CN108324196A - The working method of sweeping robot - Google Patents
The working method of sweeping robot Download PDFInfo
- Publication number
- CN108324196A CN108324196A CN201810087307.8A CN201810087307A CN108324196A CN 108324196 A CN108324196 A CN 108324196A CN 201810087307 A CN201810087307 A CN 201810087307A CN 108324196 A CN108324196 A CN 108324196A
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- China
- Prior art keywords
- direction control
- control mechanism
- brush
- bearing
- side brush
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary 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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
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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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
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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
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/408—Means for supplying cleaning or surface treating agents
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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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F6/00—Air-humidification, e.g. cooling by humidification
- F24F6/12—Air-humidification, e.g. cooling by humidification by forming water dispersions in the air
-
- 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
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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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Dispersion Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of working methods of sweeping robot, including the ontology that bottom surface is ellipse, the ontology includes hoofing part mechanism, brush, direction control mechanism, roller type brush mechanism, dry air outlet, air humidification unit, cleaning solution production unit, control unit and wireless transmission unit, the direction control mechanism, brush, dry air outlet, roller type brush mechanism and walking mechanism are successively set on body bottom portion along long axis direction, the air humidification unit, cleaning solution production unit and control unit setting are on the body, the wireless transmission unit establishes the input and output of signal with customer mobile terminal.The present invention makes further optimization on current sweeping robot basis, keeps its function and unfailing performance more remarkable, and household function is more complete.
Description
Technical field
The invention belongs to sweeping robot technical fields.
Background technology
Sweeping robot is most sold early in European ＆ American Market, with the improvement of domestic living standards, steps into China.
Sweeping robot also known as sweeps machine, intelligent dust suction, robot cleaner etc., is the one of controlling intelligent household appliances automatically
Kind, certain artificial intelligence can be relied on, complete floor cleaning work in the room automatically.General use brush is swept and vacuum mode,
Ground sundries is first received into the rubbish storage box into itself, to complete the function of land clearing.In general, it will complete clear
Sweep, dust suction, the robot to work to wiping, be also uniformly classified as sweeping robot.
Sweep the floor machine fuselage be radio equipment, based on collar plate shape.It is operated using rechargeable battery, mode of operation is to be remotely controlled
Operation panel on device or machine.Generally the reservation of energy setting time is swept, and is voluntarily charged.There is setting inductor in front, can detect
Barrier is surveyed, wall or other barriers is such as encountered, can voluntarily turn, and is set according to every different vendor, and walks different roads
Line has planning to clean area.Because the function and convenience of its simple operations, are slowly popularized now, become working clan or
The common electrical home appliances of Modern Family.
Robot science and technology more becomes ripe now, therefore each brand has different R＆D directions, possesses special design,
Such as:Double suction dirt lid, attached hand-held cleaners, dust-collecting box be washable and mopping function, can put the work(such as aromatic or photo-catalytic sterilization
Energy.
Fuselage is the movable fixture of automatic technology, with the cleaning vacuum plant for having dust-collecting box, cooperation fuselage setting control
Path processed, walks repeatedly indoors, such as：Along side cleaning, the paths such as cleaning, random cleaning, straight line cleaning is concentrated to sweep, and is aided with
The modes such as side brush, the main brush rotation in center, rag, reinforce sweeping effect, to complete the house cleaning effect that personalizes.
The present invention is the technological improvement place proposed with regard to defect existing for current sweeping robot or place not in place so that
The performance of sweeping robot is more remarkable, and function is more complete.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of work of sweeping robot
Method keeps its function and unfailing performance more remarkable, and household function is more complete.
Technical solution：To achieve the above object, technical scheme is as follows：
The working method of the working method of sweeping robot：
Including two symmetrically arranged brushs, left side brush and right side brush；With two symmetrically arranged direction controlling machines
Structure, left direction control mechanism and right direction control mechanism.
