CN107028561B

Movatterモバイル変換

Info

Publication number: CN107028561B
Application number: CN201710302968.3A
Authority: CN
Inventors: 张国栋
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2017-05-03
Filing date: 2017-05-03
Publication date: 2022-08-23
Anticipated expiration: 2037-05-03
Also published as: CN107028561A

Abstract

The invention discloses cleaning equipment which comprises a shell, a moving assembly, a cleaning assembly and a suspension inductor, wherein the moving assembly is used for driving the cleaning equipment to move; the cleaning assembly comprises at least one first cleaning subassembly capable of rotating around a rotating shaft, the rotating shaft and the bottom surface of the shell form an included angle of more than 0 degrees and less than or equal to 90 degrees, and the first cleaning subassembly is positioned in front of the moving assembly; the suspension inductor is arranged on the moving assembly and faces the surface to be cleaned. The cleaning equipment can prevent the first cleaning subassembly from shielding the emission and the reception of the signal of the suspension inductor, and the detection accuracy of the suspension inductor is improved.

Description

Cleaning device

Technical Field

The invention relates to the field of cleaning, in particular to cleaning equipment.

Background

The cleaning device includes a manually operated, an intelligent automatic, and a semi-intelligent automatic cleaning device. Existing cleaning devices typically include a chassis for carrying the various components, side brushes disposed at the edge of the chassis, a trash receptacle, a wheel assembly, and a flying sensor for sensing the floor. The side brush, the garbage box and the suspension sensor are all arranged on the chassis, in order to facilitate the side brush to clean dirt on a surface to be cleaned (such as the ground) into the garbage box, the side brush is arranged in front of the garbage box, and the side brush guides the garbage to an inlet of the garbage box when rotating. In order to prevent the moving component from entering into the suspension (such as a step) on the ground, the suspension sensor is disposed in front of the moving component. Therefore, in the prior art, both the side brush and the suspension sensor are located in the front half of the cleaning device and are located in front of the moving assembly.

In the prior art, the side brush includes the multi-beam brush and extends to outside the edge of chassis, the side brush frequently shelters from the transmission and the receipt of unsettled inductor's light signal when rotatory, the detection rate of accuracy of unsettled inductor has been reduced, for example, cleaning equipment carries out under the condition of cleaning operation on the corridor of second floor, the corridor next door has the stair step to the first floor, when cleaning equipment cleans the marginal of corridor and stair step juncture, the side brush shelters from unsettled inductor too frequently and probably leads to cleaning equipment can not in time detect ground and have unsettled, cause cleaning equipment to continue to advance to unsettled department, thereby lead to cleaning equipment to fall and impaired, perhaps lead to cleaning equipment card can't in time turn to in unsettled edge.

Disclosure of Invention

The invention provides a cleaning device, which can prevent a first cleaning subassembly from shielding the transmission and the reception of signals of a suspension sensor, and improve the detection accuracy of the suspension sensor.

In order to solve the technical problems, the invention adopts the following technical scheme:

an embodiment of the present invention provides a cleaning apparatus including:

a housing;

the moving assembly is arranged on the shell and used for driving the cleaning equipment to move;

the cleaning assembly is arranged on the shell and used for cleaning a surface to be cleaned, the cleaning assembly comprises at least one first cleaning subassembly, the first cleaning subassembly can rotate around a rotating shaft, an included angle between the rotating shaft and the bottom surface of the shell is greater than 0 degree and smaller than or equal to 90 degrees, and the first cleaning subassembly is positioned in front of the moving assembly; and

and the suspension inductor is arranged on the moving assembly and faces the surface to be cleaned.

In one embodiment, the housing is provided with an installation window, the moving assembly includes a wheel and a wheel housing, a portion of the wheel is located in the wheel housing, the suspension sensor is disposed on the wheel housing, and the suspension sensor is communicated with an external environment through the installation window, so that the suspension sensor can transmit and receive signals.

