CN110279353A - A kind of commercialization Intelligent cleaning robot - Google Patents
A kind of commercialization Intelligent cleaning robot Download PDFInfo
- Publication number
- CN110279353A CN110279353A CN201910660120.7A CN201910660120A CN110279353A CN 110279353 A CN110279353 A CN 110279353A CN 201910660120 A CN201910660120 A CN 201910660120A CN 110279353 A CN110279353 A CN 110279353A
- Authority
- CN
- China
- Prior art keywords
- dirt
- pushes away
- cleaning
- component
- buffer board
- 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.)
- Pending
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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
- A47L11/40—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
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
-
- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of commercial Intelligent cleaning robots comprising: component of sweeping the floor, dirt push away component, dust suction subassembly, moving assembly, body, ultrasonic wave module, the electrically-controlled component for circuit communication and communication, the key panel for user's operation, the lamp plate of display working condition, the sound equipment for prompting sounding, ranging from radar module, for instruct the wireless remote control module transmitted and for the charging head of charging；It sweeps the floor component and dirt pushes away component and is arranged in tray bottom, component sweep the floor relative to chassis Liftable, simultaneously sweep the floor component relative to chassis can vertical rotating and and ground between have pitch angle, dirt pushes away component relative to chassis Liftable, dust suction subassembly is arranged at the top of chassis and is located in shell, and chassis is moved forward or back by moving assembly；The robot can satisfy complicated ground environment and large-scale cleaning region, and action is convenient and clean, enhance the adaptation ground ability and cleaning capacity of robot.
Description
Technical field
The present invention relates to cleaning technology fields of sweeping the floor, in particular to a kind of commercial Intelligent cleaning robot.
Background technique
Clean robot also known as sweeps machine, intelligent dust suction, robot cleaner etc. automatically, can be by certain artificial intelligence
Can, complete floor cleaning work in the room automatically.It is general to be swept using brush and vacuum mode, ground sundries is first received into from
The rubbish storage box of body, to complete the function of land clearing.
All it is at present now household cleaning machine people on the market, has no the Intelligent cleaning robot used for business environment,
Household cleaning machine human body product is smaller, cleans and dust collection efficiency is lower, and it is big can not to be suitable for market, airport, museum, office building etc.
Type region.
Summary of the invention
The purpose of the present invention is to provide a kind of commercial Intelligent cleaning robots, by cleaning, dust suction and can mop floor
Three kinds of operations, clean ground three times, are walked by lift adjustment height avoidance, are adapted to by the change of pitch angle
Ground can satisfy complicated ground environment and large-scale cleaning region, and action is convenient and clean, enhances robot
Adaptation ground ability and cleaning capacity.
The embodiment of the present invention is achieved in that
A kind of commercialization Intelligent cleaning robot comprising: the dust suction subassembly of component of sweeping the floor, absorption dust for sweeping the floor,
The dirt for smearing ground pushes away component, for mobile moving assembly and body, and body includes the shell of chassis and connecting base plate, component of sweeping the floor
It pushes away component with dirt to be arranged in tray bottom, dust suction subassembly is mounted on chassis, and component of sweeping the floor is by the clast, particulate matter or dust on ground
It collects and is once cleaned, dust is sucked inter-process and carries out secondary cleaning by dust suction subassembly, and dirt pushes away component and pastes ground
It adsorbs dust and is cleaned three times；Component sweep the floor relative to chassis Liftable, while component of sweeping the floor can relative to chassis
Vertical rotating and pitch angle is formed between ground, dirt pushes away component relative to chassis Liftable, while to push away component opposite for dirt
Vertical rotating and pitch angle can be formed between ground in chassis, when chassis is moved forward or back with moving assembly, sweep the floor component and
Dirt pushes away component by hoisting depth avoidance, sweeps the floor component and dirt pushes away component and contacts with ground flexible and stress, so that group of sweeping the floor
Part and dirt push away component relative to ground rotation and change pitch angle, adapt to ground by the change of pitch angle, smoothly advance.
In preferred embodiments of the present invention, above-mentioned body further include mount holder, connection frame, turn to fishplate bar, guide rail and
Electric cylinders, mount holder are fixed at the top of chassis, and the both ends of mount holder are respectively fixed with guide rail, and the both ends of connection frame are separately connected
Fishplate bar is turned to, fishplate bar is turned to and is provided with the track slot being mutually matched with guide rail, guide rail card enters in track slot, and connection frame is by turning to fishplate bar
It is slided relative to guide rail, the top bottom of electric cylinders is separately fixed at connection frame and chassis, drives connection frame relative to bottom plate by electric cylinders
Bracket moves up and down and adjusts height.
In preferred embodiments of the present invention, above-mentioned component of sweeping the floor includes cleaning adjustable plate, clean support frame and cleaning mould
Block cleans adjustable plate and is fixed on connection frame, cleans support frame and to clean adjustable plate hinged, clean module connection cleaning support frame and
Change pitch angle by cleaning support frame.
In preferred embodiments of the present invention, above-mentioned cleaning module cleans buffer board, the first spring, second clearly including first
Buffer board is swept, guide post is cleaned and cleans substrate, substrate is cleaned and has dust-collecting box and cleaning brush, the first cleaning buffer board is connected to clearly
Support frame bottom is swept, cleaning guide post is placed in the first spring and both ends are separately connected the first cleaning buffer board and second and clean buffering
Plate, the second cleaning buffer board are fixed on substrate, clean substrate and pass through the first spring oscilaltion adjustment height.