The hoofing part mechanism driving ontology straight trip, described two brushs are opposite or backwards to rotation, the spray of cleaning solution spout
Go out cleaning solution foam, cleans ground by two brush bristles, and sewage is sucked by multi-turn circular brush looped pile and suction inlet, it is residual
The sewage of stand-down wiped clean under the rotation of roller type brush mechanism, finally by the drying hot gas in drying air outlet
Drying institute is through ground；
When in left direction control mechanism or right direction control mechanism any load-bearing sensing device in spring reverse motion
Cooperation under, when the bearing capacity detected is tapering into, the hoofing part mechanism is slowed down；
If the load-bearing sensing device in left direction control mechanism can't detect bearing capacity first, hoofing part mechanism is stopped
It only drives, the steer-drive dextrad rotation simultaneously of the left direction control mechanism and right direction control mechanism is described
Left side brush and the dextrad power-assisted rotation simultaneously of right side brush turn to；Until the load-bearing sensing device weight in left direction control mechanism
The driving of the bearing capacity newly detected, hoofing part mechanism is become larger by small；
If the load-bearing sensing device in right direction control mechanism can't detect bearing capacity first, hoofing part mechanism is again
The steer-drive dextrad rotation simultaneously of secondary stopping driving, the left direction control mechanism and right direction control mechanism,
The left side brush and the dextrad power-assisted rotation simultaneously of right side brush turn to；Until the load-bearing induction dress in right direction control mechanism
The bearing capacity detected again is set, the driving of hoofing part mechanism is become larger by small；
If the load-bearing sensing device in load-bearing sensing device and right direction control mechanism in left direction control mechanism
When can't detect bearing capacity simultaneously, hoofing part mechanism and roller type brush mechanism reversely rotate after walking setting displacement, described
Left-hand or dextrad rotate 90-180 ° to the steer-drive of left direction control mechanism and right direction control mechanism simultaneously, with
And left-hand or the rotation of dextrad power-assisted turn to 90-180 ° simultaneously for the left side brush and right side brush；
If displacement detecting unit and clock unit detect minimum of the setting time intrinsic displacement less than setting, walking is driven
After motivation structure and roller type brush mechanism reversely rotate walking setting displacement, the left direction control mechanism and right direction control
90-180 ° of left-hand or the dextrad rotation simultaneously of the steer-drive of mechanism processed and the left side brush and right side brush are simultaneously
Left-hand or the rotation of dextrad power-assisted turn to 90-180 °.
Sweeping robot, including bottom surface are oval ontology, and the ontology includes hoofing part mechanism, brush, direction
Control mechanism, roller type brush mechanism, drying air outlet, air humidification unit, cleaning solution production unit, control unit and wireless
Transmission unit, the direction control mechanism, brush, drying air outlet, roller type brush mechanism and walking mechanism are along long axis direction
It is successively set on body bottom portion, the air humidification unit, cleaning solution production unit and control unit setting are on the body, described
Wireless transmission unit establishes the input and output of signal with customer mobile terminal.
It is further improved on basis of the invention, the direction control mechanism is two, is respectively relative to long axis pair
It includes steer-drive, load-bearing sensing device and walking steamboat, the walking steamboat branch to claim setting, each direction control mechanism
Steer-drive walking is propped up on ground, and by load-bearing sensing device under the cooperation of spring reverse motion, is detected in real time
The bearing capacity walked suffered by steamboat.
It is further improved on basis of the invention, the brush is one or two, and the brush bottom surface is circle
The circle centre position of shape, the brush is provided with suction inlet, multi-turn circular brush looped pile is arranged from the inside to the outside around the suction inlet, each
The bristle circle symmetrically encloses circle by several arc-shaped bristles and forms two-by-two, and the distribution density that the bristle of inner ring position is arranged is less than
The distribution density of the bristle of outer ring position is set；The circle centre position of corresponding each bristle is provided with cleaning solution spout；The brush is
At one, the suction inlet of the brush is located on long axis, and when the brush is two, two symmetrically set relative to long axis brush
It sets.
