CN212788408U

CN212788408U - Floor wiping robot and base station

Info

Publication number: CN212788408U
Application number: CN202021940406.5U
Authority: CN
Inventors: 杨成圆
Original assignee: Dalian Bonade Technology Co ltd
Current assignee: Dalian Bonade Technology Co ltd
Priority date: 2020-09-03
Filing date: 2020-09-03
Publication date: 2021-03-26
Anticipated expiration: 2030-09-03

Abstract

A floor wiping robot and a base station are characterized in that: the front end of the shell is respectively provided with a water immersion sensor and an infrared sensor; round mops are arranged on the shafts of the first motor and the second motor at the front end of the shell; the shell is provided with a first stacking box and a second stacking box in a mirror image manner; a pressure plate lifting device and a monitoring lifting device are arranged between the first cloth stacking box and the second cloth stacking box; the camera is arranged on the monitoring lifting device; a wide rolling plate with rollers on two sides exceeding the width of the shell is arranged below the pressing plate lifting device; one end of the long cloth exceeding the width of the shell is arranged in the first cloth stacking box, and the other end of the long cloth bypassing the wide rolling plate is arranged in the second cloth stacking box. Therefore, the mop can be used for mopping a large area without dead angles by mainly cleaning a round mop and continuously replacing an ultra-wide strip cloth forwards, and the ground is cleaned. Meanwhile, after the floor mopping robot mops the floor, the floor mopping robot can automatically finish cleaning and charging to the floor mopping robot base station, and the cleaning efficiency is greatly improved. Can save labor and reduce the labor intensity of cleaning personnel or family members. Can be widely used in the ground cleaning of large-scale co-construction, office buildings, markets, subway stations and families.

Description

Floor wiping robot and base station

Technical Field

The utility model relates to a wipe ground and control integrative a wipe ground robot and basic station belongs to clean technical field.

Background

At present, the ground cleaning of large-scale co-construction, office buildings, markets and subway stations adopts the steps of manually sweeping dust on the ground, then mopping by using a widened mop, cleaning the mop by water after wetting a certain area, then putting the mop on a mop plate to continue mopping, and repeating the steps of repeatedly and repeatedly. The conditions are that cleaning personnel are more, the labor intensity is high, the labor cost is high, and the efficiency is low.

Meanwhile, the floor wiping robot enters a family, and at present, the floor wiping robot wipes the floor by spraying water with an unchangeable cleaning cloth while sweeping the floor. Therefore, only certain ground can be wet-smeared, if the mopping area is large, the mopping is not clean, secondary pollution is caused, a lot of defects exist in function, and the problems in the prior art are still not solved.

Disclosure of Invention

The utility model aims at the situation that indoor clean inefficiency is low at present, the research has designed can wipe ground and control integrative the robot that wipes with the ground and can charge and wash the robot that wipes with the ground base station of the robot that wipes with wiping ground to ground robot. In the process of mopping the floor, the mopping robot can firstly remove the stains which are difficult to wipe on the floor. Meanwhile, the rear ultra-wide cleaning cloth can be continuously moved forwards to be replaced with new one, the mopping part exceeds the shell, the limit and the obstruction of the shell are avoided, the corners of the ground can be mopped, and the cleaning at dead angles is avoided. The labor cost can be reduced, the labor intensity is reduced, and the cleanliness is improved. Thereby solving the problems existing in the prior cleaning technology.

The technical solution of the utility model is realized like this:

mopping robot, including casing, immersion sensor, infrared ray sensor, camera, the battery is installed in the casing, and the socket that charges is installed in the rear end of casing, is equipped with leading wheel rear portion both sides at casing chassis front end and is equipped with two rear wheels, its characterized in that: the front end of the shell is respectively provided with a water immersion sensor and an infrared sensor; the front end of the shell is provided with a first lifting device and a second lifting device; the first and second lifting devices are provided with a first and a second motors; round mops are arranged on the shafts of the first motor and the second motor; a first stacking box and a second stacking box are arranged behind the first lifting device and the second lifting device in a mirror image manner; a pressure plate lifting device and a monitoring lifting device are arranged between the first cloth stacking box and the second cloth stacking box; the camera is arranged on the monitoring lifting device; a wide rolling plate with rollers on two sides exceeding the width of the shell is arranged below the pressing plate lifting device; one end of the long cloth exceeding the width of the shell is arranged in the first cloth stacking box, and the other end of the long cloth bypassing the wide rolling plate is arranged in the second cloth stacking box; a water injection box is arranged at the gap of the shell.

