CN109907698B

CN109907698B - Automatic cleaning machine for classroom

Info

Publication number: CN109907698B
Application number: CN201910258372.7A
Authority: CN
Inventors: 邹家福; 邹家鸿; 邹永平; 邹家华
Original assignee: Suining Changfeng Machinery Technology Co Ltd
Current assignee: Suining Changfeng Machinery Technology Co Ltd
Priority date: 2019-04-01
Filing date: 2019-04-01
Publication date: 2020-09-08
Anticipated expiration: 2039-04-01
Also published as: CN109907698A

Abstract

A classroom automatic cleaning machine comprises a machine body, a table fork arm mechanism, a chair fork arm mechanism, a mechanical arm, a sweeping mechanism, a handkerchief wiping mechanism, a handkerchief mopping mechanism, a cleaning mechanism, a double-shaft seat mechanism and a clamping device. The table and chair fork arm mechanisms are respectively arranged above and below the gantry slideway in front of the machine body. The cleaning mechanism comprises a mop cleaning mechanism and a mop cleaning mechanism. When the floor sweeping mechanism is used for sweeping a classroom, a desk is lifted by a desk fork arm fork in a longitudinal lane or a transverse lane of the classroom, a seat is lifted by a chair fork arm fork, and a desk and a chair are lifted at the same time to set the height. The sweeping mechanism instantly climbs down from a supporting plate below the machine body, and sweeps, sucks dust and drags the ground below the lifted table and chair. The table and the chair are sequentially lifted in situ and put down in situ after sweeping. The mop cleaning mechanism pulls out dirty mops at the lower side of the sweeping mechanism for cleaning and dewatering, and then inserts the clean mops below the sweeping mechanism. The wiping cleaning mechanism cleans and dehydrates the wiping. The mechanical arm controls the mop table top and the seat plate surface at the lower side of the mop seat. The classroom sweeping automation is realized.

Description

Automatic cleaning machine for classroom

Technical Field

The invention belongs to the field of environment-friendly machinery, and particularly relates to an automatic cleaning machine for classrooms.

Background

In the existing classrooms of schools, students or workers sweep the floor with brooms and mop the floor, so that dust is always blown up, the health of the students is seriously affected, and the situation is particularly true for the classrooms in villages. The existing floor sweeping robot cannot sweep classrooms, and the existing floor sweeping robot is difficult to enter, and is difficult to sweep when the existing floor sweeping robot enters and even comes out because the stilts and the foot stands of the desk and the seat form great obstacles on the floor. The mop of the existing sweeping robot is a thin fiber blanket, is stuck below the sweeping robot, cannot be cleaned by self, is dirty after being dragged for a few times, and is dirty after being dragged, so that the existing classroom always sweeps and drags the floor manually.

Disclosure of Invention

The invention aims to solve the problem of mechanization of the existing manual classroom sweeping, and designs an automatic classroom cleaning machine, hereinafter referred to as a cleaning machine.

The invention is realized by the following steps: a classroom automatic cleaning machine comprises a machine body, a table fork arm mechanism, a chair fork arm mechanism, a mechanical arm, a sweeping mechanism, a handkerchief wiping mechanism, a handkerchief mopping mechanism, a cleaning mechanism, a double-shaft seat mechanism and a clamping device. The two sides in front of the machine body are provided with gantry slideways. The table fork arm mechanism and the chair fork arm mechanism are both arranged on a gantry slideway of the machine body, and the table fork arm mechanism is arranged above the chair fork arm mechanism. The table and chair fork arm mechanisms respectively comprise a table, a chair fork arm, a slot clamping block, a transverse slideway, a transverse sliding sleeve, a gantry sliding sleeve, a slot clamping block translation device and a motor; the fork arms of the table and the chair comprise main fork arms and telescopic arms; the telescopic arm is installed in the main yoke. Each clamping groove block is fixed on a transverse sliding sleeve, and the two transverse sliding sleeves are sleeved at the left end and the right end of the same transverse sliding channel; two ends of each transverse slideway are respectively connected with a portal sliding sleeve, and the portal sliding sleeves at two ends of each transverse slideway are respectively sleeved on the portal slideways. The rear end of the main fork arm is hinged with the lower end of the clamping groove block. The structure of the table fork arm mechanism is the same as that of the chair fork arm mechanism. A top shell of the machine body is provided with a turntable and a top frame, and steering engines are arranged between the top frame and the connected mechanical arms and between every two stages of mechanical arms. The double-shaft seat mechanism comprises a flat shaft seat, a vertical shaft seat, a clamping jaw and a handkerchief wiping seat. A clamping jaw seat and a clamping jaw are arranged above the vertical shaft seat, and a handkerchief seat is arranged below the vertical shaft seat; the mop is arranged on the mop seat, the front end of a flat rotating shaft of the flat shaft seat is connected with the side of the vertical shaft seat, and the rear end of the flat shaft seat is connected with the last stage mechanical arm by a steering engine. The sweeping mechanism is an independent whole and is the same as a sweeping robot used in families in the aspects of sweeping, dust collecting and mopping functions and structures. Two sides of the sweeping mechanism are symmetrically provided with abutting surfaces. The sweeping mechanism is remotely controlled by a host of the classroom automatic cleaning machine to operate. When the sweeping mechanism works, the sweeping mechanism leaves the supporting plate below the machine body; when the sweeping mechanism does not work, the sweeping mechanism climbs the supporting plate to park. The handkerchief strip of the mop is connected on the handkerchief board, and the handkerchief board is installed below the rear of the sweeping mechanism. The cleaning mechanism comprises a mop cleaning mechanism and a mop cleaning mechanism. The wiping cleaning mechanism comprises a wiping cleaning pool, a translation sliding frame, a translation gear, a translation motor, a translation rack and a flat slideway. The mop cleaning mechanism comprises a mop cleaning pool, a dewatering device, a cleaning seat, a vertical sliding block, a seat sleeve, a horizontal sliding way, a horizontal sliding frame, a horizontal moving motor, a horizontal moving gear, a horizontal moving rack, a lifting motor, a lifting gear and a rack. The wiping cleaning pool can be moved to the outside of the machine body shell. The cleaning seat comprises a seat shell, a transfer gear, a transfer rack, a transfer motor, a transfer slideway, a transfer slide block, a transfer frame, a hanging card electromagnet and a slide block plate slideway. The hanging clamp is arranged on the bedplate below the front side of the transfer frame in the cleaning seat, and can pull out the mop below the sweeping mechanism and pull the mop into the slide block plate slide way below the cleaning seat. A clamping device is arranged above the supporting plate. When the chair fork arm fork lifts the chair, the chair fork arm is close to the chair, the chair fork arm descends to the lower part of the two sides of the seat board of the chair to set the height under the condition of folding, the main fork arm rotates forwards and downwards under the condition that the telescopic arm does not extend out, the telescopic arm extends out, the lifting device of the chair fork arm slowly improves the chair fork arm, and the two chair fork arms approach to the lower parts of the two sides of the seat board of the chair, so that the chair can be lifted. When the desk fork arm fork lifts the desk, the working process and the principle are the same as that of a chair fork arm fork lifting seat, the main fork arm descends to the lower parts of two sides of a desktop plate of the desk to set the height under the condition of folding, the main fork arm rotates forwards and downwards to be laid flat, the telescopic arm extends out, and the lifting device of the desk fork arm improves the condition that the desk fork arm approaches to the lower parts of two sides of the desktop plate, so that the desk can be lifted. When a classroom is swept, the fork arms of the desk and the chair simultaneously lift a desk and a chair below the desk to a set height, and the host machine remotely controls the sweeping mechanism to leave the supporting plate to sweep, absorb dust and drag the floor in a temporary space range below the lifted desk and the chair; then, the sweeping mechanism climbs the supporting plate for standby, and the machine body immediately puts down the lifted desk and the seat in situ; the adjacent desks and the seats are lifted one by one according to the process to mop the floor. When the handkerchief is cleaned, the handkerchief cleaning pool is translated to the outer side of the rear part of the machine body, and the mechanical arm puts the handkerchief seat into the handkerchief cleaning pool; after the handkerchief is rotationally cleaned and dehydrated in the handkerchief cleaning pool, the handkerchief seat is lifted, and the handkerchief cleaning pool moves into the machine body. When the mop is cleaned, the sweeping mechanism climbs the supporting plate to approach the guider at the rear of the supporting plate and is clamped by the clamping device, the cleaning seat falls and is in butt joint with the rear of the sweeping mechanism, the mop plate below the sweeping mechanism is pulled out and is pulled into the slide block plate slide way below the cleaning seat, the cleaning seat rises, translates and falls into the mop cleaning pool to be cleaned, after the cleaning seat is dehydrated by the dehydrating device, the cleaning seat translates and descends again to be in butt joint with the sweeping mechanism, and the mop plate of the mop is inserted into the corresponding slide way below the sweeping mechanism. The clamping groove block translation device of the table fork arm and the chair fork arm comprises a screw rod, a nut and a motor. The lower end of each clamping groove block is fixedly connected with a bottom block. The machine body is provided with a clean water tank, a sewage tank, a water pump, a related water pipe and a corresponding electromagnetic switch. The transfer motor is connected to the transfer frame, and a transfer gear connected to the transfer motor is meshed with a transfer rack connected to the inside of the seat shell; transfer sliding blocks are arranged on two sides of the transfer frame and are arranged in transfer sliding ways connected into the seat shell through a support. The side of the seat cover is connected with a translation sliding frame, the side of the upper surface of the seat cover is provided with a lifting motor and a lifting gear, the side surface of the seat cover is provided with a translation motor and a translation gear, and the translation gear is meshed with a translation rack arranged on a shell in the machine body. The vertical sliding block is arranged in the seat sleeve, and the upper edge of the cleaning seat is connected with the lower end of the vertical sliding block. When large paper balls and sundries on the floor are clamped, the clamping jaw rotates downwards, and the handkerchief seat moves upwards. The rear end of the supporting plate is provided with a guider.

