Automatic garbage picking robot

Abstract

The invention belongs to the technical field of robots, and relates to an automatic garbage picking robot. The robot comprises a robot main body, and a picking mechanism and a wiping mechanism which are arranged on the robot main body; the wiping mechanism comprises a box body and cleaning cloth; fixed wheels are rotationally mounted on the two sides of the bottom of the box body, two movable wheels are movably arranged on the upper portion in the box body, and the cleaning cloth is wound between the fixed wheels and the movable wheels; a baffle is arranged in the box body, clamping blocks are arranged at the two ends of the baffle in a matched mode, the clamping blocks are movably arranged in the box body, a drying cavity is formed in the box body above the clamping blocks and the baffle, a water tank is arranged in the box body, and a cleaning cavity is formed in one side of the water tank. In the working process of the robot body, the cleaning cloth is made to circularly move among the outer side of the box body, the cleaning cavity, the side exhaust pipe and the waiting cavity, cleaning and drying of the cleaning cloth are automatically completed, the robot body does not need to stop working, and then the working efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to an automatic garbage picking robot. Background Art

[0002] With the rapid development of science and technology, cleaning work relying on robots has become the mainstream of society. When cleaning the floor, you first need to pick up the garbage on the floor. After the garbage on the floor is picked up, there is often dust on the floor, especially indoors. The dust on the floor must be wiped clean to make the floor cleaner.

[0003] However, when the robot is wiping the floor, it is not possible to automatically clean the used part of the cleaning cloth, and the cleaning efficiency of the cleaning cloth after use is reduced. When the cleaning cloth is cleaned, the cleaning work on the floor needs to be stopped, which reduces the working efficiency.

[0004] In order to solve the above problems, the present invention proposes an automatic garbage picking robot. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention proposes an automatic garbage picking robot.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is as follows: an automatic garbage picking robot comprises a robot body and a picking mechanism and a wiping mechanism arranged on the robot body; the wiping mechanism comprises a box body and a cleaning cloth; fixed wheels are rotatably installed on both sides of the bottom of the box body, cloth-passing holes are opened on both sides of the bottom of the box body for the cleaning cloth to pass through, and two movable wheels are movably arranged on the upper part of the box body, and the cleaning cloth is wound around the fixed wheel and the movable wheel; a baffle is arranged in the box body, and blocks are matched at both ends of the baffle, and the blocks are movably arranged in the box body, and the cleaning cloth passes between the blocks and the baffle; the box body above the blocks and the baffle forms a drying chamber, a water tank is arranged in the box body, and one side of the water tank, the inner wall of the box body, and the baffle and the blocks form a cleaning chamber, and a water spray pipe connected with the water tank is arranged in the cleaning chamber; a drying component is arranged in the drying chamber;

[0007] A humidity-sensitive resistor is arranged in the drying chamber, and a trigger module is arranged in the drying chamber; under the action of the trigger module, when the humidity of the cleaning cloth is less than a preset value, the fixed wheel rotates to move the cleaning cloth and perform a cloth changing operation.

[0008] Furthermore, the trigger module includes an electromagnet and an iron block; a clearance cavity is opened on the top of the box body, the electromagnet is fixedly arranged in the clearance cavity, the iron block is elastically movably arranged in the clearance cavity, and the electromagnet and the iron block cooperate;

[0009] A fixed sleeve is arranged on the top of the box body, a slide plate is slidably arranged in the fixed sleeve, a hygroscopic resistor is installed at the bottom of the slide plate, a first contact is arranged on the slide plate, and a second contact matching with the first contact is arranged in the fixed sleeve; the hygroscopic resistor, the first contact and the second contact are all connected to the control circuit of the electromagnet; when the humidity of the cleaning cloth is less than a preset value, the electromagnet and the iron block are attracted together, and the fixed wheel rotates.

