CN221489855U - A fully automatic wall and floor mixed cleaning robot - Google Patents

Abstract

The utility model discloses a full-automatic wall-ground mixing cleaning robot, a robot box body is divided into a first cavity and a second cavity by an ash collecting box, the first cavity is divided into a cleaning liquid box and a lower cavity, a dust collection opening of the robot box body is communicated with the ash collecting box through a dust collection device pipeline, a plurality of rotatable brush discs capable of spraying liquid are arranged at the bottom of the lower cavity, a pair of tracks are arranged in the second cavity, a pair of gears meshed with the tracks and connected with the tracks in a sliding manner are connected to each track, two pairs of gear motors are arranged in the second cavity, shaft ends of the gear motors are connected with the gears, the lower end of each gear motor is connected with a cylinder with a downward output end, the cylinder penetrates through the bottom of the second cavity, the output end of the cylinder is connected with a movable sucker, the top of the box body is provided with a pair of mechanical arms, and cleaning mechanisms are arranged at the free ends of the mechanical arms. The cleaning robot has the functions of cleaning the ground and the wall.

Description

A fully automatic wall and floor mixed cleaning robot

Technical Field

The utility model relates to the field of sweeping robots, in particular to a full-automatic wall-floor mixed cleaning robot.

Background Art

A sweeping robot is a type of smart home appliance. Relying on artificial intelligence, it uses a brushing and sweeping method to absorb debris on the ground into its own garbage storage box, thereby completing floor cleaning and effectively reducing people's burden of sweeping the floor.

Walls are often neglected due to their high height. If they are not cleaned for a long time, a lot of dust will easily accumulate. The water vapor in the air will dissolve with the dust on the wall surface and adhere to the wall, causing the wall color to become dull. Cleaning such high places is dangerous and difficult. Existing sweeping robots only have the function of cleaning the ground, and their scope of use is limited, and they cannot complete the cleaning of walls.

Utility Model Content

The purpose of the utility model is to overcome the deficiencies of the above-mentioned prior art and to provide a fully automatic wall and floor mixed cleaning robot to solve the technical problems that the existing sweeping robots only have the function of sweeping the floor, the scope of use is limited, they cannot complete the cleaning of the walls, and the actual use function is single.

In order to achieve the above purpose, the utility model adopts the following technical solutions:

A fully automatic wall and floor mixed cleaning robot comprises a robot box and a robot arm. The robot box is divided into a first cavity and a second cavity distributed front and back by an ash collection box. The first cavity is divided into a cleaning liquid tank and a lower cavity distributed up and down by a partition. A dust suction port is provided at the front end of the robot box. The dust suction port is connected to the ash collection box through a dust suction device pipeline. A plurality of rotatable and liquid-spraying brush discs are provided at the bottom of the lower cavity. A pair of tracks distributed on the left and right sides are fixedly installed in the second cavity. The tracks are U-shaped. The open ends of the pair of tracks are arranged facing each other. Each of the tracks is connected to a pair of gears meshing and slidably connected thereto. Two pairs of gear motors with output shafts facing upwards are provided in the second cavity, and the shaft ends of the two pairs of gear motors are connected to the two pairs of gears in a one-to-one correspondence. The lower end of each gear motor is connected to a cylinder with an output end facing downwards, and the cylinder passes through the bottom of the second cavity. The output end of the cylinder is connected to a movable suction cup, and the gear can be driven to move along the track and drive the movable suction cup to move. A plurality of universal wheels are installed at the bottom of the second cavity, and a pair of mechanical arms are provided on the top of the box. A cleaning mechanism is installed at the free end of the mechanical arms, and the cleaning mechanism includes a shell, a plurality of mechanical arm fixed suction cups fixedly mounted on the front end of the shell, and a cleaning roller rotatably mounted on the top of the shell.

The plurality of universal wheels are distributed in a triangular shape, the fixed suction cup is located at the center of the distribution range of the plurality of universal wheels, and the plurality of movable suction cups are distributed in a quadrilateral with the fixed suction cup as the center.

A visual sensor is provided at the bottom of the robot box.

