阅读说明：本技术 一种清洁机器人及自动清洗方法 (Cleaning robot and automatic cleaning method ) 是由 张珂嘉 周四海 刘飞 李维 于 2019-06-28 设计创作，主要内容包括：本发明提供一种清洁机器人及自动清洗方法,能够实现自动清洗。该清洁机器人,具有升降机构和清洗基座,所述清洗基座包括：基座主体,设置于所述基座主体的刮水机构,以及具有喷头的喷水组件；所述喷头沿所述清洁机器人的拖地部件进行排布且形成为向所述拖地部件喷水或喷雾的结构；所述刮水机构包括刮板,该刮板与所述拖地部件接触并相对位移,以将所述拖地部件上的附着物刮除的同时将水挤出；所述升降机构以使所述拖地部件与所述刮板接触或分离的形式使所述拖地部件抬升或下降。(The invention provides a cleaning robot and an automatic cleaning method, which can realize automatic cleaning. This cleaning robot has elevating system and washing base, wash the base and include: the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head; the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part; the wiper mechanism comprises a scraper which is contacted with the mopping part and is relatively displaced so as to scrape attachments on the mopping part and extrude water; the lifting mechanism lifts or lowers the mopping part in a manner of contacting or separating the mopping part with or from the squeegee.)

1. A cleaning robot is characterized in that,

comprises a lifting mechanism and a cleaning base seat,

the cleaning base includes:

the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head;

the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part;

the wiper mechanism comprises a scraper which is contacted with the mopping part and is relatively displaced so as to scrape attachments on the mopping part and extrude water;

the lifting mechanism lifts or lowers the mopping part in a manner of contacting or separating the mopping part with or from the squeegee.

2. The cleaning robot according to claim 1,

the mopping part comprises a rolling brush which is configured to rotate under the driving of a motor;

the scraper is long-strip-shaped, and the scraper and the axis of the rolling brush are arranged in parallel.

3. The cleaning robot according to claim 2,

the rolling brush is configured to contact the squeegee after being lifted by a certain height in a vertical direction by the control of the lifting mechanism.

4. The cleaning robot according to claim 1,

the mopping part comprises a flat mop,

the water scraping mechanism also comprises a transmission mechanism driven by a driving motor component, so that the scraping plate is dragged to do linear reciprocating motion along the flat plate.

5. The cleaning robot according to claim 4,

the wiper mechanism has an inclination angle, and the floor mopping member is configured to rotate by the corresponding inclination angle while being lifted by the lifting mechanism.

6. The cleaning robot according to any one of claims 1 to 6,

the lifting mechanism comprises: a crank and rocker mechanism, a gear pair or a screw mechanism.

7. The cleaning robot according to any one of claims 1 to 6,

the washing base has a charging device for charging the cleaning robot.

8. The cleaning robot according to any one of claims 1 to 7,

the cleaning robot comprises a limiting mechanism and a guide mechanism; the limiting mechanism is arranged on the main body of the cleaning robot, and the guide mechanism is arranged on the cleaning base; or the limiting mechanism is arranged on the cleaning base, and the guide mechanism is arranged on the main body of the cleaning robot; the limiting mechanism and the guiding mechanism are matched to enable the cleaning robot to be located at a designed position when returning to the cleaning base.

9. The cleaning robot according to claim 8,

stop gear and guiding mechanism establish mutually supporting through the cover, stop gear includes protruding structure, guiding mechanism is the indent structure, the surface of protruding structure with the internal surface of indent structure is tangent, protruding structure is the big gradual change's in front and back axial symmetry structure, the indent structure have with the corresponding shape of protruding structure works as cleaning machines people is in during the design position, last clean subassembly of cleaning machines people with what wash the base scrapes water mechanism mutual interference.

10. A method for automatically cleaning a floor mopping part by a cleaning robot as claimed in any one of claims 1-3 and 6-9, which is characterized by comprising the following steps:

step one, lifting the floor mopping part through a lifting mechanism, and enabling the floor mopping part to gradually approach to a scraper of a cleaning base;

step two, when the mopping part and the scraper form interference, stopping approaching;

step three, rotating the mopping part, spraying water to wash or wet the mopping part by a spray head, scraping attachments on the mopping part by a scraper, and extruding water on the mopping part;

step four, the spray head stops spraying water or mist, the floor mopping component continues to rotate, and the scraper continues to extrude the water on the floor mopping component;

and step five, when the water stains on the mopping part are scraped dry, the mopping part stops rotating.

