CN110215163B

CN110215163B - Floor mopping machine

Info

Publication number: CN110215163B
Application number: CN201910469256.XA
Authority: CN
Inventors: 刘丽丽; 韩翔; 王志诚; 杨丽娟
Original assignee: Xuzhou University of Technology
Current assignee: Xuzhou University of Technology
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2021-04-27
Anticipated expiration: 2039-05-31
Also published as: CN110215163A

Abstract

A mopping machine is characterized in that a mopping plate supporting mechanism is arranged below the left part of a mopping machine main body, and walking wheels are arranged below the right part of the mopping machine main body; the carriage supporting mechanism comprises a supporting seat and two clamping plates arranged at the bottom; a linear driving mechanism and a guide mechanism are arranged above the supporting seat, and the carriage is clamped by the linear driving mechanism through a driving clamping plate; an electromagnet A is arranged at the lower part of the bottom plate of the supporting seat; a new mop containing groove and an old mop containing groove are sequentially arranged at the left part of the mopping machine base, a supporting area is arranged at the right part of the mopping machine base, one end of a transition plate is hinged with one end of a supporting box body on the mopping machine base, and the other end of the transition plate is abutted against the ground; the new mop accommodating groove and the old mop accommodating groove are respectively provided with a lifting plate A and a lifting plate B, and the lifting plate A and the lifting plate B are respectively driven by a vertical driving mechanism A and a vertical driving mechanism B. This mopping machine can avoid the user to contact the filth, can improve user's comfort level, simultaneously, also can guarantee intelligent robot's operating efficiency.

Description

Floor mopping machine

Technical Field

The invention belongs to the technical field of cleaning equipment, and particularly relates to a floor mopping machine.

Background

With the development of science and technology, more and more families adopt intelligent machines to assist people in cleaning operation. In the prior art, the intelligent cleaning robot has the same and different structure, and mostly a piece of spread mop cloth is placed at the bottom of a product, and the movement track of the intelligent robot is controlled by an internal controller, so that the floor mopping operation is completed.

However, in the process of mopping the floor, the existing intelligent robot product usually needs manual mop replacement, and this process makes the user easily touch the dirt, reduces the comfort of the user, and in addition, reduces the operating efficiency of the intelligent robot.

Disclosure of Invention

In view of the problems of the prior art, the invention provides a floor mopping machine which can prevent a user from contacting with dirt, improve the comfort of the user and ensure the working efficiency of an intelligent robot.

In order to achieve the purpose, the invention provides a floor mopping machine, which comprises a floor mopping machine main body and a floor mopping machine base, wherein the floor mopping machine main body comprises a machine body, a planker supporting mechanism is arranged at the lower end of the left part of the machine body, walking wheels are arranged at the lower end of the right part of the machine body, a driving mechanism for driving the walking wheels, a controller A for controlling the action of the driving mechanism and a wireless communication module A for communicating with the outside are arranged in the machine body;

the carriage supporting mechanism comprises a supporting seat fixedly connected to the lower end of the left part of the machine body and two clamping plates oppositely arranged at the lower end of the supporting seat, the supporting seat consists of a bottom plate and a surrounding plate which is annularly and fixedly connected to the periphery of the upper end face of the bottom plate, a pair of notches are correspondingly formed in the front part and the rear part of the supporting seat respectively, and the pair of notches respectively extend to the outer side of the surrounding plate from the positions close to the edge of the bottom plate;

the center of the upper end face of the bottom plate is provided with a linear driving mechanism, two pairs of guide mechanisms which are respectively arranged corresponding to the two pairs of notches are arranged on the front side and the rear side of the linear driving mechanism, the linear driving mechanism comprises a pair of driving motors which are arranged in a back direction and fixedly connected to the center of the bottom plate, a pair of bearing seats which are respectively fixedly connected to the left end and the right end of the bottom plate corresponding to the pair of driving motors, a pair of driving screw rods which are respectively connected between output shafts of the pair of driving motors and the pair of bearing seats, and a pair of sliding pairs which are respectively sleeved on the pair of driving screw rods in a threaded fit mode;

