阅读说明：本技术 一种加压式拖地机器人及其工作方法 (Pressurized mopping robot and working method thereof ) 是由 刘言松 代婉雯 熊欣 陈卓 李曦 张月明 于 2020-07-02 设计创作，主要内容包括：本发明公开的一种加压式拖地机器人及其工作方法,属于智能机器人技术领域。机器人本体包括主体、行走机构、升降板和拖板；主体与行走机构连接,主体上设有升降板电机和蜗轮蜗杆机构,升降板电机与蜗轮蜗杆机构的蜗杆连接,蜗轮蜗杆机构的蜗轮螺接有第一丝杠,第一丝杠穿过主体与升降板固定连接；升降板上设有拖板电机,拖板电机通过传动机构与拖板连接,传动机构与拖板之间设有弹簧装置；充电及清洗装置包括外壳、水箱和清洗盆,外壳与水箱连接,水箱与清洗盆连接,清洗盆可拆卸地的固定在外壳下方,外壳上设有感应装置和充电装置。能够在拖地时对地面施加一定的压力,从而提高拖地的效果。(The invention discloses a pressurized mopping robot and a working method thereof, and belongs to the technical field of intelligent robots. The robot body comprises a main body, a walking mechanism, a lifting plate and a planker; the main body is connected with the traveling mechanism, a lifting plate motor and a worm gear mechanism are arranged on the main body, the lifting plate motor is connected with a worm of the worm gear mechanism, a worm wheel of the worm gear mechanism is connected with a first lead screw in a threaded manner, and the first lead screw penetrates through the main body and is fixedly connected with the lifting plate; a carriage motor is arranged on the lifting plate, the carriage motor is connected with the carriage through a transmission mechanism, and a spring device is arranged between the transmission mechanism and the carriage; charging and belt cleaning device includes shell, water tank and wash basin, and the shell is connected with the water tank, and the water tank is connected with the wash basin, and wash basin detachably fixes in the shell below, is equipped with induction system and charging device on the shell. Can exert certain pressure to the ground when mopping the ground, thereby improving the mopping effect.)

1. A pressurized floor mopping robot comprises a robot body and a charging and cleaning device, and is characterized in that the robot body comprises a main body (1), a traveling mechanism (3), a lifting plate (4) and a dragging plate (5); the main body (1) is connected with the traveling mechanism (3), the main body (1) is provided with a lifting plate motor (2-2) and a worm gear mechanism (11), the lifting plate motor (2-2) is connected with a worm of the worm gear mechanism (11), a worm wheel of the worm gear mechanism (11) is in threaded connection with a first lead screw (6-1), and the first lead screw (6-1) penetrates through the main body (1) to be connected with the lifting plate (4); a carriage motor (2-3) is arranged on the lifting plate (4), the carriage motor (2-3) is connected with the carriage (5) through a transmission mechanism, and a spring device (8) is arranged between the transmission mechanism and the carriage (5);

charging and cleaning device include shell (13), water tank (14) and wash basin (15), and shell (13) are connected with water tank (14), and water tank (14) are connected with wash basin (15), and wash basin (15) detachably fixes in shell (13) below, is equipped with induction system (20) and charging device (21) on shell (13).

2. The pressurized mopping robot as claimed in claim 1, wherein the main body (1) is a rectangular shell with an opening on the lower plane, and the lower ends of the two side surfaces of the main body (1) are flanged inwards; the lifting plate motor (2-2) and the worm gear mechanism (11) are fixed on the upper plane of the main body (1).

3. The pressurized floor mopping robot as claimed in claim 2, wherein the lifting plate motor (2-2) is a double-output shaft motor, the lifting plate motor (2-2) is fixed at the center of the upper plane of the main body (1), two output shafts of the lifting plate motor (2-2) are respectively and symmetrically connected with 1 worm, the worm is respectively connected with 1 worm wheel, the worm wheel is provided with a screw hole, and the 2 worm wheels are respectively connected with 1 first lead screw (6-1).

4. The pressurized mopping robot as claimed in claim 2, wherein the traveling mechanism (3) comprises 4 wheels (3-1), each wheel (3-1) is connected with a wheel motor (2-1), and the wheel motors (2-1) are fixed in flanges at two sides of the main body (1).