Mopping robot, including casing, immersion sensor, infrared ray sensor, camera, the battery is installed in the casing, and the socket that charges is installed in the rear end of casing, is equipped with leading wheel rear portion both sides at casing chassis front end and is equipped with two rear wheels, its characterized in that: the front end of the shell is respectively provided with a water immersion sensor and an infrared sensor; the front end of the shell is provided with a first lifting device and a second lifting device; the first and second lifting devices are provided with a first and a second motors; round mops are arranged on the shafts of the first motor and the second motor; a first stacking box and a second stacking box are arranged behind the first lifting device and the second lifting device in a mirror image manner; a pressure plate lifting device and a monitoring lifting device are arranged between the first cloth stacking box and the second cloth stacking box; the camera is arranged on the monitoring lifting device; a wide rolling plate with rollers on two sides exceeding the width of the shell is arranged below the pressing plate lifting device; one end of the long cloth exceeding the width of the shell is arranged in the first cloth stacking box, and the other end of the long cloth bypassing the wide rolling plate is arranged in the second cloth stacking box; a sixth lifting device is arranged behind the second cloth stacking box; a wide pressing plate exceeding the width of the shell is arranged below the sixth lifting device; the cloth block is movably arranged on the wide pressing plate; a water injection box is arranged at the gap of the shell.

Mopping robot, its characterized in that: the lifting device comprises a lifting motor, a screw rod, a lever barrel and a cylinder sleeve, wherein the screw rod is arranged on a shaft of the lifting motor; a bar cylinder with a convex strip-shaped outer circle is arranged on the lead screw; a cylinder sleeve with a concave strip-shaped inner circle is arranged outside the lever cylinder.

Mopping robot, its characterized in that: the inner wall of the cloth stacking box is provided with a movable clamp; an electric stirring cylinder with a stirring plate is arranged at the upper corner in the cloth stacking box; an electric column roller with a plastic column is arranged at the opening of the upper corner outside the cloth stacking box; the bottom of the cloth stacking box is provided with a movable bottom plate.

Mopping robot, its characterized in that: the pressure plate lifting device is a lifting device arranged on the central line of the shell.

Mopping robot, its characterized in that: the pressure plate lifting device is characterized in that two lifting devices are arranged on the shell in parallel.

Mopping robot, its characterized in that: the monitoring lifting device is characterized in that the lifting device is arranged on the chassis of the shell in an inverted manner; a third motor is arranged on the lifting device; a shaft of the third motor is provided with a monitoring frame; an electric shaft is arranged on the monitoring frame; the camera is arranged on the electric shaft; the monitoring lifting device is arranged on one side of the pressing plate lifting device.

Mopping robot, its characterized in that: the monitoring lifting device is arranged between the two lifting devices of the pressing plate lifting device and is arranged on the central line of the shell.

Mopping robot base station, including basic shell, charging plug, solenoid valve, fan, its characterized in that: the base shell is provided with a vent hole; an open charging bin and a ramp connected with the ground are arranged at the lower part of the front surface of the base shell; a charging plug is arranged on the rear wall plate of the charging bin; the bottom plate of the charging bin is provided with a long strip opening; two movable inserting plates are arranged on the strip opening; the back surfaces of the two movable inserting plates are respectively provided with a first rack and a second rack; a fourth motor and a fifth motor are respectively arranged below the first rack and the second rack; the shafts of the fourth motor and the fifth motor are respectively provided with a first gear and a second gear which are meshed with the first rack and the second rack; a water box is arranged below the strip opening; an ultrasonic sound wave device is arranged under the water box; the water box is provided with a water inlet pipe and a first water outlet pipe; the water inlet pipe is provided with a first electromagnetic valve; a second electromagnetic valve is arranged on the first water outlet pipe; a fan is arranged in the base shell; an air channel is arranged at an air suction port of the fan; the lower end of the air duct is provided with a second water outlet pipe and is communicated with the first water outlet pipe; the second water outlet pipe is provided with a third electromagnetic valve; a sleeve is arranged at the front end port of the air duct; a third rack is arranged below the air hole arranged on the sleeve; a sixth motor is arranged below the third rack; a third gear is arranged on a sixth motor shaft and meshed with a third rack below the sleeve; the sleeve is in the neutral gear telescopic activity between storehouse bottom plate and the water box charges.

When the utility model is used, firstly, the two round mops at the front part of the shell are mainly removed from the place with stains on the ground. The ultra-wide long cloth at the back is rolled or released around the ultra-wide long cloth and the edge of the two electric cylinder rollers at the upper outer corner openings of the first cloth stacking box and the second cloth stacking box under the action of the poking of the plastic cylinders on the cylinder rollers, the ultra-wide long cloth placed at one roll enters or comes out of the first cloth stacking box and moves forwards, and the dirty part of the long cloth is received into the first cloth stacking box along the corner openings and is poked to the bottom of the first cloth stacking box by the poking plate with the electric poking cylinder at the inner upper corner. Meanwhile, the lifting motor of the pressing plate lifting device rotates to drive the wide rolling plate to descend, and a section of clean long cloth is pressed on the ground again to continue to be mopped on the ground. When a section of strip cloth becomes dirty again, the lifting motor of the pressing plate lifting device rotates to lift or lower the wide rolling plate, and the strip cloth is rolled up again, moves forwards and is pressed to be dragged and smeared on the ground. The mopping robot can always use a section of clean strip cloth to contact and mop the ground, so that the ground is wiped clean without secondary pollution to the ground.