It is further improved on basis of the invention, the roller type brush mechanism includes brush body, roller bearing, frame shape dust suction
Mouth, axial compression mechanism, suspension gear and driving motor, the roller bearing are connect with driving motor, are arranged at frame shape suction inlet；
It is less than close to one side clearance of the direction control mechanism on long axis direction, between the roller bearing and frame shape suction inlet and is driven close to walking
One side clearance of motivation structure；The brush body is hollow cylindrical structure, and flood dragon rotatably sets the outer wall of the brush body in the axial direction
There is a plurality of fold gap；The brush body is set on the outer wall of the roller bearing, and the axial compression mechanism is separately fixed at described
The both ends of roller bearing are simultaneously in close contact with brush body both ends, the axial pressing mechanism of suspension gear connection；The body interior corresponds to
The suspension point anchor point of suspension gear is equipped with the dirty water storage box of corresponding brush body size.
It is further improved on basis of the invention, air humidification unit includes device for storing liquid, air inlet adjustment valve, air inlet
Pump, self-priming water pump, pressure pan, gas-liquid mixed tank, outlet one-way pressure valve, micron bubble water outlet pump and humidifying spraying nozzle, it is described from
Pulsating pump is connect with device for storing liquid, and the self-priming water pump is connect with gas-liquid mixed tank；The air inlet adjustment valve is connect with air intake pump,
The air intake pump is connect with gas-liquid mixed tank；The gas-liquid mixed tank is connect with pressure pan, and one in the outlet of the pressure pan
End is connect with outlet one-way pressure valve, and the other end in the outlet of the pressure pan is connect with micron bubble water outlet pump；It is described go out
Gas one-way pressure valve is divided into two-way connection, is connect all the way with humidifying spraying nozzle, and another way connects by drying device and drying air outlet
It connects.
It is further improved on basis of the invention, the high pressure tank wall is equipped with vacuum heat-insulating layer, and inside is embedded thin
Plate, the thin plate lower part are tightly connected with pressure pan, separate left and right two parts of pressure pan only top connection；Gas-liquid mixture is first
Into left side water inlet portion until after not crossing the thin plate upper end being embedded, then overflow into right part；In the outlet of the pressure pan
One end is arranged at the top of pressure pan, and the other end in the outlet of the pressure pan is arranged in the right side lower end of pressure pan.
It is further improved on basis of the invention, the micron bubble water outlet pump is connect with cleaning solution production unit；
The cleaning solution production unit includes cleaning solution foaming agent holding vessel and foam-making apparatus；The micron bubble water outlet pump and clear
Washing lotion foaming agent holding vessel is connect with foam-making apparatus respectively, and the foam-making apparatus is connect with several cleaning solution spouts；
Mixing chamber and foaming chamber are equipped in the foam-making apparatus, the mixing chamber is equipped with screw mixer, the foaming
Chamber is multilayer mutual conduction structure, and the gap of every layer of structure is sequentially reduced from the bottom to top；Every layer of structure is equipped with several alternate
Tiltedly erect the baffle set；Micron bubble mixed liquor and cleaning solution foaming agent, which enter in mixing chamber, to be stirred, and stores up full mixing
After gradually overflowing entire foaming chamber after chamber from the bottom to top, sprayed respectively with several cleaning solutions by the outlet for the chamber roof that foams
Mouth connection.
It is further improved on basis of the invention, further includes displacement detecting unit, clock unit, charging unit and too
Positive energy battery plate unit, surface, the charging unit are arranged in area of illumination on the body for the solar cell panel unit setting
Domain.Further include camera unit, the camera unit is described to take the photograph respectively with charging unit and solar cell panel unit for being electrically connected
Signal input is established as the signal output end of unit by the wireless transmission unit and customer mobile terminal to connect；The camera shooting
Unit is arranged on humidifying spraying nozzle.Camera unit hidden is arranged on humidifying spraying nozzle, when house keeper charges, can be used as orientation
Camera head monitor can disguise oneself as in house keeper's cleaning in mobile camera monitoring room, effectively hide to a certain extent into
The strick precaution of room thief.
