CN112568772A - Mop mechanism and cleaning robot - Google Patents
Mop mechanism and cleaning robot Download PDFInfo
- Publication number
- CN112568772A CN112568772A CN201910944823.2A CN201910944823A CN112568772A CN 112568772 A CN112568772 A CN 112568772A CN 201910944823 A CN201910944823 A CN 201910944823A CN 112568772 A CN112568772 A CN 112568772A
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- Prior art keywords
- carriage
- mop
- cam
- rotating member
- cleaning
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- 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
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- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- 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
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
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- 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
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- 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
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- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The invention provides a mop mechanism and a cleaning robot, belonging to the technical field of intelligent home furnishing, wherein the mop mechanism is arranged on the bottom surface of a cleaning equipment body and comprises a driving module, a first dragging plate and a second dragging plate which are arranged on the bottom surface of the body and can move relatively; the first carriage and/or the second carriage is/are provided with a reset element for providing restoring force for the first carriage and/or the second carriage, a rotating part is further arranged between the first carriage and the second carriage, and the edge surface of the rotating part is respectively abutted against the first carriage and the second carriage; the driving module is connected with the rotating member and drives the rotating member to rotate; the rotating part and the reset element drive the first carriage and the second carriage to reciprocate back to back or opposite to each other. The mop mechanism and the cleaning robot provided by the invention can change the wiping frequency of the mop and perform reciprocating wiping on the surface to be cleaned, so that the cleaning efficiency and effect are improved.
Description
Technical Field
The invention relates to the technical field of intelligent home furnishing, in particular to a mop mechanism and a cleaning robot.
Background
With the improvement of science and technology and the improvement of living standard, the cleaning robot can realize the functions of automatic sweeping, dust collection and the like and is widely applied to families.
The most common cleaning robot in the existing cleaning robots is a sweeping robot, and the sweeping robot can only sweep and clean the ground but does not have a floor mopping function; in order to implement the floor mopping function of the cleaning robot, a mop cloth is generally installed on the bottom surface of the body of the floor-sweeping robot, and the mop cloth is stationary relative to the body of the floor-sweeping robot, and the mop cloth drags the floor of the passing area along with the movement of the cleaning robot.
However, the mop is static relative to the chassis, and cannot perform reciprocating wiping on the surface to be cleaned, so that the cleaning efficiency is low and the cleaning effect is poor.
Disclosure of Invention
The embodiment of the invention provides a mop mechanism and a cleaning robot, which can change the wiping frequency of a mop and perform reciprocating wiping on a cleaning surface, and improve the cleaning efficiency and effect.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
the mop mechanism comprises a driving module, a first mop plate and a second mop plate, wherein the first mop plate and the second mop plate are arranged on the bottom surface of the body and can move relatively; the first carriage and/or the second carriage is/are provided with a reset element for providing restoring force for the first carriage and/or the second carriage, a rotating part is further arranged between the first carriage and the second carriage, and the edge surface of the rotating part is respectively abutted against the first carriage and the second carriage; the driving module is connected with the rotating member and drives the rotating member to rotate; the rotating part and the reset element drive the first carriage and the second carriage to reciprocate back to back or opposite to each other.
Further, the rotating member is a cam with a variable stroke, and the edge surfaces of the cam are respectively abutted against the first carriage and the second carriage.
Further, at least one reset element is arranged between the first carriage and the second carriage; one end of the reset element is connected to the first carriage, and the other end of the reset element is connected to the second carriage and provides restoring force for relative movement of the first carriage and the second carriage.
Further, one end of the first dragging plate, which is far away from the cam, is provided with at least one reset element; and/or one end of the second carriage, which is far away from the cam, is provided with at least one reset element.
The mop mechanism comprises a driving module, a first mop plate and a second mop plate, wherein the first mop plate and the second mop plate are arranged on the bottom surface of the body and can move relatively; a rotary part is further arranged between the first carriage and the second carriage, a sliding rail with a variable stroke is arranged on the rotary part, and a connecting piece matched with the sliding rail is arranged on the first carriage and/or the second carriage; the driving module is connected with the rotating member and drives the rotating member to rotate; when the rotating member rotates, the connecting member slides in the slide rail, so that the first carriage and the second carriage reciprocate back to back or opposite to each other.
Further, the rotating member is of a cam or disc structure.
Further, the first carriage and the second carriage are slidably arranged on the bottom surface of the body.
Further, the first carriage and the second carriage are respectively provided with a hinge hole, and the bottom surface of the body is provided with at least one hinge column matched with the hinge hole; the first carriage and the second carriage are sleeved on the same hinge column; or the first carriage and the first carriage are respectively sleeved on different hinge columns and rotate back to back or oppositely in a reciprocating manner.
Furthermore, mops are respectively arranged on the first dragging plate and the second dragging plate.