5. The pressurized mopping robot according to claim 4, wherein 4 wheels (3-1) are symmetrically arranged on both sides of the main body (1) in pairs, and the wheels (3-1) are Mecanum wheels.

6. The pressurized mopping robot as claimed in claim 1, wherein the carriage motor (2-3) is a double-output shaft motor, two output shafts of the carriage motor (2-3) are respectively connected with a second lead screw (6-2) through a bevel gear system, and the second lead screws (6-2) are respectively connected with 1 carriage (5); the spring device (8) comprises an upper spring sleeve (8-1), a lower spring sleeve (8-2) and a spring (8-3), the upper spring sleeve (8-1), the lower spring sleeve (8-2) and the spring (8-3) are all sleeved at the lower end of the second lead screw (6-2), the spring (8-3) is arranged between the upper spring sleeve (8-1) and the lower spring sleeve (8-2), and the lower spring sleeve (8-2) is fixedly connected with the carriage (5).

7. The pressurized floor mopping robot according to claim 1, wherein one end of the lifting plate (4) is hinged with an opening and closing turning plate (9), the lifting plate (4) is fixed with a turning motor (2-4), and the opening and closing turning plate (9) is connected with the turning motor (2-4) through a turning connecting rod (10-4); when the robot body is in a floor mopping state, the opening and closing turnover plate (9) is closed upwards, and the maximum size of the planker (5) is larger than that of the lifting plate (4); when the robot body is in a cleaning state, the opening and closing turning plate (9) is opened downwards, and the sum of the areas of the lifting plate (4) and the opening and closing turning plate (9) is equal to the area of the opening on the cleaning basin (15).

8. The pressurized mopping robot as claimed in claim 1, wherein the cleaning basin (15) is provided with a water inlet (18) and a water outlet (19), the water inlet (18) is connected with the water tank (14) through a water inlet pipe, and the water outlet (19) is connected with a drain pipe; a tray (16) is integrally connected to the lower portion of the shell (13), the tray (16) is connected with a cleaning basin (15) through a buckle, and a sealing ring (17) is arranged on an upper opening of the cleaning basin (15).

9. The pressurized mopping robot according to claim 1, wherein one side of the housing (13) is provided with a line protection shell (23), and the electric circuit and the water circuit are arranged inside the line protection shell (23); a water tank water filling port (22) is formed in the water tank (14), the water tank water filling port (22) is connected with an external water source, a liquid level sensor is arranged in the water tank (14), a water inlet valve is arranged at the water tank water filling port (22), and the liquid level sensor is connected with the water inlet valve.

10. The method of operating a pressurized floor mopping robot according to any one of claims 1 to 9, comprising:

the charging and cleaning device is connected with a power supply and a water source, the robot body is charged through a charging device (21), a mop cloth is arranged on the mop plate (5), a water tank (14) injects clean water into a cleaning basin (15) through a water injection port (18), the robot body stops above the cleaning basin (15) through an induction device (20), a lifting plate motor (2-2) drives a lifting plate (4) to descend through a worm and gear mechanism (11) and a first lead screw (6-1) to enable the mop cloth to be immersed in the clean water, the mop plate motor (2-3) drives the mop plate (5) to rotate through a transmission mechanism for cleaning, then the water is discharged from a water outlet (19), the mop plate (5) continues to rotate to throw off redundant water, the lifting plate (4) rises to enable the robot body to exit the charging and cleaning device, the lifting plate (4) descends to enable the mop cloth on the mop plate (5) to have pressure with the ground, the walking mechanism (3) moves according to a planned route, and the dragging plate (5) rotates to drag the ground.

Technical Field

The invention belongs to the technical field of intelligent robots, and particularly relates to a pressurized floor mopping robot and a working method thereof.

