CN108245094A - A kind of floor-mopping robot - Google Patents
A kind of floor-mopping robot Download PDFInfo
- Publication number
- CN108245094A CN108245094A CN201810054276.6A CN201810054276A CN108245094A CN 108245094 A CN108245094 A CN 108245094A CN 201810054276 A CN201810054276 A CN 201810054276A CN 108245094 A CN108245094 A CN 108245094A
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- Prior art keywords
- floor
- connecting rod
- returning face
- face plate
- mopping robot
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000003028 elevating effect Effects 0.000 claims description 23
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 abstract description 18
- 238000010586 diagram Methods 0.000 description 8
- 238000003825 pressing Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating 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
-
- 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
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The present invention provides a kind of floor-mopping robot, including：Floor-mopping robot bottom plate, the floor-mopping robot bottom plate are equipped with opening；Mop floor main body mechanism, and the main body mechanism that mops floor includes returning face plate, the first mop board mounted on the top of the returning face plate, the second mop board mounted on the lower section of the returning face plate；And upset motor, the upset motor are fixedly mounted on the side of the floor-mopping robot bottom plate, the output shaft of the upset motor is fixedly connected with one end of the returning face plate, for overturning the main body mechanism that mops floor.According to floor-mopping robot provided by the invention, it can automatically be rotated in the case where mop board is dirty, be switched to the mop board of another side cleaning, it is effective to improve the efficiency that mops floor of floor-mopping robot, and prevent from causing the secondary pollution to ground.
Description
Technical field
The present invention relates to household cleaning technique field, more particularly to a kind of floor-mopping robot.
Background technology
With the development of new and high technology, people no longer meet the heavy housework of artificial treatment, increasingly look forward to intelligence machine
People can enter huge numbers of families, and the raising of housework efficiency is looked forward in auxiliary people’s lives labour.Then, to family type intelligence
The Intelligent cleaning robot of the exploitation of robot, especially family type can successfully enter average family, almost as entire state
The Demand trend in interior market.
At present, Intelligent cleaning robot existing for the country is similar, and the mode of mopping floor is broadly divided into two kinds：One kind is to adopt
With directly product bottom place one piece tiling mop, it is another then be using crawler type rolling mop cleaned.
But the mop of existing intelligence floor-mopping robot product needs repeatedly progress mutual disassembly to change clothes, and excessively need not cause
The hand labor wanted can not embody the intelligence of floor-mopping robot to a certain extent.And in the case of mop soiled, if
Not cleaning in time, be easy to cause the secondary pollution to ground.
Invention content
It is at least to solve one of problems of the prior art, mops floor machine the purpose of the present invention is to provide one kind
People can automatically rotate in the case where mop board is dirty, be switched to the mop board of another side cleaning, effective to improve
The efficiency that mops floor of floor-mopping robot, and prevent from causing the secondary pollution to ground.
To achieve the above object, the present invention provides a kind of floor-mopping robot, including：Floor-mopping robot bottom plate, it is described to drag
Floor-washing robot bottom plate is equipped with opening；Mop floor main body mechanism, and the main body mechanism that mops floor includes returning face plate, mounted on the overturning
First mop board of the top of plate, the second mop board mounted on the lower section of the returning face plate；And upset motor, the overturning
Motor is fixedly mounted on the side of the floor-mopping robot bottom plate, one end of the output shaft of the upset motor and the returning face plate
It is fixedly connected, for overturning the main body mechanism that mops floor.
Further, first mop board is equipped with for the first groove for installing mop, on second mop board
Equipped with for installing the second groove of mop.
Further, first mop board is mounted on the top of the returning face plate by the first double link elevating mechanism,
Second mop board is mounted on the lower section of the returning face plate by the second double link elevating mechanism.
Further, the first double link elevating mechanism includes the first drive connecting rod and the first follower link, and described the
One drive connecting rod intersects with first follower link and is rotatably coupled to together, the upper end of first drive connecting rod
Rotatably on the lower surface of first mop board, the lower end of first drive connecting rod is slidably mounted on institute
It states on returning face plate；The upper end of first follower link is slidably mounted on the lower surface of first mop board, described
The lower end of first follower link is rotatably mounted on the returning face plate.
