A self-cleaning mopping robot

Abstract

The present invention provides a self-cleaning mopping robot, comprising: a mopping and washing device, a processing device, a control system, a casing, a mobile wheel group, a water tank and a reserved water tank; the mopping and washing device and the processing device are connected in the casing, and the control system is respectively connected to the mopping and washing device and the processing device in the casing; the casing is provided with a sewage outlet, a water inlet and a power supply; the sewage outlet is connected to the processing device, and the power supply is connected to the mopping and washing device and the processing device through the control system; the mobile wheel group is installed at the bottom of the casing; the water tank is installed in the casing, and is respectively connected to the mopping and washing device and the processing device; the reserved water tank is connected to the casing through the water inlet. The present invention can realize the full automation of the mopping and cleaning process, and avoid the secondary pollution caused by manual dust removal.

Description

Technical Field

[0001] The present invention relates to the technical field of robot equipment, and in particular to a self-cleaning mopping robot. Background Art

[0002] At present, most cleaning robots on the market are sweeping robots, which can only perform cleaning work. After cleaning, manual mopping is still required.

[0003] The few mopping robots on the market have immature technology and unreasonable design. They do not have practical automated solutions for cleaning mops, handling dirt, and changing and adding water. They still require manual cleaning and residue removal, which can easily cause secondary pollution. Summary of the invention

[0004] The present invention provides a self-cleaning mopping robot, which can realize automatic charging, automatic traversal, automatic cleaning, automatic water addition, and automatic sewage discharge, so that the mopping and cleaning process is fully automated.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A self-cleaning mopping robot comprises: a mopping and washing device, a processing device, a control system, a casing, a moving wheel group, a water tank and a reserved water tank; the mopping and washing device and the processing device are connected in the casing; the control system is respectively connected to the mopping and washing device and the processing device in the casing; a sewage outlet, a water inlet and a power supply are provided on the casing, the sewage outlet is connected to the processing device, and the power supply is connected to the mopping and washing device and the processing device through the control system; the moving wheel group is installed at the bottom of the casing; the water tank is installed in the casing and is respectively connected to the mopping and washing device and the processing device; the reserved water tank is connected to the casing through the water inlet.

[0007] In a preferred embodiment, the mopping and washing device includes a driving device and an executing device, and the driving device is connected to the executing device.

[0008] In a preferred embodiment, the driving device includes a motor and a transmission, and the motor is connected to the transmission; the executing device includes two tugwheels, a plurality of tongues and a plurality of tongue arms evenly distributed on the tugwheels; the tugwheels rotate in opposite directions under the action of the driving device; the tongue is fixed on the tongue arm which can move up and down.

[0009] In a preferred embodiment, the processing device includes two cleaning trays, a slag collecting device and a water pump; the two cleaning trays are respectively adapted to be connected to the two tugboats; the slag collecting device is connected to the two cleaning trays; and the water pump is respectively connected to the cleaning trays and the water tank through a control system.

[0010] In a preferred embodiment, the cleaning tray includes a filter screen, a plurality of slag guiding belts, a slag guiding port and an ash collecting tray; the filter screen and the plurality of slag guiding belts are on the ash collecting tray; the plurality of slag guiding belts are connected to the slag guiding port; and a water spraying device is provided in the ash collecting tray.

[0011] In a preferred embodiment, the slag collecting device includes a slag collector and two slag collecting screw conveyors; the slag collector is connected to the two slag collecting screw conveyors; the two slag collecting screw conveyors are respectively connected to the two cleaning trays through the slag guiding ports.

[0012] In a preferred embodiment, a slag pressing mechanism is provided in the slag collector, and a slag pressing motor drives a pressing cover or a slag pressing screw to squeeze the coarse slag in the slag collector.

[0013] In a preferred embodiment, the treatment device further comprises a circulating water device, and the circulating water device is connected to the water pump through a control system and is connected to a sewage outlet.

[0014] In a preferred embodiment, the circulating water device is a filter.

[0015] In a preferred embodiment, a lifting mechanism is provided between the two cleaning trays, and the lifting mechanism is connected to the bottom of the casing via a bracket.

