CN109998423B

CN109998423B - Self-washing mop sweeper

Info

Publication number: CN109998423B
Application number: CN201910258825.6A
Authority: CN
Inventors: 邹家鸿; 邹永平; 邹家福
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: 2020-09-18
Anticipated expiration: 2039-04-01
Also published as: CN109998423A

Abstract

A self-washing mop sweeper comprises a body, a fork arm frame, a fork arm, a mechanical arm, a sweeper, a mop cleaning device, a garbage dumping mechanism, a correcting device and a double-shaft seat mechanism. The fork arm frame is arranged on the gantry slideway in front of the machine body. The mop cleaning device comprises a mop cleaning pool, a dewatering device and a cleaning seat. The sweeper is controlled by the main machine and can climb to the ground from a supporting plate below the machine body to sweep the floor in a low space below a sofa or a counter. The fork arm lifts up the chair and the stool, and the clamping jaw at the front end of the mechanical arm clamps up the shoes and the basket, so that the sweeper can sweep the floor below conveniently. The cleaning seat can pull out the dirty mop from the lower side of the floor sweeper, and the clean mop is inserted into the lower side of the floor sweeper after the dirty mop is taken into the mop cleaning pool for cleaning and dehydration, so that the floor is cleaner. The mop on the mop seat can be used for wiping tables, chairs, tea tables and tables. The wiping seat brings dirty wiping into a wiping cleaning pool for cleaning and dehydration. The fork arm and the clamping jaw are matched to dump the garbage in the garbage can in the sweeper. One machine has multiple functions.

Description

Self-washing mop sweeper

Technical Field

The invention belongs to the field of environment-friendly machinery, and particularly relates to a self-cleaning mop sweeper.

Background

The existing sweeping robot can automatically sweep, absorb dust, mop and automatically charge, can automatically plan a sweeping route, and is widely used in households. But the current robot of sweeping the floor's shortcoming is: 1. under the condition that a plurality of chairs or stools are placed around the table, the chairs or stools have a plurality of foot columns, and occupy space on the floor to form a plurality of obstacles, so that the sweeping robot is difficult to enter the foot column groups for sweeping, and is difficult to come out even if the sweeping robot enters the foot column groups. 2. The mop at the lower edge of the sweeping robot is a thinner blanket mop with a large palm, and the mop becomes dirty after being dragged for a while and becomes dirty after being dragged for a while. Although a user takes down and cleans the mop once every day and sweeps the garbage in the garbage bin of the robot once every day, the worker sometimes is busy or goes on business and returns for several days, so that the garbage is full and the mop is dirty.

Disclosure of Invention

The invention aims to overcome the defects of the existing sweeping robot, and designs a self-cleaning mop sweeper capable of automatically cleaning mops, automatically dumping garbage, automatically lifting chairs and stools, and automatically wiping tables, chairs and table tops, which is hereinafter referred to as a sweeper.

The invention is realized by the following steps: a self-washing mop sweeper comprises a body, a fork arm frame, a fork arm, a mechanical arm, a sweeper, a mop cleaning device, a garbage dumping mechanism, a correcting device and a double-shaft seat mechanism. The two sides in front of the machine body are provided with gantry slideways. The fork arm frame is arranged on the gantry slideway. The fork arm frame comprises a slot clamping seat, a transverse slideway, a transverse sliding sleeve, a gantry sliding sleeve, a slot clamping seat translation device and a motor. The portal sliding sleeve is connected with horizontal sliding sleeve both ends, and the portal sliding sleeve is installed on the portal slide. The clamping groove seat is fixed on the transverse sliding sleeve, and two ends of the transverse sliding sleeve are respectively provided with a transverse sliding sleeve. The fork arm comprises a main arm and a telescopic arm, the rear end of the main arm is hinged to the lower end of the slot clamping seat, the main arm can rotate up and down around a hinge shaft under the action of a motor, and the telescopic arm is installed in the main arm. 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, a handkerchief wiping seat, a clamping jaw seat and a handkerchief wiping seat. The mop is connected to the mop seat; a handkerchief wiping motor and a vertical rotating shaft motor are arranged in the vertical shaft seat, a vertical rotating shaft in the vertical shaft seat is connected with a clamping jaw seat, a clamping jaw is arranged on the clamping jaw seat, and a handkerchief wiping shaft in the vertical shaft seat is connected with the handkerchief wiping 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 through a steering engine. The sweeper 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. A window is arranged on the upper cover shell of the sweeper, and a small cover shell is arranged in the window. Two sides of the sweeper are symmetrically provided with a butting surface and a rotating hole. The sweeper is remotely controlled by the main machine of the self-washing mop sweeper to operate. When the sweeper works, the sweeper leaves the supporting plate below the machine body; when the sweeper is not in operation, the sweeper climbs the supporting plate to park. The handkerchief strip of the mop is connected on the handkerchief plate, and the handkerchief plate is arranged at the lower edge of the rear part of the sweeper. The mop cleaning device 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 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 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 sweeper and pull the mop into a slide way of the slide block plate below the cleaning seat. The wiping cleaning device comprises a wiping cleaning pool and a cleaning pool moving device. The garbage dumping mechanism comprises a front guider, a bolt shaft, a fork arm and a clamping jaw. The opposite sides in front of the telescopic arms of the two fork arms are provided with plug pin shafts for dumping garbage. A correcting device of the sweeper is arranged above the supporting plate. When the fork arm fork lifts the chair, the main arm is folded upwards, the telescopic arm is retracted into the main arm, the machine body is close to the chair, the main arm descends to the position that the front end of the telescopic arm is lower than the lower surfaces of two sides of the chair seat plate, the main arm rotates downwards and falls to the horizontal state, the telescopic arm stretches out, the fork arm slowly rises upwards to lift the chair, and then the sweeper climbs the floor from the supporting plate to sweep the floor in the space below the chair. When the mop is cleaned, the sweeper is close to the rear guider on the supporting plate and is corrected by the correcting device, the cleaning seat falls and is in butt joint with the rear part of the sweeper, the mop plate below the sweeper 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 for cleaning, after the cleaning seat is dehydrated by the dehydrating device, the cleaning seat translates and descends again to be in butt joint with the sweeper, and the mop plate of the mop is inserted into the corresponding slide way below the sweeper. When the mop is cleaned, the mop cleaning pool moves to the outside of the machine body shell, the mop seat is placed into the mop cleaning pool by the mechanical arm, the mop motor in the vertical shaft seat rotates left and right to clean the mop, and the mop motor rotates rapidly in one direction to dewater. The clamping groove seat translation device comprises a screw rod, a nut and a motor; each transverse sliding sleeve arranged on the transverse sliding way is connected with a nut, the two nuts are screwed on a screw rod, and threads on two sides of the screw rod are mutually reverse threads; one end of the screw rod is connected with a motor, and the motor is connected to the gantry sliding sleeves on the two sides. The lower end of each clamping groove seat is fixedly connected with a bottom block. When the garbage is dumped, the front guider is put down and landed, the sweeper enters between the two fork arms, the front guider is closed, the two fork arms move to a set distance relatively, and the two bolt shafts at the front ends of the two telescopic arms are inserted into the rotating holes in the middles of the two sides of the sweeper shell; the mechanical arm drives the clamping jaw of the double-shaft seat mechanism to enable the sweeper to rotate to the lower part of the upper cover shell; the mechanical arm lifts the sweeper and is placed above the garbage can; the small cover shell on the upper cover shell is opened, and the garbage is poured into the garbage can. 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. The rear guider is arranged at the rear part of the supporting plate, and the front guider is arranged in the middle of the transverse slideway at the lower part of the front surface of the machine body. The telescopic arm of the mechanical arm extends out and retracts by adopting a motor, gear and rack structure. The mop cleaning device and the handkerchief cleaning device are collectively called as a cleaning device.

