CN108245094B - Floor mopping robot - Google Patents
Floor mopping robot Download PDFInfo
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- CN108245094B CN108245094B CN201810054276.6A CN201810054276A CN108245094B CN 108245094 B CN108245094 B CN 108245094B CN 201810054276 A CN201810054276 A CN 201810054276A CN 108245094 B CN108245094 B CN 108245094B
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- mop
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- 230000007306 turnover Effects 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 239000004744 fabric Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 description 6
- 230000000670 limiting effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 241001272720 Medialuna californiensis Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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
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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
- A47L11/40—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
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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
- A47L11/40—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
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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
- A47L11/40—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
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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
- 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 invention provides a mopping robot, which comprises: the floor mopping robot comprises a floor mopping robot base plate, wherein an opening is formed in the floor mopping robot base plate; the mopping device comprises a mopping main body mechanism, a first cleaning device and a second cleaning device, wherein the mopping main body mechanism comprises a turnover plate, a first mop plate arranged above the turnover plate and a second mop plate arranged below the turnover plate; and the overturning motor is fixedly arranged on one side of the floor mopping robot base plate, and an output shaft of the overturning motor is fixedly connected with one end of the overturning plate and used for overturning the floor mopping main body mechanism. According to the mopping robot provided by the invention, the mopping robot can automatically rotate under the condition that the mop plate is dirty and is switched to the mop plate with the clean surface, so that the mopping efficiency of the mopping robot is effectively improved, and the secondary pollution to the ground is prevented.
Description
Technical Field
The invention relates to the technical field of household cleaning, in particular to a mopping robot.
Background
With the development of high and new technologies, people can not meet the requirement of manually processing heavy households, and increasingly expect that intelligent robots can enter thousands of households, assist the living labor of people and expect improvement of the labor efficiency of households. Accordingly, development of a home-type intelligent robot, particularly a home-type intelligent cleaning robot, can successfully enter a general home, and almost becomes a demand for the entire domestic market.
At present, the intelligent cleaning robots exist in China in different sizes, and the mopping modes can be roughly divided into two modes: one is to directly place a flat mop at the bottom of the product, and the other is to clean the mop by adopting a crawler-type rolling mop.
However, the mop of the existing intelligent floor mopping robot product needs to be manually disassembled and replaced for many times, so that excessive unnecessary manual labor is caused, and the intelligent floor mopping robot cannot be embodied to a certain extent. And under the condition of dirty mop cloth, if the mop cloth is not cleaned in time, secondary pollution to the ground is easily caused.
Disclosure of Invention
In order to solve at least one of the problems in the prior art, the invention aims to provide the mopping robot which can automatically rotate and switch to the mop plate with the clean surface under the condition that the mop plate is dirty, thereby effectively improving the mopping efficiency of the mopping robot and preventing secondary pollution to the ground.
To achieve the above object, the present invention provides a floor mopping robot comprising: the floor mopping robot comprises a floor mopping robot base plate, wherein an opening is formed in the floor mopping robot base plate; the mopping device comprises a mopping main body mechanism, a first cleaning device and a second cleaning device, wherein the mopping main body mechanism comprises a turnover plate, a first mop plate arranged above the turnover plate and a second mop plate arranged below the turnover plate; and the overturning motor is fixedly arranged on one side of the floor mopping robot base plate, and an output shaft of the overturning motor is fixedly connected with one end of the overturning plate and used for overturning the floor mopping main body mechanism.
Further, a first groove for installing the mop is formed in the first mop plate, and a second groove for installing the mop is formed in the second mop plate.
Further, the first mop plate is installed above the overturning plate through a first double-link lifting mechanism, and the second mop plate is installed below the overturning plate through a second double-link lifting mechanism.
Further, the first double-link lifting mechanism comprises a first driving link and a first driven link, the first driving link and the first driven link are mutually crossed and rotatably connected together, the upper end of the first driving link is rotatably arranged on the lower surface of the first mop plate, and the lower end of the first driving link is slidably arranged on the turnover plate; the upper end of the first driven connecting rod is slidably arranged on the lower surface of the first mop plate, and the lower end of the first driven connecting rod is rotatably arranged on the turnover plate.