After the mopping robot cleans the ground, the mopping robot can automatically return to the base station of the mopping robot to charge and clean the strip cloth. The electric column roller at the upper corner opening outside the first cloth stacking box of the mopping robot rolls the dirty long cloth into the water box of the bottom plate of the charging bin, the ultrasonic acoustic wave device starts to work, the dust and the dirt on the long cloth are vibrated down by the ultrasonic wave in the water, and the long cloth is cleaned. At the moment, the fan in the base shell starts to rotate, the sleeve on the front port of the air channel extends out to be inserted under the strip cloth, and the water in the strip cloth is sucked into the sleeve through the vent hole in the sleeve and flows into a sewer through the second drain pipe on the air channel. The cleaned long-strip cloth is rolled into the second cloth piling box by the electric column roller at the opening at the upper corner outside the second cloth piling box, and after the second cloth piling box is rolled completely, the mopping robot can carry out the next mopping.

The utility model has the advantages that it is obvious, mainly show in:

mopping robot, through installing two circle mops on the casing, can effectually dispose the key stain on ground, carry out the mopping of large tracts of land through rectangular cloth again. Because the width of the wide rolling plate and the width of the ultra-wide strip cloth exceed the width of the shell, when the wall corner or the ground under the furniture is mopped, the shell does not rub and scrape the ground margin of the wall or the floor or the furniture to damage the wall corner or the ground margin, and the ground can be mopped without dead corners. When the floor is wiped, various sensors and cameras on the floor wiping robot can carry out all-around patrol and monitoring indoors. After the mopping robot drags the ground, the mopping robot automatically returns to the base station of the mopping robot to charge and clean the strip cloth. After completion, the floor can be mopped and patrolled again.

The mopping robot has multiple functions of mopping, tour monitoring and the like, and a base station of the mopping robot can charge the mopping robot and clean the strip cloth. Thus, the cleaning efficiency and the security capability are greatly improved. Can save labor and reduce the labor intensity of cleaning personnel or family members. Can be widely used in large-scale co-construction, office buildings, markets, subway stations and household floor cleaning.

Drawings

Fig. 1 is a schematic side view of a mopping robot.

Fig. 2 is a schematic view of a bottom structure of the mopping robot.

Fig. 3 is a schematic structural diagram of a lifting device of the mopping robot.

Fig. 4 is a schematic cross-sectional structure diagram of the mopping robot lever barrel and a cylinder sleeve in cooperation.

Fig. 5 is a schematic view of an installation structure of the pressing plate lifting device and the monitoring lifting device of the mopping robot.

Fig. 6 is a schematic structural diagram of a monitoring lifting device of the mopping robot.

Fig. 7 is a top view of a housing of the mopping robot.

Fig. 8 is a schematic structural diagram of a mopping robot for installing a long cloth.

Fig. 9 is another installation schematic diagram of the pressing plate lifting device and the monitoring lifting device of the mopping robot.

Fig. 10 is a top view of another housing of the mopping robot.

Fig. 11 is another side view of the mopping robot.

Fig. 12 is a schematic view of another bottom structure of the mopping robot.

Fig. 13 is a top view of another housing of the mopping robot.

Fig. 14 is a schematic diagram of a mopping robot for installing long cloth and cloth pieces.

Fig. 15 is a top view of another housing of the mopping robot.

Fig. 16 is a schematic side view of the mopping robot base station.

Fig. 17 is a schematic front structural view of the mopping robot base station.

Fig. 18 is a schematic cross-sectional structure diagram of the mopping robot base station.

In the figure, 1 shell 1.1 chassis 2 submergence sensor 3 infrared sensor 4 camera

5 guide wheel 6 rear wheel 7 lifting device 7.1 lifting motor 7.2 lead screw 7.3 bar cylinder 7.4 cylinder 8 motor 9 round mop 10 pile cloth box 10.1 movable clamp 10.2 electric dial cylinder 10.3 electric column cylinder 10.4 movable bottom plate 11 press plate lifting device 12 monitoring lifting device 12.1 monitoring frame 12.2 electric shaft 13 wide rolling plate 14 long strip cloth 15 battery 16 charging socket 17 wide press plate 18 cloth 19 base shell 20 charging bin 21 ramp 22 charging plug 23 long strip opening 24 movable plug 25 rack 26 gear 27 water box 28 acoustic wave device 29 water inlet pipe 30 electromagnetic valve

31 first water outlet pipe 32 fan 33 air flue 34 second water outlet pipe 35 sleeve

Detailed description of the preferred embodiment 1

The specific embodiment of the utility model is shown in the attached drawings.