11. A method for automatically cleaning a floor mopping part by using the cleaning robot as claimed in any one of claims 1 and 4-9, comprising the steps of:

step one, gradually lifting the mopping part to a position which is adaptive to the angle of a scraper of a cleaning base and is close to the scraper;

step two, when the mopping part and the scraper form interference, stopping approaching;

step three, spraying water to wash or wet the mopping part by the spray head, moving the scraper plate, scraping attachments on the mopping part, and extruding water out of the mopping part;

step four, the spray head stops spraying water or mist, and the scraper plate continues to extrude the water on the mopping part;

and step five, when the water stains on the mopping part are scraped dry, the scraper stops moving.

12. The automatic cleaning method according to claim 10 or 11,

further comprises the following steps: after the water stain on the mopping part is scraped dry, the lifting mechanism enables the mopping part to fall down and continue mopping.

13. The automatic cleaning method according to claim 12,

and the step one to the step six are circularly carried out until the cleaning work is finished.

14. The automatic cleaning method according to any one of claims 10 to 13,

further comprising: the mopping component returns to the washing base for backwashing every certain area or time.

Technical Field

The invention relates to a cleaning robot and an automatic cleaning method.

Background

The cleaning robot is one kind of intelligent household appliance, and can complete floor cleaning automatically in room with certain artificial intelligence. Generally, the floor cleaning machine adopts a brush sweeping and vacuum mode to absorb and enter sundries on the ground into a garbage storage box of the floor cleaning machine, so that the floor cleaning function is completed. When a user uses the cleaning robot, the cleaning robot is usually placed on the ground, the cleaning robot can roll and collect dirt on the ground through the rotation of the hairbrush, and then the dirt is sucked into the containing box through the dust suction port. However, the general cleaning robot can only clean dust on the ground and some dirt with small volume and light weight, and the cleaning effect on some stubborn stains is not ideal.

In the market, a cleaning cloth is arranged at the bottom of a cleaning robot (see fig. 7, which shows a floor mopping mechanism of a previous cleaning robot, wherein 400 is the cleaning cloth, and 300 is a water tank), when the floor mopping time is long, water and dirt are attached to a flat plate mop, secondary pollution can be caused to the floor in the subsequent floor cleaning process, and more time is wasted for users. In addition, the cleaning of the flat mop needs to disassemble the cleaning cloth for manual cleaning, which wastes time and labor, is not sanitary and affects the user experience.

Particularly, the existing sweeping and mopping integrated machine performs sweeping and mopping simultaneously, the requirement on the use environment is high, for example, objects which cannot be wetted such as carpets cannot exist in the use environment, and in the prior art, the cleaning cloth arranged at the bottom of the sweeping and mopping integrated machine is designed to be even with the ground, so that the pressure of the cleaning cloth on the ground is low, and the mopping effect is not ideal.

In addition, the current sweeping and mopping integrated machine can not select a mopping mode for different environments, can not selectively mop the floor, and can not separate the mopping of a toilet or a kitchen from the mopping of a living room or a bedroom.

In addition, the floor mopping scheme adopted by the existing household cleaning robot is that a cleaning water tank is directly installed at the bottom of the robot, the cleaning water tank comprises a water tank and a cleaning rag adhered to the bottom of the water tank, and water in the water tank continuously permeates into the rag in the advancing process of the robot to clean the ground. That is, the floor is mopped by providing a mop cloth at the bottom of the cleaning robot, and wet mopping is performed by providing a water tank above the mop cloth by penetrating water in the water tank all the way to the mop cloth. However, in the floor mopping device of the cleaning robot, the cleaning water tank is arranged at the bottom of the robot, so that the pressure on the ground is insufficient, and the cleaning effect of the cleaning cloth is affected. And when the time of mopping the floor is long, the mop can not be automatically cleaned, water and dirt are attached to the flat mop, secondary pollution can be caused to the floor in the subsequent floor cleaning process, more time of a user can be wasted, and the mop needs to be detached to be manually cleaned after being cleaned, so that the user experience is influenced.

