WO2019184616A1 - 擦洗机器人 - Google Patents

擦洗机器人 Download PDF

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Publication number
WO2019184616A1
WO2019184616A1 PCT/CN2019/075339 CN2019075339W WO2019184616A1 WO 2019184616 A1 WO2019184616 A1 WO 2019184616A1 CN 2019075339 W CN2019075339 W CN 2019075339W WO 2019184616 A1 WO2019184616 A1 WO 2019184616A1
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WO
WIPO (PCT)
Prior art keywords
power input
window cleaning
roller
cleaning device
wiping device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/075339
Other languages
English (en)
French (fr)
Inventor
牛立群
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanxi Jiashida Robot Technology Co Ltd
Original Assignee
Shanxi Jiashida Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810265392.2A external-priority patent/CN108451433B/zh
Priority claimed from CN201810267375.2A external-priority patent/CN108451434B/zh
Application filed by Shanxi Jiashida Robot Technology Co Ltd filed Critical Shanxi Jiashida Robot Technology Co Ltd
Priority to EP19778090.1A priority Critical patent/EP3797663B1/en
Priority to KR1020207021325A priority patent/KR102302527B1/ko
Priority to JP2020546875A priority patent/JP7079031B2/ja
Priority to US17/267,486 priority patent/US11819172B2/en
Publication of WO2019184616A1 publication Critical patent/WO2019184616A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A47L11/293—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2847—Surface treating elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present invention relates to the field of cleaning appliances and, in particular, to scrubbing robots.
  • the present invention claims the following two priority claims of the Chinese prior invention patent application: the first one, the application number ZL2018102673752, the application date March 28, 2018; the second article, the application number ZL2018102653922, the application date March 28, 2018 .
  • the prior art has the following drawbacks. Since the wiping robot and the window cleaning robot are designed separately for the cleaning of the floor and the window, the walking manner and the type of garbage of the two applications are different, and the specific structure is also different. They are used interchangeably, so users need to purchase rubbing robots and window wiping robots separately, which are costly, take up more storage space, and have poor user experience.
  • the present invention provides a scrubbing robot.
  • a scrubbing robot comprising: a window cleaning device comprising a window cleaning system, an adsorption assembly configured to be attached to the window, a first walking assembly configured to move over the window, and a wiping device comprising a floor cleaning system and A second walking assembly configured to move on the ground, the body of the wiping device having a mounting slot configured to be capable of being inserted into and out of the mounting slot.
  • the scrubbing robot is an integral utility cleaning robot which combines the sweeping and wiping the window and the window cleaning function, and the window cleaning device can be conveniently embedded or removed from the wiping device, and the window cleaning device is embedded in the wiping ground. After the device, a complete wiping robot is formed. After the window cleaning device is taken out from the window cleaning device, it is an independent window cleaning machine. It has rich functions, low cost, less storage space, convenient operation and improved user experience.
  • Figure 1 is a perspective view of the scrubbing robot in the embodiment
  • Figure 2 is an exploded view of the scrubbing robot in the embodiment
  • Figure 3 is a first exploded view of the wiping device in the embodiment
  • Figure 4 is a first perspective view of the window cleaning device of the embodiment
  • Figure 5 is a second perspective view of the window cleaning device in the embodiment.
  • Figure 6 is a first exploded view of the window cleaning device of the embodiment
  • Figure 7 is a partial enlarged view of the portion of the first crawler running mechanism of Figure 6;
  • Figure 8 is a second exploded view of the window cleaning device of the embodiment.
  • Figure 9 is a schematic view of the first upper case in the embodiment.
  • Figure 10 is a schematic view of the first lower case in the embodiment.
  • Figure 11 is a schematic view of the combination of the first rag drive and the first rotating rag in the embodiment
  • Figure 12 is an exploded view of the first rotating rag in the embodiment
  • Figure 13 is a perspective view of the wiping device in the embodiment.
  • Figure 14 is a first exploded view of the wiping device of the embodiment
  • Figure 15 is a perspective view of the first roller module in the embodiment.
  • Figure 16 is a first exploded view of the first roller module in the embodiment
  • Figure 17 is a second exploded view of the first roller module in the embodiment.
  • Figure 18 is a cross-sectional view of the first roller module in the embodiment.
  • Figure 19 is a second exploded view of the wiping device of the embodiment.
  • Figure 20 is a schematic view of the components on the bottom plate in the embodiment.
  • Figure 21 is a schematic view of a bottom plate in the embodiment.
  • Figure 22 is a schematic view of the garbage box in the embodiment.
  • Figure 23 is a schematic view of the combination of the first rag drive and the first rotating rag in the embodiment
  • Figure 24 is a schematic view of the upper case and the obstacle avoidance sensing plate in the embodiment.
  • Figure 25 is a schematic view of the first rotating rag in the embodiment.
  • Figure 26 is an exploded view of the first rotating rag in the embodiment.
  • This embodiment provides a scrubbing robot configured to replace the manual cleaning operation of the floor and the window.
  • the scrubbing robot 1 includes a window cleaning device 10 and a wiping device 20.
  • the window cleaning device 10 includes a window cleaning system, an adsorption assembly configured to be attached to the window, and a first walking assembly configured to move on the window, the wiping device including a floor cleaning system and a first configuration configured to move on the ground
  • the two walking assembly, the body 201 of the wiping device has a mounting groove 21, and the window cleaning device 10 is configured to be able to be inserted into and away from the mounting groove 21.
  • the window cleaning device 10 further includes a power output assembly.
  • the wiping device 20 further includes a power input assembly that connects and drives the second travel assembly.
  • the power output assembly connects and drives the power input assembly, and the power input unit is connected and driven.
  • the second walking assembly causes the second running component to be driven by the window cleaning device to drive the wiping device to move on the ground.
  • the adsorption assembly, the first walking assembly and the window cleaning system are disposed at the bottom of the body 101 of the window cleaning device, and the power output assembly extends out of the body 101 of the window cleaning device.
  • the body 101 includes a first upper case 1011 and a first lower case 1012, and the first upper case 1011 and the first lower case 1012 are enclosed to form a body of the window cleaning device 101.
  • the accommodating space is internally provided with a first battery 108, a main board 113, and the like, and the first upper case 1011 and the first lower case 1012 are preferably detachable.
  • the utility model comprises a plurality of adsorption nozzles 105 distributed on the bottom of the fuselage of the window cleaning device.
  • a negative pressure generating component 110 is disposed in the fuselage of the window cleaning device, and the negative pressure generating component 110 is The pipes are respectively connected to the respective suction nozzles 105 to generate a negative pressure between the window to be wiped and the suction nozzle 105.
  • the number of the suction nozzles 105 is four, and the plurality of adsorption nozzles 105 are distributed at different positions to more securely secure the adsorption stability, preventing the body 101 of the window cleaning device from falling from the surface of the window. .
  • the cavity of the adsorption nozzle 105 and the attached working plane form a vacuum negative pressure section of a fixed size area, and then the adjustment of the vacuum negative pressure degree can be used to adjust the pressing force of the working plane, and the pressing force of the working plane is not less than the adsorption.
  • the minimum pressure can achieve the adsorption function of the whole machine.
  • the first running assembly includes a first crawler running mechanism 1031 and a second crawler running mechanism 1032, and the first crawler running mechanism 1031 and the second crawler running mechanism 1032 are respectively located in the body of the window cleaning device.
  • the first crawler running mechanism 1031 and the second crawler running mechanism 1032 have the same structural composition and size specifications, and the specific structures thereof include a crawler belt, two or more crawler wheels, a rotating shaft, etc., and no further in this embodiment. Narrative.
  • the body 101 of the window cleaning device is internally provided with a first set of travel drive components.
  • the first travel drive assembly preferably includes a first travel drive mechanism 1121 and a second travel drive mechanism 1122, and the first travel drive mechanism 1121 is coupled and The first crawler running mechanism 1031 is driven, and the second travel drive mechanism 1122 connects and drives the second crawler running mechanism 1032.
