CN109907698A - Classroom auto-cleaner - Google Patents

Abstract

Classroom auto-cleaner, including body, table yoke mechanism, chair yoke mechanism, mechanical arm, floor sweeping mechanism, wipe pa, drag pa, wiper mechanism, twin shaft seat mechanism, folder equipment.Table, chair yoke mechanism are separately mounted to the upper and lower on the door frame slideway in front of body.Wiper mechanism includes dragging pa wiper mechanism and wiping pa wiper mechanism.When sweeping classroom, floor sweeping mechanism, with table yoke fork lift desk, pitches lift seat with chair yoke, while lifting tables and chairs setting height in classroom stringer road or row road.Floor sweeping mechanism is climbed down from the supporting plate below body at once, is swept the floor below in the tables and chairs being lifted, dust suction, is mopped floor.Tables and chairs are successively lifted by original place, and original place is put down after sweeping the floor.After dragging pa wiper mechanism to drag para to go out cleaning and dewatering following dirty of floor sweeping mechanism, and completely pa being dragged to inject below floor sweeping mechanism.Pa cleaning, dehydration will be wiped by wiping pa wiper mechanism.Mechanical arm control wipes the following wiping pa of pa seat and wipes desktop and seat support plate face.Realize that classroom is swept the floor automation.

Description

Classroom auto-cleaner

Technical field

The invention belongs to environmental protection machineries, especially classroom auto-cleaner.

Background technique

Present classroom is all student or worker's broom, with dragging pa to mop floor, often result in it is dusty, sternly Ghost image rings student health, and especially rural classroom is even more so.Existing sweeping robot cannot sweep classroom because desk and The socle and foot prop of seat form very big obstacle on floor, and existing sweeping robot is difficult into, just figures in, also difficult In sweeping the floor, even it is difficult out.The pa that drags of existing sweeping robot is thin layer tapetum fibrosum, and it is following to be attached to sweeping robot, It is unable to self-cleaning, drags several lowerly just dirty, and the more drags the more dirty, so classroom always manually sweeps the floor, mops floor now.

Summary of the invention

The purpose of the present invention is to solve existing the problem of manually sweeping classroom mechanization, devise classroom automated cleaning Machine, hereinafter referred to as cleaner.

The present invention is implemented as follows: classroom auto-cleaner, including body, table yoke mechanism, chair yoke mechanism, machinery Arm, floor sweeping mechanism wipe pa, drag pa, wiper mechanism, twin shaft seat mechanism, folder equipment.It is sliding to be equipped with door frame for both sides in front of body Road.Table yoke mechanism and chair yoke mechanism are all mounted on the door frame slideway of body, and table yoke mechanism is above chair yoke mechanism. Table, chair yoke mechanism respectively include table, chair yoke, clip slot block, sideslip road, sideslip set, door frame sliding sleeve, clip slot block translating device, Motor；Table, chair yoke all include main yoke, telescopic arm；Telescopic arm is mounted in main yoke.Each clip slot block is fixed on a cross On sliding sleeve, two sideslip sets cover the left and right both ends on same root sideslip road；Sideslip road both ends are separately connected a door frame sliding sleeve, The door frame sliding sleeve at every sideslip road both ends is respectively fitted on door frame slideway.Main yoke rear end is hinged at the lower end in clip slot block.Table Yoke mechanism is identical with chair yoke mechanism structure.Turntable, upper frame, upper frame and the mechanical arm connected are installed in the top shell of body Between, between every two-stage mechanical arm be fitted with steering engine.Twin shaft seat mechanism includes flat axle bed, vertical shaft seat, clamping jaw seat, clamping jaw, wiping Pa seat.Clamping jaw seat and clamping jaw are installed above vertical shaft seat, is equipped with below vertical shaft seat and wipes pa seat；It wipes pa and is mounted on wiping pa seat On, the flat turn axis front end of flat axle bed is connect with vertical shaft seat side, and one steering engine in flat axle bed rear end and most end level-one mechanical arm connect It connects.Floor sweeping mechanism is an independent entirety, in the sweeper swept the floor, dust suction, mopping function and configuration aspects and family use Device people is identical.Floor sweeping mechanism both sides are symmetrically offered to face.Floor sweeping mechanism is made by the main engine remote control of classroom auto-cleaner Industry.When floor sweeping mechanism operation, floor sweeping mechanism leaves the following supporting plate of body；Supporting plate is climbed up when floor sweeping mechanism not operation to park.It drags The pa item of pa is connected on pa plate, and it is following that pa plate is mounted on floor sweeping mechanism rear.Wiper mechanism includes dragging pa wiper mechanism and wiping Pa wiper mechanism.Wiping pa wiper mechanism includes wiping pa service sink, translation balladeur train, shiftable gear, translation motor, translating rack, putting down Slideway.Drag pa wiper mechanism include drag pa service sink, dehydration device, toilet seat, vertical sliding block, cover for seat, smooth road, translation balladeur train, Translation motor, shiftable gear, translating rack, lifting motor, lifting gear, rack gear.Machine shell can be moved to by wiping pa service sink External side.Toilet seat includes seat shell, transfer gear, transfer rack gear, transfer motor, transfer slide, transfer sliding block, transfer frame, hangs Block, the electromagnet that hangs tag, slider plate slideway.It is equipped with and hangs tag on the platen below transfer frame front in toilet seat, it can be sweeping Ground mechanism it is following drag para to go out, and draw in the following slider plate slideway of toilet seat.Folder equipment is installed above supporting plate.Chair When yoke fork lift seat, close to seat, chair yoke drops to when packing up below the seat board both sides of seat to be set chair yoke Highly, main yoke rotates down forward when telescopic arm does not stretch out is laid flat, and telescopic arm stretches out, and the lifting device of chair yoke is slow Slow to improve chair yoke, two chair yokes are drawn close below the seat board both sides of seat, i.e., liftable seat.When table yoke fork lift desk, Working process and principle are identical as chair yoke fork lift seat, and main yoke drops to the desktop both sides of desk when packing up Lower section setting height, main yoke, which rotates down forward, to be laid flat, and telescopic arm stretches out, and the lifting device of table yoke improves table yoke and draws close Below desktop both sides, i.e., liftable desk.When sweeping classroom, table, chair yoke lift a desk and the following seat of desk simultaneously To setting height, main engine remote control floor sweeping mechanism leaves within the scope of supporting plate to the temporary space for being lifted desk, under-seat and sweeps chair Ground, mops floor at dust suction；Then, floor sweeping mechanism climbs up supporting plate again and awaits orders, and body at once puts down lifted desk, seat original place；By upper It states process adjacent, similar desk, seat are lifted mop floor one by one.When cleaning and wiping pa, wipes pa service sink and move to body rear Outside, mechanical arm put wiping pa seat into and wipe pa service sink；It wipes pa and after rotary-cleaning, dehydration, wipes pa seat in wiping pa service sink and mention It rises, wipes pa service sink and be moved in body.When pa is dragged in cleaning, floor sweeping mechanism climbs up the guider and quilt that supporting plate draws close supporting plate rear Press from both sides equipment folder just, toilet seat falls from floor sweeping mechanism rear, docks, and dragging the pa plate of pa to pull out below floor sweeping mechanism, draws Into in the slider plate slideway below toilet seat, toilet seat rises, translates, dropping to drag and be cleaned in pa service sink, through being dehydrated After device dehydration, toilet seat translates again, declines and dock with floor sweeping mechanism, and the pa plate for dragging pa is injected floor sweeping mechanism and is accordingly slided below In road.The clip slot block translating device of table yoke and chair yoke includes screw rod, nut, motor.Each clip slot block lower end is connected and fixed One sole piece.Filtered water tank, foul water tank, water pump, related water pipe and corresponding electromagnetic switch are provided on body.Shift motor connection On transfer frame, shifts the transfer gear connected on motor and engaged with the transfer rack gear being connected in seat shell；Shift frame both sides peace Equipped with transfer sliding block, transfer sliding block is mounted in the transfer slide being connected in seat shell with bracket.Cover for seat side is connected with translation Balladeur train, side is equipped with lifting motor and lifting gear above cover for seat, and translation motor and translation tooth are equipped on the side of cover for seat Wheel, the shiftable gear are engaged with the translating rack being mounted on body inner housing.Vertical sliding block is mounted in cover for seat, on toilet seat The connection of Bian Yuli sliding block lower end.When picking up big spitball on floor, sundries, clamping jaw rotation downwards, it is upward to wipe pa seat.After supporting plate End is equipped with guider.