[0010] Furthermore, the trigger mold also includes a switch, which is fixed in the give-way cavity. A second slide rod is slidably arranged in the give-way cavity. The second slide rod cooperates with the switch, and the second slide rod is connected to the iron block. When the iron block moves, the second slide rod moves at the same time. When the iron block is adsorbed onto the electromagnet, the second slide rod presses against the switch to rotate the fixed wheel.

[0011] Furthermore, a slide groove is provided in the box body, the movable wheel slides along the slide groove, and the upper end of the slide groove is inclined outward.

[0012] Furthermore, the drying component includes an upper exhaust pipe, a lower exhaust pipe and a side exhaust pipe; the upper exhaust pipe is arranged on the top wall of the box body, and the lower exhaust pipe is arranged on the baffle; the side exhaust pipe is arranged on the side wall of the box body; and the box body is provided with a first pump body for conveying air to the upper exhaust pipe, the lower exhaust pipe and the side exhaust pipe.

[0013] Furthermore, clamping plates are provided on both sides of the cloth-passing hole, and the cleaning cloth passes between the corresponding two clamping plates.

[0014] Furthermore, the picking mechanism includes a broom and a bucket; two fixing frames are installed at the front end of the bottom of the robot body, and a broom is installed on each fixing frame; the bucket is installed at the bottom of the robot body and is located at the rear side between the two fixing frames.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. During the working process, the robot body automatically cleans and dries the cleaning cloth by circulating the cleaning cloth between the outside of the box, the cleaning chamber, the side exhaust pipe and the waiting chamber, without stopping the robot body, which helps to improve work efficiency.

[0017] 2. The two movable wheels move up and down reciprocatingly. When the movable wheel moves up, the cleaning cloth moves up and squeezes the humidity-sensitive resistor, so that the first contact and the second contact are in contact, and the electromagnet is energized. When the movable wheel moves down, the first contact and the second contact are disconnected, and the electromagnet is de-energized. As the movable wheel moves back and forth, the first contact intermittently contacts the second contact, and the electromagnet is intermittently energized. When the humidity of the cleaning cloth is less than the preset value, the cleaning cloth is replaced under the action of the trigger module.

[0018] 3. The two movable wheels move up and down reciprocally, causing the cleaning cloth in the drying chamber to alternate between being taut and slack, and then the cleaning cloth in the drying chamber vibrates, which helps to accelerate the drying process of the cleaning cloth in the drying chamber.

[0019] 4. The humidity sensor can detect the humidity of the cleaning cloth in a timely manner to avoid the cleaning effect being affected due to the humidity of the cleaning cloth being too low. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a schematic diagram of the bottom structure of the robot main body in the present invention;

[0022] Figure 3 is a schematic diagram of the external structure of the box body in the present invention;

[0023] Figure 4 is a schematic diagram of the internal structure of the second installation cavity in the present invention;

[0024] Figure 5 is a schematic diagram of the internal structure of the first installation cavity in the present invention;

[0025] Figure 6 is a sectional view of the box body in the present invention;

[0026] Figure 7 is in the present invention Figure 6 Enlarged view of part A;

[0027] Figure 8 is a schematic diagram of the structure of the slide plate in the present invention;

[0028] Figure 9 is in the present invention Figure 8 Enlarged view of part B;

[0029] Figure 10 is a simplified control circuit diagram of the electromagnet in the present invention.

[0030] In the figure: 1. Robot main body; 2. Fixing frame; 3. Broom; 4. Bucket; 5. Box body; 6. Cleaning cloth; 601. First cloth section; 602. Second cloth section; 603. Third cloth section; 604. Fourth cloth section; 7. Partition board; 8. First electric push rod; 9. First connecting block; 10. Chute; 11. Movable wheel; 12. Motor; 13. Fixed wheel; 14. First pump body; 15. First connecting pipe; 16. First square pipe; 17. Upper exhaust pipe; 18. Second square pipe; 19. Lower exhaust pipe; 20. Second pump body; 21. Second connecting pipe; 22. Third connecting pipe; 23. Third square pipe; 24. Water spray pipe; 25. Baffle; 26. Slide carriage; 27. Clamping block; 28. Water tank; 29. Hose; 30. Drying chamber; 31. Cleaning chamber; 32. Side exhaust pipe; 33. Fourth connecting pipe; 34. Fixed sleeve; 35. First spring; 36. Slide plate; 37. Humidity sensor; 38. Electromagnet; 39. Fixed rod; 40. First slide bar; 41. Second spring; 42. Iron block; 43. Connecting rod; 44. Second slide bar; 45. Switch; 46. Clamp; 47. First contact; 48. Second contact; 49. Second electric push rod; 50. Second connecting block; 51. Waiting chamber. Detailed implementation manner

