the Invention

[0004] This disclosure provides a cleaning robot that can improve the cleaning effect.

[0005] This disclosure provides a cleaning robot, which includes a robot body, a drive system provided on the robot body for driving the cleaning robot to operate on the cleaning surface, a cleaning system provided on the robot body and including a main cleaning assembly provided parallel to the cleaning surface, and the main cleaning assembly is movably provided with respect to the robot body such that at least a part of the main cleaning assembly can extend from the outer edge in the circumferential direction of the robot body.

[0006] In one embodiment of the present disclosure, the angle between the main cleaning assembly and the lateral axis of the robot body is less than 90 degrees.

[0007] In one embodiment of the present disclosure, the main cleaning assembly is provided to be movable along the installation direction of the main cleaning assembly.

[0008] In one embodiment of the present disclosure, the installation direction of the main cleaning assembly is parallel to the lateral axis of the robot body.

[0009] In one embodiment of the present disclosure, the main cleaning assembly includes a fixed bracket and a cleaning head provided within the fixed bracket, the fixed bracket being movably mounted on the robot body.

[0010] In one embodiment of the present disclosure, the robot body is provided with a mounting space, the fixing bracket is movably provided in the mounting space, the outer edge of the robot body in the circumferential direction is provided with a passage communicating with the mounting space, and the fixing bracket can be formed to extend from the passage such that it has a contracted state in which the fixing bracket is contracted into the mounting space and an extended state in which it extends from the mounting space.

[0011] In one embodiment of the present disclosure, the cleaning robot further includes a position-regulating member, the position-regulating member being connected to the robot body and making position-regulating contact with the fixing bracket to prevent the fixing bracket from detaching from the robot body, The fixing bracket is movably mounted relative to the position regulating member.

[0012] In one embodiment of the present disclosure, the position regulating member includes a fixed base and a sliding portion, the sliding portion being provided on the fixed base, the fixed base being connected to the robot body, and the fixed bracket being movably provided relative to the sliding portion. There are at least two position-regulating members, and the fixing bracket is sandwiched between the position-regulating members.

[0013] In one embodiment of the present disclosure, the cleaning robot further includes a drive assembly, which is drive-connected to a fixed bracket to drive the fixed bracket to move relative to the robot body.

[0014] In one embodiment of the present disclosure, the drive assembly is A drive unit installed in the robot body, The drive wheel connected to the drive unit, A connecting rack, which is connected to a fixed bracket and engages with a drive wheel such that a drive unit drives and moves the fixed bracket via the drive wheel and the connecting rack.

[0015] In one embodiment of the present disclosure, the cleaning head includes a wet cleaning head.

[0016] In one embodiment of the present disclosure, the cleaning robot further includes a liquid supply unit provided on the robot body for supplying cleaning fluid to a wet cleaning head.

[0017] In one embodiment of the present disclosure, the cleaning robot further includes a collection system provided on the robot body, which includes a wet cleaning head and / or a collection unit for collecting residues on the surface to be cleaned. Of these, the collection unit and the liquid supply unit are installed along the vertical axis of the robot body.

[0018] In one embodiment of the present disclosure, the cleaning system is located between the collection unit and the liquid supply unit.

[0019] In one embodiment of the present disclosure, the robot body includes a forward portion and a rearward portion, and the liquid supply unit and the collection unit are located in the forward portion and the rearward portion, respectively.

[0020] In one embodiment of the present disclosure, the recovery system further includes a power unit that is in pneumatic communication with a collection unit to collect residues into the collection unit. Among them, a blocking part is provided in a path where the power part communicates with the collecting part.

[0021] In an embodiment of the present disclosure, the blocking part is provided in the collecting part and partitions the collecting part into a first chamber and a second chamber that communicate with each other. Among them, filter holes are provided in the blocking part, and the first chamber and the second chamber communicate with each other through the filter holes.

[0022] In an embodiment of the present disclosure, the volume of the first chamber is larger than the volume of the second chamber. An inlet for collecting residues into the collecting part is provided in the first chamber, and an outlet for communicating with the power part is provided in the second chamber.

[0023] In an embodiment of the present disclosure, the drive system includes a first drive wheel module and a second drive wheel module. The first drive wheel module and the second drive wheel module are provided along the lateral axis of the robot body, and the lateral axis of the robot body is perpendicular to the moving direction of the sweeping robot.

[0024] The sweeping robot provided by the embodiment of the present disclosure has a cleaning system provided on the robot body. The cleaning system includes a main cleaning assembly. The main cleaning assembly is provided movably with respect to the robot body, so that at least a part of the main cleaning assembly can extend from the outer edge in the circumferential direction of the robot body. That is, the main cleaning assembly in the present disclosure can reciprocate between a retracted state and an extended state. By extending from the outer edge in the circumferential direction of the robot body, the cleaning area of the main cleaning assembly is improved, and while moving left and right to realize cleaning of special environments such as the corners of walls, by reciprocating between the retracted state and the extended state, the cleaning effect of the main cleaning assembly is improved, and further the cleaning performance of the sweeping robot is improved.

[0025] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present disclosure.

