CN216221327U - Cleaning robot system - Google Patents

Abstract

A cleaning robot system comprises a cleaning robot, a cleaning robot and a garbage dumping robot, wherein the cleaning robot can grab a floor mopping component of the cleaning robot to be separated from the cleaning robot and rotate and lift the floor mopping component to a vertical state for cleaning and wiping; the garbage dumping robot can grab the dust box of the cleaning robot to automatically open and close the dust box to dump garbage. The cleaning robot system has small volume and small occupied space; the whole process can be automatically operated without manual intervention; the working efficiency of the cleaning robot is improved.

Description

Cleaning robot system

Technical Field

The utility model relates to a cleaning robot system, which specifically comprises a cleaning robot, a cleaning robot and a garbage dumping robot. The cleaning robot automatically cleans and collects garbage; the cleaning robot automatically cleans the mop of the cleaning robot, and the garbage robot dumps the garbage collected by the cleaning robot.

Background

With social progress, people have higher and higher requirements on living standards, such as household intelligence, living intelligence and the like. Household cleaning robots have also come to work. The cleaning robot replaces manpower to clean the ground at home, so that the labor intensity and the labor time of the manpower are reduced. At present, a cleaning robot realizes an automatic function, and a cleaning robot for cleaning a mop of the cleaning robot or a garbage dumping robot is produced by transportation corresponding to the cleaning robot.

For example, chinese patent CN112741561A discloses a cleaning system for a cleaning robot, which uses a driving device to control a lifting platform to detach a mopping assembly from the cleaning robot, without manually detaching the mopping assembly, so as to facilitate cleaning of mopping cloth by a person or a cleaning device similar to a washing machine.

Chinese patent CN110710931A discloses a cleaning robot, which has a lifting mechanism, a cleaning base, and a wiper mechanism; the cleaning robot lifts the mopping assembly to clean and wipe water. This patent technique is not enough to lie in when wasing, and other work can't be carried out to cleaning machines people, has reduced cleaning machines people's work efficiency.

CN109998423A discloses a self-washing mop sweeper, which is used for lifting and overturning garbage by a cleaning robot clamped by the sweeper. The cleaning robot has the disadvantages of large lifting weight due to the overturning of the whole machine, inconvenience in clamping operation and large energy consumption due to the fact that the cleaning robot is generally round.

As can be seen from the above, the following problems mainly exist in the current cleaning robot cleaning system: 1. when the mop is cleaned, the cleaning robot can not perform other work, and the occupied space is large; 2. when dumping the garbage, the lower cover of the dust box can not be automatically closed, and the energy consumption is high.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a cleaning robot system which can realize the functions of automatic cleaning, automatic cleaning and automatic garbage dumping. The whole process is automatic, manual intervention is not needed, the space occupancy rate is small, and the operation efficiency of the cleaning robot is high.

In order to solve the technical problems, the technical scheme provided by the utility model is a cleaning robot system which comprises a cleaning robot, a cleaning robot and a garbage dumping robot and is characterized in that the cleaning robot comprises a main machine body, and the cleaning robot cleans and collects garbage; the cleaning robot can grab a floor mopping component of the cleaning robot to be separated from the cleaning robot, and rotates and lifts the floor mopping component to a non-horizontal state for cleaning and wiping water; the garbage dumping robot can grab the dust collecting mechanism of the cleaning robot to dump garbage to the position above the garbage can, and the garbage dumping opening of the dust collecting mechanism is closed after the garbage dumping is finished.

Preferably, the cleaning robot includes a dust collection body, a sealing member for sealing the dust collection body; the cover opening mechanism and the resetting mechanism are arranged on the sealing element on the dust collecting body; the cover opening mechanism drives the sealing piece to open the garbage dumping opening of the dust collection body; the reset mechanism enables the opened sealing piece to seal the garbage dumping opening of the dust collection body.

Preferably, the uncovering mechanism comprises an uncovering button, a transmission arm and a link mechanism; the transmission arm penetrates through the dust collection body and can move up and down; the cover opening button penetrates through the sealing piece and is fixedly connected with the transmission arm; the connecting rod mechanism is rotationally connected with the sealing element; the transmission arm drives the connecting rod mechanism to open the sealing element; the reset mechanism is arranged between the transmission arm and the dust collection body close to one side of the sealing piece.

Preferably, the two sides of the dust collecting body are respectively provided with the link mechanisms, and two ends of the transmission arm are respectively and rotatably arranged on the link mechanisms to drive the link mechanisms to open the sealing elements.

Preferably, the cleaning robot comprises a main body, a cleaning mechanism and a driving mechanism are arranged on the main body, and the driving mechanisms are respectively arranged on two opposite sides of the main body; the driving mechanism comprises a driving shell, a crawler belt is arranged in the driving shell, a power transmission assembly is arranged on one side of the crawler belt, and a driving motor which is rotatably connected with the power transmission assembly is arranged in the crawler belt between two crawler wheels.

Preferably, the cleaning robot comprises a main body, and a lifting mechanism is arranged on the main body; the lifting mechanism comprises a horizontal reciprocating mechanism and a lifting component which are arranged in parallel in a staggered manner and can perform reverse horizontal linear displacement; the two horizontal reciprocating motion mechanisms drive the lifting assembly to linearly displace up and down to drive the mopping assembly to lift.

Preferably, the horizontal linear reciprocating mechanism comprises two moving parts which are arranged in parallel in a staggered manner and can move in opposite or reverse horizontal linear directions; racks respectively extend from one adjacent end of the two moving parts; and a gear is meshed between the racks of the two moving parts, and the gear drives the two moving parts to linearly reciprocate and oppositely or reversely move.

Preferably, the cleaning robot comprises a base body, and a mop grabbing device, a rotary lifting device and a cleaning device are arranged on the base body; the mop grabbing device grabs the mop assembly separated from the cleaning robot; the rotating and lifting device rotates the grabbing device to enable the mopping assembly to be in a non-horizontal state, and lifts the mopping assembly to the cleaning device, and the cleaning device cleans the mopping assembly and scrapes water.

Preferably, the rotary lifting device comprises a lifting mechanism and a rotating mechanism rotatably arranged on the lifting mechanism, and the gripping device is arranged on the rotating mechanism.

Preferably, the rotation mechanism comprises a rotary member and a rotary drive mechanism; the rotating piece is rotationally connected with the lifting mechanism and fixedly connected with the mop grabbing device; and two ends of the rotary driving mechanism are respectively connected with the rotary piece and the lifting mechanism in a rotating way.

Preferably, the mop swab holder comprises a telescopic assembly or a snap-on mechanism; the retractable assembly or the buckle mechanism can grab or put down the mopping assembly.

Preferably, the garbage dumping robot comprises a base, a moving device, a grabbing device and a driving device; the mobile device is fixedly or rotatably arranged on the base; the gripping device is arranged on the moving device, grips a dust collecting mechanism of the cleaning robot and can move to the position above the dustbin under the driving of the moving device; the driving device is arranged on the moving device; the driving device may unlock the dust collecting mechanism from the cleaning robot when the gripping device grips the dust collecting mechanism; when the moving device drives the grabbing device and the dust collecting mechanism to move to the upper part of the garbage can, the driving device can open and close the dust collecting mechanism to dump garbage.

Preferably, when the garbage bin is located outside the moving device, the moving device is rotatably arranged on the base, and the gripping device and the driving device are respectively located outside the moving device; when the dustbin is positioned in the moving device, the moving device is fixedly arranged on the base, the gripping device and the driving device are positioned in the moving device shell, the base is provided with a placing cavity for accommodating the cleaning robot, and the base and the moving device are respectively provided with holes for the gripping device to pass through and grip the dust collecting mechanism.

Preferably, the driving device comprises a top rod which is provided with two top rods which are linearly displaced up and down at intervals; the two ejector rods respectively correspond to an unlocking button and a cover opening button on the dust collecting mechanism; when the two push rods respectively displace downwards, the push rods can apply pressure to the unlocking button or the uncovering button.

Preferably, the two ejector rods are respectively arranged in the grabbing device shell, and the two ejector rods can be driven by a gear rack mechanism or a cam link mechanism; when the mechanism is a gear rack mechanism, two ejector rods are respectively and fixedly connected with racks which are oppositely arranged, and a driving gear is meshed between the two racks; when the mechanism is a cam link mechanism, the two ejector rods are respectively and fixedly connected with a connecting rod, two opposite sides of the circumferential surface of the cam are respectively and symmetrically provided with two inclined grooves, the two inclined grooves are opposite in inclination, and one ends of the two connecting rods are respectively and slidably arranged in the corresponding inclined grooves.

The cleaning robot system of the utility model has the following advantages:

the garbage dumping robot comprises a garbage dumping robot body, a dust collecting mechanism is automatically grabbed from the garbage dumping robot body through a grabbing device, then the grabbing device and the dust collecting mechanism are driven to move to the top of a garbage can through a moving device, a cover opening mechanism on the dust collecting mechanism is driven by a driving device of the garbage dumping robot body, a garbage dumping opening of the dust collecting mechanism is opened to dump garbage, after the garbage is dumped, the garbage dumping opening of the dust collecting mechanism is closed through a rotating mode or a resetting mechanism, and the dust collecting mechanism is returned to the cleaning robot body through the garbage dumping robot body.

Through the cleaning robot, after the subassembly that drags ground with cleaning robot breaks away from with cleaning robot when wasing, will drag the ground subassembly and rotate to the non-horizontality from the horizontality and scrape water, and will spray water the mechanism, scrape water the mechanism, sewage discharge mechanism sets gradually from top to bottom above that, through adopting the slant water spray, work interference between each mechanism has been avoided, when wasing, only wash alone dragging the ground subassembly, do not occupy cleaning robot, cleaning robot work efficiency has been improved, and simultaneously, cleaning robot volume has been reduced, the space occupancy has been improved. After the cleaning is finished, the mop can be automatically placed back into the cleaning robot after being dried in the cleaning robot.

The driving mechanism is arranged in the track space by adopting the driving motor, so that the useless space is fully utilized, the space utilization rate is improved, the volume of the driving mechanism is reduced, and the volume of the cleaning robot is reduced; meanwhile, the length of an output shaft of the driving motor is shortened, and the vibration generated during power output is reduced, so that the running is more stable, and the running noise is lower; the design of the large crawler wheel and the small crawler wheel is adopted, so that the space occupancy is further reduced, and the volume of the cleaning robot is reduced; the design of the inclined plane in front of the movement of the robot is adopted, so that the obstacle crossing capability is improved; when the crawler belt wheel runs on an uneven ground, the position relation of the crawler wheel is adjusted by the spring, so that the crawler belt wheel runs smoothly and stably. A horizontal linear reciprocating mechanism is designed in a structural mode that racks are staggered in parallel, and space occupation is reduced by mutually borrowing space; meanwhile, a clearance slope matching structure of the two racks and the connecting piece is adopted, when the racks move oppositely, the rack on one side can be inserted below the connecting piece of the rack on the other side, space borrowing is further realized, and the volume of the lifting mechanism is reduced; the lifting rod is adopted to perform lifting and guiding functions, so that a guide mechanism is not arranged independently, the structure of the lifting mechanism is simplified, and the volume of the lifting mechanism is reduced; horizontal motion is converted into vertical motion, so that the occupied space of the lifting mechanism is reduced integrally; by the technical scheme, the size of the cleaning robot is integrally reduced; the grabbing mechanism realizes the grabbing function and the positioning function of the mopping assembly, and ensures that the poor dislocation phenomenon of the mopping assembly can not occur when the mopping assembly is lifted; part of parts are integrated into a whole, the appearance of the whole device can be effectively reduced, the appearance optimization of the cleaning robot is promoted, the implementation is convenient, the structure is reliable, and the user experience is greatly improved.

Therefore, the cleaning robot system disclosed by the utility model is small in size and low in space occupancy, realizes whole-process intellectualization of automatic cleaning, automatic cleaning and automatic dumping of garbage, does not need manual intervention, and improves the convenience of life.

Drawings

Fig. 1 is a schematic structural diagram of a host according to an embodiment of the present invention.

Fig. 2 is a schematic bottom structure diagram of a host according to an embodiment of the utility model.

Fig. 3 is a schematic top view of a drive mechanism according to an embodiment of the present invention.

FIG. 4 is a side view of a drive mechanism according to an embodiment of the present invention.

Fig. 5 is a schematic view of the internal structure of the drive mechanism according to the embodiment of the present invention.

Fig. 6 is a schematic view of a transmission structure of a driving mechanism according to an embodiment of the present invention.

Fig. 7 is a schematic view of a transmission structure of a driving mechanism according to an embodiment of the present invention.

Fig. 8 is a schematic view of a transmission structure of a driving mechanism according to an embodiment of the present invention.

FIG. 9 is a schematic diagram of a housing of a host according to an embodiment of the utility model.

Fig. 10 is a schematic cross-sectional structure diagram of a host body according to an embodiment of the utility model.

Fig. 11 is a schematic structural diagram of a gripping mechanism according to a first embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a lifting mechanism according to a first embodiment of the utility model.

Fig. 13 is a schematic structural view of a lifting rod according to a first embodiment of the present invention.

Fig. 14 is a schematic structural diagram of a lifting mechanism according to a first embodiment of the utility model.

Fig. 15 is a schematic structural view of a lifting mechanism according to a second embodiment of the present invention.

Fig. 16 is a schematic structural view of a lifting mechanism according to a second embodiment of the present invention.

Fig. 17 is a schematic structural view of a dust box in the embodiment of the present invention.

Fig. 18 is a schematic view of an upper cover panel in an embodiment of the present invention.

Fig. 19 is a schematic cross-sectional view of the upper cover in the embodiment of the present invention.

Fig. 20 is a schematic cross-sectional view of an upper cover in an embodiment of the present invention.

Fig. 21 is a schematic sectional view of the upper cover in the embodiment of the present invention.

Fig. 22 is a schematic structural view of the dust box body in the embodiment of the present invention.

Figure 23 is a schematic cross-sectional view of a dust box body in an embodiment of the utility model.

Figure 24 is a schematic cross-sectional view of a dust box body in an embodiment of the utility model.

Fig. 25 is a schematic structural view of the dust box body in the embodiment of the present invention.

Fig. 26 is a schematic sectional view of the dust box in the embodiment of the present invention.

Fig. 27 is a schematic perspective view of the cleaning robot according to the present invention.

Fig. 28 is a schematic perspective view of a placing chamber of the cleaning robot.

Fig. 29 is a perspective view of the cleaning robot.

FIG. 30 is a schematic view of the structure of the floor mopping assembly.

Fig. 31 is a schematic top perspective view of the gripping device gripping mopping assembly.

FIG. 32 is a schematic bottom view of the gripping apparatus gripping the mopping assembly.

Fig. 33 is a schematic view of the rotary lifting device mounted on the supporting base.

FIG. 34 is a schematic view of another embodiment of the rotary lifting device mounted on the support base.

Fig. 35 is a schematic structural view of the rotary lifting device.

FIG. 36 is a schematic view of the internal cross-sectional structure of the rotary lifting device with the mopping assembly in a horizontal position.

FIG. 37 is a schematic view of the internal cross-sectional structure of the rotary lifting device when the mopping assembly is rotated 90 degrees.

FIG. 38 is a schematic view of a cleaning apparatus.

FIG. 39 is a schematic view of a water spraying mechanism in the cleaning apparatus.

Fig. 40 is a schematic view of a wiper mechanism.

Fig. 41 is a schematic view of a synchronizing member in a wiper mechanism.

Fig. 42 is a schematic view of both end structures of the wiper mechanism.

Fig. 43 is a schematic view of a wiper mechanism with an additional tensioner.

FIG. 44 is a schematic view of the structure of the two side sealing caps of the supporting base.

FIG. 45 is a schematic view showing a structure of sewage discharge in the cleaning apparatus.

FIG. 46 is a schematic view of a sink structure.

FIG. 47 is a schematic view of the water trough at the bottom of the support base in a state of closing the cleaning device.

Fig. 48 is a schematic structural view of a wiper mechanism in embodiment 2.

Fig. 49 is a schematic end structure of the wiper mechanism in embodiment 2.

FIG. 50 is a schematic view of a grasping apparatus according to embodiment 3.

FIG. 51 is a schematic view of a garbage dumping robot grabbing structure.

FIG. 52 is a schematic view of a dump box configuration.

Fig. 53 is a schematic view of the structure of the gripping device with the upper cover removed.

Fig. 54 is a schematic view of the structure of the driving device.