  • the first travel drive mechanism 1121 and the second travel drive mechanism 1122 have the same structural composition and size specifications, and their specific structures include a drive motor, a reduction gear box, a drive train, and the like, and the drive motor generates initial power through the reduction gear box.
  • the drive train of the travel drive mechanism, the rotating shaft of the crawler traveling mechanism, and the crawler wheel the power is transmitted to the crawler belt to rotate the crawler track around the crawler wheel, which will not be further described in this embodiment.
  • the first crawler running mechanism 1031 and the second crawler running mechanism 1032 can respectively rotate and perform speed control in two directions to realize functions of steering, acceleration and deceleration, etc., so that the body 101 of the window cleaning device is pre-planned on the working plane on the window. The path to walk.
  • the power take-off assembly includes a center axis of the respective track wheel of the first crawler track mechanism 1031 and the second crawler track mechanism 1032, respectively.
  • the output terminal 120 is extended.
  • the output terminal is a hexagonal cylinder having a preset length, and may also be a triangle, a quadrangle, a pentagon or a preset length. Other polygonal cylinders.
  • the window cleaning system includes a first set of rotating rags disposed at the bottom of the body 101 of the window cleaning device and at least one first nozzle 107 having a first water tank 104 disposed therein.
  • the first tank 104 is connected to the first nozzle 107 by a pipe.
  • the number of the first nozzles 107 is four, distributed at the edge of the rotating rag. It should be noted that the number of the first nozzles 107 is only one example in the embodiment, and the number thereof may be two, four or the like.
  • the first nozzle 107 has a water spray hole (not shown), and the water spray hole is connected to the first water tank 104 by a pipeline.
  • the cleaning liquid can be sprayed by the water spray assembly, and the cleaning liquid can be replenished in time to prevent the rag from drying after being used for a period of time, so that the window cleaning device 10 can continue to work for a long time, and the cleaning liquid is sprayed.
  • the cleaning ability of the rag can be increased, and the cleaning effect of the window cleaning device 10 is enhanced.
  • the rotating rag can be rotated independently, further increasing the decontamination ability.
  • a water pump 111 is disposed in the body 101 of the window cleaning device, and the water pump 111 is disposed between the first water tank 104 and the first nozzle 107, and is configured to pump water in the first water tank 104 from the pipeline to the water spray. Spray out after the component.
  • the first water tank 104 is mounted on the first upper casing 1011, and the main body of the first water tank 104 is located inside the first upper casing 1011, and the water inlet cover of the first water tank 104 is provided.
  • the 1041 is located on the outer surface of the first upper casing 1011, and the user can open the water inlet cover 1041 from the outside of the body 101 of the window cleaning device to facilitate the addition of the cleaning liquid to the first water tank 104.
  • the water pump 111 is disposed at the water outlet of the first water tank 104, and the water in the first water tank 104 is sent to the first nozzle 107 through the pipeline, and is discharged from the first nozzle 107.
  • the water tank cover of the first water tank 104 is integrally provided with a handle 1042 to facilitate opening the water tank cover.
  • the number of rotating rags in the first group of rotating rags is two, which are a first rotating rag 1061 and a second rotating rag 1062, respectively.
  • the first rotating rag 1061 includes a first rag body 10611, a first turntable 10613, a first input gear 10612 and a first central axis 10615.
  • the first rag body 10611 is fixed outside the disk surface of the first turntable 10613, and the first input gear 10612 is
  • the first central shaft 10615 is fixed on the fuselage 101 of the window cleaning device, and the first rotating shaft 10613 is rotatably sleeved on the first central shaft 10615 in a coaxial manner.
  • the second rotating rag 1062 includes a second rag body, a second rotating wheel, a second input gear and a second central shaft.
  • the second rag body is fixed on the outer side of the disk surface of the second rotating plate, and the second input gear is fixedly sleeved in a coaxial manner.
  • the second central shaft is fixed to the body 101 of the window cleaning device, and the second turntable is rotatably sleeved on the second central shaft in a coaxial manner.
  • a rag drive assembly is disposed within the body 101 of the window cleaning device.
  • the rag drive assembly includes a first rag drive 1091 and a second rag drive 1902, the first rag drive 1091 connects and drives the first rotary rag 1061, and the second rag drive 1092 connects and drives the first rotary rag 1062.
  • the first rag drive 1091 includes a first power box 10911 and a first output gear 10912, and the first output gear 10912 engages the first input gear 10612, the first power The power output by the tank 10911 is transmitted to the first input gear 10612 via the first output gear 10912.
  • the components and components of the first rotating rag 1061 and the second rotating rag 1062 are identical in shape and size, thereby improving the stability of the overall structure of the window cleaning device 10, reducing the part type, and facilitating maintenance.
  • the rotating rag assembly further includes a weight ring, as shown in FIGS. 11-12, in the first rotating rag 1061, the first weight ring 10614 is sleeved on the first turntable 10613.
  • the bottom of the body 101 of the window cleaning device is provided with a first fixed rag (not shown).
  • the first fixed wipe substantially covers the entire bottom outer surface of the fuselage 101 of the window cleaning device.
  • the first rotating rag 1061 and the second rotating rag 1062 can be simultaneously rotated in the opposite directions at the same rotational speed by the control of the control circuit assembly, and the first water tank 104 periodically sprays the cleaning liquid through the nozzle through the control circuit assembly. Wet work surface dirt.
  • the nozzle sprays the cleaning liquid, and the first rag body 10611 and the second rag body rotate and wipe, and finally the first fixed rag is thoroughly wiped to achieve the cleaning and decontamination function.
  • the body 101 of the window cleaning device is provided with a barrier sensing assembly.
  • the barrier sensing assembly may include a first obstacle avoidance sensor 1021 and a second obstacle avoidance sensor 1022, which are respectively disposed on the front and rear sides of the fuselage 101 of the window cleaning device.
  • a safety rope (not shown) is further included, one end of the safety rope is connected to the body 101 of the window cleaning device, and the other end of the safety rope is connected to the external fixing structure.
  • a safety rope is further included, one end of the safety rope is connected to the body 101 of the window cleaning device, and the other end of the safety rope is connected to the external fixing structure.
  • the second walking component comprises two or more roller modules
  • the roller module comprises a roller body, a roller frame and a transmission mechanism
  • the power input component connects and drives the roller module.
  • the two roller modules are respectively a first roller module 2031 and a second roller module 2032.
  • the guide wheels are disposed on the front side of the bottom of the fuselage, and the first roller module 2031 and the second roller module 2032 are disposed at The back side of the bottom of the fuselage.
  • first roller module 2031 and the second roller module 2032 preferably have the same structural composition and size for easy installation and motion control, and also make the components of the roller module have good interchangeability and reduce The types of parts are easy to maintain.
  • the transmission mechanism is disposed in the roller frame 20312, and the power input end of the transmission mechanism includes power.
  • the input shaft 203153, the power input shaft 203153 extends out of the roller frame 20312, and the power output end of the transmission mechanism supports and connects and drives the roller body 20311.
  • the power input assembly of the wiping device 20 is formed by a power input shaft 203153.
  • the end surface of the power input shaft 203153 is provided with a connecting slot 20314.
  • the connecting slot 20314 is matched with the output terminal 120, and is configured to mount the output terminal 120 and rotate with the output terminal 120.
  • the first roller module 2031 further includes a fixing frame
  • the roller frame 20312 has a closed inner cavity
  • the transmission mechanism is disposed in the inner cavity of the roller frame 20312
  • the power input end of the transmission mechanism protrudes from the upper side of the roller frame 20312.
  • the power output end of the transmission mechanism protrudes from the lower side of the roller frame 20312.
  • the power output end of the transmission mechanism supports and connects and drives the roller body 20311.
  • the upper end of the roller frame 20312 is elastically supported on the fixing frame 20313.
  • the roller frame 20312 may be a combination of a box-shaped first half shell 203121 and a second half shell 203122.
  • the first half shell 203121 and the second half shell 203122 are detachably connected when the two are fastened together.
