CN106974595A - A kind of intelligent robot for indoor cleaning - Google Patents
A kind of intelligent robot for indoor cleaning Download PDFInfo
- Publication number
- CN106974595A CN106974595A CN201710186445.7A CN201710186445A CN106974595A CN 106974595 A CN106974595 A CN 106974595A CN 201710186445 A CN201710186445 A CN 201710186445A CN 106974595 A CN106974595 A CN 106974595A
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- China
- Prior art keywords
- water tank
- mop
- closure
- water
- fixed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention discloses a kind of intelligent robot for indoor cleaning, including bottom plate, there are water tank bearing and bearing to be used for fixing water tank on bottom plate, wherein bearing is also used for fixing motor and driving wheel, mop is provided with bottom plate to import and export and water tank apopore, there is cleaner head on the bottom plate close with water tank, middle part and high speed high torque motor, it is the water tank that bottom has opening above bearing and water tank bearing, the pushing block for being stepper motor below water tank and thering is guide rail to be oriented to, it is the filter layer with opening above water tank, leading screw stepper motor is fixed on filter layer, there is support on feed screw nut, flange is set on support and buncher is connected with, motor connects mop by shaft coupling.Advantage：Mop, the cleaning etc. for completing flooring by Intelligent cleaning robot are operated, and the water circulation of cleaning process is realized by fore filter, booster pump and filter layer, the characteristics of with energy-conserving and environment-protective, can substitute manual labor.
Description
Technical field
The present invention relates to the cleaning robot of robot field, it is a kind of more particularly to flooring cleaning, cleaning
Deng the robot of work.
Background technology
The function of mopping floor can not be realized for the existing clean robot in current market, especially as rural area or rainy day, room
Interior ground, the cleaning of traditional clean robot is unable to reach the requirement of cleaning, and people devise a lot on flooring cleaning
There is the clean robot of function of mopping floor, such as patent 201510054983.1 discloses a kind of mopping floor for automatic cleaning rag
Robot include with inner chamber housing, rag, driving wheel, driven pulley, water circulating pump, rag cleaning wheel, rag extract component,
Sewage water filtration component and active motor.But its rag is to extract component by rag to be extracted, this causes rag except warp
Rubbed to also suffer by ground and extract rubbing for component, it is easy to worn away rag, and the abrasion of any may also be extracted
Component tears rag when extracting rag, so as to reduce the service life of above-mentioned machine.
Secondly, the dust catcher on existing sweeping robot prevents the foul of absorption from dropping by being hinged the check valve of setting,
But the closing of check valve whereabouts needs the time, also easily caused by big rubbish thing barrier it is poorly sealed, so as to cause suction to be inhaled
The rubbish of dirt device drops.
Finally, it does not have rag drying structure so that after rag mops floor, always in dampness, in southern humidity
It is easily mouldy in weather
The content of the invention
The technical problems to be solved by the invention be to provide one kind can to it is indoor cleaned, mop, and realize water circulation
The intelligent robot utilized.
The present invention solves the technical scheme taken of above-mentioned technical problem：
Drive is installed on a kind of intelligent robot for indoor cleaning, including support fixed structure, support fixed structure
Dynamic structure, water circulation structure and operating mode switching construction；
The water circulation structure includes water tank, and water tank is communicated with filter chamber, the filter chamber water inlet of filter chamber by water pump
Composition water circulation structure is connected with water tank；
The operating mode switching construction includes mop, and mop is connected with mop motor and elevating mechanism；Water tank bottom is provided with
Covered with the water tank bottom that mop coordinates；
Mop is after water tank immersion cleaning, and water is extracted into filter chamber and filter and store by booster pump, mop motor drive mop
Rotate and dry the water of mop, water tank bottom capping is opened, mop is dropped to contact ground by elevating mechanism, mop motor drives
Mop rotation carries out the work that mops floor；
When mop needs cleaning, elevating mechanism drives mop to return to water tank, and water tank bottom capping is closed, passed through in filter chamber
The water of filter returns to water tank by sealing cover structure, and mop motor drives mop rotation that mop-cleaning is clean.
Further to improve, the elevating mechanism includes the mop electric machine support with mop motor connection, mop motor branch
Frame is connected with feed screw nut, and feed screw nut is connected with screw mandrel, and screw mandrel is connected with leading screw stepper motor；Mop electric machine support passes through silk
The thick stick stepper motor seat of honour is connected with stepper motor column, and filtering intracavity forming has the guide and limit coordinated with stepper motor column
Groove.