Fig. 55 is a schematic view of the structure of the driving device.

Fig. 56 is a schematic view of the structure of the lower cover of the gripping device.

FIG. 57 is a schematic view of the structure of the gripping device and the driving device acting on the upper cover of the dust box.

Fig. 58 is a schematic view of a mobile device.

Fig. 59 is a schematic view of a mobile device.

Fig. 60 is a schematic view of the structure of the rotation driving mechanism in the base.

Fig. 61 is a schematic top view of a mobile device.

Fig. 62 is a schematic view of the structure of the lifting platform inside the mobile device.

Fig. 63 is a structural view of the elevating platform in the embodiment of the present invention.

Fig. 64 is a structural schematic diagram of the garbage dumping robot.

Fig. 65 is a schematic structural view of another embodiment of the garbage dumping robot.

Fig. 66 is a structural view of another embodiment of the driving device.

Fig. 67 is a schematic view of the cam structure of fig. 66.

Fig. 68 shows a mobile device structure in an embodiment of the present invention.

Fig. 69 is a schematic structural view of another embodiment of the garbage dumping robot.

Fig. 70 is a schematic structural view of another embodiment of the garbage dumping robot.

Detailed Description

The cleaning robot system comprises a cleaning robot, a cleaning robot and a garbage dumping robot, wherein the cleaning robot can grab a floor mopping component of the cleaning robot to be separated from the cleaning robot and rotate and lift the floor mopping component to a non-horizontal state for cleaning and wiping water; the garbage dumping robot can grab the cleaning robot dust box and automatically open and close the cover to dump garbage.

In the following, with reference to the above technical solutions, a cleaning robot, a washing robot, and a garbage dumping robot will be described in detail with reference to the drawings.

Cleaning robot

Example 1

As shown in fig. 1, the main body of the cleaning robot 4 in the present embodiment includes a main body 41, a floor mopping assembly 42, a dust box 3, and a front bumper 44, the front bumper 44 is installed in front of the main body in the moving direction, the floor mopping assembly 42 is detachably connected to the rear of the main body 41 in the moving direction, and the floor mopping assembly 42 is detachably connected to the lower surface of the main body 41. The dust box 3 is detachably mounted on the upper surface of the main body 41. An infrared sensor 411 and two line laser sensors 412 are arranged on the front side surface of the main body 41 in the moving direction; the front crash 44 is provided with through holes corresponding to the infrared sensor 411 and the line laser sensor 412, so that signals of the infrared sensor 411 and the line laser sensor 412 can pass through the through holes.

As shown in fig. 2, a cleaning mechanism and two caterpillar tracks 413 are provided on the lower surface of the main body 41, the cleaning mechanism of the cleaning robot has various common forms, such as middle cleaning, side cleaning, middle suction, etc., in this embodiment, a middle sweeper 414 and two side sweepers 415 are selected, the two side sweepers 415 sweep the dust on both sides of the cleaning robot 4 to the middle of the sweeper robot, and then the middle sweeper 414 sweeps the dust into the dust box 3. The two caterpillars 413 are located at opposite sides of the cleaning robot 4, and the two caterpillars 413 are arranged in parallel. Two driving mechanisms are arranged inside the main body 41, the two driving mechanisms respectively drive one crawler 413 to move, and the two driving mechanisms have the same structure.

As shown in fig. 3 to 6, the driving mechanism includes a carrier housing 4145, a first driving motor 416, a code wheel 417, a transmission case 4151, a first crawler wheel 4144, a second crawler wheel 418, and a crawler belt 413, an output shaft of the first driving motor is connected to an input shaft of the transmission case 4151, an output shaft of the transmission case 4151 is coaxially connected to the first crawler wheel 4144, and the crawler belt 413 is connected to the first crawler wheel 4144 and the second crawler wheel 418. Therefore, the rotation of the output shaft of the first driving motor 416 can drive the caterpillar 413 to move through the transmission case 4151 and the first track wheel 4144, so as to drive the main body 41 to move. The cleaning robot 4 is moved by the two caterpillar tracks 413, thereby improving the obstacle crossing ability of the cleaning robot 4. As shown in fig. 6, in the present embodiment, the crawler 413 and the first driving motor 416 are disposed on the same side of the transmission case 4151, the first driving motor 416 is disposed between the first crawler wheel 4144 and the second crawler wheel 418, and the first driving motor 416 is disposed inside the crawler 413, so that such a structure can reduce the volume of the driving device, thereby saving the internal space of the cleaning robot. In order to further save the inner space of the cleaning robot, the diameter of the second crawler wheel 418 is set to be smaller than the diameter of the first crawler wheel 4144.

As shown in fig. 7, in the present embodiment, the power transmission assembly includes a transmission case 4151 and a first gear 419, a second duplicate gear 4110, a third duplicate gear 4111, a fourth duplicate gear 4112, and a fifth gear 4113 disposed therein, wherein the first gear 419 is coaxially and fixedly mounted at one end of an output shaft of the first driving motor 416. First gear 419 is meshed with second duplicate gear 4110, second duplicate gear 4110 is meshed with third duplicate gear 4111, third duplicate gear 4111 is meshed with fourth duplicate gear 4112, fourth duplicate gear 4112 is meshed with fifth gear 4113, and fifth gear 4113 is coaxially and fixedly connected with first crawler wheel 4144. The code wheel 417 is connected to the other end of the output shaft of the first driving motor 416, and is configured to detect a rotation angle of the output shaft of the first driving motor 416, and the grating disk in the code wheel 417 of this embodiment is a grating disk in which 50 grating holes are uniformly distributed in the circumferential direction of the grating disk, so that the grating disk has higher measurement accuracy compared to an existing grating disk in which 30 grating holes are uniformly distributed in the circumferential direction.

As shown in fig. 5 and 6, the first and second track wheels 4144 and 418 are located between the first and second support plates 4147 and 4148, and both the first and second track wheels 4144 and 418 are supported by the first and second support plates 4147 and 4148. A transmission case 4151 is provided on a side of the first support plate 4147 facing away from the second support plate 4148, and the transmission case 4151 is mounted on the first support plate 4147. The first support plate 4147 and the second support plate 4148 are disposed inside the bearing housing 4145. As shown in fig. 8, the first support plate 4147 and the second support plate 4148 are rotatably connected to the bearing housing 4145, and the rotation centers of the first support plate 4147 and the second support plate 4148 are coaxial with the rotation shaft of the second crawler wheel 418, so that the first crawler wheel 4144 and the crawler 413 can rotate on the bearing housing 4145 around the rotation shaft of the second crawler wheel 418. As shown in fig. 4, the bearing housing 4145 is installed on the bottom surface of the main body 41 from bottom to top, and 4 connection holes are provided on the bearing housing 4145, and the bearing housing 4145 is installed on the bottom surface of the main body 41 by being connected to the main body 41 through the connection holes by screws.

As shown in fig. 3, 4 and 5, a first connecting member 4149 is provided on the carrier housing 4145, a second connecting member 4150 is provided on the first supporting plate 4147, the second connecting member 4150 penetrates the carrier housing 4145, a second spring 4146 is provided between the first connecting member 4149 and the second connecting member 4150, one end of the second spring 4146 is connected to the first connecting member 4149, and the other end of the second spring 4146 is connected to the second connecting member 4150. The second spring 4146 is a tension spring, and when two ends of the second spring 4146 are respectively connected to the first connecting member 4149 and the second connecting member 4150, the second spring 4146 is in a stretched state. When the cleaning robot moves on a flat road surface, the lower surface of the crawler 413 is supported by the road surface; when the cleaning robot moves on a concave-convex road surface, when the lower surface of the crawler 413 is suspended, the lower surface of the crawler 413 lacks support, the second spring 4146 which is originally pulled up contracts due to elasticity, so that the second connecting piece 4150 is driven to move towards the first connecting piece 4149, the first crawler wheel 4144 and the crawler 413 are driven to rotate around the rotating shaft of the second crawler wheel 418 on the bearing shell 4145, the lower surface of the crawler 413 can contact the concave bottom of the road surface, friction force is provided for normal work of the crawler 413, and the cleaning robot can also move on the concave-convex road surface.

As shown in fig. 3 and 4, the bearing housing 4145 is further provided with a limiting groove 4152, the second supporting plate 4148 is further provided with a limiting member 4153, the limiting member 4153 passes through the limiting groove 4152, the limiting member 4153 can move in the limiting groove 4152, and the limiting groove 4152 can limit the movement range of the limiting member 4153, so as to limit the rotation angle of the first track wheel 4144 and the track 413 on the bearing housing 4145 around the rotation axis of the second track wheel 418.

As shown in fig. 9, an inclined plane is further disposed in front of the lower surface of the main body 41 along the moving direction of the main body 41, an inclination angle between the inclined plane and the ground is α, in the present embodiment, α is 10 ° to 40 °, in the best embodiment, α is 14 °, a distance between the front end of the inclined plane and the ground is greater than or equal to a first preset distance, in the present embodiment, the first preset distance is 35mm, and due to the inclination between the inclined plane and the ground, and the distance between the rear end of the inclined plane and the ground is greater than or equal to the first preset distance, the cleaning robot can cross obstacles with a height lower than the first preset distance.

As shown in fig. 10, a lifting mechanism is further provided inside the main body 41. The lifting mechanism comprises a horizontal reciprocating mechanism and a lifting component. A grabbing assembly for grabbing the floor mopping assembly 42 is further provided on the lower surface of the main body 41, and a lifting assembly for lifting or lowering the grabbing assembly according to the specific operation condition of the cleaning robot 4, thereby lifting or lowering the floor mopping assembly 42. As shown in fig. 11, the grabbing component comprises a grabbing body 4115 and two electromagnets 4116 arranged on the lower surface of the grabbing body 4115, the mopping component 42 comprises a mopping plate, a mopping plate cover and a mop cloth, the mopping plate cover is fixedly connected with the mopping plate, the mop cloth is arranged on the mopping plate, two connecting holes are arranged on the upper surface of the mopping plate cover, and iron sheets are arranged in the connecting holes. When the grabbing assembly grabs the mopping assembly 42, the two electromagnets 4116 are both powered on, and each electromagnet 4116 is inserted into one of the connecting holes and attracted by one of the iron sheets, thereby grabbing the mop. After the electromagnet 4116 is inserted into one connecting hole, the electromagnet 4116 can position the carriage.

As shown in fig. 12 to 15, the lifting assembly includes a supporting base 4120, a lifting upper cover 4121, a first lifting rod 4122, a second lifting rod 4123, a third lifting rod 4124 and a fourth lifting rod 4125, and the lower ends of the first lifting rod 4122, the second lifting rod 4123, the third lifting rod 4124 and the fourth lifting rod 4125 are fixedly connected to the grabbing body 4115. The support base 4120 is provided with through holes for the respective lift rods to pass through, and the lift upper cover 4121 is also provided with through holes for the respective lift rods to pass through. The elevating upper cover 4121 is fixedly coupled above the supporting base 4120, and the elevating upper cover 4121 is fixedly installed in the main body 41. The second lifting rod 4123, the third lifting rod 4124 and the fourth lifting rod 4125 have the same structure as the first lifting rod 4122, the first lifting rod 4122 is provided with a lifting groove 4127 along the vertical direction, and a rotating wheel (serial number deleted) is rotatably connected in the lifting groove 4127; meanwhile, the first lift lever 4122 is further provided with a first spring retaining ring 4129, a first spring 4126 is sleeved on a shaft section of the first lift lever 4122 above the first spring retaining ring 4129, and the lower end of the first spring 4126 is in contact with the first spring retaining ring 4129. As shown in fig. 14, the first spring 4126 and the first spring retaining ring 4129 of each lift lever are located between the supporting seat 4120 and the lift cap 4121, and the upper end of the first spring 4126 contacts with the inner wall of the lift cap 4121, so that when each lift lever is forced to move upward, the first spring retaining ring 4129 will press the first spring 4126 to contract, and after the lift lever is no longer forced, the first spring 4126 will extend to restore the original position of the lift lever as shown in fig. 14.

The horizontal reciprocating mechanism comprises a second driving motor 4130, a first moving member 4131 and a second moving member 4132, the first moving member 4131 and the second moving member 4132 are both located between the supporting seat 4120 and the lifting upper cover 4121, and the first moving member 4131 and the second moving member 4132 are respectively arranged at two opposite sides of the supporting seat 4120. A sixth gear 4133 is provided between the first moving member 4131 and the second moving member 4132, the second driving motor 4130 is mounted on the lower surface of the supporting base 4120, and an output shaft of the second driving motor 4130 is coaxially and fixedly connected with the sixth gear 4133. The first moving member 4131 is provided with a first rack 4134 extending toward the sixth gear 4133, and the second moving member 4132 is provided with a second rack 4135 extending toward the sixth gear 4133. The first rack 4134 is engaged with one side of the sixth gear 4133, and the second rack 4135 is engaged with the other side of the sixth gear 4133. The rotation of the output shaft of the second driving motor 4130 can drive the first moving member 4131 and the second moving member 4132 to be separated from or close to each other by the sixth gear 4133, the first rack 4134, and the second rack 4135.

As shown in fig. 13, 14 and 15, a first wedge 4136 and a second wedge 4137 are disposed on a side of the first moving member 4131 away from the second moving member 4132, the first wedge 4136 passes through the lifting groove 4127 of the first lifting rod 4122, and the first wedge 4136 contacts with a rotating wheel in the lifting groove 4127 of the first lifting rod 4122, so that the first wedge 4136 is driven to lift and lower when moving left and right; the second wedge 4137 passes through the lifting groove 4137 of the second lifting rod 4123, and the second wedge 4137 contacts with the rotating wheel in the lifting groove 4137 of the second lifting rod 4123, so that the second lifting rod 4123 is driven to lift when the second wedge 4137 moves left and right. The first wedge 4136 and the second wedge 4137 also pass through the support seat 4120 to the outside of the support seat 4120. One side of the second moving piece 4132, which is far away from the first moving piece 4131, is provided with a third wedge 4138 and a fourth wedge 4139, the third wedge 4138 passes through a lifting groove on the third lifting rod 4125, and the third wedge 4138 is in contact with a rotating wheel in the lifting groove on the third lifting rod 4125, so that when the third wedge 4138 moves left and right, the third lifting rod 4125 can be driven to lift; the fourth wedge 4139 passes through the lifting groove of the fourth lifting rod 4124, and the fourth wedge 4139 contacts with the rotating wheel in the lifting groove of the fourth lifting rod 4124, so that the fourth lifting rod 4124 is driven to lift when the fourth wedge 4139 moves left and right. Wherein the third and fourth wedges 4138, 4139 also pass through the support seat 4120 to the exterior of the support seat 4120.

When the output shaft of the second driving motor 4130 rotates clockwise, the first moving member 4131 is driven to move rightward, the second moving member 4132 is driven to move leftward, and accordingly the first wedge 4136 and the second wedge 4137 are driven to move rightward, and the third wedge 4138 and the fourth wedge 4139 are driven to move leftward. The first wedge 4136 and the second wedge 4137 move rightward to respectively drive the first lifting rod 4122 and the second lifting rod 4123 to ascend, the third wedge 4138 and the fourth wedge 4139 move leftward to respectively drive the third lifting rod 4125 and the fourth lifting rod 4124 to ascend, and the first lifting rod 4122, the second lifting rod 4123, the third lifting rod 4125 and the fourth lifting rod 4124 to ascend and finally drive the grabbing assembly and the mopping assembly 42 to ascend.

After the grabbing assembly and the floor mopping assembly 42 is lifted, when the grabbing assembly and the floor mopping assembly 42 is required to be lowered, the output shaft of the second driving motor 4130 rotates anticlockwise to drive the first moving piece 4131 to move leftwards and drive the second moving piece 4132 to move rightwards, so that the first wedge block 4136 and the second wedge block 4137 are driven to move leftwards and the third wedge block 4138 and the fourth wedge block 4139 are driven to move rightwards. The first wedge 4136 and the second wedge 4137 move leftward to cause the rotating wheels of the first lift rod 4122 and the second lift rod 4123 to lose support, and the first spring 4126 on the first lift rod 4122 and the second lift rod 4123 extends to drive the first lift rod 4122 and the second lift rod 4123 to descend; meanwhile, the third wedge 4138 and the fourth wedge 4139 move rightwards, so that the rotating wheels of the third lifting rod 4125 and the fourth lifting rod 4124 lose support, and the third lifting rod 4124 and the fourth lifting rod 4125 are driven to descend due to the extension of the first springs 4126 on the third lifting rod 4124 and the fourth lifting rod 4125. The first lift bar 4122, the second lift bar 4123, the third lift bar 4125 and the fourth lift bar 4124 are lowered to finally drive the grabbing assembly and the floor mopping assembly 42 to be lowered.