The present invention has the advantages that 1, using existing sweeping robot as the execution part i.e. floor sweeping mechanism for sweeping classroom, When sweeping certain a piece of ground, floor sweeping mechanism swashes to get off to sweep the floor, dust suction, mop floor from the following supporting plate of cleaner.When not sweeping the floor, sweep the floor Supporting plate is climbed up again by mechanism.2, floor sweeping mechanism carries out operation under the main engine remote control of cleaner.3, table, chair are provided in front of cleaner Yoke.When sweeping classroom, desk, seat are lifted certain altitude by table, chair yoke, control floor sweeping mechanism in desk, the seat being lifted The following temporary space of chair is swept the floor；Sweep the floor end in temporary space, cleaner puts down desk, seat original place, solve desk, The following foot prop of seat creates to floor sweeping mechanism the problem of ground occupy-place forms obstacle and can be convenient the condition swept the floor.4, It is provided on cleaner and drags pa and wipe pa wiper mechanism, pa following dirty of floor sweeping mechanism can be dragged to take off self-cleaning, de- Water, and completely dragging pa reeve floor sweeping mechanism following after cleaning, clean floor after mopping floor more.Twin shaft seat mechanism and wiping pa are clear Washing machine structure can be automatically wiping pa rotary-cleaning, dehydration.5, it is provided with mechanical arm and twin shaft seat mechanism on cleaner, can sweep the floor The desktop of desk and the seat board of seat are wiped afterwards.

Detailed description of the invention

Fig. 1 is classroom auto-cleaner overall structure figure.

Fig. 2 is table, chair yoke structure chart.

Fig. 3 is classroom table, chair discharge and table, chair structure chart.

Fig. 4 is the table of cleaner, chair yoke fork lift table, chair situation map.

Fig. 5 is table, chair yoke while lifting matched table, chair and floor sweeping mechanism and sweep underlying floor situation map.

Fig. 6 is the several ways figure that cleaner sweeps classroom.

Fig. 7 is twin shaft seat mechanism structure chart.

Fig. 8 is to drag pa structure and installation diagram.

Fig. 9 is wiper mechanism structure chart.

Figure 10 is to wipe pa cleaning process figure.

Figure 11 is to clean holder structure and exchange with floor sweeping mechanism to drag pa situation map.

Figure 12 is to support face structure chart on floor sweeping mechanism.

Figure 13 is to press from both sides equipment structure and floor sweeping mechanism to dock situation map with toilet seat.

Figure 14 is that cleaner wipes table, chair situation map.

In attached drawing: wiping pa 1, wipe pa seat 2, vertical shaft seat 3, flat axle bed 4, steering engine 5, clamping jaw 6, three-level arm 7, two telescopic arms 8, electricity Machine gear 9, second level arm 10, body 11, a telescopic arm 12, level-one arm 13, upper frame 14, turntable 15, motor reel 16, detector 17, drawstring 18, screw rod 19, nut 20, door frame slideway 21, door frame sliding sleeve 22, sideslip road 23, sideslip cover 24, rear pivot pin 25, main fork Arm 26, clip slot block 28, sole piece 29, receives arm motor 30, drawstring motor 31, lead screw motor 32, toilet seat 33, drags pa telescopic arm 27 Service sink 34, floor sweeping mechanism 36, wheel 37, guider 38, smooth road 39, wipes pa service sink 40, cushion block 41, cavity at supporting plate 35 42, directive wheel 43, reel 44, pivot pin 45, pot shell 46, spring 47, blackboard 48, dais 49, seat 50, desk 51, stringer road 52, Row road 53, backrest plate 54, seat board 55, foot prop 56, upper foot prop 57, socle 58, chair frame 59, short side 60, table box 61, desktop 62, long side 63, floor 64, flat turn axis 65, clamping jaw seat 66, vertical shaft 67, wiping pa axis 68, shell of top cover 69, concave area 70, pa item 71, slider plate 72, Anti-release clamp electromagnet 73, mouth hanging 74, Anti-release clamp seat board 75, pa plate 76, anticreep mouth 77, back-off side 78, body Shell 79, rear coverboard 80 stir and wash stalk 81, ripple convex block 82, bracket 83, side coverboard 84, translation motor 85, preceding coverboard 86, translation Gear 87, sliding sleeve shell 88, pressure roller 89, saddle 90, roller 91, pa panel seat plate 92, seat shell 93, lifting gear 94, rack gear 95, lifting Motor 96, vertical sliding block 97, cover for seat 98, translation balladeur train 99, translating rack 100, fixed tube head 101, water inlet 102, discharge outlet 103, water level 104, mobile water pipe 105, transfer frame 106, seat shell foreboard 107, transfer motor 108, transfer gear 109, transfer tooth Item 110, transfer slide 111, seat shell back plate 112, slider plate slideway 113, transfer electric machine support 114, transfer sliding block 115, platen 116, hang tag 117, Anti-release clamp 118, the electromagnet 119 that hangs tag, notch 120, wall surface 121, suitable for reading 122, lower mouth 123, upper circle shell 124, lower circle shell 125, support face 126, foundation ring shell 127, folder main track 128, centre symmetry line 129, clamp arm 130, axle bed frame 131, turn Axis 132, screwed pipe screw rod 133, screwed pipe motor 134, bow-shaped support 135, screwed pipe 136, notch plate 137, link arm block 138, collet 139, axle bed 140, thick stick block 141, connecting rod block 142, sliding slot mouth 143, axial line 144, slide-bar 145, screwed pipe gear 146, screwed pipe electricity Machine gear 147.

Specific embodiment

It is classroom auto-cleaner overall structure figure in Fig. 1.Classroom auto-cleaner include body 11, table yoke mechanism, Chair yoke mechanism, floor sweeping mechanism 36, wipes pa 1, drags pa, wiper mechanism, twin shaft seat mechanism, folder equipment mechanical arm.In body 11 The wiper mechanism for dragging pa and wiping pa is installed, such as 11 shell Cut-away section of body, smooth road 39 is installed in body, wipes pa cleaning Pa service sink 34, toilet seat 33 are dragged in pond 40.Wiper mechanism describes in Fig. 9 ~ Figure 11.Turntable 15 is installed above body.Level-one It is connected between 13 right end of arm and turntable 15 with steering engine 5 and upper frame 14.Level-one arm 13 can rotate upwardly and downwardly and horizontally rotate around right end. One telescopic arm 12 is installed in 13 shell of level-one arm.It is flexible that one telescopic arm, 12 front end is connected with steering engine 5, second level arm 10, two in turn Arm 8, three-level arm 7, steering engine 5, flat axle bed 4, vertical shaft seat 3, wipes pa seat 2, wipes pa 1 steering engine 5.Level-one arm and a telescopic arm, second level arm And two telescopic arms, three-level arm are referred to as mechanical arm.Flat axle bed 4, clamping jaw 6, wipes pa seat 2, clamping jaw seat general designation twin shaft base at vertical shaft seat 3 Structure.Clamping jaw seat and clamping jaw 6 are installed, lower section, which is equipped with, wipes pa seat 2 and wiping pa 1 above vertical shaft seat 3.Steering engine is existing robot peace The prior art of the two mutual rotational angles of section mechanical arm can be accurately controlled between two section mechanical arms.Mechanical arms at different levels are all Rectangular tube can be made of metal material or highstrenghtpiston.It is all installed respectively on 10 front shell of level-one arm 13 and second level arm There are the gear on motor and motor shaft, this structure hereinafter referred to as motor gear 9.One telescopic arm 12 and the corresponding electricity of two telescopic arms 8 The rack gear of recessed side is installed in one side of machine gear 9, i.e., rack gear do not influence one, two telescopic arms stretch out with take in one, In second level arm housing.Open up jagged on I and II arm housing where said gear, gear enters notch and is engaged with rack. Motor positive and inverse can accurately control one, two telescopic arm extended lengths.Clamping jaw 6 can be used to press from both sides the spitball and sundries in classroom. It wipes pa 1 and is used to wipe the desktop of desk and the seat board of seat under the control of mechanical arm.

