CN113287985A - Lifting mop mechanism and robot - Google Patents
Lifting mop mechanism and robot Download PDFInfo
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- CN113287985A CN113287985A CN202110565354.0A CN202110565354A CN113287985A CN 113287985 A CN113287985 A CN 113287985A CN 202110565354 A CN202110565354 A CN 202110565354A CN 113287985 A CN113287985 A CN 113287985A
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- mop
- plate
- connecting rod
- link
- lifting
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- 230000007246 mechanism Effects 0.000 title claims abstract description 95
- 239000004744 fabric Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000010408 sweeping Methods 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 4
- 229910052799 carbon Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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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
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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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
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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
- Nozzles For Electric Vacuum Cleaners (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The application provides a lift mop mechanism, includes: a mop plate; the fixing plate is arranged opposite to the mop plate, and an accommodating space is formed between the fixing plate and the mop plate; one end of the first connecting rod is rotatably connected to the mop plate, and the other end of the first connecting rod is rotatably connected to the fixed plate; one end of the second connecting rod is rotatably connected to the mop plate, and the other end of the second connecting rod is rotatably connected to the fixing plate; the mop plate, the fixed plate, the first connecting rod and the second connecting rod form a double-crank mechanism together; and the driving mechanism is used for driving the first connecting rod to rotate. Under the normal working state, the mop plate can be arranged below the fixed plate, and the mop can be fixedly arranged on the mop plate, so that the lifting mop mechanism can be used for realizing the lifting or descending of the mop in the vertical direction, and the mop plate can be controlled to be in a state close to the fixed plate under the conditions that the robot is in a sweeping mode, the robot needs to get over obstacles, the robot slips and the like; the mop plate is controlled to be away from the fixing plate in case the robot is in the mopping mode.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a lifting mop mechanism and a robot.
Background
The mop of the cleaning robot having the mop is always in contact with the floor, and when the cleaning robot is in a floor sweeping mode, the mop is always in contact with the floor, so that the mop becomes dirty, and when the cleaning robot is changed into a floor mopping mode to mop the floor, the mop is contaminated; and the mop always contacting the ground can affect the obstacle crossing ability of the cleaning robot and can cause the cleaning robot to skid in some cases.
Disclosure of Invention
An object of the embodiment of the application is to provide a lifting mop mechanism and a robot, so as to solve the technical problem that the mop of the cleaning robot in the prior art always contacts with the ground.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
there is provided a mop lifting mechanism comprising: a mop plate; the fixing plate is arranged opposite to the mop plate, and an accommodating space is formed between the fixing plate and the mop plate; the first connecting rod is arranged in the accommodating space, one end of the first connecting rod is rotatably connected to the mop plate, and the other end, opposite to the one end, of the first connecting rod is rotatably connected to the fixing plate; the second connecting rod is arranged in the accommodating space, one end of the second connecting rod is rotatably connected to the mop plate, and the other end, opposite to the one end, of the second connecting rod is rotatably connected to the fixing plate; the mop plate, the fixing plate, the first connecting rod and the second connecting rod form a double-crank mechanism together; and the driving mechanism is in transmission connection with the first connecting rod and is used for driving the first connecting rod to rotate.
In one embodiment, the mop plate, the fixed plate, the first link, and the second link collectively form a parallelogram mechanism.
In one embodiment, further comprising: and the control mechanism is connected to the driving mechanism so as to control the driving mechanism to rotate.
In one embodiment, the drive mechanism comprises: and the motor is provided with a stator and a rotor, the stator is fixedly connected to the fixing plate, and the rotor is in transmission connection with the other end of the first connecting rod.
In one embodiment, the motor is a dc carbon brush motor.
In one embodiment, the drive mechanism further comprises: the gearbox is provided with a gear set, an input shaft and an output shaft, the input shaft and the output shaft are in transmission connection through the gear set, the input shaft is fixedly connected to the rotor, and the output shaft is fixedly connected to the other end of the first connecting rod.
In one embodiment, the second connecting rods are arranged in a plurality and are distributed at intervals, the rotating shafts of one ends of all the second connecting rods are collinear, and the rotating shafts of the other ends of all the second connecting rods are collinear.
In one embodiment, a portion of the second link is disposed on one side of the first link, and a portion of the second link is disposed on another side of the first link opposite to the one side.
In one embodiment, further comprising: the mop cloth is fixedly arranged on one side of the mop cloth, which deviates from the fixing plate.
Still provide a robot, include foretell lift mop mechanism.