Further, first drive connecting rod and first follower link are rotatably connected by the first rotation bolt
It is connected together, first drive connecting rod is two to be mutually parallel, and the first drive connecting rod upper end is pacified by hinge seat
On the lower surface of first mop board, sliding slot of the side of the returning face plate equipped with the perforation returning face plate, described two
The lower end of the first drive connecting rod of root is connected by slide link, and the slide link is slidably disposed in the sliding slot and wears
The sliding slot is crossed, one end of the slide link is rotatably connect with the lower end of first drive connecting rod, the cunning
The other end of dynamic connecting rod is rotatably connect with the lower end of another first drive connecting rod；First follower link is phase
Mutually parallel two, the both sides of the lower surface of first mop board are respectively arranged with the first slideway, and described two first driven
The upper end of connecting rod is slidably mounted on by the first sliding pin on first slideway respectively, two first follower links
Lower end respectively rotatably be mounted on the returning face plate side.
Further, the second double link elevating mechanism includes the second drive connecting rod and the second follower link, and described the
Two drive connecting rods intersect with second follower link and are rotatably coupled to together, the upper end of second drive connecting rod
It is slidably mounted on the returning face plate, the lower end of second drive connecting rod is rotatably mounted on second mop board
Upper surface on；The upper end of second follower link is rotatably mounted on the returning face plate, second follower link
Lower end be slidably mounted on the upper surface of second mop board.
Further, second drive connecting rod and second follower link are rotatably connected by the second rotation bolt
It is connected together, second drive connecting rod is two to be mutually parallel, one end of the slide link and second master
The upper end of dynamic connecting rod rotatably connects, and the upper end of the other end of the slide link and another second drive connecting rod can
The connection of rotation, the lower end of two second drive connecting rods are mounted on the upper table of second mop board by hinge seat respectively
On face；The both sides of the upper surface of second mop board are respectively arranged with the second slideway, under two second follower links
End is slidably mounted on by the second sliding pin on second slideway respectively, the upper end point of two second follower links
It is not mounted on the side of the returning face plate rotatably.
Further, the floor-mopping robot further includes dynamics regulation motor and screw, one end of the screw with it is described
Slide link connects, and the output shaft of the dynamics regulation motor is fixedly connected that the screw is driven to revolve with one end of the screw
Turn, and then the slide link is controlled to horizontally slip in the sliding slot.
Further, the opposite side of the floor-mopping robot bottom plate is provided with the linear guide, and the dynamics regulation motor is consolidated
Dingan County is provided with the straight coordinated with the linear guide on electric machine support platform on the electric machine support platform, described
The middle part of the other end of returning face plate is equipped with through-hole, and the feed screw nut coordinated with the screw, institute are installed in the through-hole
The one end for stating screw is fixedly connected by the feed screw nut across the through-hole with the slide link, the screw it is another
End is fixedly connected by shaft coupling with the output shaft of the dynamics regulation motor.
Further, the middle part of the slide link is equipped with feed screw nut, and the middle part of the other end of the returning face plate is equipped with
Through-hole, one end of the screw pass through the through-hole by the feed screw nut with the slide link is mobilizable is connected to one
It rises, the other end of the screw is fixedly connected by shaft coupling with the output shaft of the dynamics regulation motor, and the dynamics is adjusted
Motor is fixedly mounted on the opposite side of the floor-mopping robot bottom plate.
