CN210871330U

CN210871330U - Intelligent mopping robot

Info

Publication number: CN210871330U
Application number: CN201921249098.9U
Authority: CN
Inventors: 吕晓敏; 许娅芬
Original assignee: Zhejiang Shuren University
Current assignee: Zhejiang Shuren University
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-06-30
Anticipated expiration: 2029-08-02

Abstract

The utility model discloses an intelligence robot that drags ground, include casing, drive arrangement, turn to device, induction system, cleaning device, watering device and drag the ground device, three contact sensor is installed to casing front end outer wall equidistant, be equipped with in proper order by the back under the casing and turn to device, drag the ground device, watering device, drive arrangement, dust extraction and cleaning device, it includes the biax motor to drag the ground device, the biax motor passes through the spliced pole to be fixed under the casing, the equal fixed cover in both ends pivot outer wall of biax motor is equipped with the half-gear. Has the advantages that: the mopping device has the advantages that the mopping plate can drive the mop cloth to mop the floor in a reciprocating mode with small amplitude, the floor can be mopped for multiple times in the same area in the moving process of the robot, downward pressure can be applied to the mopping plate through the elastic connecting piece, and the floor mopping efficiency of the robot can be improved.

Description

Intelligent mopping robot

Technical Field

The utility model relates to a robot field particularly, relates to an intelligence mopping robot.

Background

With the improvement of science and technology and the improvement of human life quality, the floor mopping robot enters thousands of households, but the floor mopping robot is usually connected with a floor mopping plate with a mop cloth at the bottom of a floor mopping water tank by the robot, the floor mopping robot lightly passes through the ground when mopping, and the floor mopping robot cannot simulate the small-amplitude reciprocating floor mopping action during manual mopping, so that the floor mopping effect is not ideal, and the efficiency of the current floor mopping robot is low.

An effective solution to the problems in the related art has not been proposed yet.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligence robot that drags ground to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an intelligent floor mopping robot comprises a shell, a driving device, a steering device, an induction device, a cleaning device, a water spraying device and a floor mopping device, wherein three contact sensors are installed on the outer wall of the front end of the shell at equal intervals, the steering device, the floor mopping device, the water spraying device, the driving device, the dust collecting device and the cleaning device are sequentially arranged below the shell from back to front, the floor mopping device comprises a double-shaft motor, the double-shaft motor is fixed below the shell through a connecting column, half gears are fixedly sleeved on the outer walls of rotating shafts at two ends of the double-shaft motor, a rectangular frame is sleeved on the outer wall of each half gear, racks are fixedly arranged on the upper inner wall and the lower inner wall of the rectangular frame, first sliding rods are fixedly arranged at two ends of the rectangular frame, first sliding rods are movably sleeved on the outer walls of the first sliding rods, the first sliding rods are fixed below the shell through connecting rods, the first sliding, a mop plate is fixedly arranged below the elastic connecting piece, and a mop cloth is fixedly arranged below the mop plate.

Furthermore, the elastic connecting piece comprises a second sliding barrel, the second sliding barrel is fixed below one end, far away from the rectangular frame, of the first sliding rod, a second sliding rod is arranged in the first sliding barrel, the upper end of the second sliding rod is elastically connected with the inner wall of the upper end of the second sliding barrel through a spring, and the lower end of the second sliding rod is fixedly connected with the carriage.

Further, turn to the device and include step motor, step motor inlays to be established under the casing, install the directive wheel under step motor's the pivot.

Further, watering device includes the water tank, the water tank inlays to be established in the casing, the casing is fixed down and is equipped with two shower nozzles, the shower nozzle pass through the water pipe with the water tank switch-on just the water pipe mid-mounting has the solenoid valve, be equipped with the filler on the water tank, threaded connection has sealed lid on the filler.

Furthermore, dust extraction includes the suction box, the suction box inlays to be established in the casing, the fixed air-blower that establishes through the connecting rod in the suction box, be connected with the suction hood through the trachea under the suction box, the quantity of suction hood is three and all fixes under the casing, the air-blower both ends all are equipped with the dust screen just the dust screen with suction box inner wall fixed connection, the lower extreme is equipped with the dust collection box in the suction box, dust collection box one side is equipped with removable apron through the bolt fastening.

