CN110151074A - Fully-automatic intelligent sweeping robot - Google Patents
Fully-automatic intelligent sweeping robot Download PDFInfo
- Publication number
- CN110151074A CN110151074A CN201910608178.7A CN201910608178A CN110151074A CN 110151074 A CN110151074 A CN 110151074A CN 201910608178 A CN201910608178 A CN 201910608178A CN 110151074 A CN110151074 A CN 110151074A
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- China
- Prior art keywords
- sweeping robot
- work station
- cleaning
- collection box
- water tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
Abstract
The present invention relates to robotic technology fields, more particularly to a kind of fully-automatic intelligent sweeping robot, including sweeping robot work station and sweeping robot host, sweeping robot work station interior of shell work station floor, which is equipped with sponge mop cleaning mouth and cleans brush head, cleans mouth, and the corresponding position below work station floor is respectively equipped with sponge mop cleaning structure and cleans brush head cleaning structure；Work station floor is equipped with work station microcomputer controller, and the side of work station microcomputer controller is equipped with charging contacts and returns to positive induced emission head；Work station shell side is exported equipped with sweeping robot host above work station floor；Sweeping robot outlet is completely covered in ramp suspension bridge.The present invention is provided with sweeping robot work station, can automatically clean mop and sponge brush in robot, and at the same time can topple over the garbage collection box of robot interior.The present invention can be realized fully-automatic intelligent cleaning, be especially suitable for the cleaning of some secure locations, such as the cleaning of secrecy Conference Room, concerning security matters mechanism.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of fully-automatic intelligent sweeping robot.
Background technique
The sweeping robot largely used now, can be automatically performed the works such as cleaning, mopping and the garbage collection to ground
Make, has the sweeping robot of some top grades, juice point automatic charging can also be returned to after completing work.But it is used at present
Sweeping robot is required to manually take up robot host after being automatically performed work, its garbage collection box is opened, to collection
Rubbish in box carries out toppling over processing, and removing it, used mop rag is cleaned above.Above-mentioned manual procedure is numerous
It requires to carry out after trivial, each use, laborious time-consuming degree even exceeds the work directly manually cleaned, significantly limits
The extensive use of sweeping robot.Current sweeping robot due to do not have to solve after use must artificial cleaning disadvantage,
It can not largely put into practical.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of fully-automatic intelligent sweeping robots, complete in sweeping robot
Mop, the mop on sweeping robot can be cleaned automatically after cleaning task, while can be to sweeping robot
Internal garbage collection box is toppled over.
In order to solve the above problem, the specific technical solution of the present invention is as follows: fully-automatic intelligent sweeping robot, including cleans
Robot workstation and sweeping robot host,
Sweeping robot work station interior of shell work station floor is equipped with sponge mop cleaning mouth and cleaning brush head is clear
Clean mouth, the corresponding position below work station floor are respectively equipped with sponge mop cleaning structure and clean brush head cleaning structure；
Work station floor is equipped with work station microcomputer controller, and the side of work station microcomputer controller is equipped with charging touching
Head and return are to positive induced emission head；
Work station shell side is exported equipped with sweeping robot host above work station floor；Ramp suspension bridge is completely covered clearly
Sweep robot outlet；
Elevator motor is equipped with above work station interior of shell, elevator steel wire winch is connect with elevator motor, and elevator steel wire twists
Ramp suspension bridge folding and unfolding steel wire penetrating work station shell wirerope via hole on disk is connect with one end of ramp suspension bridge, ramp suspension bridge
The other end pass through ramp suspension bridge axis and work station cage connection.
The upper end of above-mentioned fully-automatic intelligent sweeping robot, the work station shell is equipped with flash alarm.
Above-mentioned fully-automatic intelligent sweeping robot, the cleaning brush head cleaning structure are as follows: garbage recycling bin inlet
The corresponding position exported with the garbage collection box of sweeping robot host is equipped with garbage collection box enabling baffle.
Above-mentioned fully-automatic intelligent sweeping robot, garbage recycling bin inside eminence, which is equipped with garbage recycling bin, is expired sensing
Device.