Supporting plate 35 is provided with below body 11.Inclined-plane is provided on the right of supporting plate.The supporting plate left side is provided with guider 38 on side. Guider 38 is identical as the charger structure effect of existing sweeping robot, not only for being oriented to but also charging for floor sweeping mechanism 36. In Fig. 1, floor sweeping mechanism 36 is climbed up supporting plate from inclined-plane on the right of supporting plate and is parked.It is to be equipped with before body above and below on the right of body Two groups of yoke mechanisms similar with existing fork truck yoke, top is table yoke mechanism, and lower section is chair yoke mechanism.Table yoke Mechanism and chair yoke mechanism all cover 24, door frame by main yoke 26, telescopic arm 27, clip slot block 28, sole piece 29, sideslip road 23, sideslip Sliding sleeve 22, nut 20, lead screw motor 32, drawstring motor 31, receives the composition of arm motor 30 at screw rod 19.Main 26 rear end rear axle of yoke Pin 25 is hinged at lower section in the notch of clip slot block 28.Clip slot block 28 is connected with sole piece 29 below.In figure under upper and lower two groups of main yokes Square back segment is just blocked by sole piece 29, and two groups of main yokes 26 is made to be in horizontality.Telescopic arm 27 is mounted in main yoke shell.It is main Yoke, telescopic arm are all square casings.The clip slot block back side links together with sideslip set 24.Two sideslips cover 24 sets in a cross Both ends on slideway 23.The both ends in sideslip road 23 are respectively connected with a door frame sliding sleeve 22.Both sides are respectively equipped with one before body Door frame slideway 21.The door frame sliding sleeve of every sideslip road both sides connection is respectively fitted on door frame slideway.The upper surface of each sideslip set 24 It is fitted with a nut 20.A piece screw rod 19 is installed, screw rod one end is equipped with a silk in same two horizontally-arranged nuts 20 Bar motor 32, lead screw motor 32 are mounted in figure in front of body on the door frame sliding sleeve 22 on the right.The screw thread of screw rod is divided into from centre Left and right hand thread.The forward and reverse of lead screw motor can be such that every group of two main yokes are separately drawn close to both sides with to centre.Machine Front is equipped with two motor-driven reels on body top, with the same structure abbreviation motor reel 16 that descends to the mortal world.On two reels 18 lower end of drawstring connects in the middle part of the sideslip road 23 of upper and lower two groups of yoke mechanisms respectively, can control table, chair yoke mechanism Above and below.Motor reel 16 and drawstring 18 constitute the lifting device of table, chair yoke.Body is equipped with four wheels 37 below.Often A wheel is all mating to be equipped with driving and transfer.Four wheels are 4 points concyclic, can make body pivot stud, as existing There is sweeping robot pivot stud the same, pivot stud is the prior art, is not further described.

It is table, chair yoke structure chart in Fig. 2.Table, chair yoke all include main yoke, telescopic arm.Main yoke 26 and telescopic arm 27 be all rectangular hollow shell.Telescopic arm is mounted in main yoke.It is installed in the cavity and telescopic arm back segment cavity 42 of main yoke One compressed spring 47.The rear pivot pin 25 of main yoke rear end, that is, right end is hinged at 28 lower section of clip slot block.Main yoke rear end is with after Pivot pin is fixed together, and cannot mutually be rotated.It is most of that top left figure has splitted clip slot block front.It is not cut away on clip slot block Part is it can be seen that be mounted with a receipts arm motor 30.Arm motor shaft is received to link together across clip slot block with rear pivot pin 25.Folder Top the right is mounted with a reel 44 in geosynclinal block 28.18 upper end of drawstring is connect with reel 44.After drawstring lower end bypasses main yoke The directive wheel 43 of side's position installation on the upper side, is connected in the baffle wall of telescopic arm rear cavity 42 in the middle part of spring steel wire coil. Drawstring motor 31 is mounted on clip slot block outer surface, and drawstring motor shaft passes through clip slot block and connect with reel, mark as shown in figure 1, Because being cut away in Fig. 2, do not see.Drawstring motor reversal, which passes through reel, makes drawstring that telescopic arm be drawn to retreat into main yoke. Loosen even if drawstring motor rotates forward drawstring, spring pushes telescopic arm and stretches out main yoke shell.Sole piece 29 and clip slot block are linked to be one Body.Top right figure is the subsequent perspective view of main yoke, can see the pivot pin 45 of directive wheel 43 in figure and is mounted on rear 25 left side of pivot pin In the prong of top.Following figure left figure is the case where reel 44 drives drawstring that telescopic arm is drawn to retreat compressed spring 47.Following figure right figure is It receives the right-hand rotation of arm motor and main yoke and telescopic arm rotation is packed up upward situation.Front end is provided with one piece of cushion block above telescopic arm 41.Cushion block is concordant with main yoke top shell.The speed changer for receiving arm motor and drawstring motor all uses worm and wormwheel speed changer, can With self-locking.

It is classroom table, chair discharge and table, chair structure chart in Fig. 3.Desk 51, the seat 50 in present classroom are most all It is one-seater table, chair, abbreviation table, chair.Blackboard 48,49 position of dais are fronts.The discharge of desk, seat reserves stringer road 52, row road 53.Parallel with blackboard is row road 53, and seat is placed in row road.Vertical with blackboard is stringer road 52. The following figure is table, chair structure chart in Fig. 3.Seat includes backrest plate 54, chair frame 59, seat board 55, socle 58, foot prop 56, upper foot prop 57. Desk includes desktop 62, table box 61, socle 58, foot prop 56, upper foot prop 57.62 length direction both sides of desktop are long sides 63.Table Panel both ends are short sides 60.

It is table, chair yoke fork the lift table, chair situation map of cleaner in Fig. 4.The clip slot block outer side edges of each table, chair yoke On detector 17 is installed, to detect table, chair yoke to the marginal position and socle of desktop plate, seat seat board both ends Position.It is the procedure chart that chair yoke independently pitches lift seat in upper row A, B, C figure.In figure, 11 left side of body is cut away.In A figure, machine The table yoke and chair yoke installed on the door frame slideway of body 11 are all packed up in clip slot block upwards, solid line in table, chair yoke such as figure Position, telescopic arm are taken in main yoke 26.Specific fork lift process is: close to simultaneously face heater in front of body.Two chair forks Arm adjusts lateral position by program, according to the detection of detector, make below two chair yoke face seat board both sides two socles it Interior position.The decline of chair yoke, makes telescopic arm front end be lower than the seat board 55 of seat.Table yoke is motionless.The receipts of the main yoke of chair yoke Arm motor reversal, main yoke are rotated forward around rear pivot pin and are fallen, as shown in the following dotted line of seat board 55.Then, when main yoke rotates It is blocked to by sole piece 29, when main yoke has been in a horizontal position, the telescopic arm 27 in main yoke stretches out, and receives arm motor reversal to main fork Arm rear blocked below by sole piece after circle number after, delay 0.5 ~ 1 second after i.e. power off, as B is as shown in the figure.In C figure, chair yoke The drawstring of lifting device slowly makes two chair yoke risings draw close seat board 55.At this moment, if chair yoke continues to rise certain altitude, Seat will be lifted certain altitude.Rotation is fallen forward when pitching lift seat from seat front for the main yoke of chair yoke, such as Chair yoke leading portion is blocked by the following upper foot prop 57 of seat, nor affects on the progress of fork lift.Because at this moment main yoke is downward A very big angle is had rotated forward.During main yoke is elevated, main yoke rear end is increased, and main yoke leading portion is same When elevation process in can rotate down and fall, be quickly become horizontality.The height of chair yoke upper end after packing up to sole piece 29 Degree is less than the height that floor is arrived below seat seat board.

It is that table yoke independently pitches lift desk procedure chart in D, E, F figure of second row.In D figure, as previously described, table, chair fork Arm is all packed up upwards.Close to desk in front of body, chair yoke is motionless.The lateral position for adjusting two table yokes, according to detector Detection, make two table yoke face desk both ends desktop lower spaces.Table yoke drops to telescopic arm end lower than desk Desktop 62 is following.Main yoke rotates down forward, as shown in phantom in FIG..In E figure, rear pivot pin of the table yoke around lower end is downward It turns to horizontal position to be blocked by sole piece, telescopic arm 27 stretches out.In F figure, the lifting device of table yoke rises table yoke slowly, Two table yokes are drawn close following at 62 both ends of desktop.When table yoke rises certain altitude again, desk will be lifted centainly Highly.

Being that chair yoke is independent in the G figure of third row pitches lift seat conditions from seat side edges.According to the above method, two chair yokes Pitched into from seat side edges and raise lean against chair frame below seat board front and back it is following.It is that table yoke is independent from side of desk in H figure Side fork lift desk situation.According to the above method, two table yokes, which are injected and increased from side of desk, leans against desk front and back long side Desktop is following, if table yoke increases i.e. liftable desk certain altitude again.When table, chair yoke are upwards collected through, telescopic arm is first It takes in main yoke.Total height after chair yoke collapses is less than the height that seat board arrives floor below.Total height after the gathering of table yoke Degree cannot be too long, and general 30 to 35 centimeters are sufficient, and when lifting desk long side, it is following that table yoke need not be inserted through desktop, is inserted into Following 4/5ths position of long side is just.

