CN104545709A - Mopping robot capable of automatically cleaning mop cloth - Google Patents

Mopping robot capable of automatically cleaning mop cloth Download PDF

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Publication number
CN104545709A
CN104545709A CN201510054983.1A CN201510054983A CN104545709A CN 104545709 A CN104545709 A CN 104545709A CN 201510054983 A CN201510054983 A CN 201510054983A CN 104545709 A CN104545709 A CN 104545709A
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China
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rag
wheel
robot
floor
driven pulley
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Granted
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CN201510054983.1A
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CN104545709B (en
Inventor
袁泉
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Suzhou pangolin robot Limited by Share Ltd
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袁泉
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Abstract

The invention discloses a mopping robot capable of automatically cleaning mop cloth. The mopping robot comprises a robot body, wherein a mopping mechanism is arranged on the robot body and comprises a shell, mop cloth, a driving wheel, driven wheels, a circulating water pump, a mop cloth cleaning wheel, a mop cloth wringing assembly, a sewage filtering assembly and a driving motor; the shell is provided with an inner cavity. According to the mopping robot, large-particle fines and dust on the ground are collected by a dust collector through the motion of a side brush mechanism; the driving motor drives the driving wheel to rotate caterpillar band type mop cloth so as to wipe dirt on the ground; dirty mop cloth is cleaned by virtue of the mop cloth cleaning wheel, and moisture of the cleaned mop cloth is removed by the mop cloth wringing assembly; a two-in-one manner of dust collection and mopping is utilized, the mopping robot completely imitates people to mop the floor by virtue of the mop cloth, the dryness of the mop cloth can be adjusted, and the mopping effect is good; besides, water can be circularly used, so that the environment is protected, the replacement frequency is reduced, and a lot of water and human resources are saved.

