CN108685530A - A kind of interior automatic adjustment Intelligent cleaning robot - Google Patents
A kind of interior automatic adjustment Intelligent cleaning robot Download PDFInfo
- Publication number
- CN108685530A CN108685530A CN201810486792.6A CN201810486792A CN108685530A CN 108685530 A CN108685530 A CN 108685530A CN 201810486792 A CN201810486792 A CN 201810486792A CN 108685530 A CN108685530 A CN 108685530A
- Authority
- CN
- China
- Prior art keywords
- automatic adjustment
- cleaning robot
- intelligent cleaning
- motor
- mop
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- 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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
Landscapes
- Electric Vacuum Cleaner (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The present invention discloses a kind of indoor automatic adjustment Intelligent cleaning robot, including cleaning structure and the structure that mops floor;The structure that mops floor includes bottom plate, and walking mechanism and mopping ground are equipped on bottom plate, is formed with guide rail at the top of the bottom plate, the mopping ground includes the pan carriage being slidably connected with guide rail, and pan carriage is connected with translation structure and lifting structure.The configuration of the present invention is simple, easy to use, floor space is small, realizes the flexible of the structure that mops floor, it can quickly clean cleaning corner and pack up, and pass through the reversed rotation of left rotary shaft and right spindle so that the first rope body and the second rope body one are elastic, another is tight, to realize that mop frame can be opened and shunk at an arbitrary position, so that mop frame is in close contact with ground, and convenient for cleaning step, window bottom edge etc..
Description
Technical field
This patent belongs to machinery field more particularly to a kind of indoor automatic adjustment Intelligent cleaning robot.
Background technology
Existing interior automatic adjustment Intelligent cleaning robot, after Mop structure is by floor cleaning, it will usually will
Mop structure is withdrawn in shell, causes mop dirty in order to avoid mop leaks outside cruelly for a long time.In addition, the most commonly used is one for existing mop
The kind cleaning fine flat mop of ground effect, uses collodion, and needs the state for keeping more moistening for a long time, for a long time
Drying can cause collodion to be hardened, to lose effect.In this way in order to withdraw Mop structure in shell, the width needs of mop are set
The width less than shell of meter, when this causes machine to mop floor, even if shell is close to drag less than corner if metope walking Mop structure
Structure causes floor cleaning incomplete.
Invention content
To solve the above problems, the invention discloses a kind of indoor automatic adjustment Intelligent cleaning robots.Structure of the invention
Simply, easy to use, floor space is small, realizes the flexible of the structure that mops floor, and can quickly clean cleaning corner and pack up, and
Pass through the reversed rotation of left rotary shaft and right spindle so that the first rope body and the second rope body one are elastic, another is tight, to real
Existing mop frame can be opened and be shunk at an arbitrary position, so that mop frame is in close contact with ground, and just
In cleaning step, window bottom edge etc..
To achieve the above object, the technical scheme is that:
A kind of interior automatic adjustment Intelligent cleaning robot, including cleaning structure and the structure that mops floor;The structure packet that mops floor
Bottom plate is included, walking mechanism and mopping ground are installed on bottom plate, are formed with guide rail at the top of the bottom plate, the mopping ground includes
The pan carriage being slidably connected with guide rail, pan carriage are connected with translation structure and lifting structure;The lifting structure includes that lifting walks
Stepper motor, lifting stepper motor connect the big holder of motor by the first wire rod thread;Pan carriage is connected with by end seat supporting rod
The fixed end seat for promoting stepper motor;The big holder evagination of motor is formed with the guide protrusions coordinated with end seat supporting rod;Motor is big
Holder is fixedly connected with direct current generator, and direct current generator is connected with hollow stem axis, and hollow stem axis connection has T-type frame, T-type frame both sides set
It is connected to hollow telescopic rod;Hollow telescopic rod, which passes through, the first rope body, and the first rope body is divided into after passing through hollow stem axis and T-type frame
It two strands, is connect respectively with the outer end of T-type frame both ends telescopic rod;Telescopic rod is hingedly connected the mop for being useful for installation mop
Frame, two mop frames are hingedly connected to one another;End seat supporting rod is fixedly connected with the second rope body, the second rope body pass through hollow stem axis and
T-type frame is fixedly connected with the hinged place of two mop frames;The through-hole with the second rope body cooperation is formed on T-type frame;Pacify on bottom plate
Equipped with regulation motor, regulation motor is connected with gear, and gear is engaged with left gear and right gear respectively, and left gear is connected with left-hand rotation
Axis, right gear are connected with right spindle;First rope body and the second rope body one are wound in left rotary shaft, another is wound on a right spindle
On.