  • the roller frame 20312 formed by combining the first half shell 203121 and the second half shell 203122 has a closed inner cavity.
  • the upper side and the lower side of the roller frame 20312 are respectively provided with openings such that the power input shaft 203153 and the power output end of the transmission mechanism respectively protrude from the respective openings.
  • the base is provided with a base penetrating through the upper and lower ends, the roller frame 20312 is located in the base, and the fixing frame 20313 is fixed on the top of the base.
  • a preferred fixing frame 20313 which is an inverted box-like structure, when the fixing frame 20313 is fastened to the base, the base and the fixing frame 20313 form a closed space. Accordingly, the holder 20313 has an opening through which the power input shaft 203153 can protrude.
  • the transmission mechanism further includes a first rolling gear 203151, a second rolling gear 203152, a rack driving belt 203155, and a power output end thereof includes a power output shaft 203154, and two ends of the rack driving belt 203155 are respectively coupled with the first rolling gear 203151, The two rolling gears 203152 are engaged, the first rolling gear 203151 is sleeved on the power input shaft 203153, the second rolling gear 203152 is sleeved on the power output shaft 203154, and the roller body 20311 is sleeved on the power output shaft 203154.
  • the end face of the power input shaft 203153 extending from one end of the roller frame 20312 is provided with a connecting groove 20314, which can be mounted with a structure such as a coupling or a drive shaft to introduce a driving force. Therefore, when the power input shaft 203153 is driven by other power mechanisms, the power input shaft 203153 drives the first rolling gear 203151 to rotate, and the first rolling gear 203151 drives the second rolling gear 203152 to rotate by the rack driving belt 203155. The second rolling gear 203152 The power output shaft 203154 is rotated, and the power output shaft 203154 drives the roller body 20311 to rotate. Finally, the roller body 20311 drives the body to move on the working surface.
  • the power input shaft 203153 is movably disposed on the roller frame 20312.
  • the power input shaft 203153 is sleeved with a return spring 203156.
  • One end of the return spring 203156 abuts the power input shaft 203153, and the other end of the return spring 203156 abuts.
  • the roller frame 20312 elastically locks the power input shaft 203153 and the output terminal 120 when the window cleaning device is mounted on the mounting groove 21.
  • the roller frame 20312 has a closed inner cavity, and the transmission mechanism is disposed on the roller frame 20312.
  • the power input end of the transmission mechanism protrudes from the upper side of the roller frame 20312
  • the power output end of the transmission mechanism protrudes from the lower side of the roller frame 20312
  • the power output end supports and connects and drives the roller body 20311.
  • the upper end of the roller frame 20312 is elastically supported by the vertical shock absorber 20316 on the fixing frame 20313.
  • the lower end of the vertical shock absorber 20316 is provided with a mounting hole 203163, and the power input shaft 203153 is slidably disposed in the mounting hole 203163.
  • the vertical damper 20316 comprising a vertical support arm 203161 and a vertical spring 203162
  • the vertical support arm 203161 is fixed or abutted in a corresponding mounting seat in the fixed frame 20313
  • the vertical support arm 203161 The lower end is provided with a mounting hole 203163.
  • the power input shaft 203153 is slidably disposed in the mounting hole 203163.
  • Both ends of the vertical spring 203162 can respectively abut the fixing frame 20313 and the power input shaft 203153.
  • the length of the mounting hole 203163 is greater than the maximum outer diameter of the internal power input shaft 203153, so that the power input shaft 203153 passing through the mounting hole 203163 can slide up and down.
  • the vertical damper 20316 can perform a shock absorbing action when a shock shock in the vertical direction occurs.
  • the upper end of the roller frame 20312 is further elastically supported by the lateral damper 20317 on the fixing frame 20313.
  • the two ends of the lateral damper 20317 are respectively connected with the roller frame 20312 and the fixing frame 20313, and are configured to be laterally oscillated when the roller frame 20312 is laterally oscillated. damping.
  • As a preferred lateral damper 20317 it is composed of a spring disposed laterally. The two ends of the spring are respectively connected with the fixing frame 20313 and the roller frame 20312. When a lateral vibration shock occurs, the lateral damper 20317 can be reduced. Earthquake effect.
  • the vertical damper 20316 and the lateral damper 20317 can work independently and can work in conjunction, for example, when the roller frame 20312 is oscillated, both work simultaneously. Therefore, since the upper end of the roller frame 20312 is elastically supported on the fixing frame 20313, the body is reduced in shock shock when it passes over an obstacle or a high and low uneven working surface.
  • the second running assembly further includes a guide wheel 205 disposed at a front guide groove 210 at the bottom of the body 201 of the wiping device, the guide wheel 205 having a steering capability, preferably a universal wheel.
  • the roller body and the guide wheel 205 of the first roller module and the second roller module form a stable three-point support, which ensures the stability of the wiping device 20 to travel.
  • the roller bodies in the first roller module and the second roller module can be rotated in two directions respectively, and the control processing of the circuit components is controlled by the wiping device 20 to coordinate and unify the respective rotation speeds and steerings, and finally realize the traveling direction of the whole machine. , speed of travel and route of travel.
  • the floor cleaning system includes a roller brush 204, a second set of rotating rags, and a second nozzle 206.
  • the body 201 of the wiping device is internally provided with a roller brush drive 209 and a second group of rags.
  • the driving assembly, the garbage box 212 and the second water tank, the roller driving 209 connects and drives the roller brush 204
  • the second group of rag driving components connects and drives the second group of rotating rag assemblies
  • the second water tank is connected to the second nozzle 206 by a pipeline.
  • the roller brush 204 is closer to the front of the forward direction of the roller module relative to the second set of rotating wiper assemblies, and the trash can 212 abuts the roller brush 204 to receive and store the trash from the roller brush 204.
  • the body 201 of the wiping device is the main body component of the wiping device 20, as a preferred body scrubbing device 201, including a second upper casing 2012 and a bottom plate 2011, a second upper casing 2012 and a bottom plate 2011
  • the accommodating space inside the body 201 that surrounds the wiping device is formed, and the second battery 208, the main board, and the like are disposed inside, and the second upper case 2012 and the bottom plate 2011 are preferably detachable.
  • the bottom of the body 201 of the wiping device has a roller brush groove 211 recessed inwardly, and the shape of the roller brush groove 211 is preferably curved, and the roller brush 204 is disposed in the roller brush groove 211.
  • the brushing groove 211 has a garbage outlet, and the garbage outlet faces the inside of the body 201 of the wiping device.
  • the roller cover 211 is provided with a brush cover 207, the roller cover 207 can block a part of the roller brush 204, and the roller cover 207 is detachably connected with the outer edge of the groove wall of the roller brush groove 211, so that The roller brush 204 is conveniently cleaned or replaced.
  • the garbage box 212 is provided with a garbage inlet, and the garbage outlet is connected to the garbage inlet. Thereby, the garbage can be taken out of the rubbing tank 211 from the garbage outlet by the centrifugal force, and then can enter the garbage box 212 from the garbage inlet.
  • the inside of the garbage inlet is provided with a box door 2124 capable of closing the garbage inlet.
  • the door 2124 is disposed such that the garbage inlet is opened only when the roller brush 204 is rotated, and the garbage inlet in the garbage box 212 is prevented from being exposed in the non-working state.
  • the garbage box 212 includes a box body 2112 and a box cover 2122.
  • the garbage inlet is disposed on the box body 2121.
  • the box cover 2122 is rotatably disposed on the box body 2121.
  • a lock 2123 is provided between the two. Since the cover 2122 is rotatably disposed on the case 2121, the user or maintenance personnel can open the cover 2122 on the case 2121 to facilitate cleaning of the garbage in the garbage box 212. Since the lock 2123 is provided between the cover 2122 and the case 2121, the cover 2122 on the case 2121 can be opened only when permitted.
  • the box body 2121 is provided with a garbage box handle 2125 for the user or maintenance personnel to move the garbage box 212.