As shown in fig. 1-2, the front end of the shell 1 of the mopping robot is provided with a submergence sensor 2 and an infrared sensor 3. A first and a second lifting device 7 are arranged on the front part of the chassis 1.1 of the shell 1. As shown in fig. 3-4, the lifting device is characterized in that a lifting motor 7.1 is provided with a lead screw 7.2 on a shaft, a bar cylinder 7.3 with a convex strip-shaped outer circle is arranged on the lead screw 7.2, and a cylinder sleeve 7.4 with a concave strip-shaped inner circle is arranged outside the bar cylinder 7.3. The cylinder sleeve 7.4 is arranged on the chassis 1.1, the first motor 8 and the second motor 8 are respectively arranged in the lever barrel 7.3, and the shafts of the first motor 8 and the second motor 8 are respectively provided with a round mop 9. The rear sides of the first lifting device 7 and the second lifting device 7 are provided with a first stacking box 10 and a second stacking box 10 in a mirror image mode, movable clamps 10.1 are respectively arranged in the first stacking box 10 and the second stacking box 10, electric toggle cylinders 10.2 with toggle plates are respectively arranged at the inner upper corners of the stacking boxes 10, electric column rollers 10.3 with plastic columns are respectively arranged at the outer upper corner openings of the stacking boxes 10, and movable bottom plates 10.4 are respectively arranged below the stacking boxes 10. As shown in fig. 1 and 5, a platen lifting device 11 is installed on the center line of the casing 1 in the middle of the first and second stacker 10. The pressing plate lifting device 11 is characterized in that the third lifting device 7 is arranged on the chassis 1.1 of the shell 1. The lever 7.3 is provided with wide rolling plates 13 with rollers on both sides exceeding the width of the shell 1. As shown in fig. 5 to 7, a monitoring elevating device 12 is installed at one side of the pressing plate elevating device 11 between the first and second stacking boxes 10. The monitoring lifting device 12 is characterized in that the fourth lifting device 7 is arranged on the chassis 1.1 of the shell 1 in an inverted mode, the third motor 8 is arranged in a bar cylinder 7.3 of the fourth lifting device, the shaft of the third motor 8 is provided with a monitoring frame 12.1, the monitoring frame 12.1 is provided with an electric shaft 12.2, and the camera 4 is arranged on the electric shaft 12.2. Through the round hole 1.3 of the inclined to one side on casing 1, control elevating gear 12 can rise or descend, and camera 4 can rotate 360 degrees through third motor 8 and monitor the environment on every side, just can monitor preceding, above and the space environment of back 180 degrees through electric axle 12.2 rotation camera 4. As shown in fig. 1 and 8, one end of the long cloth 14 is mounted on a first movable clamp 10.1 mounted in the first cloth stacking box 10, and the other end of the long cloth bypasses an electric column roller 10.3 with a plastic column mounted at an upper corner opening outside the first cloth stacking box 10, bypasses a wide rolling plate 13, and is mounted on a second movable clamp 10.1 mounted in the second cloth stacking box 10 at an electric column roller 10.3 with a plastic column bypassing an upper corner opening outside the second cloth stacking box 10. The battery 15 is installed in the casing 1, the charging socket 16 is installed at the rear end of the casing 1, the water injection box 1.2 is arranged at the gap of the casing 1, the guide wheel 5 is installed on the front end chassis 1.1 of the casing 1, and the two rear wheels 6 are respectively installed on the two sides of the rear end of the chassis 1.1 of the casing 1. Thus, the mopping robot is assembled.

Fig. 9-10 show another technical solution of the pressing plate lifting device 11 and the monitoring lifting device 12 of the mopping robot. The pressing plate lifting device 11 is arranged on a chassis 1.1 of the shell 1 through a third lifting device 7 and a fifth lifting device 7, and a wide rolling plate 13 is arranged on a bar cylinder 7.3 of the third lifting device 7 and the fifth lifting device 7. A monitoring lifting device 12 is mounted intermediate the third and fifth lifting devices 7 and at a position which is the centre line of the housing 1. The monitoring lifting device 12 is lifted or lowered through the circular hole 1.4 on the central line of the shell 1, the camera 4 can monitor the surrounding environment through rotating 360 degrees by the third motor 8, and the space environment in front of, above and behind can be monitored through rotating 180 degrees by the camera 4 through the electric shaft 12.2.

As shown in fig. 1 and 8, in use, first, the power switch of the mopping robot is turned on. If the mopping robot finds that the ground is identified to have obvious stains, the lifting motors 7.1 of the first lifting device 7 and the second lifting device 7 rotate the lever barrel 7.3 to descend, and the first motor 8 and the second motor 8 which are arranged in the lever barrel 7.3 drive the shaft to be provided with the round mop cloth 9 to rotate at a high speed so as to perform key cleaning on the stains. Meanwhile, the lifting motor 7.1 of the pressure plate lifting device 11 rotates to drive the wide rolling plates 13 to descend, and the long cloth 14 pressed below the wide rolling plates 13 contacts and wets the ground. When a part of the long cloth 14 becomes dirty after a certain area is wet-smeared, the lifting motor 7.1 of the pressing plate lifting device 11 rotates reversely to drive the wide rolling plate 13 to lift and separate from the ground, meanwhile, the two electric cylinder rollers 10.3 at the upper corner openings of the first and second cloth stacking boxes 10 rotate anticlockwise simultaneously, the clean long cloth 14 stacked in the second cloth stacking box 10 is curled or loosened due to the poking action of the plastic columns on the electric cylinder rollers 10.3, the ultra-wide long cloth 14 wound on the two electric cylinder rollers 10.3 and the edge of the ultra-wide long cloth 14 are curled or loosened, one long cloth 14 is released out along the outer corner openings of the second cloth stacking box 10 and moves forwards into the first cloth stacking box 10, and the dirty part of the long cloth 14 received in the first cloth stacking box 10 is poked under the first cloth stacking box 10 by the poking plate of the electric poking cylinder 10.2 at the upper corner inside of the first cloth stacking box 10. Meanwhile, the lifting motor 7.1 of the pressing plate lifting device 11 rotates to drive the wide rolling plate 13 to descend, and a section of clean long cloth 14 is pressed under the wide rolling plate again to continue to mop the ground. When a section of the long cloth 14 becomes dirty again, the lifting motor 7.1 of the pressing plate lifting device 11 rotates to lift or lower the wide rolling plate 13 again, and the long cloth 14 is rolled up again, moved forwards and pressed to wipe the ground. The mopping robot always uses a section of clean strip cloth 14 to contact and mop the ground, so that the ground is wiped clean without secondary pollution to the ground.

