CN112932345B

CN112932345B - Mopping robot

Info

Publication number: CN112932345B
Application number: CN202110147108.3A
Authority: CN
Inventors: 邹海军
Original assignee: Hangzhou Hele Technology Co ltd; Shenzhen Youle Life Health Management Co ltd; Yuan Zhenming; Zhoushan Yijiayi Robot Technology Co ltd; Shenzhen Yijia Medical Technology Co ltd
Current assignee: Hangzhou Hele Technology Co ltd; Lu Dongxin; Shenzhen Yijia Medical Technology Co ltd; Shenzhen Youle Life Health Management Co ltd; Yuan Zhenming; Zhoushan Yijiayi Robot Technology Co ltd
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2022-09-16
Anticipated expiration: 2041-02-03
Also published as: CN112932345A

Abstract

The invention belongs to the technical field of intelligent household equipment, and provides a floor mopping robot, which comprises a floor mopping unit, a floor mopping unit and a floor lifting unit, wherein the floor mopping unit comprises a plurality of floor mopping components, a rear shell, a transfer mechanism and a lifting mechanism, wherein the floor mopping components can be stacked together; the mopping assembly comprises: an inner frame configured in a lattice shape; the outer frame is arranged on the periphery of the inner frame, the left side and the right side of the outer frame are respectively provided with a supporting strip which extends outwards, and the middle part of the supporting strip is provided with a lifting part which extends outwards; and a mop held between the inner frame and the outer frame, and supported by the inner frame downward such that a bottom surface thereof can be brought into contact with the floor to clean the floor; the rear end of the rear shell is provided with an opening through which a plurality of mopping components can pass together; the transfer mechanism is used for transferring the mopping assembly along the horizontal direction, and the lifting mechanism is used for lifting the mopping assembly. The invention can reduce the workload of the user and improve the use experience of the user.

Description

Mopping robot

Technical Field

The invention relates to the technical field of intelligent household equipment, in particular to a floor mopping robot.

Background

The existing mopping robot only has one mop for mopping the floor, and when the mop becomes dirty, the floor can not be cleaned any more, and the mop needs to be replaced or cleaned frequently by a user, so that the workload of the user is increased, and the use experience brought to the user is poor.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a floor mopping robot, so as to reduce the workload of a user and improve the use experience of the user.

In order to achieve the above object, the present invention provides a floor mopping robot, comprising a body part and a floor mopping unit towed by the body part, wherein the floor mopping unit comprises a plurality of floor mopping components which can be stacked together, a rear shell, a transfer mechanism and a lifting mechanism;

the mopping assembly comprises:

an inner frame configured in a lattice shape;

the outer frame is arranged on the periphery of the inner frame, the left side and the right side of the outer frame are respectively provided with a supporting strip which extends outwards, and the middle part of the supporting strip is provided with a lifting part which extends outwards; and

a mop cloth held between the inner frame and the outer frame, and supported by the inner frame downward such that a bottom surface thereof can be brought into contact with a floor surface to clean the floor surface;

the rear end of the rear shell is provided with an opening which can enable a plurality of mopping assemblies to pass through together;

the transfer mechanism includes:

two belt transmission mechanisms are oppositely arranged in the rear shell, are arranged along the horizontal direction and are used for moving the mopping assembly along the horizontal direction after being contacted with the supporting strip; and

the first motor is used for driving any one belt transmission mechanism to work;

lifting mechanism is in the left and right sides of rear portion casing is provided with one respectively, lifting mechanism includes:

a first base;

the screw rod is rotatably arranged on the first base along the vertical direction;

the guide rod is fixedly arranged on the first base and is parallel to the screw rod;

the lifting plate is in threaded connection with the screw rod, is in sliding connection with the guide rod, and can lift the floor mopping assembly upwards after being contacted with the lifting part;

the second motor is arranged on the first base and is used for driving the screw rod to rotate;

the second base is fixedly arranged on the rear shell and is connected with the first base in a sliding manner; and

and the electric push rod is fixed on the second base along the horizontal direction, the free end of the electric push rod is fixedly connected with the first base, and the electric push rod is used for driving the first base to slide on the second base in a reciprocating manner.

Further, the belt transmission mechanism includes:

a bracket fixedly disposed within the rear housing;

two belt wheels rotatably arranged on the bracket;

the conveying belt is sleeved outside the two belt wheels; and

a plurality of support wheels rotatably disposed on the support and positioned between the two pulleys.

Furthermore, a magnetic element is arranged at the front end of the outer frame, an electromagnet is arranged at the rear end of the body part, and the electromagnet corresponds to the magnetic element in one floor mopping assembly arranged at the bottom.

Further, the mopping assembly further comprises a locking screw arranged at the rear end of the outer frame, the locking screw is in threaded connection with the outer frame, and the locking screw is used for applying pressure to the mop cloth so that the mop cloth can be better kept between the inner frame and the outer frame.