  • the second set of rotating rag assemblies comprises a plurality of rotating rags
  • the second set of rag drive assemblies comprises a plurality of rag drives, the number of rag drives being equal and one-to-one corresponding to the number of rotating rags, the rag drive comprising a drive box and an output gear The output gear meshes with the input gear.
  • the number of the second group of rotating rags is two, which are the third rotating rag 2021 and the fourth rotating rag 2022 respectively.
  • the third rotating rag 2021 includes a third rag body 20211, The third turntable 20212, the third input gear 20213 and the third central axis 20215, the third rag body 20211 is fixed on the outer side of the disk surface of the third turntable 20212, and the third input gear 20213 is fixedly sleeved on the third turntable 20212 in a coaxial manner.
  • the third central shaft 20215 is fixed on the body 201 of the wiping device, and the third rotating plate 20212 is rotatably sleeved on the third central shaft 20215 in a coaxial manner.
  • the rag drive assembly includes a third rag drive 2131 and a fourth rag drive 2132, the third rag drive 2131 connects and drives the third rotary rag 2021, and the fourth rag drive 2132 connects and drives the second rag drive 2132.
  • the third rag drive 2131 includes a third power box and a third output gear, and the third output gear meshes with the third input gear 20213, and the third power box outputs Power is transmitted to the third input gear 20213 via the third output gear.
  • the components and components of the third rotating rag 2021 and the fourth rotating rag 2022 are identical in shape and size, thereby improving the stability of the overall structure of the wiping device 20, reducing the part type, and facilitating maintenance.
  • the rotating rag assembly further includes a weight ring.
  • the first weight ring 20214 is sleeved on the inner side of the first input gear 20213.
  • the bottom of the body 201 of the wiping device has a rag groove recessed inwardly, and the turntable and the input gear are located in the rag groove.
  • the back side of the rag body covers the notch outer edge of the rag groove so that the back side of the rag body can seal the rag groove.
  • the groove wall of the rag groove has a notch, and the outer edge of the input gear exposes a notch so that the input gear can mesh with the output gear.
  • the rag grooves are the third rag grooves 2141 and the fourth rag grooves 2142, respectively.
  • the number of the second nozzles 206 is plural, and a water outlet is disposed below the second water tank, and the water outlet is connected to the second nozzle 206 by a pipeline.
  • the second water tank is integrated in the second upper casing 2012, and the second water inlet cover 216 of the water tank is located on the outer surface of the second upper casing 2012, and the user can open the second water inlet cover from the outside of the body 201 of the wiping device. 216, it is convenient to add water to the second water tank.
  • the bottom of the water tank has one or more water outlets, and the cleaning liquid in the water tank is sent to the nozzle 206 through the water outlet through the water outlet, and then sprayed from the nozzle 206.
  • the third rotating rag 2021 and the fourth rotating rag 2022 can be simultaneously rotated in the opposite directions at the same rotational speed by the control of the control circuit assembly, and the second water tank is periodically sprayed and cleaned through the nozzle through the control circuit assembly.
  • the liquid water mist wets the dirt on the working surface.
  • the second nozzle 206 sprays the cleaning liquid, and the third rag body 20211 and the fourth rag body rotate and wipe. Therefore, when the wiping device 20 is in operation, the roller brush 204 and the garbage box 212 cooperate to realize the pre-cleaning of the hair debris and the large-grain garbage, the water spray component sprays the cleaning liquid to wet the working surface, and completely wipes the working surface when the rag assembly rotates.
  • the dirt causes the cleaning ability of the wiping device 20 to be significantly improved.
  • the bottom of the body 201 of the wiping device is provided with a second fixed rag (not shown).
  • the second fixed rag substantially covers the entire bottom outer surface of the body 201 of the wiping device.
  • the brush 204 is pre-cleaned, the water spray component is sprayed with the cleaning liquid to wet, the rag assembly is rotated, the wipe is tested, and finally the rag is wiped thoroughly, and the whole process is effectively cleaned and decontaminated in all directions.
  • the body 201 of the wiping device is also provided with a barrier sensing assembly configured to sense an obstacle in front of the wiping device 20.
  • the barrier sensing assembly of the wiping device can include a third obstacle avoidance sensing plate 215 mounted in front of the second upper casing 2012 and as part of the second upper casing 2012.
  • the rotation speed and the steering of the first driving wheel 2031 and the second driving wheel 2032 are coordinated by the control processing of the third obstacle avoidance sensing plate 215 assembly and the control circuit assembly of the wiping machine, and finally the traveling direction and the traveling speed of the whole machine are jointly realized. And the route of travel.
  • an ejector mechanism is provided between the window cleaning device 10 and the wiping device 20 for lifting the window cleaning device from the installation slot when the locking mechanism is unlocked. Since the ejector mechanism is provided, when the locking mechanism is unlocked, the ejector mechanism can automatically lift the window cleaning device from the installation slot, so that the user can take out the window cleaning device 10, thereby improving the user experience.
  • the ejector mechanism is mounted on the wiping device, and the number of the ejector mechanisms may be multiple. As shown in FIG. 3, there are two, respectively, a first ejector mechanism 301 and a second ejector mechanism. 302 is distributed at different positions of the bottom of the groove of the mounting groove 21, and the structural composition of the two is the same.
  • the first ejector mechanism 301 includes a first mounting seat 3013, a first ejector spring 3012, and a first movable column 3011.
  • the two ends of the first ejector spring 3012 respectively abut the first mounting seat 3013 and the first a movable column 3011, the first mounting seat 3013 is fixed inside the body 201 of the wiping device, the first movable column 3011 includes a first large diameter segment and a first small diameter segment, and the bottom of the mounting groove 21 is provided with a communication wiping device a through hole inside the fuselage 201, the diameter of the through hole is larger than the diameter of the first small diameter section but smaller than the diameter of the first large diameter section, the first small diameter section is disposed in the through hole, and the head of the first small diameter section The part abuts the bottom of the body 101 of the window cleaning device.
  • the body 201 of the wiping device is provided with at least one of an attitude detecting unit, a pressure detecting unit or a photo detecting unit (not shown), and the posture detecting unit, the pressure detecting unit and the photo detecting unit are respectively configured to detect the window The positional state of the device relative to the wiping device.
  • the posture detecting unit includes a pressure sensing sensor or a gyroscope or the like provided in the body 201 of the wiping device, and determines a position state of the window cleaning device 10 with respect to the wiping device 20 according to a change in the center of gravity and an angle change.
  • the working principle of the detecting unit itself is not further described in this embodiment.
  • a stress sensor may be disposed at one or more positions of the mounting groove, and based on the result of the feedback of the stress sensor, it may be judged whether the position of the window cleaning device 10 relative to the wiping device 20 is determined, for example, whether it is embedded in the mounting groove.