The embodiment of the invention also provides a cleaning robot which comprises at least one group of mop mechanisms.
Further, the device also comprises a cleaning mechanism; the cleaning mechanism is arranged at the front end of the bottom surface of the body along the moving direction of the cleaning robot, and the mop mechanism is arranged at the rear end of the bottom surface of the body; and/or
The mop cleaning device also comprises a water supply device arranged in the body, and the water supply device is used for supplying water to the mop; the planker is provided with a water supply hole, and the water supply device comprises a water storage tank and a water pump connected with the water storage tank; the water inlet end of the water pump is communicated with the water storage tank, and the water outlet end of the water pump is communicated with the water supply hole; and/or the cleaning robot further comprises a first mop mechanism and a second mop mechanism which are symmetrically arranged at the front end and the rear end of the bottom surface of the body along the moving direction of the cleaning robot.
Compared with the prior art, the mop mechanism and the cleaning robot provided by the embodiment of the invention have the following advantages:
according to the mop mechanism and the cleaning robot provided by the embodiment of the invention, the bottom surface of the cleaning robot body is provided with the first mop plate and the second mop plate which can move relatively, the body is internally provided with the driving module, the rotating member connected with the driving module is arranged between the first mop plate and the second mop plate, the rotating member can drive the first mop plate and the second mop plate to move relatively, the first mop plate and/or the second mop plate are/is provided with the reset element, and the reset element can enable the first mop plate and the second mop plate to be restored to the initial state, namely, under the combined action of the rotating member and the reset element, the driving module can drive the first mop plate and the second mop plate to move back and forth relatively. Compared with the mop of the mopping robot in the prior art, the mop mechanism and the cleaning robot provided by the embodiment of the invention have the advantages that the first mop plate and the second mop plate can perform reciprocating wiping on the surface to be cleaned, so that the cleaning efficiency and effect are improved.
In addition to the technical problems solved by the invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the mop mechanism and the cleaning robot of the invention, other technical features included in the technical solutions and advantages brought by the technical features will be further explained in detail in the detailed description of the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly described below, it is obvious that the drawings in the following description are only a part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a distribution schematic diagram of a mop mechanism on a body according to a first embodiment of the invention;
fig. 2 to fig. 5 are schematic diagrams illustrating a first arrangement of a reset element according to a first embodiment of the present invention;
fig. 6 and fig. 7 are schematic diagrams of an arrangement of a reset element according to a first embodiment of the present invention;
fig. 8 and 9 are schematic diagrams showing a third arrangement of the resetting element according to the first embodiment of the invention;
fig. 10 and fig. 11 are schematic views of a reset element arrangement provided in the first embodiment of the present invention;
fig. 12 to 17 are schematic views illustrating a carriage rotatably mounted to a body according to an embodiment of the present invention;
fig. 18 to 21 are schematic structural views of a second mop mechanism provided in the second embodiment of the present invention;
fig. 22 is a schematic structural diagram of a first cam according to a first embodiment of the present invention;
fig. 23 is a schematic structural diagram of a second cam according to a second embodiment of the present invention.
Description of reference numerals:
10-a first carriage;
20-a second carriage;
30-a rotating member;
31-a first cam;
32-a second cam;
40-a reset element;
41-a coil spring;
42-a reset cam;
43-a connector;
100-a first mop mechanism;
200-a second mop mechanism;
300-a body;
311-end face;
312-rim surface;
321-variable stroke slide rail.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, a first mop mechanism according to an embodiment of the present invention is mounted on a bottom surface of a cleaning device body 300, and includes a driving module, and a first mop plate 10 and a second mop plate 20 that are disposed on the bottom surface of the body 300 and are capable of moving relative to each other; the first dragging plate 10 and/or the second dragging plate 20 are/is provided with a resetting element 40 for providing restoring force for the first dragging plate 10 and/or the second dragging plate 20, a rotating part 30 is further arranged between the first dragging plate 10 and the second dragging plate 20, and the edge surface 312 of the rotating part 30 is respectively abutted against the first dragging plate 10 and the second dragging plate 20; the driving module is connected with the rotating member 30 and drives the rotating member 30 to rotate; the rotating member 30 and the restoring member 40 drive the first carriage 10 and the second carriage 20 to reciprocate back and forth.
