CN109730588A - Mopping robot - Google Patents
Mopping robot Download PDFInfo
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- CN109730588A CN109730588A CN201910095422.4A CN201910095422A CN109730588A CN 109730588 A CN109730588 A CN 109730588A CN 201910095422 A CN201910095422 A CN 201910095422A CN 109730588 A CN109730588 A CN 109730588A
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- fuselage
- oscillating rod
- component
- mopping robot
- ground component
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000000694 effects Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 32
- 238000009434 installation Methods 0.000 claims description 8
- 230000010355 oscillation Effects 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 8
- 238000003825 pressing Methods 0.000 abstract description 3
- 239000004744 fabric Substances 0.000 abstract description 2
- 238000005299 abrasion Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 230000002459 sustained effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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Abstract
The invention discloses mopping robots.Above-mentioned mopping robot includes fuselage and the wiping ground component for being movably connected on the fuselage, the mopping robot further includes pressure mechanism, the pressure mechanism is installed on the fuselage, the pressure mechanism is connected to wiping ground component, for applying pressure to wiping ground component, to adjust the wiping ground dynamics for wiping ground component.Mopping robot of the present invention can adjust the frictional force of floor mopping cloth and ground, improve cleaning effect.
Description
Technical field
The present invention relates to be used for clean robotic technology field, and in particular to mopping robot.
Background technique
Mopping robot is a kind of controlling intelligent household appliances cleaned while automatic wiping can be carried out to ground, it can be big to room
Small, furniture the factors such as is put and is detected automatically, and relies on built-in program, formulates and reasonable wipes ground cleaning route.But at present
Mopping robot on the market be to the pressure on ground it is fixed, when needing the biggish region of ground degree of fouling, cleaning
Ability is had a greatly reduced quality.
Summary of the invention
Based on this, the present invention improves cleaning effect it is necessary to provide the frictional force of a kind of adjustable floor mopping cloth and ground
Mopping robot.
In order to achieve the object of the present invention, the invention adopts the following technical scheme:
A kind of mopping robot including fuselage and is movably connected on the wiping ground component of the fuselage, the mopping robot
It further include pressure mechanism, the pressure mechanism is installed on the fuselage and is connected to wiping ground component, and the pressure mechanism is used
In applying pressure to wiping ground component, to adjust the wiping ground dynamics for wiping ground component.
Above-mentioned mopping robot is mounted with pressure mechanism in fuselage, and pressure mechanism is changeable to wipe ground component and ground
Between frictional force, thus change wipe ground dynamics, cleaning effect can be improved to the biggish region of degree of fouling, to user it is more preferable
Experience.
In some of embodiments, the pressure mechanism include the power part being installed in the fuselage and with it is described
The transmission component of ground component connection is wiped, the power part transmission connection is in the transmission component, to drive the transmission component
Apply pressure to wiping ground component.Pressure mechanism is set as the form of transmission component and power part, increases power part and wipes ground
The transmitting distance of power between component, while it is also possible that side that position, output power be set of the power part in fuselage
To diversified facilities, more rationally, neatly arrange that the optional type of power part is also more widened in fuselage conducive to power part
It is general.
In some of embodiments, the transmission component include be pivotably connected the tilting member in the fuselage, with
The first press part and the first driving member of tilting member connection, first press part far from the tilting member one
End is connected to wiping ground component, and first driving member and the power part are sequentially connected, and the one of first driving member
End is connected between the junction of the tilting member and the fuselage and first press part.Tilting member and fuselage are swung
Connection is conducive to the transmitting of power so that transmission component is more flexible along fuselage transmission；By the first press part by swing part
The distance between the power of part, which passes to, wipes ground component, be capable of increasing tilting member and wipe ground component, facilitate the peace of tilting member
Dress, and can more accurately transmit power.
