CN106889955A - A kind of device and method of automatic replacing clean robot rag - Google Patents
A kind of device and method of automatic replacing clean robot rag Download PDFInfo
- Publication number
- CN106889955A CN106889955A CN201510973760.5A CN201510973760A CN106889955A CN 106889955 A CN106889955 A CN 106889955A CN 201510973760 A CN201510973760 A CN 201510973760A CN 106889955 A CN106889955 A CN 106889955A
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- CN
- China
- Prior art keywords
- clean robot
- wiping cloth
- cloth plate
- rag
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention provides a kind of device and method of automatic replacing clean robot rag, described device includes Wiping cloth plate ejecting mechanism and controller.Wiping cloth plate ejecting mechanism includes housing and the motor, transmission mechanism and the executing agency that are arranged in housing.Controller is connected with Wiping cloth plate ejecting mechanism, sends control signal controlled motor and rotates, and executing agency is driven by transmission mechanism, and the Wiping cloth plate of clean robot is released.Then controller control clean robot motion, executing agency contacts with ground, as one of the strong point and road wheel of clean robot, it is reached specified rag Board position.Wiping cloth plate is packed up in the rotation of controlled motor opposite direction to controller again, it is combined with clean robot.The present invention realizes the automatic function of changing clean robot rag, reduces human intervention.
Description
Technical field
The present invention relates to automated cleaning field, more particularly to a kind of device and method of automatic replacing clean robot rag.
Background technology
Robot industrial circle application comparative maturity, in recent years, with the arriving of global aging, society and family
Front yard burden is all being aggravated, and home-services robot will play the part of more and more important role.According to international alliance of robot IFR
Statistics, the home-services robot quantum of products of whole world consumption has reached 1,600,000,000 dollars, IFR predictions 2013- within 2012
Estimate within 2016 that having 15,500,000 domestic robots is sold, it is seen that clean robot has the huge market space.
The cleaning on family ground is dirty tired and cumbersome, wastes people's plenty of time, occurs in that some are automatic to this in the market
Clean robot product, such as sweeping robot, floor-mopping robot, these products have liberated the double of people to a certain extent
Hand, can give household and more accompany, and be liked by consumers in general.
However, the robot for dragging one robot still only to possess the function that mops floor either is swept in the prior art, all cannot be automatic
Change rag, specifically, exactly when robot rag during mopping floor is dirty need to change when, it is necessary to pass through manually to allow
Robot is first stopped, and then dirty rag is disassembled, then changes clean rag, restarting robot by its after
Continuous work.
Above mentioned problem causes robot that full automation is unable to when mopping floor, need to pay attention to when owner is in and in cut off the hands in thing
Go to change rag.If owner stays out, even if robot mobile phone A PP long-range remote control functions, but due to can not be automatic
Rag is changed, therefore cannot also realize being automatically performed the roomed cleaning of institute.
The content of the invention
Therefore, the technical problems to be solved by the invention are clean robots of the prior art cannot automatically change rag, from
And propose a kind of device and method of automatically replaceable clean robot rag, realize it is unattended under the conditions of robot it is automatic more
Change the function of rag.
In order to solve the above technical problems, a kind of device of automatic replacing clean robot rag of the invention, including Wiping cloth plate is pushed away
Go out mechanism, be suitable to release the Wiping cloth plate of the clean robot from the clean robot, realize the Wiping cloth plate and institute
State the separation of clean robot；
Controller, the controller is connected with the Wiping cloth plate ejecting mechanism, is suitable to control the Wiping cloth plate ejecting mechanism to incite somebody to action
The Wiping cloth plate of the clean robot is separated with the clean robot；
The Wiping cloth plate ejecting mechanism includes housing, and is arranged at motor in the housing, transmission mechanism and execution machine
Structure, wherein,
The motor is connected with the controller, and the signal for being suitable to be provided according to the controller is the Wiping cloth plate kickoff mechanism
Structure provides power；
The transmission mechanism is connected with the motor and the executing agency respectively, and the power for being suitable to export in the motor is passed
It is defeated by the executing agency, controls the release of the executing agency and/or pack up, so as to by the rag of the clean robot
Plate is separated and/or combined with the clean robot；
The transmission mechanism includes leading screw, nut, sliding block and rotary module, and the sliding block is connected with the leading screw, passes through
The motion of the leading screw can drive the slide block movement；The rotary module is rotatable to be fixed in the housing, the rotation
Opening is provided with revolving die block, the opening contacts with the part edge of the sliding block, with the opening during slide block movement
Cooperation can drive the rotary module accordingly to rotate.
