CN208426058U - A kind of floor-mopping robot - Google Patents
A kind of floor-mopping robot Download PDFInfo
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- CN208426058U CN208426058U CN201820092205.0U CN201820092205U CN208426058U CN 208426058 U CN208426058 U CN 208426058U CN 201820092205 U CN201820092205 U CN 201820092205U CN 208426058 U CN208426058 U CN 208426058U
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- floor
- connecting rod
- mopping robot
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Abstract
The utility model provides a kind of floor-mopping robot comprising: floor-mopping robot bottom plate, the floor-mopping robot bottom plate are equipped with opening；The main body mechanism that mops floor being mounted on the floor-mopping robot bottom plate, the main body mechanism that mops floor includes returning face plate and the first mop board, first mop board is mounted on the lower section of the returning face plate by the first double link elevating mechanism, and first mop board can be stretched out from the opening；And it is mounted on the dynamics adjusting motor of floor-mopping robot bottom plate side, it is flexible for controlling the first double link elevating mechanism that the dynamics adjusts motor.According to floor-mopping robot provided by the utility model, its contraction by controlling double link elevating mechanism, adjustable mop board is applied to the dynamics on ground, realizes that floor-mopping robot realizes the difference for the pressing dynamics that mop floor on the region of different soiled degree, improves the cleaning effect of floor-mopping robot.
Description
Technical field
The utility model relates to household cleaning technique field, in particular to a kind of floor-mopping robot.
Background technique
With the development of new and high technology, people no longer meet the heavy housework of artificial treatment, increasingly prospect intelligence machine
People can enter huge numbers of families, and the raising of housework efficiency is looked forward in auxiliary people's lives labour.Then, to family type intelligence
The Intelligent cleaning robot of the exploitation of robot, especially family type can successfully enter average family, almost become entire state
The Demand trend in interior market.
Currently, Intelligent cleaning robot existing for the country is similar, the mode of mopping floor is broadly divided into two kinds: one is adopt
With directly product bottom place one piece tiling mop, it is another then be using crawler type rolling mop cleaned.
But existing intelligence floor-mopping robot product lacks dynamics when mopping floor and adjusts, not to the cleaning effect on ground
It is good, thus, variable adaptability is lacked to the soiled of the different zones block on ground.This may be because less clean position on the one hand
And the soiled on ground is caused to agglomerate, if on the other hand realize cleaning in place by increasing cleaning dynamics, it be easy to cause
Cleaning time lengthens, and energy consumption increases, and reduces a series of adverse effects such as the service life of intelligent floor-mopping robot.
Summary of the invention
It is at least to solve one of problems of the prior art, the purpose of this utility model is to provide a kind of floor cleaning machines
Device people, by the contraction of control double link elevating mechanism, adjustable mop board is applied to the dynamics on ground, realizes floor cleaning machine
The difference of mop floor pressing dynamics of the device people on the region of different soiled degree, improves the cleaning effect of floor-mopping robot.
To achieve the above object, the utility model provides a kind of floor-mopping robot comprising: floor-mopping robot bottom plate, institute
It states floor-mopping robot bottom plate and is equipped with opening；The main body mechanism that mops floor being mounted on the floor-mopping robot bottom plate, it is described to mop floor
Main body mechanism includes returning face plate and the first mop board, and first mop board is mounted on institute by the first double link elevating mechanism
The lower section of returning face plate is stated, first mop board can be stretched out from the opening；And it is mounted on the floor-mopping robot bottom plate
The dynamics of side adjusts motor, and it is flexible for controlling the first double link elevating mechanism that the dynamics adjusts motor.
Further, the first double link elevating mechanism includes the first drive connecting rod and the first follower link, and described the
One drive connecting rod intersects with first follower link and is rotatably coupled to together, the upper end of first drive connecting rod
It is slidably mounted on the returning face plate, the lower end of first drive connecting rod is rotatably mounted on first mop board
Upper surface on；The upper end of first follower link is rotatably mounted on the returning face plate, first follower link
Lower end be slidably mounted on the upper surface of first mop board, the dynamics adjusts described in motor control first actively
Slided on the returning face plate flexible to control the first double link elevating mechanism in the upper end of connecting rod.