The invention has the advantages that: 1. the existing sweeping robot is used as an executing part of a classroom, namely a sweeping mechanism, and when a certain floor is swept, the sweeping mechanism climbs down from a lower supporting plate of a cleaning machine to sweep, absorb dust and mop the floor. When not sweeping, the sweeping mechanism climbs the supporting plate. 2. The sweeping mechanism operates under the remote control of a host machine of the cleaning machine. 3. The front of the cleaning machine is provided with a table and a chair fork arm. When a classroom is swept, the desk and the chair fork arms lift the desk and the chair to a certain height, and the sweeping mechanism is controlled to sweep in a temporary space below the lifted desk and chair; after the temporary space is swept, the cleaning machine puts down the desk and the seat in situ, so that the problem that foot rests below the desk and the seat occupy the floor to form obstacles is solved, and a condition for conveniently sweeping the floor is created for the sweeping mechanism. 4. The cleaning machine is provided with the mop and the mop cleaning mechanism, so that the dirty mop at the lower side of the sweeping mechanism can be taken down to be cleaned and dehydrated automatically, and the cleaned clean mop is inserted into the lower side of the sweeping mechanism, so that the floor is cleaner after being mopped. The double-shaft seat mechanism and the handkerchief cleaning mechanism can automatically rotate, clean and dewater the handkerchief. 5. The cleaning machine is provided with the mechanical arm and the double-shaft seat mechanism, and the tabletop plate of the desk and the seat plate of the seat can be wiped after sweeping.

Drawings

Fig. 1 is an overall configuration diagram of a classroom automatic cleaning machine.

Fig. 2 is a structure view of the fork arm of the table and the chair.

Fig. 3 is a structure view of classroom table and chair row and table and chair.

FIG. 4 is a table and chair lift with the table and chair forks of the cleaning machine.

Figure 5 is a view of the table and chair with the table and chair legs raised and the sweeping mechanism sweeping the floor beneath.

Fig. 6 is a diagram of several ways of sweeping a classroom with a cleaning machine.

Fig. 7 is a structural view of the double-shaft seat mechanism.

FIG. 8 is a drawing of the mop construction and installation.

Fig. 9 is a structural view of the cleaning mechanism.

Fig. 10 is a diagram of a wipe cleaning process.

Figure 11 is a diagram of the cleaning seat structure and exchange of mops with the sweeping mechanism.

Fig. 12 is a structure view of a ground surface of the sweeping mechanism.

Fig. 13 is a diagram of the structure of the clamping device and the butt joint of the sweeping mechanism and the cleaning seat.

Fig. 14 is a view of the cleaning machine wiping table and chair.

In the drawings: the cleaning machine comprises a cleaning handkerchief 1, a cleaning handkerchief seat 2, a vertical shaft seat 3, a flat shaft seat 4, a steering engine 5, a clamping jaw 6, a tertiary arm 7, a secondary telescopic arm 8, a motor gear 9, a secondary arm 10, a machine body 11, a telescopic arm 12, a primary arm 13, a top frame 14, a rotary table 15, a motor reel 16, a detector 17, a pull rope 18, a screw rod 19, a nut 20, a gantry slide way 21, a gantry slide sleeve 22, a transverse slide way 23, a transverse slide sleeve 24, a rear shaft pin 25, a main fork arm 26, a telescopic arm 27, a clamping groove block 28, a bottom block 29, a retracting arm motor 30, a pull rope motor 31, a screw rod motor 32, a cleaning seat 33, a cleaning pool 34, a supporting plate 35, a sweeping mechanism 36, a wheel 37, a guider 38, a smooth way 39, a cleaning pool 40, a cushion block 41, a cavity 42, a guide wheel 43, a blackboard reel 44, a 45, a groove shell 46, a spring 47, a 48, a platform 49, a seat 50, a desk 51, a, The back plate 54, the seat plate 55, the foot stand 56, the upper foot stand 57, the foot post 58, the chair frame 59, the short side 60, the table box 61, the table top plate 62, the long side 63, the floor plate 64, the horizontal rotating shaft 65, the clamping jaw seat 66, the vertical rotating shaft 67, the parr shaft 68, the upper cover shell 69, the recessed area 70, the parr 71, the slider plate 72, the anti-falling electromagnet 73, the hanging opening 74, the anti-falling seat plate 75, the parr plate 76, the anti-falling opening 77, the inverted edge 78, the machine body shell 79, the rear shell plate 80, the stirring and washing stem 81, the corrugated bump 82, the bracket 83, the side shell 84, the translation motor 85, the front shell plate 86, the translation gear 87, the sliding sleeve shell 88, the compression roller 89, the seat block 90, the roller 91, the parr plate seat plate 92, the seat shell 93, the lifting gear 94, the rack 95, the lifting motor 96, the vertical slider 97, the seat sleeve 98, the translation carriage 99, the translation rack 100, the fixed pipe head, The automatic transfer device comprises a transfer frame 106, a seat shell front plate 107, a transfer motor 108, a transfer gear 109, a transfer rack 110, a transfer slide rail 111, a seat shell rear plate 112, a slide block plate slide rail 113, a transfer motor support 114, a transfer slide block 115, a bedplate 116, a hanging clamp 117, an anti-falling clamp 118, a hanging clamp electromagnet 119, a notch 120, a wall surface 121, an upper port 122, a lower port 123, an upper ring shell 124, a lower ring shell 125, a butting surface 126, a bottom ring shell 127, a clamping positive line 128, a central symmetry line 129, a clamping arm 130, a shaft seat frame 131, a rotating shaft 132, a solenoid lead screw 133, a solenoid motor 134, an arch-shaped support 135, a solenoid 136, a notch plate 137, a connecting arm block 138, a clamping head 139, a shaft seat 140, a lever block 141, a connecting rod block 142, a chute port 143, a shaft axis 144, a sliding shaft 145, a solenoid gear 146 and a solenoid.

Detailed Description

Fig. 1 is a diagram showing an overall configuration of an automatic cleaning machine for a classroom. The classroom automatic cleaning machine comprises a machine body 11, a table fork arm mechanism, a chair fork arm mechanism, a mechanical arm, a sweeping mechanism 36, a handkerchief 1, a handkerchief, a cleaning mechanism, a double-shaft seat mechanism and a clamping device. A mop and a mop cleaning mechanism are arranged in the machine body 11, for example, a cut-away part of a shell of the machine body 11 is provided with a flat slideway 39, a mop cleaning pool 40, a mop cleaning pool 34 and a cleaning seat 33. The cleaning mechanism is described with reference to FIGS. 9 to 11. The body is provided with a turntable 15. The right end of the first-stage arm 13 is connected with the rotary disc 15 through a steering engine 5 and a top frame 14. The primary arm 13 is rotatable up and down and horizontally about the right end. A telescopic arm 12 is mounted in the housing of the primary arm 13. The front end of the first telescopic arm 12 is sequentially connected with a steering engine 5, a second-stage arm 10, a second telescopic arm 8, a steering engine 5, a third-stage arm 7, a steering engine 5, a flat shaft seat 4, a vertical shaft seat 3, a handkerchief seat 2 and a handkerchief 1. The first-stage arm, the first telescopic arm, the second-stage arm, the second telescopic arm and the third-stage arm are collectively called a mechanical arm. The flat shaft seat 4, the vertical shaft seat 3, the clamping jaw 6, the handkerchief seat 2 and the clamping jaw seat are collectively called a double-shaft seat mechanism. The upper part of the vertical shaft seat 3 is provided with a clamping jaw seat and a clamping jaw 6, and the lower part is provided with a handkerchief seat 2 and a handkerchief 1. The steering engine is the prior art that the existing robot is arranged between two sections of mechanical arms and can accurately control the mutual rotation angle of the two sections of mechanical arms. Each level of mechanical arm is a square pipe and can be made of metal materials or high-strength plastics. The front shell of the primary arm 13 and the front shell of the secondary arm 10 are respectively provided with a motor and a gear on a motor shaft, and the structure is hereinafter referred to as a motor gear 9. One side surface of the first telescopic arm 12 and the second telescopic arm 8 corresponding to the motor gear 9 is provided with a rack which is recessed into the side surface, namely the rack does not influence the extension and retraction of the first telescopic arm and the second telescopic arm into the first-stage arm shell and the second-stage arm shell. The first-stage arm shell and the second-stage arm shell where the gear is located are provided with notches, and the gear enters the notches to be meshed with the racks. The extension length of the first telescopic arm and the second telescopic arm can be accurately controlled by the forward and reverse rotation of the motor. The jaw 6 may be used to grip paper rolls and debris in a classroom. The wiper 1 is used for wiping the desk top of the desk and the seat board of the seat under the control of the mechanical arm.