Further to improve, the big holder of motor is fixed with U-frame, and regulation motor is mounted on U-frame, left rotary shaft and
The equal axis of right spindle is connected on U-frame.
Further to improve, the cleaning structure includes cleaning structure water tank outline border, and cleaning structure water tank outline border front end is opened
Mouth is simultaneously fixed with overturning board mount;It is fixedly arranged in the middle of tank lid in cleaning structure water tank outline border, it is logical that cleaning is formed in tank lid
Hole, tank lid bottom are water tank, and tank lid protrudes water tank and is formed with convex edge;It overturns on board mount in the middle part of hinged returning face plate, overturning
Board mount both ends are threaded with the second lead screw, and the second lead screw is connected with leading screw stepper motor.
Further to improve, the water tank is connected to filter layer water inlet with water pump by fore filter, and filter layer enters water
Mouth connection filter layer, filter layer joining water box are connected to form water cycle;Filter layer capping is installed at the top of filter layer.
It is further to improve, charging pile is installed on the returning face plate.
Further to improve, the walking mechanism includes driving wheel and buphthalmos wheel, and driving wheel is by driving wheel decelerator to connect
It is connected to driving wheel motor, driving wheel is two.
It is further to improve, it is also equipped with dust collection mechanism on the bottom plate, the dust collection mechanism includes dust catcher enlarged footing,
Dust catcher enlarged footing is communicated with interface in the middle part of dust catcher, and orifice has wind turbine in the middle part of dust catcher.
Further to improve, the translation structure includes the translation stepper motor end seat being fixed on bottom plate, translation step
Motor end seat is threaded with third lead screw, and third lead screw is connected with translation stepper motor, and translation stepper motor is fixedly connected with
Pan carriage.
It is further to improve, it is fixed with bevel gear on the hollow stem axis, bevel gear is engaged with to be connect with direct current generator
Gear.
The first rope body and the second rope body are elastic string.
Further to improve, the hollow stem axis is connected by shaft coupling with T-type frame.
It is further to improve, vision camera is installed at the top of the interior automatic adjustment Intelligent cleaning robot, depending on
Feel that camera remotely transmits the real-time condition of family to user hand generator terminal wechat small routine, is automatically adjusted in user's remote command room
Intelligent cleaning robot enters specified room and observes conditions, and no dead angle is monitored family;Vision camera accesses family
Wireless network, SD card or wireless transmission information are stored on computer hard disc built in camera;Interface protocol uses ONVIF, and props up
Hold TCP/IP, ICMP, HTTP, DHCP, DNS and PPPoE network agreement;Video format is using H.265 coding mode;Wechat little Cheng
Sequence uses Tencent's cloud service, and the audio and video function of Rtmp plug-flows, low delay video-see is integrated in wechat small routine, and video regards
Frequency quality is preferable, can Intelligent noise reduction, manual switching image quality and can have good transmitting function, be carried out convenient for developer
Functional development.
Description of the drawings
Fig. 1 is the entirety perspective view one of the present invention;
Fig. 2 is the entirety perspective view two of the present invention;
Fig. 3 is schematic diagram of structure when entering cleaning structure that mop floor;
Fig. 4 is that the structure that mops floor enters the schematic diagram after cleaning structure;
Fig. 5 is the positive structure schematic of cleaning structure;
Fig. 6 is the dimensional structure diagram of cleaning structure;
Fig. 7 is the structural schematic diagram that returning face plate opens;
Fig. 8 is the side structure schematic diagram of structure of mopping floor;
Fig. 9 is the side structure schematic diagram of inside configuration of mopping floor;
Figure 10 is the dimensional structure diagram one of inside configuration of mopping floor;
Figure 11 is the overlooking structure diagram of inside configuration of mopping floor;
Figure 12 is the dimensional structure diagram two of inside configuration of mopping floor;
Figure 13 is the side structure schematic diagram of mopping ground;
Figure 14 is the overlooking structure diagram of mopping ground;
Figure 15 is the dimensional structure diagram of mopping ground;
Figure 16 is the positive structure schematic of mopping ground;
Figure 17 is the dimensional structure diagram of dust collection mechanism;
Figure 18 is the internal structure schematic diagram of dust collection mechanism;
Figure 19 is the positive structure schematic of the present invention;
Figure 20 is the dimensional structure diagram of filter layer
Figure 21 is the structural upright structural schematic diagram that mops floor of embodiment 2.