Furthermore, the front end and/or the rear end of the outer frame are/is provided with a positioning piece, the top of the positioning piece is provided with a positioning groove, and the bottom of the positioning piece is provided with a positioning bulge matched with the positioning groove.

The invention has the beneficial effects that: according to the floor mopping robot, the plurality of floor mopping assemblies are sequentially used, and the used floor mopping assemblies are moved out of the floor mopping unit, so that the working time of the floor mopping robot can be prolonged each time, the workload of a user can be reduced, and the use experience of the user is improved.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a perspective view of a mopping robot according to an embodiment of the present invention;

FIG. 2 is a perspective view of a portion of the structure of the mopping unit;

FIG. 3 is a cross-sectional view of FIG. 1;

FIG. 4 is a perspective view of the mopping assembly;

FIG. 5 is a perspective view of the transfer mechanism and the lifting mechanism from one perspective;

FIG. 6 is a perspective view of the transfer mechanism and the lifting mechanism from another perspective;

fig. 7 is a perspective view of a portion of the structure of fig. 1 from one perspective.

Reference numerals:

100. a body portion; 101. an electromagnet; 200. a mopping unit; 21. a mopping assembly; 211. an inner frame; 212. an outer frame; 2121. a support bar; 2122. a lifting part; 213. mop; 214. a magnetic element; 215. a positioning member; 2151. positioning a groove; 2152. positioning the projection; 22. a transfer mechanism; 221. a support; 222. a pulley; 223. a conveyor belt; 224. a support wheel; 225. a first motor; 23. a lifting mechanism; 231. a first base; 232. a screw; 233. a guide bar; 234. a lifting plate; 235. a second motor; 236. a second base; 237. an electric push rod; 24. a rear housing; 241. an opening; 242. and a caster is used for walking.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 7, the present embodiment provides a floor mopping robot, which includes a body part 100 and a floor mopping unit 200 towed by the body part 100, wherein the body part 100 is located in front of the floor mopping unit 200.

The body portion 100 includes a front housing having a semi-circular outer shape, a traction unit mounted within the front housing, a plurality of sensors and a controller. The traction unit comprises a traction wheel and a motor for driving the traction wheel to rotate.

The mopping unit 200 includes a plurality of stackable mopping modules 21, a rear housing 24, a transfer mechanism 22 and a lifting mechanism 23, the mopping modules 21, the transfer mechanism 22 and the lifting mechanism 23 all being disposed within the rear housing 24.

The mop assembly 21 includes an inner frame 211, an outer frame 212, and a mop cloth 213. The inner frame 211 is formed in a grid shape, the outer frame is disposed at the periphery of the inner frame 211, the left and right sides of the outer frame are respectively provided with a support bar 2121 extending outwards, the length of the support bar 2121 is adapted to the length of the outer frame, and the middle of the support bar 2121 is provided with a lifting part 2122 extending outwards. The mop cloth 213 is clamped between the inner frame 211 and the outer frame 212, and since the height of the outer frame is smaller than that of the inner frame, the mop cloth 213 is supported downward again by the inner frame so that the bottom surface of the mop cloth 213 can be in contact with the floor surface to clean the floor surface.

The rear end of the rear housing 24 is provided with an opening 241 through which the plurality of mopping assemblies 21 can pass together, so that the mopping assemblies 21 can be taken out from the rear end of the rear housing 24, and the rear housing 24 is also provided with a plurality of walking casters 242.

The transfer mechanism 22 includes a belt drive mechanism and a first motor 225. Two belt transmission mechanisms are oppositely provided in the rear housing 24, arranged in the horizontal direction, and extending in the front-rear direction of the rear housing 24. The belt drive mechanism is in contact with the support bar 2121 for moving the mop assembly 21 in a horizontal direction. Either one of the two belt transmission mechanisms is driven by the first motor 225, and the other belt transmission mechanism is driven by the static friction force with the support bar 2121.

The lifting mechanisms 23 are provided one on each of the left and right sides of the rear housing 24, and the two lifting mechanisms 23 are operated in synchronization to lift the floor mopping assembly 21 up or down. The lifting mechanism 23 includes a first base 231, a screw 232, a guide rod 233, a lifting plate 234, a second motor 235, a second base 236, and an electric push rod 237. The first seat 231 is located in the rear housing 24, and the screw 232 is rotatably disposed on the first seat 231 in a vertical direction. The guide rods 233 are fixedly disposed on the first base 231 and are parallel to the screw 232, and the number of the guide rods 233 is preferably one or two.

A lifting plate 234, which is screw-coupled to the screw 232, is slidably coupled to the guide bar 233. When the lifting plate 234 contacts the lifting portion 2122, the floor mopping assembly 21 can be lifted upwards.

The second motor 235 is mounted on the first base 231 and is used for driving the screw 232 to rotate, and the second motor 235 can directly drive the screw 232 to rotate or can indirectly drive the screw 232 to rotate, such as driving the screw 232 to rotate through a gear transmission structure.