Further, the first driving connecting rod and the first driven connecting rod are rotatably connected together through a first rotating bolt, the first driving connecting rod is two mutually parallel, the upper end of the first driving connecting rod is arranged on the lower surface of the first mop plate through a hinge seat, a sliding groove penetrating through the turnover plate is arranged on the side surface of the turnover plate, the lower ends of the two first driving connecting rods are connected through a sliding connecting rod, the sliding connecting rod is slidably arranged in the sliding groove and penetrates through the sliding groove, one end of the sliding connecting rod is rotatably connected with the lower end of one first driving connecting rod, and the other end of the sliding connecting rod is rotatably connected with the lower end of the other first driving connecting rod; the two first driven connecting rods are parallel to each other, first slide ways are respectively arranged on two sides of the lower surface of the first mop plate, the upper ends of the two first driven connecting rods are respectively and slidably arranged on the first slide ways through first sliding pins, and the lower ends of the two first driven connecting rods are respectively and rotatably arranged on the side surfaces of the turnover plate.
Further, the second double-link lifting mechanism comprises a second driving link and a second driven link, the second driving link and the second driven link are mutually crossed and rotatably connected together, the upper end of the second driving link is slidably arranged on the turnover plate, and the lower end of the second driving link is rotatably arranged on the upper surface of the second mop plate; the upper end of the second driven connecting rod is rotatably arranged on the turnover plate, and the lower end of the second driven connecting rod is slidably arranged on the upper surface of the second mop plate.
Further, the second driving connecting rod and the second driven connecting rod are rotatably connected together through a second rotating bolt, the two second driving connecting rods are parallel to each other, one end of the sliding connecting rod is rotatably connected with the upper end of one second driving connecting rod, the other end of the sliding connecting rod is rotatably connected with the upper end of the other second driving connecting rod, and the lower ends of the two second driving connecting rods are respectively arranged on the upper surface of the second mop plate through hinge bases; the two sides of the upper surface of the second mop plate are respectively provided with a second slideway, the lower ends of the two second driven connecting rods are respectively and slidably arranged on the second slideway through second sliding pins, and the upper ends of the two second driven connecting rods are respectively and rotatably arranged on the side surface of the turnover plate.
Further, the floor mopping robot further comprises a force adjusting motor and a screw rod, one end of the screw rod is connected with the sliding connecting rod, an output shaft of the force adjusting motor is fixedly connected with one end of the screw rod to drive the screw rod to rotate, and the sliding connecting rod is controlled to slide left and right in the sliding groove.
Further, the other side of the floor mopping robot bottom plate is provided with a linear guide rail, the force adjusting motor is fixedly installed on a motor support table, a linear chute matched with the linear guide rail is arranged on the motor support table, a through hole is formed in the middle of the other end of the turnover plate, a screw rod nut matched with the screw rod is fixedly installed in the through hole, one end of the screw rod penetrates through the through hole through the screw rod nut and is fixedly connected with the sliding connecting rod, and the other end of the screw rod is fixedly connected with an output shaft of the force adjusting motor through a coupler.
Further, a screw rod nut is arranged in the middle of the sliding connecting rod, a through hole is formed in the middle of the other end of the overturning plate, one end of the screw rod penetrates through the through hole and is movably connected with the sliding connecting rod together through the screw rod nut, the other end of the screw rod is fixedly connected with an output shaft of the force adjusting motor through a coupler, and the force adjusting motor is fixedly installed on the other side of the bottom plate of the mopping robot.
According to the mopping robot provided by the invention, the mop plates can be arranged on both sides of the mopping main body mechanism, the mopping main body mechanism of the mopping robot can be turned over by controlling the turning motor, so that the rotation can be realized under the condition that the mop plate on one side is dirty, the mop plate on the other side is switched to be clean, the mopping efficiency of the mopping robot is effectively improved, and the secondary pollution to the ground is prevented. Moreover, the lifting mechanism and the force adjusting motor are matched, so that the adjustment of the mopping force can be realized, the mopping robot can realize the difference of mopping pressing force on areas with different pollution degrees, the cleaning effect of the mopping robot is improved, the mopping task is not intermittently carried out through the repeated rotation and pressing force adjustment in a circulating way, and the mopping efficiency of the mopping robot is greatly improved.