Wherein, 1- overturns board mount;2- cleaning structure water tank outline borders;3- leading screw stepper motors;4- tank lid;5- is filtered
Layer;6- filter layers cover;7- mops floor structural housing;8- dust catcher enlarged footings;9- filter layer water inlets;10- guide rails;11-T types
Frame;12- shaft couplings;13- telescopic rods;14- mop frames;The rope bodies of 15- first;The rope bodies of 16- second;17- direct current generators;18- is translated
Stepper motor;19- pan carriages;20- fixes the end seat for promoting stepper motor;21- coiling rollers;22- end seat supporting rods;The bottoms 23-
Plate;24- drives wheel decelerator;25- driving wheel motors;Interface in the middle part of 26- dust catchers;27- wind turbines;28- wind turbine fixed seats;29-
Buphthalmos wheel;30- translation stepper motor end seats;31- driving wheels;32- hollow stem axis;The big holder of 33- motors;34- bevel gears 35- is clear
Wash structure head cover;36- charge ports;37- wind turbine firm banking bottom seals;38- water pumps;39- fore filters;40- returning face plates;
41- is lifted stepper motor;42- dust catcher storage boxes;43- charging piles;44- water tanks;45- electromagnetic switch;Before 46- cleaning structures
Lid;The first lead screws of 47-;48- guide protrusions;49- cleans through-hole;The second lead screws of 50-;51- third lead screws.
Specific implementation mode
Embodiment 1
Patent concrete structure of the present invention is as shown in Fig. 1-2 0:
1, overall plan
The structure of the program is divided into cleaning structure and the structure two large divisions that mops floor, the program can reduce the body of floor cleaning machine
Product so that it disclosure satisfy that the operating mode of household cleaning.
When machine without mop floor dust suction when, entire machine (as shown in Figure 2) is put into cleaning water circulation structure (such as Fig. 3
It is shown), it can effectively reduce the interior space shared by machine.
2, the water cycle and mop-cleaning scheme of cleaning structure
The part is mainly used for cleaning and the water circulation use of mop, and water pipe is by water pump 38, fore filter in the structure
39, filter layer 5, water tank 44 etc. are connected as one, and after mop is cleaned and dried in 44 the inside of water tank, dirty water passes through fore filter
39 enter water pump 38 and are admitted to filter layer 5, after filter layer is cleaned, when the vacuum cleaner that mops floor cleans again, and solenoid valve
Door 45 is opened, and water is discharged into inside water tank and is used for mop-cleaning.Leading screw stepper motor 3 drives returning face plate branch by its nut
Frame 1 moves up and down, to realize the cleaning and dehydration of the vacuum cleaner mop that mops floor.
Filtration fraction mainly has filter layer 5 (above carrying water inlet 9, be provided with water outlet below), screen pack 47 to form, dirty
Water is pumped into filter layer by water pump 38 from water inlet 9, carries out secondary filter by screen pack, and be stored in inside filter layer,
When waiting for that mop will be cleaned, electromagnetic switch 45 is opened is put into 44 the inside progress mop-cleaning of water tank by water, to realize
Water recycles.