The invention has the advantages that: the utility model provides a quick-witted multipurpose has solved the current problem that the robot can't accomplish of sweeping the floor. 1. The sweeper is provided with the mop and the automatic cleaning mechanism of the mop, so that the dirty mop below the sweeper can be automatically pulled out for cleaning and then inserted, and the defect that the existing sweeping robot can clean the mop once a day and the mop is dirty when the mop is dragged more and more is overcome. 2. The fork arms can lift the chairs and stools around the table, so that the sweeper can sweep, absorb dust and mop the floor under the chairs and stools conveniently. 3. The clamping jaw at the front end of the mechanical arm can clamp and lift shoes, baskets and the like, so that the sweeper can sweep the floor at the lower side conveniently. Overcomes the defect that the floor under the chair, the stool, the shoes and the basket is difficult to sweep by the existing sweeping robot. 3. The cleaning device for the handkerchief is arranged, and the floor sweeper can automatically wipe tables and chairs, counter, windowsill, kitchen bedplate and other table surfaces and can automatically clean the handkerchief. 4. The fork arm, the clamping jaw and the mechanical arm of the sweeper are matched with each other, so that the garbage in the dustbin of the sweeper can be automatically dumped, and the phenomenon that a user cannot timely dump the garbage due to work and business trips is overcome.

Drawings

Fig. 1 is an overall structure diagram of a self-washing mop sweeper.

Fig. 2 is a diagram of a yoke structure.

Figure 3 is a view of the sweeper lifting up the chair to sweep the floor.

Figure 4 is a view of the floor sweeper lifting the stool and the low stool sweeping the floor.

Figure 5 is a view of the floor with low space under the floor such as sofa, bed, counter, etc. swept by the sweeper.

Figure 6 is a view of the floor sweeping side with the clamping jaws of the floor sweeping machine clamping the portable object.

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 apparatus.

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 sweeper.

Figure 12 is a structure view of a small cover shell, a butting surface and a rotating hole on the sweeper.

Figure 13 is a view of the structure of the orthotic device and the docking of the sweeper with the cleaning base.

Figure 14 is a view of the sweeper of dumping rubbish.

Figure 15 is a view of the table and chair cleaning of the sweeper.

In the drawings: the mop cleaning machine comprises a mop 1, a mop seat 2, a vertical shaft seat 3, a flat shaft seat 4, a steering engine 5, a clamping jaw 6, a third-level arm 7, a second telescopic arm 8, a motor gear 9, a second-level arm 10, a machine body 11, a telescopic arm 12, a first-level arm 13, a top frame 14, a rotary table 15, a motor reel 16, a pull rope 17, a detector 18, a lead screw 19, a gantry slideway 20, a nut 21, a transverse slideway 22, a gantry sliding sleeve 23, a transverse sliding sleeve 24, a telescopic arm 25, a main arm 26, a rear shaft pin 27, a pull rope motor 28, a clamping groove seat 29, a lead screw motor 30, a bottom block 31, an arm retracting motor 32, a vertical sliding block 33, a seat sleeve 34, a translation rack 35, a cleaning seat 36, a mop 37, a supporting plate 38, a dehydrating device 39, a mop cleaning pool 40, a sweeper 41, a wheel 42, a rear guider 43, a smooth slideway 44, a mop cleaning pool 45, a cushion block 46, a cavity 47, a guide wheel 48, a hinge wheel 49, the base plate 54, the socle 55, the table top plate 56, the surrounding edge 57, the floor 58, the sofa 59, the shoes 60, the garbage can 61, the horizontal rotating shaft 62, the clamping jaw seat 63, the vertical rotating shaft 64, the parpa shaft 65, the recessed area 66, the parpa 67, the sliding block plate 68, the anti-falling electromagnet 69, the hanging opening 70, the anti-falling clamping base plate 71, the upper cover shell 72, the parpa plate 73, the anti-falling opening 74, the back-off edge 75, the machine body shell 76, the rear shell plate 77, the stirring rod 78, the corrugated bump 79, the bracket 80, the side shell plate 81, the translation motor 82, the front shell plate 83, the translation gear 84, the sliding sleeve shell 85, the compression roller 86, the seat block 87, the roller 88, the parpa plate base plate 89, the seat shell 90, the lifting gear 91, the rack 92, the lifting motor 93, the translation carriage 94, the fixed pipe head 95, the water inlet 96, the water outlet 97, the water level 98, the moving water pipe 99, the hanging electromagnet 100, the transfer frame 101, the device comprises a transfer rack 105, a transfer slideway 106, a seat shell rear plate 107, a slider plate slideway 108, a transfer motor bracket 109, a transfer slider 110, a bedplate 111, a hanging clamp 112, a release-proof clamp 113, a notch 114, a wall surface 115, an upper opening 116, a lower opening 117, an upper ring shell 118, a lower ring shell 119, a butting surface 120, a bottom ring shell 121, a small cover shell 122, a clamping straight line 123, a rotating hole 124, a cover shell motor 125, a cover shell motor gear 126, a cover shell shaft 127, a bevel gear 128, a bevel 129, a garbage can 130, a shaft bracket 131, a clamping arm 132, a clamping head 133, a rotating shaft 134, a solenoid screw rod 135, a solenoid motor 136, a bow bracket 137, a solenoid 138, a notch plate 139, an arm connecting block 140, a shaft seat 141, a lever block 142, a connecting rod block 143, a chute opening 144, a shaft axis 145, a sliding shaft motor gear 147, a solenoid gear 148, a motor reel 149, a hinge 150, a handle 151, a front guide 152 and a bolt shaft.

Detailed Description

Fig. 1 is a view showing an overall structure of the self-washing mop sweeper. A self-washing mop sweeper comprises a body 11, a fork arm frame, a fork arm, a mechanical arm, a sweeper 41, a mop 37, a mop cleaning device, a garbage dumping mechanism, a correcting device and a double-shaft seat mechanism. A mop cleaning device and a mop cleaning device are arranged in the machine body 11, for example, a cut-away part of the shell of the machine body 11 is provided with a flat slideway 44, a mop cleaning pool 45, a mop cleaning pool 40 and a cleaning seat 36. Mop and wipe cleaning devices are described in fig. 9-11. 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, the handkerchief 1 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. 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 clamping jaws 6 can be used for clamping portable objects. The wiper 1 is controlled by the mechanical arm to wipe the table top, the seat board of the chair and the table top of the counter.