each pair of guide mechanisms comprises a pair of inner support blocks correspondingly and fixedly connected to the upper end face of the bottom plate, a pair of outer support blocks respectively arranged corresponding to the pair of inner support blocks and fixedly connected to the left end and the right end of the bottom plate, a pair of connecting arms respectively arranged in the pair of gaps, a pair of guide rods respectively connected between the pair of inner support blocks and the pair of outer support blocks, and a pair of guide sleeves respectively sleeved on the outer sides of the pair of guide rods in a sliding manner; the pair of connecting arms are respectively arranged in the pair of notches in a sliding manner, one end of each connecting arm is fixedly connected with the upper end of the corresponding clamping plate, and the other end of each connecting arm is fixedly connected with the corresponding guide sleeve;

the sliding pair positioned on the same side is fixedly connected with two guide sleeves in the two pairs of guide mechanisms through connecting plates on the front side and the rear side of the sliding pair respectively; two electromagnets A are correspondingly and fixedly connected with the front end and the rear end of the lower end surface of the bottom plate, and the two electromagnets A are used for attracting and matching with a dragging plate positioned at the bottom of the supporting seat; the two clamping plates are clamped and matched with the left end and the right end of the carriage in a clamping state; the section of the clamping plate is L-shaped; the carriage is made of stainless steel, and a carriage layer is arranged at the bottom of the carriage;

the controller A is also connected with the electromagnet A and the wireless communication module A;

the floor mopping machine base comprises a supporting box body and a transition plate, wherein a new mop accommodating groove and an old mop accommodating groove are sequentially formed in the left part of the supporting box body from left to right, the right part of the supporting box body is a supporting area, one end of the transition plate is hinged to the right end of the supporting box body, and the other end of the transition plate is in butt fit with the ground; a lifting plate A which is in sliding fit with the new mop accommodating groove is arranged in the new mop accommodating groove, and a vertical lifting mechanism A for lifting the lifting plate A is arranged below the lifting plate A; a lifting plate B which is in sliding fit with the old mop accommodating groove is arranged in the old mop accommodating groove, and a vertical lifting mechanism B for lifting the lifting plate B is arranged at the bottom of the lifting plate B; the lifting mechanism A and the lifting mechanism B are both linear electric push rods; the supporting box body is internally provided with a wireless communication module B for communicating with the outside and a controller B for controlling the vertical lifting mechanism A and the vertical lifting mechanism B, and the controller B is connected with the wireless communication module B.

In the technical scheme, through the synchronous action of two driving motors in the linear driving mechanism, the two sliding pairs can be driven to move towards the outer side or towards the inner side simultaneously, the guide sleeves in the two pairs of guide mechanisms are fixedly connected with the sliding pairs in the linear driving mechanism through the connecting plates, the guide sleeves are fixedly connected with the clamping plates at the lower parts of the supporting seats through the connecting arms, and the guide sleeves are sleeved on the guide rods in a sliding mode. The electromagnet A arranged at the bottom of the bottom plate of the supporting seat can be matched with the mop plate in a suction way under the control of the controller A, and the mop plate in the new mop accommodating groove can be conveniently adsorbed on the bottom plate of the supporting seat. The new and old mop receiving recesses in the floor mopping machine base can cooperate with a pair of clamps and an electromagnet a in the floor mopping machine body to accomplish the removal of the old mop and the addition of the new mop. This mopping machine can avoid the user to contact the filth, can improve user's comfort level, simultaneously, also can guarantee intelligent robot's operating efficiency.

Further, in order to make the crawling efficiency of the main body of the floor mopping machine higher, the upper surface of the transition plate is provided with rubber anti-skidding lines.

Further, in order to facilitate the ventilation and dehumidification of the new mop accommodating groove and the old mop accommodating groove, the sidewall of the supporting case is provided with ventilation windows respectively communicated with the new mop accommodating groove and the old mop accommodating groove.

Furthermore, in order to facilitate the dragging plate on the mopping machine main body to smoothly separate from the mopping machine main body and enter the old mop containing groove, four electromagnets B are arranged around the old mop containing groove, and the controller B is also respectively connected with the four electromagnets B.