When the mopping robot is started to patrol, the front end of the shell 1 is provided with the immersion sensor 2 and the infrared sensor 3 for scanning observation, the monitoring lifting device 12 can lift from the round hole 1.3 or 1.4 on the shell 1, the camera 4 arranged on the monitoring lifting device can monitor the surrounding environment in 360 degrees in the horizontal direction and 180 degrees in the front, the upper and the rear directions, and if water, fire and other conditions exist, the monitoring lifting device can give an alarm through electronic sound and a network to inform a host.

Detailed description of the preferred embodiment 2

The specific embodiment of the utility model is shown in the attached drawings.

As shown in fig. 11-12, the front end of the housing 1 of the mopping robot is provided with a submergence sensor 2 and an infrared sensor 3. A first and a second lifting device 7 are arranged on the front part of the chassis 1.1 of the shell 1. As shown in fig. 3-4, the lifting device is characterized in that a lifting motor 7.1 is provided with a lead screw 7.2 on a shaft, a bar cylinder 7.3 with a convex strip-shaped outer circle is arranged on the lead screw 7.2, and a cylinder sleeve 7.4 with a concave strip-shaped inner circle is arranged outside the bar cylinder 7.3. The cylinder sleeve 7.4 is arranged on the chassis 1.1, the first motor 8 and the second motor 8 are respectively arranged in the lever barrel 7.3, and the shafts of the first motor 8 and the second motor 8 are respectively provided with a round mop 9. The rear sides of the first lifting device 7 and the second lifting device 7 are provided with a first stacking box 10 and a second stacking box 10 in a mirror image mode, movable clamps 10.1 are respectively arranged in the first stacking box 10 and the second stacking box 10, electric toggle cylinders 10.2 with toggle plates are respectively arranged at the inner upper corners of the stacking boxes 10, electric column rollers 10.3 with plastic columns are respectively arranged at the outer upper corner openings of the stacking boxes 10, and movable bottom plates 10.4 are respectively arranged below the first stacking box 10 and the second stacking box 10. As shown in fig. 11 and 5, a platen lifting device 11 is installed on the center line of the casing 1 in the middle of the first and second stacker 10. The pressing plate lifting device 11 is characterized in that the third lifting device 7 is arranged on a chassis 1.1 of the shell 1, and a wide rolling plate 13 with rollers on two sides exceeding the width of the shell 1 is arranged on the bar cylinder 7.3. As shown in fig. 5 to 6 and fig. 13, a monitoring elevating device 12 is installed at one side of the pressing plate elevating device 11 between the first and second stacking boxes 10. The monitoring lifting device 12 is characterized in that the fourth lifting device 7 is arranged on the chassis 1.1 of the shell 1 in an inverted mode, the third motor 8 is arranged in a bar cylinder 7.3 of the fourth lifting device, the shaft of the third motor 8 is provided with a monitoring frame 12.1, the monitoring frame 12.1 is provided with an electric shaft 12.2, and the camera 4 is arranged on the electric shaft 12.2. Through the round hole 1.3 of the inclined to one side on casing 1, control elevating gear 12 can rise or descend, and camera 4 can rotate 360 degrees through third motor 8 and monitor the environment on every side, just can monitor preceding, above and the space environment of back 180 degrees through electric axle 12.2 rotation camera 4. As shown in fig. 11 and 14, one end of the long cloth 14 is mounted on a first movable clamp 10.1 mounted in the first cloth stacking box 10, and the other end of the long cloth bypasses an electric column roller 10.3 with a plastic column mounted at an upper corner opening outside the first cloth stacking box 10, bypasses a wide rolling plate 13, and is mounted on a second movable clamp 10.1 mounted in the second cloth stacking box 10 at an electric column roller 10.3 with a plastic column bypassing an upper corner opening outside the second cloth stacking box 10. A sixth lifting device 7 is arranged on a chassis 1.1 of the shell 1 behind the second stacking box 10, a wide pressure plate 17 exceeding the width of the shell 1 is arranged on a bar cylinder 7.3 of the sixth lifting device 7, and a cloth block 18 is movably arranged on the wide pressure plate 17. The battery 15 is arranged in the shell 1, the charging socket 16 is arranged at the rear end of the shell 1, the gap of the shell 1 is provided with a water injection box 1.2, the front end of the chassis 1.1 of the shell 1 is provided with a guide wheel 5, and two rear wheels 6 are arranged on two sides between the rear wide rolling plate 13 and the wide rolling plate 17. Thus, the mopping robot is assembled.