The cleaning device can be a cleaning robot (such as a mopping robot, a sweeping and mopping integrated robot, a window wiping robot and the like) or a handheld mopping machine; the cleaning device comprises a body 300, the shape of the body 300 can be consistent with the shape of the bottom surface of the body or larger than the bottom surface of the body, and at least one group of mop mechanisms is arranged on the bottom surface and is used for wiping the surface to be cleaned; for example, a floor or glass surface may be wiped with a cleaning robot or a hand-held mopping machine. The shape of the bottom surface is not limited in this embodiment, and the bottom surface of the body 300 may be square or arc; taking fig. 1 as an example, the bottom surface of the main body 300 in this embodiment is square, and two groups of mop mechanisms are respectively arranged on the bottom surface, and the two groups of mop mechanisms can be symmetrically or asymmetrically distributed on the bottom surface. The technical scheme provided by the embodiment is explained by taking one group of mop mechanisms as an example:
the mop mechanism comprises a driving module, a first mop plate 10 and a second mop plate 20 which are arranged oppositely, the first mop plate 10 and the second mop plate 20 are arranged on the bottom surface of the body 300, and the first mop plate 10 and the second mop plate 20 can move relatively; namely, the first planker 10 and/or the second planker 20 can slide or swing relative to the bottom surface; for example, the first carriage 10 may be fixed to the bottom surface and the second carriage 20 may be slidably mounted to the bottom surface, or the first carriage 10 may be slidably mounted to the bottom surface and the second carriage 20 may be fixed to the bottom surface, or the first carriage 10 may be slidably mounted to the bottom surface and the second carriage 20 may be slidably mounted to the bottom surface.
The driving module is arranged in the body 300, the driving module can be a variable frequency motor, a driving shaft of the variable frequency motor penetrates through the bottom surface to be connected with the rotating member 30, the rotating member 30 can be driven to rotate, and the rotating speed of the variable frequency motor can be changed according to the requirement of cleaning strength; the rotating member 30 is arranged between the first dragging plate 10 and the second dragging plate 20, the rotating member 30 rotates between the first dragging plate 10 and the second dragging plate 20 under the action of the driving module, the edge surface 312 of the rotating member 30 is respectively abutted with the side surfaces of the first dragging plate 10 and the second dragging plate 20, the edge surface 312 of the rotating member 30 has a variable stroke, and when different positions of the edge surface 312 of the rotating member 30 are abutted with the first dragging plate 10 and the second dragging plate 20, the first dragging plate 10 and/or the second dragging plate 20 can move relative to the bottom surface.
It is understood that the rotary member 30 may be a first cam 31 with a variable stroke, as shown in fig. 22, the first cam 31 is an elliptical cam, and includes a rim surface 312 and an end surface 311, the end surface 311 is used for connecting with a driving shaft, the driving shaft is inserted into a mounting hole arranged in the end surface 311 through a key slot, and can drive the first cam 31 to rotate, in addition, the rim surface 312 is used as a working surface and has a variable stroke, and the rim surface 312 is respectively abutted with the first carriage 10 and the second carriage 20.
To facilitate description of the moving state of the first cam 31 relative to the first carriage 10 and the second carriage 20 in this embodiment, when two sides of the short axis of the first cam 31 abut against the first carriage 10 and the second carriage 20, respectively, it is defined that the first cam 31 is in the first state at this time, and the corresponding carriage is in the initial state, as shown in fig. 2; when the two sides of the long axis of the first cam 31 abut against the first carriage 10 and the second carriage 20, respectively, the first cam 31 is in the second state, and the corresponding carriage is in the limit state, as shown in fig. 3. The following differences will not be described in detail.
In this embodiment, a restoring element 40 (in the embodiment of fig. 2, the restoring element is a coil spring 41) capable of providing a restoring force for the first carriage 10 and/or the second carriage 20 is disposed between the first carriage 10 and/or the second carriage 20, the driving module drives the first cam 31 and overcomes the restoring force of the restoring element 40 to rotate, the first cam rotates from the first state to the second state, the carriage can transition from the initial state to the limit state, the first cam 31 rotates from the second state to the first state, and under the restoring force of the restoring element 40, the carriage returns from the limit state to the initial state, and the process is repeated, so that the first carriage 10 and/or the second carriage 20 can reciprocate back and forth or opposite to each other.
In this embodiment, according to the installation state of the first planker 10 and the second planker 20 relative to the bottom surface, and the type and the installation position of the reset element 40, the present embodiment may include the following different specific embodiments:
firstly, as shown in fig. 2 to 5, the first carriage 10 and the second carriage 20 both move relative to the bottom surface, at least one restoring element 40 can be disposed between the first carriage 10 and the second carriage 20, and one end of the restoring element 40 is connected to the first carriage 10, and the other end of the restoring element 40 is connected to the second carriage 20. For example, one coil spring 41 may be disposed between the first carriage 10 and the second carriage 20 as the return element 40, with the coil spring 41 being located at one side of the first cam 31 as the rotary member, or a plurality of coil springs 41 may be symmetrically disposed at both sides of the first cam 31. When the first cam 31 is installed between the first carriage 10 and the second carriage 20 in the first state, the coil spring 41 is in a natural state; when the first cam 31 overcomes the elastic force of the spiral spring 41 and rotates from the first state to the second state, the corresponding first carriage 10 and the second carriage 20 move back to back, so that the first carriage 10 and the second carriage 20 are gradually far away, and the spiral spring 41 is in a stretching state; when the first cam 31 continues to rotate and rotates from the second state to the first state, the helical spring 41 gradually returns to the natural state from the stretching state, and the restoring force thereof enables the first dragging plate 10 and the second dragging plate 20 to move oppositely, so that the first dragging plate 10 and the second dragging plate 20 gradually approach to each other; the reciprocating motion is realized, so that the reciprocating motion of the first carriage 10 relative to the second carriage 20 is realized. In this embodiment, the first mop plate 10 and the second mop plate 20 reciprocate back to back/opposite to each other under the cooperation of the first cam 31 and the coil spring 41, so as to realize the reciprocating wiping of the bottom surface to be cleaned, thereby improving the wiping efficiency and effect.