  • a photosensor such as a light-emitting diode type, may be provided at one or more locations of the mounting slot to detect the positional state of the wiper device 10 relative to the wiper device 20, such as whether embedded in the mounting slot.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Cleaning In General (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种擦洗机器人包括：擦窗装置（10），包括吸附组件（105）、第一行走组件（1031,1032）和窗体清洁系统；擦地装置（20），包括第二行走组件（2031,2032）和地面清洁系统，擦地装置（20）的机身具有安装槽（21），擦窗装置（10）能够嵌入及离开安装槽（21）。本擦洗机器人融合了扫地擦地、擦窗多个功能，占用空间更少，操作方便。

Description

擦洗机器人 技术领域
本发明涉及清洁器械领域，具体而言，涉及擦洗机器人。.本发明要求以下2件中国在先发明专利申请的优先权：第1件，申请号ZL2018102673752，申请日2018年3月28日；第2件，申请号ZL2018102653922，申请日2018年3月28日。
背景技术
随着人们生活水平的提高，越来越注重家庭生活环境，尤其对室内清洁非常看重，在此背景下，越来越多的室内用清洁工具开始出现，来替代或缓解繁重的人力家务劳动。对于日常的地板灰尘碎屑清理，付出的劳动量也较大，目前逐渐使用扫地机器人来完成地板清洁。对于日常的窗体灰尘清理，目前逐渐使用擦窗机器人来完成。
现有技术存在以下缺陷，由于擦地机器人和擦窗机器人分别针对地板和窗体清洁而设计，两种应用场合的机身行走方式、垃圾类型有所不同，其具体结构也并不相同，难以互换使用，因此用户需要分别购买擦地机器人和擦窗机器人，成本高、占用更多的存放空间、用户体验差。
发明内容
为了克服现有技术的不足，本发明提供了擦洗机器人。
具体地，其技术方案如下：
一种擦洗机器人，包括：擦窗装置，包括窗体清洁系统、配置为吸附于窗体的吸附组件、配置为在窗体上移动的第一行走组件和；擦地装置，包括地面清洁系统和配置为在地面移动的第二行走组件，擦地装置的机身具有安装槽，擦窗装置配置为能够嵌入及离开安装槽。
本发明中，擦洗机器人为一种融合扫地擦地、擦窗多功能于一身的整体功用清洁机器人，擦窗装置能方便地与擦地装置相嵌入或从其中拨出，擦窗装置嵌入擦地装置后即组成了完整的擦地机器人，擦窗装置从擦窗装置中取出后即为独立的一款擦窗机，其功能丰富，成本低，占用更少的存放空间，操作方便，提升了用户体验。
为使本发明的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
图1是实施例中擦洗机器人的斜视图；
图2是实施例中擦洗机器人的爆炸图；
图3是实施例中擦地装置的第一爆炸图
图4是实施例中擦窗装置的第一斜视图；
图5是实施例中擦窗装置的第二斜视图；
图6是实施例中擦窗装置的第一爆炸图；
图7是图6中第一履带行走机构部分的局部放大图；
图8是实施例中擦窗装置的第二爆炸图；
图9是实施例中第一上壳的示意图；
图10是实施例中第一下壳的示意图；
图11是实施例中第一抹布驱动与第一转动抹布的组合体的示意图；
图12是实施例中第一转动抹布的爆炸图；
图13是实施例中擦地装置的斜视图；
图14是实施例中擦地装置的第一爆炸图；
图15是实施例中第一滚轮模组的斜视图；
图16是实施例中第一滚轮模组的第一爆炸图；
图17是实施例中第一滚轮模组的第二爆炸图；
图18是实施例中第一滚轮模组的剖视图；
图19是实施例中擦地装置的第二爆炸图；
图20是实施例中各部件在底板上的示意图；
图21是实施例中底板的示意图；
图22是实施例中垃圾盒的示意图；
图23是实施例中第一抹布驱动与第一转动抹布的组合体的示意图；
图24是实施例中上壳与避障感应板的示意图；
图25是实施例中第一转动抹布的示意图；
图26是实施例中第一转动抹布的爆炸图。
具体实施方式
实施例
本实施例提供了一种擦洗机器人，配置为代替人工进行地板、窗体的清洁作业。
如图1、图2所示，该擦洗机器人1包括擦窗装置10和擦地装置20。其中，擦窗装置10包括窗体清洁系统、配置为吸附于窗体的吸附组件和配置为在窗体上移动的第一行走组件，擦地装置包括地面清洁系统和配置为在地面移动的第二行走组件，擦地装置的机身201具有安装槽21，擦窗装置10被配置为能够嵌入及离开安装槽21。
优选地，擦窗装置10还包括动力输出组件，擦地装置20还包括动力输入组件，动力输入组件连接并驱动第二行走组件，动力输出组件连接并驱动动力输入组件，动力输入组连接并驱动第二行走组件，使第二行走组件由擦窗装置驱动以带动擦地装置在地面移动。
其中，如图4-图8所示，吸附组件、第一行走组件和窗体清洁系统设置在擦窗装置的机身101底部，动力输出组件伸出擦窗装置的机身101。作为一种优选的擦窗装置的机身101，其包括第一上壳1011和第一下壳1012，第一上壳1011和第一下壳1012围在一起形成擦窗装置的机身101内部的容纳空间，其内部设置有第一电池108、主板113等结构，第一上壳1011和第一下壳1012之间优选可以拆卸。
作为一种具体的吸附组件，其包括分布在擦窗装置的机身底部的多个吸附嘴105，相应地，擦窗装置的机身内设置有负压产生组件110，负压产生组件110由管路分别连接各吸附嘴105，以在待擦拭的窗体和吸附嘴105之间产生负压。示例性地，如图5所示，吸附嘴105的数量为4个，多个吸附嘴105分布在不同位置更牢靠地保障了吸附稳定性，防止擦窗装置的机身101从窗体表面坠落。
吸附嘴105空腔与附着工作平面构成固定大小面积的真空负压截面，再通过调节真空负压度编能实现整机对工作平面压着力度的调节，调节对工作平面压着力不小于吸附的最小压力就能实现整机的吸附功能。
作为一种优选的第一行走组件，第一行走组件包括第一履带行走机构1031和第二履带行走机构1032，第一履带行走机构1031和第二履带行走机构1032分别位于擦窗装置的机身101底部的两侧。优选地，第一履带行走机构1031和第二履带行走机构1032具有相同的结构组成和尺寸规格，它们的具体结构包括履带、两个以上的履带轮、转轴等结构，本实施例中不再进一步叙述。
本领域技术人员可以理解的是，为驱动第一行走组件，擦窗装置的机身101内部设置有第一组行走驱动组件。当第一行走组件包括第一履带行走机构1031和第二履带行走机构1032时，第一行走驱动组件优选包括第一行走驱动机构1121和第二行走驱动机构1122，第一行走驱动机构1121连接并驱动第一履带行走机构1031，第二行走驱动机构1122连接并驱动第二履带行走机构1032。优选地，第一行走驱动机构1121和第二行走驱动机构1122具有相同的结构组成和尺寸规格，它们的具体结构包括驱动电机、减速箱、传动系等结构，驱动电机产生初始动力，经减速箱、行走驱动机构的传动系、履带行走机构的转轴、履带轮后，动力传递给履带，使履带绕履带轮转动，本实施中不再进一步叙述。第一履带行走机构1031和第二履带行走机构1032能分别双向各自旋转及进行速度控制，实现转向、加减速等功能，使擦窗装置的机身101在窗体上的工作平面上沿预先规划的路径行走。
当第一行走组件包括第一履带行走机构1031和第二履带行走机构1032时，优选地，动力输出组件包括分别由第一履带行走机构1031和第二履带行走机构1032的各自履带轮的中心轴伸出的输 出端子120，示例性地，如图7所示，输出端子为一具有预设长度的六边形柱体，此外，还可以是具有预设长度的三角形、四边形、五边形或其它多边形柱体。