Furthermore, after the existing cleaning robot is mopped, the cleaning process of the cleaning cloth of the cleaning robot is manually and directly washed by water, the water is not recycled, and the water is wasted.

Disclosure of Invention

An aspect of the present invention provides a cleaning robot,

comprises a lifting mechanism and a cleaning base seat,

the cleaning base includes:

the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head;

the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part;

the wiper mechanism comprises a scraper which is contacted with the mopping part and is relatively displaced so as to scrape attachments on the mopping part and extrude water;

the lifting mechanism lifts or lowers the mopping part in a manner of contacting or separating the mopping part with or from the squeegee.

The mopping part comprises a rolling brush, and the rolling brush is configured to rotate under the driving of a motor;

the scraper is long-strip-shaped, and the scraper and the axis of the rolling brush are arranged in parallel.

The roll brush may be configured to contact the squeegee after being lifted by a certain height in a vertical direction by the control of the lifting mechanism.

May, the mopping part comprises a flat mop,

the water scraping mechanism also comprises a transmission mechanism driven by a driving motor component, so that the scraping plate is dragged to do linear reciprocating motion along the flat plate.

The wiper mechanism may have an inclination angle, and the floor mopping member may be configured to rotate the corresponding inclination angle while controlling the elevation by the elevating mechanism.

The lifting mechanism may include: a crank and rocker mechanism, a gear pair or a screw mechanism.

The washing base may have a charging device for charging the cleaning robot.

The cleaning robot comprises a limiting mechanism and a guiding mechanism; the limiting mechanism is arranged on the main body of the cleaning robot, and the guide mechanism is arranged on the cleaning base; or the limiting mechanism is arranged on the cleaning base, and the guide mechanism is arranged on the main body of the cleaning robot; the limiting mechanism and the guiding mechanism are matched to enable the cleaning robot to be located at a designed position when returning to the cleaning base.

Can be, stop gear and guiding mechanism establish mutually supporting through the cover, stop gear includes protruding structure, guiding mechanism is the indent structure, the surface of protruding structure with the internal surface of indent structure is tangent, protruding structure is the big gradual change's in front and back axisymmetric structure, the indent structure have with protruding structure corresponding shape, work as cleaning machines people is in during the design position, last clean subassembly of cleaning machines people with wash the mutual interference of mechanism of scraping of base.

A method for automatically cleaning a floor mopping part by adopting the cleaning robot is characterized by comprising the following steps:

step one, lifting the floor mopping part through a lifting mechanism, and enabling the floor mopping part to gradually approach to a scraper of a cleaning base;

step two, when the mopping part and the scraper form interference, stopping approaching;

step three, rotating the mopping part, spraying water to wash or wet the mopping part by a spray head, scraping attachments on the mopping part by a scraper, and extruding water on the mopping part;

step four, the spray head stops spraying water or mist, the floor mopping component continues to rotate, and the scraper continues to extrude the water on the floor mopping component;

and step five, when the water stains on the mopping part are scraped dry, the mopping part stops rotating.

A method for automatically cleaning a floor mopping part by adopting the cleaning robot is characterized by comprising the following steps:

step one, gradually lifting the mopping part to a position which is adaptive to the angle of a scraper of a cleaning base and is close to the scraper;

step two, when the mopping part and the scraper form interference, stopping approaching;

step three, spraying water to wash or wet the mopping part by the spray head, moving the scraper plate, scraping attachments on the mopping part, and extruding water out of the mopping part;

step four, the spray head stops spraying water or mist, and the scraper plate continues to extrude the water on the mopping part;

and step five, when the water stains on the mopping part are scraped dry, the scraper stops moving.

May, further include step six: after the water stain on the mopping part is scraped dry, the lifting mechanism enables the mopping part to fall down and continue mopping.

The steps one to six may be performed circularly until the cleaning work is finished.

May, further include: the mopping component returns to the washing base for backwashing every certain area or time.

The invention also provides a lifting mechanism for the cleaning robot and a working method thereof, so as to solve the problem that the existing cleaning robot cannot selectively mop the indoor comprehensive environment.

On the one hand, the lifting mechanism in the invention,

comprises a driving component, a lifting component and a cleaning component which are connected in sequence;

the driving component is used for driving the lifting component;

the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned;

when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; the cleaning assembly can be lifted without contacting the surface to be cleaned.