The application provides a lift mop mechanism and robot's beneficial effect lies in: this lift mop mechanism includes: the mop plate can form a mandril in the double-crank mechanism, the fixed plate can form a bottom rod in the double-crank mechanism, the first connecting rod is arranged in the accommodating space, one end of the first connecting rod is rotatably connected to the mop plate, the other end of the first connecting rod is rotatably connected to the fixed plate, one end of the second connecting rod is rotatably connected to the mop plate, the other end of the second connecting rod is rotatably connected to the fixed plate, so that the mop plate can form the mandril of the double-crank mechanism, the fixed plate can form the bottom rod of the double-crank mechanism, the first connecting rod and the second connecting rod can respectively form two cranks of the double-crank mechanism, the driving mechanism is in transmission connection with the first connecting rod to drive the first connecting rod to rotate, in the rotating process of the first connecting rod, the second connecting rod rotates along with the first connecting rod, so that the distance between the mop plate and the fixing plate is shortened, and the mop plate moves towards the direction close to the fixing plate; under a normal working state, the mop plate can be arranged below the fixing plate, the fixing plate can be a shell of the robot or fixedly arranged on the shell of the robot as an independent structure, and the mop can be fixedly arranged on the mop plate, so that the mop can ascend or descend in the vertical direction by utilizing the lifting mop mechanism, and the mop plate can be controlled to be close to the fixing plate under the conditions that the robot is in a sweeping mode, the robot needs to get over obstacles, the robot slips and the like; the mop plate is controlled to be away from the fixing plate in case the robot is in the mopping mode.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a mop lifting mechanism provided by an embodiment of the application;
fig. 2 is a structural diagram of a mop lifting mechanism provided by the embodiment of the application in a first state;
fig. 3 is a structural diagram of a mop lifting mechanism provided by the embodiment of the application in a second state.
Wherein, in the figures, the respective reference numerals:
100-mop lifting mechanism; 110-mop plate; 120-a fixed plate; 130-a first link; 140-a second link; 150-a drive mechanism; 151-motor; 152-tooth box; 160-mop.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the 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 should not be considered as limiting the present application.
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 application, "a plurality" means two or more unless specifically limited otherwise.
The robot provided in the embodiments of the present application will now be described.
The application provides a robot includes: a robot body and a mop lifting mechanism.
The robot body is fixedly connected with the lifting mop mechanism, and the robot can be a cleaning robot, a mopping robot and the like. The lifting mop mechanism is used for being fixedly connected with the mop cloth so as to provide support for the mop cloth and drive the mop cloth to move in the vertical direction. The robot body can comprise a walking mechanism, the walking mechanism drives the whole robot to walk on the ground when the robot is in a floor sweeping mode or other modes of a floor removing mode, if the mop is attached to the ground in the walking process of the walking mechanism, the mop becomes dirty, the lifting mop mechanism can be used for controlling the mop to move upwards in the vertical direction so as to enable the mop to be positioned at a higher position to be separated from the ground, and the walking mechanism is controlled to drive the whole robot to walk under the condition that the mop is spaced from the ground, so that the mop can be prevented from being continuously contacted with the ground and becoming dirty in the walking process of the robot; when the robot is in a mopping mode, the lifting mop mechanism can control the mop cloth to move downwards in the vertical direction, so that the mop cloth is in a lower position to be attached to the ground, and the ground is cleaned by the mop cloth.
As shown in fig. 1, the present application provides a mop lifting mechanism 100 comprising: a mop plate 110, a fixing plate 120, a first link 130, a second link 140, and a driving mechanism 150.
The fixing plate 120 is opposite to the mop plate 110, and the fixing plate 120 may be a housing of the robot or an independent structure fixedly mounted to the housing of the robot. Specifically, in a use state, the fixing plate 120 may be disposed above the mop plate 110, that is, the fixing plate 120 and the mop plate 110 are spaced apart from each other in a vertical direction, so as to ensure that the mop 160 directly contacts with the ground, and ensure that the mop 160 is in a working environment. A receiving space is formed between the fixing plate 120 and the mop plate 110, and the height of the receiving space is determined according to the interval between the fixing plate 120 and the mop plate 110. In case that the distance between the fixing plate 120 and the mop plate 110 is reduced, the height of the receiving space is reduced; in case that the interval between the fixing plate 120 and the mop plate 110 is enlarged, the height of the receiving space is enlarged.
The first link 130 is disposed in the accommodating space, and one end of the first link 130 is rotatably connected to the mop plate 110. Specifically, the mop plate 110 may have a pin hole, one end of the first link 130 may have a pin, and one end of the first link 130 may be rotatably connected to the mop plate 110 by a pin connection. The other end of the first link 130 opposite to the one end is rotatably connected to the fixing plate 120. Specifically, the mop plate 110 may have a pin hole, the other end of the first link 130 may have a pin, and the other end of the first link 130 may be rotatably connected to the mop plate 110 by a pin connection.