A support plate 38 is disposed below the body 11. The right side of the supporting plate is provided with an inclined plane. The left edge of the pallet is provided with a rear guide 43. The rear guide 43 has the same function as the charger of the existing sweeping robot, and is used for guiding and charging the sweeper 41. In fig. 1, the sweeper 41 has climbed up the pallet from the right slope of the pallet to park. The right side of the machine body, namely the front side of the machine body, is provided with a fork arm mechanism similar to the fork arm of the existing forklift. The fork arm mechanism consists of a main arm 26, a telescopic arm 25, a clamping groove seat 29, a bottom block 31, a transverse sliding channel 22, a transverse sliding sleeve 24, a gantry sliding sleeve 23, a screw rod 19, a nut 21, a screw rod motor 30, a pull rope motor 28 and an arm retracting motor 32. The main arm and the telescopic arm form a fork arm. The fork arm frame consists of a slot clamping seat, a transverse slideway, a transverse sliding sleeve, a gantry sliding sleeve, a slot clamping seat translation device, a pull rope motor and an arm retracting motor. The screw rod, the nut and the screw rod motor form a clamping groove seat translation device. The rear end of the main arm 26 is hinged below the notch of the slot holder 29 by a rear axle pin 27. The lower side of the slot clamping seat 29 is connected with a bottom block 31. In the figure, the lower rear sections of the two main arms are blocked by the bottom block 31, so that the main arms 26 are in a horizontal state. A telescopic boom 25 is mounted in the main boom housing. The main arm and the telescopic arm are both square shells. The back of the slot holder is connected with a sliding sleeve 24. Two transverse sliding sleeves 24 are sleeved on two ends of a transverse slideway 22. Two ends of the transverse slideway 22 are respectively connected with a portal sliding sleeve 23. Two sides of the front of the machine body are respectively provided with a gantry slideway 20. The portal sliding sleeves connected with the two sides of the transverse sliding way are respectively sleeved on the portal sliding way. Each transverse sliding sleeve 24 is provided with a nut 21. A screw rod 19 is arranged in the two nuts 21, a screw rod motor 30 is arranged at one end of the screw rod, and the screw rod motor 30 is arranged on a portal sliding sleeve 23 on the right side in front of the machine body in the drawing. 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 reverse rotation of the screw motor can lead the two main arms to be separated towards two sides and to be close to the middle. The front of the top of the machine body is provided with a motor-driven reel, hereinafter referred to as a motor reel 16, the lower end of a pull rope 17 on the reel is connected with the middle part of a cross slide way 22, and the upper part and the lower part of a fork arm mechanism can be controlled to be a lifting device of a fork arm. Four wheels 42 are arranged at 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 fork arm structure diagram. The yoke comprises a main arm and a telescopic arm. The main arm 26 and the telescopic arm 25 are both square hollow shells. The telescopic arm is installed in the main arm. A compression spring 52 is mounted in the cavity of the main arm and the cavity 47 of the rear section of the telescopic arm. The rear end, i.e. the right end, of the main arm is hinged below the slot clamping seat 29 by a rear shaft pin 27. The rear end of the main arm is fixedly connected with the rear shaft pin and cannot rotate mutually. The upper left view cuts most of the front of the clamping groove seat. An arm retracting motor 32 is seen mounted to the chuck base in the non-cutaway portion. The arm-retracting motor shaft passes through the slot clamping seat and is connected with the rear shaft pin 27. A sheave 49 is mounted at the upper right of the upper part of the slot-clamping seat 29. The upper end of the pull rope 17 is connected with a reel 49. The lower end of the pull rope rounds a guide wheel 48 arranged at the upper position behind the main arm and penetrates through the middle part of the spring steel wire ring to be connected to the partition wall of the cavity 47 behind the telescopic arm. The pull cord motor 28 is mounted on the outer surface of the slot holder and the pull cord motor shaft passes through the slot holder to connect with the sheave, as indicated in fig. 1, which is not visible in fig. 2 because it is cut away. When the pull rope motor rotates reversely, the pull rope pulls the telescopic arm to retreat into the main arm through the reel. When the pull rope motor rotates forwards, the spring pushes the telescopic arm to extend out of the main arm shell even if the pull rope is loosened. The bottom block 31 is integrally connected with the clamping groove seat. The top right view is a perspective view of the rear of the main arm, where it can be seen that the guide wheel 48 is mounted in the fork at the upper left of the rear axle pin 27 with an axle pin 50. The left drawing of the lower drawing shows the condition that the reel 49 drives the pulling rope to pull the telescopic arm to retreat and compress the spring 52. The right drawing of the lower drawing is the condition that the arm folding motor rotates right to fold the main arm and the telescopic arm upwards. The telescopic arm is provided with a pad 46 at the upper front end thereof. The cushion block is flush with the shell on the main 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 view of the floor sweeping machine lifting the chair to sweep the floor. In figure a, the left side of the body is cut away and the robotic arm is not shown. The fork arm of the sweeper is folded upwards, and the telescopic arm is folded into the main arm. The front of the machine body is opposite to the back of the chair and is close to the chair. The main arm is lowered so that the front end of the telescopic arm is lower than the lower surface of the seat plate 54. The control system of the sweeper controls the screw motor 30 to adjust the transverse distance of the two fork arms according to the detection information of the detector 18 arranged on the side edge of the slot clamping seat, so that the two fork arms are close to the inner side surfaces of the foot posts 55 on the two sides below the chair seat plate 54. The arm retracting motor causes the main arm to rotate forward and downward as shown by the dashed line below the chair in the figure. In figure B the main arm has been rotated down to rest on the bottom block 31 below the socket base, and is horizontal. The pull rope is loosened by the pull rope motor, and the two telescopic arms extend out. The pulling rope on the motor reel of the lifting device of the fork arm pulls the transverse sliding way to make the fork arm rise slowly. The two prongs rest against the underside of the chair seat 54 as shown in figure C. At this time, if the yoke continues to rise a certain height, the chair is lifted a certain height.

In the figure D, the chair is placed around the dining table. Because the foot posts 55 of the chairs are densely arranged below the dining table for occupying space, a great obstacle is formed for the sweeper. The sweeper is difficult to enter and also difficult to come out. The sweeper lifts the chair one by one and withdraws from the lower part of the table, so that a temporary space without obstacles is formed below the table. Therefore, the remote control sweeper of the sweeper climbs down to the floor from the supporting plate 38 below the machine body 11, and sweeps, sucks and drags the floor in the temporary space. The figure shows the situation that the sweeper just lifts a chair according to the method, and the sweeper climbs the supporting plate under the chair to sweep the floor. For convenience of description, the sweeper is illustrated with a chair raised. In practical operation, the sweeper lifts the chairs around the table, and the sweeper is convenient to sweep the lower side of the table. After the lower side of the table and the periphery of the table are swept, the sweeper lifts the chairs back to the original position in sequence. Figure E illustrates the sweeper lifting the chair from the side of the chair. The fork arm is inserted between the two legs of the chair from the side surface of the chair, the chair is lifted, and the floor is swept according to the process. For a single chair, the chair can be lifted up, the sweeper climbs down from the supporting plate to sweep the floor below the chair, and then the sweeper climbs up to the supporting plate. The reason that the fork arms are made into the retractable type is that the peripheral space of the chair is too narrow sometimes, and if the long fork arms are arranged in front of the sweeper, the fork arms cannot be turned to be close to the chair.