Brief Description of the Drawings

[0026] By referring to the drawings and explaining the preferred embodiments of the present disclosure in detail, various objectives, features, and advantages of the present disclosure will become clearer. The drawings are merely schematic diagrams of the present disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals always indicate the same or similar members. Among them, [Figure 1] It is a schematic top view of the structure of a cleaning robot according to an exemplary embodiment. [Figure 2] It is a schematic view of a cleaning head of a cleaning robot according to an exemplary embodiment extending from the circumferential outer edge of the robot body. [Figure 3] It is a schematic bottom view of the structure of a cleaning robot according to an exemplary embodiment. [Figure 4] It is a schematic internal view of a cleaning robot according to an exemplary embodiment. [Figure 5] It is a schematic internal view of a cleaning robot according to an exemplary embodiment. [Figure 6] It is a schematic view of the structure of a drive assembly of a cleaning robot according to an exemplary embodiment. [Figure 7] It is a schematic view of the structure of a collection system of a cleaning robot according to an exemplary embodiment. <00者 0111> [Figure 8] It is a schematic view of one perspective of a fixing bracket of a cleaning robot according to an exemplary embodiment. [Figure 9] It is a schematic view of another perspective of a fixing bracket of a cleaning robot according to an exemplary embodiment. [Figure 10] It is a schematic view of the structure of a wiper of a cleaning robot according to an exemplary embodiment.

Explanation of Reference Numerals

[0027] 10 Robot body, 11 Front direction part, 12 Rear direction part, 13 Mounting space, 14 Passageway, 20 Cleaning system, 21 Cleaning head, 22 Fixing bracket, 221 Liquid inlet, 222 Liquid outlet, 223 Storage chamber, 224 Through hole, 23 Auxiliary cleaning assembly, 24 Main cleaning assembly, 30 Drive system, 31 First drive wheel module, 32 Second drive wheel module, 33 Driven wheel, 40 liquid supply, 50 Recovery system, 51 Collection unit, 511 First chamber, 512 Second chamber, 513 Inlet, 514 Outlet, 52 Power unit, 53 Blocking unit, 531 Filter hole, 54 Wiper, 541 Water intake, 60 Position regulating member, 61 Fixed base, 62 Sliding part, 70 Drive assembly, 71 Drive unit, 72 Drive wheel, 73 Connecting rack, 80 Sensing system, 81 Location device, 82 Buffer, 90 Energy Systems, 100 Human-Machine Interaction Systems. [Modes for carrying out the invention]

[0028] Typical embodiments that embody the features and advantages of the present invention will be described in detail below. It should be understood that this disclosure may have various variations in different embodiments, none of which will depart from the scope of this disclosure, and the descriptions and drawings therein are for illustrative purposes only and will not limit this disclosure.

[0029] The following descriptions of different exemplary embodiments of this disclosure are made with reference to the drawings, which are part of this disclosure and exemplify different exemplary structures, systems, and steps that can realize multiple aspects of this disclosure. It should be understood that other specific designs of components, structures, exemplary devices, systems, and steps may be used and structural and functional modifications may be made without departing from the scope of this disclosure. Also, terms such as “on,” “between,” and “in” may be used herein to describe different exemplary features and elements of this disclosure, but these terms are used herein solely for convenience and, for example, follow the illustrative directions in the drawings. Nothing herein should be understood as requiring any particular three-dimensional orientation of a structure to fall within the scope of this disclosure.

[0030] As shown in Figures 1 to 10, the cleaning robot includes a robot body 10, a cleaning system 20, a drive system 30, a collection system 50, a detection system, a position regulating member 60, a drive assembly 70, a sensing system 80, a control system, an energy system 90, and a human-machine interaction system 100.

[0031] As shown in Figures 1 to 3, the robot body 10 includes a forward portion 11 and a rearward portion 12 and has a substantially circular shape (circular at both the front and rear), but it may have other shapes, including, but is not limited to, a substantially D-shape with a square front and a circular rear, and a shape with rectangles or squares at both the front and rear.

[0032] As shown in Figure 1, the sensing system 80 includes a positioning device 81 located on the robot body 10, a collision sensor provided in the buffer 82 of the forward portion 11 of the robot body 10, a proximity sensor provided on the robot body 10, a cliff sensor provided on the lower part of the robot body 10, and sensor devices such as a magnetometer, accelerometer, gyroscope, and odometer provided inside the robot body 10, and is used to provide the control system with various position information and motion state information of the machine. The positioning device 81 includes, but is not limited to, a camera and a laser distance measuring device (LDS).

[0033] As shown in Figure 1, the forward portion 11 of the robot body 10 can carry a buffer 82. During the cleaning process, when the drive system 30 propels the cleaning robot along the ground, the buffer 82 detects one or more events in the path of the cleaning robot via a collision sensor mounted on it. The cleaning robot can then respond to the events detected by the buffer 82, such as obstacles or walls, by controlling the drive system 30, for example, to move away from obstacles.

[0034] The control system is located on a circuit board within the robot body 10 and includes a computing processor, such as a central processing unit and an application processor, which communicates with non-temporary memory such as a hard disk, flash memory, and random access memory. The application processor uses position estimation algorithms such as Simultaneous Localization and Mapping (SLAM) based on obstacle information fed back from a laser rangefinder to create a real-time map of the environment in which the cleaning robot is located. In addition, based on distance and speed information fed back from sensor devices such as sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers located in the buffer 82, the system comprehensively determines the current operating state and location of the cleaning robot, as well as its current status, such as whether it has crossed a threshold, is on a carpet, is located on a cliff, is blocked above or below, or if the dustbin is full or has been picked up. The system also presents specific next action strategies according to different situations, thereby providing the cleaning robot with better cleaning performance and a better user experience.