In preferred embodiments of the present invention, above-mentioned cleaning module further include the universal ball seat for buffering, multi-directional ball and
Universal ball stand, multi-directional ball are caught in universal ball seat and can be rotated relative to universal ball seat, and universal ball seat passes through universal ball stand
Be fixed to cleaning substrate, when commercial Intelligent cleaning robot is subjected to impact, multi-directional ball mount holder an end face sliding and
Play buffer function.
In preferred embodiments of the present invention, it includes that dirt pushes away mounting plate and dirt pushes away module that above-mentioned dirt, which pushes away component, and dirt pushes away installation
Plate is fixed on connection frame, and dirt pushes away module and is connected to that dirt pushes away mounting plate bottom and to push away mounting plate by dirt adjustable relative to mount holder
Section height.
In preferred embodiments of the present invention, it includes that the first dirt pushes away buffer board, second spring, the second dirt that above-mentioned dirt, which pushes away module,
Push away buffer board, dirt pushes away fishplate bar and bottom with the dirt of mop pushes away substrate, the first dirt pushes away buffer board and is connected to the bottom that dirt pushes away mounting plate
Portion, dirt derive that column is placed in second spring and both ends are separately connected that the first dirt pushes away buffer board and the second dirt pushes away buffer board, and dirt pushes away base
Plate, which by dirt pushes away fishplate bar and is fixed on the second dirt, to be pushed away buffer board and adjusts height up and down by second spring, and dirt pushes away fishplate bar relative to the
Two dirt push away buffer board rotation and adjust the pitch angle that dirt pushes away substrate.
In preferred embodiments of the present invention, above-mentioned commercialization Intelligent cleaning robot further includes ultrasonic wave module, ultrasonic wave
Module includes multiple ultrasonic sensors, and multiple ultrasonic sensors are distributed setting along the surrounding of shell respectively.
In preferred embodiments of the present invention, above-mentioned moving assembly includes wheel, universal wheel and castor, and wheel is fixed on bottom
Pan bottom, castor are fixed on dirt and push away base plate bottom, and universal wheel is fixed on cleaning base plate bottom.
In preferred embodiments of the present invention, above-mentioned commercialization Intelligent cleaning robot further includes for circuit communication and communication
Electrically-controlled component, for the key panel of user's operation, the lamp plate of display working condition, the sound equipment for prompting sounding, ranging
From radar module, for instruct transmitting wireless remote control module and for the charging head of charging.
The beneficial effects of the present invention are:
When the present invention passes through commercial Intelligent cleaning robot work, component of sweeping the floor is by the clast, particulate matter or dust on ground
It collects and is once cleaned, dust is sucked inter-process and carries out secondary cleaning by dust suction subassembly, and dirt pushes away component and pastes ground
Absorption dust and cleaned three times, when the walking of commercial Intelligent cleaning robot, sweep the floor component and dirt push away component and passes through promotion
Highly avoidance, while substrate and ground flexible contact are cleaned, it is rotated so that cleaning support plate relative to adjustable plate is cleaned
And changing pitch angle relative to ground, dirt pushes away substrate and ground flexible contact, pushes away and connects relative to dirt so that dirt pushes away substrate
Plate rotates and changes pitch angle, pushes away mounting plate by cleaning adjustable plate and dirt and goes up and down adjustment relative to mount holder with connection frame
Highly, by first cleaning buffer board relative to second cleaning buffer board move up and down, by the first dirt push away buffer board relative to
Second dirt pushes away buffer board and moves up and down；The robot can be operated by cleaning, dust suction and mopping floor three kinds, be carried out three times to ground
Cleaning is walked by lift adjustment height avoidance, adapts to ground by the change of pitch angle, can satisfy complicated ground
Face ring border and large-scale cleaning region, action is convenient and clean, enhances the adaptation ground ability and cleaning energy of robot
Power.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range.
Fig. 1 is the commercial Intelligent cleaning robot perspective view of the present invention；
Fig. 2 is the cleaning schematic diagram of the commercial Intelligent cleaning robot of the present invention；
Fig. 3 is the interior section structure chart of the commercial Intelligent cleaning robot of the present invention；
Fig. 4 is the side view of component of the invention of sweeping the floor；
Fig. 5 is the side view that the present invention cleans module；
Fig. 6 is the bottom diagram of component of the invention of sweeping the floor；
Fig. 7 is the internal structure chart of component of the invention of sweeping the floor；
Fig. 8 is the chart at the bottom of that the present invention cleans substrate；
Fig. 9 is the side view that dirt of the present invention pushes away component；
Figure 10 is the front view that dirt of the present invention pushes away module；
Figure 11 is the bottom diagram that dirt of the present invention pushes off block；
Figure 12 is the internal structure chart of the commercial Intelligent cleaning robot of the present invention；
Figure 13 is the bottom diagram of the commercial Intelligent cleaning robot of the present invention；
Figure 14 is the internal front view of the commercial Intelligent cleaning robot of the present invention；
Figure 15 is the rearview of the commercial Intelligent cleaning robot of the present invention；
Icon: 1- body；The chassis 11-；12- shell；13- mount holder；14- connection frame；15- turns to fishplate bar；16- is led