Further to improve, the filter chamber is in above water tank, the filtering that water pump passes through fore filter and filter chamber
Filter layer screen pack is installed in layer water inlet connection, filter chamber；Filter layer water inlet in filter layer screen pack side,
Sealing cover structure is in filter layer screen pack opposite side；Sealing cover structure includes closure, and being fixed with spring in water tank fixes
Post；Spring fixed column is provided with spring fixed column hole, and spring fixed column hole is connected by spring with closure；Mop electric machine support
On be provided with the flange coordinated with closure, the edge of closure is step structure, and filter chamber is provided with and closure coordinates
Shoulder hole；Closure magnet is fixed with closure；The shoulder hole coordinated with closure magnet is fixed with the ladder of shoulder hole
The closure guide rail coordinated with closure magnet is further fixed on magnet, the ladder of shoulder hole.
Further to improve, the driving structure includes bottom plate, and the bottom plate front end left and right sides is mounted on bearing, and bearing is solid
Surely there is wheel motor, wheel motor is connected with driving wheel；Base plate rear end is fixed with universal wheel.
Further to improve, water tank bottom is hinged with water tank bottom closure, water tank bottom closure edge be it is stepped,
Water tank bottom offers and is fixed with waterproof material on the shoulder hole coordinated with water tank bottom closure, the ladder of shoulder hole, described
Water tank bottom have hinge arrangement, described hinge arrangement links together with water tank bottom closure, described water tank bottom
It is arranged to the funnel-form of biasing.
It is further to improve, pushing block guide rail is fixed with the driving structure, pushing block guide rail is slidably connected with rack
Pushing block, pushing block coordinates the folding for realizing water tank bottom closure with water tank bottom closure；Rack on pushing block is engaged with gear,
Gear is connected with stepper motor.
It is further to improve, drier detachably is installed in the driving structure.
Further to improve, the drier is connected with humidity sensor.
Further improvement, in addition to dust suction cleaning structure, described dust suction cleaning structure include cleaner head, dust suction
Device head connects dust catcher central structure, and dust catcher central structure includes opening in the middle part of dust catcher inner chamber, dust catcher central structure
There is dirt opening, go out and dust removing door is installed at dirt opening, dust catcher inner chamber top is fixed with web plate, dust catcher inner chamber is communicated with negative
Pressure device；It is provided with the middle part of dust catcher inner chamber in rotating shaft, rotating shaft and is fixed with blade built in dust catcher, rotating shaft one end is connected with dust suction
Device stepper motor, the other end is with being connected with dust catcher end cap.
Further to improve, the rear end of the driving structure, which is provided with, drags dry cylinder.
Further to improve, the dust catcher central structure detachable interposing is connected in cleaner head, and cleaner head is solid
It is scheduled in driving structure.
Compared with prior art, the advantage of the invention is to constitute the realization of operating mode switching mechanism by leading screw stepper motor etc. to drag
Cleaning, mop floor and the operating mode switching such as dries, the Intelligent cleaning robot has cleaning sewage function in addition, can realize the clear of water
It is clean to recycle water, while the robot is also equipped with the traditional function of dust suction, it can effectively substitute the work of people.
Brief description of the drawings
Fig. 1 is a kind of stereogram of intelligent robot for indoor cleaning of the invention；
Fig. 2 is a kind of front view of intelligent robot for indoor cleaning of the invention；
Fig. 3 is a kind of side view of intelligent robot for indoor cleaning of the invention；
Fig. 4 is a kind of top view of intelligent robot for indoor cleaning of the invention；
Fig. 5 is bottom plate, bearing, the stereogram of driving structure of a kind of intelligent robot for indoor cleaning of the invention；
Fig. 6 is the water tank and underseal structural perspective of a kind of intelligent robot for indoor cleaning of the invention；
Fig. 7 is a kind of filter chamber stereogram of intelligent robot for indoor cleaning of the invention；
Fig. 8 is a kind of filter chamber front view of intelligent robot for indoor cleaning of the invention；
Fig. 9 is a kind of operating mode switching stereogram of intelligent robot for indoor cleaning of the invention；
Figure 10 is a kind of structure of dust collector stereogram of intelligent robot for indoor cleaning of the invention；
Figure 11 is the dust catcher and fixed seat stereogram of a kind of intelligent robot for indoor cleaning of the invention；
Figure 12 is the dust catcher and fixed seat front view of a kind of intelligent robot for indoor cleaning of the invention；
Figure 13 is the structural representation of baker.