[0035] As shown in Figure 3, the drive system 30 can be operated to move the robot body 10 across the ground based on drive commands having distance and angle information (e.g., x, y, and θ components). The drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32. The first drive wheel module 31 and the second drive wheel module 32 are provided along a lateral axis defined by the robot body 10. To enable the cleaning robot to move more stably on the ground or to have stronger mobility, the cleaning robot may include one or more driven wheels 33, which include, but are not limited to, swivel wheels. The drive wheel module includes a drive wheel, a drive motor, and a control circuit for controlling the drive motor, and the drive wheel module may further be connected to a circuit for measuring the drive current and an odometer. The drive wheel module may be detachably connected to the robot body 10 for easy attachment, removal, and maintenance. The drive wheel module may have a biased drop suspension system that is movably mounted to the robot body 10, for example, rotatably mounted, and subjected to a spring bias biased downward and away from the robot body 10. The spring bias allows the drive wheel module to maintain contact and traction with the ground with a constant landing force, while at the same time allowing the cleaning elements of the cleaning robot to contact the ground with a constant pressure.

[0036] The robot body 10 defines a horizontal axis and a vertical axis, which are perpendicular to each other, and the horizontal axis and the vertical axis may be understood as the horizontal centerline and the vertical centerline of the robot body 10, respectively.

[0037] The energy system 90 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. A charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage under-monitoring circuit may be connected to the rechargeable batteries, and these circuits may be further connected to a single-chip microcontroller control circuit. The cleaning robot can be charged by connecting it to a charging stand via charging electrodes provided on the body, for example, on the side of the body, the bottom of the body, or the top of the body.

[0038] The human-machine interaction system 100 includes buttons on the main unit panel, which are used by the user to select functions, and may further include a display screen and / or indicator lights and / or a speaker, the display screen, indicator lights and speaker displaying the current machine status or function selection items to the user, and may further include a mobile phone client program. For a route-navigation type automatic cleaning robot, the mobile phone client can display a map of the environment in which the device is located and the location of the machine to the user, providing the user with richer and more user-friendly functions.

[0039] As shown in Figures 1 to 6, the cleaning robot provided by the embodiments of this disclosure includes a cleaning system 20 provided on the robot body 10, the cleaning system 20 includes a main cleaning assembly 24, and the main cleaning assembly 24 is provided so as to be movable relative to the robot body 10, so that at least a portion of the main cleaning assembly 24 can extend from the circumferential outer edge of the robot body 10, that is, the main cleaning assembly 24 in this disclosure can move left and right relative to the cleaning robot, and can reciprocate between a retracted state and an extended state, and by extending from the circumferential outer edge of the robot body 10 the cleaning area of ​​the main cleaning assembly 24 is improved, and by moving left and right it can clean special environments such as corners of walls, while by reciprocating between the retracted state and the extended state the cleaning effect of the main cleaning assembly 24 is improved and the cleaning performance of the cleaning robot is further improved.

[0040] The drive assembly 70 of the cleaning robot is drivably connected to the main cleaning assembly 24 and is used to drive the main cleaning assembly 24 to move essentially back and forth along a target surface. For example, the drive assembly 70 is used to drive the main cleaning assembly 24 to move essentially back and forth left and right along a direction parallel to the lateral axis of the robot body 10.

[0041] In the embodiments of this disclosure, the angle between the main cleaning assembly 24 and the lateral axis of the robot body 10 is less than 90 degrees. As a result, when the main cleaning assembly 24 moves with the robot body 10, the main cleaning assembly 24 can have a relatively large cleaning area, thereby improving the cleaning efficiency of the cleaning robot.

[0042] The angle between the main cleaning assembly 24 and the lateral axis of the robot body 10 may be 0 degrees, 5 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, 50 degrees, 55 degrees, or 60 degrees, etc.

[0043] The angle between the main cleaning assembly 24 and the lateral axis of the robot body 10 is the angle between the installation direction of the main cleaning assembly 24 and the lateral axis of the robot body 10. The direction in which the drive system 30 drives and moves the cleaning robot may be perpendicular to the lateral axis of the robot body 10. This allows the angle between the main cleaning assembly 24 and the lateral axis of the robot body 10 to be less than 90 degrees, thereby ensuring that the main cleaning assembly 24 has a relatively large cleaning area.

[0044] In the embodiments of this disclosure, the main cleaning assembly 24 is provided to be movable along the installation direction of the main cleaning assembly 24, which not only facilitates the reciprocating movement of the main cleaning assembly 24 along its axial direction, but also increases the cleaning range of the main cleaning assembly 24 by controlling the movement of the main cleaning assembly 24, improves the cleaning area of ​​the main cleaning assembly 24, and further improves the cleaning efficiency of the cleaning robot.

[0045] The installation direction of the main cleaning assembly 24 can be considered as the extension direction of the main cleaning assembly 24, and furthermore, the main cleaning assembly 24 includes a cleaning head 21, and the installation direction of the main cleaning assembly 24 can be considered as the axial direction of the cleaning head 21.