By adopting the structure, the invention can independently carry out sweeping and mopping (for example, only the sweeping and the mopping can be carried out, and the like); and the obstacle crossing capability can be improved, and the pressure can be applied to mopping the floor.

Preferably, the cleaning assembly is a flat mop, which is configured such that the cleaning surface can be tilted outwardly at an angle when lifted.

When the cleaning assembly swings with the rocker and lifts by a certain angle, the mop can be cleaned and processed more easily.

The cleaning component can be turned over while lifting or turned over after lifting. This has the advantage that the cleaning assembly is easily cleaned or washed, or replaced.

Preferably, the lifting mechanism further comprises a processor and a drive assembly actuator; the processor receives the trigger signal and judges the position of the cleaning component according to the position information so as to transmit an execution signal to the driving component execution mechanism; the driving component executing mechanism is used for controlling the driving component according to the acquired executing signal.

Preferably, the lifting mechanism further comprises a position detection device, and the position detection device is used for detecting the position of the cleaning assembly and feeding back a position signal to the processor.

Preferably, the cleaning device is further provided with an identification module, the processor is connected with the identification module, the identification module can identify the surface to be cleaned and transmit the information of the surface to be cleaned to the processor, and the processor can form a cleaning strategy according to the information of the surface to be cleaned.

The drive assembly may be an electric motor assembly, a pneumatic assembly or a hydraulic assembly.

The lifting assembly may be a linkage mechanism, a linear motion mechanism or a gear pair.

More preferably, the link mechanism may be a crank link mechanism, the crank link mechanism includes a crank, a connecting rod and a rocker connected in sequence, the crank is configured to rotate around the whole circumference under the action of the driving assembly, at least one of the connecting rod and the rocker is configured to have a displacement in a vertical direction, and the cleaning assembly is connected with a rod having a displacement in a vertical direction.

The crank-link mechanism can also comprise a space link mechanism, and at least one spherical pair is arranged among the crank, the link and the rocker.

Preferably, the linear motion mechanism comprises a screw and a nut which are connected in a matching manner, and the screw is configured to have a displacement in a vertical direction.

Preferably, the cleaning assembly comprises a roller brush member.

Preferably, the cleaning assembly comprises a plate member.

In another aspect, the present invention provides a cleaning robot including the above-described lifting mechanism.

Preferably, the cleaning robot is a household cleaning robot.

In addition, the invention also provides a working method of the cleaning robot, which comprises the following steps:

the cleaning robot identifies a surface to be cleaned and transmits information to a processor;

step two, the processor judges the cleaning strategy of the surface to be cleaned according to the received information;

step three, when the cleaning strategy in the step two is that the surface to be cleaned is only swept and is not swept, the processor transmits a first execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to be separated from the surface to be cleaned, the processor transmits a second execution signal to the sweeping module, and the sweeping module cleans the surface to be cleaned;

when the cleaning strategy in the second step is that the surface to be cleaned is only cleaned and is not cleaned, the processor transmits a third execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to contact the surface to be cleaned, the cleaning assembly carries out mopping treatment on the surface to be cleaned, the processor transmits a fourth execution signal to the sweeping module, and the sweeping module stops sweeping the surface to be cleaned;

when the cleaning strategy in the second step is to sweep and mop the surface to be cleaned, the processor transmits a third execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to contact the surface to be cleaned, the cleaning assembly carries out mopping treatment on the surface to be cleaned, the processor transmits a second execution signal to the sweeping module, and the sweeping module sweeps the surface to be cleaned;

and when the cleaning strategy in the step two is that the surface to be cleaned is not swept and is not dragged, the processor transmits the first execution signal to the driving assembly, the driving assembly drives the lifting assembly and enables the cleaning assembly to be separated from the surface to be cleaned, the processor transmits the fourth execution signal to the sweeping module, and the sweeping module stops sweeping the surface to be cleaned.

Therefore, the cleaning robot provided by the invention can independently control the sweeping and the mopping (for example, the cleaning robot can only sweep but not sweep, only sweep but not mop, etc.); and the obstacle crossing capability can be improved, and the pressure can be applied to mopping the floor.