Further, lifter plate A's front end edge and rear end edge respectively are connected with two gyro wheels, have seted up vertical groove in the position that corresponds the gyro wheel on the inside wall of new mop holding recess, and four gyro wheels set up respectively in four vertical grooves to guarantee the stationarity of lifter plate A lift in-process.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the main body of the mopping machine of the present invention;

FIG. 3 is a schematic structural view of the support base of the present invention;

FIG. 4 is a schematic view of the assembly of the linear drive mechanism, guide mechanism and clamp plate of the present invention;

FIG. 5 is a schematic view of the assembly of the mopping platform and the mop cloth according to the present invention;

FIG. 6 is a schematic view of the structure of the base of the mopping machine of the present invention;

fig. 7 is a schematic view of the structure of portion a in fig. 6.

In the figure: 1. the mopping machine comprises a mopping machine body, 2, a mopping machine base, 3, a machine body, 4, walking wheels, 5, a clamping plate, 6, a bottom plate, 7, a coaming, 8, a notch, 9, a driving motor, 10, a bearing seat, 11, a driving screw rod, 12, a sliding pair, 13, an inner supporting block, 14, an outer supporting block, 15, a guide sleeve, 16, a connecting plate, 17, an electromagnet A, 18, a mopping plate supporting mechanism, 19, a supporting seat, 20, a connecting arm, 21, a guide rod, 22, a guide sleeve, 23, a connecting plate, 24, a mopping plate, 25, a mopping layer, 26, a supporting box body, 27, a transition plate, 28, a supporting area, 29, a new mopping cloth accommodating groove, 30, an old mopping cloth accommodating groove, 31, a lifting plate A, 32, a lifting plate B, 33, a rubber anti-skid grain, 34, a ventilation window, 35, an electromagnet.

Detailed Description

The present invention is further described below.

As shown in fig. 1 to 7, a floor mopping machine comprises a floor mopping machine main body 1 and a floor mopping machine base 2, wherein the floor mopping machine main body 1 comprises a machine body 3, a planker supporting mechanism 18 is arranged at the lower end of the left part of the machine body 3, a travelling wheel 4 is arranged at the lower end of the right part of the machine body 3, a driving mechanism for driving the travelling wheel, a controller a for controlling the driving mechanism to act and a wireless communication module a for communicating with the outside are arranged in the machine body 3;

the carriage supporting mechanism 18 comprises a supporting seat 19 fixedly connected to the lower end of the left part of the machine body 3 and two clamping plates 5 oppositely arranged at the lower end of the supporting seat, the supporting seat 19 consists of a bottom plate 6 and a surrounding plate 7 which is annularly and fixedly connected to the periphery of the upper end face of the bottom plate 6, a pair of notches 8 are correspondingly arranged at the front part and the rear part of the supporting seat 19 respectively, and the pair of notches 8 respectively extend to the outer side of the surrounding plate 7 from the positions close to the edge of the bottom plate 6;

a linear driving mechanism is arranged in the center of the upper end face of the bottom plate 6, two pairs of guide mechanisms which are respectively arranged corresponding to the two pairs of notches 8 are arranged on the front side and the rear side of the linear driving mechanism, the linear driving mechanism comprises a pair of driving motors 9 which are arranged in a back direction and fixedly connected to the center of the bottom plate 6, a pair of bearing seats 10 which are respectively fixedly connected to the left end and the right end of the bottom plate 6 corresponding to the pair of driving motors 9, a pair of driving screw rods 11 which are respectively connected between output shafts of the pair of driving motors 9 and the pair of bearing seats 10, and a pair of sliding pairs 12 which are respectively sleeved on the pair of driving screw rods 11 in a threaded fit manner, and the driving screw;

each pair of guide mechanisms comprises a pair of inner support blocks 13 correspondingly and fixedly connected to the upper end face of the bottom plate 6, a pair of outer support blocks 14 respectively arranged corresponding to the pair of inner support blocks 13 and fixedly connected to the left end and the right end of the bottom plate 6, a pair of connecting arms 20 respectively arranged in the pair of gaps 8, a pair of guide rods 21 respectively connected between the pair of inner support blocks 13 and the pair of outer support blocks 14, and a pair of guide sleeves 22 respectively sleeved outside the pair of guide rods 21 in a sliding manner; a pair of connecting arms 20 are respectively arranged in the pair of notches 8 in a sliding manner, one end of each connecting arm 20 is fixedly connected with the upper end of the clamping plate 5, and the other end of each connecting arm 20 is fixedly connected with the guide sleeve 22; the connecting arm 20 slides in the notch 8 to move the clamping plate 5 in the left-right direction.