[0046] In the embodiments of this disclosure, the installation direction of the main cleaning assembly 24 is parallel to the lateral axis of the robot body 10, the main cleaning assembly 24 is provided parallel to the lateral axis of the robot body 10, and the main cleaning assembly 24 is provided so as to be movable relative to the robot body 10 along a direction parallel to the lateral axis of the robot body 10, that is, the main cleaning assembly 24 reciprocates along its axial direction, for example, the main cleaning assembly 24 includes a cleaning head 21, the cleaning head 21 includes a cylindrical structure, and the direction of extension of the centerline of the cylindrical structure is indicated as the axial direction of the cylindrical structure, that is, the cleaning head 21 of the main cleaning assembly 24 is provided so as to be movable relative to the robot body 10 along the axial direction of the cylindrical structure. By reciprocating the cleaning head 21 along its axial direction, the cleaning area of ​​the cleaning head 21 can be improved by extending from the circumferential outer edge of the robot body 10, and at the same time, the cleaning head 21 can ensure a wiping force on the ground to be wiped, thereby improving the cleaning effect on the ground.

[0047] The cleaning head 21 may include a cylindrical structure, and the cylindrical structure may be hollow or solid, and is not limited thereto. For example, the cleaning head 21 may be a roller brush, and the roller brush may include a cylindrical structure and a bundle of bristles provided on the cylindrical structure, and of course the roller brush may be a cylindrical structure, and it is not excluded that the outer surface of the roller brush in the circumferential direction is a cylindrical surface.

[0048] In the embodiments of this disclosure, the main cleaning assembly 24 is parallel to the lateral axis of the robot body 10, and the main cleaning assembly 24 is provided to be movable along a direction parallel to the lateral axis, that is, the reciprocating direction of the main cleaning assembly 24 is perpendicular to the longitudinal axis of the robot body 10, and the longitudinal axis of the robot body 10 is parallel to the forward direction of the robot body 10, that is, the reciprocating direction of the main cleaning assembly 24 is perpendicular to the forward direction of the robot body 10. By making the reciprocating direction of the main cleaning assembly 24 perpendicular to the forward direction of the robot body 10, the cleaning area of ​​the main cleaning assembly 24 can be further improved by extending from the outer edge in the circumferential direction of the robot body 10, and at the same time, by making the reciprocating direction of the main cleaning assembly 24 perpendicular to the forward direction of the robot body 10, the wiping force of the main cleaning assembly 24 on the ground to be wiped can be guaranteed, and the cleaning effect on the ground can be improved.

[0049] Of course, the main cleaning assembly 24 does not have to be provided so as to be movable along the direction of the lateral axis of the robot body 10 relative to the robot body 10. That is, the reciprocating direction of the main cleaning assembly 24 is not parallel to the lateral axis of the robot body 10. For example, there may be a certain angle between the reciprocating direction of the main cleaning assembly 24 and the lateral axis of the robot body 10. This reduces the probability that the main cleaning assembly 24 will get stuck in the grout when the cleaning robot passes through a ground environment such as tile grout during its forward movement, thereby improving the cleaning efficiency of the cleaning robot and improving the usability of the cleaning robot. The pre-set angle between the lateral axis and the main cleaning assembly 24 may be acute, and the range of the pre-set angle may be, for example, 5° to 70°.

[0050] In embodiments of this disclosure, as shown in Figures 5 and 6, the cleaning head 21 of the main cleaning assembly 24 may be located at the bottom of the robot body 10. For example, the cleaning head 21 may be a roller brush that rotates about an axis parallel to the surface to be cleaned, and at the same time, the cleaning head 21 can reciprocate left and right along its axial direction during rotation. A drive assembly 70 is used to drive the cleaning head 21 to reciprocate along the target surface, and the drive assembly 70 is used to drive the cleaning head 21 to reciprocate left and right along its axial direction. The target surface is a part of the surface to be cleaned, and the cleaning head 21 reciprocates along the surface to be cleaned. A cleaning cloth or cleaning plate is provided on the surface of the contact surface between the cleaning head 21 and the surface to be cleaned, and the reciprocating movement generates high-frequency friction with the surface to be cleaned, thereby removing dirt from the surface to be cleaned. Among these, the higher the frequency of reciprocating motion, the higher the frequency of friction, which means a greater number of friction cycles per unit time. High-frequency reciprocating motion is also called reciprocating vibration, and its cleaning ability is far greater than that of normal reciprocating motion, such as rotation and friction cleaning.

[0051] Of course, during the cleaning process of the cleaning robot, cleaning can be achieved by first moving the cleaning head 21 to the left or right along the axial direction of the cleaning head 21 to put the cleaning head 21 into a retracted or extended state, and then rotating the cleaning head 21.

[0052] In embodiments of the present disclosure, the cleaning system 20 may be a wet cleaning system 20, the cleaning head 21 includes a wet cleaning head 21, and the cleaning system 20 further includes a liquid supply unit 40 provided on the robot body 10 that delivers cleaning fluid to the wet cleaning head 21. The cleaning head 21 may be provided below the liquid supply unit 40, and the cleaning fluid inside the liquid supply unit 40 is transferred to the cleaning head 21 via a water supply mechanism, and the cleaning head 21 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning fluid inside the liquid supply unit 40 may be poured directly onto the surface to be cleaned, and the cleaning head 21 achieves cleaning of the surface by uniformly applying the cleaning fluid. In these embodiments, the cleaning system 20 may further include an auxiliary cleaning assembly 23 that cleans the surface to be cleaned.