Advantageous effect：The present invention makes further optimization on current sweeping robot basis, make its function and
Unfailing performance is more remarkable, and household function is more complete.
Description of the drawings
Attached drawing 1 is the bottom substance schematic diagram of the present invention；
Attached drawing 2 is the structural schematic diagram of direction control mechanism of the present invention；
Attached drawing 3 is the structural schematic diagram of brush of the present invention；
Attached drawing 4 is the structural schematic diagram one of roller type brush mechanism of the present invention；
Attached drawing 5 is the structural schematic diagram two of roller type brush mechanism of the present invention；
Attached drawing 6 is the structural schematic diagram of air humidification unit of the present invention；
Attached drawing 7 is the structural schematic diagram of pressure pan of the present invention；
Attached drawing 8 is the structural schematic diagram of foam-making apparatus of the present invention.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
Such as attached drawing 1, sweeping robot, including bottom surface be ellipse ontology, the ontology include hoofing part mechanism 2,
Brush 3, direction control mechanism 4, roller type brush mechanism 5, drying air outlet 6, air humidification unit 7, cleaning solution production unit
8, control unit 9 and wireless transmission unit 10, the direction control mechanism 4, brush 3, drying air outlet 6, roller type brushing equipment
Structure 5 and walking mechanism 2 are successively set on body bottom portion, the air humidification unit 7, cleaning solution production unit 8 along long axis direction
On the body with the setting of control unit 9, the wireless transmission unit 10 establishes the input and output of signal with customer mobile terminal.This
Invention is using oval ontology so that house keeper by elongated zones, can increase the cleaning region of house keeper.
Such as attached drawing 2, the direction control mechanism 4 is two, is respectively relative to long axis and is symmetrical arranged, each direction controlling machine
Structure 4 includes steer-drive 41, load-bearing sensing device 42 and walking steamboat 43, and the walking steamboat 43 supports steering driving
Device 41 is walked on ground, and by load-bearing sensing device 42 under the cooperation of spring reverse motion, the steamboat of detection walking in real time
Bearing capacity suffered by 43.The gradient can be mechanically incuded by load-bearing sensing device 42, it is anti-lost to fall performance brilliance reliably.
Such as attached drawing 3, the brush 3 is one or two, and 3 bottom surface of the brush is circle, the circle centre position of the brush 3
Be provided with suction inlet 31, multi-turn circular brush looped pile be set from the inside to the outside around the suction inlet 31, if each bristle circle by
The distribution density that dry arc-shaped bristle 33 symmetrically encloses circle and forms, and the bristle 33 of inner ring position is arranged two-by-two is less than setting outer ring position
The distribution density for the bristle 33 set；The circle centre position of corresponding each bristle 33 is provided with cleaning solution spout 34；The brush 3 is one
When, the suction inlet 31 of the brush 3 is located on long axis, and when the brush 3 is two, two symmetrically set relative to long axis brush 3
It sets.Pass through bristle 33, the ingehious design of cleaning solution spout 34 and suction inlet 31 so that can clean dust or sundries can be with total number
Cleaning, substantially increases cleaning capacity；In addition, the shape design of the bristle in brush 3 utilizes it when coordinating house keeper to turn to
The special shape of bristle constructs, and prevents from skidding, enhances the steering executive capability of house keeper.
Such as attached Figure 4 and 5, the roller type brush mechanism 5 includes brush body 51, roller bearing 52, frame shape suction inlet 53, axial compression
Mechanism 54, suspension gear 55 and driving motor 56, the roller bearing 52 are connect with driving motor 56, are arranged in frame shape suction inlet 53
Place；It is less than close to 4 one side clearance of the direction control mechanism on long axis direction, between the roller bearing 52 and frame shape suction inlet 53 and leans on
2 one side clearance of nearly hoofing part mechanism so that pick-up performance is more preferably；The brush body 51 is hollow cylindrical structure, the brush body
Flood dragon is rotatably equipped with a plurality of fold gap to 51 outer wall in the axial direction so that when squeezing compression, compression ratio bigger, and maximum limit
Degree ensure that the aridity of brush body 51；The brush body 51 is set on the outer wall of the roller bearing 52, the axial compression mechanism 54
It is separately fixed at the both ends of the roller bearing 52 and is in close contact with 51 both ends of brush body, the suspension gear 55 connects axial extruder
Structure 54；The suspension point anchor point that the body interior corresponds to suspension gear 55 is equipped with the dirty water storage for corresponding to 51 size of brush body
Box.