The sliding pair 12 positioned on the same side is fixedly connected with two guide sleeves 22 in two pairs of guide mechanisms through connecting plates 23 on the front side and the rear side respectively; two electromagnets A17 are fixedly connected at the front end and the rear end of the lower end face of the bottom plate 6 correspondingly, and the two electromagnets A17 are used for attracting and matching with the carriage 24 at the bottom of the supporting seat 19; the two clamping plates 5 are clamped and matched with the left end and the right end of the carriage 24 in a clamping state; the section of the clamping plate 5 is L-shaped; the carriage 24 is made of stainless steel, and a carriage cloth layer 25 is arranged at the bottom of the carriage 24;

the controller A is also connected with the electromagnet A17 and the wireless communication module A; the main body 1 of the mopping machine can also be provided with a plurality of distance measuring sensors connected with the controller A, so as to realize obstacle avoidance in the operation process.

The floor mopping machine base 2 comprises a supporting box body 26 and a transition plate 27, wherein a new mop accommodating groove 29 and an old mop accommodating groove 30 are sequentially formed in the left part of the supporting box body 26 from left to right, the right part of the supporting box body 26 is a supporting area 28, one end of the transition plate 27 is hinged to the right end of the supporting box body 26, and the other end of the transition plate 27 is in butt fit with the ground; a lifting plate A31 which is in sliding fit with the new mop accommodating groove 29 is arranged inside the new mop accommodating groove 29, and a vertical lifting mechanism A for lifting the lifting plate A31 is arranged below the lifting plate A31; a lifting plate B32 which is in sliding fit with the old mop accommodating groove 30 is arranged in the old mop accommodating groove 30, and a vertical lifting mechanism B for lifting the lifting plate B32 is arranged at the bottom of the lifting plate B32; the lifting mechanism A and the lifting mechanism B are both linear electric push rods; a wireless communication module B for communicating with the outside and a controller B for controlling the vertical lifting mechanism a and the vertical lifting mechanism B are arranged in the supporting box 26, and the controller B is connected with the wireless communication module B.

The upper surface of the transition plate is provided with rubber antiskid lines 33.

The side walls of the support box 26 are provided with ventilation windows 34 which communicate with the new mop receiving recess 29 and the old mop receiving recess 30, respectively.

Four electromagnets B35 are arranged around the old mop receiving recess 30, and the controller B is also connected to four electromagnets B35, respectively.

The front end edge and the rear end edge of lifter plate A31 respectively are connected with two gyro wheels 36, and vertical groove 37 has been seted up in the position that corresponds gyro wheel 36 on the inside wall of new mop holding groove 29, and four gyro wheels 36 set up respectively in four vertical grooves 37 to guarantee the stationarity of lifter plate A31 lift in-process.