In Fig. 5, it is table, chair yoke while lifts matched table, chair and floor sweeping mechanism and sweep underlying floor situation map.Student Seat has been put into pairing desk centre below before classes are over.It is that table, chair yoke are all packed up in clip slot block 28 upwards in A figure Situation.It is the seat side edges in front of body under a desk and table in B figure, while pitches lift pairing tables and chairs situation.By above-mentioned It is following to have been injected the chair frame below seat seat board front and back by method and step for two chair yokes.At the same time, two table yokes It has been inserted into and increases that draw close desktop plate both ends long side following.In C figure, table, chair yoke lifting device table, chair yoke Same height is improved, i.e., lifts desk and seat certain altitude simultaneously.Tables and chairs are made to occur no table, the socle of chair, foot prop below The temporary space of occupy-place.At this moment remote-controlling machine for cleaning floor structure 36 is climbed down from supporting plate 35 to floor 64 control system of cleaner immediately On, it sweeps the floor in temporary space, dust suction, mop floor.Following is swept the floor, dust suction, mops floor and referred to as sweep the floor.And control system is specified to sweep the floor It is following not enter the tables and chairs not lifted in specified length and width Ground Operation for mechanism.After floor sweeping mechanism is by instruction operation, and climb up Supporting plate is awaited orders.Then, table, chair yoke decline, and pairing tables and chairs are put down in original place.Table, chair yoke are upwards collected through again such as top left figure It is shown.Then, body is walked again is moved to beside adjacent tables and chairs, and step, lifts adjacent tables and chairs and sweep the floor according to the above method.D Figure is table, chair yoke the case where the tables and chairs front of pairing fork lifts tables and chairs and sweeps the floor.Step according to the above method, table, chair yoke are It is inserted into desk both ends short side desktop respectively below from front and seat seat board is following, and tables and chairs have been lifted to setting simultaneously Highly.Floor sweeping mechanism lower section temporary space in sweep the floor.When table, chair yoke fork lift tables and chairs, twin shaft seat mechanism is lifted height In desktop.

It is the several ways figure that cleaner sweeps classroom in Fig. 6.It is that seat is put into certainly when student leaves classroom in figure The following intermediate situation of the desk at own seat.At this moment, row road 53, stringer road 52 are all unobstructed in classroom.Sweep the one of classroom Kind mode is cleaner upper left side situation in the figure as above of row road 53, and body 11 is walked to the left with side enters row road 53, To it is just horizontally-arranged from it is left it is several second desk 51 seat front, the table that is upwards collected through, chair yoke face the table for the lift of being pitched Chair.Accordingly described according in Fig. 5 shown in following figure right figure and in Fig. 5, table, chair yoke be separately inserted to desk both ends desktop Following and seat seat board is following.Then, table, chair yoke lift desk, seat to setting height simultaneously, and tables and chairs is made to occur one below The temporary space of a no barrier.Floor sweeping mechanism climbs to ground from the supporting plate below body, sweeps the floor in temporary space.It sweeps the floor Terminate, floor sweeping mechanism climbs up supporting plate again.Table, chair yoke put down tables and chairs in original place again.Table, chair yoke then are packed up again, body is lateral Adjacent tables and chairs front is advanced to, lifts left side Kao Qiang most previous table, chair in figure according to the above method.It sweeps the floor below lifted tables and chairs Afterwards, tables and chairs are put down in table, chair yoke original place, pack up table, chair yoke, and walking enters stringer road 52 to the right.Then in stringer road 52 In step back walking to the second row row road left side entrance in positive figure, i.e., as described above, it is successively right to enter row road to the left Table, the chair on the second horizontally-arranged left side are lifted and are swept the floor.According to the above method can sweep the floor to entire classroom operation.Using body from row Table is lifted in road entrance, chair is swept the floor, and the width in row road will be suitably larger than bulk shared by body front and back.

Floor sweeping mechanism as existing sweeping robot, in specified region can contexture by self sweep the floor route and around simple Obstacle can press remote control operation.Cleaner remote control follows floor sweeping mechanism to stringer road, the forward and backward side vacancy in row road and classroom It sweeps the floor on floor.The stringer road of tables and chairs discharge, row road length and width size are reserved by sets requirement in classroom.Cleaner can basis The length and width dimensions control floor sweeping mechanism on longitudinal and transverse trade is swept the floor operation in longitudinal and transverse trade.Phase between the socle of 49 following four, dais Away from distant, floor sweeping mechanism can voluntarily sweep the floor.

Following figure left figure is that seat puts that desk is following into, table, chair the yoke side view following in desktop, chair frame.In figure only Depict table, the chair yoke of cleaner.Following figure right figure is that seat puts that desk is following, and table, chair yoke are pitched under desktop, seat board into The front elevation on side.

The another way for sweeping classroom is that cleaner lifts tables and chairs from tables and chairs side in stringer road 52, is swept by floor sweeping mechanism Lower floor, as shown among figure upper in Fig. 6 right stringer road 52 and upper right side.Face tables and chairs side before cleaner body, It lifts tables and chairs and sweeps underlying floor.According to the method, the tandem tables and chairs in addition to classroom both sides by wall cannot be lifted from stringer road, His each tandem tables and chairs can be lifted by cleaner sweeps the floor.

In order to solve the problems, such as that classroom both sides can be lifted by wall tables and chairs from side, as shown in upper right side in front of classroom in figure, clearly Clean machine in stringer road 52, lifts first second set of tables and chairs of horizontally-arranged number to the left from side on the right, and sweeps lower section ground, then lifts again The tables and chairs are played to put down to mobile certain position in front of classroom.Start as dashed lines, to the solid line position of top.In this way, classroom The right comes out by the position that the left of that set tables and chairs of wall is connected with stringer road with regard to vacant, hereinafter referred to as vacant section.Cleaner is again Backtracking dotted line position is proceeded to by wall tables and chairs side.According to the above method, cleaner lifts the tables and chairs by wall from side, Lower floor is swept, tables and chairs are put down in original place, retract stringer road.A set of tables and chairs side below dotted line position in figure is lifted again immediately and is swept Behind ground, lifted tables and chairs are moved to the vacant section i.e. dotted line position of first row and are put down.In this way, counting from right to left, the second tandem Second set of seat original position again at vacant section.By above method, cleaner lifts the right by second set of tables and chairs of wall again It sweeps the floor.Then, every set tables and chairs original position of several second tandems all becomes primary vacant section from right to left, and an esting table of back Chair is lifted sweep the floor after be all successively placed on vacant section to movement in front of classroom, be lifted the right can by wall tables and chairs and sweep Ground.After when the right, the first, second tandem tables and chairs are all swept the floor below, from right to left last set tables and chairs original position of the second tandem just at Vacant section.Then, the tables and chairs born away forward each time are just successively lifted back original position since the rear of classroom by cleaner, are protected It is constant former tables and chairs position has been demonstrate,proved.Same method, lifting according to the above method by wall tables and chairs for the classroom left side is swept the floor in figure.It is all not lean on wall Table, chair, cleaner can directly lift in stringer road and sweep the floor.

In the information bank of floor sweeping mechanism automatic control system, desk, seat a front surface and a side surface shadow are had input by professional It is numbered as the arrangement of the desk in information and different classrooms, the image information in stringer road, row road, and to classroom, and inputs difference Floor sweeping mechanism is swept the floor in stringer road or row road lift tables and chairs in classroom.Body shell four sides top is assembled with camera, The discharge of classroom tables and chairs can be observed and wipe mechanical arm the control of tables and chairs.Cleaner also meets remote controlled function, operator Member can be remotely controlled cleaner before and after classroom stringer road or sideslip road, classroom with remote controler and walk.Operator can be in reality Position set cleaner since classroom where sweep the floor, intermediate sequence, where terminate.

It is twin shaft seat mechanism structure chart in Fig. 7.Twin shaft seat mechanism includes flat axle bed 4, vertical shaft seat 3, clamping jaw seat 66, clamping jaw 6, pa seat 2 is wiped.One motor and speed changer are installed, the output shaft of speed changer is flat turn axis 65 in flat axle bed 4.In figure, three-level 7 lower end of arm is connect with steering engine 5.Flat axle bed left end is connect with steering engine, and the flat turn axis 65 of flat axle bed right end and 3 left side of vertical shaft seat connect It connects.Lower section is mounted with that a wiping pa motor and speed changer, the output shaft of speed changer are to wipe pa axis 68 in vertical shaft seat 3.Wipe pa axis 68 Lower end is connect with pa seat 2 is wiped.Top is mounted with that a clamping jaw motor and speed changer, the output shaft of speed changer are vertical in vertical shaft seat 3 Shaft 67, vertical shaft upper end are connect with clamping jaw seat 66.Clamping jaw 6 is installed on clamping jaw seat 66.Clamping jaw leading portion, which is cased with, slightly softness Rubber sleeve.The opening of clamping jaw and to close up be the prior art, no longer describes.Detector is installed on clamping jaw seat.It is following to wipe pa seat 2 It is connected with and wipes pa 1.Wiping pa 1 is the thick blanket shape being made by fiber.