A support plate 35 is arranged below the machine body 11. The right side of the supporting plate is provided with an inclined plane. A guide 38 is provided on the left edge of the pallet. The guide 38 functions in the same way as a charger of an existing sweeping robot, and is used for guiding and charging the sweeping mechanism 36. In fig. 1, the sweeping mechanism 36 has climbed the pallet from its right slope to rest. The right side of the machine body, namely the front side of the machine body, is provided with an upper group of fork arm mechanisms, a lower group of fork arm mechanisms similar to fork arms of the existing forklift, the upper part of the machine body is provided with a table fork arm mechanism, and the lower part of the machine body is provided with a chair fork arm mechanism. The table fork arm mechanism and the chair fork arm mechanism are composed of a main fork arm 26, a telescopic arm 27, a clamping groove block 28, a bottom block 29, a transverse slideway 23, a transverse sliding sleeve 24, a door frame sliding sleeve 22, a screw rod 19, a nut 20, a screw rod motor 32, a pull rope motor 31 and an arm retracting motor 30. The rear end of the main yoke 26 is hinged with a rear axle pin 25 in the slot of the slot block 28 below. The lower side of the slot clamping block 28 is connected with a bottom block 29. The lower rear sections of the upper and lower sets of main yoke arms are now blocked by the bottom block 29, so that the two sets of main yoke arms 26 are in a horizontal state. A telescopic arm 27 is mounted in the main yoke housing. The main fork arm and the telescopic arm are square shells. The back of the clamping groove block is connected with a transverse sliding sleeve 24. Two transverse sliding sleeves 24 are sleeved at two ends of a transverse slideway 23. Two ends of the transverse slideway 23 are respectively connected with a portal sliding sleeve 22. Two sides of the front of the machine body are respectively provided with a gantry slideway 21. And portal sliding sleeves connected with two sides of each transverse slideway are respectively sleeved on the portal slideways. Each transverse sliding sleeve 24 is provided with a nut 20 thereon. A screw rod 19 is arranged in two nuts 20 in the same horizontal row, one end of the screw rod is provided with a screw rod motor 32, and the screw rod motor 32 is arranged on a portal sliding sleeve 22 on the right side in front of the machine body in the figure. The screw thread of the screw rod is divided into a left-handed screw thread and a right-handed screw thread from the middle. The positive rotation and the negative rotation of the screw motor can lead the two main fork arms of each group to be separated towards two sides and close towards the middle. Two motor-driven reel wheels are arranged in front of the top of the machine body, and the motor-driven reel wheel 16 is called as a motor reel wheel in the following structure. The lower ends of the pull ropes 18 on the two reel wheels are respectively connected with the middle parts of the transverse slide ways 23 of the upper fork arm mechanism and the lower fork arm mechanism, and can control the upper fork arm mechanism and the lower fork arm mechanism of the table and the chair. The motor reel 16 and the pull rope 18 form a lifting device of the fork arm of the table and the chair. Four wheels 37 are arranged on the lower side of the machine body. Each wheel is provided with a driving and steering device. The four wheels are concentric, so that the machine body can be steered in situ, and the steering in situ is the prior art just like the steering in situ of the existing sweeping robot, and is not described here.

Fig. 2 is a view showing a fork arm structure of a table or a chair. The table and chair fork arms comprise main fork arms and telescopic arms. Both the main yoke 26 and the telescopic arms 27 are square hollow shells. The telescopic arm is installed in the main yoke. A compression spring 47 is mounted in the cavity of the main yoke and the rear telescopic arm section 42. The rear or right end of the main yoke is hinged below the slot clamping block 28 by a rear axle pin 25. The rear end of the main fork arm is fixedly connected with the rear shaft pin and can not rotate mutually. The upper left view cuts most of the front face of the channel block. An arm retracting motor 30 is seen mounted to the block, but not cut away. The arm-retracting motor shaft passes through the slot clamping block and is connected with the rear shaft pin 25. A sheave 44 is mounted at the upper right of the slot-clamping block 28. The upper end of the pull cord 18 is connected to a pulley 44. The lower end of the pull rope rounds a guide wheel 43 arranged on the upper part of the rear part of the main fork arm and passes through the middle part of the spring steel wire ring to be connected to a partition wall of a cavity 42 at the rear part of the telescopic arm. The pull cord motor 31 is mounted on the outer surface of the slot clamping block, and the pull cord motor shaft passes through the slot clamping block to be connected with the reel, as indicated by the reference in fig. 1, and cannot be seen because the pull cord motor shaft is cut away in fig. 2. When the pull rope motor rotates reversely, the pull rope pulls the telescopic arm to retreat into the main fork arm through the reel. When the pull rope motor rotates forwards, the spring pushes the telescopic arm to extend out of the main fork arm shell even if the pull rope is loosened. The bottom block 29 is integrally connected with the clamping groove block. The upper right view is a perspective view of the rear of the main yoke, where it can be seen that the guide wheel 43 is mounted in the yoke opening at the upper left of the rear axle pin 25 with axle pin 45. The left drawing of the lower drawing shows the condition that the reel 44 drives the pull rope to pull the telescopic arm to retreat and compress the spring 47. The right drawing of the lower drawing is the condition that the arm-retracting motor rotates right to retract the main fork arm and the telescopic arm upwards. The front end of the telescopic arm is provided with a cushion block 41. The cushion block is flush with the shell on the main fork arm. The speed changers of the arm retracting motor and the pull rope motor are both worm and worm gear speed changers and can be self-locked.

Fig. 3 is a structure diagram of a classroom table and chair row and a table and chair. At present, most of desks 51 and chairs 50 in a classroom are single desks and chairs, which are called as desks and chairs for short. The blackboard 48 and the platform 49 are located in front. The discharge of the desk and the seat leaves a longitudinal lane 52 and a transverse lane 53. Parallel to the blackboard is a cross-walk 53 in which the seats are placed. Perpendicular to the blackboard is a wale 52. The lower drawing in fig. 3 is a structure drawing of a table and a chair. The seat comprises a backrest plate 54, a seat frame 59, a seat plate 55, a foot post 58, a foot stand 56 and an upper foot stand 57. The desk comprises a desk top 62, a desk box 61, a leg 58, a foot stand 56 and an upper foot stand 57. The table top 62 has a longer side 63 along each of its long sides. The table top has short edges 60 at both ends.

Fig. 4 is a view showing the condition of the table and chair fork lifting table and chair of the cleaning machine. The outer side edge of the clamping groove block of each desk and chair fork arm is provided with a detector 17 for detecting the edge positions of the two ends of the desk top plate and the chair seat plate and the position of the foot post corresponding to the desk and chair fork arms. The upper row A, B, C illustrates the process of lifting the seat with the chair fork arms independently. In the figure, the left side of the body 11 is cut away. In the drawing A, the table fork arm and the chair fork arm mounted on the gantry slideway of the machine body 11 are folded upwards in the clamping groove block, and the telescopic arm is folded into the main fork arm 26 as shown in the solid line position in the drawing. The specific fork lifting process is as follows: the front of the machine body is close to and right opposite to the back of the seat. The two chair fork arms adjust the transverse position according to the program, and the two chair fork arms are opposite to the inner positions of the two stilts below the two sides of the seat board according to the detection of the detector. The chair yoke is lowered so that the front end of the telescopic arm is lower than the seat plate 55 of the chair. The table yoke is stationary. The retraction motor of the main yoke of the chair yoke is reversed and the main yoke is pivoted forward about the rear pivot pin and falls as shown in phantom below the seat plate 55. Then, when the main yoke rotates to be blocked by the bottom block 29 and is in a horizontal position, the telescopic arm 27 in the main yoke extends out, the arm retracting motor rotates reversely to the number of turns after the lower edge of the rear part of the main yoke is blocked by the bottom block, and the power is cut off after 0.5-1 second of delay, as shown in a diagram B. In fig. C, the two chair forks are gradually raised toward the seat plate 55 by the lift cord of the chair fork lift device. At this time, if the chair fork arm continues to rise to a certain height, the chair will be lifted to a certain height. When the main fork arm of the chair fork arm is forwards rotated and falls down when the chair is forked and lifted from the front of the chair, if the front section of the chair fork arm is blocked by the upper foot rest 57 at the lower side of the chair, the forking and lifting are not influenced. Because the main yoke has now been turned a large angle downwards and forwards. When the main yoke is lifted, the rear end of the main yoke is lifted, and the front section of the main yoke can rotate downwards and fall down in the process of lifting simultaneously, so that the main yoke is quickly in a horizontal state. The height from the upper end of the stowed chair prong to the bottom block 29 is less than the height from the underside of the seat pan to the floor.

The second row D, E, F shows the process of lifting the desk with the desk fork arms independently. In figure D, the table and chair prongs are stowed upward, as previously described. The front of the machine body is close to the desk, and the chair fork arm is not moved. The transverse positions of the two table fork arms are adjusted, and the two table fork arms are opposite to the space below the table top plates at the two ends of the desk according to the detection of the detector. The desk fork arm descends until the end of the telescopic arm is lower than the lower side of the desk top plate 62. The main yoke arms are rotated forward and downward as shown by the dotted lines. In figure E, the table yoke is pivoted down about the lower rear pivot pin to a horizontal position and is blocked by the bottom block, with the telescoping arm 27 extended. In the drawing F, the lifting device of the table yoke causes the table yoke to rise slowly, and the two table yokes are close to the lower sides of the two ends of the table top plate 62. When the desk fork arm rises a certain height, the desk can be lifted a certain height.

