Robotic vacuum cleaner and control method therefor

Abstract

The present application discloses a robotic vacuum cleaner and a control method therefor. A dirty water tank is arranged in a fixed mode, simplifying the mounting structure and sealing mode of the dirty water tank, and mopping and self-cleaning are achieved by means of lifting / lowering of a roller mop. When the robotic vacuum cleaner mops the floor, the roller mop descends to the ground, the roller mop rotates in a forward direction and comes into contact with a lower squeegee bar, dirty water squeegeed from the roller mop enters the dirty water tank, and then the dirty water is pumped away by a dirty water pump. When the robotic vacuum cleaner returns to a robotic vacuum cleaner docking station for self-cleaning, the dirty water pump is turned off, the roller mop ascends to leave the ground, the roller mop rotates in a reverse direction and comes into contact with an upper squeegee bar, and washing water sprayed from the robotic vacuum cleaner docking station flows into the dirty water tank, washes the dirty water tank and then flows away through a gap between the lower squeegee bar and the roller mop. The upper squeegee bar, the lower squeegee bar, a filter screen, and the dirty water tank can all be used for self-cleaning, and lifting the roller mop off the ground also improves the self-cleaning effect.

Description

A sweeping machine and a control method thereof

[0001] This application claims priority to Chinese patent application No. 202410333186.6, filed on March 22, 2024, and all disclosed contents of that application are hereby incorporated by reference. Technical Field

[0002] The present application relates to the technical field of sweeping equipment, and in particular to a sweeping machine and a control method thereof. Background Art

[0003] Chinese utility model patent publication number CN219814008U discloses a mopping mechanism, a sweeper and a sweeper system, which drives a sewage trough to swing through a driving mechanism, so that a scraping bar contacts a roller mop to achieve water scraping and self-cleaning.

[0004] The sump's swinging installation places higher demands on the mounting structure and sealing. To ensure the scraper maintains contact with the rotating roller mop, the swinging sump requires greater diagonal holding force. The roller mop cannot be raised or lowered, and its constant contact with the floor affects cleaning effectiveness.

[0005] In view of this, it is necessary to provide a new sweeping machine and a control method thereof. Summary of the Invention

[0006] The purpose of this application is to overcome the shortcomings of the existing technology and provide a sweeping machine and a control method thereof, in which the sewage trough adopts a fixed setting method and the roller mop adopts a lifting setting method, which simplifies the installation structure and sealing method of the sewage trough, is also conducive to improving the cleaning effect of the roller mop, and is also conducive to the cleaning of the sewage trough, scraper and filter.

[0007] The technical solution of the present application provides a sweeping machine, comprising a body provided with a mop mounting groove and a sewage trough, a sewage pump provided in the body and used to pump water from the sewage trough, a mop mechanism movably installed in the mop mounting groove, and a drive mechanism for driving the mop mechanism to move upward and downward;

[0008] The mop mechanism includes a cover body, a roller mop pivotally connected to the cover body, and a mop drive motor connected to the cover body and used to drive the roller mop to rotate forward and reverse, and the drive mechanism is connected to the cover body;

[0009] The sewage trough is arranged on one side of the mop installation groove, and a groove wall connecting port connected to the top groove of the sewage trough is provided on the groove wall of the mop installation groove, and an upper scraping strip and a lower scraping strip are respectively provided on the upper and lower edges of the groove wall connecting port;

[0010] When the sweeper is in a mopping state, the sewage pump is in an on-pumping state, the roller mop rotates forward and descends, and contacts the lower scraping bar, and the scraped sewage enters the sewage tank;

[0011] When the sweeper is in a cleaning state, the sewage pump is in a closed state, the roller mop rotates in the opposite direction and rises, and contacts the upper scraper bar, and the flushing water backwashes the sewage tank and flows away through the gap between the lower scraper bar and the roller mop.

[0012] In one of the optional technical solutions, a filter screen is provided at the top notch of the sewage tank.

[0013] In one of the optional technical solutions, the lower edge of the tank wall communication opening is higher than the top slot of the sewage tank.

[0014] In one of the optional technical solutions, a buffer water cavity is formed between the tank wall communication port and the top tank port of the sewage tank.

[0015] In one of the optional technical solutions, the upper scraping strip and the lower scraping strip extend toward the mop mounting groove respectively.