Fig. 4 is a view of the floor sweeper lifting the stool and the low stool sweeping the floor. In the upper figure, the lower part of the surrounding edge 57 connected with the periphery of the plastic stool seat plate 54 is connected with a foot post 55. According to the method, the main arm of the sweeper descends, rotates forwards and falls down, and the telescopic arm extends out and is inserted below the stool. The two fork arms slowly rise to lean against the lower side of the surrounding edge 57 of the stool, and the stool is lifted to a set height. The floor sweeper sweeps the floor below the stool. In the lower drawing, the left side of the sweeper is cut away. When the sweeper fork lifts the short stool, the main arm firstly descends to the horizontal state and then aligns the space between the two stilts of the short stool. The two telescopic arms extend out and are inserted below the surrounding edge 57, and as shown in the middle of the figure, the two fork arms slowly rise to a certain height, namely the small stool is lifted. The sweeper can sweep the floor, as shown in the right side of the figure.

Fig. 5 is a view showing a floor with a low space below the floor, such as a sofa, a bed, a counter, etc., which is swept by the sweeper. Only the underside of the sofa 59 is shown for example. The sweeper forks are stowed up and walk up alongside the sofa 59 and the remote sweeper 41 climbs down the pallet 38 as shown in phantom. The sweeper enters the space below the sofa 59 to sweep the floor 58. The sweeper can automatically plan a sweeping route under the sofa, and is the same as the existing sweeping robot. After the sweeping is finished, the sweeper climbs the supporting plate.

Fig. 6 is a view of the floor sweeping machine for sweeping the floor at the side by clamping the portable object with the clamping jaws. In the above figures, the sweeper yoke is retracted upwards. The vertical shaft seat at the front end of the mechanical arm rotates to enable the clamping jaw 6 to face downwards. The shoe 60 is a leather shoe. The clamping jaw 6 is clamped on the side surface of the upper opening of the two shoes which are closed, and the two shoes are oppositely clamped and lifted for a set height. The sweeper 41 is used for sweeping the floor below. Only one pair of shoes is shown for illustration. The shoe placing area in a family is usually used for continuously placing a plurality of pairs of shoes, and the sweeper sequentially clamps each pair of shoes and sequentially places the shoes at the other position, namely the temporary shoe placing area. The remote control sweeper sweeps the original shoe placing area once, and the sweeper moves to one side to stand by. Then, the clamping jaws clamp the shoes again in sequence and place the shoes back in the original shoe placement area. And the remote control sweeper sweeps the vacated temporary shoe placing area again.

In the following figures, the sweeper is shown with the clamping jaws clamping the garbage can 61 to sweep the floor at the lower side. The clamping jaw 6 is clamped on a mouth ring shell plate on one side of the upper mouth of the garbage can, the garbage can 61 is lifted for a set height, and the floor is swept by the sweeper. The figures show only one household garbage can as an illustration, and small, lightweight baskets, buckets, open boxes, and the like, can be used to sweep the floor under the household garbage can.

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 63, a clamping jaw 6, a handkerchief wiping seat 2 and a handkerchief wiping 1. 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 62. 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 62 at the right end of the flat shaft seat is connected with the left side of the vertical shaft seat 3. A handkerchief motor and a speed changer are arranged at the middle lower part of the vertical shaft seat 3, and an output shaft of the speed changer is a handkerchief shaft 65. The lower end of the handkerchief shaft 65 is connected with the handkerchief 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 64, and the upper end of the vertical rotating shaft is connected with the clamping jaw seat 63. The jaw holder 63 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. A detector 18 is mounted on the jaw seat. 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 sweeper. 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 sweeper can 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 sweeper, as well as the functions of walking, steering, charging, remote control and the like are the same as those of the conventional sweeping robot, and are not described. The mop is arranged at the lower side of the rear part of the sweeper. The back of the sweeper shell is made into a straight surface, namely, an arch-shaped body is cut off from the back of the round sweeper shell. A recessed area 66 is provided below the rear housing of the sweeper. In the lower B drawing, the slide plate 68 is connected with a parquet plate 73 at the upper part and the lower part in the drawing, and the parquet strip 67 of the parquet is connected with the parquet plate 73. The handkerchief strip is also in a blanket shape woven by fiber. And the right 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 74 and a hanging opening 70. The two sides of the sliding block plate are provided with bayonet-shaped sliding blocks. In the drawing A, the lower edge of the rear part of the sweeper is also provided with a corresponding bayonet-shaped sliding groove, and the sliding block plate is inserted into the sliding groove. For clarity, only the recessed area is shown in diagram A, and the internal structure is described in detail below. To the right in the middle drawing, the dashed line position is the sliding slot into which the slider plate 68 is inserted, and the cut-away portion can be seen that the recessed area is a rectangular notch opening to the right. The anti-falling clamp seat plate 71 is arranged in the recessed area, the anti-falling clamp electromagnet 69 is arranged on the anti-falling clamp seat plate 71, and an iron core of the anti-falling clamp electromagnet is connected with the anti-falling 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 70. The anti-slip electromagnet, anti-slip clip, hanging clip and notch will be described in detail later in fig. 11.