The track comprises a toothed track located on the outside and a guide track located on the inside, and the gear is meshed with the toothed track and slidably connected with the guide track.

The bottom of the second cavity is provided with four right-angled guide grooves, and the four cylinders pass through the four guide grooves in a one-to-one correspondence and can move along the guide grooves. The fixed suction cup is extended and retracted under the drive of the fixed suction cup motor.

A switch is arranged on the robot box.

The brush plate is communicated with the cleaning fluid tank.

The beneficial effects of the utility model are:

The utility model provides a full-automatic wall-floor mixed cleaning robot, which has the functions of cleaning both the floor and the wall through the telescopic cooperation of a fixed suction cup, a mobile suction cup and a mechanical arm, thereby expanding the cleaning range of the robot.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a top perspective view of the present invention;

FIG2 is a bottom perspective view of the present invention;

FIG3 is a top perspective view of the present invention after removing the mechanical arm, cleaning mechanism, switch and top of the box;

FIG4 is a top view of the present invention after removing the mechanical arm, cleaning mechanism, switch and top of the box;

Fig. 5 is a cross-sectional view taken along line A-A in Fig. 4;

FIG6 is a schematic diagram of the flow chart of the right shift operation of the present invention;

FIG. 7 is a schematic diagram of the flow chart of the upward movement operation of the present invention.

In the figure: box body 1, first cavity 2, second cavity 3, robotic arm 4, cleaning mechanism 5, shell 51, robotic arm fixed suction cup 52, cleaning roller 53, lower cavity 6, dust suction port 7, brush plate 8, visual sensor 9, fixed suction cup 10, movable suction cup 12, universal wheel 13, gear motor 14, air pump 15, fixed suction cup motor 16, universal wheel motor 17, dust collection device pipeline 18, dust collection box 19, cleaning liquid tank 20, gear 21, track 22, rack rail 221, guide rail 222, brush plate motor 23, cylinder 24, switch 25, partition 26.

DETAILED DESCRIPTION

The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

In the present invention, “front”, “rear”, “left”, “right”, “up” and “down” are with reference to FIG. 1 .

As shown in Figures 1 to 5, a fully automatic wall and floor mixed cleaning robot includes a robot box 1 and a robot arm 4. The robot box 1 is divided into a first cavity 2 and a second cavity 3 distributed front and back by a dust collecting box 19. The first cavity 2 is divided into a cleaning liquid tank 20 and a lower cavity 6 distributed up and down by a partition 26. A dust suction port 7 is provided at the front end of the robot box 1. The dust suction port 7 is connected to the dust collecting box 19 through a dust collecting device pipeline 18. The bottom of the lower cavity 6 is provided with a rotatable and liquid spraying A plurality of brush discs 8 are provided, each of which is connected to a cleaning liquid tank 20. The brush disc 8 is located at the rear side of the dust suction port 7. A water pump and a dust suction pump are also provided in the lower chamber 6. The dust suction pump, the dust suction device pipeline 18, the dust collecting box 19 and the dust suction port 7 constitute a dust suction device. The water pump, the brush disc 8 and the cleaning liquid tank 20 are connected through a conduit to form a liquid spray cleaning device. The cleaning liquid in the cleaning liquid tank 20 is transported to the brush disc 8 by the water pump and sprayed out through the spray hole on the brush disc 8. This method of cleaning while spraying water can prevent dust.

A plurality of universal wheels 13 are installed at the bottom of the second chamber 3, and the plurality of universal wheels 13 are distributed in a triangular shape. The plurality of universal wheels 13 move under the drive of the universal wheel motor 17. The fixed suction cup 10 is located at the center of the distribution range of the plurality of universal wheels 13. The fixed suction cup 10 is extended and retracted under the drive of the fixed suction cup motor 16 (actually, the fixed suction cup 10 is driven to extend and retract by the motor and the screw rod structure, and can also be driven to extend and retract by the cylinder). The plurality of movable suction cups 12 are distributed in a quadrilateral with the fixed suction cup 10 as the center. Two air pumps 15 are arranged in the second chamber 3, one air pump 15 is connected to the two cylinders 24 on the front side, and the other air pump 15 is connected to the two cylinders 24 on the rear side.