In some of embodiments, the tilting member includes the first oscillating rod, the second oscillating rod and connection described first
The connecting rod of oscillating rod and second oscillating rod, first oscillating rod in 0-180 degree and are not wrapped with second oscillating rod
The angle for including endpoint connects, and one end of one end of first oscillating rod and second oscillating rod is pivotably connected institute respectively
Fuselage is stated so that first oscillating rod and second oscillating rod are to connect the end of the fuselage as branch spot wobble, described
One end of one driving member connects the connecting rod, and first press part connects first oscillating rod and/or second pendulum
Lever.When mopping robot is advanced in a forward direction, due to the vibration of effect of inertia and fuselage or other connecting components
Transmitting effect, tilting member can generate shaking in a forward direction, over time, can produce to the junction of tilting member and fuselage
Raw biggish abrasion is set as the first oscillating rod, the second pendulum by tilting member to influence the service life of mopping robot
The mode of lever and connecting rod, so that tilting member is in tripod-shaped, in actual setting, the first oscillating rod and the second oscillating rod
With two junctions of fuselage can in sustained height, when advancing in mopping robot direction of advance, by the first oscillating rod with
The junction of fuselage and the junction of the second oscillating rod and fuselage are cancelled out each other the active force in direction of advance, so that tilting member
Connection between fuselage is more reliable and stable, and can reduce the abrasion generated due to shaking, can so promote wiping ground
The service life of robot.
In some of embodiments, the fuselage is equipped with first rotating shaft and the second shaft, one end of first oscillating rod
It is socketed the first rotating shaft, so that first oscillating rod can be around the circuit oscillation of the first rotating shaft, second oscillating rod
It is socketed second shaft, so that second oscillating rod can be around the circuit oscillation of second shaft.It is arranged so that
One oscillating rod can be freely rotatable with the second oscillating rod, abrasion can't be generated to fuselage itself, when first rotating shaft and second
It can be replaced when shaft is by damaging.
In some of embodiments, the power part is first motor, and the output shaft of the first motor is equipped with first
Gear, first driving member are equipped with the first rack gear being extended in its axial direction, the first gear engagement connection institute
State the first rack gear.Thus the power of motor can more efficiently be passed to tilting member, driving tilting member is swung, and is conducive to
Installation of the motor in fuselage.
In some of embodiments, first driving member has the first stretch section and the first rack segments, first tooth
Item section is equipped with first rack gear, and first stretch section is between the tilting member and first rack segments.First
Stretch section can between buffer swing component and power part power transmitting, avoid hard contact that abrasion of component etc. is caused to be asked
Topic, can also have bigger controllability.
In some of embodiments, first press part has the second stretch section, and second stretch section is located at described
Between tilting member and wiping ground component.Second stretch section can buffer swing component and wipe ground component between power transmitting,
Avoid power transmitting is excessive from leading to the first press part and wipe the damage of ground component, it is also possible that the power of transmitting can with bigger
Modulability.
In some of embodiments, the transmission component includes the slide unit for being slidably connected to the fuselage, connection
In the slide unit the second press part and be connected to the second driving member of the slide unit, second press part is remote
One end from the slide unit is connected to wiping ground component, and second driving member and the power part are sequentially connected.
It is connect by slide unit with sliding machine body, provides a kind of mode of power transmitting, and the mode slided can be reduced power part
Transferring element between part and slide unit, more directly transmits power；The power of slide unit is passed by the second press part
The distance between it passs and wipes ground component, be capable of increasing slide unit and wipe ground component, convenient for the installation of slide unit, and can be more smart
Really transmit power.
In some of embodiments, the slide unit include be slidably connected to the fuselage the first sliding bar and
Second sliding bar, second driving member are connected between first sliding bar and the second sliding bar, second press part
It is connected to first sliding bar and/or second sliding bar.The first sliding bar and second is set as by slide unit to slide
The mode of lever, the second driving member are connected between the first sliding bar and the second sliding bar, so that the first sliding bar, the second sliding
Bar and the second driving member are in tripod-shaped, not only the power of power part rapidly can be passed to slide unit, but also to slide
The structure of dynamic component is more stable.
In some of embodiments, the side wall of the fuselage is extended along the vertical direction has first sliding groove and second to slide
One end of slot, first sliding bar is slidably mounted in the first sliding groove, and one end of second sliding bar can be slided
It is installed in the second sliding slot dynamicly；And/or the power part is the second motor, the output shaft of second motor is set
There is second gear, second driving member is equipped with the second rack gear being extended in its axial direction, the second gear engagement
Connect second rack gear.Setting first sliding groove and second sliding slot can provide sliding rail for the first sliding bar, the second sliding bar
Road；The power of motor can more efficiently be passed to slide unit, driving slide unit sliding by the structure of power part, and be had
Conducive to installation of the motor in fuselage.