Rail；17- electric cylinders；18- sponge cover board；2- sweeps the floor component；21- cleans adjustable plate；22- cleans support plate；23- cleans module；
231- first cleans buffer board；232- second cleans buffer board；The first spring of 233-；234- cleans guide post；24- cleans substrate；
241- dust-collecting box；251- multi-directional ball；252- universal ball seat；The universal ball stand of 253-；26- cleaning brush；3- dirt pushes away component；31- dirt
Push away mounting plate；32- dirt pushes away module；The first dirt of 321- pushes away buffer board；The second dirt of 322- pushes away buffer board；323- second spring；324-
Dirt derives column；33- dirt pushes away fishplate bar；34- dirt pushes away substrate；35- mop；4- moving assembly；41- wheel；42- universal wheel；43- foot
Wheel；5- dust suction subassembly；51- sweep-up pipe；52- cleaning barrel；6- electrically-controlled component；7- ultrasonic wave module；71- ultrasonic sensor；81-
Key panel；82- lamp plate；83- sound equipment；84- radar module；85- charging head.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
First embodiment
Fig. 1 and 2 is please referred to, the present embodiment provides a kind of commercial Intelligent cleaning robots comprising: it sweeps the floor for what is swept the floor
Component 2, the dirt for smearing ground push away component 3, the dust suction subassembly 5 for absorbing dust, for mobile moving assembly 4, body 1, ultrasonic wave mould
Block 7, for circuit communication and the electrically-controlled component of communication 6, for the key panel 81 of user's operation, the lamp plate of display working condition
82, for prompt the sound equipment 83 of sounding, ranging from radar module 84, the wireless remote control module for instructing transmitting and for filling
The charging head 85 of electricity；Commercial Intelligent cleaning robot is moved forward or back by moving assembly 4, and by sweeping the floor, component 2 receives rubbish
Collection, rubbish by dust suction subassembly 5 sucked and handled, and is mopped floor by the ground that dirt pushes away 3 pairs of component cleanings, is passed through ultrasonic wave
The detection of module 7 carries out avoidance, by 6 circuit communication of electrically-controlled component and communicates, is operated by key panel 81, pass through lamp plate
82 display working conditions carry out prompt and alarm by sound equipment 83, measure distance by radar module 84, pass through wireless remote control mould
Block realizes human-computer interaction, provides constant current source by charging head 85 for robot；It sweeps the floor component 2 and dirt pushes away component 3 and is arranged the bottom of at
11 bottom of disk, component 2 of sweeping the floor is relative to 11 Liftable of chassis, while component 2 of sweeping the floor can vertical rotating relative to chassis 11
With and ground between form pitch angle, dirt pushes away component 3 relative to 11 Liftable of chassis, while dirt pushes away component 3 bottom of relative to
Disk 11 vertical rotating and can form pitch angle between ground, and the setting of dust suction subassembly 5 is at 11 top of chassis and is located in shell 12,
Chassis 11 is moved forward or back by moving assembly 4, and sweeps the floor component 2 and dirt pushes away component 3 by hoisting depth avoidance, group of sweeping the floor
Part 2 and dirt push away component 3 and contact with ground flexible and stress, so that sweeping the floor component 2 and dirt pushes away component 3 and changes relative to ground rotation
Become pitch angle, by adjusting pitch angle change and adapt to ground, smoothly to advance.
Referring to figure 3., body 1 includes chassis 11, shell 12, mount holder 13, connection frame 14, turns to fishplate bar 15, guide rail
16 and electric cylinders 17, chassis 11 is located at the bottom of body 1, chassis 11 for install sweep the floor component 2, dirt push away component 3, dust suction subassembly 5,
Moving assembly 4 and electrically-controlled component 6, chassis 11 is plate-like and is provided with multiple connecting holes for being used to fix each component, and shell 12 is in
Hood-like and bottom margin is connected to the edge on chassis 11, and shell 12 is fixed with chassis 11 by screw, and shell 12 includes multistage
It is spliced, stitching portion, which is adopted, to be screwed, and the top of shell 12 is provided with hinged door-plate, the side of door-plate and shell 12
The opposite pin hole in position is arranged in top edge, connects fixation using pin, and the inside of robot can be carried out by opening door-plate
The work such as maintenance, cleaning, door-plate inside are equipped with sponge cover board 18, and sponge cover board 18 has the through-hole of multiple hollow outs, is used to prevent
Dirt and reduction noise；Mount holder 13 is in frame-like and the top for being fixed by screws in chassis 11, and connection frame 14 is in frame-like
And size is greater than mount holder 13, so that connection frame 14 just entangles mount holder 13, the both ends of mount holder 13 are set respectively
It is equipped with the guide rail 16 of vertical direction, the edge of guide rail 16 is provided with the detent line of vertical direction, and guide rail 16 is provided with threaded hole
And the both ends of mount holder 13 are fixed on using screw, turn to fishplate bar 15 be provided with the track slot being mutually matched with guide rail 16 and mutually
Block, guide rail 16 be caught in track slot makes turn to fishplate bar 15 can be slided up and down relative to guide rail 16, the both ends of connection frame 14 and turn
The opposite threaded hole in position is respectively arranged with to fishplate bar 15 and is fixed the two using bolt, and connection frame 14 is by turning to fishplate bar 15
It is slided relative to guide rail 16, i.e., connection frame 14 can be slided relative to mount holder 13 in vertical direction, the top and bottom ends of electric cylinders 17
It is separately provided for the threaded hole of connection, the top and bottom ends of electric cylinders 17 are individually secured to connection frame 14 and chassis using screw
11, it drives connection frame 14 to move up and down relative to mount holder 13 by electric cylinders 17 and adjusts height.