A pair of tracks 22 distributed on the left and right sides are fixedly installed in the second cavity 3. The tracks 22 are U-shaped, and the open ends of the pair of tracks 22 are arranged facing each other. A pair of gears 21 meshing and slidably connected thereto are connected to each track 22. Specifically, the track 22 includes a rack 221 located on the outside and a guide rail 222 located on the inside. The rack 221 and the guide rail 222 are also U-shaped. The rack 221 and the guide rail 222 together form a hollow track 22. The gear 21 meshes with the rack 221 and is slidably connected to the guide rail 222. The longitudinal section of the guide rail 222 is transversely U-shaped. The guide rail 222 has a guiding function and can constitute upper and lower limits for the gear 21.

Two pairs of gear motors 14 with output shafts facing upward are arranged in the second chamber 3. The shaft ends of the two pairs of gear motors 14 are connected to two pairs of gears 21 in a one-to-one correspondence. The lower end surface of each gear motor 14 is connected to a cylinder 24 with an output end facing downward. The cylinder 24 passes through the bottom of the second chamber 3. The output end of the cylinder 24 is connected to a movable suction cup 12. The gear 21 can be driven to move along the track 22 and drive the movable suction cup 12 to move. Further, four right-angle guide grooves 11 are opened at the bottom of the second chamber 3. The four cylinders 24 pass through the four guide grooves 11 in a one-to-one correspondence and can move along the guide grooves 11. Further, the multiple guide grooves 11 are distributed in a square shape with the fixed suction cup 10 as the center, and the corner openings of the guide grooves 11 face the fixed suction cup 10. The fixed suction cup 10 and the movable suction cup 12 are connected to a vacuum pump (not shown in the figure) in correspondence.

A pair of mechanical arms 4 are provided on the top of the box 1, and a suction cup assembly 5 is installed at the free end of the mechanical arm 4. The suction cup assembly 5 includes a shell 51, a plurality of mechanical arm fixed suction cups 52 fixedly mounted on the front end of the shell 51, and a cleaning roller 53 rotatably mounted on the top of the shell 51. The mechanical arm fixed suction cup 52 is connected to a vacuum pump (not shown in the figure).

A disinfectant delivery pipe and a heating pipe (not shown) for heating the disinfectant may also be buried in the robotic arm 4. A nozzle (not shown) may also be installed at the front end of the shell 51. The nozzle is connected to the disinfectant delivery pipe, and the disinfectant is sprayed through the nozzle to disinfect the ground and walls.

The robot housing 1 is provided with a switch 25. The bottom of the robot housing 1 is provided with a visual sensor 9, which is located at the rear side of the brush plate 8, preferably, one on each of the left and right sides.

A camera is also installed on the top of the robot box 1, and a controller for controlling various operations of the robot is installed in the robot box 1.

Working principle:

(A) When the utility model cleans the floor, the fixed suction cup 10 and the movable suction cup 12 are both retracted (non-adsorbed state), the mechanical arm 4 is in a retracted state, and the entire cleaning robot moves freely driven by the universal wheel 13. At the same time, the brush plate 8 sprays cleaning liquid while rotating to clean the floor, and the garbage is sucked into the dust collection box 19 by the dust suction port 7. During the movement of the cleaning robot, the visual sensor 9 at the bottom can detect whether there are stubborn stains remaining in the passing area. If there are any, the mechanical arm 4 extends forward and makes the cleaning roller 53 contact the floor for secondary cleaning.