The third row G of the diagram is the situation where the chair prongs are independently forking the seat from the side of the seat. In the above method, two chair fork arms are forked from the side edges of the chair and are lifted to lean against the front and rear lower edges of the chair frame below the seat plate. In the H picture, the desk fork arm is independently lifted from the side fork of the desk. According to the method, the two desk fork arms are inserted from the side surface of the desk and are lifted to lean against the lower side of the long-edge desktop plate in the front and the back of the desk, and the desk can be lifted for a certain height if the desk fork arms are lifted again. When the fork arms of the table and the chair are folded upwards, the telescopic arms are firstly folded into the main fork arms. The total height of the chair fork arms after being folded is less than the height from the lower side of the seat board to the floor. The total height of the desk fork arms after being folded can not be too long, generally 30 to 35 centimeters is enough, and when the long edge of the desk is lifted, the desk fork arms do not need to be inserted through the lower edge of the desk panel and inserted into four fifths of the lower edge of the long edge.

Fig. 5 is a view showing the situation that the table, the chair and the sweeping mechanism which are matched with the table and the chair with the fork arms lifted up sweep the floor below. The student has put the seat in the middle of the lower side of the paired desk before school. In figure a, the table and chair prongs are both retracted upward in the clip slot block 28. In the figure B, the front of the machine body is close to a desk and the side edge of a seat under the desk, and the fork is lifted to match with the desk and the chair. According to the steps of the method, two chair fork arms are inserted into the lower side of the chair frame below the front and the rear parts of the seat plate. Meanwhile, the two desk fork arms are inserted into and lifted to be close to the lower sides of the long edges of the two ends of the desk top plate. In the figure C, the lifting device of the fork arms of the desk and the chair can lift the fork arms of the desk and the chair to the same height, namely, the desk and the chair are lifted to a certain height at the same time. The temporary space without occupying the table, the chair legs and the foot stool is formed below the table and the chair. At this point, the control system of the cleaning machine immediately remotely controls the sweeping mechanism 36 to climb down from the pallet 35 onto the floor 64 for sweeping, vacuuming and mopping the floor in the temporary space. The following are the sweeping, dust absorption and mopping for short. And the control system appoints the sweeping mechanism to work on the appointed length and width ground without entering the lower side of the un-lifted table and chair. After the sweeping mechanism operates according to the instruction, the sweeping mechanism climbs the supporting plate again to stand by. Then, the fork arms of the table and the chair are descended, and the paired table and chair are put down in place. The table and chair fork arms are folded upwards as shown in the upper left drawing. Then, the machine body moves to the side of the adjacent table and chair, and the adjacent table and chair are lifted and the floor is swept according to the steps of the method. And D, the situation that the fork arms of the table and the chair are forked on the front of the paired table and chair to lift the table and chair and sweep the floor. According to the steps of the method, the fork arms of the desk and the chair are inserted into the lower edges of the desktop plates of the short edges at the two ends of the desk and the lower edges of the seat plate from the front respectively, and the desk and the chair are lifted to the set height simultaneously. The temporary space right below the sweeping mechanism sweeps the floor. When the fork arms of the desk and the chair lift the desk and the chair, the double-shaft seat mechanism is lifted to be higher than the desktop.

In fig. 6, several modes of the cleaning machine for sweeping the classroom are shown. The figure shows the situation that a student leaves a classroom and puts a seat in the middle of the lower side of a desk of the student. In this case, the horizontal lane 53 and the vertical lane 52 are both clear in the classroom. One way to sweep the classroom is to walk the cleaning machine on the cross-walk 53 in the upper left direction as in the above figures, the machine body 11 is walked sideways to the left into the cross-walk 53, aligned with the front of the seats of the second desk 51 counting from the left in the horizontal row, the table and chair forks folded upwards facing the table and chair to be forked. As shown in the right drawing of the lower drawing of fig. 5 and described in connection with fig. 5, the fork arms of the desk and the chair are inserted into the lower edges of the desk top plates and the seat plate of the chair at the two ends of the desk. Then, the fork arms of the desk and the chair lift the desk and the chair to set heights at the same time, so that a temporary space without obstruction is formed below the desk and the chair. The sweeping mechanism climbs to the ground from the supporting plate below the machine body and sweeps in the temporary space. After the sweeping is finished, the sweeping mechanism climbs the supporting plate. The fork arms of the table and the chair are put down in situ. Then the fork arms of the table and the chair are folded, the machine body laterally moves to the front of the adjacent table and chair, and the table and the chair which are the foremost left side wall in the drawing are lifted according to the method. When the lower part of the lifted table and chair is used for sweeping, the table and chair forks are put down in situ, and then the table and chair forks are folded and walk rightwards to enter the longitudinal road 52. Then, the user walks backwards in the vertical lane 52 to the left entrance of the second row of the horizontal lane in the alignment chart, i.e., enters the horizontal lane leftwards as described above, and sequentially lifts and sweeps the tables and chairs on the left side of the second row. The whole classroom can be swept according to the method. The machine body enters a lifting table and a chair from a transverse road for sweeping, and the width of the transverse road is properly larger than the space size occupied by the front and the rear of the machine body.

The sweeping mechanism can independently plan a sweeping route and bypass simple obstacles in a designated area as well as can carry out remote control operation like the existing sweeping robot. The cleaning machine remotely controls the following sweeping mechanism to sweep the longitudinal road, the transverse road and the vacant floors at the front and the rear of the classroom. The length and width of the longitudinal and transverse paths arranged in the classroom tables and chairs are set according to the set requirements. The cleaning machine can control the sweeping mechanism to sweep in the longitudinal and transverse lanes according to the length and width of the longitudinal and transverse lanes. The four pillars below the platform 49 are far away from each other, and the sweeping mechanism can bypass sweeping automatically.

The left figure of the lower drawing is a side view of the chair placed under the desk, the desk and the chair fork arm under the desk panel and the chair frame. Only the table and chair arms of the cleaning machine are shown in the figures. The right drawing of the lower drawing is the front drawing of the chair placed under the desk, the desk and the chair fork arms are forked under the desk panel and the seat board.

Another way to sweep a classroom is for the cleaning machine to raise the tables and chairs from the sides of the tables and chairs in the vertical walkway 52 and sweep the floor below by the sweeping mechanism as shown in the middle and upper right of the vertical walkway 52 in the top view of fig. 6. The front of the cleaner body is opposite to the side of the table and the chair, and the table and the chair are lifted to sweep the floor below. According to the method, except that the longitudinal rows of tables and chairs on two sides of the classroom close to the wall can not be lifted up from the longitudinal lanes, other longitudinal rows of tables and chairs can be lifted up and swept by the cleaning machine.

In order to solve the problem that the desks and chairs on two sides of the classroom can be lifted from the side, as shown in the figure, the second desk and chair set in the first horizontal row and the left are lifted from the side surface in the right longitudinal lane 52 by the cleaning machine, the lower ground is swept, and then the desks and chairs are lifted to move to a certain position in front of the classroom and are put down. Starting with a dashed line in the figure to the upper solid line position. Therefore, the left side of the set of desk and chair close to the wall on the right side of the classroom is free from the position connected with the longitudinal road, and the space is called as a vacant area hereinafter. The cleaner returns to the dotted line position again and moves to the side of the desk and chair close to the wall. According to the method, the cleaning machine lifts the table and the chair close to the wall from the side, sweeps the lower floor, puts down the table and the chair in situ and returns to the longitudinal road. Then, the side surfaces of a set of tables and chairs below the dotted line position in the drawing are lifted and swept, and the lifted tables and chairs are moved to the vacant area, namely the dotted line position of the first row is put down. Thus, the second set of seat home positions in the second longitudinal row, from right to left, are again in the vacant zone. According to the method, the cleaner lifts the second set of table and chair on the right side close to the wall to sweep the floor. Therefore, the original positions of every set of tables and chairs in the second longitudinal row counted from right to left are all formed into an empty interval, and the rear set of tables and chairs are lifted to be swept and then are sequentially moved towards the front of a classroom and placed in the empty interval, so that the right side wall leaning tables and chairs can be lifted to be swept. When the lower sides of the first and second longitudinal rows of tables and chairs on the right are swept, the original positions of the last set of tables and chairs in the second longitudinal row from right to left form an empty interval. Then, the cleaning machine sequentially lifts the table and chair lifted forward each time from the rear of the classroom back to the original position, and the position of the original table and chair is guaranteed to be unchanged. In the same way, the wall-leaning tables and chairs on the left side of the classroom in the figure are lifted and swept according to the method. The cleaning machine can be directly lifted and swept in the longitudinal lanes for the desk and the chair which are not close to the wall.

In the information base of the automatic control system of the sweeping mechanism, professionals input image information of desks, the front and the side of a chair, image information of desk arrangement, longitudinal lanes and transverse lanes of different classrooms, code the classrooms, and input whether the sweeping mechanism lifts tables and chairs on the longitudinal lanes or the transverse lanes for sweeping in the different classrooms. The cameras are arranged above four sides of the machine body shell, and can observe the discharge of classroom tables and chairs and control the mechanical arm to wipe the tables and chairs. The cleaning machine also has the function of receiving remote control, and an operator can remotely control the cleaning machine to walk in a longitudinal or transverse classroom way or the front and back of a classroom by using a remote controller. The operator can set where the cleaning machine starts sweeping from the classroom, the middle sequence, and where it ends in the actual position.