Such as attached drawing 6, air humidification unit 7 include device for storing liquid 71, air inlet adjustment valve 72, air intake pump 73, self-priming water pump 74,
Pressure pan 75, gas-liquid mixed tank 76, outlet one-way pressure valve 77, micron bubble water outlet pump 78 and humidifying spraying nozzle 79, the self-priming
Water pump 74 is connect with device for storing liquid 71, and the self-priming water pump 74 is connect with gas-liquid mixed tank 76；The air inlet adjustment valve 72 with into
Air pump 73 connects, and the air intake pump 73 is connect with gas-liquid mixed tank 76；The gas-liquid mixed tank 76 is connect with pressure pan 75, described
One end in the outlet of pressure pan 75 is connect with outlet one-way pressure valve 77, the other end in the outlet of the pressure pan 75 with it is micro-
78 connection of rice bubble water-outlet pump；The outlet one-way pressure valve (77) is divided into two-way connection, is connect all the way with humidifying spraying nozzle 79, separately
Pass through drying device all the way to connect with drying air outlet (6).Contain micron order gas in the humidification fog that air humidification unit 7 comes out
Bubble improves oxygen content in air when increasing air humidity, immune to human body to play benefit.
Such as attached drawing 7,75 outer wall of the pressure pan is equipped with vacuum heat-insulating layer, and inside is embedded thin plate 751, under the thin plate 751
Portion is tightly connected with pressure pan 75, separates left and right two parts of the only top connection of pressure pan 75；Gas-liquid mixture is introduced into left side
After water inlet portion is not until cross 751 upper end of thin plate being embedded, then overflow into right part；One end in the outlet of the pressure pan 75
Setting is arranged in 75 top of pressure pan, the other end in the outlet of the pressure pan 75 in the right side lower end of pressure pan 75.High pressure
The construction of tank 75 so that the amount of contained micron bubble is obviously improved in water.
The micron bubble water outlet pump 78 is connect with cleaning solution production unit 8；The cleaning solution production unit 8 includes cleaning
Liquid foaming agent holding vessel and foam-making apparatus；The micron bubble water outlet pump 78 and cleaning solution foaming agent holding vessel respectively with bubble
Foam generating means connects, and the foam-making apparatus is connect with several cleaning solution spouts 34.Such as attached drawing 8, the foam fills
Mixing chamber and foaming chamber are equipped in setting, the mixing chamber is equipped with screw mixer, and the foaming chamber is that multilayer is mutual
Conducting structure, and the gap of every layer of structure is sequentially reduced from the bottom to top；Every layer of structure, which is equipped with, several alternate tiltedly erects the baffle set；
Micron bubble mixed liquor and cleaning solution foaming agent, which enter in mixing chamber, to be stirred, and after Chu Man mixing chamber from the bottom to top by
After gradually overflowing entire foaming chamber, it is connect respectively with several cleaning solution spouts 34 by the outlet for the chamber roof that foams.Cleaning solution
It uses the water with micron bubble to be constituted as cleaning solution main body, when micron bubble is contacted with dirt, increases substantially decontamination
Ability.