In addition, the invention also provides a working method of the cleaning robot, which comprises the following steps:

the method comprises the following steps:

the cleaning robot identifies a surface to be cleaned and transmits information to a processor;

step two, the processor judges the cleaning strategy of the surface to be cleaned according to the received information;

step three, when the cleaning strategy in the step two is to mop the surface to be cleaned, the processor sends a floor mopping execution signal to the driving assembly, and the driving assembly drives the lifting assembly and enables the cleaning assembly to contact the surface to be cleaned; and when the cleaning strategy in the step two is that the surface to be cleaned is not mopped, the processor sends a mopping-free execution signal to the driving assembly, and the driving assembly drives the lifting assembly and enables the cleaning assembly to be separated from the surface to be cleaned.

Thus, the present invention may be a floor mopping only.

Another aspect of the present invention also provides a pressing mopping mechanism for a cleaning robot,

comprises a driving component, a lifting component and a cleaning component which are connected in sequence;

the driving component is used for driving the lifting component; the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned; when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; when the cleaning assembly is lifted to be separated from the surface to be cleaned, the cleaning assembly is arranged not to obstruct the movement of the cleaning robot;

the lifting assembly is provided with a telescopic mechanism, and the telescopic mechanism is connected with the lifting assembly and the cleaning assembly so that the cleaning assembly can be always attached to the surface to be cleaned through the telescopic performance of the cleaning assembly.

Preferably, the telescopic mechanism comprises an elastic element.

Preferably, the lifting assembly comprises a crank-link mechanism, the crank-link mechanism comprises a crank, a connecting rod and a rocker which are sequentially connected, the crank is arranged to rotate around under the action of the driving assembly, at least one of the connecting rod and the rocker is arranged to move in the vertical direction, the cleaning assembly is connected with a rod which moves in the vertical direction, and the telescopic mechanism is arranged on the connecting rod.

Preferably, the cleaning assembly comprises a roller brush member or a flat mop member.

A working method of a pressure-applying floor mopping mechanism for a cleaning robot comprises the following steps:

step one, a lifting assembly drives a cleaning assembly to descend until the cleaning assembly contacts the surface to be cleaned, and the cleaning assembly cleans the surface to be cleaned;

and step two, the lifting assembly drives the cleaning assembly to lift, and the cleaning assembly is separated from the surface to be cleaned.

Preferably, in the first step, after the cleaning assembly contacts the surface to be cleaned, the lifting assembly continues to drive the cleaning assembly to descend by the first height, and the elastic element in the telescopic mechanism is compressed and deformed to apply the first acting force to the cleaning assembly.

Preferably, the lifting mechanism drives the cleaning assembly to descend to the first height, and the compression deformation of the elastic element in the telescopic mechanism does not exceed the maximum working deformation so as to prevent the cleaning robot from being lifted due to the overlarge first acting force applied to the cleaning assembly and the corresponding overlarge reaction force.

The cleaning assembly referred to in this application may comprise an active cleaning assembly (the cleaning assembly having a drive means for actively cleaning the surface to be cleaned, for example a roller brush having a drive motor) or a passive cleaning assembly (the cleaning assembly being moved by the cleaning robot for cleaning the surface to be cleaned).

The invention also provides a cleaning base and a working method thereof, which can realize automatic cleaning of the floor mopping mechanism of the cleaning robot.

This wash base includes: the water spraying device comprises a base body, a water wiping mechanism arranged on the base body and a water spraying component with a spray head;

the spray heads are arranged along the floor mopping part of the cleaning robot and are formed into a structure for spraying water or mist to the floor mopping part;

the wiper mechanism includes a wiper blade that contacts and relatively displaces the floor member to squeeze out water while wiping off the attached matter on the floor member.

Preferably, the mopping part comprises a rolling brush, and the rolling brush is configured to rotate under the driving of a motor;

the scraper is long-strip-shaped, and the scraper and the axis of the rolling brush are arranged in parallel.

Preferably, the mopping part comprises a flat mop,

the water scraping mechanism also comprises a transmission mechanism driven by a driving motor component, so that the scraping plate is dragged to do linear reciprocating motion along the flat plate.

Preferably, the mopping part is configured to rotate and lift around a point controlled by a lifting mechanism. It may be that the wiper mechanism has an inclination angle, and the floor-mopping part is configured to rotate the respective inclination angles while controlling the lifting by the lifting mechanism.