Description

A kind of floor-mopping robot of automatic cleaning rag
Technical field
The present invention relates to robotics, relate to a kind of floor-mopping robot of automatic cleaning rag specifically.
Background technology
Current household cleaning machine people, is mainly automatic dust-absorbing robot, and the main fixing legacy absorbed on floor, as the dust of particle dress.Cannot remove hard floor being left over spot such as footprint and so on impression.Although some robot cleaner is with rag function, owing to being fill one piece of little rag in bottom, not reaching at all and smear ground function.Family expenses floor-cleaning machine is inhale with behind water spray ground due to its operation principle, cause damage so understand the ground of timber floor and so on because of water stain retaining too much.
Therefore, the present inventor needs a kind of new technology of design badly to improve its problem.
Summary of the invention
Technical problem to be solved by this invention is that current clean robot smears the bad problem of ground effect.
For solving the problems of the technologies described above, technical scheme of the present invention is:
A kind of floor-mopping robot of automatic cleaning rag, comprise robot body, described robot body is provided with the mechanism that mops floor, described in the mechanism that mops floor comprise housing, rag, driving wheel, the first driven pulley, the second driven pulley, the 3rd driven pulley, water circulating pump, rag cleaning wheel, the rag with inner chamber and extract assembly, sewage water filtration assembly and initiatively motor; Assembly extracted by wherein said driving wheel and described rag, described rag cleaning wheel, described first driven pulley are set in parallel in top in described housing cavity successively; Described second driven pulley and described 3rd driven pulley are positioned at the below of described housing, and described second driven pulley is positioned at immediately below described driving wheel, and described 3rd driven pulley is positioned at immediately below described first driven pulley; Described rag be Track Type and successively from the top of described first driven pulley, the below of described rag cleaning wheel, the described rag below of extracting the below of assembly, the top of described driving wheel and described second driven pulley and described 3rd driven pulley passes; Described driving wheel is connected with described active motor and moves under the driving of described active motor; Described water circulating pump one end is connected with described sewage water filtration assembly, and one end is connected with described rag cleaning wheel; Described active motor, described water circulating pump and described sewage water filtration assembly are all positioned at the outside of described housing.
Further, the front end of described robot body is provided with dust collection mechanism and Bian Shua mechanism, and described dust collection mechanism is communicated with dustbin; Walking mechanism is provided with bottom the rear end of described robot body inner chamber.
Further, described walking mechanism comprises left side wheel and the right wheel, and the both sides of the mechanism that mops floor described in described left side wheel and described the right wheel are positioned at, described left side wheel and described the right wheel are driven by drive motors.
Further, described Bian Shua mechanism comprises left side brush and the right brush, and described left side brush and described the right brush are positioned at the both sides of described dust collection mechanism, and described left side brush and described the right brush are driven by drive motors.
Further, described in the mechanism that mops floor also comprise upper casing, described upper casing is positioned at the upper end of described housing and is fixedly connected with it.
Further, described rag is extracted assembly and is comprised water squeezing briquetting and regulating wheel for regulating crushing strength, and described regulating wheel is near described driving wheel, and described water squeezing briquetting is near described rag cleaning wheel.
Further, described sewage water filtration assembly is Rose Box, is provided with screen pack in described Rose Box.
Further, also comprise the control system be arranged on described robot body, described control system comprise control chip, for detect present position displacement angle sensor, for automatically identify preceding object thing ultrasonic sensor and infrared sensor, for providing the power module of power source, wherein said control chip connects the power-equipment in each mechanism.
Further, described dust collection mechanism is dust catcher.
Further, described power module is battery.
Adopt technique scheme, the present invention at least comprises following beneficial effect:
