CN104545709B - An automatic cleaning rag mopping robot - Google Patents

An automatic cleaning rag mopping robot Download PDF

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Publication number
CN104545709B
CN104545709B CN 201510054983 CN201510054983A CN104545709B CN 104545709 B CN104545709 B CN 104545709B CN 201510054983 CN201510054983 CN 201510054983 CN 201510054983 A CN201510054983 A CN 201510054983A CN 104545709 B CN104545709 B CN 104545709B
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wheel
cloth
robot
driven
water
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CN 201510054983
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CN104545709A (en )
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袁泉
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袁泉
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Abstract

本发明公开了一种自动清洗抹布的拖地机器人,包括机器人本体,所述机器人本体上设有拖地机构,所述拖地机构包括具有内腔的壳体、抹布、主动轮、从动轮、循环水泵、抹布清洗轮、抹布挤干组件、污水过滤组件和主动电机。 The present invention discloses an automatic cleaning cloth mopping robot comprising a robot body, is provided with means to drag on the robot body, the drag mechanism including the housing having a lumen, cloth, driving wheel, a driven wheel, circulating pumps, cleaning cloth wheel, squeezed cloth assembly, and active sewage filter assembly machine. 其首先通过边刷机构的运动,用吸尘器吸除地面颗粒较大的细屑和灰尘;然后通过主动电机带动主动轮,转动履带型抹布,擦除地面污垢。 Through which first side brush movement mechanism, with a vacuum cleaner suction surface larger dust particles and fines; then driven by the active capstan motor, the rotation track-type cloth, erase dirt from the ground. 带污垢的抹布通过抹布清洗轮清洗,清洗过的抹布,通过抹布挤干组件,挤干抹布的水分。 Cloth soiled cleaning cloth wheel washing, the washed cloth, squeezed through the cloth assembly, squeezed through the cloth moisture. 采用吸尘抹地二合一方式,完全模仿人用抹布擦地板,抹布上的干湿可以调节,抹地效果好。 Using vacuum to wipe Combo way to imitate people with a rag to clean the floor, wet and dry wipes can be adjusted on the good to wipe effect. 另外由于水可以循环使用,既环保又减少更换次数,节省了大量的用水和人力资源。 In addition, as the water can be recycled, environmentally-friendly and reduce the number of replacement, saving a lot of water and human resources.

Description

一种自动清洗抹布的拖地机器人 An automatic cleaning rag mopping robot

技术领域 FIELD

[0001]本发明涉及机器人技术领域,具体地是涉及一种自动清洗抹布的拖地机器人。 [0001] The present invention relates to the field of robotics, in particular, to a self-cleaning mop mopping robot.

背景技术 Background technique

[0002]目前家用清洁机器人,主要为全自动吸尘机器人,主要吸除地板上的固定遗留物,如颗粒装的灰尘。 [0002] It household cleaning robot, mainly for the automatic cleaning robot, the main suction remnants fixed on the floor, such as dust particles loaded. 对硬质地板上遗留污渍如脚印之类印痕无法清除。 Hard texture of the board, such as stains left footprints like prints can not be cleared. 有些机器人吸尘器虽然带有抹布功能,由于是在底部装一块小抹布,根本达不到抹地功能。 Although some robotic vacuum cleaner with a rag function, because it is installed at the bottom of a small rag, and thus fail to wipe function. 家用洗地机由于其工作原理是用水喷地后吸,所以对木地板之类的地面会因为水渍存留过多而造成损害。 Household washing machine because of its working principle is sprayed with water to suck, so the wooden floor on the ground like water stains persist because of excessive damage.

[0003]因此,本发明的发明人亟需构思一种新技术以改善其问题。 [0003] Accordingly, the present invention contemplates a new technology need to improve their problems.

发明内容 SUMMARY

[0004]本发明所要解决的技术问题是目前清洁机器人抹地效果不好的问题。 [0004] The present invention solves the technical problem is bad cleaning robot to effect wiping problem.