3, mop floor organization plan
In the program, driving wheel 31 drives machine to walk, and can be turned etc. by differential, the wind turbine of large torque
27 connect converting interface 26 by fan seat is coupled in cleaner head 8, inside the fixed seat wherein below large torque wind turbine 27
There are one the dust catcher storage boxes 42 of storage rubbish, wait for that it holds rubbish to a certain extent and can be drawn off clearing up in rubbish
Fall.Translating bracket is fixed on by nut on guide rail 10, and stepper motor drives nut, nut to drive translating bracket by its leading screw
It is moved forward and backward, mop linear motion can be driven by it in the place for encountering the dead angles such as messy place and corner
It is cleaned.It promotes the stepper motor seat of honour 20 and promotes motor for fixed, promote motor and (do not work, mop for switching operating mode
It cleans, dry, mop floor).Direct current generator 17 is transmitted power to by bevel-gear sett engagement above hollow stem axis 32, hollow stem
Axis 32 will be narrow meshed hollow by shaft coupling 32 " T " type frame connect with hollow stem axis 32, and telescopic rod 13 passes through transition engagement sleeves
" " inside type frame, telescopic rod 13 is by being hingedly connected on mop expansion bracket 14 by T.By 13 exposed length of telescopic rod variation and
Angle change between mop expansion bracket realizes the variation of mop different length, this to change the cleaning that can be used for corner, makes
Cleaning effect is more preferable.Charge port 36 can match with the charging pile 43 on the returning face plate 40 in cleaning water circulation structure (cleaning structure)
It closes and charges to machine.
4, mop telescopic change programme
Mop length variation mainly by telescopic rod 13, mop expansion bracket 14, need coiling first restrict body 15, fixed setting
The compositions such as the first rope body 16, coiling idler wheel 21, shaft coupling 12, electric machine support 33, lifting stepper motor 41, end seat support stick 22.
First rope 15 other end of body is fixed on the place of telescopic rod 13 and 14 articulated shaft of mop expansion bracket, and the other end of the second rope body 16 is solid
The place for determining mop expansion bracket articulated shaft, when stepper motor 41 drives holder 33 to move downward, be wound on idler wheel 21 the
One rope body 15 the gradual length of side of exposed length and second rope 16 length of body it is constant, when motor 41 moves downward, it gradually become
Tightly, elongated so as to cause mop to which half " parallel four side " driving mop expansion bracket 14 to constitute gathers contraction, it is convenient for big face
Product cleaning and corner, promote cleaning efficiency and cleaning effect.On the contrary, when not only motor 41 drives holder 33 to move upwards, the
Two rope bodies 16 gradually fluff, and the first rope body 15 is gradually wound on idler wheel 21, and the first rope 15 length of body shortens, flexible to drive
Bar 13 is retracted " T " type frame, " parallelogram " diverging, mop length shorten, convenient for being retracted into inside the dust suction casing that mops floor, appearance
It is upper more attractive, dusting floor cleaning machine can be put into inside cleaning water circulation structure in not operation, not account for domestic space.
5, mop floor dust suction workflow
When the vacuum cleaner that mops floor will carry out mop-cleaning, large torque wind turbine 27 stalls, and driving wheel 31 is reached with movement machine
Position shown in FIG. 1,31 stop motion of driving wheel, leading screw stepper motor 3 drive turnover bracket to move by its nut, reach figure
Shown in 2 when position, driving wheel 31 moves, and when reaching position shown in Fig. 3,31 stop motion of driving wheel is lifted stepping at this time
Motor 41 drives the big holder 33 of motor to move by nut, and mop 14 gradually extends and enters water tank 44, into one depthkeeping of water tank
After degree, the dirty water that filter layer stores is put into water tank 44 by the opening of electromagnetic switch 45, and direct current generator 17 moves, and passes through bevel gear
Mop rotation movement is driven, realizes that the cleaning to mop, the charge port 36 to mop floor at this time on vacuum cleaner are contacted with charging pile 43, given
Machine charges.After a certain period of time, dirty water is pumped into filter layer by suction pump, and motor 17 carries out speed governing, and centrifugal movement will drag
Upper water is dried, after drying, lifting stepper motor 41 moves upwards retraction and mops floor vacuum cleaner housings, and driving wheel 31 is transported
Dynamic, when the vacuum cleaner that mops floor reaches position shown in Figure 12, leading screw stepper motor 3 moves, and the vacuum cleaner that mops floor is driven to reach shown in Fig. 1
Position, driving wheel 31 move, return again to original place and carry out the dust suction that mops floor.
