CN104545709B - A kind of floor-mopping robot of automatic cleaning rag - Google Patents
A kind of floor-mopping robot of automatic cleaning rag Download PDFInfo
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- CN104545709B CN104545709B CN201510054983.1A CN201510054983A CN104545709B CN 104545709 B CN104545709 B CN 104545709B CN 201510054983 A CN201510054983 A CN 201510054983A CN 104545709 B CN104545709 B CN 104545709B
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- rag
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- driven pulley
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- assembly
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- 238000004140 cleaning Methods 0.000 title claims abstract description 48
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 49
- 238000001914 filtration Methods 0.000 claims abstract description 20
- 239000000428 dust Substances 0.000 claims abstract description 19
- 239000010865 sewage Substances 0.000 claims abstract description 18
- 239000000284 extract Substances 0.000 claims abstract description 14
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 241000220317 Rosa Species 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000008187 granular material Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Landscapes
- Electric Vacuum Cleaner (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention discloses the floor-mopping robot of a kind of automatic cleaning rag, including robot body, described robot body is provided with the mechanism that mops floor, described in mop floor that mechanism includes having the housing of inner chamber, rag, drivewheel, driven pulley, water circulating pump, rag cleaning wheel, rag extract assembly, sewage water filtration assembly and active motor.It first passes through the motion of Bian Shua mechanism, absorbs the bigger fines of ground granule and dust with vacuum cleaner；Then drive drivewheel by active motor, rotate Track Type rag, erasing ground dirt.Rag with dirt is cleaned by rag cleaning wheel, cleaned rag, extracts assembly by rag, extracts the moisture of rag.Using dust suction to smear two-in-one mode, imitate people completely and use wipe floor plate, the dry and wet on rag can regulate, and smears effective.Can recycle additionally, due to water, not only environmental protection but also reduce replacing number of times, save substantial amounts of water and human resources.
Description
Technical field
The present invention relates to robotics, particularly relate to the floor cleaning machine of a kind of automatic cleaning rag
Device people.
Background technology
Household cleaning machine people, predominantly automatic dust-absorbing robot at present, consolidating on main absorption floor
Determine legacy, such as the dust of granule dress.Cannot be clear to leaving over spot such as footprint etc impression on hard floor
Remove.Some robot cleaner is although with rag function, owing to being to fill one piece of little rag, root in bottom
Originally do not reach and smear ground function.Domestic floor-cleaning machine is to inhale behind water spray ground due to its operation principle, so to wood
The ground on floor etc can be because water stain retaining too much causes damage.
Therefore, the present inventor needs a kind of new technique of design badly to improve its problem.
Summary of the invention
The technical problem to be solved is the problem that current clean robot smears that ground effect is bad.
For solving above-mentioned technical problem, the technical scheme is that
The floor-mopping robot of a kind of automatic cleaning rag, including robot body, on described robot body
Be provided with the mechanism that mops floor, described in mop floor mechanism include having the housing of inner chamber, rag, drivewheel, first from
Driving wheel, the second driven pulley, the 3rd driven pulley, water circulating pump, rag cleaning wheel, rag extract assembly,
Sewage water filtration assembly and active motor；Wherein said drivewheel and described rag extract assembly, described rag
Cleaning wheel, described first driven pulley are set in parallel in the top in described housing cavity successively；Described second
Driven pulley and described 3rd driven pulley are positioned at the lower section of described housing, and described second driven pulley is positioned at described
The underface of drivewheel, described 3rd driven pulley is positioned at the underface of described first driven pulley；Described rag
In Track Type and successively from the top of described first driven pulley, the lower section of described rag cleaning wheel, described in smear
Cloth extracts the lower section of assembly, the top of described drivewheel and described second driven pulley and described 3rd driven
The lower section of wheel passes；Described drivewheel is connected and under the driving of described active motor with described active motor
Motion；Described water circulating pump one end is connected with described sewage water filtration assembly, one end and described rag cleaning wheel
Connect；Described active motor, described water circulating pump and described sewage water filtration assembly are respectively positioned on described housing
Outside.
Further, the front end of described robot body is provided with dust collection mechanism and Bian Shua mechanism, described suction
Dirt mechanism connection has dustbin；It is provided with walking mechanism bottom the rear end of described robot body inner chamber.
Further, described walking mechanism includes that left side wheel and the right are taken turns, described left side wheel and described the right
Take turns the both sides of the mechanism that mops floor described in being positioned at, described left side wheel and described the right wheel by driving motor driving.
Further, described Bian Shua mechanism includes that left side brush and the right are brushed, described left side brush and described the right
Brush is positioned at the both sides of described dust collection mechanism, described left side brush and described the right brush by driving motor to drive.
