CN112568806B - Multifunctional cleaning intelligent sweeping robot and working method thereof - Google Patents

Multifunctional cleaning intelligent sweeping robot and working method thereof Download PDF

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Publication number
CN112568806B
CN112568806B CN202011565224.9A CN202011565224A CN112568806B CN 112568806 B CN112568806 B CN 112568806B CN 202011565224 A CN202011565224 A CN 202011565224A CN 112568806 B CN112568806 B CN 112568806B
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CN
China
Prior art keywords
cleaning
telescopic
disinfection
disc
cleaning head
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Application number
CN202011565224.9A
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Chinese (zh)
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CN112568806A (en
Inventor
韩笑蕾
张家奇
褚晓兵
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Suzhou Agan Robot Co ltd
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Suzhou Agan Robot Co ltd
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Priority to CN202011565224.9A priority Critical patent/CN112568806B/en
Publication of CN112568806A publication Critical patent/CN112568806A/en
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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4038Disk shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/405Machines using UV-lamps, IR-lamps, ultrasound or plasma cleaning
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4052Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4058Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/408Means for supplying cleaning or surface treating agents
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4094Accessories to be used in combination with conventional vacuum-cleaning devices

Abstract

The invention discloses a multifunctional cleaning intelligent sweeping robot, which comprises: the device comprises a shell, a retractable humidifier, a disinfection and sterilization device, a retractable dust collection device, a cleaning head, a cleaning disc and a control device, wherein a water tank is arranged in the shell, one end of the water tank is connected with the retractable humidifier through a water supply pipe, the other end of the water tank is connected with a water spraying opening through the water supply pipe, the disinfection and sterilization device is arranged in the shell and is connected with a disinfection hole in the shell, the dust collection device is arranged at the top of the shell, the cleaning head and the cleaning disc are arranged below the shell, the cleaning disc is arranged behind the cleaning head, a lower dust collection mechanism is arranged between the cleaning head and the cleaning disc below the shell, the retractable humidifier is used for disinfecting and sterilizing the device, the retractable dust collection device, the cleaning head and the cleaning disc are connected with the control device, and the retractable dust collection device and the lower dust collection mechanism share a dust collection driving assembly. The invention integrates sweeping, humidifying, sterilizing, disinfecting and dust collecting, liberates hands of people and saves space for users.

Description

Multifunctional cleaning intelligent sweeping robot and working method thereof
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multifunctional cleaning intelligent sweeping robot.
Background
With the rapid development of social economy, all walks of life are continuously developed, the rhythm of life of people is continuously accelerated, meanwhile, the requirements of people on the environment and conditions of life are higher and higher, people work busy every day, and people still get home after work and are clean, so that people are tired more, the mood of people is influenced, and even some family conflicts are caused by cleaning.
Indoor dust is treated by a dust remover, and indoor over-dry is humidified by a humidifier, however, most of the existing humidifiers need to be placed at a certain fixed position, so that the surrounding humidity covered by the existing humidifiers is high, and other places are dry;
along with the spread of various infectious viruses in recent years, people pay more and more attention to the household hygiene, masks, disinfectant and the like are out of stock, however, although certain viruses and bacteria can be reduced by wiping the surfaces of articles by a large amount of disinfectant indoors, the product has a heavy taste and can cause certain damage to human bodies;
the floor is cleaned by the floor cleaning robot, the floor cleaning robot commonly used in families liberates both hands of people, when people are on duty, the people can clean the floor by running the robot in the house, the path of the existing robot is fixed, most of the existing robots can go and return to a reciprocating type fixed route, the cleaning speed is low, a large amount of time is consumed, and a large amount of electric energy is consumed;
most of the existing robots clean the ground through brushes, the cleaning force of the brushes is weak, and the ground with severe stains in kitchens and toilets in homes is difficult to clean, so that the robot cannot achieve an ideal effect after cleaning;
most of the existing robots are disc-type robots, anti-collision radars or sensors are arranged on the robots, the robots can change directions to avoid the robots once contacting a wall surface or a corner, and meanwhile due to the design of the discs, the robots cannot enter the corner, so that sanitary dead corners are formed, and the robots are difficult to clean after long-term accumulation; and so on, the more things are bought, and for some small-sized families, the storage and the accommodation of each article become a great problem. The method also becomes a main factor for preventing the user from wanting to buy the articles, and each person basically has and wants to buy a certain article, but wants to buy the articles home without places to be used as a strike experience, so that the articles with much kinetic energy are more and more favored by consumers.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide the multifunctional cleaning intelligent floor sweeping robot which is simple in structure, reasonable in design and easy to produce, integrates floor sweeping, humidifying, sterilizing, disinfecting and dust collecting into a whole, so that the multifunctional floor sweeping robot becomes a real multifunctional robot, can well liberate the hands of people, can save more space for users, can become a humidifier and a disinfecting and sterilizing device capable of moving automatically, and improves the indoor humidifying, disinfecting and sterilizing effects.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a multifunctional cleaning intelligent sweeping robot, comprising: a casing, a retractable humidifier, a disinfection and sterilization device, a retractable dust suction device, a first cleaning head, a cleaning disc and a control device, a water tank is arranged in the machine shell, one end of the water tank is connected with the retractable humidifier through a water supply pipe, the other end of the water tank is connected with the water spraying opening through the water supply pipe, the disinfection and sterilization device is arranged in the machine shell, and is connected with the disinfection hole on the machine shell, the telescopic dust suction device is arranged at the top of the machine shell, the first cleaning head and the cleaning disc are both arranged below the machine shell, the cleaning disc is arranged at the rear part of the first cleaning head, a lower dust absorption mechanism is arranged below the machine shell and between the first cleaning head and the cleaning disc, the retractable humidifier, the disinfection and sterilization device, the retractable dust suction device, the first cleaning head and the cleaning disc are all connected with the control device, and the retractable dust suction device and the lower dust suction mechanism share the dust suction driving assembly. The multifunctional cleaning intelligent floor sweeping robot integrates floor sweeping, humidifying, sterilizing, disinfecting and dust collecting into a whole, becomes a real multifunctional robot, can well liberate both hands of people, can save more space for users, can also become a humidifier and a sterilizing and disinfecting device capable of moving automatically, improves the indoor humidifying, disinfecting and sterilizing effects, and further meets the needs of people.