[0005 ]为解决上述技术问题,本发明的技术方案是: [0005] To solve the above technical problem, the technical solution of the present invention is:

[0006] —种自动清洗抹布的拖地机器人,包括机器人本体,所述机器人本体上设有拖地机构,所述拖地机构包括具有内腔的壳体、抹布、主动轮、第一从动轮、第二从动轮、第三从动轮、循环水栗、抹布清洗轮、抹布挤干组件、污水过滤组件和主动电机;其中所述主动轮与所述抹布挤干组件、所述抹布清洗轮、所述第一从动轮依次平行设置在所述壳体内腔中的上方;所述第二从动轮与所述第三从动轮位于所述壳体的下方,且所述第二从动轮位于所述主动轮的正下方,所述第三从动轮位于所述第一从动轮的正下方;所述抹布呈履带型并依次从所述第一从动轮的上方、所述抹布清洗轮的下方、所述抹布挤干组件的下方、所述主动轮的上方以及所述第二从动轮和所述第三从动轮的下方穿过;所述主动轮与所述主动电机连接并在所述主动电机的驱动下运动;所述循 [0006] - kinds of automatic cleaning cloth mopping robot comprising a robot body, the robot mechanism provided mop body, said mechanism comprising a housing having a mopping lumen, cloth, driving wheel, the first driven gear , the second driven gear, a third driven wheel, circulating water chestnut, cleaning cloth wheel, cloth squeezed components, water and an active filter assembly machine; wherein the driving wheel and the assembly squeezed cloth, the cleaning cloth wheel, the first driven gear arranged sequentially in parallel above said housing lumen; said driven wheel below said second housing and the third driven gear is located, and the second driven wheel located immediately below the drive wheel, the third driven gear is located directly below the first driven wheel; track-type form of the cloth and sequentially from above the first driven wheel, the wheel under the cleaning cloth, the said squeezed under the cloth assembly, the upper and the lower the driving wheel and the second driven gear through the third driven wheel; the driving wheel connected with the driving motor and the motor is active driven movement; the cycle 水栗一端与所述污水过滤组件连接,一端与所述抹布清洗轮连接;所述主动电机、所述循环水栗和所述污水过滤组件均位于所述壳体的外侧。 Water chestnut end connected to the water filter assembly, with one end connected to the wheel cleaning cloth; the driving motor, the water circulating the water filter assembly and Li are located outside of the housing.

[0007]进一步地,所述机器人本体的前端上设有吸尘机构和边刷机构,所述吸尘机构连通有垃圾盒;所述机器人本体内腔的后端底部设置有行走机构。 [0007] Further, provided on the front end of the suction mechanism and the robot body side brush mechanism, the suction means communicating with a refuse cassette; bottom rear of the robot body is provided with a cavity running gear.

[0008]进一步地,所述行走机构包括左边轮和右边轮,所述左边轮和所述右边轮位于所述拖地机构的两侧,所述左边轮和所述右边轮通过驱动电机驱动。 [0008] Further, the traveling mechanism comprises a left wheel and a right wheel, said left wheel and said right side wheel located on both sides of the drag mechanism to the left wheel and the right wheel by the drive motor.

[0009] 进一步地,所述边刷机构包括左边刷和右边刷,所述左边刷和所述右边刷位于所述吸尘机构的两侧,所述左边刷和所述右边刷通过驱动电机驱动。 [0009] Further, the left side brush means comprises a brush and a brush to the right, the left and the right side brush brush located on both sides of the suction mechanism, the left and the right of the brush through the brush drive motor .

[0010] 进一步地,所述拖地机构还包括上壳,所述上壳位于所述壳体的上端并与其固定连接。 [0010] Preferably, the mopping means further includes an upper housing, the upper end of the housing and located within the housing is fixedly connected thereto.