在作为一种优选的窗体清洁系统，窗体清洁系统包括设置在擦窗装置的机身101底部的第一组转动抹布和至少一个第一喷嘴107，机身内部设置有第一水箱104，第一水箱104由管路连接第一喷嘴107。示例性地，如图5所示，第一喷嘴107的数量为4个，分布在转动抹布的边缘。需要说明的是，第一喷嘴107的数量为4个仅是本实施例中的一种示例，其数量也可以是2个、4个或其它。本实施例中，第一喷嘴107内具有喷水孔(图中未示出)，喷水孔由管路连通第一水箱104。
由此，擦窗装置10在工作时，能够利用喷水组件喷洒清洁液，及时补充清洁液，避免抹布使用一段时间后变干燥，使得擦窗装置10能够长时间持续工作，而且，喷洒清洁液能够增加抹布的除污能力，增强了擦窗装置10的清洁效果。而且，转动抹布能够独立转动，进一步增加了除污能力。
优选地，擦窗装置的机身101内设置有水泵111，水泵111设置在第一水箱104和第一喷嘴107之间，配置为将第一水箱104内的水由管路泵送到喷水组件后喷出。具体地，如图4、图8、图9所示，第一水箱104安装在第一上壳1011上，第一水箱104的主体位于第一上壳1011内部，第一水箱104的注水口盖1041位于第一上壳1011的外表面，用户能够从擦窗装置的机身101外部打开注水口盖1041，便于给第一水箱104添加清洁液。水泵111设置在第一水箱104的出水口，将第一水箱104内的水通过管路输送到第一喷嘴107，再从第一喷嘴107喷出。优选地，第一水箱104的水箱盖上一体地设置有手柄1042，便于打开水箱盖。
优选地，如图5、图11-图12所示，第一组转动抹布中转动抹布的数量为两个，分别是第一转动抹布1061和第二转动抹布1062。第一转动抹布1061包括第一抹布本体10611、第一转盘10613、第一输入齿轮10612和第一中心轴10615，第一抹布本体10611固定在第一转盘10613的盘面外侧，第一输入齿轮10612以同轴的方式固定套设在第一转盘10613上，第一中心轴10615固定在擦窗装置的机身101上，第一转盘10613以同轴的方式可转动地套设在第一中心轴10615上。第二转动抹布1062包括第二抹布本体、第二转盘、第二输入齿轮和第二中心轴，第二抹布本体固定在第二转盘的盘面外侧，第二输入齿轮以同轴的方式固定套设在第二转盘上，第二中心轴固定在擦窗装置的机身101上，第二转盘以同轴的方式可转动地套设在第二中心轴上。相应地，擦窗装置的机身101内设置有抹布驱动组件。优选地，抹布驱动组件包括第一抹布驱动1091和第二抹布驱动1902，第一抹布驱动1091连接并驱动第一转动抹布1061，第二抹布驱动1092连接并驱动第一转动抹布1062。以第一抹布驱动1091连接并驱动第一转动抹布1061为例，第一抹布驱动1091包括第一动力箱10911和第一输出齿轮10912，第一输出齿轮10912啮合第一输入齿轮10612，第一动力箱10911输出的动力经第一输出齿轮10912传递到第一输入齿轮10612。
优选地，第一转动抹布1061和第二转动抹布1062中各组成部件的形状和尺寸相同，由此提升了擦窗装置10整体结构的稳定性，减少了零件类别，并利于维护。
优选地，转动抹布组件包括还包括配重环，如图11-图12所示，在第一转动抹布1061中，第一配重环10614套设在第一转盘10613上。
优选地，擦窗装置的机身101底部设置有第一固定抹布(图中未示出)。优选地，第一固定抹 布基本覆盖擦窗装置的机身101的整个底部外表面。第一转动抹布1061和第二转动抹布1062可通过控制电路组件的控制分别以同一转速以各自相反的方向同时旋转擦试，第一水箱104通过控制电路组件定期通过喷嘴喷出清洁液水雾润湿工作面污物。喷嘴喷洒清洁液，第一抹布本体10611和第二抹布本体旋转擦试，最后第一固定抹布彻底擦试共同实现清洁去污功能。
优选地，擦窗装置的机身101上设置有壁障感应组件。如图4、图6等附图所示，壁障感应组件可包括第一避障感应板1021和第二避障感应板1022，分别设置在擦窗装置的机身101的前后两侧。
优选地，还包括安全绳(图中未示出)，安全绳的一端连接擦窗装置的机身101，安全绳的另一端连接外部的固定结构。通过安全绳的牵系，如发生了不可避免的坠落事件也能确保万无一失，不会导致事故的发生。
优选地，第二行走组件包括两个以上滚轮模组，滚轮模组包括滚轮本体、滚轮架和传动机构，动力输入组件连接并驱动滚轮模组。具体地，两个滚轮模组分别是第一滚轮模组2031和第二滚轮模组2032，导轮设置在机身底部的前侧，第一滚轮模组2031和第二滚轮模组2032设置在机身底部的后侧。
在本实施例中，第一滚轮模组2031和第二滚轮模组2032优选具有相同的结构组成和尺寸，便于安装及运动控制，也使得滚轮模组的各部件具有良好的互换性，减少了零部件种类，且便于维护。
以第一滚轮模组2031为例，请一并参阅图14-图18，其包括滚轮本体20311、滚轮架20312和传动机构，传动机构设置在滚轮架20312内，传动机构的动力输入端包括动力输入轴203153，动力输入轴203153伸出滚轮架20312，传动机构的动力输出端支撑在并连接并驱动滚轮本体20311。擦地装置20的动力输入组件由动力输入轴203153形成，动力输入轴203153的端面设置有连接槽20314，连接槽20314与输出端子120相匹配，配置为安装输出端子120并随输出端子120转动。
优选地，第一滚轮模组2031还包括固定架，滚轮架20312具有闭合的内腔，传动机构设置在滚轮架20312的内腔中，传动机构的动力输入端从滚轮架20312的上侧伸出，传动机构的动力输出端从滚轮架20312的下侧伸出，传动机构的动力输出端支撑在并连接并驱动滚轮本体20311，滚轮架20312的上端弹性支撑在固定架20313上。
其中，滚轮架20312可以由盒状的第一半壳203121和第二半壳203122组合而成，第一半壳203121和第二半壳203122之间可拆卸连接，当二者扣合在一起时，第一半壳203121和第二半壳203122组合而成的滚轮架20312内部具有闭合的内腔。相应地，滚轮架20312的上侧和下侧分别设置有开口，使得动力输入轴203153和传动机构的动力输出端分别从相应地开口伸出。
优选地，机身内设置有上下两端贯穿的基座，滚轮架20312位于基座内，固定架20313固定在基座的顶部。作为一种优选的固定架20313，其为倒扣的盒状结构，当固定架20313扣在基座上时，基座和固定架20313形成闭合的空间。相应地，固定架20313具有开口，动力输入轴203153能够从开口伸出。
优选地，传动机构还包括第一滚动齿轮203151、第二滚动齿轮203152、齿条传动带203155，其动力输出端包括动力输出轴203154，齿条传动带203155的两端分别与第一滚动齿轮203151、第 二滚动齿轮203152啮合，第一滚动齿轮203151套设在动力输入轴203153上，第二滚动齿轮203152套设在动力输出轴203154上，滚轮本体20311套设在动力输出轴203154上。优选地，动力输入轴203153伸出滚轮架20312的一端的端面设置有连接槽20314，该连接槽20314可安装联轴器或传动轴等结构以引入驱动力。由此，当动力输入轴203153被其它动力机构驱动时，动力输入轴203153带动第一滚动齿轮203151转动，第一滚动齿轮203151经齿条传动带203155带动第二滚动齿轮203152转动，第二滚动齿轮203152带动动力输出轴203154转动，动力输出轴203154带动滚轮本体20311转动，最终，滚轮本体20311带动机身在工作面上移动。