According to floor-mopping robot provided by the invention, the both sides for the main body mechanism that mops floor can set mop board, pass through control
Upset motor processed can overturn the main body mechanism that mops floor of floor-mopping robot, and then can be in the case where the mop board of side is dirty
It realizes rotation, is switched to the mop board of another side cleaning, the efficiency that mops floor of effective raising floor-mopping robot, and prevent from causing pair
The secondary pollution on ground.Moreover, in cooperation elevating mechanism and dynamics regulation motor, the adjusting to the dynamics of mopping floor can be realized, it is real
Existing floor-mopping robot realizes the difference for the pressing dynamics that mop floor on the region of different soiled degree, improves the cleaning of floor-mopping robot
Effect, and by recycling rotation and pressing dynamics adjusting repeatedly, do not carry out the task that mops floor intermittently, greatly improve and mop floor
The efficiency that mops floor of robot.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the floor-mopping robot of one embodiment of the invention；
Fig. 2 is the dimensional structure diagram of the floor-mopping robot of one embodiment of the invention；
Fig. 3 is the dimensional structure diagram of the floor-mopping robot of one embodiment of the invention；
Fig. 4 is the dimensional structure diagram of the floor-mopping robot of another embodiment of the present invention；
Fig. 5 is the side structure schematic diagram of the floor-mopping robot of another embodiment of the present invention；
Fig. 6 is the structure diagram of the returning face plate of the floor-mopping robot of one embodiment of the invention；And
Fig. 7 is the mounting structure schematic diagram of the floor-mopping robot of one embodiment of the invention.
Specific embodiment
In order to better illustrate the present invention, with reference to specific embodiment and attached drawing, the present invention will be further described.It can
With understanding, these specific embodiments and attached drawing are illustrative, are only used for explaining the present invention, and it is not intended that this
The limitation of invention.
The example of the embodiment is shown in the drawings, wherein same or similar label represents identical or class from beginning to end
As element or with same or like function element.The embodiments described below with reference to the accompanying drawings are exemplary, purport
For explaining the present invention, and it is not considered as limiting the invention.
In the description of the present invention, it is to be understood that the orientation or position of the instructions such as term " on ", " under ", "left", "right"
Put relationship be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and simplify description rather than
Indicate or imply that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore cannot
It is interpreted as limitation of the present invention.
In addition, the terms such as " first ", " second " in the present invention are only used for description purpose, and it is not intended that instruction or dark
Show relative importance or the implicit quantity for indicating indicated technical characteristic.The feature of " first ", " second " is defined as a result,
It can express or implicitly include at least one this feature.
In the present invention, unless otherwise specific regulation and restriction, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise specific regulation and limit, fisrt feature second feature " on ", " top " and
" above " can be fisrt feature right over second feature or oblique upper or be merely representative of fisrt feature level height higher than the
Two features.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature
Or obliquely downward or fisrt feature level height is merely representative of less than second feature.
With reference to shown in Fig. 1, Fig. 6, the present invention provides a kind of floor-mopping robot 10, including floor-mopping robot bottom plate 100, drags
Ground main body mechanism 200 and upset motor 300.Wherein, floor-mopping robot bottom plate 100 is equipped with opening 101, the main body that mops floor machine 200
Including returning face plate 201, the first mop board 202 mounted on the top of returning face plate 201, mounted on the lower section of returning face plate 201
Two mop boards 203, upset motor 300 are fixedly mounted on the side of floor-mopping robot bottom plate 100, the output shaft of upset motor 300
301 are fixedly connected with one end of returning face plate 201, for overturning the main body mechanism 200 that mops floor, wherein the second mop board 203 is mopping floor
Robot 10 stretches out when working from the opening 101 on floor-mopping robot bottom plate 100, to perform the task that mops floor.
It is understood that various common mode upset motors 300, which may be used, is fixedly mounted on floor-mopping robot bottom
On plate 100, the present invention is not particularly limited this, such as can be fixedly mounted on upset motor 300 by motor support base and drag
On floor-washing robot bottom plate 100.
It can also be appreciated that the first mop board 202 and the second mop board 203 can be commonly used in the art various drag
Fabric swatch, the present invention are not particularly limited this.In one embodiment of the invention, the first mop board 202 and the second mop board
It is equipped on 202 for installing mop or dragging the groove (not shown) of panel, when floor-mopping robot needs work, will dragged
Cloth or mop board are mounted in groove.
