CN204654824U - A kind of intelligent floor-sweeping floor-mopping robot - Google Patents

A kind of intelligent floor-sweeping floor-mopping robot Download PDF

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CN204654824U
CN204654824U CN201520386410.4U CN201520386410U CN204654824U CN 204654824 U CN204654824 U CN 204654824U CN 201520386410 U CN201520386410 U CN 201520386410U CN 204654824 U CN204654824 U CN 204654824U
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mopping
driven roller
cleaning
cleaning tank
mop
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陈俊峰
许伟
林鑫荣
王钦坤
谢立敏
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Fujian Agriculture and Forestry University
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Fujian Agriculture and Forestry University
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Abstract

本实用新型提供一种智能扫地拖地机器人,包括移动平台、拖地机构和清洗机构,拖地机构包括主动滚轴、从动滚轴、驱动装置和拖布,主动滚轴与从动滚轴平行设置,从动滚轴设置在移动平台上方,主动滚轴设置在移动平台下方,拖布绕设在主动滚轴和从动滚轴上,驱动装置驱动主动滚轴转动并通过拖布带动从动滚轴转动,清洗机构包括水箱、水管、清洗槽和刷板,清洗槽设置在从动滚轴下方,刷板设置在清洗槽内,刷板与拖布的表面接触,水管的进水口与水箱连接,水管的出水口设置在清洗槽内,出水口相对从动滚轴设置。本实用新型的有益效果在于:设有移动平台和设置在移动平台上的拖地机构和清洗机构,可一边行走一边自动完成拖地和拖布清洗工作。

The utility model provides an intelligent sweeping and mopping robot, which includes a mobile platform, a mopping mechanism and a cleaning mechanism. The mopping mechanism includes a driving roller, a driven roller, a driving device and a mop, and the driving roller is parallel to the driven roller. Setting, the driven roller is set above the moving platform, the driving roller is set under the moving platform, the mop is wound around the driving roller and the driven roller, the driving device drives the driving roller to rotate and drives the driven roller through the mop Rotate, the cleaning mechanism includes water tank, water pipe, cleaning tank and brush plate, the cleaning tank is set under the driven roller, the brush plate is set in the cleaning tank, the brush plate is in contact with the surface of the mop, the water inlet of the water pipe is connected to the water tank, and the water pipe The water outlet is arranged in the cleaning tank, and the water outlet is arranged relative to the driven roller. The beneficial effect of the utility model is that: a mobile platform and a mopping mechanism and a cleaning mechanism arranged on the mobile platform can automatically complete the mopping and mopping cleaning work while walking.

Description

一种智能扫地拖地机器人An intelligent sweeping and mopping robot

技术领域technical field

本实用新型涉及一种智能清洁家居机器,具体涉及到一种结合拖地和扫地功能于一体的智能机器人。The utility model relates to an intelligent household cleaning machine, in particular to an intelligent robot which integrates the functions of mopping and sweeping the floor.

背景技术Background technique

现代社会,人们越来越喜欢追求便捷、智能化的生活,由此催生了很多可以给人们生活带来便利的自动化产品,如洗衣机、洗碗机、吸尘器等可以帮助人们完成家务劳动的产品。随着国内生活水平和科技水平的不断提高,国内市场逐步出现了一种名为自动扫地机的家居产品。这种自动扫地机刚开始只出现在欧美市场,但从这几年慢慢开始进入了国内寻常百姓家。由此可以看出这种自动扫地机满足了人们对于智能化生活的需求,受欢迎程度可见一斑。但是纵观国内的智能扫地机市场,现有的产品都只具备了智能扫地的功能。也就是说使用这款产品可以帮助人们完成扫地的任务,但拖地依旧要靠人们的双手去完成。所以研究开发一款既可以完成扫地功能,又可以同时进行拖地的智能扫地拖地机器人来实现室内地面半自动或全自动清洁就很有必要。这样就能把原本繁重的家务劳动交由机器人来完成,解放人们的双手,使得人们拥有更多的家庭休闲时间。In modern society, people are more and more fond of pursuing a convenient and intelligent life, which has given birth to many automation products that can bring convenience to people's lives, such as washing machines, dishwashers, vacuum cleaners and other products that can help people complete housework. With the continuous improvement of domestic living standards and technological levels, a household product called automatic sweeper has gradually appeared in the domestic market. This kind of automatic sweeper only appeared in the European and American markets at the beginning, but it has gradually entered the homes of ordinary people in China in recent years. It can be seen that this automatic sweeper meets people's needs for intelligent life, and its popularity is evident. However, looking at the domestic intelligent sweeper market, the existing products only have the function of intelligent sweeping. In other words, using this product can help people complete the task of sweeping the floor, but mopping the floor still depends on people's hands. Therefore, it is necessary to research and develop an intelligent sweeping and mopping robot that can complete the sweeping function and mop the floor at the same time to realize semi-automatic or fully automatic cleaning of the indoor floor. In this way, the original heavy housework can be handed over to the robot, freeing people's hands and allowing people to have more family leisure time.

实用新型内容Utility model content

本实用新型所要解决的技术问题是:提供一种智能扫地拖地机器人。The technical problem to be solved by the utility model is to provide an intelligent sweeping and mopping robot.