Fig. 9 is a schematic diagram of the cleaning apparatus. The upper view is a side view of the entire cleaning apparatus. 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 flat slideways 44 and a translation rack 35 are arranged on the front and the rear machine body shells 76 of the machine body. The translation rack 35 is between and below the two flat ramps 44. The upper left part of the figure is a wiping cleaning device. The wiping cleaning device comprises a wiping cleaning pool 45, a translation sliding frame 94, a translation gear 84, a translation motor 82, a translation rack 35, a smooth channel 44 and a water inlet and outlet moving pipe. The mop cleaning device comprises a mop cleaning pool 40, a dewatering device, a cleaning seat 36, a vertical sliding block 33, a seat cover 34, a flat slideway 44, a translation sliding frame 94, a translation motor 82, a translation gear 84, a translation rack 35, a lifting motor 93, a lifting gear 91 and a rack 92. The wiping cleaning device and the mop cleaning device share two flat slideways and a translation rack. Both the scrub washer and mop washer have identical translation carriages 94, translation motors 82, and translation gears 84. To the right in the upper drawing, the seat cover 34 of the mop cleaning device is connected to a translation carriage 94. The translation motor 82 is arranged on the right side edge of the seat cover. The vertical slider 33 is mounted in the seat cover 34. The lower end of the vertical slide block is connected with the upper edge of the cleaning seat 36. The lower right of the wiping cleaning pool 45 of the wiping cleaning device on the left in the upper drawing is connected with a translation carriage 94, and the translation motor 82 is installed on the translation carriage 94. The output shafts of the left and right translation motors 82 are connected with translation gears 84, and the two translation gears 84 are meshed with the translation rack 35. Slide sleeve shells 85 are arranged on two sides of the translation slide frame, and the slide sleeve shells 85 are sleeved on the flat slide ways. 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 cleaning device is further described below. The section of the vertical sliding block is rectangular. The rack 92 is arranged in the right side surface of the vertical sliding block 33, and the rack 92 is lower than the right side surface, so that the vertical sliding block does not influence the vertical sliding in the seat sleeve to slide up and down. A lifting motor 93 is arranged on the right upper surface of the seat cover 34, and a lifting gear 91 is arranged on the shaft of the lifting motor. The lifting gear 91 is engaged with the rack 92 on the vertical slider 33. The lifting motor 93 can accurately control the vertical sliding block and the cleaning seat to lift by positive and negative rotation. The translation motor 82 of the mop cleaning device at the right side in the figure rotates forwards and backwards to accurately control the left and right translation of the seat cover, the vertical sliding block and the cleaning seat. The mop cleaning pool and the mop cleaning pool are made of stainless steel. The bottom of the mop cleaning pool is provided with a corrugated lug 79. The mop cleaning pool 40 is mounted and connected on the body shell by a bracket 80. 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 86, a seat block 87 and a roller 88. The seat block 87 is mounted on a sloping shell plate at the right end of the mop cleaning tank in the figure. As shown in the upper, middle and lower figures, a press roller 86 is mounted between the two seat blocks 87 by a shaft pin 50. The shafts at both ends of a long roller 88 are arranged in the shaft holes below the two seat blocks. The press roller and the roller are parallel. The distance between the pressure roller and the roller can be adjusted by means of a screw-nut seat arrangement, which is commonly used in the art and is not shown in the figures. The mop cleaning process comprises the following steps: firstly, mop exchange is carried out with the sweeper. 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 sweeper, and the plate below the sweeper is drawn out and pulled into a corresponding slide way below the cleaning seat. The cleaning base is raised to a set height again and moved to the left to face the mop cleaning tank 40, and as shown by the dotted line near the translation rack in the figure, the cleaning base is lowered into the mop cleaning tank. The drainage port below the mop cleaning pool is closed, the water inlet is opened to feed water to a set water level, the water inlet is closed, the control system enables the cleaning seat to move rightwards and leftwards at a certain speed even if the translation motor rotates forwards and backwards at a set angle at a certain speed, and the cleaning effect is better under the stirring and blocking effects of the square wave pattern convex blocks 79 under the mop cleaning pool. 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 station is passed slowly between the press roll 86 and the roller 88 of the dewatering device, as shown in the figure with the dash line drawn in mop. The press roller 86 rolls on the handkerchief plate seat plates 89 at the two ends of the cleaning seat, and the rollers 88 rotate to press the handkerchief strips 67 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 wipe cleaning tank 45 is a circular housing as shown in figures D and C. The circular housing is connected to the left with a rear housing plate 77, to the right with a front housing plate 83, and to the upper and lower sides with side housing plates 81, as shown in fig. D. The circular shell at the upper opening of the wiping cleaning pool 45 is made into a reverse buckling edge 75, as shown in the cut part of the figure C. The right side of the wiping cleaning pool is provided with a water inlet 96 and a water outlet 97. The bottom surface of the wiping cleaning pool is provided with a stirring and cleaning stem 78. The lower right edge of the wiping bath is connected with a translation carriage 94, the mounting of the translation carriage on the flat slide and the mounting of the motor are as described in fig. 9. A window is arranged on the body shell 76 on the left of the wiping cleaning pool. Under the action of the translation motor 82, the wiping cleaning pool can pass through the window and move to the left outside the machine body shell 76, can move to the right inside the machine body shell 76, and when the wiping cleaning pool moves to the right, the rear shell plate 77 is just level with the machine body shell, namely the window is closed. In the diagram D, a movable water pipe 99 is connected to the water inlet 96 on the right side of the scrubbing cleaning pool and the water outlet 97 on the lower side of the scrubbing cleaning pool by fixed pipe heads 95. The other end of the movable water pipe 99 is fixed to the bracket of the body case by a fixed pipe head 95 above the drawing D and is immovable. The fixed pipe head 95 above the D picture is respectively connected with a water inlet pipe and a water outlet pipe. When the scrubbing cleaning pool moves to the left outside the machine body shell, the lower part of the moving water pipe 99 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: the wiping cleaning pool is arranged in the machine body shell. The mechanical arm moves and rotates the double-shaft seat mechanism to the position shown in the A picture. 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. Subsequently, the drain is closed and the inlet pipe is opened, and the inlet pipe is closed when the inlet water level 98 is in place. Subsequently, the lower wiper motor in the vertical shaft seat 3 rotates left and right at a set speed, so that the left and right rotation of the wiper is stirred and washed by the stirring and washing stem 78, as shown in fig. C. And draining water after stirring and washing for a set time. The control system then raises the swab holder a bit away from the scrub stem 78. Then the wiper motor rotates rapidly in one direction to dewater the wiper. The inverted edge 75 at the upper opening of the scrubbing bath can prevent water droplets which are projected onto the inner edge of the circular shell by centrifugal force during scrubbing rotation from moving upwards. 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 sweeper. The cleaning seat comprises a seat shell 90, a transfer gear 104, a transfer rack 105, a transfer motor 103, a transfer slide 106, a transfer slide block 110, a transfer frame 101, a hanging card 112, a hanging card electromagnet 100 and a slide block plate slide 108. 3 the 3 upper 3 view 3 is 3 a 3 longitudinal 3 view 3 of 3 the 3 wash 3

seat

3, 3 the 3 middle 3 left 3 view 3 is 3 a 3 sectional 3 view 3 A 3- 3 A 3 of 3 the 3 upper 3

view

3, 3 the 3 middle 3 right 3 view 3 is 3 a 3 view 3 D 3 of 3 the 3 upper 3

view

3, 3 the 3 lower 3 left 3 view 3 is 3 an 3 enlarged 3 view 3 of 3 a 3 perspective 3 view 3 on 3 the 3 left 3 side 3 of 3 the 3 upper 3