As shown in fig. 12 and 15, the first moving member 4131 is further provided with a detecting lever 4140, and the elevating upper lid 4121 is also provided with a moving groove 4143 through which the detecting lever 4140 passes with respect to the detecting lever 4140, and the longitudinal direction of the moving groove 4143 is parallel to the moving direction of the first moving member 4131. A first micro switch 4141 and a second micro switch 4142 are respectively disposed at opposite ends of the moving groove 4143 in the longitudinal direction, and the detection lever 4140 contacts the first micro switch 4141 when the detection lever 4140 moves to one end of the moving groove 4143, and the detection lever 4140 contacts the second micro switch 4142 when the detection lever 4140 moves to the other end of the moving groove 4143.

The clockwise rotation of the output shaft of the second driving motor 4130 drives the first moving member 4131 and the detecting rod 4140 to move rightwards and drives the second moving member 4132 to move leftwards, and finally drives the grabbing component and the floor mopping component 42 to ascend, when the detecting rod 4140 touches the first microswitch 4141, the grabbing component and the floor mopping component 42 ascend to the highest position, and the output shaft of the second driving motor 4130 stops rotating. Meanwhile, the counterclockwise rotation of the output shaft of the second driving motor 4130 drives the first moving member 4131 and the detecting rod 4140 to move leftward and the second moving member 4132 to move rightward, and finally drives the grabbing component and the mopping component 42 to descend, when the detecting rod 4140 contacts the second microswitch 4142, the grabbing component and the mopping component 42 ascend to the lowest position, and the output shaft of the second driving motor 4130 stops rotating.

In the embodiment, the lifting assembly is driven to lift through the parallel staggered racks in the lifting mechanism and the inclined plane structures on the racks, and the horizontal displacement is converted into the vertical displacement, so that the occupied volume of the lifting mechanism in the cleaning robot is reduced; the guide of the lifting rod avoids using a guide mechanism independently, so that the structure is more compact and simpler, and the volume of the lifting mechanism is reduced; through the matching design of the electromagnet and the connecting hole of the grabbing mechanism, the grabbing mechanism is ensured to guide when grabbing the mopping assembly, and dislocation in the grabbing and displacing processes is avoided; by designing the drive motor in the track space, the cleaning robot is reduced in size.

As shown in fig. 17, the dust collecting mechanism 3, which is a dust box in the present embodiment, may be a mechanism for collecting dust such as a dust bag. The dust box 3 includes a dust box body 35, an upper cover 36 and a lower cover 37 as sealing members for sealing an upper end opening and a lower end garbage dumping opening of the dust box body 35. The dust box body 35 is a frame structure with an upper opening and a lower opening, and the upper cover 36 is fixedly installed on the dust box body 35 so as to seal the upper opening of the dust box body 35; the lower cover 37 is rotatably connected to the lower portion of the dust box body 35, and when the lower cover 37 is rotated to be fitted to the lower opening of the dust box body 35, the lower cover 37 seals the lower opening of the dust box body 35.

As shown in fig. 18, an unlocking button 32, a lid opening button 33, and two iron pieces 31 are provided on the upper surface of the upper lid 36, and an unlocking mechanism is further provided on the upper lid 36, the unlocking button 32 is used for driving the unlocking mechanism to operate, and the unlocking mechanism is provided along the length direction of the dust box 3 in this embodiment. As shown in fig. 19, the upper cover 36 includes a top cover 361, a sealing body 362, a filter holder 363, and two latches 364, and the top cover 361, the filter holder 363, and the sealing body 362 are provided in this order from top to bottom. Two catches 364 are installed between the top cover 361 and the filter holder 363, and the two catches 364 are respectively provided at opposite sides of the unlocking button 32, two second wedge pieces 321 are provided on the unlocking button 32, a first wedge piece 365 is provided at an end of each catch 364 adjacent to the unlocking button 32, and one second wedge piece 321 is in contact with one first wedge piece 365, so that the two catches 364 are brought close to each other by being lowered through the second wedge piece 321 and the first wedge piece 365 by pressing the unlocking button 32, thereby retracting the catches 364 inside the upper cover 36, thereby unlocking the connection between the dust box 3 and the cleaning robot 4.

As shown in fig. 20, a spring installation groove is further formed in the latch 364, a first return spring 366 is installed in the spring installation groove, an extension member 367 extending into the spring installation groove is further provided on the lower surface of the top cover 361, one end of the first return spring 366 contacts with the extension member 367, and the other end of the first return spring 366 contacts with the inner wall of the spring installation groove. The compressed first return spring 366 exerts a pressure on the latch 364 moving toward the outside of the dust box 3 after the unlock button 32 button is no longer pressed, thereby resetting the latch 364. As shown in fig. 21, a filter unit 368 is attached to the filter holder 363.

As shown in fig. 22, the dust box body 35 includes a dust storage component 351 and two covering components 352, a dust storage cavity is disposed inside the dust storage component 351, and the two covering components 352 are respectively disposed on two opposite sides of the dust storage component 351. The dust storage component 351 is further provided with a transmission arm 353, the transmission arm 353 can reciprocate on the dust storage component 351 along the vertical direction, the lower end of the cover opening button 33 penetrates through the upper cover 36 and then is fixedly connected with the transmission arm 353, and the transmission arm 353 can be driven to descend by pressing the cover opening button 33. As shown in fig. 22, a lid opening push-rod 354 is fixedly attached to a lower portion of the actuator arm 353, and a lower end of the lid opening push-rod 354 contacts an upper surface of the lower lid 37, so that the lower lid 37 can be pushed open by the actuator arm 353 and the lid opening push-rod 354 descending when the lid opening button 33 is pressed.

As shown in fig. 22 and 23, two fasteners 373 are further provided on the lower cover 37, and the two fasteners 373 are located on the opposite sides of the lower cover 37 rotatably connected to the dust box body 35; meanwhile, as shown in fig. 24, a locking groove 3510 matched with the buckle 373 is also provided at the lower part of the dust box body 35, and when the lower cover 37 rotates to be attached to the lower opening of the dust box body 35, the buckle 373 on the lower cover 37 is locked into the locking groove 3510 on the dust box body 35.

As shown in fig. 24, a link mechanism is provided between each wrapping member 352 and the dust storage member 351, the link mechanism includes a first link 355 and a second link 356, one end of the first link 355 is rotatably connected to the dust storage member 351, the other end of the first link 355 is rotatably connected to one end of the second link 356, and the other end of the second link 356 is rotatably connected to the lower cover 37; a driving hole, which is in the shape of a slot-shaped hole, is provided on each first link 355. Two ends of the transmission arm 353 are respectively and fixedly connected with an actuating rod 357, each actuating rod 357 passes through the dust storage component 351 to a position between the dust storage component 351 and the covering component 352, and the actuating rod 357 passes through an actuating hole on the first connecting rod 355. When the lid opening button 33 is pressed, the transmission arm 353, the driving rod 357, the first link 355 and the second link 356 can drive the lower lid 37 to rotate counterclockwise along the rotational connection between the lower lid 37 and the dust box body 35, as shown in fig. 24, at this time, the garbage in the dust box 3 falls into the garbage bin from the opening below the dust box body 35. As shown in fig. 26, a second return spring 331 is further fitted over the lid opening lift rod 354, the return spring 331 is located between the dust storage 351 and the transmission arm 353, an upper end of the return spring 331 is in contact with the transmission arm 353, and a lower end of the return spring 331 is in contact with the dust storage 351. When the cap release button 33 is pressed, the second return spring 331 is compressed; when the lid opening button 33 is not pressed, the second return spring 331 extends to move the lid opening button 33 upward, and the lid opening button 33 drives the lower cover 37 to rotate clockwise along the rotational connection between the lower cover 37 and the dust box body 35 through the transmission arm 353, the driving rod 357, the first link 355 and the second link 356, so that the lower cover 37 is closed.

As shown in fig. 25, a pressing plate 358 is further disposed on the transmission arm 353, the pressing plate 358 is located inside the dust storage chamber in the dust storage member 351, when the lid-opening button 33 is pressed, the lid-opening button 33 can drive the opening pressing plate 358 to move downwards through the transmission arm 353, and the pressing plate 358 can press the garbage in the dust storage chamber to move downwards, so that the garbage can be discharged quickly.

Example 2

In this embodiment, except that the first rack 4134, the second rack 4135, and the lifter have different structures, the other structures are the same as the first embodiment, and as shown in fig. 16, in this embodiment, a first penetrating portion 4154 is provided at one end of the first rack 4134 opposite to the second moving member 4132, and a downward inclined surface is provided on the first penetrating portion 4154, so that when the first rack 4134 moves toward the second moving member 4132, the inclined surface of the first penetrating portion 4154 can facilitate the first penetrating portion 4154 to penetrate below the second moving member 4132. One end of the second rack 4135 opposite to the first moving member 4131 is provided with a second penetrating part 4155, and the second penetrating part 4155 is provided with a downward inclined surface, so that when the second rack 4135 moves towards the first moving member 4131, the inclined surface of the second penetrating part 4155 can facilitate the second penetrating part 4155 to penetrate into the lower part of the first moving member 4131. A clearance and slope matching structure is designed between the rack and the connecting piece between the first moving piece and the second moving piece, and the space below the connecting piece is used for borrowing, so that the size of the horizontal reciprocating mechanism is reduced. The wedge blocks of the first moving part and the second moving part can also be replaced by extending a bevel structure on the connecting part. The lifting groove is arranged on the lifting rod in a penetrating mode through the inclined surface structure, and the lifting groove is pressed to drive the lifting rod to linearly move through the inclined surface displacement.

The lift lever in this embodiment is not provided with a rotating wheel, but is provided with a circular arc contact portion above the lift groove 4127 of the lift lever, and the circular arc contact portion contacts the wedge.

Cleaning robot

The cleaning robot of the present invention comprises a base body, as shown in fig. 27, a gripping device 20, a rotary lifting device 10, and a cleaning device 30 are provided on the base body; the grabbing device grabs the floor mopping assembly separated from the cleaning robot; the rotating and lifting device rotates the grabbing device to enable the mopping assembly to be in a non-horizontal state, and lifts the mopping assembly to the cleaning device, and the cleaning device cleans and wipes water on the mopping assembly. In the utility model, the non-horizontal state means that the floor mopping assembly is not parallel to the horizontal plane, i.e. the included angle between the floor mopping assembly and the horizontal plane is not 0 degrees, the included angle between the floor mopping assembly and the horizontal plane is more than 0 degree and less than or equal to 180 degrees in the non-horizontal state, for example, the included angle between the floor mopping assembly and the horizontal plane is 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, etc.; preferably, the rotating lift device rotates the capture device such that the angle between the floor assembly to the floor assembly and the horizontal is set at 90 deg., as shown in fig. 37. The working principle of the cleaning robot is as follows: the grabbing device 20 grabs the mop, then the lifting device 10 is rotated to move the grabbing device 20 and the mop, the mop is rotated and lifted to a non-horizontal surface state, and then the cleaning device 30 cleans and wipes water on the mop; after the cleaning of the mop is completed, the lifting device 10 is rotated to put the mop back to the original position, and then the gripping device 20 is separated from the mop. The cleaning robot of the present invention further comprises a housing 5 for protecting each device and a controller for controlling the operation of each device component

To facilitate understanding of the structure of the washing robot, preferred embodiments will be described in detail with reference to the drawings.

Example 3

As shown in fig. 27, the casing 5 encloses the rotary lifting device 10, the gripping device 20, and the cleaning device 30, and the gripping device 20 is provided on the rotary lifting device 10.

A mop placing chamber 51 is provided at a lower portion of the housing 5, and the mop placing chamber 51 is positioned below the cleaning device 3 and has an open end. After the cleaning robot 4 moves into the placing cavity 51, the mopping assembly 42 is placed in the placing cavity 51, as shown in fig. 30, the mopping assembly 42 comprises a mop cloth, a mop plate 4117 and a mop plate cover 4118. A guide mechanism is respectively arranged at two opposite sides of the opening of the placing cavity 51, the guide mechanism comprises a guide rod 52 and a guide wheel 53 rotatably arranged on the guide rod 52, and the guide rod 52 is rotatably connected with the inner surface of the placing cavity 51. When the guiding mechanism is needed to guide the sweeper robot, the user rotates the guide rod 52 to rotate 90 degrees towards the outer side of the housing along the rotating connection position of the inner surface of the guide rod 52 and the placing cavity 51, and after the guide rod is rotated 90 degrees, as shown in fig. 28, the guide wheels 53 respectively extend out of the placing cavity and are positioned at two sides of the cleaning robot in the direction of entering the placing cavity. As shown in fig. 29, a first guide groove is provided on the cleaning robot 4 opposite to each guide mechanism, and the first guide groove on the cleaning robot 4 contacts with a guide wheel 53 on the guide rod 52 during the process that the cleaning robot 4 enters the placing cavity 51, and the guide wheel 53 can rotate, so as to guide the cleaning robot 4 to enter the placing cavity 51, and ensure that the cleaning robot enters the placing cavity 51 at the right position.

A first detection mechanism that detects whether the cleaning robot is in the housing chamber is provided in the housing chamber 51. In this embodiment, the first detection mechanism includes a set of infrared emitters and infrared receivers; an infrared transmitter is arranged on one of the guide rods 52, an infrared receiver is arranged on the other guide rod 52, an infrared signal sent by the infrared transmitter is received by the infrared receiver, and the output end of the infrared receiver is connected with the sixth input end of the controller. After the cleaning robot 4 enters the placing cavity 51, the cleaning robot 4 blocks the infrared signal sent by the infrared transmitter on the guide rod, at the moment, the infrared receiver cannot receive the infrared signal, the infrared receiver generates a first signal to the controller, and the controller controls other equipment not to work when receiving the first signal; when the cleaning robot 4 leaves from the placing cavity 51, the infrared receiver receives the infrared signal, the infrared receiver generates a second signal to the controller, and the controller controls other equipment to work when receiving the second signal.

As shown in fig. 27, a placing groove 54 is further provided at a lower portion of the placing chamber 51, and the shape of the placing groove 54 matches the shape of the carriage 4117, so that the mopping assembly is placed on the placing groove 54 after the cleaning robot 4 enters the placing chamber 51. As shown in fig. 28, a second detection mechanism for detecting whether the cleaning robot is at a predetermined position is further provided in the accommodating chamber, and the second detection mechanism includes 3 first hall sensors 55 provided on the inner wall surface of the placing groove 54; as shown in fig. 30, a magnet mounting groove 424 is respectively formed in the carriage cover 4118 at a position corresponding to each hall sensor, and a magnet is mounted in each magnet mounting groove 424. After the cleaning robot 4 enters the placing cavity 51, if each first hall sensor 55 detects one magnet, it indicates that the cleaning robot 4 moves the floor mopping assembly to the preset position, and the cleaning robot 4 puts the floor mopping assembly down. As shown in fig. 28, a fixing mechanism of the mopping assembly is further provided at the place groove 54, the fixing mechanism includes two fixing members 56 provided on the wall surface of the place groove 54, as shown in fig. 30, a fixing groove 425 is further provided on the mop plate cover 4118 opposite to each fixing member 56, when the mopping assembly is put down by the cleaning robot 4, each fixing groove 425 is snapped on one fixing member 56, and the fixing members 56 can further fix the position of the mop plate cover 4118.

As shown in fig. 30, the mop cloth is fixedly disposed on the mop plate 4117, a mop plate cover 4118 fixedly connected to the mop plate 4117 is disposed on the mop plate 4117, a connecting hole 421 is disposed on the mop plate cover 4118, and a connecting groove 422 is disposed on each of two opposite sides of a hole wall of the connecting hole 421.