Background

Along with the development of science and technology, more and more domestic intelligent equipment, intelligent mopping robot has also had very big optimization along with the continuous perfect of intelligent technique. However, the existing household floor mopping robots still have defects, most of the existing intelligent floor mopping robots are not provided with a water tank, the mops need to be wetted before use, the mops are still detached to be manually cleaned after use, the mops are almost equal to the existing mops, and the effects of great troubles and inconvenience in use are not obvious. There is the comparatively advanced robot that drags ground of part, though can independently wash and be equipped with the water tank, pressure is too little when dragging ground, can only take away the floating dust on ground, need can only clear up liquid through clearance many times, and the hard dirt that forms after the liquid solidifies can't be cleared up through clearance many times, leads to dragging the ground effect not good.

Disclosure of Invention

In order to solve the above problems, an object of the present invention is to provide a pressure type mopping robot and a method for operating the same, which can apply a certain pressure to a floor surface when mopping the floor, thereby improving a mopping effect.

The invention is realized by the following technical scheme:

the invention discloses a pressurized floor mopping robot, which comprises a robot body and a charging and cleaning device, and is characterized in that the robot body comprises a main body, a walking mechanism, a lifting plate and a dragging plate; the main body is connected with the traveling mechanism, a lifting plate motor and a worm gear mechanism are arranged on the main body, the lifting plate motor is connected with a worm of the worm gear mechanism, a worm wheel of the worm gear mechanism is connected with a first lead screw in a threaded manner, and the first lead screw penetrates through the main body and is connected with the lifting plate; a carriage motor is arranged on the lifting plate, the carriage motor is connected with the carriage through a transmission mechanism, and a spring device is arranged between the transmission mechanism and the carriage;

charging and belt cleaning device includes shell, water tank and wash basin, and the shell is connected with the water tank, and the water tank is connected with the wash basin, and wash basin detachably fixes in the shell below, is equipped with induction system and charging device on the shell.

Preferably, the main body is a rectangular shell with an opening on the lower plane, and the lower ends of the two side surfaces of the main body are turned over towards the inner side; the lifting plate motor and the worm gear mechanism are fixed on the upper plane of the main body.

Further preferably, the lifting plate motor is a double-output-shaft motor, the lifting plate motor is fixed at the center of the upper plane of the main body, two output shafts of the lifting plate motor are respectively and symmetrically connected with 1 worm, the worm is respectively connected with 1 worm wheel, the worm wheel is provided with a screw hole, and 2 worm wheels are respectively connected with 1 first lead screw.

Further preferably, the traveling mechanism comprises 4 wheels, each wheel is connected with a wheel motor, and the wheel motors are fixed in the flanges on the two side faces of the main body.

Further preferably, the 4 wheels are symmetrically distributed on two sides of the main body in a left-right mode, and the wheels are Mecanum wheels.

Preferably, the carriage motor is a double-output shaft motor, two output shafts of the carriage motor are respectively connected with a second lead screw through a bevel gear system, and the second lead screws are respectively connected with 1 carriage; the spring device comprises an upper spring sleeve, a lower spring sleeve and a spring, the upper spring sleeve, the lower spring sleeve and the spring are all sleeved at the lower end of the second screw rod, the spring is arranged between the upper spring sleeve and the lower spring sleeve, and the lower spring sleeve is fixedly connected with the carriage.

Preferably, one end of the lifting plate is hinged with an opening and closing turning plate, a turning motor is fixed on the lifting plate, and the opening and closing turning plate is connected with the turning motor through a turning connecting rod; when the robot body is in a mopping state, the opening and closing turnover plate is upwards closed, and the maximum size of the dragging plate is larger than that of the lifting plate; when the robot body is in a cleaning state, the opening and closing turning plate is opened downwards, and the sum of the areas of the lifting plate and the opening and closing turning plate is equal to the area of the opening on the cleaning basin.

Preferably, the cleaning basin is provided with a water filling port and a water outlet, the water filling port is connected with the water tank through a water inlet pipe, and the water outlet is connected with a drain pipe; a tray is integrally connected to the lower portion of the shell and connected with a cleaning basin through a buckle, and a sealing ring is arranged at an upper opening of the cleaning basin.

Preferably, a circuit protection shell is arranged on one side of the shell, and the circuit and the water path are arranged in the circuit protection shell; the water tank is provided with a water tank filling port, the water tank filling port is connected with an external water source, a liquid level sensor is arranged in the water tank, the water tank filling port is provided with a water inlet valve, and the liquid level sensor is connected with the water inlet valve.