Further include displacement detecting unit, clock unit, charging unit and solar cell panel unit, the solar cell
Surface, the charging unit are arranged in light area on the body for plate unit setting, pass through displacement detecting unit and clock unit
Accounting, it is ensured that house keeper goes to charged area to charge in time in not enough power supply, charged area be arranged in sunlight
Under, cleverly utilize the energy of solar energy.It is above-mentioned basis on, further include camera unit, the camera unit respectively with fill
For electrical connection, the signal output end of the camera unit passes through the wireless transmission unit for electric installation and solar cell panel unit
10 establish signal input with customer mobile terminal connects.Camera unit hidden is arranged on humidifying spraying nozzle 79, charges in house keeper
When, orientation camera head monitor can be used as；In house keeper's cleaning, can disguise oneself as in mobile camera monitoring room, centainly
Effectively hide the strick precaution of burglary person in degree.
The working method of sweeping robot, including two symmetrically arranged brushs 3, left side brush and right side brush；With two
A symmetrically arranged direction control mechanism 4, left direction control mechanism and right direction control mechanism.Its working method：
The hoofing part mechanism 2 drives ontology straight trip, described two brushs 3 opposite or backwards to rotation, cleaning solution spout
34 spray cleaning solution foam, clean ground by two 3 bristles 33 of brush, and inhale by multi-turn circular brush looped pile and suction inlet 31
Enter sewage dirt, remain in the sewage on the ground wiped clean under the rotation of roller type brush mechanism 5, finally by drying outlet air
Drying hot air seasoning institute in mouth 6 is through ground；
When any load-bearing sensing device 42 is filled in spring reset in left direction control mechanism or right direction control mechanism
Under the cooperation set, when the bearing capacity detected is tapering into, the hoofing part mechanism 2 is slowed down；
If the load-bearing sensing device 42 in left direction control mechanism can't detect bearing capacity first, hoofing part mechanism
2 stop driving, the dextrad rotation simultaneously of steer-drive 41 of the left direction control mechanism and right direction control mechanism,
The left side brush and the dextrad power-assisted rotation simultaneously of right side brush turn to；Until the load-bearing induction dress in left direction control mechanism
42 bearing capacities detected again are set, the driving of hoofing part mechanism 2 is become larger by small；
If the load-bearing sensing device 42 of right direction control mechanism can't detect bearing capacity first, hoofing part mechanism 2
Stop driving, the left-hand rotation simultaneously of steer-drive 41 of the left direction control mechanism and right direction control mechanism again
Turn, the left side brush and the left-hand power-assisted rotation simultaneously of right side brush turn to；Until the load-bearing sense in right direction control mechanism
The driving of the bearing capacity for answering device 42 to detect again, hoofing part mechanism 2 is become larger by small；
If the load-bearing induction dress in the load-bearing sensing device 42 and right direction control mechanism in left direction control mechanism
When setting 42 while can't detect bearing capacity, hoofing part mechanism 2 and roller type brush mechanism 5 reversely rotate walking setting displacement
Afterwards, the steer-drive 41 of the left direction control mechanism and right direction control mechanism left-hand or dextrad rotation simultaneously
Left-hand or the rotation of dextrad power-assisted turn to 90-180 ° simultaneously for 90-180 ° and the left side brush and right side brush；
If displacement detecting unit and clock unit detect minimum of the setting time intrinsic displacement less than setting, walking is driven
After motivation structure 2 and roller type brush mechanism 5 reversely rotate walking setting displacement, the left direction control mechanism and right direction
90-180 ° of left-hand or the dextrad rotation simultaneously of the steer-drive 41 of control mechanism and the left side brush and right side brush
Left-hand or the rotation of dextrad power-assisted turn to 90-180 ° simultaneously.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (1)
1. the working method of sweeping robot, including two symmetrically arranged brushs (3), left side brush and right side brush；With two
A symmetrically arranged direction control mechanism (4), left direction control mechanism and right direction control mechanism, it is characterised in that：
Hoofing part mechanism (2) drives ontology straight trip, described two brushs (3) opposite or backwards to rotation, cleaning solution spout (34)