为了解决上述技术问题,本实用新型采用的技术方案为:In order to solve the above technical problems, the technical solution adopted by the utility model is:

一种智能扫地拖地机器人,包括移动平台和设置在移动平台上的拖地机构和清洗机构,所述拖地机构包括主动滚轴、从动滚轴、驱动装置和拖布,所述主动滚轴与从动滚轴平行设置,所述从动滚轴设置在移动平台上方,所述主动滚轴设置在移动平台下方,所述拖布绕设在主动滚轴和从动滚轴上,所述驱动装置驱动主动滚轴转动并通过拖布带动从动滚轴转动,所述清洗机构包括水箱、水管、清洗槽和刷板,所述清洗槽设置在从动滚轴下方,所述刷板设置在清洗槽内,所述刷板与拖布的表面接触,所述水管的进水口与水箱连接,所述水管的出水口设置在清洗槽内,所述出水口相对从动滚轴设置。An intelligent sweeping and mopping robot includes a mobile platform and a mopping mechanism and a cleaning mechanism arranged on the mobile platform. The mopping mechanism includes a driving roller, a driven roller, a driving device and a mop, and the driving roller Set parallel to the driven roller, the driven roller is arranged above the mobile platform, the active roller is arranged below the mobile platform, the mop is wound on the active roller and the driven roller, and the driving The device drives the active roller to rotate and drives the driven roller to rotate through the mop. The cleaning mechanism includes a water tank, a water pipe, a cleaning tank and a brush plate. In the tank, the brush plate is in contact with the surface of the mop, the water inlet of the water pipe is connected to the water tank, the water outlet of the water pipe is arranged in the cleaning tank, and the water outlet is arranged relative to the driven roller.

进一步的,所述拖地机构还包括支撑架、第一支撑臂、第二支撑臂和支撑杆,所述支撑架固定在移动平台的上表面,所述主动滚轴的两端分别通过第一支撑臂与支撑架连接,所述从动滚轴的两端分别通过第二支撑臂与支撑架连接,两个第一支撑臂和两个第二支撑臂之间分别连接有支撑杆,所述支撑杆平行于主动滚轴设置。Further, the mopping mechanism also includes a support frame, a first support arm, a second support arm and a support rod, the support frame is fixed on the upper surface of the mobile platform, and the two ends of the active roller pass through the first The support arm is connected to the support frame, the two ends of the driven roller are respectively connected to the support frame through the second support arm, and a support rod is respectively connected between the two first support arms and the two second support arms. The support rod is arranged parallel to the driving roller.

进一步的,所述拖地机构还包括张紧杆和第三支撑臂,所述张紧杆平行于所述支撑杆,所述张紧杆的两端分别通过第三支撑臂与第二支撑臂连接,所述第三支撑臂上纵向设置有滑槽,所述张紧杆的两端可滑动的设置在滑槽内且通过螺母固定在第三支撑臂上。Further, the mopping mechanism also includes a tension rod and a third support arm, the tension rod is parallel to the support rod, and the two ends of the tension rod pass through the third support arm and the second support arm respectively. connected, the third support arm is longitudinally provided with a chute, and the two ends of the tension rod are slidably arranged in the chute and fixed on the third support arm by nuts.

进一步的,还包括扫地机构、摄像机构、控制器和无线模块,所述移动平台包括行走机构,所述控制器分别与行走机构、扫地机构、拖地机构、清洗机构、摄像机构和无线模块电连接,所述无线模块用于与控制终端通讯。Further, it also includes a sweeping mechanism, a camera mechanism, a controller and a wireless module. connected, the wireless module is used to communicate with the control terminal.

进一步的,所述移动平台还包括底盘,所述行走机构包括万向轮、车轮和电机,所述万向轮和车轮设置在底盘上,所述电机驱动所述车轮行走。Further, the mobile platform further includes a chassis, and the traveling mechanism includes universal wheels, wheels and motors, the universal wheels and wheels are arranged on the chassis, and the motor drives the wheels to travel.

进一步的,所述扫地机构包括风机、吸尘盒、集尘盒和边刷组件,所述风机的进气口与吸尘盒的一端连接,所述吸尘盒的另一端设有进尘口,所述进尘口与大气相通,所述进尘口靠近吸尘盒的一端设有挡板,所述风机的出气口与集尘盒连接,所述边刷组件设置在移动平台下方,所述边刷组件位于所述进尘口的两侧,所述集尘盒由压板固定在移动平台上。Further, the sweeping mechanism includes a fan, a dust collection box, a dust collection box and a side brush assembly, the air inlet of the fan is connected to one end of the dust collection box, and the other end of the dust collection box is provided with a dust inlet , the dust inlet is communicated with the atmosphere, the end of the dust inlet near the dust collection box is provided with a baffle, the air outlet of the fan is connected to the dust collection box, the side brush assembly is arranged under the mobile platform, and the The side brush assembly is located on both sides of the dust inlet, and the dust collection box is fixed on the mobile platform by a pressing plate.

进一步的,还包括红外传感器和超声波传感器,所述红外传感器和超声波传感器与所述控制器电连接。Further, an infrared sensor and an ultrasonic sensor are also included, and the infrared sensor and the ultrasonic sensor are electrically connected to the controller.

进一步的,所述清洗槽的底部设有过滤网,所述清洗槽的底部与水箱相通。Further, a filter screen is provided at the bottom of the cleaning tank, and the bottom of the cleaning tank communicates with the water tank.

进一步的,所述清洗机构还包括清洗槽盖,所述清洗槽盖封闭住所述清洗槽。Further, the cleaning mechanism also includes a cleaning tank cover, and the cleaning tank cover closes the cleaning tank.

进一步的,所述水管呈“T”形,所述水管的进水口设置在水管的主路上,所述出水口设置在水管的支路上。Further, the water pipe is in a "T" shape, the water inlet of the water pipe is arranged on the main road of the water pipe, and the water outlet is arranged on the branch road of the water pipe.

本实用新型的有益效果在于:设有移动平台、拖地机构和清洗机构,在满足扫地功能的基础上增加了拖地功能,拖地机构能够在机器人行走时用于地面清洁,解决了以往需要人工用拖把拖地的麻烦;拖布在工作时作类似皮带传动时的往复循环运动,并且一端处于清洗机构中,且清洗机构中会有循环不断流动的清水淋洒到拖布上,拖布通过与刷板摩擦接触,即可洗去拖布上的污物,实现拖布的自动清洗;使用者只需要在初次使用时把水箱装满清水,机器人就可以自动完成拖地、拖布清洗一系列工作。The beneficial effects of the utility model are: a mobile platform, a mopping mechanism and a cleaning mechanism are provided, and the mopping function is added on the basis of satisfying the sweeping function, and the mopping mechanism can be used for ground cleaning when the robot is walking, which solves the need The trouble of manually mopping the floor with a mop; when the mop is working, it does a reciprocating cycle similar to that of a belt drive, and one end is in the cleaning mechanism, and there will be circulating and continuously flowing water in the cleaning mechanism to sprinkle on the mop, and the mop passes through with the brush The dirt on the mop can be washed away by frictional contact with the plates, and the automatic cleaning of the mop can be realized; the user only needs to fill the water tank with clean water when using it for the first time, and the robot can automatically complete a series of tasks of mopping the floor and cleaning the mop.