It can also be appreciated that the present invention is not special for the shape of the first mop board 202 and the second mop board 203
Limitation, is not limited to that rectangular shape, the other shapes such as semilune can be designed as according to the global design of floor-mopping robot, with
Reach the best effect that mops floor.
The present invention is fixedly connected by upset motor 300 with returning face plate 201, and then when upset motor 300 works, defeated
Shaft 301 rotates, and then returning face plate 201 can be driven to overturn, and realizes the overturning for the main body mechanism 200 that mops floor, therefore, of the invention
Floor-mopping robot can automatically be rotated in the case where the mop board below returning face plate 201 is dirty, be switched to another side cleaning
Mop board, it is effective to improve the efficiency that mops floor of floor-mopping robot, and prevent from causing the secondary pollution to ground.
It is understood that various modes commonly used in the art may be used by the output shaft 301 of upset motor 300 with turning over
One end of flap 201 is fixedly connected, and the present invention is not particularly limited this.For example, flange coupling, which may be used, will overturn electricity
The output shaft 301 of machine 300 is fixedly connected with one end of returning face plate 201.
The first mop board 202 and second are dragged it can also be appreciated that various methods commonly used in the art may be used
Fabric swatch 203 is mounted on returning face plate 201, as long as while returning face plate 201 is overturn, the first mop board 202 and the second mop board
203 overturn therewith.
Preferably, as shown in Figure 1 and Figure 2, in one embodiment of the invention, the first mop board 202 passes through the first doubly-linked
Bar elevating mechanism is mounted on the top of returning face plate 201, and the second mop board 203 is mounted on described by the second double link elevating mechanism
The lower section of returning face plate.
Wherein, with reference to shown in Fig. 2, Fig. 5, it is driven that the first double link elevating mechanism includes the first drive connecting rod 204 and first
Connecting rod 205, the first drive connecting rod 204 and the first follower link 205 intersect and are rotatably coupled to together, and the first active connects
The upper end of bar 204 is rotatably on the lower surface of the first mop board 202, and the lower end of the first drive connecting rod 204 is slidably
Be mounted on returning face plate 201 on；The upper end of first follower link 205 is slidably mounted on the lower surface of the first mop board 202
On, the lower end of the first follower link 205 is rotatably mounted on returning face plate 201.
It it is understood that can be by various methods commonly used in the art by the first drive connecting rod 204 and described first
Follower link 205 is rotatably coupled to together, and the present invention is not particularly limited this.For example, as shown in Fig. 2, Fig. 5, first
Drive connecting rod 204 and first follower link 205 are rotatably coupled to together by the first rotation bolt 206.
In order to improve the connective stability between the first mop board 202 and returning face plate 201, in one embodiment of the present of invention
In, with reference to shown in Fig. 2, the first drive connecting rod 204 is two to be mutually parallel, and the upper end of two first drive connecting rods 204 is logical
Hinge seat 207 is crossed mounted on the both sides of the lower surface of the first mop board 202, the side of returning face plate 201 is equipped with perforation returning face plate 201
Sliding slot 208, the lower end of two first drive connecting rods 204 connected by slide link 209, and slide link 209 is slidably set
It puts in sliding slot 208 and across sliding slot 208, one end (this visual one end in such as Fig. 2) of slide link 209 is led with one first
The lower end of dynamic connecting rod 204 rotatably connects, the other end (the not visible other end in such as Fig. 2) of slide link 209 with it is another
The lower end of the first drive connecting rod of root 204 rotatably connects；First follower link 205 is to be similarly two to be mutually parallel, the
The both sides of the lower surface of one mop board 202 are respectively arranged with the first slideway 210, the upper end difference of two first follower links 205
It is slidably mounted on the first slideway 210 by the first sliding pin 211, the lower end of two first follower links 205 respectively can
Rotation is rotatably mounted on two of returning face plate 201 mounted on the side of returning face plate 201, such as by fixed connecting rod 212
Side, wherein fixed connecting rod 212 runs through returning face plate 201, and be fixedly connected with returning face plate 201.