Component 2 of sweeping the floor includes cleaning adjustable plate 21, clean support plate 22 and cleaning module 23, cleans adjustable plate 21 and connects respectively
It connects and cleans support plate 22 and connection frame 14, cleaning the side of adjustable plate 21, with the side of connection frame 14 to be respectively arranged with position opposite
Threaded hole, be fixed to connection frame 14 for adjustable plate 21 is cleaned using screw, clean adjustable plate 21 by connection frame 14 relative to
Mount holder 13 can be slided in vertical direction, cleaned support plate 22 and be hinged to cleaning adjustable plate 21, clean module 23 and pass through cleaning
Support plate 22 can be rotated relative to adjustable plate 21 is cleaned, and cleaning adjustable plate 21 and cleaning support plate 22, to be provided with a pair of of position opposite
And horizontal pin hole, adjustable plate 21 will be cleaned across pin hole using pin and cleaning support plate 22 connects, and after connection, clean substrate
24 because contacting ground stress when traveling, so that cleaning support plate 22 is relative to the rotation of cleaning adjustable plate 21 and change is relative to ground
Pitch angle.
Referring to figure 4. and Fig. 5, cleaning module 23 include that the first cleaning buffer board 231, second cleans buffer board 232, first
Spring 233 cleans guide post 234, the first rubber buffer, locking member, multi-directional ball 251, universal ball seat 252, universal ball stand
253, substrate 24, rubber scraping article, round brush and 26 turns of cleaning brush of round brush motor, cleaning brush 26 and driving driving round brush rotation are cleaned
Dynamic cleaning brush motor, the locking member are screw, are provided in the middle part of the middle part of the first cleaning buffer board 231 and cleaning support plate 22
First cleaning buffer board 231 is fixed to using bolt and cleans support plate 22 by the opposite connecting hole in position, and first cleans buffer board
231 length, which is greater than, cleans support plate 22, and the both ends of the first cleaning buffer board 231 are respectively arranged with mutual for cleaning guide post 234
Matched through-hole cleans the top of guide post 234 by through-hole and passes through the post holes of the first rubber buffer setting, will using screw
First rubber buffer is stuck in the one end for cleaning guide post 234, when cleaning guide post 234 relative to the first cleaning sliding of buffer board 231,
First rubber buffer generates elastic deformation and to cleaning 234 bumper and absorbing shock of guide post；The top for cleaning guide post 234 passes through first clearly
It sweeps buffer board 231 and matches, the bottom end for cleaning guide post 234 is set as screw thread and screws in the second spiral shell for cleaning the setting of buffer board 232
Fixed in pit, the first spring 233, which is sheathed on, cleans guide post 234, is located at first and cleans buffer board 231 and the second cleaning buffering
Between plate 232, first cleans buffer board 231 can be in vertical direction relative to the second cleaning buffer board 232 by the first spring 233
Oscilaltion and adjust height, clean substrate 24 and be fixed to the bottom of the second cleaning buffer board 232, second cleans buffer board 232
Bottom and clean substrate 24 be respectively arranged with threaded hole and using screw by second cleaning buffer board 232 and clean substrate 24 consolidate
It is fixed；Multi-directional ball 251 is concaved with the space being mutually matched with multi-directional ball 251 in sphere shape, the side of universal ball seat 252, should
The depth in space between multi-directional ball 251 radius between diameter, multi-directional ball 251 is caught in universal ball seat 252 and relative to ten thousand
It can be rotated to ball seat 252, universal ball seat 252 and 251 connection frame 14 of the multi-directional ball threaded hole that position is respectively set is opposite use spiral shell
Universal ball seat 252 is fixed to 251 connection frame 14 of multi-directional ball by bolt, and the bottom setting threaded hole of universal ball stand 253 simultaneously passes through spiral shell
Nail is fixed to the top for cleaning substrate 24, and when commercial Intelligent cleaning robot is subjected to impact, multi-directional ball 251 is in mount holder 13
An end face sliding and play buffer function.
Fig. 6, Fig. 7 and Fig. 8 are please referred to, cleaning substrate 24 includes cleaning bottom plate, cleaning lid, anticollision strip, dust-collecting box 241, magnetic
Iron suction disc and the flat thin magnet for being fixed on magnet suction disc clean lid and are in hood-like and cover at the top for cleaning bottom plate, clean the bottom of lid
Screw thread is arranged in edge, cleans the threaded hole that connection top bottom two sides is arranged in bottom plate, will clean lid using screw and be fixed on cleaning bottom
The edge of plate, anticollision strip is arc-shaped and is mutually matched and touch with the outer edge for cleaning bottom plate, and screw thread is provided on the inside of anticollision strip
Hole, the outer edge for cleaning bottom plate are provided with perforative threaded hole, and anticollision strip is mounted on to the outer rim for cleaning bottom plate using screw,
Dust-collecting box 241 is mounted on cleaning bottom plate, and the side for cleaning bottom plate is provided with the slot being inserted into for dust-collecting box 241,241 phase of dust-collecting box
It can be pumped in slot for cleaning bottom plate, magnet suction disc is fixed on the inner face for cleaning in bottom plate and being located at slot, cleans bottom
The inner face of the slot of plate is concaved with threaded hole, and magnet suction disc is provided with through-hole, and flat thin magnet is provided with through-hole, uses screw
Flat thin magnet is fixed on magnet suction disc, one end of dust-collecting box 241 is made of irony material part, and dust-collecting box 241 is inserted into slot and passes through
Magnetism is adsorbed with flat thin magnet and is fixed；The side of dust-collecting box 241 is provided with the import for collecting rubbish and top is provided with dust suction
Mouthful, import is in long strip, and the setting direction of import cleans the outer rim direction of bottom plate, the size of suction inlet and the bottom end of sweep-up pipe 51
It is mutually matched, rubber scraping article is bonded in the bottom margin of dust-collecting box 241 and is located at entrance, cleans 24 falling head of substrate to ground
When face, rubber scraping article contiguously face and convenient for by garbage shovel into dust-collecting box 241；Round brush is with spiral triangle bristle and rubber
The body of rod shape of scraping blade, the both ends projection of round brush are column and are caught in the card hole of 241 inner wall of dust-collecting box setting that round brush is relative to collection
Dirt box 241 can be rotated, into 241 import of dust-collecting box rubbish under the drive that round brush rotates, volume and the lesser rubbish of quality
It is inhaled into the suction inlet at 241 top of dust-collecting box；The bottom for cleaning bottom plate is arranged in three cleaning brushes 26, cleans bottom plate and is provided with company
Three 26 holes of cleaning brush on logical top bottom two sides, clean brush motor and are fixed by screws in the screw hole for cleaning bottom plate setting, clean
The axis of brush 26 passes through the arbor that 26 hole of cleaning brush is connected to cleaning brush motor bottom, and the bottom end of the axis of cleaning brush 26, which is provided with, to be surrounded
One week bristle, when cleaning brush 26 rotates, bristle cleans refuse sweeping to 241 direction of dust-collecting box, and cleaning brush 26 rotates and will
The rubbish of two sides is swept in the region of round brush bottom covering.