The second link 140 is disposed in the accommodating space, and one end of the second link 140 is rotatably connected to the mop plate 110. Specifically, the mop plate 110 may have a pin hole, one end of the second link 140 may have a pin, and one end of the second link 140 may be rotatably connected to the mop plate 110 by a pin connection. The other end of the second link 140 opposite to the one end is rotatably connected to the fixed plate 120. Specifically, the mop plate 110 may have a pin hole, the other end of the second link 140 may have a pin, and the other end of the second link 140 may be rotatably connected to the mop plate 110 by a pin connection.
The mop plate 110, the fixed plate 120, the first link 130, and the second link 140 collectively form a double-crank mechanism. Specifically, the mop plate 110 may form a top rod of a dual-crank mechanism, the fixing plate 120 may form a bottom rod of the dual-crank mechanism, and the first link 130 and the second link 140 may form two cranks of the dual-crank mechanism.
The driving mechanism 150 is drivingly connected to the first link 130 to drive the first link 130 to rotate. Specifically, the driving mechanism 150 may be connected to the first link 130 through a gear connection, or may be connected to the first link 130 through a belt connection, and only the driving mechanism 150 may drive the first link 130 to rotate.
The lifting mop mechanism 100 includes: mop plate 110, fixing plate 120, first connecting rod 130, second connecting rod 140 and driving mechanism 150, mop plate 110 and fixing plate 120 are arranged oppositely, a containing space is formed between mop rod 160 and fixing plate 120, mop plate 110 can form a top rod of a double-crank mechanism, fixing plate 120 can form a bottom rod of the double-crank mechanism, first connecting rod 130 is arranged in the containing space, one end of first connecting rod 130 is rotatably connected to mop plate 110, the other end of first connecting rod 130 is rotatably connected to fixing plate 120, one end of second connecting rod 140 is rotatably connected to mop plate 110, the other end of second connecting rod 140 is rotatably connected to fixing plate 120, so that mop plate 110 can form a top rod of a double-crank mechanism, fixing plate 120 can form a bottom rod of a double-crank mechanism, and first connecting rod 130 and second connecting rod 140 can respectively form two cranks of a double-crank mechanism, driving mechanism 150 is connected to first connecting rod 130 in a transmission manner to drive first connecting rod 130 to rotate, during the rotation of the first link 130, the second link 140 rotates therewith, so that the distance of the mop plate 110 with respect to the fixed plate 120 is shortened, and the mop plate 110 moves toward a direction close to the fixed plate 120; under a normal working state, the mop plate 110 can be arranged below the fixed plate 120, the fixed plate 120 can be a housing of the robot or can be fixedly mounted on the housing of the robot as a separate structure, and the mop 160 can be fixedly mounted on the mop plate 110, so that the mop 160 can be lifted or lowered in a vertical direction by using the lifting mop mechanism 100, and the mop plate 110 can be controlled to be in a state close to the fixed plate 120 (as shown in fig. 2) under the conditions that the robot is in a sweeping mode, the robot needs to get over obstacles, the robot slips and the like; the mop plate 110 is controlled to be in a state of being away from the fixed plate 120 (as shown in fig. 3) in case the robot is in the mopping mode.
As shown in fig. 1, in some embodiments of the present application, the mop plate 110, the fixed plate 120, the first link 130, and the second link 140 may collectively form a parallelogram mechanism. The interval between the rotational axes of the first link 130 and the mop plate 110 and the rotational axes of the first link 130 and the fixed plate 120 may be a first interval, the interval between the rotational axes of the second link 140 and the mop plate 110 and the rotational axes of the second link 140 and the fixed plate 120 may be a second interval, the rotational axes of the first link 130 and the mop plate 110 and the rotational axes of the second link 140 and the mop plate 110 may be a third interval, and the rotational axes of the first link 130 and the fixed plate 120 and the rotational axes of the second link 140 and the fixed plate 120 may be a fourth interval. In case the mop plate 110, the fixing plate 120, the first link 130 and the second link 140 may collectively form a parallelogram mechanism, the first pitch and the second pitch are the same, and the second pitch and the fourth pitch are the same. In this case, the rotation of the first link 130 by the driving mechanism 150 causes the different positions of the mop stick 160 to move toward the fixing plate 120 in the same direction and distance, so that the different positions of the mop stick 160 can be attached to the ground or detached from the ground.