优选地，动力输入轴203153可移动地穿设在滚轮架20312上，动力输入轴203153上套接有复位弹簧203156，复位弹簧203156的一端抵接动力输入轴203153，复位弹簧203156的另一端抵接滚轮架20312，在擦窗装置安装于安装槽21时复位弹簧203156将动力输入轴203153与输出端子120弹性锁定。
本实施例中，由于将滚轮本体20311、滚轮架20312、固定架20313和传动机构集成为滚轮模组，在滚轮模组内，滚轮架20312具有闭合的内腔，传动机构设置在滚轮架20312的内腔中，传动机构的动力输入端从滚轮架20312的上侧伸出，传动机构的动力输出端从滚轮架20312的下侧伸出，动力输出端支撑在并连接并驱动滚轮本体20311。由此，可以防止圾颗粒使传动机构卡壳损坏，而且整体式的滚轮模组在机身内更齐整、更减少空间占用，易于维护，提升了用户体验。
优选地，滚轮架20312的上端由竖向减震器20316弹性支撑在固定架20313上，竖向减震器20316的下端设置有安装孔203163，动力输入轴203153可滑动地穿设在安装孔203163内。作为一种优选的竖向减震器20316，其包括竖向支撑臂203161和竖向弹簧203162，竖向支撑臂203161固定或抵靠在固定架20313内相应的安装座内，竖向支撑臂203161的下端设置有安装孔203163，动力输入轴203153可滑动地穿设在安装孔203163内，竖向弹簧203162的两端能够分别抵接固定架20313和动力输入轴203153。作为滑动的一种实现方式，安装孔203163的长度大于其内部动力输入轴203153的最大外径，使得穿设在安装孔203163内的动力输入轴203153可上下滑动。由此，当发生竖直方向的震动冲击时，竖向减震器20316能够起到减震作用。
优选地，滚轮架20312的上端还由横向减震器20317弹性支撑在固定架20313上，横向减震器20317的两端分别连接滚轮架20312和固定架20313，配置为在滚轮架20312横向摆动时减震。作为一种优选的横向减震器20317，其由横向设置的弹簧构成，弹簧的两端分别连接固定架20313和滚轮架20312，当发生横向的震动冲击时，横向减震器20317能够起到减震作用。
而且，竖向减震器20316和横向减震器20317既能各种独立工作，又能联动工作，例如滚轮架20312发生摆动时，二者同时工作。因此，由于滚轮架20312的上端弹性支撑在固定架20313上，使得机身在越过障碍物或高低不平工作面时，减小震动冲击。
优选地，第二行走组件还包括导轮205，导轮205设置在擦地装置的机身201底部的前方的导轮槽210，导轮205具有转向能力，优选为万向轮。第一滚轮模组和第二滚轮模组中的滚轮本体与导轮205形成稳定的三点支撑，更能保障擦地装置20行进的稳定性。第一滚轮模组和第二滚轮模组中的滚轮本体能分别双向各自旋转，通过擦地装置20控制电路组件的控制处理来协调统一各自的旋 转速度及转向，最终共同实现整机的行进方向、行进速度及行进路线。
优选地，如图13-图26所示，地面清洁系统包括滚刷204、第二组转动抹布和第二喷嘴206，擦地装置的机身201内部设置有滚刷驱动209、第二组抹布驱动组件、垃圾盒212和第二水箱，滚刷驱动209连接并驱动滚刷204，第二组抹布驱动组件连接并驱动第二组转动抹布组件，第二水箱由管路连通第二喷嘴206，滚刷204相对于第二组转动抹布组件更靠近滚轮模组的前进方向的前方，垃圾盒212对接滚刷204以接收并存储来自滚刷204的垃圾。
其中，擦地装置的机身201是擦地装置20的主体部件，作为一种优选的擦地装置的机身201，其包括第二上壳2012和底板2011，第二上壳2012和底板2011围在一起形成擦地装置的机身201内部的容纳空间，其内部设置有第二电池208、主板等结构，第二上壳2012和底板2011之间优选可以拆卸。
优选地，擦地装置的机身201底部具有向内侧凹陷的滚刷槽211，滚刷槽211的形状优选为弧形，滚刷204设置在滚刷槽211中。滚刷槽211具有垃圾出口，垃圾出口朝向擦地装置的机身201内部，当滚刷204转动时，滚刷204扬起的垃圾颗粒会在滚刷槽211内随滚刷204移动，当移动到垃圾出口时，在离心力的作用下从垃圾出口甩出滚刷槽211。优选地，滚刷槽211的槽口处设置有滚刷罩207，滚刷罩207能够遮挡滚刷204的一部分，滚刷罩207与滚刷槽211的槽壁外缘可拆卸连接，使得能够方便地清理或更换滚刷204。
垃圾盒212设置有垃圾入口，垃圾出口连通垃圾入口。由此，垃圾在离心力的作用下从垃圾出口甩出滚刷槽211后，能够从垃圾入口进入垃圾盒212。优选地，垃圾入口的内侧设置有能够关闭垃圾入口的箱门2124。箱门2124的设置，使得垃圾入口只有在滚刷204转动时才打开，避免非工作状态下垃圾入口使垃圾盒212内的垃圾露出。
作为一种优选的垃圾盒212，垃圾盒212包括盒体2121和盒盖2122，垃圾入口设置在盒体2121上，盒盖2122可转动地设置在盒体2121上，盒盖2122与盒体2121之间设置有锁扣2123。由于盒盖2122可转动地设置在盒体2121上，用户或者维护人员能够打开盒体2121上的盒盖2122，便于清理垃圾盒212内的垃圾。由于盒盖2122与盒体2121之间设置有锁扣2123，能够使盒体2121上的盒盖2122仅在允许的情况下打开。优选地，盒体2121上设置有垃圾盒手柄2125，便于用户或者维护人员移动垃圾盒212。
优选地，第二组转动抹布组件包括多个转动抹布，第二组抹布驱动组件包括多个抹布驱动，抹布驱动的数量与转动抹布的数量相等且一一对应，抹布驱动包括驱动箱和输出齿轮，输出齿轮啮合输入齿轮。
进一步优选，第二组转动抹布的数量为2个，分别是第三转动抹布2021和第四转动抹布2022，以第三转动抹布2021为例，第三转动抹布2021包括第三抹布本体20211、第三转盘20212、第三输入齿轮20213和第三中心轴20215，第三抹布本体20211固定在第三转盘20212的盘面外侧，第三输入齿轮20213以同轴的方式固定套设在第三转盘20212上，第三中心轴20215固定在擦地装置的机身201上，第三转盘20212以同轴的方式可转动地套设在第三中心轴20215上。相应地，抹布驱动组件包括第三抹布驱动2131和第四抹布驱动2132，第三抹布驱动2131连接并驱动第三转动抹布 2021，第四抹布驱动2132连接并驱动第二抹布驱动2132。以第三抹布驱动2131连接并驱动第三转动抹布2021为例，第三抹布驱动2131包括第三动力箱和第三输出齿轮，第三输出齿轮啮合第三输入齿轮20213，第三动力箱输出的动力经第三输出齿轮传递到第三输入齿轮20213。
优选地，第三转动抹布2021和第四转动抹布2022中各组成部件的形状和尺寸相同，由此提升了擦地装置20整体结构的稳定性，减少了零件类别，并利于维护。
优选地，转动抹布组件包括还包括配重环，如图14、图15所示，在第三转动抹布2021中，第一配重环20214套设在第一输入齿轮20213内侧上。
优选地，擦地装置的机身201底部具有向内侧凹陷的抹布槽，转盘和输入齿轮位于抹布槽中。抹布本体的背面覆盖抹布槽的槽口外缘，使得抹布本体的背面能够密封抹布槽。抹布槽的槽壁具有缺口，输入齿轮的外缘露出缺口，使得输入齿轮能够与输出齿轮啮合。示例性地，转动抹布的数量为2个，分别是第三转动抹布2021和第四转动抹布2022时，抹布槽分别是第三抹布槽2141和第四抹布槽2142。
优选地，第二喷嘴206的数量为多个，第二水箱的下方设置有出水口，出水口由管路连通第二喷嘴206。具体地，第二水箱集成在第二上壳2012内，水箱的第二注水口盖216位于第二上壳2012的外表面，用户能够从擦地装置的机身201外部打开第二注水口盖216，便于给第二水箱加水。水箱的底部具有一个或多个出水口，将水箱内的清洁液经出水口后通过管路输送到喷嘴206，再从喷嘴206喷出。