The vacuum cleaner that mops floor normally mops floor to be mopped floor in a manner of rotary motion, in sideline especially corner, electricity
17 stop motion of machine drives 18 linear reciprocating motion of stepper motor of holder translation to mop floor.
6, intelligent control
The interior automatic adjustment Intelligent cleaning robot is using infrared sensor, it is contemplated that the detection model of infrared ray
The non-intellectual for enclosing and cleaning environment uses a kind of mode learnt along side, can automatically be familiar with foreign environment, to
Path planning is carried out to it, achieve the effect that traversal and is repeated minimum.
For the interior automatic adjustment Intelligent cleaning robot in cleaning process, the obstacle information that sensor provides includes machine
The collision sensor signal of the left and right sides in front of infrared sensor and fuselage on the direction of body left, center, right, to obtain barrier
Whether collide with barrier relative to the position of clean robot and clean robot, to judge the steering item of robot
Part.
Camera on the interior automatic adjustment Intelligent cleaning robot can carry out the difference of the dirty degree on ground
Judge, multiple dragging is carried out to messy place, reaches preferable effect.Clock module setting inside machine can be with
Realize that machine cleans the timing on ground.
7, rope body caused by the first rope rope 16 single-ended rotation of body of body 15 and second tightens knotting in order to prevent, and direct current generator is adopted
With rotating forward for a moment, the mode inverted for a moment is run.Another scheme is that the first rope rope body 16 of body 15 and second is divided into epimere rope
Body and hypomere rope body, the upper shaft of epimere rope body connection, hypomere rope body connect lower rotary shaft, upper shaft and lower rotary shaft rotatable connection, from
And discharge the torsion generated in rotary course.
Embodiment 2
The opening of expansion bracket 14 is fast implemented for convenience and gathers contraction, and following improvement is done on the basis of embodiment 1:
U-frame 52 is installed on the big holder of motor 33, regulation motor 53 is installed on U-frame 52, regulation motor 53 is connected with gear 54,
Gear 54 is engaged with left gear 55 and right gear 56 respectively, and left gear 55 is connected with left rotary shaft 57, and right gear 56 is connected with right-hand rotation
Axis 58;The first rope rope body 16 1 of body 15 and second is wound in left rotary shaft 57, another is wound on a right spindle 58.Left rotary shaft 57
It is connected on U-frame 52 with 58 equal axis of right spindle.The gear 54, left gear 55 and right gear 56 are bevel gear.
Such scheme passes through the reversed rotation of left rotary shaft 57 and right spindle 58 so that the first rope rope body 16 of body 15 and second
One elastic, another is tight, to realize that mop frame can be opened and shunk at an arbitrary position, so that dragging
Frame and ground are in close contact, and convenient for cleaning step, window bottom edge etc..
It automatically adjusts Intelligent cleaning robot bottom and carries compact wide-angle camera, itself traversed environment is carried out
Identification has dirty serious special operating mode using the identification of machine learning SIFT algorithms, is used according to specific operating mode and cleaned emphatically
Scheme, and remember comparison of this operating mode image as next cleannes, clean thorough effect to reach serious spot.It is main
Remember the image SIFT feature that operating mode image is arrived with camera actual acquisition by comparison, images match is carried out, according to matching rate
Degree takes corresponding cleaning strategy, can carry out the information of storage inside after primary complete cleaning with new, for cleaning next time
Offer standard.
Remote monitoring is realized:The vision camera installed at the top of robot can be remotely to user hand generator terminal wechat small routine
The real-time condition of family is transmitted, user also may specify that robot enters specified room and observes conditions, and no dead angle carries out family
Monitoring, can reduce decoration cost to a certain degree, and specific implementation is the IP Camera access family wireless of Intelligent cleaning robot
Network, SD card built in camera or is stored on computer hard disc.Interface protocol uses ONVIF, and supports TCP/IP, ICMP,
The mainstream networks agreement such as HTTP, DHCP, DNS, PPPoE;Video format reaches optimized image effect using H.265 coding mode
And compression ratio, while ensuring the confidentiality of image quality and data transmission.Tencent's cloud service is used in terms of small routine docking,
The audio and video function such as Rtmp plug-flows, low delay video-see SDK has been integrated in the wechat of new version, and small video video product
Matter is preferable, can Intelligent noise reduction, manual switching image quality and can have good transmitting function, function is carried out convenient for developer
Exploitation.