In one embodiment, the first cleaning subassembly includes a mount, a shape piece, and a plurality of sweeping members, each of the sweeping members extending outwardly from the mount, the shape piece connecting the plurality of sweeping members, the sweeping members being rotatable with rotation of the mount to agitate dirt on a surface to be cleaned.

In one embodiment, the shaped member is a resilient member.

In one embodiment, the shape fixing member includes a coupling portion between each of the two cleaning members, and a covering portion covering a portion of each of the cleaning members near the attachment member.

In one embodiment, the thickness of the coupling portion is less than the thickness of the covering portion.

In one embodiment, the shaped member extends continuously outwardly from an outer periphery of the mount.

In one embodiment, the shape-retaining member is a ring connecting the plurality of cleaning members.

In one embodiment, the housing includes a bottom plate, a cavity is formed in a bottom surface of the bottom plate, a surface of the shape-defining member adjacent to the bottom plate is substantially convex, the shape-defining member is received in the cavity, and the convex surface and an inner wall of the cavity cooperate to prevent the strip or filament from wrapping around the first cleaning subassembly.

In one embodiment, the inner wall of the cavity is provided with a first convex ring and a third convex ring, the convex surface of the shape-fixing member is provided with a second convex ring, the second convex ring is located between the first convex ring and the third convex ring, and the first convex ring, the second convex ring and the third convex ring are mutually matched to prevent an object in the external environment from entering or winding the mounting member and the rotating shaft.

Compared with the prior art, the technical scheme of the invention at least has the following beneficial effects:

in the embodiment of the invention, the suspended inductor is arranged on the moving assembly, so that the distance between the suspended inductor and the first cleaning subassembly can be increased, and the first cleaning subassembly can not pass through the space between the suspended inductor and the ground to be cleaned when rotating, so that the signal transmission and reception of the suspended inductor can not be blocked, and the detection accuracy of the suspended inductor is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.

FIG. 1a is a schematic diagram of a cleaning apparatus according to an embodiment of the present invention;

FIG. 1b is a schematic disassembled view of a cleaning apparatus according to an embodiment of the present invention;

FIG. 1c is a schematic diagram of the moving assembly and the suspension sensor of the cleaning device in accordance with the exemplary embodiment of the present invention;

FIGS. 2a and 2b are schematic structural views of a first cleaning subassembly of a cleaning apparatus in an embodiment of the invention;

FIG. 3a is a schematic view of the structure of the chassis of the cleaning device in an embodiment of the present invention;

FIG. 3b is an enlarged view of a portion I of FIG. 3 a;

FIG. 4a is a schematic cross-sectional view taken along section line A-A of FIG. 1a of the first cleaning subassembly as assembled to the chassis in an embodiment of the present invention;

FIG. 4b is a partial enlarged view of section II of FIG. 4 a;

FIG. 5a is a schematic view of a first cleaning subassembly separated from a chassis in an embodiment of the present invention; and

fig. 5b is a partial enlarged view of the portion III in fig. 5 a.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Embodiments of the present invention provide a cleaning device which may be manually operated, or may be a semi-automated or fully automated intelligent device, such as a cleaning robot. For simplicity and convenience of description, the embodiment of the present invention will be described by taking a cleaning robot as an example.

The terms "forward", "rearward", "left" and "right" are used herein with respect to the direction of travel of the cleaning apparatus during normal operation, with forward referring to the direction of travel of the cleaning apparatus. The terms "upper", "lower", "bottom" or "top" are all referred to with reference to the cleaning device in its normal operating position.