The invention discloses a working method of the pressure type mopping robot, which comprises the following steps:

charging and belt cleaning device switch on and water source, the robot charges through charging device, the mop is installed on the planker, the water tank passes through the water filling port and injects the clear water into to wasing the basin in, the robot docks in the washing basin top through induction system, the lifter plate motor drives the lifter plate through worm gear mechanism and first lead screw and descends, make the mop soak the clear water, the planker motor drives the rotation of planker through drive mechanism and washs, then water is discharged by the delivery port, the planker continues rotatory surplus moisture of throwing away, the lifter plate rises makes the robot body roll off and charge and belt cleaning device, the lifter plate descends and makes the mop on the planker have pressure with ground, running gear removes according to planning the circuit, the planker is rotatory simultaneously to be dragged the ground.

Compared with the prior art, the invention has the following beneficial technical effects:

the invention discloses a pressurized floor mopping robot, wherein a worm is driven to rotate by the rotation of a lifting plate motor on a main body, the worm drives a worm wheel to rotate, the worm wheel drives a lead screw to rotate, and further the lifting plate is lifted and lowered. The transmission control precision of the transmission system is high, corresponding pressure can be applied according to different ground types, meanwhile, the spring device can disperse upward force transmitted by the carriage, and the robot body is prevented from leaving the ground due to the upward force. The robot body can carry out accurate positioning through induction system, washs the mop on the planker in wasing the basin, and efficiency and degree of automation are high.

Furthermore, the main body adopts a rectangular shell structure with an opening on the lower plane, so that the manufacturing and the installation are convenient, the lower ends of two side faces of the main body are flanged inwards, and the strength of the main body is improved.

Furthermore, the lifting plate motor adopts a double-output-shaft motor, the lifting of the lifting plate is realized through two sets of symmetrically arranged worm and gear mechanisms and lead screws respectively, the structure is stable, and the pressure acting on the mop plate is uniform.

Furthermore, 4 wheels are adopted for moving, and each wheel is connected with a motor, so that the degree of freedom of movement is high.

Furthermore, the wheels are Mecanum wheels, and rotation and translation at any angle and in any direction can be realized, so that dead corners can be cleaned to the maximum extent, and the cleaning capability is improved.

Furthermore, the opening and closing turnover plate is upwards closed when the mop is used for mopping, the maximum size of the dragging plate is larger than that of the lifting plate, and the mop can be dragged to more areas to reduce the dead angle of cleaning; the opening and closing turning plate is opened downwards during cleaning, the sum of the areas of the lifting plate and the opening and closing turning plate is equal to the area of the opening on the cleaning basin, and water can be prevented from splashing during cleaning.

Furthermore, the tray fixes the cleaning basin through a buckle, so that the cleaning basin is prevented from moving due to too large vibration during cleaning; the sealing washer can increase the contact leakproofness of lifter plate and wash basin, prevents the water spill.

Furthermore, the circuit protection shell can regulate circuits and water paths, and safety is improved; the liquid level sensor can monitor the water quantity in the water tank, and autonomous water storage is realized through the water inlet valve when the water quantity is insufficient.

The working method of the pressure type mopping robot disclosed by the invention has the advantages of high automation degree, good mopping effect and high efficiency.

Drawings

Fig. 1 is a schematic view of the overall structure of a robot body according to the present invention;

FIG. 2 is a schematic view of the robot body of the present invention assembled with the exception of the main body;

FIG. 3 is an assembly view of a first lead screw and carriage motor of the present invention;

FIG. 4 is an assembly view of the carriage and carriage motor of the present invention;

FIG. 5 is an assembled schematic view of the wheel of the present invention;

FIG. 6 is an assembled schematic view of the spring assembly of the present invention;

FIG. 7 is a schematic front view of the charging and cleaning device of the present invention;

FIG. 8 is a rear view of the charging and cleaning device of the present invention;

FIG. 9 is a schematic view of the construction of the wash basin of the present invention;

fig. 10 is an assembly view showing a combination of the robot body and the charging and washing device according to the present invention.