[0011]进一步地,所述抹布挤干组件包括用于调节挤压强度的挤水压块和张紧轮,所述张紧轮靠近所述主动轮,所述挤水压块靠近所述抹布清洗轮。 [0011] Further, the assembly comprises a cloth squeezed for adjusting the water squeezing crush strength and compact tension wheel, the tension wheel close to the driving wheel, the compact close to the water squeeze cloth cleaning round.

[0012]进一步地,所述污水过滤组件为过滤箱,所述过滤箱内设有过滤网。 [0012] Further, the water filter assembly for the filter tank, the filter tank is provided with filter.

[0013]进一步地,还包括设置在所述机器人本体上的控制系统,所述控制系统包括控制芯片、用于检测即时位置的位移角度传感器、用于自动识别前方障碍物的超声波传感器和红外传感器、用于提供动力能源的电源模块,其中所述控制芯片连接各机构中的动力设备。 Control System [0013] Furthermore, further comprising a robot disposed on said body, said control system comprises a control chip, a displacement sensor for detecting the angle position immediate, automatic identification of an ultrasonic sensor and an infrared sensor of the front obstacle , the energy for powering the power module, wherein the control chip is connected to a power plant bodies.

[0014]进一步地,所述吸尘机构为吸尘器。 [0014] Preferably, the suction means is a vacuum cleaner.

[0015] 进一步地,所述电源模块为蓄电池。 [0015] Further, the power module is a battery.

[0016]采用上述技术方案,本发明至少包括如下有益效果: [0016] With the above technical solution, the present invention includes at least the following advantages:

[0017]本发明所述的自动清洗抹布的拖地机器人,采用吸尘抹地二合一方式,完全模仿人用抹布擦地板,抹布上的干湿可以调节,抹地效果好。 Automatic cleaning of the cloth [0017] The present invention mopping robots, vacuum wiped using combo mode, totally mimic the floor with a rag, wet the cloth can be adjusted, the good wiping effect. 另外由于水可以循环使用,既环保又减少更换次数,节省了大量的用水和人力资源。 In addition, as the water can be recycled, environmentally-friendly and reduce the number of replacement, saving a lot of water and human resources. 同时其还具有自动充电、室内自动定位、路径规划、自动导航等功能,更加智能化。 At the same time it also has an automatic charging, indoor automatic positioning, route planning, navigation functions such as automatic, more intelligent.

附图说明 BRIEF DESCRIPTION

[0018]图1为本发明所述的拖地机构的结构示意图; [0018] FIG. 1 is a schematic configuration according to the present invention, mopping means;

[0019]图2为本发明所述的拖地机构的结构示意图; [0019] FIG. 2 is a schematic view of the structure of the present invention, mopping means;

[0020]图3为本发明所述的自动清洗抹布的拖地机器人的结构示意图; [0020] FIG. 3 is a schematic view of an automatic cleaning cloth mopping robot structure according to the present invention;

[0021]图4为本发明所述的自动清洗抹布的拖地机器人的结构侧视图; [0021] FIG. 4 a side view of the structure of an automatic cleaning cloth mopping robot of the present invention;

[0022]图5为本发明所述的自动清洗抹布的拖地机器人的俯视透视图; [0022] FIG. 5 top perspective view of an automatic cleaning cloth mopping robot according to the present invention;

[0023]图6为本发明所述的自动清洗抹布的拖地机器人封装后的结构示意图。 [0023] FIG. 6 is a schematic view of the structure after mopping cloth automatic cleaning robot package of the present invention.

[0024] 其中:1.机器人本体,2.拖地机构,20.上壳,21.壳体,22.抹布,23.主动轮,241.第一从动轮,242.第二从动轮,243.第三从动轮,25.循环水栗,26.抹布清洗轮,27.抹布挤干组件,271.挤水压块,272.张紧轮,28.污水过滤组件,29.主动电机,3.吸尘机构,31.垃圾盒,4.边刷机构,41.左边刷,42.右边刷,5.行走机构,51.左边轮,52.右边轮。 [0024] wherein:........ A robot body, the drag mechanism 2, the upper shell 20, housing 21, 22 rag, 23 driving wheel, the first driven gear 241, second driven gear 242, 243 third driven wheel 25. circulating water chestnut, 26 cleaning rag wheel 27. rag squeezed assembly 271 compact squeeze water, 272 tension pulley 28. The water filter assembly 29. Main motor, 3 . vacuum means 31. trash box 4 side brush means 41 on the left brush, 42 the right brush 5. traveling mechanism, 51 the left wheel 52 to the right wheel.