Further, the mechanism that mops floor described in also includes that upper casing, described upper casing are positioned at the upper end of described housing also
It is secured to connect.
Further, described rag is extracted assembly and is included the water squeezing briquetting for regulating crushing strength and tensioning
Wheel, described regulating wheel is near described drivewheel, and described water squeezing briquetting is near described rag cleaning wheel.
Further, described sewage water filtration assembly is Rose Box, is provided with drainage screen in described Rose Box.
Further, the control system being arranged on described robot body, described control system are also included
Including control chip, for detecting the displacement angle sensor of present position, for automatically identifying front barrier
Hinder the ultrasonic sensor of thing and infrared sensor, for providing the power module of power source, Qi Zhongsuo
State control chip and connect the power-equipment in each mechanism.
Further, described dust collection mechanism is vacuum cleaner.
Further, described power module is accumulator.
Using technique scheme, the present invention at least includes following beneficial effect:
The floor-mopping robot of automatic cleaning rag of the present invention, uses dust suction to smear two-in-one mode,
Imitating people completely and use wipe floor plate, the dry and wet on rag can regulate, and smears effective.Additionally, due to
Water can recycle, not only environmental protection but also reduce replacing number of times, saves substantial amounts of water and human resources.
Simultaneously its also there is automatic charging, the function such as indoor are automatically positioned, 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 structural 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. drivewheels, 241. first driven pulleys, 242. second driven pulleys, 243. the 3rd driven pulleys, 25. follow
Ring water pump, 26. rag cleaning wheels, 27. rags extract assembly, 271. water squeezing briquettings, 272. tensionings
Wheel, 28. sewage water filtration assemblies, 29. active motor, 3. dust collection mechanism, 31. dustbins, 4. limit brush
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
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 6, for meeting the floor-mopping robot of a kind of automatic cleaning rag of the present invention,
Including robot body 1, described robot body 1 is provided with the mechanism 2 that mops floor, described in the mechanism 2 that mops floor wrap
Include have the housing 21 of inner chamber, rag 22, drivewheel the 23, first driven pulley the 241, second driven pulley 242,
3rd driven pulley 243, water circulating pump 25, rag cleaning wheel 26, rag extract assembly 27, sewage water filtration
Assembly 28 and active motor 29；Wherein said drivewheel 23 and described rag extract assembly 27, described in smear
Cloth cleaning wheel 26, described first driven pulley 241 are set in parallel in the top in described housing 21 inner chamber successively；
Described second driven pulley 242 and described 3rd driven pulley 243 are positioned at the lower section of described housing 21, and described
Second driven pulley 242 is positioned at the underface of described drivewheel 23, and described 3rd driven pulley 243 is positioned at described
The underface of the first driven pulley 241；Described rag 22 is in Track Type and successively from described first driven pulley 241
Top, the lower section of described rag cleaning wheel 26, described rag extract the lower section of assembly 27, described master
The top of driving wheel 23 and the lower section of described second driven pulley 242 and described 3rd driven pulley 243 pass；
Described drivewheel 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 smeared with described by pipeline
Cloth cleaning wheel 26 connects；Described active motor 29, described water circulating pump 25 and described sewage water filtration assembly
28 outsides being respectively positioned on described housing 21 and be 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 actual service condition
Whole, as Fig. 1 and Fig. 2 given two kinds preferred embodiment.Preferably simultaneously, described housing 21
Lower section can also set the rotating shaft for assisting described rag 22 to rotate, owing to it is those skilled in the art
Routine techniques means, therefore here is omitted.Described robot body 1 is preferably a disc, its
Inside be provided with cavity, described in mechanism 2 assembly such as grade that mops floor be each provided in described cavity.Preferably, described machine
Human body 1 also includes a upper cover, in the setting of described upper cover is possible not only to preferably protect floor-mopping robot
The assembly in portion, 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, described dust collection mechanism
3 are communicated with dustbin 31；It is provided with walking mechanism 5 bottom the rear end of described robot body 1 inner chamber.
Described walking mechanism 5 includes left side wheel 51 and the right wheel 52, described left side wheel 51 and described the right
Wheel 52 mops floor the both sides of mechanism 2, described left side wheel 51 and described the right wheel 52 by driving described in being positioned at
Motor drives.Omitting driving motor in accompanying drawing, those skilled in the art please know.
Described Bian Shua mechanism 4 includes left side brush 41 and the right brush 42, described left side brush 41 and described the right
Brush 42 is positioned at the both sides of described dust collection mechanism 3, described left side brush 41 and described the right brush 42 by driving
Motor drives.Omitting driving motor in accompanying drawing, those skilled in the art please know.