In the figure: 1 is a main body, 2-1 is a wheel motor, 2-2 is a lifting plate motor, 2-3 is a carriage motor, 2-4 is a turnover motor, 3 is a walking mechanism, 3-1 is a wheel, 4 is a lifting plate, 5 is a carriage, 6-1 is a first lead screw, 6-2 is a second lead screw, 7-1 is a first bearing, 7-2 is a second bearing, 7-2-1 is a shaft sleeve, 7-3 is a third bearing, 7-4 is a fourth bearing, 8 is a spring device, 8-1 is an upper spring sleeve, 8-2 is a lower spring sleeve, 8-3 is a spring, 9 is an opening and closing turnover plate, 10-1 is a wheel connecting rod, 10-2 is a lifting connecting rod, 10-3 is a carriage connecting rod, 10-4 is a turnover connecting rod, 11 is a worm gear mechanism, 12-1 is a first support frame, 12-2 is a second support frame, 13 is a shell, 14 is a water tank, 15 is a cleaning basin, 16 is a tray, 17 is a sealing ring, 18 is a water filling port, 19 is a water outlet, 20 is an induction device, 21 is a charging device, 22 is a water filling port of the water tank, and 23 is a circuit protection shell.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings, which are included to illustrate and not to limit the invention:

referring to fig. 1, 2 and 4, the pressurized mopping robot of the present invention includes a robot body and a charging and cleaning device, wherein the robot body includes a main body 1, a traveling mechanism 3, a lifting plate 4 and a carriage 5.

As shown in fig. 5, the traveling mechanism 3 includes 4 wheels 3-1, each wheel 3-1 is connected to a wheel motor 2-1 through a wheel link 10-1 and a first bearing 7-1, preferably, the 4 wheels 3-1 are symmetrically arranged on two sides of the main body 1, and the wheels 3-1 are mecanum wheels.

As shown in fig. 1 and 3, the main body 1 is a rectangular shell with an opening on the lower plane, the cross section of the main body is a half-opening-shaped structure, the lower ends of two side surfaces of the main body 1 are flanged inwards to form a supporting plate, and the wheel motor 2-1 is fixed in the supporting plate formed by the flanges on the two side surfaces of the main body 1; the lifting plate motor 2-2 and the worm gear mechanism 11 are fixed on the upper plane of the main body 1, the lifting plate motor 2-2 is a double-output-shaft motor, the lifting plate motor 2-2 is fixed in the center of the upper plane of the main body 1, two output shafts of the lifting plate motor 2-2 are respectively and symmetrically connected with 1 worm through a lifting connecting rod 10-2, the lifting connecting rod 10-2 is supported by a plurality of first supporting frames 12-1, the worm is respectively connected with 1 worm gear, the worm gear is provided with a screw hole, the 2 worm gears are respectively connected with 1 first lead screw 6-1 through a second bearing 7-2 and a shaft sleeve 7-2-1, a thread for realizing the up-and-down movement of the first lead screw 6-1 is arranged inside the shaft sleeve 7-2-1, and the first lead screw 6-1 penetrates through the main body 1 and is connected with.

As shown in fig. 2 and 4, a carriage motor 2-3 is arranged on the lifting plate 4, and a spring device 8 is arranged between the transmission mechanism and the carriage 5; the carriage motor 2-3 is a double-output shaft motor, two output shafts of the carriage motor 2-3 are respectively connected with a second lead screw 6-2 through 2 carriage connecting rods 10-3 and a bevel gear system, the carriage connecting rods 10-3 are supported through a plurality of second supporting frames 12-2, the rotation in the horizontal direction output by the carriage motor 2-3 is converted into the rotation in the vertical direction of the carriage 5, and therefore the mopping function is achieved, and the 2 second lead screws 6-2 are respectively connected with 1 round carriage 5 through fourth bearings 7-4.

Referring to fig. 6, the spring device 8 comprises an upper spring housing 8-1, a lower spring housing 8-2 and a spring 8-3, wherein the upper spring housing 8-1, the lower spring housing 8-2 and the spring 8-3 are all sleeved at the lower end of the second lead screw 6-2, the spring 8-3 is arranged between the upper spring housing 8-1 and the lower spring housing 8-2, and the lower spring housing 8-2 is fixedly connected with the carriage 5.