Drawings
Fig. 1 is a schematic perspective view of a floor mopping robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a floor mopping robot according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a floor mopping robot according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of a floor mopping robot according to another embodiment of the present invention;
fig. 5 is a schematic side view of a floor mopping robot according to another embodiment of the present invention;
fig. 6 is a schematic structural view of a turnover plate of a floor mopping robot according to an embodiment of the present invention; and
fig. 7 is a schematic view of an installation structure of a floor mopping robot according to an embodiment of the present invention.
Detailed Description
For a better description of the present invention, the present invention will be further described with reference to the following specific embodiments and the accompanying drawings. It is to be understood that the specific embodiments and the drawings are illustrative only and are not to be construed as limiting the invention.
Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like in the present disclosure are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless explicitly specified and limited otherwise, a first feature "above," "over" and "on" a second feature may be that the first feature is directly above or obliquely above the second feature, or simply that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is less level than the second feature.
Referring to fig. 1 and 6, the present invention provides a floor mopping robot 10, which includes a floor mopping robot base plate 100, a floor mopping main body mechanism 200, and a turning motor 300. Wherein, be equipped with opening 101 on mopping robot bottom plate 100, mopping body machine 200 includes turnover plate 201, install the first mop board 202 in the top of turnover plate 201, install the second mop board 203 in the below of turnover plate 201, turnover motor 300 fixed mounting is in one side of mopping robot bottom plate 100, the output shaft 301 of turnover motor 300 and the one end fixed connection of turnover plate 201 for turnover mopping body mechanism 200, wherein second mop board 203 stretches out from opening 101 on mopping robot bottom plate 100 when mopping robot 10 works, in order to carry out the mopping task.
It will be appreciated that the turnover motor 300 may be fixedly mounted to the floor mopping robot base 100 in various conventional manners, and the present invention is not limited thereto, and the turnover motor 300 may be fixedly mounted to the floor mopping robot base 100 by a motor mount, for example.
It is also understood that the first mop plate 202 and the second mop plate 203 may be various mop plates commonly used in the art, and the present invention is not limited thereto. In one embodiment of the present invention, grooves (not shown) for mounting mops or mop panels are provided on both the first mop plate 202 and the second mop plate 202, and the mops or mop plates may be mounted in the grooves when the mopping robot needs to work.
It should also be understood that the shapes of the first mop plate 202 and the second mop plate 203 are not particularly limited, and are not limited to rectangular shapes, and may be designed into other shapes such as half-moon shapes according to the overall design of the floor mopping robot, so as to achieve the best floor mopping effect.
According to the invention, the turnover motor 300 is fixedly connected with the turnover plate 201, so that when the turnover motor 300 works, the output shaft 301 of the turnover motor rotates, and the turnover plate 201 can be driven to turn over, so that the turnover of the mopping main body mechanism 200 is realized, therefore, the mopping robot can automatically rotate under the condition that the mop plate below the turnover plate 201 is dirty, and is switched to the clean mop plate on the other side, the mopping efficiency of the mopping robot is effectively improved, and secondary pollution to the ground is prevented.
It is understood that the output shaft 301 of the flipping motor 300 may be fixedly connected to one end of the flipping plate 201 in various manners commonly used in the art, and the present invention is not limited thereto. For example, a flange coupling may be used to fixedly connect the output shaft 301 of the flipping motor 300 to one end of the flipping plate 201.
It will also be appreciated that the first mop plate 202 and the second mop plate 203 may be mounted on the flipping plate 201 using various methods commonly used in the art, so long as the first mop plate 202 and the second mop plate 203 are flipped together at the same time as the flipping plate 201 is flipped.
Preferably, as shown in figures 1 and 2, in one embodiment of the invention, a first mop plate 202 is mounted above the flipping plate 201 by a first two-bar lifting mechanism and a second mop plate 203 is mounted below said flipping plate by a second two-bar lifting mechanism.
