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

Abstract

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

An intelligent sweeping and mopping robot

technical field

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.

Background technique

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.

Utility model content

The technical problem to be solved by the utility model is to provide an intelligent sweeping and mopping robot.

In order to solve the above technical problems, the technical solution adopted by the utility model is:

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.

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.

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.

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.

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.

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.

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.

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.

Further, the cleaning mechanism also includes a cleaning tank cover, and the cleaning tank cover closes the cleaning tank.

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.

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.

Description of drawings

Fig. 1 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

Fig. 2 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

Fig. 3 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

Fig. 4 is a perspective view of an intelligent sweeping and mopping robot according to an embodiment of the present invention.

Fig. 5 is an internal view of the dust collection box of the embodiment of the present invention.

Label description:

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.

Detailed ways

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.

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.

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 .

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 .

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.

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.

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.

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;

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.

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.

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.

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;

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.

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.

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 .

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.

Further, the cleaning mechanism further includes a cleaning tank cover 41 , and the cleaning tank cover 41 closes the cleaning tank 35 .

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.

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 .

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.

Further, the controller includes an Arduino chip.

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.

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.

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.

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.

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.

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.

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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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.