[0053] In this method, the friction frequency is close to that of sound waves, and the cleaning effect is far superior to rotational friction cleaning with tens of rotations per minute. At the same time, the bristles on the surface of the cleaning head 21 extend in an orderly manner in the same direction under vibration caused by high-frequency vibration, resulting in a more uniform overall cleaning effect. Unlike low-frequency rotation, where only downward pressure is applied to increase friction and improve the cleaning effect, the bristles are not extended in the same direction solely by downward pressure. The effect can be expressed as the water traces on the surface to be cleaned after cleaning with high-frequency vibration becoming more uniform, with no turbulent water traces remaining.

[0054] In the embodiments of this disclosure, the robot body 10 includes a fixed bracket 22, the cleaning head 21 is located inside the fixed bracket 22, a liquid supply passage is provided in the fixed bracket 22, and the liquid supply unit 40 supplies cleaning fluid to the wet cleaning head 21 via the liquid supply passage.

[0055] The liquid supply passage may be composed of a cavity formed inside the fixed bracket 22. For example, a portion of the fixed bracket 22 may be made hollow to form a liquid supply passage for circulating the cleaning fluid. Alternatively, the liquid supply passage may be formed of a tube, which enables the cleaning fluid in the liquid supply unit 40 to be delivered to the wet cleaning head 21, thereby ensuring that the cleaning head 21 effectively cleans the surface to be cleaned. The liquid supply passage includes a liquid inlet 221 and a liquid outlet 222. The liquid inlet 221 communicates with the liquid supply unit 40, and the liquid outlet 222 is used to deliver the cleaning fluid to the cleaning head 21.

[0056] In the embodiments of this disclosure, as shown in Figures 8 and 9, the fixed bracket 22 is provided with a liquid inlet 221 and a liquid drain port 222, one end of the liquid inlet 221 is located on the outer surface of the fixed bracket 22, and the liquid drain port 222 is located on the inner surface of the fixed bracket 22. A main body portion of a liquid supply passage may be provided between the liquid inlet 221 and the liquid drain port 222, and the main body portion can communicate with multiple liquid drain ports 222 simultaneously, thereby the liquid drain ports 222 are used to supply cleaning fluid to the cleaning head 21.

[0057] In the embodiments of this disclosure, as shown in Figures 8 and 9, a storage chamber 223 is formed in the fixed bracket 22, and the drain port 222 is located in the cavity wall of the storage chamber 223. The drain port 222 may be located at the top of the storage chamber 223, or it may be located on the side of the storage chamber 223. This facilitates the reliable delivery of the cleaning fluid discharged from the drain port 222 to the cleaning head 21.

[0058] In the embodiments of this disclosure, there may be multiple drain ports 222, and by providing the multiple drain ports 222 at intervals along a direction parallel to the cleaning head 21, it is possible to ensure that the cleaning fluid is uniformly delivered to each position of the wet cleaning head 21, thereby ensuring that the wet cleaning head 21 reliably cleans the surface to be cleaned.

[0059] The liquid supply passage may have only one inlet 221, and one inlet 221 may correspond to all of the drain ports 222. Of course, the liquid supply passage may have at least two inlets 221, and each inlet 221 may correspond to multiple drain ports 222, ensuring that the cleaning fluid is reliably delivered to the wet cleaning head 21. The inlet 221 may be formed as a columnar structure so as to be connected to a tubular structure that delivers the cleaning fluid. The drain ports 222 may be rectangular, circular, or other polygonal structures, and this disclosure is not limited thereto. Multiple drain ports 222 may be arranged sequentially along a direction parallel to the cleaning head 21.

[0060] In embodiments of the present disclosure, as shown in Figures 4 and 5, the cleaning robot further includes a recovery system 50, which is provided on the robot body 10, and the recovery system includes a collection unit 51, which collects residue from the cleaning head 21 and / or the surface to be cleaned, thereby effectively cleaning the surface to be cleaned and ensuring the cleanliness of the surface to be cleaned.

[0061] Specifically, the cleaning robot cleans the target surface by rotating and reciprocating the cleaning head 21 during its movement. During this process, residues on the target surface can be attracted to the cleaning head 21, and the collection unit 51 collects some of these residues, thereby ensuring the cleanliness of the cleaning head 21. The collection unit 51 can also collect residues on the target surface, thereby working in cooperation with the cleaning head 21 to ensure thorough cleaning of the target surface.

[0062] Of these, the collection unit 51 and the liquid supply unit 40 are provided along the longitudinal axis direction of the robot body 10, and the cleaning system 20 is located between the collection unit 51 and the liquid supply unit 40. This arrangement ensures that the liquid supply unit 40, the cleaning system 20, and the collection unit 51 are provided in sequence, making it easier for the collection unit 51 to collect residues and wastewater from the cleaning head 21.

[0063] Of these, the robot body 10 includes a forward-facing portion 11 and a rear-facing portion 12, and the liquid supply unit 40 and the collection unit 51 are located in the forward-facing portion 11 and the rear-facing portion 12, respectively. This allows the collection unit 51 to be mounted on the tail end of the cleaning robot so that it can be removed from the cleaning robot for cleaning.