Wherein, 1- drags dry cylinder；2- wheel motors；3- gear trains；4- mops are exported；5- pushing block guide rails；6- is with teeth
The water tank bottom pushing block of bar；7-35 model stepper motors；8- water tank bases；9- bearings (fixed motor and water tank)；10- drives
Wheel；11- buphthalmos wheel (i.e. universal wheel)；12- filter chamber baffle rings；13- closure guide rails；14- closures；15- closure magnet；
18- screen packs；19- filter chamber water inlets；The 20- leading screw stepper motors seat of honour；21- feed screw nuts；22- mop electric machine supports；
23- mop motors；24- flanges；25- mops；26- shaft couplings；27-42 model leading screw stepper motors；28 stepper motor columns；
29- negative pressure devices, specially high speed high pulling torque stepper motor；30- dust catcher central structures；32- cleaner heads；33- water tanks；
34- water tank bottoms are covered；35- water outlet of water tank；37- spring fixed columns；38- spring fixed columns hole；39- articulated structures；40- mistakes
Filter chamber；41- bakers；42- dust catchers are exported；44- guide and limit grooves；45- closures bottom aperture；46- negative pressure devices are fixed
Frame；47- bottom plates；48- baker bases；50- dust catcher stepper motors；51- dust catchers inner chamber；52- gears；53- dust catchers are right
End cap；54- dust catcher left end caps；55- anti-clogging steel meshes；Blade built in 56- dust catchers.57th, rotating shaft
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing 1-13.
Base stereogram as shown in Figure 5, bottom plate 47 mainly carries object as the gravity of intelligent cleaning robot, and 32 are
Cleaner head, cleaner head is fixed on bottom plate, and subaerial place is stretched into the expansion mouthful on head, in high speed high pulling torque
Dust suction is carried out under the drive of motor；2 be the motor for driving robot to advance, and is transmitted power by being engaged with gear train 3
Onto driving wheel 10, motor rotating shaft is avoided directly to bear radial load, two motor independent operations by gear train
Realize that robot is turned to by differential；4 be the mop outlet on bottom plate 47, and leading screw stepper motor 27 drives feed screw nut 21 to transport
It is dynamic, realize the up and down motion of mop 25, during up and down motion can by the outlet of the mop on bottom plate 47 4, realization mop floor with
Mop 25 cleans the switching of operating mode；5 be the guide rail of pushing block motion, and it enables pushing block and remains straight line in forward-reverse process,
And provide extruding force when being sealed for water tank bottom；6 be that with rack water tank bottom can be made to realize the pushing block of folding, passes through step
Stepper motor 7 passes to and motion is realized on rack with moving gear 52, is realized and is accurately positioned using stepper motor 7, it is to avoid more than guide rail work
Make stroke；8 be water tank bearing, main support and fixed water tank, prevents water tank from rocking；9 be motor support base, a total of four pieces, two
Each two pieces of side, is mainly used in fixing motor and support water tank, there is bearing inside it, realize and reduce the friction that motor shaft is rotated
Power.
It is water tank and its underseal structure as shown in Figure 6, the container of water storage when water tank 33 is mainly as cleaning mop；34
It is water tank bottom capping, structure is staged, and water tank bottom interface arrangement waterproof material, realization prevents radiator leak, passed through
Articulated structure realizes the folding of water tank bottom；35 be the delivery port of water tank, and the sewage cleaned after mop is extracted into by water pump from the mouth
The inside of filter chamber 40, sewage passes through water pump by pre-treatment (fore filter of purchase first removes the large granular impurities such as silt)
Filter chamber is entered, when filter chamber closure 14 is opened, the water by first time processing is sealed by the filter chamber of opening
When lid is entered in water tank, second of purification is carried out when by screen pack 18, recycling for water is achieved in；46 be to inhale
The fixed seat (negative pressure device fixed mount) of dirt device, is mainly used in fixing high speed high torque motor 29 and dust catcher central structure
30；37 be spring fixed seat, is mainly used in when leading screw stepper motor 27 drives the downward actuation of mop 25 to be mopped floor, filtering
Chamber closure 14 resets under the effect of spring power, and the water tank madial wall has narrow meshed pillar, for fixed reset spring,
Water tank madial wall has shallower ladder, for fixing filter chamber.