The retractable humidifier comprises a casing, wherein an inner cavity for mounting a retractable humidifier is formed in the casing, a first fixing seat for mounting the humidifier is arranged in the inner cavity, the retractable humidifier is arranged on the first fixing seat, and a driving cylinder is arranged below the first fixing seat.
The disinfection and sterilization device is a rotatable disinfection and sterilization device and comprises a rotary support, a disinfection shell, an ultraviolet disinfection lamp and a human body detection sensor, wherein the rotary support is arranged on a machine shell, the rotary support is arranged on the rotary support, the disinfection shell is arranged on the rotary support, the ultraviolet disinfection lamp is arranged in the disinfection shell, the human body detection sensor is arranged on the disinfection shell, and the disinfection shell is detachably connected with the rotary support. The setting of rotatory support lets degassing unit not only can the horizontal rotation, can also rotate the angle, improves the effect of its disinfection, sterilization, and then better needs that satisfy the user.
The telescopic dust suction device comprises an installation support, a dust suction pipe and a dust suction head, wherein the installation support is hinged with a machine shell, the dust suction pipe is connected with a dust inlet of the installation support, and the dust suction head is connected with one end, far away from the installation support, of the dust suction pipe and is detachably connected with the dust suction pipe.
The dust collection head comprises a dust collection port, a wiping plate is arranged at the upper part of the dust collection head, a water outlet hole is formed in the wiping plate, the water outlet hole is connected with a water tank through a pipeline, and a fixing piece used for fixing rag or sponge is arranged on the wiping plate.
The first cleaning head is a rotary cleaning head and comprises a lifting rotary cleaning head and a lifting and rotary driving mechanism, the lifting and rotary driving mechanism comprises a lifting driving cylinder, a mounting seat and a first rotary driving motor, the lifting driving cylinder is fixed on a shell, the mounting seat is arranged at the output end of the lifting driving cylinder, the first rotary driving motor is fixed on the mounting seat, and the output end of the first rotary driving motor is connected with the lifting rotary cleaning head through a coupler.
The cleaning disc is a rotatable cleaning disc which is arc-shaped.
The cleaning disc comprises a fixed bottom plate, a rotary cleaning piece and a second rotary driving motor, wherein the fixed bottom plate is arranged below the machine shell, the rotary cleaning piece is arranged below the fixed bottom plate and is detachably connected with the fixed bottom plate, the second rotary driving motor is arranged above the fixed bottom plate, and the output end of the second rotary driving motor is connected with the rotary cleaning piece.
Wing edge sweeping discs are arranged on two sides of the rotary cleaning piece.
The wing edge sweeping disc adopts a telescopic wing edge sweeping disc, a telescopic driving mechanism is arranged on the wing edge sweeping disc, a group of longitudinal driving cylinders, an L connecting frame, a transverse driving cylinder and a pressing column are arranged in the telescopic driving mechanism, the L connecting frame is arranged at the output end of the longitudinal driving cylinders, the transverse driving cylinder is arranged on one side of the L connecting frame, the output end of the transverse driving cylinder is connected with the wing edge sweeping disc, the upper part of the pressing column is movably connected with a rail below the L connecting frame through a sliding seat, and the lower part of the pressing column is connected with the wing edge sweeping disc.
The technical scheme shows that the invention has the following beneficial effects:
1. the multifunctional cleaning intelligent floor sweeping robot integrates floor sweeping, humidifying, sterilizing, disinfecting and dust collecting into a whole, becomes a real multifunctional robot, can well liberate both hands of people, can save more space for users, can also become a humidifier and a sterilizing and disinfecting device capable of moving automatically, improves the indoor humidifying, disinfecting and sterilizing effects, and further meets the needs of people.
2. According to the invention, the disinfection and sterilization device is arranged, when no person is detected in a room, the disinfection and sterilization are fully carried out in the room, so that the disinfection and sterilization effects and safety are improved, meanwhile, the rotary support is arranged, so that the disinfection device not only can horizontally rotate, but also can rotate in an angle, the disinfection and sterilization effects are improved, and the requirements of users are better met.
3. The telescopic dust suction device can remove dust and clean walls and objects placed at high positions, can clean roofs, walls and the like on the ground, further increases the integration effect, diversifies the kinetic energy, and further meets the requirements of consumers better.