Fig. 7 is a structural view of the double-shaft seat mechanism. The double-shaft seat mechanism comprises a flat shaft seat 4, a vertical shaft seat 3, a clamping jaw seat 66, a clamping jaw 6 and a handkerchief seat 2. The flat axle seat 4 is provided with a motor and a speed changer, and the output shaft of the speed changer is a flat rotating shaft 65. In the figure, the lower end of a tertiary arm 7 is connected with a steering engine 5. The left end of the flat shaft seat is connected with the steering engine, and the flat rotating shaft 65 at the right end of the flat shaft seat is connected with the left side of the vertical shaft seat 3. A wiper motor and a speed changer are arranged at the middle lower part of the vertical shaft seat 3, and the output shaft of the speed changer is a wiper shaft 68. The lower end of the mop shaft 68 is connected with the mop seat 2. A clamping jaw motor and a speed changer are arranged above the middle of the vertical shaft seat 3, the output shaft of the speed changer is a vertical rotating shaft 67, and the upper end of the vertical rotating shaft is connected with the clamping jaw seat 66. The jaw holder 66 is provided with a jaw 6. The front section of the clamping jaw is sleeved with a rubber sleeve with a slight softness. The opening and closing of the jaws is prior art and will not be described. The clamping jaw seat is provided with a detector. The lower side of the handkerchief seat 2 is connected with the handkerchief 1. The wipe 1 is in the shape of a thick blanket woven from fibers.

Fig. 8 is a drawing showing a mop structure and installation. The upper drawing shows the installation position of the mop on the sweeping mechanism. The middle circle is a top view of the upper figure. The lower drawing A is a drawing D of the middle drawing, the drawing B is a drawing of the structure of the palettes and the parquet strips, and the drawing C is a right drawing of the drawing B. The sweeping robot has a square shape or a round shape, and the sweeping mechanism can also be made into a square shape or a round shape, and the round shape is taken as an example for description below. The sweeping, dust collecting and floor mopping functions and structures of the sweeping mechanism, as well as the functions of walking, steering, charging, remote control and the like are the same as those of the existing sweeping robot, and are not described in detail here. The mop is arranged at the lower rear side of the sweeping mechanism. The back of the shell of the sweeping mechanism is made into a straight surface, namely, an arch body is cut off from the back of the round shell of the sweeping mechanism. A recessed area 70 is provided below the housing behind the sweeping mechanism. In the lower B drawing, the slide plate 72 is connected with a handkerchief plate 76 at the upper part and the lower part in the drawing, and the handkerchief strip 71 of the handkerchief is connected with the handkerchief plate 76. The handkerchief strip is also in a blanket shape woven by fiber. And the right side view of the drawing B is shown in the drawing C, and the right side of the slider plate is provided with an anti-falling opening 77 and a hanging opening 74. The two sides of the sliding block plate are provided with bayonet-shaped sliding blocks. In the drawing A, the lower edge at the rear part of the sweeping mechanism is also provided with a corresponding bayonet-shaped sliding groove. The slide block plate is inserted into the sliding groove. On the right side of the middle drawing, the dotted line position is the sliding slot into which the slider plate 72 is inserted, and the cut-away portion can be seen that the recessed area is a rectangular notch opening to the right. The recessed area is provided with a falling-off prevention clamp plate 75, the falling-off prevention clamp plate 75 is provided with a falling-off prevention electromagnet 73, and the iron core of the falling-off prevention electromagnet is connected with a falling-off prevention clamp. The right side of the anti-falling clamp plate is provided with a notch with a right opening, and the sliding block plate below the notch is provided with a hanging opening 74. The anti-slip electromagnet, anti-slip clip, hanging clip and notch will be described in detail later in fig. 11.

Fig. 9 is a structural view of the cleaning mechanism. The cleaning mechanism comprises a handkerchief cleaning mechanism and a handkerchief cleaning mechanism. The upper drawing is a side view of the entire washing mechanism. The middle is the top view of the upper figure. The lower diagram is an enlarged view of the upper diagram in the direction D and below. Two horizontal slideways 39 and a horizontal moving rack 100 are arranged on the front and the rear machine body shells 79 of the machine body. The translation rack 100 is between the two flatways 39 and is lower than the two flatways. The upper left part of the figure is a wiping cleaning mechanism. The wiping cleaning mechanism comprises a wiping cleaning pool 40, a translation sliding frame 99, a translation gear 87, a translation motor 85, a translation rack 100, a smooth channel 39 and a moving water pipe for water inlet and water outlet. The mop cleaning mechanism comprises a mop cleaning pool 34, a dewatering device, a cleaning seat 33, a vertical sliding block 97, a seat cover 98, a smooth channel 39, a translation sliding frame 99, a translation motor 85, a translation gear 87, a translation rack 100, a lifting motor 96, a lifting gear 94 and a rack 95. The wiping cleaning mechanism and the mop cleaning mechanism share two flat slideways and one translation rack. The mop cleaning mechanism and the mop cleaning mechanism are provided with the same translation sliding frame 99, a translation motor 85 and a translation gear 87. To the right in the top view, a sleeve 98 in the mop wash mechanism is attached to a translation carriage 99. The translation motor 85 is arranged on the right side edge of the seat cover. The vertical slider 97 is mounted in the seat cover 98. The lower end of the vertical slide block is connected with the upper edge of the cleaning seat 33. The lower right of the handkerchief cleaning pool 40 of the handkerchief cleaning mechanism on the left in the upper figure is connected with a translation sliding frame 99, and a translation motor 85 is arranged on the translation sliding frame 99. The output shafts of the left and right translation motors 85 are connected with translation gears 87, and the two translation gears 87 are meshed with translation racks 100. Slide sleeve housings 88 are mounted on both sides of the translation carriage, and the slide sleeve housings 88 are sleeved on the flat slide. The scrubbing cleaning pool is a circular shell, and a shell plate is connected to the periphery of the scrubbing cleaning pool in a square mode, and the scrubbing cleaning pool is specifically depicted in figure 10. The mop wash mechanism is further described below. The section of the vertical sliding block is rectangular. The rack 95 is arranged in the right side surface of the vertical sliding block 97, and the rack 95 is lower than the right side surface, so that the vertical sliding block can not be influenced to slide up and down in the seat sleeve. A lifting motor 96 is arranged on the right upper surface of the seat sleeve 98, and a lifting gear 94 is arranged on the shaft of the lifting motor. The lifting gear 94 is engaged with a rack 95 on the vertical slider 97. The forward and reverse rotation of the lifting motor 96 can accurately control the vertical sliding block and the cleaning seat to lift. The translation motor 85 of the right mop cleaning mechanism in the drawing can accurately control the left and right translation of the seat cover, the vertical slide block and the cleaning seat by positive and negative rotation. The mop and mop cleaning pool is made of stainless steel. The bottom of the mop cleaning pool is provided with a corrugated lug 82. The mop cleaning pool 34 is mounted and connected on the body shell by a bracket 83. The machine body is provided with a clean water tank, a sewage tank, a water pump, a related water pipe and a corresponding electromagnetic switch, which are not shown in the figure. The dewatering device consists of a press roller 89, a seat block 90 and a roller 91. The seat block 90 is mounted on the inclined shell plate at the right end of the mop cleaning pool in the figure. As shown in the upper, middle and lower figures, a press roller 89 is mounted between the two seat blocks 90 by a shaft pin 45. The shafts at both ends of a long roller 91 are arranged in the shaft holes below the two seat blocks. The press roller and the roller are parallel. The distance between the press roll and the roller can be adjusted by a screw-nut seat structure, which is commonly used in the prior art, and is not shown in an adjustment structure diagram. The mop cleaning process comprises the following steps: firstly, mop exchange is carried out with a sweeping mechanism. The vertical sliding block is controlled by a translation motor and a lifting motor, the cleaning seat translates and descends to the upper part of the supporting plate below the machine body to be in butt joint with the rear part of the sweeping mechanism, and the plate below the sweeping mechanism is drawn out and pulled into a corresponding slide way below the cleaning seat. The cleaning base is raised to a set height and moved to the left against the mop cleaning tank 34, as shown by the dotted line near the translation rack in the figure, the cleaning base is lowered into the mop cleaning tank. The control system of cleaning machine control mop washs the outlet of pond below and closes, and the water inlet is opened and is intake to set for the water level, closes the water inlet, and even control system just reverse the angle of setting for with certain speed translation motor, make and wash the seat and move to the right side, move to the left side with certain speed, under the stirring of square wave line lug 82 keeps off the effect under the mop washs the pond, make the cleaning performance better. After the stirring washing is carried out for a set time, the water outlet is opened for draining water. The control system lifts the seat to a set height. The cleaning seat passes slowly from between the press roller 89 and the roller 91 of the dewatering device, through the dewatering device as shown in the figure by the dash line of mop. The press roller 89 rolls on the handkerchief board seat boards 92 at the two ends of the cleaning seat, and the rollers 91 rotate to press the handkerchief strips 71 of the handkerchief for dehydration, which is the dehydration process shown in the following figure. The extruded water is guided into the mop cleaning pool through the inclined shell plate. After the cleaning seat moves to the right, the cleaning seat ascends, moves left and falls into the mop cleaning pool again for secondary cleaning. The cleaning and dewatering process is the same as the above process.