In some of embodiments, second press part has third stretch section, and the third stretch section is located at described
Between slide unit and wiping ground component.Third stretch section can buffer the biography of the power between the second driving member and power part
It passs, hard contact is avoided to lead to the abrasion of component, can also have bigger controllability.
In some of embodiments, it is described wipe ground component include be movably connected on the fuselage mounting portion and with the peace
The wiping ground component of dress portion connection, the pressure mechanism are connected to the mounting portion.The structure for wiping ground component makes pressure mechanism
It is more convenient to be connected thereto, and wipe more stable when ground.
In some of embodiments, the mounting portion is socketed the fuselage, or, the mounting portion by extensible member with it is described
Fuselage connection.Mounting portion allows mounting portion edge under the action of pressure mechanism to be socketed or extensible member is flexibly connected fuselage
Fuselage it is mobile, to realize change of the mounting portion to the frictional force on ground, to realize the frictional force for wiping ground component to ground
Change.
In some of embodiments, the mopping robot further includes inductor for acquiring ground cleannes and is electrically connected
The controller of the inductor is connect, the controller is electrically connected the power part, for controlling the power part operation.If
Inductor and controller are set, the degree of fouling on ground can be more accurately acquired, more efficiently to drive power part, lower
Ground is thoroughly cleaned under the premise of energy consumption.
Detailed description of the invention
Fig. 1 is the top view of mopping robot described in one embodiment of the invention；
Fig. 2 is the schematic diagram of internal structure of mopping robot described in Fig. 1；
Fig. 3 is the sectional view along A-A of mopping robot described in Fig. 1, and the state of pressure mechanism pushing is shown；
Fig. 4 is another status diagram of mopping robot described in Fig. 3, and the shape that pressure mechanism does not push is shown
State；
Fig. 5 is the internal structure top view of mopping robot described in another embodiment of the present invention；
Fig. 6 is the B-B direction cross-sectional view of mopping robot described in Fig. 5；
Fig. 7 is the slide unit of mopping robot described in Fig. 5 and the fit structure schematic diagram of fuselage；
Fig. 8 is the internal structure top view of mopping robot described in the embodiment of the present invention four；
Fig. 9 is the C-C of mopping robot described in Fig. 8 to cross-sectional view.
Specific embodiment
It to facilitate the understanding of the present invention, below will be to invention is more fully described.But the present invention can be to be permitted
Mostly different form is realized, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes
It is more thorough and comprehensive to the understanding of the disclosure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Embodiment one
Fig. 1 and Fig. 2 are please referred to, the present invention provides a kind of mopping robot 100, for cleaning to ground comprising
Fuselage 10, the wiping ground component 20 for being movably connected on fuselage and be installed in fuselage 10 and pressure mechanism 30, it is living to wipe ground component 20
Dynamic connection fuselage 10 is so that wiping ground component 20 can move along fuselage 10, and pressure mechanism 30, which is connected to, wipes ground component 20, for pressing
In wiping ground component 20, ground component 20 is wiped to the pressure on ground to adjust, the wiping ground dynamics of ground component 20 is wiped in final adjusting, to not
Ground with degree of fouling carries out different degrees of cleaning.
Referring to figure 3., in an embodiment, wipe ground component 20 include be movably connected on fuselage 10 mounting portion 21 and with the peace
The wiping ground component 22 that dress portion 21 connects, pressure mechanism 30 is connected to mounting portion 21.The structure for wiping ground component 20 makes press machine
Structure 30 is more convenient to be connected thereto, and is wiped more stable when ground.Ground component 22 is wiped such as can be mop, besom, sponge.Other realities
It applies in example, wiping ground component 20 can also directly be mop, besom etc., and pressure mechanism 30 is directly connected in mop, besom, sponge,
Also the purpose of change frictional force may be implemented.