Referring to fig. 1a and fig. 1b, fig. 1a is a schematic structural diagram of a cleaning apparatus in an embodiment of the present invention, and fig. 1b is a schematic structural diagram of the cleaning apparatus after being disassembled in the embodiment of the present invention. The cleaning apparatus provided by the embodiment of the invention may include ahousing 10, a movingassembly 20, adirt receiving assembly 30, acleaning assembly 40, and aflying sensor 60, wherein themoving assembly 20, thedirt receiving assembly 30, and thecleaning assembly 40 may be mounted on thehousing 10 in various ways, and theflying sensor 60 is mounted on themoving assembly 20

Thehousing 10 serves to define the general outline of the cleaning device. It should be noted that although the cleaning device shown in fig. 1a and 1b is circular, this is only an example and should not be understood as limiting the shape of the cleaning device of the present invention, and in the embodiment of the present invention, the cleaning device may be shaped in a different shape or in various other shapes, such as square, triangle, hexagon, etc. In an embodiment of the present invention, thehousing 10 may include achassis 110, afront bump 50 and asurface cover 120, in a normal operation state of the cleaning device, thechassis 110 faces the surface to be cleaned, thesurface cover 120 is located at a side far away from the surface to be cleaned, and thefront bump 50 is located between an edge of thechassis 110 and an edge of thesurface cover 120.

The movingassembly 20 is used to move the cleaning device and may be a wheel assembly, but of course, other components or assemblies may be used to move the cleaning device, such as a track or a robotic leg. The movingassembly 20 is disposed on thehousing 10, and a part of the movingassembly 20 may be located inside thehousing 10 and another part is located outside thehousing 10.

Adirt collection assembly 30 is mounted to the housing for collecting dirt. Thewaste receiving assembly 30 may be a trash can, a water tank, a trash bag, or other container for receiving waste. The dirt includes garbage, dust, debris, sewage, and other waste products that are not desired by the user. Thedirt collection assembly 30 may be mounted to the middle of the housing or to the rear of the housing. Thedirt collection assembly 30 may be configured to be removable, but may be configured to form a unitary structure with the housing in other embodiments.

A cleaningassembly 40 is disposed on thehousing 10 for cleaning a surface to be cleaned. In an embodiment of the present invention, the cleaningassembly 40 may include afirst cleaning subassembly 410 and asecond cleaning subassembly 420. Thesecond cleaning subassembly 420 can include a dirt absorbing structure (not shown) in communication with thedirt receiving assembly 30, the dirt absorbing structure including a vacuum assembly or negative pressure generating assembly configured to generate a negative pressure to draw dirt on the surface to be cleaned (e.g., a floor surface) into thedirt receiving assembly 30. Thesecond cleaning subassembly 420 can also include at least one roller brush that rotates about an axis generally parallel to the floor surface and contacts the floor surface, the roller brush sweeping dirt from the floor surface toward thedirt collection assembly 30. Thesecond cleaning subassembly 420 may also be or include a wipe.

The cleaning assembly comprises at least one first cleaning subassembly, which rotates around a rotation axis extending from thehousing 10, the rotation axis and the bottom surface of the housing form an angle greater than 0 ° and less than or equal to 90 °, that is, thefirst cleaning subassembly 410 rotates around a rotation axis which is not parallel to the bottom surface of the housing 10 (the bottom surface of the chassis 110). Thefirst cleaning subassembly 410 is located in front of the movingassembly 20. Thefirst cleaning subassembly 410 is provided as at least one, and preferably, thefirst cleaning subassembly 410 is provided as two, which are respectively located at both sides of thehousing 10 with reference to the advancing direction. Thefirst cleaning subassembly 410 rotates about an axis that is not parallel to the floor (e.g., rotates about an axis that is perpendicular to the floor) to agitate dirt on a surface to be cleaned (e.g., the floor).

It will be appreciated that the cleaning device may also comprise other components, such as a universal wheel, a control circuit for controlling the behaviour of the cleaning device, a communication module, a camera, various sensors, which are described in the prior art and will not be described in detail herein.