Above-mentioned fully-automatic intelligent sweeping robot, the cleaning brush head cleaning structure is dismountable.
Above-mentioned fully-automatic intelligent sweeping robot, the sponge mop cleaning structure are as follows: on work station floor
Sponge mop cleaning mouth corresponding position be equipped with cleaning water tank, cleaning water tank be upper opening be arranged, clean the opening of water tank,
Ramp suspension bridge end is closed on equipped with water squeezing wheel, is cleaned inside water tank, is equipped with cleaning brush, cleaning brush with the corresponding position of sponge mop
By cleaning brush connecting rod with cleaning water tank outside cleaning brush rotating electric machine connect, feed pipe sequentially pass through work station shell,
Cleaning water tank tank wall is connect with cleaning sprinkler head；Feed pipe is equipped with water-suppling electromagnetic valve；The drainpipe of cleaning water tank bottom passes through
Work station shell, drainpipe are equipped with drain solenoid valve.
Above-mentioned fully-automatic intelligent sweeping robot, cleaning water tank bottom is additionally provided with manual drainage pipe, on manual drainage pipe
Equipped with Manual draining valve.
Above-mentioned fully-automatic intelligent sweeping robot, which is characterized in that cleaning water tank bottom is equipped with filter, and filter is logical
It is overpressurized pump water inlet pipe to connect with pressurization pump intake, the outlet of force (forcing) pump is connect by the water pump outlet pipe that pressurizes with feed pipe；Pressurization
Pump is connect with pressurization pump motor.
Above-mentioned fully-automatic intelligent sweeping robot, cleaning water tank inside eminence are equipped with cleaning water tank high position sensor, clearly
Lower is equipped with cleaning water tank low sensors inside water tank.
Above-mentioned fully-automatic intelligent sweeping robot, the sweeping robot host inside are equipped with host micro computer control
Device, host microcomputer controller side are equipped with to return and receive head to positive induction and receive charging current electric shock, position respectively with
The return of sweeping robot work station is corresponding to positive induced emission head, charging contacts；It is equipped with and fills inside sweeping robot host
Electric battery pack, sweeping robot host bottom are equipped with several driving wheels, and driving wheel is connected by driving transmission shaft and driving motor
It connects；Sweeping robot host bottom is equipped with several deflecting rollers, and deflecting roller is connect by steering shaft with steering motor, sweeping machine
People's host bottom is equipped with the cleaning brush head being connected with cleaning motor, cleans to enter by motor equipped with garbage collection box garbage collection box
The position of mouth is corresponding with the position of brush head is cleaned；Garbage collection box exit is equipped with garbage collection perpendicular to garbage collection box outlet
Box exports plectrum, and the side of garbage collection box outlet damper plectrum pulls spring and the inner wall of garbage collection box to connect by baffle
It connects, the other side of garbage collection box outlet damper plectrum is equipped with garbage collection box outlet damper；Sweeping robot host bottom is set
There are floor mop and sponge mop.
Bring of the present invention has the beneficial effect that
1. the present invention is provided with sweeping robot work station, mop and sponge brush in robot can automatically clean, and
And the garbage collection box of robot interior can be toppled over simultaneously.The present invention can be realized fully-automatic intelligent cleaning, especially
It is suitble to the cleaning of some secure locations, such as the cleaning of secrecy Conference Room, concerning security matters mechanism.
2. the present invention is equipped with flash alarm in the upper end of work station shell, the signal transducer in garbage recycling bin is in rubbish
Signal is reached flash alarm after filling by rubbish recycling bins, reminds recycling bins of dumping rubbish in time.
3. the garbage collection box enabling baffle that garbage recycling bin is equipped with can sweeping robot with moving to work station
Garbage collection box outlet damper is opened when the designated position of plate, leads the rubbish in garbage collection box automatically under gravity
Enter into garbage recycling bin.
4. being toppled over after garbage recycling bin is filled it can be seen that removing and cleaning brush head cleaning structure.
5. the cleaning brush in cleaning water tank can clean floor mop, sponge mop.After completing cleaning, clear
When sweeping robot and working out, sponge mop and floor mop successively pass through water squeezing wheel, make sponge mop and floor mop
In water squeeze out.