The floor-mopping robot of automatic cleaning rag of the present invention, adopts dust suction to smear two-in-one mode, imitates people completely and uses wipe floor plate, and dry the wetting on rag can regulate, and smears effective.In addition because water can recycle, not only environmental protection but also reduce replacing number of times, saves a large amount of water and human resources.Simultaneously its also there is automatic charging, the function such as indoor are located automatically, path planning, self-navigation, more intelligent.
Accompanying drawing explanation
Fig. 1 is the structural representation of the mechanism that mops floor of the present invention;
Fig. 2 is the structural representation of the mechanism that mops floor of the present invention;
Fig. 3 is the structural representation of the floor-mopping robot of automatic cleaning rag of the present invention;
Fig. 4 is the structure side view of the floor-mopping robot of automatic cleaning rag of the present invention;
Fig. 5 is the birds-eye perspective of the floor-mopping robot of automatic cleaning rag of the present invention;
Fig. 6 is the structural representation after the floor-mopping robot encapsulation of automatic cleaning rag of the present invention.
Wherein: 1. robot body, 2. mop floor mechanism, 20. upper casings, 21. housings, 22. rags, 23. driving wheels, 241. first driven pulleys, 242. second driven pulleys, 243. the 3rd driven pulleys, 25. water circulating pumps, 26. rag cleaning wheels, assembly extracted by 27. rags, 271. water squeezing briquettings, 272. regulating wheels, 28. sewage water filtration assemblies, 29. active motors, 3. dust collection mechanism, 31. dustbins, 4. Bian Shua mechanism, 41. left side brushes, brush on the right of in the of 42., 5. walking mechanism, 51. left side wheels, take turns on the right of in the of 52..
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figures 1 to 6, for the floor-mopping robot of a kind of automatic cleaning rag according to the invention, comprise robot body 1, described robot body 1 is provided with the mechanism 2 that mops floor, described in the mechanism 2 that mops floor comprise housing 21, rag 22, driving wheel 23, first driven pulley 241, second driven pulley 242, the 3rd driven pulley 243, water circulating pump 25, rag cleaning wheel 26, the rag with inner chamber and extract assembly 27, sewage water filtration assembly 28 and initiatively motor 29; Assembly 27 extracted by wherein said driving wheel 23 and described rag, described rag cleaning wheel 26, described first driven pulley 241 are set in parallel in top in described housing 21 inner chamber successively; Described second driven pulley 242 and described 3rd driven pulley 243 are positioned at the below of described housing 21, and described second driven pulley 242 is positioned at immediately below described driving wheel 23, and described 3rd driven pulley 243 is positioned at immediately below described first driven pulley 241; Described rag 22 in Track Type and successively from the top of described first driven pulley 241, the below of described rag cleaning wheel 26, described rag extract the below of assembly 27, the below of the top of described driving wheel 23 and described second driven pulley 242 and described 3rd driven pulley 243 is passed; Described driving wheel 23 is connected with described active motor 29 and moves under the driving of described active motor 29; Described water circulating pump 25 one end is connected with described sewage water filtration assembly 28, and one end is connected with described rag cleaning wheel 26 by pipeline; Described active motor 29, described water circulating pump 25 and described sewage water filtration assembly 28 are all positioned at the outside of described housing 21 and are positioned at the same side of described housing 21.Described water circulating pump 25 and putting of described both sewage water filtration assemblies 28 can adjust accordingly according to the service condition of reality, as given two kinds in Fig. 1 and Fig. 2 preferred embodiment.Preferably, the rotating shaft of rotating for auxiliary described rag 22 can also be set below described housing 21, because it is the routine techniques means of those skilled in the art, so place repeats no more simultaneously.Described robot body 1 is preferably a disc, is provided with cavity in it, described in mechanism 2 assembly such as grade that mops floor all be located in described cavity.Preferably, described robot body 1 also comprises a upper cover, and the setting of described upper cover not only better can protect the assembly of floor-mopping robot inside, also makes entirety have more aesthetic feeling simultaneously.
The front end of described robot body 1 is provided with dust collection mechanism 3 and Bian Shua mechanism 4, and described dust collection mechanism 3 is communicated with dustbin 31; Walking mechanism 5 is provided with bottom the rear end of described robot body 1 inner chamber.
Described walking mechanism 5 comprises left side wheel 51 and the right wheel 52, and the both sides of the mechanism 2 that mops floor described in described left side wheel 51 and described the right wheel 52 are positioned at, described left side wheel 51 and described the right wheel 52 are driven by drive motors.Omit drive motors in accompanying drawing, those skilled in the art please know.