[0016] In one of the optional technical solutions, the upper scraping bar is located above the pivot axis of the roller mop, and the upper scraping bar extends horizontally;

[0017] The lower scraping strip is located below the pivot axis of the roller mop and extends obliquely upward.

[0018] In one of the optional technical solutions, the cover is slidably connected to the fuselage, and the cover can slide up and down relative to the fuselage.

[0019] In one of the optional technical solutions, the cover is hinged to the fuselage, and the cover can swing up and down relative to the fuselage;

[0020] A bracket is provided in the body, and the bracket and the sewage tank are located on opposite sides of the mop installation slot;

[0021] A connecting arm is provided on one side of the cover body facing the bracket, and the connecting arm is hinged to the bracket.

[0022] In one of the optional technical solutions, the driving mechanism includes a rotating wheel pivotally connected to the body, a motor connected to the body and used to drive the rotating wheel to rotate forward and reverse, and a flexible traction member connected between the rotating wheel and the cover, wherein the flexible traction member can be wrapped around the rotating wheel;

[0023] An elastic element is connected between the bracket and the connecting arm and is used to drive the mopping mechanism to swing downward.

[0024] The technical solution of the present application further provides a control method for the sweeping machine as described in any of the above items, comprising the following steps:

[0025] The sweeper travels;

[0026] The roller mop descends to mop the floor, the roller mop rotates forward and contacts the lower scraping bar, the scraped sewage enters the sewage tank, and the sewage in the sewage tank is pumped out by the sewage pump;

[0027] The sweeper returns to the sweeper base station for cleaning, the roller mop is raised, the sewage pump is turned off, the roller mop rotates in the opposite direction and contacts the upper scraper bar, the flushing water backwashes the sewage tank and flows away through the gap between the lower scraper bar and the roller mop.

[0028] The above technical solution has the following beneficial effects:

[0029] The sweeping machine and its control method provided by the present application adopt a fixed setting method for the sewage tank, which simplifies the installation structure and sealing method of the sewage tank, and uses the lifting and lowering of the roller mop to achieve mopping and self-cleaning. When the sweeping machine is mopping the floor, the roller mop drops to the ground, the roller mop rotates forward and contacts the lower scraper bar, and the sewage scraped from the roller mop enters the sewage tank, and then the sewage is pumped away by the sewage pump. When the sweeping machine returns to the sweeping machine base station for self-cleaning, the sewage pump is turned off, the roller mop is lifted off the ground, the roller mop rotates in the opposite direction and contacts the upper scraper bar, and the flushing water sprayed from the sweeping machine base station flows into the sewage tank, then backwashes the sewage tank, and then flows away through the gap between the lower scraper bar and the roller mop. The upper and lower scrapers, filter screens, and sewage tanks can all achieve self-cleaning, and the fact that the roller mop is off the ground also improves the self-cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The disclosure of this application will become easier to understand with reference to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. In the drawings:

[0031] FIG1 is a perspective view of a sweeping machine provided in one embodiment of the present application;

[0032] FIG2 is a perspective view of the mop mechanism when it is lowered in the mop installation slot;

[0033] FIG3 is a schematic diagram of the mop mechanism when it is lowered in the mop installation slot, as viewed from above;

[0034] FIG4 is a perspective view of the mop mechanism when it is raised in the mop installation slot;

[0035] FIG5 is a schematic diagram of the mop mechanism when it is raised in the mop installation slot, when viewed from above;

[0036] Figure 6 is a schematic diagram of the drive mechanism and the sewage pump installed on the machine body;

[0037] FIG7 is a perspective view of the fuselage having a mop mounting slot and a sewage tank area;

[0038] FIG8 is a cross-sectional view of FIG7 along the extension direction of the mop mounting groove;

[0039] FIG9 is a cross-sectional view of FIG7 along a direction perpendicular to the mop mounting groove;

[0040] Figure 10 is an exploded view of the drive mechanism and the mopping mechanism;

[0041] Figure 11 is a schematic diagram of the connection between the bracket, the mopping mechanism and the driving mechanism;

[0042] FIG12 is a perspective view of the bracket;

[0043] Figure 13 is an exploded view of the mopping mechanism;

[0044] FIG14 is a cross-sectional view of the sweeping machine along the axial direction of the mopping mechanism;

[0045] FIG15 is a schematic diagram of the sweeper mopping the floor, with the roller mop descending, rotating forward and contacting the lower scraper bar, and sewage flowing into the sewage tank;

[0046] FIG16 is a schematic diagram showing the sweeper performing self-cleaning, with the roller mop rising, rotating in the opposite direction and contacting the upper scraper bar, and the flushing water backwashing the sewage tank;

[0047] Figure 17 is a schematic diagram of the coordination between the winch and the position switch. DETAILED DESCRIPTION

[0048] The following further describes the specific embodiments of the present application with reference to the accompanying drawings. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, and the terms "inward" and "outward" refer to directions toward or away from the geometric center of a particular component, respectively.