Secondly, as shown in fig. 6 and 7, the first dragging plate 10 and the second dragging plate 20 move relative to the bottom surface, and at least one reset element 40 is arranged at each end of the first dragging plate 10 and the second dragging plate 20 away from the first cam 31, that is, one end of the first dragging plate 10 away from the first cam 31 is provided with one or more coil springs 41, one end of the second dragging plate 20 away from the first cam 31 is provided with one or more coil springs 41, one end of each coil spring 41 is connected with the first dragging plate 10 or the second dragging plate 20, the other end of each coil spring 41 is connected to the body 300, and the body 300 provides support for each coil spring 41; when the first cam 31 is in the first state, the coil spring 41 is in a natural state, and correspondingly, the first carriage plate 10 and the second carriage plate 20 are in an initial state; when the first cam 31 rotates from the first state to the second state, the corresponding first carriage 10 and the second carriage 20 gradually get away from each other, and the extrusion coil spring 41 is in a compressed state; when the first cam 31 continues to rotate in the original rotation direction and moves from the second state to the first state, the coil spring 41 is restored from the compressed state to the natural state, and in the process, the restoring force of the coil spring 41 pushes the first carriage 10 and the second carriage 20 to approach each other.
Thirdly, a coil spring 41 may be provided between the first dragging plate 10 and the second dragging plate 20, and optionally, a coil spring 41 may be provided at an end of the first dragging plate 10 or the second dragging plate 20 away from the first cam 31, and coil springs 41 may be provided at ends of the first dragging plate 10 and the second dragging plate 20 away from the first cam 31, in this embodiment, it is preferable that a coil spring 41 is provided between the first dragging plate 10 and the second dragging plate 20, and coil springs 41 are provided between the first dragging plate 10 and the body 300, and between the second dragging plate 20 and the body 300, as shown in fig. 8 and 9; the coil spring 41 and the first cam 31 cooperate to realize the back/opposite reciprocating motion process of the first carriage 10 and the second carriage 20, which is not described again.
Further, in the above embodiment, the first carriage 10 and the second carriage 20 both move relative to the bottom surface to implement several different schemes of relative movement of the first carriage 10 and the second carriage 20, and in addition, in the scheme of relative movement of the first carriage 10 and the second carriage 20, any one of the first carriage 10 and the second carriage 20 may be fixed on the bottom surface of the body 300, and the other carriage may move relative to the bottom surface; for example, the first carriage 10 is fixed on the bottom surface, and the second carriage 20 is movable relative to the bottom surface; the coil spring 41 may be disposed between the first carriage 10 and the second carriage 20, or the coil spring 41 may be disposed between the end of the second carriage 20 away from the first cam 31 and the body 300, and the coil spring 41 may be disposed between the first carriage 10 and the second carriage 20, and between the end of the second carriage 20 away from the first cam 31 and the body 300. The process of reciprocating the first planker 10 and the second planker 20 back to/opposite to each other under the cooperation of the coil spring 41 and the first cam 31 is similar to the above embodiment and is not described again.
It should be noted that, in the solution where the first carriage 10 and the second carriage 20 are both movable relative to the bottom surface, the rotation axes of the first cam 31 in the first state and the second state can be located on the same straight line. In the embodiment where one of the first carriage 10 and the second carriage 20 is fixedly mounted on the bottom surface of the body 300, the rotation axis of the first cam 31 in the first state and the rotation axis of the first cam 31 in the second state are located on different parallel lines, i.e., the driving shaft is configured as a shaft that can float up and down, so that the reciprocating motion of the second carriage 20 can be realized.
It is understood that the restoring element 40 according to the above embodiments may be a coil spring 41, a bungee cord and a magnet block combination, the bungee cord may be arranged with reference to the coil spring 41, the magnet block combination may generate an attractive force and a repulsive force, the magnet block set generating the attractive force may be disposed between the first dragging plate 10 and the second dragging plate 20, and the magnet block set generating the repulsive force may be disposed between the first dragging plate 10 and the body 300 and/or between the second dragging plate 20 and the body 300.