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] As Figures 1-6 shown, the technical solution adopted by the present invention is as follows: An automatic garbage picking robot includes a robot main body 1, a picking mechanism, and a wiping mechanism. The picking mechanism is arranged at the front end of the bottom of the robot main body 1. The wiping mechanism is arranged at the bottom of the robot main body 1 and behind the picking mechanism. During the movement of the robot main body 1, the picking mechanism picks up and collects the garbage on the ground, and then the wiping mechanism wipes and cleans the ground to wipe off the dust on the ground.

[0033] As Figure 1 、 Figure 2 shown, the picking mechanism includes a broom 3 and a bucket 4. Two fixing frames 2 are installed at the front end of the bottom of the robot main body 1, and a broom 3 is installed on each fixing frame 2. The bucket 4 is installed at the bottom of the robot main body 1 and behind the two fixing frames 2. When the robot main body 1 moves, the broom 3 sweeps the ground, and the garbage on the ground enters the bucket 4, thereby cleaning and collecting the garbage on the ground into the bucket 4.

[0034] The wiping mechanism includes a box body 5 and a cleaning cloth 6. The box body 5 is fixedly installed at the bottom of the robot main body 1, and the box body 5 is located at the rear side of the bucket 4. A partition plate 7 is fixedly arranged in the box body 5. The partition plate 7 divides the box body 5 into a first installation cavity and a second installation cavity. The cleaning cloth 6 is arranged in the first installation cavity. As Figure 5 shown, in the first installation cavity, through cloth holes are symmetrically formed in the bottom of the box body 5, and fixed wheels 13 are rotatably installed in both of the two through cloth holes. Two movable wheels 11 are slidably installed in the upper part of the first installation cavity in the box body 5. The cleaning cloth 6 is wound between the movable wheels 11 and the fixed wheels 13. Two clamping plates 46 are arranged in each through cloth hole, and the cleaning cloth 6 passes through the gap between the two clamping plates 46, and the two clamping plates 46 clamp the cleaning cloth 6. When the robot main body 1 moves, the cleaning cloth 6 located between the two fixed wheels 13, that is, the cleaning cloth 6 outside the box body 5, wipes the ground.

[0035] A motor 12 is fixedly installed in the second installation cavity. One end of the fixed wheel 13 extends into the second installation cavity, and the motor shaft of the motor 12 is fixedly connected to the fixed wheel 13 coaxially.

[0036] As Figure 4 、 Figure 5 shown, a sliding groove 10 is formed in the partition plate 7, and one end of the movable wheel 11 is slidably arranged in the sliding groove 10. The other end of the movable wheel 11 is slidably connected to the inner wall of the box body 5. In the second installation cavity, two first electric push rods 8 are fixedly installed on the partition plate 7. The two first electric push rods 8 correspond to the two movable wheels 11 one by one, and the first electric push rod 8 drives the corresponding movable wheel 11 to move. The telescopic end of the first electric push rod 8 is fixedly connected with a first connecting block 9, and the first connecting block 9 is fixedly connected with the corresponding movable wheel 11. The first electric push rod 8 drives the movable wheel 11 through the first connecting block 9 to make the movable wheel 11 slide along the sliding groove 10.

[0037] In this embodiment, the sliding groove 10 is inclined, and the upper end of the sliding groove 10 is inclined in a direction away from the other sliding groove 10. In this way, when the movable wheel 11 moves upward along the sliding groove 10, the two movable wheels 11 move away from each other simultaneously.