[0049] As shown in Figures 1-10 and Figures 13-16, a sweeping machine provided in an embodiment of the present application includes a body 1 provided with a mop mounting groove 11 and a sewage tank 12, a sewage pump 2 provided in the body 1 and used to pump water from the sewage tank 12, a mop mechanism 3 installed in the mop mounting groove 11 in a liftable manner, and a driving mechanism 4 for driving the mop mechanism 3 to lift and lower.

[0050] The mop mechanism 3 includes a cover 31 , a roller mop 32 pivotally connected to the cover 31 , and a mop drive motor 33 connected to the cover 31 and used to drive the roller mop 32 to rotate forward and reverse. The drive mechanism 4 is connected to the cover 31 .

[0051] The sewage trough 12 is arranged on one side of the mop mounting groove 11. The groove wall of the mop mounting groove 11 is provided with a groove wall connecting port 111 connected with the top groove of the sewage trough 12. The upper and lower edges of the groove wall connecting port 111 are respectively provided with an upper scraping bar 112 and a lower scraping bar 113.

[0052] When the sweeper is in the mopping state, the sewage pump 2 is in the pumping state, the roller mop 32 rotates forward and descends, and contacts the lower scraping bar 113 , and the scraped sewage enters the sewage tank 12 .

[0053] When the sweeper is in the cleaning state, the sewage pump 2 is in the closed state, the roller mop 32 rotates in the opposite direction and rises, and contacts the upper scraper bar 112 , the flushing water backwashes the sewage tank 12 and flows away through the gap between the lower scraper bar 113 and the roller mop 32 .

[0054] The sweeping machine provided in this application includes a body 1, a sewage pump 2, a mopping mechanism 3 and a driving mechanism 4. For the walking, dust collection, sewage pumping and other aspects of the sweeping machine 1, please refer to the introduction of the prior art and will not be repeated here.

[0055] The shape of the body 1 can be customized, but is typically disc-shaped. The rear half of the body 1 features a mop mounting slot 11 and a sewage trough 12. The mop mounting slot 11 opens downward and is used to mount the mop mechanism 3. Because the front of the mop mounting slot 11 typically houses a dust collection box, the sewage trough 12 is preferably located behind the mop mounting slot 11. The sewage trough 12 is roughly parallel to the mop mounting slot 11 and slightly shorter than it. A long, rectangular wall opening 111 is provided on the side of the mop mounting slot 11 (the rear wall) facing the sewage trough 12. The wall opening 111 is roughly parallel to the sewage trough 12, shorter than the trough 12, and located between the two ends of the trough 12. The wall opening 111 communicates with the top notch of the sewage trough 12, allowing sewage to enter the trough 12 through the wall opening 111. An upper scraper bar 112 and a lower scraper bar 113 are provided at the upper and lower edges of the channel wall opening 111, respectively. These scrapers 112 and 113 are used to contact the roller mop 32 in different positions to achieve water scraping. The upper scraper bar 112 and the lower scraper bar 113 extend along the length of the channel wall opening 111. Plastic scrapers can be used.

[0056] The mop mechanism 3 is installed in the mop mounting groove 11 and can be lifted in the mop mounting groove 11. The mop mechanism 3 can vertically slide and lift in the mop mounting groove 11, and can also swing up and down and lift in the mop mounting groove 11.

[0057] The mop mechanism 3 includes a housing 31, a mop roller 32, and a mop drive motor 33. The mop roller 32 is mounted below the housing 31 via a rotating shaft, a turntable, or the like. The mop drive motor 33 is connected to the housing 31. The output shaft 331 of the mop drive motor 33 is also connected to the mop roller 32 via a transmission member, thereby driving the mop roller 32 in both forward and reverse rotation (bidirectional rotation). The mop drive motor 33 can be a servo motor, stepper motor, or the like for ease of control.