具体实施方式 Detailed ways

[0025]下面结合附图和实施例对本发明进一步说明。 Figures and examples further illustrate the present invention [0025] The following binding.

[0026]如图1至图6所示,为符合本发明的一种自动清洗抹布的拖地机器人,包括机器人本体I,所述机器人本体I上设有拖地机构2,所述拖地机构2包括具有内腔的壳体21、抹布22、主动轮23、第一从动轮241、第二从动轮242、第三从动轮243、循环水栗25、抹布清洗轮26、抹布挤干组件27、污水过滤组件28和主动电机29;其中所述主动轮23与所述抹布挤干组件27、所述抹布清洗轮26、所述第一从动轮241依次平行设置在所述壳体21内腔中的上方;所述第二从动轮242与所述第三从动轮243位于所述壳体21的下方,且所述第二从动轮242位于所述主动轮23的正下方,所述第三从动轮243位于所述第一从动轮241的正下方;所述抹布22呈履带型并依次从所述第一从动轮241的上方、所述抹布清洗轮26的下方、所述抹布挤干组件27的下方、所述主动轮23的上方以及所述第二从动轮242和所述第三 [0026] As shown in FIGS. 1 to 6, consistent with the present invention as a self-cleaning mop mopping robot comprising a robot body I, with the mopping means 2, the drag mechanism to the robot body I 2 comprises a housing having a lumen 21, cloth 22, the driving wheel 23, a first driven gear 241, second driven gear 242, third driven gear 243, the circulating water chestnut 25, wheel 26 washing cloth, squeezed assembly 27 wipes , filter assembly 28 and active sewage motor 29; wherein said capstan assembly 23 and the cloth 27 squeezed, the cleaning cloth wheel 26, the first driven gear 241 are sequentially arranged in parallel in the lumen of the housing 21 the above; the second driven gear 242 and the third driven wheel 243 is positioned below the housing 21, and the second driven gear 242 is located directly below the driving wheel 23, the third driven wheel 243 located directly below the first driven wheel 241; track-type form of the cloth 22 and sequentially from above the first driven wheel 241, the wheel 26 beneath the cleaning cloth, the cloth squeezed assembly 27 below, above, the driving wheel 23 and the second driven gear 242 and the third 动轮243的下方穿过;所述主动轮23与所述主动电机29连接并在所述主动电机29的驱动下运动;所述循环水栗25—端与所述污水过滤组件28连接,一端通过管道与所述抹布清洗轮26连接;所述主动电机29、所述循环水栗25和所述污水过滤组件28均位于所述壳体21的外侧并且位于所述壳体21的同一侧。 Through the bottom wheel 243; the driving wheel 23 is connected with the driving motor 29 and the driving movement of the driving motor 29; Li 25 of the circulating water to the water end connected to the filter assembly 28, one end by a conduit and the cleaning cloth 26 connected to wheel; the driving motor 29, the circulating water chestnut 25 and the water filter assembly 28 are located outside of the housing 21 and is located on the same side of the housing 21. 所述循环水栗25和所述污水过滤组件28 二者的摆放可以根据实际的使用情况进行相应的调整,如图1和图2中给出了两种优选的实施方式。 The circulating water chestnut 25 and 28 both placed in the water filter assembly can be adjusted according to actual usage, as shown in FIG. 1 and 2 show two preferred embodiments. 同时优选地,所述壳体21下方还可以设定用于辅助所述抹布22转动的转轴,由于其为本领域技术人员的常规技术手段,故此处不再赘述。 While preferably, below the housing 21 may also be used to assist in setting the cloth rotation shaft 22, since the conventional techniques known to those of skill in the art, and therefore will not be repeated here. 所述机器人本体I优选为一圆盘形,其内设有空腔,所述拖地机构2等组件均设在所述空腔内。 The robot body I is preferably a disc-shaped, with a cavity provided therein, the mopping means 2 like components are located within the cavity. 优选地,所述机器人本体I也包括一上盖,所述上盖的设置不仅可以更好的保护拖地机器人内部的组件,同时也使得整体更具有美感。 Preferably, the robot comprises a body I can also cover, the cover is provided not only to better protect the internal components mopping robots, but also makes the whole more aesthetic.