It is to drag pa structure and installation diagram in Fig. 8.Upper figure is the installation site for dragging pa on floor sweeping mechanism.Intermediate circular diagram It is the top view of upper figure.Lower section A figure is the D of middle graph to figure, and B figure is pa plate, pa bar structure chart, and C figure is the right view of B figure. Present sweeping robot have it is rectangular also have a circle, floor sweeping mechanism may be made as rectangular or round, be chatted by taking circle as an example below It states.The sweeping the floor of floor sweeping mechanism, dust suction, mopping function and structure, and walking, turn to, charging and can be by function such as remote controls Can, it is all identical as present sweeping robot, it is not described in detail here.Pa is dragged to be mounted on floor sweeping mechanism rear following.Sweeper Structure shell rear, which is made, to be faced directly, that is, rear has cut off one piece of toxoplasm on floor sweeping mechanism circle shell.Floor sweeping mechanism rear Shell has opened up a concave area 70 below.In the B figure of lower section, upper and lower of the slider plate 72 in figure is all connected with pa plate 76, The pa item 71 of pa is dragged to be connected on pa plate 76.Pa item is also the blanket that fiber is made into.C figure is the right view of B figure, slider plate right Offer anticreep mouth 77 and mouth hanging 74.Slider plate both sides are provided with bayonet shape sliding block.In A figure, floor sweeping mechanism rear is also set below It is equipped with corresponding bayonet shape sliding slot.Slider plate injects in sliding slot.Right in middle graph, dotted line position are exactly that slider plate 72 injects Sliding slot, it is the rectangular v notch v being open to the right that Cut-away section, which can see concave area,.Anticreep deck is provided in concave area Plate 75 is mounted with Anti-release clamp electromagnet 73 on Anti-release clamp seat board 75, is connected with Anti-release clamp on the iron core of Anti-release clamp electromagnet.Anticreep The notch being open to the right is offered on the right of deck plate, mouth hanging 74 is provided in the slider plate of bottom of the gap.Anti-release clamp electromagnet is prevented Off card, hang tag, notch will specifically describe in Figure 11 below.

It is wiper mechanism structure chart in Fig. 9.Wiper mechanism includes wiping pa wiper mechanism and dragging pa wiper mechanism.Upper figure is Entire wiper mechanism side view.Centre is the top view of upper figure.The following figure be upper figure D to and lower section enlarged drawing.Before body, Two smooth roads 39 and a translating rack 100 are installed on body shell 79 afterwards.Translating rack 100 two smooth roads 39 it Between, and it is lower than two smooth roads.Upper left side is to wipe pa wiper mechanism in figure.Wiping pa wiper mechanism includes wiping pa service sink 40, putting down Move balladeur train 99, shiftable gear 87, translation motor 85, translating rack 100, smooth road 39, drainage mobile water pipe.Drag pa clear Washing machine structure include drag pa service sink 34, dehydration device, toilet seat 33, vertical sliding block 97, cover for seat 98, smooth road 39, translation balladeur train 99, Translation motor 85, shiftable gear 87, translating rack 100, lifting motor 96, lifting gear 94, rack gear 95.Wipe pa wiper mechanism and Pa wiper mechanism is dragged to share two smooth roads, a translating racks.It wipes pa wiper mechanism and to drag pa wiper mechanism to have identical Translate balladeur train 99, translation motor 85, shiftable gear 87.Cover for seat 98 and translation balladeur train in pa wiper mechanism are dragged in the right in upper figure 99 connections.Cover for seat right side is equipped with translation motor 85.Vertical sliding block 97 is mounted in cover for seat 98.Vertical sliding block lower end and toilet seat The connection of 33 tops.40 lower right of wiping pa service sink of the wiping pa wiper mechanism on the left side is connect with translation balladeur train 99 in upper figure, is translated Translation motor 85 is installed on balladeur train 99.All it is connected with shiftable gear 87 on the output shaft of left and right two translation motors 85, two Shiftable gear 87 is all engaged with translating rack 100.The both sides of translation balladeur train are fitted with sliding sleeve shell 88, and 88 sets of sliding sleeve shell smooth On road.Wiping pa service sink is circular shell, and quartet connection has coverboard, specifically describes in Figure 10.It is described further below to drag pa Wiper mechanism.Vertical sliding block section is rectangle.Rack gear 95 is installed in vertical 97 right side of sliding block, rack gear 95 is lower than right side, Vertical sliding block is not influenced to slide above and below in cover for seat.Lifting motor 96 is installed on 98 right of cover for seat, is pacified on lifting motor axis Equipped with lifting gear 94.Lifting gear 94 is engaged with the rack gear 95 on vertical sliding block 97.The positive and negative rotation of lifting motor 96 can be accurate Control vertical sliding block and toilet seat lifting.Right drags 85 positive and negative rotation of translation motor of pa wiper mechanism that can accurately control seat in figure The left and right translation of set, vertical sliding block and toilet seat.It drags pa and wipes pa service sink and be made of stainless steel.Drag pa cleaning bottom of pond portion installation There is ripple convex block 82.It drags pa service sink 34 to be installed with bracket 83 to be connected on body shell.Filtered water tank, sewage are installed in body Case, water pump, related water pipe and corresponding electromagnetic switch are not drawn into figure.Dehydration device is by pressure roller 89, saddle 90,91 groups of roller At.Saddle 90 is mounted on the oblique coverboard for dragging pa service sink right end in figure.As above, in, shown in the following figure, between two block blocks 90 on A pressure roller 89 is installed with pivot pin 45 in side.The axis at one root long roller, 91 both ends is mounted in the axis hole below two block blocks.Pressure roller It is parallel with roller.The distance between pressure roller and roller can be adjusted with feed screw nut's holder structure, this is the existing skill generally used Art is not drawn into adjustment structure figure.Cleaning drags the pa process to be: carrying out that pa is dragged to exchange first with floor sweeping mechanism.Vertical sliding block is translating Under motor and lifting motor control, toilet seat first translates, drops to above the supporting plate below body and dock with floor sweeping mechanism rear, It extracts the pa plate below floor sweeping mechanism out, draws in below toilet seat in corresponding slideway.Toilet seat rises to setting height again, moves to left Pa service sink 34 is dragged to face, in figure as above shown in the dotted line of close translating rack, toilet seat, which lowers into, to be dragged in pa service sink. The control system control of cleaner drags the discharge outlet below pa service sink to close, and water inlet opens water inlet to setting water level, closes Water inlet, even if control system translation motor with certain speed positive and negative rotation set angle, moves to right toilet seat with certain speed, is left Move, drag ripple convex block 82 below pa service sink stir gear effect under, keep cleaning effect more preferable.It stirs after washing setting time, opens Discharge outlet draining.Control system lifts toilet seat to setting height.Toilet seat from the pressure roller 89 and roller 91 of dehydration device it Between slowly move through, dragged in figure as above pa dotted line pass through dehydration device.Pressure roller 89 is pressed on the pa panel seat plate 92 at toilet seat both ends It rolls, roller 91, which rotates to squeeze, drags the pa item 71 of pa to be dehydrated, and here it is dehydrations shown in the following figure.The water squeezed out by Pa service sink is dragged in oblique coverboard importing.After toilet seat moves to right, and rise, move to left, falling in and dragged in pa service sink again, carrying out Second of cleaning.Cleaning, dehydration are same as described above.