Please refer to Fig. 9 and Figure 10, it includes that dirt pushes away mounting plate 31 and dirt pushes away module 32 that dirt, which pushes away component 3, and dirt pushes away mounting plate 31 and divides
Not Lian Jie dirt push away module 32 and connection frame 14, dirt push away the side of mounting plate 31 and the lateral surface of connection frame 14 to be provided with position opposite
Threaded hole, dirt pushes away to mounting plate 31 and connection frame 14 are fixed, and dirt pushes away module 32 and pushes away mounting plate 31 relatively by dirt using bolt
It can be slided in vertical direction in mount holder 13, dirt pushes away mounting plate 31 and cleans adjustable plate 21 with connection frame 14 relative to bottom plate branch
Adjustable height, dirt push away module 32 including the first dirt pushes away buffer board 321, the second dirt pushes away buffer board 322, second spring to frame 13 simultaneously
323, dirt derive column 324, the second rubber buffer, locking member, dirt pushes away fishplate bar 33, dirt pushes away substrate 34, dirt pushes off plate, mop 35,
Bolt, taper pin and the fabrication hole for mitigating weight and release deformational stress, the locking member are screw, and the first dirt pushes away buffer board
The bottom that 321 middle part and dirt push away mounting plate 31 is respectively arranged with the opposite threaded hole in position, is pushed away the first dirt using bolt slow
Punching 321 is fixed to dirt and pushes away mounting plate 31；The top and bottom ends that dirt derives column 324 are separately connected the first dirt and push away buffer board 321 and the
Two dirt push away buffer board 322, and the both ends that the first dirt pushes away buffer board 321, which are respectively arranged with, derives the through-hole that column 324 is mutually matched for dirt,
The top that dirt derives column 324 passes through the through-hole and pushes away buffer board 321 relative to the first dirt and can twitch, the setting of the second rubber buffer
There is dirt to derive the post holes that column 324 passes through, after the top that dirt derives column 324 passes through the through-hole that the first dirt pushes away buffer board 321, from second
The post holes of rubber buffer is pierced by, and the second rubber buffer is located at dirt and derives the top of column 324 and make to be screwed, and screw will
Second rubber buffer is stuck in the top that dirt derives bar, when dirt derivation column 324 pushes away the sliding of buffer board 321 relative to the first dirt, the
Two rubber buffers generate elastic deformation and to dirt derive 324 bumper and absorbing shock of column, dirt derive column 324 bottom end be set as screw thread and
It screws in the second dirt and pushes away fixation in the threaded hole of the setting of buffer board 322, second spring 323 is sheathed on dirt and derives column 324, second spring
323, which are located at the first dirt, pushes away buffer board 321 and the second dirt pushes away between buffer board 322, and the first dirt pushes away buffer board 321 and passes through second spring
323, which push away buffer board 322 relative to the second dirt, to slide in vertical direction, and dirt pushes away substrate 34 and is provided with threaded hole, and dirt pushes away fishplate bar 33
It is provided with the threaded hole opposite with its position, the top that dirt pushes away substrate 34 is fixed on the bottom that dirt pushes away fishplate bar 33 using screw,
The both ends that second dirt pushes away buffer board 322 are bent separately down and flexure plane is provided with pin hole, and the both ends that dirt pushes away fishplate bar 33 are bent up
Bent and flexure plane is respectively arranged with pin hole, and the second dirt is pushed away buffer board 322 across two pairs of pin holes using pin and dirt pushes away fishplate bar
33 connections after connection, contact ground stress, so that dirt, which pushes away fishplate bar 33, pushes away buffering relative to the second dirt when dirt pushes away substrate 34 because advancing
Plate 322 rotates and changes the pitch angle relative to ground, and when robot is in cleaning process, the wool top in 35 front of mop is accumulated,
So that the front that dirt pushes away is higher compared with rear, the tilting force that entire mechanism is lifted by one will result in during the motion
Mop 35 is shaken, and the dirt pushes away fishplate bar 33 and increases pitch angle relative to the rotational structure that the second dirt pushes away buffer board 322, effectively solves
Certainly this problem.