[0016] Due to the adoption of the above technical solution, the present invention has the following positive effects compared with the prior art:

[0017] The water in the water tank is sprayed onto the tongue through the water spray device. After the tongue is soaked, it is driven by the motor and the transmission to perform the sweeping work. The water spray device continuously sprays water to wash away the coarse residue on the tongue. The coarse residue is carried by the tongue to the cleaning plate, and then enters the slag guide belt, and is transported to the slag collector by the slag collecting screw conveyor. There is a slag pressing mechanism in the slag collector, which can squeeze out excess water. The water flows back to the water tank and participates in the circulation again after treatment. When the coarse residue accumulates to a certain extent, an alarm signal will be issued to prompt manual slag removal. The filter filters the sewage after mopping and washing, and the filtered clean water directly enters the water tank for recycling. When the dirt in the filter reaches a certain concentration, it is discharged through the sewage outlet.

[0018] The control system of the mopping robot of the present invention can realize automatic traversal, automatic water addition, automatic charging, and automatic sewage discharge of the robot, thereby realizing full automation of the mopping process and avoiding secondary pollution caused by manual dust cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a diagram of the mopping and washing device of the self-cleaning mopping robot of the present invention;

[0020] Figure 2 This is a diagram of the cleaning plate and residue collecting device of the self-cleaning mopping robot of the present invention;

[0021] Figure 3 This is a diagram of the water spraying device of the self-cleaning mopping robot of the present invention;

[0022] Figure 4 This is a front view of the self-cleaning mopping robot of the present invention;

[0023] Figure 5 This is a main cross-sectional view of the self-cleaning mopping robot of the present invention;

[0024] Figure 6 It is a left sectional view of the self-cleaning mopping robot of the present invention;

[0025] Figure 7 This is a control logic diagram of the self-cleaning mopping robot of the present invention;

[0026] Figure 8 This is a process flow chart of the self-cleaning mopping robot of the present invention.

[0027] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0028] 1. Drag-washing device, 11. Driving device, 111. Motor, 112. Transmission, 12. Actuating device, 121. Tugboat, 122. Drag tongue, 123. Drag tongue arm, 2. Processing device, 21. Cleaning plate, 211. Filter screen, 212. Slag guide belt, 213. Slag guide port, 214. Ash collecting plate, 22. Slag collecting device, 221. Slag collector, 222. Slag collecting screw conveyor, 223. Slag pressing mechanism, 23. Water pump, 24. Circulating water device, 25. Filter, 3. Casing, 4. Moving wheel set, 5. Sewage outlet, 6. Water inlet, 7. Power supply, 8. Water spraying device, 9. Lifting mechanism, 10. Control system, 13. Water tank. DETAILED DESCRIPTION

[0029] The present invention provides a self-cleaning mopping robot. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "center", "inside", "outside", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] As shown in Title 1-6, the present invention provides a self-cleaning mopping robot, comprising: a mopping and washing device 1, a processing device 2, a control system 10, a housing 3, a moving wheel set 4, a water tank 13 and a reserved water tank (not shown in the figure). The mopping and washing device 1 and the processing device 2 are adapted to be installed in the housing 3, the control system 10 is in the housing 3, the housing 3 has a sewage outlet 5, a water inlet 6 and a power supply 7, the sewage outlet 5 is connected to the processing device 2, the power supply 7 is connected to the mopping and washing device 1 and the processing device 2 through the control system 10, the moving wheel set 4 is installed at the bottom of the housing 3, the water tank 13 is installed in the housing 3, and is connected to the mopping and washing device 1 and the processing device 2 respectively, and the reserved water tank is connected to the housing 3 through the water inlet 6.

[0033] like Figure 1 As shown, the mopping and washing device 1 includes a driving device 11 and an executing device 12, and the driving device 11 and the executing device 12 are connected; the driving device 11 includes a motor 111 and a transmission 112, and the executing device includes two tugwheels 121, 6 tongues 122 and 6 tongue arms 123 evenly distributed on each tugwheel; the motor 111 is connected to the tugwheel 121 through the transmission 112, and the two tugwheels 121 rotate in opposite directions under the action of the motor 111 and the transmission 112 to bring the dirt into the processing device 2; the tongue 122 is fixed on the tongue arm 123 which can move up and down, and the tongue 122 is made of cloth, mopping cotton or rubber.