It is to wipe pa cleaning process figure in Figure 10.It is to wipe pa service sink to draw in the intracorporal location drawing of machine in A figure.B figure is cleaning It releases to the external cleaning and wiping pa figure of machine shell in pond.It is the enlarged drawing of cleaning positions in B figure in C figure.D figure is the E of A figure to amplification Figure.Wiping pa service sink 40 is circular shell, such as D figure and C figure.The circular shell left side is connected with rear coverboard 80, before the right is connected with Coverboard 86, upper and lower side are connected with side coverboard 84, as shown in D figure.It wipes the circular shell suitable for reading of pa service sink 40 and back-off side is made 78, such as C figure Cut-away section.It wipes and offers water inlet 102 and discharge outlet 103 on the right of pa service sink.Wipe the setting of pa service sink bottom surface It stirs and washes stalk 81.It wipes pa service sink bottom right side and is connected with translation balladeur train 99, translate installation and motor peace of the balladeur train on smooth road Dress such as the narration in Fig. 9.It wipes and has opened up a window on the body shell 79 on the pa service sink left side.Pa service sink is wiped in translation electricity Under the action of machine 85, window can be passed through and be moved to the left to the outside of body shell 79, can move right to body shell 79 with Interior, when moving right in place, rear coverboard 80 is just concordant with body shell, is equivalent to that turn off window the same.In D figure, it is clear to wipe pa A mobile water pipe 105 all is connected to fixed tube head 101 in the discharge outlet 103 on the upper and lower side of water inlet 102 on the right of wash pool. Mobile 105 other end of water pipe is fixed on the bracket of body shell in the fixed tube head 101 in the top of D figure, immovable.D figure The fixation tube head and water pipe of middle lower section are accordingly fixed tube head by water inlet pipe and mobile water pipe blocks.It is moved to the left when wiping pa service sink When side external to machine shell, can accordingly it be swung to the left side below mobile water pipe 105, as shown in phantom in FIG..Moving water pipe is Hose has certain anti-pressure ability.Cleaning and wiping pa process is: in A figure, wiping pa service sink in machine shell body.Mechanical arm is double Axle bed mechanism is mobile, turns to the position as shown in the figure A.In B figure, wipes pa service sink and be moved to the external side of machine shell.Mechanical arm handle It wipes pa seat face and wipes pa service sink center suitable for reading, drop to setting height.In C figure, drainpipe is closed, and water inlet pipe is opened, water inlet Water inlet pipe is closed to 104 position of water level.In vertical shaft seat 3 the wiping pa motor of lower section turned left and right with setting speed make to wipe pa it is left, Turn right it is dynamic stirred to wash stalk 81 and stir wash.It stirs after washing setting time, that is, drains.Subsequent control system improves wiping pa seat a bit, leaves It stirs and washes stalk 81.Pa motor is then wiped to a direction quick rotation, makes to wipe pa dehydration.Wiping pa service sink back-off side 78 suitable for reading can The water droplet wiped and be mapped to because of centrifugal force on circular shell inner edge in pa rotation is blocked to move up.After the completion of cleaning, wipes pa seat and improve It leaves.It wipes pa service sink to move right in machine shell body, rear coverboard blocks the window on body shell.Control is provided on body Panel processed drags pa and the wash number of wiping pa to be set with water consumption, scavenging period and dewatering time by operator.

It is to clean holder structure and exchange with floor sweeping mechanism to drag pa situation map in Figure 11.Toilet seat includes seat shell 93, transfer tooth Wheel 109, transfer motor 108, transfer slide 111, transfer sliding block 115, transfer frame 106, hangs tag 117, hangs tag at transfer rack gear 110 Electromagnet 119, slider plate slideway 113.Upper figure is that toilet seat is longitudinally schemed, and intermediate left figure is the A-A cross-sectional view of upper figure, intermediate right figure Be upper figure D to figure, lower section left figure is the enlarged drawing of the perspective view on the upper figure left side, lower section right figure be the position M amplification profile and The case where being drawn after slider plate 72 is pulled out figure.The upper longitudinally mounted one block of transfer rack gear in top in the seat shell 93 of toilet seat 110, the transfer gear being engaged with 109 has been installed below in transfer rack gear.Transfer gear 109 is mounted on transfer motor 108 Output shaft on.Transfer motor 108 is fixed on transfer frame 106 with transfer electric machine support 114.Frame 106 is shifted in transfer gear 109 lower sections.The both sides of transfer frame 106 are connected with transfer sliding block 115, and transfer sliding block 115 is mounted on the transfer slide 111 on both sides In.Transfer slide 111 is mounted on the bracket 83 between seat shell foreboard 107 and seat shell back plate 112.Since transfer rack gear 110 is Fixed, when transfer motor positive and inverse is dynamic, transfer gear 109 will be moved forward and backward on transfer rack gear, and with turn It moves motor 108 and mobilization frame 106 is moved forward and backward in transfer slide.

The upper figure left side is to exchange to drag pa structure between toilet seat and floor sweeping mechanism.The left side is recessed below floor sweeping mechanism rear Cutaway view below area.The left figure narration of the following figure is compareed simultaneously.There is Anti-release clamp seat board 75 among concave area tripartite wall surface 121, prevents Off card seat board 75 is exactly the slider plate slideway of the floor sweeping mechanism back lower place below.In the perspective view on the lower section left side, the pa item 71 of pa is dragged It is following to be connected to pa plate 76.The slider plate 72 of 76 top of pa plate connection injects below floor sweeping mechanism in corresponding slider plate slideway. The bottom plate of concave area, that is, Anti-release clamp seat board 75 is equipped with Anti-release clamp electromagnet 73 above.116 the right of platen turns with toilet seat Frame 106 is moved to connect.A rectangular notch has been opened on the right of Anti-release clamp seat board 75, the left plate face of platen 116 is put in notch, There is certain interval between platen and following slider plate 72.The step block thicker than left is made in platen right.Step block left side By keeping off in slider plate 72.Platen 116 is mounted with the electromagnet 119 that hangs tag in left above.In upper figure, the following platform of the electromagnet that hangs tag The guiding square hole for the electromagnet core underthrust that hangs tag is offered on plate 116.72 face platen square hole position of slider plate offers mouth hanging 74.Hanging tag 117, to be connected to the electromagnet core that hangs tag following.Hang tag in figure 117 have already passed through platen square hole inject slider plate on In mouth hanging 74.It is following that Anti-release clamp 118 is connected to 73 iron core of Anti-release clamp electromagnet.Anti-release clamp 118 is just being inserted on Anti-release clamp seat board and is opening If rectangular pilot hole in.The Anti-release clamp 118 in 77 face top pilot hole of anticreep mouth opened up in slider plate.Anti-release clamp electromagnetism When iron and the electromagnet that hangs tag are powered, Anti-release clamp, hanging tag lifts, and when power-off, Anti-release clamp, hanging tag is fallen.

When pa is dragged in exchange, to pull out and drag pa below floor sweeping mechanism.Floor sweeping mechanism is on supporting plate, and hang tag electromagnet energization handle Hang tag raising.Toilet seat decline moves to left, and left is docked with floor sweeping mechanism, drawn close.The electromagnet 119 that hangs tag power-off, hangs tag and 117 puts In mouth hanging 74 below lower reeve in corresponding slider plate.At this moment, Anti-release clamp electromagnet is powered, and Anti-release clamp is above mentioned and exits anticreep Mouth 77, as shown above.Then, the right into figure of the transfer electrical power mobilization frame in toilet seat is mobile, then with turn The connected platen of frame is moved also to move to right.It hangs tag and 117 just slider plate 72 is pulled out in corresponding slideway below the floor sweeping mechanism, and simultaneously It draws in below toilet seat in identical slideway.Toilet seat uplink is moved to drag in pa service sink and clean, after dehydration, and by above It is described, then decline and docked with floor sweeping mechanism right.At this moment, anticreep mouth is exited in the raising of Anti-release clamp 74.Transfer motor in toilet seat Mobilization frame 106 is moved to the left, and the left side just pushes away slider plate and is moved to the left below platen.Then slider plate 72 is just under toilet seat It pulls out and is injected below floor sweeping mechanism in identical slideway, for another example shown in the upper figure left side in the slider plate slideway of side.Subsequent Anti-release clamp Electromagnet power-off, Anti-release clamp inject in anticreep mouth.Hang tag electromagnet energization simultaneously, lifts to hang tag and exits mouth hanging.Toilet seat moves to right Set distance above mentions.Pa exchange is dragged to complete.

It is the sliding block for dragging 72 both sides of slider plate of pa top and the slider plate slideway 113 below floor sweeping mechanism in following figure right figure Mouth is to the profile before timing insertion.Depicted in figure the slider plate left side the slider plate slideway below floor sweeping mechanism is entered The upper lower seamed edge of mouth all has biggish angle, if suitable for reading 122 and lower mouth 123 of slider plate slideway 113 are inclined-planes.It is inserted convenient for sliding block Enter in figure pair slider plate slideway 113.There is appropriate slightly larger gap between slideway and sliding block shown in figure.