Fig. 10 is a diagram showing a wiping process. The drawing A is a drawing showing the position of the wiping cleaning pool pulled into the body. And B is a cleaning wipe chart when the cleaning pool is pushed out of the machine body shell. The figure C is an enlarged view of the cleaning position in the figure B. Panel D is an enlarged view of panel A from E. The scrubbing cleaning pool 40 is a circular housing as shown in figures D and C. The circular housing has a rear housing plate 80 attached to the left, a front housing plate 86 attached to the right, and side housing plates 84 attached to the upper and lower sides, as shown in fig. D. The circular housing at the upper opening of the wipes cleaning pool 40 is formed with a back-off edge 78, as shown in the cut-away portion of figure C. The right side of the wiping cleaning pool is provided with a water inlet 102 and a water outlet 103. The bottom surface of the wiping cleaning pool is provided with a stirring and cleaning stem 81. The lower right edge of the wiping cleaning pool is connected with a translation sliding frame 99, and the installation of the translation sliding frame on the flat slideway and the installation of a motor are as described in the figure 9. A window is arranged on the machine body shell 79 on the left side of the wiping cleaning pool. Under the action of the translation motor 85, the wiping cleaning pool can pass through the window and move to the left outside the machine body shell 79, can move to the right inside the machine body shell 79, and when the wiping cleaning pool moves to the right, the rear shell plate 80 is just level with the machine body shell, namely the window is closed. In the diagram D, a movable water pipe 105 is connected to the water inlet 102 on the right side of the scrubbing washing pool and the water outlet 103 on the lower side of the scrubbing washing pool by fixed pipe connectors 101. The other end of the movable water pipe 105 is fixed to a bracket of the body case by a fixed pipe head 101 at an upper part of the drawing D and is immovable. The fixed pipe head and the water pipe at the lower part in the drawing D are blocked by the corresponding fixed pipe head and the movable water pipe of the water inlet pipe. When the scrubbing cleaning pool moves to the left outside the machine body shell, the lower part of the moving water pipe 105 can correspondingly swing to the left as shown by a dotted line in the figure. The movable water pipe is a soft water pipe and has certain pressure resistance. The cleaning and wiping process comprises the following steps: in figure A, the swab cleaning tank is inside the body housing. The mechanical arm moves and rotates the double-shaft seat mechanism to the position shown in the A picture. In the figure B, the wiping cleaning pool moves to the outside of the machine body shell. The mechanical arm is used for dropping the handkerchief seat right to the center of the upper opening of the handkerchief cleaning pool to a set height. In the diagram C, the water outlet pipe is closed, the water inlet pipe is opened, and the water inlet pipe is closed when the water enters the position 104. The handkerchief motor at the lower part of the vertical shaft seat 3 rotates left and right at a set speed to enable the handkerchief to rotate left and right and be stirred and washed by the stirring and washing stem 81. And draining water after stirring and washing for a set time. The control system then raises the swab holder a little further away from the scrub stem 81. Then the wiper motor rotates rapidly in one direction to dewater the wiper. The inverted edge 78 at the upper opening of the scrubbing bath blocks water droplets that are projected onto the inner edge of the circular housing by centrifugal force during scrubbing rotation. After the cleaning is finished, the mop seat is lifted away. The wiping cleaning pool moves to the right in the machine body shell, and the rear shell plate blocks the window on the machine body shell. The machine body is provided with a control panel, and the cleaning times, the water consumption, the cleaning time and the dehydration time of the mop and the handkerchief are set by operators.

Fig. 11 is a diagram showing the structure of the cleaning seat and the exchange of mops with the sweeping mechanism. The cleaning seat comprises a seat shell 93, a transfer gear 109, a transfer rack 110, a transfer motor 108, a transfer slide rail 111, a transfer slide block 115, a transfer frame 106, a hanging card 117, a hanging card electromagnet 119 and a slide block plate slide rail 113. The upper view is a longitudinal view of the wash seat, the middle left view is a sectional view A-A of the upper view, the middle right view is a view D of the upper view, the lower left view is an enlarged view of a perspective view on the left side of the upper view, and the lower right view is a view in which the position M is enlarged and the slider plate 72 is drawn out. A transfer rack 110 is longitudinally mounted on the top inside the seat housing 93 of the wash seat, and a transfer pinion 109 is mounted below the transfer rack to engage therewith. A transfer gear 109 is mounted on an output shaft of the transfer motor 108. The transfer motor 108 is secured to the transfer frame 106 with a transfer motor bracket 114. The transfer carriage 106 is below the transfer gear 109. Transfer sliders 115 are connected to both sides of the transfer frame 106, and the transfer sliders 115 are installed in the transfer slides 111 on both sides. The transfer chute 111 is mounted on the bracket 83 between the seat shell front plate 107 and the seat shell rear plate 112. Since the transfer rack 110 is stationary, when the transfer motor rotates in the forward and reverse directions, the transfer gear 109 moves back and forth on the transfer rack, and drives the transfer motor 108 and the transfer rack 106 back and forth on the transfer slide.

The left side of the upper drawing is a mop exchanging structure between the cleaning seat and the sweeping mechanism. The left side is a cut-away view below the recessed area below the rear of the sweeping mechanism. While being described with reference to the left figure of the lower figure. The anti-falling clamp plate 75 is arranged in the middle of the three-side wall surface 121 of the recessed area, and the lower side of the anti-falling clamp plate 75 is a slide block plate slide way at the rear lower part of the sweeping mechanism. In the lower left perspective view, a handkerchief strip 71 of the handkerchief is connected to the lower side of the handkerchief plate 76. The slider plates 72 connected to the upper edge of the paddle 76 are inserted into corresponding slider plate slides below the sweeping mechanism. The bottom plate of the recessed area, i.e. the anti-drop-off seat plate 75, is provided with an anti-drop-off electromagnet 73. The right side of the platen 116 is connected to the transfer rack 106 in the wash station. The right side of the anti-drop seat plate 75 is provided with a rectangular gap, the left plate surface of the bedplate 116 extends into the gap, and a certain gap is arranged between the bedplate and the lower sliding plate 72. The right side of the bedplate is made into a step block thicker than the left side. The left side of the step block rests on the slider plate 72. A card hanging electromagnet 119 is arranged on the left of the upper surface of the bedplate 116. In the upper drawing, a guide square hole for inserting the iron core of the hanging and clamping electromagnet is formed in the bedplate 116 below the hanging and clamping electromagnet. The slider plate 72 is provided with a hanging opening 74 at the position opposite to the square hole of the bedplate. The hanging card 117 is connected below the iron core of the hanging card electromagnet. The hanging card 117 is shown inserted through the square hole in the platen into the hanging opening 74 in the slide plate. The anti-falling clamp 118 is connected to the lower side of the iron core of the anti-falling clamp electromagnet 73. The anti-slip clamp 118 is just inserted into a square guide hole arranged on the anti-slip clamp plate. The anti-drop opening 77 of the slider plate is opposite to the anti-drop clamp 118 in the upper guide hole. When the anti-drop card electromagnet and the hanging card electromagnet are electrified, the anti-drop card and the hanging card are lifted, and when the power is off, the anti-drop card and the hanging card fall down.

When the mop is exchanged, the mop below the sweeping mechanism needs to be pulled out. The sweeping mechanism is arranged on the supporting plate, and the hanging clamp electromagnet is electrified to improve the hanging clamp. The cleaning seat descends and moves left, and the left side of the cleaning seat is butted and closed with the sweeping mechanism. The hanging card electromagnet 119 is powered off, and the hanging card 117 is put down and inserted into the hanging opening 74 on the corresponding sliding block plate below. At this time, the anti-slip electromagnet is energized to lift the anti-slip card up to exit the anti-slip opening 77, as shown in the above figure. Subsequently, a transfer motor in the cleaning seat is electrified to drive the transfer rack to move to the right in the figure, so that the bedplate connected with the transfer rack also moves to the right. The hanging clips 117 pull the slider plate 72 out of the corresponding slide way below the sweeping mechanism and into the same slide way below the wash seat at the same time. The cleaning seat ascends, moves to the mop cleaning pool for cleaning and dehydration, and then descends to be in butt joint with the right side of the sweeping mechanism according to the above. At this time, the escape prevention piece 74 raises the escape prevention opening. The transfer motor in the cleaning seat drives the transfer frame 106 to move leftwards, and the left surface below the bedplate pushes the sliding plate to move leftwards. The slider plate 72 is then pulled out of the slider plate slide way below the wash seat and inserted into the same slide way below the sweeping mechanism, again as shown on the left side of the figure. Then the anti-falling electromagnet is powered off, and the anti-falling clamp is inserted into the anti-falling opening. Meanwhile, the hanging card electromagnet is electrified to lift the hanging card to exit from the hanging opening. The cleaning seat moves to the right for a set distance and is lifted upwards. The mop exchange is completed.

The right drawing of the lower drawing is a section enlarged view before insertion when the slide blocks at two sides of the slide block plate 72 at the upper side of the mop are aligned with the slide block plate slide way 113 opening at the lower side of the sweeping mechanism. The figures show that the upper and lower edges of the entrance to the slide way of the slide plate below the sweeping mechanism on the left side of the slide plate are chamfered to a greater angle, e.g., the upper and

lower mouths

122, 123 of the slide way 113 are inclined planes. Facilitating insertion of the slider into the slider plate slide 113 as illustrated. The slide and the slide are shown with a slightly larger clearance.