Being further improved for operating mode is as follows:
1. robot is entering different rooms, room shape can be carried out by the vision camera and laser radar at top
The extraction of the information such as shape and furniture carries out path planning according to extraction use of information.Artificial intelligence and perception skill are utilized simultaneously
Art, robot encounters people during clean when walking about, and can actively avoid, and to not clean region again path planning,
Cleaning efficiency and cleaning effect can effectively be promoted
2. the environment that the compact wide-angle camera of bottom can be traversed to itself is identified, and exists with initial storage
Information inside machine is compared, and identifies dirty serious special operating mode using machine learning SIFT algorithms, and according to specific
Operating mode cleans thorough effect using cleaning solution is focused on, to reach serious spot, and will be deposited inside machine after cleaning every time
The judgment criteria that the information of storage is carried out with new work whether be next time clean, while can also carry out factory reset.
The small wide-angle camera carried on clean robot bottom plate can distinguish the material on floor, and the ground of unlike material is adopted
With different operating modes.To realize more efficient cleaning.
Although the embodiments of the present invention have been disclosed as above, but it is not restricted to listed fortune in specification and embodiment
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily real
Now other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is not limited to
Specific details and the legend herein shown with description.
Claims (10)
1. a kind of interior automatic adjustment Intelligent cleaning robot, including cleaning structure and the structure that mops floor;The structure that mops floor includes
Bottom plate (23), bottom plate are equipped with walking mechanism and mopping ground on (23), which is characterized in that the bottom plate (23) is top formed to be had
Guide rail (10), the mopping ground include the pan carriage (19) being slidably connected with guide rail (10), and pan carriage (19) is connected with translation
Structure and lifting structure;The lifting structure includes lifting stepper motor (41), and lifting stepper motor (41) passes through the first lead screw
(47) it is threadedly coupled the big holder of motor (33);Pan carriage (19) is connected with fixed promotion stepper motor by end seat supporting rod (22)
End seat (20);The big holder of motor (33) evagination is formed with the guide protrusions (48) coordinated with end seat supporting rod (22);Motor is big
Holder (33) is fixedly connected with direct current generator (17), and direct current generator (17) is connected with hollow stem axis (32), and hollow stem axis (32) is even
It is connected to T-type frame (11), T-type frame (11) both sides are socketed with hollow telescopic rod (13);Hollow telescopic rod (13), which passes through, first
Restrict body (15), the first rope body (15) is divided into two strands after passing through hollow stem axis (32) and T-type frame (11), respectively with T-type frame (11) two
Hold the outer end connection of telescopic rod (13);Telescopic rod (13) be hingedly connected be useful for installation mop mop frame (14), two
Mop frame (14) is hingedly connected to one another;End seat supporting rod (22) is fixedly connected with the second rope body (16), and the second rope body (16) passes through
Hollow stem axis (32) and T-type frame (11) are fixedly connected with the hinged place of two mop frames (14);It is formed on T-type frame (11) and the
The through-hole that two rope bodies (16) coordinate;Regulation motor (53) is installed on bottom plate (23), regulation motor (53) is connected with gear (54),
Gear (54) is engaged with left gear (55) and right gear (56) respectively, and left gear (55) is connected with left rotary shaft (57), right gear
(56) it is connected with right spindle (58);First rope body (15) and second restrict body (16) one be wound in left rotary shaft (57), another around
On a right spindle (58).
2. automatic adjustment Intelligent cleaning robot in interior as described in claim 1, which is characterized in that the big holder of motor
(33) it is fixed with U-frame (52), regulation motor (53) is mounted on U-frame (52), left rotary shaft (57) and right spindle (58) equal axis
It is connected on U-frame (52).