As shown in fig. 10 and 11, a reset cam 42 is further disposed between the first dragging plate 10 and the body 300 and/or between the second dragging plate 20 and the body 300, the reset cam 42 has a similar profile shape compared to the first cam 31, a stroke of the reset cam 42 is less than or equal to a stroke of the first cam 31, and a stroke of the reset cam 42 can be set according to a reciprocating stroke of the dragging plate and is matched with the first cam 31, as shown in fig. 10 and 11; the reset cam 42 needs to be provided with a driving element for driving the reset cam to rotate, the driving element can be separately arranged, or the reset cam 42 is connected to the driving shaft of the first cam 31, so that the reliability of the reciprocating motion of the planker can be enhanced.
In all embodiments of the present invention, the first carriage 10 and the second carriage 20 reciprocate oppositely away from or towards each other.
In some embodiments, the reciprocating motion may be sliding. Specifically, the first dragging plate 10 and the body 300, and/or the second dragging plate 20 and the body 300 can be slidably connected through a sliding rail and a sliding groove (not shown in the figure); for example, slide rails may be disposed on the sides of the first planker 10 and the second planker 20 facing the body 300, slide grooves may be disposed on the sides of the body 300 facing the first planker 10 and the second planker 20, and the slide grooves and the slide rails are disposed in a matching manner, so that the slide rails are embedded in the slide grooves and can slide relative to the slide grooves, thereby implementing the sliding installation of the first planker 10 and the second planker 20 on the bottom surface.
In some embodiments, or the reciprocating motion may also be a rotation, that is, as shown in fig. 12 to 16, the first carriage 10 and the second carriage 20 may reciprocally rotate back to back or face to face, hinge holes may be respectively formed on the first carriage 10 and the second carriage 20, and at least one hinge post matched with the hinge hole is formed on the bottom surface of the body 300; the first dragging plate 10 and the second dragging plate 20 are sleeved on the same hinge column or respectively sleeved on different hinge columns.
Specifically, the first dragging plate 10 and the second dragging plate 20 are circular arc plates, hinge holes are respectively arranged at one side of the first dragging plate 10 and one side of the second dragging plate 20, and the hinge holes can be positioned at the bottoms of the first dragging plate 10 and the second dragging plate 20 and are oppositely arranged on the body 300; a hinge post for the hinge hole to be sleeved is arranged on the bottom surface of the body 300; referring to fig. 12 and 13, if the first planker 10 and the second planker 20 are respectively hinged to different hinge columns, two hinge columns need to be arranged on the bottom surface, and the two hinge columns are arranged oppositely; referring to fig. 14 and 15, the first carriage 10 and the second carriage 20 can be sleeved on the same hinge post, and only one hinge post is required to be arranged on the bottom surface.
As shown in any one of fig. 12 to 15, a coil spring 41 may be disposed between the first carriage 10 and the second carriage 20 as a return element, and when the first cam 31 as a rotary member is in the first state, the coil spring 41 is in a natural state, and the first carriage 10 and the second carriage 20 are in an initial state; when the first cam 31 is rotated to enable the first cam 31 to rotate from the first state to the second state, the first dragging plate 10 and the second dragging plate 20 rotate back to each other and reach the limit state, the interval between the first dragging plate 10 and the second dragging plate 20 is maximum at the moment, and the spiral spring 41 is in the stretching state; the first cam 31 continues to rotate in the original rotation direction, so that the first cam 31 is transited from the second state to the first state, at this time, the helical spring 41 gradually returns from the stretching state to the natural state, the restoring force thereof enables the first carriage 10 and the second carriage 20 to rotate oppositely, and the interval between the first carriage 10 and the second carriage 20 is gradually reduced until the first carriage 10 and the second carriage 20 return to the initial state, and the reciprocating rotation (or referred to as swing) of the first carriage 10 and the second carriage 20 is realized. It is understood that the coil spring 41 may also be disposed between the carriage and the body 300, as shown in fig. 16 and 17, and the motion states of the first carriage 10 and the second carriage 20 can be inferred according to the above embodiments, and will not be described herein again.
It should be noted that the rotating member in the above embodiment is a cam with an oval rim 312, and may be a cam with other shapes, such as diamond, square, trapezoid, hexagon, etc.
The mop mechanism of the above embodiment, through the cooperation of the rotating member 30 such as the first cam 31 and the restoring element 40 such as the helical spring 41, realizes the back/opposite reciprocating motion between the two mopping plates, and improves the cleaning efficiency and cleaning effect of the cleaning device on the surface to be cleaned. The first cam 31 is directly connected with the motor, so the mop mechanism needs small space and has low cost; and the combination of the first cam 31 and the spiral spring 41 has small acting moment and simple structure, reduces the fatigue of the mechanical structure in the long-term reciprocating motion process, reduces the damage to mechanical components, improves the reliability and prolongs the service life of the equipment.