As shown in fig. 1, in some embodiments of the present application, the lifting mop mechanism 100 may further include: and a control mechanism.
The control mechanism is connected to the driving mechanism 150 to control the driving mechanism 150 to rotate. Specifically, the control mechanism may be electrically connected to the driving mechanism 150 through a wire, so as to control the driving mechanism 150 to rotate by using an electrical signal; the driving mechanism 150 can also be connected to the driving mechanism 150 by wireless connection through radio so as to control the driving mechanism 150 to rotate by using radio signals. The control mechanism can be a mechanism which can realize signal processing and instruction sending, such as a single chip microcomputer.
As shown in fig. 1, in some embodiments of the present application, the drive mechanism 150 may include: and a motor 151.
The motor 151 has a stator and a rotor, and the stator is fixedly coupled to the fixing plate 120. Specifically, the stator and the fixing plate 120 may be fixedly connected by bonding, welding, or the like, so as to ensure the connection strength between the stator and the fixing plate; the stator and the fixing plate 120 can be fixedly connected through bolts, buckles and the like so as to be convenient to disassemble and assemble. For example, the fixing plate 120 may have a groove thereon, and the stator may be fixedly embedded in the groove to ensure the connection strength of the two on the basis of easy assembly and disassembly. The rotor is rotatably connected to the first link 130. When the power is applied, the rotor rotates relative to the stator, so that the rotor can rotate the first link 130.
In other embodiments of the present application, the motor 151 may also be a stepper motor. A stepper motor is an electric motor that converts electrical pulse signals into corresponding angular or linear displacements. The rotor rotates an angle or one step before inputting a pulse signal, the output angular displacement or linear displacement is proportional to the input pulse number, and the rotating speed is proportional to the pulse frequency. Under the condition that the stepping motor does not input a rotation signal, the rotor cannot rotate continuously, so that the rotation angle of the first link 130 can be controlled by using the stepping motor, and the first link 130 can be always kept at a preset angle. For example, when it is not necessary to position mop 160 at the highest position, first link 130 may be rotated by a certain angle by controlling the rotation of the stepping motor, and the position of mop plate 110 at the certain angle is located at an intermediate position at a certain distance from the highest position, and at this position, the position of the rotor remains fixed, that is, first link 130 cannot rotate continuously, so that the position of mop plate 110 is fixed, and further the position of mop 160 is fixed, that is, middle suspension of mop 160 is achieved.
As shown in fig. 1, in some embodiments of the present application, the drive mechanism 150 may further comprise: a dental box 152.
The gearbox 152 has a gear set, an input shaft and an output shaft, which are in driving connection via the gear set. The input shaft is fixedly connected to the rotor, and the output shaft is fixedly connected to the other end of the first link 130. During the rotation of the output shaft, the output shaft drives the other end of the first link 130 to rotate. Specifically, the gear set can be one gear or a plurality of gears, and the reduction of different multiples can be realized by adjusting the gear set. For example, when the lifting or lowering speed of mop 160 is required to be fast, the lower multiple (for example, 5-10 times) can be adjusted to ensure the movement speed of mop 160; when the lifting or descending position accuracy of the mop cloth 160 is high, the adjustment of the position accuracy can be performed by a high multiple (for example, 20-30 times) so as to ensure the accurate control of the rotation angle of the output shaft.
As shown in fig. 1, in some embodiments of the present application, the motor 151 is a dc carbon brush motor, and since the dc carbon brush motor has a lower cost, and the gearbox 152 can convert a faster rotation speed of an output shaft of the dc carbon brush motor into a slower rotation speed, the first link 130 can be conveniently and precisely controlled, and the rotation angle of the first link 130 can be precisely controlled at a low cost.
As shown in fig. 1, in some embodiments of the present application, the second link 140 may be provided in a plurality, and the plurality of second links 140 are spaced apart from each other, that is, the plurality of second links 140 are spaced apart from each other and do not directly contact each other. The rotation axes of one end of all the second links 140 are collinear, and the rotation axes of the other end of all the second links 140 are collinear, thereby ensuring that all the second links 140 can synchronously rotate. The plurality of second connecting rods 140 can ensure that the plurality of positions of the mop plate 110 can receive the acting force of the second connecting rods 140, and the acting force of the second connecting rods 140 on the mop plate 110 is evenly distributed.