附图说明Description of drawings

图1为本实用新型实施例智能扫地拖地机器人立体图。Fig. 1 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

图2为本实用新型实施例智能扫地拖地机器人立体图。Fig. 2 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

图3为本实用新型实施例智能扫地拖地机器人立体图。Fig. 3 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

图4为本实用新型实施例智能扫地拖地机器人立体图。Fig. 4 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

图5为本实用新型实施例吸尘盒内部视图。Fig. 5 is an internal view of the dust collection box of the embodiment of the present invention.

标号说明:Label description:

11、出水口;12、从动滚轴;13、支撑板;14、驱动装置;15、主动滚轴;161、第一支撑臂;162、第二支撑臂;163、第三支撑臂;17、支撑杆;18、张紧杆;19、刷板;21、吸尘盒;22、边刷组件;23、电机;24、车轮;25、万向轮;26、底盘;31、集尘盒;32、风机;33、水箱;34、压板;35、清洗槽;41、清洗槽盖;51、挡板;52、进尘口;53、水管。11. water outlet; 12. driven roller; 13. supporting plate; 14. driving device; 15. driving roller; 161. first supporting arm; 162. second supporting arm; 163. third supporting arm; 17 , support rod; 18, tension rod; 19, brush plate; 21, dust collection box; 22, side brush assembly; 23, motor; 24, wheel; 25, universal wheel; 26, chassis; 31, dust collection box ; 32, fan; 33, water tank; 34, pressure plate; 35, cleaning tank; 41, cleaning tank cover; 51, baffle plate; 52, dust inlet; 53, water pipe.

具体实施方式Detailed ways

为详细说明本实用新型的技术内容、所实现目的及效果,以下结合实施方式并配合附图予以说明。In order to describe the technical content, the achieved purpose and the effect of the present utility model in detail, the following will be described in conjunction with the embodiments and accompanying drawings.

本实用新型最关键的构思在于:机器人设有移动平台和设置在移动平台上的拖地机构和清洗机构,可一边行走一边自动完成拖地和拖布清洗工作。The most critical idea of the utility model is: the robot is provided with a mobile platform and a mopping mechanism and a cleaning mechanism arranged on the mobile platform, and can automatically complete the mopping and mopping cleaning work while walking.

请参照图1至图5,一种智能扫地拖地机器人,包括移动平台和设置在移动平台上的拖地机构和清洗机构,所述拖地机构包括主动滚轴15、从动滚轴12、驱动装置14和拖布,所述主动滚轴15与从动滚轴12平行设置,所述从动滚轴12设置在移动平台上方,所述主动滚轴15设置在移动平台下方,所述拖布绕设在主动滚轴15和从动滚轴12上,所述驱动装置14驱动主动滚轴15转动并通过拖布带动从动滚轴12转动,所述清洗机构包括水箱33、水管53、清洗槽35和刷板19,所述清洗槽35设置在从动滚轴12下方,所述刷板19设置在清洗槽35内,所述刷板19与拖布的表面接触,所述水管53的进水口与水箱33连接,所述水管53的出水口11设置在清洗槽35内,所述出水口11相对从动滚轴12设置。Please refer to Figures 1 to 5, an intelligent sweeping and mopping robot includes a mobile platform and a mopping mechanism and a cleaning mechanism arranged on the mobile platform. The mopping mechanism includes a driving roller 15, a driven roller 12, Driving device 14 and mop, described driving roller 15 is arranged in parallel with driven roller 12, and described driven roller 12 is arranged on the mobile platform top, and described driving roller 15 is arranged on the mobile platform below, and described mop is arranged around Located on the driving roller 15 and the driven roller 12, the driving device 14 drives the driving roller 15 to rotate and drives the driven roller 12 to rotate through the mop. The cleaning mechanism includes a water tank 33, a water pipe 53, and a cleaning tank 35 And the brush plate 19, the cleaning tank 35 is arranged below the driven roller 12, the brush plate 19 is arranged in the cleaning tank 35, the brush plate 19 is in contact with the surface of the mop, the water inlet of the water pipe 53 is connected to the The water tank 33 is connected, and the water outlet 11 of the water pipe 53 is arranged in the cleaning tank 35 , and the water outlet 11 is arranged relative to the driven roller 12 .

进一步的,所述拖地机构还包括支撑架、第一支撑臂161、第二支撑臂162和支撑杆17,所述支撑架固定在移动平台的上表面,所述主动滚轴15的两端分别通过第一支撑臂161与支撑架连接,所述从动滚轴12的两端分别通过第二支撑臂162与支撑架连接,两个第一支撑臂161和两个第二支撑臂162之间分别连接有支撑杆17,所述支撑杆17平行于主动滚轴15设置。优选的,所述支撑架为两个平行且数值设置在移动平台上的支撑板13,每个支撑架与主动滚轴15相对应的一端通过第一支撑臂161连接,每个支撑架与从动滚轴12相对应的一端通过第二支撑臂162连接。Further, the mopping mechanism also includes a support frame, a first support arm 161, a second support arm 162 and a support rod 17, the support frame is fixed on the upper surface of the mobile platform, and the two ends of the active roller 15 The two ends of the driven roller 12 are respectively connected to the support frame through the second support arm 162. The two first support arms 161 and the two second support arms 162 Support rods 17 are respectively connected between them, and the support rods 17 are arranged parallel to the driving roller 15 . Preferably, the support frame is two parallel support plates 13 whose values are set on the mobile platform, and one end corresponding to the driving roller 15 of each support frame is connected through the first support arm 161, and each support frame is connected with the slave One end corresponding to the moving roller 12 is connected through the second supporting arm 162 .