The described mechanism 2 that mops floor also includes that upper casing 20, described upper casing 20 are positioned at the upper end of described housing 21 also
It is secured to connect.The whole mechanism 2 that mops floor can be preferably protected in arranging of described upper casing 20.Described master
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, it is also possible to being set on described upper casing 20, this is not limited by the present embodiment.
Preferably, described rag is extracted assembly 27 and is included water squeezing briquetting 271 He for regulating crushing strength
Regulating wheel 272, described regulating wheel 272 is near described drivewheel 23, and described water squeezing briquetting 271 is near institute
State rag cleaning wheel 26.Described sewage water filtration assembly 28 is Rose Box, is provided with drainage screen in described Rose Box,
The quantity of described drainage screen is one or more, and this is not limited by the present embodiment, is preferably used herein
Multi-channel filtering net.The sewage cleaning rag 22 passes through Multi-channel filtering net filtration, water circulating pump 25 supply
Rag cleaning wheel 26, thus reach to recycle.Described dust collection mechanism 3 is preferably vacuum cleaner.
Preferably, the present embodiment also includes the control system being arranged on described robot body 1, described
Control system includes control chip, for detecting the displacement angle sensor of present position, for automatically knowing
The ultrasonic sensor of other preceding object thing and infrared sensor, for providing the power supply mould of power source
Block, wherein said control chip connects the power-equipment in each mechanism.Preferably, described power module is
Accumulator.The present embodiment passes through control system, it is achieved first dust suction, after smear the function on ground.Pass through angle of displacement
Degree sensor detects instant position in time, realizes indoor navigation with inertia navigation algorithm, passes through ultrasound wave
Sensor and infrared sensor, identify the barrier in front automatically.It is initially formed by indoor sport and leads
Boat map, then according to navigation map path planning effectively, it is achieved reach indoor all rule efficiently
Determine place.When battery is close to low-voltage marginal value, or indoor cleaning completes, and this cleans dragging of rag automatically
Floor-washing robot automatically runs to charging depressed place and carries out automatic charging.The realization of automatic charging function is by infrared
Sensor, control system carries out accurate contraposition and realizes.Due to being set as originally of described charge threshold level
The routine techniques means of skilled person, and can be adjusted correspondingly according to actual service condition,
Therefore here is omitted.
The operation principle of the present embodiment is: first pass through the motion of walking mechanism 5 and Bian Shua mechanism 4,
The bigger fines of ground granule and dust is absorbed with vacuum cleaner；Then drivewheel is driven by active motor 29
23, rotate Track Type rag 22, motion is wiped ground dirt.Rag 22 with dirt is clear by rag
Wash wheel 26 cleaning, the dirt on eccysis rag 22.Cleaned rag 22, extracts assembly by rag
27, i.e. water squeezing briquetting 271 and regulating wheel 272 extracts the moisture of rag 22, remains water stain when reaching to smear ground
Reach satisfied.Water with spot is filtered by sewage water filtration assembly 28, is extracted into rag by water circulating pump 25
Cleaning wheel 26, is repeatedly circulated.And the drainage screen of sewage water filtration assembly 28 is prone to unpick and wash, user's body
Test preferably.
The floor-mopping robot automatically cleaning rag described in the present embodiment uses dust suction to smear two-in-one mode,
Imitating people completely to wash the floor with rag 22, the dry and wet on rag 22 can regulate, and smears effective.Separately
Can recycle due to water outward, not only environmental protection but also reduce replacing number of times, save substantial amounts of water and manpower
Resource.Simultaneously its also there is automatic charging, the function such as indoor are automatically positioned, path planning, self-navigation,
More intelligent.
One embodiment of the present of invention is described in detail, but described content has been only the invention
Preferred embodiment, it is impossible to be considered the practical range for limiting the present invention.All according to the present patent application scope
Any equivalent variations made, all should be still in the patent covering scope of the present invention within.
Claims (10)
1. the floor-mopping robot of an automatic cleaning rag, it is characterised in that: include robot body, institute
State robot body and be provided with the mechanism that mops floor, described in mop floor mechanism include having the housing of inner chamber, rag,
Drivewheel, the first driven pulley, the second driven pulley, the 3rd driven pulley, water circulating pump, rag cleaning wheel,
Rag extracts assembly, sewage water filtration assembly and active motor；Wherein said drivewheel is extracted with described rag
Assembly, described rag cleaning wheel, described first driven pulley are set in parallel in described housing cavity successively
Top；Described second driven pulley and described 3rd driven pulley are positioned at the lower section of described housing, and described second
Driven pulley is positioned at the underface of described drivewheel, and described 3rd driven pulley is just being positioned at described first driven pulley
Lower section；Described rag be Track Type and successively from the top of described first driven pulley, described rag cleaning wheel
Lower section, described rag extract the lower section of assembly, the top of described drivewheel and described second driven pulley
Pass with the lower section of described 3rd driven pulley；Described drivewheel is connected with described active motor and described master
Move under the driving of galvanic electricity machine；Described water circulating pump one end is connected with described sewage water filtration assembly, one end with
Described rag cleaning wheel connects；Described active motor, described water circulating pump and described sewage water filtration assembly are equal
It is positioned at the outside of described housing.