Further, drive arrangement includes the wheel support, the quantity of wheel support is two and the symmetry is fixed both sides under the casing, movable mounting has the drive wheel in the wheel support, the fixed transmission shaft that is equipped with between the drive wheel, the fixed cover of transmission shaft outer wall is equipped with first belt pulley, the casing is fixed down and is equipped with driving motor, driving motor's the fixed second belt pulley that is equipped with of pivot outer wall, first belt pulley with be equipped with the V belt between the second belt pulley.

Furthermore, the cleaning device comprises a fixing plate, the fixing plate is fixed below the shell, and bristles are densely distributed below the fixing plate.

Further, just be located in the casing the last cavity of having seted up of step motor, be equipped with lithium cell and treater in the cavity, the lithium cell the solenoid valve the double-shaft motor driving motor step motor the air-blower with contact sensation sensor all with treater electric connection, casing one side inlays and is equipped with the interface that charges, charge the interface with lithium cell electric connection.

Furthermore, the side wall of the cavity is provided with a plurality of heat dissipation holes.

Compared with the prior art, the utility model discloses following beneficial effect has:

(1) the utility model discloses a set up casing, drive arrangement, turn to device, induction system, cleaning device, watering device and drag ground device, can let the planker drive the mop drag ground in the reciprocal ground that drags of small amplitude, can carry out a lot of to same region at the in-process that the robot marchs and drag ground many times to elastic connection spare can exert decurrent pressure to the planker, can increase the efficiency of dragging ground of robot.

(2) The utility model discloses a setting turns to the device, can turn to when the robot is about to touch the barrier and realize keeping away the barrier.

(3) The utility model discloses a set up watering device, can carry out the watering to the floor before the mop drags the ground for it is cleaner to drag the ground.

(4) The utility model discloses a set up the dust collection box, can reduce the work load of mop in can sucking the dust on the floor into the dust collection box before the mop drags the ground.

(5) The utility model discloses a set up drive arrangement, can drive the robot and advance or retreat.

(6) The utility model discloses a set up cleaning device, can sweep the dust of adhesion on the floor, be convenient for inhale the dust collection box with the dust of adhesion on the floor in.

(7) The utility model discloses a set up lithium cell and treater, the lithium cell can provide the electric energy for treater and other electrical apparatus, and the function that dust absorption, watering, mopping, drive and turn to is realized in the work that the treater is used for controlling air-blower, solenoid valve, double-shaft motor, driving motor and step motor to contact and feel the sensor and can sense when being about to collide the barrier, give the treater with information transfer, and treater control step motor drives the directive wheel and turns to, realizes keeping away the barrier function.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic bottom structure diagram of an intelligent mopping robot according to an embodiment of the present invention;

fig. 2 is a cross-sectional view of an intelligent mopping robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a floor mopping device in an intelligent floor mopping robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a driving device in an intelligent mopping robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an elastic connection member in an intelligent mopping robot according to an embodiment of the present invention.

Reference numerals:

1. a housing; 2. a touch sensor; 3. a double-shaft motor; 4. a half gear; 5. a rectangular frame; 6. a first slide bar; 7. a first slide drum; 8. a carriage; 9. mop cloth; 10. a second slide drum; 11. a second slide bar; 12. A spring; 13. a stepping motor; 14. a steering wheel; 15. a water tank; 16. a spray head; 17. an electromagnetic valve; 18. A dust collection box; 19. a blower; 20. a dust hood; 21. a dust collection box; 22. a wheel carrier; 23. a drive wheel; 24. a drive shaft; 25. a first pulley; 26. a second pulley; 27. a drive motor; 28. a fixing plate; 29. a processor; 30. a lithium battery.