进一步的,所述拖地机构还包括张紧杆18和第三支撑臂163,所述张紧杆18平行于所述支撑杆17,所述张紧杆18的两端分别通过第三支撑臂163与第二支撑臂162连接,所述第三支撑臂163上纵向设置有滑槽,所述张紧杆18的两端可滑动的设置在滑槽内且通过螺母固定在第三支撑臂163上。Further, the mopping mechanism also includes a tension rod 18 and a third support arm 163, the tension rod 18 is parallel to the support rod 17, and the two ends of the tension rod 18 respectively pass through the third support arm 163 is connected with the second support arm 162, the third support arm 163 is longitudinally provided with a chute, the two ends of the tension rod 18 are slidably arranged in the chute and fixed on the third support arm 163 by nuts superior.

由上述描述可知,通过支撑架、第一支撑臂161和第二支撑臂162作为主动滚轴15和从动滚轴12的固定结构,将主动滚轴15、从动滚轴12固定到移动平台上,支撑杆17一方面对固定结构起到支撑作用,一方面起到张紧拖布的作用;第二支撑臂162通过第三支撑臂163连接有张紧杆18,张紧杆18的位置可通过滑槽来调节从而对拖布起到张紧作用。It can be known from the above description that the driving roller 15 and the driven roller 12 are fixed to the mobile platform through the support frame, the first supporting arm 161 and the second supporting arm 162 as the fixing structure of the driving roller 15 and the driven roller 12 On the one hand, the support rod 17 plays a supporting role on the fixed structure, and on the other hand plays the role of tensioning the mop; the second support arm 162 is connected with the tension rod 18 through the third support arm 163, and the position of the tension rod 18 can be adjusted. Adjust through the chute to tension the mop.

进一步的,还包括扫地机构、摄像机构、控制器和无线模块,所述移动平台包括行走机构,所述控制器分别与行走机构、扫地机构、拖地机构、清洗机构、摄像机构和无线模块电连接,所述无线模块用于与控制终端通讯。Further, it also includes a sweeping mechanism, a camera mechanism, a controller and a wireless module. connected, the wireless module is used to communicate with the control terminal.

由上述描述可知,机器人设有扫地机构、拖地机构、清洗机构、摄像机构、控制器和无线模块,可自动完成扫地、拖地和拖布清洗工作的同时可用手机实时观察到机器人的位置并对机器人进行控制;As can be seen from the above description, the robot is equipped with a sweeping mechanism, a mopping mechanism, a cleaning mechanism, a camera mechanism, a controller and a wireless module, which can automatically complete the work of sweeping, mopping and mop cleaning. The robot is controlled;

进一步的,所述移动平台还包括底盘26,所述行走机构包括万向轮25、车轮24和电机23,所述万向轮25和车轮24设置在底盘26上,所述电机23驱动所述车轮24行走。Further, the mobile platform also includes a chassis 26, and the traveling mechanism includes a universal wheel 25, a wheel 24 and a motor 23, the universal wheel 25 and the wheel 24 are arranged on the chassis 26, and the motor 23 drives the Wheel 24 travels.

由上述描述可知,由上述描述可知,车轮24设置有两个,车轮24由电机23带动实现行走功能,两个电机23的转速和转向可以实现实时变化,配合万向轮25,机器人就可以灵活得进行转向。As can be seen from the above description, it can be seen from the above description that there are two wheels 24, and the wheels 24 are driven by the motor 23 to realize the walking function. The speed and steering of the two motors 23 can be changed in real time. Have to make a turn.

进一步的,所述扫地机构包括风机32、吸尘盒21、集尘盒31和边刷组件22,所述风机32的进气口与吸尘盒21的一端连接,所述吸尘盒21的另一端设有进尘口52,所述进尘口52与大气相通,所述进尘口52靠近吸尘盒21的一端设有挡板51,所述风机32的出气口与集尘盒31连接,所述边刷组件22设置在移动平台下方,所述边刷组件22位于所述进尘口52的两侧,所述集尘盒31由压板34固定在移动平台上。Further, the sweeping mechanism includes a fan 32, a dust collection box 21, a dust collection box 31 and a side brush assembly 22, the air inlet of the fan 32 is connected to one end of the dust collection box 21, and the dust collection box 21 The other end is provided with a dust inlet 52, and the dust inlet 52 communicates with the atmosphere, and the end of the dust inlet 52 near the dust collection box 21 is provided with a baffle 51, and the air outlet of the fan 32 is connected to the dust collection box 31. Connected, the side brush assembly 22 is arranged under the mobile platform, the side brush assembly 22 is located on both sides of the dust inlet 52, and the dust collection box 31 is fixed on the mobile platform by the pressure plate 34.

由上述描述可知,风机32的进气口与吸尘盒21的一端连接,使地面垃圾被收集与吸尘盒21中,风机32的出气口再连接一个集尘盒31,收集从吸尘盒21中被带出来的灰尘,可实现二次集尘功能。风机32进气口与吸尘盒21连接,利用风机32工作时进气口形成的负压将地面的灰尘垃圾吸入吸尘盒21。优选的,吸尘盒21一端与风机32连接,另一端开有两个进尘口52。边刷组件22作旋转运动,可以将吸尘口吸不到的灰尘和垃圾扫入吸尘口附近,提高吸尘的面积和效率;进尘口52靠近吸尘盒21的一端设有挡板51可以防止灰尘和垃圾再从吸尘盒21中再掉出来;集尘盒31由压板34固定,可以方便的拆卸下来进行灰尘清理。As can be seen from the above description, the air inlet of the fan 32 is connected to one end of the dust collection box 21, so that the ground waste is collected in the dust collection box 21, and the air outlet of the fan 32 is connected to a dust collection box 31 to collect dust from the dust collection box 21. The dust brought out in 21 can realize the secondary dust collection function. The air inlet of the blower fan 32 is connected with the dust collection box 21, and the dust garbage on the ground is sucked into the dust collection box 21 by the negative pressure formed by the air inlet when the blower fan 32 is used. Preferably, one end of the dust collection box 21 is connected to the fan 32 , and two dust inlets 52 are opened at the other end. The side brush assembly 22 rotates to sweep the dust and rubbish that cannot be sucked by the dust suction port into the vicinity of the dust suction port, so as to improve the area and efficiency of dust collection; the end of the dust suction port 52 near the dust collection box 21 is provided with a baffle 51 can prevent dust and rubbish from falling out again from dust collection box 21;