4. The retractable humidifier provided by the invention is retracted in the shell when not in use, and is lifted when in use, the retractable humidifier can move along with the robot to humidify the whole room, so that the humidifying effect is improved, and the problem of local humidification and humidification imbalance caused by the fact that the existing humidifier is fixed at a certain position is solved well. And the humidifier and the disinfection and sterilization device can be detached and then work independently, so that the requirements of users can be better met, and the experience of the users is improved.
5. The telescopic cleaning head disclosed by the invention can extend into a wall corner by adopting a unique structural arrangement, and the elastic resilience of the spring is utilized to generate self-adaptive force to clean the wall corner and the wall corner after the telescopic cleaning head touches the wall corner and the wall corner, so that the problems that a sanitary dead corner cannot be treated for a long time and the sanitary dead corner is difficult to clean are solved.
6. The cleaning disc is arranged in the invention, so that garbage cleaned by the lifting type rotating head and the rotary mop head can be gathered and sucked into the dust removal chamber through the dust suction port, the garbage can be automatically cleaned and recovered, meanwhile, water stains and oil stains on the ground can be cleaned, and the ground cleaning effect is further improved.
7. The wing edge sweeping disc is arranged in the retractable type machine shell when not in use, the wing edge sweeping disc is lowered to the ground through the driving mechanism when in use, and the driving device drives the wing edge sweeping disc to process garbage and stains which are not swept completely by the sweeping disc again, so that multiple sweeping is realized, and the cleanliness of the robot during sweeping is effectively ensured.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a block diagram of the retractable humidifier of the present invention;
FIG. 4 is a schematic view of the disinfection and sterilization apparatus according to the present invention;
FIG. 5 is a schematic view of the cleaning head of the present invention;
FIG. 6 is a schematic structural view of a cleaning plate according to the present invention;
figure 7 is a cross-sectional view of a cleaning head according to the present invention;
FIG. 8 is a schematic structural view of the common vacuum driving assembly of the retractable vacuum cleaner and the lower vacuum mechanism of the present invention;
fig. 9 is a top view of the sweeping robot according to the present invention after further optimization;
fig. 10 is a block diagram of a further optimized telescopic cleaning head according to the invention.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Examples
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
Example 1
As shown in the figure, a multi-functional clean intelligent robot of sweeping floor includes: the portable air conditioner comprises a machine shell 1, a retractable humidifier 2, a disinfection and sterilization device 3, a retractable dust suction device 4, a first cleaning head 5, a cleaning disc 6 and a control device, wherein a water tank 7 is arranged in the machine shell 1, one end of the water tank 7 is connected with the retractable humidifier 2 through a water supply pipe, the other end of the water tank is connected with a water spraying port 11 through a water supply pipe, the disinfection and sterilization device 3 is arranged in the machine shell 1 and is connected with a disinfection hole in the machine shell 1, the retractable dust suction device 4 is arranged at the top of the machine shell 1, the first cleaning head 5 and the cleaning disc 6 are both arranged below the machine shell 1, the cleaning disc 6 is arranged behind the first cleaning head 5, a lower dust suction mechanism 8 is arranged between the first cleaning head 5 and the cleaning disc 6 below the machine shell 1, the retractable humidifier 2, the disinfection and sterilization device 3, the retractable dust suction device 4, the first cleaning head 5 and the cleaning disc 6 are all connected with the control device, and the telescopic dust suction device 4 and the lower dust suction mechanism 8 share a dust suction driving component.
In this embodiment, an inner cavity for installing the retractable humidifier 2 is formed in the casing 1, a first fixing seat 12 for installing the humidifier is formed in the inner cavity, the retractable humidifier 2 is arranged on the first fixing seat 12, and a driving cylinder 13 is arranged below the first fixing seat 12.
In this embodiment the disinfection and sterilization device 3 is a rotatable disinfection and sterilization device 3, and it includes rotating support 31, disinfection casing 32, ultraviolet disinfection lamp 33 and human body detection sensor 34, rotating support 31 is located on casing 1, just rotating support 31 disinfection casing 32 is located on rotating support 31, ultraviolet disinfection lamp 33 is located in the disinfection casing 32, human body detection sensor 34 is located on the disinfection casing 32, just the disinfection casing 32 is detachable with rotating support 31 and is connected. The rotating support 31 comprises a mounting seat 311, a rotating body 312, a ring 313, a rotating driving mechanism 314 and a set of friction wheel 315, an inner cavity is arranged on the mounting seat 311, the rotating body 312 is arranged in the inner cavity, the ring 313 is arranged on the outer side of the rotating body 312, teeth 3131 are arranged on the outer side wall of the ring 313, a driving motor is arranged in the rotating driving mechanism 314, a gear 3141 is arranged at the output end of the driving motor, the gear 3141 is meshed with the teeth of the ring 313, the friction wheel 315 is arranged on the outer side of the lower portion of the rotating body 312, the friction wheel 315 is arranged on two faces of the rotating body 312, and the friction wheel 315 is connected with the driving motor.
In this embodiment, the retractable dust collector 4 includes an installation support 41, a dust collection pipe 42 and a dust collection head 43, the installation support 41 is hinged to the housing 1, the dust collection pipe 42 is connected to a dust inlet of the installation support 41, the dust collection head 43 is connected to one end of the dust collection pipe 42 far away from the installation support 41, and the two are detachably connected.