6. feed pipe, drainpipe and manual drainage pipe inside sponge mop cleaning structure, can be realized self water feeding,
Draining, while also being capable of manual drainage.
7. be equipped with filter inside sponge mop cleaning structure, water supply not in time in the case where, filter can will
Dirty water is filtered, and is supplied to cleaning sprinkler head and is carried out cleaning floor mop and sponge mop.
It is equipped with high water level sensor and low water level sensor inside water tank 8. cleaning, water level signal can be incuded, and transmit
Work station microcomputer controller is given, is controlled for program judgement and automatic running.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of fully-automatic intelligent sweeping robot.
Fig. 2 is the structural schematic diagram of sweeping robot host.
Fig. 3 is structural schematic diagram when ramp suspension bridge is put down.
Fig. 4 is schematic diagram when sweeping robot host is moved downward from ramp suspension bridge.
Fig. 5 is control circuit logic chart.
It is attached in the figure, it is marked as 1- work station shell, 2- elevator motor, 3- winding steel wire rope capstan winch, the suspension bridge folding and unfolding of the ramp 4-
Wirerope, 5- cleaning brush rotating electric machine, 6- pressurization water pump outlet pipe, 7- cleaning brush connecting rod, 8- cleaning brush, 9- flash alarm,
10- work station shell wirerope via hole, 11- water squeezing wheel, 12- garbage reclamation tank inlet, 13- garbage collection box enabling baffle, 14-
Ramp suspension bridge, the ramp 15- suspension bridge axis, 16- garbage recycling bin expire signal transducer, 17- garbage recycling bin, 18- manual drainage pipe,
19- Manual draining valve, 20- clean water tank high position sensor, and 21- cleans water tank low sensors, and 22- cleans water tank, 23- cleaning
Sprinkler head, 24- filter, 25- force (forcing) pump water inlet pipe, 26- force (forcing) pump, 27- drain solenoid valve, 28- drainpipe, 29- force (forcing) pump
Motor, 30- water-suppling electromagnetic valve, 31- feed pipe, 32- work station floor, 33- charging contacts, 34- work station microcomputer controller,
35- is returned to positive induced emission head, 36- sweeping robot host housing, and 37-, which is returned, receives head, the micro- electricity of 38- host to positive induction
Brain controller, 39- driving motor, 40- driving transmission shaft, 41- rechargeable battery set, 42- garbage collection box outlet damper,
43- garbage collection box, 44- garbage collection box entrance, 45- clean motor, 46- steering motor, 47- steering shaft, 48-
Deflecting roller, 49- clean brush head, the outlet of 50- garbage collection box, 51- garbage collection box outlet damper plectrum, 52- baffle pulling bullet
Spring, 53- sponge mop, 54- floor mop, 55- driving wheel, 56- receive charging current electric shock.
Specific embodiment
As shown in Figures 1 to 4, fully-automatic intelligent sweeping robot, including sweeping robot work station and sweeping robot
Host,
1 inter workstation floor 32 of sweeping robot work station shell is equipped with sponge mop cleaning mouth and cleans brush head
Mouth is cleaned, the corresponding position of 32 lower section of work station floor is respectively equipped with sponge mop cleaning structure and cleans brush head cleaning knot
Structure；
Work station floor 32 is equipped with work station microcomputer controller 34, and the side of work station microcomputer controller 34 is equipped with
Charging contacts 33 and return are to positive induced emission head 35；The model FAB-AF- of the work station microcomputer controller 34
20MR-E。
32 top work station shell of work station floor, 1 side is exported equipped with sweeping robot host；Ramp suspension bridge 14 is complete
Cover sweeping robot outlet；
1 inner upper of work station shell is equipped with elevator motor 2, and elevator steel wire winch 3 is connect with elevator motor 2, elevator steel
Ramp suspension bridge folding and unfolding wirerope 4 on silk capstan winch 3 passes through work station shell wirerope via hole 10 and one end of ramp suspension bridge 14 connects
It connects, the other end of ramp suspension bridge 14 is connect by ramp suspension bridge axis 15 with work station shell 1.