进一步的,还包括红外传感器和超声波传感器,所述红外传感器和超声波传感器与所述控制器电连接。Further, an infrared sensor and an ultrasonic sensor are also included, and the infrared sensor and the ultrasonic sensor are electrically connected to the controller.

由上述描述可知,机器人工作时,通过红外传感器、超声波传感器和限位开关来进行避障和轨迹规划,从而使机器人能够灵活自如的走遍整个待清扫的区域。It can be seen from the above description that when the robot is working, it uses infrared sensors, ultrasonic sensors and limit switches to perform obstacle avoidance and trajectory planning, so that the robot can flexibly walk through the entire area to be cleaned.

进一步的,所述清洗槽35的底部设有过滤网,所述清洗槽35的底部与水箱33相通。Further, a filter screen is provided at the bottom of the cleaning tank 35 , and the bottom of the cleaning tank 35 communicates with the water tank 33 .

由上述描述可知,清洗槽35底部装有过滤网,可以把从地面拖上来的污物拦截,在工作结束后再进行清洗,方便下次使用;清洗槽35的底部与水箱33相通,使用过的污水再通过水泵从清洗槽35底部流回水箱33。As can be seen from the above description, the bottom of the cleaning tank 35 is equipped with a filter screen, which can intercept the dirt dragged up from the ground, and clean it after the work is over, so as to facilitate the next use; the bottom of the cleaning tank 35 communicates with the water tank 33. The sewage flows back into the water tank 33 from the bottom of the cleaning tank 35 by the water pump.

进一步的,所述清洗机构还包括清洗槽盖41,所述清洗槽盖41封闭住所述清洗槽35。Further, the cleaning mechanism further includes a cleaning tank cover 41 , and the cleaning tank cover 41 closes the cleaning tank 35 .

由上述描述可知,清洗槽35上加装有清洗槽盖41可防止机器人工作时水溅洒出来。As can be seen from the above description, the cleaning tank 35 is equipped with a cleaning tank cover 41 to prevent water from splashing out when the robot is working.

进一步的,所述水管53呈“T”形,所述水管53的进水口设置在水管53的主路上,所述出水口11设置在水管53的支路上。Further, the water pipe 53 is in a "T" shape, the water inlet of the water pipe 53 is arranged on the main road of the water pipe 53 , and the water outlet 11 is arranged on the branch road of the water pipe 53 .

由上述描述可知,出水口11设置在“T”形水管53的支路,且“T”形水管53的支路与拖布平行,可均匀的将拖布浇湿。It can be seen from the above description that the water outlet 11 is arranged on the branch of the "T"-shaped water pipe 53, and the branch of the "T"-shaped water pipe 53 is parallel to the mop, so that the mop can be evenly wetted.

进一步的,所述控制器包括Arduino芯片。Further, the controller includes an Arduino chip.

请参照图1至图5,本实用新型的实施例为:本实用新型智能扫地拖地机器人主要由底盘26、拖地机构、扫地机构、清洗机构以及各类传感器组成。拖地机构包括支撑臂、主动滚轴15和拖布,通过驱动装置14给主动滚轴15提供动力,从而带动拖布进行类似与皮带传动的运动。所述驱动装置14为直流减速电机。Please refer to Fig. 1 to Fig. 5, the embodiment of the present invention is: the intelligent sweeping and mopping robot of the present utility model is mainly made up of chassis 26, mopping mechanism, sweeping mechanism, cleaning mechanism and various sensors. The mopping mechanism includes a support arm, a driving roller 15 and a mop, and the driving device 14 provides power to the driving roller 15, thereby driving the mop to move similarly to a belt drive. The driving device 14 is a DC geared motor.

机器人工作时,通过红外传感器、超声波传感器和限位开关来进行避障和轨迹规划,从而使机器人能够灵活自如的走遍整个待清扫的区域。拖地机构中的主动滚轴15绕着拖布,并始终与地面接触,这样机器人在行走过程中就可以同时进行着拖地任务。从动滚轴12位于清洗机构中,其上同样绕着拖布,通过使拖布做往复运动,实现拖布循环使用。拖布既可以与地面接触,下一时刻又能运动到清洗机构中进行清洗。When the robot is working, it uses infrared sensors, ultrasonic sensors and limit switches for obstacle avoidance and trajectory planning, so that the robot can walk around the entire area to be cleaned flexibly. The active roller 15 in the mopping mechanism goes around the mop and is in contact with the ground all the time, so that the robot can simultaneously perform the mopping task while walking. The driven roller 12 is located in the cleaning mechanism, and the mop is also wound around the mop, and the mop is reciprocated to realize the recycling of the mop. The mop can be in contact with the ground, and can be moved to the cleaning mechanism for cleaning at the next moment.