As shown in fig. 1, in some embodiments of the present application, a portion of the second link 140 is disposed at one side of the first link 130, and another portion of the second link 140 is disposed at another side of the first link 130 opposite to the one side. For example, in the case where the second links 140 are provided in two, one of the second links 140 is provided on one side of a plane of the first link 130 perpendicular to the rotational axis thereof, and the other is provided on the other side of the plane of the first link 130 perpendicular to the rotational axis thereof. The first link 130 and the two second links 140 jointly apply a force to the mop plate 110, and the force is applied to the mop plate 110 due to the dispersion of the first link 130 and the two second links 140, so that the stress concentration on the mop plate 110 can be avoided, and the forces applied to the mop cloth 160 by different positions of the mop plate 110 can be substantially the same.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A mop lifting mechanism is characterized by comprising:
a mop plate;
the fixing plate is arranged opposite to the mop plate, and an accommodating space is formed between the fixing plate and the mop plate;
the first connecting rod is arranged in the accommodating space, one end of the first connecting rod is rotatably connected to the mop plate, and the other end, opposite to the one end, of the first connecting rod is rotatably connected to the fixing plate;
the second connecting rod is arranged in the accommodating space, one end of the second connecting rod is rotatably connected to the mop plate, and the other end, opposite to the one end, of the second connecting rod is rotatably connected to the fixing plate; the mop plate, the fixing plate, the first connecting rod and the second connecting rod form a double-crank mechanism together;
and the driving mechanism is in transmission connection with the first connecting rod and is used for driving the first connecting rod to rotate.
2. A lifting swab mechanism according to claim 1, wherein the swab plate, the fixed plate, the first link and the second link together form a parallelogram mechanism.
3. A lifting swab mechanism according to claim 1 or 2, further comprising:
and the control mechanism is connected to the driving mechanism so as to control the driving mechanism to rotate.
4. A lifting swab mechanism according to claim 1 or 2, wherein the drive mechanism comprises:
and the motor is provided with a stator and a rotor, the stator is fixedly connected to the fixing plate, and the rotor is in transmission connection with the other end of the first connecting rod.
5. A lifter swab mechanism according to claim 4, wherein the motor is a DC brush motor.
6. A lifting swab mechanism according to claim 4, wherein the drive mechanism further comprises:
the gearbox is provided with a gear set, an input shaft and an output shaft, the input shaft and the output shaft are in transmission connection through the gear set, the input shaft is fixedly connected to the rotor, and the output shaft is fixedly connected to the other end of the first connecting rod.
7. A lifting-drop mechanism according to claim 1, wherein the second links are provided in plurality with a plurality of spaced apart second links, all of the second links having their axes of rotation collinear at one end and all of the second links having their axes of rotation collinear at the other end.
8. A lifting-drop swab mechanism according to claim 7, wherein part of the second link is arranged on one side of the first link and part of the second link is arranged on the other side of the first link, opposite to the one side.
9. A lifting swab mechanism according to claim 1, further comprising:
the mop cloth is fixedly arranged on one side of the mop cloth, which deviates from the fixing plate.
10. A robot, characterized in that it comprises a mop lifting mechanism according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110565354.0A CN113287985A (en) | 2021-05-24 | 2021-05-24 | Lifting mop mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110565354.0A CN113287985A (en) | 2021-05-24 | 2021-05-24 | Lifting mop mechanism and robot |
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| CN113287985A true CN113287985A (en) | 2021-08-24 |
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| CN202110565354.0A Pending CN113287985A (en) | 2021-05-24 | 2021-05-24 | Lifting mop mechanism and robot |
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| CN (1) | CN113287985A (en) |
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| CN206473272U (en) * | 2016-10-20 | 2017-09-08 | 天津市雪豹电动车有限公司 | Ground scraping cart wiping ground component |
| CN206603741U (en) * | 2016-12-06 | 2017-11-03 | 象山艾尔沃特智能科技有限公司 | A kind of floor high-efficiency washing device |
| CN208426058U (en) * | 2018-01-19 | 2019-01-25 | 广州大学 | A kind of floor-mopping robot |
| CN109602352A (en) * | 2018-12-28 | 2019-04-12 | 广州蓝海智能装备有限公司 | A kind of floor-cleaning machine and working method |
| CN111248822A (en) * | 2020-03-13 | 2020-06-09 | 深圳职业技术学院 | Cleaning tool |
| CN213216751U (en) * | 2020-08-27 | 2021-05-18 | 张万杰 | Cross connecting rod lifting mop-washing mopping robot |
| CN112806915A (en) * | 2021-02-10 | 2021-05-18 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment |
| CN217161993U (en) * | 2021-05-24 | 2022-08-12 | 深圳市杉川机器人有限公司 | Lifting mop mechanism and robot |
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