Example II,
As shown in fig. 18 and 21, a second mop mechanism is provided in the second embodiment, which is different from the first mop mechanism provided in the first embodiment; the rotary member 30 arranged between the first carriage 10 and the second carriage 20 is provided with a slide rail 321 with variable stroke, the rotary member 30 is connected with the driving module, the first carriage 10 and the second carriage 20 are respectively provided with a connecting piece 43 matched with the slide rail 321, and the first carriage 10 and the second carriage 20 are both arranged on the slide rail 321 of the rotary member 30 through the connecting pieces 43. Under the action of the driving module, although the reset element of the above embodiment is eliminated, the relative back-and-forth movement between the first planker 10 and the second planker 20 can still be realized, and the implementation is simplified.
As shown in fig. 23, in the present embodiment, the rotating member 30 may be a second cam 32 or a disk, and a variable stroke slide rail 321 is disposed on the second cam 32 or the disk, and the variable stroke slide rail 321 may be an oval slide rail; the first carriage 10 and the second carriage 20 are respectively provided with a slider (i.e., the connecting member 43) engaged with the variable stroke slide rail 321, and the slider is engaged with the variable stroke slide rail 321 and can move in the variable stroke slide rail 321 without hindrance in accordance with the rotation of the second cam 32. The first carriage 10 and the second carriage 20 may be slidably mounted on the bottom surface, as shown in fig. 20 and 21, or the first carriage 10 and the second carriage 20 may be hinged on the bottom surface and rotatable (swingable) relative to the bottom surface, as shown in fig. 18 and 19. As for the sliding installation manner of the first carriage 10, the second carriage 20 and the bottom surface, or the manner of the first carriage 10 and the second carriage 20 hinged on the bottom surface, the setting can be made with reference to the corresponding embodiments in the first embodiment, and the details are not repeated herein.
In the present embodiment, the movement states of the first carriage 10 and the second carriage 20 will be described by taking the second cam 32 having the variable stroke slide rail 321 between the first carriage 10 and the second carriage 20 as an example: if the second cam 32 is used as the rotating member 30, when the second cam 32 is in the first state, the first carriage 10 and the second carriage 20 are in the initial state, and the interval between the first carriage 10 and the second carriage 20 is the minimum, as shown in fig. 18 and 20; a driving module (such as a variable frequency motor) is used for driving the second cam 32 to rotate, so that when the second cam 32 is transited to the second state, correspondingly, the first carriage 10 and the second carriage 20 reach the limit state, and at the moment, the interval between the first carriage 10 and the second carriage 20 is maximum, and further, one back-to-back movement of the first carriage 10 relative to the second carriage 20 is completed; with the continuous rotation of the second cam 32 in the original rotation direction, the second cam 32 moves from the second state to the first state, and in this process, the distance between the first carriage 10 and the second carriage 20 is gradually reduced by the sliding blocks (i.e., the connecting pieces 43) of the first carriage 10 and the second carriage 20 under the limiting action of the sliding rails 321 of the second cam 32, so as to complete one-time opposite movement of the first carriage 10 relative to the second carriage 20; therefore, in the second mop mechanism provided in this embodiment, the first mop plate 10 and the second mop plate 20 are connected to the slide rail 321 through the second cam 32 or the rotary member such as the disc provided with the variable-stroke slide rail 321, and the driving module only needs to drive the rotary member 30 to rotate, so that the first mop plate 10 and the second mop plate 20 can reciprocate relatively back and forth, and the efficiency and the effect of wiping the surface to be wiped are improved.
It should be noted that, in the present embodiment, the shape of the rotating member 30 itself has no influence on the reciprocating motion between the two carriages, so that it is not limited whether the rotating member 30 is a cam, a disk or a rotatable member with other shapes. The variable travel slide 321 in the rotating member 30 is not limited to an oval shape, but can be other consecutive shapes, such as a diamond shape, a square shape, a trapezoid shape, a hexagon shape, and the like.
The mop mechanism of the above embodiment realizes the back/opposite reciprocating motion between the two mopping plates by the cam and other rotary members 30 and the variable stroke slide rails 321 on the rotary members 30, and improves the cleaning efficiency and cleaning effect of the cleaning device on the surface to be cleaned. Because the rotating member 30 is directly connected with the motor, the mop mechanism needs small space and has low cost; and the reciprocating motion between the two plankers can be realized only by the rotating part 30, the structure is simple, the fatigue of a mechanical structure in the long-term reciprocating motion process is reduced, the damage to mechanical components is reduced, the reliability is improved, and the service life of equipment is prolonged.