Further, referring to fig. 1a, 1b and 1c, fig. 1c is a schematic structural diagram of a moving element and a suspension sensor of a cleaning apparatus according to an embodiment of the present invention. The moving assembly of the cleaning device may be a wheel assembly, and the movingassembly 20 is exposed to the external environment through a mounting window on thechassis 110; the movingassembly 20 includeswheels 220 and awheel housing 210, and the flyingsensor 60 is disposed on thewheel housing 210 and is communicated with the external environment through a mounting window on thechassis 110, so that the flyingsensor 60 can transmit and receive signals. It should be noted that although fig. 1a shows thesuspension sensor 60 disposed in front of thewheel 210, this is only an example. For example, the flyingsensor 60 may also be mounted outside and forward of thewheel 210.

Specifically, thesuspension inductor 60 is installed on one side of thewheel housing 210 close to the surface to be cleaned, and is configured to: and faces to the surface to be cleaned in normal operation. Thesuspension sensor 60 is used for sensing the condition of the surface to be cleaned, and when the surface to be cleaned has a falling edge (or a suspension) (e.g., a step), thesuspension sensor 60 sends a signal to a control circuit (not shown) of the cleaning device, and the control circuit controls the movingassembly 20 to adjust the direction of the cleaning device, so as to prevent the cleaning device from falling outside the falling edge (or the suspension) or being stuck at the falling edge (or the suspension). The flyingsensor 60 may include a signal emitter and a signal receiver, such as an infrared light emitter and an infrared light receiver.

The movingassembly 20 is mounted to thechassis 110 through a mounting window in thechassis 110 such that one part of the moving assembly is located within thehousing 10 and the other part is exposed to the environment so that thewheels 220 contact the floor during operation to move the cleaning device.

The moving assembly further includes a motor and a transmission (not shown) for providing power to rotate thewheel 220. The motor and transmission may be disposed within thewheel housing 210.

In the embodiment of the present invention, since thesuspension sensor 60 is disposed on thewheel housing 210 and the distance between thesuspension sensor 60 and thefirst cleaning subassembly 410 is relatively large, thefirst cleaning subassembly 410 does not pass between thesuspension sensor 60 and the ground to be cleaned when rotating, and therefore, the transmission and reception of signals of thesuspension sensor 60 are not blocked, and the detection accuracy of thesuspension sensor 60 is improved.

Further, in a specific implementation manner of the embodiment of the present invention, the shape-fixingmember 412 may include aconnection portion 4121 and acovering portion 4122, theconnection portion 4121 is located between each two cleaningmembers 413, and thecovering portion 4122 covers a portion of each cleaningmember 413 close to the mountingmember 411. Optionally, the thickness of thecoupling portion 4121 is less than the thickness of thecovering portion 4122.

Optionally, the shape-fixingelement 412 extends continuously from the outer periphery of the mounting element to a certain position of thesweeping member 413, for example, to a quarter, a third or a half of thesweeping member 413, and the specific design is determined according to the actual requirement of the cleaning device.

In the embodiment of the present invention, the mountingmember 411 and theshape member 412 may be integrally formed or may be detachably configured. In case the mounting 411 is detachable from theshape 412, the mounting 411 may be a hard glue or other wear resistant.

In the embodiment of the present invention, optionally, the shape-fixingelement 412 is an elastic element, that is, the connectingportion 4121 and thecovering portion 4122 have the property of elastic deformation. The shape-settingelement 412 is provided as a spring element with at least the following positive effects: the shape-fixingmember 412 plays a role of maintaining the shape of the cleaningmembers 413, and provides flexibility to thecleaning members 413, for example, when the cleaningmembers 413 hit an obstacle, the cleaningmembers 413 can be elastically deformed within a certain range, so as to reduce the collision force, friction force and resistance between the cleaningmembers 413 and the obstacle, when the cleaning members are obstructed by the obstacle, the shape-fixingmember 412 can temporarily deform itself to meet the environmental requirements due to the elastic deformation, and can recover the shape after leaving the obstacle, so that the service life of the cleaningmembers 413 can be prolonged while maintaining the cleaning ability, and in addition, the elastic member has a buffer function, so that the noise can be greatly reduced.