[0027] 所述机器人本体I的前端上设有吸尘机构3和边刷机构4,所述吸尘机构3连通有垃圾盒31;所述机器人本体I内腔的后端底部设置有行走机构5。 [0027] The front end of the robot body provided with a suction mechanism 3 and I side brush bodies 4, the suction means communicating with a refuse cassette 31 3; provided with a bogie of the bottom rear of the robot body lumen I 5.

[0028]所述行走机构5包括左边轮51和右边轮52,所述左边轮51和所述右边轮52位于所述拖地机构2的两侧,所述左边轮51和所述右边轮52通过驱动电机驱动。 [0028] The mechanism 5 comprises a running wheel 51 on the left and right wheels 52, 51 of the left wheel and the right wheel 52 located on the both sides of the drag mechanism 2, the left wheel 51 and the wheel 52 to the right by the drive motor. 附图中略去驱动电机,本领域技术人员请知晓。 BRIEF omitted driving motor, known to those skilled please.

[0029] 所述边刷机构4包括左边刷41和右边刷42,所述左边刷41和所述右边刷42位于所述吸尘机构3的两侧,所述左边刷41和所述右边刷42通过驱动电机驱动。 [0029] The brush means 4 includes a left side 41 and right brushes 42 brush, brush 41 of the left and right of the brush 42 is located on both sides of the suction mechanism 3, the left and the right of the brush 41 brush 42 is driven by a drive motor. 附图中略去驱动电机,本领域技术人员请知晓。 BRIEF omitted driving motor, known to those skilled please.

[0030] 所述拖地机构2还包括上壳20,所述上壳20位于所述壳体21的上端并与其固定连接。 [0030] The mopping mechanism 2 further includes an upper housing 20, the upper housing 20 located within the housing 21 and an upper end fixedly connected thereto. 所述上壳20的设置可以更好的保护整个拖地机构2。 The upper casing 20 may be provided to better protect the whole mechanism 2 mopping. 所述主动轮23、所述从动轮、所述抹布清洗轮26、所述抹布挤干组件27可以设定在所述壳体21上,也可以设定在所述上壳20上,本实施例对此不做限定。 23 the driving wheel, the driven wheel, the wheel cleaning cloth 26, the cloth 27 squeezed assembly can be set on the housing 21 may be set on the upper case 20, the present embodiment It is not limited to this embodiment.

[0031]优选地,所述抹布挤干组件27包括用于调节挤压强度的挤水压块271和张紧轮272,所述张紧轮272靠近所述主动轮23,所述挤水压块271靠近所述抹布清洗轮26。 [0031] Preferably, the cloth comprises a wringing assembly 27 for adjusting the crush strength of the water squeezing compact 271 and a tension pulley 272, a tensioning wheel 272 near the driving wheel 23, the pressing pressure block 271 adjacent to the cleaning cloth wheel 26. 所述污水过滤组件28为过滤箱,所述过滤箱内设有过滤网,所述过滤网的数量为一个或者多个,本实施例对此不做限定,此处优选使用多道过滤网。 The water filter assembly 28 is a filter box, filter box with the filter, the filter is the number of one or more, which is not limited to this embodiment, preferred for use herein multichannel filter. 清洗抹布22的污水通过多道过滤网过滤,由循环水栗25供给抹布清洗轮26,从而达到循环使用。 Sewage cleaning cloth 22 by a multi-channel filtering filter, the water supply cycle the cleaning cloth 25 is made of Li wheel 26, so as to achieve recycling. 所述吸尘机构3优选为吸尘器。 The suction means 3 is preferably a vacuum cleaner.