Referring to fig. 2 and 5, the first double-link lifting mechanism includes a first driving link 204 and a first driven link 205, the first driving link 204 and the first driven link 205 are rotatably connected together by intersecting each other, an upper end of the first driving link 204 is rotatably mounted on a lower surface of the first mop plate 202, and a lower end of the first driving link 204 is slidably mounted on the turnover plate 201; the upper end of the first follower link 205 is slidably mounted on the lower surface of the first mop plate 202, and the lower end of the first follower link 205 is rotatably mounted on the flipping plate 201.
It will be appreciated that the first drive link 204 and the first driven link 205 may be rotatably coupled together by various methods commonly used in the art, and the invention is not particularly limited in this regard. For example, as shown in fig. 2 and 5, the first driving link 204 and the first driven link 205 are rotatably connected together by a first rotation pin 206.
In order to improve the connection stability between the first mop plate 202 and the turnover plate 201, in one embodiment of the present invention, referring to fig. 2, the first driving links 204 are two parallel to each other, the upper ends of the two first driving links 204 are mounted on two sides of the lower surface of the first mop plate 202 through hinge bases 207, the side surface of the turnover plate 201 is provided with a chute 208 penetrating through the turnover plate 201, the lower ends of the two first driving links 204 are connected through a sliding link 209, the sliding link 209 is slidably disposed in the chute 208 and penetrates through the chute 208, one end (such as the end visible in fig. 2) of the sliding link 209 is rotatably connected with the lower end of one first driving link 204, and the other end (such as the other end invisible in fig. 2) of the sliding link 209 is rotatably connected with the lower end of the other first driving link 204; the first driven connecting rods 205 are two same parallel to each other, two sides of the lower surface of the first mop plate 202 are respectively provided with a first slideway 210, the upper ends of the two first driven connecting rods 205 are respectively slidably mounted on the first slideway 210 through a first sliding pin 211, the lower ends of the two first driven connecting rods 205 are respectively rotatably mounted on the side surfaces of the turnover plate 201, for example, the two first driven connecting rods 205 are rotatably mounted on the two side surfaces of the turnover plate 201 through a fixed connecting rod 212, wherein the fixed connecting rod 212 penetrates through the turnover plate 201 and is fixedly connected with the turnover plate 201.
Similarly, the second double-link lifting mechanism may also adopt a double-two-link lifting mechanism similar to the first double-link lifting mechanism, that is, referring to fig. 3 and 5, the second double-link lifting mechanism includes a second driving link 213 and a second driven link 214, the second driving link 213 and the second driven link 214 are mutually crossed and rotatably connected together, the upper end of the second driving link 213 is slidably mounted on the turnover plate 201, and the lower end of the second driving link 213 is rotatably mounted on the upper surface of the second mop plate 203; the upper end of the second driven link 214 is rotatably installed on the flipping plate 201, and the lower end of the second driven link 214 is slidably installed on the upper surface of the second mop plate 203.
Similarly, in order to improve the connection stability between the second mop plate 203 and the turnover plate 201, in one embodiment of the present invention, as shown in fig. 3 and 5, the second driving link 213 and the second driven link 214 are rotatably connected together by a second rotation latch 215, the second driving link 213 is two parallel to each other, one end of the sliding link 209 is rotatably connected with the upper end of one second driving link 213, the other end of the sliding link 209 is rotatably connected with the upper end of the other second driving link 213, and the lower ends of the two second driving links 213 are respectively mounted on two sides of the upper surface of the second mop plate 203 by hinge bases; the two sides of the upper surface of the second mop plate 203 are respectively provided with a second slideway 216, the lower ends of two second driven connecting rods 214 are respectively and slidably arranged on the second slideway 216 through second sliding pins 217, the upper ends of the two second driven connecting rods 214 are respectively and rotatably arranged on the side surfaces of the turnover plate 201, for example, the two second driven connecting rods 214 are rotatably arranged on the two side surfaces of the turnover plate 201 through fixed connecting rods 212, wherein the fixed connecting rods 212 penetrate through the turnover plate 201 and are fixedly connected with the turnover plate 201.