Detailed Description

The following, with reference to the drawings and the detailed description, further description of the present invention is made:

the first embodiment is as follows:

referring to fig. 1-5, an intelligent floor mopping robot according to an embodiment of the present invention comprises a housing 1, a driving device, a steering device, an induction device, a cleaning device, a sprinkling device and a floor mopping device, wherein three contact sensors 2 are mounted on the outer wall of the front end of the housing 1 at equal intervals, the steering device, the floor mopping device, the sprinkling device, the driving device, a dust collecting device and the cleaning device are sequentially arranged below the housing 1 from back to front, the floor mopping device comprises a double-shaft motor 3, the double-shaft motor 3 is fixed below the housing 1 through a connecting column, the outer walls of rotating shafts at two ends of the double-shaft motor 3 are fixedly sleeved with a half gear 4, the outer wall of the half gear 4 is sleeved with a rectangular frame 5, the upper and lower inner walls of the rectangular frame 5 are fixedly provided with racks, the two ends of the rectangular frame 5 are fixedly provided with first sliding rods 6, the outer walls of the first sliding rods 6 are, the first sliding barrel 7 is fixed below the shell 1 through a connecting rod, the first sliding rod 6 is far away from the lower end of the rectangular frame 5 and is fixedly provided with an elastic connecting piece, a dragging plate 8 is fixedly arranged below the elastic connecting piece, and a mop 9 is fixedly arranged below the dragging plate 8

Through the above technical scheme of the utility model, can let planker 8 drive mop 9 drag ground in a small scale is reciprocal, can carry out a lot of at the in-process that the robot marchs to same region and drag ground many times to elastic connection spare can exert decurrent pressure to planker 8, can increase the efficiency of dragging ground of robot.

Example two:

referring to fig. 1, 2 and 5, for the elastic connecting piece, the elastic connecting piece includes a second sliding barrel 10, the second sliding barrel 10 is fixed below one end of the first sliding rod 6 away from the rectangular frame 5, a second sliding rod 11 is arranged in the first sliding barrel 7, the upper end of the second sliding rod 11 is elastically connected with the inner wall of the upper end of the second sliding barrel 10 through a spring 12, and the lower end of the second sliding rod 11 is fixedly connected with the carriage 8; for a steering device, the steering device comprises a stepping motor 13, the stepping motor 13 is embedded under the shell 1, and a steering wheel 14 is installed under a rotating shaft of the stepping motor 13; for the sprinkler, the sprinkler comprises a water tank 15, the water tank 15 is embedded in the shell 1, two spray heads 16 are fixedly arranged below the shell 1, the spray heads 16 are communicated with the water tank 15 through water pipes, electromagnetic valves 17 are arranged in the middle of the water pipes, a water filling port is arranged on the water tank 15, and a sealing cover is in threaded connection with the water filling port; for the dust exhaust apparatus, the dust exhaust apparatus includes dust suction box 18, dust suction box 18 inlays to be established in casing 1, fixed air-blower 19 of establishing through the connecting rod in the dust suction box 18, dust suction box 18 is connected with suction hood 20 down through the trachea, the quantity of suction hood 20 is three and all fixes under casing 1, air-blower 19 both ends all are equipped with the dust screen just the dust screen with dust suction box 18 inner wall fixed connection, the lower extreme is equipped with dust collection box 21 in the dust suction box 18, dust collection box 21 one side is equipped with removable cover through the bolt fastening.

Through the above technical scheme of the utility model, turn to the device and can drive directive wheel 14 and rotate and turn to and realize keeping away the barrier when the robot is about to touch the barrier, watering device can open solenoid valve 17 before mop 9 drags the ground and sprinkle to the floor for it is cleaner to drag the ground, and dust collection box 18 can utilize the negative pressure to inhale dust collection box 21 with the dust on the floor before mop 9 drags the ground in, reduces the work load of mop 9.