Figure 11 is please referred to, mop 35 is fixedly bonded to dirt and pushes off board bottom portion, in use, electrostatic is smeared in the bottom of mop 35
Oil prevents mop 35 and ground from generating electrostatic, and mop 35 tightly pastes ground and under the drive of moving assembly 4 by the ash on ground
Dirt is clean；The bottom that dirt pushes away substrate 34, which is provided with, pushes off the card slot that plate is mutually matched with dirt, and dirt pushes away one end of substrate 34
The socket of plate insertion is pushed off equipped with dirt, dirt pushes off plate and the shapes and sizes of card slot are mutually matched, and dirt is pushed off plate and pushed away relative to dirt
Substrate 34 can be pumped, and dirt is pushed off in plate extraction or insertion card slot and changed clothes to mop 35, and dirt pushes away substrate 34 and dirt pushes off plate
Side be respectively arranged with the opposite pin hole in position, dirt is pushed off after plate insertion dirt pushes away substrate 34, and dirt is pushed off plate and fixed by bolt, dirt
One end setting of substrate 34 is pushed away there are two screw hole, taper pin passes through the screw hole by screw and is fixed on the card slot that dirt pushes away substrate 34
Inside, one end that dirt pushes off plate are provided with pin hole and are mutually matched with taper pin, dirt push off plate insertion dirt push away substrate 34 after, taper pin will
Dirt is pushed off plate and is fixed, and dirt pushes off plate setting, and there are six the perforative fabrication holes in top bottom two sides that dirt is pushed off to plate.
Figure 12 is please referred to, dust suction subassembly 5 includes sweep-up pipe 51 and cleaning barrel 52, and screw thread is arranged by edge in cleaning barrel 52
Hole simultaneously makes to be fixed by bolts to rack, and cleaning barrel 52 is provided with the nozzle of connection sweep-up pipe 51, the tip edges of sweep-up pipe 51
Threaded hole is set and is fixed on using screw at the nozzle of sweep-up pipe 51, the bottom end of sweep-up pipe 51 is fixedly welded on dust-collecting box 241
At the suction inlet on top, light refuse is sucked in cleaning barrel 52 and is collected and handles by dust suction subassembly 5.
Figure 13 is please referred to, moving assembly 4 includes wheel 41, universal wheel 42 and castor 43, and wheel 41 is fixed on 11 bottom of chassis
Portion, castor 43 are fixed on dirt and push away 34 bottom of substrate, and universal wheel 42, which is fixed on, cleans 24 bottom of substrate, and the middle part on chassis 11 is provided with
The slot of driving motor is placed, driving motor is placed in the slot, and the axis at driving motor both ends passes through the overhanging connection in two sides on chassis 11
To wheel 41, by the driving motor band rotation of motor car wheel 41 robot is moved forward or back, the axis of castor 43 is stuck in castor
43, castor 43 are arranged screw holes and are fixed on one end of 11 bottom of chassis using screw, are located at the bottom that dirt pushes away substrate 34
Portion, there are four the settings of universal wheel 42, and the axis of universal wheel 42 is caught in universal wheel 42, and 42 setting screw holes of universal wheel simultaneously pass through spiral shell
Nail is fixed on the bottom for cleaning bottom plate, and two of them universal wheel 42 is located at the outer end bottom for cleaning bottom plate, another two universal wheel 42
Positioned at the inner end for cleaning bottom plate.
Please refer to Figure 12, electrically-controlled component 6 includes rack, gyroscope, wireless communication module and battery, rack in frame-like and
It is placed in the top on chassis 11, rack is located in shell 12 and has multilayer, and gyroscope is fixed by screws in rack, is used to adjust
Rotation direction that is whole and determining robot, wireless communication module is fixed on rack using screw, when being used for human-computer interaction, instruction
Transmitting and feedback, battery is bolted on chassis 11, provides power supply for entire robot, wherein battery and charge port
In electrical communication with one another, battery and each motor, gyroscope, wireless communication module are in electrical communication with one another.
Fig. 1, Figure 14 and Figure 15 are please referred to, ultrasonic wave module 7 includes 71,8 supersonic sensings of multiple ultrasonic sensors
Device 71 is distributed setting along the surrounding of shell 12 respectively, and ultrasonic sensor 71 is fixed on outside shell by sensor holder using screw
Portion；Key panel 81 has multiple operation keys, and one end of shell is provided with the panel mouth of installation key panel 81, key panel 81
It is stuck in panel mouth position；Lamp plate 82 is placed in shell 12, and lamp plate 82 is provided with threaded hole and is fixed by screws in rack, sound equipment
83 are bolted on rack and are located in shell 12, and radar module 84 includes laser radar and radar console, laser radar card
In radar console, radar console is bolted on rack, is located at close to the one end for cleaning component, charging head 85 is arranged to plate
Shape and there are two the electricity jack of strip, charging head 85 and internal cell communications for tool.