(B) When the utility model cleans the wall, the camera on the top of the robot box 1 determines the position of the wall, and the cleaning roller 53 on the robot arm 4 cleans the lower wall; after cleaning, the robot arm 4 extends upward, and the fixed suction cup 52 of the robot arm is adsorbed to the wall. At the same time, the upward extension of the robot arm 4 can pull the box 1 upward and parallel to the wall. The fixed suction cup 10 and the mobile suction cup 12 are extended to adsorb the wall so that the robot is stably adsorbed on the wall; then the robot arm 4 is retracted, and the robot is moved on the wall through the cooperation of the fixed suction cup 10 and the four mobile suction cups 12, and the high wall is cleaned by the dust suction device and the liquid spray cleaning device, and the dead corners on the wall are cleaned by the cleaning roller 53. The principle of moving the robot on the wall through the cooperation of the fixed suction cup 10 and the four mobile suction cups 12 is as follows:

The robot moves right: b1. In the initial state, the four moving suction cups 12 are each at the inner end of the track 22 (as shown in FIG6 (a)), and the fixed suction cup 10 and the four moving suction cups 12 are all extended to adsorb the wall; then the two moving suction cups 12 on the right are controlled to retract and no longer adsorb the wall, and the two gears 21 on the right are driven to rotate. Due to the adsorption effect of the two moving suction cups 12 on the left and the fixed suction cup 10, the box 1 is fixed, and the two moving suction cups 12 on the right are driven to move right to the corner of the guide groove 11 (as shown in FIG6 (b)); b2. After that, the two moving suction cups 12 on the right are extended to adsorb the wall, and the fixed suction cup 10 is retracted. The robot stops adsorbing the wall and drives the four gears 21 to rotate. The box 1 and the components fixed to the box 1 are driven to move to the right together until the two gears 21 on the right are at the inner end of the right track 22 and the two gears 21 on the left are at the two corners of the left track 22 (as shown in Figure 6 (c)). b3. Then the fixed suction cup 10 extends out to adsorb the wall, and the two movable suction cups 12 on the left are retracted and no longer adsorb the wall. The two gears 21 on the left are driven to rotate and drive the two movable suction cups 12 on the left to move to the right until they move to the inner end of the left track 22. The two movable suction cups 12 on the left extend out to adsorb the wall and return to the initial state, completing the rightward movement of the robot. Repeat the above operation to achieve continuous rightward movement of the robot.

The robot moves left: starting from the initial state described in b1 above, first control the two movable suction cups 12 on the left to move left to the corner of the left guide groove 11, and then control the box 1 and the components fixed on the box 1 to move left together, until the two left gears 21 are at the inner end of the left track 22 and the two right gears 21 are at the two corners of the right track 22, and then control the two movable suction cups 12 on the right to move left to the inner end of the right track 22.

The robot moves up: B1. If starting from the initial state described in step b1 (the four mobile suction cups 12 and the fixed suction cup 10 are all adsorbed on the wall), the two mobile suction cups 12 on the right are controlled to be retracted and no longer adsorbed on the wall, and the two gears 21 on the right are driven to rotate, driving the two mobile suction cups 12 on the right to move right to the corner of the guide groove 11 (as shown in Figure 7 (b)); B2. Then control the two mobile suction cups 12 on the right to extend and adsorb on the wall, and the two mobile suction cups 12 on the left are retracted and no longer adsorbed on the wall, and the two gears 21 on the left are driven to rotate, thereby driving the two mobile suction cups 12 on the left to move left to the corner of the left guide groove 11. Corner (as shown in Figure 7 (c)); B3, then control the two front movable suction cups 12 and the fixed suction cup 10 to adsorb the wall, and the two rear movable suction cups 12 do not adsorb the wall, and the two rear gears 21 are driven to rotate to drive the two rear movable suction cups 12 to move forward until the movable suction cups 12 move to the front end of the rear guide groove 11 (as shown in Figure 7 (d)); B4, then control the four movable suction cups 12 to adsorb the wall and the fixed suction cup 10 to not adsorb the wall, and the four gears 21 are driven to rotate, thereby driving the box 1 and all the components fixed on the box 1 to move forward together (as shown in Figure 7 (e)), completing the forward movement of the robot. After operation B4, the two movable suction cups 12 and the fixed suction cup 10 at the rear are controlled to adsorb to the wall, and the two movable suction cups 12 at the front are not adsorbed to the wall. The two gears 21 at the front are driven to rotate and drive the two movable suction cups 12 at the front to move forward until they move to the corners of the two front guide grooves 11 (as shown in Figure 7 (f)). Then, the operations described in B3 and B4 are repeated to complete the continuous movement of the robot.