As Fig. 7,8 be filter chamber solid and front view, closure guide rail 13 its ensure closure 14 in mop motor branch
When the flange jack-up of frame 22 or retraction, closure remains linear motion, finally can accurately reach initial position, it is ensured that dress
Put sealing；15 be closure magnet, and it, which is mainly magnetic and touches principle, can guarantee that filter chamber being capable of good seal；18 be screen pack
Plate, when water of the right side after fore filter is handled is by it, has carried out secondary clean processing；19 be that filter chamber enters water
Mouthful, when leading screw stepper motor 27 rises to certain position, closure 14 is opened, and the clean water of filter chamber is clear into water tank
Wash mop.
If Figure 10,11 are the solid and front view of dust catcher and its fixed seat, high speed high torque motor 29, in high speed rotation
When produce larger vacuum, (dust catcher A/F etc. is siphoned away by dust catcher by the small garbage of cleaner head 32
In the width 25cm of robot, the ground run over is all covered)；An opening is provided with the middle part of structure of dust collector, inside
Anti-clogging steel mesh is put into, the interception of small garbage is realized, waits rubbish to reach a certain amount of, cuboid anti-clogging steel mesh is changed.
Wherein, when high speed high torque motor 29 works, dust catcher stepper motor 50 drives rotating shaft 57 to rotate, and then to inhale
Blade 56 is rotated built in dirt device, gets out of the way air intake passage, so that dust passes through dust catcher inner chamber 51 and by anti-clogging steel
Net is intercepted.At the end of dust suction, dust catcher stepper motor 50 drives rotating shaft 57 to rotate and then causes blade 56 built in dust catcher will
Dust catcher inner chamber is blocked, so as to prevent dust from dropping back into bottom surface.Then the dust removing door in structure of dust collector intermediate openings is opened, will be inhaled
Dust in dirt cleaning structure takes out.It is preferred that dust catcher built in blade 56 when dust catcher inner chamber is blocked completely, in dust catcher
The outward-dipping setting of blade 56 is put, as long as so opening dust removing door, internal rubbish, which is affected by gravity, to flow out automatically.
As shown in figure 9, the leading screw stepper motor seat of honour 20, drives feed screw nut 21 to realize by the action of leading screw stepper motor 27
Move up and down, so as to drive connected mop motor fixed support 22 to move up and down different positions, complete to drag
Two kinds of operating modes switching of ground and mop-cleaning；23 DC speed-reducings (mop motor), drive mop 25 to turn round when mopping floor
Motion, realizes the function that mops floor, when cleaning, and the water level in water tank is higher than the upper surface of mop 25, the gyration of mop 25
Cleaned, when the water in water tank is extracted into filter chamber 40 by booster pump (water pump), water level is less than the lower surface of mop, plus
Fast motor speed, is dried moisture unnecessary on mop by centrifugal force；24 be convex on mop motor fixed support 22
Edge, its main function is after nut rises to certain position, the sealing caping of filter chamber to be opened, makes the clean water after filtering
Smoothly flowing into water tank lower floor is used for the cleaning again of mop.It is provided with filter chamber at filter chamber baffle ring 12, operating mode switching mechanism
In filter chamber baffle ring 12 into chamber in.
As shown in the main body view of Fig. 1,2,3,4 and the three-view diagram of general assembly drawing, motor 2 drives driving wheel 10 to act,
Realize that robot advances, both sides motor differential can realize that robot is turned to, while robot advances, leading screw stepper motor 27
The work condition state that mops floor is in feed screw nut 21, motor 23 does gyration to be mopped floor with 75 revs/min of rotating speed, at a high speed
The normal work of high torque motor 29, absorbs the small impurities such as the dust on ground, now, and the closure 14 of filter chamber 40 is in closed form
State, sealing is realized due to the attraction of the gravity of water, spring tension and magnet 15, prevents leak, and the bottom of water tank 33
Open mode is in, pushing block 6, which is in, enables sealed bottom lid open position.