D is situation immediately ahead of toilet seat into figure.Slider plate slideway 113, slider plate slideway 113 are provided with below toilet seat It is identical as the slider plate slideway structure that the floor sweeping mechanism that front describes is following.Among seat shell foreboard lower section be provided with one it is biggish Notch 120.It is shifted in notch on the platen 116 that frame connects below and hang tag electromagnet 119 and the electromagnet core that hangs tag is installed Upper connection hangs tag 117.Pa panel seat plate 92 is connected with below 93 both sides of seat shell.Transfer motor and the electromagnet that hangs tag have wader It sets, can impregnate and leakproof in water.

It is to support face structure chart on floor sweeping mechanism in Figure 12.Upper figure is main view, and main view is top view below, is overlooked Figure the right is D to figure, is the M enlarged drawing of top view below.It is shell of top cover 69 in upper figure, above floor sweeping mechanism.Floor sweeping mechanism is close It is similar to a cylindrical body, around there is upper circle shell 124, lower circle shell 125, foundation ring shell 127.Shell 127 both sides in foundation ring are offered to face 126.Floor sweeping mechanism rear has cut one piece of toxoplasm, and lower section has one to face directly in rear, that is, figure.Floor sweeping mechanism sweeps the floor, inhales Dirt, mopping function and structure are identical as existing sweeping robot, are only increased on original sweeping robot to face 126, are swept Ground mechanism is higher than existing sweeping robot.The both sides of foundation ring shell 127 are set to face 126, and two, every side is totally four, right Claim setting.To face 126 as shown in the M enlarged drawing of lower section.It recessed is made and sweeper to the side shell that face is floor sweeping mechanism The smooth facet that structure front and back centre symmetry line 129 is parallel to each other.Two of same side support face in same plane, that is, figure Target is pressed from both sides on main track 128, and two sides are parallel to each other to face.

It is to press from both sides equipment structure and floor sweeping mechanism to dock situation map with toilet seat in Figure 13.In Figure 13, A figure is folder formal dress Overall diagram is set, B figure is folder equipment process chart.C figure is running part enlarged drawing in A figure.D figure is the M enlarged drawing of B figure.E Figure is floor sweeping mechanism and toilet seat docking scheme.Pressing from both sides equipment includes running part, clamp arm 130, shaft 132, axle bed frame 131, thick stick Block 141, collet 139.Running part is as shown in C figure.The frame block that piece 135 both ends of bow-shaped support are turned back outside is respectively connected with below One notch plate 137.Notch plate 137 is by totally three blocks of plates are connected and form a notch shape with both sides above, notch opening Downwards.Notch top plate is connect with bow-shaped support 135.Identical sliding slot mouth 143 is offered on the plate of two blocks of notch both sides.Arch The left and right both sides transition location of bracket is respectively connected with an axle bed 140 below, and a screwed pipe is mounted in two axle beds 140 136.Outer tube of 136 both ends of screwed pipe between two axle beds 140 is more slightly larger than that section in reeve axle bed, prevents screwed pipe 136 from a left side Right play.Both ends in screwed pipe are respectively mounted with a screwed pipe screw rod 133, and flat-shaped plane is made in screwed pipe screw rod external end head both sides, flat Pin hole is drilled in shape plane.Flat-shaped plane both sides respectively accompany one piece of connecting rod block 142.142 both ends of connecting rod block offer pin hole. Screwed pipe screw rod 133 is put into notch plate 137, is passed through from the sliding slot mouth 143 on notch plate one side with slide-bar 145, and one piece of company is passed through Bar block 142, the flat-shaped plane of screwed pipe screw rod, another piece of connecting rod block, stretch out from the sliding slot mouth of notch plate opposite side, fixed slide-bar Pivot pin head is just hinged together two pieces of connecting rod blocks and screwed pipe screw rod, and can be oriented in sliding slot mouth.In C figure, left side notch That positive piece of plate 137 has been cut away.Axis hole is offered above clamp arm 130, a shaft 132 passes through each of 35 top both sides of supporting plate Two clamp arm axis holes, and it is rigidly fixed to one with axis hole, it cannot mutually be rotated between clamp arm and shaft.Close to screwed pipe silk in figure Thick stick block 141 is connected with above two clamp arm 130 of bar, thick stick block upper end pivot pin 45 and two pieces of both sides connecting rod block are hinged at one It rises.Bow-shaped support left is connected with a screwed pipe motor 134 below, is equipped with screwed pipe motor gear 147 on screwed pipe motor shaft.Spiral shell Screwed pipe gear 146 is installed on pipe.Screwed pipe gear is engaged with screwed pipe motor gear.The internal screw thread at screwed pipe both ends left-hand thread each other. The positive and negative rotation of screwed pipe motor can push away the screwed pipe screw rod at both ends while be displaced outwardly, and the screwed pipe screw rod at both ends can also be drawn inwardly to move It is dynamic to relatively move.It is that guider 38 is installed on the side of lower section in A figure in front of supporting plate.Shaft 132 is mounted in axle bed frame 131, Axle bed frame 131 is connected on the shell of body both sides.Bow-shaped support 135 is linked together with bracket and body shell 79.It is in B figure Folder equipment just presss from both sides positive floor sweeping mechanism situation on supporting plate.Floor sweeping mechanism has been subjected to the guiding of guider from the cleaner in Fig. 1 Guider is climbed up on supporting plate 35 and drawn close in front, is parked among supporting plate.One is connected among two clamp arm on both sides in A figure Block link arm block 138.The dotted line position that the clamp arm 130 on both sides is arranged to both sides in the B figure of Figure 13 is to get out of the way floor sweeping mechanism and exist Walking reserves the channel on both sides on supporting plate, keeps channel more wider.After floor sweeping mechanism proceeds to position on supporting plate, control system Screwed pipe electrical power is given, screwed pipe motor drives the rotation of screwed pipe motor gear, makes the clamp arm on both sides simultaneously to supporting plate central rotational One set angle.The collet 139 of clamp arm lower end be simultaneously against floor sweeping mechanism both sides it is following support face 126.Position to face 126 It sets and enlarged drawing is referring to the M enlarged drawing below Figure 12.The D of comparative diagram 13 schemes simultaneously, and each seamed edge is all chamfered on collet.Because two The chuck structure on side is identical, when manufacture installation, the lines of every two collet front end faces in side and supporting plate front and back middle line away from It is stringent equal and parallel to each other from all.The height of each collet is also exactly the same.Also it mutually puts down in the face of supporting on floor sweeping mechanism both sides Row.Timing is pressed from both sides, regardless of floor sweeping mechanism which direction deflection to the left and right, can all be pressed from both sides just by collet.At this moment the sliding block in floor sweeping mechanism Plate slideway and slider plate are all parallel with supporting plate.

It is the side view after floor sweeping mechanism is pressed from both sides just by clamp arm in E figure.Supporting plate rear is dotted line position of the toilet seat 33 from top It sets to drop to highly to dock with floor sweeping mechanism rear in figure and draw close, the slider plate slideway in toilet seat and the sliding block in floor sweeping mechanism Plate slideway is in same plane, and entrance is being to just, toilet seat by method that is shown in Figure 11 and describing and floor sweeping mechanism into Row docks and pa is dragged to exchange, it can drags pa to draw in toilet seat below floor sweeping mechanism dirty；It can also be dragging pa after cleaning It is injected below floor sweeping mechanism in corresponding slideway from being pulled out in toilet seat.

It is that cleaner wipes table, chair situation map in Figure 14.Upper figure is to wipe desktop figure, and the following figure is to wipe seat seat board figure.Upper figure In, the wiping pa 1 on pa seat 2 is wiped on the desktop 62 of desk, and the mobile pa seat of wiping of arm interoperations at different levels is wiping desktop 62.15 or so reciprocating rotation certain angle of turntable moves back and forth wiping pa wipes desktop.It is equipped in the lower aspect of flat axle bed 4 Detector 17 detects desktop, the corner location of seat board and middle position, to change turntable reciprocating rotation angle.

The following figure is the seat board situation map for wiping seat.After mopping floor, it is following that the seat board of seat is placed on desk.Clamping jaw 6 rotates Downwards.Detector 17 is installed on clamping jaw seat.The backrest plate 54 and seat board 55 of seat are detected first.According to backrest plate top Width dimensions detect the middle position of backrest plate top.Can also on the thickness face of seat back backup plate top central marker it is a kind of Color or mark convenient for detection.Clamping jaw first clamps the backrest plate 54 of seat middle position generally above, is lifted up a bit, makes Seat foot frame rear slightly raises any and leaves ground, lands in front of foot prop.Then, clamping jaw pulls back, the seat board 55 of seat It is pulled out below the desk of front.Backrest plate leans against on subsequent desktop edges of boards, as shown in the dotted line of the following figure.Then, pa is wiped Seat rotates downwards, the seat board as described above wiped desktop and equally wipe seat.