The robot moves downward: operate according to B1 and B2 above, then control the two movable suction cups 12 and the fixed suction cup 10 on the rear side to adsorb the wall, and the two movable suction cups 12 on the front side not to adsorb the wall, and the two front gears 21 are driven to rotate to drive the two movable suction cups 12 on the front side to move backward, until the movable suction cups 12 move to the rear end of the front guide groove 11; then control the four movable suction cups 12 to adsorb the wall and the fixed suction cup 10 not to adsorb the wall, and the four gears 21 are driven to rotate, thereby driving the box body 1 and all the components fixed on the box body 1 to move backward together, and the robot can be moved backward.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (8)

1. A fully automatic wall and floor mixed cleaning robot, characterized in that it comprises a robot housing (1) and a robot arm (4), wherein the robot housing (1) is divided into a first chamber (2) and a second chamber (3) distributed front and rear by an ash collecting box (19), the first chamber (2) is divided into a cleaning liquid tank (20) and a lower chamber (6) distributed top and bottom by a partition (26), the front end of the robot housing (1) is provided with a dust suction port (7), the dust suction port (7) is connected to the ash collecting box (19) through a dust collecting device pipe (18), the bottom of the lower chamber (6) is provided with a plurality of rotatable and liquid-spraying brush plates (8), the second chamber (3) is fixedly provided with a pair of rails (22) distributed on the left and right sides, the rails (22) are U-shaped, the open ends of the pair of rails (22) are arranged facing each other, each of the rails (22) is connected to a pair of gears (21) meshing and slidably connected thereto, the Two pairs of gear motors (14) with output shafts facing upward are arranged in the second chamber (3). The shaft ends of the two pairs of gear motors (14) are connected to the two pairs of gears (21) in a one-to-one correspondence. The lower end of each gear motor (14) is connected to a cylinder (24) with an output end facing downward. The cylinder (24) passes through the bottom of the second chamber (3). The output end of the cylinder (24) is connected to a movable suction cup (12). The gears (21) can be driven to move along a track (22) and drive the movable suction cup (12) to move. A plurality of universal wheels (13) are installed at the bottom of the second chamber (3). A pair of mechanical arms (4) are arranged at the top of the box body (1). A cleaning mechanism (5) is installed at the free end of the mechanical arms (4). The cleaning mechanism (5) comprises a shell (51), a plurality of mechanical arm fixed suction cups (52) fixedly mounted at the front end of the shell (51), and a cleaning roller (53) rotatably mounted at the top of the shell (51). 2. A fully automatic wall and floor hybrid cleaning robot as claimed in claim 1, characterized in that: the plurality of universal wheels (13) are distributed in a triangular shape, the fixed suction cup (10) is located at the center of the distribution range of the plurality of universal wheels (13), and the plurality of movable suction cups (12) are distributed in a quadrilateral with the fixed suction cup (10) as the center. 3. A fully automatic wall and floor cleaning robot as claimed in claim 1, characterized in that a visual sensor (9) is provided at the bottom of the robot housing (1). 4. A fully automatic wall and floor hybrid cleaning robot as claimed in claim 1, characterized in that: the track (22) comprises a toothed track (221) located on the outside and a guide track (222) located on the inside, and the gear (21) is meshed with the toothed track (221) and slidably connected with the guide track (222). 5. A fully automatic wall and floor hybrid cleaning robot as claimed in claim 1, characterized in that: four right-angle guide grooves (11) are opened at the bottom of the second chamber (3), and the four cylinders (24) pass through the four guide grooves (11) in a one-to-one correspondence and can move along the guide grooves (11). 6. A fully automatic wall and floor hybrid cleaning robot as claimed in claim 1, characterized in that the fixed suction cup (10) is extended and retracted under the drive of the fixed suction cup motor (16). 7. A fully automatic wall and floor cleaning robot as claimed in claim 1, characterized in that a switch (25) is provided on the robot housing (1). 8. The fully automatic wall and floor hybrid cleaning robot according to claim 1, characterized in that: the brush plate (8) is connected to the cleaning liquid tank (20).