After machine manually makees a period of time, mop reaches certain dirty degree, and wheel motor 2 is stalled, at a high speed
High torque motor 29 is stalled, dust catcher break-off, and leading screw stepper motor 27 drives feed screw nut 21 to move upwards, rises 10cm
Afterwards, stepper motor 7 is acted, and is moved by its output shaft gear band carry-over bar, is realized the pushing block 6 with rack structure to water tank
Bottom centre is drawn close, extruding water tank bottom capping 34, by extruding force, the stepped openings of water tank bottom and bottom cover 34 and
Waterproof material inside stepped openings realizes sealing, reaches watertight effect, with the rising of leading screw stepper motor nut, reaches
To certain altitude, the flange portion on mop electric machine support overcomes on closure 14 and gets spring power and magnet continuously on water tank
Attraction effect, closure 14 is opened, the water of the process of the inside of filter chamber 40 storage cleaning treatment twice is flowed into lower floor
In water tank, mop 25 is submerged, the speed governing of mop motor 23 is cleaned with middling speed motion, after certain time, leading screw stepper motor 27
1.5cm is moved downward, under the squeezing action without flange 24, closure 14 is acted in the attraction of spring tension and magnet
Under, resetted by the guiding of guide rail 13 and seal filter chamber, sewage is passed through preposition mistake by water pump by the delivery port 35 on water tank
Filter carries out first time processing, enters back into filter chamber storage, and pre-treatment water carries out the in filter chamber by screen pack
After-treatment, treats that sewage is all drained in lower floor's water tank, water pump is stopped, and now increases the rotating speed of motor 23, passes through centrifugation
Power dries moisture unnecessary on mop；After certain time, motor 23 is stalled, and stepper motor 7 is acted, gear band carry-over bar, is realized
Pushing block 6 with rack is resetted, and water tank bottom capping 34 is rotated down under the fixation of articulated structure 39, and water tank bottom is opened, step
Stepper motor 27 drives nut to realize that mop 25 is moved downward, and reaches behind the position mopped floor, stepper motor 27 is stalled, motor 23, height
Fast high torque motor 29, wheel motor 2 are acted, and start to mop floor, and are absorbed after the impurity such as floor-dust, certain distance of passing by,
Carry out above process circulation.
After being finished when mopping floor, baker is put, mop and water tank are dried, in case mop is mouldy through moisture,
It is mouldy due to airtight and internal moist prevented also from water tank.Baker can be removably mounted to be coordinated with mop outlet 4
Baker base 48 on, tilt alignment mop on base can also be fixed on.
This floor-mopping robot realizes that intelligence mops floor function by control system, control system by sensor detection subsystem,
Control chip and executing agency's subsystem are constituted.Floor-mopping robot passes through ultrasonic distance sensor, infrared electro Distance-sensing
Device detects ambient condition information and feedback of the information is returned into control chip in real time, and control chip is cooked up according to local environmental information and dragged
The complete traverse path of floor-washing robot, robot uses " plough " formula paths planning method, it is ensured that floor-mopping robot is in workspace
Collision will not be produced when being traveled through completely in domain with barrier, and floor-mopping robot is reached maximum in working region traversal
Coverage rate and minimal repetition rate.When floor-mopping robot works in working region, main control chip is according to the real time status control of robot
Its start and stop for controlling dust catcher, water pump in due course is made, the opening and closing of tank lid is controlled, the operating mode switching of control mop is protected
Card robot efficiently works.Electric quantity of lithium battery is too low or during cleaning works completion, floor-mopping robot passes through infrared electro
Sensor finds the position of charging pile and charging pile charging is returned under control system effect, and automatic flushing cistern simultaneously changes water.
If floor-mopping robot is long-term without using the mop drying opened on floor-mopping robot is switched, and floor-mopping robot passes through charging pile
On external power supply mop is dried automatically, prevent mouldy.All of the above process is all that floor-mopping robot is independently realized.
Finally it should be noted that：Above example only illustrates technical scheme, rather than its limitations；Although reference
The present invention is described in detail previous embodiment, it will be understood by those within the art that：It still can be right
Technical scheme described in foregoing embodiments is modified, or carries out equivalent substitution to which part technical characteristic；And this
A little modifications are replaced, and the essence of appropriate technical solution is departed from the spirit and scope of technical scheme of the embodiment of the present invention.