The upper end of above-mentioned fully-automatic intelligent sweeping robot, the work station shell 1 is equipped with flash alarm 9.
Above-mentioned fully-automatic intelligent sweeping robot, the cleaning brush head cleaning structure are as follows: garbage reclamation tank inlet 12
Place and the corresponding position of the garbage collection box outlet 50 of sweeping robot host are equipped with garbage collection box enabling baffle 13.
Above-mentioned fully-automatic intelligent sweeping robot, 17 inside eminence of garbage recycling bin, which is equipped with garbage recycling bin, expires signal biography
Sensor 16.
Above-mentioned fully-automatic intelligent sweeping robot, the cleaning brush head cleaning structure is dismountable.
Above-mentioned fully-automatic intelligent sweeping robot, the sponge mop cleaning structure are as follows: with work station floor 32
On sponge mop cleaning mouth corresponding position be equipped with cleaning water tank 22, cleaning water tank 22 be upper opening be arranged, cleaning water tank 22
Opening, close on 14 end of ramp suspension bridge equipped with water squeezing wheel 11, clean inside water tank 22, the corresponding position with sponge mop 53
Equipped with cleaning brush 8, cleaning brush 8 is connect by cleaning brush connecting rod 7 with the cleaning brush rotating electric machine 5 cleaned outside water tank 22, is given
Water pipe 31 sequentially passes through work station shell 1, cleaning 22 tank wall of water tank is connect with cleaning sprinkler head 23；Feed pipe 31 is equipped with water supply
Solenoid valve 30；The drainpipe 28 for cleaning 22 bottom of water tank passes through work station shell 1, and drainpipe 28 is equipped with drain solenoid valve 27.
Above-mentioned fully-automatic intelligent sweeping robot, cleaning 22 bottom of water tank are additionally provided with manual drainage pipe 18, manual drainage
Pipe 18 is equipped with Manual draining valve 19.
Above-mentioned fully-automatic intelligent sweeping robot, cleaning 22 bottom of water tank are equipped with filter 24, and filter 24 is by adding
Press pump water inlet pipe 25 is connect with 26 entrance of force (forcing) pump, and the outlet of force (forcing) pump 26 is connect by the water pump outlet pipe 6 that pressurizes with feed pipe 31；
Force (forcing) pump 26 is connect with pressurization pump motor 29.
Above-mentioned fully-automatic intelligent sweeping robot, cleaning 22 inside eminence of water tank are equipped with cleaning water tank high position sensor
20, cleaning 22 inside lower of water tank is equipped with cleaning water tank low sensors 21.
Above-mentioned fully-automatic intelligent sweeping robot, the sweeping robot host inside are equipped with host micro computer control
Device 38,38 side of host microcomputer controller, which is equipped with, to be returned to positive induction reception head 37 and receives charging current electric shock 56, position
It sets corresponding to positive induced emission head 35, charging contacts 33 with the return of sweeping robot work station respectively；Sweeping robot master
Rechargeable battery set 41 is equipped with inside machine, sweeping robot host bottom is equipped with several driving wheels 55, and driving wheel 55 passes through driving
Transmission shaft 40 is connect with driving motor 39；Sweeping robot host bottom is equipped with several deflecting rollers 48, and deflecting roller 48 is by turning
It is connect to axis 47 with steering motor 46,36 bottom of sweeping robot host is equipped with the cleaning brush head being connected with cleaning motor 45
49, it is corresponding with the position of brush head 49 is cleaned to clean the position that 43 garbage collection box entrance 44 of garbage collection box is equipped with by motor 45；
Garbage collection box is equipped with perpendicular to garbage collection box outlet 50 at garbage collection box outlet 50 and exports plectrum 51, and garbage collection box goes out
The side of mouth baffle plectrum 51 pulls spring 52 to connect with the inner wall of garbage collection box 43 by baffle, garbage collection box exit catch
The other side of plate plectrum 51 is equipped with garbage collection box outlet damper 42；36 bottom of sweeping robot host is equipped with 54 He of floor mop
Sponge mop 53.The model FAB-AF-20MR-E of the host microcomputer controller 38.