Likewise, the second double link elevating mechanism can also use pair identical with the first above-mentioned double link elevating mechanism
Two bar elevating mechanisms, that is, with reference to shown in Fig. 3, Fig. 5, the second double link elevating mechanism include the second drive connecting rod 213 and second from
Dynamic connecting rod 214, the second drive connecting rod 213 and the second follower link 214 intersect and are rotatably coupled to together, and second actively
The upper end of connecting rod 213 is slidably mounted on returning face plate 201, and the lower end of the second drive connecting rod 213 is rotatably mounted on the
On the upper surface of two mop boards 203；The upper end of second follower link 214 is rotatably mounted on returning face plate 201, and second is driven
The lower end of connecting rod 214 is slidably mounted on the upper surface of the second mop board 203.
Likewise, in order to improve the connective stability between the second mop board 203 and returning face plate 201, the one of the present invention
In a embodiment, with reference to shown in Fig. 3, Fig. 5, the second drive connecting rod 213 and the second follower link 214 pass through the second rotation bolt
215 are rotatably coupled to together, and the second drive connecting rod 213 is two to be mutually parallel, one end of slide link 209 with one
The upper end of second drive connecting rod 213 rotatably connects, the other end of slide link 209 and another second drive connecting rod 213
Upper end rotatably connect, the lower ends of two second drive connecting rods 213 is mounted on the second mop board 203 by hinge seat respectively
Upper surface both sides；The both sides of the upper surface of second mop board 203 are respectively arranged with the second slideway 216, and two second driven
The lower end of connecting rod 214 is slidably mounted on by the second sliding pin 217 on the second slideway 216 respectively, two second driven companies
The upper end of bar 214 is rotatably mounted on the side of returning face plate 201 respectively, such as is rotatably installed by fixed connecting rod 212
In two sides of returning face plate 201, wherein fixed connecting rod 212 runs through returning face plate 201, and be fixedly connected with returning face plate 201.
In one embodiment of the invention, with reference to shown in Fig. 4, Fig. 5, floor-mopping robot 10 provided by the invention further includes
Dynamics regulation motor 400 and screw 401, one end of screw 401 are connect with slide link 209, the output of dynamics regulation motor 400
Axis is fixedly connected with one end of screw 401 screw 401 to be driven to rotate, and then controls the left and right in sliding slot 208 of slide link 209
It slides.
That is, when dynamics regulation motor 400 works, screw 401 is driven to rotate, screw 401 pushes slide link 209 to exist
It horizontally slips in sliding slot 208, and then, slide link 209 drives the first elevating mechanism and the second elevating mechanism to stretch, and realization mops floor
The adjusting of dynamics.For example, when slide link 209 moves right, the second elevating mechanism constantly extends, and the second mop board 203 is past
Lower movement, and then increase the pressure that the second mop board 203 earthward applies；When slide link 209 is moved to the left, the second lifting
Mechanism is constantly shunk, and the second mop board 203 up moves, and then reduces the pressure that the second mop board 203 earthward applies, and is realized
The adjusting for the dynamics that mops floor.Meanwhile the first elevating mechanism and the second elevating mechanism is controlled to shrink by dynamics regulation motor 400, it can
To vacate the space of bigger, the overturning for the main body mechanism that conveniently mops floor.And then the floor-mopping robot that this embodiment of the invention provides leads to
Upset motor 300 and dynamics regulation motor 400 are crossed, can realize the work(that the rotation switching of mop board and flexible pressing mop floor simultaneously
Energy.