The two sliding pairs can be simultaneously driven to simultaneously move outwards or inwards by the synchronous action of the two driving motors in the linear driving mechanism, the guide sleeves in the two pairs of guide mechanisms are fixedly connected with the sliding pairs in the linear driving mechanism through the connecting plates, and are also fixedly connected with the clamping plates at the lower parts of the supporting seats through the connecting arms and are sleeved on the guide rods in a sliding manner, so that the two clamping plates can be synchronously driven to mutually approach and mutually separate in the moving process of the two sliding pairs, and the clamping and loosening action of the planker at the bottom of the supporting seat can be further realized. The electromagnet A arranged at the bottom of the supporting seat bottom plate can be matched with the dragging plate in an attracting way under the control of the controller A. When the mopping operation is required, the controller A controls the two driving motors to rotate in the synchronous forward direction for a set time, so that the two sliding pairs move inwards for a specific distance to effectively clamp the carriage at the bottom of the supporting seat. When the planker needs to be changed, controller A and controller B establish communication connection, in order to acquire the position of mopping machine base, after acquiring the position, controller A control mopping machine main part passes through cab apron A and reachs the upper portion of mopping machine base, specifically speaking, can also rectify the mopping machine main part through the manual work and cross the cab apron on, so that the mopping machine main part can reach the upper portion of supporting box through crossing the cab apron, can also set up inductive switch in the lower part one side of mopping machine main part, set up rather than a plurality of response pieces of matched with on the upper portion of mopping machine base, confirm through inductive switch and response piece feedback to controller A's signal that the mopping machine main part stops in new mop holds the recess top or stops in old mop holds the recess top. Certainly, a remote controller can be arranged and is communicated with the controller A through a wireless communication module A, so that the motion of the mopping machine main body can be manually controlled to reach the upper part of the supporting box body through the transition plate, or the stopping position of the mopping machine main body is controlled to enable the right part of the mopping machine to stop in the supporting area, the left part of the mopping machine stops above the old mop accommodating groove, the size of the old mop accommodating groove is matched with that of the mopping plate, two driving motors are controlled to synchronously rotate reversely for setting time, two sliding pairs move outwards for a specific distance to release the mopping plate from a clamping state, at the moment, the controller A controls the electromagnet A to be powered off, the mopping plate falls into the old mop accommodating groove under the action of self weight, in the process, the controller B drives the vertical lifting mechanism B to enable the lifting plate B to reach the position close to the top, and descends for one set position after each mopping plate falls, the upper surface of the mop plate on the uppermost layer in the old mop containing groove is just aligned with the top of the supporting box body, so that the main body of the mopping machine can continue to move towards the new mop containing groove on the left part. After the mop plate is put into the old mop cloth containing groove, the controller A controls the main body of the mopping machine to move leftwards continuously, when the supporting seat reaches the upper part of the new mop accommodating groove, the supporting seat stops, at the moment, the controller B controls the vertical lifting mechanism A to drive the lifting plate A to move upwards for a set distance, so that the planker positioned at the uppermost layer rises to a position close to the lower end surface of the supporting seat bottom plate, meanwhile, the controller A controls the two driving motors to synchronously rotate so as to enable the two clamping plates to simultaneously move towards the directions far away from each other, meanwhile, the electromagnet A is controlled to be electrified, the dragging plate is adsorbed to the lower end face of the supporting seat by the electromagnet A, after the electromagnet A is electrified for a period of time, the two driving motors are controlled to synchronously rotate, so that the two clamping plates simultaneously move towards each other for a set time, and the clamping plates stop when being clamped, and the purpose of replacing the mop cloth is achieved. After the replacement is finished, the controller A controls the driving mechanism to act, and the transition plate is driven down to carry out mopping operation again.

Claims

1. A floor mopping machine comprises a floor mopping machine main body (1) and is characterized by further comprising a floor mopping machine base (2), wherein the floor mopping machine main body (1) comprises a machine body (3), a planker supporting mechanism (18) is arranged at the lower end of the left part of the machine body (3), walking wheels (4) are arranged at the lower end of the right part of the machine body (3), a driving mechanism for driving the walking wheels, a controller A for controlling the driving mechanism to act and a wireless communication module A for communicating with the outside are arranged inside the machine body (3);

the carriage supporting mechanism (18) comprises a supporting seat (19) fixedly connected to the lower end of the left part of the machine body (3) and two clamping plates (5) oppositely arranged at the lower end of the supporting seat (19), the supporting seat (19) consists of a bottom plate (6) and a coaming (7) which is annularly and fixedly connected to the periphery of the upper end face of the bottom plate (6), a pair of notches (8) are correspondingly formed in the front part and the rear part of the supporting seat (19), and the notches (8) extend to the outer side of the coaming (7) from positions close to the edge of the bottom plate (6);

a linear driving mechanism is arranged in the center of the upper end face of the bottom plate (6), two pairs of guide mechanisms which are respectively arranged corresponding to the two pairs of notches (8) are arranged on the front side and the rear side of the linear driving mechanism, the linear driving mechanism comprises a pair of driving motors (9) which are arranged in a back direction and fixedly connected to the center of the bottom plate (6), a pair of bearing seats (10) which are respectively fixedly connected to the left end and the right end of the bottom plate (6) corresponding to the pair of driving motors (9), a pair of driving screw rods (11) which are respectively connected between the output shafts of the pair of driving motors (9) and the pair of bearing seats (10) and a pair of sliding pairs (12) which are respectively sleeved on the pair of driving screw rods (11) in a threaded fit mode, and the driving screw rods (11) are;