Claims (10)
1. a kind of intelligent robot for indoor cleaning, it is characterised in that：Including support fixed structure, on support fixed structure
Driving structure, water circulation structure and operating mode switching construction are installed；
The water circulation structure includes water tank, and water tank is communicated with filter chamber, the filter chamber water inlet and water of filter chamber by water pump
Case connection constitutes water circulation structure；
The operating mode switching construction includes mop, and mop is connected with mop motor and elevating mechanism；Water tank bottom is provided with and dragged
The water tank bottom of cooperation is covered；
Mop is after water tank immersion cleaning, and water is extracted into filter chamber and filter and store by booster pump, mop motor drive mop rotation
The water of mop is dried, water tank bottom capping is opened, mop is dropped to contact ground by elevating mechanism, mop motor drives mop
Rotation progress mops floor work；
When mop needs cleaning, elevating mechanism drives mop to return to water tank, and water tank bottom capping is closed, filtered in filter chamber
Water returns to water tank by sealing cover structure, and mop motor drives mop rotation that mop-cleaning is clean.
2. it is used for the intelligent robot of indoor cleaning as claimed in claim 1, it is characterised in that：The elevating mechanism include with
The mop electric machine support of mop motor connection, mop electric machine support is connected with feed screw nut, and feed screw nut is connected with screw mandrel, screw mandrel
It is connected with leading screw stepper motor；Mop electric machine support is connected with stepper motor column, filter chamber by the leading screw stepper motor seat of honour
Internal shaping has the guide and limit groove coordinated with stepper motor column.
3. it is used for the intelligent robot of indoor cleaning as claimed in claim 2, it is characterised in that：The filter chamber is in water tank
Top, water pump is connected by fore filter with the filter layer water inlet of filter chamber, and filter layer screen pack is provided with filter chamber
Plate；Filter layer water inlet is in filter layer screen pack opposite side in filter layer screen pack side, sealing cover structure；Sealing
Lid structure includes being fixed with spring fixed column in closure, water tank；Spring fixed column is provided with spring fixed column hole, and spring is fixed
Post holes is connected by spring with closure；The flange coordinated with closure, the edge of closure are provided with mop electric machine support
For step structure, filter chamber is provided with the shoulder hole coordinated with closure；Closure magnet is fixed with closure；Shoulder hole
It is fixed with ladder on the shoulder hole magnet coordinated with closure magnet, the ladder of shoulder hole and is further fixed on matching somebody with somebody with closure magnet
The closure guide rail of conjunction.
4. it is used for the intelligent robot of indoor cleaning as claimed in claim 1, it is characterised in that：The driving structure includes bottom
Plate, the bottom plate front end left and right sides is mounted on bearing, and bearing is fixed with wheel motor, and wheel motor is connected with driving
Wheel；Base plate rear end is fixed with universal wheel.
5. it is used for the intelligent robot of indoor cleaning as claimed in claim 1, it is characterised in that：Water tank bottom is hinged with water tank
Sealed bottom lid, water tank bottom closure edge is stepped, and water tank bottom offers the rank coordinated with water tank bottom closure
Waterproof material is fixed with terraced hole, the ladder of shoulder hole, described water tank bottom is arranged to the funnel-form of biasing.
6. it is used for the intelligent robot of indoor cleaning as claimed in claim 1, it is characterised in that：It is fixed in the driving structure
There is pushing block guide rail, pushing block guide rail slidably connects the pushing block with rack, and pushing block coordinates with water tank bottom closure realizes water tank bottom
The folding of portion's closure；Rack on pushing block is engaged with gear, and gear is connected with stepper motor.
7. it is used for the intelligent robot of indoor cleaning as claimed in claim 1, it is characterised in that：It is removable in the driving structure
Unload and drier is installed.
8. it is used for the intelligent robot of indoor cleaning as claimed in claim 7, it is characterised in that：The drier is connected with wet
Spend sensor.
9. it is used for the intelligent robot of indoor cleaning as claimed in claim 1, it is characterised in that：Also include dust suction and clean knot
Structure, described dust suction cleaning structure includes tying in the middle part of cleaner head, cleaner head connection dust catcher central structure, dust catcher
Structure includes being provided with out dirt opening in the middle part of dust catcher inner chamber, dust catcher central structure, goes out and dust removing door, dust suction are provided with dirt opening
Device inner chamber top is fixed with web plate, and dust catcher inner chamber is communicated with negative pressure device；It is provided with the middle part of dust catcher inner chamber in rotating shaft, rotating shaft
Blade built in dust catcher is fixed with, rotating shaft one end is connected with dust catcher stepper motor, and the other end is with being connected with dust catcher end cap.