[0034] like Figure 1-4As shown, the processing device 2 includes two cleaning trays 21, a slag collecting device 22 and two water pumps 23. Each water pump 23 is connected to the corresponding cleaning tray 21 through the control system 10. Each water pump 23 includes a clean water pump and a sewage pump. The sewage pump is connected to the filter 25, and the clean water pump is connected to the water tank 13. The two cleaning trays 21 are respectively adapted and installed with two tugboats 121, and the slag collecting device 22 is connected to the two cleaning trays 21. Each cleaning tray 21 includes a plurality of filter screens 211, four slag guide belts 212, a slag guide port 213 and an ash collecting tray 214. The plurality of filter screens 211 and four slag guide belts 212 are on the ash collecting tray 214. The four slag guide belts 212 are connected to the slag guide port 213. A water spray device 8 is provided in the ash collecting tray 214. The slag collecting device 22 includes a slag collecting device 221 and two slag collecting screw conveyors 222. The slag collecting device 221 is connected to the two slag collecting screw conveyors 222. The two slag collecting screw conveyors 222 are respectively connected to the two cleaning discs 21 through the slag guide ports 213. Under the action of the control system 10, the water spraying device 8 soaks the drag tongue 122 with water in the water tank 13. The two tugs 121, driven by the motor 111 and the transmission 112, rotate in opposite directions to bring the ash into the ash collecting disc 214. The water spraying device 8 continuously sprays water to wash away the coarse slag on the drag tongue 122. The coarse slag is brought to the cleaning disc 21 by the drag tongue 122. The coarse slag passes through the slag guide belt 212 and the slag guide port 213, enters the slag collecting screw conveyor 222, and is finally transported to the slag collecting device 221. When the coarse slag accumulates to a certain extent, an alarm signal is issued to prompt manual slag removal. The sewage enters the water tank through the filter screen 211 , is circulated and pumped out by the water pump 23 , and is finally discharged through the sewage outlet 5 .

[0035] like Figure 2 As shown, in a more preferred embodiment, a slag pressing mechanism 223 is provided in the slag collector 221, including a slag pressing screw or a pressing cover and a slag pressing motor. The slag pressing screw or the pressing cover forms a cavity with the inner wall of the slag collector. Driven by the slag pressing motor, the slag pressing screw or the pressing cover presses the coarse slag in the slag collector, and the excess water in the coarse slag is squeezed out. The sewage flows back into the cleaning tray 21 and is then pumped into the filter 25 for filtration through the sewage pump of the water pump 23. The filtered clean water enters the water tank 13 and participates in the circulation again.

[0036] like Figure 4 As shown, in a more preferred embodiment, the treatment device 2 also includes two sets of circulating water devices 24, each circulating water device 24 is connected to the corresponding water pump 23 through a control system and is connected to the sewage outlet 5, so that the sewage can be purified and recycled, saving water resources.

[0037] like Figure 5As shown, in a more preferred embodiment, the circulating water device 24 is a filter 25, the filter 25 is connected to the sewage outlet 5, and the two filters 25 are respectively connected to the corresponding water pumps 23, which can filter the sewage, and the filtered clean water is pumped out by the water pump 23 for recirculation. When the dirt in the filter 25 reaches a certain concentration, it is discharged through the sewage outlet 5.

[0038] like Figure 5 As shown, in a more preferred embodiment, there is a lifting mechanism 9 between the two cleaning trays 21, the lifting mechanism 9 is connected to the bottom of the casing 3 through a bracket, and the raising and lowering of the tugboat 121 is controlled by the control system 10.

[0039] like Figure 7 As shown, the control logic of the self-cleaning mopping robot control system is as follows:

[0040] The filter 25 is provided with a pressure differential switch. When the dirt in the filter 25 reaches a certain concentration, a pressure differential signal is issued, thereby starting the following automatic sewage discharge program: 1. Stop mopping and raise the tugboat 121; 2. Stop the water pump 23, stop the residue collector 221, and stop the residue collection screw conveyor 222; 3. Start the moving program, the moving wheel group 4 brings the mopping robot to the sewage discharge positioning port, opens the sewage discharge solenoid valve, starts the water pump 23, and discharges the sewage in the filter 25 through the sewage discharge port 5.

[0041] The housing 3 is provided with a high water level switch and a low water level switch. When the water level is low, the following automatic water adding procedure is started: 1. Stop all motors and raise the tugboat 121; 2. Start the mobile motor; 3. Automatically locate the water adding point; 4. Align the reserved water tank outlet and the mopping robot water inlet 6 to automatically add water; 5. After the water level reaches a high position, stop adding water; 6. The mopping robot returns to its original position and continues mopping.

[0042] The mopping robot is equipped with real-time power monitoring. When the power is less than a certain value, the automatic charging program is started.

[0043] The mopping robot is equipped with an electronic compass, and the rangefinder can realize the movement direction control and positioning control of the robot.