Further, first drive connecting rod and first follower link are rotatably connected by the first rotation bolt
It is connected together, the side of the returning face plate is equipped with the sliding slot for penetrating through the returning face plate, and first drive connecting rod is to be parallel to each other
Two, the upper ends of two first drive connecting rods is connected by slide link, and the slide link is slidably disposed in
In the sliding slot and pass through the sliding slot, the lower end of two first drive connecting rods passes through hinge seat respectively and is mounted on described the
On the upper surface of one mop board；The two sides of the upper surface of first mop board are respectively arranged with the first slideway, and described two
The lower end of one follower link passes through the first sliding pin respectively and is slidably mounted on first slideway, described two first from
The upper end of dynamic connecting rod passes through fixed connecting rod and is rotatably mounted on the returning face plate, and the fixed connecting rod runs through the returning face plate
And be fixedly connected with the returning face plate, the dynamics adjusts slide link described in motor control and slides in the sliding slot to control
The first double link elevating mechanism is flexible.
Further, the floor-mopping robot bottom plate on be provided with linear guide, the dynamics adjusts the fixed peace of motor
On electric machine support platform, straight is provided on the electric machine support platform, the electric machine support platform can by straight
It is slidably mounted in the linear guide；The output shaft that the dynamics adjusts motor is fixedly connected with one end of screw rod, described
The middle part of one end of returning face plate is equipped with through-hole, and the feed screw nut with screw rod cooperation is fixedly installed in the through-hole, described
The other end of screw rod passes through the through-hole by the feed screw nut and is fixedly connected with the slide link.
Further, the dynamics adjusts the side that motor is fixedly mounted on the floor-mopping robot bottom plate, the sliding
Feed screw nut is fixedly installed in the middle part of connecting rod, the middle part of one end of the returning face plate is equipped with through-hole, and the dynamics adjusts motor
Output shaft be fixedly connected with one end of screw rod, the other end of the screw rod passes through the through-hole and passes through the feed screw nut and institute
State that slide link is mobilizable to link together.
Further, for the main body mechanism that mops floor including further including the second mop board, second mop board passes through second
Double link elevating mechanism is mounted on the top of the returning face plate.
Further, the second double link elevating mechanism includes the second drive connecting rod and the second follower link, and described the
Two drive connecting rods intersect with second follower link and are rotatably coupled to together, the upper end of second drive connecting rod
It is rotatably mounted on the lower surface of second mop board, the lower end of second drive connecting rod is slidably mounted on institute
It states on returning face plate；The upper end of second follower link is slidably mounted on the lower surface of second mop board, described
The lower end of second follower link is rotatably mounted on the returning face plate.
Further, second drive connecting rod and second follower link are rotatably connected by the second rotation bolt
It is connected together, second drive connecting rod is two to be parallel to each other, and the second drive connecting rod upper end is pacified by hinge seat
On the lower surface of second mop board, the lower end of one end of the slide link and second drive connecting rod can
The connection of rotation, the other end of the slide link are rotatably connect with the lower end of another second drive connecting rod；Institute
Stating the second follower link is two to be parallel to each other, and it is sliding that the two sides of the lower surface of second mop board are respectively arranged with second
Road, the upper end of two second follower links pass through the second sliding pin respectively and are slidably mounted on second slideway,
The lower end of two second follower links is fixed connecting rod respectively and is rotatably mounted on the returning face plate.
Further, the floor-mopping robot further includes overturning motor, and the overturning motor is fixedly mounted on described mop floor
The output shaft of the other side of robot bottom plate, the overturning motor is fixedly connected with the other end of the returning face plate, for overturning
The main body mechanism that mops floor.
According to floor-mopping robot provided by the utility model, motor control double link elevating mechanism is adjusted by dynamics
It shrinks, adjustable mop board is applied to the dynamics on ground, realizes that floor-mopping robot is realized on the region of different soiled degree
The difference for the pressing dynamics that mop floor improves the cleaning effect of floor-mopping robot.Meanwhile in some embodiments of the utility model,
Cooperate turnover mechanism, can mop board in side it is dirty in the case where realize rotation, be switched to the mop board of another side cleaning,
The effective efficiency that mops floor for improving floor-mopping robot, and prevent from causing the secondary pollution to ground, and by recycling repeatedly
Rotation and pressing dynamics are adjusted, and are not carried out the task that mops floor intermittently, are greatly improved the efficiency that mops floor of floor-mopping robot.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the floor-mopping robot of the utility model one embodiment；
Fig. 2 is the side structure schematic diagram of the floor-mopping robot of the utility model one embodiment；
Fig. 3 is the structural schematic diagram of the returning face plate of the floor-mopping robot of the utility model one embodiment；
Fig. 4 is the schematic perspective view of the floor-mopping robot of the utility model one embodiment；
Fig. 5 is the side structure schematic diagram of the floor-mopping robot of the utility model one embodiment；And
Fig. 6 is the scheme of installation of the floor-mopping robot of the utility model one embodiment.
