CN210871310U

CN210871310U - Self-rinsing cleaning robot

Info

Publication number: CN210871310U
Application number: CN201920822803.3U
Authority: CN
Inventors: 宋道鹏
Original assignee: Zhengzhou Shunpeng Technology Co ltd
Current assignee: Zhengzhou Shunpeng Technology Co ltd
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-06-30
Anticipated expiration: 2029-05-31

Abstract

The utility model discloses a from rinsing cleaning machines people belongs to field intelligent robot field. The method comprises the following steps: the automatic washing machine comprises a rack, a traveling mechanism, a mechanical arm mechanism, a cleaning mechanism, a sensing unit, a main control unit, a power driving unit and an automatic washing mechanism. The self-rinsing cleaning robot can realize automatic cleaning, cleaning and squeezing of the cleaning cloth through the automatic rinsing mechanism; meanwhile, the mechanical arm mechanism can be well controlled through the main control unit, so that the proper friction force between the cleaning cloth and the contact surface is ensured, and the better cleaning effect of the surface to be cleaned is ensured.

Description

Self-rinsing cleaning robot

Technical Field

The utility model relates to an intelligent robot field especially relates to a from rinsing cleaning machines people.

Background

The intelligence robot of sweeping floor in existing market is the externally-hung rag in the bottom of the machine mostly, and water tank of installation in the rag top, in the time of work, water in the water tank drips the rag through the infiltration on, drive the rag and remove in the room in the machine work of sweeping floor, let the rag contact ground, play the effect on clean ground, the main problem that this kind of mode exists is: (1) the cleaning cloth has no automatic cleaning function, and the cleaning cloth is easy to become dirty after working for a while and needs to be detached for cleaning; (2) most of the cleaning cloths are only hung at the bottom of the sweeper, and the cleaning cloths do not generate friction force on the contact surface to ensure certain wiping effect, so that the wiping and cleaning effect is poor.

Therefore, it is necessary to design and implement an intelligent cleaning robot, so that the intelligent cleaning robot can intelligently sense the cleanliness and automatically clean the cleaning cloth, and can control a certain friction force between the cleaning cloth and the contact surface to ensure a better wiping and cleaning effect.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves is: the self-rinsing cleaning robot has automatic rinsing mechanism and mechanical arm mechanism to clean the cleaning cloth automatically and ensure the fast and high efficiency of the wiping on the surface to be cleaned.

In order to solve the technical problem, the utility model discloses a from technical scheme who rinses cleaning machines people and adopt is: including frame, running gear, arm mechanism, clean mechanism, perception unit, main control unit, power drive unit and automatic mechanism of rinsing, automatic mechanism of rinsing still includes: the water purifier comprises a water purifying tank, a water pumping assembly, a water spraying assembly, a waste water tank, a washing washboard, a reciprocating component, a water box and a first driving assembly.

Further, the washing washboard further comprises: the washboard comprises a washboard body and a washboard bracket, wherein the front surface of the washboard body is provided with a convex edge part and a water spraying port, and the back surface of the washboard body is provided with a limiting groove; the reciprocating member further comprises: the roller, the limiting block, the small connecting rod and the long connecting rod; the back of the water box is also provided with a sewage port and a motor bracket.

Further, the robot arm mechanism further includes: the mechanical arm comprises a mechanical arm base, a mechanical arm big arm, a mechanical arm second arm, a mechanical arm third arm and a second driving assembly; the three arms of the mechanical arm are connected with the mechanical arm base through the large arm of the mechanical arm and the second arm of the mechanical arm.

Further preferably, the degree of freedom of the large arm and the second arm of the mechanical arm is 180 degrees, the degree of freedom of the third arm of the mechanical arm is 270 degrees, and the degree of freedom of the base of the mechanical arm is 360 degrees.

Further, the cleaning mechanism further comprises: a rolling brush, a dust suction mechanism and a mop.

Further, the dust suction mechanism further comprises: the dust collector comprises a dust suction port, a dust suction pipe, a dust collection box inlet, a dust collection box, a cyclone separation box and a fan.

Further, the cyclone separating case further comprises: the drainage plate, awl bucket, cyclone bucket gentleness flow export.