[0058] The driving mechanism 4 is installed in the body 1 and connected to the cover 31, thereby driving the mopping mechanism 3 to rise and fall as a whole. The driving mechanism 4 can be a cylinder mechanism, a motor screw mechanism, a motor connecting rod mechanism, etc., as long as it can drive the mopping mechanism 3 to rise and fall in the mopping installation slot 11.

[0059] In normal state or when the driving mechanism 4 is in the initial state, the driving mechanism 4 drives the mop mechanism 3 to rise as a whole, the roller mop 32 is stored in the mop installation groove 11, and the roller mop 32 leaves the floor.

[0060] When the sweeper is mopping the floor, the driving mechanism 4 drives the mop mechanism 3 to descend as a whole, a portion of the roller mop 32 protrudes from the bottom opening of the mop installation slot 11, and the roller mop 32 contacts the floor to mop the floor.

[0061] When the sweeper performs other operations besides mopping, the driving mechanism 4 is reset and drives the mopping mechanism 3 to rise and reset, and the roller mop 32 leaves the floor or bottom plate.

[0062] The sweeping machine is equipped with a main unit clean water tank, a main unit clean water pump, a main unit clean water pipe, etc. When the sweeping machine is mopping the floor, the main unit clean water pump is turned on to supply clean water to the roller mop 32 to keep the roller mop 32 moist. This part is the content of the prior art and will not be described in detail here.

[0063] The robot vacuum base station is equipped with a base water tank, a base water pump, a base water pipe, and a base water nozzle. When the robot vacuum returns to the base station for self-cleaning, the base water pump starts, spraying water onto the roller mop 32 through the base water nozzle to clean it. This part is well-known in the art and will not be described in detail here.

[0064] As shown in Figure 15 , when the sweeper is mopping, the roller mop 32 is driven downward and mops the floor. After descending, the roller mop 32 contacts or presses against the lower scraper bar 113. The mop drive motor 33 rotates forward, driving the roller mop 32 in forward rotation. Rotation in the direction of arrow A in Figure 15 is referred to as forward rotation. As indicated by arrow C, the sewage on the roller mop 32 is scraped off by the lower scraper bar 113 and then enters the sewage tank 12 through the tank wall connection port 111. The sewage pump 2 is turned on, pumping the sewage from the sewage tank 12 into the sweeper's sewage tank via the pipe 21.

[0065] As shown in FIG16 , when the sweeper returns to the sweeper base station for cleaning, the sewage pump 2 is turned off, and the roller mop 32 is driven to rise. The raised roller mop 32 contacts or squeezes the upper scraper bar 112 .

[0066] The mop drive motor 33 rotates in the reverse direction, driving the roller mop 32 to rotate in the reverse direction. The rotation in the direction of arrow B in Figure 16 is called reverse rotation. The direction of the flushing water (sewage) on the roller mop 32 is shown by arrow D. The flushing water is first carried by the reverse-rotating roller mop 32 to the upward scraping bar 112, and then scraped down by the upper scraping bar 112 and enters the sewage tank 12. Since the sewage pump 2 is turned off and there is a lot of flushing water, after the sewage tank 12 is filled, the water in the sewage tank 12 overflows from the tank wall communication port 111 in the reverse direction and flows through the sewage tank 12.

[0067] The water flows through the gap between the lower scraper bar 113 and the roller mop 32. During this process, the flushing water backwashes the sewage tank 12, the upper scraper bar 112, the lower scraper bar 113, and the surrounding structures, achieving a self-cleaning function. During the process of rinsing the roller mop 32, the roller mop 32 rises off the bottom plate below, providing a more comprehensive rinse and improving the flushing effect.

[0068] In summary, the sweeper provided by the present application adopts a fixed setting method for the sewage trough 12, which simplifies the installation structure and sealing method of the sewage trough 12, and uses the lifting and lowering of the roller mop 32 to achieve mopping and self-cleaning. When the sweeper is mopping the floor, the roller mop 32 drops to the ground, the roller mop 32 rotates forward and contacts the lower scraper bar 113, and the sewage scraped from the roller mop 32 enters the sewage trough 12, and then the sewage is pumped away by the sewage pump 2. When the sweeper returns to the sweeper base station for self-cleaning, the sewage pump 2 is turned off, the roller mop 32 is lifted off the ground, the roller mop 32 rotates in the opposite direction and contacts the upper scraper bar 112, and the flushing water sprayed from the sweeper base station flows into the sewage trough 12, then backwashes the sewage trough 12, and then flows away through the gap between the lower scraper bar 113 and the roller mop 32. The upper and lower scrapers, the filter 121 described below, and the sewage trough 12 can all achieve self-cleaning, and the fact that the roller mop 32 is off the ground also improves the self-cleaning effect.