Specific embodiment
In order to better illustrate the utility model, combined with specific embodiments below and attached drawing does further the utility model
Explanation.It is understood that these specific embodiments and drawings are illustratively, to be only used for explaining the utility model, without
It can be construed as a limitation of the present invention.
Examples of the embodiments are shown in the accompanying drawings, and in which the same or similar labels are throughly indicated identical or classes
As element or element with the same or similar functions.The embodiments described below with reference to the accompanying drawings are exemplary, purport
It is being used to explain the utility model, and should not be understood as limiting the present invention.
In the description of the present invention, it should be understood that the orientation of the instructions such as term " on ", "lower", "left", "right"
Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and operated with specific orientation,
Therefore it should not be understood as limiting the present invention.
In addition, the terms such as " first ", " second " in the utility model are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " are defined as a result,
Feature can explicitly or implicitly include at least one of the features.
In the present invention, unless otherwise specific regulation and limit, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element, unless otherwise restricted clearly.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise specific regulation and limit, fisrt feature second feature " on ", " on
Side " and " above " can be fisrt feature and be directly above or diagonally above the second feature, or be merely representative of first feature horizontal height
Higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature in second feature
Directly below or obliquely below, or first feature horizontal height is merely representative of less than second feature.
Shown in referring to Fig.1, one embodiment of the utility model provides a kind of floor-mopping robot 10 comprising mop floor machine
People's bottom plate 100, mop floor main body mechanism 200 and dynamics adjusting motor 400.
Wherein, referring to Fig.1 and shown in Fig. 6, floor-mopping robot bottom plate 100 is equipped with opening 101, and mop floor main body mechanism 200
Be mounted on floor-mopping robot bottom plate 100, the main body mechanism 200 that mops floor include returning face plate 201 and the first mop board 203, first
Mop board 203 is mounted on the lower section of returning face plate 201 by the first double link elevating mechanism, and the first mop board 203 can be from opening 101
Middle stretching, to execute the task that mops floor.Dynamics adjusts motor 400 and is mounted on the side of floor-mopping robot bottom plate 100, for controlling the
A pair of connecting rod lifting mechanism stretches.
In turn, floor-mopping robot provided by the utility model adjusts motor 400 by dynamics and controls the lifting of the first double link
It stretches to adjust the dynamics for the pressing that mops floor, realizes transformable cleaning dynamics, effectively improve dragging for intelligent floor-mopping robot
Ground effect.For example, the first mop board 203 is past when dynamics adjusts the first double link elevating mechanism of control of motor 400 and constantly extends
Lower movement, and then increase the pressure that the first mop board 203 applies to the ground；The first double link is controlled when dynamics adjusts motor 400
When elevating mechanism is constantly shunk, the first mop board 203 is up moved, and then reduces the pressure that the first mop board 203 applies to the ground
Power realizes the adjusting for the dynamics that mops floor.
It is understood that the various modes commonly used in the art main body mechanism 200 that will mop floor can be taken to be mounted on and mop floor
On robot bottom plate 100, the utility model is not particularly limited this.For example, being dragged in one embodiment of the utility model
The returning face plate 201 of ground main body mechanism 200 is fixedly connected on mounting bracket 500, and mounting bracket 500 is fixedly mounted on floor-mopping robot
The other side of bottom plate 100.