each pair of guide mechanisms comprises a pair of inner support blocks (13) which are correspondingly and fixedly connected to the upper end surface of the bottom plate (6), a pair of outer support blocks (14) which are respectively arranged corresponding to the pair of inner support blocks (13) and fixedly connected to the left end and the right end of the bottom plate (6), a pair of connecting arms (20) which are respectively arranged in the pair of gaps (8), a pair of guide rods (21) which are respectively connected between the pair of inner support blocks (13) and the pair of outer support blocks (14), and a pair of guide sleeves (22) which are respectively sleeved outside the pair of guide rods (21) in a sliding manner; the pair of connecting arms (20) are respectively arranged in the pair of notches (8) in a sliding manner, one end of each connecting arm (20) is fixedly connected with the upper end of the corresponding clamping plate (5), and the other end of each connecting arm is fixedly connected with the corresponding guide sleeve (22);

the sliding pair (12) positioned on the same side is fixedly connected with two guide sleeves (22) in the two pairs of guide mechanisms through connecting plates (23) on the front side and the rear side of the sliding pair respectively; two electromagnets A (17) are correspondingly and fixedly connected with the front end and the rear end of the lower end surface of the bottom plate (6), and the two electromagnets A (17) are used for attracting and matching with a dragging plate (24) positioned at the bottom of the supporting seat (19); the two clamping plates (5) are clamped and matched with the left end and the right end of the carriage (24) in a clamping state; the section of the clamping plate (5) is L-shaped; the carriage (24) is made of stainless steel, and a carriage layer (25) is arranged at the bottom of the carriage;

the controller A is also connected with the electromagnet A (17) and the wireless communication module A;

the mopping machine base (2) comprises a supporting box body (26) and a transition plate (27), a new mop accommodating groove (29) and an old mop accommodating groove (30) are sequentially formed in the left part of the supporting box body (26) from left to right, a supporting area (28) is arranged in the right part of the supporting box body (26), one end of the transition plate (27) is hinged with the right end of the supporting box body (26), and the other end of the transition plate is abutted and matched with the ground; a lifting plate A (31) which is in sliding fit with the new mop accommodating groove (29) is arranged in the new mop accommodating groove (29), and a vertical lifting mechanism A for lifting the lifting plate A (31) is arranged below the lifting plate A (31); a lifting plate B (32) which is in sliding fit with the old mop accommodating groove (30) is arranged in the old mop accommodating groove (30), and a vertical lifting mechanism B for lifting the lifting plate B (32) is arranged at the bottom of the lifting plate B (32); the lifting mechanism A and the lifting mechanism B are both linear electric push rods; the supporting box body (26) is internally provided with a wireless communication module B for communicating with the outside, and a controller B for controlling the vertical lifting mechanism A and the vertical lifting mechanism B, wherein the controller B is connected with the wireless communication module B, and the controller B and the controller A are interactively connected through a wireless communication link between the wireless communication module A and the wireless communication module B.

2. A floor cleaning machine according to claim 1, characterized in that the upper surface of the transition plate is provided with rubber skidproof grains (33).

3. A mopping machine according to claim 1 or 2, characterized in that the side walls of the support box (26) are provided with ventilation windows (34) communicating with the new mop receiving recess (29) and the old mop receiving recess (30), respectively.

4. A mopping machine according to claim 3, characterized in that four electromagnets B (35) are arranged around the old mop receiving recess (30), and the controller B is further connected with the four electromagnets B (35), respectively.

5. The mopping machine according to claim 4, wherein the front end edge and the rear end edge of the lifting plate A (31) are respectively connected with two rollers (36), a vertical groove (37) is formed in the inner side wall of the new mop accommodating groove (29) at a position corresponding to the rollers (36), and the four rollers (36) are respectively arranged in the four vertical grooves (37) so as to ensure the stability of the lifting plate A (31) in the lifting process.