[0064] In embodiments of the present disclosure, as shown in Figure 10, the recovery system 50 further includes a wiper 54 that contacts the cleaning head 21 and, by interference with the cleaning head 21, removes residue from the cleaning head 21, which is then collected by the collection unit 51, thereby ensuring the cleanliness of the cleaning head 21 and thereby ensuring effective cleaning of the surface to be cleaned.

[0065] Specifically, the wiper 54 may have a plate-like structure, and the plate-like structure interferes with the cleaning head 21, and as the cleaning head 21 rotates, the plate-like structure can remove residue from the cleaning head 21, which is then collected by the collection unit 51, thereby ensuring that residue adsorbed on the surface to be cleaned is collected by the collection unit 51 in a timely manner.

[0066] The wiper 54 may be provided on the robot body 10. For example, the wiper 54 may be detachably provided on the robot body 10 to facilitate cleaning and replacement of the wiper 54.

[0067] In addition, by having the wiper 54 parallel to the cleaning head 21, the wiper 54 can reliably remove residue from the cleaning head 21, and the structure can be easily installed.

[0068] In this configuration, the length of the wiper 54 may be equal to the length of the cleaning head 21, ensuring that the wiper 54 can fully interact with the cleaning head 21, while avoiding the wiper 54 occupying space in the longitudinal direction, thereby ensuring the compactness of the structure.

[0069] As shown in Figure 10, a water intake port 541 is provided on the wiper 54, and the water intake port 541 communicates with the collection unit 51, so that the wastewater from the recovery system 50 can be reliably collected into the collection unit 51 via the water intake port 541. Specifically, the water intake port 541 may also face the cleaning head 21, and after the wiper 54 scrapes off the wastewater on the cleaning head 21, the wastewater can flow down along the wiper 54 and into the water intake port 541, thereby allowing the recovery system 50 to draw the wastewater from the water intake port 541 into the collection unit 51.

[0070] Of these, the water intake port 541 may be located on the side away from the cleaning head 21 of the wiper 54, and a portion of the wiper 54 may be used to collect wastewater, with the water intake port 541 drawing the collected wastewater into the collection unit 51.

[0071] In embodiments of this disclosure, as shown in Figures 4 and 5, the recovery system 50 further includes a power unit 52 that is in aerial communication with the collection unit 51 in order to collect residue into the collection unit 51. By generating negative pressure between the power unit 52 and the collection unit 51, residue on the surface to be cleaned and residue on the cleaning head 21 can be sucked into the collection unit 51. Specifically, the negative pressure generated between the power unit 52 and the collection unit 51 can draw wastewater into the collection unit 51 through the water intake port 541. The power unit 52 may be, for example, a fan.

[0072] In the embodiments of this disclosure, a storage chamber 223 is formed in the fixed bracket 22, the cleaning head 21 is located inside the storage chamber 223, and the collection unit 51 is in communication with the storage chamber 223, so that residue can pass through the storage chamber 223 and enter the collection unit 51.

[0073] Specifically, the fixed bracket 22 is provided with a through hole 224, which communicates with the collection unit 51 and the containment chamber 223. The residue scraped off the cleaning head 21 by the wiper 54 is located in the containment chamber 223 of the fixed bracket 22. As a result, the negative pressure generated between the power unit 52 and the collection unit 51 can draw the residue in the containment chamber 223 into the collection unit 51 through the through hole 224.

[0074] Of these, the housing chamber 223 of the fixed bracket 22 can form a space that is sealed relative to the surface to be cleaned, so that the negative pressure generated between the power unit 52 and the collection unit 51 can draw residue from the surface to be cleaned into the collection unit 51 through the through hole 224.

[0075] As shown in Figure 5, the collection unit 51 includes an inlet 513 and an outlet 514, the inlet 513 being able to communicate with the containment chamber 223. Furthermore, the inlet 513 is able to communicate with a through hole 224, and the outlet 514 is able to communicate with a power unit 52. As a result, the power unit 52 provides power through the outlet 514 of the collection unit 51 to suck the residue from the through hole 224 of the containment chamber 223 to the inlet 513 of the collection unit 51, thereby entering the collection unit 51. When airflow flows inside the collection unit 51, wastewater and impurities carried by the airflow remain in the collection unit 51 due to gravity. Therefore, if the flow path of the airflow inside the collection unit 51 is long, wastewater and impurities can be effectively separated from the airflow.

[0076] In the embodiments of this disclosure, as shown in Figure 7, the inlet 513 and outlet 514 of the collection unit 51 can be provided on the same side of the collection unit 51. For example, both the inlet 513 and outlet 514 of the collection unit 51 are located on the front side of the collection unit 51. This arrangement effectively extends the flow path of the airflow within the collection unit 51, thereby enabling more effective separation of wastewater, impurities, etc., from the airflow.

[0077] In the embodiment of this disclosure, as shown in Figure 7, a blocking unit 53 is provided in the path connecting the power unit 52 and the collection unit 51, thereby blocking the path connecting the power unit 52 and the collection unit 51 and preventing impurities in the collection unit 51 from entering the power unit 52.