[0038] As Figure 4 、 Figure 5As shown, in the first installation cavity, a baffle 25 is fixedly installed on the inner wall of the box body 5. At both ends of the baffle 25, clamping blocks 27 are arranged in cooperation. The cleaning cloth 6 passes through between the end of the baffle 25 and the corresponding clamping block 27. The clamping block 27 is movably arranged on the inner wall of the box body 5. On the inner wall of the box body 5 at a position corresponding to the clamping block 27, a sliding frame 26 is fixedly installed, and the clamping block 27 is slidably connected to the sliding frame 26. In the second installation cavity, a second electric push rod 49 is fixedly installed on the partition plate 7. The telescopic end of the second electric push rod 49 is fixedly connected to a second connecting block 50. One end of the clamping block 27 extends into the second installation cavity and is fixedly connected to the second connecting block 50. The second electric push rod 49 drives the clamping block 27 to move through the second connecting block 50, so that the clamping block 27 moves closer to or away from the baffle 25. When the clamping block 27 moves closer to the baffle 25, the clamping block 27 and the baffle 25 clamp the cleaning cloth 6 to fix the cleaning cloth 6, so that the cleaning cloth 6 below the baffle 25 is kept in a tensioned state, and the cleaning cloth 6 located outside the box body 5 is in a tensioned state. When the robot main body 1 moves, the cleaning cloth 6 located outside the box body 5 moves along the ground to wipe the ground. At the same time, the clamping block 27 above the baffle 25 can switch between tensioned and relaxed states as the movable wheel 11 moves.

[0039] In the first installation cavity, a water tank 28 is fixedly installed at the bottom of the box body 5. One side of the water tank 28, the partition plate 7, the clamping plate 46, the baffle 25, the inner wall of the box body 5 and the corresponding clamping block 27 and sliding frame 26 enclose a cleaning cavity 31. The other side of the water tank 28, the clamping plate 46, the partition plate 7, the inner wall of the box body 5, the baffle 25 and the corresponding clamping block 27 and sliding frame 26 enclose a waiting cavity 51. Above the baffle 25, the clamping block 27, the sliding frame 26 and the box body 5 enclose a drying cavity 30.

[0040] In the cleaning cavity 31, a water spray pipe 24 communicated with the water tank 28 is arranged. Specifically, there are two water spray pipes 24. One water spray pipe 24 is installed on the sliding frame 26, and the other water spray pipe 24 is installed on the baffle 25. A plurality of water spray nozzles are opened on the water spray pipe 24. The two water spray pipes 24 are arranged on both sides of the cleaning cloth 6. The water in the water tank 28 is sprayed onto the cleaning cloth 6 through the water spray pipe 24 to clean the cleaning cloth 6 in the cleaning cavity 31. A fourth connecting pipe 33 communicated with the cleaning cavity 31 is arranged on the inner wall of the box body 5, and the water entering the cleaning cavity 31 is discharged through the fourth connecting pipe 33.

[0041] Specifically, a second pump body 20 is installed in the second installation cavity. The water outlet end of the second pump body 20 is communicated with a third connecting pipe 22, and the third connecting pipe 22 is communicated with a third-party pipe 23. Both spray pipes 24 are communicated with the third-party pipe 23. The water inlet end of the second pump body 20 is communicated with the water tank 28 through a second connecting pipe 21. The second pump body 20 transports the water in the water tank 28 through the second connecting pipe 21 and the third connecting pipe 22 into the third-party pipe 23, and the water in the third-party pipe 23 enters the spray pipe 24 and is sprayed out through the spray pipe 24.

[0042] A drying component is arranged in the drying cavity 30, and the drying component dries the cleaning cloth 6 in the drying cavity 30. The drying component includes an upper exhaust pipe 17, side exhaust pipes 32 and a lower exhaust pipe 19. There are two of each of the upper exhaust pipe 17, the side exhaust pipes 32 and the lower exhaust pipe 19. The upper exhaust pipe 17 is arranged at the top of the box body 5, the lower exhaust pipe 19 is arranged on the baffle 25, and the side exhaust pipes 32 are arranged on the side walls of the box body 5, so that the upper side, lower side and left and right sides of the cleaning cloth 6 in the drying cavity 30 are all blown by the wind, which helps to quickly dry the cleaning cloth 6 in the drying cavity 30.