In conclusion present example commercial Intelligent cleaning robot work when, sweep the floor component by the clast on ground,
Grain object or dust are collected and are once cleaned, and dust is sucked inter-process and carries out secondary cleaning by dust suction subassembly, and dirt pushes away group
Part pastes ground absorption dust and is cleaned three times, when the walking of commercial Intelligent cleaning robot, sweeps the floor component and dirt pushes away group
Part cleans substrate and ground flexible contact by hoisting depth avoidance, so that cleaning support plate relative to cleaning
Adjustable plate rotates and changes the pitch angle relative to ground, and dirt pushes away substrate and ground flexible contact, so that dirt pushes away substrate phase
Fishplate bar rotation is pushed away for dirt and changes pitch angle, pushes away mounting plate with connection frame relative to mount holder by cleaning adjustable plate and dirt
It goes up and down and adjusts height, moved up and down, pushed away by the first dirt slow relative to the second cleaning buffer board by the first cleaning buffer board
Punching pushes away buffer board relative to the second dirt and moves up and down；The robot can be operated by cleaning, dust suction and mopping floor three kinds, over the ground
Face is cleaned three times, is walked by lift adjustment height avoidance, is adapted to ground by the change of pitch angle, can expire
The complicated ground environment of foot and large-scale cleaning region, action is convenient and clean, enhances the adaptation ground energy of robot
Power and cleaning capacity.
Present specification describes the example of the embodiment of the present invention, it is not meant to that these embodiments illustrate and describe this
All possible forms of invention.Those of ordinary skill in the art will understand that the embodiments described herein is to help
Reader understands the principle of the present invention, it should be understood that protection scope of the present invention is not limited to such special statement and implementation
Example.Those skilled in the art can according to the present invention disclosed the technical disclosures make it is various do not depart from it is of the invention real
Various other specific variations and combinations of matter, these variations and combinations are still within the scope of the present invention.
Claims (10)
1. a kind of commercialization Intelligent cleaning robot characterized by comprising the suction of component of sweeping the floor, absorption dust for sweeping the floor
Dirt component, the dirt for smearing ground push away component, for mobile moving assembly and body, and the body includes the shell of chassis and connecting base plate
Body, described to sweep the floor component and dirt pushes away component and is arranged in tray bottom, the dust suction subassembly is mounted on chassis, and the component of sweeping the floor will
The clast on ground, particulate matter or dust are collected and are once cleaned, the dust suction subassembly by dust sucking inter-process and into
The secondary cleaning of row, the dirt push away component and paste ground absorption dust and cleaned three times；The component of sweeping the floor is relative to chassis
Liftable, while component of sweeping the floor vertical rotating and can form between ground pitch angle relative to chassis, the dirt pushes away group
Part is relative to chassis Liftable, while dirt pushes away component and vertical rotating and can form between ground pitching relative to chassis
Angle, it is described to sweep the floor component and dirt pushes away component and passes through hoisting depth avoidance, institute when the chassis is moved forward or back with moving assembly
It states and sweeps the floor component and dirt pushes away component and contacts with ground flexible and stress, so that sweeping the floor component and dirt pushes away component relative to ground rotation
And change pitch angle.
2. a kind of commercial Intelligent cleaning robot according to claim 1, which is characterized in that the body further includes bottom plate
Bracket, connection frame turn to fishplate bar, guide rail and electric cylinders, and the mount holder is fixed at the top of chassis, the both ends of the mount holder
It is respectively fixed with guide rail, the both ends of the connection frame are separately connected steering fishplate bar, and the steering fishplate bar is provided with mutual with guide rail
Matched track slot, the guide rail card enter in track slot, and the connection frame is slided by turning to fishplate bar relative to guide rail, the electric cylinders
Top bottom is separately fixed at connection frame and chassis, drives connection frame to move up and down relative to mount holder by electric cylinders and adjusts height
Degree.
3. a kind of commercial Intelligent cleaning robot according to claim 2, which is characterized in that the component of sweeping the floor includes clear
Adjustable plate is swept, support frame is cleaned and cleans module, the cleaning adjustable plate is fixed on connection frame, the cleaning support frame and cleaning
Adjustable plate is hinged, and the cleaning module connection cleans support frame and changes pitch angle by cleaning support frame.
4. a kind of commercial Intelligent cleaning robot according to claim 3, which is characterized in that the cleanings module includes the
One cleans buffer board, the first spring, the second cleaning buffer board, cleans guide post and clean substrate, and the cleaning substrate has dust
Box and cleaning brush, the first cleaning buffer board are connected to cleaning support frame bottom, and the cleaning guide post is placed in the first spring
And both ends are separately connected the first cleaning buffer board and second and clean buffer board, the second cleaning buffer board is fixed on substrate, institute
It states cleaning substrate and passes through the first spring oscilaltion adjustment height.
5. a kind of commercial Intelligent cleaning robot according to claim 4, which is characterized in that the cleaning module further includes
For the universal ball seat of buffering, multi-directional ball and universal ball stand, the multi-directional ball is caught in universal ball seat and relative to multi-directional ball
Seat can be rotated, and the universal ball seat is fixed to cleaning substrate by universal ball stand, when commercial Intelligent cleaning robot is rushed
When hitting, the multi-directional ball plays buffer function in the sliding of an end face of mount holder.
6. a kind of commercial Intelligent cleaning robot according to claim 2, which is characterized in that it includes dirt that the dirt, which pushes away component,
It pushes away mounting plate and dirt pushes away module, the dirt pushes away mounting plate and is fixed on connection frame, and the dirt, which pushes away module and is connected to dirt, pushes away mounting plate bottom
Portion and mounting plate is pushed away relative to the adjustable height of mount holder by dirt.
7. a kind of commercial Intelligent cleaning robot according to claim 6, which is characterized in that it includes that the dirt, which pushes away module,
One dirt pushes away that buffer board, second spring, the second dirt push away buffer board, dirt pushes away fishplate bar and bottom with the dirt of mop pushes away substrate, and described the
One dirt pushes away buffer board and is connected to the bottom that dirt pushes away mounting plate, and the dirt derives that column is placed in second spring and both ends are separately connected the
One dirt pushes away buffer board and the second dirt pushes away buffer board, and the dirt, which pushes away substrate, by dirt to be pushed away fishplate bar and be fixed on the second dirt and push away buffer board and logical
It crosses second spring and adjusts height up and down, the dirt pushes away fishplate bar and pushes away buffer board rotation relative to the second dirt and adjust dirt and push away bowing for substrate
The elevation angle.