The gripping device 20, as shown in fig. 31, the gripping device 20 includes a gripping disk 21, a gripping disk bottom cover 24, and a retractable assembly. The telescopic assembly comprises a first steering engine 22, a grabbing disc cam 23, two grabbing disc connecting rods 25 and two grabbing disc push rods 26. The first steering engine 22 is fixedly arranged on the grabbing disc 21, and an output shaft of the first steering engine 22 penetrates through the grabbing disc 21 and is coaxially connected with a grabbing disc cam 23. As shown in fig. 32, two first connecting shafts 27 are provided on the gripping disk cam 23, both of the two first connecting shafts are located at the axis of the gripping disk cam 23 and are eccentrically arranged, and the two first connecting shafts 27 are respectively located at two opposite sides of the axis of the gripping disk cam 23, one end of each gripping disk connecting rod 25 is rotatably connected to the first connecting shaft 27, and the other end of each gripping disk connecting rod 25 is connected to one gripping disk push rod 26. The grabbing disk bottom cover 24 is connected to the lower end of the grabbing disk 21, and the grabbing disk cam 23, the grabbing disk connecting rod 25 and the grabbing disk push rod 26 are all arranged between the grabbing disk bottom cover 24 and the grabbing disk 21. Two second guide grooves are formed in the lower surface of the grabbing plate 21, and a grabbing plate push rod 26 is located in one second guide groove; when the grabbing disc push rod is driven by the grabbing disc connecting rod, the grabbing disc push rod can do linear reciprocating displacement along the second guide groove. When the gripping device 20 is in an initial state, the two gripping disk push rods 26 are retracted inside the gripping disk and the bottom cover 24; when a mop needs to be grabbed, the rotary lifting device 10 drives the grabbing device 20 to move to the position above the mop plate cover 4118, the grabbing disc push rod 26 and the grabbing disc bottom cover 24 in the grabbing device 20 move to the inside of the connecting hole 421 in the mop plate cover 4118, then the output shaft of the first steering engine 22 rotates by 90 degrees, the output shaft of the first steering engine 22 drives the two grabbing disc connecting rods 25 to rotate through the grabbing disc cam 23, the two grabbing disc connecting rods 25 drive the two grabbing disc push rods to move away from each other, so that each grabbing disc push rod is inserted into one connecting groove 422, as shown in fig. 5 and 32, the grabbing device 20 grabs the mop assembly, and grabbing and subsequent cleaning support of the mop assembly are achieved through the grabbing device.

The rotary lifting device 10 includes a lifting mechanism and a rotating mechanism, and as shown in fig. 33, the lifting mechanism includes a first driving motor 12, a first gear box assembly 13, a guide sleeve 14 and a lifting rod 15. The first drive motor 12 and the first gearbox assembly 13 are the drive mechanism for the lifting mechanism.

The guide sleeve 14 is arranged on the support seat 11, a rectangular guide hole with a rectangular section is arranged on the guide sleeve 14, and the guide direction of the guide hole on the guide sleeve 14 is a vertical direction; the lift lever 15 is disposed in a guide hole of the guide sleeve 14, so that the lift lever 15 can be reciprocally lifted in the guide hole. Be equipped with first photoelectric sensor 17, second photoelectric sensor 18 and third photoelectric sensor 19 in guide sleeve 14 outside, this first photoelectric sensor 17, second photoelectric sensor 18 and third photoelectric sensor 19 set gradually from last to down along vertical direction, and first photoelectric sensor 17, second photoelectric sensor 18 and third photoelectric sensor 19's sense terminal all is located the guiding hole inside. As shown in fig. 33, a first detecting member 16 is provided on the lifting rod 15, and a first photoelectric sensor 17, a second photoelectric sensor 18 and a third photoelectric sensor 19 are provided to detect the first detecting member 16, so as to determine the lifting position of the lifting rod 15.

As shown in fig. 34, the first driving motor 12 is fixedly installed on the supporting base 11, an output shaft of the first driving motor 12 is coaxially connected with an input shaft of the first gear box assembly 13, the output shaft of the first gear box assembly 13 passes through the guide sleeve 14 to the inside of the guide hole, and a first gear 110 is coaxially installed on a shaft section of the output shaft of the first gear box assembly 13 located in the guide hole. The lifting rod 15 is further provided with a first rack 111, the first rack 111 is arranged along the vertical direction, and the first rack 111 is meshed with the first gear 110. The lifting rod 15 is driven to lift in the guide hole by the rotation of the output shaft of the first driving motor 12. The first gearbox assembly 13 forms a gear transmission with a first gear 110 mounted on its output shaft.

As shown in fig. 35 and 36, the rotation mechanism includes a rotary 113 and a rotation drive mechanism. In this embodiment, the rotation driving mechanism is an electric push rod 114, two rotation connecting arms 112 are provided at the lower end of the lifting rod 15, the rotating member 113 is disposed between the two rotation connecting arms 112, and the rotating member 113 is rotatably connected with the two rotation connecting arms 112. A receiving hole is further formed at a lower end of the elevating rod 15, an upper end of the electric plunger 114 is rotatably connected to an inner wall surface of the receiving hole, and a plunger end of the electric plunger 114 is rotatably connected to the rotary member 113. The rotary member 113 is also fixedly connected to the gripping disk 21 of the gripping mechanism. As shown in fig. 37, the retraction of the rod end of the electric push rod 114 can drive the rotating member 113 to rotate around the rotating connection between the rotating member 113 and the rotating connecting arm 112, so as to drive the grabbing device 20 and the floor mopping assembly to rotate; when the retraction of the push rod end of the power push rod 114 is completed, the rotary member 113 is rotated by 90 ° so that the floor mopping assembly is perpendicular to the horizontal plane. The rotating mechanism drives the grabbing device and the mopping assembly to rotate, the grabbing device and the mopping assembly are lifted through the lifting mechanism, and the purpose of rotating firstly and then lifting is to save the space of the cleaning robot.

As shown in fig. 38, the cleaning device 30 is further provided with a cleaning chamber 115 having a lower opening in the support base 11. The cleaning device 30 includes a water spraying mechanism, a water wiping mechanism, and a sewage discharging mechanism. The water spraying mechanism comprises a water spraying head 31, a water pump, a peristaltic pump, a first electromagnetic valve, a mixing assembly, a cleaning agent storage device and a water inlet pipe. Be equipped with first water inlet, second water inlet, hybrid chamber and delivery port on the hybrid module, the hybrid chamber respectively with first water inlet, second water inlet and delivery port intercommunication, and be equipped with the mixing screw in the hybrid chamber, then the liquid that first water inlet got into and the liquid that the second water inlet got into are mixed by the mixing screw in the hybrid chamber, then discharge through the delivery port. The water inlet pipe is connected with a water inlet of the first electromagnetic valve, a water outlet of the first electromagnetic valve is connected with a water inlet of the water pump, a water outlet of the water pump is connected with a first water inlet of the mixing assembly, and the water pump pumps the water in the water inlet pipe into the mixing assembly; the water outlet of the mixing assembly is connected with a sprinkler head 31 through a pipeline. And a water pipe connected with the detergent storage is connected with a second water inlet of the mixing assembly through a peristaltic pump, and the peristaltic pump pumps the detergent stored in the detergent storage into the mixing assembly. The water in the water inlet pipe and the cleaning agent are mixed in the mixing cavity and then enter the sprinkler head 31 through the water outlet of the mixing component.

As shown in fig. 39, the water spraying head 31 is fixedly installed above the cleaning cavity 115 of the supporting seat 11, a water spraying member 116 is installed on the supporting seat 11, a slope water outlet gap is formed between the water spraying member 116 and the water spraying head 31, and the water outlet gap is inclined towards one side; thus, when the mop assembly is moved into the cleaning chamber 115, liquid entering the nozzle 31 is ejected through the angled discharge slot towards the mop cloth, the direction of the discharge from the discharge slot being indicated by the arrow in FIG. 39.

The wiper mechanism includes a wiper assembly and a drive assembly, and as shown in fig. 40, the wiper assembly includes a wiper member and a synchronizing assembly. In this embodiment, the wiper member is a wiper blade 35. The squeegee 35 and the synchronizing assembly are disposed inside the cleaning chamber 115. As shown in fig. 41 and 42, the synchronizing assembly comprises a carrier housing 36 and a synchronizing shaft 37, the synchronizing shaft 37 is disposed inside the carrier housing 36, the squeegee 35 is fixedly mounted outside the carrier housing 36, and the squeegee 35 opposes the mop on the mopping platform 4117 after the mopping assembly is moved into the cleaning chamber 115. A first bearing member 336 and a second bearing member 337 are respectively arranged at two ends of the bearing housing 36, one end of the synchronizing shaft 37 passes through the first bearing member 336 and is rotatably connected with the first bearing member 336, a second gear 313 is coaxially and fixedly connected to a shaft end of the synchronizing shaft 37 passing through the first bearing member 336, and the second gear 313 is in interference fit with the shaft end of the first bearing member 336 so as to be fixed. A second rack 314 is further disposed on the supporting housing 36, a fourth gear is disposed between the second gear 313 and the second rack 314, the fourth gear is rotatably connected to the first supporting member 336, the second gear 313 is engaged with the fourth gear, and the fourth gear is engaged with the second rack 314.

The other end of the synchronizing shaft 37 passes through the second carrier 337 and is rotationally connected with the second carrier 337, and a third gear 315 is coaxially and fixedly connected to the shaft end of the synchronizing shaft 37 passing through the second carrier 337, and the third gear 315 is fixed to the shaft end of the second carrier 337 through interference fit. A third rack 316 is vertically arranged on the bearing shell 36, a fifth gear is arranged between the third gear 315 and the third rack 316, the fifth gear is rotatably connected to the second bearing member 337, the third gear 315 is engaged with the fifth gear, and the fifth gear is engaged with the third rack 316.

As shown in fig. 43, the driving assembly includes a second driving motor 38, a first synchronous belt 39, a first pulley 310, a second pulley 311 and a connecting member 312, the second driving motor 38 is installed on the supporting base 11, the second driving motor 38 is located above the cleaning chamber 115, the first pulley 310 is coaxially installed on an output shaft of the second driving motor 38, the second pulley 311 is located below the first pulley 310 in a vertical direction, the second pulley 311 is rotatably installed inside the supporting base 11, and the first pulley 310 and the second pulley 311 are connected by the first synchronous belt 39. The connecting element 312 is fixedly connected to the first timing belt 39, the connecting element 312 is fixedly connected to the first carrier 336, and the connecting element 312 is connected to the carrier housing 36 via the first carrier 336.

The rotation of the output shaft of the second driving motor 38 drives the first synchronous belt 39 to move through the first belt pulley 310, and then drives the connecting member 312 to move up and down, and the connecting member 312 moves up and down to drive the first carrier 336, the carrier housing 36 and the synchronous shaft 37 to move up and down. Meanwhile, the two ends of the synchronizing shaft 37 are meshed with the racks through the gears, so that the two ends of the synchronizing shaft 37 can be ensured to synchronously lift, and the two ends of the scraper 35 are ensured to synchronously lift.

As shown in fig. 44, a first seal cover 338 and a second seal cover 339 are respectively provided on opposite sides of the support base 11, the first seal cover 338 surrounds the second rack 314, the first timing belt 39, the connecting member 312, and the first carrier 336 inside thereof, the first seal cover 338 is in close contact with the support base 11, and a seal is provided between the first seal cover 338 and the support base 11. The second seal cover 339 surrounds the third rack 316 and the second carrier 337 therein, and the second seal cover 339 is in close contact with the support 11, and is sealed between the second seal cover 339 and the support 11 by a seal ring. The second hall sensor 322 and the third hall sensor 323 are arranged on the outer wall of the first sealing cover 338, the third hall sensor 323 is located below the second hall sensor 322 in the vertical direction, and the second hall sensor 322 and the third hall sensor 323 are used for detecting the magnet inside the connecting piece 312.

As shown in fig. 45, the sewage discharge mechanism includes a water tank 317 and a water tank rotation mechanism. The water tank rotation mechanism comprises a second steering engine 318, a rotation cam 319, a connecting rod 320 and a water tank push plate 321. The water tank 317 is disposed below the cleaning chamber 115, and the water tank 317 is rotatably connected to the support base 11. The second steering engine 318 is fixedly installed on the supporting seat 11, the rotating cam 319 is coaxially and fixedly connected to an output shaft of the second steering engine 318, the connecting rod 320 is eccentrically and rotatably connected to the rotating cam 319, the other end of the connecting rod 320 is rotatably connected with the water tank pushing plate 321, and the water tank pushing plate 321 is rotatably connected to the supporting seat 11. Then, the rotation of the output shaft of the second steering engine 318 can drive the water tank push plate 321 to rotate around the rotational connection position of the water tank push plate 321 and the support seat 11 through the rotating cam 319 and the connecting rod 320, and the water tank push plate 321 rotates to push the water tank 317 to rotate. When the tank 317 is in the initial position, the tank 317 does not shield the lower portion of the washing chamber 115; after the output shaft of the second steering engine 318 rotates 180 degrees, the water tank push plate 321 pushes the water tank 317 to rotate until the water tank 317 covers the lower part of the cleaning cavity 115.

As shown in fig. 46, a diversion trench 329 is further disposed inside the water tank 317, and a water tank outlet 330 is disposed at one end of the water tank 317; the diversion trench 329 is inclined towards the water outlet 330 of the water tank; as shown in the figure, a sewage outlet is further provided on the housing 5, the water outlet 330 of the water tank is communicated with the sewage outlet, and the sewage outlet is communicated with a sewer. When the water tank push plate 321 pushes the water tank 317 to rotate until the water tank 317 covers the lower part of the cleaning cavity 115, as shown in fig. 47, the sewage falls into the water tank 317, and then flows to the outlet of the water tank 317 through the diversion trench 329 and is discharged into the sewer through the sewage outlet.

A cleaning pipe is further arranged on the supporting seat 11, a water outlet of the cleaning pipe is located at the lower end of the cleaning cavity 115, the water outlet of the cleaning pipe is opposite to the water tank 317, and the cleaning pipe is connected with a water inlet pipe through a second electromagnetic valve. When the sewage dropped into the water tank 317 easily leaves stains on the inner wall surface of the water tank 317, the second electromagnetic valve is activated to spray clean water to the inner wall of the water tank 317 through the cleaning pipe, thereby cleaning the inner wall of the water tank 317.

The left end and the right end of the water tank 317 are respectively connected with the supporting seat 11 in a rotating mode through two rotating connection assemblies, and the two rotating connection assemblies are identical in structure. This rotation coupling assembling includes axis of rotation and reset spring, and relative axis of rotation is equipped with a rotation groove on the outer wall of basin 317, and is equipped with a limiting plate at the rotation inslot, and above-mentioned axis of rotation is located the rotation inslot, and the axis of rotation can be at the axial motion of rotation inslot along the axis of rotation, and the axis of rotation passes the limiting plate and is connected with 11 rotations of supporting seat. The rotating shaft is provided with a shaft shoulder, and the reset spring is sleeved on a shaft section of the rotating shaft between the shaft shoulder and the limiting plate. An unlock button is also provided on the housing 5, opposite the rotational axis in the rotational connection assembly at one end of the water tank 317. Then, when the user presses the unlocking button, the unlocking button presses the rotating shaft to move leftward, so that the rotating shaft is separated from the supporting seat 11, and the water tank 317 is detached from the supporting seat 11, and the water tank 317 is manually cleaned. When the user is not pressing the unlocking button, the compressed return spring can be pulled up again, so that the rotating shaft is pushed to move rightwards, and the rotating shaft is reset.

The first input end of the controller is connected with the output end of the first photoelectric sensor 17, the second input end of the controller is connected with the output end of the second photoelectric sensor 18, the third input end of the controller is connected with the output end of the third photoelectric sensor 19, the fourth input end of the controller is connected with the output end of the second hall sensor 322, and the fifth input end of the controller is connected with the output end of the third hall sensor 323. The first output end of the controller is connected with the input end of the first driving motor 12, the second output end of the controller is connected with the input end of the second driving motor 38, the third output end of the controller is connected with the input end of the first steering engine 22, the fourth output end of the controller is connected with the input end of the second steering engine 318, the fifth output end of the controller is connected with the input end of the electric push rod, the sixth output end of the controller is connected with the input end of the water pump, the seventh output end of the controller is connected with the input end of the peristaltic pump, and the eighth output end of the controller is connected with the input end of the first electromagnetic valve 325.