Mounting portion 21 is, for example, to be socketed, connect by extensible member with the connection type of fuselage 10, and purpose can be achieved.Example
Such as, mounting portion 21 is socketed fuselage 10, or, mounting portion 21 connects fuselage 10 by extensible member.Mounting portion 21 is with socket or extensible member
It is flexibly connected fuselage, mounting portion 21 is moved under the action of pressure mechanism 30 along fuselage 10, to realize mounting portion
The change of the frictional force on 21 pairs of ground, to realize the change for wiping ground component to the frictional force on ground.Such as wipe 20 sets of ground component
Pick body 10 when, mounting portion 21 can decline along the outer wall of fuselage 10；When mounting portion 21 connects fuselage 10 by extensible member, stretch
The elongation of contracting part, mounting portion 21 can rise or fall with respect to fuselage 10.
Mounting portion 21, which can protrude into, connects fuselage 10 in fuselage 10, can also pass through the external connection fuselage 10 of fuselage 10.
Pressure mechanism 30, which can be, to be directly connected to wipe ground component 20, applies pressure directly to ground component 20 is wiped；It is also possible to
It abuts and wipes ground component 20, press to and apply pressure when wiping ground component 20；Or it is connected by middleware and wipes ground component 20；Middleware
It is power transmission member, pressure mechanism 30 imparts power to power transmission member, and power transmission member imparts power to again
Ground component 20 is wiped, to apply pressure to wiping ground component 20.
Referring to figure 2. to Fig. 4 and Fig. 6, in an embodiment, pressure mechanism 30 includes the power part being installed in fuselage 10
Part 31 and the transmission component 32 connecting with wiping ground component 20, the transmission connection of power part 31 are passed in transmission component 32 with driving
Dynamic component 32, which applies pressure to, wipes ground component 20.When power part 31 acts, drive transmission component 32 towards close to or far from wiping group
The direction of part 20 is swung or movement, to change the pressure of 32 pairs of transmission component wiping ground components 20.Pressure mechanism 30 is set as being driven
The form of component 32 and power part 31 increases power part 31 and wipes the transmitting distance of the power between ground component 20, while
Direction diversified facilities that position, output power be set of the power part 31 in fuselage 10 are enabled to, power part is conducive to
31 more rationally, neatly arrange that the optional type of power part 31 is also more wide in range in fuselage 10.Such as power part 31 can
Think the components such as motor matable assembly, cylinder, hydraulic cylinder, by different setting orientation, can achieve driving transmission component 32
The purpose of transmission.
Embodiment two
Referring to figure 2. to Fig. 4, in the present embodiment, transmission component 32a includes being pivotably connected in the swing part of fuselage 10
Part 33, the first press part 34 connecting with tilting member 33 and the first driving member 35, the first press part 34 is far from tilting member
33 one end is connected to the mounting portion 21 for wiping ground component 20, and the first driving member 35 and power part 31a is sequentially connected, and first passes
One end of moving part 35 is connected between the junction of tilting member 33 and fuselage 10 and the first press part 34.Power part therein
31a drives the first driving member 35 towards close to or far from the direction movement for wiping ground component 20, and the connection of tilting member 33 first compresses
The part of part 34 is driven by power part 31a towards the direction movement close to or far from wiping ground component 20, so that tilting member 33
The pressure of first press part 34 is increased or reduced, so that the pressure of the mounting portion 21 of 34 pairs of the first press part wiping ground components 20 increases
Big or reduction finally increases or reduces and wipes ground component 20 to the pressure on ground.It is swung and is connected by tilting member 33 and fuselage 10,
So that transmission component 32a is more flexible along fuselage transmission, be conducive to the transmitting of power；By the first press part 34 by swing part
The distance between the power of part 33, which passes to, wipes ground component 20, be capable of increasing tilting member 33 and wipe ground component 20, facilitate swing
The installation of component 33, and can more accurately transmit power.
Referring to figure 3. with Fig. 4, wherein the mode that ground component 20 is wiped in the connection of the first press part 34 can be and be directly connected to, support
It connects or is connected by other component.In one embodiment, mounting portion 21 is equipped with intermediate mass 23, and the first press part 34 connects in this
Between block 23.The setting of intermediate mass 23 can make the connection of the first press part 34 and wiping ground component 20 more stable.