Shown in reference picture 1, Fig. 2, in one embodiment of the utility model, the first double link elevating mechanism includes first
Drive connecting rod 213 and the first follower link 214, the first drive connecting rod 213 and the first follower link 214 intersect rotatably
It links together, the upper end of the first drive connecting rod 213 is slidably mounted on returning face plate 201, under the first drive connecting rod 213
End is rotatably mounted on the upper surface of the first mop board 203；The upper end of first follower link 214, which is rotatably mounted on, to be turned over
On rotating plate 201, the lower end of the first follower link 214 is slidably mounted on the upper surface of the first mop board 203.Dynamics is adjusted
The upper end that motor 400 controls the first drive connecting rod 214 is slided on returning face plate 201, and then controls the first double link elevating mechanism
It is flexible.
It is shown referring to Fig.1 in one embodiment of the utility model, the first drive connecting rod 213 and the first follower link
214 are rotatably coupled to together by the first rotation bolt 215.
In order to improve the connective stability between the first mop board 203 and returning face plate 201, in a reality of the utility model
It applies in example, shown referring to Fig.1, the side of returning face plate 201 is equipped with the sliding slot 208 of perforation returning face plate 201, the first drive connecting rod 213
Upper end for two to be parallel to each other, two first drive connecting rods 213 is connected by slide link 209, and slide link 209 can be slided
Dynamic setting is in sliding slot 208 and passes through sliding slot 208, and the lower end of two first drive connecting rods 213 is installed by hinge seat respectively
In the two sides of the upper surface of the first mop board 203；The two sides of the upper surface of first mop board 203 are respectively arranged with the first slideway
216, the lower end of two first follower links 214 passes through the first sliding pin 217 respectively and is slidably mounted on the first slideway 216
On, the upper end of two first follower links 214 is rotatably mounted on the side of returning face plate 201 respectively, such as is connected by fixed
Bar 212 is rotatably mounted on two sides of returning face plate 201, wherein fixed connecting rod 212 runs through returning face plate 201, and with overturning
Plate 201 is fixedly connected, and dynamics adjusts the control slide link 209 of motor 400 and slided in sliding slot 208 to control the first double link liter
The telescopic level of descending mechanism.
It is understood that the dynamics, which adjusts motor 400, can control slide link by method commonly used in the art
209 slide in sliding slot 208 to control the flexible of the first double link elevating mechanism, and it is not specifically limited to this for the utility model.
For example, referring to shown in Fig. 1, Fig. 3, in one embodiment of the utility model, the one of floor-mopping robot bottom plate 100
Side is provided with linear guide 402, and dynamics adjusts motor 400 and is fixedly mounted on electric machine support platform 403, on electric machine support platform 403
It is provided with straight, electric machine support platform 403 is slidably mounted in linear guide 402 by straight, that is to say, that
By the straight of electric machine support platform 403 and the cooperation of linear guide 402, dynamics adjusts motor 400 can be in floor-mopping robot
It horizontally slips on bottom plate 100.The output shaft that dynamics adjusts motor 400 is fixedly connected with one end of screw rod 401, for example, screw rod 401
One end can be fixedly connected by the output shaft that shaft coupling 404 and dynamics adjust motor 400, in one end of returning face plate 201
Portion is equipped with through-hole 220, and the feed screw nut cooperated with screw rod 401 is fixedly installed in through-hole 220, and the other end of screw rod 401 passes through
Feed screw nut passes through through-hole 220 and is fixedly connected with slide link 209.In turn, in this embodiment, when dynamics adjusts motor 400
When work, drives screw rod 401 to rotate by shaft coupling 404, since feed screw nut is fixedly mounted on returning face plate 201, and overturn
The restriction effect of mounting bracket 500 of the plate 201 due to being fixedly mounted on 100 other side of floor-mopping robot bottom plate can not control shifting
Dynamic, therefore, when rotated, since the cooperation of feed screw nut and screw rod 401 is driven, screw rod 401 is left in through-hole 220 for screw rod 401
It moves right, and then drives dynamics to adjust the work of motor 400 and horizontally slip in linear guide 402, due to the other end of screw rod 401
It is fixedly connected with slide link 209, and then screw rod 401 can drive slide link 209 to horizontally slip in sliding slot 208.It can be with
Understand, dynamics adjusts motor 400 and slides from linear guide 402 in order to prevent, can be at the both ends of linear guide 402 point
It She Zhi not positive stop lug boss.