第一支撑臂161和第二支撑臂162分别通过螺栓联接,固定在支撑板13上。支撑板13在通过螺栓联接固定在底盘26上。这样就可以以支撑板13为中心,分别向清洗槽35和地面端安装从动滚轴12和主动滚轴15。拖布绕与主动滚轴15和从动滚轴12之间,并由支撑杆17进行张紧和导向。工作时,驱动装置14通过斜齿轮传动给主动滚轴15输入动力,主动滚轴15就可以在两个第一支撑臂161之间转动。拖布与主动滚轴15表面张紧接触,通过摩擦力可以带动拖布运动。从动滚轴12位于清洗槽35中,出水口11在水泵的作用下可以喷洒清水到拖布上,拖布再与刷板19接触并做摩擦运动,就可以将拖布上的污物清洗出来。使用过的污水再经过水泵从清洗槽35底部流回水箱33。清洗槽35底部装有过滤网,可以把从地面拖上来的污物拦截,在工作结束后再进行清洗,方便下次使用。因为机器人上还有控制板、传感器等电子模块,所以还加装有清洗槽盖41以防止工作时水溅洒出来。The first support arm 161 and the second support arm 162 are respectively connected by bolts and fixed on the support plate 13 . The support plate 13 is fixed on the chassis 26 through bolt connection. In this way, the driven roller 12 and the driving roller 15 can be installed to the cleaning tank 35 and the ground end with the support plate 13 as the center. The mop winds between the driving roller 15 and the driven roller 12, and is tensioned and guided by the support rod 17. When working, the driving device 14 inputs power to the driving roller 15 through the helical gear transmission, and the driving roller 15 can rotate between the two first support arms 161 . The mop is in tension contact with the active roller 15 surface, and the mop can be driven to move by friction. Driven roller 12 is positioned at cleaning tank 35, and water outlet 11 can spray clear water on the mop under the effect of water pump, and mop contacts with brush plate 19 again and does frictional motion, just can clean out the dirt on the mop. The used sewage flows back to the water tank 33 from the bottom of the cleaning tank 35 through the water pump. Cleaning tank 35 bottoms are provided with filter screen, can intercept the dirt dragged up from the ground, and clean after work is finished, convenient to use next time. Because there are also electronic modules such as control panel and sensor on the robot, so the cleaning tank cover 41 is also installed to prevent water from splashing out during work.

车轮24由电机23带动实现行走功能。两个电机23的转速和转向可以实现实时变化,配合万向轮25,机器人就可以灵活得进行转向。再由风机32和吸尘盒21构成机器人的扫地机构,使地面垃圾被收集与吸尘盒21中,在风机32尾部再连接一个集尘盒31,收集从吸尘盒21中被带出来的灰尘,完二次集尘功能。吸尘盒21一端与风机32连接,一端开有两个进尘口52。当风机32工作时,吸尘盒21与风机32连接的一端将出现负压,在大气压强作用下,灰尘和垃圾就可以通过进尘口52进入吸尘盒21。并且吸尘盒21内部机构可以防止灰尘和垃圾再从吸尘盒21中再掉出来。边刷组件22作旋转运动,可以将吸尘口吸不到的灰尘和垃圾扫入吸尘口附近,提高吸尘的面积和效率。风机32的出风口与集尘盒31连接,用来收集从吸尘盒21中泄露出的灰尘。并且集尘盒31由压板34固定,可以方便的拆卸下来进行灰尘清理。The wheels 24 are driven by the motor 23 to realize the walking function. The rotating speed of two motors 23 and turning to can realize real-time change, cooperates universal wheel 25, and robot just can turn to flexibly. The sweeping mechanism of robot is constituted by blower fan 32 and dust collection box 21 again, ground rubbish is collected and in the dust collection box 21, connects a dust collection box 31 again at blower fan 32 afterbody, collects being taken out from dust collection box 21 Dust, complete the secondary dust collection function. One end of the dust collection box 21 is connected with the blower fan 32 , and two dust inlets 52 are opened at one end. When the blower fan 32 works, negative pressure will appear at the end where the dust collection box 21 is connected to the blower fan 32 , and under the action of atmospheric pressure, dust and garbage can enter the dust collection box 21 through the dust inlet 52 . And the internal mechanism of the dust collection box 21 can prevent dust and rubbish from falling out from the dust collection box 21 again. The side brush assembly 22 rotates to sweep the dust and rubbish that cannot be sucked by the dust suction port into the vicinity of the dust suction port, so as to improve the area and efficiency of dust suction. The air outlet of the blower fan 32 is connected with the dust collecting box 31 to collect the dust leaked from the dust collecting box 21 . And the dust collecting box 31 is fixed by the pressing plate 34, and can be disassembled conveniently for dust cleaning.

本实用新型还设有摄像机构、控制器和无线模块,所述控制器分别与行走机构、扫地机构、拖地机构、清洗机构、摄像机构和无线模块电连接,所述无线模块与手机无线连接,可自动完成扫地、拖地和拖布清洗工作的同时可用手机实时观察到机器人的位置并对机器人进行控制。所述摄像机构包括摄像头。The utility model is also provided with a camera mechanism, a controller and a wireless module, the controller is respectively electrically connected with the walking mechanism, the sweeping mechanism, the mopping mechanism, the cleaning mechanism, the camera mechanism and the wireless module, and the wireless module is wirelessly connected with the mobile phone , can automatically complete the sweeping, mopping and mop cleaning work, and at the same time, the mobile phone can be used to observe the position of the robot in real time and control the robot. The camera mechanism includes a camera.