In an embodiment of the present invention, referring to fig. 4 and 5, the floor mopping robot 10 provided by the present invention further includes a force adjusting motor 400 and a screw rod 401, one end of the screw rod 401 is connected with the sliding connecting rod 209, and an output shaft of the force adjusting motor 400 is fixedly connected with one end of the screw rod 401 to drive the screw rod 401 to rotate, so as to control the sliding connecting rod 209 to slide left and right in the chute 208.
That is, when the force adjusting motor 400 works, it drives the screw rod 401 to rotate, the screw rod 401 pushes the sliding connecting rod 209 to slide left and right in the chute 208, and then, the sliding connecting rod 209 drives the first lifting mechanism and the second lifting mechanism to stretch and retract, so as to realize the adjustment of the mopping force. For example, when the sliding link 209 moves rightward, the second elevating mechanism is extended, and the second mop plate 203 moves downward, thereby increasing the pressure applied by the second mop plate 203 to the floor; when the sliding connecting rod 209 moves leftwards, the second lifting mechanism is continuously contracted, and the second mop plate 203 moves upwards, so that the pressure applied by the second mop plate 203 to the ground is reduced, and the adjustment of the mopping force is realized. Meanwhile, the first lifting mechanism and the second lifting mechanism are controlled to shrink through the force adjusting motor 400, so that a larger space can be vacated, and the main body mechanism of the mopping machine can be turned over conveniently. Furthermore, the mopping robot provided by the embodiment of the invention can realize the functions of rotating, switching and stretching, pressing and mopping the floor of the mop plate through the overturning motor 300 and the force adjusting motor 400.
That is, in this embodiment, when the mopping robot recognizes that one mop plate reaches a certain dirt level, the main body mopping mechanism can be turned over, and mopping is performed by using the clean mop plate on the other side, so as to continue the mopping task, and realize cyclic and non-intermittent mopping; meanwhile, the mop plate on one dirty surface can be cleaned in the mop cleaning device inside the mopping robot, so that the circulation is realized, the intelligent mopping robot does not intermittently carry out mopping tasks, and the mopping efficiency of the intelligent mopping robot is effectively improved. Meanwhile, the cleaning force can be changed by adjusting the force of mopping and pressing through the telescopic degree of the first lifting mechanism and the second lifting mechanism in the areas with different pollution degrees of the ground through the assistance of the identification of some sensors, so that the mopping effect of the intelligent mopping robot is effectively improved. The device has the characteristics of simple, stable and durable mechanism, can be widely used in a small intelligent cleaning robot with a mopping function, and realizes the mopping function of the intelligent mopping robot.
It is understood that other components and devices of the floor mopping robot, such as a mop cleaning device, a dirt level recognition sensor, a running gear for controlling the movement of the floor mopping robot, etc., are well known to those skilled in the art, and the present invention will not be described in detail.
It can be understood that a plurality of matching modes of the screw rod 401 and the sliding connecting rod 209 can be adopted, so that when the screw rod 401 rotates, the sliding connecting rod 209 is driven to slide left and right in the chute 208. For example, referring to fig. 4 and 6, a linear guide 402 is provided on the other side of the floor board 100, a force adjusting motor 400 is fixedly mounted on a motor support 403, a linear chute engaged with the linear guide 402 is provided on the motor support 403, and the force adjusting motor 400 is slidable left and right on the floor board 100. The middle part of the other end of the turnover plate 201 is provided with a through hole 220, a screw rod nut matched with a screw rod 401 is fixedly installed in the through hole 220, one end of the screw rod 401 passes through the through hole 220 through the screw rod nut to be fixedly connected with a sliding connecting rod 209, and the other end of the screw rod 401 is fixedly connected with an output shaft of a force adjusting motor 400 through a coupler 404. Furthermore, when the force adjusting motor 400 works, the screw rod 401 is driven to rotate through the coupler 404, and the screw rod nut is fixedly arranged on the overturning plate 201, and the overturning plate cannot move left and right through the limiting effect of the overturning motor 300 fixedly arranged on the other side of the floor mopping robot base plate 100, so that the force adjusting motor 400 slides left and right on the linear guide rail 402 due to the matching transmission of the screw rod nut and the screw rod 401, and further, the screw rod 401 is driven to slide left and right, and one end of the screw rod 401 is fixedly connected with the sliding connecting rod 209, so that the sliding connecting rod 209 is driven to slide left and right in the sliding groove 208. It is understood that, in order to prevent the force adjusting motor 400 from sliding off the linear guide rail 402, limiting bosses may be respectively disposed at two ends of the linear guide rail 402.