Fig. 9-15 show another technical solution of the pressing plate lifting device 11 and the monitoring lifting device 12 of the mopping robot. The pressing plate lifting device 11 is arranged on a chassis 1.1 of the shell 1 through a third lifting device 7 and a fifth lifting device 7, and a wide rolling plate 13 is arranged on a bar cylinder 7.3 of the third lifting device 7 and the fifth lifting device 7. A monitoring lifting device 12 is mounted intermediate the third and fifth lifting devices 7 and at a position which is the centre line of the housing 1. The monitoring lifting device 12 is lifted or lowered through the circular hole 1.4 on the central line of the shell 1, the camera 4 can monitor the surrounding environment through rotating 360 degrees by the third motor 8, and the space environment in front of, above and behind can be monitored through rotating 180 degrees by the camera 4 through the electric shaft 12.2.

As shown in fig. 11 and 14, in use, first, the power switch of the mopping robot is turned on. If the mopping robot finds that the ground is identified to have obvious stains, the lifting motors 7.1 of the first lifting device 7 and the second lifting device 7 rotate the lever barrel 7.3 to descend, and the first motor 8 and the second motor 8 which are arranged in the lever barrel 7.3 drive the shaft to be provided with the round mop cloth 9 to rotate at a high speed so as to perform key cleaning on the stains. Meanwhile, the lifting motor 7.1 of the pressure plate lifting device 11 rotates to drive the wide rolling plates 13 to descend, and the long cloth 14 pressed below the wide rolling plates 13 contacts and wets the ground. When a part of the long cloth 14 becomes dirty after a certain area is wet-smeared, the lifting motor 7.1 of the pressing plate lifting device 11 rotates reversely to drive the wide rolling plate 13 to lift and separate from the ground, meanwhile, the two electric cylinder rollers 10.3 at the upper corner openings of the first and second cloth stacking boxes 10 rotate anticlockwise simultaneously, the clean long cloth 14 stacked in the second cloth stacking box 10 is curled or loosened due to the poking action of the plastic columns on the electric cylinder rollers 10.3, the ultra-wide long cloth 14 wound on the two electric cylinder rollers 10.3 and the edge of the ultra-wide long cloth 14 are curled or loosened, one long cloth 14 is released out along the outer corner openings of the second cloth stacking box 10 and moves forwards into the first cloth stacking box 10, and the dirty part of the long cloth 14 received in the first cloth stacking box 10 is poked under the first cloth stacking box 10 by the poking plate of the electric poking cylinder 10.2 at the upper corner inside of the first cloth stacking box 10. Meanwhile, the lifting motor 7.1 of the pressing plate lifting device 11 rotates to drive the wide rolling plate 13 to descend, and a section of clean long cloth 14 is pressed under the wide rolling plate again to continue to mop the ground. When a section of the long cloth 14 becomes dirty again, the lifting motor 7.1 of the pressing plate lifting device 11 rotates to lift or lower the wide rolling plate 13 again, and the long cloth 14 is rolled up again, moved forwards and pressed to wipe the ground. The mopping robot always uses a section of clean strip cloth 14 to contact and mop the ground, so that the ground is wiped clean without secondary pollution to the ground. Meanwhile, the wide pressing plate 17 is also lowered by the sixth lifting device 7 behind the second cloth stacking box 10, the cloth blocks 18 on the wide pressing plate 17 dry-mop the ground, and the moisture left on the ground after wet-wiping is completely mopped by the cloth blocks 18 on the wide pressing plate 17. Therefore, the mopping robot can complete wet mopping and dry mopping at one time, and the floor is better cleaned.

Detailed description of preferred embodiments 3

The specific embodiment of the utility model is shown in the attached drawings.

As shown in fig. 16-18, a base shell 19 of the mopping robot base station is provided with an air vent 19.1, an open charging bin 20 is arranged at the lower part of the front surface of the base shell 19, a ramp 21 connected with the ground is arranged below the opening of the charging bin 20, and the sweeping robot can enter the charging bin 20 along the ramp 21. The charging plug 22 is installed on the rear wall plate of the charging bin 20. The bottom plate of the charging bin 20 is provided with a long strip opening 23 at a position corresponding to the wide rolling plate 13 of the mopping robot, the long strip opening 23 is provided with two movable inserting plates 24, the back surfaces of the two movable inserting plates 24 are respectively provided with a first rack 25 and a second rack 25, a fourth motor 8 and a fifth motor 8 are respectively arranged below the first rack 25 and the second rack 25, a shaft of the fourth motor 8 and a shaft of the fifth motor 8 are respectively provided with a first gear 26 and a second gear 26 which are meshed with the first rack 25 and the second rack 25, the two movable inserting plates 24 can be flexibly moved under the action of the fourth motor 8, the fifth motor 8, the first gear 26, the second gear 26 and the first rack 25 and the second rack 25, and the long strip opening 23 can be enlarged or covered with the long strip opening 23. A water box 27 is arranged below the strip opening 23, an ultrasonic sound wave device 28 is arranged below the water box 27, a first electromagnetic valve 30 is arranged on a water inlet pipe 29 on the water box 27, and a second electromagnetic valve 30 is arranged on a first water outlet pipe 31 of the water box. The base shell 19 is provided with a fan 32, an air channel 33 is arranged at an air suction port of the fan 32, the lower end of the air channel 33 is provided with a second water outlet pipe 34 which is communicated with the first water outlet pipe 31, the second water outlet pipe 34 is provided with a third electromagnetic valve 30, the front end of the air channel 33 is provided with a sleeve 35, and the sleeve 35 is provided with an air hole and a third rack 25 below the air hole. A sixth motor 8 is arranged below the third rack 25, and a third gear 26 is arranged on the shaft of the sixth motor 8 and meshed with the third rack 25 below the sleeve 35. Under the action of the sixth motor 8, the third gear 26 and the third rack 25, the sleeve 35 can be telescopically moved in a neutral position between the bottom plate of the charging bin 20 and the water box 25.