综上所述,本实用新型提供的智能扫地拖地机器人的有益效果在于:机器人设有拖地机构、清洗机构、摄像机构、控制器和无线模块,可自动完成拖地和拖布清洗同时可用手机实时观察到机器人的位置并对机器人进行控制;设有集尘盒,可实现二次集尘功能;边刷组件作旋转运动,可以将吸尘口吸不到的灰尘和垃圾扫入吸尘口附近,提高吸尘的面积和效率;进尘口靠近吸尘盒的一端设有挡板可以防止灰尘和垃圾再从吸尘盒中再掉出来;集尘盒由压板固定,可以方便的拆卸下来进行灰尘清理;车轮设置有两个,车轮由电机带动实现行走功能,电机的转速和转向可以实现实时变化,配合万向轮,机器人就可以灵活得进行转向;清洗槽底部装有过滤网,可以把从地面拖上来的污物拦截,在工作结束后再进行清洗,方便下次使用;清洗槽的底部与水箱相通,使用过的污水再经过水泵从清洗槽底部流回水箱;清洗槽上加装有清洗槽盖可防止机器人工作时水溅洒出来;通过红外传感器、超声波传感器和限位开关来进行避障和轨迹规划,从而使机器人能够灵活自如的走遍整个待清扫的区域。To sum up, the beneficial effect of the intelligent sweeping and mopping robot provided by the utility model is that the robot is equipped with a mopping mechanism, a cleaning mechanism, a camera mechanism, a controller and a wireless module, and can automatically complete mopping and mopping cleaning while using a mobile phone Observe the position of the robot in real time and control the robot; there is a dust collection box, which can realize the secondary dust collection function; the side brush assembly can rotate to sweep the dust and garbage that cannot be sucked into the suction port. Nearby, improve the area and efficiency of dust collection; the end of the dust inlet near the dust collection box is equipped with a baffle to prevent dust and garbage from falling out of the dust collection box; the dust collection box is fixed by a pressure plate, which can be easily disassembled Carry out dust cleaning; there are two wheels, and the wheels are driven by the motor to realize the walking function. The speed and steering of the motor can be changed in real time. Intercept the dirt dragged up from the ground, and clean it after the work is over, which is convenient for the next use; the bottom of the cleaning tank is connected to the water tank, and the used sewage flows back to the water tank from the bottom of the cleaning tank through the water pump; The cleaning tank cover is installed to prevent water from splashing out when the robot is working; obstacle avoidance and trajectory planning are carried out through infrared sensors, ultrasonic sensors and limit switches, so that the robot can walk around the entire area to be cleaned flexibly.

以上所述仅为本实用新型的实施例,并非因此限制本实用新型的专利范围,凡是利用本实用新型说明书及附图内容所作的等同变换,或直接或间接运用在相关的技术领域,均同理包括在本实用新型的专利保护范围内。The above is only an embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent transformations made by using the utility model specification and accompanying drawings, or directly or indirectly used in related technical fields, are all the same. The theory is included in the patent protection scope of the present utility model.

Claims (10)