The second seat 236 is fixedly disposed on the rear housing 24, the second seat 236 is located outside the first seat 231, and the first seat 231 is slidably disposed on the second seat 236.

The electric push rod 237 is fixed on the second base 236 along the horizontal direction, and the free end thereof is fixedly connected with the first base 231, and is used for driving the first base 231 to make the first base 231 slide on the second base 236 in a reciprocating manner.

In this embodiment, after a period of time for the mop 213 in the lowest one of the floor mopping assemblies 21 to operate, the lifting mechanism 23 lifts the other ones of the floor mopping assemblies 21 above the one floor mopping assembly 21 together a distance upward, the transfer mechanism 22 then transports the one floor mopping assembly 21 out of the rear housing 24, and the lifting mechanism 23 then returns the remaining ones of the floor mopping assemblies 21 to the transfer mechanism 22. When the floor mopping assembly 21 is replaced, the above steps are repeated. The replaced floor mop 21 can be designated to be placed at a location by a predetermined program, and when all floor mop 21 are delivered out of the rear housing 24, all mops 213 of the floor mop 21 are removed by a user, cleaned, re-attached, stacked, and placed in the rear housing 24.

In one embodiment, the belt transmission mechanism includes a bracket 221 fixedly disposed in the rear housing 24, two pulleys 222 rotatably disposed on the bracket 221, a conveying belt 223 sleeved outside the two pulleys 222, and a plurality of support wheels 224 rotatably disposed on the bracket 221 and between the two pulleys 222. The support wheels 224 are provided to provide better support for the mopping assembly 21 placed on the belt.

In one embodiment, the front end of the outer frame 212 is provided with magnetic elements 214, the magnetic elements 214 are magnets, the rear end of the body portion 100 is provided with electromagnets 101, the number of the electromagnets 101 is one, and the one magnetic element 214 is corresponding to one of the magnetic elements 214, the one magnetic element 214 is provided on the lowest one of the plurality of floor mopping assemblies 21 stacked together. Therefore, when the lowest mopping assembly 21 works, the electromagnet 101 and the magnetic element 214 attract each other, so that the mopping assembly 21 cannot be tilted upwards or moved upwards due to obstacles on the ground in the working process, and the mopping assembly 21 is prevented from being separated from the transfer mechanism 22 for supporting the mopping assembly 21.

In one embodiment, the mop assembly 21 further includes locking screws disposed at a rear end of the outer frame 212, the locking screws being threadedly coupled with the outer frame 212, the locking screws being used to apply pressure to the mops 213 so that the mops 213 are better retained between the inner frame 211 and the outer frame 212.

In one embodiment, the front and/or rear ends of the outer frame 212 are provided with positioning members 215, the top of the positioning members 215 is provided with positioning grooves 2151, and the bottom of the positioning members 215 is provided with positioning protrusions 2152 corresponding to the positioning grooves 2151. That is, the positioning protrusion 2152 of the upper positioning member 215 can be inserted into the positioning groove 2151 of the lower positioning member 215, thereby ensuring that a plurality of floor mopping assemblies 21 can be better stacked without dislocation.

In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. A mopping robot is characterized in that: the floor mopping device comprises a body part and a floor mopping unit drawn by the body part, wherein the floor mopping unit comprises a plurality of floor mopping components which can be stacked together, a rear shell, a transfer mechanism and a lifting mechanism;

the mopping assembly comprises:

an inner frame configured in a lattice shape;

the transfer mechanism includes:

a first base;

the electric push rod is fixed on the second base along the horizontal direction, the free end of the electric push rod is fixedly connected with the first base, and the electric push rod is used for driving the first base to slide on the second base in a reciprocating manner;

after the mop in the lowest mop assembly works for a period of time, the lifting mechanism lifts the other mop assemblies above the one mop assembly upwards for a certain distance, then the transfer mechanism sends the one mop assembly out of the rear shell, then the lifting mechanism puts the rest mop assemblies back on the transfer mechanism, and the steps are repeated when the mop assemblies are replaced.

2. The mopping robot of claim 1, wherein: the belt transmission mechanism includes:

a bracket fixedly disposed within the rear housing;

two belt wheels rotatably arranged on the bracket;

the conveying belt is sleeved outside the two belt wheels; and

3. A mopping robot according to claim 1, wherein: the front end of the outer frame is provided with a magnetic element, the rear end of the body part is provided with an electromagnet, and the electromagnet corresponds to the magnetic element in one floor mopping assembly arranged at the bottom.

4. The mopping robot of claim 1, wherein: the mopping assembly further comprises a locking screw arranged at the rear end of the outer frame, the locking screw is in threaded connection with the outer frame, and the locking screw is used for applying pressure to the mop cloth so that the mop cloth is better kept between the inner frame and the outer frame.

5. The mopping robot of claim 1, wherein: the front end and/or the rear end of the outer frame are/is provided with a positioning piece, the top of the positioning piece is provided with a positioning groove, and the bottom of the positioning piece is provided with a positioning bulge matched with the positioning groove.