It will be appreciated that in the first and second embodiments, the mop cloth is provided on both the first and second mopping plates 10, 20, and the shape of the mop cloth is the same as that of the mopping plate, and the mop cloth can be detachably mounted on the mopping plate, for example, the mop cloth can be mounted on the mopping plate by means of adhesion (such as by a magic tape), which facilitates the removal and replacement of the mop cloth.
Example III,
The embodiment provides a cleaning robot, which comprises at least one group of mop mechanisms. For example, the cleaning robot may be provided with two sets of mop mechanisms on the bottom surface, i.e., may include a first mop mechanism 100 and a second mop mechanism 200; the first and second mop mechanisms 100 and 200 may be symmetrically disposed at the front and rear ends of the bottom surface of the body 300, the first and second mop mechanisms 100 and 200 being disposed in the moving direction of the cleaning robot; the first and second mop mechanisms 100 and 200 may be both the first mop mechanism provided in the first embodiment, or the first and second mop mechanisms 100 and 200 may be the first and second mop mechanisms provided in the first and second embodiments, respectively, as shown in fig. 1.
Of course, the cleaning robot shown can also comprise only one set of the first mop mechanism provided in the first embodiment, or the second mop mechanism provided in the second embodiment.
Furthermore, the cleaning robot also comprises a cleaning mechanism, the cleaning mechanism can be arranged at the front end of the mop mechanism along the moving direction of the cleaning robot, the surface to be cleaned is cleaned firstly, and then the surface to be cleaned is cleaned through the mop mechanism, so that the trace of dust on the surface to be cleaned after being cleaned is prevented, and the cleaning effect can be improved.
In order to further improve the wiping effect, the cleaning robot further comprises a water supply device, wherein the water supply device is used for providing water source for the mop cloth arranged on the mop plate, so that the mop cloth is always kept in a wetting state; the water supply device can be arranged in the body 300 and comprises a water storage tank and a water pump communicated with the water storage tank, the water inlet end of the water pump is communicated with the water storage tank, the other end of the water pump provides water source for the mop cloth, a water supply hole can be arranged on the mop plate, and the water supply hole is communicated with the water pump; can provide the mop with the water necessary for wiping, so that the mop can always keep a wetting state in the wiping process, and the cleaning effect on the wiping surface is improved.
It should be noted that the mop mechanism of the present invention is not limited to use with a cleaning robot, but may be used with a conventional hand-held mopping machine.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A mop mechanism is arranged on the bottom surface of a cleaning device body and is characterized in that,
the mop mechanism comprises a driving module, a first mop plate and a second mop plate which are arranged on the bottom surface of the body and can move relatively;
the first carriage and/or the second carriage is/are provided with a reset element for providing restoring force for the first carriage and/or the second carriage, a rotating part is further arranged between the first carriage and the second carriage, and the edge surface of the rotating part is respectively abutted against the first carriage and the second carriage; the driving module is connected with the rotating member and drives the rotating member to rotate;
the rotating part and the reset element drive the first carriage and the second carriage to reciprocate back to back or opposite to each other.
2. A swab mechanism according to claim 1, wherein the rotary member is a cam having a variable stroke, the cam having a rim surface which abuts the first and second carriages respectively.
3. A swab mechanism according to claim 2, wherein at least one return element is provided between the first and second mops;
one end of the reset element is connected to the first carriage, and the other end of the reset element is connected to the second carriage and provides restoring force for relative movement of the first carriage and the second carriage.
4. A swab mechanism according to claim 2 or 3, wherein the end of the first swab remote from the cam is provided with at least one return element; and/or
And one end of the second carriage, which is far away from the cam, is provided with at least one reset element.
5. A mop mechanism is arranged on the bottom surface of a cleaning device body and is characterized in that,
the mop mechanism comprises a driving module, a first mop plate and a second mop plate which are arranged on the bottom surface of the body and can move relatively;
a rotary part is further arranged between the first carriage and the second carriage, a sliding rail with a variable stroke is arranged on the rotary part, and a connecting piece matched with the sliding rail is arranged on the first carriage and/or the second carriage;
the driving module is connected with the rotating member and drives the rotating member to rotate; when the rotating member rotates, the connecting member slides in the slide rail, so that the first carriage and the second carriage reciprocate back to back or opposite to each other.
6. A swab mechanism according to claim 5, wherein the rotating member is of cam or disc construction.
7. A swab mechanism according to claim 1 or 5, wherein the first and second carriages are slidably arranged on a bottom surface of the body.
8. A swab mechanism according to claim 1 or 5,
the first carriage and the second carriage are respectively provided with a hinge hole, and the bottom surface of the body is provided with at least one hinge column matched with the hinge hole;
the first carriage and the second carriage are sleeved on the same hinge column; or the first carriage and the first carriage are respectively sleeved on different hinge columns and rotate back to back or oppositely in a reciprocating manner.