The specific working steps of the cleaning robot in this embodiment are as follows:

s1, after the cleaning robot 4 finishes a stage of mopping task, the cleaning robot 4 moves into the placing cavity 51 of the cleaning robot, and whether the cleaning robot 4 is located at a set position is calibrated; if each first hall sensor 55 detects a magnet, it indicates that the cleaning robot 4 moves the floor mopping assembly to the set position; the first hall sensor 55 sends a signal to the controller; the cleaning robot 4 moves into the placing cavity 51 of the cleaning robot, at the moment, the cleaning robot 4 blocks the infrared signal sent by the infrared transmitter, at the moment, the infrared receiver cannot receive the infrared signal, the infrared receiver generates a first signal to the controller, and the controller controls other equipment not to work when receiving the first signal;

s2, then the cleaning robot 4 places the mopping assembly in the placing cavity 51, and the cleaning robot 4 leaves the placing cavity 51 to start other work; when the cleaning robot 4 leaves from the placing cavity 51, the infrared receiver receives the infrared signal, the infrared receiver generates a second signal to the controller, and the controller controls other equipment to start working when receiving the second signal;

s3, the initial position of the gripping device in the cleaning robot is that the gripping device 20 is positioned in the cleaning cavity 115; the initial position of the lifting rod 15 in the cleaning robot is the position of the first detection piece 16 on the lifting rod 15 detected by the first photoelectric sensor 17; the controller controls the output shaft of the first driving motor 12 to rotate counterclockwise, the output shaft of the first driving motor 12 drives the first gear 110 to rotate counterclockwise through the first gear box assembly 13, and the first gear 110 drives the lifting rod 15 to descend through the first rack 111;

s4, when the second photoelectric sensor 18 detects the first detecting element 16, the controller controls the output shaft of the first driving motor 12 to stop rotating, and at this time, the controller controls the push rod end of the electric push rod 114 to extend, so as to drive the rotating element 113 to rotate around the rotating connection between the rotating element 113 and the rotating connecting arm 112;

s5, when the extension of the rod end of the electric rod is completed, the controller controls the rod end of the electric rod to stop extending, and at this time, the rotating member 113 rotates 90 °, as shown in fig. 34; meanwhile, after the extension of the push rod end of the electric push rod is finished, the controller controls the output shaft of the first driving motor 12 to rotate anticlockwise, so that the lifting rod 15 is driven to descend;

s6, when the third photoelectric sensor 19 detects the first detection piece 16, the lifting rod 15 descends to the lowest position, at this time, the gripping device 20 moves to the interior of the connecting hole 421 on the carriage cover 4118, and the controller controls the first driving motor 12 to stop moving; meanwhile, when the third photoelectric sensor 19 detects the first detection piece 16, the controller controls the output shaft of the first steering engine 22 to rotate 90 degrees in the forward direction;

s7, when the output shaft of the first steering engine 22 rotates 90 degrees in the forward direction, the output shaft of the first steering engine 22 drives the two grabbing disc connecting rods 25 to rotate through the grabbing disc cams, the two grabbing disc connecting rods 25 drive the two grabbing disc push rods to move away from each other, so that each grabbing disc push rod is inserted into one connecting groove 422, and the grabbing device 20 grabs the floor mopping assembly; meanwhile, after the output shaft of the first steering engine 22 rotates 90 degrees in the forward direction, the controller controls the output shaft of the first driving motor 12 to rotate clockwise, so that the lifting rod 15 is driven to ascend;

s8, when the second photoelectric sensor 18 detects the first detecting element 16, the controller controls the output shaft of the first driving motor 12 to stop rotating, and at this time, the controller controls the rod end of the electric push rod 114 to contract, so as to drive the rotating element 113 to rotate around the rotating connection between the rotating element 113 and the rotating connecting arm 112;

s9, after the retraction of the push rod end of the electric push rod 114 is finished, the controller controls the push rod end of the electric push rod 114 to stop retracting, and at the moment, the rotating piece 113 rotates 90 degrees, so that the mop cloth is vertical to the horizontal plane; meanwhile, after the retraction of the push rod end of the electric push rod 114 is completed, the controller controls the output shaft of the first driving motor 12 to rotate clockwise, so as to drive the lifting rod 15 to ascend;

s10, when the first photoelectric sensor 17 detects the first detection piece 16, the grabbing device 20 and the floor mopping assembly move to the inside of the cleaning cavity 115, and the controller controls the output shaft of the first driving motor 12 to stop rotating; meanwhile, when the first photoelectric sensor 17 detects the first detection piece 16, the controller controls the output shaft of the second steering engine 318 to rotate forward by 180 degrees;

s11, when the output shaft of the second steering engine 318 rotates 180 degrees in the forward direction, the output shaft of the second steering engine 318 drives the water tank 317 to rotate to the water tank 317 to cover the lower part of the cleaning cavity 115 through the rotating cam 319, the connecting rod 320 and the water tank push plate 321;

s12, when the output shaft of the second steering engine 318 rotates 180 degrees in the forward direction, the controller controls the water pump 32, the peristaltic pump and the first electromagnetic valve 325 to work, the water pump 32 supplies mixed liquid to the sprinkler head 31 after cleaning and mixing water and detergent, and the sprinkler head 31 sprays the mixed liquid to the surface of the mop cloth;

s13, when the output shaft of the second steering engine 318 rotates forwards by 180 degrees, the controller controls the output shaft of the second driving motor 38 to rotate forwards and backwards in a circulating mode, and the circulating forward and reverse rotation of the output shaft of the second driving motor 38 is as shown in the steps S13-1, S13-2 and S13-3:

s13-1, clockwise rotating the output shaft of the second driving motor 38 to drive the scraping plate 35 to descend, and scraping the surface sewage of the mop cloth by the scraping plate 35 in the descending process; then, the process proceeds to step S13-2;

s13-2, when the third Hall sensor 323 detects the connecting piece 312, the controller controls the output shaft of the second driving motor 38 to rotate anticlockwise, so that the scraper 35 is driven to ascend; then, the step S13-3 is carried out;

s13-3, when the second Hall sensor 322 detects the connection piece 312, returning to the step S13-1;

the steps S13-1, S13-2 and S13-3 are repeatedly executed for a plurality of times, so that the mop is cleaned; wherein, the sewage scraped off in the descending process of the scraper 35 falls into the water tank 317 and is discharged out of the cleaning robot to a sewer through the drainage structure of the water tank 317;

s14, after the step S13 is finished, the controller controls the water pump 32, the peristaltic pump and the first electromagnetic valve 325 to stop working;

s15, the controller controls the output shaft of the second steering engine 318 to rotate 180 degrees in the reverse direction;

s16, when the output shaft of the second steering engine 318 rotates 180 degrees in the reverse direction, the output shaft of the second steering engine 318 drives the water tank 317 to rotate to the position where the water tank 317 does not shield the lower part of the cleaning cavity 115 any more through the rotating cam 319, the connecting rod 320 and the water tank push plate 321; meanwhile, after the output shaft of the second steering engine 318 rotates 180 degrees in the reverse direction, the controller controls the output shaft of the first driving motor 12 to rotate anticlockwise, so that the lifting rod 15 is driven to descend;

s17, when the second photoelectric sensor 18 detects the first detecting element 16, the controller controls the output shaft of the first driving motor 12 to stop rotating, and at this time, the controller controls the push rod end of the electric push rod 114 to extend, so as to drive the rotating element 113 to rotate around the rotating connection between the rotating element 113 and the rotating connecting arm 112;

s18, after the extension of the push rod end of the electric push rod 114 is finished, the controller controls the push rod end of the electric push rod 114 to stop extending and retracting, and at the moment, the rotating piece 113 rotates by 90 degrees, so that the mop cloth is parallel to the horizontal plane; meanwhile, after the extension of the push rod end of the electric push rod 114 is completed, the controller controls the output shaft of the first driving motor 12 to rotate counterclockwise, so as to drive the lifting rod 15 to descend;

s19, when the third photoelectric sensor 19 detects the first detecting element 16, the lifting rod 15 descends to the lowest position, and the controller controls the first driving motor 12 to stop moving; meanwhile, when the third photoelectric sensor 19 detects the first detection piece 16, the controller controls the output shaft of the first steering engine 22 to rotate in the reverse direction for 90 degrees;

s20, when the output shaft of the first steering engine 22 rotates in the reverse direction by 90 degrees, the output shaft of the first steering engine 22 drives the two grabbing plate connecting rods 25 to rotate through the grabbing plate cam, and the two grabbing plate connecting rods 25 drive the two grabbing plate push rods to move close to each other, so that each grabbing plate push rod is separated from the connecting groove 422, and the grabbing device 20 is separated from the planker cover 4118; meanwhile, after the output shaft of the first steering engine 22 rotates 90 degrees in the reverse direction, the controller controls the output shaft of the first driving motor 12 to rotate clockwise, so that the lifting rod 15 is driven to ascend;

s21, when the first photoelectric sensor 17 detects the first detecting element 16, the controller controls the output shaft of the first driving motor 12 to stop rotating, and at this time, the grabbing device 20 and the lifting rod 15 return to the initial position; at the same time, when the second photoelectric sensor 18 detects the first detecting member 16, the cleaning robot 4 can move into the placing chamber 51 of the washing robot to grab the mop to be fixed on the cleaning robot 4.

Example 4

The cleaning robot comprises a rotary lifting device 10, a grabbing device 20 and a cleaning device 30, and the working principle of the cleaning robot is as follows: the grabbing device 20 grabs the mopping assembly, then the rotating and lifting device 10 moves the grabbing device 20 and the mopping assembly, so that the mop cloth is rotated and lifted to be vertical to the horizontal plane, and then the cleaning device 30 cleans the mop cloth; after the mop is washed, the lifting device 10 is rotated to put the mop back to the original position, and the catching device 20 is separated from the floor assembly.

The present embodiment is the same as that of embodiment 1 except that the structures of the sprinkler head 31, the gripper device 20, and the wiper mechanism are different from those of embodiment 1. The sprinkler head 31 of this embodiment is provided with a plurality of water jets which are inclined towards one side, so that the liquid entering the sprinkler head 31 is sprayed towards the mop through the plurality of water jets when the mop assembly is moved into the washing chamber 115.

The wiper mechanism, as shown in fig. 48 and 49, includes a roller 340, a third drive motor 341, a third carrier 342, a fourth carrier 343, and a second gear 313 box assembly, and the third carrier 342 and the fourth carrier 343 are respectively provided at opposite ends of the roller 340 in the axial direction. The roller 340 is rotatably connected with a third bearing part 342, the roller 340 is connected with a sixth gear through the third bearing part 342, an output shaft of the third driving motor 341 is connected with an output shaft of the second gear 313 box component, and the output shaft of the second gear 313 box component is connected with the sixth gear; the roller 340 is rotatably connected to the fourth carrier 343, and the roller 340 is connected to a seventh gear through the fourth carrier 343.

A third guide groove 117 and a fourth guide groove are respectively arranged at two opposite ends of the support seat 11, which are located in the cleaning cavity 115, a vertically arranged fourth rack 347 is arranged at one side of the third guide groove 117, and a vertically arranged fifth rack is arranged at one side of the fourth guide groove. The drum 340 is disposed inside the washing chamber 115, the third carrier 342 is slidably connected to the third guide groove 117, an eighth gear 345 is disposed between the sixth gear and the fourth rack 347, the sixth gear is engaged with the eighth gear 345, the eighth gear 345 is engaged with the fourth rack 347, and the eighth gear 345 is rotatably connected to the third carrier 342. The fourth carrier 343 is slidably connected to the fourth guide groove, a ninth gear is disposed between the seventh gear and the fifth rack, the seventh gear is engaged with the ninth gear, the ninth gear is engaged with the fifth rack, and the ninth gear is rotatably connected to the fourth carrier 343. The drum 340 can be driven to rotate by the rotation of the output shaft of the third driving motor 341, and the drum 340 can be driven to reciprocate by the engagement of the gear and the rack.

The gripping device 20 comprises a gripping disk 21 and a snap mechanism arranged on the gripping disk 21. Specifically, buckle mechanism includes that the interval sets up two female seats of bumping pearl switch at grabbing dish lower surface, and corresponds the interval on planker 4117 and be equipped with two public seats of bumping pearl switch, and when grabbing dish 21 descends, every bumps pearl switch female seat and a public seat of bumping pearl switch are connected to realize grabbing device and snatch and drag ground subassembly 42.

The remaining operation principle of this embodiment is the same as that of embodiment 3.

Example 5

The cleaning robot comprises a rotary lifting device 10, a grabbing device 20 and a cleaning device 30, and the working principle of the cleaning robot is as follows: the grabbing device 20 grabs the mop, then the rotating and lifting device 10 moves the grabbing device 20 and the mopping assembly, so that the mopping assembly is rotated and lifted to a state vertical to the horizontal plane, and then the cleaning device 30 cleans the mop, thereby being capable of facilitating the draining of water on the mop; after the mop is washed, the lifting device 10 is rotated to put the floor-mopping assembly back to the original position, and the catching device 20 is separated from the mop.

The structure of the grasping apparatus 20 in this embodiment is the same as that of embodiment 1 except that the structure is different from that in embodiment 1. The gripping device 20 differs from the embodiment 1 in that the retractable assembly can be realized by using the electromagnets 260, specifically, two electromagnets are arranged on two opposite sides of the lower surface of the gripping disk 21, as shown in fig. 50, and an electromagnet core which can be retracted after being electrified is arranged in the two electromagnets, and the retracting direction of the iron core of one electromagnet is opposite to that of the iron core of the other electromagnet.

When the gripping device 20 is in an initial state, the two electromagnets are electrified, and iron cores of the two electromagnets are in a contraction state; when the mop needs to be grabbed, the rotary lifting device 10 drives the grabbing device 20 to move to the position above the mop plate cover 4118, and the grabbing device 20 moves to the interior of the connecting hole 421 on the mop plate cover 4118. The two electromagnets are then de-energized and the cores of the two electromagnets are extended, each core being inserted into one of the attachment slots 422 so that the gripping device 20 grips the mopping assembly.

The remaining operation principle of this embodiment is the same as that of embodiment 3.

Example 6

This example is a modification of example 1, and has the following differences: in this embodiment, the inside worm gear and worm gear box that is of first gear box subassembly 13 among the gear drive mechanism, because the inside worm gear and worm gear box that is of first gear box subassembly 13, and the worm gear has self-locking function, then can guarantee that the lifter can not descend because of the effect of gravity.

In this embodiment, the rotation driving mechanism is a driving housing, an eighth rack, a ninth driving motor and a twentieth gear which can linearly displace are disposed in the driving housing, and an upper end of the driving housing is rotatably connected to an inner wall surface of the accommodating hole. An output shaft of the ninth driving motor is connected with a twentieth gear, the twentieth gear is meshed with the eighth rack, and the eighth rack can be driven to ascend and descend in the driving shell through rotation of the output shaft of the ninth driving motor. The lower end of the eighth rack is rotatably connected with the rotating member, and the lifting of the eighth rack can drive the rotating member 113 to rotate around the rotating connection position of the rotating member 113 and the rotating connecting arm 112, so as to drive the grabbing device 20 and the floor mopping assembly to rotate.

In this embodiment, two scrapers 35 are detachably connected to the carrier housing 36, as shown in fig. 40, the two scrapers 35 are integrally connected, and scraping teeth are further provided on the carrier housing 36, and the scraping teeth are located below the scrapers, and contact with the surface of the mop cloth during the process of up-and-down movement of the carrier housing 36, so as to scrape the hairs in the mop cloth. Preferably, the scraping teeth are also detachably connected to the carrying case 36, so that both the scraping blade 35 and the scraping teeth can be removed from the carrying case 36 for cleaning or replacement. The second drive motor 38 is in this embodiment mounted in a motor mount which is mounted on the support base 11. As shown in fig. 43, a first tension lever 350 and a second tension lever 351 are rotatably connected to the motor mount, a first tension pulley 352 is rotatably connected to a lower portion of the first tension lever 350, and a second tension pulley 353 is rotatably connected to a lower portion of the second tension lever 351. The first tensioning wheel 352 and the second tensioning wheel 353 are respectively located at two sides of the first synchronous belt 39, the first tensioning wheel 352 and the second tensioning wheel 353 are respectively in contact with a tight edge and a loose edge of the first synchronous belt 39, and meanwhile, the first tensioning rod 350 and the second tensioning rod 351 are connected through the tensioning spring 354, so that the first tensioning rod 350 and the second tensioning rod 351 are close to each other through the elastic force of the tensioning spring 354, and the first tensioning wheel 352 and the second tensioning wheel 353 tension the first synchronous belt 39. The coupling member 312 includes a first coupling portion 355 and a second coupling portion 356, the first coupling portion 355 and the second coupling portion 356 clamp the fastening edge of the first timing belt 39 from opposite sides of the fastening edge of the first timing belt 39, and the first coupling portion 355 and the second coupling portion 356 are coupled by threads. The other structure of this embodiment is the same as that of example 3.