The lifting mechanism can be a crank-rocker mechanism, a gear pair or a screw mechanism.

The transmission mechanism may include a synchronous belt mechanism, a slider-crank mechanism, or an eccentric cam mechanism.

When the mechanism is a crank-slider mechanism, the crank-slider mechanism can be connected with the scraper.

The automatic scraper reversing mechanism is characterized by further comprising a scraper automatic reversing mechanism, the transmission mechanism is a belt type transmission mechanism, the belt type transmission mechanism rotates along one direction under the action of the driving motor assembly, and the belt is connected with the scraper automatic reversing mechanism to drive a scraper arranged on the scraper automatic reversing mechanism to do linear reciprocating motion.

When the transmission mechanism is a belt type transmission mechanism, the scraper is fixed on the belt type transmission mechanism, the scraper further comprises a position detection device, a processor and a motor execution device, the position detection device is used for detecting whether the position of the scraper reaches a return position or not, so that a position detection signal is sent to the processor, and the processor controls the motor execution device to enable the motor to rotate reversely, so that the belt type transmission mechanism is driven to reverse.

Preferably, the washing base has a charging device for charging the cleaning robot.

Preferably, the scraper is provided with a toothed part.

The invention also provides a method for automatically cleaning by adopting the cleaning base, which comprises the following steps:

step one, enabling the mopping part to gradually approach a scraper of a cleaning base;

step two, when the mopping part and the scraper form interference, stopping approaching;

lifting the mopping part and matching with the scraper, spraying water by a spray head to wash the mopping part or wet the mopping part, scraping attachments on the mopping part by the scraper, and extruding water out of the mopping part;

step four, stopping spraying water by the spray head, continuing to rotate the mopping part, and continuing to extrude the water on the mopping part by the scraper;

and step five, when the water stains on the mopping part are scraped dry, the mopping part stops rotating.

The invention also provides a method for automatically cleaning by adopting the cleaning base, which comprises the following steps:

step one, enabling the mopping part to gradually approach a scraper of a cleaning base;

step two, when the mopping part and the scraper form interference, stopping approaching;

thirdly, spraying water by a spray head to wash or wet the mopping part, moving a scraper to scrape off attachments on the mopping part, and extruding water out of the mopping part;

step four, the spray head stops spraying water, and the scraper continuously extrudes the water on the mopping part;

and step five, when the water stains on the mopping part are scraped dry, the scraper stops moving.

In the above method, the method may further include: when the floor mopping part of the cleaning robot cleans a certain area or time, the cleaning robot returns to the washing base for backwashing through navigation.

Preferably, the backwashing is automatic after every 12-20 square meters of cleaning.

Therefore, the mop can be automatically backwashed when the mop is dirty, and dirty mopping is prevented.

Preferably, the device is also provided with a dirt separation system, wherein the clean water tank, the clean water pump and the water spray assembly are connected in sequence; the filtering water tank, the sewage pump and the sewage tank are sequentially connected;

the filtering water tank for receiving and filtering the dirty water after cleaning the cleaning cloth is provided with a filtering element;

the sewage pump conveys the water in the filter water tank to a sewage tank, and the purified water tank provides a water source for the water spraying assembly; conveying the water of the purified water tank to the water spraying assembly through the purified water pump;

the water spraying assembly sprays water to the rag.

Preferably, a water circulation filtering system is also provided,

the water circulation filtration system is provided with:

the filter water tank is used for receiving dirty water after cleaning the cleaning cloth and filtering the dirty water, and the filter water tank is provided with a filter element;

the water in the filtering water tank is conveyed to the circulating water tank through a sewage pump;

the circulation tank providing a water source for the water spray assembly while receiving water from the sump; the water of the circulating water tank is conveyed to a circulating water pump of the water spraying assembly; the water spraying component is used for spraying water to the cleaning cloth;

the filter water tank, the sewage pump, the circulating water tank, the circulating water pump and the water spraying assembly are connected in sequence.

The description "cleaning assembly is arranged to enable a cleaning process to be performed on a surface to be cleaned" as used in this application should be understood as follows: the cleaning assembly itself can actively perform a cleaning process on the surface to be cleaned, and the cleaning assembly can perform a cleaning process on the surface to be cleaned under the driving of an external force (see the detailed embodiments described later). The above and other objects, features and advantages of the present invention will be better understood from the following detailed description taken in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a schematic configuration diagram of an elevating mechanism for a cleaning robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of the cleaning assembly in an inverted orientation in the embodiment shown in fig. 1.