D is the situation right in front of the cleaning seat in the drawing. The slide block board slideway 113 is arranged below the cleaning seat, and the slide block board slideway 113 has the same structure with the slide block board slideway on the lower side of the sweeping mechanism. A larger gap 120 is arranged below the middle of the front plate of the seat shell. A hanging card electromagnet 119 and a hanging card 117 connected with the iron core of the hanging card electromagnet are arranged on a bedplate 116 connected with the lower side of the transfer frame in the gap. The lower parts of two sides of the seat shell 93 are connected with a palte seat plate 92. The transfer motor and the hanging and clamping electromagnet are provided with waterproof devices, and can be soaked in water without leakage.

Fig. 12 is a view showing a structure of a floor-sweeping mechanism. The upper drawing is a front view, the lower side of the front view is a top view, the right side of the top view is a D-drawing, and the lower side is an M-enlargement of the top view. In the upper drawing, the upper cover shell 69 is arranged above the sweeping mechanism. The sweeping mechanism is similar to a cylinder, and an upper ring shell 124, a lower ring shell 125 and a bottom ring shell 127 are arranged around the sweeping mechanism. Two sides of the bottom ring shell 127 are provided with abutting surfaces 126. The rear part of the sweeping mechanism is cut off an arch body, and a straight surface is arranged at the rear part, namely the lower part in the drawing. The sweeping, dust collecting and floor mopping functions and structures of the sweeping mechanism are the same as those of the existing sweeping robot, and only the supporting surface 126 is added to the original sweeping robot, so that the sweeping mechanism is higher than the existing sweeping robot. The abutting surfaces 126 are arranged on two sides of the bottom ring shell 127, two on each side, four in total, and are symmetrically arranged. Abutting face 126 is shown in the lower, enlarged view of M. The abutting surface is a smooth small plane which is formed by the concave of the side shell of the sweeping mechanism and is parallel to the central symmetry line 129 of the front and the rear of the sweeping mechanism. The two abutting surfaces on the same side are on the same plane, namely the clipping line 128 in the figure, and the abutting surfaces on the two sides are parallel to each other.

Fig. 13 is a diagram showing the structure of the clamping device and the butting condition between the sweeping mechanism and the cleaning seat. In fig. 13, a is an overall view of the clipping-correcting device, and B is a view showing an operation process of the clipping-correcting device. And the diagram C is an enlarged view of the transmission part in the diagram A. Panel D is an enlarged view of panel M of panel B. E is a butt joint diagram of the sweeping mechanism and the cleaning seat. The clamping device comprises a transmission part, clamping arms 130, a rotating shaft 132, a shaft seat frame 131, a lever block 141 and a clamping head 139. The transmission part is shown as a diagram C. The lower edge of the frame block, the two ends of which are turned outwards, of an arched bracket 135 is respectively connected with a notch plate 137. The notch plate 137 is formed in a notch shape by connecting three plates, i.e., an upper plate and two sides, with each other, and the notch is opened downward. The notch upper panel is connected to an arcuate bracket 135. The two plates on both sides of the notch are provided with the same sliding slot 143. The lower sides of the turning positions of the left and right sides of the arched bracket are respectively connected with a shaft seat 140, and a spiral pipe 136 is arranged in the two shaft seats 140. The outer tube at both ends of the screw tube 136 between the two shaft seats 140 is slightly larger than the section inserted into the shaft seats, so that the screw tube 136 cannot move left and right. Two ends in the spiral pipe are respectively provided with a spiral pipe screw rod 133, two sides of the outer end of the spiral pipe screw rod are made into flat planes, and shaft pin holes are drilled on the flat planes. Two connecting rod blocks 142 are respectively clamped at two sides of the flat plane. Two ends of the connecting rod block 142 are provided with shaft pin holes. The screw pipe screw 133 is put into the slot plate 137, and a sliding shaft 145 passes through the sliding slot 143 on one side of the slot plate, passes through one connecting rod block 142, the flat plane of the screw pipe screw and the other connecting rod block, extends out from the sliding slot on the opposite side of the slot plate, and fixes the shaft pin head of the sliding shaft, so that the two connecting rod blocks are hinged with the screw pipe screw and can be guided in the sliding slot. In fig. C, the front piece of the left notch plate 137 has been cut away. The upper portion of the clamping arm 130 is provided with an axle hole, and a rotating shaft 132 passes through the axle holes of the two clamping arms on the two sides above the supporting plate 35 and is rigidly fixed with the axle holes into a whole, and the clamping arm and the rotating shaft cannot rotate mutually. In the figure, a lever block 141 is connected above the two clamping arms 130 close to the screw tube screw rod, and the upper end of the lever block is hinged with the two connecting rod blocks at the two sides by a shaft pin 45. The lower left side of the bow-shaped support is connected with a solenoid motor 134, and a solenoid motor gear 147 is arranged on a solenoid motor shaft. A solenoid gear 146 is mounted on the solenoid. The solenoid gear is meshed with the solenoid motor gear. The internal threads at the two ends of the screw pipe are mutually reverse threads. The forward and reverse rotation of the solenoid motor can push the solenoid screw rods at two ends to move outwards simultaneously, and can pull the solenoid screw rods at two ends to move inwards, namely move relatively. A guide 38 is mounted on the front, i.e. lower side in the drawing a, of the pallet. The rotation shaft 132 is installed in a shaft bracket 131, and the shaft bracket 131 is connected to both side cases of the machine body. The arcuate bracket 135 is connected to the body case 79 by a bracket. The figure B shows the situation that the clamping device clamps the forward sweeping mechanism on the supporting plate. The sweeping mechanism has been guided by the guides to climb onto the pallets 35 from the front of the cleaning machine in figure 1 and has moved close to the guides, stopping in the middle of the pallets. Two clamping arms at two sides in the figure A are connected with a connecting arm block 138 in the middle. The dotted line positions of the two side clamping arms 130 in the diagram B of fig. 13, which are swung to two sides, are to leave channels at two sides for the sweeping mechanism to walk on the supporting plate, so that the channels are wider. When the sweeping mechanism moves forward on the supporting plate in place, the control system energizes the solenoid motor, and the solenoid motor drives the solenoid motor to rotate through the gear, so that the clamping arms on the two sides rotate towards the middle of the supporting plate by a set angle. The clamping head 139 at the lower end of the clamping arm simultaneously abuts against the abutting surfaces 126 at the lower edges of the two sides of the sweeping mechanism. The position and enlarged view of the abutting surface 126 refer to the enlarged view of M below FIG. 12. Also referring to fig. 13D, the edges of the cartridge are chamfered. Because the chuck structures on both sides are completely the same, the distance between the connecting line of the front end surfaces of the two chucks on each side and the central line in the front and back direction of the supporting plate is strictly equal and parallel to each other during manufacturing and installation. The height of each chuck is also strictly the same. The supporting surfaces on the two sides of the sweeping mechanism are also parallel to each other. When the clamping is in correct time, the sweeping mechanism is clamped by the clamping heads no matter which direction the sweeping mechanism inclines leftwards or rightwards. At this time, the slide way and the slide plate of the sweeping mechanism are parallel to the supporting plate.

Figure E is a side view of the sweeper mechanism just clamped by the clamp arm. The rear part of the supporting plate is provided with a cleaning seat 33 which is descended from the position of an upper dotted line to the height in the figure and is butted and closed with the rear part of the sweeping mechanism, a slide block plate slide way in the cleaning seat and a slide block plate slide way in the sweeping mechanism are on the same plane, the inlet and the outlet are aligned, the cleaning seat is butted and mop exchanged with the sweeping mechanism according to the method shown and described in figure 11, namely, dirty mops can be pulled into the cleaning seat from the lower part of the sweeping mechanism; the cleaned mop can also be pulled out of the cleaning seat and inserted into a corresponding slideway below the sweeping mechanism.

FIG. 14 is a view showing the condition of the cleaning machine with a table and a chair. The upper drawing is a table board wiping picture, and the lower drawing is a seat board wiping picture. In the figure, the wiper 1 on the wiper seat 2 is arranged on the desktop plate 62 of the desk, and the arms at all levels move in a matching way to wipe the desktop plate 62. The turntable 15 rotates left and right in a reciprocating way for a certain angle, and the wiping table panel can also move in a reciprocating way even if wiping handkerchiefs. The detector 17 is arranged on the lower side of the flat shaft seat 4 and detects the corner position and the middle position of the table top plate and the seat plate so as to change the reciprocating rotation angle of the turntable.

The lower drawing is a drawing of the seat plate of the chair. After mopping, the seat board of the chair is placed under the desk. The jaw 6 is turned downwards. The jaw seat is provided with a detector 17. The seat back plate 54 and the seat plate 55 are first detected. And detecting the middle position of the upper side of the back-up plate according to the width size of the upper side of the back-up plate. The middle of the thickness surface of the upper edge of the backrest plate of the seat back can be marked with a color or a mark convenient to detect. The jaws first grip the seat at approximately the middle above the backrest plate 54 and lift a little upward to lift the rear of the seat leg slightly off the ground and the front of the leg to the ground. The jaws are then pulled back, pulling the seat plate 55 of the seat out from under the desk in front. The back-rest rests against the edge of the table top at the rear, as shown in phantom in the figures below. The wiper seat is then rotated downward to wipe the seat pan of the seat as described above for the wiping table top.