Referring to figure 2., tilting member 33 includes the first oscillating rod 36, the second oscillating rod 37 and connection 36 and of the first oscillating rod
The connecting rod 38 of second oscillating rod 37, so that tilting member 33, in the form of a tripod, the first oscillating rod 36 and second is put
Lever 37 in 0-180 degree and do not include endpoint angle connection, one end of one end of the first oscillating rod 36 and the second oscillating rod 37
It is pivotably connected respectively in fuselage 10 so that the first oscillating rod 36 and the second oscillating rod 37 are to connect the end of fuselage 10 as branch
Spot wobble, one end of the first driving member 35 connect connecting rod 38, the first press part 34 connection the first oscillating rod 36 and/or the second pendulum
Lever 37.First driving member 35 drives the first oscillating rod 36, the second oscillating rod 37 to connect the bottom on one end of fuselage 10 along it
It is dynamic, and then the first press part 34 is driven to move up and down, so that the first press part 34 of driving applies pressure to and wipes ground component 20.When wiping ground machine
When device people advances in a forward direction, since the vibration transmitting of effect of inertia and fuselage 10 or other connecting components acts on, pendulum
Dynamic component 33 can in a forward direction generate shaking, over time, can to the junction of tilting member 33 and fuselage 10 generate compared with
Big abrasion is set as the first oscillating rod 36, second pendulum by tilting member 33 to influence the service life of mopping robot
The mode of lever 37 and connecting rod 38, so that tilting member 33 is in tripod-shaped, in actual setting, the first oscillating rod 36 and the
Two junctions of two oscillating rods 37 and fuselage 10 can pass through in sustained height when advancing in mopping robot direction of advance
First oscillating rod 36 is cancelled out each other in direction of advance with the junction of fuselage 10 and the junction of the second oscillating rod 37 and fuselage 10
Active force so that the connection between tilting member 33 and fuselage 10 is more reliable and stable, and can reduce due to shaking and
The abrasion of generation can so promote the service life of mopping robot.
In one embodiment, the connection type of tilting member 33 and fuselage 10 are as follows: fuselage 10 is equipped with first rotating shaft 11 and second
One end of shaft 12, the first oscillating rod 36 is socketed first rotating shaft 11, so that the first oscillating rod 36 can be around the circumferential direction of first rotating shaft 11
It swings, the second oscillating rod 37 is socketed the second shaft 12, so that the second oscillating rod 37 can be around the circuit oscillation of the second shaft 12.So
Setting is freely rotatable the first oscillating rod 36 with the second oscillating rod 37, can't generate abrasion to fuselage 10 itself,
It can be replaced when first rotating shaft 11 and the second shaft 12 are by damaging.
Referring to figure 3., in an embodiment, power part 31a is first motor, and the output shaft of first motor is equipped with the first tooth
Wheel 310, the first driving member 35 are equipped with the first rack gear 350 being extended in its axial direction, the engagement of first gear 310 connection the
One rack gear 350.When first motor rotates, first gear 310 is driven to rotate, first gear 310 drives the first rack gear 350 along the
One driving member 35 moves up and down, and thus tilting member 33 is driven to swing up and down.Thus the power of motor can more efficiently be transmitted
To tilting member 33, tilting member 33 is driven to swing, and is conducive to installation of the first motor in fuselage 10, such as first motor
It can be transversely mounted.
Referring to figure 3. with Fig. 4, in an embodiment, the first driving member 35 has the first stretch section 351 and the first rack segments
352, the first rack segments 352 are equipped with the first rack gear 350, the first stretch section 351 be located at tilting member 33 and the first rack segments 352 it
Between.First stretch section 351 can between buffer swing component 33 and power part 31a power transmitting, avoid hard contact from causing
The problems such as abrasion of component, can also have bigger controllability.For example, the first driving member 35 is in the shape of a rod, intermediate portion
For the first stretch section 351, lower end is the first rack segments 352, and upper end connects connecting rod 38.For another example the first driving member 35 is in bar
Shape, the part of connection connecting rod 38 are the first stretch section 351, and lower end is the first rack segments 352.
In one embodiment, the first press part 34 has the second stretch section 340, and the second stretch section 340 is located at tilting member 33
And it wipes between ground component 20.Second stretch section 340 can buffer swing component 33 and wipe ground component 20 between power transmitting, avoid
Power transmitting is excessive to be led to the first press part 34 and wipes the damage of ground component 20, it is also possible that the power of transmitting can with bigger
Modulability.For example, the first press part 34 is in the shape of a rod, the second stretch section 340 is set to the both ends or centre of the first press part 34.