The course of work of full-automatic machine people such as Fig. 1-Fig. 4, specifically:
The process of sweeping robot work station releasing sweeping robot host: when sweeping robot host 36 stops working,
It is parked on work station floor 32, when sweeping robot host 36, which is ready to go out, carries out cleaning works, work station micro computer control
Device 34 issues command signal to elevator motor 2, and elevator motor 2 inverts, and drives 3 warp of wireline winch, discharges wireline winch 3
On ramp suspension bridge folding and unfolding wirerope 4, ramp suspension bridge folding and unfolding wirerope 4 by work station shell wirerope via hole 10 outward discharge
Wirerope, by wirerope hold ramp suspension bridge 14 downwards put down and with ground face contact.Forming one can be for sweeping robot
The ramp that host 36 passes in and out.Host microcomputer controller 38 on work station microcomputer controller 34 and sweeping robot host 36
It writes to each other, issues all-clear.After sweeping machine human agent 36 receives all-clear, output outward, in the process,
Under the action of water squeezing wheel 11, the water extrusion in sponge mop 53 and floor mop 54 is discharged in cleaning water tank 22.It is keeping off
Piece pulls garbage collection box outlet damper plectrum 51 under the action of spring 52 to return to home position, garbage collection box outlet damper 42
Garbage collection box outlet 50 is completely covered.Sweeping machine human agent 36 continues to travel, and behind ramp, reaches ground and starts to clean
Work.Work station microcomputer controller 34 issues instruction after detecting that sweeping robot host 36 has left work station ramp
Signal is rotated forward to elevator motor 2, elevator motor 2, and driving wireline winch 3 is just rolled up, and recycles the ramp suspension bridge on wireline winch 3
Folding and unfolding wirerope 4, ramp suspension bridge folding and unfolding wirerope 4 return to home position by work station shell wirerope via hole 10.
Sweeping robot host work process: sweeping robot host 36 is driven out to work station by microcomputer program, starts
Cleaning.Cleaning motor 45 drives cleaning brush head 49 to rotate, and ground refuse is swept into rubbish by garbage collection box entrance (44)
In rubbish collection box 43.Ground is cleaned by floor mop 54 and sponge mop 53 simultaneously.Cleaning action track can be with
Planning setting in advance, is stored in microcomputer controller, for transferring use at any time.
Sweeping robot host returns to the process of sweeping robot work station: when the sweeping machine for carrying out cleaning operation outside
People's host 36, need charging, rubbish that recycling, mop is needed to need to clean according to the program completion cleaning task and battery of setting,
When sponge brush needs to clean, needs to return work station and carry out relevant treatment.Host on sweeping robot host 36 is micro-
Computer controller 38 is in communication with each other with work station microcomputer controller 34, and work station microcomputer controller 34 issues positioning signal,
Host microcomputer controller 38 receives positioning signal, controls driving motor 39 and steering motor 46 rotates, drive 55 He of driving wheel
Deflecting roller 48 rotates.Driving sweeping robot host sails for work station direction, and the slope put down by sweeping robot work station
Road suspension bridge 14 drives into work station, and receives head 37, accurate stop to positive induction to positive induced emission head 35, return by returning
Correct position in work station.Work station microcomputer controller issues while issuing restoring to normal position signal to sweeping robot
Ramp suspension bridge signal is put down, ramp suspension bridge is put down, forms ramp, in case sweeping robot drives into work station.