3. interior automatic adjustment Intelligent cleaning robot as described in claim 1, which is characterized in that the cleaning structure includes
Cleaning structure water tank outline border (2), cleaning structure water tank outline border (2) front opening are simultaneously fixed with overturning board mount (1);Cleaning structure
It is fixedly arranged in the middle of tank lid (4) in water tank outline border (2), cleaning through-hole (49), tank lid (4) bottom are formed in tank lid (4)
For water tank (44), the prominent water tank (44) of tank lid (4) is formed with convex edge;It overturns on board mount (1) in the middle part of hinged returning face plate (40),
Overturning board mount (1) both ends are threaded with the second lead screw (50), and the second lead screw (50) is connected with leading screw stepper motor (3).
4. automatic adjustment Intelligent cleaning robot in interior as claimed in claim 3, which is characterized in that the water tank (44) passes through
Fore filter (39) is connected to filter layer water inlet (9) with water pump (38), and filter layer water inlet (9) is connected to filter layer (5), filtering
Layer (5) joining water box (44), which is connected to, forms water cycle;Filter layer capping (6) is installed at the top of filter layer (5).
5. automatic adjustment Intelligent cleaning robot in interior as claimed in claim 3, which is characterized in that on the returning face plate (40)
Charging pile (43) is installed.
6. interior automatic adjustment Intelligent cleaning robot as described in claim 1, which is characterized in that the walking mechanism includes
Driving wheel (31) and buphthalmos wheel (29), driving wheel (31) are driven by driving wheel decelerator (24) to be connected with driving wheel motor (25)
Driving wheel (31) is two.
7. automatic adjustment Intelligent cleaning robot in interior as described in claim 1, which is characterized in that on the bottom plate (23) also
Dust collection mechanism is installed, the dust collection mechanism includes dust catcher enlarged footing (8), and dust catcher enlarged footing (8) is communicated in dust catcher
Portion's interface (26), dust catcher middle part interface (26) are communicated with wind turbine (27).
8. interior automatic adjustment Intelligent cleaning robot as described in claim 1, which is characterized in that the translation structure includes
The translation stepper motor end seat (30) being fixed on bottom plate (23), translation stepper motor end seat (30) are threaded with third lead screw
(51), third lead screw (51) is connected with translation stepper motor (18), and translation stepper motor (18) is fixedly connected with pan carriage (19).
9. automatic adjustment Intelligent cleaning robot in interior as described in claim 1, which is characterized in that the hollow stem axis (32)
On be fixed with bevel gear (34), bevel gear (34) is engaged with the gear being connect with direct current generator (17).
10. automatic adjustment Intelligent cleaning robot in interior as described in claim 1, which is characterized in that the indoor automatic tune
Vision camera is installed, vision camera is remotely passed to user hand generator terminal wechat small routine at the top of section Intelligent cleaning robot
The real-time condition in loser front yard, automatic adjustment Intelligent cleaning robot enters specified room and checks feelings in user's remote command room
Condition, no dead angle are monitored family;Vision camera accesses family wireless network, SD card built in camera or wireless transmission letter
Breath is stored on computer hard disc;Interface protocol uses ONVIF, and supports TCP/IP, ICMP, HTTP, DHCP, DNS and PPPoE net
Network agreement;Video format is using H.265 coding mode;Wechat small routine uses Tencent's cloud service, is integrated in wechat small routine
The audio and video function of Rtmp plug-flows, low delay video-see, video video quality is preferable, can Intelligent noise reduction, can cut manually
It changes image quality and has good transmitting function, functional development is carried out convenient for developer.
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| CN111374614A (en) * | 2020-03-19 | 2020-07-07 | 北京小米移动软件有限公司 | Control method and device of cleaning equipment and storage medium |
| CN112190196A (en) * | 2020-10-14 | 2021-01-08 | 遂宁福家科技有限公司 | Hand-push type dual-purpose automatic floor mopping machine |
| CN112568815A (en) * | 2019-09-29 | 2021-03-30 | 北京石头世纪科技股份有限公司 | Cleaning equipment |
| CN112568101A (en) * | 2020-12-03 | 2021-03-30 | 珠海格力电器股份有限公司 | Watering device and watering method |
| CN113071401A (en) * | 2021-04-27 | 2021-07-06 | 山东金圣专用汽车制造有限公司 | Refrigerator carriage and mounting method thereof |
| CN113520235A (en) * | 2021-06-03 | 2021-10-22 | 深圳原子动力科技有限公司 | Base station |
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