[0043] In the second installation cavity, a first pump body 14 is fixedly installed on the partition board 7. The output end of the first pump body 14 is connected with two first connecting pipes 15. One of the first connecting pipes 15 is connected with a first-party pipe 16, and the side exhaust pipe 32 is communicated with the first-party pipe 16 through a hose 29. The upper exhaust pipe 17 is communicated with the first-party pipe 16. The other first connecting pipe 15 is connected with a second-party pipe 18, and the lower exhaust pipe 19 is communicated with the second-party pipe 18.

[0044] In the drying cavity 30, a humidity-sensitive resistor 37 is arranged at the top of the box body 5, and the humidity-sensitive resistor 37 detects the humidity of the cleaning cloth 6. And a trigger module is arranged in the drying cavity 30. When the humidity of 6 is less than a preset value, 12 is started, and the fixed wheel 13 rotates to move the cleaning cloth 6 for cloth changing operation. The cleaning cloth 6 outside the box body 5 is moved into the cleaning cavity 31 to clean the used cleaning cloth 6. At the same time, the cleaning cloth 6 in the cleaning cavity 31 enters the drying cavity 30 for drying treatment. Wait for the cleaning cloth in the cavity 51 to move to the outside of the box body 5 to wipe the ground.

[0045] The trigger module includes an electromagnet 38, an iron block 42 and a switch 45.

[0046] A relief cavity is formed at the top of the box body 5. A fixed sleeve 34 is fixedly installed on one side of the relief cavity, and the fixed sleeve 34 communicates with the first installation cavity. A sliding plate 36 is slidably arranged in the fixed sleeve 34, and the humidity-sensitive resistor 37 is installed at the bottom of the sliding plate 36. A first spring 35 is connected between the sliding plate 36 and the fixed sleeve 34. A first contact 47 is installed on the side of the sliding plate 36 away from the humidity-sensitive resistor 37, and a second contact 48 cooperating with the first contact 47 is installed in the fixed sleeve 34. A fixed rod 39 is fixedly arranged in the relief cavity. A first sliding rod 40 and a second sliding rod 44 are slidably connected to the fixed rod 39, and a connecting rod 43 is fixedly connected between the first sliding rod 40 and the second sliding rod 44. One ends of the first sliding rod 40 and the second sliding rod 44 away from the connecting rod 43 both slidably penetrate through the fixed rod 39. A second spring 41 is sleeved on the first sliding rod 40. One end of the second spring 41 is fixedly connected to the connecting rod 43, and the other end of the second spring 41 is fixedly connected to the fixed rod 39. The end of the first sliding rod 40 away from the connecting rod 43 is fixedly connected to an iron block 42. The iron block 42 is arranged in cooperation with an electromagnet 38, and the electromagnet 38 is fixed on the fixed sleeve 34. A switch 45 is fixed on the fixed sleeve 34, and the end of the second sliding rod 44 away from the connecting rod 43 is arranged in cooperation with the switch 45. As Figure 10 shown, the humidity-sensitive resistor 37, the first contact 47 and the second contact 48 are all connected to the control circuit of the electromagnet 38. When the first contact 47 and the second contact 48 are in contact, the electromagnet 38 is powered on.