The transmission mechanism includes worm gear, worm screw, sliding block and rotary module, and the sliding block is connected with the worm screw, passes through
The motion of the worm screw can drive the slide block movement；The rotary module is rotatable to be fixed in the housing, the rotation
Opening is provided with revolving die block, the opening contacts with the part edge of the sliding block, with the opening during slide block movement
Cooperation can drive the rotary module accordingly to rotate.
The executing agency includes performing wheel, and the wheel that performs is fixedly connected with the rotary module of the transmission mechanism, when
When the sliding block drives the rotary module to turn an angle, the wheel that performs is released, or the execution wheel is packed up.
The executing agency includes connecting rod and performs wheel, described to perform the rotation taken turns by the connecting rod with the transmission mechanism
Revolving die block is fixedly connected, when the sliding block drives the rotary module to turn an angle, the connecting rod accordingly rotate so as to
The wheel that performs is released, or the execution wheel is packed up.
A kind of clean robot, including any described automatic replacing clean robot rag according to above-mentioned all features device.
The clean robot further includes Wiping cloth plate, and the Wiping cloth plate is connected with the Wiping cloth plate ejecting mechanism magnetic.
The Wiping cloth plate further includes rag and/or water tank, and the rag and/or the water tank are detachably arranged in institute
State on Wiping cloth plate.
A kind of method of automatic replacing clean robot rag, the clean robot includes any described of above-mentioned all features
Device, comprise the following steps：
S1：The controller sends control signal and controls the motor to rotate, and the execution machine is driven by the transmission mechanism
Structure, so as to the Wiping cloth plate of the clean robot be released, makes it be separated with the clean robot；
S2：The controller sends the motion that control signal controls the clean robot, reaches it and specifies rag Board position,
Wherein, the execution wheel being pushed out is contacted with ground, is adapted as the strong point and road wheel of the clean robot
One of；
S3：After the clean robot reaches the specified rag Board position, the controller controls the motor opposite direction
Rotate, the executing agency is driven by the transmission mechanism, so as to the Wiping cloth plate of the clean robot be packed up,
It is set to be combined with the clean robot.
Above-mentioned technical proposal of the invention has advantages below compared to existing technology,
(1) device of automatic replacing clean robot rag of the present invention, using screw nut driven or worm and gear
The kind of drive, it is low excellent with small, transmission efficiency of wearing and tearing, stable drive, long lifespan, high precision, temperature rise
Point.
(2) device of automatic replacing clean robot rag of the present invention, simple structure is easily achieved, and makes it commercially
Chemical conversion is originally substantially reduced.
(3) device of automatic replacing clean robot rag of the present invention, the execution wheel is in the clean robot
Packed up during mopping floor, after Wiping cloth plate is pushed out, robot bypasses Wiping cloth plate and walks to during specified location,
The wheel that performs can make more stable in robot running as one of strong point and road wheel of robot.
(4) device of automatic replacing clean robot rag of the present invention, the Wiping cloth plate is released with the Wiping cloth plate
Mechanism is connected by magnetic, realizes that the two is detachably fixed, very convenient when user thinks manual teardown.
(5) method of automatic replacing clean robot rag of the present invention, process is simple, only need to be by the rag
The transmission mechanism of plate ejecting mechanism drives the executing agency to release Wiping cloth plate, then reaches and specifies rag
Board position, then drive the executing agency to pack up Wiping cloth plate by the transmission mechanism to realize that Wiping cloth plate is installed.
(6) method of automatic replacing clean robot rag of the present invention, reduces during clean robot mops floor
Human intervention, improve the degree of intelligence of robot, save the time of people.