In addition, can also realize that slide link 209 horizontally slips in sliding slot 208 by other kinds of drive.For example,
Feed screw nut can also be arranged on slide link 209, and dynamics adjusting motor 400 is fixedly mounted on floor-mopping robot bottom plate
100 side drives feed screw nut to exist at this point, feed screw nut and the cooperation of screw rod 401 are driven when dynamics adjusts the work of motor 400
It is moved left and right on screw rod 401, and then slide link 209 is driven to horizontally slip in sliding slot 208, that is, in this embodiment, in cunning
The middle part of dynamic connecting rod 209 is fixedly installed with feed screw nut, and through-hole 220 is arranged in the middle part of one end of returning face plate 201, screw rod 401
The output shaft that one end and dynamics adjust motor 400 is fixedly connected (for example, being fixedly connected by shaft coupling 404), screw rod 401 it is another
One end passes through through-hole 220, by feed screw nut with slide link 209 is mobilizable links together, dynamics adjusts motor 400 and consolidates
Dingan County is on floor-mopping robot bottom plate.That is, in this embodiment, dynamics adjust motor 400 be it is fixed, rotated in screw rod
When, feed screw nut advances on screw rod, and then drives slide link 209 to horizontally slip in sliding slot 208 by feed screw nut.
In one embodiment of the utility model, as shown in Figure 4, Figure 5, the main body mechanism 200 that mops floor further includes second dragging
Fabric swatch 202, the second mop board 202 are mounted on the top of returning face plate 201 by the second double link elevating mechanism.
Likewise, the second double link elevating mechanism can also be using identical with the first above-mentioned double link elevating mechanism double
Two bar elevating mechanisms, that is, referring to shown in Fig. 4, Fig. 5, the second double link elevating mechanism include the second drive connecting rod 204 and second from
Dynamic connecting rod 205, the second drive connecting rod 204 and the second follower link 205 intersect and are rotatably coupled to together, and second actively
The upper end of connecting rod 204 is rotatably mounted on the lower surface of the second mop board 202, and the lower end of the second drive connecting rod 204 can be slided
Dynamic is mounted on returning face plate 201；The upper end of second follower link 205 is slidably mounted on the following table of the second mop board 202
On face, the lower end of the second follower link 205 is rotatably mounted on returning face plate 201.Likewise, at one of the utility model
In embodiment, referring to shown in Fig. 4, the second drive connecting rod 204 and the second follower link 205 can pass through the second rotation bolt 206
It is rotatably coupled to together.
In order to improve the connective stability between the second mop board 202 and returning face plate 201, in a reality of the utility model
It applies in example, the second drive connecting rod 204 is two to be parallel to each other, and the upper end of two second drive connecting rods 204 passes through hinge seat
Be mounted on the two sides of the lower surface of the second mop board 202, one end of slide link 209 under second drive connecting rod 204
The rotatable connection in end, the other end of slide link 209 are rotatably connect with the lower end of another second drive connecting rod 204.
Second follower link 205 is similarly two to be parallel to each other, and the two sides of the lower surface of the second mop board 202 are respectively arranged with second
Slideway 210, the upper end of two second follower links 205 pass through the second sliding pin 211 respectively and are slidably mounted on the second slideway
On 210, the lower end of two second follower links 205 is rotatably mounted on the side of returning face plate 201 respectively, such as passes through fixation
Connecting rod 212 is rotatably mounted on two sides of returning face plate 201, wherein fixed connecting rod 212 runs through returning face plate 201, and with turn over
Rotating plate 201 is fixedly connected.
Further, in some embodiments of the utility model, referring to Fig. 4, Fig. 5, floor-mopping robot 10 can also be wrapped
Overturning motor 300 is included, overturning motor 300 is fixedly mounted on the other side of floor-mopping robot bottom plate 100, overturns the defeated of motor 300
Shaft 301 is fixedly connected with the other end of returning face plate 201, for overturning the main body mechanism 200 that mops floor.
It is understood that floor-mopping robot can be fixedly mounted on by motor 300 is overturn using various common modes
On bottom plate 100, the utility model is not particularly limited this, such as the fixed peace of motor 300 can will be overturn by motor support base
On floor-mopping robot bottom plate 100.It can also be appreciated that electricity can will be overturn using various modes commonly used in the art
The output shaft 301 of machine 300 is fixedly connected with returning face plate 201, and the utility model is not particularly limited this.For example, can use
The output shaft 301 for overturning motor 300 is fixedly connected by flange coupling with the other end of returning face plate 201.