view

3, 3 and 3 the 3 lower 3 right 3 view 3 is 3 a 3 view 3 in 3 which 3 the 3 position 3 M 3 is 3 enlarged 3 and 3 the 3 slide 3 plate 3 68 3 is 3 drawn 3 out 3. 3 A transfer rack 105 is longitudinally mounted on the top inside the seat housing 90 of the wash seat, and a transfer gear 104 is mounted below the transfer rack to engage therewith. The transfer gear 104 is mounted on an output shaft of the transfer motor 103. The transfer motor 103 is fixed to the transfer frame 101 with a transfer motor holder 109. The transfer rack 101 is below the transfer gear 104. Transfer sliders 110 are connected to both sides of the transfer frame 101, and the transfer sliders 110 are installed in the transfer chutes 106 on both sides. A transfer slide 106 is mounted on the carriage 80 between the seat shell front plate 102 and the seat shell rear plate 107. Since the transfer rack 105 is stationary, when the transfer motor rotates in the forward and reverse directions, the transfer gear 104 moves back and forth on the transfer rack, and drives the transfer motor 103 and the transfer rack 101 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 sweeper. The left side is a cut-away view below the recessed area below the rear of the sweeper. While being described with reference to the left figure of the lower figure. An anti-falling clamping seat plate 71 is arranged in the middle of the three-side wall surface 115 of the recessed area, and the lower edge of the anti-falling clamping seat plate 71 is a slide way of a slide block plate at the rear lower part of the sweeper. In the lower left perspective view, a handkerchief strip 67 of the handkerchief is connected to the lower side of the handkerchief plate 73. The slide plate 68 connected with the upper edge of the plate 73 is inserted into the corresponding slide plate slideway below the sweeper. The bottom plate of the recessed area, namely the anti-falling-off clamp seat plate 71 is provided with an anti-falling-off electromagnet 69. The right side of the platen 111 is connected to the transfer rack 101 in the wash station. The right side of the anti-falling seat plate 71 is provided with a rectangular notch, the left plate surface of the bedplate 111 extends into the notch, and a certain gap is reserved between the bedplate and the lower sliding block plate 68. 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 68. The card hanging electromagnet 100 is arranged on the left side of the upper surface of the bedplate 111. In the upper drawing, a guide square hole for inserting the iron core of the hanging and clamping electromagnet is formed in the bedplate 111 below the hanging and clamping electromagnet. The slider plate 68 is provided with a hanging opening 70 at the position opposite to the square hole of the bedplate. The hanging card 112 is connected below the iron core of the hanging card electromagnet. The hang tab 112 is shown inserted through the square hole in the platen into the hang slot 70 in the slide plate. The anti-falling clamp 113 is connected to the lower side of the iron core of the anti-falling clamp electromagnet 69. The anti-falling clamp 113 is just inserted into a square guide hole arranged on the anti-falling clamp plate. The anti-drop opening 74 formed on the slider plate is opposite to the anti-drop clamp 113 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 under the sweeper needs to be pulled out. The sweeper 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 sweeper. The card hanging electromagnet 100 is powered off, and the card hanging 112 is put down and inserted into the hanging opening 70 on the corresponding slide block plate below. At this time, the anti-slip electromagnet is energized to lift the anti-slip card out of the anti-slip opening 74, as shown in the above figures. 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 112 pull the slider plates 68 out of the corresponding tracks beneath the sweeper and into the same tracks beneath 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 sweeper 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 101 to move leftwards, and the left surface below the bedplate pushes the sliding block plate to move leftwards. The slider plate 68 is then pulled out of the slider plate slide way beneath the wash seat and inserted into the same slide way beneath the sweeper, again as shown on the left in the above 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 sliders on both sides of the slider plate 68 on the upper side of the mop are aligned with the slide plate slide way 108 opening below the sweeper. The upper and lower edges of the slide plate slide way entrance below the sweeper, to which the left side of the slide plate is directed, are shown to be chamfered at a larger angle, e.g., the upper and

lower mouths

116, 117 of the slide plate slide way 108 are beveled. Facilitating insertion of the slider into the slider plate slide 108 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. A slide block plate slideway 108 is arranged below the cleaning seat, and the slide block plate slideway 108 has the same structure as the slide block plate slideway at the lower side of the sweeper. A larger notch 114 is arranged below the middle of the front plate of the seat shell. A bedplate 111 connected with the lower side of the transfer frame in the gap is provided with a hanging card electromagnet 100 and a hanging card 112 connected with the iron core of the hanging card electromagnet. The lower parts of two sides of the seat shell 90 are connected with a palte seat plate 89. 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 structural view of a small cover shell, a butting surface and a rotating hole on the sweeper. 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, the lower side A is an enlarged M drawing of the top view, the B drawing is an enlarged N drawing of the top view, and the C drawing is a rotating structure drawing of the small cover shell on the upper side of the dustbin.

In the upper figure, the middle of the upper cover shell 72 above the sweeper is a small cover shell 122 above the dustbin 130. The sweeper is similar to a cylinder, and is surrounded by an upper ring shell 118, a lower ring shell 119 and a bottom ring shell 121. Two sides of the bottom ring shell 121 are provided with a butting surface 120 and a rotating hole 124. The rear part of the sweeper 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 the structure of the sweeper are the same as those of the existing sweeping robot. The sweeper is only provided with a supporting surface 120, a rotating hole 124, a small cover shell 122 and a rotating device of the small cover shell 122 on the original sweeping robot. The abutting surfaces 120 are arranged on two sides of the bottom ring shell 121, and each side has two, four, and are symmetrically arranged. The abutting surface is a smooth small plane which is formed by recessing the side shell of the sweeper and is parallel to the central symmetry line of the front and the rear of the sweeper. The two abutting surfaces on the same side are on the same plane, i.e. on the positive clamping line 123, and the abutting surfaces on the two sides are parallel to each other. The two cylindrical rotary holes are symmetrically arranged at the middle positions of the two sides of the bottom ring shell, as shown in an N enlarged view. The position of the dustbin 130 of the sweeper is still the same as that of the existing sweeping robot. A small lid shell 122 of the trash can is separately provided. In the top view and the C view, a ninety degree bevel gear 128 is fixedly connected to the right end of the cap shaft 127. Below the bevel gear, engages the cover housing motor gear 126. A cover housing motor gear 126 is mounted on the cover housing motor 125 shaft. The cover motor 125 is installed at a lower left position of the trash can 130. A motor with a cover shell is arranged at the position right below the rear ends of two ends of a dustbin of the existing sweeping robot. When the small cap is down, the upper right side of bevel gear 128 is flush with the cap shaft horizontal centerline to the right of cap shaft 127. The last tooth below the bevel gear is inserted between the middle two teeth above the cover shell motor gear 126, as shown in phantom in the bevel gear in fig. C. To open the small cover shell 122, the sweeper control system energizes the cover shell motor in reverse rotation, whereupon the bevel gear rotates clockwise. When the bevel gear rotates clockwise until the lowest tooth is inserted between two teeth on the motor gear of the lower cover shell, the motor of the cover shell is powered off. At this point, the small lid shell has been opened to the position shown in solid lines. The upper left edge of the bevel gear rotates to the left side of the cover shell shaft to be in a horizontal state, and the position of the bevel gear is shown as a solid line in the figure. When the small cover is covered, the motor gear of the cover shell rotates clockwise, the bevel gear rotates anticlockwise, and the process is opposite to that of opening the small cover shell. A rectangular window is arranged on the upper cover shell 72 of the sweeper opposite to the small cover shell. When the small cover shell is covered, the upper cover shell can be opened and covered. The four sides of the upper opening of the garbage can 130 are provided with a softer buckling and pressing belt, the buckling and pressing belt has buffering and sealing functions when the small cover shell covers, generally, the upper cover shell is opened rarely, and the small cover shell is opened once garbage is poured.