That is, in this embodiment, when floor-mopping robot recognizes the soiled degree that a face mop board reaches certain
When, main body mopping ground may be reversed, mopped floor using the mop board of another side cleaning, continue the task of mopping floor, realization follows
Ring does not mop floor intermittently；Meanwhile the mop board of the one side of soiled can carry out in the mop cleaning apparatus of floor cleaning machine robot interior
Cleaning so recycles, realizes intelligent floor-mopping robot and do not carry out the task that mops floor intermittently, be effectively improved intelligent floor cleaning machine
The efficiency that mops floor of device people.Meanwhile can be assisted by the identification of some sensors, to the region of the different soiled degree on ground,
The dynamics for the pressing that mops floor is adjusted by the telescopic level of the first elevating mechanism and the second elevating mechanism, realizes transformable cleaning
Dynamics is effectively improved the effect that mops floor of intelligent floor-mopping robot.The device has the characteristics that mechanism is simple, stable, durable,
It can widely be used in inside the small intelligent clean robot with mopping function, realize the work(that mops floor of intelligent floor-mopping robot
Energy.
It is understood that for the other component and device of floor-mopping robot, such as mop cleaning apparatus, soiled degree
Identification sensor, running gear etc. of control floor-mopping robot movement, it is known to those skilled in the art, the present invention to this not
It is described in detail.
It is understood that the fit system of a variety of screws 401 and slide link 209 can be taken, 401 turns of screw is realized
When dynamic, slide link 209 is driven to horizontally slip in sliding slot 208.For example, referring to shown in Fig. 4, Fig. 6, floor-mopping robot bottom plate
100 opposite side is provided with the linear guide 402, and dynamics regulation motor 400 is fixedly mounted on electric machine support platform 403, motor branch
The straight coordinated with the linear guide 402 is provided on pallet 403, and then, dynamics regulation motor 400 can be in floor-mopping robot
It horizontally slips on bottom plate 100.The middle part of the other end of returning face plate 201 is equipped with through-hole 220, is installed in through-hole 220 and silk
The feed screw nut that bar 401 coordinates, one end of screw 401 pass through through-hole 220 to fix company with slide link 209 by feed screw nut
It connects, the other end of screw 401 is fixedly connected by shaft coupling 404 with the output shaft of dynamics regulation motor 400.And then in dynamics
When regulation motor 400 works, screw 401 is driven to rotate by shaft coupling 404, since feed screw nut is fixedly mounted on returning face plate
On 201, and returning face plate by be fixedly mounted on 100 opposite side of floor-mopping robot bottom plate upset motor 300 restriction effect without
Method moves left and right, and therefore, dynamics regulation motor 400 is driven due to the cooperation of feed screw nut and screw 401 in the linear guide 402
It horizontally slips, and then screw 401 is driven to horizontally slip, since one end of screw 401 is fixedly connected with slide link 209, and then
It can realize and slide link 209 is driven to horizontally slip in sliding slot 208.It is understood that dynamics regulation motor in order to prevent
400 slide from the linear guide 402, can set positive stop lug boss respectively at the both ends of the linear guide 402.
In addition, also it can realize that slide link 209 horizontally slips in sliding slot 208 by other kinds of drive.For example,
Also feed screw nut can be arranged on slide link 209, and dynamics regulation motor 400 is fixedly mounted on floor-mopping robot bottom plate
100 opposite side, at this point, when dynamics regulation motor 400 works, feed screw nut is driven with the cooperation of screw 401, drives feed screw nut
It is moved left and right on screw 401, and then slide link 209 is driven to horizontally slip in sliding slot 208, that is, in this embodiment,
The middle part fixed setting feed screw nut of slide link 209, the middle part setting through-hole 220 of the other end of returning face plate 201, screw 401
One end pass through through-hole 220 by feed screw nut with slide link 209 is mobilizable links together, the other end of screw 401
It is fixedly connected by shaft coupling 404 with the output shaft of dynamics regulation motor 400, dynamics regulation motor 400, which is fixedly mounted on, to mop floor
The opposite side of robot bottom plate.That is, in this embodiment, dynamics regulation motor 400 is fixed, is driven and slided by feed screw nut
Dynamic connecting rod 209 horizontally slips.
It is understood that described in reference diagram 6, the returning face plate in the floor-mopping robot 10 that the above embodiment of the present invention provides
201 can design for hollow out, in the middle part of hollow-out part can provide slide link 209 enough mobile spaces, right hollow out
For the fixation connecting rod in the fixed main body mechanism that mops floor, the center for the main body mechanism that ensures to mop floor remains not for place part
Become.