Cleaning solution foam is sprayed, ground is cleaned by the bristle (33) of two brushs (3), and pass through multi-turn circular brush looped pile and suction inlet
(31) sewage is sucked, remains in the sewage on the ground wiped clean under the rotation of roller type brush mechanism (5), finally by drying
Drying hot air seasoning institute in air outlet (6) is through ground；
When in left direction control mechanism or right direction control mechanism any load-bearing sensing device (42) in spring reverse motion
Cooperation under, when the bearing capacity detected is tapering into, the hoofing part mechanism (2) is slowed down；
If the load-bearing sensing device (42) in left direction control mechanism can't detect bearing capacity first, hoofing part mechanism
(2) stop driving, the steer-drive (41) while dextrad of the left direction control mechanism and right direction control mechanism
The dextrad power-assisted rotation simultaneously of rotation, the left side brush and right side brush turns to；Until the load-bearing in left direction control mechanism
The driving of the bearing capacity that sensing device (42) detects again, hoofing part mechanism (2) is become larger by small；
If the load-bearing sensing device (42) in right direction control mechanism can't detect bearing capacity first, hoofing part mechanism
(2) stop driving again, the steer-drive (41) of the left direction control mechanism and right direction control mechanism is simultaneously
The left-hand power-assisted rotation simultaneously of left-handed rotation, the left side brush and right side brush turns to；Until in right direction control mechanism
The driving of the bearing capacity that load-bearing sensing device (42) detects again, hoofing part mechanism (2) is become larger by small；
If the load-bearing sensing device in load-bearing sensing device (42) and right direction control mechanism in left direction control mechanism
(42) when while can't detect bearing capacity, hoofing part mechanism (2) and roller type brush mechanism (5) reversely rotate walking setting position
After shifting, the steer-drive (41) while left-hand or dextrad of the left direction control mechanism and right direction control mechanism revolve
Turning 90-180 ° and the left side brush and right side brush, left-hand or the rotation of dextrad power-assisted turn to 90-180 ° simultaneously；
If displacement detecting unit and clock unit detect minimum of the setting time intrinsic displacement less than setting, hoofing part machine
After structure (2) and roller type brush mechanism (5) reversely rotate walking setting displacement, the left direction control mechanism and right direction
90-180 ° of steer-drive (41) while left-hand or the dextrad rotation of control mechanism and the left side brush and right side brush
Left-hand or the rotation of dextrad power-assisted turn to 90-180 ° to disk simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810087307.8A CN108324196B (en) | 2016-03-01 | 2016-03-01 | Working method of sweeping robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610116537.3A CN105662284B (en) | 2016-03-01 | 2016-03-01 | Intelligent movable house keeper and its method of work based on Internet of Things |
| CN201810087307.8A CN108324196B (en) | 2016-03-01 | 2016-03-01 | Working method of sweeping robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610116537.3A Division CN105662284B (en) | 2016-03-01 | 2016-03-01 | Intelligent movable house keeper and its method of work based on Internet of Things |
Publications (2)
| Publication Number | Publication Date |
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| CN108324196A true CN108324196A (en) | 2018-07-27 |
| CN108324196B CN108324196B (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610116537.3A Expired - Fee Related CN105662284B (en) | 2016-03-01 | 2016-03-01 | Intelligent movable house keeper and its method of work based on Internet of Things |
| CN201810087307.8A Active CN108324196B (en) | 2016-03-01 | 2016-03-01 | Working method of sweeping robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610116537.3A Expired - Fee Related CN105662284B (en) | 2016-03-01 | 2016-03-01 | Intelligent movable house keeper and its method of work based on Internet of Things |
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| CN (2) | CN105662284B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108263221A (en) * | 2016-12-30 | 2018-07-10 | 山东科技大学 | A kind of novel contest robot |
| CN108633555B (en) * | 2018-04-17 | 2020-06-12 | 四川三诚瑞和智能科技有限公司 | Potted plant plants robot based on thing networking |
| CN108968820A (en) * | 2018-07-26 | 2018-12-11 | 芜湖市越泽机器人科技有限公司 | A kind of home-use sweeping robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108324196B (en) | 2020-10-13 |
| CN105662284B (en) | 2018-04-06 |
| CN105662284A (en) | 2016-06-15 |
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