In this embodiment, the dust collection head 43 includes a dust collection opening, a wiping plate 431 is disposed on the upper portion of the dust collection head 43, a water outlet is disposed on the wiping plate 431, the water outlet is connected with the water tank 7 through a pipeline, and a fixing member 432 for fixing a rag or a sponge is disposed on the wiping plate 431. The dust suction pipe 42 is a telescopic dust suction pipe, and is formed by sleeving a group of sub dust suction pipes.
In this embodiment, the first cleaning head 5 is a rotary cleaning head, the first cleaning head 5 includes a lifting rotary cleaning head 51 and a lifting and rotating driving mechanism 52, the lifting and rotating driving mechanism 52 includes a lifting driving cylinder 521, an installation base 522 and a first rotating driving motor 523, the lifting driving cylinder 521 is fixed on the housing 1, the installation base 522 is arranged at an output end of the lifting driving cylinder 521, the first rotating driving motor 523 is fixed on the installation base 522, and an output end of the first rotating driving motor 523 is connected with the lifting rotary cleaning head 51 through a coupling.
In this embodiment, the cleaning disc 6 may rotate, and the cleaning disc is arc-shaped.
In this embodiment, the cleaning tray 6 includes a fixed base plate 61, a rotary cleaning member 62 and a second rotary driving motor 63, the fixed base plate 61 is disposed below the casing 1, the rotary cleaning member 62 is disposed below the fixed base plate 61 and detachably connected to the fixed base plate, the second rotary driving motor 63 is disposed above the fixed base plate 61, and the output end of the second rotary driving motor is connected to the rotary cleaning member 62.
The rotary cleaning element 62 in this embodiment is provided with wing-edge cleaning disks 64 on both sides.
In this embodiment, the wing edge sweeping disk 64 is a telescopic wing edge sweeping disk 64, a telescopic driving mechanism is arranged on the wing edge sweeping disk 64, a set of longitudinal driving cylinder 641, an L connecting frame 642, a transverse driving cylinder 643 and a pressing column 644 are arranged in the telescopic driving mechanism, the L connecting frame 642 is arranged at the output end of the longitudinal driving cylinder 641, the transverse driving cylinder 643 is arranged at one side of the L connecting frame 642, the output end of the transverse driving cylinder 643 is connected with the wing edge sweeping disk 64, the upper part of the pressing column 644 is movably connected with a rail 646 below the L connecting frame 642 through a sliding seat 645, and the lower part of the pressing column 644 is connected with the wing edge sweeping disk 64.
In this embodiment, a set of garbage detection sensors 9 for detecting the garbage position, a set of infrared detectors 10 and second visual sensors 1016 for preventing collision, and a humidity sensor for detecting the indoor humidity are disposed on the housing 1.
The working method of the multifunctional cleaning intelligent sweeping robot in the embodiment comprises the following steps:
1): starting the robot, detecting the cleanliness of the ground through the garbage detection sensor 9, transmitting the detected data to the control device, analyzing the detected data through a data analysis system in the control device, judging the cleanliness of the ground, and starting the sweeping robot if the detected result shows that visible garbage exists or a numerical value required to be cleaned is reached;
2): the mounting base 522 is driven to move downwards by the lifting driving cylinder 521, and after the mounting base is moved to a proper height, the first rotary driving motor 523 drives the lifting rotary type cleaning head 51 to start working;
3): the sweeping disc 6 continuously gathers the garbage on the ground, and then the garbage and the dust on the ground are absorbed into the dust removal chamber through the lower dust absorption mechanism 8;
4): during the operation of the cleaning plate 6, if garbage which cannot be cleaned by the cleaning plate is found, the control device commands the longitudinal driving cylinder 641 to drive the L-shaped connecting frame 642 to move downwards, after the L-shaped connecting frame is moved to a proper position, the transverse driving cylinder 643 drives the wing edge cleaning plate 64 to move outwards, in the process, the sliding seat 645 on the pressing column 644 moves along the track 646 together, and after the wing edge cleaning plate 64 moves to the proper position, the wing edge cleaning plate 64 starts to perform secondary cleaning on the garbage which is not cleaned by the cleaning plate 6;
5): in the process, the humidity sensor detects the indoor humidity and dryness, the detected data is transmitted to the control device, the detected data is analyzed by a data analysis system in the control device, the detected data is compared with a set comfortable humidity and dryness value of the human body, and if the real indoor humidity is relatively dry, the telescopic humidifier 2 is started;
6): the driving cylinder 13 drives the first fixed seat 12 to move upwards, the retractable humidifier 2 is driven by the first fixed seat 12 to ascend together, and the retractable humidifier 2 starts to humidify air after ascending to a proper position;
7): and the human body detection sensor 34 on the robot detects whether a person is in the room, and transmits the detected data to the control device, the data analysis system in the control device analyzes the detected data, if the detection result shows that no person is in the room, the disinfection and sterilization device 3 is started;
8): the ultraviolet disinfection lamp 33 is used for indoor sterilization and disinfection, and the rotating support 31 can drive the ultraviolet disinfection lamp 33 to rotate at any angle in the process;
9): meanwhile, when a user needs to treat dust and dirt on a wall surface or furniture, the telescopic dust suction device 4 is turned upwards, then the dust suction driving assembly drives the dust suction head 43 to clean a region to be treated, and the length of the dust suction pipe 42 can be adjusted according to actual needs in the process.