Brief description of the drawings
In order that present disclosure is easier to be clearly understood, below according to specific embodiment of the invention and with reference to accompanying drawing,
The present invention is further detailed explanation, wherein
Fig. 1 be automatic replacing clean robot rag of the present invention device Wiping cloth plate is released after structural representation；
Fig. 2 is that after Wiping cloth plate of the present invention is pushed out, the wheel that performs is contacted with ground, used as the cleaner
The structural representation of one of the strong point and road wheel of device people；
Fig. 3 is the device of automatic replacing clean robot rag of the present invention by the mounted structural representation of Wiping cloth plate；
Fig. 4 is the structural representation that Wiping cloth plate ejecting mechanism of the present invention releases the executing agency；
Fig. 5 is the structural representation that Wiping cloth plate ejecting mechanism of the present invention packs up the executing agency；
Fig. 6 is the structural representation that Wiping cloth plate ejecting mechanism of the present invention packs up the executing agency.
Reference is expressed as in figure：100- Wiping cloth plate ejecting mechanisms, 110- housings, 120- motors, 130- nuts, 140-
Thick stick, 150- sliding blocks, 160- rotary modules, 200- performs wheel, 210- connecting rods, and 220,230- magnet steel, 240,250- rags
Plate, 300- clean robots.
Specific embodiment
A specific embodiment of the device of automatic replacing clean robot rag of the present invention is given below, such as schemes
Shown in 1- Fig. 4, the device of the automatic replacing clean robot rag described in the present embodiment includes Wiping cloth plate ejecting mechanism 100,
It is suitable to release the Wiping cloth plate 240 of clean robot 300 from clean robot 300, realizes Wiping cloth plate 240 and cleaner
The separation of device people 300；And controller, the controller is connected with Wiping cloth plate ejecting mechanism 100, is suitable to control Wiping cloth plate
Ejecting mechanism 100 separates the Wiping cloth plate 240 of clean robot 300 with clean robot 300.
Specifically, as shown in Figure 4 and Figure 5, in the present embodiment, Wiping cloth plate ejecting mechanism 100 includes：Housing 110,
And it is arranged at motor 120, transmission mechanism and executing agency in housing 110；Wherein, motor 120 and controller phase
Connection, is suitable to the signal provided according to controller for Wiping cloth plate ejecting mechanism 100 provides power.
In the above-described embodiments, transmission mechanism is connected with motor 120 and executing agency respectively, is suitable to moving that motor is exported
Power is transferred to executing agency, controls the release of executing agency and/or packs up, so as to by the Wiping cloth plate of clean robot 300
240 separate and/or combine with clean robot 300.
Specifically, in the present embodiment, the transmission mechanism uses screw-nut structure, as shown in Figure 4 and Figure 5, driver
Structure includes nut 130, leading screw 140, sliding block 150 and rotary module 160.Leading screw 140 respectively with motor 120 and sliding block
150 are connected, and the power that motor 120 is exported is transferred into sliding block 150 by coordinating with nut 130.Controller is according to control
The forward or reverse of signal control motor processed 120, so that by nut 130 and leading screw 140 with movable slider 150 along leading screw
140 axis is moved to the left or to the right.Rotary module 160 is rotatable to be fixed in housing 110, on rotary module 160
Opening is provided with, opening contacts with the part edge of sliding block 150, coordinating with opening when sliding block 150 is moved can be rotated mould
Block 160 is accordingly rotated.
Fig. 4 is in the schematic diagram of release state for the executing agency of Wiping cloth plate ejecting mechanism 100, as illustrated, now, rotation
Positioned at the left side of rotary module 160, the part of sliding block 150 is snapped in the opening of rotary module 160 for the opening of revolving die block 160.
When motor 120 rotate and by nut 130 and leading screw 140 with movable slider 150 to left movement when, rotary module 160 is opened
Mouth acting on due to the power by sliding block 150 so that rotary module 160 rotates about axle counterclockwise movement, so that further
Executing agency is driven to pack up.As shown in figure 5, when sliding block 150 is moved to the left to specified location, executing agency packs up completely.