The process of sweeping robot work station cleaning sweeping robot: sweeping robot host is in the process for entering work station
In, the garbage collection box on sweeping robot host is blocked by the garbage collection box enabling baffle 13 on work station floor 32 and is gone out
Mouth baffle plectrum 51 pulls baffle to pull spring 52 that 42 garbage collection box outlet dampers is driven to move to sweeping robot host 36
Opposite direction movement, the garbage collection box 43 automatically opened on sweeping robot passes through the rubbish in garbage collection box 43
Garbage collection box outlet 50 and garbage reclamation tank inlet 12, rubbish is discharged in work station garbage recycling bin.Sweeping robot master
Machine 36 continues to travel, under the action of the water squeezing wheel 11 on work station floor 32, successively by the ground on sweeping robot host 36
Aqueous extrusion in plate mop 54, sponge mop 53 is discharged in cleaning water tank 22.When sweeping robot host 36 drives into completely
Work station simultaneously stops to after correct position, and work station microcomputer controller 34 passes through the program sending instruction finished writing in advance and starts cleaning
Brush rotating electric machine 5 drives cleaning brush 8 to rotate by cleaning brush connecting rod 7, to the floor mop 54 on sweeping robot host 36
It is scrubbed with sponge mop 53.High pressure is carried out to floor mop 54 and sponge mop 53 by cleaning sprinkler head 23 simultaneously
Water flow is rinsed.Work station is equipped with feed pipe 31 and drainpipe 28, in conditional situation, external water supply pipe and can be lauched
Drainage pipeline.By the water-suppling electromagnetic valve 30 that is located on feed pipe 31 and the drain solenoid valve 27 being located on drainpipe 28 automatically into
Row water supply and draining.Work station does not access upper and lower conduit line and can be used yet, and using Shi Kexian, into cleaning water tank 22, injection is clear
Water.The water in water tank is cleaned, force (forcing) pump 26 is entered by filter 24 and force (forcing) pump water inlet pipe 25, the pump motor 29 that pressurizes is in program
Under the commander of instruction, force (forcing) pump 26 is driven to run.Then water after pressurization enters feed pipe 31 from clear by pressurization water pump outlet pipe 6
Wash water spray head 23 sprays, and cleans to floor mop 54 and sponge mop 53.Sewage after use can be automatically by row
Water pipe 28 and drainpipe solenoid valve 27 are discharged, and can also be discharged by manual drainage pipe 18 and Manual draining valve 19.
Rubbish on sweeping robot host 36 in garbage collection box 43 is poured onto the rubbish in work station and returned by work station
It receives in case 17；By on sweeping robot host 36 floor mop 54 and sponge mop 53 clean up, in case sweeping machine
People sets out operation again.
It is reflective infrared biography that the garbage recycling bin in garbage recycling bin 17 on work station, which expires inductive signal sensor 16,
Sensor, when the garbage blocking infrared signal of spill-over, garbage recycling bin expires inductive signal sensor 16 to work station micro computer control
Device 34 issues signal, and the flash alarm 9 by being located above work station shell issues alarm signal.
21 liang of water tank low sensors of cleaning water tank high position sensor 20 and cleaning are equipped in cleaning water tank 22 in work station
Water level sensor, can incude the water level signal in water tank and pass to work station microcomputer controller 34, for program judgement and from
Dynamic operation control.The control circuit logic chart of fully-automatic intelligent sweeping robot is as shown in Figure 5.
Claims (10)
1. fully-automatic intelligent sweeping robot, which is characterized in that including sweeping robot work station and sweeping robot host,
Sweeping robot work station shell (1) inter workstation floor (32) is equipped with sponge mop cleaning mouth and cleans brush head
Mouth is cleaned, the corresponding position below work station floor (32) is respectively equipped with sponge mop cleaning structure and cleans brush head cleaning knot
Structure；
Work station floor (32) is equipped with work station microcomputer controller (34), and the side of work station microcomputer controller (34) is set
There are charging contacts (33) and returns to positive induced emission head (35)；
Work station shell (1) side is exported equipped with sweeping robot host above work station floor (32)；Ramp suspension bridge (14) is complete
The outlet of all standing sweeping robot；
Work station shell (1) inner upper is equipped with elevator motor (2), and elevator steel wire winch (3) is connect with elevator motor (2), rolls up
The ramp suspension bridge folding and unfolding wirerope (4) raised on steel wire winch (3) passes through work station shell wirerope via hole (10) and ramp suspension bridge
(14) one end connection, the other end of ramp suspension bridge (14) are connect by ramp suspension bridge axis (15) with work station shell (1).
2. fully-automatic intelligent sweeping robot according to claim 1, which is characterized in that the work station shell (1)
Upper end be equipped with flash alarm (9).