[0078] As shown in Figure 7, the blocking section 53 is provided within the collection section 51 and divides the collection section 51 into a first chamber 511 and a second chamber 512 that communicate with each other. The blocking section 53 is provided with through holes so that the first chamber 511 and the second chamber 512 communicate with each other via the through holes. By providing the blocking section 53 within the collection section 51, a blocking effect is achieved between the first chamber 511 and the second chamber 512, preventing impurities in the first chamber 511 and the second chamber 512 from entering the other chamber.

[0079] As shown in Figure 7, the volume of the first chamber 511 is larger than the volume of the second chamber 512. The first chamber 511 is provided with an inlet 513 for collecting residue into the collection unit 51, and the second chamber 512 is provided with an outlet 514 for communicating with the power unit 52. The power unit 52 communicates directly with the second chamber 512, and the power unit 52 creates negative pressure in the first chamber 511 via the second chamber 512. Furthermore, by collecting impurities through the larger volume of the first chamber 511, the power unit 52 prevents impurities in the first chamber 511 from entering the second chamber 512 via the blocking unit 53.

[0080] The blocking section 53 may be a perforated plate having a plurality of filter holes 531, the diameter of which is smaller than the diameter of a normal impurity, and blocking the impurity to one side of the perforated plate. The plurality of filter holes 531 may be distributed in an array on the perforated plate, and the size and shape of the plurality of filter holes 531 may be the same or different.

[0081] In the embodiment of this disclosure, a mounting space 13 is provided in the robot body 10, and a fixing bracket 22 is movably mounted in the mounting space 13. A passage 14 communicating with the mounting space 13 is provided on the circumferential outer edge of the robot body 10, and the fixing bracket 22 can be formed to extend from the passage 14 so as to have a contracted state in which it is contracted into the mounting space and an extended state in which it extends from the mounting space. By assembling the cleaning head 21 to the fixing bracket 22, the cleaning head 21 moves back and forth laterally in conjunction with the fixing bracket 22, and as a result, when the cleaning head 21 moves back and forth laterally, it does not affect its rotation relative to the fixing bracket.

[0082] The passage 14 may be an opening in the robot body 10, the opening may be a normally open structure, or an opening may be provided in the robot body 10, or a stopper member may be provided in the passage, and the stopper member may be provided movably so that the stopper can open or close the opening, and after the closing member opens the opening, the fixed bracket 22 can be linked to extend the cleaning head 21 out of the opening.

[0083] In embodiments of the present disclosure, as shown in Figures 5 and 6, the cleaning robot further includes a position regulating member 60, which is connected to the robot body 10 and makes position-regulating contact with a fixed bracket 22, thereby preventing the fixed bracket 22 from detaching from the robot body 10, the fixed bracket 22 being movably provided with respect to the position regulating member 60.

[0084] In the embodiments of this disclosure, the position regulating member 60 includes a fixed base 61 and a sliding portion 62, the sliding portion 62 is provided on the fixed base 61, the fixed base 61 is connected to the robot body 10, and the fixed bracket 22 is movably provided with respect to the sliding portion 62, and of these, there are at least two position regulating members 60, and the fixed bracket 22 is sandwiched between the position regulating members 60.

[0085] The sliding part 62 may be a roller, and the position regulating member 60 further includes a support arm. The fixed base 61 is fixedly connected to the robot body 10, one end of the support arm is fixed to the fixed base 61, and the roller is rotatably provided at the other end of the support arm. The fixed bracket 22 is located between the robot body 10 and the support arm, and the roller contacts the fixed bracket 22 to achieve position regulating contact with the fixed bracket 22, thereby preventing the fixed bracket 22 from detaching from the robot body 10.

[0086] The fixed bracket 22 is provided with a chute, and the sliding part 62 can slide along the chute, thereby regulating the position of movement between the sliding part 62 and the fixed bracket 22 and providing guidance for the movement of the fixed bracket 22.

[0087] As shown in Figure 6, there may be four position-regulating members 60, each located at one of the four corners of the fixing bracket 22, forming a position-regulating effect on the fixing bracket 22 and improving the position-regulating effect on the fixing bracket 22. Of course, there may be two, three, five or more position-regulating members 60, and this invention is not limited thereto.

[0088] In this case, the roller may be a rubber wheel, which can avoid the generation of abnormal noise when it rolls in contact with the fixed bracket 22, and at the same time improve the cushioning effect of contact with the fixed bracket 22.

[0089] In embodiments of the present disclosure, the cleaning robot further includes a drive assembly 70 which is drive-connected to the fixed bracket 22 and drives the fixed bracket 22 to move relative to the robot body 10.

[0090] The drive assembly 70 includes a drive unit 71, a drive wheel 72, and a connecting rack 73. The drive unit 71 is mounted on the robot body 10, the drive wheel 72 is connected to the drive unit 71, and the connecting rack 73 is connected to the fixed bracket 22. The connecting rack 73 engages with the drive wheel 72, and the drive unit 71 drives and moves the fixed bracket 22 via the drive wheel 72 and the connecting rack 73. The engagement of the drive wheel 72 with the connecting rack 73 enables driving of the fixed bracket 22, allowing the fixed bracket 22 to move along the extending direction of the connecting rack 73, thereby improving the controllability of the movement of the fixed bracket 22.

[0091] The drive unit 71 includes a drive motor and a gearbox, the gearbox is connected to the output shaft of the drive motor, the drive wheel is coupled to the output shaft of the gearbox, and the drive wheel 72 may be a gear, the tooth profile of the gear matches the tooth profile of the connecting rack 73.