As shown in fig. 2, one end of a lifting plate 4 is hinged with an opening and closing turning plate 9, a turning motor 2-4 is fixed on the lifting plate 4, and the opening and closing turning plate 9 is connected with the turning motor 2-4 through a turning connecting rod 10-4; when the robot body is in a mopping state, the opening and closing turnover plate 9 is upwards closed, and the maximum size of the dragging plate 5 is larger than that of the lifting plate 4; when the robot body is in a cleaning state, the opening and closing turning plate 9 is opened downwards, and the sum of the areas of the lifting plate 4 and the opening and closing turning plate 9 is equal to the area of the opening on the cleaning basin 15.

As shown in fig. 7, 8 and 9, the charging and cleaning device comprises a shell 13, a water tank 14 and a cleaning basin 15, wherein the shell 13 is connected with the water tank 14, the water tank 14 is connected with the cleaning basin 15, the cleaning basin 15 is detachably fixed below the shell 13, 2 sensing devices 20 and 1 charging device 21 which are used for sensing the robot body are symmetrically arranged on the shell 13, and the sensing devices 20 and the charging device 21 are positioned above the cleaning basin 15. The cleaning basin 15 is provided with a water filling port 18 and a water outlet 19, the water filling port 18 is connected with the water tank 14 through a water inlet pipe, and the water outlet 19 is connected with a drain pipe; a tray 16 is integrally connected to the lower portion of the shell 13, the tray 16 is connected with a cleaning basin 15 through a buckle, and a sealing ring 17 is arranged on an upper opening of the cleaning basin 15. A circuit protection shell 23 is arranged on one side of the shell 13, and the circuit and the water path are arranged in the circuit protection shell 23; the water tank 14 is provided with a water tank filling port 22, the water tank filling port 22 is connected with an external water source, a liquid level sensor is arranged in the water tank 14, the water tank filling port 22 is provided with a water inlet valve, and the liquid level sensor is connected with the water inlet valve.

The pressure type mopping robot works:

the charging and cleaning device is connected with a power supply and a water source, the robot body is charged through a charging device 21, a mop cloth is clamped on the mop plate 5, a water tank 14 injects clean water into a cleaning basin 15 through a water injection port 18, as shown in figure 10, the robot body stops above the cleaning basin 15 through an induction device 20, a lifting plate motor 2-2 drives a lifting plate 4 to descend through a worm gear mechanism 11 and a first lead screw 6-1, an opening and closing turning plate 9 is opened downwards to enable the mop cloth to be immersed in the clean water, the mop plate motor 2-3 drives the mop plate 5 to rotate through a transmission mechanism for cleaning, then water is discharged from a water outlet 19, the mop plate 5 continues to rotate to throw out redundant water, the opening and closing turning plate 9 is closed upwards, the lifting plate 4 ascends to enable the robot body to run out of the charging and cleaning device, the lifting plate 4 descends to enable the mop cloth on the mop plate 5 to have, meanwhile, the carriage 5 rotates to mop the floor.

After finishing a round of clearance, lifter plate 4 rises, puts down the board 9 that turns on and off, moves to and continues to move in charging and belt cleaning device to charging and belt cleaning device before the induction system 20 senses reasonable position and puts down lifter plate 4 and begin to wash, and the rotation of passing through planker 5 carries out autonomic clearance, and delivery port 19 automatic drainage after the clearance is accomplished, and planker 5 continues to rotate and makes the mop throw away unnecessary moisture. And at the moment, according to the set number of times of cleaning, if the cleaning is needed, repeating the steps for cleaning, and if the cleaning is not needed again, automatically charging according to the electricity use condition.

The above description is only a part of the embodiments of the present invention, and although some terms are used in the present invention, the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the invention and are to be construed as any additional limitation which is not in accordance with the spirit of the invention. The foregoing is merely an illustration of the present invention for the purpose of providing an easy understanding and is not intended to limit the present invention to the particular embodiments disclosed herein, and any technical extensions or innovations made herein are protected by the present invention.