[0069] In one embodiment, as shown in FIG8 , a filter screen 121 is provided at the top notch of the sewage tank 12 to filter the sewage entering the sewage tank 12 and prevent large particles of garbage, hair, etc. from being sucked into the sewage pump 2 and causing blockage. The mesh size of the filter screen 121 can be set as needed.

[0070] In one embodiment, the lower edge of the channel wall communication opening 111 is higher than the top channel opening of the sewage channel 12 to ensure that the sewage scraped from the lower scraping bar 113 will enter the sewage channel 12 .

[0071] In one embodiment, as shown in Figures 9 and 15-16, a buffer water chamber 13 is formed between the channel wall opening 111 and the top notch of the sewage trough 12 to temporarily store water and divert it. Preferably, the top plate of the buffer water chamber 13 gradually decreases in height from front to back, that is, from the roller mop 32 to the sewage trough 12, to facilitate the diversion of water into the sewage trough 12.

[0072] In one embodiment, as shown in Figures 7-9 and Figures 15-16, the upper scraping bar 112 and the lower scraping bar 113 extend toward the mop mounting groove 11 respectively, and the ends of the upper scraping bar 112 and the lower scraping bar 113 protrude into the mop mounting groove 11 respectively so as to contact and wipe the water with the roller mop 32 in place.

[0073] In one embodiment, as shown in FIG. 15-16 , the upper scraping bar 112 is located above the pivot axis of the roller mop 32 , and the upper scraping bar 112 extends horizontally.

[0074] The lower scraping bar 113 is located below the pivot axis of the roller mop 32 and extends obliquely upward.

[0075] In this embodiment, during the lifting process, the pivot axis or pivot center of the roller mop 32 is located between the upper scraper bar 112 and the lower scraper bar 113. Taking Figure 14 as an example, the pivot axis of the roller mop 32 is the output shaft 331 of the mop drive motor 33.

[0076] The upper scraping bar 112 is kept above the pivot axis of the roller mop 32 and extends horizontally so as to contact and squeeze the upper half of the surface of the roller mop 32 that rises and returns to its original position to achieve water scraping.

[0077] The lower scraping bar 113 is kept below the pivot axis of the roller mop 32 and extends upward at an angle. On the one hand, it is so as to contact and squeeze the lower half of the surface of the roller mop 32 that has been lowered into place to achieve scraping. On the other hand, it is helpful to guide the scraped sewage to the connecting port 111 on the trough wall and then into the sewage trough 12.

[0078] In one embodiment, the cover 31 is slidably connected to the body 1 , and the cover 31 can slide up and down relative to the body 1 .

[0079] In this embodiment, vertical rails can be installed on the walls of the mop mounting slot 11, and the cover 31 is connected to the rails, allowing the mop mechanism 3 to slide and rise vertically within the mop mounting slot 11. The drive mechanism 4 can be a linear drive mechanism such as a cylinder or a motor screw. The cylinder is installed vertically, with its piston rod connected to the cover 31. The motor screw's screw extends vertically and passes through an internally threaded hole provided in the cover 31.

[0080] In one embodiment, as shown in FIG. 10-12 , the cover 31 is hinged to the body 1 , and the cover 31 can swing up and down relative to the body 1 .

[0081] A bracket 14 is provided in the body 1 , and the bracket 14 and the sewage tank 12 are located on opposite sides of the mop installation slot 11 .

[0082] A connecting arm 311 is provided on a side of the cover body 31 facing the bracket 14 , and the connecting arm 311 is hinged to the bracket 14 .

[0083] In this embodiment, the cover body 31 is hinged in the mop installation slot 11, and is lifted and lowered by swinging up and down.

[0084] The connecting arm 311 of the cover body 31 is hinged to the bracket 14 in the fuselage 1. The bracket 14 and the sewage tank 12 are located on opposite sides of the mop mounting slot 11. The bracket 14 is generally located in front of the mop mounting slot 11, and the sewage tank 12 is generally located in the rear of the mop mounting slot 11.