Example 2
As shown in the figure, a multi-functional clean intelligent robot of sweeping the floor includes: the portable air conditioner comprises a machine shell 1, a retractable humidifier 2, a disinfection and sterilization device 3, a retractable dust suction device 4, a first cleaning head 5, a cleaning disc 6 and a control device, wherein a water tank 7 is arranged in the machine shell 1, one end of the water tank 7 is connected with the retractable humidifier 2 through a water supply pipe, the other end of the water tank is connected with a water spraying port 11 through a water supply pipe, the disinfection and sterilization device 3 is arranged in the machine shell 1 and is connected with a disinfection hole in the machine shell 1, the retractable dust suction device 4 is arranged at the top of the machine shell 1, the first cleaning head 5 and the cleaning disc 6 are both arranged below the machine shell 1, the cleaning disc 6 is arranged behind the first cleaning head 5, a lower dust suction mechanism 8 is arranged between the first cleaning head 5 and the cleaning disc 6 below the machine shell 1, the retractable humidifier 2, the disinfection and sterilization device 3, the retractable dust suction device 4, the first cleaning head 5 and the cleaning disc 6 are all connected with the control device, and the telescopic dust suction device 4 and the lower dust suction mechanism 8 share a dust suction driving component.
In this embodiment, an inner cavity for installing the retractable humidifier 2 is formed in the casing 1, a first fixing seat 12 for installing the humidifier is formed in the inner cavity, the retractable humidifier 2 is arranged on the first fixing seat 12, and a driving cylinder 13 is arranged below the first fixing seat 12.
In this embodiment, the disinfection and sterilization apparatus 3 is a rotatable disinfection and sterilization apparatus 3, which comprises a rotary support 31, a disinfection housing 32, an ultraviolet disinfection lamp 33 and a human body detection sensor 34, the rotary support 31 is disposed on the casing 1, the rotary support 31 is disposed on the rotary support 31, the ultraviolet disinfection lamp 33 is disposed in the disinfection housing 32, the human body detection sensor 34 is disposed on the disinfection housing 32, and the disinfection housing 32 is detachably connected with the rotary support 31. The rotating support 31 comprises a mounting seat 311, a rotating body 312, a ring 313, a rotating driving mechanism 314 and a set of friction wheel 315, an inner cavity is arranged on the mounting seat 311, the rotating body 312 is arranged in the inner cavity, the ring 313 is arranged on the outer side of the rotating body 312, teeth 3131 are arranged on the outer side wall of the ring 313, a driving motor is arranged in the rotating driving mechanism 314, a gear 3141 is arranged at the output end of the driving motor, the gear 3141 is meshed with the teeth of the ring 313, the friction wheel 315 is arranged on the outer side of the lower portion of the rotating body 312, the friction wheel 315 is arranged on two faces of the rotating body 312, and the friction wheel 315 is connected with the driving motor.
In this embodiment, the retractable dust collector 4 includes an installation support 41, a dust collection pipe 42 and a dust collection head 43, the installation support 41 is hinged to the housing 1, the dust collection pipe 42 is connected to a dust inlet of the installation support 41, the dust collection head 43 is connected to one end of the dust collection pipe 42 far away from the installation support 41, and the two are detachably connected.
In this embodiment the dust absorption head 43 includes the dust absorption mouth, and the upper portion that is located dust absorption head 43 is equipped with cleans board 431, be equipped with the apopore on cleaning board 431, the apopore passes through the pipeline and is connected with water tank 7, just be equipped with the mounting 432 that are used for fixed rag or sponge on cleaning board 431.
In this embodiment, the first cleaning head 5 is a lifting and rotating cleaning head, the first cleaning head 5 includes a lifting and rotating cleaning head 51 and a lifting and rotating driving mechanism 52, the lifting and rotating driving mechanism 52 includes a lifting driving cylinder 521, an installation base 522 and a first rotating driving motor 523, the lifting driving cylinder 521 is fixed on the housing 1, the installation base 522 is arranged at an output end of the lifting driving cylinder 521, the first rotating driving motor 523 is fixed on the installation base 522, and the output end of the first rotating driving motor 523 is connected with the lifting and rotating cleaning head 51 through a coupling.
In this embodiment, the cleaning disc 6 is a rotatable cleaning disc, and the cleaning disc is arc-shaped.
In this embodiment, the cleaning tray 6 includes a fixed base plate 61, a rotary cleaning element 62 and a second rotary driving motor 63, the fixed base plate 61 is disposed below the casing 1, the rotary cleaning element 62 is disposed below the fixed base plate 61 and detachably connected to the fixed base plate, the second rotary driving motor 63 is disposed above the fixed base plate 61, and the output end of the second rotary driving motor is connected to the rotary cleaning element 62.
The rotary cleaning element 62 in this embodiment is provided with wing-edge cleaning disks 64 on both sides.
In this embodiment, the wing edge sweeping tray 64 is a telescopic wing edge sweeping tray 64, a telescopic driving mechanism is provided on the wing edge sweeping tray 64, the telescopic driving mechanism is provided with a set of longitudinal driving cylinder 641, L connecting frame 642, transverse driving cylinder 643 and pressing column 644, the L connecting frame 642 is provided at the output end of the longitudinal driving cylinder 641, the transverse driving cylinder 643 is provided at one side of the L connecting frame 642, the output end of the transverse driving cylinder 643 is connected with the wing edge sweeping tray 64, the upper part of the pressing column 644 is movably connected with the rail 646 below the L connecting frame 642 through a sliding seat 645, and the lower part of the pressing column 644 is connected with the wing edge sweeping tray 64.