Example three:

referring to fig. 1, 2 and 4, for the driving device, the driving device includes two wheel brackets 22, the two wheel brackets 22 are symmetrically fixed on the lower two sides of the housing 1, driving wheels 23 are movably installed in the wheel brackets 22, a transmission shaft 24 is fixedly arranged between the driving wheels 23, a first belt pulley 25 is fixedly sleeved on the outer wall of the transmission shaft 24, a driving motor 27 is fixedly arranged below the housing 1, a second belt pulley 26 is fixedly arranged on the outer wall of a rotating shaft of the driving motor 27, and a triangular belt is arranged between the first belt pulley 25 and the second belt pulley 26; for the cleaning device, the cleaning device comprises a fixing plate 28, the fixing plate 28 is fixed under the shell 1, and bristles are densely distributed under the fixing plate 28; for the shell 1, a cavity is formed in the shell 1 and located on the stepping motor 13, a lithium battery 30 and a processor 29 are arranged in the cavity, the lithium battery 30, the electromagnetic valve 17, the double-shaft motor 3, the driving motor 27, the stepping motor 13, the blower 19 and the touch sensor 2 are all electrically connected with the processor 29, a charging interface is embedded in one side of the shell 1, and the charging interface is electrically connected with the lithium battery 30; for the cavity, a plurality of heat dissipation holes are formed in the side wall of the cavity.

Through the above technical scheme of the utility model, drive arrangement can drive wheel 23 through driving motor 27 and rotate, thereby drive robot advances or retreats, cleaning device can utilize the brush hair to sweep the dust of adhesion on the floor, be convenient for inhale the dust collection box 21 with the dust of adhesion on the floor in, lithium cell 30 can provide the electric energy for treater 29 and other electrical apparatus, treater 29 is used for controlling air-blower 19, solenoid valve 17, double-shaft motor 3, driving motor 27 and step motor 13's work realizes the dust absorption, the watering, drag ground, the function that drive and turned to, and contact sensation sensor 2 can be when sensing and being about to collide the barrier, give treater 29 with information transfer, treater 29 controls step motor 13 and drives directive wheel 14 and turns to, realize keeping away the barrier function.

For the convenience of understanding the technical solution of the present invention, the following detailed description is made on the working principle or the operation mode of the present invention in the practical process.

In practical application, the range of the teeth of the half gear 4 is 120 degrees, the double-shaft motor 3 drives the half gear 4 to rotate rapidly, the teeth of the half gear 4 are meshed with the teeth of the rack, the rectangular frame 5 can be driven to do rapid reciprocating motion, the dragging plate 8 is driven to do reciprocating motion in the left and right directions rapidly, the dragging plate 8 can drive the mop cloth 9 to drag the floor rapidly in a small amplitude reciprocating manner, multiple times of mopping can be performed on the same area in the moving process of the robot, downward pressure can be applied to the dragging plate 8 through the elastic connecting piece, the mopping efficiency of the robot can be increased, the steering device can drive the steering wheel 14 to rotate to achieve obstacle avoidance when the robot is about to touch obstacles, the electromagnetic valve 17 can be opened by the water sprinkling device before the mop cloth 9 drags the floor to sprinkle the floor, the mopping is cleaner, the dust on the floor can be sucked into the dust collection box 21 by the negative pressure by the dust collection box 18 before the mop cloth 9 drags the floor, reduce the work load of mop 9, drive arrangement can drive the drive wheel 23 through driving motor 27 and rotate, thereby drive robot advances or retreats, cleaning device can utilize the brush hair to sweep the dust of adhesion on the floor, be convenient for inhale the dust collection box 21 with the dust of adhesion on the floor in, lithium cell 30 can provide the electric energy for treater 29 and other electrical apparatus, treater 29 is used for controlling air-blower 19, solenoid valve 17, biax motor 3, the work of driving motor 27 and step motor 13 realizes the function of dust absorption, watering, drag the ground, drive and turn to, and touch sensor 2 can sense when being about to collide the barrier, give information transfer for treater 29, treater 29 control step motor 13 drives directive wheel 14 and turns to, realize keeping away the barrier function.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The intelligent floor mopping robot is characterized by comprising a shell (1), a driving device, a steering device, an induction device, a cleaning device, a water spraying device and a floor mopping device, wherein three contact sensors (2) are installed on the outer wall of the front end of the shell (1) at equal intervals, the shell (1) is sequentially provided with the steering device, the floor mopping device, the water spraying device, the driving device, the dust collecting device and the cleaning device from back to front, the floor mopping device comprises a double-shaft motor (3), the double-shaft motor (3) is fixed under the shell (1) through a connecting column, the outer walls of rotating shafts at two ends of the double-shaft motor (3) are fixedly sleeved with a half gear (4), the outer wall of the half gear (4) is sleeved with a rectangular frame (5), the upper inner wall and the lower inner wall of the rectangular frame (5) are fixedly provided with racks, and the two ends of the rectangular frame (5, the all movable sleeves of the outer walls of the first sliding rods (6) are provided with first sliding cylinders (7), the first sliding cylinders (7) are fixed to the lower portion of the shell (1) through connecting rods, the first sliding rods (6) are far away from one end of the rectangular frame (5) and are fixedly provided with elastic connecting pieces, plankers (8) are fixedly arranged below the elastic connecting pieces, and mops (9) are fixedly arranged below the plankers (8).