本实施例中，第三转动抹布2021和第四转动抹布2022可通过控制电路组件的控制分别以同一转速以各自相反的方向同时旋转擦试，第二水箱通过控制电路组件定期通过喷嘴喷出清洁液水雾润湿工作面污物。第二喷嘴206喷洒清洁液，第三抹布本体20211和第四抹布本体旋转擦试。由此，擦地装置20工作时，滚刷204及垃圾盒212配合实现毛发碎屑及大颗粒垃圾的预先清扫，喷水组件喷洒清洁液湿润工作面，转动抹布组件转动时彻底擦除工作面的污物，使得擦地装置20的清洁能力得到显著提升。
优选地，擦地装置的机身201底部设置有第二固定抹布(图中未示出)。优选地，第二固定抹布基本覆盖擦地装置的机身201的整个底部外表面。这样，滚刷204预先清扫、喷水组件喷洒清洁液润湿、转动抹布组件转动擦试、最后固定抹布彻底擦试，全过程全方位有效彻底清洁去污。
优选地，擦地装置的机身201上也设置有壁障感应组件，配置为感知擦地装置20前方的障碍物。擦地装置的壁障感应组件可包括第三避障感应板215，第三避障感应板215安装在第二上壳2012前方，且作为第二上壳2012的一部分。通过擦地机第三避障感应板215组件及控制电路组件的控制处理来协调统一第一主动轮2031、第二主动轮2032的旋转速度及转向，最终共同实现整机的行进方向、行进速度及行进路线。
优选地，擦窗装置10和擦地装置20之间设置有顶出机构，用于在锁定机构解锁时将擦窗装置从安装槽内顶起。由于设置有顶出机构，锁定机构解锁时，顶出机构能够自动将擦窗装置从安装槽内顶起，便于用户取出擦窗装置10，提升了用户体验。
作为一种优选的顶出机构，顶出机构安装于擦地装置上，其数量可以为多个，如图3所示，为 两个，分别是第一顶出机构301和第二顶出机构302，分布于安装槽21的槽底的不同位置，二者的结构组成相同。以第一顶出机构301为例，其包括第一安装座3013、第一顶出弹簧3012和第一活动柱3011，第一顶出弹簧3012的两端分别抵接第一安装座3013和第一活动柱3011，第一安装座3013固定在擦地装置的机身201内部，第一活动柱3011包括第一大直径段和第一小直径段，安装槽21的底部设置有连通擦地装置的机身201内部的通孔，通孔的孔径大于第一小直径段的直径但小于第一大直径段的直径，第一小直径段穿设在通孔内，第一小直径段的头部抵接擦窗装置的机身101底部。
擦地装置的机身201内设置有姿态检测单元、压力检测单元或者光电检测单元中的至少一个(图中未示出)，姿态检测单元、压力检测单元和光电检测单元分别配置为检测擦窗装置相对于擦地装置的位置状态。具体地，姿态检测单元包括设置在擦地装置的机身201内的压力感应传感器或陀螺仪等，根据重心变化、角度变化来判断擦窗装置10相对于擦地装置20的位置状态，关于姿态检测单元本身的工作原理，本实施例中不再进一步叙述。对于压力检测单元，可以在安装槽的一个或多个位置设置应力传感器，根据应力传感器反馈的结果，判断判断擦窗装置10相对于擦地装置20的位置状态，例如是否嵌入在安装槽内。对于光电检测单元，可以在安装槽的一个或多个位置设置光电传感器，例如发光二级管型，检测擦窗装置10相对于擦地装置20的位置状态，例如是否嵌入在安装槽内。
以上公开的仅为本发明的几个具体实施场景，但是，本发明并非局限于此，任何本领域的技术人员能思之的变化都应落入本发明的保护范围。

Claims (18)

  1. 一种擦洗机器人，其特征在于，包括：
    擦窗装置，包括窗体清洁系统、配置为吸附于窗体的吸附组件、配置为在窗体上移动的第一行走组件和；
    擦地装置，包括地面清洁系统和配置为在地面移动的第二行走组件，擦地装置的机身具有安装槽，擦窗装置配置为能够嵌入及离开安装槽。
  2. 根据权利要求1所述的擦洗机器人，其特征在于，擦窗装置还包括动力输出组件，擦地装置还包括动力输入组件，动力输出组件连接并驱动动力输入组件，动力输入组连接并驱动第二行走组件，使第二行走组件由擦窗装置驱动以带动擦地装置在地面移动。
  3. 根据权利要求1所述的擦洗机器人，其特征在于，窗体清洁系统包括设置在擦窗装置的机身底部的第一组转动抹布和至少一个第一喷嘴，机身内部设置有第一水箱，第一水箱由管路连接第一喷嘴。
  4. 根据权利要求2所述的擦洗机器人，其特征在于，第一行走组件包括第一履带行走机构和第二履带行走机构，第一履带行走机构和第二履带行走机构分别位于机身底部的两侧。
  5. 根据权利要求4所述的擦洗机器人，其特征在于，第二行走组件包括两个以上滚轮模组，动力输入组件连接并驱动滚轮模组。
  6. 根据权利要求5所述的擦洗机器人，其特征在于，滚轮模组包括滚轮本体、滚轮架和传动机构，传动机构设置在滚轮架内，传动机构的动力输入端包括动力输入轴，动力输入轴伸出滚轮架，传动机构的动力输出端支撑在并连接并驱动滚轮本体。
  7. 根据权利要求6所述的擦洗机器人，其特征在于，动力输出组件包括分别由第一履带行走机构和第二履带行走机构的各自履带轮的中心轴伸出的输出端子，动力输入组件由动力输入轴形成，动力输入轴的端面设置有连接槽，连接槽与输出端子相匹配，配置为安装输出端子并随输出端子转动。
  8. 根据权利要求7所述的擦洗机器人，其特征在于，动力输入轴可移动地穿设在滚轮架上，动力输入轴上套接有复位弹簧，复位弹簧一端抵接动力输入轴另一端抵接滚轮架，在擦窗装置安装于安装槽时复位弹簧将动力输入轴与输出端子弹性锁定。
  9. 根据权利要求6所述的擦洗机器人，其特征在于，传动机构包括第一滚动齿轮、第二滚动齿轮、齿条传动带，动力输出端包括动力输出轴，齿条传动带的两端分别与第一滚动齿轮、第二滚动齿轮啮合，第一滚动齿轮套设在动力输入轴上，第二滚动齿轮套设在动力输出轴上，滚轮本体套设在动力输出轴上。
  10. 根据权利要求6所述的擦洗机器人，其特征在于，擦窗装置和擦地装置之间设置限位机构，限位机构包括位于擦窗装置的机身底部外周的多个锁定柱，以及位于安装槽的槽壁外周的多个限位槽，锁定柱与限位槽内适配以阻止擦窗装置在水平方向的移动。
  11. 根据权利要求7所述的擦洗机器人，其特征在于，输出端子和动力输入轴被配置为具有导电特性。
  12. 根据权利要求7所述的擦洗机器人，其特征在于，输出端子和动力输入轴均具有能在二者之间穿设电缆的内部通孔。
  13. 根据权利要求1所述的擦洗机器人，其特征在于，擦窗装置和擦地装置之间设置有顶出机构，顶出机构配置为在锁定机构解锁时将擦窗装置从安装槽内顶起。
  14. 根据权利要求13所述的擦洗机器人，其特征在于，顶出机构安装于擦地装置上，顶出机构包括安装座、顶出弹簧和活动柱，顶出弹簧的两端分别抵接安装座和活动柱，安装座固定在擦地装置的机身内部，活动柱包括一大直径段和一小直径段，安装槽的底部设置有连通擦地装置的机身内部的通孔，通孔的孔径大于小直径段的直径但小于大直径段的直径，小直径段穿设在通孔内，小直径段的头部抵接擦窗装置的机身底部。
  15. 根据权利要求1所述的擦洗机器人，其特征在于，地面清洁系统包括设置在擦地装置的机身底部的滚刷、第二组转动抹布和至少一个第二喷嘴，擦地装置的机身内部设置有垃圾盒和第二水箱，第二水箱由管路连通第二喷嘴，垃圾盒对接滚刷以接收并存储来自滚刷的垃圾；
  16. 根据权利要求1所述的擦洗机器人，其特征在于，窗体清洁系统还包括设置在擦窗装置的机身底部的第一固定抹布。
  17. 根据权利要求1所述的擦洗机器人，其特征在于，地面清洁系统还包括设置在擦地装置的机身底部的第二固定抹布。
  18. 根据权利要求1所述的擦洗机器人的擦洗方法，其特征在于，擦地装置的机身内设置有姿态检测单元、压力检测单元或者光电检测单元中的至少一个，姿态检测单元、压力检测单元和光电检测单元分别配置为检测擦窗装置相对于擦地装置的位置状态。
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