It is understood that cooperation and generated movement of the feed screw nut with screw 401 are those skilled in the art institute
Known, this is not described in detail in the present invention.
It can also be appreciated that floor cleaning machine of the motor of various type selectings commonly used in the art as the present invention may be used
Upset motor 300 and dynamics regulation motor 400 in device people, as long as torque is enough, the present invention is not particularly limited this.
According to floor-mopping robot provided by the invention, the both sides for the main body mechanism that mops floor can set mop board, pass through control
Upset motor processed can overturn the main body mechanism that mops floor of floor-mopping robot, and then can be in the case where the mop board of side is dirty
It realizes rotation, is switched to the mop board of another side cleaning, the efficiency that mops floor of effective raising floor-mopping robot, and prevent from causing pair
The secondary pollution on ground.Moreover, in cooperation elevating mechanism and dynamics regulation motor 400, the adjusting to the dynamics of mopping floor can be realized,
It realizes that floor-mopping robot realizes the difference for the pressing dynamics that mop floor on the region of different soiled degree, improves the clear of floor-mopping robot
Clean effect, and by recycling rotation and pressing dynamics adjusting repeatedly, do not carry out the task that mops floor intermittently, greatly improve and drag
The efficiency that mops floor of floor-washing robot.
Although illustrative description has been done to the present invention above, it will be understood by those skilled in the art that：
In the case of not departing from the principle of the present invention and objective, can these embodiments be carried out with a variety of variations, modification, replace and become
Type, the scope of the present invention are limited by claim and its equivalent.
Claims (10)
1. a kind of floor-mopping robot, which is characterized in that including：
Floor-mopping robot bottom plate, the floor-mopping robot bottom plate are equipped with opening；
Mop floor main body mechanism, and the main body mechanism that mops floor includes returning face plate, the first mop mounted on the top of the returning face plate
Plate and the second mop board mounted on the lower section of the returning face plate；And
Upset motor, the upset motor are fixedly mounted on the side of the floor-mopping robot bottom plate, the upset motor it is defeated
Shaft is fixedly connected with one end of the returning face plate, for overturning the main body mechanism that mops floor.
2. floor-mopping robot as described in claim 1, which is characterized in that first mop board is equipped with to install mop
The first groove, second mop board is equipped with for the second groove for installing mop.
3. floor-mopping robot as claimed in claim 2, which is characterized in that first mop board is lifted by the first double link
Mechanism is mounted on the top of the returning face plate, and second mop board is mounted on the overturning by the second double link elevating mechanism
The lower section of plate.
4. floor-mopping robot as claimed in claim 3, which is characterized in that the first double link elevating mechanism includes the first master
Dynamic connecting rod and the first follower link, first drive connecting rod intersect with first follower link and are rotatably coupled to
Together, rotatably on the lower surface of first mop board, described first leads for the upper end of first drive connecting rod
The lower end of dynamic connecting rod is slidably mounted on the returning face plate；The upper end of first follower link is slidably mounted on institute
On the lower surface for stating the first mop board, the lower end of first follower link is rotatably mounted on the returning face plate.
5. floor-mopping robot as claimed in claim 4, which is characterized in that first drive connecting rod and the first driven company
Bar is rotatably coupled to together by the first rotation bolt, and first drive connecting rod is two to be mutually parallel, described
First drive connecting rod upper end is mounted on by hinge seat on the lower surface of first mop board, and the side of the returning face plate is equipped with
The sliding slot of the returning face plate is penetrated through, the lower end of two first drive connecting rods is connected by slide link, the slide link
It is slidably disposed in the sliding slot and across the sliding slot, one end of the slide link connects with first active
The lower end of bar rotatably connects, and the other end of the slide link and the lower end of another first drive connecting rod are rotatable
Connection；First follower link is two to be mutually parallel, and the both sides of the lower surface of first mop board are set respectively
There is the first slideway, the upper end of two first follower links is slidably mounted on described first by the first sliding pin respectively
On slideway, the lower end of two first follower links is rotatably mounted on the side of the returning face plate respectively.