It should be noted that although in the present embodiment, the opening of rotary module 160 is arranged at the left side of rotary module 160,
It is the relative position of the opening with sliding block 150 of rotary module 160, and the correlation released or pack up with executing agency is simultaneously
Do not limit to and this.For example, the opening of rotary module 160 may also be arranged on the right side of rotary module 160, and by with sliding block
150 cooperation is realized the release of executing agency or is packed up, repeats no more here.
In the present embodiment, executing agency includes performing wheel 200.Wheel 200 is performed to consolidate with the rotary module 160 of transmission mechanism
Fixed connection, when sliding block 150 is rotated module 160 to turn an angle, will perform wheel 200 and releases, or will perform wheel
200 pack up, so as to separate and/or combine the Wiping cloth plate 240 of clean robot 300 with clean robot 300.
Further, the controller includes：It is installed on main controller, parsing main control in the fuselage of clean robot 300
The motor control card and control line connecting the two for blocking the control signal for sending are constituted, not shown in figure.
Preferably, in the present embodiment, the Wiping cloth plate 240 of clean robot 300 passes through magnetic with Wiping cloth plate ejecting mechanism 100
Steel 220 and the absorption of magnet steel 230 realize that magnetic is connected.It is mounted on Wiping cloth plate 240 and another piece of Wiping cloth plate 250 specified
Rag and water tank.
As alternative implementation method, on the basis of above-described embodiment, as shown in fig. 6, executing agency can also include
Connecting rod 210 and execution wheel 200, are performed wheel 200 and are fixedly connected with the rotary module 160 of transmission mechanism by connecting rod 210,
When sliding block 150 is rotated module 160 to turn an angle, connecting rod 210 is accordingly rotated to be released so as to perform wheel 200,
Or packed up wheel 200 is performed.
Used as alternative implementation method, on the basis of above-described embodiment, the feed screw nut in transmission mechanism is readily modified as snail
Worm and gear, so that moved left and right by worm gear structure band movable slider, not shown in figure.
Used as alternative implementation method, on the basis of above-mentioned implementation method, Wiping cloth plate 240 is with clean robot 300 also
Can be attached by magnet or other magnetic devices.
As alternative implementation method, on the basis of above-mentioned implementation method, rag can also be only installed on Wiping cloth plate 240
Or water tank is only installed.
The invention also discloses a kind of method of automatic replacing clean robot rag, comprise the following steps：
S1：The main controller of the controller sends control signals to motor control card by control line, and motor control card is received
Rotation direction is judged after to control signal, motor 120 is rotated, drive executing agency to rotate clockwise by transmission mechanism
Certain angle, makes the magnet steel 230 on the Wiping cloth plate 240 of clean robot 300 be separated with the magnet steel 220 on housing 110,
Wiping cloth plate 240 is released from clean robot 300, it is separated with clean robot 300, as shown in Figure 1；
S2：After Wiping cloth plate 240 is pushed out, the main controller of controller sends motor message to clean robot 300, makes it
Wiping cloth plate 240 is first got around, the execution wheel 200 of the executing agency being now pushed out is contacted with ground, then as cleaning machine
One of strong point and road wheel of people 300, as shown in Fig. 2 being coupled to up to finger with other road wheels of clean robot 300
The fixed position of Wiping cloth plate 250；
S3：After clean robot 300 is reached specifies 250 position of Wiping cloth plate, the main controller of controller is sent out by control line
Control signal to motor control card, motor control card is sent to judge rotation direction after receiving control signal, motor 120 is anti-
Direction turns an angle, and drives executing agency to rotate counterclockwise by transmission mechanism, make magnet steel 220 on housing 110 with
Magnet steel absorption on Wiping cloth plate 250, so that Wiping cloth plate 250 is detachably arranged on clean robot 300, such as Fig. 3
It is shown.
Transmission mechanism in above-mentioned steps can be screw-nut structure, when motor 120 is rotated, by nut 130 and leading screw
140 mating band movable slider 150 is slided to the right or to the left, rotary module 160 is rotated clockwise or counterclockwise certain angle,
The execution wheel 200 that rotary module 160 is further driven to executing agency rotates clockwise or counterclockwise respective angles, will perform wheel
200 release or are packed up wheel 200 is performed.