9. A swab mechanism according to claim 1 or 5, wherein the first and second mops are each provided with a swab.
10. A cleaning robot, characterized in that it comprises at least one set of mop mechanisms according to any of claims 1 to 9.
11. The cleaning robot according to claim 10,
also comprises a cleaning mechanism; the cleaning mechanism is arranged at the front end of the bottom surface of the body along the moving direction of the cleaning robot, and the mop mechanism is arranged at the rear end of the bottom surface of the body; and/or
The mop cleaning device also comprises a water supply device arranged in the body, and the water supply device is used for supplying water to the mop; the planker is provided with a water supply hole, and the water supply device comprises a water storage tank and a water pump connected with the water storage tank; the water inlet end of the water pump is communicated with the water storage tank, and the water outlet end of the water pump is communicated with the water supply hole; and/or
The mop cleaning device further comprises a first mop mechanism and a second mop mechanism which are symmetrically arranged at the front end and the rear end of the bottom surface of the body along the moving direction of the cleaning robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910944823.2A CN112568772A (en) | 2019-09-30 | 2019-09-30 | Mop mechanism and cleaning robot |
| PCT/CN2020/119691 WO2021063415A1 (en) | 2019-09-30 | 2020-09-30 | Mopping mechanism and cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910944823.2A CN112568772A (en) | 2019-09-30 | 2019-09-30 | Mop mechanism and cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112568772A true CN112568772A (en) | 2021-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910944823.2A Pending CN112568772A (en) | 2019-09-30 | 2019-09-30 | Mop mechanism and cleaning robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112568772A (en) |
| WO (1) | WO2021063415A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114176460A (en) * | 2021-11-19 | 2022-03-15 | 科大讯飞股份有限公司 | Cleaning control method, related device, cleaning method, cleaning equipment and cleaning system |
| CN114190832A (en) * | 2021-12-01 | 2022-03-18 | 深圳市杉川机器人有限公司 | Floor mopping machine |
| CN114190833A (en) * | 2021-12-01 | 2022-03-18 | 深圳市杉川机器人有限公司 | Floor mopping machine |
| CN114587201A (en) * | 2020-12-03 | 2022-06-07 | 美智纵横科技有限责任公司 | Mopping assembly of cleaning device and cleaning device with mopping assembly |
| CN115153354A (en) * | 2022-08-18 | 2022-10-11 | 无锡睿米信息技术有限公司 | Robot of sweeping floor with water spray water route |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4245202A1 (en) * | 2022-03-15 | 2023-09-20 | BSH Hausgeräte GmbH | Robot vacuum cleaner and method for wiping the floor using robot vacuum cleaner |
| CN115227148B (en) * | 2022-06-30 | 2023-11-14 | 佛山市银星智能制造有限公司 | Front collision device and cleaning robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202843524U (en) * | 2012-09-24 | 2013-04-03 | 苏州市洁宝王电器有限公司 | Electric cleaning device |
| CN203042145U (en) * | 2013-01-11 | 2013-07-10 | 苏州市洁宝王电器有限公司 | Motor-driven mop head and power-driven mop using motor-driven mop head |
| KR20150142938A (en) * | 2014-06-12 | 2015-12-23 | 김진만 | Functional floor cloth |
| CN204889885U (en) * | 2015-08-07 | 2015-12-23 | 嘉兴捷顺旅游制品有限公司 | Flexible tie is dragged |
| CN207721772U (en) * | 2017-04-17 | 2018-08-14 | 嘉兴捷顺旅游制品有限公司 | The deformable mop of mophead |
| CN211022430U (en) * | 2019-09-30 | 2020-07-17 | 速感科技（北京）有限公司 | Mop mechanism and cleaning robot |
-
2019
- 2019-09-30 CN CN201910944823.2A patent/CN112568772A/en active Pending
-
2020
- 2020-09-30 WO PCT/CN2020/119691 patent/WO2021063415A1/en active Application Filing
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114587201A (en) * | 2020-12-03 | 2022-06-07 | 美智纵横科技有限责任公司 | Mopping assembly of cleaning device and cleaning device with mopping assembly |
| CN114176460A (en) * | 2021-11-19 | 2022-03-15 | 科大讯飞股份有限公司 | Cleaning control method, related device, cleaning method, cleaning equipment and cleaning system |
| CN114190832A (en) * | 2021-12-01 | 2022-03-18 | 深圳市杉川机器人有限公司 | Floor mopping machine |
| CN114190833A (en) * | 2021-12-01 | 2022-03-18 | 深圳市杉川机器人有限公司 | Floor mopping machine |
| CN115153354A (en) * | 2022-08-18 | 2022-10-11 | 无锡睿米信息技术有限公司 | Robot of sweeping floor with water spray water route |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021063415A1 (en) | 2021-04-08 |
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