3. fully-automatic intelligent sweeping robot according to claim 1, which is characterized in that the cleaning brush head cleans knot
Structure are as follows: be equipped with rubbish with the corresponding position of the garbage collection box of sweeping robot host outlet (50) at garbage reclamation tank inlet (12)
Rubbish collection box enabling baffle (13).
4. fully-automatic intelligent sweeping robot according to claim 1, which is characterized in that garbage recycling bin (17) is internal high
Place, which is equipped with garbage recycling bin, expires signal transducer (16).
5. fully-automatic intelligent sweeping robot according to claim 1, which is characterized in that the cleaning brush head cleans knot
Structure is dismountable.
6. fully-automatic intelligent sweeping robot according to claim 1, which is characterized in that the sponge mop cleaning
Structure are as follows: be equipped with cleaning water tank (22) with the sponge mop cleaning mouth corresponding position on work station floor (32), clean water tank
(22) it is arranged for upper opening, cleans the opening of water tank (22), closes on ramp suspension bridge (14) end and be equipped with water squeezing wheel (11), ejected wash water
Case (22) is internal, is equipped with cleaning brush (8) with the corresponding position of sponge mop (53), cleaning brush (8) passes through cleaning brush connecting rod
(7) the cleaning brush rotating electric machine (5) external with cleaning water tank (22) is connect, feed pipe (31) sequentially pass through work station shell (1),
Cleaning water tank (22) tank wall is connect with cleaning sprinkler head (23)；Feed pipe (31) is equipped with water-suppling electromagnetic valve (30)；Clean water tank
(22) drainpipe (28) of bottom passes through work station shell (1), and drainpipe (28) is equipped with drain solenoid valve (27).
7. fully-automatic intelligent sweeping robot according to claim 6, which is characterized in that cleaning water tank (22) bottom is also set
Have manual drainage pipe (18), manual drainage pipe (18) is equipped with Manual draining valve (19).
8. fully-automatic intelligent sweeping robot according to claim 6, which is characterized in that cleaning water tank (22) bottom is equipped with
Filter (24), filter (24) are connect by force (forcing) pump water inlet pipe (25) with force (forcing) pump (26) entrance, and force (forcing) pump (26) goes out
Mouth is connect by pressurization water pump outlet pipe (6) with feed pipe (31)；Force (forcing) pump (26) is connect with pressurization pump motor (29).
9. fully-automatic intelligent sweeping robot according to claim 6, which is characterized in that the internal eminence of cleaning water tank (22)
Equipped with cleaning water tank high position sensor (20), the internal lower of cleaning water tank (22) is equipped with cleaning water tank low sensors (21).
10. fully-automatic intelligent sweeping robot according to claim 1, which is characterized in that the sweeping robot master
Host microcomputer controller (38) are equipped with inside machine, host microcomputer controller (38) side, which is equipped with to return, receives head to positive induction
(37) and receive charging current electric shock (56), position is respectively with the return of sweeping robot work station to positive induced emission head
(35), charging contacts (33) are corresponding；Rechargeable battery set (41) are equipped with inside sweeping robot host, sweeping robot host bottom
Portion is equipped with several driving wheels (55), and driving wheel (55) is by driving transmission shaft (40) to connect with driving motor (39)；Scavenging machine
Device people's host bottom is equipped with several deflecting rollers (48), and deflecting roller (48) is connect by steering shaft (47) with steering motor (46),
Sweeping robot host (36) bottom is equipped with the cleaning brush head (49) being connected with cleaning motor (45), cleans and sets by motor (45)
There is the position of garbage collection box (43) garbage collection box entrance (44) corresponding with the position of brush head (49) is cleaned；Garbage collection box goes out
Garbage collection box outlet plectrum (51), garbage collection box outlet damper are equipped with perpendicular to garbage collection box outlet (50) at mouth (50)
The side of plectrum (51) pulls spring (52) to connect with the inner wall of garbage collection box (43) by baffle, garbage collection box exit catch
The other side of plate plectrum (51) is equipped with garbage collection box outlet damper (42)；Sweeping robot host (36) bottom is equipped with Floor mop
Cloth (54) and sponge mop (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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