First stretch section 351 and the second stretch section 340 can be spring, elastic slice etc., its purpose may be implemented.
Embodiment three
Referring to figure 5. with Fig. 6, in the present embodiment, transmission component 32b includes the sliding part for being slidably connected to fuselage 10
Part 40, the second press part 41 for being connected to slide unit 40 and the second driving member 42 for being connected to slide unit 40, second supports
Casting die 41 is connected to far from one end of slide unit 40 wipes ground component 20, and the second driving member 42 and power part 31b is sequentially connected.
When power part 31b is acted, the second driving member 42 is driven to move up and down, so that slide unit 40 be driven to move up and down, second is supported
Casting die 41 is moved up and down to change to the pressure for wiping ground component 20.It is slidably connected, is provided not by slide unit 40 and fuselage 10
It is same as the mode of another power transmitting of embodiment two, and the mode slided can be reduced power part 31b and slide unit
The quantity of transferring element between 40, more directly transmits power；The power of slide unit 40 is passed by the second press part 41
It passs and wipes ground component 20, be capable of increasing slide unit 40 and wipe the distance between ground component 20, convenient for the installation of slide unit 40,
And it can more accurately transmit power.
Please refer to Fig. 6, wherein the second press part 41 connection wipe ground component 20 mode can be directly connected to, abut or
Person is connected by other component.In one embodiment, mounting portion 21 is equipped with intermediate mass 23, and the second press part 41 connects the intermediate mass
23.The setting of intermediate mass 23 can make the connection of the second press part 41 and wiping ground component 20 more stable.
In one embodiment, slide unit 40 includes the first sliding bar 43 and the second sliding for being slidably connected to fuselage 10
Bar 44, the second driving member 42 are connected between the first sliding bar 43 and the second sliding bar 44, and the second press part 41 is connected to first
Sliding bar 43 and/or the second sliding bar 44.In such a way that slide unit is set as the first sliding bar 43 and the second sliding bar 44,
Second driving member 42 is connected between the first sliding bar 43 and the second sliding bar 44, so that the first sliding bar 43, the second sliding bar
44 and second driving member 42 be in tripod-shaped, not only the power of power part 31b rapidly can be passed into slide unit 40, but also
So that the structure of slide unit 40 is more stable.
Please refer to Fig. 7, in an embodiment, the side wall of fuselage 10 is extended along the vertical direction first sliding groove 13 and second
One end of sliding slot 14, the first sliding bar 43 is slidably mounted in first sliding groove 13, and one end of the second sliding bar 44 is slidably
Ground is installed in second sliding slot 14.As a result, slide unit 40 can be slided up and down along fuselage 10, it is the first sliding bar
43, the second sliding bar 44 provides sliding rail.First sliding groove 13 and second sliding slot 14 can be on fuselage 10 to be independently arranged,
Can be interconnected setting.In the present embodiment, first sliding groove 13 and second sliding slot 14 are independently arranged on fuselage 10.
Please refer to Fig. 6, in an embodiment, power part 31b is the second motor, and the output shaft of the second motor is equipped with the second tooth
Wheel 45, the second driving member 42 are equipped with the second rack gear 46 being extended in its axial direction, the engagement of second gear 45 connection second
Rack gear 46.When second motor rotates, second gear 45 is driven to rotate, second gear 45 drives the second rack gear 46 to move up and down, the
Two rack gears 46 drive slide unit 40 to move up and down.The structure of power part 31b can more efficiently transmit the power of motor
To slide unit 40, slide unit 40 is driven to slide, and is conducive to installation of the motor in fuselage 10.
Second press part 41 has third stretch section 47, which is located at slide unit 40 and wipes ground component 20
Between.Third stretch section 47 can buffer the transmitting of the power between the second driving member and power part, and hard contact is avoided to lead to portion
The problems such as abrasion of part, can also have bigger controllability.For example, the second press part 41 is in the shape of a rod, third stretch section 47
Positioned at upper end, centre or the lower end of the second press part 41, the purpose of buffering can be achieved.
In one embodiment, the second driving member 42 has the 4th stretch section 48, and the 4th stretch section 48 may be disposed at the second transmission
The centre or both ends of part 42.4th stretch section 48 can buffer the transmitting of the power between slide unit 40 and power part 31b, avoid
Hard contact leads to the abrasion of component, can also have bigger controllability.