It is understood that in other embodiments, the connecting portion of the shape-fixingmember 412 may be a flexible portion, which may have elasticity or flexibility or softness, for example, the flexible portion may be a thin film having softness or flexibility.

Further, referring to fig. 2b to fig. 5b, fig. 3a is a schematic structural diagram of a chassis of a cleaning device according to an embodiment of the present invention; FIG. 3b is an enlarged view of a portion I of FIG. 3a, and FIG. 4a is a schematic cross-sectional view taken along section line A-A of FIG. 1a when the first cleaning subassembly of an embodiment of the present invention is assembled to the chassis; FIG. 4b is a partial enlarged view of section II of FIG. 4 a; FIG. 5a is a schematic view of a first cleaning subassembly separated from a chassis in an embodiment of the present invention; fig. 5b is a partial enlarged view of the portion III in fig. 5 a.

The bottom surface of thechassis 110 of thehousing 10 is provided with arecess 111, and thefirst cleaning subassembly 410 is mounted in therecess 111, therecess 111 can reduce the contact of the substance on the surface to be cleaned with the mountingmember 411 and therotating shaft 415 of thefirst cleaning subassembly 410. The surface of the shapedmember 412 adjacent to thebase plate 110 is generally convex, and the shaped member is received in thecavity 111. preferably, the size of the shapedmember 412 is generally consistent with the size of the cavity, so as to block the mountingmember 412 and therotating shaft 415 from the outside, and further reduce the entrance or winding of substances (especially strips and filaments) in the external environment (including but not limited to the surface to be cleaned) into the mountingmember 411 and therotating shaft 415. Optionally, the edges of the shape-setter 412 are aligned with theedges 1111 of the cavity and only a slight gap is formed between the edges of the shape-setter 412 and theedges 1111 of thecavity 111 to make it difficult for foreign substances to enter while there is no interference between the two edges, thereby preventing the stripe (e.g., wire) or filament (e.g., hair) from being entangled with thefirst cleaning subassembly 410. It can be seen that the convex surface of the shapedmember 412 cooperates with the inner wall of thecavity 111 to effectively prevent the strip or filament from wrapping around thefirst cleaning subassembly 410.

Optionally, the inner wall of thecavity 111 may be further provided with a firstprotruding ring 112 and a thirdprotruding ring 113, and the convex surface of the shape-definingmember 412 is provided with asecond protruding ring 4124, and when thefirst cleaning subassembly 410 is assembled on thechassis 110, thesecond protruding ring 4124 on the shape-definingmember 412 is located between the firstprotruding ring 112 and the thirdprotruding ring 113, so that the firstprotruding ring 112, thesecond protruding ring 4124 and the thirdprotruding ring 113 cooperate with each other to further block objects in the external environment from entering or winding around the mountingmember 411 and therotating shaft 415. The mountingmember 411 is sleeved on the outer surface of therotating shaft 415 through the throughhole 4111, and the mountingmember 411 is mounted on the rotating shaft by using a lockingmember 414. Thefirst cleaning subassembly 410 is removably mounted to thehousing 10 by the lockingmembers 414, which are removed to separate thefirst cleaning subassembly 410 from the housing when thefirst cleaning subassembly 410 requires cleaning. The lockingmember 414 may be any locking structure known in the art, such as a screw or snap-in locking structure. The first convex ring on the inner wall of the concave cavity surrounds the outer side of the mounting piece. Further preventing objects in the external environment from entering or winding the mountingmember 411 and therotation shaft 415.