Fig. 13 is a diagram showing the structure of the correction device and the butting condition of the sweeper and the cleaning seat. In fig. 13, a is an overall view of the orthotic device, and B is a view of the orthotic device during operation. 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 sweeper and the cleaning seat. The correcting device comprises a transmission part, clamping arms 132, a rotating shaft 134, a shaft bracket 131, a lever block 142 and a clamping head 133. The transmission part is shown as a diagram C. The lower edge of the frame block which is turned outwards at the two ends of an arched bracket 137 is respectively connected with a notch plate 139. The notch plate 139 is formed in a notch shape by connecting three plates of the upper side and both sides, and the notch is opened downward. The notch upper panel is connected with an arch bracket 137. The two plates on both sides of the notch are provided with the same sliding groove openings 144. The lower sides of the turning positions of the left and right sides of the arched bracket are respectively connected with a shaft seat 141, and a spiral pipe 138 is arranged in the two shaft seats 141. The outer tube of the two ends of the screw tube 138 between the two shaft seats 141 is slightly larger than the section inserted into the shaft seats, so that the screw tube 138 cannot move left and right. Two ends in the spiral pipe are respectively provided with a spiral pipe screw rod 135, two sides of the outer end of the spiral pipe screw rod are made into flat planes, and an axle pin hole is drilled on the flat planes. Two connecting rod blocks 143 are respectively clamped at two sides of the flat plane. Two ends of the connecting rod block 143 are provided with shaft pin holes. The screw tube lead screw 135 is put into the slot plate 139, and a sliding shaft 146 passes through the sliding slot 144 at one side of the slot plate, passes through one connecting rod block 143, the flat plane of the screw tube lead screw and the other connecting rod block, extends out from the sliding slot at 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 tube lead screw and can be guided in the sliding slot. In fig. C, the front side of the left notch plate 139 is cut away. Shaft holes are formed above the clamping arms 132, and a rotating shaft 134 passes through the shaft holes of the two clamping arms on the two sides above the supporting plate 38 and is strictly fixed with the shaft holes into a whole, so that the clamping arms and the rotating shaft cannot rotate mutually. In the figure, a lever block 142 is connected above the two clamping arms 132 close to the screw tube screw rod, and the upper end of the lever block is hinged with the two connecting rod blocks at two sides by a shaft pin 50. A connecting arm block 140 is connected between the two clamping arms on the same rotating shaft. The lower left side of the bow-shaped bracket is connected with a solenoid motor 136, and a solenoid motor gear 147 is arranged on a solenoid motor shaft. A solenoid gear 148 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 rear guide 43 is mounted on the front side of the pallet, i.e., the lower side in the drawing a. The rotating shaft 134 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 137 is connected to the body case 76 by a bracket. The figure B shows the condition that the correcting device is correcting the sweeper on the supporting plate. The sweeper has been guided by the rear guide to climb onto the pallet 38 from the front of the sweeper in figure 1 and has moved close to the rear guide, stopping in the middle of the pallet. The dotted line positions of the clamping arms 132 at the two sides of the drawing B in fig. 13 are to leave channels at the two sides for the sweeper to walk on the supporting plate, so that the channels are wider. When the sweeper moves forward on the supporting plate, 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 heads 133 at the lower ends of the clamping arms simultaneously abut against the abutting surfaces 120 at the lower edges of the two sides of the sweeper. The position and enlarged view of the abutting surface 120 is shown in 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 supporting surfaces on the two sides of the sweeper are parallel to each other. During correction, the sweeper is clamped by the clamping head no matter which direction the sweeper deflects to the left or the right. At this time, the slide way and the slide plate in the sweeper are parallel to the supporting plate.

Figure E is a side view of the sweeper after it has been straightened by the clamp arms. The rear part of the supporting plate is provided with a cleaning seat 36 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 sweeper, a slide block plate slide way in the cleaning seat and a slide block plate slide way in the sweeper are positioned on the same plane, the inlet and the outlet are aligned, the cleaning seat is butted and mop exchanged with the sweeper according to the method shown and described in figure 11, and then dirty mops can be pulled into the cleaning seat from the lower part of the sweeper; the cleaned mop can also be pulled out of the cleaning seat and inserted into a corresponding slideway below the sweeper.

Fig. 14 is a view illustrating a situation of dumping garbage by the sweeper. Fig. 14, view a, shows a latch shaft and front guide mounting position; the drawing B is a drawing of clamping the sweeper by a fork arm of the sweeper; figure C is a view of the clamping jaw placed under the sweeper; d is a drawing of the clamping jaw rotating sweeper; figure E is a diagram illustrating the situation that the garbage in the garbage can of the sweeper is poured into the garbage can; the F diagram is the enlarged view of the front guider part in the A diagram.

In fig. a, a latch shaft 153 is attached to the front part of the inner side surface between the telescopic arms 25 of the two lower main arms 26. The length of the bolt shaft is about 6 mm. A handle 151 is connected to the middle of the lower cross runner by a hinge 150. The handle end is attached to a front guide 152. The lower end of a pull rope in the lifting device of the fork arm is connected to the cross slideway and staggered with the handle. A motor and a reel wheel are arranged on the transverse sliding channel 22 where the hinge 150 is located, the motor reel wheel 149 is called as a motor reel wheel, and a pull rope on the motor reel wheel 149 is connected with a handle 151 so that the handle and a front guider 152 can be folded upwards and put down. The spring piece is arranged on the cross slideway close to the handle when the handle is folded upwards, and the handle is pushed by the spring piece as soon as the tensioned pull rope is loosened, and then the handle is put down and falls on the floor between the two fork arms. In the diagram B, the lower main arm is lowered to a set height, and the telescopic arm is retracted. The two main arms move to the two sides in place. The front guide 152 is lowered to the ground. The sweeper is guided by the front guider to move down between the two telescopic arms and close to the front guider. Then, the two telescopic arms move to both sides of the sweeper by a set distance simultaneously, and the pin shafts 153 on the inner sides of the front ends of the two telescopic arms are inserted into the rotating holes 124 on both sides of the sweeper. There is a certain clearance between the front end of the bolt shaft and the circumference of the bolt shaft and the rotary hole. The rotation hole 124 is shown in fig. 12. The front of the opening of the rotary hole is provided with a chamfer inclined plane. The front end of the bolt shaft is also provided with a chamfer inclined plane. The front of the sweeper leans against the front guide, is basically in the middle range, has small deviation, and even if the deviation is larger, the front of the sweeper needs to be clamped just like the front butting face of the clamping head of the correcting device. The bolt shaft is smoothly inserted into the rotary hole. In the figure C, the two lower telescopic arms are clamped at two sides of the sweeper, the two telescopic arms extend forwards a little immediately, and the front guider is retracted upwards by the pull rope. The telescopic arm is raised a set distance. The front half part of the sweeper is heavier than the rear half part. When the rotating holes at the two sides of the sweeper are lifted by the latch shaft 153, the sweeper turns forwards, and the lower edge at the rear part rises upwards by an angle. Subsequently, the jaws 6 on the biaxial nest mechanism are rotated to lay flat. All levels of mechanical arms cooperate to move to place the clamping jaws below the rear part of the sweeper. In figure D, the sweeper is lifted to a set height by the telescopic arm. The clamping jaw is slowly upwards leftwards under the action of the mechanical arm to enable the sweeper to rotate around the bolt shaft. In figure E, the sweeper travels close to the dustbin 61. The sweeper is placed above the middle of the garbage can. The clamping jaw continues to push the sweeper leftwards at the position of the D picture and leans against the bottom surface of the sweeper downwards, and the clamping jaw and the mop seat are blocked above the sweeper. The floor sweeper is positioned with its bottom surface facing upwards and the upper cover shell 72 facing downwards. Then the small cover shell 122 on the remote control sweeper of the machine body control system is opened, and the garbage is poured into the garbage can 61. The rear end of the flat shaft seat 4 also swings for a plurality of times left and right around the connected steering engine, so that the sweeper rotates for a plurality of times around the bolt shaft, and a little garbage in the garbage can shakes and falls into the garbage can. The small shell cover is closed. The clamping jaws turn the sweeper upwards to the upper cover shell again according to the reverse operation of the actions. The two fork arms are immediately descended to put down the sweeper to the ground and loosen. The sweeper leaves. And F is an enlarged view of the front guider connecting structure in the A, and the front guider connecting structure is related to the A.