As shown in fig. 16-18, after the mopping robot cleans the floor, the mopping robot automatically navigates to the base station of the mopping robot and reverses to follow the ramp 21 into the charging bin 20. First, the socket 16 on the rear end of the mopping robot is inserted into the charging plug 22 on the rear wall plate of the charging chamber 20 for charging. When the fourth and fifth motors 8 are started, the two movable inserting plates 24 arranged on the strip opening 23 are moved into the base shell 19 under the action of the fourth and fifth motors 8, the first and second gears 26 and the first and second racks 25, the strip opening 23 is enlarged and exceeds the wide rolling plates 13, and the lower water box 27 is completely exposed. The tap water flows into the water box 27 by opening the first solenoid valve 30 of the water inlet pipe 29 of the water box 27. At this time, the electric column roller 10.3 on the first cloth stacking box of the mopping robot rotates clockwise to roll out the dirty long cloth 14 in the first cloth stacking box and stack the long cloth in the water box 27, the sound wave device 28 under the water box 27 starts to work to emit ultrasonic waves, stains and dust on the long cloth 14 are vibrated by the ultrasonic waves in the water, and the long cloth 14 is cleaned. The second electromagnetic valve 30 on the first water outlet pipe 31 of the water box 27 is opened, and the dirty water flows into the sewer through the first water outlet pipe 31. When the blower 32 of the mopping robot base station is started, the sleeve 35 on the front end of the air duct 33 is under the action of the sixth motor 8, the third gear 26 and the third rack 25, the sleeve 35 extends out and is inserted under the long cloth 14, and the water in the long cloth 14 is sucked to the lower end of the air duct 33 through the air holes on the sleeve 35 and enters the second water outlet pipe 34 to flow into the sewer along with the first water outlet pipe 31. At this time, the power cylinder 10.3 of the second cloth stacking box 10 of the mopping robot rotates to roll the cleaned long cloth 14 into the second cloth stacking box 10. Thus, the mopping robot can mop and patrol the indoor floor again by charging in the mopping robot base station and cleaning the long cloth 14.

The above, only be the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and all the technicians familiar with the technical field are in the technical scope of the present invention, according to the technical scheme of the present invention and the concept of the present invention equivalent replacement or change should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a wipe ground robot, includes casing (1), sensor (2) soak, infrared ray sensor (3), camera (4), and battery (15) are installed in casing (1), and the rear end at casing (1) is installed in socket that charges (16), is equipped with leading wheel (5) rear portion both sides and is equipped with two rear wheels (6), its characterized in that at casing (1) chassis (1.1) front end: the front end of the shell (1) is respectively provided with a water immersion sensor (2) and an infrared sensor (3); the front end of the shell (1) is provided with a first lifting device and a second lifting device (7); a first motor (8) and a second motor (8) are arranged on the first lifting device (7) and the second lifting device (7); the shafts of the first motor (8) and the second motor (8) are respectively provided with a round mop (9); a first stacking box (10) and a second stacking box (10) are arranged behind the first lifting device (7) and the second lifting device (7) in a mirror image manner; a pressing plate lifting device (11) and a monitoring lifting device (12) are arranged between the first cloth stacking box and the second cloth stacking box (10); the camera (4) is arranged on the monitoring lifting device (12); a wide rolling plate (13) with rollers on two sides and exceeding the width of the shell (1) is arranged below the pressing plate lifting device (11); one end of a long-strip cloth (14) exceeding the width of the shell (1) is arranged in the first cloth stacking box (10), and the other end of the long-strip cloth bypasses the wide rolling plate (13) and is arranged in the second cloth stacking box (10); a water injection box (1.2) is arranged at the gap of the shell (1).