1.一种智能扫地拖地机器人,其特征在于:包括移动平台和设置在移动平台上的拖地机构和清洗机构,所述拖地机构包括主动滚轴、从动滚轴、驱动装置和拖布,所述主动滚轴与从动滚轴平行设置,所述从动滚轴设置在移动平台上方,所述主动滚轴设置在移动平台下方,所述拖布绕设在主动滚轴和从动滚轴上,所述驱动装置驱动主动滚轴转动并通过拖布带动从动滚轴转动,所述清洗机构包括水箱、水管、清洗槽和刷板,所述清洗槽设置在从动滚轴下方,所述刷板设置在清洗槽内,所述刷板与拖布的表面接触,所述水管的进水口与水箱连接,所述水管的出水口设置在清洗槽内,所述出水口相对从动滚轴设置。1. An intelligent sweeping and mopping robot, characterized in that: comprise a mobile platform and a mopping mechanism and a cleaning mechanism arranged on the mobile platform, the mopping mechanism includes a driving roller, a driven roller, a drive unit and a mop , the driving roller is arranged parallel to the driven roller, the driven roller is arranged above the moving platform, the driving roller is arranged below the moving platform, and the mop is wound around the driving roller and the driven roller On the shaft, the driving device drives the active roller to rotate and drives the driven roller to rotate through the mop. The cleaning mechanism includes a water tank, a water pipe, a cleaning tank and a brush plate. The cleaning tank is arranged under the driven roller. The brush board is arranged in the cleaning tank, the brush board is in contact with the surface of the mop, the water inlet of the water pipe is connected to the water tank, the water outlet of the water pipe is arranged in the cleaning tank, and the water outlet is opposite to the driven roller set up. 2.根据权利要求1所述的智能扫地拖地机器人,其特征在于:所述拖地机构还包括支撑架、第一支撑臂、第二支撑臂和支撑杆,所述支撑架固定在移动平台的上表面,所述主动滚轴的两端分别通过第一支撑臂与支撑架连接,所述从动滚轴的两端分别通过第二支撑臂与支撑架连接,两个第一支撑臂和两个第二支撑臂之间分别连接有支撑杆,所述支撑杆平行于主动滚轴设置。2. The intelligent sweeping and mopping robot according to claim 1, characterized in that: the mopping mechanism also includes a support frame, a first support arm, a second support arm and a support rod, and the support frame is fixed on the mobile platform The upper surface of the upper surface, the two ends of the active roller are respectively connected to the support frame through the first support arm, the two ends of the driven roller are respectively connected to the support frame through the second support arm, the two first support arms and the A support rod is respectively connected between the two second support arms, and the support rod is arranged parallel to the driving roller. 3.根据权利要求2所述的智能扫地拖地机器人,其特征在于:所述拖地机构还包括张紧杆和第三支撑臂,所述张紧杆平行于所述支撑杆,所述张紧杆的两端分别通过第三支撑臂与第二支撑臂连接,所述第三支撑臂上纵向设置有滑槽,所述张紧杆的两端可滑动的设置在滑槽内且通过螺母固定在第三支撑臂上。3. The intelligent sweeping and mopping robot according to claim 2, wherein the mopping mechanism further comprises a tension rod and a third support arm, the tension rod is parallel to the support rod, and the tension rod is parallel to the support rod. The two ends of the tension rod are respectively connected to the second support arm through the third support arm, and a chute is longitudinally arranged on the third support arm, and the two ends of the tension rod are slidably arranged in the chute and passed through the nut Attached to the third support arm. 4.根据权利要求1所述的智能扫地拖地机器人,其特征在于:还包括扫地机构、摄像机构、控制器和无线模块,所述移动平台包括行走机构,所述控制器分别与行走机构、扫地机构、拖地机构、清洗机构、摄像机构和无线模块电连接,所述无线模块用于与控制终端通讯。4. The intelligent sweeping and mopping robot according to claim 1, is characterized in that: it also includes a sweeping mechanism, a camera mechanism, a controller and a wireless module, the mobile platform includes a running mechanism, and the controller is respectively connected to the running mechanism, The sweeping mechanism, the mopping mechanism, the cleaning mechanism, the camera mechanism and the wireless module are electrically connected, and the wireless module is used for communicating with the control terminal. 5.根据权利要求4所述的智能扫地拖地机器人,其特征在于:所述移动平台还包括底盘,所述行走机构包括万向轮、车轮和电机,所述万向轮和车轮设置在底盘上,所述电机驱动所述车轮行走。5. The intelligent sweeping and mopping robot according to claim 4, characterized in that: the mobile platform also includes a chassis, and the traveling mechanism includes universal wheels, wheels and motors, and the universal wheels and wheels are arranged on the chassis Above, the motor drives the wheels to travel. 6.根据权利要求4所述的智能扫地拖地机器人,其特征在于:所述扫地机构包括风机、吸尘盒、集尘盒和边刷组件,所述风机的进气口与吸尘盒的一端连接,所述吸尘盒的另一端设有进尘口,所述进尘口与大气相通,所述进尘口靠近吸尘盒的一端设有挡板,所述风机的出气口与集尘盒连接,所述边刷组件设置在移动平台下方,所述边刷组件位于所述进尘口的两侧,所述集尘盒由压板固定在移动平台上。6. The intelligent sweeping and mopping robot according to claim 4, characterized in that: the sweeping mechanism includes a fan, a dust collection box, a dust collection box and a side brush assembly, and the air inlet of the fan is connected to the dust collection box. One end is connected, the other end of the dust collection box is provided with a dust inlet, the dust inlet is connected to the atmosphere, the end of the dust inlet close to the dust collection box is provided with a baffle, the air outlet of the fan is connected to the collector The dust box is connected, the side brush assembly is arranged under the mobile platform, the side brush assembly is located on both sides of the dust inlet, and the dust collection box is fixed on the mobile platform by a pressure plate. 7.根据权利要求4所述的智能扫地拖地机器人,其特征在于:还包括红外传感器和超声波传感器,所述红外传感器和超声波传感器与所述控制器电连接。7. The intelligent sweeping and mopping robot according to claim 4, further comprising an infrared sensor and an ultrasonic sensor, and the infrared sensor and the ultrasonic sensor are electrically connected to the controller. 8.根据权利要求1所述的智能扫地拖地机器人,其特征在于:所述清洗槽的底部设有过滤网,所述清洗槽的底部与水箱相通。8. The intelligent sweeping and mopping robot according to claim 1, characterized in that: the bottom of the cleaning tank is provided with a filter, and the bottom of the cleaning tank communicates with the water tank. 9.根据权利要求1所述的智能扫地拖地机器人,其特征在于:所述清洗机构还包括清洗槽盖,所述清洗槽盖封闭住所述清洗槽。9. The intelligent sweeping and mopping robot according to claim 1, wherein the cleaning mechanism further comprises a cleaning tank cover, and the cleaning tank cover closes the cleaning tank. 10.根据权利要求1所述的智能扫地拖地机器人,其特征在于:所述水管呈“T”形,所述水管的进水口设置在水管的主路上,所述出水口设置在水管的支路上。10. The intelligent sweeping and mopping robot according to claim 1, characterized in that: the water pipe is in a "T" shape, the water inlet of the water pipe is set on the main road of the water pipe, and the water outlet is set on the branch of the water pipe on the way.
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CN105581740A (en) * 2016-03-04 2016-05-18 合肥学院 Floor mopping robot
CN105919519A (en) * 2016-06-30 2016-09-07 深圳乐行天下科技有限公司 Cleaning robot
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CN106214075A (en) * 2016-07-28 2016-12-14 江苏铂英特电子科技有限公司 A kind of automatic cleaning apparatus for floor cleaning
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CN105581740A (en) * 2016-03-04 2016-05-18 合肥学院 Floor mopping robot
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CN106183570A (en) * 2016-07-21 2016-12-07 三江县善茶轩工艺品有限公司 Bamboo pen container
CN106214077A (en) * 2016-07-28 2016-12-14 江苏铂英特电子科技有限公司 A kind of automatic cleaning equipment for floor cleaning
CN106214075A (en) * 2016-07-28 2016-12-14 江苏铂英特电子科技有限公司 A kind of automatic cleaning apparatus for floor cleaning
CN114468875A (en) * 2016-12-16 2022-05-13 云鲸智能科技(东莞)有限公司 Cleaning robot and cleaning robot system
CN106983453B (en) * 2017-04-27 2019-11-12 蒋玉素 A kind of fast sweep machine people that dining room uses
CN106983453A (en) * 2017-04-27 2017-07-28 张欣 The fast sweep machine people that a kind of dining room is used
CN107822565A (en) * 2017-11-08 2018-03-23 安嘉琦 The smart home sweeper of slit cleaning can be realized
CN107822565B (en) * 2017-11-08 2020-06-26 上海雷盎云智能技术有限公司 Intelligent household sweeper capable of achieving slit cleaning based on data analysis
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CN109118698A (en) * 2018-08-28 2019-01-01 安徽星宇生产力促进中心有限公司 A kind of smog alarm robot
WO2020082952A1 (en) * 2018-10-24 2020-04-30 高翔 Floor mopping machine
US11805953B2 (en) 2018-10-24 2023-11-07 Sanya Chuangneng Technology Co., Ltd. Floor mopping machine
CN110338718A (en) * 2018-12-26 2019-10-18 湖北工业大学 A toilet floor cleaning robot
CN110200551A (en) * 2019-05-31 2019-09-06 郑州顺鹏科技有限公司 It is a kind of to rinse clean robot certainly
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