The machine shell 1 is provided with a group of garbage detection sensors 9 for detecting garbage positions and a group of anti-collision infrared detectors 10.
The cleaning device further comprises a second cleaning head 101, the second cleaning head 101 comprises a fixing frame 1011, a telescopic cleaning head 1012, a driving shaft 1013, a driving mechanism 1014 and a visual detection device 1015, the fixing frame 1011 is L-shaped, the cleaning head is arranged below a guard plate of the fixing frame 1011 and extends out of the guard plate, the driving shaft 1013 penetrates through the fixing frame 1011 to be connected with the driving mechanism 1014, the driving mechanism 1014 is arranged on one side of the fixing frame 1011, an output end of the driving mechanism is connected with the driving shaft 1013, and the visual detection device 1015 is arranged outside the fixing frame 1011.
The telescopic cleaning head 1012 comprises a telescopic cleaning piece 10121 and a first and second fixed seat 10122 in private, the tail of the telescopic cleaning piece 10121 is arranged on a fixed plate 10123, the periphery of the fixed plate 10123 is connected with the first and second fixed seat 10122 through a telescopic guide post 10124, and a group of springs 10125 are arranged between the fixed plate 10123 and the first and second fixed seat 10122.
The disinfection and sterilization device 3 and the retractable humidifier 2 in the embodiment can be detached and placed in other places for independent use.
The working method of the multifunctional cleaning intelligent sweeping robot in the embodiment comprises the following steps:
1): starting the robot, detecting the cleanliness of the ground through the garbage detection sensor 9, transmitting the detected data to the control device, analyzing the detected data through a data analysis system in the control device, judging the cleanliness of the ground, and starting the sweeping robot if the detection result shows that visible garbage exists or reaches a value required to be cleaned;
2): the mounting base 522 is driven to move downwards by the lifting driving cylinder 521, and after the mounting base is moved to a proper height, the first rotary driving motor 523 drives the lifting rotary type cleaning head 51 to start working;
3): the sweeping disc 6 continuously gathers the garbage on the ground, and then the garbage and the dust on the ground are absorbed into the dust removal chamber through the lower dust absorption mechanism 8;
4): when the cleaning plate 6 is in operation and garbage which cannot be cleaned by the cleaning plate is found, the control device commands the longitudinal driving cylinder 641 to drive the L-shaped connecting frame 642 to move downwards, and after the L-shaped connecting frame is moved to a proper position, the transverse driving cylinder 643 drives the wing edge cleaning plate 64 to move outwards, in the process, the sliding seat 645 on the pressing column 644 moves together along the rail 646, and after the wing edge cleaning plate 64 moves to a proper position, the wing edge cleaning plate 64 starts to perform secondary cleaning on the garbage which is not cleaned in place by the cleaning plate 6;
5): in the process, the humidity sensor detects the indoor humidity and dryness, the detected data is transmitted to the control device, the detected data is analyzed by a data analysis system in the control device, the detected data is compared with a set comfortable humidity and dryness value of the human body, and if the real indoor humidity is relatively dry, the telescopic humidifier 2 is started;
6): the driving cylinder 13 drives the first fixed seat 12 to move upwards, the retractable humidifier 2 is driven by the first fixed seat 12 to ascend together, and the retractable humidifier 2 starts to humidify air after ascending to a proper position;
7): and the human body detection sensor 34 on the robot detects whether a person is in the room, and transmits the detected data to the control device, the data analysis system in the control device analyzes the detected data, if the detection result shows that no person is in the room, the disinfection and sterilization device 3 is started;
8): the ultraviolet disinfection lamp 33 is used for indoor sterilization and disinfection, and the rotating support 31 can drive the ultraviolet disinfection lamp 33 to rotate at any angle in the process;
9): meanwhile, when a user needs to treat dust and dirt on a wall surface or furniture, the telescopic dust suction device 4 is turned upwards, then the dust suction driving assembly drives the dust suction head 43 to clean a region to be treated, and the length of the dust suction pipe 42 can be adjusted according to actual requirements in the process;
10): in the working process, if the second vision sensor 1016 detects that the robot approaches to the wall or the edge or corner of the fixture, the second cleaning head 101 is commanded to start working, that is, whether garbage exists at the edge or corner is detected by the vision detection device 1015, if so, the driving mechanism 1014 drives the driving shaft 1013 to push out the telescopic cleaning head 1012, and then the ground is cleaned by the telescopic cleaning head 1012;
11): during the working process of the telescopic cleaning head 1012, if an obstacle is touched, the telescopic cleaning piece 10121 generates self-adaptive force under the elastic force of the spring 10125 to enable the telescopic cleaning piece to retract to a proper state, the dead angle is processed, after the telescopic cleaning piece is far away from the dead angle, the spring 10125 reversely pushes the telescopic cleaning piece to a normal state, and after the telescopic cleaning piece is cleaned, the driving mechanism 1014 drives the driving shaft 1013 to return to the original position.