[0085] As needed, a plurality of connecting arms 311 may be provided on the cover body 31 to enhance the hinge stability with the bracket 14 .

[0086] As needed, a bracket groove 141 may be provided on the bracket 14 to accommodate the end of the connecting arm 311 .

[0087] Therefore, the cover body 31 swings up and down at the front hinge point. After swinging up to a certain angle, the roller mop 32 is in contact with and squeezed against the upper scraper bar 112 . After swinging down to a certain angle, the roller mop 32 is in contact with and squeezed against the lower scraper bar 113 .

[0088] When the roller mop 32 is driven to swing upward, its center will be offset forward and upward, thereby leaving a larger water flow gap between the lower scraper strip 113 and the roller mop 32.

[0089] The roller mop 32 is swung to facilitate contact and extrusion with the upper scraping bar 112 and the lower scraping bar 113 on the rear side. The upper scraping bar 112 and the lower scraping bar 113 need to have a smaller size to extend into the mop installation slot 11.

[0090] The drive mechanism 4 can be a pneumatic cylinder, a swing drive mechanism, or the like. The pneumatic cylinder is located above the cover 31 and hinged to the body 1. Its piston rod is hinged to the cover 31, and the retracting and retracting motion of the piston rod drives the cover 31 up and down. The swing drive mechanism can be a motor, connected to the body 1. The motor's rotating shaft is in driving connection with the swing shaft of the cover 31, driving the cover 31 up and down.

[0091] In one embodiment, as shown in Figures 10-11, the driving mechanism 4 includes a rotating wheel 41 pivotally connected to the fuselage 1, a motor 42 connected to the fuselage 1 and used to drive the rotating wheel 41 to rotate forward and reverse, and a flexible traction member 44 connected between the rotating wheel 41 and the cover body 31, and the flexible traction member 44 can be wrapped around the rotating wheel 41.

[0092] An elastic element 312 is connected between the bracket 14 and the connecting arm 311 to drive the mopping mechanism 3 to swing downward.

[0093] In this embodiment, an elastic element 312 is connected between the bracket 14 and the connecting arm 311, which is used to drive the mopping mechanism 3 to swing downward so that the roller mopping cloth 32 maintains contact and compression with the lower scraper bar 113. The elastic element 312 is preferably a torsion spring.

[0094] In this embodiment, the driving mechanism 4 comprises a rotating wheel 41, a motor 42 and a flexible traction member 44. The rotating wheel 41 is pivotally mounted in the body 1 and is located above the cover 31. The motor 42 is fixedly mounted on one side of the rotating wheel 41 and is in transmission connection with the rotating wheel 41. The motor 42 can rotate forward and reverse, thereby driving the rotating wheel 41 to rotate forward and reverse. The motor 42 can be a servo motor, a stepper motor, etc. for easy control. The flexible traction member 44 is a traction rope, one end of which is connected to and wrapped around the rotating wheel 41, and the other end of which is connected to the through hole on the top plate through the mop mounting slot 11 and is connected to the cover 31.

[0095] When the motor 42 rotates in the forward direction, it drives the rotating wheel 41 to rotate and retract the flexible traction member 44, thereby lifting the cover body 31, so that the mopping mechanism 3 is swung up as a whole.

[0096] When the motor 42 rotates in the reverse direction, it drives the rotating wheel 41 to rotate and releases the flexible traction member 44 . Under the action of the gravity of the mopping mechanism 3 and the elastic element 312 , the mopping mechanism 3 as a whole lowers.

[0097] The forward and reverse directions of each component in this application are directional descriptions for that specific component and do not imply that the forward and reverse directions of all components are the same.

[0098] The flexible traction member 44 will not transmit the vibration of the roller mop 32 when mopping the floor to the rotating wheel 41 , the motor 42 , etc., which is beneficial to improving the stability of the drive transmission system.

[0099] The flexible traction member 44 can adapt to the swing angle of the cover body 31 without special adjustment.

[0100] In one embodiment, as shown in Figures 10 and 17 , the rotating wheel 41 includes a worm gear 411 and a capstan 412 coaxially connected to the worm gear 411. A worm 43 is connected to the rotating shaft of the motor 42, and the worm 43 meshes with the worm gear 411. One end of a flexible traction member 44 is connected to the capstan 412, and the flexible traction member 44 can be wound into a receiving groove 4121 on the circumference of the capstan 412.