Robot for dumping garbage

The utility model relates to a garbage dumping robot, which comprises a base, a moving device, a grabbing device and a driving device, wherein the base is provided with a base seat; the mobile device is fixedly arranged or rotatably arranged on the base; the gripping device is arranged on the moving device and can be driven by the moving device to perform vertical linear displacement or horizontal linear displacement; the grabbing device grabs a dust box of the cleaning robot, and the moving device moves the grabbing device and the dust box to a garbage can position; the driving device is arranged on the grabbing device; the driving device may unlock the dust box from the cleaning robot when the gripping device grips the dust box; when the moving device drives the grabbing device and the dust box to move to the upper part of the garbage can, the driving device can open and close the dust box to dump garbage.

The moving device of the garbage dumping robot comprises a vertical linear displacement mechanism and a transverse linear displacement mechanism; the gripping device is arranged on the vertical linear displacement mechanism or the transverse linear displacement mechanism; when the gripping device is arranged on the vertical linear displacement mechanism, the vertical linear displacement mechanism is arranged on the transverse linear displacement mechanism in a horizontally displaceable manner; when the gripping device is provided on the lateral linear displacement mechanism, the lateral linear displacement mechanism is provided on the vertical linear displacement mechanism so as to be vertically displaceable.

The utility model relates to a transverse linear displacement mechanism in a garbage dumping robot, which is a mechanism capable of linearly reciprocating in the horizontal direction; the vertical linear displacement mechanism refers to a structure linearly reciprocally displaceable in the vertical direction. In the following embodiments, any mechanism that can achieve the above-described function may be used as the vertical linear displacement mechanism or the lateral linear displacement mechanism.

Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

Example 7

As shown in fig. 53 and 54, the grasping apparatus 2 includes a grasping housing including a grasping lower cover 212 and a grasping upper cover mounted on the grasping lower cover 212, a grasping mechanism provided on the grasping housing, and a distance detection sensor 24. The grabbing mechanism is a magnetic grabbing mechanism, and the other embodiments further comprise grabbing modes such as grabbing through two sides of the dust box, for example, the grabbing mechanism is set as a mechanical claw. In the present embodiment, the grabbing mechanism includes two electromagnets 221, and the two electromagnets 221 are disposed on the grabbing lower cover 212. As shown in fig. 56, the lower surface of the lower grasping cover 212 is provided with a receiving hole corresponding to each electromagnet 221, one electromagnet 221 is installed in one receiving hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the lower grasping cover 212. As shown in fig. 16, when one of the attracting iron pieces 31 is provided on the upper surface of the dust box 3 with respect to each of the electromagnets 221, the electromagnet 221 of the grasping apparatus 2 grasps the dust box 3 by the attracting iron piece 31 of the dust box 3. The distance detection sensor 24 is installed in the grip lower cover 212, and the distance detection probe 241 of the distance detection mechanism penetrates through the lower surface of the grip lower cover 212, as shown in fig. 15, and the distance detection probe 241 is parallel to the lower surface of the grip lower cover 212.

As shown in fig. 53, 54 and 55, the driving means includes a first driving motor 235, a first gear 236, a first rack 233, a second rack 234, a first lift bar 231, a second lift bar 232, a first photosensor 2315, a second photosensor 2316 and a third photosensor 2317. A first guide rail 213 and a second guide rail 214 are arranged on the grabbing lower cover 212, the guiding directions of the first guide rail 213 and the second guide rail 214 are vertically arranged downwards, and the sections of the first guide rail 213 and the second guide rail 214 are both circular. A first cylindrical slider 237 is arranged on the first rack 233, the first cylindrical slider 237 of the first rack 233 is slidably connected in the first guide rail 213, a second cylindrical slider 238 is arranged on the second rack 234, and the second cylindrical slider 238 of the second rack 234 is slidably connected in the second guide rail 214. The first driving motor 235 is fixedly installed on the grabbing lower cover 212, the first gear 236 is fixedly installed on an output shaft of the first driving motor 235, wherein the first rack 233 and the second rack 234 are respectively arranged at two opposite sides of the first gear 236, and a rack surface of the first rack 233 is arranged opposite to a rack surface of the second rack 234; the first and second racks 233 and 234 are engaged with the first gear 236. The first rack 233 and the second rack 234 can be driven to lift vertically by the forward and reverse rotation of the output shaft of the first driving motor 235; since the first rack 233 and the second rack 234 are engaged with both sides of the first gear 236, respectively, when the first rack 233 ascends, the second rack 234 descends, and when the first rack 233 descends, the second rack 234 ascends.

As shown in fig. 55, the first push rod 231 is disposed at the lower end of the first slide block 237, and a first buffer spring is disposed at the lower end of the first push rod 231, so that when the first rack 233 moves downwards, the first push rod 231 can be driven to move downwards, and the first buffer spring can buffer the first push rod 231, thereby preventing other parts from being damaged due to excessive movement of the first push rod 231. As shown in fig. 55, the second push rod 232 is disposed at the lower end of the second slide block, and a second buffer spring is disposed at the lower end of the second push rod 232, so that when the second rack 234 moves downwards, the second push rod 232 can be driven to move downwards, and the second buffer spring can buffer the second push rod 232, thereby preventing other parts from being damaged due to excessive movement of the second push rod 232. As shown in fig. 56, through holes through which the first lift pins 231 and the second lift pins 232 pass are respectively provided on the lower surface of the grasping lower cover 212. Therefore, the first and second push rods 231 and 232 can be driven to pass through the through holes along the vertical direction through the positive and negative rotation of the output shaft of the first driving motor 235.

As shown in fig. 55, a first detecting member 2313 is further disposed on the first rack 233, wherein the first detecting member 2313 is located at a lower end position of the first rack 233; a second detecting member 2314 is further disposed on the second rack 234, wherein the second detecting member 2314 is located at a middle position of the second rack 234. A detection bracket is further installed in the grabbing lower cover, and the first photoelectric sensor 2315, the second photoelectric sensor 2316 and the third photoelectric sensor 2317 are all installed on the detection bracket. The first photosensor 2315 is disposed above the second photosensor 2316 in the vertical direction, the first photosensor 2315 and the second photosensor 2316 are used to detect the first detecting member 2313, and the third photosensor 2317 is used to detect the second detecting member 2314. When the third photoelectric sensor 2317 detects the second detection piece 2314, which represents that the first rack 233 and the second rack 234 are located at the initial positions, the lower end surfaces of the first ejector rod 231 and the second ejector rod 232 are flush with the lower surface of the grabbing lower cover; when the first photoelectric sensor 2315 detects the first detecting member 2313, the first rack 233 is located at the highest position, the second rack 234 is located at the lowest position, the first push rod 231 is retracted into the interior of the lower cover, and the second push rod 232 protrudes and grabs the lower surface of the lower cover; when the second photo sensor 2316 detects the first detecting member 2313, the first rack 233 is located at the lowest position, the second rack 234 is located at the highest position, the first push rod 231 protrudes and grasps the lower surface of the lower cover, and the second push rod 232 retracts inside the lower cover.

The first input end of the controller is connected with the output end of the distance detection sensor 24, the second input end of the controller is connected with the output end of the first photoelectric sensor 2315, the third input end of the controller is connected with the output end of the second photoelectric sensor 2316, the fourth input end of the controller is connected with the output end of the third photoelectric sensor 2317, the first output end of the controller is connected with the input end of the electromagnet 221, and the second output end of the controller is connected with the input end of the first driving motor 235.

Mobile device

As shown in fig. 58, the garbage dumping robot 1 includes a base 11, a supporting arm 13, and a moving device 12 disposed above the base 11, and a charging mechanism for charging the cleaning robot 4 is further disposed on the base 11, the charging mechanism includes two charging contacts 111 disposed on the base 11, and when the cleaning robot 4 moves to the garbage dumping robot, the cleaning robot 4 contacts with the two charging contacts 111 to perform charging. The supporting arm 13 is fixedly installed above the base 11, and the supporting arm 13 is in an inverted L shape and semi-surrounds the mobile device 12. As shown in fig. 18, the moving device 12 includes a rotating housing 121, an upper rotating shaft 122 and a lower rotating shaft 123, the upper rotating shaft 122 is fixedly installed at the upper end of the rotating housing 121, and the lower rotating shaft 123 is fixedly installed at the lower end of the rotating housing 121; wherein the upper rotary shaft 122 is rotatably coupled to the support arm 13, and the lower rotary shaft 123 is rotatably coupled to the base 11, so that the rotary housing 121 can be rotated between the support arm 13 and the base 11. The upper rotation shaft 122 at the upper end of the rotary case 121 by the support arm 13 provides rotational support, thereby improving the smoothness of the rotation of the rotary case 121.

As shown in fig. 60, a rotation driving mechanism is provided in the base 11 to drive the moving device 12 to rotate. The rotation driving mechanism includes a second driving motor 125 disposed in the base 11, an output shaft of the second driving motor 125 is disposed vertically downward, a second gear 126 is mounted on the output shaft of the second driving motor 125, the second gear 126 and a third gear 127 are driven by a plurality of gears, and the third gear 127 is coaxially and fixedly connected with the lower rotation shaft 123. Therefore, the rotation of the output shaft of the second driving motor 125 can drive the lower rotating shaft 123 and the rotating housing 121 to rotate. As shown in fig. 61, a fourth photosensor 132 and a fifth photosensor 133 are mounted on the upper end of the support arm 13, the upper rotation shaft 122 penetrates the inside of the support arm 13 and is connected with a third detection piece 129 and an eighth detection piece 128, the fourth photosensor 132 is used for detecting the eighth detection piece 128, the fifth photosensor 133 is used for detecting the third detection piece 129, wherein the initial position of the third detection piece 129 is located at the position detected by the fifth photosensor 133, when the rotation shaft 122 rotates 90 °, the third detection piece 129 and the eighth detection piece 128 rotate 90 ° along with the rotation shaft 122, at which time the fifth photosensor 133 cannot detect the third detection piece 129, and the fourth photosensor 132 can detect the eighth detection piece 128.

As shown in fig. 62, the moving device 12 further includes a lifting platform 1210, a seventh rack 1211, a third driving motor 1212, a fourth gear 1213, a sixth photoelectric sensor 1215, a seventh photoelectric sensor 1216, and a sixth guide rail 1217 disposed in the rotating housing 121, wherein the seventh rack 1211 and the sixth guide rail 1217 are disposed in a vertical direction, and the seventh rack 1211 and the sixth guide rail 1217 are fixedly disposed in the rotating housing 121. The lifting platform 1210 slides on the sixth guide rail along the vertical direction, the third driving motor 1212 is fixedly installed on the lifting platform 1210, and the output shaft of the third driving motor 1212 is coaxially and fixedly connected with the fourth gear 1213; the fourth gear 1213 is engaged with the seventh rack 1211, and the fourth gear 1213 is driven by the rotation of the output shaft of the third driving motor 1212, and the fourth gear 1213 is engaged with the seventh rack 1229 to drive the lifting platform 1210 to lift. As shown in fig. 62, a sixth photoelectric sensor 1215 is installed at the upper portion in the rotary housing 121, a seventh photoelectric sensor 1216 is installed at the lower portion in the rotary housing 121, and a fourth detecting element 1218 and a ninth detecting element 1231 are also installed on the elevating platform 1210, the sixth photoelectric sensor 1215 is used for detecting the ninth detecting element 1231, and the seventh photoelectric sensor 1216 is used for detecting the fourth detecting element 1218. When the lifting platform 1210 moves upwards to the sixth photoelectric sensor 1215 to detect the ninth detecting element 1231, the lifting platform 1210 moves to the highest position; when the lifting platform 1210 moves downward until the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 moves to the low-high position.

As shown in fig. 63, a fourth driving motor 1219, a second guide bar 1220, a third rack 1221, an eighth photosensor 1222, and a ninth photosensor 1223 are provided on the lifting platform 1210, the second guide bar 1220 and the third rack 1221 are arranged in parallel, the second guide bar 1220 is parallel to the horizontal direction, a second guide hole for the second guide bar 1220 to pass through is provided on the lifting platform 1210, and a third guide hole for the third rack 1221 to pass through is provided on the lifting platform 1210. A fourth driving motor 1219 is fixedly mounted on the lifting platform 1210, and a sixth gear 1224 is coaxially and fixedly connected to an output shaft of the fourth driving motor 1219, and the sixth gear 1224 is engaged with the third rack 1221. Meanwhile, the second guide rod 1220 and the third rack 1221 are both fixedly connected to the grabbing device 2, and then the output shaft of the fourth driving motor 1219 can drive the grabbing device 2 to move along the guide direction of the second guide rod 1220 through the sixth gear 1224 and the third rack 1221 after rotating. Eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 fixed mounting is on lift platform 1210, and eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 set gradually along the length direction of third rack 1221, still is equipped with fifth detector 1226 in the one end of third rack 1221, and this eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 are used for detecting fifth detector 1226. As shown in fig. 63, when the third rack 1221 moves to the left until the eighth photosensor 1222 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position closest to the elevating platform 1210; when the third rack 1221 moves to the right until the ninth photosensor 1223 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position farthest from the lifting platform 1210.

As shown in fig. 59, a first moving slot 1227 is further disposed on the rotary housing 121 opposite to the second guide bar 1220, a second moving slot is further disposed on the rotary housing 121 opposite to the third rack 1221, the first moving slot and the second moving slot are both opened along the vertical direction, the second guide bar 1220 passes through the first moving slot and is connected to the gripping device 2, and the third rack 1221 passes through the second moving slot and is connected to the gripping device 2.

A fifth input terminal of the controller is connected to the output terminal of the fourth photosensor 132, a sixth input terminal of the controller is connected to the output terminal of the fifth photosensor 133, a seventh input terminal of the controller is connected to the output terminal of the sixth photosensor 1215, an eighth input terminal of the controller is connected to the output terminal of the seventh photosensor 1216, a ninth input terminal of the controller is connected to the output terminal of the eighth photosensor 1222, and a tenth input terminal of the controller is connected to the output terminal of the ninth photosensor 1223. A third output of the controller is connected to an input of the second drive motor 125, a fourth output of the controller is connected to an input of the third drive motor 1212, and a fifth output of the controller is connected to an input of the fourth drive motor 1219.