[0092] Of these, the length of the connecting rack 73 is greater than the lateral travel distance of the fixing bracket 22, to ensure that the drive wheels are always engaged with the connecting rack 73.

[0093] In some other embodiments of the present disclosure, the drive assembly 70 includes a drive unit, a drive wheel, and a conveyor belt, wherein the drive unit is provided on the robot body 10, the drive wheel is connected to the drive unit, the conveyor belt is assembled to the drive wheel, the rotation of the drive wheel drives the conveyor belt to roll, and the fixed bracket 22 is in contact with the conveyor belt. When the conveyor belt rotates due to the drive of the drive unit, the conveyor belt drives the fixed bracket 22 to move, and the direction of movement of the fixed bracket 22 can be controlled by controlling the rolling direction of the conveyor belt.

[0094] Of course, those skilled in the art may install other drive mechanisms to achieve left-right movement of the fixed bracket 22, and this application is not limited thereto; any formal changes to the drive mechanism fall within the scope of this disclosure.

[0095] In embodiments of the present disclosure, the cleaning robot further includes a rotating assembly connected to the cleaning head 21 and driven to rotate the cleaning head 21 in a relative fixed manner.

[0096] The rotating assembly includes a drive motor, a gearbox, and a rotating shaft. The gearbox is connected to the output shaft of the drive motor, the rotating shaft is connected to the gearbox, and the cleaning head 21 is fixed to the rotating shaft. The drive motor rotates the cleaning head 21 by driving the rotating shaft via the gearbox.

[0097] The rotating assembly is fixed to the fixed bracket 22, and when the fixed bracket 22 moves from side to side, the rotating assembly does not affect the driving and rotation of the cleaning head 21.

[0098] A person skilled in the art will readily conceive of other embodiments of the Disclosure after considering the Specification and practicing the embodiments disclosed herein. The Disclosure is intended to cover any variations, uses, or adaptive changes of the Disclosure, which will adhere to the general principles of the Disclosure and include common or customary technical means known in the art that are not disclosed herein. The Specification and exemplary embodiments are exemplary, and the true scope and spirit of the Disclosure are indicated by the appended claims.

[0099] This disclosure is not limited to the exact structure shown in the above description and drawings, and it should be understood that various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. It is a cleaning robot, The robot body (10) and A drive system (30) is provided on the robot body (10) for driving the cleaning robot to operate on the cleaning surface, A cleaning robot comprising a cleaning system (20) including a main cleaning assembly (24) provided on the robot body (10) and provided parallel to the cleaning surface, wherein the main cleaning assembly (24) is provided so as to be movable relative to the robot body (10) that at least a portion of the main cleaning assembly (24) can extend from the circumferential outer edge of the robot body (10).

2. The cleaning robot according to claim 1, wherein the angle between the main cleaning assembly (24) and the lateral axis of the robot body (10) is less than 90 degrees.

3. The cleaning robot according to claim 2, wherein the main cleaning assembly (24) is provided so as to be movable along the installation direction of the main cleaning assembly (24).

4. The cleaning robot according to claim 3, wherein the installation direction of the main cleaning assembly (24) is parallel to the lateral axis of the robot body (10).

5. The cleaning robot according to any one of claims 1 to 4, wherein the main cleaning assembly (24) includes a fixed bracket (22) and a cleaning head (21) provided within the fixed bracket (22), and the fixed bracket (22) is movably provided on the robot body (10).

6. The cleaning robot according to claim 5, wherein the robot body (10) is provided with a mounting space (13), the fixing bracket (22) is movably provided in the mounting space (13), a passage (14) communicating with the mounting space (13) is provided on the circumferential outer edge of the robot body (10), and the fixing bracket (22) can be formed to extend from the passage (14) such that it has a contracted state in which the fixing bracket (22) is contracted into the mounting space (13) and an extended state in which it extends from the mounting space (13).

7. The cleaning robot further includes a position regulating member (60), the position regulating member (60) is connected to the robot body (10) and makes position regulating contact with the fixing bracket (22) to prevent the fixing bracket (22) from detaching from the robot body (10), The cleaning robot according to claim 5, wherein the fixing bracket (22) is movably provided with respect to the position regulating member (60).

8. The position regulating member (60) includes a fixed base (61) and a sliding part (62), the sliding part (62) is provided on the fixed base (61), the fixed base (61) is connected to the robot body (10), and the fixed bracket (22) is movably provided relative to the sliding part (62). The cleaning robot according to claim 7, wherein there are at least two position regulating members (60), and the fixing bracket (22) is sandwiched between the position regulating members (60).

9. The cleaning robot according to claim 5, further comprising a drive assembly (70), the drive assembly (70) being drive-connected to the fixing bracket (22) to drive the fixing bracket (22) to move relative to the robot body (10).

10. The drive assembly (70) is The robot body (10) is provided with a drive unit (71), A drive wheel (72) connected to the drive unit (71), A cleaning robot according to claim 9, comprising a connecting rack (73) connected to the fixed bracket (22), wherein the connecting rack (73) engages with the drive wheel (72) so that the drive unit (71) drives and moves the fixed bracket (22) via the drive wheel (72) and the connecting rack (73).

Images