Further, the transmission mechanism in above-mentioned steps can also be worm gear structure, when motor 120 is rotated, by snail
The mating band movable slider 150 of wheel and worm screw is slided to the right or to the left, rotary module 160 is rotated clockwise or counterclockwise necessarily
Angle, the execution wheel 200 that rotary module 160 is further driven to executing agency rotates clockwise or counterclockwise respective angles, will
Wheel 200 is performed to release or packed up wheel 200 is performed.
Further, the executing agency in above-mentioned steps can only include execution wheel 200, perform wheel 200 and rotary module
160 are fixedly connected, and wheel 200 will be directly performed when rotary module 160 turns an angle and is released or is received wheel 200 is performed
Rise.
Further, the executing agency in above-mentioned steps can also include connecting rod 210 and perform wheel 200, and execution wheel 200 leads to
Cross connecting rod 210 to be fixedly connected with rotary module 160, when rotary module 160 turns an angle, connecting rod 210 accordingly turns
It is dynamic to be released so as to wheel 200 performed, or packed up wheel 200 is performed.Preferably, when rotary module 160 rotates 90 degree,
Connecting rod 210 is accordingly rotated to be released so as to perform wheel 200, or is packed up wheel 200 is performed.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to the restriction of implementation method.For
For those of ordinary skill in the art, the change or change of other multi-forms can also be made on the basis of the above description
It is dynamic.There is no need and unable to be exhaustive to all of implementation method.And the obvious change or change thus extended out
Among moving still in the protection domain of the invention.
Claims (10)
1. a kind of device of automatic replacing clean robot rag, it is characterised in that including：
Wiping cloth plate ejecting mechanism, is suitable to release the Wiping cloth plate of the clean robot from the clean robot,
Realize that the Wiping cloth plate is separated with the clean robot；
Controller, the controller is connected with the Wiping cloth plate ejecting mechanism, is suitable to control the Wiping cloth plate to release
Mechanism separates the Wiping cloth plate of the clean robot with the clean robot.
2. it is according to claim 1 change clean robot rag device, it is characterised in that the rag
Plate ejecting mechanism includes housing, and is arranged at motor in the housing, transmission mechanism and executing agency,
Wherein, the motor is connected with the controller, and the signal for being suitable to be provided according to the controller is described
Wiping cloth plate ejecting mechanism provides power；The transmission mechanism is connected with the motor and the executing agency respectively
Connect, be suitable to for the power that the motor is exported to be transferred to the executing agency, control pushing away for the executing agency
Go out and/or pack up, so as to the Wiping cloth plate of the clean robot be separated with the clean robot and/or
With reference to.
3. device according to claim 2, it is characterised in that the transmission mechanism include leading screw, nut,
Sliding block and rotary module, the sliding block are connected with the leading screw, and institute can be driven by the motion of the leading screw
State slide block movement；The rotary module is rotatable to be fixed in the housing, is set on the rotary module
There is opening, the opening contacts with the part edge of the sliding block, match somebody with somebody with the opening during slide block movement
Conjunction can drive the rotary module accordingly to rotate.
4. device according to claim 2, it is characterised in that the transmission mechanism include worm gear, worm screw,
Sliding block and rotary module, the sliding block are connected with the worm screw, and institute can be driven by the motion of the worm screw
State slide block movement；The rotary module is rotatable to be fixed in the housing, is set on the rotary module
There is opening, the opening contacts with the part edge of the sliding block, match somebody with somebody with the opening during slide block movement
Conjunction can drive the rotary module accordingly to rotate.
5. according to any described devices of claim 1-4, it is characterised in that the executing agency includes performing wheel,
The wheel that performs is fixedly connected with the rotary module of the transmission mechanism, when the sliding block drives the rotation
When revolving die block turns an angle, the wheel that performs is released, or the execution wheel is packed up.