In turn, in this embodiment, the output shaft 301 for overturning motor 300 is fixed together with returning face plate 201, into
And when overturning the work of motor 300, output shaft 301 rotates, and then returning face plate 201 can be driven to overturn, and realizes the main body that mops floor
The overturning of mechanism 200, therefore, the feelings that the floor-mopping robot of the utility model can be dirty in the mop board below returning face plate 201
It is rotated automatically under condition, is switched to the mop board of another side cleaning, the effective efficiency that mops floor for improving floor-mopping robot, and anti-major structure
The secondary pollution on pairs of ground.
That is, in this embodiment, when floor-mopping robot recognizes the soiled degree that a face mop board reaches certain
When, the main body mechanism 200 that mops floor may be reversed, mopped floor using the mop board of another side cleaning, continue the task of mopping floor, realize
Circulation does not mop floor intermittently；Meanwhile the mop board of the one side of soiled can in the mop cleaning apparatus of floor cleaning machine robot interior into
Row cleaning, so recycles, realizes intelligent floor-mopping robot and do not carry out the task that mops floor intermittently, effectively improves intelligence and mops floor
The efficiency that mops floor of robot.Meanwhile in this embodiment, it can be assisted by the identification of some sensors, to the difference on ground
The region of soiled degree adjusts the dynamics for the pressing that mops floor by the telescopic level of the first double link elevating mechanism, realizes variable
The cleaning dynamics of change effectively improves the effect that mops floor of intelligent floor-mopping robot.The device has mechanism simple, stable, resistance to
With the characteristics of, can widely be used in inside the small intelligent clean robot with mopping function, realize that intelligence mops floor machine
The mopping function of people.
Meanwhile in this embodiment, motor 400 is adjusted by dynamics and controls the first double link elevating mechanism and the second doubly-linked
Bar elevating mechanism is shunk, and can vacate bigger space, the overturning for the main body mechanism 200 that conveniently mops floor.In turn, the utility model this
The floor-mopping robot that embodiment provides adjusts motor 400 by overturning motor 300 and dynamics, can be realized simultaneously the rotation of mop board
Turn the function that switching and flexible pressing mop floor.
It is understood that for the other component and device of floor-mopping robot, such as mop cleaning apparatus, soiled degree
The mobile running gear etc. of identification sensor, control floor-mopping robot, known to those skilled in the art, the utility model pair
This is not described in detail.
It is understood that described in reference diagram 3, turning in the utility model floor-mopping robot 10 provided by the above embodiment
Rotating plate 201 can be hollow design, in the middle part of hollow-out part can provide slide link 209 enough mobile spaces, right
For the fixation connecting rod in the fixed main body mechanism that mops floor, the center for the main body mechanism that guarantees to mop floor is remained for hollow part part
It is constant.
It is understood that the cooperation of feed screw nut and screw rod 401 and generated movement are those skilled in the art institute
Known, this is not described in detail in the utility model.
It can also be appreciated that motor the dragging as the utility model of various type selectings commonly used in the art can be used
Overturning motor 300 and dynamics in floor-washing robot adjust motor 400, as long as torque is enough, the utility model does not have this
Particular determination.
It is understood that the first mop board 203 and the second mop board 202 can be various mops commonly used in the art
Plate, the utility model are not particularly limited this.In one embodiment of the utility model, the second mop board 202 and first
It is equipped with the groove (not shown) for installing mop or mop board on mop board 202, needs work in floor-mopping robot
When, by mop or panel is dragged to be mounted in groove.
It can also be appreciated that the utility model does not have the shape of the first mop board 203 and the second mop board 202
It is specifically limited, it is not limited to that rectangular shape, other shapes such as can be designed as semilune according to the whole design of floor-mopping robot
Shape, to reach the optimal effect that mops floor.
Although having done illustrative description to the utility model above, those skilled in the art can be managed
Solution: in the case where not departing from the principles of the present invention and objective, a variety of to the progress of these embodiments can change, modify,
Replacement and variant, the scope of the utility model are defined by the claims and their equivalents.