Fig. 3 is a schematic view showing the first extreme position M.

Fig. 4 is a schematic view showing the second extreme position N.

Fig. 5 and 6 are schematic structural views of an elevating mechanism for a cleaning robot according to another embodiment of the present invention.

Fig. 7 is a schematic structural view of a floor mopping mechanism of a conventional cleaning robot.

Fig. 8 shows the condition of the crank-link mechanism when the cleaning assembly is in contact with the floor, i.e. lowered to the lowermost position.

Fig. 9 shows the uppermost position of the lifting of the crank linkage.

FIGS. 10 and 11 show a spring loaded schematic view, FIG. 10 showing the cleaning assembly in contact with the floor surface, but with the lift assembly not yet lowered to the lowermost position; fig. 11 shows, on the basis of fig. 10, the lifting mechanism further lowered, the elastic element (spring) deformed and compressed, exerting a pressure on the cleaning assembly.

FIG. 12 is a schematic structural view of a cleaning base according to a first embodiment of the present invention.

Fig. 13 is a front view of a lifting mechanism in a floor-mopping part of a cleaning robot to which a cleaning base according to a first embodiment of the present invention is applied.

Fig. 14 is a perspective view of a lifting mechanism in a floor-mopping part of a cleaning robot to which a cleaning base according to a first embodiment of the present invention is applied.

Fig. 15 and 16 are partial schematic views of an automatic squeegee reversing mechanism in a cleaning base according to a first embodiment of the present invention.

Fig. 17 is a schematic view of a reversing slide of the automatic squeegee reversing mechanism of fig. 15.

FIG. 18 is a schematic view showing the structure of a cleaning base according to a second embodiment of the present invention.

Fig. 19 is a partial schematic view of a floor mopping part of a cleaning robot to which a cleaning base according to a second embodiment of the present invention is applied.

FIG. 20 is a flow diagram of a water circulation filtration system in accordance with one embodiment of the present invention.

Fig. 21 is a schematic view of the structure of the filtering water tank.

Fig. 22 is a flow chart of a dirt separation system according to an embodiment of the present invention.

Fig. 23 is a schematic view of the structure of the dirt separation system shown in fig. 22.

Fig. 24 is a schematic view of the dirt separation system shown in fig. 22.

Fig. 25 is a cross-sectional view of the dirt separation system of fig. 22.

FIG. 26 is a schematic structural view of a cleaning water circulation system according to an embodiment of the present invention.

Fig. 27 is a schematic view of a projection structure of a guide/stopper mechanism according to an embodiment of the present invention.

Fig. 28 is a schematic view of the concave structure of the guiding and limiting mechanism according to an embodiment of the present invention.

Detailed Description

The present invention is further described below in conjunction with the following embodiments, and it is to be understood that the figures and the following embodiments are provided only for the purpose of teaching the best mode for carrying out the present invention to those skilled in the art, and are not to be construed as limiting the present invention. The same or corresponding reference numerals denote the same components in the respective drawings, and redundant description is omitted.

The invention discloses a lifting mechanism for a cleaning robot, which aims to solve the problems that in the prior art, a sweeping and mopping integrated machine can sweep and mop simultaneously, the requirement on the use environment is high, and the like, and comprises a driving assembly, a lifting assembly and a cleaning assembly which are connected in sequence; the driving component is used for driving the lifting component; the lifting assembly can enable the cleaning assembly to be lifted and lowered relative to the surface to be cleaned; when the cleaning component descends to contact the surface to be cleaned, the cleaning component is arranged to perform cleaning treatment on the surface to be cleaned; the cleaning assembly can be lifted without contacting the surface to be cleaned.

Preferably, the cleaning assembly is lifted, and the lowest position of the cleaning assembly is higher than the bottom surface of the cleaning robot, so that the obstacle crossing capability of the cleaning robot is improved after the cleaning assembly is lifted.

This elevation structure uses in cleaning machines people field, has solved the problem that the technical scheme of water tank and rag combination can not adapt to indoor integrated environment among the prior art, especially more complicated house indoor environment, moreover through adjusting clean subassembly and treating the pressure of clean surface, can exert pressure to stubborn spot and drag ground, has obtained unexpected beneficial effect for prior art.