Third stretch section 47 and the 4th stretch section 48 can be spring, elastic slice etc., its purpose may be implemented.
Example IV
Please refer to Fig. 8 and Fig. 9, the present embodiment what is different from the first embodiment is that power part 31c be cylinder or hydraulic cylinder,
The piston rod of cylinder or hydraulic cylinder is directly connected in fuselage 10 to the direction for wiping ground component 20, the piston rod 39 of cylinder or hydraulic cylinder
Wipe ground component 20.
Please refer to Fig. 9, the 4th stretch section 390 can be set in the piston rod 39 of cylinder or hydraulic cylinder, with bounce cylinder or liquid
Cylinder pressure and the power wiped between ground component 20 transmit.
Embodiment five
The present embodiment is unlike embodiment one, embodiment two, embodiment three and example IV, mopping robot 100
It further include the controller of the inductor and electrical connection inductor for acquiring ground cleannes, controller is electrically connected power part
31, it is run for controlling power part 31.Inductor and controller are set, the degree of fouling on ground can be more accurately acquired,
More efficiently to drive power part, ground is thoroughly cleaned under the premise of compared with low energy consumption.
Inductor is photoelectric sensor or imaging sensor.Inductor, which is mounted on, to be wiped on ground component 20 or fuselage 10, is passed through
It takes pictures or other modes incudes ground degree of fouling.The specific course of work is: inductor incudes ground degree of fouling, by light
Electric signal or picture of taking pictures pass to controller, controller embedded software and algorithm, according to photosignal or picture of taking pictures
The dirty clean feature on judgement ground herein, infers rubbish dirt classification and range, and then controller adjustment is set as rubbing under this condition
Power setting value is wiped, power part 31 can adjust it according to the friction force value and drive parameter, carry out pinpointing special cleaning, can be former
It cleans this region repeatedly afterwards, until judgement is removed completely, is then transferred to normal friction force setting value, power part 31 is multiple
Position, to remove the region of other normal degree of fouling, thus thoroughly ground-to-ground face is cleaned under the premise of low energy consumption.Control
The angle of the rotation of power part 31 can also be arranged in device processed, to control the pressure degree of pressure mechanism 30.For example, controller can be with
Situations such as control motor directly rotate, rotates at different rates according to default regular reciprocating rotation or in different times etc.,
It is all contained within design of the invention.
It will of course be understood that ground can be with manually opened power part 31 when being not provided with inductor.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (15)
1. a kind of mopping robot, which is characterized in that including fuselage and be movably connected on the wiping ground component of the fuselage, the wiping
Floor-washing robot further includes pressure mechanism, and the pressure mechanism is installed on the fuselage and is connected to wiping ground component, the pressure
Force mechanisms are used to apply pressure to wiping ground component, to adjust the wiping ground dynamics for wiping ground component.
2. mopping robot according to claim 1, which is characterized in that the pressure mechanism includes being installed on the fuselage
Interior power part and the transmission component connecting with the wiping ground component, the power part transmission connection is in the transmission group
Part, to drive the transmission component to apply pressure to wiping ground component.
3. mopping robot according to claim 2, which is characterized in that the transmission component include be pivotably connected in
The tilting member of the fuselage, the first press part and the first driving member being connect with the tilting member, first press part
One end far from the tilting member is connected to wiping ground component, and first driving member and power part transmission connect
Connect, one end of first driving member be connected to the tilting member and the fuselage junction and first press part it
Between.
4. mopping robot according to claim 3, which is characterized in that the tilting member includes the first oscillating rod, the
The connecting rod of two oscillating rods and connection first oscillating rod and second oscillating rod, first oscillating rod and described second
Oscillating rod in 0-180 degree and do not include endpoint angle connection, one end of first oscillating rod and second oscillating rod
One end is pivotably connected the fuselage respectively so that first oscillating rod and second oscillating rod are to connect the fuselage
End be branch spot wobble, one end of first driving member connects the connecting rod, the first press part connection described the
One oscillating rod and/or second oscillating rod.