Claims (9)
1. a kind of floor-mopping robot characterized by comprising
Floor-mopping robot bottom plate, the floor-mopping robot bottom plate are equipped with opening；
The main body mechanism that mops floor being mounted on the floor-mopping robot bottom plate, the main body mechanism that mops floor include returning face plate and
One mop board, first mop board are mounted on the lower section of the returning face plate by the first double link elevating mechanism, and described first
Mop board can be stretched out from the opening；And
The dynamics for being mounted on floor-mopping robot bottom plate side adjusts motor, and the dynamics adjusts motor for controlling described the
A pair of connecting rod lifting mechanism is flexible.
2. floor-mopping robot as described in claim 1, which is characterized in that the first double link elevating mechanism includes first main
Dynamic connecting rod and the first follower link, first drive connecting rod intersect with first follower link and are rotatably coupled to
Together, the upper end of first drive connecting rod is slidably mounted on the returning face plate, the lower end of first drive connecting rod
It is rotatably mounted on the upper surface of first mop board；The upper end of first follower link is rotatably mounted on institute
It states on returning face plate, the lower end of first follower link is slidably mounted on the upper surface of first mop board, described
It is slided on the returning face plate to control first double link upper end that dynamics adjusts the first drive connecting rod described in motor control
Elevating mechanism is flexible.
3. floor-mopping robot as claimed in claim 2, which is characterized in that first drive connecting rod and the first driven company
Bar is rotatably coupled to together by the first rotation bolt, and the side of the returning face plate is equipped with the cunning for penetrating through the returning face plate
Slot, first drive connecting rod are two to be parallel to each other, and the upper end of two first drive connecting rods is connected by slide link
It connects, the slide link is slidably disposed in the sliding slot and passes through the sliding slot, two first drive connecting rods
Lower end passes through hinge seat respectively and is mounted on the upper surface of first mop board；The two sides of the upper surface of first mop board
It is respectively arranged with the first slideway, the lower end of two first follower links passes through the first sliding pin respectively and is slidably mounted on
On first slideway, the upper end of two first follower links passes through fixed connecting rod and is rotatably mounted on the returning face plate
On, the fixed connecting rod is fixedly connected through the returning face plate and with the returning face plate, and the dynamics is adjusted described in motor control
Slide link slides flexible to control the first double link elevating mechanism in the sliding slot.
4. floor-mopping robot as claimed in claim 3, which is characterized in that be provided with straight line on the floor-mopping robot bottom plate
Guide rail, the dynamics adjust motor and are fixedly mounted on electric machine support platform, are provided with straight on the electric machine support platform, institute
Electric machine support platform is stated to be slidably mounted in the linear guide by straight；The dynamics adjusts the output shaft of motor
It is fixedly connected with one end of screw rod, the middle part of one end of the returning face plate is equipped with through-hole, is fixedly installed in the through-hole and institute
The feed screw nut of screw rod cooperation is stated, the other end of the screw rod passes through the through-hole by the feed screw nut and the sliding connects
Bar is fixedly connected.
5. floor-mopping robot as claimed in claim 3, which is characterized in that the dynamics adjusts motor and is fixedly mounted on described drag
The side of floor-washing robot bottom plate, is fixedly installed with feed screw nut in the middle part of the slide link, in one end of the returning face plate
Portion is equipped with through-hole, and the output shaft that the dynamics adjusts motor is fixedly connected with one end of screw rod, and the other end of the screw rod passes through
The through-hole by the feed screw nut with the slide link is mobilizable links together.
6. the floor-mopping robot as described in claim 4 or 5 is any, which is characterized in that the main body mechanism that mops floor includes also wrapping
The second mop board is included, second mop board is mounted on the top of the returning face plate by the second double link elevating mechanism.
7. floor-mopping robot as claimed in claim 6, which is characterized in that the second double link elevating mechanism includes second main
Dynamic connecting rod and the second follower link, second drive connecting rod intersect with second follower link and are rotatably coupled to
Together, the upper end of second drive connecting rod is rotatably mounted on the lower surface of second mop board, and described second is main
The lower end of dynamic connecting rod is slidably mounted on the returning face plate；The upper end of second follower link is slidably mounted on institute
On the lower surface for stating the second mop board, the lower end of second follower link is rotatably mounted on the returning face plate.