6. floor-mopping robot as claimed in claim 5, which is characterized in that the second double link elevating mechanism includes the second master
Dynamic connecting rod and the second follower link, second drive connecting rod intersect with second follower link and are rotatably coupled to
Together, the upper end of second drive connecting rod is slidably mounted on the returning face plate, the lower end of second drive connecting rod
Rotatably on the upper surface of second mop board；The upper end of second follower link is rotatably mounted on institute
It states on returning face plate, the lower end of second follower link is slidably mounted on the upper surface of second mop board.
7. floor-mopping robot as claimed in claim 6, which is characterized in that second drive connecting rod and the second driven company
Bar is rotatably coupled to together by the second rotation bolt, and second drive connecting rod is two to be mutually parallel, the cunning
One end of dynamic connecting rod is rotatably connect with the upper end of second drive connecting rod, the other end of the slide link with separately
The upper end of piece second drive connecting rod rotatably connects, and the lower end of two second drive connecting rods passes through hinge respectively
Seat is mounted on the upper surface of second mop board；The both sides of the upper surface of second mop board are respectively arranged with the second cunning
Road, the lower end of two second follower links are slidably mounted on by the second sliding pin on second slideway respectively,
The upper end of two second follower links is rotatably mounted on the side of the returning face plate respectively.
8. floor-mopping robot as claimed in claim 7, which is characterized in that the floor-mopping robot further includes dynamics regulation motor
And screw, one end of the screw are connect with the slide link, output shaft and the screw of the dynamics regulation motor
One end is fixedly connected so that the screw to be driven to rotate, and then the slide link is controlled to horizontally slip in the sliding slot.
9. floor-mopping robot as claimed in claim 8, which is characterized in that the opposite side of the floor-mopping robot bottom plate is provided with
The linear guide, the dynamics regulation motor are fixedly mounted on electric machine support platform, be provided on the electric machine support platform with it is described
The straight of the linear guide cooperation, the middle part of the other end of the returning face plate are equipped with through-hole, are installed in the through-hole
With the feed screw nut of screw cooperation, one end of the screw passes through the through-hole and the slip by the feed screw nut
Connecting rod is fixedly connected, and the other end of the screw is fixedly connected by shaft coupling with the output shaft of the dynamics regulation motor.
10. floor-mopping robot as claimed in claim 8, which is characterized in that the middle part of the slide link is equipped with feed screw nut,
The middle part of the other end of the returning face plate is equipped with through-hole, one end of the screw pass through the through-hole by the feed screw nut with
The slide link is mobilizable to link together, and the other end of the screw passes through shaft coupling and the dynamics regulation motor
Output shaft is fixedly connected, and the dynamics regulation motor is fixedly mounted on the opposite side of the floor-mopping robot bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810054276.6A CN108245094B (en) | 2018-01-19 | 2018-01-19 | Floor mopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810054276.6A CN108245094B (en) | 2018-01-19 | 2018-01-19 | Floor mopping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108245094A true CN108245094A (en) | 2018-07-06 |
| CN108245094B CN108245094B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810054276.6A Active CN108245094B (en) | 2018-01-19 | 2018-01-19 | Floor mopping robot |
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| Country | Link |
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| CN (1) | CN108245094B (en) |
Cited By (3)
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| CN109303525A (en) * | 2018-10-15 | 2019-02-05 | 常州大学 | A kind of combined type clean robot |
| CN110772181A (en) * | 2019-11-08 | 2020-02-11 | 上海高仙自动化科技发展有限公司 | Lifting mechanism and cleaning robot with same |
| CN111588319A (en) * | 2020-05-22 | 2020-08-28 | 珠海格力电器股份有限公司 | Mopping control method, mopping control device, mopping control medium and mopping control equipment |
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|---|---|
| CN108245094B (en) | 2023-12-29 |
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