[0032]优选地,本实施例还包括设置在所述机器人本体I上的控制系统,所述控制系统包括控制芯片、用于检测即时位置的位移角度传感器、用于自动识别前方障碍物的超声波传感器和红外传感器、用于提供动力能源的电源模块,其中所述控制芯片连接各机构中的动力设备。 [0032] Preferably, the present embodiment further includes a control system disposed on the body I of the robot, the control system comprising a control chip, a displacement angle sensor for detecting the instantaneous position of, for automatically identifying an obstacle in front of the ultrasonic sensors and infrared sensors, the energy for powering the power module, wherein the control chip is connected to a power plant bodies. 优选地,所述电源模块为蓄电池。 Preferably, the power module is a battery. 本实施例通过控制系统,实现先吸尘、后抹地的功能。 In this embodiment, the control system, the first vacuum, after the wiping function. 通过位移角度传感器及时检测即时的位置,用惯性导航算法实现室内导航,通过超声波传感器及红外传感器,自动识别前方的障碍物。 Promptly detected by the displacement angle sensor real-time location, inertial navigation algorithm indoor navigation, ultrasonic sensors and infrared sensors, automatic identification of obstacles ahead. 其通过室内运动首先形成导航地图,而后根据导航地图有效地规划路径,实现高效的到达到室内所有规定地点。 To its first formed by indoor sports navigation map, and then effectively plan based on navigation route maps, to achieve efficient reach all the provisions indoor locations. 当电池接近低电压临界值,或室内清扫完成,本自动清洗抹布的拖地机器人自动运行到充电坞进行自动充电。 When the battery is nearing a low threshold voltage, or interior cleaning is completed, the automatic cleaning cloth mopping robot to automatically run the charging dock is automatically charged. 自动充电功能的实现是通过红外传感器,控制系统进行准确对位而实现的。 Automatic charging function may be implemented by an infrared sensor, a control system for accurate alignment achieved. 由于所述电压临界值的设定为本领域技术人员的常规技术手段,且可以根据实际的使用情况进行相应的调整,故此处不再赘述。 Since the conventional techniques to set the threshold voltage to the person skilled and may be adjusted according to actual usage, it is not repeated herein.

[0033]本实施例的工作原理在于:首先通过行走机构5和边刷机构4的运动,用吸尘器吸除地面颗粒较大的细肩和灰尘;然后通过主动电机29带动主动轮23,转动履带型抹布22,运动中擦除地面污垢。 [0033] The working principle of this embodiment is that: firstly by the movement mechanism 5 and the traveling side brush mechanism 4, vacuumed floor larger dust particles and other fine shoulder; the motor 29 is then driven active by the capstan 23, the rotation track type cloth 22, the movement erase dirt from the ground. 带污垢的抹布22通过抹布清洗轮26清洗,洗除抹布22上的污垢。 22 cloth soiled cleaning cloth is cleaned by the wheel 26, wash off the dirt on the cloth 22. 清洗过的抹布22,通过抹布挤干组件27,即挤水压块271和张紧轮272挤干抹布22的水分,达到抹地时残留水渍达到满意。 22 cleaning rags, wipes squeezed through assembly 27, i.e., squeezing water compact 271 and a tension pulley 272 water squeezed cloth 22, to achieve satisfactory water or residual moisture reaches the wiping. 带污渍的水通过污水过滤组件28过滤,被循环水栗25抽到抹布清洗轮26,反复循环使用。 Stains with water filtered through a water filter assembly 28, 25 is pumped circulating water chestnut cleaning cloth wheel 26, repeated cycles of use. 而且污水过滤组件28的过滤网易于拆洗,用户体验较好。 And filtration of sewage filter assembly 28 to washable Netease user experience better.