Described Bian Shua mechanism 4 comprises left side brush 41 and the right brush 42, and described left side brush 41 and described the right brush 42 are positioned at the both sides of described dust collection mechanism 3, and described left side brush 41 and described the right brush 42 are driven by drive motors.Omit drive motors in accompanying drawing, those skilled in the art please know.
The described mechanism 2 that mops floor also comprises upper casing 20, and described upper casing 20 is positioned at the upper end of described housing 21 and is fixedly connected with it.Arranging of described upper casing 20 better can protect the whole mechanism 2 that mops floor.Described driving wheel 23, described driven pulley, described rag cleaning wheel 26, described rag are extracted assembly 27 and can be set on described housing 21, and also can be set on described upper casing 20, the present embodiment does not limit this.
Preferably, described rag is extracted assembly 27 and is comprised water squeezing briquetting 271 and regulating wheel 272 for regulating crushing strength, and described regulating wheel 272 is near described driving wheel 23, and described water squeezing briquetting 271 is near described rag cleaning wheel 26.Described sewage water filtration assembly 28 is Rose Box, is provided with screen pack in described Rose Box, and the quantity of described screen pack is one or more, and the present embodiment does not limit this, preferably uses Multi-channel filtering net herein.The sewage of cleaning rag 22 by Multi-channel filtering net filtration, supplies rag cleaning wheel 26 by water circulating pump 25, thus reaches and recycle.Described dust collection mechanism 3 is preferably dust catcher.
Preferably, the present embodiment also comprises the control system be arranged on described robot body 1, described control system comprise control chip, for detect present position displacement angle sensor, for automatically identify preceding object thing ultrasonic sensor and infrared sensor, for providing the power module of power source, wherein said control chip connects the power-equipment in each mechanism.Preferably, described power module is battery.The present embodiment by control system, realize first dust suction, after smear the function on ground.Detect instant position in time by displacement angle sensor, realize indoor navigation with inertia navigation algorithm, by ultrasonic sensor and infrared sensor, automatically identify the barrier in front.First it form navigation map by indoor sport, then according to navigation map path planning effectively, realizes reaching indoor all regulation places efficiently.When battery is close to low-voltage critical value, or indoor cleaning completes, and this floor-mopping robot automatically cleaning rag automatically runs to charging depressed place and carries out automatic charging.The realization of automatic charging function is by infrared sensor, and control system is carried out accurate contraposition and realized.Due to the routine techniques means being set as those skilled in the art of described charge threshold level, and can adjust accordingly according to the service condition of reality, so place repeats no more.
The operation principle of the present embodiment is: the motion first passing through walking mechanism 5 and Bian Shua mechanism 4, absorbs the larger fines of ground particle and dust with dust catcher; Then drive driving wheel 23 by active motor 29, rotate Track Type rag 22, in motion, wipe ground dirt.Rag 22 with dirt is cleaned by rag cleaning wheel 26, the dirt on eccysis rag 22.Cleaned rag 22, extracts assembly 27 by rag, and namely water squeezing briquetting 271 and regulating wheel 272 extract the moisture of rag 22, reaches to remain when smearing ground water stainly to reach satisfied.Water with spot is filtered by sewage water filtration assembly 28, is recycled water pump 25 and is extracted into rag cleaning wheel 26, and iterative cycles uses.And the screen pack of sewage water filtration assembly 28 is easy to unpick and wash, better user experience.
The floor-mopping robot of the automatic cleaning rag described in the present embodiment adopts dust suction to smear two-in-one mode, imitates people completely and washes the floor with rag 22, and dry the wetting on rag 22 can regulate, and smears effective.In addition because water can recycle, not only environmental protection but also reduce replacing number of times, saves a large amount of water and human resources.Simultaneously its also there is automatic charging, the function such as indoor are located automatically, path planning, self-navigation, more intelligent.
One embodiment of the present of invention have been described in detail, but described content being only the preferred embodiment of the invention, can not being considered to for limiting practical range of the present invention.All any equivalent variations done according to the present patent application scope, all should still be within patent covering scope of the present invention.