5. mopping robot according to claim 4, which is characterized in that the fuselage is equipped with first rotating shaft and second turn
One end of axis, first oscillating rod is socketed the first rotating shaft, so that first oscillating rod can be around the first rotating shaft
Circuit oscillation, second oscillating rod is socketed second shaft, so that second oscillating rod can be around second shaft
Circuit oscillation.
6. mopping robot according to claim 3, which is characterized in that the power part is first motor, described the
The output shaft of one motor is equipped with first gear, and first driving member is equipped with the first rack gear being extended in its axial direction,
The first gear engagement connects first rack gear.
7. mopping robot according to claim 6, which is characterized in that first driving member have the first stretch section and
First rack segments, first rack segments are equipped with first rack gear, and first stretch section is located at the tilting member and institute
It states between the first rack segments.
8. mopping robot according to claim 3, which is characterized in that first press part has the second stretch section,
Second stretch section is located between the tilting member and wiping ground component.
9. mopping robot according to claim 3, which is characterized in that the transmission component includes being slidably connected to institute
The slide unit of fuselage is stated, the second press part of the slide unit is connected to and is connected to the second of the slide unit and is passed
Moving part, second press part are connected to wiping ground component far from one end of the slide unit, second driving member with
The power part transmission connection.
10. mopping robot according to claim 9, which is characterized in that the slide unit includes being slidably connected
In the first sliding bar and the second sliding bar of the fuselage, second driving member is connected to first sliding bar and second and slides
Between lever, second press part is connected to first sliding bar and/or second sliding bar.
11. mopping robot according to claim 10, which is characterized in that the side wall of the fuselage extends along the vertical direction
It is provided with first sliding groove and second sliding slot, one end of first sliding bar is slidably mounted in the first sliding groove, institute
The one end for stating the second sliding bar is slidably mounted in the second sliding slot；And/or the power part is the second motor,
The output shaft of second motor is equipped with second gear, and second driving member is equipped with second be extended in its axial direction
Rack gear, the second gear engagement connect second rack gear.
12. mopping robot according to claim 9, which is characterized in that second press part has third stretch section,
The third stretch section is located between the slide unit and wiping ground component.
13. -12 described in any item mopping robots according to claim 1, which is characterized in that the wiping ground component includes activity
The wiping ground component for being connected to the mounting portion of the fuselage and connecting with the mounting portion, the pressure mechanism are connected to the installation
Portion.
14. mopping robot according to claim 13, which is characterized in that the mounting portion is socketed the fuselage, or, institute
Mounting portion is stated to connect by extensible member with the fuselage.
15. -12 described in any item mopping robots according to claim 1, which is characterized in that the mopping robot further includes
The power is electrically connected for acquiring the inductor of ground cleannes and the controller of the electrical connection inductor, the controller
Component, for controlling the power part operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095422.4A CN109730588B (en) | 2019-01-31 | 2019-01-31 | Floor wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910095422.4A CN109730588B (en) | 2019-01-31 | 2019-01-31 | Floor wiping robot |
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| Publication Number | Publication Date |
|---|---|
| CN109730588A true CN109730588A (en) | 2019-05-10 |
| CN109730588B CN109730588B (en) | 2024-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910095422.4A Active CN109730588B (en) | 2019-01-31 | 2019-01-31 | Floor wiping robot |
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| CN (1) | CN109730588B (en) |
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| CN110584551A (en) * | 2019-11-08 | 2019-12-20 | 谌薏冰 | Household multifunctional intelligent robot |
| WO2021027178A1 (en) * | 2019-08-15 | 2021-02-18 | 追创科技(苏州)有限公司 | Press-down-mopping-type floor sweeping robot |
| CN113156936A (en) * | 2021-01-27 | 2021-07-23 | 宁波工程学院 | Path planning algorithm of wall-climbing cleaning robot |
| CN113440064A (en) * | 2020-03-25 | 2021-09-28 | 科沃斯机器人股份有限公司 | Autonomous mobile device and control method |
| CN113679292A (en) * | 2021-02-10 | 2021-11-23 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
| WO2022041075A1 (en) * | 2020-08-27 | 2022-03-03 | 南京英维尔科技服务有限公司 | Mopping robot |
| US20220248930A1 (en) * | 2021-01-04 | 2022-08-11 | Beijing Roborock Technology Co., Ltd. | Autonomous Cleaning Device |
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