[0047] The first electric push rod 8 continuously expands and contracts, thereby causing the movable wheel 11 to reciprocate up and down along the chute 10. When the movable wheel 11 moves upward along the chute 10, the cleaning cloth 6 in the drying cavity 30 is tensioned and the cleaning cloth 6 between the two movable wheels 11 moves upward. The cleaning cloth 6 between the two movable wheels 11 moves upward and presses the humidity-sensitive resistor 37, causing the sliding plate 36 to move upward. Then the first contact 47 contacts the second contact 48, causing the electromagnet 38 to be powered on, and the electromagnet 38 generates magnetism. The electromagnet 38 generates an attractive force on the iron block 42, thereby causing the first sliding rod 40 to move in the direction close to the electromagnet 38 against the elastic force of the second spring 41. The second sliding rod 44 moves close to the switch 45. When the movable wheel 11 moves downward, the first contact 47 and the second contact 48 are separated, the electromagnet 38 is powered off, and under the action of the second spring 41, the first sliding rod 40 resets.

[0048] The working principle of the humidity-sensitive resistor 37 is based on the fact that when the humidity-sensitive material absorbs moisture in the air, its resistance value changes. The greater the humidity of the cleaning cloth 6, the greater the resistance value of the humidity-sensitive resistor 37, and thus the smaller the current of the electromagnet 38 and the weaker the magnetism of the electromagnet 38. As the drying component dries the cleaning cloth 6, the humidity of the cleaning cloth 6 gradually decreases. The smaller the humidity of the cleaning cloth 6, the smaller the resistance value of the humidity-sensitive resistor 37, the greater the current of the electromagnet 38, the stronger the magnetism of the electromagnet 38, and the greater the attraction of the electromagnet 38 to the iron block 42 until the iron block 42 is adsorbed onto the electromagnet 38. At this time, the second slide bar 44 presses against the switch 45. When the second slide bar 44 presses against the switch 45, the first electric push rod 8 stops continuously telescoping and keeps the movable wheel 11 at the upper end of the chute 10. The second electric push rod 49 is activated, causing the clamping block 27 to move a certain distance away from the baffle 25. The motor 12 is started, and then the fixed wheel 13 rotates, driving the cleaning cloth 6 to move for cloth changing operation.

[0049] Working principle: For the convenience of description, initially, as Figure 4 shown, the cleaning cloth 6 located outside the box body 5 is denoted as the first cloth section 601, the cleaning cloth 6 in the cleaning chamber 31 is denoted as the second cloth section 602, the cleaning cloth 6 in the drying chamber 30 is denoted as the third cloth section 603, and the cleaning cloth 6 in the waiting chamber 51 is denoted as the fourth cloth section 604. And at this time, the clamping block 27 and the baffle 25 clamp and fix the cleaning cloth 6, and the first cloth section 601, the second cloth section 602, and the fourth cloth section 604 are in a tensioned state.

[0050] During use, when the robot main body 1 walks along the ground, the picking-up mechanism cleans the garbage on the ground and makes the garbage enter the bucket 4 for collection. At the same time, the first cloth section 601 located outside the box body 5 wipes and cleans the ground.

[0051] At the same time, the second pump body 20 is started, so that the water in the water tank 28 enters the third-party pipe 23. The water in the third-party pipe 23 is sprayed onto the second cloth section 602 through the water spray pipe 24 to clean the second cloth section 602, and the water entering the cleaning chamber 31 flows out through the fourth connecting pipe 33.

[0052] At the same time, the first pump body 14 is started, and the upper exhaust pipe 17, the lower exhaust pipe 19, and the side exhaust pipe 32 blow air to the third cloth section 603 at the same time to dry the third cloth section 603.

[0053] Meanwhile, the first electric push rod 8 continuously extends and retracts, causing the movable wheel 11 to reciprocate along the chute 10. When the first electric push rod 8 extends, the movable wheel 11 moves upward along the chute 10, gradually tensioning the third cloth section 603. When the first electric push rod 8 retracts, the movable wheel 11 moves downward along the chute 10, gradually slackening the third cloth section 603. Therefore, as the first electric push rod 8 continuously extends and retracts, the third cloth section 603 alternates between tensioning and slackening, thereby jolting the third cloth section 603, which is beneficial to accelerating the drying of the third cloth section 603 and helps to clean the third cloth section 603.