The specific working steps of the garbage dumping robot in this specific embodiment are as follows:

s1, after the cleaning robot 4 finishes sweeping, the cleaning robot 4 searches and finds the position of the garbage dumping robot;

s2, the cleaning robot 4 moves to the garbage dumping robot position, and whether the cleaning robot 4 is located at the set position is calibrated;

s3, the garbage dumping robot charges the cleaning robot 4;

s4, the initial position of the grabbing device 2 is as shown in fig. 23, the controller controls the output shaft of the second driving motor 125 to rotate counterclockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s5, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the rotating housing 121 rotates clockwise by 90 °, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 moves away from the rotating housing 121;

s6, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 moves to above the dust box 3 and the grabbing device 2 is located above the dust box 3 in the vertical direction, at which time the controller controls the fourth driving motor 1219 to stop moving; when the ninth photoelectric sensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213 to drive the lifting platform 1210 and the grabbing device 2 to move downward;

s7, when the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 and the grabbing device 2 move to the lowest position as shown in fig. 10, and at this time, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detecting element 1218, the controller controls the output shaft of the first driving motor 235 to rotate clockwise, the output shaft of the first driving motor 235 drives the second push rod 232 located at the initial position to descend through the first gear 236 and the second rack 234, and the output shaft of the first driving motor 235 drives the first push rod 231 located at the initial position to ascend through the first gear 236 and the first rack 233;

s8, when the first photo sensor 2315 detects the first detecting element 2313, the first push rod 231 moves to the highest position, the second push rod 232 moves to the lowest position, and at this time, the controller controls the first driving motor 235 to stop moving, and the second push rod 232 descends to press the unlocking button 32 of the dust box 3, so that the dust box 3 is no longer connected to the cleaning robot 4; meanwhile, when the first photosensor 2315 detects the first detecting member 2313, the controller controls the electromagnet 221 to generate an attraction force, thereby magnetically attracting the dust box 3 to the grasping apparatus 2;

s9, the controller controls the output shaft of the third driving motor 1212 to rotate counterclockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213 to drive the lifting platform 1210, the grabbing device 2, and the dust box 3 to move upward;

s10, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the highest position, and at this time, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photosensor 1215 detects the ninth detecting element 1231, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, as shown in fig. 21, the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s11, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate clockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s12, when the fifth photo sensor 133 detects the third detecting element 129, the rotating housing 121 rotates 90 ° counterclockwise, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the fifth photosensor 133 detects the third detecting element 129, as shown in fig. 22, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 moves away from the rotating housing 121;

s13, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to above the trash can 5, and at this time, the controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the first driving motor 235 to rotate counterclockwise, the output shaft of the motor drives the second push rod 232 located at the lowest position to ascend through the first gear 236 and the second rack 234, and the output shaft of the motor drives the first push rod 231 located at the highest position to descend through the gear and the first rack 233;

s14, when the second photo sensor 2316 detects the first detecting element 2313, the first ejector 231 moves to the lowest position, the second ejector 232 moves to the highest position, and at this time, the controller controls the first driving motor 235 to stop moving, and after the first ejector 231 descends and presses the lid opening button 33 of the dust box 3, the lower lid of the dust box 3 can be opened for dumping; in order to improve the material pouring effect of the dust box 3, the first push rod 231 can be controlled to move back and forth for a plurality of times between the initial position and the lowest position, so that the lower cover of the dust box 3 can be driven to open the cover for a plurality of times. S15, after the dust box 3 is dumped, the controller controls the output shaft of the first driving motor 235 to rotate clockwise, the output shaft of the motor drives the second top rod 232 located at the highest position to descend through the gear and the second rack 234, and the output shaft of the motor drives the first top rod 231 located at the lowest position to ascend through the gear and the first rack 233;

s16, when the third photo sensor 2317 detects the second detecting element 2314, the first and second push rods 231, 232 move to the initial positions, and at this time, the controller controls the first driving motor 235 to stop moving; at this time, the lower cover of the dust box 3 is closed; meanwhile, when the third photosensor 2317 detects the second detecting element 2314, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping device 2 and the dust box 3 connected to the third rack 1221 move close to the rotating housing 121;

s17, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate counterclockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s18, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the rotating housing 121 rotates clockwise by 90 °, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the fourth photosensor 132 detects the eighth detecting element 128, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grabbing device 2 connected to the third rack 1221 and the dust box 3 move away from the rotating housing 121;

s19, when the ninth photosensor 1223 detects the fifth detector 1226, the gripping device 2 and the dust box 3 move to above the cleaning robot 4, and the dust box 3 is located above the cleaning robot 4 in the vertical direction, at which time the controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210, the grabbing device 2, and the dust box 3 to move downward;

s20, when the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the lowest position, at which time the dust box 3 is installed in the cleaning robot 4, and the controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the controller controls the electromagnet 221 to stop working;

s21, after the preset time when the third driving motor 1212 stops moving, in this embodiment, the preset time may be 1 second, the controller controls the output shaft of the third driving motor 1212 to rotate counterclockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210 and the grabbing device 2 to move upward;

s22, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the lifting platform 1210 and the gripping device 2 move to the highest position, and at this time, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s23, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 moves to a position close to the rotating case 121, at which time the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate clockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s24, when the fifth photo sensor 133 detects the third detecting member 129, the rotating housing 121 rotates 90 ° counterclockwise, and the grasping apparatus 2 returns to the initial position, and when the fifth photo sensor 133 detects the third detecting member 129, the controller controls the second driving motor 125 to stop moving.

In the process from step S9 to step S19, the distance detection probe 241 detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the controller, and the controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the controller determines whether the dust box 3 falls or not according to the measurement value.

Of course, in this embodiment, the gripping device of the garbage dumping robot can also grip a new disposable dust box to be installed on the cleaning robot.

Example 8

As shown in fig. 65, the garbage dumping robot in the present embodiment includes a moving device 12, a gripping device 2, a housing, a driving device, and a controller. To facilitate understanding of the structure and the operation principle of the garbage dumping robot, the moving device 12, the gripping device 2, the driving device, the dust box 3 and the housing will now be described separately as follows:

the dust box 3 comprises a dust box body 35, an upper cover 36 and a lower cover 37, wherein the dust box body 35 is a frame structure with an upper opening and a lower opening, and the upper cover 36 is fixedly arranged on the dust box body 35 so as to seal the upper opening of the dust box body 35; the lower cover 37 is rotatably connected to the lower portion of the dust box body 35, and when the lower cover 37 is rotated to be fitted to the lower opening of the dust box body 35, the lower cover 37 seals the lower opening of the dust box body 35. Still be equipped with two first magnets on lower cover 37, two first magnets are located lower cover 37 on lower cover 37 and the opposite side that dust box body 35 rotated and is connected, also are equipped with the second magnet that attracts with first magnet simultaneously in dust box body 35 lower part, and when lower cover 37 rotated to with dust box body 35 below opening laminating, first magnet on lower cover 37 and the second magnet on dust box body 35 adsorb to make lower cover 37 seal the below opening of dust box body 35.

The unlocking mechanism in this embodiment is provided along the width direction of the dust box 3. The structure of the unlocking mechanism is unchanged.

The dust box body 35 is provided with a dust storage chamber therein, the lower end of each lid opening button 33 is connected with a lid opening push rod 354 after passing through the upper lid 36, the lower end of the lid opening push rod 354 contacts with the contact protrusion on the upper surface of the lower lid 37, and the lower lid 37 can be pushed open by the descending of the lid opening push rod 354 when the lid opening button 33 is pressed. The lower cover 37 rotates along the rotational connection between the lower cover 37 and the dust box body 35, and the garbage in the dust box 3 falls into the garbage can through the opening below the dust box body 35.

After the dust box dumps the garbage, the dust box 3 is moved to enable the lower cover of the dust box 3 to be in contact with the edge of the opening of the garbage can, the edge of the opening of the garbage can abuts against the lower cover of the dust box 3 to rotate, and therefore the lower cover of the dust box 3 is closed.

The gripping device 2 comprises a gripper fixing plate, a gripping mechanism and a distance detection sensor 24, the gripping mechanism is a magnetic suction gripping mechanism, and the gripping device further comprises gripping modes such as gripping through two sides of a gripping dust box in other embodiments. The gripping mechanism comprises two electromagnets 221, and the two electromagnets 221 are arranged on the gripper fixing plate. The lower surface of the gripper fixing plate is provided with a containing hole corresponding to each electromagnet 221, one electromagnet 221 is installed in the containing hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the gripper fixing plate. An electromagnet mounting seat 222 is provided on the grip fixing plate opposite to each electromagnet 221, and an electromagnet 221 is mounted on the upper surface of the grip fixing plate through an electromagnet mounting seat 222. An iron sheet 31 is provided on the upper surface of the dust box 3 opposite to each electromagnet 221, and the electromagnet 221 of the dust box grasping apparatus 2 grasps the dust box 3 by passing through the iron sheet 31 on the dust box 3. The distance detecting sensor 24 is mounted on the grip fixing plate, and the distance detecting probe of the distance detecting mechanism passes through the lower surface of the grip fixing plate, as shown in fig. 56, and is parallel to the lower surface of the grip fixing plate.

As shown in fig. 66, the driving device includes a driving cam 2319, a steering engine 2320, a steering engine mounting seat, a first driving connecting rod 2328, a second driving connecting rod 2322, a third ejector rod 2323, a third ejector rod mounting seat, a fourth ejector rod 2324 and a fourth ejector rod mounting seat 2325. Steering wheel mount pad, third ejector pin mount pad and fourth ejector pin mount pad 2325 all fixed mounting at the upper surface of tongs fixed plate. The steering engine 2320 is installed on the steering engine mounting seat, and the output pivot of steering engine 2320 vertically passes the steering engine mounting seat downwards to fixed mounting has drive cam 2319 on the output shaft of steering engine 2320. The upper end of the fourth mandril 2324 passes through a fourth mandril installation seat 2325, and the fourth mandril 2324 can reciprocate on the fourth mandril installation seat 2325 to lift. The fourth top bar 2324 is connected to the second driving connecting rod 2322, and the fourth top bar 2324 can be driven to lift by the vertical lifting of the second driving connecting rod 2322. The upper end of the third mandril 2323 passes through the third mandril installation seat, and the third mandril 2323 can reciprocate on the third mandril installation seat to lift. The third top bar 2323 is connected to the first driving connecting rod 2328, and the third top bar 2323 can be driven to lift by the vertical lifting of the first driving connecting rod 2328.

As shown in fig. 67, an inclined groove is formed on the circumferential surface of the driving cam 2319, one end of each of the first driving connecting rod 2328 and the second driving connecting rod 2322 is slidably connected with the groove on the driving cam 2319, and the inclined directions of the grooves in which one end of each of the first driving connecting rod 2328 and the second driving connecting rod 2322 is located are opposite; the driving cam 2319 is driven to rotate to drive the first driving connecting rod 2328 or the second driving connecting rod 2322 to ascend and descend, so that the third top bar 2323 or the fourth top bar 2324 is driven to ascend and descend. When the driving cam 2319 drives the first driving connecting rod 2328 to ascend, the driving cam 2319 drives the second driving connecting rod 2322 to descend, and when the driving cam 2319 drives the first driving connecting rod 2328 to descend, the driving cam 2319 drives the second driving connecting rod 2322 to ascend.

As shown in fig. 65 and 68, the garbage dumping robot 1 includes a base, a support 14, and a moving device. The mobile device comprises a transverse driving mechanism and a vertical driving mechanism, a charging mechanism used for charging the cleaning robot 4 is further arranged on the base, the charging mechanism is two charging contacts arranged on the base, and when the cleaning robot 4 moves to the garbage dumping robot, the cleaning robot 4 is in contact with the two charging contacts to charge. The bracket 14 is fixedly installed above the base, as shown in fig. 68, the bracket 14 includes a first support 141, a second support 142, a third guide rail 143, and a fourth guide rail 144, the first support 141 and the second support 142 are fixedly installed on the base along the vertical direction, the third guide rail 143 and the fourth guide rail 144 are fixedly connected between the first support 141 and the second support 142, and the third guide rail 143 and the fourth guide rail 144 are perpendicular to the first support 141, wherein the third guide rail 143 is above the fourth guide rail 144.

As shown in fig. 68, the lateral driving mechanism includes a fifth driving motor 151, a first pulley 152, a second pulley 154, a first belt 153, a tenth photosensor and an eleventh photosensor, the fifth driving motor 151 is fixedly mounted on the second support 142, an output shaft of the fifth driving motor 151 is vertically and downwardly disposed and connected with the first pulley 152, the second pulley 154 is rotatably mounted on the first support 141, and the first pulley 152 and the second pulley 154 are connected through the first belt 153. The tenth photosensor is fixedly mounted on the first support 141, the eleventh photosensor is fixedly mounted on the second support 142, and both the tenth photosensor and the eleventh photosensor are used to detect a sixth detection element described later.

As shown in fig. 68, the vertical driving mechanism includes a first carriage, a sixth driving motor 162, a third belt wheel 163, a fourth belt wheel 165, a second belt 164, a connecting member 166, a fifth guide rail 167, a sixth detecting member, a twelfth photoelectric sensor and a thirteenth photoelectric sensor, the first carriage is slidably connected to the third guide rail 143 and the fourth guide rail 144, and the first carriage is further fixedly connected to the first belt 153, so that the first carriage can be driven to slide on the third guide rail 143 and the fourth guide rail 144 by the rotation of the output shaft of the fifth driving motor 151. The sixth driving motor 162 and the fifth guide rail are fixedly installed on the first carriage, the guiding direction of the fifth guide rail is parallel to the vertical direction, and the connecting member 166 is slidably connected to the fifth guide rail. The output shaft of the sixth driving motor 162 is coaxially provided with a third pulley 163, and a fourth pulley 165 is rotatably mounted on the first carriage, wherein the fourth pulley 165 is located below the third pulley 163 in the vertical direction, and the third pulley 163 and the fourth pulley 165 are connected by a second belt 164. The connecting member 166 is fixedly connected to the second belt 164, and the connecting member 166 is fixedly connected to the gripper fixing plate of the gripper device 2. The rotation of the output shaft of the sixth driving motor 162 can drive the connecting member 166 and the grabbing device 2 to slide on the fifth guide rail. The sixth detecting member is fixedly provided on the first carriage.

The twelfth photoelectric sensor and the thirteenth photoelectric sensor are both fixedly mounted on the first carriage, the twelfth photoelectric sensor is located above the thirteenth photoelectric sensor, a seventh detection piece is further arranged on the connecting piece 166, and the twelfth photoelectric sensor and the thirteenth photoelectric sensor are used for detecting the seventh detection piece.

The first input end of the controller is connected with the output end of the tenth photoelectric sensor, the second input end of the controller is connected with the output end of the eleventh photoelectric sensor, the third input end of the controller is connected with the output end of the twelfth photoelectric sensor, and the fourth input end of the controller is connected with the output end of the thirteenth photoelectric sensor. The first output end of the controller is connected with the input end of the steering engine 2320, the second output end of the controller is connected with the input end of the fifth driving motor 151, and the third output end of the controller is connected with the input end of the sixth driving motor 162.

The shell is arranged on the upper portion of the base, structures except the base in the mobile device 12 are coated by the shell, a mounting hole for mounting the garbage can is formed in the side face of the shell, the garbage can is mounted on the shell through the mounting hole, and the garbage can also be taken out from the mounting hole to be dumped. The top of the shell is also provided with a garbage opening which is positioned right above the garbage can, and the garbage opening is provided with a rotating cover plate which can seal the garbage opening.

The specific working principle of the garbage dumping robot in this embodiment is as follows:

s1, after the cleaning robot 4 finishes sweeping, the cleaning robot 4 searches and finds the position of the garbage dumping robot;

s2, the cleaning robot 4 moves to the garbage dumping robot position, and whether the cleaning robot 4 is located at the set position is calibrated;

s3, the garbage dumping robot charges the cleaning robot 4;

s4, the initial position of the gripping device 2 is located right above the dust box in the cleaning robot 4, the controller controls the output shaft of the sixth driving motor 162 to rotate counterclockwise, and the output shaft of the sixth driving motor drives the connecting member 166 and the gripping device 2 to move downward through the second belt 164;

s5, when the thirteenth photoelectric sensor detects the seventh detecting element, the connecting element 166 and the grabbing device 2 move to the lowest position, and at this time, the controller controls the sixth driving motor 162 to stop moving; meanwhile, when the thirteenth photoelectric sensor detects a seventh detection piece, the controller controls the steering engine to rotate for 90 degrees;

s6, after the steering engine rotates by 90 degrees to drive the driving cam 2319 to rotate by 90 degrees, the third ejector rod 2323 moves to the lowest position, the fourth ejector rod 2324 moves to the highest position, and the third ejector rod 2323 descends to press the unlocking button 32 of the dust box 3, so that the dust box 3 is not connected with the cleaning robot 4 any more; when the steering engine rotates 90 degrees, the controller controls the electromagnet 221 to generate suction force, so that the dust box 3 is magnetically adsorbed on the grabbing device 2;

s7, the controller controls the output shaft of the sixth driving motor 162 to rotate clockwise, and the output shaft of the sixth driving motor drives the connecting member 166, the gripping device 2, and the dust box 3 to move upward through the second belt 164;

s8, when the twelfth photo sensor detects the seventh detecting element, the connecting element 166, the gripping device 2, and the dust box 3 move to the highest position, and the controller controls the sixth driving motor 162 to stop moving; meanwhile, when the twelfth photoelectric sensor detects the seventh detecting element, the controller controls the output shaft of the fifth driving motor 151 to rotate clockwise, and the output shaft of the fifth driving motor 151 drives the first sliding frame, the connecting element 166, the gripping device 2 and the dust box 3 to move leftward through the first belt 153;

s9, when the tenth photo sensor detects the sixth detecting element, the first carriage drives the connecting element 166, the grabbing device 2 and the dust box 3 to move above the trash can 5, and at this time, the controller controls the fifth driving motor 151 to stop moving; meanwhile, when the tenth photoelectric sensor detects the sixth detection piece, the controller controls the steering engine to rotate 180 degrees;

s10, after the steering engine rotates 180 degrees to drive the driving cam 2319 to rotate 180 degrees, the fourth ejector rod 2324 moves to the lowest position, the third ejector rod 2323 moves to the highest position, and the lower cover of the dust box 3 can be opened for dumping after the fourth ejector rod 2324 descends and presses the cover opening button 33 of the dust box 3;

s11, after the dust box 3 is dumped, the controller controls the steering engine to rotate for 90 degrees;

s12, after the steering engine rotates by 90 degrees to drive the driving cam 2319 to rotate by 90 degrees, the third ejector rod 2323 and the fourth ejector rod 2324 move to initial positions at the moment;

s13, the controller controls the output shaft of the fifth driving motor 151 to rotate counterclockwise, and the output shaft of the fifth driving motor 151 drives the first carriage, the connecting member 166, the gripping device 2, and the dust box 3 to move rightward through the first belt 153; in the process that the dust box 3 moves rightwards, the lower cover of the dust box 3 is contacted with the edge of the opening of the garbage can, and the edge of the opening of the garbage can props against the lower cover of the dust box 3 to rotate, so that the lower cover of the dust box 3 is closed;

s14, when the eleventh photo sensor detects the sixth detecting element, the first carriage drives the connecting element 166 and the grabbing device 2 to move to the initial position in the left-right direction, and at this time, the controller controls the fifth driving motor 151 to stop moving; meanwhile, when the eleventh photoelectric sensor detects the sixth detection piece, the controller controls the output shaft of the sixth driving motor 162 to rotate counterclockwise, and the output shaft of the sixth driving motor drives the connecting piece 166, the grabbing device 2 and the dust box 3 to move downward through the second belt 164;

s15, when the thirteenth photoelectric sensor detects the seventh detecting element, the connecting element 166, the gripping device 2, and the dust box 3 move to the lowest position, and the controller controls the sixth driving motor to stop working, and at this time, the dust box 3 is installed in the cleaning robot 4; meanwhile, the controller controls the electromagnet 221 to stop working;

s16, after the preset time for the sixth driving motor to stop moving, which may be 1 second in this embodiment, the controller controls the output shaft of the sixth driving motor 162 to rotate clockwise, and the output shaft of the sixth driving motor drives the connecting member 166 and the gripping device 2 to move upward through the second belt 164;

s17, when the twelfth photo sensor detects the seventh detecting element, the connecting element 166 and the grabbing device 2 move to the initial position in the vertical direction, and the controller controls the sixth driving motor 162 to stop moving.