In addition, the sliding link 209 may slide left and right in the chute 208 by other transmission methods. For example, a screw nut may be disposed on the sliding link 209, and the force adjusting motor 400 is fixedly mounted on the other side of the floor mopping robot 100, at this time, when the force adjusting motor 400 works, the screw nut is driven by the screw 401 in a matched manner, so as to drive the screw nut to move left and right on the screw 401, and further drive the sliding link 209 to slide left and right in the sliding slot 208, that is, in this embodiment, the middle of the sliding link 209 is fixedly provided with the screw nut, the middle of the other end of the turnover plate 201 is provided with the through hole 220, one end of the screw 401 passes through the through hole 220 and is movably connected with the sliding link 209 together, the other end of the screw 401 is fixedly connected with the output shaft of the force adjusting motor 400 through the coupling 404, and the force adjusting motor 400 is fixedly mounted on the other side of the floor mopping robot. That is, in this embodiment, the force adjusting motor 400 is fixed, and the slide link 209 is driven to slide left and right by the lead screw nut.
It will be appreciated that, as described with reference to fig. 6, the overturning plate 201 in the mopping robot 10 provided by the embodiment of the present invention may be designed as a hollow structure, the hollow portion in the middle of the overturning plate may provide enough moving space for the sliding connecting rod 209, and the right hollow portion is used for fixing the fixed connecting rod in the mopping main mechanism, so as to ensure that the central position of the mopping main mechanism remains unchanged all the time.
It is understood that the cooperation of the lead screw nut and the lead screw 401 and the resulting movement are well known to those skilled in the art, and the present invention will not be described in detail.
It is also understood that various types of motors commonly used in the art may be used as the overturning motor 300 and the force adjusting motor 400 in the floor mopping robot of the present invention, as long as the torque is sufficient, and the present invention is not particularly limited thereto.
According to the mopping robot provided by the invention, the mop plates can be arranged on both sides of the mopping main body mechanism, the mopping main body mechanism of the mopping robot can be turned over by controlling the turning motor, so that the rotation can be realized under the condition that the mop plate on one side is dirty, the mop plate on the other side is switched to be clean, the mopping efficiency of the mopping robot is effectively improved, and the secondary pollution to the ground is prevented. Moreover, the lifting mechanism and the force adjusting motor 400 are matched, so that the adjustment of the mopping force can be realized, the mopping robots can realize the difference of mopping pressing force on areas with different pollution degrees, the cleaning effect of the mopping robots is improved, the mopping tasks are not intermittently carried out through the cyclic and repeated rotation and pressing force adjustment, and the mopping efficiency of the mopping robots is greatly improved.