8. floor-mopping robot as claimed in claim 7, which is characterized in that second drive connecting rod and the second driven company
Bar is rotatably coupled to together by the second rotation bolt, and second drive connecting rod is two to be parallel to each other, described
Second drive connecting rod upper end is mounted on the lower surface of second mop board by hinge seat, one end of the slide link with
The lower end of piece second drive connecting rod rotatably connects, the other end of the slide link and another second master
The lower end of dynamic connecting rod rotatably connects；Second follower link is two to be parallel to each other, under second mop board
The two sides on surface are respectively arranged with the second slideway, and the upper end of two second follower links passes through the second sliding pin respectively to be slided
Dynamic is mounted on second slideway, and the lower end of two second follower links is fixed connecting rod respectively and is rotatably mounted on
On the returning face plate.
9. floor-mopping robot as claimed in claim 8, which is characterized in that the floor-mopping robot further includes overturning motor, institute
State the other side that overturning motor is fixedly mounted on the floor-mopping robot bottom plate, the output shaft of the overturning motor and the overturning
The other end of plate is fixedly connected, for overturning the main body mechanism that mops floor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820092205.0U CN208426058U (en) | 2018-01-19 | 2018-01-19 | A kind of floor-mopping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820092205.0U CN208426058U (en) | 2018-01-19 | 2018-01-19 | A kind of floor-mopping robot |
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| CN208426058U true CN208426058U (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820092205.0U Active CN208426058U (en) | 2018-01-19 | 2018-01-19 | A kind of floor-mopping robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108245094A (en) * | 2018-01-19 | 2018-07-06 | 广州大学 | A kind of floor-mopping robot |
| CN109730588A (en) * | 2019-01-31 | 2019-05-10 | 深圳和而泰智能控制股份有限公司 | Mopping robot |
| CN111588319A (en) * | 2020-05-22 | 2020-08-28 | 珠海格力电器股份有限公司 | Mopping control method, mopping control device, mopping control medium and mopping control equipment |
| CN112847383A (en) * | 2019-11-28 | 2021-05-28 | 深圳津梁生活科技有限公司 | Robot |
| CN113208509A (en) * | 2021-05-12 | 2021-08-06 | 湘潭大学 | Intelligent cleaning robot |
| CN113287985A (en) * | 2021-05-24 | 2021-08-24 | 深圳市杉川机器人有限公司 | Lifting mop mechanism and robot |
| CN113440064A (en) * | 2020-03-25 | 2021-09-28 | 科沃斯机器人股份有限公司 | Autonomous mobile device and control method |
| CN113907655A (en) * | 2020-07-07 | 2022-01-11 | 宁波方太厨具有限公司 | Mopping cleaning robot and work control method thereof |
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2018
- 2018-01-19 CN CN201820092205.0U patent/CN208426058U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108245094A (en) * | 2018-01-19 | 2018-07-06 | 广州大学 | A kind of floor-mopping robot |
| CN108245094B (en) * | 2018-01-19 | 2023-12-29 | 广州大学 | Floor mopping robot |
| CN109730588A (en) * | 2019-01-31 | 2019-05-10 | 深圳和而泰智能控制股份有限公司 | Mopping robot |
| CN109730588B (en) * | 2019-01-31 | 2024-04-09 | 深圳和而泰智能控制股份有限公司 | Floor wiping robot |
| CN112847383A (en) * | 2019-11-28 | 2021-05-28 | 深圳津梁生活科技有限公司 | Robot |
| CN113440064A (en) * | 2020-03-25 | 2021-09-28 | 科沃斯机器人股份有限公司 | Autonomous mobile device and control method |
| CN111588319A (en) * | 2020-05-22 | 2020-08-28 | 珠海格力电器股份有限公司 | Mopping control method, mopping control device, mopping control medium and mopping control equipment |
| WO2021232812A1 (en) * | 2020-05-22 | 2021-11-25 | 珠海格力电器股份有限公司 | Mopping control method and apparatus, and medium and device |
| CN113907655A (en) * | 2020-07-07 | 2022-01-11 | 宁波方太厨具有限公司 | Mopping cleaning robot and work control method thereof |
| CN113208509A (en) * | 2021-05-12 | 2021-08-06 | 湘潭大学 | Intelligent cleaning robot |
| CN113287985A (en) * | 2021-05-24 | 2021-08-24 | 深圳市杉川机器人有限公司 | Lifting mop mechanism and robot |
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