[0034]本实施例所述的自动清洗抹布的拖地机器人采用吸尘抹地二合一方式,完全模仿人用抹布22擦地板,抹布22上的干湿可以调节,抹地效果好。 [0034] The present automatic cleaning robot mopping cloth embodiment of the embodiment employs vacuum wipe combo manner, totally mimic with a cloth to clean the floor 22, the wet wipes 22 can be adjusted, the good wiping effect. 另外由于水可以循环使用,既环保又减少更换次数,节省了大量的用水和人力资源。 In addition, as the water can be recycled, environmentally-friendly and reduce the number of replacement, saving a lot of water and human resources. 同时其还具有自动充电、室内自动定位、路径规划、自动导航等功能,更加智能化。 At the same time it also has an automatic charging, indoor automatic positioning, route planning, navigation functions such as automatic, more intelligent.

[0035]对本发明的一个实施例进行了详细说明,但所述内容仅为本发明创造的较佳实施例,不能被认为用于限定本发明的实施范围。 [0035] In one embodiment of the present invention will be described in detail, but only the content of the present inventions preferred embodiments, should not be considered as limiting the present invention scope. 凡依本发明申请范围所作的任何等同变化,均应仍处于本发明的专利涵盖范围之内。 Where under this scope of application of the invention Any equivalent variation made, should still within the patent scope of the present invention.

Claims (10)