Further, the sensing unit further includes: the camera shooting equipment is arranged and installed at the front part of the rack; the ultrasonic sensor and the infrared distance measuring sensor are arranged at the lower part of the periphery of the rack; the variable medium sensor is arranged and installed in the dust collection box; the waste water level sensor is arranged in the waste water tank; the edge detection sensor is arranged at the bottom of the periphery of the rack; the photoelectric encoder is arranged in the travelling wheel of the travelling mechanism; the position sensor is arranged at the center of the top of the rack; and the purified water level sensor is arranged in the purified water tank.

The utility model has the advantages that the self-rinsing cleaning robot can realize the automatic cleaning, cleaning and squeezing of the cleaning cloth through the automatic rinsing mechanism; meanwhile, the mechanical arm mechanism can be well controlled by the main control unit, so that the proper friction force between the cleaning cloth and the contact surface is ensured, and the better cleaning effect of the surface to be cleaned is ensured.

Drawings

Fig. 1 is a schematic view of the general structure of an embodiment of the self-rinsing cleaning robot of the present invention;

fig. 2 is a schematic view of a cleaning mechanism and an automatic rinsing mechanism of an embodiment of the self-rinsing cleaning robot of the present invention;

fig. 3 is a schematic back view of a washing washboard according to an embodiment of the self-rinsing robot of the present invention;

FIG. 4 is a schematic front view of a washboard according to an embodiment of the self-rinsing robot of the present invention;

fig. 5 is a schematic view of a robot arm mechanism of an embodiment of the self-rinsing robot cleaner of the present invention;

FIG. 6 is a schematic view of a dust suction mechanism of an embodiment of the self-rinsing robot cleaner of the present invention;

FIG. 7 is a schematic view of a cyclonic separation box according to an embodiment of the self-rinsing cleaning robot of the present invention;

fig. 8 is a schematic diagram of the distribution of sensing units of an embodiment of the self-rinsing robot cleaner of the present invention;

FIG. 9 is a schematic view of a waste water level sensor according to an embodiment of the self-rinsing robot of the present invention;

fig. 10 is a schematic view of a clean water level sensor according to an embodiment of the self-rinsing robot cleaner of the present invention;

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

As shown in fig. 1, the embodiment of the self-rinsing cleaning robot of the present invention includes: the robot comprises a frame 1, a driving device and a control device, wherein the frame 1 is used for mounting each part of a robot; the walking mechanism 2 is used for realizing the walking of the robot; the mechanical arm mechanism 3 is used for clamping the mop and wiping and cleaning the contact surface; the cleaning mechanism 4 is used for cleaning and cleaning the ground; the sensing unit 5 is used for sensing and collecting information data such as positions, obstacles and cleanliness; the main control unit 6 is used for analyzing and processing the data information transmitted by the sensing unit 5, making judgment and decision and instructing relevant mechanisms to execute; the power driving unit 7 is used for providing a power source for the robot and driving a corresponding mechanism; and the automatic rinsing mechanism 8 is used for realizing automatic cleaning, cleaning and squeezing of the cleaning cloth.

Preferably, as shown in fig. 2, the automatic rinsing mechanism 8 further includes: a clean water tank 81 for containing clean water required for cleaning the rag; a water pumping unit 82 for pumping clean water required for cleaning the cloth out of the clean water tank 81; a water spray unit 83 for spraying high-pressure water to clean the cloth; a waste water tank 84 for storing sewage flowing out after cleaning the cleaning cloth; a rinsing rubbing plate 85 for rubbing the cleaning cloth; the reciprocating component 86 is used for driving the rinsing washboard 85 to reciprocate; a water box 87 connected with the frame 1 for connecting and installing each part of the automatic rinsing mechanism 8 and accommodating the mop 43 during rinsing; a first drive assembly 88 for driving the reciprocating member 86.

Further preferably, as shown in fig. 3 and 4, the rinsing washboard 85 further comprises: the washboard comprises a washboard body 851 and a washboard bracket 852, wherein the front surface of the washboard body 851 is provided with a rib part 8511 and a water spray port 8512, and the back surface is provided with a limiting groove 8513; the reciprocating member 86 further includes: a roller 861, a limit block 862, a small connecting rod 863 and a long connecting rod 864; the back of the water box 87 is also provided with a sewage port 871 and a motor bracket 872. One end of the small connecting rod 863 is connected with the first driving component 88, the other end is connected with the long connecting rod 864, the other end of the long connecting rod 864 is connected with the washboard support 852, the washboard body 851 is connected and installed on the washboard support 852, the limiting groove 8513 is matched with the limiting block 862 to limit the movement interval of the washboard body 851, and the roller 861 ensures that the washboard body 851 moves back and forth more smoothly.