As can be seen, in the embodiment of the present invention (embodiment of the present invention), since the first cleaning subassembly of the cleaning apparatus includes a mounting part, a shape-defining part and a plurality of sweeping members, each of which extends outward from the mounting part, and the shape-defining part connects the plurality of sweeping members, the shape-defining part can provide a restraining force, such as a supporting force, a pulling force or a restoring force, between each of the sweeping members to prevent the sweeping members from being deformed, scattered or the plurality of sweeping members from being drawn close to each other by an external force, thereby preventing the cleaning capability of the cleaning apparatus from being reduced, and in addition, the life of the first cleaning subassembly can be prolonged. Also, since the chassis of the housing is provided with a cavity, and the edge of the shape-definingmember 412 is aligned with theedge 1111 of the cavity, it is possible to make it difficult for foreign substances to enter while there is no interference between both edges, thereby preventing a strip of material (e.g., an electric wire) or a filament (e.g., hair) from being wound around thefirst cleaning subassembly 410.

In another embodiment, the first cleaning subassembly includes a mountingpart 411, ashape part 412 and a plurality of cleaningmembers 413, each cleaningmember 413 extends outwards from the mountingpart 411, theshape part 412 is connected with the plurality of cleaningmembers 413, theshape part 412 is provided with a hollow, or theshape part 412 is ring-shaped, when the shape part is ring-shaped, the mountingpart 411 and the connecting part are separated by a gap. Thus, the cleaningmember 413 can be kept in shape and limited while saving material.

In another embodiment, the flyingsensor 60 is disposed on the cleaningassembly 40. Specifically, the flyingsensor 60 may be disposed on thesecond cleaning subassembly 420 of the cleaningassembly 40, or: the flyingsensor 60 may be disposed on themount 411 of thefirst cleaning subassembly 410 of the cleaningassembly 40.

In the description herein, references to the terms "an embodiment," "an embodiment of the invention," "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The above-described embodiments are only a part of the embodiments of the present invention, and not all of them, and any combination of any features between the above-described embodiments falls within the scope of the present invention.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

1. A cleaning apparatus, comprising:

a housing;

the suspension sensor is arranged on the moving assembly and faces the surface to be cleaned;

the wheel moving assembly comprises wheels and a wheel shell, one part of the wheels is located in the wheel shell, the suspended inductor is arranged on the wheel shell and communicated with the external environment through the installation window, and therefore the suspended inductor can transmit and receive signals.

2. The cleaning apparatus defined in claim 1, wherein the first cleaning subassembly comprises a mount, a shape member and a plurality of sweeping members, each of the sweeping members extending outwardly from the mount, the shape member connecting the plurality of sweeping members, the sweeping members being rotatable with rotation of the mount to agitate dirt on a surface to be cleaned.

3. The cleaning apparatus defined in claim 2, wherein the shaped element is a resilient element.

4. The cleaning apparatus of claim 2, wherein the shape member includes a coupling portion between each two of the sweeping members and a wrapping portion wrapping a portion of each sweeping member adjacent to the mounting member.

5. The cleaning apparatus defined in claim 4, wherein the joint portion has a thickness less than a thickness of the cladding portion.

6. A cleaning appliance according to any one of claims 2 to 5, wherein the shaped member extends continuously outwardly from the outer periphery of the mounting member.

7. The cleaning apparatus defined in any one of claims 2-5, wherein the shaped element is a ring connecting the plurality of sweeping members.

8. The cleaning apparatus as recited in claim 2, wherein said housing comprises a bottom plate, a cavity is provided in a bottom surface of said bottom plate, a surface of said shape-defining member adjacent said bottom plate is substantially convex, said shape-defining member is received in said cavity, and said convex surface cooperates with an inner wall of said cavity to prevent the strip or filament from wrapping around said first cleaning subassembly.

9. The cleaning apparatus as claimed in claim 8, wherein the inner wall of the cavity is provided with a first protruding ring and a third protruding ring, the convex surface of the shape-fixing member is provided with a second protruding ring, the second protruding ring is located between the first protruding ring and the third protruding ring, and the first protruding ring, the second protruding ring and the third protruding ring cooperate with each other to prevent objects in the external environment from entering or winding around the mounting member and the rotating shaft.