The automatic stop after the motors rotate in place is the prior art in the aspect of the existing automatic control, and the motors requiring precise control adopt servo motors. The line connection of the electric appliances on the mechanical arms, the steering engine, the flat shaft seat, the vertical shaft seat and the clamping jaw seat at all levels is the same as the corresponding line connection of the mechanical arms of the existing robot, and the description is omitted. The rotating angles of the vertical rotating shaft and the horizontal rotating shaft are small and only rotate 180 degrees. When the machine body is not used, the machine body automatically walks to the designated parking area. The mechanical arm is folded close to the machine body and placed in the vacant direction. The body can adopt wireless charging mode. The power receiving coil is installed on the machine body, and the wireless charger is installed in the appointed parking area, which is the same as the wireless charging of some existing electric vehicles and mobile phones. The machine body and the sweeping mechanism are both provided with storage batteries. The sweeping mechanism charges on the guider on the supporting plate, and the structure of the sweeping mechanism is the same as that of a charging pile of an existing sweeping robot. When the sweeping mechanism exchanges the mop with the cleaning seat and leans against the guider, the control system disconnects the charging line. The machine body and the sweeping mechanism have the functions of line identification, sweeping route planning and mutual wireless communication. All motors needing self-locking on the cleaning machine can adopt a worm and worm gear transmission.

Other technical features than those described in the specification are known to those skilled in the art.

Claims

1. Classroom automatic cleaning machine, its characterized in that:

(1) the classroom automatic cleaning machine comprises a machine body, a table fork arm mechanism, a chair fork arm mechanism, a mechanical arm, a sweeping mechanism, a handkerchief wiping mechanism, a handkerchief dragging mechanism, a cleaning mechanism, a double-shaft seat mechanism and a clamping device;

(2) two sides in front of the machine body are provided with gantry slideways;

(3) the table fork arm mechanism and the chair fork arm mechanism are all arranged on a gantry slideway of the machine body, and the table fork arm mechanism is arranged above the chair fork arm mechanism;

(4) the table and chair fork arm mechanisms respectively comprise a table, a chair fork arm, a slot clamping block, a transverse slideway, a transverse sliding sleeve, a gantry sliding sleeve, a slot clamping block translation device and a motor; the fork arms of the table and the chair comprise main fork arms and telescopic arms; the telescopic arm is arranged in the main fork arm;

(5) the groove clamping block translation devices of the table fork arm and the chair fork arm comprise a screw rod, a nut and a motor;

(6) each clamping groove block is fixed on one transverse sliding sleeve, and the two transverse sliding sleeves are sleeved at the left end and the right end of the same transverse sliding channel; the two ends of each transverse slideway are respectively connected with a portal sliding sleeve, and the portal sliding sleeves at the two ends of each transverse slideway are respectively sleeved on the portal slideways;

(7) the rear end of the main fork arm is hinged with the lower end of the slot clamping block;

(8) the table fork arm mechanism and the chair fork arm mechanism have the same structure;

(9) the top shell of the machine body is provided with a turntable and a top frame, and steering engines are arranged between the top frame and the connected mechanical arms and between every two stages of mechanical arms;

(10) the double-shaft seat mechanism comprises a flat shaft seat, a vertical shaft seat, a clamping jaw and a handkerchief wiping seat;

(11) the upper part of the vertical shaft seat is provided with a clamping jaw seat and a clamping jaw, and the lower part of the vertical shaft seat is provided with a handkerchief seat; the mop is arranged on a mop seat, the front end of a flat rotating shaft of the flat shaft seat is connected with the side of the vertical shaft seat, and the rear end of the flat shaft seat is connected with the last stage mechanical arm by a steering engine;

(12) the sweeping mechanism is an independent whole and is the same as a sweeping robot used in families in the aspects of sweeping, dust collecting and mopping functions and structures;

(13) two sides of the sweeping mechanism are symmetrically provided with abutting surfaces;

(14) the sweeping mechanism is remotely controlled by a host of the automatic cleaning machine in the classroom to operate;

(15) when the sweeping mechanism works, the sweeping mechanism leaves the supporting plate below the machine body; when the sweeping mechanism does not work, the sweeping mechanism climbs the supporting plate to park;

(16) the handkerchief bar of the mop is connected to the handkerchief plate, and the handkerchief plate is arranged at the lower rear side of the sweeping mechanism;

(17) the cleaning mechanism comprises a mop cleaning mechanism and a mop cleaning mechanism;

(18) the wiping cleaning mechanism comprises a wiping cleaning pool, a translation sliding frame, a translation gear, a translation motor, a translation rack and a flat slideway;

(19) the mop cleaning mechanism comprises a mop cleaning pool, a dehydration device, a cleaning seat, a vertical sliding block, a seat sleeve, a horizontal sliding way, a horizontal sliding frame, a horizontal moving motor, a horizontal moving gear, a horizontal moving rack, a lifting motor, a lifting gear and a rack;

(20) the wiping cleaning pool can be moved to the outside of the machine body shell;

(21) the cleaning seat comprises a seat shell, a transfer gear, a transfer rack, a transfer motor, a transfer slide way, a transfer slide block, a transfer frame, a hanging card electromagnet and a slide block plate slide way;

(22) the bedplate below the front side of the transfer frame in the cleaning seat is provided with a hanging clamp which can pull out the mop below the sweeping mechanism and pull the mop into a slide block plate slide way below the cleaning seat;

(23) a clamping device is arranged above the supporting plate;

(24) when the chair is lifted by the chair fork arm fork, the chair fork arm is close to the chair, the chair fork arm descends to a set height below two sides of a seat plate of the chair under the condition of folding, the main fork arm rotates forwards and downwards to be laid flat under the condition that the telescopic arm does not extend out, the telescopic arm extends out, the chair fork arm is slowly improved by the lifting device of the chair fork arm, and the two chair fork arms are close to the lower sides of two sides of the seat plate of the chair, so that the chair can be lifted;

(25) when the desk fork arm fork lifts the desk, the working process and the principle are the same as those of a chair fork arm fork lifting seat, the main fork arm descends to a set height below two sides of a desktop plate of the desk under the condition of folding, the main fork arm rotates forwards and downwards to be laid flat, the telescopic arm extends out, and the lifting device of the desk fork arm improves the condition that the desk fork arm is close to the lower sides of the two sides of the desktop plate, so that the desk can be lifted;

(26) when a classroom is swept, the fork arms of the desk and the chair simultaneously lift a desk and a chair below the desk to a set height, and the host machine remotely controls the sweeping mechanism to leave the supporting plate to sweep, absorb dust and mop the floor in a temporary space range below the lifted desk and the chair; then, the sweeping mechanism climbs the supporting plate for standby, and the machine body immediately puts down the lifted desk and the seat in situ; lifting the adjacent desks and the seats one by one according to the process to mop the floor;

(27) when the handkerchief is cleaned, the handkerchief cleaning pool is translated to the outer side of the rear part of the machine body, and the mechanical arm puts the handkerchief seat into the handkerchief cleaning pool; after the handkerchief is rotationally cleaned and dehydrated in the handkerchief cleaning pool, the handkerchief seat is lifted, and the handkerchief cleaning pool moves into the machine body;

(28) when cleaning the mop, the sweeping mechanism climbs the supporting plate and draws close to the guider at the rear of the supporting plate and is clamped by the clamping device, the cleaning seat falls down and is in butt joint with the rear of the sweeping mechanism, the mop plate below the sweeping mechanism is pulled out and is pulled into the slide block plate slide way below the cleaning seat, the cleaning seat rises, translates and falls into the mop cleaning pool to be cleaned, and after the cleaning seat is dehydrated by the dehydrating device, the cleaning seat translates again, descends and is in butt joint with the sweeping mechanism, and the mop plate of the mop is inserted into the corresponding slide way below the sweeping mechanism.

2. The classroom automatic cleaning machine as described in claim 1, wherein: the lower end of each clamping groove block is fixedly connected with a bottom block.

3. The classroom automatic cleaning machine as described in claim 1, wherein: the machine body is provided with a clean water tank, a sewage tank, a water pump, a related water pipe and a corresponding electromagnetic switch.

4. The classroom automatic cleaning machine as described in claim 1, wherein: the transfer motor is connected to the transfer frame, and a transfer gear connected to the transfer motor is meshed with a transfer rack connected to the inside of the seat shell; transfer sliding blocks are arranged on two sides of the transfer frame and are arranged in transfer sliding ways connected into the seat shell through a support.

5. The classroom automatic cleaning machine as described in claim 1, wherein: the side of the seat cover is connected with a translation sliding frame, the side of the upper surface of the seat cover is provided with a lifting motor and a lifting gear, the side surface of the seat cover is provided with a translation motor and a translation gear, and the translation gear is meshed with a translation rack arranged on a shell in the machine body.

6. The classroom automatic cleaning machine as described in claim 1, wherein: the vertical sliding block is arranged in the seat sleeve, and the upper edge of the cleaning seat is connected with the lower end of the vertical sliding block.

7. The classroom automatic cleaning machine as described in claim 1, wherein: when large paper balls and sundries on the floor are clamped, the clamping jaw rotates downwards, and the handkerchief seat moves upwards.

8. The classroom automatic cleaning machine as described in claim 1, wherein: the rear end of the supporting plate is provided with a guider.