Fig. 15 is a view showing the condition of the floor sweeper for cleaning the table and the chair. The upper drawing is a table board wiping picture, and the lower drawing is a chair board wiping picture. In the above figures, the mop 1 on the mop seat 2 is arranged on the table top plate 56 of the table, and the first, second and third-stage arms are matched to move the mop seat to be right on the table top plate 56. The rotary disk 15 rotates left and right in a reciprocating way for a certain angle, and even if the handkerchief is wiped, the handkerchief also moves in a reciprocating way. The detector 18 is arranged on the lower side of the flat shaft seat 4 and used for detecting the corner position and the middle position of the table top plate so as to change the reciprocating rotation angle of the turntable.

The lower drawing is a view of the chair seat of the chair. The chair is typically placed under the table and may be lifted out by the fork arms and then wiped against the chair seat 54. The sweeper can also wipe the table-board such as tea table, counter, cooking bench, windowsill, etc.

The automatic stop after each motor rotates in place is the prior art in the aspect of the existing automatic control. The motors requiring precise control are 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 sweeper are provided with storage batteries. The back director on the layer board is just being charged to the ware of sweeping the floor, fills electric pile structure the same with current robot of sweeping the floor. When the sweeper is replaced with the cleaning seat and the mop leans against the rear guider, the control system enables the charging circuit to be disconnected. The machine body and the sweeper have the functions of line identification, sweeping route planning and mutual wireless communication. All motors needing self-locking on the sweeper can adopt worm and worm gear transmissions.

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

Claims

1. Self-washing mop sweeper, which is characterized in that:

(1) the self-washing mop sweeper comprises a body, a fork arm frame, a fork arm, a mechanical arm, a sweeper, a mop cleaning device, a garbage dumping mechanism, a correcting device and a double-shaft seat mechanism;

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

(3) the fork arm frame is arranged on the gantry slideway;

(4) the fork arm frame comprises a slot clamping seat, a transverse slideway, a transverse sliding sleeve, a portal sliding sleeve, a slot clamping seat translation device and a motor;

(5) the two ends of the transverse sliding sleeve are connected with portal sliding sleeves, and the portal sliding sleeves are installed on portal slideways;

(6) the clamping groove seat is fixed on the transverse sliding sleeve, and two ends of the transverse sliding sleeve are respectively provided with a transverse sliding sleeve;

(7) the fork arm comprises a main arm and a telescopic arm, the rear end of the main arm is hinged to the lower end of the slot clamping seat, the main arm can rotate up and down around a hinge shaft under the action of a motor, and the telescopic arm is arranged in the main arm;

(8) 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;

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

(10) the mop is connected to the mop seat; a handkerchief wiping motor and a vertical rotating shaft motor are arranged in the vertical shaft seat, a vertical rotating shaft in the vertical shaft seat is connected with a clamping jaw seat, a clamping jaw is arranged on the clamping jaw seat, and a handkerchief wiping shaft in the vertical shaft seat is connected with the handkerchief wiping 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;

(11) the sweeper 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 structure;

(12) a window is arranged on an upper cover shell of the sweeper, and a small cover shell is arranged in the window;

(13) two sides of the sweeper are symmetrically provided with a butting surface and a rotating hole;

(14) the sweeper is remotely controlled by the main machine of the self-washing mop sweeper to operate;

(15) when the sweeper works, the sweeper leaves the supporting plate below the machine body; when the sweeper is not in operation, the sweeper climbs the supporting plate to be parked;

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

(17) the mop cleaning device 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;

(18) 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;

(19) 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 sweeper and pull the mop into a slide way of the slide block plate below the cleaning seat;

(20) the wiping cleaning device comprises a wiping cleaning pool and a cleaning pool moving device;

(21) the garbage dumping mechanism comprises a front guider, a bolt shaft, a fork arm and a clamping jaw;

(22) the opposite side surfaces in front of the telescopic arms of the two fork arms are provided with plug pin shafts for dumping garbage;

(23) a correcting device of the sweeper is arranged above the supporting plate;

(24) when the chair is lifted by the fork arm fork, the main arm is folded upwards, the telescopic arm is retracted into the main arm, the machine body is close to the chair, the main arm descends to the point that the front end of the telescopic arm is lower than the lower surfaces of two sides of the chair seat plate, the main arm rotates downwards and falls to the horizontal state, the telescopic arm stretches out, the fork arm slowly rises upwards to lift the chair, and then the sweeper climbs onto the floor from the supporting plate to sweep the floor in the space below the chair;

(25) when the mop is cleaned, the sweeper is close to the rear guider on the supporting plate and is corrected by the correcting device, the cleaning seat falls down from the rear part of the sweeper and is in butt joint with the rear part of the sweeper, the mop plate below the sweeper 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 for cleaning, after the cleaning seat is dehydrated by the dehydrating device, the cleaning seat translates and descends to be in butt joint with the sweeper, and the mop plate of the mop is inserted into the corresponding slide way below the sweeper;

(26) when the mop is cleaned, the mop cleaning pool moves to the outside of the machine body shell, the mop seat is placed into the mop cleaning pool by the mechanical arm, the mop motor in the vertical shaft seat rotates left and right to clean the mop, and the mop motor rotates rapidly in one direction to dewater.

2. The self-washing mop sweeper of claim 1, wherein: the clamping groove seat translation device comprises a screw rod, a nut and a motor; each transverse sliding sleeve arranged on the transverse sliding way is connected with a nut, the two nuts are screwed on a screw rod, and threads on two sides of the screw rod are mutually reverse threads; one end of the screw rod is connected with a motor, and the motor is connected to the gantry sliding sleeves on the two sides.

3. The self-washing mop sweeper of claim 1, wherein: the lower end of each clamping groove seat is fixedly connected with a bottom block.

4. The self-washing mop sweeper of claim 1, wherein: when the garbage is dumped, the front guider is put down and landed, the sweeper enters between the two fork arms, the front guider is closed, the two fork arms move to a set distance relatively, and the two bolt shafts at the front ends of the two telescopic arms are inserted into the rotating holes in the middles of the two sides of the sweeper shell; the mechanical arm drives the clamping jaw of the double-shaft seat mechanism to enable the sweeper to rotate to the lower part of the upper cover shell; the mechanical arm lifts the sweeper and is placed above the garbage can; the small cover shell on the upper cover shell is opened, and the garbage is poured into the garbage can.

5. The self-washing mop sweeper of 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.

6. The self-washing mop sweeper of 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.

7. The self-washing mop sweeper of 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.

8. The self-washing mop sweeper of 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.

9. The self-washing mop sweeper of claim 1, wherein: the rear guider is arranged at the rear part of the supporting plate, and the front guider is arranged in the middle of the transverse slideway at the lower part of the front surface of the machine body.

10. The self-washing mop sweeper of claim 1, wherein: the telescopic arm of the mechanical arm extends out and retracts by adopting a motor, gear and rack structure.