Autostop is the prior art in terms of existing automatic control after each motor rotate in place, what all requirements accurately controlled Motor uses servo motor.Mechanical arm at different levels, steering engine, flat axle bed, vertical shaft seat, electrical appliance on clamping jaw seat connection, with The respective lines connection of existing robot arm is identical, no longer describes.Vertical shaft, the rotational angle of flat turn axis are smaller, only turn Dynamic 180 degree.Body when not in use, automatically walk to specified diamond.Mechanical arm, which is collapsed, is placed in vacant direction close to body.Machine Body can use wireless charging mode.Power receiving coil is installed on body, specified diamond is equipped with wireless charger, and existing Some electric cars as the wireless charging of mobile phone.On body and battery is fitted on floor sweeping mechanism.Sweeper Structure just charges on the guider on supporting plate, identical as existing sweeping robot charging pilework.Floor sweeping mechanism with toilet seat When exchange drags pa to lean on the guides, control system disconnects charging circuit.Body and floor sweeping mechanism have identification of lines, It sweeps the floor the function of route planning, and the function of mutually radio contact.It is all on cleaner to need self-locking motor that use snail Worm and wormwheel speed changer.

In addition to the technical characteristic described in the specification, remaining technical characteristic is technology known to those skilled in the art.

Claims (9)

1. classroom auto-cleaner, it is characterised in that:

(1), classroom auto-cleaner, including body, table yoke mechanism, chair yoke mechanism, mechanical arm, floor sweeping mechanism, wipe pa, drag Pa, wiper mechanism, twin shaft seat mechanism, folder equipment；

(2), both sides are equipped with door frame slideway in front of body；

(3), table yoke mechanism and chair yoke mechanism are all mounted on the door frame slideway of body, and table yoke mechanism is in chair yoke mechanism Top；

(4), table, chair yoke mechanism respectively include that table, chair yoke, clip slot block, sideslip road, sideslip set, door frame sliding sleeve, clip slot block are flat Moving device, motor；Table, chair yoke all include main yoke, telescopic arm；Telescopic arm is mounted in main yoke；

(5), each clip slot block is fixed on a sideslip and puts on, and two sideslip sets cover the left and right both ends on same root sideslip road； Sideslip road both ends are separately connected a door frame sliding sleeve, and the door frame sliding sleeve at every sideslip road both ends is respectively fitted on door frame slideway；

(6), main yoke rear end is hinged at the lower end in clip slot block；

(7), table yoke mechanism is identical with chair yoke mechanism structure；

(8), turntable, upper frame are installed, between upper frame and the mechanical arm connected, between every two-stage mechanical arm in the top shell of body It is fitted with steering engine；

(9), twin shaft seat mechanism includes flat axle bed, vertical shaft seat, clamping jaw seat, clamping jaw, wipes pa seat；

(10), clamping jaw seat and clamping jaw are installed above vertical shaft seat, is equipped with below vertical shaft seat and wipes pa seat；It wipes pa and is mounted on wiping pa On seat, the flat turn axis front end of flat axle bed is connect with vertical shaft seat side, flat axle bed rear end one steering engine and most end level-one mechanical arm Connection；

(11), floor sweeping mechanism is an independent entirety, sweep the floor, dust suction, mopping function and configuration aspects and family use Sweeping robot is identical；

(12), floor sweeping mechanism both sides are symmetrically offered to face；

(13), floor sweeping mechanism is carried out operation by the main engine remote control of classroom auto-cleaner；

(14), when floor sweeping mechanism operation, floor sweeping mechanism leaves the following supporting plate of body；Supporting plate is climbed up when floor sweeping mechanism not operation to stop It puts；

(15), the pa item of pa is dragged to be connected on pa plate, it is following that pa plate is mounted on floor sweeping mechanism rear；

(16), wiper mechanism includes dragging pa wiper mechanism and wiping pa wiper mechanism；

(17), wiping pa wiper mechanism includes wiping pa service sink, translation balladeur train, shiftable gear, translation motor, translating rack, smooth Road；

(18), dragging pa wiper mechanism includes that pa service sink, dehydration device, toilet seat, vertical sliding block, cover for seat, smooth road, translation is dragged to slide Frame, translation motor, shiftable gear, translating rack, lifting motor, lifting gear, rack gear；

(19), the external side of machine shell can be moved to by wiping pa service sink；

(20), toilet seat include seat shell, transfer gear, transfer rack gear, transfer motor, transfer slide, transfer sliding block, transfer frame, It hangs tag, the electromagnet that hangs tag, slider plate slideway；

(21), be equipped with and hang tag on the platen below the transfer frame front in toilet seat, can floor sweeping mechanism it is following drag pa It pulls out, and draws in the following slider plate slideway of toilet seat；

(22), folder equipment is installed above supporting plate；

(23), when chair yoke fork lift seat, for chair yoke close to seat, chair yoke drops to the seat board two of seat when packing up Setting height below side, main yoke rotates down forward when telescopic arm does not stretch out to be laid flat, and telescopic arm stretches out, chair yoke Lifting device slowly improves chair yoke, and two chair yokes are drawn close below the seat board both sides of seat, i.e., liftable seat；

(24), when table yoke fork lift desk, working process and principle are identical as chair yoke fork lift seat, and main yoke is packing up situation Under, drop to setting height below the desktop both sides of desk, main yoke, which rotates down forward, to be laid flat, and telescopic arm stretches out, table fork The lifting device of arm improves table yoke and draws close below desktop both sides, i.e., liftable desk；

(25), when sweeping classroom, table, chair yoke lift a desk and the following seat of desk to setting height simultaneously, and host is distant Control floor sweeping mechanism, which leaves within the scope of supporting plate to the temporary space for being lifted desk, under-seat, sweeps the floor, dust suction, mops floor；Then, it sweeps Ground mechanism climbs up supporting plate again and awaits orders, and body at once puts down lifted desk, seat original place；By the above process to adjacent, similar Desk, seat lift mop floor one by one；

(26), it when cleaning and wiping pa, wipes pa service sink and moves to outside body rear, mechanical arm, which puts wiping pa seat into, wipes pa cleaning Pond；It wipes pa and after rotary-cleaning, dehydration, wipes pa seat in wiping pa service sink and lift, wipe pa service sink and be moved in body；

(27), when pa is dragged in cleaning, floor sweeping mechanism climbs up supporting plate and draws close the guider at supporting plate rear and press from both sides just cleaning by folder equipment Seat falls from floor sweeping mechanism rear, docks, and dragging the pa plate of pa to pull out below floor sweeping mechanism, draws in the sliding block below toilet seat In plate slideway, toilet seat rises, translates, dropping to drag and be cleaned in pa service sink, and after dehydration device is dehydrated, toilet seat is again Translation, decline are docked with floor sweeping mechanism, dragging the pa plate reeve floor sweeping mechanism of pa below in corresponding slideway.

2. classroom auto-cleaner according to claim 1, it is characterised in that: the translation of the clip slot block of table yoke and chair yoke Device includes screw rod, nut, motor.

3. classroom auto-cleaner according to claim 1, it is characterised in that: each clip slot block lower end is connected and fixed one Sole piece.

4. classroom auto-cleaner according to claim 1, it is characterised in that: be provided on body filtered water tank, foul water tank, Water pump, related water pipe and corresponding electromagnetic switch.

5. classroom auto-cleaner according to claim 1, it is characterised in that: transfer motor is connected on transfer frame, is turned The transfer gear connected on motor is moved to engage with the transfer rack gear being connected in seat shell；Transfer frame both sides are equipped with transfer sliding block, Transfer sliding block is mounted in the transfer slide being connected in seat shell with bracket.

6. classroom auto-cleaner according to claim 1, it is characterised in that: cover for seat side is connected with translation balladeur train, seat Set top side side is equipped with lifting motor and lifting gear, and translation motor and shiftable gear are equipped on the side of cover for seat, described Shiftable gear is engaged with the translating rack being mounted on body inner housing.

7. classroom auto-cleaner according to claim 1, it is characterised in that: vertical sliding block is mounted in cover for seat, toilet seat Top is connect with vertical sliding block lower end.

8. classroom auto-cleaner according to claim 1, it is characterised in that: to pick up big spitball, the sundries on floor When, clamping jaw rotation downwards, it is upward to wipe pa seat.

9. classroom auto-cleaner according to claim 1, it is characterised in that: supporting plate rear end is equipped with guider.