In the process from the step S7 to the step S15, the distance detection probe detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the controller, and the controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the controller determines whether the dust box 3 falls or not according to the measurement value.

Example 9

As shown in fig. 69, in this embodiment, the garbage dumping robot includes a moving device 12, a gripping device 2, a driving device, a housing and a controller, and the structures and the working principles of the gripping device, the driving device and the housing in this embodiment are the same as those in embodiment 7, and therefore, the description thereof is omitted. .

The structure of the mobile device will now be described in detail:

as shown in fig. 69, the garbage dumping robot 1 includes a base, a support 14, and a moving device. The mobile device comprises a transverse driving mechanism and a vertical driving mechanism, a charging mechanism used for charging the cleaning robot 4 is further arranged on the base, the charging mechanism is two charging contacts arranged on the base, and when the cleaning robot 4 moves to the garbage dumping robot, the cleaning robot 4 is in contact with the two charging contacts to charge. The bracket is fixedly mounted above the base, and as shown in fig. 69, the bracket has a rectangular parallelepiped shape.

The transverse driving mechanism comprises a seventh driving motor 171, a moving platform 172, a fourth rack 173 and two third guide rods 174, wherein the two third guide rods 174 are fixedly installed on the bracket 14 in parallel, the moving platform 172 is slidably connected onto the two third guide rods 174, the seventh driving motor 171 is fixedly installed on the moving platform 172, a seventh gear 175 is fixedly installed on an output shaft of the seventh driving motor 171, the seventh gear 175 is engaged with the fourth rack 173, the fourth rack 173 is fixedly installed on the bracket 14, and the fourth rack 173 and the third guide rods 174 are arranged in parallel. The moving platform 172 is reciprocally slid on the third guide bar 174 by the rotation of the output shaft of the seventh driving motor 171.

As shown in fig. 70, the vertical driving mechanism includes an eighth driving motor 181, a fifth rack 182, a sixth rack 183, a telescopic arm 186, an eighth gear 187, and a ninth gear 188, the eighth driving motor 181, the fifth rack 182, and the sixth rack 183 are all disposed on the moving platform 172, the fifth rack 182 and the sixth rack 183 are disposed in parallel with the third guide bar 174, a third slider 184 is further disposed on the fifth rack 182, a fourth slider 185 is disposed on the sixth rack 183, the third slider 184 and the fourth slider 185 are both slidably connected inside the moving platform 172, and the moving directions of the third slider 184 and the fourth slider 185 are parallel with the third guide bar 174. A tenth gear 189 is coaxially installed on an output shaft of the eighth driving motor 181, the tenth gear 189 is respectively engaged with the fifth rack 182 and the sixth rack 183, the fifth rack 182 is engaged with an upper portion of the tenth gear 189, and the sixth rack 183 is engaged with a lower portion of the tenth gear 189, so that the fifth rack 182 and the sixth rack 183 are driven to move toward or away from each other by the rotation of the output shaft of the eighth driving motor 181. The first lever 1861 of the upper portion of the telescopic arm 186 is rotatably connected to the fifth rack 182, the second lever 1862 of the upper portion of the telescopic arm 186 is rotatably connected to the sixth rack 183, and the middle portion of the first lever 1861 is rotatably connected to the middle portion of the second lever 1862. A third strut 1863 at the lower portion of the telescopic arm 186 is rotatably connected to the grasping apparatus, and an eighth gear 187 is coaxially connected to a rotating shaft of the third strut 1863 rotatably connected to the grasping apparatus. The first strut 1861 is connected to the third strut 1863 through a fifth strut, wherein the fifth strut is rotatably connected to the first strut 1861, and the fifth strut is rotatably connected to the third strut 1863. A fourth strut 1864 at the lower portion of the telescopic arm 186 is rotatably connected to the grasping apparatus, and a ninth gear 188 is coaxially connected to a rotating shaft of the fourth strut 1864 rotatably connected to the grasping apparatus, and the eighth gear 187 is engaged with the ninth gear 188. The second supporting rod 1862 is connected with the fourth supporting rod 1864 through a sixth supporting rod, wherein the sixth supporting rod is rotatably connected with the second supporting rod 1862, and the fifth supporting rod is rotatably connected with the fourth supporting rod 1864; the middle part of the sixth supporting rod is rotatably connected with the middle part of the fifth supporting rod. The rotation of the output shaft of the eighth driving motor 181 drives the telescopic arm 186 to extend and retract via the fifth and sixth racks 182 and 183, so as to drive the grabbing device 2 to ascend and descend.

The specific working principle of the garbage dumping robot in this embodiment is as follows:

s1, after the cleaning robot 4 finishes sweeping, the cleaning robot 4 searches and finds the position of the garbage dumping robot;

s2, the cleaning robot 4 moves to the garbage dumping robot position, and whether the cleaning robot 4 is located at the set position is calibrated;

s3, the garbage dumping robot charges the cleaning robot 4;

s4, the initial position of the gripping device 2 is located right above a dust box in the cleaning robot 4, the controller controls the output shaft of the eighth driving motor 181 to rotate anticlockwise, the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move away from each other through the tenth gear 189, and therefore the telescopic arm is driven to extend to drive the gripping device 2 to move downwards;

s5, when the grabbing device 2 moves to the lowest position, the controller controls the eighth driving motor 181 to stop moving, and the controller controls the driving device to drive the dust box 3 to be no longer connected with the cleaning robot 4, and controls the grabbing device 2 to grab the dust box 3;

s6, after the grabbing device 2 grabs the dust box 3, the controller controls the output shaft of the eighth driving motor 181 to rotate clockwise, and the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move back to back through the tenth gear 189, so as to drive the telescopic arm to extend to drive the grabbing device 2 and the dust box 3 to move up;

s7, when the grasping apparatus 2 moves to the highest position, the controller controls the eighth driving motor 181 to stop moving, and the controller controls the output shaft of the seventh driving motor 171 to rotate counterclockwise, and the output shaft of the seventh driving motor 171 drives the moving platform 172 to move leftward through the seventh gear 175 and the fourth rack 173;

s8, when the moving platform 172, the gripping device 2 and the dust box move to the leftmost side, the gripping device 2 and the dust box 3 move to the upper side of the trash can 5, and at this time, the controller controls the seventh driving motor 171 to stop moving; then the controller controls the steering engine to rotate for 180 degrees;

s9, after the steering engine rotates 180 degrees to drive the driving cam 2319 to rotate 180 degrees, the two fourth top rods 2324 move to the lowest position, the third top rod 2323 moves to the highest position, and the fourth top rod 2324 descends to press the cover opening button 33 of the dust box 3 and then open the lower cover of the dust box 3 for dumping.

S10, after the dust box 3 is dumped, the controller controls the steering engine to rotate for 90 degrees;

s11, after the steering engine rotates by 90 degrees to drive the driving cam 2319 to rotate by 90 degrees, the third ejector rod 2323 and the fourth ejector rod 2324 move to initial positions at the moment;

s12, the controller controls the output shaft of the seventh driving motor 171 to rotate clockwise, and the output shaft of the seventh driving motor 171 drives the moving platform 172 to move rightward through the seventh gear 175 and the fourth rack 173; in the process that the dust box 3 moves rightwards, the lower cover of the dust box 3 is in contact with the edge of the opening of the garbage can, and the edge of the opening of the garbage can abuts against the lower cover of the dust box 3 to rotate, so that the lower cover of the dust box 3 is closed. Of course, the dust box 3 in example 7 can also be used in this embodiment, that is, when the lid-opening button on the dust box 3 is not pressed, the lower lid of the dust box 3 is automatically closed;

s13, when the moving platform 172, the gripping device 2 and the dust box move to the rightmost side, the controller controls the seventh driving motor 171 to stop moving; then the controller controls the output shaft of the eighth driving motor 181 to rotate counterclockwise (in fig. 29), and the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move away from each other through the tenth gear 189, so as to drive the telescopic arm to extend and drive the gripping device 2 and the dust box 3 to move downward;

s14, when the grasping device 2 moves to the lowest position, the controller controls the eighth driving motor 181 to stop moving, and the dust box 3 is mounted in the cleaning robot 4; meanwhile, the controller controls the electromagnet 221 to stop working;

s15, after the preset time for the eighth driving motor 181 to stop moving, in this embodiment, the preset time may be 1 second, the controller controls the output shaft of the eighth driving motor 181 to rotate clockwise, and the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move back to back through the tenth gear 189, so as to drive the telescopic arm to extend and drive the grabbing device 2 to move upward;

and S16, when the grabbing device 2 moves to the highest position, the grabbing device 2 moves to the initial position, and the controller controls the eighth driving motor 181 to stop moving.

Claims (15)

1. A cleaning robot system is characterized by comprising a cleaning robot, a cleaning robot and a garbage dumping robot, wherein the cleaning robot cleans and collects garbage; the cleaning robot can grab the floor mopping component of the cleaning robot and rotate and lift the floor mopping component to a non-horizontal state for cleaning and wiping water; the garbage dumping robot can grab the dust collecting mechanism of the cleaning robot to dump garbage to the position above the garbage can, and the garbage dumping opening of the dust collecting mechanism is closed after the garbage dumping is finished.

2. The cleaning robot system of claim 1, wherein the dust collection mechanism comprises a dust collection body, a sealing member for sealing the dust collection body; the cover opening mechanism and the resetting mechanism are arranged on the sealing element on the dust collecting body; the cover opening mechanism drives the sealing piece to open the garbage dumping opening of the dust collection body; the reset mechanism enables the opened sealing piece to seal the garbage dumping opening of the dust collection body.

3. The cleaning robot system of claim 2, wherein the door opening mechanism comprises an opening button, a transmission arm, a link mechanism; the transmission arm penetrates through the dust collection body and can move up and down; the cover opening button penetrates through the sealing piece and is fixedly connected with the transmission arm; the connecting rod mechanism is rotationally connected with the sealing element; the transmission arm drives the connecting rod mechanism to open the sealing element; the reset mechanism is arranged between the transmission arm and the dust collection body close to one side of the sealing piece.

4. The cleaning robot system of claim 3, wherein the link mechanisms are respectively disposed at two sides of the dust collecting body, and two ends of the transmission arm are respectively rotatably disposed on the link mechanisms to drive the link mechanisms to open the sealing member.

5. The cleaning robot system according to claim 1, wherein the cleaning robot includes a main body on which the cleaning mechanism and the driving mechanism are provided, and the driving mechanisms are provided on opposite sides of the main body, respectively; the driving mechanism comprises a driving shell, a crawler belt is arranged in the driving shell, a power transmission assembly is arranged on one side of the crawler belt, and a driving motor which is rotatably connected with the power transmission assembly is arranged in the crawler belt between two crawler wheels.

6. The cleaning robot system according to any one of claims 1 to 5, wherein a lifting mechanism is provided on the main body; the lifting mechanism comprises a horizontal reciprocating mechanism and a lifting component which are arranged in parallel in a staggered manner and can perform reverse horizontal linear displacement; the two horizontal reciprocating motion mechanisms drive the lifting assembly to linearly displace up and down to drive the mopping assembly to lift.

7. The cleaning robot system according to claim 6, wherein the horizontal linear reciprocating mechanism comprises two moving members which are arranged in parallel and staggered and can be horizontally linearly displaced toward or away from each other; racks respectively extend from one adjacent end of the two moving parts; and a gear is meshed between the racks of the two moving parts, and the gear drives the two moving parts to linearly reciprocate and oppositely or reversely move.

8. The cleaning robot system according to any one of claims 1 to 5, wherein the cleaning robot includes a base body on which a mop swab grip, a rotary lift, a cleaning device are provided; the mop grabbing device grabs the mop assembly separated from the cleaning robot; the rotating and lifting device rotates the grabbing device to enable the mopping assembly to be in a non-horizontal state, and lifts the mopping assembly to the cleaning device, and the cleaning device cleans the mopping assembly and scrapes water.

9. The cleaning robot system according to claim 8, wherein the rotary lifting device includes a lifting mechanism, a rotating mechanism rotatably provided on the lifting mechanism, and the grasping device is provided on the rotating mechanism.

10. The cleaning robot system of claim 9, wherein the rotation mechanism comprises a rotary member and a rotary drive mechanism; the rotating piece is rotationally connected with the lifting mechanism and fixedly connected with the mop grabbing device; and two ends of the rotary driving mechanism are respectively connected with the rotary piece and the lifting mechanism in a rotating way.

11. A cleaning robot system according to claim 8, characterized in that the mop swab catcher comprises a telescopic assembly or a snap mechanism; the retractable assembly or the buckle mechanism can grab or put down the mopping assembly.

12. The cleaning robot system according to any one of claims 1 to 5, wherein the garbage dumping robot includes a base, a moving device, a gripping device, a driving device; the mobile device is fixedly or rotatably arranged on the base; the gripping device is arranged on the moving device, grips a dust collecting mechanism of the cleaning robot and can move to the position above the dustbin under the driving of the moving device; the driving device is arranged on the moving device; the driving device may unlock the dust collecting mechanism from the cleaning robot when the gripping device grips the dust collecting mechanism; when the moving device drives the grabbing device and the dust collecting mechanism to move to the upper part of the garbage can, the driving device can open and close the dust collecting mechanism to dump garbage.

13. The cleaning robot system according to claim 12, wherein the moving means is rotatably provided on the base when the trash can is located outside the moving means, and the gripping means and the driving means are located outside the moving means, respectively; when the dustbin is positioned in the moving device, the moving device is fixedly arranged on the base, the gripping device and the driving device are positioned in the moving device shell, the base is provided with a placing cavity for accommodating the cleaning robot, and the base and the moving device are respectively provided with holes for the gripping device to pass through and grip the dust collecting mechanism.

14. The cleaning robot system according to claim 12, wherein the driving means includes a jack having two spaced-apart vertically linearly displaced pins; the two ejector rods respectively correspond to an unlocking button and a cover opening button on the dust collecting mechanism; when the two push rods respectively displace downwards, the push rods can apply pressure to the unlocking button or the uncovering button.

15. The cleaning robot system of claim 14, wherein two of the lift pins are respectively disposed in the gripper housing, and the two lift pins are driven by a rack and pinion mechanism or a cam linkage mechanism; when the mechanism is a gear rack mechanism, two ejector rods are respectively and fixedly connected with racks which are oppositely arranged, and a driving gear is meshed between the two racks; when the mechanism is a cam link mechanism, the two ejector rods are respectively and fixedly connected with a connecting rod, two opposite sides of the circumferential surface of the cam are respectively and symmetrically provided with two inclined grooves, the two inclined grooves are opposite in inclination, and one ends of the two connecting rods are respectively and slidably arranged in the corresponding inclined grooves.

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