2. The intelligent floor mopping robot as claimed in claim 1, wherein the elastic connecting piece comprises a second sliding barrel (10), the second sliding barrel (10) is fixed to the lower end, away from the rectangular frame (5), of the first sliding rod (6), a second sliding rod (11) is arranged in the first sliding barrel (7), the upper end of the second sliding rod (11) is elastically connected with the inner wall of the upper end of the second sliding barrel (10) through a spring (12), and the lower end of the second sliding rod (11) is fixedly connected with the carriage (8).

3. The intelligent mopping robot as claimed in claim 2, wherein the steering device comprises a stepping motor (13), the stepping motor (13) is embedded under the housing (1), and a steering wheel (14) is mounted under a rotating shaft of the stepping motor (13).

4. The intelligent mopping robot as claimed in claim 3, wherein the water sprinkling device comprises a water tank (15), the water tank (15) is embedded in the shell (1), two spray heads (16) are fixedly arranged below the shell (1), the spray heads (16) are communicated with the water tank (15) through water pipes, electromagnetic valves (17) are arranged in the middles of the water pipes, water filling ports are arranged on the water tank (15), and sealing covers are connected to the water filling ports through threads.

5. The intelligent mopping robot as claimed in claim 4, wherein the dust collection device comprises a dust collection box (18), the dust collection box (18) is embedded in the housing (1), an air blower (19) is fixedly arranged in the dust collection box (18) through a connecting rod, a dust collection cover (20) is connected to the lower portion of the dust collection box (18) through an air pipe, the three dust collection covers (20) are all fixed to the lower portion of the housing (1), dust filter nets are arranged at two ends of the air blower (19) and fixedly connected with the inner wall of the dust collection box (18), a dust collection box (21) is arranged at the lower end of the inner portion of the dust collection box (18), and a detachable cover plate is fixedly arranged on one side of the dust collection box (21) through bolts.

6. The intelligent mopping robot as claimed in claim 5, wherein the driving device comprises two wheel supports (22), the two wheel supports (22) are symmetrically fixed on the lower two sides of the shell (1), driving wheels (23) are movably mounted in the wheel supports (22), transmission shafts (24) are fixedly arranged between the driving wheels (23), first belt pulleys (25) are fixedly arranged on the outer walls of the transmission shafts (24), driving motors (27) are fixedly arranged on the lower portion of the shell (1), second belt pulleys (26) are fixedly arranged on the outer walls of the rotation shafts of the driving motors (27), and V-belts are arranged between the first belt pulleys (25) and the second belt pulleys (26).

7. The intelligent mopping robot as claimed in claim 6, wherein the sweeping device comprises a fixing plate (28), the fixing plate (28) is fixed under the housing (1), and bristles are densely distributed under the fixing plate (28).

8. The intelligent floor mopping robot as claimed in claim 7, wherein a cavity is formed in the shell (1) and located on the stepping motor (13), a lithium battery (30) and a processor (29) are arranged in the cavity, the lithium battery (30), the electromagnetic valve (17), the double-shaft motor (3), the driving motor (27), the stepping motor (13), the air blower (19) and the contact sensor (2) are all electrically connected with the processor (29), a charging interface is embedded in one side of the shell (1), and the charging interface is electrically connected with the lithium battery (30).

9. The intelligent floor mopping robot of claim 8, wherein the side wall of the cavity is provided with a plurality of heat dissipation holes.