8. a kind of commercial Intelligent cleaning robot according to claim 1, which is characterized in that the commercialization intelligent cleaning machine
Device people further includes ultrasonic wave module, and the ultrasonic wave module includes multiple ultrasonic sensors, multiple ultrasonic sensor difference
Surrounding along shell is distributed setting.
9. a kind of commercialization Intelligent cleaning robot according to claim 5 or 7, which is characterized in that the moving assembly packet
Including wheel, universal wheel and castor, the wheel is fixed on tray bottom, and the castor is fixed on dirt and pushes away base plate bottom, and described ten thousand
Cleaning base plate bottom is fixed on to wheel.
10. a kind of commercialization Intelligent cleaning robot according to claim 5 or 7, which is characterized in that the commercial intelligence is clear
Clean robot further includes for circuit communication and the electrically-controlled component of communication, the key panel for user's operation, display work shape
The lamp plate of state, the sound equipment for prompting sounding, ranging from radar module, for instruct transmitting wireless remote control module and be used for
The charging head of charging.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910660120.7A CN110279353A (en) | 2019-07-22 | 2019-07-22 | A kind of commercialization Intelligent cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910660120.7A CN110279353A (en) | 2019-07-22 | 2019-07-22 | A kind of commercialization Intelligent cleaning robot |
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| CN110279353A true CN110279353A (en) | 2019-09-27 |
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| CN201910660120.7A Pending CN110279353A (en) | 2019-07-22 | 2019-07-22 | A kind of commercialization Intelligent cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110897562A (en) * | 2019-12-20 | 2020-03-24 | 华南智能机器人创新研究院 | Intelligent device for unmanned cleaning |
| CN111387877A (en) * | 2020-03-06 | 2020-07-10 | 上海高仙自动化科技发展有限公司 | Dust pusher and cleaning robot with same |
| CN112089365A (en) * | 2020-09-25 | 2020-12-18 | 哈工大机器人（合肥）国际创新研究院 | Commercial robot of sweeping floor |
| CN112168076A (en) * | 2020-09-25 | 2021-01-05 | 哈工大机器人（合肥）国际创新研究院 | Floor sweeping robot |
| CN112568813A (en) * | 2019-09-29 | 2021-03-30 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| CN113057533A (en) * | 2021-04-13 | 2021-07-02 | 成都莱洁科技有限公司 | Robot cleans subassembly |
| CN113080775A (en) * | 2021-04-13 | 2021-07-09 | 成都莱洁科技有限公司 | Cleaning and disinfecting robot |
| CN113550257A (en) * | 2021-07-17 | 2021-10-26 | 广东丰润环境管理服务有限公司 | Intelligent urban road cleaning device capable of continuously operating |
| CN113693502A (en) * | 2021-06-09 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning equipment and lamp effect control method |
| WO2022103324A1 (en) * | 2020-11-13 | 2022-05-19 | Lionsbot International Pte. Ltd. | A cleaning device and method |
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| CN112568813A (en) * | 2019-09-29 | 2021-03-30 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| CN112568814A (en) * | 2019-09-29 | 2021-03-30 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| US11957285B2 (en) | 2019-09-29 | 2024-04-16 | Beijing Roborock Technology Co., Ltd. | Automatic cleaning device |
| CN112568813B (en) * | 2019-09-29 | 2023-12-22 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| CN112568814B (en) * | 2019-09-29 | 2023-10-27 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and method for automatically cleaning operation surface |
| CN110897562A (en) * | 2019-12-20 | 2020-03-24 | 华南智能机器人创新研究院 | Intelligent device for unmanned cleaning |
| CN111387877A (en) * | 2020-03-06 | 2020-07-10 | 上海高仙自动化科技发展有限公司 | Dust pusher and cleaning robot with same |
| CN112089365A (en) * | 2020-09-25 | 2020-12-18 | 哈工大机器人（合肥）国际创新研究院 | Commercial robot of sweeping floor |
| CN112168076A (en) * | 2020-09-25 | 2021-01-05 | 哈工大机器人（合肥）国际创新研究院 | Floor sweeping robot |
| WO2022103324A1 (en) * | 2020-11-13 | 2022-05-19 | Lionsbot International Pte. Ltd. | A cleaning device and method |
| WO2022121427A1 (en) * | 2020-12-11 | 2022-06-16 | 北京石头世纪科技股份有限公司 | Cleaning robot and cleaning robot system having same |
| CN113057533B (en) * | 2021-04-13 | 2023-03-14 | 成都莱洁科技有限公司 | Robot cleans subassembly |
| CN113080775A (en) * | 2021-04-13 | 2021-07-09 | 成都莱洁科技有限公司 | Cleaning and disinfecting robot |
| CN113057533A (en) * | 2021-04-13 | 2021-07-02 | 成都莱洁科技有限公司 | Robot cleans subassembly |
| CN113693502A (en) * | 2021-06-09 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning equipment and lamp effect control method |
| CN113550257A (en) * | 2021-07-17 | 2021-10-26 | 广东丰润环境管理服务有限公司 | Intelligent urban road cleaning device capable of continuously operating |
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