2. the floor-mopping robot automatically cleaning rag as claimed in claim 1, it is characterised in that: described
The front end of robot body is provided with dust collection mechanism and Bian Shua mechanism, and described dust collection mechanism is communicated with dustbin；
It is provided with walking mechanism bottom the rear end of described robot body inner chamber.
3. the floor-mopping robot automatically cleaning rag as claimed in claim 2, it is characterised in that: described
Walking mechanism includes that left side wheel and the right are taken turns, described left side wheel and described the right wheel be positioned at described in mop floor mechanism
Both sides, the described left side wheel and described the right wheel by drive motor drive.
4. the most automatically clean the floor-mopping robot of rag, it is characterised in that:
Described Bian Shua mechanism includes that left side brush and the right are brushed, and described left side brush and described the right brush are positioned at described dust suction
The both sides of mechanism, described left side brush and described the right brush are by driving motor to drive.
5. the floor-mopping robot automatically cleaning rag as claimed in claim 4, it is characterised in that: described
The mechanism that mops floor also includes that upper casing, described upper casing are positioned at the upper end of described housing and are secured to connect.
6. the floor-mopping robot automatically cleaning rag as claimed in claim 5, it is characterised in that: described
Rag is extracted assembly and is included the water squeezing briquetting for regulating crushing strength and regulating wheel, and described regulating wheel is close
Described drivewheel, described water squeezing briquetting is near described rag cleaning wheel.
7. the floor-mopping robot automatically cleaning rag as claimed in claim 6, it is characterised in that: described
Sewage water filtration assembly is Rose Box, is provided with drainage screen in described Rose Box.
8. the floor-mopping robot automatically cleaning rag as claimed in claim 7, it is characterised in that: also wrap
Include the control system being arranged on described robot body, described control system include control chip, for
Detect the displacement angle sensor of present position, for automatically identifying the ultrasonic sensor of preceding object thing
With infrared sensor, for providing the power module of power source, wherein said control chip connects each machine
Power-equipment in structure.
9. the floor-mopping robot automatically cleaning rag as claimed in claim 2, it is characterised in that: described
Dust collection mechanism is vacuum cleaner.
10. the floor-mopping robot automatically cleaning rag as claimed in claim 8, it is characterised in that: institute
Stating power module is accumulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510054983.1A CN104545709B (en) | 2015-02-03 | 2015-02-03 | A kind of floor-mopping robot of automatic cleaning rag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510054983.1A CN104545709B (en) | 2015-02-03 | 2015-02-03 | A kind of floor-mopping robot of automatic cleaning rag |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104545709A CN104545709A (en) | 2015-04-29 |
| CN104545709B true CN104545709B (en) | 2016-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510054983.1A Active CN104545709B (en) | 2015-02-03 | 2015-02-03 | A kind of floor-mopping robot of automatic cleaning rag |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974595B (en) * | 2017-03-27 | 2018-01-19 | 湖南大学 | A kind of intelligent robot for indoor cleaning |
| CN106923757B (en) * | 2017-04-27 | 2019-11-05 | 江苏锡沂高新区科技发展有限公司 | A kind of convenient humanoid robot cleaned based on dining room |
| CN107960955B (en) * | 2017-12-15 | 2020-07-17 | 嘉兴市品信电器有限公司 | Housekeeping mopping robot |
| CN108272397B (en) * | 2018-02-09 | 2021-09-14 | 马人欢 | Full-automatic floor mopping machine |
| CN108113587A (en) * | 2018-02-09 | 2018-06-05 | 马人欢 | Automatically cleaning floor cleaning machine |
| KR102314326B1 (en) * | 2020-04-13 | 2021-10-19 | 엘지전자 주식회사 | Robot Cleaner |
| CN111543903B (en) * | 2020-04-21 | 2021-12-24 | 莆田市城厢区诺林贸易有限公司 | Ground dewatering vehicle convenient to switch mop head |
| CN115067835B (en) * | 2020-08-20 | 2024-11-26 | 科沃斯机器人股份有限公司 | Cleaning device and cleaning robot system |
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| US5611108A (en) * | 1994-04-25 | 1997-03-18 | Windsor Industries, Inc. | Floor cleaning apparatus with slidable flap |
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| Publication number | Publication date |
|---|---|
| CN104545709A (en) | 2015-04-29 |
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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 |