[0044] When used for the first time, the robot needs to initialize parameters for the new environment. After starting, the robot will automatically traverse the entire room where it can be mopped and draw a room layout. Then it will automatically charge, add water, set the positioning points for automatic drainage, set the timer for starting mopping, etc. After the initialization is completed, the system can automatically mop the floor.

[0045] like Figure 8 As shown, the process flow of the self-cleaning mopping robot is as follows:

[0046] The coarse slag is brought to the cleaning plate 21 by the drag tongue 122, enters the slag collecting screw conveyor 222 through the slag guiding belt 212 and the slag guiding port 213, and is finally conveyed to the slag collector 221. When the coarse slag accumulates to a certain extent, an alarm signal is issued to prompt manual slag removal.

[0047] After the coarse residue is filtered in the cleaning plate 21, the sewage is discharged into the filter 25 through the sewage pump of the water pump 23 for secondary filtration. The filtered clean water enters the water tank 13 through the clean water pump of the water pump 23 for recirculation. The water spray device 8 sprays clean water onto the tongue 122 to soak and wash the coarse residue.

[0048] 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 principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-cleaning mopping robot, characterized in that: include: A washing device (1), a treatment device (2), a control system (10), a housing (3), a moving wheel group (4), a water tank (13) and a reserved water tank; the washing device (1) and the treatment device (2) are connected in the housing (3); the control system (10) is connected to the washing device (1) and the treatment device (2) in the housing (3); a sewage outlet (5), a water inlet (6) and a power supply (7) are provided on the housing (3); the sewage outlet (5) is connected to the treatment device (2), and the power supply (7) is connected to the washing device (1) and the treatment device (2) through the control system (10); the moving wheel group (4) is installed at the bottom of the housing (3); the water tank (13) is installed in the housing (3) and is connected to the washing device (1) and the treatment device (2) respectively; the reserved water tank is connected to the housing (3) through the water inlet (6); The mopping and washing device (1) comprises a driving device (11) and an executing device (12), wherein the driving device (11) and the executing device (12) are connected; the executing device (12) comprises two tug wheels (121), and the two tug wheels (121) rotate in opposite directions under the action of the driving device (11); The processing device (2) comprises two cleaning pans (21), a slag collecting device (22) and a water pump (23); the two cleaning pans (21) are respectively adapted to be connected to the two tugboats (121); the slag collecting device (22) is connected to the two cleaning pans (21); the water pump (23) is respectively connected to the two cleaning pans (21) and the water tank (13) through the control system (10); each water pump (23) comprises a clean water pump and a sewage pump, the sewage pump is connected to the processing device (2), and the clean water pump is connected to the water tank (13); The cleaning tray (21) comprises a filter screen (211), a plurality of slag guiding belts (212), a slag guiding port (213) and an ash collecting tray (214); the filter screen (211) and the plurality of slag guiding belts (212) are on the ash collecting tray (214); the plurality of slag guiding belts (212) are connected to the slag guiding port (213); and a water spray device (8) is provided in the ash collecting tray (214).

2. The self-cleaning mopping robot according to claim 1, characterized in that: The driving device (11) comprises a motor (111) and a transmission (112), wherein the motor (111) is connected to the transmission (112); the executing device (12) further comprises a plurality of tongues (122) and a plurality of tongue arms (123) evenly distributed on the tugboat; the tongue (122) is fixed on the tongue arm (123) which can move up and down.

3. The self-cleaning mopping robot according to claim 1, characterized in that: The slag collecting device (22) comprises a slag collector (221) and two slag collecting screw conveyors (222); the slag collector (221) is connected to the two slag collecting screw conveyors (222); the two slag collecting screw conveyors (222) are respectively connected to the two cleaning trays (21) through the slag guiding opening (213).

4. The self-cleaning mopping robot according to claim 3, characterized in that: The slag collector (221) is provided with a slag pressing mechanism (223).

5. The self-cleaning mopping robot according to any one of claims 1 to 4, characterized in that: The treatment device (2) further comprises a circulating water device (24), wherein the circulating water device (24) is connected to the water pump (23) via a control system and is connected to a sewage outlet (5).

6. The self-cleaning mopping robot according to claim 5, characterized in that: The circulating water device (24) is a filter (25).

7. The self-cleaning mopping robot according to claim 1, characterized in that: A lifting mechanism (9) is provided between the two cleaning plates (21), and the lifting mechanism (9) is connected to the bottom of the casing (3) via a bracket.

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