The lifting structure has good expansion performance, and particularly can select whether to clean the surface to be cleaned or not according to the indoor environment and the surface to be cleaned after being combined with artificial intelligence.

[ implementation of Up-Down motion ]

In one embodiment, the cleaning device further comprises a processor and a driving component executing mechanism, wherein the processor receives a trigger signal (comprising a lifting trigger signal and a falling trigger signal), judges the position of the cleaning component according to position information (comprising preset position information or position information acquired from a position detecting device), and transmits an executing signal (comprising a lifting executing signal and a falling executing signal) to the driving component executing mechanism; the driving component executing mechanism is used for controlling the driving component (enabling the lifting component to realize lifting and descending actions) according to the acquired executing signal until the processor acquires the adjusted position information again (comprising preset adjusted position information and adjusted position information detected by a position detecting device and the like), and the processor transmits a signal for stopping executing to the driving component executing mechanism.

Here, the adjusted position information should be interpreted as: the information of the position of the lifting assembly after the lifting or lowering action can be stored preset position information or position information acquired by a position detection device.

And under the condition that the position information is preset position information, the preset position information comprises lifting position information and descending position information which respectively correspond to the cleaning assembly located at the lifting position and the descending position. The position of the cleaning assembly is preset to match the preset position information and the process can be adjusted at factory set-up.

In the case where the position information is position information detected by, for example, a position detecting device or the like, the position information includes lifting position information and lowering position information, and the processor gives a lifting or lowering execution signal in conjunction with the trigger signal and the position information. And correspondingly, the driving component executing mechanism controls the driving component and drives the lifting component to descend the cleaning component after acquiring the descending executing signal.

In detail:

1. when the trigger signal is a lifting trigger signal, the position detection device detects that the position information of the cleaning assembly is a descending position, and the processor sends a lifting execution signal to the driving assembly execution mechanism; the processor sends an execution stopping signal to the driving component executing mechanism until the processor acquires that the position information of the cleaning component is the lifting position;

2. when the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning assembly is a lifting position, and the processor sends a descending execution signal to the driving assembly execution mechanism; the processor sends an execution stopping signal to the driving component executing mechanism until the processor acquires that the position information of the cleaning component is the descending position;

3. when the trigger signal is a lifting trigger signal, the position detection device detects that the position information of the cleaning assembly is a lifting position, and the processor does not send an execution signal to the driving assembly execution mechanism;

4. when the trigger signal is a descending trigger signal, the position detection device detects that the position information of the cleaning assembly is a descending position, and the processor does not send an execution signal to the driving assembly execution mechanism;

the beneficial effect of the above arrangement is that the purpose of the action of the lifting assembly is consistent with that of the trigger signal, and misoperation is avoided, as shown in the above cases 3 and 4, for example, if the trigger signal is a lifting trigger signal and the cleaning assembly is in the lifting position, and at this time, if the processor does not judge the position of the cleaning assembly, but directly sends a lifting instruction to the actuating mechanism of the driving assembly, the cleaning assembly will continue to perform lifting action from the lifting position, which will damage the lifting mechanism.

Wherein the position information of the cleaning assembly can be acquired by a position detection device (position sensor), preferably a hall sensor (see fig. 1, wherein a lifting position hall sensor a and a lowering position hall sensor B are shown), and transmitted to the processor.

(Structure of lifting Assembly)

In the invention, the lifting component can be all motion mechanisms capable of realizing lifting action. The lifting assembly has a lifting portion capable of being displaced in a vertical direction (perpendicular to the surface to be cleaned). The cleaning assembly is connected with the lifting part. The generating of the displacement in the vertical direction includes: a linear displacement generated in the vertical direction, or a displacement having a component in the vertical direction.

The lifting assembly may be a link mechanism having a lifting portion that is displaced in the vertical direction, a linear motion mechanism (e.g., a lead screw mechanism), or a gear pair. The connecting rod mechanism can be a space connecting rod mechanism or a plane connecting rod mechanism, wherein when the connecting rod mechanism is the space connecting rod mechanism, at least one spherical pair is arranged among the crank, the connecting rod and the rocker.