[0054] When the movable wheel 11 moves upward, the third cloth section 603 gradually tensions and moves upward at the same time, causing the third cloth section 603 to gradually approach the humidity sensor 37. Under the extrusion of the third cloth section 603, the humidity sensor 37 moves upward along the fixed sleeve 34, and the first contact 47 moves upward. When the first contact 47 touches the second contact 48, the electromagnet 38 is energized, and the electromagnet 38 generates magnetism and has an attractive force on the iron block 42.

[0055] When the humidity sensor 37 contacts the third cloth section 603, the resistance value of the humidity sensor 37 changes according to the humidity of the third cloth section 603.

[0056] As the cleaning cloth 6 gradually dries, the humidity of the cleaning cloth 6 gradually decreases, the resistance of the humidity sensor 37 gradually decreases, and the current in the electromagnet 38 gradually increases. The attractive force of the electromagnet 38 on the iron block 42 gradually increases. Until the humidity of the cleaning cloth 6 is less than the preset value, the attractive force of the electromagnet 38 on the iron block 42 causes the iron block 42 to be adsorbed onto the electromagnet 38, and at the same time, the second sliding rod 44 presses against the switch 45.

[0057] When the second sliding rod 44 presses against the switch 45, a cloth-changing operation is performed. Specifically, the first electric push rod 8 stops extending and retracting and keeps the movable wheel 11 at the upper end of the chute 10, and the entire cleaning cloth 6 is in a tensioned state. The second electric push rod 49 is activated, causing the clamping block 27 to move away from the baffle 25 and release the clamping and fixing of the cleaning cloth 6. The motor 12 is activated, and the fixed wheel 13 rotates, causing the cleaning cloth 6 to move. The first cloth section 601 moves into the cleaning chamber 31, the second cloth section 602 moves into the drying chamber 30, the third cloth section 603 moves into the waiting chamber 51, and the fourth cloth section 604 moves outside the box body 5. Then the clamping block 27 moves closer to the baffle 25, and the clamping block 27 and the baffle 25 clamp and fix the cleaning cloth 6.

[0058] As the robot main body 1 moves, the fourth cloth section 604 wipes the ground. At the same time, the water spray pipe 24 cleans the first cloth section 601, and the drying component blows and dries the second cloth section 602. At the same time, the first electric push rod 8 continuously extends and retracts, causing the second cloth section 602 to continuously jolt. The second cloth section 602 intermittently squeezes the humidity sensor 37, causing the electromagnet 38 to be intermittently energized.

[0059] When the second cloth section 602 enters the drying chamber 30, the second cloth section 602 can move between the upper exhaust pipe 17 and the baffle 25. However, the baffle 25 and the clamping block 27 exert a certain squeezing pressure on the second cloth section 602, so that most of the moisture in the second cloth section 602 is squeezed out and falls into the drying chamber 30 under the squeezing of the baffle 25 and the clamping block 27.

[0060] When the second sliding rod 44 presses against the switch 45 again, the cloth-changing operation is performed again. The fourth cloth section 604 enters the cleaning chamber 31, the first cloth section 601 enters the drying chamber 30, the second cloth section 602 enters the waiting chamber 51, and the third cloth section 603 moves outside the box body 5.

[0061] In this way, the cleaning cloth 6 moves cyclically between the outside of the box body 5, the cleaning chamber 31, the drying chamber 30 and the waiting chamber 51, so that the cleaning cloth 6 automatically completes the wiping, cleaning and drying processes in sequence, keeping the cleaning cloth 6 clean, and thus ensuring the cleaning effect on the ground. Without stopping the operation of the robot main body 1, the cleaning and drying of the cleaning cloth 6 can be completed, which helps to improve the work efficiency.