2. The utility model provides a wipe ground robot, includes casing (1), sensor (2) soak, infrared ray sensor (3), camera (4), and battery (15) are installed in casing (1), and the rear end at casing (1) is installed in socket that charges (16), is equipped with leading wheel (5) rear portion both sides and is equipped with two rear wheels (6), its characterized in that at casing (1) chassis (1.1) front end: the front end of the shell (1) is respectively provided with a water immersion sensor (2) and an infrared sensor (3); the front end of the shell (1) is provided with a first lifting device and a second lifting device (7); a first motor (8) and a second motor (8) are arranged on the first lifting device (7) and the second lifting device (7); the shafts of the first motor (8) and the second motor (8) are respectively provided with a round mop (9); a first stacking box (10) and a second stacking box (10) are arranged behind the first lifting device (7) and the second lifting device (7) in a mirror image manner; a pressing plate lifting device (11) and a monitoring lifting device (12) are arranged between the first cloth stacking box and the second cloth stacking box (10); the camera (4) is arranged on the monitoring lifting device (12); a wide rolling plate (13) with rollers on two sides and exceeding the width of the shell (1) is arranged below the pressing plate lifting device (11); one end of a long-strip cloth (14) exceeding the width of the shell (1) is arranged in the first cloth stacking box (10), and the other end of the long-strip cloth bypasses the wide rolling plate (13) and is arranged in the second cloth stacking box (10); a sixth lifting device (7) is arranged behind the second cloth stacking box (10); a wide pressure plate (17) exceeding the width of the shell (1) is arranged below the sixth lifting device (7); the cloth block (18) is movably arranged on the wide pressure plate (17); a water injection box (1.2) is arranged at the gap of the shell (1).

3. The mopping robot according to claim 1 or 2, characterized in that: the lifting device comprises a lifting motor (7.1), a lead screw (7.2), a lever barrel (7.3) and a cylinder sleeve (7.4), wherein the lead screw (7.2) is arranged on a shaft of the lifting motor (7.1); a bar cylinder (7.3) with a convex strip-shaped outer circle is arranged on the lead screw (7.2); a cylinder sleeve (7.4) with a concave strip-shaped inner circle is arranged outside the cylindrical lever (7.3).

4. The mopping robot according to claim 1 or 2, characterized in that: the inner wall of the cloth stacking box (10) is provided with a movable clamp (10.1); an electric stirring cylinder (10.2) for driving a stirring plate is arranged at the upper corner in the cloth stacking box (10); an electric column roller (10.3) with a plastic column is arranged at the opening of the upper outer corner of the cloth stacking box (10); the cloth stacking box (10) is provided with a movable bottom plate (10.4).

5. The mopping robot according to claim 1 or 2, characterized in that: the pressure plate lifting device is characterized in that the lifting device (7) is arranged on the central line of the shell (1).

6. The mopping robot according to claim 1 or 2, characterized in that: the pressure plate lifting device is characterized in that two lifting devices (7) are arranged on the shell (1) in parallel.

7. The mopping robot according to claim 1 or 2, characterized in that: the monitoring lifting device is characterized in that the lifting device is arranged on a chassis (1.1) of the shell (1) in an inverted manner; a third motor (8) is arranged on the lifting device; a monitoring frame (12.1) is arranged on a shaft of the third motor (8); an electric shaft (12.2) is arranged on the monitoring frame (12.1); the camera (4) is arranged on the electric shaft (12.2); the monitoring lifting device is arranged on one side of the pressing plate lifting device.

8. The mopping robot according to claim 1 or 2, characterized in that: the monitoring lifting device is arranged between the two lifting devices of the pressing plate lifting device and is arranged on the central line of the shell (1).

9. The utility model provides a wipe ground robot basic station, includes base shell (19), charging plug (22), solenoid valve (30), fan (32), its characterized in that: the base shell (19) is provided with a vent hole; an open charging bin (20) and a ramp (21) connected with the ground are arranged at the lower part of the front surface of the base shell (19); a charging plug (22) is arranged on the rear wall plate of the charging bin (20); the bottom plate of the charging bin (20) is provided with a long opening (23); two movable inserting plates (24) are arranged on the long strip opening (23); the back surfaces of the two movable inserting plates (24) are respectively provided with a first rack and a second rack (25); a fourth motor (8) and a fifth motor (8) are respectively arranged below the first rack (25) and the second rack (25); the shafts of the fourth motor (8) and the fifth motor (8) are respectively provided with a first gear (26) and a second gear (26) which are meshed with the first rack (25) and the second rack (25); a water box (27) is arranged below the strip opening (23); an ultrasonic sound wave device (28) is arranged below the water box (27); the water box (27) is provided with a water inlet pipe (29) and a first water outlet pipe (31); a first electromagnetic valve (30) is arranged on the water inlet pipe (29); a second electromagnetic valve (30) is arranged on the first water outlet pipe (31); a fan (32) is arranged in the base shell (19); an air duct (33) is arranged at an air suction opening of the fan (32); the lower end of the air duct (33) is provided with a second water outlet pipe (34) which is communicated with the first water outlet pipe (31); the second water outlet pipe (34) is provided with a third electromagnetic valve (30); a sleeve (35) is arranged at the front port of the air duct (33); a third rack (25) is arranged below the air hole arranged on the sleeve (35); a sixth motor (8) is arranged below the third rack (25); a third gear (26) is arranged on a shaft of the sixth motor (8) and meshed with a third rack (25) below the sleeve (35); the sleeve (35) is in neutral gear telescopic movement between the bottom plate of the charging bin (20) and the water box (27).