In this embodiment, in the above working process, the user can be better equipped with the wiping plate 431 and be used for fixing the rag or sponge as required, and can also supply water to the apopore through the water supply pipe, wash or wipe the wall body or the surface of article, furniture with water spray, the water supply pipe is connected with the water tank of the retractable humidifier 2.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.

Claims (1)

1. The utility model provides a multi-functional clean intelligent robot of sweeping floor which characterized in that: the method comprises the following steps: the machine comprises a machine shell (1), a retractable humidifier (2), a disinfection and sterilization device (3), a retractable dust suction device (4), a first cleaning head (5), a cleaning disc (6) and a control device, wherein a water tank (7) is arranged in the machine shell (1), one end of the water tank (7) is connected with the retractable humidifier (2) through a water supply pipe, the other end of the water tank is connected with a water spraying port (11) through the water supply pipe, the disinfection and sterilization device (3) is arranged in the machine shell (1) and is connected with a disinfection hole in the machine shell (1), the retractable dust suction device (4) is arranged at the top of the machine shell (1), the first cleaning head (5) and the cleaning disc (6) are both arranged below the machine shell (1), the cleaning disc (6) is arranged at the rear part of the first cleaning head (5), and a lower dust suction mechanism (8) is arranged between the first cleaning head (5) and the cleaning disc (6) below the machine shell (1), the telescopic humidifier (2), the disinfecting and sterilizing device (3), the telescopic dust collecting device (4), the first cleaning head (5) and the cleaning disc (6) are all connected with a control device, and the telescopic dust collecting device (4) and the lower dust collecting mechanism (8) share a dust collecting driving assembly;
an inner cavity for mounting the retractable humidifier (2) is formed in the machine shell (1), a first fixed seat (12) for mounting the humidifier is arranged in the inner cavity, the retractable humidifier (2) is arranged on the first fixed seat (12), and a driving cylinder (13) is arranged below the first fixed seat (12); the disinfection and sterilization device (3) is a rotatable disinfection and sterilization device (3) and comprises a rotary support (31), a disinfection shell (32), an ultraviolet disinfection lamp (33) and a human body detection sensor (34), wherein the rotary support (31) is arranged on the machine shell (1), the disinfection shell (32) of the rotary support (31) is arranged on the rotary support (31), the ultraviolet disinfection lamp (33) is arranged in the disinfection shell (32), the human body detection sensor (34) is arranged on the disinfection shell (32), and the disinfection shell (32) is detachably connected with the rotary support (31); the telescopic dust collection device (4) comprises a mounting support (41), a dust collection pipe (42) and a dust collection head (43), wherein the mounting support (41) is hinged with the machine shell (1), the dust collection pipe (42) is connected with a dust inlet of the mounting support (41), the dust collection head (43) is connected with one end, far away from the mounting support (41), of the dust collection pipe (42), and the dust collection pipe and the mounting support (41) are detachably connected; the dust collection head (43) comprises a dust collection port, a wiping plate (431) is arranged at the upper part of the dust collection head (43), a water outlet hole is formed in the wiping plate (431), the water outlet hole is connected with the water tank (7) through a pipeline, and a fixing piece (432) used for fixing a rag or a sponge is arranged on the wiping plate (431); the first cleaning head (5) is a rotary cleaning head, the first cleaning head (5) comprises a lifting rotary cleaning head (51) and a lifting and rotating driving mechanism (52), the lifting and rotating driving mechanism (52) comprises a lifting driving cylinder (521), an installation seat (522) and a first rotating driving motor (523), the lifting driving cylinder (521) is fixed on the machine shell (1), the installation seat (522) is arranged at the output end of the lifting driving cylinder (521), the first rotating driving motor (523) is fixed on the installation seat (522), and the output end of the first rotating driving motor (523) is connected with the lifting rotary cleaning head (51) through a coupler; the cleaning disc (6) is a rotatable cleaning disc which is arc-shaped; the cleaning disc (6) comprises a fixed bottom plate (61), a rotary cleaning piece (62) and a second rotary driving motor (63), the fixed bottom plate (61) is arranged below the machine shell (1), the rotary cleaning piece (62) is arranged below the fixed bottom plate (61) and is detachably connected, the second rotary driving motor (63) is arranged above the fixed bottom plate (61), and the output end of the second rotary driving motor is connected with the rotary cleaning piece (62); two sides of the rotary cleaning piece (62) are provided with wing edge cleaning discs (64); the wing edge sweeping disc (64) adopts a telescopic wing edge sweeping disc (64), a telescopic driving mechanism is arranged on the wing edge sweeping disc (64), a group of longitudinal driving cylinders (641), an L connecting frame (642), a transverse driving cylinder (643) and a compression column (644) are arranged in the telescopic driving mechanism, the L connecting frame (642) is arranged at the output end of the longitudinal driving cylinders (641), the transverse driving cylinder (643) is arranged at one side of the L connecting frame (642), the output end of the transverse driving cylinder is connected with the wing edge sweeping disc (64), the upper part of the compression column (644) is movably connected with a rail (646) below the L connecting frame (642) through a sliding seat (645), and the lower part of the compression column (644) is connected with the wing edge sweeping disc (64);
a group of garbage detection sensors (9) for detecting the garbage positions, a group of anti-collision infrared detectors (10), a second visual sensor (1016) and a humidity sensor for detecting indoor humidity are arranged on the machine shell (1);