  1. 1.一种自动清洗抹布的拖地机器人,其特征在于:包括机器人本体,所述机器人本体上设有拖地机构,所述拖地机构包括具有内腔的壳体、抹布、主动轮、第一从动轮、第二从动轮、第三从动轮、循环水栗、抹布清洗轮、抹布挤干组件、污水过滤组件和主动电机;其中所述主动轮与所述抹布挤干组件、所述抹布清洗轮、所述第一从动轮依次平行设置在所述壳体内腔中的上方;所述第二从动轮与所述第三从动轮位于所述壳体的下方,且所述第二从动轮位于所述主动轮的正下方,所述第三从动轮位于所述第一从动轮的正下方;所述抹布呈履带型并依次从所述第一从动轮的上方、所述抹布清洗轮的下方、所述抹布挤干组件的下方、所述主动轮的上方以及所述第二从动轮和所述第三从动轮的下方穿过;所述主动轮与所述主动电机连接并在所述主动电机的驱动下运动 An automatic cleaning cloth mopping robot comprising: a robot body, the robot mechanism provided mop body, said mechanism comprising a housing mop, cloth, capstan having a lumen, a first a driven wheel, the second driven gear, a third driven wheel, circulating water chestnut, cleaning cloth wheel, cloth squeezed components, water and an active filter assembly machine; wherein the driving wheel and the assembly squeezed cloth, the cloth cleaning wheel, the first driven gear arranged sequentially in parallel above said housing lumen; said driven wheel below said second housing and the third driven gear is located, and the second driven wheel is located directly below the driving wheel, the third driven wheel is located directly below the first driven wheel; track-type form of the cloth and sequentially from above the first driven wheel, the wheel cleaning cloth below, the squeezed under the cloth assembly through the upper and the lower the driving wheel and the second driven wheel of the third driven wheel; the driving wheel connected with the driving motor and the driven by motor sports initiative ;所述循环水栗一端与所述污水过滤组件连接,一端与所述抹布清洗轮连接;所述主动电机、所述循环水栗和所述污水过滤组件均位于所述壳体的外侧。 ; The circulating water chestnut end connected to the water filter assembly, with one end connected to the wheel cleaning cloth; the driving motor, the water circulating the water filter assembly and Li are located outside of the housing.
  2. 2.如权利要求1所述的自动清洗抹布的拖地机器人,其特征在于:所述机器人本体的前端上设有吸尘机构和边刷机构,所述吸尘机构连通有垃圾盒;所述机器人本体内腔的后端底部设置有行走机构。 Mopping robot as claimed in automatic cleaning cloth according to claim 1, wherein: the side brush is provided with suction means and said means on the front end of the robot body, the suction means communicating with a refuse cassette; the the bottom rear end of the robot body provided with a cavity running gear.
  3. 3.如权利要求2所述的自动清洗抹布的拖地机器人,其特征在于:所述行走机构包括左边轮和右边轮,所述左边轮和所述右边轮位于所述拖地机构的两侧,所述左边轮和所述右边轮通过驱动电机驱动。 The automatic cleaning cloth mopping robot according to claim 2, wherein: said traveling means comprises a left wheel and a right wheel, said left wheel and the right wheel located on both sides of the mechanism of the mop the left wheel and the right wheel is driven by the drive motor.
  4. 4.如权利要求2或3所述的自动清洗抹布的拖地机器人,其特征在于:所述边刷机构包括左边刷和右边刷,所述左边刷和所述右边刷位于所述吸尘机构的两侧,所述左边刷和所述右边刷通过驱动电机驱动。 The automatic cleaning cloth mopping robot 2 or claim 3, wherein: said brush means comprises a left side and a right side brushes brush, the brush left and right of the brush in said suction means both sides of the left and the right of the brush through the brush drive motor.
  5. 5.如权利要求4所述的自动清洗抹布的拖地机器人,其特征在于:所述拖地机构还包括上壳,所述上壳位于所述壳体的上端并与其固定连接。 The automatic cleaning cloth mopping robot according to claim 4, characterized in that: the mechanism further comprises an upper shell of the trailing, upper end of the housing located on said housing and fixedly connected thereto.
  6. 6.如权利要求5所述的自动清洗抹布的拖地机器人,其特征在于:所述抹布挤干组件包括用于调节挤压强度的挤水压块和张紧轮,所述张紧轮靠近所述主动轮,所述挤水压块靠近所述抹布清洗轮。 The automatic cleaning cloth mopping robot according to claim 5, wherein: said assembly comprises a cloth squeezed for adjusting the water squeezing crush strength and compact tension wheel, the tension wheel near the driving wheel, the water squeeze compact cleaning cloth near said wheel.
  7. 7.如权利要求6所述的自动清洗抹布的拖地机器人,其特征在于:所述污水过滤组件为过滤箱,所述过滤箱内设有过滤网。 Automatic cleaning rag mop 7. The robot of claim 6, wherein: said filter assembly to filter water tank, the filter tank is provided with filter.
  8. 8.如权利要求7所述的自动清洗抹布的拖地机器人,其特征在于:还包括设置在所述机器人本体上的控制系统,所述控制系统包括控制芯片、用于检测即时位置的位移角度传感器、用于自动识别前方障碍物的超声波传感器和红外传感器、用于提供动力能源的电源模块,其中所述控制芯片连接各机构中的动力设备。 An automatic cleaning cloth mopping robot according to claim 7, characterized in that: further comprising a control system is provided on the robot body, the control system comprising a control chip, for detecting the instantaneous position of the displacement angle a sensor, for automatically recognizing the front obstacle ultrasonic sensors and infrared sensors, the energy for powering the power module, wherein the control chip is connected to a power plant bodies.
  9. 9.如权利要求2所述的自动清洗抹布的拖地机器人,其特征在于:所述吸尘机构为吸尘器。 Automatic cleaning cloth 9. mopping robot of claim 2, wherein: said suction means is a vacuum cleaner.
  10. 10.如权利要求8所述的自动清洗抹布的拖地机器人,其特征在于:所述电源模块为蓄电池。 Automatic cleaning cloth mopping robot as claimed in claim 8, wherein: the power module is a battery.
CN 201510054983 2015-02-03 2015-02-03 An automatic cleaning rag mopping robot CN104545709B (en)

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