6. device according to claim 3, it is characterised in that the executing agency includes connecting rod and perform wheel,
The wheel that performs is fixedly connected by the connecting rod with the rotary module of the transmission mechanism, when the cunning
When block drives the rotary module to turn an angle, the connecting rod is accordingly rotated so as to the execution wheel be pushed away
Go out, or the execution wheel is packed up.
7. a kind of clean robot, it is characterised in that including clear according to any automatic replacings of claim 1-6
The device of clean robot rag.
8. clean robot according to claim 7, it is characterised in that further include Wiping cloth plate, it is described
Wiping cloth plate is connected with the Wiping cloth plate ejecting mechanism magnetic.
9. the clean robot according to claim 7 or 8, it is characterised in that the Wiping cloth plate is further wrapped
Rag and/or water tank are included, the rag and/or the water tank are detachably arranged on the Wiping cloth plate.
10. a kind of method of automatic replacing clean robot rag, the clean robot is included according to claim
Any described devices of 1-6, it is characterised in that comprise the following steps：
S1：The controller sends control signal and controls the motor to rotate, and is driven by the transmission mechanism described
Executing agency, so as to the Wiping cloth plate of the clean robot be released, makes it be separated with the clean robot；
S2：The controller sends the motion that control signal controls the clean robot, reaches it and specifies rag
Board position, wherein, the execution wheel being pushed out is contacted with ground, is adapted as the clean robot
One of the strong point and road wheel；
S3：After the clean robot reaches the specified rag Board position, the controller controls the motor
Opposite direction is rotated, and the executing agency is driven by the transmission mechanism, so as to by the clean robot
Wiping cloth plate is packed up, and it is combined with the clean robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510973760.5A CN106889955A (en) | 2015-12-19 | 2015-12-19 | A kind of device and method of automatic replacing clean robot rag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510973760.5A CN106889955A (en) | 2015-12-19 | 2015-12-19 | A kind of device and method of automatic replacing clean robot rag |
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| CN106889955A true CN106889955A (en) | 2017-06-27 |
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| CN201510973760.5A Pending CN106889955A (en) | 2015-12-19 | 2015-12-19 | A kind of device and method of automatic replacing clean robot rag |
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Cited By (17)
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|---|---|---|---|---|
| CN107960955A (en) * | 2017-12-15 | 2018-04-27 | 孙鹏程 | A kind of housekeeping floor-mopping robot |
| CN109965779A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of cleaning device and cleaning systems |
| CN110215163A (en) * | 2019-05-31 | 2019-09-10 | 徐州工程学院 | A kind of floor cleaning machine |
| WO2019233493A1 (en) * | 2018-06-08 | 2019-12-12 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method for same, and cleaning robot system |
| WO2020125760A1 (en) * | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method therefor, and ground treatment system |
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| CN113966980A (en) * | 2020-07-22 | 2022-01-25 | 沃维克股份有限公司 | Cleaning cloth changing station, floor cleaning device and method for changing cleaning cloth |
| CN114515127A (en) * | 2022-03-02 | 2022-05-20 | 深圳市杉川机器人有限公司 | Cleaning system and method for attaching and detaching cleaning unit of cleaning system |
| CN114652237A (en) * | 2022-03-02 | 2022-06-24 | 深圳市杉川机器人有限公司 | Cleaning system and method for replacing cleaning unit thereof |
| WO2022134850A1 (en) * | 2020-12-22 | 2022-06-30 | 广东美的白色家电技术创新中心有限公司 | Cleaning robot and cleaning system |
| WO2022134851A1 (en) * | 2020-12-22 | 2022-06-30 | 广东美的白色家电技术创新中心有限公司 | Cleaning base station and cleaning system |
| US20220409001A1 (en) * | 2019-11-28 | 2022-12-29 | Carl Freudenberg Kg | Cleaning robot and cleaning system |
| WO2023078315A1 (en) * | 2021-11-02 | 2023-05-11 | 苏州宝时得电动工具有限公司 | Robot cleaning system, and method for controlling same |
| WO2023197854A1 (en) * | 2022-04-11 | 2023-10-19 | 科沃斯机器人股份有限公司 | Cleaning device, host and control method |
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