The specific working process of the automatic rinsing mechanism 8 is as follows: when cleaning, the mop 43 moves to the upper part of the interior of the water box 87 and contacts with the washboard body 851, the first driving component 88 is started to drive the small connecting rod 863 to rotate, the small connecting rod 863 drives the long connecting rod 864 to rotate, the long connecting rod 864 drives the washboard support 852 and the washboard body 851 to reciprocate and limited by the limiting groove 8513 and the limiting block 862, and cleaning functions of the rag on the mop 43 are realized through reciprocating rubbing of the convex edge 8511. Meanwhile, the water pumping assembly 82 pumps clean water from the clean water tank 81 and sprays the clean water at high pressure through the water spraying port 8512, so that the cleaning cloth on the mop 43 can be cleaned fully. Dirty water after cleaning flows to a space below the water box 87 along the groove of the rinsing washboard 85, a plurality of sewage ports 871 are reserved below the water box 87, the waste water tank 84 is arranged below the sewage ports 871, and the dirty water flows into the waste water tank 84 through the sewage ports 871. When the mop is dewatered, the water spraying component 83 stops spraying water, the mechanical arm mechanism 3 increases downward pressure, the motor of the first driving component 88 increases the rotating speed, the rubbing plate support 852 and the rubbing plate body 851 are driven to increase the speed for rubbing and extruding, redundant water is extruded and rubbed out, and dewatering of the cleaning cloth on the mop 43 is realized.

Preferably, as shown in fig. 5, the robot arm mechanism 3 further includes: a mechanical arm base 31, a mechanical arm big arm 32, a mechanical arm second arm 33, a mechanical arm third arm 34 and a second driving assembly 35; the three arms 34 of the mechanical arm are connected with the mechanical arm base 31 through the large arms 32 and the second arms 33 of the mechanical arm, the degree of freedom of the large arms 32 and the second arms 33 of the mechanical arm is 180 degrees, the degree of freedom of the three arms 34 of the mechanical arm is 270 degrees, and the degree of freedom of the mechanical arm base 31 is 360 degrees. The second driving assembly 35 controls the mechanical arm base 31, the mechanical arm big arm 32, the mechanical arm second arm 33 and the mechanical arm third arm 34 respectively and independently through a stepping motor, so that action planning can be performed automatically according to working requirements, and flexible movement within a freedom degree range can be achieved.

Preferably, the cleaning mechanism 4 further includes a roll brush 41, a dust suction mechanism 42, and a mop 43.

Preferably, as shown in fig. 6, the dust suction mechanism 42 further includes a dust suction port 421, a dust suction pipe 422, a dust box inlet 423, a dust box 424, a cyclone case 425, and a fan 426.

Preferably, as shown in fig. 7, the cyclone separating case 425 further includes: a flow guide plate 4251, a cone barrel 4252, a cyclone barrel 4253 and an air outlet 4254.

The specific operation of the dust suction mechanism 42 is as follows:

when dust and sundries on the ground are sucked, the fan 426 is started, the cyclone separation box 425 generates negative pressure, and the dust and sundries enter the cyclone separation box 425 through the dust suction port 421, the dust suction pipe 422 and the dust collection box inlet 423; then, the dust and sundries form cyclone which rotates and rises at high speed in the cyclone barrel 4253 through the flow guide plate 4251 and the cone barrel 4252; finally, the dust and debris are thrown into the dust box 424 through the air flow outlet 4254 at the top of the cyclone case 425.

Preferably, as shown in fig. 8, 9 and 10, the sensing unit 5 further includes: the camera device 51 is arranged at the front part of the frame 1 and is mainly used for identifying sundries and dirty points on the surface to be cleaned; the ultrasonic sensor 52 and the infrared distance measuring sensor 53 are arranged at the lower part of the periphery of the frame 1 and are mainly used for identifying obstacles on the surface to be cleaned; the medium-variable sensor 54 is arranged in the dust box 424 to realize the height detection of the dust and sundries in the dust box 424; the wastewater level sensor 55 is arranged in the wastewater tank 84 to detect the height of wastewater in the wastewater tank 84; an edge detection sensor 56, which is arranged at the bottom of the periphery of the frame 1 and is mainly used for identifying the edge of the ground to be cleaned; the photoelectric encoder 57 is arranged in a travelling wheel of the travelling mechanism 2 and used for accurately calculating the number of travelling turns of the travelling wheel of the travelling mechanism 2; the position sensor 58 is arranged at the center of the top of the rack 1 and used for accurately measuring the center position information of the rack 1; the water level sensor 59 is installed in the water purification tank 81 to detect the height of purified water in the water purification tank 81.