the cleaning device is characterized by further comprising a second cleaning head (101), wherein the second cleaning head (101) comprises a fixing frame (1011), a telescopic cleaning head (1012), a driving shaft (1013), a driving mechanism (1014) and a visual detection device (1015), the fixing frame (1011) is L-shaped, the cleaning head is arranged below a guard plate of the fixing frame (1011) and extends out of the guard plate, the driving shaft (1013) penetrates through the fixing frame (1011) to be connected with the driving mechanism (1014), the driving mechanism (1014) is arranged on one side of the fixing frame (1011), the output end of the driving mechanism is connected with the driving shaft (1013), and the visual detection device (1015) is arranged on the outer side of the fixing frame (1011);
the telescopic cleaning head (1012) comprises a telescopic cleaning piece (10121) and a second fixed seat (10122), the tail of the telescopic cleaning piece (10121) is arranged on a fixed plate (10123), the periphery of the fixed plate (10123) is connected with the second fixed seat (10122) through a telescopic guide post (10124), and a group of springs (10125) are arranged between the fixed plate (10123) and the second fixed seat (10122);
the working method of the multifunctional cleaning intelligent sweeping robot comprises the following steps:
1): the robot is started, the cleanliness of the ground is detected through a garbage detection sensor (9), the detected data is transmitted to a control device, the detected data is analyzed through a data analysis system in the control device, the cleanliness of the ground is judged, and if the detection result shows that visible garbage exists or the numerical value required to be cleaned is reached, the sweeping robot is started;
2): the mounting base (522) is driven to move downwards through the lifting driving cylinder (521), and after the mounting base is moved to a proper height, the first rotary driving motor (523) drives the lifting rotary type cleaning head (51) to start working;
3): the cleaning disc (6) continuously gathers the garbage on the ground, and then the garbage and the dust on the ground are absorbed into the dust removal chamber through the lower dust absorption mechanism (8);
4): during the operation of the cleaning disc (6), if garbage which cannot be cleaned by the cleaning disc is found, the control device commands the longitudinal driving cylinder (641) to drive the L-shaped connecting frame (642) to move downwards, after the L-shaped connecting frame is moved to a proper position, the transverse driving cylinder (643) drives the wing edge cleaning disc (64) to move outwards, in the process, the sliding seat (645) on the pressing column (644) moves along the track (646) together, and after the wing edge cleaning disc (64) moves to the proper position, the wing edge cleaning disc (64) starts to perform secondary cleaning on the garbage which is not cleaned in place by the cleaning disc (6);
5): in the process, the humidity sensor detects the indoor humidity and humidity, the detected data is transmitted to the control device, the detected data is analyzed by a data analysis system in the control device, the detected data is compared with a set comfortable humidity and dryness value of the human body, and if the real indoor humidity is relatively dry, the contraction type humidifier (2) is started;
6): the driving cylinder (13) drives the first fixed seat (12) to move upwards, the retractable humidifier (2) is driven by the first fixed seat (12) to ascend together, and the retractable humidifier (2) starts to humidify air after ascending to a proper position;
7): a human body detection sensor (34) on the robot detects whether a person is in the room or not, the detected data is transmitted to the control device, a data analysis system in the control device analyzes the detected data, and if the detection result shows that no person exists, the disinfection and sterilization device (3) is started;
8): the indoor sterilization and disinfection are carried out through the ultraviolet disinfection lamp (33), and the rotating support (31) can drive the ultraviolet disinfection lamp (33) to rotate at any angle in the process;
9): meanwhile, when a user needs to treat dust and dirt on the wall surface or furniture, the telescopic dust suction device (4) is turned upwards, then the dust suction driving assembly drives the dust suction head (43) to clean a region to be treated, and the length of the dust suction pipe (42) can be adjusted according to actual requirements in the process;
10): in the working process, if the second vision sensor (1016) detects that the robot approaches to the wall or the edge and corner of the clamp, the second cleaning head (101) is commanded to start working, namely whether garbage exists at the edge and corner is detected through the vision detection device (1015), if so, the driving mechanism (1014) drives the driving shaft (1013) to push out the telescopic cleaning head (1012), and then the ground is cleaned through the telescopic cleaning head (1012);
11): in the working process of the telescopic cleaning head (1012), if an obstacle is touched, the telescopic cleaning piece (10121) generates self-adaptive force under the elastic force of the spring (10125) to enable the telescopic cleaning piece to retract to a proper state, the dead angle is processed, after the telescopic cleaning piece is far away from the dead angle, the spring (10125) pushes the telescopic cleaning piece back to a normal state, and after the telescopic cleaning piece is cleaned, the driving mechanism (1014) drives the driving shaft (1013) to return to the original position;
in the working process, a user can better fix the cleaning cloth or the sponge on the cleaning plate (431) according to the requirement, and can supply water to the water outlet hole through the water supply pipe to spray water to wash or clean the surface of a wall body, an article or furniture, wherein the water supply pipe is connected with the water tank of the telescopic humidifier (2).
CN202011565224.9A 2020-12-25 2020-12-25 Multifunctional cleaning intelligent sweeping robot and working method thereof Active CN112568806B (en)

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CN114305226A (en) * 2021-12-31 2022-04-12 江苏锡拖农机有限公司 No-dead-angle sweeper and working method thereof

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