[0062] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic garbage picking robot, characterized in that: The invention comprises a robot body (1) and a picking mechanism and a wiping mechanism arranged on the robot body (1); the wiping mechanism comprises a box body (5) and a cleaning cloth (6); fixed wheels (13) are rotatably mounted on both sides of the bottom of the box body (5); cloth-threading holes for passing the cleaning cloth (6) are opened on both sides of the bottom of the box body (5); two movable wheels (11) are movably arranged on the upper part of the box body (5); the cleaning cloth (6) is wound between the fixed wheel (13) and the movable wheel (11); a baffle (25) is arranged in the box body (5), and both ends of the baffle (25) are equipped with A card block (27) is provided in the box body (5), the card block (27) is movably provided in the box body (5), and the cleaning cloth (6) passes through between the card block (27) and the baffle plate (25); the box body (5) above the card block (27) and the baffle plate (25) forms a drying chamber (30), a water tank (28) is provided in the box body (5), one side of the water tank (28), the inner wall of the box body (5), the baffle plate (25) and the card block (27) form a cleaning chamber (31), and a water spray pipe (24) connected to the water tank (28) is provided in the cleaning chamber (31); a drying component is provided in the drying chamber (30); A humidity-sensitive resistor (37) is provided in the drying chamber (30), and a trigger module is provided in the drying chamber (30); under the action of the trigger module, when the humidity of the cleaning cloth (6) is less than a preset value, the fixed wheel (13) rotates to move the cleaning cloth (6) and perform a cloth changing operation.

2. The automatic garbage picking robot according to claim 1, characterized in that: The trigger module comprises an electromagnet (38) and an iron block (42); a clearance cavity is provided on the top of the box body (5), the electromagnet (38) is fixedly arranged in the clearance cavity, the iron block (42) is elastically movably arranged in the clearance cavity, and the electromagnet (38) and the iron block (42) cooperate with each other; A fixed sleeve (34) is arranged on the top of the box body (5), a slide plate (36) is slidably arranged in the fixed sleeve (34), a humidity sensitive resistor (37) is installed at the bottom of the slide plate (36), a first contact point (47) is arranged on the slide plate (36), and a second contact point (48) cooperating with the first contact point (47) is arranged in the fixed sleeve (34); the humidity sensitive resistor (37), the first contact point (47) and the second contact point (48) are all connected to the control circuit of the electromagnet (38); when the humidity of the cleaning cloth (6) is less than a preset value, the electromagnet (38) and the iron block (42) are attracted together, and the fixed wheel (13) rotates.

3. The automatic garbage picking robot according to claim 2, characterized in that: The trigger module also includes a switch (45), the switch (45) is fixed in the give-way cavity, a second slide bar (44) is slidably arranged in the give-way cavity, the second slide bar (44) cooperates with the switch (45), and the second slide bar (44) is connected to the iron block (42); when the iron block (42) moves, the second slide bar (44) moves at the same time, and when the iron block (42) is adsorbed onto the electromagnet (38), the second slide bar (44) presses against the switch (45), so that the fixed wheel (13) rotates.

4. The automatic garbage picking robot according to claim 1, characterized in that: A slide groove (10) is arranged in the box body (5), and the movable wheel (11) slides along the slide groove (10), and the upper end of the slide groove (10) is inclined outward.

5. The automatic garbage picking robot according to claim 1, characterized in that: The drying assembly comprises an upper exhaust pipe (17), a lower exhaust pipe (19) and a side exhaust pipe (32); the upper exhaust pipe (17) is arranged on the top wall of the box body (5), the lower exhaust pipe (19) is arranged on the baffle (25); the side exhaust pipe (32) is arranged on the side wall of the box body (5); and the box body (5) is provided with a first pump body (14) for conveying air to the upper exhaust pipe (17), the lower exhaust pipe (19) and the side exhaust pipe (32).

6. The automatic garbage picking robot according to claim 1, characterized in that: Clamping plates (46) are provided on both sides of the cloth-passing hole, and the cleaning cloth (6) passes between the two corresponding clamping plates (46).

7. The automatic garbage picking robot according to claim 1, characterized in that: The picking mechanism comprises a broom (3) and a bucket (4); two fixing frames (2) are installed at the front end of the bottom of the robot body (1), and each fixing frame (2) is installed with a broom (3); the bucket (4) is installed at the bottom of the robot body (1) and is located at the rear side between the two fixing frames (2).

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