The utility model discloses a from rinsing cleaning machines people embodiment treats information such as position, barrier, cleanliness of clean surface through the perception unit perception, the information that main control unit analysis and treatment perception unit transmitted is judged and is decided, the relevant mechanism of instruction is executed simultaneously to realize the self-cleaning of rag, clean and crowded dry, functions such as the moderate degree frictional force of automatic control rag and contact surface, have system performance stability, it is many to be suitable for the scene, the rag is automatic to be rinsed and treat clean characteristics such as efficient of clean surface.

The above only is the embodiment of the present invention, not limiting the patent protection scope of the present invention, all the equivalent structure changes made in the specification and the attached drawings are directly or indirectly applied to other related technical fields, and are all included in the patent protection scope of the present invention.

Claims

1. The utility model provides a self-rinsing cleaning robot, includes frame (1), running gear (2), arm mechanism (3), clean mechanism (4), perception unit (5), main control unit (6) and power drive unit (7), its characterized in that still includes automatic rinsing mechanism (8), automatic rinsing mechanism (8) include: the device comprises a water purifying tank (81), a water pumping assembly (82), a water spraying assembly (83), a waste water tank (84), a washing washboard (85), a reciprocating component (86), a water box (87) and a first driving assembly (88).

2. A self-rinsing cleaning robot as claimed in claim 1, characterized in that said rinsing washboard (85) further comprises: the washboard comprises a washboard body (851) and a washboard bracket (852), wherein the front surface of the washboard body (851) is provided with a convex edge part (8511) and a water spray opening (8512), and the back surface is provided with a limiting groove (8513); the reciprocating member (86) further comprises: a roller (861), a limit block (862), a small connecting rod (863) and a long connecting rod (864); the back of the water box (87) is also provided with a sewage port (871) and a motor bracket (872).

3. A self-rinsing cleaning robot as claimed in claim 2, characterized in that said robot arm mechanism (3) further comprises: the mechanical arm comprises a mechanical arm base (31), a mechanical arm big arm (32), a mechanical arm second arm (33), a mechanical arm third arm (34) and a second driving assembly (35); the three arms (34) of the mechanical arm are connected with the mechanical arm base (31) through the large arm (32) of the mechanical arm and the second arm (33) of the mechanical arm.

4. A self-rinsing cleaning robot as claimed in claim 3, characterized in that said robot arm big arm (32) and robot arm second arm (33) have 180 degrees of freedom, robot arm third arm (34) has 270 degrees of freedom and robot arm base (31) has 360 degrees of freedom.

5. A self-rinsing cleaning robot as claimed in claim 4, characterized in that said cleaning mechanism (4) further comprises: a rolling brush (41), a dust suction mechanism (42) and a mop (43).

6. A self-rinsing cleaning robot as claimed in claim 5, characterized in that said suction mechanism (42) further comprises a suction opening (421), a suction pipe (422), a dust box inlet (423), a dust box (424), a cyclone separator box (425) and a fan (426).

7. A self-rinsing cleaning robot as claimed in claim 6, characterized in that said cyclone separator box (425) further comprises: the cyclone separator comprises a flow guide plate (4251), a cone barrel (4252), a cyclone barrel (4253) and an air flow outlet (4254).

8. A self-rinsing cleaning robot as claimed in claim 7, characterized in that said sensing unit (5) further comprises: an image pickup apparatus (51) provided to be mounted on a front portion of the chassis (1); the ultrasonic sensor (52) and the infrared distance measuring sensor (53) are arranged and installed at the lower part of the periphery of the rack (1); a variable medium sensor (54) installed in the dust box (424); a waste water level sensor (55) arranged and installed in the waste water tank (84); the edge detection sensor (56) is arranged and installed at the bottom of the periphery of the rack (1); the photoelectric encoder (57) is arranged in a travelling wheel of the travelling mechanism (2); the position sensor (58) is arranged at the center of the top of the rack (1); and the water purification level sensor (59) is arranged in the water purification tank (81).