[0101] A capstan recess 4122 is provided at the top of the winch 412, communicating with the receiving recess 4121. One end of the capstan recess 4122 has a notch 4123 for the connecting post at one end of the flexible traction member 44 to pass through for securement. In one embodiment, as shown in Figures 10 and 17 , a limit switch 45 is provided on the side of the body 1 facing the capstan 412. The side of the limit switch 45 facing the capstan 412 has an elastic trigger plate 451. The capstan 412 has an arc-shaped, raised swinging protrusion 4124 that triggers the limit switch 45. The design allows for the drive mechanism 4 to lower / raise the mopping mechanism 3 into position when the swinging protrusion 4124 swings approximately one full circle, pressing the elastic trigger plate 451. The limit switch 45 is connected to the control system of the sweeper. When the elastic trigger plate 451 is pressed and triggered, the limit switch 45 sends a signal to the control system, which then controls the motor 42 to stop or reverse rotation.

[0102] If necessary, a position sensor can also be installed in the mop installation slot 11 to monitor whether the mop mechanism is raised and lowered into position. The position sensor is connected to the control system of the sweeper. The control system controls the drive mechanism to stop or control the drive mechanism 4 to drive the mop mechanism 3 to switch the lifting state according to the position signal.

[0103] In one embodiment, as shown in Figures 13-14, the housing 31 has housing end plates 313 at both ends. One end of the mop drive motor 33 is connected to the housing end plate 313 at one end. A first rotating sleeve 34 is connected to the housing end plate 313 at the other end. A second rotating sleeve 35 is mounted on the end of the mop drive motor 33 away from the first rotating sleeve 34. The roller mop 32 is mounted on the mop drive motor 33, and the rotating bracket 321 in the roller mop 32 is plugged into the output shaft 331 of the mop drive motor 33. One end of the roller mop 32 is mounted on the first rotating sleeve 34, and the other end is mounted on the second rotating sleeve 35. When the mop drive motor 33 is turned on, the output shaft 331 rotates, driving the rotating bracket 321 to rotate. The rotating bracket 321 then drives the roller mop 32, the first rotating sleeve 34, and the second rotating sleeve 35 to rotate. The first rotating sleeve 34 and the second rotating sleeve 35 serve to support both ends of the roller mop 32 , and the rotating bracket 321 serves to support the middle portion of the roller mop 32 .

[0104] An embodiment of the present application provides a control method for a sweeping robot, comprising the following steps:

[0105] The sweeper is moving.

[0106] The roller mop 32 descends to mop the floor, and the roller mop 32 rotates forward and contacts the lower scraping bar 113 , and the scraped sewage enters the sewage tank 12 , and the sewage in the sewage tank 12 is pumped out by the sewage pump 2 .

[0107] The sweeper returns to the sweeper base station for cleaning, the roller mop 32 is raised, the sewage pump 2 is turned off, the roller mop 32 rotates in the opposite direction and contacts the upper scraper bar 112, the flushing water backwashes the sewage tank 12 and flows away through the gap between the lower scraper bar 113 and the roller mop 32.

[0108] As shown in Figure 15 , when the sweeper is mopping, the roller mop 32 is driven downward and mops the floor. After descending, the roller mop 32 contacts or presses against the lower scraper bar 113. The mop drive motor 33 rotates forward, driving the roller mop 32 in forward rotation. Rotation in the direction of arrow A in Figure 15 is referred to as forward rotation. As indicated by arrow C, the sewage on the roller mop 32 is scraped off by the lower scraper bar 113 and then enters the sewage tank 12 through the tank wall connection port 111. The sewage pump 2 is turned on, pumping the sewage from the sewage tank 12 into the sweeper's sewage tank via the pipe 21.

[0109] As shown in FIG16 , when the sweeper returns to the sweeper base station for cleaning, the sewage pump 2 is turned off, and the roller mop 32 is driven to rise. The raised roller mop 32 contacts or squeezes the upper scraper bar 112 .

[0110] The mop drive motor 33 rotates in the reverse direction, driving the roller mop 32 to rotate in the reverse direction. The rotation in the direction of arrow B in Figure 16 is called reverse rotation. The direction of the flushing water (sewage) on the roller mop 32 is shown by arrow D. The flushing water is first carried by the reverse-rotating roller mop 32 to the upward scraping bar 112, and then scraped down by the upper scraping bar 112 and enters the sewage tank 12. Since the sewage pump 2 is turned off and there is a lot of flushing water, after the sewage tank 12 is filled, the water in the sewage tank 12 overflows from the tank wall communication port 111 in the reverse direction and flows through the sewage tank 12.