Although the invention has been described above by way of example, it will be appreciated by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A floor mopping robot, comprising:
the floor mopping robot comprises a floor mopping robot base plate, wherein an opening is formed in the floor mopping robot base plate;
the mopping device comprises a mopping main body mechanism, a first cleaning device and a second cleaning device, wherein the mopping main body mechanism comprises a turnover plate, a first cleaning cloth plate arranged above the turnover plate and a second cleaning cloth plate arranged below the turnover plate; and
the overturning motor is fixedly arranged on one side of the floor mopping robot base plate, and an output shaft of the overturning motor is fixedly connected with one end of the overturning plate and used for overturning the floor mopping main body mechanism;
the first mop plate is arranged above the turnover plate through a first double-link lifting mechanism, and the second mop plate is arranged below the turnover plate through a second double-link lifting mechanism;
the first double-link lifting mechanism comprises a first driving link and a first driven link, the first driving link and the first driven link are mutually crossed and rotatably connected together, the upper end of the first driving link is rotatably arranged on the lower surface of the first mop plate, and the lower end of the first driving link is slidably arranged on the turnover plate; the upper end of the first driven connecting rod is slidably arranged on the lower surface of the first mop plate, and the lower end of the first driven connecting rod is rotatably arranged on the turnover plate;
the first driving connecting rods and the first driven connecting rods are rotatably connected together through first rotating bolts, the first driving connecting rods are two mutually parallel, the upper ends of the first driving connecting rods are arranged on the lower surface of the first mop plate through hinge bases, sliding grooves penetrating through the turnover plate are formed in the side faces of the turnover plate, the lower ends of the two first driving connecting rods are connected through sliding connecting rods, the sliding connecting rods are slidably arranged in the sliding grooves and penetrate through the sliding grooves, one end of each sliding connecting rod is rotatably connected with the lower end of one first driving connecting rod, and the other end of each sliding connecting rod is rotatably connected with the lower end of the other first driving connecting rod; the two first driven connecting rods are parallel to each other, first slide ways are respectively arranged on two sides of the lower surface of the first mop plate, the upper ends of the two first driven connecting rods are respectively and slidably arranged on the first slide ways through first sliding pins, and the lower ends of the two first driven connecting rods are respectively and rotatably arranged on the side surfaces of the turnover plate;
the second double-link lifting mechanism comprises a second driving link and a second driven link, the second driving link and the second driven link are mutually crossed and rotatably connected together, the upper end of the second driving link is slidably arranged on the turnover plate, and the lower end of the second driving link is rotatably arranged on the upper surface of the second mop plate; the upper end of the second driven connecting rod is rotatably arranged on the turnover plate, and the lower end of the second driven connecting rod is slidably arranged on the upper surface of the second mop plate;
the second driving connecting rod and the second driven connecting rod are rotatably connected together through a second rotating bolt, the two second driving connecting rods are parallel to each other, one end of the sliding connecting rod is rotatably connected with the upper end of one second driving connecting rod, the other end of the sliding connecting rod is rotatably connected with the upper end of the other second driving connecting rod, and the lower ends of the two second driving connecting rods are respectively arranged on the upper surface of the second mop plate through hinge bases; the two sides of the upper surface of the second mop plate are respectively provided with a second slideway, the lower ends of the two second driven connecting rods are respectively and slidably arranged on the second slideway through second sliding pins, and the upper ends of the two second driven connecting rods are respectively and rotatably arranged on the side surface of the turnover plate.
2. The floor mopping robot of claim 1, wherein the first mop plate is provided with a first groove for mounting a mop, and the second mop plate is provided with a second groove for mounting a mop.
3. The floor mopping robot of claim 2, further comprising a force adjusting motor and a screw rod, wherein one end of the screw rod is connected with the sliding connecting rod, and an output shaft of the force adjusting motor is fixedly connected with one end of the screw rod to drive the screw rod to rotate, so as to control the sliding connecting rod to slide left and right in the sliding chute.
4. The floor mopping robot of claim 3, wherein a linear guide rail is arranged on the other side of the floor mopping robot base plate, the force adjusting motor is fixedly installed on a motor support, a linear chute matched with the linear guide rail is arranged on the motor support, a through hole is formed in the middle of the other end of the turnover plate, a screw nut matched with the screw rod is fixedly installed in the through hole, one end of the screw rod penetrates through the through hole through the screw nut to be fixedly connected with the sliding connecting rod, and the other end of the screw rod is fixedly connected with an output shaft of the force adjusting motor through a coupler.
5. A mopping robot according to claim 3, wherein a screw nut is provided in the middle of the sliding link, a through hole is provided in the middle of the other end of the turnover plate, one end of the screw rod passes through the through hole and is movably connected with the sliding link through the screw nut, the other end of the screw rod is fixedly connected with an output shaft of the force adjusting motor through a coupling, and the force adjusting motor is fixedly mounted on the other side of the bottom plate of the mopping robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810054276.6A CN108245094B (en) | 2018-01-19 | 2018-01-19 | Floor mopping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810054276.6A CN108245094B (en) | 2018-01-19 | 2018-01-19 | Floor mopping robot |
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| CN108245094A CN108245094A (en) | 2018-07-06 |
| CN108245094B true CN108245094B (en) | 2023-12-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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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| CN108245094A (en) | 2018-07-06 |
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