10. it is used for the intelligent robot of indoor cleaning as claimed in claim 1, it is characterised in that：After the driving structure
End, which is provided with, drags dry cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710186445.7A CN106974595B (en) | 2017-03-27 | 2017-03-27 | A kind of intelligent robot for indoor cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710186445.7A CN106974595B (en) | 2017-03-27 | 2017-03-27 | A kind of intelligent robot for indoor cleaning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106974595A true CN106974595A (en) | 2017-07-25 |
| CN106974595B CN106974595B (en) | 2018-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710186445.7A Active CN106974595B (en) | 2017-03-27 | 2017-03-27 | A kind of intelligent robot for indoor cleaning |
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Cited By (10)
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| CN107485341A (en) * | 2017-08-31 | 2017-12-19 | 安徽信息工程学院 | Mop lowering or hoisting gear and mop |
| CN107624653A (en) * | 2017-09-25 | 2018-01-26 | 农业部环境保护科研监测所 | The box-like pig house of smart group and dung collection system |
| CN107960955A (en) * | 2017-12-15 | 2018-04-27 | 孙鹏程 | A kind of housekeeping floor-mopping robot |
| CN108245092A (en) * | 2018-04-11 | 2018-07-06 | 贵州理工学院 | A kind of floor-mopping robot and suit |
| CN108691720A (en) * | 2018-05-21 | 2018-10-23 | 芜湖乐知智能科技有限公司 | A kind of Intelligent purifying robot and its working method |
| CN109683623A (en) * | 2018-12-20 | 2019-04-26 | 南京管科智能科技有限公司 | The control system and method run using attitude transducer Calibration pipe crawl device |
| CN110892867A (en) * | 2018-08-23 | 2020-03-20 | 北京佳沃天河智能科技有限公司 | Novel pigsty cleaning robot and cleaning method thereof |
| CN112956973A (en) * | 2021-01-29 | 2021-06-15 | 南京水歌源化妆品有限公司 | Cleaning equipment of glass carousel dining table |
| CN114668346A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Cleaning robot and system thereof |
| CN114766974A (en) * | 2022-04-11 | 2022-07-22 | 麦岩智能科技(北京)有限公司 | Robot of sweeping floor of automatically cleaning mop |
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| CN103006153A (en) * | 2012-12-14 | 2013-04-03 | 向桂南 | Intelligent floor wiping machine |
| CN104545707A (en) * | 2015-01-29 | 2015-04-29 | 梁胜昔 | Ground cleaning robot with automatic cleaning mop head |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107485341A (en) * | 2017-08-31 | 2017-12-19 | 安徽信息工程学院 | Mop lowering or hoisting gear and mop |
| CN107624653A (en) * | 2017-09-25 | 2018-01-26 | 农业部环境保护科研监测所 | The box-like pig house of smart group and dung collection system |
| CN107960955A (en) * | 2017-12-15 | 2018-04-27 | 孙鹏程 | A kind of housekeeping floor-mopping robot |
| CN107960955B (en) * | 2017-12-15 | 2020-07-17 | 嘉兴市品信电器有限公司 | Housekeeping mopping robot |
| CN108245092A (en) * | 2018-04-11 | 2018-07-06 | 贵州理工学院 | A kind of floor-mopping robot and suit |
| CN108691720A (en) * | 2018-05-21 | 2018-10-23 | 芜湖乐知智能科技有限公司 | A kind of Intelligent purifying robot and its working method |
| CN110892867A (en) * | 2018-08-23 | 2020-03-20 | 北京佳沃天河智能科技有限公司 | Novel pigsty cleaning robot and cleaning method thereof |
| CN109683623A (en) * | 2018-12-20 | 2019-04-26 | 南京管科智能科技有限公司 | The control system and method run using attitude transducer Calibration pipe crawl device |
| CN109683623B (en) * | 2018-12-20 | 2024-04-26 | 南京管科智能科技有限公司 | Control system and method for correcting pipeline crawler operation by using attitude sensor |
| CN114668346A (en) * | 2020-12-24 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Cleaning robot and system thereof |
| CN112956973A (en) * | 2021-01-29 | 2021-06-15 | 南京水歌源化妆品有限公司 | Cleaning equipment of glass carousel dining table |
| CN114766974A (en) * | 2022-04-11 | 2022-07-22 | 麦岩智能科技(北京)有限公司 | Robot of sweeping floor of automatically cleaning mop |
| CN114766974B (en) * | 2022-04-11 | 2023-01-06 | 麦岩智能科技(北京)有限公司 | Robot of sweeping floor of automatically cleaning mop |
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| CN106974595B (en) | 2018-01-19 |
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