[0111] The water flows through the gap between the lower scraper bar 113 and the roller mop 32. During this process, the flushing water backwashes the sewage tank 12, the upper scraper bar 112, the lower scraper bar 113, and the surrounding structures, achieving a self-cleaning function. During the process of rinsing the roller mop 32, the roller mop 32 rises off the bottom plate below, providing a more comprehensive rinse and improving the flushing effect.

[0112] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0113] The above are only the principles and preferred embodiments of the present application. It should be noted that, for those skilled in the art, on the basis of the principles of the present application, several other modifications can be made, which should also be considered as the scope of protection of the present application.

Claims

1. A sweeping machine, characterized in that: The utility model comprises a body provided with a mop mounting groove and a sewage groove, a sewage pump provided in the body and used for pumping water from the sewage groove, a mop mechanism installed in the mop mounting groove in a liftable manner, and a driving mechanism for driving the mop mechanism to move upward and downward; The mop mechanism includes a cover body, a roller mop pivotally connected to the cover body, and a mop drive motor connected to the cover body and used to drive the roller mop to rotate forward and reverse, and the drive mechanism is connected to the cover body; The sewage trough is arranged on one side of the mop installation groove, and a groove wall connecting port connected to the top groove of the sewage trough is provided on the groove wall of the mop installation groove, and an upper scraping strip and a lower scraping strip are respectively provided on the upper and lower edges of the groove wall connecting port; When the sweeper is in a mopping state, the sewage pump is in an on-pumping state, the roller mop rotates forward and descends, and contacts the lower scraping bar, and the scraped sewage enters the sewage tank; When the sweeper is in a cleaning state, the sewage pump is in a closed state, the roller mop rotates in the opposite direction and rises, and contacts the upper scraper bar, and the flushing water backwashes the sewage tank and flows away through the gap between the lower scraper bar and the roller mop.

2. The sweeping machine according to claim 1, characterized in that: A filter screen is provided at the top notch of the sewage tank.

3. The sweeping machine according to claim 1, characterized in that: The lower edge of the trough wall communication opening is higher than the top trough opening of the sewage trough.

4. The sweeping machine according to claim 3, characterized in that: A buffer water cavity is formed between the tank wall communicating port and the top tank port of the sewage tank.

5. The sweeping machine according to claim 1, characterized in that: The upper scraping strip and the lower scraping strip extend toward the mop installation groove respectively.

6. The sweeping machine according to claim 5, characterized in that: The upper scraping bar is located above the pivot axis of the roller mop and extends horizontally; The lower scraping strip is located below the pivot axis of the roller mop and extends obliquely upward.

7. The sweeping machine according to any one of claims 1 to 6, characterized in that: The cover is slidably connected to the fuselage, and the cover can slide up and down relative to the fuselage.

8. The sweeping machine according to any one of claims 1 to 6, characterized in that: The cover is hinged to the fuselage, and the cover can swing up and down relative to the fuselage; A bracket is provided in the body, and the bracket and the sewage tank are located on opposite sides of the mop installation slot; A connecting arm is provided on one side of the cover body facing the bracket, and the connecting arm is hinged to the bracket.

9. The sweeping machine according to claim 8, characterized in that: The driving mechanism includes a rotating wheel pivotally connected to the body, a motor connected to the body and used to drive the rotating wheel to rotate forward and reverse, and a flexible traction member connected between the rotating wheel and the cover, wherein the flexible traction member can be wound around the rotating wheel; An elastic element is connected between the bracket and the connecting arm and is used to drive the mopping mechanism to swing downward.

10. A method for controlling a sweeping machine according to any one of claims 1 to 9, characterized in that: The steps include: The sweeper travels; The roller mop descends to mop the floor, the roller mop rotates forward and contacts the lower scraping bar, the scraped sewage enters the sewage tank, and the sewage in the sewage tank is pumped out by the sewage pump; The sweeper returns to the sweeper base station for cleaning, the roller mop is raised, the sewage pump is turned off, the roller mop rotates in the opposite direction and contacts the upper scraper bar, the flushing water backwashes the sewage tank and flows away through the gap between the lower scraper bar and the roller mop.

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