Claims (10)

1. one kind is cleaned the floor-mopping robot of rag automatically, it is characterized in that: comprise robot body, described robot body is provided with the mechanism that mops floor, described in the mechanism that mops floor comprise housing, rag, driving wheel, the first driven pulley, the second driven pulley, the 3rd driven pulley, water circulating pump, rag cleaning wheel, the rag with inner chamber and extract assembly, sewage water filtration assembly and initiatively motor; Assembly extracted by wherein said driving wheel and described rag, described rag cleaning wheel, described first driven pulley are set in parallel in top in described housing cavity successively; Described second driven pulley and described 3rd driven pulley are positioned at the below of described housing, and described second driven pulley is positioned at immediately below described driving wheel, and described 3rd driven pulley is positioned at immediately below described first driven pulley; Described rag be Track Type and successively from the top of described first driven pulley, the below of described rag cleaning wheel, the described rag below of extracting the below of assembly, the top of described driving wheel and described second driven pulley and described 3rd driven pulley passes; Described driving wheel is connected with described active motor and moves under the driving of described active motor; Described water circulating pump one end is connected with described sewage water filtration assembly, and one end is connected with described rag cleaning wheel; Described active motor, described water circulating pump and described sewage water filtration assembly are all positioned at the outside of described housing.
2. the floor-mopping robot of the rag of cleaning automatically as claimed in claim 1, is characterized in that: the front end of described robot body is provided with dust collection mechanism and Bian Shua mechanism, and described dust collection mechanism is communicated with dustbin; Walking mechanism is provided with bottom the rear end of described robot body inner chamber.
3. the floor-mopping robot of the rag of cleaning automatically as claimed in claim 2, it is characterized in that: described walking mechanism comprises left side wheel and the right wheel, mop floor described in described left side wheel and described the right wheel are positioned at the both sides of mechanism, and described left side wheel and described the right are taken turns and driven by drive motors.
4. automatically clean the floor-mopping robot of rag as claimed in claim 2 or claim 3, it is characterized in that: described Bian Shua mechanism comprises left side brush and the right brush, described left side brush and described the right brush are positioned at the both sides of described dust collection mechanism, and described left side brush and described the right brush are driven by drive motors.
5. the floor-mopping robot of the automatic cleaning rag as described in as arbitrary in claim 1-4, is characterized in that: described in the mechanism that mops floor also comprise upper casing, described upper casing is positioned at the upper end of described housing and is fixedly connected with it.
6. the floor-mopping robot of the automatic cleaning rag as described in as arbitrary in claim 1-5, it is characterized in that: described rag is extracted assembly and comprised water squeezing briquetting and regulating wheel for regulating crushing strength, described regulating wheel is near described driving wheel, and described water squeezing briquetting is near described rag cleaning wheel.
7. the floor-mopping robot of the automatic cleaning rag as described in as arbitrary in claim 1-6, is characterized in that: described sewage water filtration assembly is Rose Box, is provided with screen pack in described Rose Box.
8. the floor-mopping robot of the automatic cleaning rag as described in as arbitrary in claim 1-7, it is characterized in that: also comprise the control system be arranged on described robot body, described control system comprise control chip, for detect present position displacement angle sensor, for automatically identify preceding object thing ultrasonic sensor and infrared sensor, for providing the power module of power source, wherein said control chip connects the power-equipment in each mechanism.
9. the floor-mopping robot of the automatic cleaning rag as described in as arbitrary in claim 2-8, is characterized in that: described dust collection mechanism is dust catcher.
10. the floor-mopping robot of the rag of cleaning automatically as claimed in claim 8, is characterized in that: described power module is battery.
CN201510054983.1A 2015-02-03 2015-02-03 A kind of floor-mopping robot of automatic cleaning rag Active CN104545709B (en)

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Publication number Priority date Publication date Assignee Title
CN106974595A (en) * 2017-03-27 2017-07-25 湖南大学 A kind of intelligent robot for indoor cleaning
CN107960955A (en) * 2017-12-15 2018-04-27 孙鹏程 A kind of housekeeping floor-mopping robot
CN108113587A (en) * 2018-02-09 2018-06-05 马人欢 Automatically cleaning floor cleaning machine
CN108272397A (en) * 2018-02-09 2018-07-13 马人欢 Full automatic floor wiping machine
WO2018196200A1 (en) * 2017-04-27 2018-11-01 原泉 Convenient robot for cleaning restaurant
CN111543903A (en) * 2020-04-21 2020-08-18 欧细巧 Ground dewatering vehicle convenient to switch mop head
KR102314326B1 (en) * 2020-04-13 2021-10-19 엘지전자 주식회사 Robot Cleaner
WO2022037501A1 (en) * 2020-08-20 2022-02-24 科沃斯机器人股份有限公司 Cleaning apparatus and cleaning robot system

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CN203920967U (en) * 2014-04-11 2014-11-05 南通大学 A kind of corridor cleaning robot
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WO2022037501A1 (en) * 2020-08-20 2022-02-24 科沃斯机器人股份有限公司 Cleaning apparatus and cleaning robot system

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Effective date of registration: 20170104

Address after: 215000 Suzhou province high tech Zone, Feng Yuan Road, No. 232, No.

Patentee after: Suzhou pangolin robot Limited by Share Ltd

Address before: 430060 Wuchang District, Wuhan, Xinhua Village, room 10, No. 703, room

Patentee before: Yuan Quan